id	sid	tid	token	lemma	pos
aiti-10548	1	1	microsoft	microsoft	PROPN
aiti-10548	1	2	word	word	NOUN
aiti-10548	1	3	1	1	NUM
aiti-10548	1	4	-	-	PUNCT
aiti-10548	1	5	v8n1(2023)-aiti#10548(29	v8n1(2023)-aiti#10548(29	NUM
aiti-10548	1	6	-	-	PUNCT
aiti-10548	1	7	37).docx	37).docx	NUM
aiti-10548	1	8	advances	advance	NOUN
aiti-10548	1	9	in	in	ADP
aiti-10548	1	10	technology	technology	NOUN
aiti-10548	1	11	innovation	innovation	NOUN
aiti-10548	1	12	,	,	PUNCT
aiti-10548	1	13	vol	vol	NOUN
aiti-10548	1	14	.	.	PROPN
aiti-10548	1	15	8	8	NUM
aiti-10548	1	16	,	,	PUNCT
aiti-10548	1	17	no	no	INTJ
aiti-10548	1	18	.	.	NOUN
aiti-10548	1	19	1	1	NUM
aiti-10548	1	20	,	,	PUNCT
aiti-10548	1	21	2023	2023	NUM
aiti-10548	1	22	,	,	PUNCT
aiti-10548	1	23	pp	pp	ADJ
aiti-10548	1	24	.	.	PUNCT
aiti-10548	2	1	29	29	NUM
aiti-10548	2	2	-	-	SYM
aiti-10548	2	3	37	37	NUM
aiti-10548	2	4	on	on	ADP
aiti-10548	2	5	the	the	DET
aiti-10548	2	6	estimation	estimation	NOUN
aiti-10548	2	7	of	of	ADP
aiti-10548	2	8	the	the	DET
aiti-10548	2	9	mission	mission	NOUN
aiti-10548	2	10	performance	performance	NOUN
aiti-10548	2	11	index	index	NOUN
aiti-10548	2	12	of	of	ADP
aiti-10548	2	13	unmanned	unmanned	ADJ
aiti-10548	2	14	surface	surface	NOUN
aiti-10548	2	15	vehicles	vehicle	NOUN
aiti-10548	2	16	based	base	VERB
aiti-10548	2	17	on	on	ADP
aiti-10548	2	18	the	the	DET
aiti-10548	2	19	mission	mission	NOUN
aiti-10548	2	20	coverage	coverage	PROPN
aiti-10548	2	21	area	area	PROPN
aiti-10548	2	22	jae	jae	PROPN
aiti-10548	2	23	-	-	PUNCT
aiti-10548	2	24	yong	yong	PROPN
aiti-10548	2	25	lee	lee	PROPN
aiti-10548	2	26	,	,	PUNCT
aiti-10548	2	27	nam	nam	PROPN
aiti-10548	2	28	-	-	PUNCT
aiti-10548	2	29	sun	sun	PROPN
aiti-10548	2	30	son	son	PROPN
aiti-10548	2	31	*	*	PROPN
aiti-10548	2	32	department	department	PROPN
aiti-10548	2	33	of	of	ADP
aiti-10548	2	34	autonomous	autonomous	PROPN
aiti-10548	2	35	&	&	CCONJ
aiti-10548	2	36	intelligent	intelligent	ADJ
aiti-10548	2	37	maritime	maritime	NOUN
aiti-10548	2	38	systems	system	NOUN
aiti-10548	2	39	research	research	NOUN
aiti-10548	2	40	division	division	NOUN
aiti-10548	2	41	,	,	PUNCT
aiti-10548	2	42	korea	korea	PROPN
aiti-10548	2	43	research	research	PROPN
aiti-10548	2	44	institute	institute	PROPN
aiti-10548	2	45	of	of	ADP
aiti-10548	2	46	ships	ships	PROPN
aiti-10548	2	47	&	&	CCONJ
aiti-10548	2	48	ocean	ocean	PROPN
aiti-10548	2	49	engineering	engineering	PROPN
aiti-10548	2	50	,	,	PUNCT
aiti-10548	2	51	daejeon	daejeon	PROPN
aiti-10548	2	52	,	,	PUNCT
aiti-10548	2	53	korea	korea	PROPN
aiti-10548	2	54	received	receive	VERB
aiti-10548	2	55	november	november	PROPN
aiti-10548	2	56	12	12	NUM
aiti-10548	2	57	,	,	PUNCT
aiti-10548	2	58	2021	2021	NUM
aiti-10548	2	59	;	;	PUNCT
aiti-10548	2	60	received	receive	VERB
aiti-10548	2	61	in	in	ADP
aiti-10548	2	62	revised	revise	VERB
aiti-10548	2	63	form	form	NOUN
aiti-10548	2	64	07	07	NUM
aiti-10548	2	65	may	may	PROPN
aiti-10548	2	66	2022	2022	NUM
aiti-10548	2	67	;	;	PUNCT
aiti-10548	2	68	accepted	accept	VERB
aiti-10548	2	69	08	08	NUM
aiti-10548	2	70	may	may	PROPN
aiti-10548	2	71	2022	2022	NUM
aiti-10548	2	72	doi	doi	NOUN
aiti-10548	2	73	:	:	PUNCT
aiti-10548	2	74	https://doi.org/10.46604/aiti.2023.10548	https://doi.org/10.46604/aiti.2023.10548	PROPN
aiti-10548	2	75	abstract	abstract	NOUN
aiti-10548	2	76	for	for	ADP
aiti-10548	2	77	mission	mission	NOUN
aiti-10548	2	78	planning	planning	NOUN
aiti-10548	2	79	and	and	CCONJ
aiti-10548	2	80	replanning	replanning	NOUN
aiti-10548	2	81	of	of	ADP
aiti-10548	2	82	multiple	multiple	ADJ
aiti-10548	2	83	unmanned	unmanned	ADJ
aiti-10548	2	84	surface	surface	NOUN
aiti-10548	2	85	vehicles	vehicle	NOUN
aiti-10548	2	86	(	(	PUNCT
aiti-10548	2	87	usvs	usvs	NOUN
aiti-10548	2	88	)	)	PUNCT
aiti-10548	2	89	,	,	PUNCT
aiti-10548	2	90	it	it	PRON
aiti-10548	2	91	is	be	AUX
aiti-10548	2	92	important	important	ADJ
aiti-10548	2	93	to	to	PART
aiti-10548	2	94	estimate	estimate	VERB
aiti-10548	2	95	each	each	DET
aiti-10548	2	96	usv	usv	PROPN
aiti-10548	2	97	’s	’s	PART
aiti-10548	2	98	mission	mission	NOUN
aiti-10548	2	99	performance	performance	NOUN
aiti-10548	2	100	in	in	ADP
aiti-10548	2	101	terms	term	NOUN
aiti-10548	2	102	of	of	ADP
aiti-10548	2	103	sea	sea	NOUN
aiti-10548	2	104	surveillance	surveillance	NOUN
aiti-10548	2	105	(	(	PUNCT
aiti-10548	2	106	e.g.	e.g.	ADV
aiti-10548	2	107	,	,	PUNCT
aiti-10548	2	108	illegal	illegal	ADJ
aiti-10548	2	109	ship	ship	NOUN
aiti-10548	2	110	control	control	NOUN
aiti-10548	2	111	)	)	PUNCT
aiti-10548	2	112	.	.	PUNCT
aiti-10548	3	1	in	in	ADP
aiti-10548	3	2	this	this	DET
aiti-10548	3	3	study	study	NOUN
aiti-10548	3	4	,	,	PUNCT
aiti-10548	3	5	a	a	DET
aiti-10548	3	6	mission	mission	NOUN
aiti-10548	3	7	performance	performance	NOUN
aiti-10548	3	8	index	index	NOUN
aiti-10548	3	9	(	(	PUNCT
aiti-10548	3	10	mpi	mpi	PROPN
aiti-10548	3	11	)	)	PUNCT
aiti-10548	3	12	is	be	AUX
aiti-10548	3	13	proposed	propose	VERB
aiti-10548	3	14	based	base	VERB
aiti-10548	3	15	on	on	ADP
aiti-10548	3	16	the	the	DET
aiti-10548	3	17	mission	mission	NOUN
aiti-10548	3	18	coverage	coverage	NOUN
aiti-10548	3	19	area	area	NOUN
aiti-10548	3	20	for	for	ADP
aiti-10548	3	21	estimating	estimate	VERB
aiti-10548	3	22	the	the	DET
aiti-10548	3	23	usvs	usvs	NOUN
aiti-10548	3	24	’	'	PUNCT
aiti-10548	3	25	mission	mission	NOUN
aiti-10548	3	26	performance	performance	NOUN
aiti-10548	3	27	of	of	ADP
aiti-10548	3	28	illegal	illegal	ADJ
aiti-10548	3	29	ship	ship	NOUN
aiti-10548	3	30	control	control	NOUN
aiti-10548	3	31	.	.	PUNCT
aiti-10548	4	1	the	the	DET
aiti-10548	4	2	penalty	penalty	NOUN
aiti-10548	4	3	value	value	NOUN
aiti-10548	4	4	is	be	AUX
aiti-10548	4	5	considered	consider	VERB
aiti-10548	4	6	in	in	ADP
aiti-10548	4	7	the	the	DET
aiti-10548	4	8	mpi	mpi	ADJ
aiti-10548	4	9	calculation	calculation	NOUN
aiti-10548	4	10	procedure	procedure	NOUN
aiti-10548	4	11	owing	owe	VERB
aiti-10548	4	12	to	to	ADP
aiti-10548	4	13	the	the	DET
aiti-10548	4	14	track	track	NOUN
aiti-10548	4	15	-	-	PUNCT
aiti-10548	4	16	off	off	NOUN
aiti-10548	4	17	of	of	ADP
aiti-10548	4	18	the	the	DET
aiti-10548	4	19	usv	usv	NOUN
aiti-10548	4	20	.	.	PUNCT
aiti-10548	5	1	in	in	ADP
aiti-10548	5	2	addition	addition	NOUN
aiti-10548	5	3	,	,	PUNCT
aiti-10548	5	4	the	the	DET
aiti-10548	5	5	usv	usv	ADJ
aiti-10548	5	6	simulation	simulation	NOUN
aiti-10548	5	7	is	be	AUX
aiti-10548	5	8	conducted	conduct	VERB
aiti-10548	5	9	under	under	ADP
aiti-10548	5	10	illegal	illegal	ADJ
aiti-10548	5	11	ship	ship	NOUN
aiti-10548	5	12	control	control	NOUN
aiti-10548	5	13	,	,	PUNCT
aiti-10548	5	14	and	and	CCONJ
aiti-10548	5	15	the	the	DET
aiti-10548	5	16	mpi	mpi	NOUN
aiti-10548	5	17	is	be	AUX
aiti-10548	5	18	calculated	calculate	VERB
aiti-10548	5	19	based	base	VERB
aiti-10548	5	20	on	on	ADP
aiti-10548	5	21	changing	change	VERB
aiti-10548	5	22	the	the	DET
aiti-10548	5	23	mission	mission	NOUN
aiti-10548	5	24	coverage	coverage	NOUN
aiti-10548	5	25	area	area	NOUN
aiti-10548	5	26	.	.	PUNCT
aiti-10548	6	1	the	the	DET
aiti-10548	6	2	results	result	NOUN
aiti-10548	6	3	show	show	VERB
aiti-10548	6	4	that	that	SCONJ
aiti-10548	6	5	the	the	DET
aiti-10548	6	6	mpi	mpi	ADJ
aiti-10548	6	7	increases	increase	VERB
aiti-10548	6	8	with	with	ADP
aiti-10548	6	9	the	the	DET
aiti-10548	6	10	path	path	NOUN
aiti-10548	6	11	width	width	NOUN
aiti-10548	6	12	of	of	ADP
aiti-10548	6	13	the	the	DET
aiti-10548	6	14	mission	mission	NOUN
aiti-10548	6	15	coverage	coverage	NOUN
aiti-10548	6	16	area	area	NOUN
aiti-10548	6	17	.	.	PUNCT
aiti-10548	7	1	keywords	keyword	NOUN
aiti-10548	7	2	:	:	PUNCT
aiti-10548	7	3	unmanned	unmanned	ADJ
aiti-10548	7	4	surface	surface	NOUN
aiti-10548	7	5	vehicle	vehicle	NOUN
aiti-10548	7	6	(	(	PUNCT
aiti-10548	7	7	usv	usv	ADJ
aiti-10548	7	8	)	)	PUNCT
aiti-10548	7	9	,	,	PUNCT
aiti-10548	7	10	mission	mission	NOUN
aiti-10548	7	11	coverage	coverage	NOUN
aiti-10548	7	12	area	area	NOUN
aiti-10548	7	13	,	,	PUNCT
aiti-10548	7	14	mission	mission	NOUN
aiti-10548	7	15	performance	performance	NOUN
aiti-10548	7	16	index	index	NOUN
aiti-10548	7	17	(	(	PUNCT
aiti-10548	7	18	mpi	mpi	PROPN
aiti-10548	7	19	)	)	PUNCT
aiti-10548	7	20	,	,	PUNCT
aiti-10548	7	21	illegal	illegal	ADJ
aiti-10548	7	22	ship	ship	NOUN
aiti-10548	7	23	control	control	NOUN
aiti-10548	7	24	,	,	PUNCT
aiti-10548	7	25	usv	usv	ADJ
aiti-10548	7	26	simulation	simulation	NOUN
aiti-10548	7	27	1	1	NUM
aiti-10548	7	28	.	.	PUNCT
aiti-10548	7	29	introduction	introduction	NOUN
aiti-10548	7	30	generally	generally	ADV
aiti-10548	7	31	,	,	PUNCT
aiti-10548	7	32	an	an	DET
aiti-10548	7	33	unmanned	unmanned	ADJ
aiti-10548	7	34	surface	surface	NOUN
aiti-10548	7	35	vehicle	vehicle	NOUN
aiti-10548	7	36	(	(	PUNCT
aiti-10548	7	37	usv	usv	ADJ
aiti-10548	7	38	)	)	PUNCT
aiti-10548	7	39	is	be	AUX
aiti-10548	7	40	a	a	DET
aiti-10548	7	41	small	small	ADJ
aiti-10548	7	42	ship	ship	NOUN
aiti-10548	7	43	(	(	PUNCT
aiti-10548	7	44	1.5	1.5	NUM
aiti-10548	7	45	to	to	PART
aiti-10548	7	46	15	15	NUM
aiti-10548	7	47	m	m	NOUN
aiti-10548	7	48	and	and	CCONJ
aiti-10548	7	49	0.5	0.5	NUM
aiti-10548	7	50	to	to	ADP
aiti-10548	7	51	9	9	NUM
aiti-10548	7	52	t	t	NOUN
aiti-10548	7	53	)	)	PUNCT
aiti-10548	7	54	that	that	PRON
aiti-10548	7	55	can	can	AUX
aiti-10548	7	56	be	be	AUX
aiti-10548	7	57	controlled	control	VERB
aiti-10548	7	58	remotely	remotely	ADV
aiti-10548	7	59	or	or	CCONJ
aiti-10548	7	60	autonomously	autonomously	ADV
aiti-10548	7	61	to	to	PART
aiti-10548	7	62	perform	perform	VERB
aiti-10548	7	63	missions	mission	NOUN
aiti-10548	7	64	under	under	ADP
aiti-10548	7	65	unfavorable	unfavorable	ADJ
aiti-10548	7	66	weather	weather	NOUN
aiti-10548	7	67	conditions	condition	NOUN
aiti-10548	7	68	[	[	X
aiti-10548	7	69	1	1	NUM
aiti-10548	7	70	]	]	PUNCT
aiti-10548	7	71	.	.	PUNCT
aiti-10548	8	1	although	although	SCONJ
aiti-10548	8	2	usvs	usvs	NOUN
aiti-10548	8	3	are	be	AUX
aiti-10548	8	4	typically	typically	ADV
aiti-10548	8	5	developed	develop	VERB
aiti-10548	8	6	for	for	ADP
aiti-10548	8	7	military	military	ADJ
aiti-10548	8	8	use	use	NOUN
aiti-10548	8	9	,	,	PUNCT
aiti-10548	8	10	they	they	PRON
aiti-10548	8	11	have	have	AUX
aiti-10548	8	12	also	also	ADV
aiti-10548	8	13	been	be	AUX
aiti-10548	8	14	applied	apply	VERB
aiti-10548	8	15	to	to	ADP
aiti-10548	8	16	marine	marine	ADJ
aiti-10548	8	17	transportation	transportation	NOUN
aiti-10548	8	18	,	,	PUNCT
aiti-10548	8	19	marine	marine	ADJ
aiti-10548	8	20	surveys	survey	NOUN
aiti-10548	8	21	,	,	PUNCT
aiti-10548	8	22	response	response	NOUN
aiti-10548	8	23	to	to	ADP
aiti-10548	8	24	trespassing	trespass	VERB
aiti-10548	8	25	ships	ship	NOUN
aiti-10548	8	26	in	in	ADP
aiti-10548	8	27	sea	sea	NOUN
aiti-10548	8	28	farms	farm	NOUN
aiti-10548	8	29	,	,	PUNCT
aiti-10548	8	30	sea	sea	NOUN
aiti-10548	8	31	rescue	rescue	NOUN
aiti-10548	8	32	,	,	PUNCT
aiti-10548	8	33	and	and	CCONJ
aiti-10548	8	34	fusion	fusion	NOUN
aiti-10548	8	35	with	with	ADP
aiti-10548	8	36	underwater	underwater	ADJ
aiti-10548	8	37	remotely	remotely	ADV
aiti-10548	8	38	operated	operate	VERB
aiti-10548	8	39	vehicles	vehicle	NOUN
aiti-10548	8	40	[	[	X
aiti-10548	8	41	2	2	NUM
aiti-10548	8	42	-	-	SYM
aiti-10548	8	43	5	5	NUM
aiti-10548	8	44	]	]	PUNCT
aiti-10548	8	45	.	.	PUNCT
aiti-10548	9	1	furthermore	furthermore	ADV
aiti-10548	9	2	,	,	PUNCT
aiti-10548	9	3	the	the	DET
aiti-10548	9	4	international	international	ADJ
aiti-10548	9	5	maritime	maritime	ADJ
aiti-10548	9	6	organization	organization	NOUN
aiti-10548	9	7	has	have	AUX
aiti-10548	9	8	been	be	AUX
aiti-10548	9	9	reviewing	review	VERB
aiti-10548	9	10	international	international	ADJ
aiti-10548	9	11	agreements	agreement	NOUN
aiti-10548	9	12	on	on	ADP
aiti-10548	9	13	maritime	maritime	ADJ
aiti-10548	9	14	safety	safety	NOUN
aiti-10548	9	15	and	and	CCONJ
aiti-10548	9	16	security	security	NOUN
aiti-10548	9	17	regarding	regard	VERB
aiti-10548	9	18	maritime	maritime	ADJ
aiti-10548	9	19	autonomous	autonomous	ADJ
aiti-10548	9	20	surface	surface	NOUN
aiti-10548	9	21	ships	ship	NOUN
aiti-10548	9	22	[	[	X
aiti-10548	9	23	6	6	NUM
aiti-10548	9	24	]	]	PUNCT
aiti-10548	9	25	.	.	PUNCT
aiti-10548	10	1	currently	currently	ADV
aiti-10548	10	2	,	,	PUNCT
aiti-10548	10	3	asian	asian	ADJ
aiti-10548	10	4	countries	country	NOUN
aiti-10548	10	5	(	(	PUNCT
aiti-10548	10	6	e.g.	e.g.	ADV
aiti-10548	10	7	,	,	PUNCT
aiti-10548	10	8	korea	korea	PROPN
aiti-10548	10	9	)	)	PUNCT
aiti-10548	10	10	are	be	AUX
aiti-10548	10	11	conducting	conduct	VERB
aiti-10548	10	12	government	government	NOUN
aiti-10548	10	13	-	-	PUNCT
aiti-10548	10	14	supported	support	VERB
aiti-10548	10	15	projects	project	NOUN
aiti-10548	10	16	in	in	ADP
aiti-10548	10	17	maritime	maritime	ADJ
aiti-10548	10	18	industries	industry	NOUN
aiti-10548	10	19	,	,	PUNCT
aiti-10548	10	20	such	such	ADJ
aiti-10548	10	21	as	as	ADP
aiti-10548	10	22	shipping	shipping	NOUN
aiti-10548	10	23	,	,	PUNCT
aiti-10548	10	24	ports	port	NOUN
aiti-10548	10	25	,	,	PUNCT
aiti-10548	10	26	shipbuilding	shipbuilding	NOUN
aiti-10548	10	27	,	,	PUNCT
aiti-10548	10	28	and	and	CCONJ
aiti-10548	11	1	offshore	offshore	ADV
aiti-10548	11	2	[	[	X
aiti-10548	11	3	7	7	NUM
aiti-10548	11	4	]	]	PUNCT
aiti-10548	11	5	.	.	PUNCT
aiti-10548	12	1	recently	recently	ADV
aiti-10548	12	2	,	,	PUNCT
aiti-10548	12	3	owing	owe	VERB
aiti-10548	12	4	to	to	ADP
aiti-10548	12	5	the	the	DET
aiti-10548	12	6	fourth	fourth	ADJ
aiti-10548	12	7	industrial	industrial	ADJ
aiti-10548	12	8	revolution	revolution	NOUN
aiti-10548	12	9	,	,	PUNCT
aiti-10548	12	10	unmanned	unmanned	ADJ
aiti-10548	12	11	,	,	PUNCT
aiti-10548	12	12	automated	automate	VERB
aiti-10548	12	13	,	,	PUNCT
aiti-10548	12	14	and	and	CCONJ
aiti-10548	12	15	online	online	ADJ
aiti-10548	12	16	fields	field	NOUN
aiti-10548	12	17	have	have	AUX
aiti-10548	12	18	been	be	AUX
aiti-10548	12	19	highlighted	highlight	VERB
aiti-10548	12	20	.	.	PUNCT
aiti-10548	13	1	accordingly	accordingly	ADV
aiti-10548	13	2	,	,	PUNCT
aiti-10548	13	3	usv	usv	ADJ
aiti-10548	13	4	-	-	PUNCT
aiti-10548	13	5	related	relate	VERB
aiti-10548	13	6	studies	study	NOUN
aiti-10548	13	7	have	have	AUX
aiti-10548	13	8	been	be	AUX
aiti-10548	13	9	conducted	conduct	VERB
aiti-10548	13	10	to	to	PART
aiti-10548	13	11	support	support	VERB
aiti-10548	13	12	or	or	CCONJ
aiti-10548	13	13	replace	replace	VERB
aiti-10548	13	14	the	the	DET
aiti-10548	13	15	missions	mission	NOUN
aiti-10548	13	16	performed	perform	VERB
aiti-10548	13	17	by	by	ADP
aiti-10548	13	18	manned	manned	ADJ
aiti-10548	13	19	ships	ship	NOUN
aiti-10548	13	20	[	[	X
aiti-10548	13	21	8	8	NUM
aiti-10548	13	22	-	-	SYM
aiti-10548	13	23	9	9	NUM
aiti-10548	13	24	]	]	PUNCT
aiti-10548	13	25	.	.	PUNCT
aiti-10548	14	1	in	in	ADP
aiti-10548	14	2	particular	particular	ADJ
aiti-10548	14	3	,	,	PUNCT
aiti-10548	14	4	illegal	illegal	ADJ
aiti-10548	14	5	ship	ship	NOUN
aiti-10548	14	6	control	control	NOUN
aiti-10548	14	7	is	be	AUX
aiti-10548	14	8	important	important	ADJ
aiti-10548	14	9	for	for	ADP
aiti-10548	14	10	monitoring	monitor	VERB
aiti-10548	14	11	usvs	usvs	NOUN
aiti-10548	14	12	for	for	ADP
aiti-10548	14	13	mission	mission	NOUN
aiti-10548	14	14	planning	planning	NOUN
aiti-10548	14	15	and	and	CCONJ
aiti-10548	14	16	replanning	replanne	VERB
aiti-10548	14	17	[	[	X
aiti-10548	14	18	10	10	NUM
aiti-10548	14	19	]	]	PUNCT
aiti-10548	14	20	.	.	PUNCT
aiti-10548	15	1	in	in	ADP
aiti-10548	15	2	this	this	DET
aiti-10548	15	3	study	study	NOUN
aiti-10548	15	4	,	,	PUNCT
aiti-10548	15	5	the	the	DET
aiti-10548	15	6	mission	mission	NOUN
aiti-10548	15	7	performance	performance	NOUN
aiti-10548	15	8	index	index	NOUN
aiti-10548	15	9	(	(	PUNCT
aiti-10548	15	10	mpi	mpi	PROPN
aiti-10548	15	11	)	)	PUNCT
aiti-10548	15	12	is	be	AUX
aiti-10548	15	13	defined	define	VERB
aiti-10548	15	14	to	to	PART
aiti-10548	15	15	estimate	estimate	VERB
aiti-10548	15	16	the	the	DET
aiti-10548	15	17	mission	mission	NOUN
aiti-10548	15	18	performance	performance	NOUN
aiti-10548	15	19	of	of	ADP
aiti-10548	15	20	multiple	multiple	ADJ
aiti-10548	15	21	usvs	usvs	NOUN
aiti-10548	15	22	using	use	VERB
aiti-10548	15	23	the	the	DET
aiti-10548	15	24	mission	mission	NOUN
aiti-10548	15	25	coverage	coverage	NOUN
aiti-10548	15	26	area	area	NOUN
aiti-10548	15	27	for	for	ADP
aiti-10548	15	28	sea	sea	NOUN
aiti-10548	15	29	surveillance	surveillance	NOUN
aiti-10548	15	30	,	,	PUNCT
aiti-10548	15	31	such	such	ADJ
aiti-10548	15	32	as	as	ADP
aiti-10548	15	33	illegal	illegal	ADJ
aiti-10548	15	34	ship	ship	NOUN
aiti-10548	15	35	control	control	NOUN
aiti-10548	15	36	.	.	PUNCT
aiti-10548	16	1	the	the	DET
aiti-10548	16	2	mpi	mpi	PROPN
aiti-10548	16	3	is	be	AUX
aiti-10548	16	4	estimated	estimate	VERB
aiti-10548	16	5	using	use	VERB
aiti-10548	16	6	the	the	DET
aiti-10548	16	7	resulting	result	VERB
aiti-10548	16	8	trajectory	trajectory	NOUN
aiti-10548	16	9	of	of	ADP
aiti-10548	16	10	the	the	DET
aiti-10548	16	11	usv	usv	PROPN
aiti-10548	16	12	,	,	PUNCT
aiti-10548	16	13	which	which	PRON
aiti-10548	16	14	is	be	AUX
aiti-10548	16	15	the	the	DET
aiti-10548	16	16	ratio	ratio	NOUN
aiti-10548	16	17	of	of	ADP
aiti-10548	16	18	the	the	DET
aiti-10548	16	19	individual	individual	ADJ
aiti-10548	16	20	mission	mission	NOUN
aiti-10548	16	21	area	area	NOUN
aiti-10548	16	22	to	to	ADP
aiti-10548	16	23	the	the	DET
aiti-10548	16	24	total	total	ADJ
aiti-10548	16	25	mission	mission	NOUN
aiti-10548	16	26	coverage	coverage	NOUN
aiti-10548	16	27	area	area	NOUN
aiti-10548	16	28	.	.	PUNCT
aiti-10548	17	1	to	to	PART
aiti-10548	17	2	evaluate	evaluate	VERB
aiti-10548	17	3	the	the	DET
aiti-10548	17	4	mpi	mpi	NOUN
aiti-10548	17	5	,	,	PUNCT
aiti-10548	17	6	a	a	DET
aiti-10548	17	7	usv	usv	ADJ
aiti-10548	17	8	simulation	simulation	NOUN
aiti-10548	17	9	is	be	AUX
aiti-10548	17	10	conducted	conduct	VERB
aiti-10548	17	11	under	under	ADP
aiti-10548	17	12	illegal	illegal	ADJ
aiti-10548	17	13	ship	ship	NOUN
aiti-10548	17	14	control	control	NOUN
aiti-10548	17	15	.	.	PUNCT
aiti-10548	18	1	in	in	ADP
aiti-10548	18	2	this	this	DET
aiti-10548	18	3	study	study	NOUN
aiti-10548	18	4	,	,	PUNCT
aiti-10548	18	5	the	the	DET
aiti-10548	18	6	features	feature	NOUN
aiti-10548	18	7	of	of	ADP
aiti-10548	18	8	the	the	DET
aiti-10548	18	9	mpi	mpi	PROPN
aiti-10548	18	10	for	for	ADP
aiti-10548	18	11	the	the	DET
aiti-10548	18	12	usv	usv	ADJ
aiti-10548	18	13	and	and	CCONJ
aiti-10548	18	14	the	the	DET
aiti-10548	18	15	simulation	simulation	NOUN
aiti-10548	18	16	results	result	NOUN
aiti-10548	18	17	are	be	AUX
aiti-10548	18	18	described	describe	VERB
aiti-10548	18	19	.	.	PUNCT
aiti-10548	19	1	*	*	PUNCT
aiti-10548	19	2	corresponding	correspond	VERB
aiti-10548	19	3	author	author	NOUN
aiti-10548	19	4	.	.	PUNCT
aiti-10548	20	1	e	e	X
aiti-10548	20	2	-	-	NOUN
aiti-10548	20	3	mail	mail	NOUN
aiti-10548	20	4	address	address	NOUN
aiti-10548	20	5	:	:	PUNCT
aiti-10548	20	6	nnso@kriso.re.kr	nnso@kriso.re.kr	PUNCT
aiti-10548	20	7	tel	tel	PROPN
aiti-10548	20	8	.	.	PUNCT
aiti-10548	20	9	:	:	PUNCT
aiti-10548	21	1	+82	+82	NUM
aiti-10548	21	2	-	-	PUNCT
aiti-10548	21	3	42	42	NUM
aiti-10548	21	4	-	-	PUNCT
aiti-10548	21	5	3636	3636	NUM
aiti-10548	21	6	;	;	PUNCT
aiti-10548	21	7	fax	fax	NOUN
aiti-10548	21	8	:	:	PUNCT
aiti-10548	21	9	+82	+82	NUM
aiti-10548	21	10	-	-	PUNCT
aiti-10548	21	11	42	42	NUM
aiti-10548	21	12	-	-	PUNCT
aiti-10548	21	13	3624	3624	NUM
aiti-10548	21	14	advances	advance	NOUN
aiti-10548	21	15	in	in	ADP
aiti-10548	21	16	technology	technology	NOUN
aiti-10548	21	17	innovation	innovation	NOUN
aiti-10548	21	18	,	,	PUNCT
aiti-10548	21	19	vol	vol	NOUN
aiti-10548	21	20	.	.	PROPN
aiti-10548	21	21	8	8	NUM
aiti-10548	21	22	,	,	PUNCT
aiti-10548	21	23	no	no	INTJ
aiti-10548	21	24	.	.	NOUN
aiti-10548	21	25	1	1	NUM
aiti-10548	21	26	,	,	PUNCT
aiti-10548	21	27	2023	2023	NUM
aiti-10548	21	28	,	,	PUNCT
aiti-10548	21	29	pp	pp	ADJ
aiti-10548	21	30	.	.	PUNCT
aiti-10548	22	1	29	29	NUM
aiti-10548	22	2	-	-	SYM
aiti-10548	22	3	37	37	NUM
aiti-10548	22	4	30	30	NUM
aiti-10548	22	5	previous	previous	ADJ
aiti-10548	22	6	studies	study	NOUN
aiti-10548	22	7	pertaining	pertain	VERB
aiti-10548	22	8	to	to	ADP
aiti-10548	22	9	path	path	NOUN
aiti-10548	22	10	following	following	NOUN
aiti-10548	22	11	and	and	CCONJ
aiti-10548	22	12	target	target	VERB
aiti-10548	22	13	tracking	tracking	NOUN
aiti-10548	22	14	are	be	AUX
aiti-10548	22	15	explained	explain	VERB
aiti-10548	22	16	in	in	ADP
aiti-10548	22	17	section	section	NOUN
aiti-10548	22	18	2	2	NUM
aiti-10548	22	19	.	.	PUNCT
aiti-10548	23	1	the	the	DET
aiti-10548	23	2	proposed	propose	VERB
aiti-10548	23	3	mpi	mpi	ADJ
aiti-10548	23	4	-	-	PUNCT
aiti-10548	23	5	based	base	VERB
aiti-10548	23	6	estimation	estimation	NOUN
aiti-10548	23	7	method	method	NOUN
aiti-10548	23	8	for	for	ADP
aiti-10548	23	9	usvs	usvs	NOUN
aiti-10548	23	10	is	be	AUX
aiti-10548	23	11	presented	present	VERB
aiti-10548	23	12	in	in	ADP
aiti-10548	23	13	section	section	NOUN
aiti-10548	23	14	3	3	NUM
aiti-10548	23	15	.	.	PUNCT
aiti-10548	24	1	the	the	DET
aiti-10548	24	2	verification	verification	NOUN
aiti-10548	24	3	of	of	ADP
aiti-10548	24	4	the	the	DET
aiti-10548	24	5	mpi	mpi	PROPN
aiti-10548	24	6	via	via	ADP
aiti-10548	24	7	simulation	simulation	NOUN
aiti-10548	24	8	is	be	AUX
aiti-10548	24	9	described	describe	VERB
aiti-10548	24	10	in	in	ADP
aiti-10548	24	11	section	section	NOUN
aiti-10548	24	12	4	4	NUM
aiti-10548	24	13	,	,	PUNCT
aiti-10548	24	14	and	and	CCONJ
aiti-10548	24	15	the	the	DET
aiti-10548	24	16	conclusions	conclusion	NOUN
aiti-10548	24	17	and	and	CCONJ
aiti-10548	24	18	future	future	ADJ
aiti-10548	24	19	studies	study	NOUN
aiti-10548	24	20	are	be	AUX
aiti-10548	24	21	provided	provide	VERB
aiti-10548	24	22	in	in	ADP
aiti-10548	24	23	section	section	NOUN
aiti-10548	24	24	5	5	NUM
aiti-10548	24	25	.	.	NOUN
aiti-10548	25	1	2	2	NUM
aiti-10548	25	2	.	.	NOUN
aiti-10548	25	3	previous	previous	ADJ
aiti-10548	25	4	path	path	NOUN
aiti-10548	25	5	-	-	PUNCT
aiti-10548	25	6	following	follow	VERB
aiti-10548	25	7	and	and	CCONJ
aiti-10548	25	8	target	target	NOUN
aiti-10548	25	9	-	-	PUNCT
aiti-10548	25	10	tracking	track	VERB
aiti-10548	25	11	investigations	investigation	NOUN
aiti-10548	25	12	in	in	ADP
aiti-10548	25	13	the	the	DET
aiti-10548	25	14	korea	korea	PROPN
aiti-10548	25	15	research	research	PROPN
aiti-10548	25	16	institute	institute	PROPN
aiti-10548	25	17	of	of	ADP
aiti-10548	25	18	ships	ship	NOUN
aiti-10548	25	19	and	and	CCONJ
aiti-10548	25	20	ocean	ocean	PROPN
aiti-10548	25	21	engineering	engineering	NOUN
aiti-10548	25	22	,	,	PUNCT
aiti-10548	25	23	the	the	DET
aiti-10548	25	24	aragon	aragon	PROPN
aiti-10548	25	25	series	series	PROPN
aiti-10548	25	26	of	of	ADP
aiti-10548	25	27	usvs	usvs	ADJ
aiti-10548	25	28	(	(	PUNCT
aiti-10548	25	29	aragon1	aragon1	ADJ
aiti-10548	25	30	,	,	PUNCT
aiti-10548	25	31	aragon2	aragon2	PROPN
aiti-10548	25	32	,	,	PUNCT
aiti-10548	25	33	and	and	CCONJ
aiti-10548	25	34	aragon3	aragon3	ADV
aiti-10548	25	35	)	)	PUNCT
aiti-10548	25	36	was	be	AUX
aiti-10548	25	37	developed	develop	VERB
aiti-10548	25	38	through	through	ADP
aiti-10548	25	39	a	a	DET
aiti-10548	25	40	project	project	NOUN
aiti-10548	25	41	entitled	entitle	VERB
aiti-10548	25	42	“	"	PUNCT
aiti-10548	25	43	development	development	NOUN
aiti-10548	25	44	of	of	ADP
aiti-10548	25	45	multipurpose	multipurpose	NOUN
aiti-10548	25	46	intelligent	intelligent	ADJ
aiti-10548	25	47	unmanned	unmanned	ADJ
aiti-10548	25	48	surface	surface	NOUN
aiti-10548	25	49	vehicle	vehicle	NOUN
aiti-10548	25	50	”	"	PUNCT
aiti-10548	26	1	[	[	X
aiti-10548	26	2	10	10	NUM
aiti-10548	26	3	]	]	PUNCT
aiti-10548	26	4	.	.	PUNCT
aiti-10548	27	1	recently	recently	ADV
aiti-10548	27	2	,	,	PUNCT
aiti-10548	27	3	usv	usv	ADJ
aiti-10548	27	4	swarms	swarm	NOUN
aiti-10548	27	5	have	have	AUX
aiti-10548	27	6	been	be	AUX
aiti-10548	27	7	investigated	investigate	VERB
aiti-10548	27	8	using	use	VERB
aiti-10548	27	9	the	the	DET
aiti-10548	27	10	aragon	aragon	PROPN
aiti-10548	27	11	series	series	PROPN
aiti-10548	27	12	of	of	ADP
aiti-10548	27	13	usvs	usvs	NOUN
aiti-10548	27	14	through	through	ADP
aiti-10548	27	15	a	a	DET
aiti-10548	27	16	project	project	NOUN
aiti-10548	27	17	entitled	entitle	VERB
aiti-10548	27	18	“	"	PUNCT
aiti-10548	27	19	development	development	NOUN
aiti-10548	27	20	of	of	ADP
aiti-10548	27	21	situation	situation	NOUN
aiti-10548	27	22	awareness	awareness	NOUN
aiti-10548	27	23	and	and	CCONJ
aiti-10548	27	24	autonomous	autonomous	ADJ
aiti-10548	27	25	navigation	navigation	NOUN
aiti-10548	27	26	technology	technology	NOUN
aiti-10548	27	27	of	of	ADP
aiti-10548	27	28	usv	usv	ADV
aiti-10548	27	29	based	base	VERB
aiti-10548	27	30	on	on	ADP
aiti-10548	27	31	artificial	artificial	ADJ
aiti-10548	27	32	intelligence	intelligence	NOUN
aiti-10548	27	33	”	"	PUNCT
aiti-10548	28	1	[	[	X
aiti-10548	28	2	11	11	NUM
aiti-10548	28	3	]	]	PUNCT
aiti-10548	28	4	.	.	PUNCT
aiti-10548	29	1	in	in	ADP
aiti-10548	29	2	this	this	DET
aiti-10548	29	3	study	study	NOUN
aiti-10548	29	4	,	,	PUNCT
aiti-10548	29	5	a	a	DET
aiti-10548	29	6	usv	usv	ADJ
aiti-10548	29	7	(	(	PUNCT
aiti-10548	29	8	aragon1	aragon1	NOUN
aiti-10548	29	9	)	)	PUNCT
aiti-10548	29	10	was	be	AUX
aiti-10548	29	11	used	use	VERB
aiti-10548	29	12	as	as	ADP
aiti-10548	29	13	an	an	DET
aiti-10548	29	14	illegal	illegal	ADJ
aiti-10548	29	15	ship	ship	NOUN
aiti-10548	29	16	to	to	PART
aiti-10548	29	17	simulate	simulate	VERB
aiti-10548	29	18	illegal	illegal	ADJ
aiti-10548	29	19	ship	ship	NOUN
aiti-10548	29	20	control	control	NOUN
aiti-10548	29	21	,	,	PUNCT
aiti-10548	29	22	where	where	SCONJ
aiti-10548	29	23	the	the	DET
aiti-10548	29	24	vehicle	vehicle	NOUN
aiti-10548	29	25	steers	steer	VERB
aiti-10548	29	26	away	away	ADV
aiti-10548	29	27	from	from	ADP
aiti-10548	29	28	a	a	DET
aiti-10548	29	29	patrol	patrol	NOUN
aiti-10548	29	30	ship	ship	NOUN
aiti-10548	29	31	(	(	PUNCT
aiti-10548	29	32	i.e.	i.e.	X
aiti-10548	29	33	,	,	PUNCT
aiti-10548	29	34	another	another	DET
aiti-10548	29	35	usv	usv	ADJ
aiti-10548	29	36	(	(	PUNCT
aiti-10548	29	37	aragon3	aragon3	NOUN
aiti-10548	29	38	)	)	PUNCT
aiti-10548	29	39	)	)	PUNCT
aiti-10548	29	40	via	via	ADP
aiti-10548	29	41	path	path	NOUN
aiti-10548	29	42	following	following	NOUN
aiti-10548	29	43	.	.	PUNCT
aiti-10548	30	1	therefore	therefore	ADV
aiti-10548	30	2	,	,	PUNCT
aiti-10548	30	3	a	a	DET
aiti-10548	30	4	path	path	NOUN
aiti-10548	30	5	-	-	PUNCT
aiti-10548	30	6	following	follow	VERB
aiti-10548	30	7	algorithm	algorithm	NOUN
aiti-10548	30	8	is	be	AUX
aiti-10548	30	9	required	require	VERB
aiti-10548	30	10	when	when	SCONJ
aiti-10548	30	11	aragon3	aragon3	PROPN
aiti-10548	30	12	trails	trail	VERB
aiti-10548	30	13	aragon1	aragon1	PROPN
aiti-10548	30	14	’s	’s	PART
aiti-10548	30	15	escape	escape	NOUN
aiti-10548	30	16	path	path	NOUN
aiti-10548	30	17	.	.	PUNCT
aiti-10548	31	1	previously	previously	ADV
aiti-10548	31	2	,	,	PUNCT
aiti-10548	31	3	a	a	DET
aiti-10548	31	4	path	path	NOUN
aiti-10548	31	5	-	-	PUNCT
aiti-10548	31	6	following	follow	VERB
aiti-10548	31	7	algorithm	algorithm	NOUN
aiti-10548	31	8	was	be	AUX
aiti-10548	31	9	developed	develop	VERB
aiti-10548	31	10	using	use	VERB
aiti-10548	31	11	the	the	DET
aiti-10548	31	12	line	line	NOUN
aiti-10548	31	13	-	-	PUNCT
aiti-10548	31	14	of	of	ADP
aiti-10548	31	15	-	-	PUNCT
aiti-10548	31	16	sight	sight	NOUN
aiti-10548	31	17	(	(	PUNCT
aiti-10548	31	18	los	los	PROPN
aiti-10548	31	19	)	)	PUNCT
aiti-10548	32	1	[	[	X
aiti-10548	32	2	12	12	NUM
aiti-10548	32	3	]	]	PUNCT
aiti-10548	32	4	.	.	PUNCT
aiti-10548	33	1	as	as	SCONJ
aiti-10548	33	2	shown	show	VERB
aiti-10548	33	3	in	in	ADP
aiti-10548	33	4	fig	fig	NOUN
aiti-10548	33	5	.	.	PUNCT
aiti-10548	34	1	1	1	NUM
aiti-10548	34	2	,	,	PUNCT
aiti-10548	34	3	the	the	DET
aiti-10548	34	4	heading	head	VERB
aiti-10548	34	5	angle	angle	NOUN
aiti-10548	34	6	must	must	AUX
aiti-10548	34	7	be	be	AUX
aiti-10548	34	8	controlled	control	VERB
aiti-10548	34	9	for	for	ADP
aiti-10548	34	10	path	path	NOUN
aiti-10548	34	11	-	-	PUNCT
aiti-10548	34	12	following	follow	VERB
aiti-10548	34	13	control	control	NOUN
aiti-10548	34	14	.	.	PUNCT
aiti-10548	35	1	in	in	ADP
aiti-10548	35	2	this	this	DET
aiti-10548	35	3	case	case	NOUN
aiti-10548	35	4	,	,	PUNCT
aiti-10548	35	5	wpk	wpk	PROPN
aiti-10548	35	6	is	be	AUX
aiti-10548	35	7	the	the	DET
aiti-10548	35	8	waypoint	waypoint	NOUN
aiti-10548	35	9	of	of	ADP
aiti-10548	35	10	k	k	PROPN
aiti-10548	35	11	(	(	PUNCT
aiti-10548	35	12	xk	xk	PROPN
aiti-10548	35	13	,	,	PUNCT
aiti-10548	35	14	yk	yk	PROPN
aiti-10548	35	15	)	)	PUNCT
aiti-10548	35	16	,	,	PUNCT
aiti-10548	35	17	pt	pt	PROPN
aiti-10548	35	18	is	be	AUX
aiti-10548	35	19	the	the	DET
aiti-10548	35	20	current	current	ADJ
aiti-10548	35	21	position	position	NOUN
aiti-10548	35	22	(	(	PUNCT
aiti-10548	35	23	xt	xt	PROPN
aiti-10548	35	24	,	,	PUNCT
aiti-10548	35	25	yt	yt	PROPN
aiti-10548	35	26	)	)	PUNCT
aiti-10548	35	27	of	of	ADP
aiti-10548	35	28	the	the	DET
aiti-10548	35	29	usv	usv	NOUN
aiti-10548	35	30	,	,	PUNCT
aiti-10548	35	31	ψt	ψt	VERB
aiti-10548	35	32	is	be	AUX
aiti-10548	35	33	the	the	DET
aiti-10548	35	34	heading	head	VERB
aiti-10548	35	35	angle	angle	NOUN
aiti-10548	35	36	,	,	PUNCT
aiti-10548	35	37	and	and	CCONJ
aiti-10548	35	38	δt	δt	PROPN
aiti-10548	35	39	is	be	AUX
aiti-10548	35	40	the	the	DET
aiti-10548	35	41	nozzle	nozzle	NOUN
aiti-10548	35	42	angle	angle	NOUN
aiti-10548	35	43	of	of	ADP
aiti-10548	35	44	the	the	DET
aiti-10548	35	45	waterjet	waterjet	NOUN
aiti-10548	35	46	.	.	PUNCT
aiti-10548	36	1	the	the	DET
aiti-10548	36	2	target	target	NOUN
aiti-10548	36	3	heading	head	VERB
aiti-10548	36	4	angle	angle	NOUN
aiti-10548	36	5	(	(	PUNCT
aiti-10548	36	6	ψtc	ψtc	ADV
aiti-10548	36	7	)	)	PUNCT
aiti-10548	36	8	was	be	AUX
aiti-10548	36	9	calculated	calculate	VERB
aiti-10548	36	10	using	use	VERB
aiti-10548	36	11	the	the	DET
aiti-10548	36	12	waypoint	waypoint	NOUN
aiti-10548	36	13	of	of	ADP
aiti-10548	36	14	k	k	NOUN
aiti-10548	36	15	,	,	PUNCT
aiti-10548	36	16	and	and	CCONJ
aiti-10548	36	17	the	the	DET
aiti-10548	36	18	position	position	NOUN
aiti-10548	36	19	of	of	ADP
aiti-10548	36	20	aragon1	aragon1	NOUN
aiti-10548	36	21	was	be	AUX
aiti-10548	36	22	calculated	calculate	VERB
aiti-10548	36	23	using	use	VERB
aiti-10548	36	24	the	the	DET
aiti-10548	36	25	los	los	NOUN
aiti-10548	36	26	for	for	ADP
aiti-10548	36	27	path	path	NOUN
aiti-10548	36	28	following	follow	VERB
aiti-10548	36	29	[	[	X
aiti-10548	36	30	12	12	NUM
aiti-10548	36	31	]	]	PUNCT
aiti-10548	36	32	.	.	PUNCT
aiti-10548	37	1	in	in	ADP
aiti-10548	37	2	other	other	ADJ
aiti-10548	37	3	words	word	NOUN
aiti-10548	37	4	,	,	PUNCT
aiti-10548	37	5	aragon3	aragon3	PROPN
aiti-10548	37	6	was	be	AUX
aiti-10548	37	7	used	use	VERB
aiti-10548	37	8	for	for	ADP
aiti-10548	37	9	illegal	illegal	ADJ
aiti-10548	37	10	ship	ship	NOUN
aiti-10548	37	11	control	control	NOUN
aiti-10548	37	12	.	.	PUNCT
aiti-10548	38	1	a	a	DET
aiti-10548	38	2	target	target	NOUN
aiti-10548	38	3	-	-	PUNCT
aiti-10548	38	4	tracking	track	VERB
aiti-10548	38	5	algorithm	algorithm	NOUN
aiti-10548	38	6	is	be	AUX
aiti-10548	38	7	required	require	VERB
aiti-10548	38	8	for	for	ADP
aiti-10548	38	9	a	a	DET
aiti-10548	38	10	patrol	patrol	NOUN
aiti-10548	38	11	ship	ship	NOUN
aiti-10548	38	12	(	(	PUNCT
aiti-10548	38	13	i.e.	i.e.	X
aiti-10548	38	14	,	,	PUNCT
aiti-10548	38	15	aragon3	aragon3	ADJ
aiti-10548	38	16	)	)	PUNCT
aiti-10548	38	17	.	.	PUNCT
aiti-10548	39	1	yun	yun	PROPN
aiti-10548	39	2	et	et	PROPN
aiti-10548	39	3	al	al	PROPN
aiti-10548	39	4	.	.	PUNCT
aiti-10548	40	1	[	[	X
aiti-10548	40	2	13	13	NUM
aiti-10548	40	3	]	]	PUNCT
aiti-10548	40	4	developed	develop	VERB
aiti-10548	40	5	a	a	DET
aiti-10548	40	6	target	target	NOUN
aiti-10548	40	7	-	-	PUNCT
aiti-10548	40	8	tracking	track	VERB
aiti-10548	40	9	algorithm	algorithm	NOUN
aiti-10548	40	10	using	use	VERB
aiti-10548	40	11	the	the	DET
aiti-10548	40	12	concept	concept	NOUN
aiti-10548	40	13	of	of	ADP
aiti-10548	40	14	virtual	virtual	ADJ
aiti-10548	40	15	points	point	NOUN
aiti-10548	40	16	,	,	PUNCT
aiti-10548	40	17	as	as	SCONJ
aiti-10548	40	18	illustrated	illustrate	VERB
aiti-10548	40	19	in	in	ADP
aiti-10548	40	20	fig	fig	NOUN
aiti-10548	40	21	.	.	PUNCT
aiti-10548	41	1	2	2	X
aiti-10548	41	2	.	.	X
aiti-10548	41	3	their	their	PRON
aiti-10548	41	4	proposed	propose	VERB
aiti-10548	41	5	usv	usv	NOUN
aiti-10548	41	6	was	be	AUX
aiti-10548	41	7	used	use	VERB
aiti-10548	41	8	as	as	ADP
aiti-10548	41	9	a	a	DET
aiti-10548	41	10	patrol	patrol	NOUN
aiti-10548	41	11	ship	ship	NOUN
aiti-10548	41	12	to	to	PART
aiti-10548	41	13	track	track	VERB
aiti-10548	41	14	the	the	DET
aiti-10548	41	15	target	target	NOUN
aiti-10548	41	16	ship	ship	NOUN
aiti-10548	41	17	(	(	PUNCT
aiti-10548	41	18	illegal	illegal	ADJ
aiti-10548	41	19	ship	ship	NOUN
aiti-10548	41	20	)	)	PUNCT
aiti-10548	41	21	in	in	ADP
aiti-10548	41	22	the	the	DET
aiti-10548	41	23	starboard	starboard	NOUN
aiti-10548	41	24	and	and	CCONJ
aiti-10548	41	25	port	port	NOUN
aiti-10548	41	26	or	or	CCONJ
aiti-10548	41	27	stern	stern	NOUN
aiti-10548	41	28	.	.	PUNCT
aiti-10548	42	1	when	when	SCONJ
aiti-10548	42	2	tracking	track	VERB
aiti-10548	42	3	a	a	DET
aiti-10548	42	4	target	target	NOUN
aiti-10548	42	5	ship	ship	NOUN
aiti-10548	42	6	,	,	PUNCT
aiti-10548	42	7	the	the	DET
aiti-10548	42	8	usv	usv	ADJ
aiti-10548	42	9	must	must	AUX
aiti-10548	42	10	maintain	maintain	VERB
aiti-10548	42	11	a	a	DET
aiti-10548	42	12	certain	certain	ADJ
aiti-10548	42	13	direction	direction	NOUN
aiti-10548	42	14	with	with	ADP
aiti-10548	42	15	a	a	DET
aiti-10548	42	16	separation	separation	NOUN
aiti-10548	42	17	distance	distance	NOUN
aiti-10548	42	18	at	at	ADP
aiti-10548	42	19	a	a	DET
aiti-10548	42	20	specific	specific	ADJ
aiti-10548	42	21	speed	speed	NOUN
aiti-10548	42	22	.	.	PUNCT
aiti-10548	43	1	as	as	SCONJ
aiti-10548	43	2	shown	show	VERB
aiti-10548	43	3	in	in	ADP
aiti-10548	43	4	fig	fig	NOUN
aiti-10548	43	5	.	.	PUNCT
aiti-10548	44	1	2	2	NUM
aiti-10548	44	2	,	,	PUNCT
aiti-10548	44	3	the	the	DET
aiti-10548	44	4	usv	usv	ADJ
aiti-10548	44	5	tracks	track	VERB
aiti-10548	44	6	the	the	DET
aiti-10548	44	7	target	target	NOUN
aiti-10548	44	8	ship	ship	NOUN
aiti-10548	44	9	via	via	ADP
aiti-10548	44	10	virtual	virtual	ADJ
aiti-10548	44	11	points	point	NOUN
aiti-10548	44	12	“	"	PUNCT
aiti-10548	44	13	a	a	PRON
aiti-10548	44	14	”	"	PUNCT
aiti-10548	44	15	and	and	CCONJ
aiti-10548	44	16	“	"	PUNCT
aiti-10548	44	17	b.	b.	NOUN
aiti-10548	44	18	”	"	PUNCT
aiti-10548	44	19	in	in	ADP
aiti-10548	44	20	this	this	DET
aiti-10548	44	21	case	case	NOUN
aiti-10548	44	22	,	,	PUNCT
aiti-10548	44	23	virtual	virtual	ADJ
aiti-10548	44	24	point	point	NOUN
aiti-10548	44	25	“	"	PUNCT
aiti-10548	44	26	a	a	PRON
aiti-10548	44	27	”	"	PUNCT
aiti-10548	44	28	is	be	AUX
aiti-10548	44	29	generated	generate	VERB
aiti-10548	44	30	by	by	ADP
aiti-10548	44	31	the	the	DET
aiti-10548	44	32	heading	head	VERB
aiti-10548	44	33	angle	angle	NOUN
aiti-10548	44	34	of	of	ADP
aiti-10548	44	35	the	the	DET
aiti-10548	44	36	target	target	NOUN
aiti-10548	44	37	ship	ship	NOUN
aiti-10548	44	38	,	,	PUNCT
aiti-10548	44	39	and	and	CCONJ
aiti-10548	44	40	virtual	virtual	ADJ
aiti-10548	44	41	point	point	NOUN
aiti-10548	44	42	“	"	PUNCT
aiti-10548	44	43	b	b	X
aiti-10548	44	44	”	"	PUNCT
aiti-10548	44	45	is	be	AUX
aiti-10548	44	46	generated	generate	VERB
aiti-10548	44	47	by	by	ADP
aiti-10548	44	48	the	the	DET
aiti-10548	44	49	separation	separation	NOUN
aiti-10548	44	50	distance	distance	NOUN
aiti-10548	44	51	from	from	ADP
aiti-10548	44	52	the	the	DET
aiti-10548	44	53	target	target	NOUN
aiti-10548	44	54	ship	ship	NOUN
aiti-10548	44	55	.	.	PUNCT
aiti-10548	45	1	the	the	DET
aiti-10548	45	2	target	target	NOUN
aiti-10548	45	3	-	-	PUNCT
aiti-10548	45	4	tracking	track	VERB
aiti-10548	45	5	algorithm	algorithm	NOUN
aiti-10548	45	6	is	be	AUX
aiti-10548	45	7	based	base	VERB
aiti-10548	45	8	on	on	ADP
aiti-10548	45	9	tracking	track	VERB
aiti-10548	45	10	a	a	DET
aiti-10548	45	11	target	target	NOUN
aiti-10548	45	12	ship	ship	NOUN
aiti-10548	45	13	with	with	ADP
aiti-10548	45	14	the	the	DET
aiti-10548	45	15	los	los	PROPN
aiti-10548	45	16	angle	angle	PROPN
aiti-10548	45	17	.	.	PUNCT
aiti-10548	46	1	in	in	ADP
aiti-10548	46	2	addition	addition	NOUN
aiti-10548	46	3	,	,	PUNCT
aiti-10548	46	4	various	various	ADJ
aiti-10548	46	5	international	international	ADJ
aiti-10548	46	6	studies	study	NOUN
aiti-10548	46	7	related	relate	VERB
aiti-10548	46	8	to	to	ADP
aiti-10548	46	9	path	path	NOUN
aiti-10548	46	10	following	follow	VERB
aiti-10548	46	11	and	and	CCONJ
aiti-10548	46	12	target	target	VERB
aiti-10548	46	13	tracking	tracking	NOUN
aiti-10548	46	14	have	have	AUX
aiti-10548	46	15	been	be	AUX
aiti-10548	46	16	conducted	conduct	VERB
aiti-10548	46	17	[	[	X
aiti-10548	46	18	14	14	NUM
aiti-10548	46	19	]	]	PUNCT
aiti-10548	46	20	.	.	PUNCT
aiti-10548	47	1	an	an	DET
aiti-10548	47	2	improved	improve	VERB
aiti-10548	47	3	los	los	NOUN
aiti-10548	47	4	guidance	guidance	NOUN
aiti-10548	47	5	algorithm	algorithm	NOUN
aiti-10548	47	6	that	that	PRON
aiti-10548	47	7	can	can	AUX
aiti-10548	47	8	be	be	AUX
aiti-10548	47	9	adjusted	adjust	VERB
aiti-10548	47	10	based	base	VERB
aiti-10548	47	11	on	on	ADP
aiti-10548	47	12	the	the	DET
aiti-10548	47	13	path	path	NOUN
aiti-10548	47	14	-	-	PUNCT
aiti-10548	47	15	following	follow	VERB
aiti-10548	47	16	error	error	NOUN
aiti-10548	47	17	was	be	AUX
aiti-10548	47	18	investigated	investigate	VERB
aiti-10548	47	19	[	[	X
aiti-10548	47	20	15	15	NUM
aiti-10548	47	21	]	]	PUNCT
aiti-10548	47	22	.	.	PUNCT
aiti-10548	48	1	additionally	additionally	ADV
aiti-10548	48	2	,	,	PUNCT
aiti-10548	48	3	a	a	DET
aiti-10548	48	4	deep	deep	ADJ
aiti-10548	48	5	reinforcement	reinforcement	NOUN
aiti-10548	48	6	learning	learning	NOUN
aiti-10548	48	7	method	method	NOUN
aiti-10548	48	8	for	for	ADP
aiti-10548	48	9	solving	solve	VERB
aiti-10548	48	10	the	the	DET
aiti-10548	48	11	path	path	NOUN
aiti-10548	48	12	-	-	PUNCT
aiti-10548	48	13	following	follow	VERB
aiti-10548	48	14	problem	problem	NOUN
aiti-10548	48	15	of	of	ADP
aiti-10548	48	16	the	the	DET
aiti-10548	48	17	usv	usv	ADJ
aiti-10548	48	18	has	have	AUX
aiti-10548	48	19	been	be	AUX
aiti-10548	48	20	investigated	investigate	VERB
aiti-10548	48	21	based	base	VERB
aiti-10548	48	22	on	on	ADP
aiti-10548	48	23	the	the	DET
aiti-10548	48	24	decision	decision	NOUN
aiti-10548	48	25	-	-	PUNCT
aiti-10548	48	26	making	make	VERB
aiti-10548	48	27	network	network	NOUN
aiti-10548	48	28	[	[	X
aiti-10548	48	29	16	16	NUM
aiti-10548	48	30	-	-	SYM
aiti-10548	48	31	17	17	NUM
aiti-10548	48	32	]	]	PUNCT
aiti-10548	48	33	.	.	PUNCT
aiti-10548	49	1	the	the	DET
aiti-10548	49	2	straight	straight	ADJ
aiti-10548	49	3	-	-	PUNCT
aiti-10548	49	4	line	line	NOUN
aiti-10548	49	5	target	target	NOUN
aiti-10548	49	6	control	control	NOUN
aiti-10548	49	7	of	of	ADP
aiti-10548	49	8	usvs	usvs	NOUN
aiti-10548	49	9	has	have	AUX
aiti-10548	49	10	been	be	AUX
aiti-10548	49	11	investigated	investigate	VERB
aiti-10548	49	12	based	base	VERB
aiti-10548	49	13	on	on	ADP
aiti-10548	49	14	maneuverability	maneuverability	NOUN
aiti-10548	49	15	and	and	CCONJ
aiti-10548	49	16	agility	agility	NOUN
aiti-10548	49	17	using	use	VERB
aiti-10548	49	18	the	the	DET
aiti-10548	49	19	straight	straight	ADJ
aiti-10548	49	20	-	-	PUNCT
aiti-10548	49	21	line	line	NOUN
aiti-10548	49	22	concept	concept	NOUN
aiti-10548	49	23	with	with	ADP
aiti-10548	49	24	high	high	ADJ
aiti-10548	49	25	speed	speed	NOUN
aiti-10548	49	26	[	[	X
aiti-10548	49	27	18	18	NUM
aiti-10548	49	28	]	]	PUNCT
aiti-10548	49	29	.	.	PUNCT
aiti-10548	50	1	the	the	DET
aiti-10548	50	2	purpose	purpose	NOUN
aiti-10548	50	3	of	of	ADP
aiti-10548	50	4	this	this	DET
aiti-10548	50	5	study	study	NOUN
aiti-10548	50	6	is	be	AUX
aiti-10548	50	7	to	to	PART
aiti-10548	50	8	estimate	estimate	VERB
aiti-10548	50	9	the	the	DET
aiti-10548	50	10	mpi	mpi	PROPN
aiti-10548	50	11	using	use	VERB
aiti-10548	50	12	the	the	DET
aiti-10548	50	13	resulting	result	VERB
aiti-10548	50	14	trajectory	trajectory	NOUN
aiti-10548	50	15	of	of	ADP
aiti-10548	50	16	an	an	DET
aiti-10548	50	17	illegal	illegal	ADJ
aiti-10548	50	18	ship	ship	NOUN
aiti-10548	50	19	(	(	PUNCT
aiti-10548	50	20	aragon1	aragon1	PROPN
aiti-10548	50	21	)	)	PUNCT
aiti-10548	50	22	and	and	CCONJ
aiti-10548	50	23	a	a	DET
aiti-10548	50	24	patrol	patrol	NOUN
aiti-10548	50	25	ship	ship	NOUN
aiti-10548	50	26	(	(	PUNCT
aiti-10548	50	27	aragon	aragon	PROPN
aiti-10548	50	28	3	3	NUM
aiti-10548	50	29	)	)	PUNCT
aiti-10548	50	30	.	.	PUNCT
aiti-10548	51	1	in	in	ADP
aiti-10548	51	2	this	this	DET
aiti-10548	51	3	study	study	NOUN
aiti-10548	51	4	,	,	PUNCT
aiti-10548	51	5	the	the	DET
aiti-10548	51	6	path	path	NOUN
aiti-10548	51	7	-	-	PUNCT
aiti-10548	51	8	following	follow	VERB
aiti-10548	51	9	algorithm	algorithm	NOUN
aiti-10548	51	10	is	be	AUX
aiti-10548	51	11	applied	apply	VERB
aiti-10548	51	12	to	to	ADP
aiti-10548	51	13	an	an	DET
aiti-10548	51	14	illegal	illegal	ADJ
aiti-10548	51	15	ship	ship	NOUN
aiti-10548	51	16	(	(	PUNCT
aiti-10548	51	17	aragon1	aragon1	NOUN
aiti-10548	51	18	)	)	PUNCT
aiti-10548	51	19	using	use	VERB
aiti-10548	51	20	the	the	DET
aiti-10548	51	21	los	los	PROPN
aiti-10548	51	22	,	,	PUNCT
aiti-10548	51	23	and	and	CCONJ
aiti-10548	51	24	the	the	DET
aiti-10548	51	25	target	target	NOUN
aiti-10548	51	26	-	-	PUNCT
aiti-10548	51	27	tracking	track	VERB
aiti-10548	51	28	algorithm	algorithm	NOUN
aiti-10548	51	29	is	be	AUX
aiti-10548	51	30	applied	apply	VERB
aiti-10548	51	31	to	to	ADP
aiti-10548	51	32	the	the	DET
aiti-10548	51	33	patrol	patrol	NOUN
aiti-10548	51	34	ship	ship	NOUN
aiti-10548	51	35	(	(	PUNCT
aiti-10548	51	36	aragon3	aragon3	ADV
aiti-10548	51	37	)	)	PUNCT
aiti-10548	51	38	using	use	VERB
aiti-10548	51	39	the	the	DET
aiti-10548	51	40	concept	concept	NOUN
aiti-10548	51	41	of	of	ADP
aiti-10548	51	42	virtual	virtual	ADJ
aiti-10548	51	43	points	point	NOUN
aiti-10548	51	44	.	.	PUNCT
aiti-10548	52	1	fig	fig	NOUN
aiti-10548	52	2	.	.	PUNCT
aiti-10548	53	1	1	1	NUM
aiti-10548	53	2	path	path	NOUN
aiti-10548	53	3	-	-	PUNCT
aiti-10548	53	4	following	follow	VERB
aiti-10548	53	5	algorithm	algorithm	NOUN
aiti-10548	53	6	[	[	X
aiti-10548	53	7	12	12	NUM
aiti-10548	53	8	]	]	PUNCT
aiti-10548	53	9	fig	fig	NOUN
aiti-10548	53	10	.	.	PUNCT
aiti-10548	54	1	2	2	NUM
aiti-10548	54	2	target	target	NOUN
aiti-10548	54	3	-	-	PUNCT
aiti-10548	54	4	tracking	track	VERB
aiti-10548	54	5	algorithm	algorithm	NOUN
aiti-10548	54	6	[	[	X
aiti-10548	54	7	13	13	NUM
aiti-10548	54	8	]	]	X
aiti-10548	54	9	advances	advance	NOUN
aiti-10548	54	10	in	in	ADP
aiti-10548	54	11	technology	technology	NOUN
aiti-10548	54	12	innovation	innovation	NOUN
aiti-10548	54	13	,	,	PUNCT
aiti-10548	54	14	vol	vol	NOUN
aiti-10548	54	15	.	.	PROPN
aiti-10548	54	16	8	8	NUM
aiti-10548	54	17	,	,	PUNCT
aiti-10548	54	18	no	no	INTJ
aiti-10548	54	19	.	.	NOUN
aiti-10548	54	20	1	1	NUM
aiti-10548	54	21	,	,	PUNCT
aiti-10548	54	22	2023	2023	NUM
aiti-10548	54	23	,	,	PUNCT
aiti-10548	54	24	pp	pp	ADJ
aiti-10548	54	25	.	.	PUNCT
aiti-10548	55	1	29	29	NUM
aiti-10548	55	2	-	-	SYM
aiti-10548	55	3	37	37	NUM
aiti-10548	55	4	31	31	NUM
aiti-10548	55	5	3	3	NUM
aiti-10548	55	6	.	.	PUNCT
aiti-10548	55	7	estimation	estimation	NOUN
aiti-10548	55	8	of	of	ADP
aiti-10548	55	9	mpi	mpi	PROPN
aiti-10548	55	10	3.1	3.1	NUM
aiti-10548	55	11	.	.	PUNCT
aiti-10548	56	1	concept	concept	NOUN
aiti-10548	56	2	of	of	ADP
aiti-10548	56	3	mpi	mpi	PROPN
aiti-10548	56	4	the	the	DET
aiti-10548	56	5	performance	performance	NOUN
aiti-10548	56	6	of	of	ADP
aiti-10548	56	7	usvs	usvs	NOUN
aiti-10548	56	8	for	for	ADP
aiti-10548	56	9	mission	mission	NOUN
aiti-10548	56	10	planning	planning	NOUN
aiti-10548	56	11	and	and	CCONJ
aiti-10548	56	12	replanning	replanning	NOUN
aiti-10548	56	13	is	be	AUX
aiti-10548	56	14	to	to	PART
aiti-10548	56	15	be	be	AUX
aiti-10548	56	16	estimated	estimate	VERB
aiti-10548	56	17	.	.	PUNCT
aiti-10548	57	1	the	the	DET
aiti-10548	57	2	mpi	mpi	PROPN
aiti-10548	57	3	is	be	AUX
aiti-10548	57	4	calculated	calculate	VERB
aiti-10548	57	5	using	use	VERB
aiti-10548	57	6	the	the	DET
aiti-10548	57	7	resulting	result	VERB
aiti-10548	57	8	trajectory	trajectory	NOUN
aiti-10548	57	9	of	of	ADP
aiti-10548	57	10	the	the	DET
aiti-10548	57	11	usv	usv	ADJ
aiti-10548	57	12	,	,	PUNCT
aiti-10548	57	13	i.e.	i.e.	X
aiti-10548	57	14	,	,	PUNCT
aiti-10548	57	15	the	the	DET
aiti-10548	57	16	ratio	ratio	NOUN
aiti-10548	57	17	of	of	ADP
aiti-10548	57	18	the	the	DET
aiti-10548	57	19	individual	individual	ADJ
aiti-10548	57	20	mission	mission	NOUN
aiti-10548	57	21	area	area	NOUN
aiti-10548	57	22	to	to	ADP
aiti-10548	57	23	the	the	DET
aiti-10548	57	24	mission	mission	NOUN
aiti-10548	57	25	coverage	coverage	NOUN
aiti-10548	57	26	area	area	NOUN
aiti-10548	57	27	.	.	PUNCT
aiti-10548	58	1	as	as	SCONJ
aiti-10548	58	2	shown	show	VERB
aiti-10548	58	3	in	in	ADP
aiti-10548	58	4	fig	fig	NOUN
aiti-10548	58	5	.	.	PUNCT
aiti-10548	59	1	3	3	NUM
aiti-10548	59	2	,	,	PUNCT
aiti-10548	59	3	the	the	DET
aiti-10548	59	4	mission	mission	NOUN
aiti-10548	59	5	coverage	coverage	NOUN
aiti-10548	59	6	area	area	NOUN
aiti-10548	59	7	is	be	AUX
aiti-10548	59	8	in	in	ADP
aiti-10548	59	9	the	the	DET
aiti-10548	59	10	sea	sea	NOUN
aiti-10548	59	11	environment	environment	NOUN
aiti-10548	59	12	of	of	ADP
aiti-10548	59	13	illegal	illegal	ADJ
aiti-10548	59	14	ship	ship	NOUN
aiti-10548	59	15	control	control	NOUN
aiti-10548	59	16	,	,	PUNCT
aiti-10548	59	17	where	where	SCONJ
aiti-10548	59	18	the	the	DET
aiti-10548	59	19	fairways	fairway	NOUN
aiti-10548	59	20	of	of	ADP
aiti-10548	59	21	ships	ship	NOUN
aiti-10548	59	22	are	be	AUX
aiti-10548	59	23	extremely	extremely	ADV
aiti-10548	59	24	narrow	narrow	ADJ
aiti-10548	59	25	owing	owe	VERB
aiti-10548	59	26	to	to	ADP
aiti-10548	59	27	fish	fish	NOUN
aiti-10548	59	28	farms	farm	NOUN
aiti-10548	59	29	,	,	PUNCT
aiti-10548	59	30	tides	tide	NOUN
aiti-10548	59	31	,	,	PUNCT
aiti-10548	59	32	and	and	CCONJ
aiti-10548	59	33	reefs	reef	NOUN
aiti-10548	59	34	.	.	PUNCT
aiti-10548	60	1	the	the	DET
aiti-10548	60	2	mpi	mpi	PROPN
aiti-10548	60	3	is	be	AUX
aiti-10548	60	4	to	to	PART
aiti-10548	60	5	be	be	AUX
aiti-10548	60	6	analyzed	analyze	VERB
aiti-10548	60	7	while	while	SCONJ
aiti-10548	60	8	the	the	DET
aiti-10548	60	9	path	path	NOUN
aiti-10548	60	10	width	width	NOUN
aiti-10548	60	11	of	of	ADP
aiti-10548	60	12	the	the	DET
aiti-10548	60	13	mission	mission	NOUN
aiti-10548	60	14	coverage	coverage	NOUN
aiti-10548	60	15	area	area	NOUN
aiti-10548	60	16	is	be	AUX
aiti-10548	60	17	changed	change	VERB
aiti-10548	60	18	from	from	ADP
aiti-10548	60	19	“	"	PUNCT
aiti-10548	60	20	2l	2l	NUM
aiti-10548	60	21	”	"	PUNCT
aiti-10548	60	22	to	to	ADP
aiti-10548	60	23	“	"	PUNCT
aiti-10548	60	24	6l	6l	NUM
aiti-10548	60	25	.	.	PUNCT
aiti-10548	60	26	”	"	PUNCT
aiti-10548	61	1	in	in	ADP
aiti-10548	61	2	addition	addition	NOUN
aiti-10548	61	3	,	,	PUNCT
aiti-10548	61	4	if	if	SCONJ
aiti-10548	61	5	the	the	DET
aiti-10548	61	6	usv	usv	ADJ
aiti-10548	61	7	is	be	AUX
aiti-10548	61	8	outside	outside	ADP
aiti-10548	61	9	the	the	DET
aiti-10548	61	10	mission	mission	NOUN
aiti-10548	61	11	coverage	coverage	NOUN
aiti-10548	61	12	area	area	NOUN
aiti-10548	61	13	,	,	PUNCT
aiti-10548	61	14	then	then	ADV
aiti-10548	61	15	mpi	mpi	PROPN
aiti-10548	61	16	*	*	PUNCT
aiti-10548	61	17	is	be	AUX
aiti-10548	61	18	applied	apply	VERB
aiti-10548	61	19	to	to	PART
aiti-10548	61	20	estimate	estimate	VERB
aiti-10548	61	21	the	the	DET
aiti-10548	61	22	mpi	mpi	NOUN
aiti-10548	61	23	while	while	SCONJ
aiti-10548	61	24	considering	consider	VERB
aiti-10548	61	25	the	the	DET
aiti-10548	61	26	penalty	penalty	NOUN
aiti-10548	61	27	,	,	PUNCT
aiti-10548	61	28	as	as	SCONJ
aiti-10548	61	29	shown	show	VERB
aiti-10548	61	30	in	in	ADP
aiti-10548	61	31	fig	fig	NOUN
aiti-10548	61	32	.	.	PUNCT
aiti-10548	62	1	4	4	X
aiti-10548	62	2	.	.	X
aiti-10548	62	3	fig	fig	NOUN
aiti-10548	62	4	.	.	PUNCT
aiti-10548	63	1	3	3	NUM
aiti-10548	63	2	concept	concept	NOUN
aiti-10548	63	3	of	of	ADP
aiti-10548	63	4	mpi	mpi	ADJ
aiti-10548	63	5	and	and	CCONJ
aiti-10548	63	6	cases	case	NOUN
aiti-10548	63	7	of	of	ADP
aiti-10548	63	8	mission	mission	NOUN
aiti-10548	63	9	coverage	coverage	NOUN
aiti-10548	63	10	area	area	NOUN
aiti-10548	63	11	with	with	ADP
aiti-10548	63	12	various	various	ADJ
aiti-10548	63	13	path	path	NOUN
aiti-10548	63	14	widths	width	NOUN
aiti-10548	63	15	fig	fig	NOUN
aiti-10548	63	16	.	.	PUNCT
aiti-10548	64	1	4	4	NUM
aiti-10548	64	2	concept	concept	NOUN
aiti-10548	64	3	of	of	ADP
aiti-10548	64	4	mpi	mpi	ADJ
aiti-10548	64	5	and	and	CCONJ
aiti-10548	64	6	penalty	penalty	NOUN
aiti-10548	64	7	area	area	NOUN
aiti-10548	64	8	3.2	3.2	NUM
aiti-10548	64	9	.	.	PUNCT
aiti-10548	65	1	procedure	procedure	NOUN
aiti-10548	65	2	of	of	ADP
aiti-10548	65	3	mpi	mpi	ADJ
aiti-10548	65	4	estimation	estimation	NOUN
aiti-10548	65	5	in	in	ADP
aiti-10548	65	6	this	this	DET
aiti-10548	65	7	study	study	NOUN
aiti-10548	65	8	,	,	PUNCT
aiti-10548	65	9	the	the	DET
aiti-10548	65	10	mpi	mpi	PROPN
aiti-10548	65	11	was	be	AUX
aiti-10548	65	12	estimated	estimate	VERB
aiti-10548	65	13	to	to	PART
aiti-10548	65	14	analyze	analyze	VERB
aiti-10548	65	15	the	the	DET
aiti-10548	65	16	mission	mission	NOUN
aiti-10548	65	17	performance	performance	NOUN
aiti-10548	65	18	of	of	ADP
aiti-10548	65	19	the	the	DET
aiti-10548	65	20	usvs	usvs	NOUN
aiti-10548	65	21	.	.	PUNCT
aiti-10548	66	1	the	the	DET
aiti-10548	66	2	overall	overall	ADJ
aiti-10548	66	3	procedure	procedure	NOUN
aiti-10548	66	4	is	be	AUX
aiti-10548	66	5	summarized	summarize	VERB
aiti-10548	66	6	in	in	ADP
aiti-10548	66	7	table	table	NOUN
aiti-10548	66	8	1	1	NUM
aiti-10548	66	9	.	.	PUNCT
aiti-10548	67	1	first	first	ADV
aiti-10548	67	2	,	,	PUNCT
aiti-10548	67	3	the	the	DET
aiti-10548	67	4	usv	usv	ADJ
aiti-10548	67	5	information	information	NOUN
aiti-10548	67	6	was	be	AUX
aiti-10548	67	7	input	input	NOUN
aiti-10548	67	8	,	,	PUNCT
aiti-10548	67	9	including	include	VERB
aiti-10548	67	10	the	the	DET
aiti-10548	67	11	name	name	NOUN
aiti-10548	67	12	,	,	PUNCT
aiti-10548	67	13	length	length	NOUN
aiti-10548	67	14	,	,	PUNCT
aiti-10548	67	15	breadth	breadth	NOUN
aiti-10548	67	16	,	,	PUNCT
aiti-10548	67	17	and	and	CCONJ
aiti-10548	67	18	speed	speed	NOUN
aiti-10548	67	19	of	of	ADP
aiti-10548	67	20	the	the	DET
aiti-10548	67	21	usv	usv	NOUN
aiti-10548	67	22	.	.	PUNCT
aiti-10548	68	1	the	the	DET
aiti-10548	68	2	trajectory	trajectory	NOUN
aiti-10548	68	3	information	information	NOUN
aiti-10548	68	4	of	of	ADP
aiti-10548	68	5	the	the	DET
aiti-10548	68	6	usv	usv	ADJ
aiti-10548	68	7	was	be	AUX
aiti-10548	68	8	selected	select	VERB
aiti-10548	68	9	from	from	ADP
aiti-10548	68	10	the	the	DET
aiti-10548	68	11	simulation	simulation	NOUN
aiti-10548	68	12	results	result	NOUN
aiti-10548	68	13	,	,	PUNCT
aiti-10548	68	14	and	and	CCONJ
aiti-10548	68	15	the	the	DET
aiti-10548	68	16	mission	mission	NOUN
aiti-10548	68	17	coverage	coverage	NOUN
aiti-10548	68	18	area	area	NOUN
aiti-10548	68	19	was	be	AUX
aiti-10548	68	20	set	set	VERB
aiti-10548	68	21	using	use	VERB
aiti-10548	68	22	various	various	ADJ
aiti-10548	68	23	path	path	NOUN
aiti-10548	68	24	widths	width	NOUN
aiti-10548	68	25	.	.	PUNCT
aiti-10548	69	1	next	next	ADV
aiti-10548	69	2	,	,	PUNCT
aiti-10548	69	3	the	the	DET
aiti-10548	69	4	penalty	penalty	NOUN
aiti-10548	69	5	area	area	NOUN
aiti-10548	69	6	was	be	AUX
aiti-10548	69	7	calculated	calculate	VERB
aiti-10548	69	8	by	by	ADP
aiti-10548	69	9	considering	consider	VERB
aiti-10548	69	10	the	the	DET
aiti-10548	69	11	track	track	NOUN
aiti-10548	69	12	-	-	PUNCT
aiti-10548	69	13	off	off	NOUN
aiti-10548	69	14	from	from	ADP
aiti-10548	69	15	the	the	DET
aiti-10548	69	16	mission	mission	NOUN
aiti-10548	69	17	coverage	coverage	NOUN
aiti-10548	69	18	area	area	NOUN
aiti-10548	69	19	.	.	PUNCT
aiti-10548	70	1	finally	finally	ADV
aiti-10548	70	2	,	,	PUNCT
aiti-10548	70	3	the	the	DET
aiti-10548	70	4	mpi	mpi	NOUN
aiti-10548	70	5	was	be	AUX
aiti-10548	70	6	estimated	estimate	VERB
aiti-10548	70	7	using	use	VERB
aiti-10548	70	8	the	the	DET
aiti-10548	70	9	mission	mission	NOUN
aiti-10548	70	10	coverage	coverage	NOUN
aiti-10548	70	11	area	area	NOUN
aiti-10548	70	12	and	and	CCONJ
aiti-10548	70	13	penalty	penalty	NOUN
aiti-10548	70	14	area	area	NOUN
aiti-10548	70	15	.	.	PUNCT
aiti-10548	71	1	table	table	NOUN
aiti-10548	71	2	1	1	NUM
aiti-10548	71	3	procedure	procedure	NOUN
aiti-10548	71	4	for	for	ADP
aiti-10548	71	5	estimating	estimate	VERB
aiti-10548	71	6	mpi	mpi	ADJ
aiti-10548	71	7	*	*	ADJ
aiti-10548	71	8	step	step	NOUN
aiti-10548	71	9	description	description	NOUN
aiti-10548	71	10	1	1	NUM
aiti-10548	71	11	input	input	NOUN
aiti-10548	71	12	information	information	NOUN
aiti-10548	71	13	of	of	ADP
aiti-10548	71	14	usv	usv	ADJ
aiti-10548	71	15	2	2	NUM
aiti-10548	71	16	select	select	ADJ
aiti-10548	71	17	trajectory	trajectory	NOUN
aiti-10548	71	18	information	information	NOUN
aiti-10548	71	19	of	of	ADP
aiti-10548	71	20	usv	usv	ADJ
aiti-10548	71	21	3	3	NUM
aiti-10548	71	22	set	set	NOUN
aiti-10548	71	23	mission	mission	NOUN
aiti-10548	71	24	coverage	coverage	NOUN
aiti-10548	71	25	area	area	NOUN
aiti-10548	71	26	(	(	PUNCT
aiti-10548	71	27	path	path	NOUN
aiti-10548	71	28	width	width	NOUN
aiti-10548	71	29	:	:	PUNCT
aiti-10548	71	30	2l	2l	NUM
aiti-10548	71	31	to	to	ADP
aiti-10548	71	32	6l	6l	NUM
aiti-10548	71	33	)	)	PUNCT
aiti-10548	71	34	of	of	ADP
aiti-10548	71	35	usv	usv	ADJ
aiti-10548	71	36	4	4	NUM
aiti-10548	71	37	calculate	calculate	NOUN
aiti-10548	71	38	usv	usv	ADJ
aiti-10548	71	39	trajectory	trajectory	NOUN
aiti-10548	71	40	area	area	NOUN
aiti-10548	71	41	6	6	NUM
aiti-10548	71	42	calculate	calculate	NOUN
aiti-10548	71	43	penalty	penalty	NOUN
aiti-10548	71	44	area	area	NOUN
aiti-10548	71	45	7	7	NUM
aiti-10548	71	46	estimate	estimate	NOUN
aiti-10548	71	47	mpi	mpi	NOUN
aiti-10548	71	48	advances	advance	NOUN
aiti-10548	71	49	in	in	ADP
aiti-10548	71	50	technology	technology	NOUN
aiti-10548	71	51	innovation	innovation	NOUN
aiti-10548	71	52	,	,	PUNCT
aiti-10548	71	53	vol	vol	NOUN
aiti-10548	71	54	.	.	PROPN
aiti-10548	71	55	8	8	NUM
aiti-10548	71	56	,	,	PUNCT
aiti-10548	71	57	no	no	INTJ
aiti-10548	71	58	.	.	NOUN
aiti-10548	71	59	1	1	NUM
aiti-10548	71	60	,	,	PUNCT
aiti-10548	71	61	2023	2023	NUM
aiti-10548	71	62	,	,	PUNCT
aiti-10548	71	63	pp	pp	ADJ
aiti-10548	71	64	.	.	PUNCT
aiti-10548	72	1	29	29	NUM
aiti-10548	72	2	-	-	SYM
aiti-10548	72	3	37	37	NUM
aiti-10548	72	4	32	32	NUM
aiti-10548	72	5	fig	fig	NOUN
aiti-10548	72	6	.	.	PUNCT
aiti-10548	73	1	5	5	NUM
aiti-10548	73	2	flowchart	flowchart	NOUN
aiti-10548	73	3	for	for	ADP
aiti-10548	73	4	estimating	estimate	VERB
aiti-10548	73	5	mpi	mpi	ADJ
aiti-10548	73	6	fig	fig	NOUN
aiti-10548	73	7	.	.	PUNCT
aiti-10548	74	1	6	6	NUM
aiti-10548	74	2	example	example	NOUN
aiti-10548	74	3	of	of	ADP
aiti-10548	74	4	mpi	mpi	ADJ
aiti-10548	74	5	estimation	estimation	NOUN
aiti-10548	74	6	a	a	DET
aiti-10548	74	7	flowchart	flowchart	NOUN
aiti-10548	74	8	of	of	ADP
aiti-10548	74	9	mpi	mpi	PROPN
aiti-10548	74	10	estimation	estimation	NOUN
aiti-10548	74	11	is	be	AUX
aiti-10548	74	12	shown	show	VERB
aiti-10548	74	13	in	in	ADP
aiti-10548	74	14	fig	fig	NOUN
aiti-10548	74	15	.	.	PUNCT
aiti-10548	75	1	5	5	X
aiti-10548	75	2	.	.	PUNCT
aiti-10548	75	3	the	the	DET
aiti-10548	75	4	path	path	NOUN
aiti-10548	75	5	width	width	NOUN
aiti-10548	75	6	was	be	AUX
aiti-10548	75	7	changed	change	VERB
aiti-10548	75	8	from	from	ADP
aiti-10548	75	9	2l	2l	NUM
aiti-10548	75	10	to	to	ADP
aiti-10548	75	11	6l	6l	NUM
aiti-10548	75	12	to	to	PART
aiti-10548	75	13	verify	verify	VERB
aiti-10548	75	14	the	the	DET
aiti-10548	75	15	change	change	NOUN
aiti-10548	75	16	in	in	ADP
aiti-10548	75	17	the	the	DET
aiti-10548	75	18	estimated	estimate	VERB
aiti-10548	75	19	mpi	mpi	NOUN
aiti-10548	75	20	.	.	PUNCT
aiti-10548	76	1	furthermore	furthermore	ADV
aiti-10548	76	2	,	,	PUNCT
aiti-10548	76	3	the	the	DET
aiti-10548	76	4	total	total	ADJ
aiti-10548	76	5	area	area	NOUN
aiti-10548	76	6	of	of	ADP
aiti-10548	76	7	the	the	DET
aiti-10548	76	8	usv	usv	ADJ
aiti-10548	76	9	trajectory	trajectory	NOUN
aiti-10548	76	10	(	(	PUNCT
aiti-10548	76	11	cat(i	cat(i	PROPN
aiti-10548	76	12	)	)	PUNCT
aiti-10548	76	13	)	)	PUNCT
aiti-10548	76	14	,	,	PUNCT
aiti-10548	76	15	total	total	ADJ
aiti-10548	76	16	mission	mission	NOUN
aiti-10548	76	17	coverage	coverage	NOUN
aiti-10548	76	18	area	area	NOUN
aiti-10548	76	19	(	(	PUNCT
aiti-10548	76	20	tmc(i	tmc(i	PROPN
aiti-10548	76	21	)	)	PUNCT
aiti-10548	76	22	)	)	PUNCT
aiti-10548	76	23	,	,	PUNCT
aiti-10548	76	24	and	and	CCONJ
aiti-10548	76	25	penalty	penalty	NOUN
aiti-10548	76	26	area	area	NOUN
aiti-10548	76	27	(	(	PUNCT
aiti-10548	76	28	pa(i	pa(i	NOUN
aiti-10548	76	29	)	)	PUNCT
aiti-10548	76	30	)	)	PUNCT
aiti-10548	76	31	were	be	AUX
aiti-10548	76	32	calculated	calculate	VERB
aiti-10548	76	33	using	use	VERB
aiti-10548	76	34	the	the	DET
aiti-10548	76	35	equations	equation	NOUN
aiti-10548	76	36	shown	show	VERB
aiti-10548	76	37	in	in	ADP
aiti-10548	76	38	fig	fig	NOUN
aiti-10548	76	39	.	.	PUNCT
aiti-10548	77	1	5	5	X
aiti-10548	77	2	.	.	X
aiti-10548	77	3	mpi#(i	mpi#(i	PROPN
aiti-10548	77	4	)	)	PUNCT
aiti-10548	77	5	is	be	AUX
aiti-10548	77	6	the	the	DET
aiti-10548	77	7	ratio	ratio	NOUN
aiti-10548	77	8	of	of	ADP
aiti-10548	77	9	the	the	DET
aiti-10548	77	10	relative	relative	ADJ
aiti-10548	77	11	mpi*(i	mpi*(i	NOUN
aiti-10548	77	12	)	)	PUNCT
aiti-10548	77	13	of	of	ADP
aiti-10548	77	14	the	the	DET
aiti-10548	77	15	usv	usv	ADJ
aiti-10548	77	16	to	to	ADP
aiti-10548	77	17	the	the	DET
aiti-10548	77	18	mpi	mpi	NOUN
aiti-10548	77	19	in	in	ADP
aiti-10548	77	20	the	the	DET
aiti-10548	77	21	case	case	NOUN
aiti-10548	77	22	of	of	ADP
aiti-10548	77	23	the	the	DET
aiti-10548	77	24	resulting	result	VERB
aiti-10548	77	25	trajectory	trajectory	NOUN
aiti-10548	77	26	without	without	ADP
aiti-10548	77	27	track	track	NOUN
aiti-10548	77	28	-	-	PUNCT
aiti-10548	77	29	off	off	NOUN
aiti-10548	77	30	.	.	PUNCT
aiti-10548	78	1	an	an	DET
aiti-10548	78	2	example	example	NOUN
aiti-10548	78	3	of	of	ADP
aiti-10548	78	4	mpi	mpi	ADJ
aiti-10548	78	5	estimation	estimation	NOUN
aiti-10548	78	6	is	be	AUX
aiti-10548	78	7	shown	show	VERB
aiti-10548	78	8	in	in	ADP
aiti-10548	78	9	fig	fig	NOUN
aiti-10548	78	10	.	.	PUNCT
aiti-10548	79	1	6	6	NUM
aiti-10548	79	2	.	.	PUNCT
aiti-10548	80	1	the	the	DET
aiti-10548	80	2	notations	notation	NOUN
aiti-10548	80	3	used	use	VERB
aiti-10548	80	4	in	in	ADP
aiti-10548	80	5	mpi	mpi	ADJ
aiti-10548	80	6	estimation	estimation	NOUN
aiti-10548	80	7	are	be	AUX
aiti-10548	80	8	presented	present	VERB
aiti-10548	80	9	in	in	ADP
aiti-10548	80	10	the	the	DET
aiti-10548	80	11	nomenclature	nomenclature	NOUN
aiti-10548	80	12	section	section	NOUN
aiti-10548	80	13	.	.	PUNCT
aiti-10548	81	1	here	here	ADV
aiti-10548	81	2	,	,	PUNCT
aiti-10548	81	3	information	information	NOUN
aiti-10548	81	4	regarding	regard	VERB
aiti-10548	81	5	aragon1	aragon1	PROPN
aiti-10548	81	6	and	and	CCONJ
aiti-10548	81	7	aragon3	aragon3	PROPN
aiti-10548	81	8	is	be	AUX
aiti-10548	81	9	shown	show	VERB
aiti-10548	81	10	,	,	PUNCT
aiti-10548	81	11	such	such	ADJ
aiti-10548	81	12	as	as	ADP
aiti-10548	81	13	the	the	DET
aiti-10548	81	14	latitude	latitude	NOUN
aiti-10548	81	15	,	,	PUNCT
aiti-10548	81	16	longitude	longitude	NOUN
aiti-10548	81	17	,	,	PUNCT
aiti-10548	81	18	waypoints	waypoint	NOUN
aiti-10548	81	19	,	,	PUNCT
aiti-10548	81	20	speed	speed	NOUN
aiti-10548	81	21	,	,	PUNCT
aiti-10548	81	22	and	and	CCONJ
aiti-10548	81	23	heading	heading	NOUN
aiti-10548	81	24	.	.	PUNCT
aiti-10548	82	1	the	the	DET
aiti-10548	82	2	mission	mission	NOUN
aiti-10548	82	3	coverage	coverage	NOUN
aiti-10548	82	4	area	area	NOUN
aiti-10548	82	5	(	(	PUNCT
aiti-10548	82	6	eq	eq	NOUN
aiti-10548	82	7	.	.	PUNCT
aiti-10548	82	8	(	(	PUNCT
aiti-10548	82	9	1	1	NUM
aiti-10548	82	10	)	)	PUNCT
aiti-10548	82	11	)	)	PUNCT
aiti-10548	82	12	,	,	PUNCT
aiti-10548	82	13	usv	usv	PROPN
aiti-10548	82	14	trajectory	trajectory	NOUN
aiti-10548	82	15	area	area	NOUN
aiti-10548	82	16	(	(	PUNCT
aiti-10548	82	17	eq	eq	NOUN
aiti-10548	82	18	.	.	PUNCT
aiti-10548	82	19	(	(	PUNCT
aiti-10548	82	20	2	2	NUM
aiti-10548	82	21	)	)	PUNCT
aiti-10548	82	22	)	)	PUNCT
aiti-10548	82	23	,	,	PUNCT
aiti-10548	82	24	and	and	CCONJ
aiti-10548	82	25	penalty	penalty	NOUN
aiti-10548	82	26	areas	area	NOUN
aiti-10548	82	27	(	(	PUNCT
aiti-10548	82	28	eq	eq	NOUN
aiti-10548	82	29	.	.	PUNCT
aiti-10548	82	30	(	(	PUNCT
aiti-10548	82	31	3	3	NUM
aiti-10548	82	32	)	)	PUNCT
aiti-10548	82	33	)	)	PUNCT
aiti-10548	82	34	are	be	AUX
aiti-10548	82	35	calculated	calculate	VERB
aiti-10548	82	36	as	as	SCONJ
aiti-10548	82	37	follows	follow	VERB
aiti-10548	82	38	:	:	PUNCT
aiti-10548	82	39	advances	advance	NOUN
aiti-10548	82	40	in	in	ADP
aiti-10548	82	41	technology	technology	NOUN
aiti-10548	82	42	innovation	innovation	NOUN
aiti-10548	82	43	,	,	PUNCT
aiti-10548	82	44	vol	vol	NOUN
aiti-10548	82	45	.	.	PROPN
aiti-10548	82	46	8	8	NUM
aiti-10548	82	47	,	,	PUNCT
aiti-10548	82	48	no	no	INTJ
aiti-10548	82	49	.	.	NOUN
aiti-10548	82	50	1	1	NUM
aiti-10548	82	51	,	,	PUNCT
aiti-10548	82	52	2023	2023	NUM
aiti-10548	82	53	,	,	PUNCT
aiti-10548	82	54	pp	pp	ADJ
aiti-10548	82	55	.	.	PUNCT
aiti-10548	83	1	29	29	NUM
aiti-10548	83	2	-	-	SYM
aiti-10548	83	3	37	37	NUM
aiti-10548	83	4	33	33	NUM
aiti-10548	83	5	1	1	NUM
aiti-10548	83	6	(	(	PUNCT
aiti-10548	83	7	)	)	PUNCT
aiti-10548	83	8	(	(	PUNCT
aiti-10548	83	9	(	(	PUNCT
aiti-10548	83	10	)	)	PUNCT
aiti-10548	83	11	)	)	PUNCT
aiti-10548	83	12	2	2	NUM
aiti-10548	83	13	4	4	NUM
aiti-10548	83	14	6	6	NUM
aiti-10548	83	15	)	)	PUNCT
aiti-10548	83	16	n	n	CCONJ
aiti-10548	84	1	jj	jj	PROPN
aiti-10548	84	2	tmc	tmc	INTJ
aiti-10548	85	1	i	i	PRON
aiti-10548	85	2	wd	wd	INTJ
aiti-10548	86	1	i	i	PRON
aiti-10548	86	2	li	li	PROPN
aiti-10548	86	3	or	or	CCONJ
aiti-10548	86	4	or	or	CCONJ
aiti-10548	86	5	=	=	SYM
aiti-10548	87	1	=	=	SYM
aiti-10548	87	2	×	×	NOUN
aiti-10548	87	3	(	(	PUNCT
aiti-10548	87	4	×	×	X
aiti-10548	87	5	(	(	PUNCT
aiti-10548	87	6	1	1	NUM
aiti-10548	87	7	)	)	PUNCT
aiti-10548	87	8	1	1	NUM
aiti-10548	87	9	(	(	PUNCT
aiti-10548	87	10	)	)	PUNCT
aiti-10548	87	11	(	(	PUNCT
aiti-10548	87	12	(	(	PUNCT
aiti-10548	87	13	)	)	PUNCT
aiti-10548	87	14	)	)	PUNCT
aiti-10548	88	1	(	(	PUNCT
aiti-10548	88	2	)	)	PUNCT
aiti-10548	88	3	n	n	X
aiti-10548	88	4	jj	jj	PROPN
aiti-10548	88	5	cat	cat	NOUN
aiti-10548	89	1	i	i	PRON
aiti-10548	90	1	d	d	VERB
aiti-10548	90	2	i	i	PRON
aiti-10548	91	1	b	b	NOUN
aiti-10548	91	2	i	i	NOUN
aiti-10548	91	3	=	=	PUNCT
aiti-10548	91	4	=	=	SYM
aiti-10548	91	5	×	×	X
aiti-10548	91	6	(	(	PUNCT
aiti-10548	91	7	2	2	NUM
aiti-10548	91	8	)	)	PUNCT
aiti-10548	91	9	1	1	NUM
aiti-10548	91	10	(	(	PUNCT
aiti-10548	91	11	)	)	PUNCT
aiti-10548	91	12	(	(	PUNCT
aiti-10548	91	13	(	(	PUNCT
aiti-10548	91	14	)	)	PUNCT
aiti-10548	91	15	)	)	PUNCT
aiti-10548	91	16	(	(	PUNCT
aiti-10548	91	17	)	)	PUNCT
aiti-10548	92	1	n	n	X
aiti-10548	93	1	jj	jj	PROPN
aiti-10548	93	2	pa	pa	PROPN
aiti-10548	94	1	i	i	PRON
aiti-10548	94	2	gd	gd	VERB
aiti-10548	95	1	i	i	PRON
aiti-10548	95	2	b	b	VERB
aiti-10548	96	1	i	i	NOUN
aiti-10548	96	2	=	=	PUNCT
aiti-10548	96	3	=	=	SYM
aiti-10548	96	4	×	×	X
aiti-10548	96	5	(	(	PUNCT
aiti-10548	96	6	3	3	NUM
aiti-10548	96	7	)	)	PUNCT
aiti-10548	96	8	4	4	NUM
aiti-10548	96	9	.	.	X
aiti-10548	96	10	simulation	simulation	NOUN
aiti-10548	96	11	and	and	CCONJ
aiti-10548	96	12	results	result	VERB
aiti-10548	96	13	4.1	4.1	NUM
aiti-10548	96	14	.	.	PUNCT
aiti-10548	96	15	simulation	simulation	NOUN
aiti-10548	96	16	scenario	scenario	NOUN
aiti-10548	96	17	in	in	ADP
aiti-10548	96	18	this	this	DET
aiti-10548	96	19	study	study	NOUN
aiti-10548	96	20	,	,	PUNCT
aiti-10548	96	21	a	a	DET
aiti-10548	96	22	simulation	simulation	NOUN
aiti-10548	96	23	pertaining	pertain	VERB
aiti-10548	96	24	to	to	ADP
aiti-10548	96	25	the	the	DET
aiti-10548	96	26	illegal	illegal	ADJ
aiti-10548	96	27	control	control	NOUN
aiti-10548	96	28	of	of	ADP
aiti-10548	96	29	a	a	DET
aiti-10548	96	30	usv	usv	ADJ
aiti-10548	96	31	was	be	AUX
aiti-10548	96	32	conducted	conduct	VERB
aiti-10548	96	33	in	in	ADP
aiti-10548	96	34	gwangam	gwangam	NOUN
aiti-10548	96	35	port	port	NOUN
aiti-10548	96	36	,	,	PUNCT
aiti-10548	96	37	korea	korea	PROPN
aiti-10548	96	38	to	to	PART
aiti-10548	96	39	verify	verify	VERB
aiti-10548	96	40	the	the	DET
aiti-10548	96	41	proposed	propose	VERB
aiti-10548	96	42	mpi	mpi	ADJ
aiti-10548	96	43	-	-	PUNCT
aiti-10548	96	44	based	base	VERB
aiti-10548	96	45	estimation	estimation	NOUN
aiti-10548	96	46	method	method	NOUN
aiti-10548	96	47	.	.	PUNCT
aiti-10548	97	1	as	as	SCONJ
aiti-10548	97	2	illegal	illegal	ADJ
aiti-10548	97	3	ships	ship	NOUN
aiti-10548	97	4	frequently	frequently	ADV
aiti-10548	97	5	appear	appear	VERB
aiti-10548	97	6	on	on	ADP
aiti-10548	97	7	sea	sea	NOUN
aiti-10548	97	8	farms	farm	NOUN
aiti-10548	97	9	,	,	PUNCT
aiti-10548	97	10	a	a	DET
aiti-10548	97	11	sea	sea	NOUN
aiti-10548	97	12	farm	farm	NOUN
aiti-10548	97	13	was	be	AUX
aiti-10548	97	14	selected	select	VERB
aiti-10548	97	15	as	as	ADP
aiti-10548	97	16	the	the	DET
aiti-10548	97	17	game	game	NOUN
aiti-10548	97	18	area	area	NOUN
aiti-10548	97	19	for	for	ADP
aiti-10548	97	20	the	the	DET
aiti-10548	97	21	simulation	simulation	NOUN
aiti-10548	97	22	.	.	PUNCT
aiti-10548	98	1	aragon1	aragon1	PROPN
aiti-10548	98	2	was	be	AUX
aiti-10548	98	3	used	use	VERB
aiti-10548	98	4	as	as	ADP
aiti-10548	98	5	an	an	DET
aiti-10548	98	6	illegal	illegal	ADJ
aiti-10548	98	7	ship	ship	NOUN
aiti-10548	98	8	,	,	PUNCT
aiti-10548	98	9	and	and	CCONJ
aiti-10548	98	10	aragon3	aragon3	PROPN
aiti-10548	98	11	was	be	AUX
aiti-10548	98	12	used	use	VERB
aiti-10548	98	13	as	as	ADP
aiti-10548	98	14	a	a	DET
aiti-10548	98	15	patrol	patrol	NOUN
aiti-10548	98	16	ship	ship	NOUN
aiti-10548	98	17	for	for	ADP
aiti-10548	98	18	illegal	illegal	ADJ
aiti-10548	98	19	ship	ship	NOUN
aiti-10548	98	20	control	control	NOUN
aiti-10548	98	21	.	.	PUNCT
aiti-10548	99	1	the	the	DET
aiti-10548	99	2	escape	escape	NOUN
aiti-10548	99	3	path	path	NOUN
aiti-10548	99	4	of	of	ADP
aiti-10548	99	5	aragon1	aragon1	NOUN
aiti-10548	99	6	was	be	AUX
aiti-10548	99	7	planned	plan	VERB
aiti-10548	99	8	in	in	ADP
aiti-10548	99	9	advance	advance	NOUN
aiti-10548	99	10	by	by	ADP
aiti-10548	99	11	considering	consider	VERB
aiti-10548	99	12	the	the	DET
aiti-10548	99	13	zone	zone	NOUN
aiti-10548	99	14	of	of	ADP
aiti-10548	99	15	the	the	DET
aiti-10548	99	16	sea	sea	NOUN
aiti-10548	99	17	farm	farm	NOUN
aiti-10548	99	18	,	,	PUNCT
aiti-10548	99	19	as	as	SCONJ
aiti-10548	99	20	shown	show	VERB
aiti-10548	99	21	in	in	ADP
aiti-10548	99	22	fig	fig	NOUN
aiti-10548	99	23	.	.	PUNCT
aiti-10548	100	1	7	7	NUM
aiti-10548	100	2	,	,	PUNCT
aiti-10548	100	3	and	and	CCONJ
aiti-10548	100	4	aragon1	aragon1	NOUN
aiti-10548	100	5	trailed	trail	VERB
aiti-10548	100	6	this	this	DET
aiti-10548	100	7	path	path	NOUN
aiti-10548	100	8	using	use	VERB
aiti-10548	100	9	the	the	DET
aiti-10548	100	10	path	path	NOUN
aiti-10548	100	11	-	-	PUNCT
aiti-10548	100	12	following	follow	VERB
aiti-10548	100	13	algorithm	algorithm	NOUN
aiti-10548	100	14	based	base	VERB
aiti-10548	100	15	on	on	ADP
aiti-10548	100	16	the	the	DET
aiti-10548	100	17	los	los	PROPN
aiti-10548	101	1	[	[	X
aiti-10548	101	2	12	12	NUM
aiti-10548	101	3	]	]	PUNCT
aiti-10548	101	4	.	.	PUNCT
aiti-10548	102	1	aragon3	aragon3	PROPN
aiti-10548	102	2	chased	chase	VERB
aiti-10548	102	3	the	the	DET
aiti-10548	102	4	illegal	illegal	ADJ
aiti-10548	102	5	ship	ship	NOUN
aiti-10548	102	6	(	(	PUNCT
aiti-10548	102	7	aragon1	aragon1	PROPN
aiti-10548	102	8	)	)	PUNCT
aiti-10548	102	9	for	for	ADP
aiti-10548	102	10	illegal	illegal	ADJ
aiti-10548	102	11	ship	ship	NOUN
aiti-10548	102	12	control	control	NOUN
aiti-10548	102	13	using	use	VERB
aiti-10548	102	14	the	the	DET
aiti-10548	102	15	target	target	NOUN
aiti-10548	102	16	control	control	NOUN
aiti-10548	102	17	algorithm	algorithm	NOUN
aiti-10548	102	18	based	base	VERB
aiti-10548	102	19	on	on	ADP
aiti-10548	102	20	the	the	DET
aiti-10548	102	21	concept	concept	NOUN
aiti-10548	102	22	of	of	ADP
aiti-10548	102	23	virtual	virtual	ADJ
aiti-10548	102	24	points	point	NOUN
aiti-10548	103	1	[	[	X
aiti-10548	103	2	13	13	NUM
aiti-10548	103	3	]	]	PUNCT
aiti-10548	103	4	.	.	PUNCT
aiti-10548	104	1	table	table	NOUN
aiti-10548	104	2	2	2	NUM
aiti-10548	104	3	summarizes	summarize	VERB
aiti-10548	104	4	the	the	DET
aiti-10548	104	5	information	information	NOUN
aiti-10548	104	6	regarding	regard	VERB
aiti-10548	104	7	aragon1	aragon1	PROPN
aiti-10548	104	8	and	and	CCONJ
aiti-10548	104	9	aragon3	aragon3	PROPN
aiti-10548	104	10	.	.	PUNCT
aiti-10548	105	1	the	the	DET
aiti-10548	105	2	usv	usv	PROPN
aiti-10548	105	3	simulation	simulation	NOUN
aiti-10548	105	4	was	be	AUX
aiti-10548	105	5	conducted	conduct	VERB
aiti-10548	105	6	via	via	ADP
aiti-10548	105	7	dynamic	dynamic	ADJ
aiti-10548	105	8	simulation	simulation	NOUN
aiti-10548	105	9	based	base	VERB
aiti-10548	105	10	on	on	ADP
aiti-10548	105	11	the	the	DET
aiti-10548	105	12	nomoto	nomoto	NOUN
aiti-10548	105	13	model	model	NOUN
aiti-10548	105	14	[	[	X
aiti-10548	105	15	19	19	NUM
aiti-10548	105	16	]	]	PUNCT
aiti-10548	105	17	.	.	PUNCT
aiti-10548	106	1	the	the	DET
aiti-10548	106	2	resulting	result	VERB
aiti-10548	106	3	trajectories	trajectory	NOUN
aiti-10548	106	4	of	of	ADP
aiti-10548	106	5	aragon1	aragon1	PROPN
aiti-10548	106	6	and	and	CCONJ
aiti-10548	106	7	aragon3	aragon3	PROPN
aiti-10548	106	8	using	use	VERB
aiti-10548	106	9	the	the	DET
aiti-10548	106	10	path	path	NOUN
aiti-10548	106	11	-	-	PUNCT
aiti-10548	106	12	following	follow	VERB
aiti-10548	106	13	and	and	CCONJ
aiti-10548	106	14	target	target	NOUN
aiti-10548	106	15	-	-	PUNCT
aiti-10548	106	16	tracking	track	VERB
aiti-10548	106	17	algorithms	algorithm	NOUN
aiti-10548	106	18	are	be	AUX
aiti-10548	106	19	shown	show	VERB
aiti-10548	106	20	in	in	ADP
aiti-10548	106	21	fig	fig	NOUN
aiti-10548	106	22	.	.	PUNCT
aiti-10548	107	1	8	8	NUM
aiti-10548	107	2	.	.	X
aiti-10548	107	3	fig	fig	NOUN
aiti-10548	107	4	.	.	PUNCT
aiti-10548	108	1	9	9	NUM
aiti-10548	108	2	shows	show	VERB
aiti-10548	108	3	the	the	DET
aiti-10548	108	4	histories	history	NOUN
aiti-10548	108	5	of	of	ADP
aiti-10548	108	6	the	the	DET
aiti-10548	108	7	speed	speed	NOUN
aiti-10548	108	8	and	and	CCONJ
aiti-10548	108	9	heading	head	VERB
aiti-10548	108	10	angle	angle	NOUN
aiti-10548	108	11	of	of	ADP
aiti-10548	108	12	aragon1	aragon1	PROPN
aiti-10548	108	13	and	and	CCONJ
aiti-10548	108	14	aragon3	aragon3	PROPN
aiti-10548	108	15	based	base	VERB
aiti-10548	108	16	on	on	ADP
aiti-10548	108	17	the	the	DET
aiti-10548	108	18	simulation	simulation	NOUN
aiti-10548	108	19	.	.	PUNCT
aiti-10548	109	1	as	as	SCONJ
aiti-10548	109	2	shown	show	VERB
aiti-10548	109	3	in	in	ADP
aiti-10548	109	4	figs	fig	NOUN
aiti-10548	109	5	.	.	PUNCT
aiti-10548	110	1	8	8	NUM
aiti-10548	110	2	and	and	CCONJ
aiti-10548	110	3	9	9	NUM
aiti-10548	110	4	,	,	PUNCT
aiti-10548	110	5	the	the	DET
aiti-10548	110	6	simulation	simulation	NOUN
aiti-10548	110	7	was	be	AUX
aiti-10548	110	8	conducted	conduct	VERB
aiti-10548	110	9	with	with	ADP
aiti-10548	110	10	the	the	DET
aiti-10548	110	11	path	path	NOUN
aiti-10548	110	12	widths	width	NOUN
aiti-10548	110	13	ranging	range	VERB
aiti-10548	110	14	from	from	ADP
aiti-10548	110	15	“	"	PUNCT
aiti-10548	110	16	2l	2l	NUM
aiti-10548	110	17	”	"	PUNCT
aiti-10548	110	18	to	to	ADP
aiti-10548	110	19	“	"	PUNCT
aiti-10548	110	20	6l	6l	NUM
aiti-10548	110	21	”	"	PUNCT
aiti-10548	110	22	to	to	PART
aiti-10548	110	23	verify	verify	VERB
aiti-10548	110	24	the	the	DET
aiti-10548	110	25	change	change	NOUN
aiti-10548	110	26	in	in	ADP
aiti-10548	110	27	the	the	DET
aiti-10548	110	28	estimated	estimate	VERB
aiti-10548	110	29	mpi	mpi	NOUN
aiti-10548	110	30	.	.	PUNCT
aiti-10548	111	1	the	the	DET
aiti-10548	111	2	red	red	ADJ
aiti-10548	111	3	and	and	CCONJ
aiti-10548	111	4	blue	blue	ADJ
aiti-10548	111	5	lines	line	NOUN
aiti-10548	111	6	represent	represent	VERB
aiti-10548	111	7	the	the	DET
aiti-10548	111	8	resulting	result	VERB
aiti-10548	111	9	trajectories	trajectory	NOUN
aiti-10548	111	10	of	of	ADP
aiti-10548	111	11	aragon1	aragon1	PROPN
aiti-10548	111	12	and	and	CCONJ
aiti-10548	111	13	aragon3	aragon3	PROPN
aiti-10548	111	14	,	,	PUNCT
aiti-10548	111	15	respectively	respectively	ADV
aiti-10548	111	16	.	.	PUNCT
aiti-10548	112	1	the	the	DET
aiti-10548	112	2	path	path	NOUN
aiti-10548	112	3	-	-	PUNCT
aiti-10548	112	4	following	follow	VERB
aiti-10548	112	5	algorithm	algorithm	NOUN
aiti-10548	112	6	of	of	ADP
aiti-10548	112	7	aragon1	aragon1	PROPN
aiti-10548	112	8	was	be	AUX
aiti-10548	112	9	successfully	successfully	ADV
aiti-10548	112	10	conducted	conduct	VERB
aiti-10548	112	11	at	at	ADP
aiti-10548	112	12	a	a	DET
aiti-10548	112	13	speed	speed	NOUN
aiti-10548	112	14	of	of	ADP
aiti-10548	112	15	10	10	NUM
aiti-10548	112	16	knots	knot	NOUN
aiti-10548	112	17	.	.	PUNCT
aiti-10548	113	1	furthermore	furthermore	ADV
aiti-10548	113	2	,	,	PUNCT
aiti-10548	113	3	the	the	DET
aiti-10548	113	4	target	target	NOUN
aiti-10548	113	5	control	control	NOUN
aiti-10548	113	6	algorithm	algorithm	NOUN
aiti-10548	113	7	of	of	ADP
aiti-10548	113	8	aragon3	aragon3	PROPN
aiti-10548	113	9	was	be	AUX
aiti-10548	113	10	successfully	successfully	ADV
aiti-10548	113	11	implemented	implement	VERB
aiti-10548	113	12	at	at	ADP
aiti-10548	113	13	a	a	DET
aiti-10548	113	14	high	high	ADJ
aiti-10548	113	15	speed	speed	NOUN
aiti-10548	113	16	in	in	ADP
aiti-10548	113	17	the	the	DET
aiti-10548	113	18	simulation	simulation	NOUN
aiti-10548	113	19	.	.	PUNCT
aiti-10548	114	1	the	the	DET
aiti-10548	114	2	heading	head	VERB
aiti-10548	114	3	error	error	NOUN
aiti-10548	114	4	between	between	ADP
aiti-10548	114	5	aragon1	aragon1	PROPN
aiti-10548	114	6	and	and	CCONJ
aiti-10548	114	7	aragon3	aragon3	PROPN
aiti-10548	114	8	can	can	AUX
aiti-10548	114	9	be	be	AUX
aiti-10548	114	10	determined	determine	VERB
aiti-10548	114	11	because	because	SCONJ
aiti-10548	114	12	aragon3	aragon3	NOUN
aiti-10548	114	13	tracks	track	VERB
aiti-10548	114	14	aragon1	aragon1	NOUN
aiti-10548	114	15	via	via	ADP
aiti-10548	114	16	the	the	DET
aiti-10548	114	17	target	target	NOUN
aiti-10548	114	18	-	-	PUNCT
aiti-10548	114	19	tracking	track	VERB
aiti-10548	114	20	algorithm	algorithm	NOUN
aiti-10548	114	21	on	on	ADP
aiti-10548	114	22	the	the	DET
aiti-10548	114	23	stern	stern	ADJ
aiti-10548	114	24	side	side	NOUN
aiti-10548	114	25	.	.	PUNCT
aiti-10548	115	1	fig	fig	NOUN
aiti-10548	115	2	.	.	PUNCT
aiti-10548	116	1	7	7	NUM
aiti-10548	116	2	path	path	NOUN
aiti-10548	116	3	of	of	ADP
aiti-10548	116	4	aragon1	aragon1	NOUN
aiti-10548	116	5	and	and	CCONJ
aiti-10548	116	6	location	location	NOUN
aiti-10548	116	7	of	of	ADP
aiti-10548	116	8	sea	sea	NOUN
aiti-10548	116	9	farm	farm	NOUN
aiti-10548	116	10	table	table	NOUN
aiti-10548	116	11	2	2	NUM
aiti-10548	116	12	information	information	NOUN
aiti-10548	116	13	regarding	regard	VERB
aiti-10548	116	14	aragon1	aragon1	PROPN
aiti-10548	116	15	and	and	CCONJ
aiti-10548	116	16	aragon3	aragon3	PROPN
aiti-10548	116	17	no	no	DET
aiti-10548	116	18	.	.	PUNCT
aiti-10548	116	19	ship	ship	NOUN
aiti-10548	116	20	length	length	NOUN
aiti-10548	116	21	(	(	PUNCT
aiti-10548	116	22	m	m	NOUN
aiti-10548	116	23	)	)	PUNCT
aiti-10548	116	24	breadth	breadth	NOUN
aiti-10548	116	25	(	(	PUNCT
aiti-10548	116	26	m	m	NOUN
aiti-10548	116	27	)	)	PUNCT
aiti-10548	116	28	maximum	maximum	ADJ
aiti-10548	116	29	speed	speed	NOUN
aiti-10548	116	30	(	(	PUNCT
aiti-10548	116	31	knot	knot	NOUN
aiti-10548	116	32	)	)	PUNCT
aiti-10548	116	33	1	1	NUM
aiti-10548	116	34	illegal	illegal	ADJ
aiti-10548	116	35	ship	ship	NOUN
aiti-10548	116	36	(	(	PUNCT
aiti-10548	116	37	aragon1	aragon1	PROPN
aiti-10548	116	38	)	)	PUNCT
aiti-10548	116	39	8	8	NUM
aiti-10548	116	40	2.5	2.5	NUM
aiti-10548	116	41	10	10	NUM
aiti-10548	116	42	2	2	NUM
aiti-10548	116	43	patrol	patrol	NOUN
aiti-10548	116	44	ship	ship	NOUN
aiti-10548	116	45	(	(	PUNCT
aiti-10548	116	46	aragon3	aragon3	PROPN
aiti-10548	116	47	)	)	PUNCT
aiti-10548	116	48	8	8	NUM
aiti-10548	116	49	2.5	2.5	NUM
aiti-10548	116	50	max	max	NOUN
aiti-10548	116	51	20	20	NUM
aiti-10548	116	52	advances	advance	NOUN
aiti-10548	116	53	in	in	ADP
aiti-10548	116	54	technology	technology	NOUN
aiti-10548	116	55	innovation	innovation	NOUN
aiti-10548	116	56	,	,	PUNCT
aiti-10548	116	57	vol	vol	NOUN
aiti-10548	116	58	.	.	PROPN
aiti-10548	116	59	8	8	NUM
aiti-10548	116	60	,	,	PUNCT
aiti-10548	116	61	no	no	INTJ
aiti-10548	116	62	.	.	NOUN
aiti-10548	116	63	1	1	NUM
aiti-10548	116	64	,	,	PUNCT
aiti-10548	116	65	2023	2023	NUM
aiti-10548	116	66	,	,	PUNCT
aiti-10548	116	67	pp	pp	ADJ
aiti-10548	116	68	.	.	PUNCT
aiti-10548	117	1	29	29	NUM
aiti-10548	117	2	-	-	SYM
aiti-10548	117	3	37	37	NUM
aiti-10548	117	4	34	34	NUM
aiti-10548	117	5	fig	fig	NOUN
aiti-10548	117	6	.	.	PUNCT
aiti-10548	118	1	8	8	NUM
aiti-10548	118	2	resulting	result	VERB
aiti-10548	118	3	trajectories	trajectory	NOUN
aiti-10548	118	4	of	of	ADP
aiti-10548	118	5	aragon1	aragon1	PROPN
aiti-10548	118	6	and	and	CCONJ
aiti-10548	118	7	aragon3	aragon3	PROPN
aiti-10548	118	8	(	(	PUNCT
aiti-10548	118	9	a	a	X
aiti-10548	118	10	)	)	PUNCT
aiti-10548	118	11	speed	speed	NOUN
aiti-10548	118	12	of	of	ADP
aiti-10548	118	13	aragon1	aragon1	PROPN
aiti-10548	118	14	and	and	CCONJ
aiti-10548	118	15	aragon3	aragon3	PROPN
aiti-10548	118	16	(	(	PUNCT
aiti-10548	118	17	b	b	X
aiti-10548	118	18	)	)	PUNCT
aiti-10548	118	19	heading	head	VERB
aiti-10548	118	20	angle	angle	NOUN
aiti-10548	118	21	of	of	ADP
aiti-10548	118	22	aragon1	aragon1	PROPN
aiti-10548	118	23	and	and	CCONJ
aiti-10548	118	24	aragon3	aragon3	PROPN
aiti-10548	118	25	fig	fig	NOUN
aiti-10548	118	26	.	.	PUNCT
aiti-10548	118	27	9	9	NUM
aiti-10548	118	28	time	time	NOUN
aiti-10548	118	29	histories	history	NOUN
aiti-10548	118	30	of	of	ADP
aiti-10548	118	31	the	the	DET
aiti-10548	118	32	speed	speed	NOUN
aiti-10548	118	33	and	and	CCONJ
aiti-10548	118	34	heading	head	VERB
aiti-10548	118	35	angle	angle	NOUN
aiti-10548	118	36	of	of	ADP
aiti-10548	118	37	aragon1	aragon1	PROPN
aiti-10548	118	38	and	and	CCONJ
aiti-10548	118	39	aragon3	aragon3	PROPN
aiti-10548	118	40	4.2	4.2	NUM
aiti-10548	118	41	.	.	PUNCT
aiti-10548	119	1	analysis	analysis	NOUN
aiti-10548	119	2	of	of	ADP
aiti-10548	119	3	mpi	mpi	PROPN
aiti-10548	119	4	based	base	VERB
aiti-10548	119	5	on	on	ADP
aiti-10548	119	6	simulation	simulation	NOUN
aiti-10548	119	7	results	result	NOUN
aiti-10548	119	8	as	as	SCONJ
aiti-10548	119	9	shown	show	VERB
aiti-10548	119	10	in	in	ADP
aiti-10548	119	11	tables	table	NOUN
aiti-10548	119	12	3	3	NUM
aiti-10548	119	13	and	and	CCONJ
aiti-10548	119	14	4	4	NUM
aiti-10548	119	15	,	,	PUNCT
aiti-10548	119	16	the	the	DET
aiti-10548	119	17	mpi	mpi	PROPN
aiti-10548	119	18	*	*	PUNCT
aiti-10548	119	19	exceeds	exceed	VERB
aiti-10548	119	20	95	95	NUM
aiti-10548	119	21	%	%	NOUN
aiti-10548	119	22	for	for	ADP
aiti-10548	119	23	the	the	DET
aiti-10548	119	24	illegal	illegal	ADJ
aiti-10548	119	25	ship	ship	NOUN
aiti-10548	119	26	(	(	PUNCT
aiti-10548	119	27	aragon1	aragon1	ADJ
aiti-10548	119	28	)	)	PUNCT
aiti-10548	119	29	and	and	CCONJ
aiti-10548	119	30	patrol	patrol	NOUN
aiti-10548	119	31	ship	ship	NOUN
aiti-10548	119	32	(	(	PUNCT
aiti-10548	119	33	aragon3	aragon3	PROPN
aiti-10548	119	34	)	)	PUNCT
aiti-10548	119	35	.	.	PUNCT
aiti-10548	120	1	this	this	PRON
aiti-10548	120	2	implies	imply	VERB
aiti-10548	120	3	that	that	SCONJ
aiti-10548	120	4	aragon1	aragon1	PROPN
aiti-10548	120	5	successfully	successfully	ADV
aiti-10548	120	6	conducted	conduct	VERB
aiti-10548	120	7	path	path	NOUN
aiti-10548	120	8	following	follow	VERB
aiti-10548	120	9	as	as	ADP
aiti-10548	120	10	an	an	DET
aiti-10548	120	11	illegal	illegal	ADJ
aiti-10548	120	12	ship	ship	NOUN
aiti-10548	120	13	,	,	PUNCT
aiti-10548	120	14	and	and	CCONJ
aiti-10548	120	15	aragon3	aragon3	AUX
aiti-10548	120	16	successfully	successfully	ADV
aiti-10548	120	17	conducted	conduct	VERB
aiti-10548	120	18	target	target	NOUN
aiti-10548	120	19	tracking	tracking	NOUN
aiti-10548	120	20	as	as	ADP
aiti-10548	120	21	a	a	DET
aiti-10548	120	22	patrol	patrol	NOUN
aiti-10548	120	23	ship	ship	NOUN
aiti-10548	120	24	.	.	PUNCT
aiti-10548	121	1	the	the	DET
aiti-10548	121	2	mpi	mpi	ADJ
aiti-10548	121	3	#	#	NOUN
aiti-10548	121	4	of	of	ADP
aiti-10548	121	5	aragon1	aragon1	PROPN
aiti-10548	121	6	was	be	AUX
aiti-10548	121	7	4.9	4.9	NUM
aiti-10548	121	8	%	%	NOUN
aiti-10548	121	9	higher	high	ADJ
aiti-10548	121	10	than	than	ADP
aiti-10548	121	11	that	that	PRON
aiti-10548	121	12	of	of	ADP
aiti-10548	121	13	aragon3	aragon3	PROPN
aiti-10548	121	14	,	,	PUNCT
aiti-10548	121	15	on	on	ADP
aiti-10548	121	16	average	average	ADJ
aiti-10548	121	17	.	.	PUNCT
aiti-10548	122	1	this	this	PRON
aiti-10548	122	2	is	be	AUX
aiti-10548	122	3	because	because	SCONJ
aiti-10548	122	4	aragon1	aragon1	PROPN
aiti-10548	122	5	adhered	adhere	VERB
aiti-10548	122	6	to	to	ADP
aiti-10548	122	7	the	the	DET
aiti-10548	122	8	designated	designate	VERB
aiti-10548	122	9	path	path	NOUN
aiti-10548	122	10	,	,	PUNCT
aiti-10548	122	11	whereas	whereas	SCONJ
aiti-10548	122	12	aragon3	aragon3	PROPN
aiti-10548	122	13	tracked	track	VERB
aiti-10548	122	14	aragon1	aragon1	PROPN
aiti-10548	122	15	.	.	PUNCT
aiti-10548	123	1	therefore	therefore	ADV
aiti-10548	123	2	,	,	PUNCT
aiti-10548	123	3	aragon3	aragon3	PROPN
aiti-10548	123	4	exhibited	exhibit	VERB
aiti-10548	123	5	track	track	NOUN
aiti-10548	123	6	-	-	PUNCT
aiti-10548	123	7	off	off	NOUN
aiti-10548	123	8	in	in	ADP
aiti-10548	123	9	target	target	NOUN
aiti-10548	123	10	control	control	NOUN
aiti-10548	123	11	owing	owe	VERB
aiti-10548	123	12	to	to	ADP
aiti-10548	123	13	the	the	DET
aiti-10548	123	14	heading	head	VERB
aiti-10548	123	15	error	error	NOUN
aiti-10548	123	16	during	during	ADP
aiti-10548	123	17	target	target	NOUN
aiti-10548	123	18	tracking	tracking	NOUN
aiti-10548	123	19	.	.	PUNCT
aiti-10548	124	1	furthermore	furthermore	ADV
aiti-10548	124	2	,	,	PUNCT
aiti-10548	124	3	as	as	SCONJ
aiti-10548	124	4	the	the	DET
aiti-10548	124	5	path	path	NOUN
aiti-10548	124	6	width	width	NOUN
aiti-10548	124	7	of	of	ADP
aiti-10548	124	8	the	the	DET
aiti-10548	124	9	mission	mission	NOUN
aiti-10548	124	10	coverage	coverage	NOUN
aiti-10548	124	11	area	area	NOUN
aiti-10548	124	12	widened	widen	VERB
aiti-10548	124	13	(	(	PUNCT
aiti-10548	124	14	from	from	ADP
aiti-10548	124	15	2l	2l	NUM
aiti-10548	124	16	to	to	ADP
aiti-10548	124	17	6l	6l	NUM
aiti-10548	124	18	)	)	PUNCT
aiti-10548	124	19	,	,	PUNCT
aiti-10548	124	20	mpi	mpi	ADJ
aiti-10548	124	21	#	#	NOUN
aiti-10548	124	22	increased	increase	VERB
aiti-10548	124	23	because	because	SCONJ
aiti-10548	124	24	the	the	DET
aiti-10548	124	25	penalty	penalty	NOUN
aiti-10548	124	26	area	area	NOUN
aiti-10548	124	27	in	in	ADP
aiti-10548	124	28	both	both	PRON
aiti-10548	124	29	aragon1	aragon1	NOUN
aiti-10548	124	30	and	and	CCONJ
aiti-10548	124	31	aragon3	aragon3	PROPN
aiti-10548	124	32	reduced	reduce	VERB
aiti-10548	124	33	.	.	PUNCT
aiti-10548	125	1	table	table	NOUN
aiti-10548	125	2	3	3	NUM
aiti-10548	125	3	mpi	mpi	PROPN
aiti-10548	125	4	results	result	NOUN
aiti-10548	125	5	mission	mission	NOUN
aiti-10548	125	6	coverage	coverage	PROPN
aiti-10548	125	7	area	area	NOUN
aiti-10548	125	8	index	index	NOUN
aiti-10548	125	9	units	unit	NOUN
aiti-10548	125	10	aragon1	aragon1	NOUN
aiti-10548	125	11	aragon3	aragon3	PROPN
aiti-10548	126	1	2l	2l	NUM
aiti-10548	126	2	cat(i	cat(i	NOUN
aiti-10548	126	3	)	)	PUNCT
aiti-10548	126	4	(	(	PUNCT
aiti-10548	126	5	m2	m2	PROPN
aiti-10548	126	6	)	)	PUNCT
aiti-10548	126	7	4,611.62	4,611.62	NUM
aiti-10548	126	8	4,847.85	4,847.85	NUM
aiti-10548	126	9	np(i	np(i	NUM
aiti-10548	126	10	)	)	PUNCT
aiti-10548	126	11	(	(	PUNCT
aiti-10548	126	12	ea	ea	NOUN
aiti-10548	126	13	)	)	PUNCT
aiti-10548	126	14	84	84	NUM
aiti-10548	126	15	1,399	1,399	NUM
aiti-10548	126	16	pa(i	pa(i	NOUN
aiti-10548	126	17	)	)	PUNCT
aiti-10548	126	18	(	(	PUNCT
aiti-10548	126	19	m2	m2	PROPN
aiti-10548	126	20	)	)	PUNCT
aiti-10548	126	21	210	210	NUM
aiti-10548	126	22	3,497.5	3,497.5	NUM
aiti-10548	126	23	tmc(i	tmc(i	NUM
aiti-10548	126	24	)	)	PUNCT
aiti-10548	126	25	(	(	PUNCT
aiti-10548	126	26	m2	m2	PROPN
aiti-10548	126	27	)	)	PUNCT
aiti-10548	126	28	29,948.91	29,948.91	NUM
aiti-10548	126	29	31,591.37	31,591.37	NUM
aiti-10548	126	30	advances	advance	VERB
aiti-10548	126	31	in	in	ADP
aiti-10548	126	32	technology	technology	NOUN
aiti-10548	126	33	innovation	innovation	NOUN
aiti-10548	126	34	,	,	PUNCT
aiti-10548	126	35	vol	vol	NOUN
aiti-10548	126	36	.	.	PROPN
aiti-10548	126	37	8	8	NUM
aiti-10548	126	38	,	,	PUNCT
aiti-10548	126	39	no	no	INTJ
aiti-10548	126	40	.	.	NOUN
aiti-10548	126	41	1	1	NUM
aiti-10548	126	42	,	,	PUNCT
aiti-10548	126	43	2023	2023	NUM
aiti-10548	126	44	,	,	PUNCT
aiti-10548	126	45	pp	pp	ADJ
aiti-10548	126	46	.	.	PUNCT
aiti-10548	127	1	29	29	NUM
aiti-10548	127	2	-	-	SYM
aiti-10548	127	3	37	37	NUM
aiti-10548	127	4	35	35	NUM
aiti-10548	127	5	table	table	NOUN
aiti-10548	127	6	3	3	NUM
aiti-10548	127	7	mpi	mpi	NOUN
aiti-10548	127	8	results	result	NOUN
aiti-10548	127	9	(	(	PUNCT
aiti-10548	127	10	continued	continued	ADJ
aiti-10548	127	11	)	)	PUNCT
aiti-10548	127	12	mission	mission	NOUN
aiti-10548	127	13	coverage	coverage	PROPN
aiti-10548	127	14	area	area	NOUN
aiti-10548	127	15	index	index	NOUN
aiti-10548	127	16	units	unit	NOUN
aiti-10548	127	17	aragon1	aragon1	NOUN
aiti-10548	127	18	aragon3	aragon3	PROPN
aiti-10548	127	19	4l	4l	NOUN
aiti-10548	127	20	cat(i	cat(i	NOUN
aiti-10548	127	21	)	)	PUNCT
aiti-10548	127	22	(	(	PUNCT
aiti-10548	127	23	m2	m2	PROPN
aiti-10548	127	24	)	)	PUNCT
aiti-10548	127	25	4,611.62	4,611.62	NUM
aiti-10548	127	26	4,847.85	4,847.85	NUM
aiti-10548	127	27	np(i	np(i	NUM
aiti-10548	127	28	)	)	PUNCT
aiti-10548	127	29	(	(	PUNCT
aiti-10548	127	30	ea	ea	X
aiti-10548	127	31	)	)	PUNCT
aiti-10548	127	32	25	25	NUM
aiti-10548	127	33	858	858	NUM
aiti-10548	127	34	pa(i	pa(i	NOUN
aiti-10548	127	35	)	)	PUNCT
aiti-10548	127	36	(	(	PUNCT
aiti-10548	127	37	m2	m2	PROPN
aiti-10548	127	38	)	)	PUNCT
aiti-10548	127	39	62.5	62.5	NUM
aiti-10548	127	40	2,145	2,145	NUM
aiti-10548	127	41	tmc(i	tmc(i	NUM
aiti-10548	127	42	)	)	PUNCT
aiti-10548	127	43	(	(	PUNCT
aiti-10548	127	44	m2	m2	PROPN
aiti-10548	127	45	)	)	PUNCT
aiti-10548	127	46	60,084.80	60,084.80	NUM
aiti-10548	127	47	63,563.23	63,563.23	NUM
aiti-10548	127	48	6l	6l	NUM
aiti-10548	127	49	cat(i	cat(i	NOUN
aiti-10548	127	50	)	)	PUNCT
aiti-10548	127	51	(	(	PUNCT
aiti-10548	127	52	m2	m2	PROPN
aiti-10548	127	53	)	)	PUNCT
aiti-10548	127	54	4611.62	4611.62	NUM
aiti-10548	127	55	4,847.85	4,847.85	NUM
aiti-10548	127	56	np(i	np(i	NUM
aiti-10548	127	57	)	)	PUNCT
aiti-10548	127	58	(	(	PUNCT
aiti-10548	127	59	ea	ea	NOUN
aiti-10548	127	60	)	)	PUNCT
aiti-10548	127	61	0	0	NUM
aiti-10548	127	62	299	299	NUM
aiti-10548	127	63	pa(i	pa(i	NOUN
aiti-10548	127	64	)	)	PUNCT
aiti-10548	127	65	(	(	PUNCT
aiti-10548	127	66	m2	m2	PROPN
aiti-10548	127	67	)	)	PUNCT
aiti-10548	127	68	0	0	NUM
aiti-10548	128	1	747.5	747.5	NUM
aiti-10548	128	2	tmc(i	tmc(i	NUM
aiti-10548	128	3	)	)	PUNCT
aiti-10548	128	4	)	)	PUNCT
aiti-10548	128	5	(	(	PUNCT
aiti-10548	128	6	m2	m2	PROPN
aiti-10548	128	7	)	)	PUNCT
aiti-10548	128	8	89,869.70	89,869.70	PROPN
aiti-10548	128	9	95,389.62	95,389.62	NUM
aiti-10548	128	10	table	table	NOUN
aiti-10548	128	11	4	4	NUM
aiti-10548	128	12	comparative	comparative	ADJ
aiti-10548	128	13	analysis	analysis	NOUN
aiti-10548	128	14	of	of	ADP
aiti-10548	128	15	relative	relative	ADJ
aiti-10548	128	16	mpi	mpi	PROPN
aiti-10548	128	17	*	*	PROPN
aiti-10548	128	18	without	without	ADP
aiti-10548	128	19	track	track	NOUN
aiti-10548	128	20	-	-	PUNCT
aiti-10548	128	21	off	off	ADP
aiti-10548	128	22	path	path	NOUN
aiti-10548	128	23	width	width	ADJ
aiti-10548	128	24	usv	usv	ADJ
aiti-10548	128	25	mpi	mpi	PROPN
aiti-10548	128	26	*	*	PROPN
aiti-10548	128	27	mpi	mpi	ADJ
aiti-10548	128	28	#	#	NOUN
aiti-10548	128	29	(	(	PUNCT
aiti-10548	128	30	%	%	NOUN
aiti-10548	128	31	)	)	PUNCT
aiti-10548	128	32	=	=	SYM
aiti-10548	128	33	cat(i	cat(i	PROPN
aiti-10548	128	34	)	)	PUNCT
aiti-10548	128	35	÷	÷	NOUN
aiti-10548	128	36	(	(	PUNCT
aiti-10548	128	37	tmc(i	tmc(i	NOUN
aiti-10548	128	38	)	)	PUNCT
aiti-10548	128	39	+	+	NUM
aiti-10548	128	40	pa(i	pa(i	NOUN
aiti-10548	128	41	)	)	PUNCT
aiti-10548	128	42	)	)	PUNCT
aiti-10548	129	1	=	=	SYM
aiti-10548	129	2	mpi	mpi	PROPN
aiti-10548	129	3	*	*	PUNCT
aiti-10548	129	4	÷	÷	PUNCT
aiti-10548	130	1	[	[	X
aiti-10548	130	2	(	(	PUNCT
aiti-10548	130	3	b(i	b(i	NOUN
aiti-10548	130	4	)	)	PUNCT
aiti-10548	130	5	)	)	PUNCT
aiti-10548	131	1	÷	÷	X
aiti-10548	131	2	(	(	PUNCT
aiti-10548	131	3	path	path	NOUN
aiti-10548	131	4	widths	width	NOUN
aiti-10548	131	5	)	)	PUNCT
aiti-10548	131	6	]	]	PUNCT
aiti-10548	131	7	×	×	PROPN
aiti-10548	131	8	100	100	NUM
aiti-10548	131	9	2l	2l	NOUN
aiti-10548	131	10	aragon1	aragon1	NOUN
aiti-10548	131	11	0.1529	0.1529	NUM
aiti-10548	131	12	97.86	97.86	NUM
aiti-10548	131	13	aragon3	aragon3	NOUN
aiti-10548	131	14	0.1381	0.1381	NUM
aiti-10548	131	15	88.42	88.42	NUM
aiti-10548	131	16	4l	4l	NOUN
aiti-10548	131	17	aragon1	aragon1	NOUN
aiti-10548	132	1	0.0766	0.0766	NUM
aiti-10548	132	2	98.14	98.14	NUM
aiti-10548	132	3	aragon3	aragon3	PROPN
aiti-10548	132	4	0.0738	0.0738	NUM
aiti-10548	132	5	94.44	94.44	NUM
aiti-10548	132	6	6l	6l	NUM
aiti-10548	132	7	aragon1	aragon1	NOUN
aiti-10548	132	8	0.0513	0.0513	NUM
aiti-10548	132	9	98.52	98.52	NUM
aiti-10548	132	10	aragon3	aragon3	NOUN
aiti-10548	132	11	0.0504	0.0504	NUM
aiti-10548	132	12	96.82	96.82	NUM
aiti-10548	132	13	5	5	NUM
aiti-10548	132	14	.	.	PUNCT
aiti-10548	133	1	conclusions	conclusion	NOUN
aiti-10548	133	2	and	and	CCONJ
aiti-10548	133	3	future	future	ADJ
aiti-10548	133	4	studies	study	NOUN
aiti-10548	133	5	in	in	ADP
aiti-10548	133	6	this	this	DET
aiti-10548	133	7	study	study	NOUN
aiti-10548	133	8	,	,	PUNCT
aiti-10548	133	9	an	an	DET
aiti-10548	133	10	mpi	mpi	NOUN
aiti-10548	133	11	was	be	AUX
aiti-10548	133	12	defined	define	VERB
aiti-10548	133	13	to	to	PART
aiti-10548	133	14	estimate	estimate	VERB
aiti-10548	133	15	the	the	DET
aiti-10548	133	16	mission	mission	NOUN
aiti-10548	133	17	performance	performance	NOUN
aiti-10548	133	18	of	of	ADP
aiti-10548	133	19	multiple	multiple	ADJ
aiti-10548	133	20	usvs	usvs	NOUN
aiti-10548	133	21	using	use	VERB
aiti-10548	133	22	the	the	DET
aiti-10548	133	23	mission	mission	NOUN
aiti-10548	133	24	coverage	coverage	NOUN
aiti-10548	133	25	area	area	NOUN
aiti-10548	133	26	.	.	PUNCT
aiti-10548	134	1	in	in	ADP
aiti-10548	134	2	particular	particular	ADJ
aiti-10548	134	3	,	,	PUNCT
aiti-10548	134	4	the	the	DET
aiti-10548	134	5	penalty	penalty	NOUN
aiti-10548	134	6	value	value	NOUN
aiti-10548	134	7	was	be	AUX
aiti-10548	134	8	considered	consider	VERB
aiti-10548	134	9	in	in	ADP
aiti-10548	134	10	the	the	DET
aiti-10548	134	11	mpi	mpi	ADJ
aiti-10548	134	12	calculation	calculation	NOUN
aiti-10548	134	13	procedure	procedure	NOUN
aiti-10548	134	14	owing	owe	VERB
aiti-10548	134	15	to	to	ADP
aiti-10548	134	16	the	the	DET
aiti-10548	134	17	track	track	NOUN
aiti-10548	134	18	-	-	PUNCT
aiti-10548	134	19	off	off	NOUN
aiti-10548	134	20	of	of	ADP
aiti-10548	134	21	the	the	DET
aiti-10548	134	22	usv	usv	NOUN
aiti-10548	134	23	.	.	PUNCT
aiti-10548	135	1	to	to	PART
aiti-10548	135	2	verify	verify	VERB
aiti-10548	135	3	the	the	DET
aiti-10548	135	4	proposed	propose	VERB
aiti-10548	135	5	mpi	mpi	ADJ
aiti-10548	135	6	-	-	PUNCT
aiti-10548	135	7	based	base	VERB
aiti-10548	135	8	estimation	estimation	NOUN
aiti-10548	135	9	method	method	NOUN
aiti-10548	135	10	,	,	PUNCT
aiti-10548	135	11	illegal	illegal	ADJ
aiti-10548	135	12	ship	ship	NOUN
aiti-10548	135	13	control	control	NOUN
aiti-10548	135	14	was	be	AUX
aiti-10548	135	15	simulated	simulate	VERB
aiti-10548	135	16	using	use	VERB
aiti-10548	135	17	an	an	DET
aiti-10548	135	18	illegal	illegal	ADJ
aiti-10548	135	19	ship	ship	NOUN
aiti-10548	135	20	(	(	PUNCT
aiti-10548	135	21	aragon1	aragon1	PROPN
aiti-10548	135	22	)	)	PUNCT
aiti-10548	135	23	and	and	CCONJ
aiti-10548	135	24	a	a	DET
aiti-10548	135	25	patrol	patrol	NOUN
aiti-10548	135	26	ship	ship	NOUN
aiti-10548	135	27	(	(	PUNCT
aiti-10548	135	28	aragon3	aragon3	PROPN
aiti-10548	135	29	)	)	PUNCT
aiti-10548	135	30	.	.	PUNCT
aiti-10548	136	1	the	the	DET
aiti-10548	136	2	illegal	illegal	ADJ
aiti-10548	136	3	ship	ship	NOUN
aiti-10548	136	4	(	(	PUNCT
aiti-10548	136	5	aragon1	aragon1	ADJ
aiti-10548	136	6	)	)	PUNCT
aiti-10548	136	7	and	and	CCONJ
aiti-10548	136	8	patrol	patrol	NOUN
aiti-10548	136	9	ship	ship	NOUN
aiti-10548	136	10	(	(	PUNCT
aiti-10548	136	11	aragon3	aragon3	ADV
aiti-10548	136	12	)	)	PUNCT
aiti-10548	136	13	successfully	successfully	ADV
aiti-10548	136	14	conducted	conduct	VERB
aiti-10548	136	15	path	path	NOUN
aiti-10548	136	16	following	following	NOUN
aiti-10548	136	17	and	and	CCONJ
aiti-10548	136	18	target	target	VERB
aiti-10548	136	19	tracking	tracking	NOUN
aiti-10548	136	20	,	,	PUNCT
aiti-10548	136	21	respectively	respectively	ADV
aiti-10548	136	22	.	.	PUNCT
aiti-10548	137	1	therefore	therefore	ADV
aiti-10548	137	2	,	,	PUNCT
aiti-10548	137	3	the	the	DET
aiti-10548	137	4	mpi	mpi	NOUN
aiti-10548	137	5	exceeded	exceed	VERB
aiti-10548	137	6	4.9	4.9	NUM
aiti-10548	137	7	%	%	NOUN
aiti-10548	137	8	.	.	PUNCT
aiti-10548	138	1	the	the	DET
aiti-10548	138	2	mpi	mpi	PROPN
aiti-10548	138	3	of	of	ADP
aiti-10548	138	4	the	the	DET
aiti-10548	138	5	illegal	illegal	ADJ
aiti-10548	138	6	ship	ship	NOUN
aiti-10548	138	7	(	(	PUNCT
aiti-10548	138	8	aragon1	aragon1	PROPN
aiti-10548	138	9	)	)	PUNCT
aiti-10548	138	10	was	be	AUX
aiti-10548	138	11	higher	high	ADJ
aiti-10548	138	12	than	than	ADP
aiti-10548	138	13	that	that	PRON
aiti-10548	138	14	of	of	ADP
aiti-10548	138	15	the	the	DET
aiti-10548	138	16	patrol	patrol	NOUN
aiti-10548	138	17	usv	usv	ADJ
aiti-10548	138	18	(	(	PUNCT
aiti-10548	138	19	aragon3	aragon3	PROPN
aiti-10548	138	20	)	)	PUNCT
aiti-10548	138	21	because	because	SCONJ
aiti-10548	138	22	aragon1	aragon1	PROPN
aiti-10548	138	23	adhered	adhere	VERB
aiti-10548	138	24	to	to	ADP
aiti-10548	138	25	the	the	DET
aiti-10548	138	26	designated	designate	VERB
aiti-10548	138	27	path	path	NOUN
aiti-10548	138	28	,	,	PUNCT
aiti-10548	138	29	whereas	whereas	SCONJ
aiti-10548	138	30	aragon3	aragon3	PROPN
aiti-10548	138	31	indicated	indicate	VERB
aiti-10548	138	32	track	track	NOUN
aiti-10548	138	33	-	-	PUNCT
aiti-10548	138	34	off	off	NOUN
aiti-10548	138	35	during	during	ADP
aiti-10548	138	36	target	target	NOUN
aiti-10548	138	37	tracking	tracking	NOUN
aiti-10548	138	38	.	.	PUNCT
aiti-10548	139	1	furthermore	furthermore	ADV
aiti-10548	139	2	,	,	PUNCT
aiti-10548	139	3	as	as	SCONJ
aiti-10548	139	4	the	the	DET
aiti-10548	139	5	path	path	NOUN
aiti-10548	139	6	width	width	NOUN
aiti-10548	139	7	of	of	ADP
aiti-10548	139	8	the	the	DET
aiti-10548	139	9	mission	mission	NOUN
aiti-10548	139	10	coverage	coverage	NOUN
aiti-10548	139	11	area	area	NOUN
aiti-10548	139	12	increased	increase	VERB
aiti-10548	139	13	(	(	PUNCT
aiti-10548	139	14	from	from	ADP
aiti-10548	139	15	2l	2l	NUM
aiti-10548	139	16	to	to	ADP
aiti-10548	139	17	6l	6l	NUM
aiti-10548	139	18	)	)	PUNCT
aiti-10548	139	19	,	,	PUNCT
aiti-10548	139	20	the	the	DET
aiti-10548	139	21	mpi	mpi	NOUN
aiti-10548	139	22	increased	increase	VERB
aiti-10548	139	23	owing	owe	VERB
aiti-10548	139	24	to	to	ADP
aiti-10548	139	25	a	a	DET
aiti-10548	139	26	decrease	decrease	NOUN
aiti-10548	139	27	in	in	ADP
aiti-10548	139	28	the	the	DET
aiti-10548	139	29	penalty	penalty	NOUN
aiti-10548	139	30	area	area	NOUN
aiti-10548	139	31	.	.	PUNCT
aiti-10548	140	1	in	in	ADP
aiti-10548	140	2	the	the	DET
aiti-10548	140	3	future	future	NOUN
aiti-10548	140	4	,	,	PUNCT
aiti-10548	140	5	the	the	DET
aiti-10548	140	6	authors	author	NOUN
aiti-10548	140	7	will	will	AUX
aiti-10548	140	8	conduct	conduct	VERB
aiti-10548	140	9	an	an	DET
aiti-10548	140	10	experiment	experiment	NOUN
aiti-10548	140	11	pertaining	pertain	VERB
aiti-10548	140	12	to	to	ADP
aiti-10548	140	13	illegal	illegal	ADJ
aiti-10548	140	14	ship	ship	NOUN
aiti-10548	140	15	control	control	NOUN
aiti-10548	140	16	in	in	ADP
aiti-10548	140	17	an	an	DET
aiti-10548	140	18	actual	actual	ADJ
aiti-10548	140	19	sea	sea	NOUN
aiti-10548	140	20	using	use	VERB
aiti-10548	140	21	multiple	multiple	ADJ
aiti-10548	140	22	usvs	usvs	NOUN
aiti-10548	140	23	;	;	PUNCT
aiti-10548	140	24	subsequently	subsequently	ADV
aiti-10548	140	25	,	,	PUNCT
aiti-10548	140	26	the	the	DET
aiti-10548	140	27	experimentally	experimentally	ADV
aiti-10548	140	28	obtained	obtain	VERB
aiti-10548	140	29	mpi	mpi	PROPN
aiti-10548	140	30	will	will	AUX
aiti-10548	140	31	be	be	AUX
aiti-10548	140	32	compared	compare	VERB
aiti-10548	140	33	with	with	ADP
aiti-10548	140	34	simulation	simulation	NOUN
aiti-10548	140	35	results	result	NOUN
aiti-10548	140	36	.	.	PUNCT
aiti-10548	141	1	nomenclature	nomenclature	ADJ
aiti-10548	141	2	notation	notation	NOUN
aiti-10548	141	3	units	unit	NOUN
aiti-10548	141	4	definition	definition	NOUN
aiti-10548	141	5	i	i	PRON
aiti-10548	141	6	number	number	NOUN
aiti-10548	141	7	of	of	ADP
aiti-10548	141	8	ith	ith	PROPN
aiti-10548	141	9	usvs	usvs	NOUN
aiti-10548	141	10	(	(	PUNCT
aiti-10548	141	11	aragon1	aragon1	NOUN
aiti-10548	141	12	or	or	CCONJ
aiti-10548	141	13	aragon3	aragon3	ADJ
aiti-10548	141	14	)	)	PUNCT
aiti-10548	141	15	n(i	n(i	ADJ
aiti-10548	141	16	)	)	PUNCT
aiti-10548	141	17	name	name	NOUN
aiti-10548	141	18	of	of	ADP
aiti-10548	141	19	ith	ith	PROPN
aiti-10548	141	20	usv	usv	PROPN
aiti-10548	141	21	(	(	PUNCT
aiti-10548	141	22	aragon1	aragon1	NOUN
aiti-10548	141	23	or	or	CCONJ
aiti-10548	141	24	aragon3	aragon3	ADV
aiti-10548	141	25	)	)	PUNCT
aiti-10548	141	26	l(i	l(i	NOUN
aiti-10548	141	27	)	)	PUNCT
aiti-10548	141	28	m	m	VERB
aiti-10548	141	29	length	length	NOUN
aiti-10548	141	30	of	of	ADP
aiti-10548	141	31	ith	ith	PROPN
aiti-10548	141	32	usv	usv	PROPN
aiti-10548	141	33	b(i	b(i	NOUN
aiti-10548	141	34	)	)	PUNCT
aiti-10548	141	35	m	m	VERB
aiti-10548	141	36	breadth	breadth	NOUN
aiti-10548	141	37	of	of	ADP
aiti-10548	141	38	ith	ith	PROPN
aiti-10548	141	39	usv	usv	PROPN
aiti-10548	141	40	v(i	v(i	ADJ
aiti-10548	141	41	)	)	PUNCT
aiti-10548	141	42	knot	knot	NOUN
aiti-10548	141	43	speed	speed	NOUN
aiti-10548	141	44	of	of	ADP
aiti-10548	141	45	ith	ith	PROPN
aiti-10548	141	46	usv	usv	ADJ
aiti-10548	141	47	ψ(i	ψ(i	PROPN
aiti-10548	141	48	)	)	PUNCT
aiti-10548	141	49	°	°	VERB
aiti-10548	142	1	heading	head	VERB
aiti-10548	142	2	of	of	ADP
aiti-10548	142	3	ith	ith	PROPN
aiti-10548	142	4	usv	usv	PROPN
aiti-10548	142	5	lg(i)j	lg(i)j	PROPN
aiti-10548	142	6	°	°	PROPN
aiti-10548	143	1	jth	jth	PROPN
aiti-10548	143	2	trajectory	trajectory	NOUN
aiti-10548	143	3	point	point	NOUN
aiti-10548	143	4	of	of	ADP
aiti-10548	143	5	longitude	longitude	NOUN
aiti-10548	143	6	for	for	ADP
aiti-10548	143	7	ith	ith	PROPN
aiti-10548	143	8	usv	usv	PROPN
aiti-10548	143	9	lt(i)j	lt(i)j	PROPN
aiti-10548	143	10	°	°	PROPN
aiti-10548	143	11	jth	jth	PROPN
aiti-10548	143	12	trajectory	trajectory	NOUN
aiti-10548	143	13	point	point	NOUN
aiti-10548	143	14	of	of	ADP
aiti-10548	143	15	latitude	latitude	NOUN
aiti-10548	143	16	for	for	ADP
aiti-10548	143	17	ith	ith	PROPN
aiti-10548	143	18	usv	usv	PROPN
aiti-10548	143	19	p(i)xj	p(i)xj	VERB
aiti-10548	143	20	m	m	VERB
aiti-10548	143	21	x	x	NOUN
aiti-10548	143	22	value	value	NOUN
aiti-10548	143	23	converted	convert	VERB
aiti-10548	143	24	from	from	ADP
aiti-10548	143	25	lgij	lgij	PROPN
aiti-10548	143	26	of	of	ADP
aiti-10548	143	27	jth	jth	PROPN
aiti-10548	143	28	trajectory	trajectory	NOUN
aiti-10548	143	29	point	point	NOUN
aiti-10548	143	30	in	in	ADP
aiti-10548	143	31	ith	ith	PROPN
aiti-10548	143	32	usv	usv	PROPN
aiti-10548	143	33	p(i)yj	p(i)yj	PROPN
aiti-10548	143	34	m	m	VERB
aiti-10548	143	35	y	y	NOUN
aiti-10548	143	36	value	value	NOUN
aiti-10548	143	37	converted	convert	VERB
aiti-10548	143	38	from	from	ADP
aiti-10548	143	39	ltij	ltij	NOUN
aiti-10548	143	40	of	of	ADP
aiti-10548	143	41	jth	jth	PROPN
aiti-10548	143	42	trajectory	trajectory	NOUN
aiti-10548	143	43	point	point	NOUN
aiti-10548	143	44	in	in	ADP
aiti-10548	143	45	ith	ith	PROPN
aiti-10548	143	46	usv	usv	PROPN
aiti-10548	143	47	d(i)j	d(i)j	PROPN
aiti-10548	143	48	m	m	PROPN
aiti-10548	143	49	distance	distance	NOUN
aiti-10548	143	50	between	between	ADP
aiti-10548	143	51	usv	usv	ADJ
aiti-10548	143	52	trajectories	trajectory	NOUN
aiti-10548	143	53	;	;	PUNCT
aiti-10548	143	54	�	�	PROPN
aiti-10548	143	55	�	�	PROPN
aiti-10548	143	56	�	�	PROPN
aiti-10548	143	57	�	�	PROPN
aiti-10548	143	58	�	�	PROPN
aiti-10548	143	59	=	=	SYM
aiti-10548	143	60	�	�	PROPN
aiti-10548	143	61	�	�	PROPN
aiti-10548	143	62	�	�	PROPN
aiti-10548	143	63	�	�	PROPN
aiti-10548	143	64	�	�	PROPN
aiti-10548	143	65	�	�	PROPN
aiti-10548	143	66	−	−	PROPN
aiti-10548	143	67	�	�	PROPN
aiti-10548	143	68	�	�	PROPN
aiti-10548	143	69	�	�	PROPN
aiti-10548	143	70	�	�	PROPN
aiti-10548	143	71	�	�	PROPN
aiti-10548	143	72	�	�	PROPN
aiti-10548	143	73	�	�	PROPN
aiti-10548	143	74	+	+	CCONJ
aiti-10548	143	75	�	�	PROPN
aiti-10548	143	76	�	�	PROPN
aiti-10548	143	77	�	�	PROPN
aiti-10548	143	78	�	�	PROPN
aiti-10548	143	79	�	�	PROPN
aiti-10548	143	80	�	�	PROPN
aiti-10548	143	81	−	−	PROPN
aiti-10548	143	82	�	�	PROPN
aiti-10548	143	83	�	�	PROPN
aiti-10548	143	84	�	�	PROPN
aiti-10548	143	85	�	�	PROPN
aiti-10548	143	86	�	�	PROPN
aiti-10548	143	87	�	�	PROPN
aiti-10548	143	88	�	�	PROPN
aiti-10548	143	89	�	�	PROPN
aiti-10548	143	90	td(i)j	td(i)j	PROPN
aiti-10548	143	91	m	m	PROPN
aiti-10548	143	92	total	total	ADJ
aiti-10548	143	93	distance	distance	NOUN
aiti-10548	143	94	of	of	ADP
aiti-10548	143	95	usv	usv	ADJ
aiti-10548	143	96	trajectory	trajectory	NOUN
aiti-10548	143	97	;	;	PUNCT
aiti-10548	143	98	�	�	PROPN
aiti-10548	143	99	�	�	PROPN
aiti-10548	143	100	�	�	PROPN
aiti-10548	143	101	�	�	PROPN
aiti-10548	143	102	�	�	PROPN
aiti-10548	143	103	�	�	PROPN
aiti-10548	143	104	=	=	SYM
aiti-10548	143	105	∑	∑	PUNCT
aiti-10548	143	106	�	�	PROPN
aiti-10548	143	107	�	�	PROPN
aiti-10548	143	108	�	�	PROPN
aiti-10548	143	109	�	�	PROPN
aiti-10548	143	110	�	�	PROPN
aiti-10548	143	111	�	�	PROPN
aiti-10548	143	112	j	j	PROPN
aiti-10548	143	113	cat(i	cat(i	PROPN
aiti-10548	143	114	)	)	PUNCT
aiti-10548	143	115	m2	m2	PROPN
aiti-10548	143	116	total	total	ADJ
aiti-10548	143	117	usv	usv	PROPN
aiti-10548	143	118	trajectory	trajectory	NOUN
aiti-10548	143	119	area	area	NOUN
aiti-10548	143	120	;	;	PUNCT
aiti-10548	143	121	�	�	PROPN
aiti-10548	143	122	�	�	PROPN
aiti-10548	143	123	�	�	PROPN
aiti-10548	143	124	�	�	PROPN
aiti-10548	143	125	�	�	PROPN
aiti-10548	143	126	�	�	PROPN
aiti-10548	143	127	=	=	SYM
aiti-10548	143	128	�	�	PROPN
aiti-10548	143	129	�	�	PROPN
aiti-10548	143	130	�	�	PROPN
aiti-10548	143	131	�	�	PROPN
aiti-10548	143	132	�	�	PROPN
aiti-10548	143	133	�	�	PROPN
aiti-10548	143	134	×	×	PROPN
aiti-10548	143	135	�	�	PROPN
aiti-10548	143	136	�	�	PROPN
aiti-10548	143	137	�	�	PROPN
aiti-10548	143	138	�	�	PROPN
aiti-10548	143	139	w(i)xj	w(i)xj	VERB
aiti-10548	143	140	m	m	PROPN
aiti-10548	143	141	x	x	PROPN
aiti-10548	143	142	of	of	ADP
aiti-10548	143	143	jth	jth	PROPN
aiti-10548	143	144	waypoint	waypoint	PROPN
aiti-10548	143	145	for	for	ADP
aiti-10548	143	146	ith	ith	PROPN
aiti-10548	143	147	usv	usv	PROPN
aiti-10548	143	148	w(i)yj	w(i)yj	PROPN
aiti-10548	143	149	m	m	VERB
aiti-10548	143	150	y	y	PROPN
aiti-10548	143	151	of	of	ADP
aiti-10548	143	152	jth	jth	PROPN
aiti-10548	143	153	waypoint	waypoint	PROPN
aiti-10548	143	154	for	for	ADP
aiti-10548	143	155	ith	ith	PROPN
aiti-10548	143	156	usv	usv	PROPN
aiti-10548	143	157	advances	advance	NOUN
aiti-10548	143	158	in	in	ADP
aiti-10548	143	159	technology	technology	NOUN
aiti-10548	143	160	innovation	innovation	NOUN
aiti-10548	143	161	,	,	PUNCT
aiti-10548	143	162	vol	vol	NOUN
aiti-10548	143	163	.	.	PROPN
aiti-10548	143	164	8	8	NUM
aiti-10548	143	165	,	,	PUNCT
aiti-10548	143	166	no	no	INTJ
aiti-10548	143	167	.	.	NOUN
aiti-10548	143	168	1	1	NUM
aiti-10548	143	169	,	,	PUNCT
aiti-10548	143	170	2023	2023	NUM
aiti-10548	143	171	,	,	PUNCT
aiti-10548	143	172	pp	pp	ADJ
aiti-10548	143	173	.	.	PUNCT
aiti-10548	144	1	29	29	NUM
aiti-10548	144	2	-	-	SYM
aiti-10548	144	3	37	37	NUM
aiti-10548	144	4	36	36	NUM
aiti-10548	144	5	wd(i)j	wd(i)j	ADP
aiti-10548	144	6	m	m	PROPN
aiti-10548	144	7	distance	distance	NOUN
aiti-10548	144	8	between	between	ADP
aiti-10548	144	9	waypoints	waypoint	NOUN
aiti-10548	144	10	;	;	PUNCT
aiti-10548	144	11	�	�	PROPN
aiti-10548	144	12	�	�	PROPN
aiti-10548	144	13	�	�	PROPN
aiti-10548	144	14	�	�	PROPN
aiti-10548	144	15	�	�	PROPN
aiti-10548	144	16	�	�	PROPN
aiti-10548	144	17	=	=	SYM
aiti-10548	144	18	�	�	PROPN
aiti-10548	144	19	�	�	PROPN
aiti-10548	144	20	�	�	PROPN
aiti-10548	144	21	�	�	PROPN
aiti-10548	144	22	�	�	PROPN
aiti-10548	144	23	�	�	PROPN
aiti-10548	144	24	−	−	PROPN
aiti-10548	144	25	�	�	PROPN
aiti-10548	144	26	�	�	PROPN
aiti-10548	144	27	�	�	PROPN
aiti-10548	144	28	�	�	PROPN
aiti-10548	144	29	�	�	PROPN
aiti-10548	144	30	�	�	PROPN
aiti-10548	144	31	�	�	PROPN
aiti-10548	144	32	+	+	CCONJ
aiti-10548	144	33	�	�	PROPN
aiti-10548	144	34	�	�	PROPN
aiti-10548	144	35	�	�	PROPN
aiti-10548	144	36	�	�	PROPN
aiti-10548	144	37	�	�	PROPN
aiti-10548	144	38	�	�	PROPN
aiti-10548	144	39	−	−	PROPN
aiti-10548	144	40	�	�	PROPN
aiti-10548	144	41	�	�	PROPN
aiti-10548	144	42	�	�	PROPN
aiti-10548	144	43	�	�	PROPN
aiti-10548	144	44	�	�	PROPN
aiti-10548	144	45	�	�	PROPN
aiti-10548	144	46	�	�	PROPN
aiti-10548	144	47	�	�	PROPN
aiti-10548	144	48	tmc(i	tmc(i	PROPN
aiti-10548	144	49	)	)	PUNCT
aiti-10548	144	50	m2	m2	PROPN
aiti-10548	144	51	total	total	ADJ
aiti-10548	144	52	mission	mission	NOUN
aiti-10548	144	53	coverage	coverage	NOUN
aiti-10548	144	54	area	area	NOUN
aiti-10548	144	55	;	;	PUNCT
aiti-10548	144	56	�	�	PROPN
aiti-10548	144	57	�	�	PROPN
aiti-10548	144	58	�	�	PROPN
aiti-10548	144	59	�	�	PROPN
aiti-10548	144	60	�	�	PROPN
aiti-10548	144	61	�	�	PROPN
aiti-10548	144	62	=	=	SYM
aiti-10548	144	63	∑	∑	PUNCT
aiti-10548	144	64	�	�	PROPN
aiti-10548	144	65	�	�	PROPN
aiti-10548	144	66	�	�	PROPN
aiti-10548	144	67	�	�	PROPN
aiti-10548	144	68	�	�	PROPN
aiti-10548	144	69	�	�	PROPN
aiti-10548	144	70	�	�	PROPN
aiti-10548	144	71	×	×	PROPN
aiti-10548	144	72	�	�	PROPN
aiti-10548	144	73	�	�	PROPN
aiti-10548	144	74	�	�	PROPN
aiti-10548	144	75	�	�	PROPN
aiti-10548	144	76	�	�	PROPN
aiti-10548	144	77	×	×	PROPN
aiti-10548	144	78	path	path	NOUN
aiti-10548	144	79	width	width	PROPN
aiti-10548	144	80	�	�	PROPN
aiti-10548	144	81	�	�	PROPN
aiti-10548	144	82	�	�	PROPN
aiti-10548	144	83	g(i)xj	g(i)xj	PROPN
aiti-10548	144	84	m	m	NOUN
aiti-10548	144	85	x	x	PROPN
aiti-10548	144	86	of	of	ADP
aiti-10548	144	87	jth	jth	PROPN
aiti-10548	144	88	waypoint	waypoint	PROPN
aiti-10548	144	89	for	for	ADP
aiti-10548	144	90	ith	ith	PROPN
aiti-10548	144	91	usv	usv	PROPN
aiti-10548	144	92	outside	outside	PROPN
aiti-10548	144	93	mission	mission	NOUN
aiti-10548	144	94	coverage	coverage	NOUN
aiti-10548	144	95	area	area	PROPN
aiti-10548	144	96	g(i)yj	g(i)yj	PROPN
aiti-10548	144	97	m	m	VERB
aiti-10548	144	98	y	y	PROPN
aiti-10548	144	99	of	of	ADP
aiti-10548	144	100	jth	jth	PROPN
aiti-10548	144	101	waypoint	waypoint	PROPN
aiti-10548	144	102	for	for	ADP
aiti-10548	144	103	ith	ith	PROPN
aiti-10548	144	104	usv	usv	PROPN
aiti-10548	144	105	outside	outside	PROPN
aiti-10548	144	106	mission	mission	NOUN
aiti-10548	144	107	coverage	coverage	NOUN
aiti-10548	144	108	area	area	NOUN
aiti-10548	144	109	gd(i)j	gd(i)j	PROPN
aiti-10548	144	110	m	m	PROPN
aiti-10548	144	111	distance	distance	NOUN
aiti-10548	144	112	between	between	ADP
aiti-10548	144	113	waypoints	waypoint	NOUN
aiti-10548	144	114	outside	outside	ADP
aiti-10548	144	115	mission	mission	NOUN
aiti-10548	144	116	coverage	coverage	NOUN
aiti-10548	144	117	area	area	NOUN
aiti-10548	144	118	;	;	PUNCT
aiti-10548	144	119	�	�	PROPN
aiti-10548	144	120	�	�	PROPN
aiti-10548	144	121	�	�	PROPN
aiti-10548	144	122	�	�	PROPN
aiti-10548	144	123	�	�	PROPN
aiti-10548	144	124	�	�	PROPN
aiti-10548	144	125	−	−	PROPN
aiti-10548	144	126	&	&	CCONJ
aiti-10548	144	127	�	�	PROPN
aiti-10548	144	128	�	�	PROPN
aiti-10548	144	129	�	�	PROPN
aiti-10548	144	130	�	�	PROPN
aiti-10548	144	131	�	�	PROPN
aiti-10548	144	132	+	+	CCONJ
aiti-10548	144	133	�	�	PROPN
aiti-10548	144	134	�	�	PROPN
aiti-10548	144	135	�	�	PROPN
aiti-10548	144	136	�	�	PROPN
aiti-10548	144	137	�	�	PROPN
aiti-10548	144	138	�	�	PROPN
aiti-10548	144	139	−	−	PROPN
aiti-10548	144	140	&	&	CCONJ
aiti-10548	144	141	�	�	PROPN
aiti-10548	144	142	�	�	PROPN
aiti-10548	144	143	�	�	PROPN
aiti-10548	144	144	�	�	PROPN
aiti-10548	144	145	�	�	PROPN
aiti-10548	144	146	�	�	PROPN
aiti-10548	144	147	np(i	np(i	PART
aiti-10548	144	148	)	)	PUNCT
aiti-10548	144	149	number	number	NOUN
aiti-10548	144	150	of	of	ADP
aiti-10548	144	151	points	point	NOUN
aiti-10548	144	152	deviating	deviate	VERB
aiti-10548	144	153	from	from	ADP
aiti-10548	144	154	mission	mission	NOUN
aiti-10548	144	155	coverage	coverage	NOUN
aiti-10548	144	156	area	area	NOUN
aiti-10548	144	157	for	for	ADP
aiti-10548	144	158	ith	ith	PROPN
aiti-10548	144	159	usv	usv	PROPN
aiti-10548	144	160	(	(	PUNCT
aiti-10548	144	161	ea	ea	NOUN
aiti-10548	144	162	)	)	PUNCT
aiti-10548	144	163	pa(i	pa(i	NUM
aiti-10548	144	164	)	)	PUNCT
aiti-10548	144	165	m2	m2	PROPN
aiti-10548	144	166	penalty	penalty	NOUN
aiti-10548	144	167	area	area	NOUN
aiti-10548	144	168	;	;	PUNCT
aiti-10548	144	169	�	�	PROPN
aiti-10548	144	170	�	�	PROPN
aiti-10548	144	171	�	�	PROPN
aiti-10548	144	172	�	�	PROPN
aiti-10548	144	173	�	�	PROPN
aiti-10548	144	174	=	=	SYM
aiti-10548	144	175	∑	∑	PUNCT
aiti-10548	144	176	�	�	PROPN
aiti-10548	144	177	'	'	PART
aiti-10548	144	178	�	�	PROPN
aiti-10548	144	179	�	�	PROPN
aiti-10548	144	180	�	�	PROPN
aiti-10548	144	181	�	�	PROPN
aiti-10548	144	182	�	�	PROPN
aiti-10548	144	183	�	�	PROPN
aiti-10548	144	184	×	×	PROPN
aiti-10548	144	185	�	�	PROPN
aiti-10548	144	186	�	�	PROPN
aiti-10548	144	187	�	�	PROPN
aiti-10548	144	188	�	�	PROPN
aiti-10548	144	189	�	�	PROPN
aiti-10548	144	190	�	�	PROPN
aiti-10548	144	191	�	�	PROPN
aiti-10548	144	192	mpi(i	mpi(i	PROPN
aiti-10548	144	193	)	)	PUNCT
aiti-10548	144	194	mission	mission	NOUN
aiti-10548	144	195	performance	performance	NOUN
aiti-10548	144	196	index	index	NOUN
aiti-10548	144	197	;	;	PUNCT
aiti-10548	144	198	�	�	PROPN
aiti-10548	144	199	�	�	PROPN
aiti-10548	144	200	(	(	PUNCT
aiti-10548	144	201	�	�	PROPN
aiti-10548	144	202	�	�	PROPN
aiti-10548	144	203	�	�	PROPN
aiti-10548	144	204	=	=	SYM
aiti-10548	144	205	�	�	PROPN
aiti-10548	144	206	�	�	PROPN
aiti-10548	144	207	�	�	PROPN
aiti-10548	144	208	�	�	PROPN
aiti-10548	144	209	�	�	PROPN
aiti-10548	144	210	�	�	PROPN
aiti-10548	144	211	÷	÷	PUNCT
aiti-10548	144	212	*	*	PUNCT
aiti-10548	144	213	�	�	PROPN
aiti-10548	144	214	�	�	PROPN
aiti-10548	144	215	�	�	PROPN
aiti-10548	144	216	+	+	SYM
aiti-10548	144	217	�	�	PROPN
aiti-10548	144	218	�	�	PROPN
aiti-10548	144	219	�	�	PROPN
aiti-10548	144	220	�	�	PROPN
aiti-10548	144	221	�	�	PROPN
aiti-10548	144	222	+	+	NUM
aiti-10548	144	223	mpi#(i	mpi#(i	NOUN
aiti-10548	144	224	)	)	PUNCT
aiti-10548	144	225	%	%	NOUN
aiti-10548	144	226	ratio	ratio	NOUN
aiti-10548	144	227	of	of	ADP
aiti-10548	144	228	relative	relative	ADJ
aiti-10548	144	229	mpi	mpi	PROPN
aiti-10548	144	230	*	*	PUNCT
aiti-10548	144	231	of	of	ADP
aiti-10548	144	232	usv	usv	ADV
aiti-10548	144	233	to	to	PART
aiti-10548	144	234	mpi	mpi	VERB
aiti-10548	144	235	for	for	ADP
aiti-10548	144	236	case	case	NOUN
aiti-10548	144	237	involving	involve	VERB
aiti-10548	144	238	resulting	result	VERB
aiti-10548	144	239	trajectory	trajectory	NOUN
aiti-10548	144	240	without	without	ADP
aiti-10548	144	241	track	track	NOUN
aiti-10548	144	242	-	-	PUNCT
aiti-10548	144	243	off	off	NOUN
aiti-10548	144	244	;	;	PUNCT
aiti-10548	144	245	�	�	PROPN
aiti-10548	144	246	�	�	PROPN
aiti-10548	144	247	(	(	PUNCT
aiti-10548	144	248	#	#	SYM
aiti-10548	144	249	�	�	PROPN
aiti-10548	144	250	�	�	PROPN
aiti-10548	144	251	�	�	PROPN
aiti-10548	144	252	=	=	SYM
aiti-10548	144	253	�	�	PROPN
aiti-10548	144	254	�	�	PROPN
aiti-10548	144	255	(	(	PUNCT
aiti-10548	144	256	∗	∗	PROPN
aiti-10548	144	257	÷	÷	NUM
aiti-10548	144	258	�	�	PROPN
aiti-10548	144	259	�	�	PROPN
aiti-10548	144	260	�	�	PROPN
aiti-10548	144	261	�	�	PROPN
aiti-10548	144	262	�	�	PROPN
aiti-10548	144	263	�	�	PROPN
aiti-10548	144	264	÷	÷	PUNCT
aiti-10548	144	265	�	�	PROPN
aiti-10548	144	266	path	path	PROPN
aiti-10548	144	267	width	width	PROPN
aiti-10548	144	268	�	�	PROPN
aiti-10548	144	269	×	×	PROPN
aiti-10548	144	270	100	100	NUM
aiti-10548	144	271	acknowledgments	acknowledgment	NOUN
aiti-10548	144	272	this	this	DET
aiti-10548	144	273	study	study	NOUN
aiti-10548	144	274	was	be	AUX
aiti-10548	144	275	supported	support	VERB
aiti-10548	144	276	by	by	ADP
aiti-10548	144	277	the	the	DET
aiti-10548	144	278	project	project	NOUN
aiti-10548	144	279	titled	title	VERB
aiti-10548	144	280	“	"	PUNCT
aiti-10548	144	281	development	development	NOUN
aiti-10548	144	282	of	of	ADP
aiti-10548	144	283	situation	situation	NOUN
aiti-10548	144	284	awareness	awareness	NOUN
aiti-10548	144	285	and	and	CCONJ
aiti-10548	144	286	autonomous	autonomous	ADJ
aiti-10548	144	287	navigation	navigation	NOUN
aiti-10548	144	288	technology	technology	NOUN
aiti-10548	144	289	of	of	ADP
aiti-10548	144	290	unmanned	unmanned	ADJ
aiti-10548	144	291	surface	surface	NOUN
aiti-10548	144	292	vehicle	vehicle	NOUN
aiti-10548	144	293	based	base	VERB
aiti-10548	144	294	on	on	ADP
aiti-10548	144	295	artificial	artificial	ADJ
aiti-10548	144	296	intelligence	intelligence	NOUN
aiti-10548	144	297	(	(	PUNCT
aiti-10548	144	298	pes3880	pes3880	ADJ
aiti-10548	144	299	,	,	PUNCT
aiti-10548	144	300	pes4270	pes4270	NOUN
aiti-10548	144	301	)	)	PUNCT
aiti-10548	144	302	,	,	PUNCT
aiti-10548	144	303	”	"	PUNCT
aiti-10548	144	304	which	which	PRON
aiti-10548	144	305	was	be	AUX
aiti-10548	144	306	funded	fund	VERB
aiti-10548	144	307	by	by	ADP
aiti-10548	144	308	the	the	DET
aiti-10548	144	309	korea	korea	PROPN
aiti-10548	144	310	research	research	PROPN
aiti-10548	144	311	institute	institute	PROPN
aiti-10548	144	312	of	of	ADP
aiti-10548	144	313	ships	ship	NOUN
aiti-10548	144	314	and	and	CCONJ
aiti-10548	144	315	ocean	ocean	PROPN
aiti-10548	144	316	engineering	engineering	NOUN
aiti-10548	144	317	.	.	PUNCT
aiti-10548	145	1	conflicts	conflict	NOUN
aiti-10548	145	2	of	of	ADP
aiti-10548	145	3	interest	interest	NOUN
aiti-10548	145	4	the	the	DET
aiti-10548	145	5	authors	author	NOUN
aiti-10548	145	6	declare	declare	VERB
aiti-10548	145	7	no	no	DET
aiti-10548	145	8	conflicts	conflict	NOUN
aiti-10548	145	9	of	of	ADP
aiti-10548	145	10	interest	interest	NOUN
aiti-10548	145	11	regarding	regard	VERB
aiti-10548	145	12	the	the	DET
aiti-10548	145	13	publication	publication	NOUN
aiti-10548	145	14	of	of	ADP
aiti-10548	145	15	this	this	DET
aiti-10548	145	16	study	study	NOUN
aiti-10548	145	17	.	.	PUNCT
aiti-10548	146	1	references	reference	NOUN
aiti-10548	146	2	[	[	X
aiti-10548	146	3	1	1	X
aiti-10548	146	4	]	]	X
aiti-10548	146	5	v.	v.	PROPN
aiti-10548	146	6	bertram	bertram	PROPN
aiti-10548	146	7	,	,	PUNCT
aiti-10548	146	8	“	"	PUNCT
aiti-10548	146	9	unmanned	unmanned	ADJ
aiti-10548	146	10	surface	surface	NOUN
aiti-10548	146	11	vehicles	vehicle	NOUN
aiti-10548	146	12	—	—	PUNCT
aiti-10548	146	13	a	a	DET
aiti-10548	146	14	survey	survey	NOUN
aiti-10548	146	15	,	,	PUNCT
aiti-10548	146	16	”	"	PUNCT
aiti-10548	146	17	skibsteknisk	skibsteknisk	PROPN
aiti-10548	146	18	selskab	selskab	NOUN
aiti-10548	146	19	,	,	PUNCT
aiti-10548	146	20	vol	vol	NOUN
aiti-10548	146	21	.	.	PROPN
aiti-10548	146	22	1	1	NUM
aiti-10548	146	23	,	,	PUNCT
aiti-10548	146	24	pp	pp	ADJ
aiti-10548	146	25	.	.	PUNCT
aiti-10548	147	1	1	1	NUM
aiti-10548	147	2	-	-	SYM
aiti-10548	147	3	14	14	NUM
aiti-10548	147	4	,	,	PUNCT
aiti-10548	147	5	january	january	PROPN
aiti-10548	147	6	2008	2008	NUM
aiti-10548	147	7	.	.	PUNCT
aiti-10548	148	1	[	[	X
aiti-10548	148	2	2	2	X
aiti-10548	148	3	]	]	PUNCT
aiti-10548	148	4	j.	j.	PROPN
aiti-10548	148	5	e.	e.	PROPN
aiti-10548	148	6	manley	manley	PROPN
aiti-10548	148	7	,	,	PUNCT
aiti-10548	148	8	“	"	PUNCT
aiti-10548	148	9	unmanned	unmanned	ADJ
aiti-10548	148	10	surface	surface	NOUN
aiti-10548	148	11	vehicles	vehicle	NOUN
aiti-10548	148	12	,	,	PUNCT
aiti-10548	148	13	15	15	NUM
aiti-10548	148	14	years	year	NOUN
aiti-10548	148	15	of	of	ADP
aiti-10548	148	16	development	development	NOUN
aiti-10548	148	17	,	,	PUNCT
aiti-10548	148	18	”	"	PUNCT
aiti-10548	148	19	oceans	ocean	NOUN
aiti-10548	148	20	,	,	PUNCT
aiti-10548	148	21	pp	pp	ADJ
aiti-10548	148	22	.	.	PUNCT
aiti-10548	149	1	1	1	NUM
aiti-10548	149	2	-	-	SYM
aiti-10548	149	3	4	4	NUM
aiti-10548	149	4	,	,	PUNCT
aiti-10548	149	5	september	september	PROPN
aiti-10548	149	6	2008	2008	NUM
aiti-10548	149	7	.	.	PUNCT
aiti-10548	150	1	[	[	X
aiti-10548	150	2	3	3	X
aiti-10548	150	3	]	]	X
aiti-10548	150	4	d.	d.	PROPN
aiti-10548	150	5	w.	w.	PROPN
aiti-10548	150	6	jung	jung	PROPN
aiti-10548	150	7	,	,	PUNCT
aiti-10548	150	8	et	et	PROPN
aiti-10548	150	9	al	al	PROPN
aiti-10548	150	10	.	.	PROPN
aiti-10548	150	11	,	,	PUNCT
aiti-10548	150	12	“	"	PUNCT
aiti-10548	150	13	a	a	DET
aiti-10548	150	14	study	study	NOUN
aiti-10548	150	15	on	on	ADP
aiti-10548	150	16	unmanned	unmanned	ADJ
aiti-10548	150	17	surface	surface	NOUN
aiti-10548	150	18	vehicle	vehicle	NOUN
aiti-10548	150	19	combined	combine	VERB
aiti-10548	150	20	with	with	ADP
aiti-10548	150	21	remotely	remotely	ADV
aiti-10548	150	22	operated	operate	VERB
aiti-10548	150	23	vehicle	vehicle	NOUN
aiti-10548	150	24	system	system	NOUN
aiti-10548	150	25	,	,	PUNCT
aiti-10548	150	26	”	"	PUNCT
aiti-10548	150	27	proceedings	proceeding	NOUN
aiti-10548	150	28	of	of	ADP
aiti-10548	150	29	engineering	engineering	NOUN
aiti-10548	150	30	and	and	CCONJ
aiti-10548	150	31	technology	technology	NOUN
aiti-10548	150	32	innovation	innovation	NOUN
aiti-10548	150	33	,	,	PUNCT
aiti-10548	150	34	vol	vol	NOUN
aiti-10548	150	35	.	.	PROPN
aiti-10548	150	36	9	9	NUM
aiti-10548	150	37	,	,	PUNCT
aiti-10548	150	38	pp	pp	ADJ
aiti-10548	150	39	.	.	PUNCT
aiti-10548	151	1	17	17	NUM
aiti-10548	151	2	-	-	SYM
aiti-10548	151	3	24	24	NUM
aiti-10548	151	4	,	,	PUNCT
aiti-10548	151	5	july	july	PROPN
aiti-10548	151	6	2018	2018	NUM
aiti-10548	151	7	.	.	PUNCT
aiti-10548	152	1	[	[	X
aiti-10548	152	2	4	4	X
aiti-10548	152	3	]	]	X
aiti-10548	152	4	j.	j.	PROPN
aiti-10548	152	5	ansary	ansary	PROPN
aiti-10548	152	6	,	,	PUNCT
aiti-10548	152	7	et	et	PROPN
aiti-10548	152	8	al	al	PROPN
aiti-10548	152	9	.	.	PROPN
aiti-10548	152	10	,	,	PUNCT
aiti-10548	152	11	“	"	PUNCT
aiti-10548	152	12	swarms	swarm	NOUN
aiti-10548	152	13	of	of	ADP
aiti-10548	152	14	aquatic	aquatic	ADJ
aiti-10548	152	15	unmanned	unmanned	ADJ
aiti-10548	152	16	surface	surface	NOUN
aiti-10548	152	17	vehicles	vehicle	NOUN
aiti-10548	152	18	(	(	PUNCT
aiti-10548	152	19	usv	usv	ADJ
aiti-10548	152	20	)	)	PUNCT
aiti-10548	152	21	,	,	PUNCT
aiti-10548	152	22	a	a	DET
aiti-10548	152	23	review	review	NOUN
aiti-10548	152	24	from	from	ADP
aiti-10548	152	25	simulation	simulation	NOUN
aiti-10548	152	26	to	to	ADP
aiti-10548	152	27	field	field	NOUN
aiti-10548	152	28	implementation	implementation	NOUN
aiti-10548	152	29	,	,	PUNCT
aiti-10548	152	30	”	"	PUNCT
aiti-10548	152	31	proceedings	proceeding	NOUN
aiti-10548	152	32	of	of	ADP
aiti-10548	152	33	international	international	ADJ
aiti-10548	152	34	design	design	NOUN
aiti-10548	152	35	engineering	engineering	NOUN
aiti-10548	152	36	technical	technical	ADJ
aiti-10548	152	37	conferences	conference	NOUN
aiti-10548	152	38	and	and	CCONJ
aiti-10548	152	39	computers	computer	NOUN
aiti-10548	152	40	and	and	CCONJ
aiti-10548	152	41	information	information	NOUN
aiti-10548	152	42	in	in	ADP
aiti-10548	152	43	engineering	engineering	NOUN
aiti-10548	152	44	conference	conference	NOUN
aiti-10548	152	45	,	,	PUNCT
aiti-10548	152	46	vol	vol	NOUN
aiti-10548	152	47	.	.	PROPN
aiti-10548	152	48	83914	83914	NUM
aiti-10548	152	49	,	,	PUNCT
aiti-10548	152	50	pp	pp	ADV
aiti-10548	152	51	.	.	PUNCT
aiti-10548	152	52	436	436	NUM
aiti-10548	152	53	-	-	SYM
aiti-10548	152	54	528	528	NUM
aiti-10548	152	55	,	,	PUNCT
aiti-10548	152	56	august	august	PROPN
aiti-10548	152	57	2020	2020	NUM
aiti-10548	152	58	.	.	PUNCT
aiti-10548	153	1	[	[	X
aiti-10548	153	2	5	5	NUM
aiti-10548	153	3	]	]	X
aiti-10548	153	4	n.	n.	PROPN
aiti-10548	153	5	s.	s.	PROPN
aiti-10548	153	6	son	son	PROPN
aiti-10548	153	7	,	,	PUNCT
aiti-10548	153	8	et	et	PROPN
aiti-10548	153	9	al	al	PROPN
aiti-10548	153	10	.	.	PROPN
aiti-10548	153	11	,	,	PUNCT
aiti-10548	153	12	“	"	PUNCT
aiti-10548	153	13	on	on	ADP
aiti-10548	153	14	the	the	DET
aiti-10548	153	15	sea	sea	NOUN
aiti-10548	153	16	trial	trial	NOUN
aiti-10548	153	17	test	test	NOUN
aiti-10548	153	18	for	for	ADP
aiti-10548	153	19	the	the	DET
aiti-10548	153	20	validation	validation	NOUN
aiti-10548	153	21	of	of	ADP
aiti-10548	153	22	an	an	DET
aiti-10548	153	23	autonomous	autonomous	ADJ
aiti-10548	153	24	collision	collision	NOUN
aiti-10548	153	25	avoidance	avoidance	NOUN
aiti-10548	153	26	system	system	NOUN
aiti-10548	153	27	of	of	ADP
aiti-10548	153	28	unmanned	unmanned	ADJ
aiti-10548	153	29	surface	surface	NOUN
aiti-10548	153	30	vehicle	vehicle	NOUN
aiti-10548	153	31	,	,	PUNCT
aiti-10548	153	32	aragon	aragon	PROPN
aiti-10548	153	33	,	,	PUNCT
aiti-10548	153	34	”	"	PUNCT
aiti-10548	153	35	proceedings	proceeding	NOUN
aiti-10548	153	36	of	of	ADP
aiti-10548	153	37	the	the	DET
aiti-10548	153	38	oceans	ocean	NOUN
aiti-10548	153	39	2018	2018	NUM
aiti-10548	153	40	mts	mts	NOUN
aiti-10548	153	41	/	/	SYM
aiti-10548	153	42	ieee	ieee	PROPN
aiti-10548	153	43	charleston	charleston	PROPN
aiti-10548	153	44	,	,	PUNCT
aiti-10548	153	45	pp	pp	PROPN
aiti-10548	153	46	.	.	PUNCT
aiti-10548	154	1	1	1	NUM
aiti-10548	154	2	-	-	SYM
aiti-10548	154	3	5	5	NUM
aiti-10548	154	4	,	,	PUNCT
aiti-10548	154	5	october	october	PROPN
aiti-10548	154	6	2018	2018	NUM
aiti-10548	154	7	.	.	PUNCT
aiti-10548	155	1	[	[	X
aiti-10548	155	2	6	6	NUM
aiti-10548	155	3	]	]	PUNCT
aiti-10548	155	4	c.	c.	PROPN
aiti-10548	155	5	j.	j.	PROPN
aiti-10548	155	6	chae	chae	PROPN
aiti-10548	155	7	,	,	PUNCT
aiti-10548	155	8	et	et	PROPN
aiti-10548	155	9	al	al	PROPN
aiti-10548	155	10	.	.	PROPN
aiti-10548	155	11	,	,	PUNCT
aiti-10548	155	12	“	"	PUNCT
aiti-10548	155	13	a	a	DET
aiti-10548	155	14	study	study	NOUN
aiti-10548	155	15	on	on	ADP
aiti-10548	155	16	identification	identification	NOUN
aiti-10548	155	17	of	of	ADP
aiti-10548	155	18	development	development	NOUN
aiti-10548	155	19	status	status	NOUN
aiti-10548	155	20	of	of	ADP
aiti-10548	155	21	mass	mass	NOUN
aiti-10548	155	22	technologies	technology	NOUN
aiti-10548	155	23	and	and	CCONJ
aiti-10548	155	24	directions	direction	NOUN
aiti-10548	155	25	of	of	ADP
aiti-10548	155	26	improvement	improvement	NOUN
aiti-10548	155	27	,	,	PUNCT
aiti-10548	155	28	”	"	PUNCT
aiti-10548	155	29	applied	apply	VERB
aiti-10548	155	30	sciences	science	NOUN
aiti-10548	155	31	,	,	PUNCT
aiti-10548	155	32	vol	vol	NOUN
aiti-10548	155	33	.	.	PROPN
aiti-10548	155	34	10	10	NUM
aiti-10548	155	35	,	,	PUNCT
aiti-10548	155	36	no	no	INTJ
aiti-10548	155	37	.	.	NOUN
aiti-10548	155	38	13	13	NUM
aiti-10548	155	39	,	,	PUNCT
aiti-10548	155	40	article	article	NOUN
aiti-10548	155	41	no	no	NOUN
aiti-10548	155	42	.	.	NOUN
aiti-10548	155	43	4564	4564	NUM
aiti-10548	155	44	,	,	PUNCT
aiti-10548	155	45	july	july	PROPN
aiti-10548	155	46	2020	2020	NUM
aiti-10548	155	47	.	.	PUNCT
aiti-10548	156	1	[	[	X
aiti-10548	156	2	7	7	X
aiti-10548	156	3	]	]	X
aiti-10548	156	4	b.	b.	PROPN
aiti-10548	156	5	s.	s.	PROPN
aiti-10548	156	6	hwang	hwang	PROPN
aiti-10548	156	7	,	,	PUNCT
aiti-10548	156	8	et	et	PROPN
aiti-10548	156	9	al	al	PROPN
aiti-10548	156	10	.	.	PROPN
aiti-10548	156	11	,	,	PUNCT
aiti-10548	156	12	“	"	PUNCT
aiti-10548	156	13	the	the	DET
aiti-10548	156	14	fourth	fourth	ADJ
aiti-10548	156	15	industrial	industrial	ADJ
aiti-10548	156	16	revolution	revolution	NOUN
aiti-10548	156	17	and	and	CCONJ
aiti-10548	156	18	future	future	ADJ
aiti-10548	156	19	innovation	innovation	NOUN
aiti-10548	156	20	:	:	PUNCT
aiti-10548	156	21	policy	policy	NOUN
aiti-10548	156	22	fields	field	NOUN
aiti-10548	156	23	,	,	PUNCT
aiti-10548	156	24	”	"	PUNCT
aiti-10548	156	25	proceedings	proceeding	NOUN
aiti-10548	156	26	of	of	ADP
aiti-10548	156	27	the	the	DET
aiti-10548	156	28	korea	korea	PROPN
aiti-10548	156	29	technology	technology	PROPN
aiti-10548	156	30	innovation	innovation	PROPN
aiti-10548	156	31	society	society	NOUN
aiti-10548	156	32	conference	conference	NOUN
aiti-10548	156	33	,	,	PUNCT
aiti-10548	156	34	pp	pp	X
aiti-10548	156	35	.	.	PUNCT
aiti-10548	156	36	436	436	NUM
aiti-10548	156	37	-	-	SYM
aiti-10548	156	38	528	528	NUM
aiti-10548	156	39	,	,	PUNCT
aiti-10548	156	40	august	august	PROPN
aiti-10548	156	41	2017	2017	NUM
aiti-10548	156	42	.	.	PUNCT
aiti-10548	157	1	[	[	X
aiti-10548	157	2	8	8	NUM
aiti-10548	157	3	]	]	X
aiti-10548	157	4	r.	r.	PROPN
aiti-10548	157	5	murphy	murphy	PROPN
aiti-10548	157	6	,	,	PUNCT
aiti-10548	157	7	et	et	PROPN
aiti-10548	157	8	al	al	PROPN
aiti-10548	157	9	.	.	PROPN
aiti-10548	157	10	,	,	PUNCT
aiti-10548	157	11	“	"	PUNCT
aiti-10548	157	12	an	an	DET
aiti-10548	157	13	analysis	analysis	NOUN
aiti-10548	157	14	of	of	ADP
aiti-10548	157	15	international	international	ADJ
aiti-10548	157	16	use	use	NOUN
aiti-10548	157	17	of	of	ADP
aiti-10548	157	18	robots	robot	NOUN
aiti-10548	157	19	for	for	ADP
aiti-10548	157	20	covid-19	covid-19	PROPN
aiti-10548	157	21	,	,	PUNCT
aiti-10548	157	22	”	"	PUNCT
aiti-10548	157	23	robotics	robotic	NOUN
aiti-10548	157	24	and	and	CCONJ
aiti-10548	157	25	autonomous	autonomous	ADJ
aiti-10548	157	26	systems	system	NOUN
aiti-10548	157	27	,	,	PUNCT
aiti-10548	157	28	vol	vol	NOUN
aiti-10548	157	29	.	.	NOUN
aiti-10548	157	30	148	148	NUM
aiti-10548	157	31	,	,	PUNCT
aiti-10548	157	32	article	article	NOUN
aiti-10548	157	33	no	no	NOUN
aiti-10548	157	34	.	.	PROPN
aiti-10548	157	35	103922	103922	NUM
aiti-10548	157	36	,	,	PUNCT
aiti-10548	157	37	february	february	PROPN
aiti-10548	157	38	2021	2021	NUM
aiti-10548	157	39	.	.	PUNCT
aiti-10548	158	1	[	[	X
aiti-10548	158	2	9	9	NUM
aiti-10548	158	3	]	]	PUNCT
aiti-10548	158	4	s.	s.	PROPN
aiti-10548	158	5	y.	y.	PROPN
aiti-10548	158	6	kim	kim	PROPN
aiti-10548	158	7	,	,	PUNCT
aiti-10548	158	8	“	"	PUNCT
aiti-10548	158	9	research	research	NOUN
aiti-10548	158	10	trends	trend	NOUN
aiti-10548	158	11	of	of	ADP
aiti-10548	158	12	usv	usv	ADJ
aiti-10548	158	13	,	,	PUNCT
aiti-10548	158	14	”	"	PUNCT
aiti-10548	158	15	journal	journal	NOUN
aiti-10548	158	16	of	of	ADP
aiti-10548	158	17	the	the	DET
aiti-10548	158	18	society	society	NOUN
aiti-10548	158	19	of	of	ADP
aiti-10548	158	20	naval	naval	ADJ
aiti-10548	158	21	architects	architect	NOUN
aiti-10548	158	22	of	of	ADP
aiti-10548	158	23	korea	korea	PROPN
aiti-10548	158	24	,	,	PUNCT
aiti-10548	158	25	vol	vol	NOUN
aiti-10548	158	26	.	.	PROPN
aiti-10548	159	1	51	51	NUM
aiti-10548	159	2	,	,	PUNCT
aiti-10548	159	3	no	no	INTJ
aiti-10548	159	4	.	.	NOUN
aiti-10548	159	5	2	2	NUM
aiti-10548	159	6	,	,	PUNCT
aiti-10548	159	7	p.	p.	NOUN
aiti-10548	159	8	2	2	NUM
aiti-10548	159	9	,	,	PUNCT
aiti-10548	159	10	june	june	PROPN
aiti-10548	159	11	2014	2014	NUM
aiti-10548	159	12	.	.	PUNCT
aiti-10548	160	1	[	[	X
aiti-10548	160	2	10	10	NUM
aiti-10548	160	3	]	]	PUNCT
aiti-10548	160	4	s.	s.	PROPN
aiti-10548	160	5	y.	y.	PROPN
aiti-10548	160	6	kim	kim	PROPN
aiti-10548	160	7	,	,	PUNCT
aiti-10548	160	8	et	et	PROPN
aiti-10548	160	9	al	al	PROPN
aiti-10548	160	10	.	.	PROPN
aiti-10548	160	11	,	,	PUNCT
aiti-10548	160	12	“	"	PUNCT
aiti-10548	160	13	project	project	NOUN
aiti-10548	160	14	:	:	PUNCT
aiti-10548	160	15	development	development	NOUN
aiti-10548	160	16	of	of	ADP
aiti-10548	160	17	multi	multi	ADJ
aiti-10548	160	18	-	-	ADJ
aiti-10548	160	19	purpose	purpose	ADJ
aiti-10548	160	20	intelligent	intelligent	ADJ
aiti-10548	160	21	unmanned	unmanned	ADJ
aiti-10548	160	22	surface	surface	NOUN
aiti-10548	160	23	vehicle	vehicle	NOUN
aiti-10548	160	24	,	,	PUNCT
aiti-10548	160	25	”	"	PUNCT
aiti-10548	160	26	korea	korea	PROPN
aiti-10548	160	27	institute	institute	PROPN
aiti-10548	160	28	of	of	ADP
aiti-10548	160	29	ocean	ocean	PROPN
aiti-10548	160	30	science	science	NOUN
aiti-10548	160	31	and	and	CCONJ
aiti-10548	160	32	technology	technology	NOUN
aiti-10548	160	33	,	,	PUNCT
aiti-10548	160	34	final	final	ADJ
aiti-10548	160	35	report	report	NOUN
aiti-10548	160	36	pjt20040	pjt20040	VERB
aiti-10548	160	37	,	,	PUNCT
aiti-10548	160	38	august	august	PROPN
aiti-10548	160	39	15	15	NUM
aiti-10548	160	40	,	,	PUNCT
aiti-10548	160	41	2019	2019	NUM
aiti-10548	160	42	.	.	PUNCT
aiti-10548	161	1	[	[	X
aiti-10548	161	2	11	11	NUM
aiti-10548	161	3	]	]	X
aiti-10548	161	4	n.	n.	PROPN
aiti-10548	161	5	s.	s.	PROPN
aiti-10548	161	6	son	son	PROPN
aiti-10548	161	7	,	,	PUNCT
aiti-10548	161	8	“	"	PUNCT
aiti-10548	161	9	project	project	NOUN
aiti-10548	161	10	:	:	PUNCT
aiti-10548	161	11	development	development	NOUN
aiti-10548	161	12	of	of	ADP
aiti-10548	161	13	situation	situation	NOUN
aiti-10548	161	14	awareness	awareness	NOUN
aiti-10548	161	15	and	and	CCONJ
aiti-10548	161	16	navigation	navigation	NOUN
aiti-10548	161	17	technology	technology	NOUN
aiti-10548	161	18	of	of	ADP
aiti-10548	161	19	unmanned	unmanned	ADJ
aiti-10548	161	20	surface	surface	NOUN
aiti-10548	161	21	vehicle	vehicle	NOUN
aiti-10548	161	22	based	base	VERB
aiti-10548	161	23	on	on	ADP
aiti-10548	161	24	the	the	DET
aiti-10548	161	25	artificial	artificial	ADJ
aiti-10548	161	26	intelligence	intelligence	NOUN
aiti-10548	161	27	,	,	PUNCT
aiti-10548	161	28	”	"	PUNCT
aiti-10548	161	29	korea	korea	PROPN
aiti-10548	161	30	research	research	PROPN
aiti-10548	161	31	institute	institute	PROPN
aiti-10548	161	32	of	of	ADP
aiti-10548	161	33	ships	ship	NOUN
aiti-10548	161	34	and	and	CCONJ
aiti-10548	161	35	ocean	ocean	PROPN
aiti-10548	161	36	engineering	engineering	PROPN
aiti-10548	161	37	,	,	PUNCT
aiti-10548	161	38	report	report	NOUN
aiti-10548	161	39	pes3880	pes3880	NOUN
aiti-10548	161	40	,	,	PUNCT
aiti-10548	161	41	january	january	PROPN
aiti-10548	161	42	2022	2022	NUM
aiti-10548	161	43	.	.	PUNCT
aiti-10548	162	1	[	[	X
aiti-10548	162	2	12	12	NUM
aiti-10548	162	3	]	]	X
aiti-10548	162	4	n.	n.	PROPN
aiti-10548	162	5	s.	s.	PROPN
aiti-10548	162	6	son	son	PROPN
aiti-10548	162	7	,	,	PUNCT
aiti-10548	162	8	et	et	PROPN
aiti-10548	162	9	al	al	PROPN
aiti-10548	162	10	.	.	PROPN
aiti-10548	162	11	,	,	PUNCT
aiti-10548	162	12	“	"	PUNCT
aiti-10548	162	13	study	study	VERB
aiti-10548	162	14	on	on	ADP
aiti-10548	162	15	a	a	DET
aiti-10548	162	16	waypoint	waypoint	NOUN
aiti-10548	162	17	tracking	track	VERB
aiti-10548	162	18	algorithm	algorithm	NOUN
aiti-10548	162	19	for	for	ADP
aiti-10548	162	20	unmanned	unmanned	ADJ
aiti-10548	162	21	surface	surface	NOUN
aiti-10548	162	22	vehicle	vehicle	NOUN
aiti-10548	162	23	(	(	PUNCT
aiti-10548	162	24	usv	usv	ADJ
aiti-10548	162	25	)	)	PUNCT
aiti-10548	162	26	,	,	PUNCT
aiti-10548	162	27	”	"	PUNCT
aiti-10548	162	28	journal	journal	NOUN
aiti-10548	162	29	of	of	ADP
aiti-10548	162	30	navigation	navigation	NOUN
aiti-10548	162	31	and	and	CCONJ
aiti-10548	162	32	port	port	NOUN
aiti-10548	162	33	research	research	NOUN
aiti-10548	162	34	,	,	PUNCT
aiti-10548	162	35	vol	vol	NOUN
aiti-10548	162	36	.	.	PROPN
aiti-10548	163	1	33	33	NUM
aiti-10548	163	2	,	,	PUNCT
aiti-10548	163	3	no	no	INTJ
aiti-10548	163	4	.	.	NOUN
aiti-10548	163	5	1	1	NUM
aiti-10548	163	6	,	,	PUNCT
aiti-10548	163	7	pp	pp	ADJ
aiti-10548	163	8	.	.	PUNCT
aiti-10548	164	1	35	35	NUM
aiti-10548	164	2	-	-	SYM
aiti-10548	164	3	41	41	NUM
aiti-10548	164	4	,	,	PUNCT
aiti-10548	164	5	march	march	PROPN
aiti-10548	164	6	2009	2009	NUM
aiti-10548	164	7	.	.	PUNCT
aiti-10548	165	1	[	[	X
aiti-10548	165	2	13	13	NUM
aiti-10548	165	3	]	]	PUNCT
aiti-10548	165	4	k.	k.	PROPN
aiti-10548	165	5	h.	h.	PROPN
aiti-10548	165	6	yun	yun	PROPN
aiti-10548	165	7	,	,	PUNCT
aiti-10548	165	8	et	et	PROPN
aiti-10548	165	9	al	al	PROPN
aiti-10548	165	10	.	.	PROPN
aiti-10548	165	11	,	,	PUNCT
aiti-10548	165	12	“	"	PUNCT
aiti-10548	165	13	a	a	DET
aiti-10548	165	14	study	study	NOUN
aiti-10548	165	15	on	on	ADP
aiti-10548	165	16	the	the	DET
aiti-10548	165	17	algorithm	algorithm	NOUN
aiti-10548	165	18	of	of	ADP
aiti-10548	165	19	target	target	NOUN
aiti-10548	165	20	tracking	tracking	NOUN
aiti-10548	165	21	system	system	NOUN
aiti-10548	165	22	for	for	ADP
aiti-10548	165	23	usv	usv	ADV
aiti-10548	165	24	based	base	VERB
aiti-10548	165	25	on	on	ADP
aiti-10548	165	26	simulation	simulation	NOUN
aiti-10548	165	27	method	method	NOUN
aiti-10548	165	28	,	,	PUNCT
aiti-10548	165	29	”	"	PUNCT
aiti-10548	165	30	journal	journal	NOUN
aiti-10548	165	31	of	of	ADP
aiti-10548	165	32	ships	ship	NOUN
aiti-10548	165	33	and	and	CCONJ
aiti-10548	165	34	ocean	ocean	PROPN
aiti-10548	165	35	engineering	engineering	NOUN
aiti-10548	165	36	,	,	PUNCT
aiti-10548	165	37	vol	vol	NOUN
aiti-10548	165	38	.	.	PROPN
aiti-10548	165	39	56	56	NUM
aiti-10548	165	40	,	,	PUNCT
aiti-10548	165	41	pp	pp	ADJ
aiti-10548	165	42	.	.	PUNCT
aiti-10548	165	43	19	19	NUM
aiti-10548	165	44	-	-	SYM
aiti-10548	165	45	25	25	NUM
aiti-10548	165	46	,	,	PUNCT
aiti-10548	165	47	december	december	PROPN
aiti-10548	165	48	2015	2015	NUM
aiti-10548	165	49	.	.	PUNCT
aiti-10548	166	1	[	[	X
aiti-10548	166	2	14	14	NUM
aiti-10548	166	3	]	]	PUNCT
aiti-10548	166	4	m.	m.	NOUN
aiti-10548	166	5	a.	a.	PROPN
aiti-10548	166	6	bin	bin	PROPN
aiti-10548	166	7	mansor	mansor	PROPN
aiti-10548	166	8	,	,	PUNCT
aiti-10548	166	9	et	et	PROPN
aiti-10548	166	10	al	al	PROPN
aiti-10548	166	11	.	.	PROPN
aiti-10548	166	12	,	,	PUNCT
aiti-10548	166	13	“	"	PUNCT
aiti-10548	166	14	motion	motion	NOUN
aiti-10548	166	15	control	control	NOUN
aiti-10548	166	16	algorithm	algorithm	NOUN
aiti-10548	166	17	for	for	ADP
aiti-10548	166	18	path	path	NOUN
aiti-10548	166	19	following	following	NOUN
aiti-10548	166	20	and	and	CCONJ
aiti-10548	166	21	trajectory	trajectory	NOUN
aiti-10548	166	22	tracking	tracking	NOUN
aiti-10548	166	23	for	for	ADP
aiti-10548	166	24	unmanned	unmanned	ADJ
aiti-10548	166	25	surface	surface	NOUN
aiti-10548	166	26	vehicle	vehicle	NOUN
aiti-10548	166	27	:	:	PUNCT
aiti-10548	166	28	a	a	DET
aiti-10548	166	29	review	review	NOUN
aiti-10548	166	30	paper	paper	NOUN
aiti-10548	166	31	,	,	PUNCT
aiti-10548	166	32	”	"	PUNCT
aiti-10548	166	33	proceedings	proceeding	NOUN
aiti-10548	166	34	of	of	ADP
aiti-10548	166	35	the	the	DET
aiti-10548	166	36	3rd	3rd	ADJ
aiti-10548	166	37	international	international	ADJ
aiti-10548	166	38	conference	conference	NOUN
aiti-10548	166	39	on	on	ADP
aiti-10548	166	40	control	control	NOUN
aiti-10548	166	41	,	,	PUNCT
aiti-10548	166	42	robotics	robotic	NOUN
aiti-10548	166	43	,	,	PUNCT
aiti-10548	166	44	and	and	CCONJ
aiti-10548	166	45	cybernetics	cybernetic	NOUN
aiti-10548	166	46	,	,	PUNCT
aiti-10548	166	47	pp	pp	ADP
aiti-10548	166	48	.	.	PUNCT
aiti-10548	167	1	73	73	NUM
aiti-10548	167	2	-	-	SYM
aiti-10548	167	3	77	77	NUM
aiti-10548	167	4	,	,	PUNCT
aiti-10548	167	5	september	september	PROPN
aiti-10548	167	6	2018	2018	NUM
aiti-10548	167	7	.	.	PUNCT
aiti-10548	168	1	advances	advance	NOUN
aiti-10548	168	2	in	in	ADP
aiti-10548	168	3	technology	technology	NOUN
aiti-10548	168	4	innovation	innovation	NOUN
aiti-10548	168	5	,	,	PUNCT
aiti-10548	168	6	vol	vol	NOUN
aiti-10548	168	7	.	.	PROPN
aiti-10548	168	8	8	8	NUM
aiti-10548	168	9	,	,	PUNCT
aiti-10548	168	10	no	no	INTJ
aiti-10548	168	11	.	.	NOUN
aiti-10548	168	12	1	1	NUM
aiti-10548	168	13	,	,	PUNCT
aiti-10548	168	14	2023	2023	NUM
aiti-10548	168	15	,	,	PUNCT
aiti-10548	168	16	pp	pp	ADJ
aiti-10548	168	17	.	.	PUNCT
aiti-10548	169	1	29	29	NUM
aiti-10548	169	2	-	-	SYM
aiti-10548	169	3	37	37	NUM
aiti-10548	169	4	37	37	NUM
aiti-10548	170	1	[	[	X
aiti-10548	170	2	15	15	NUM
aiti-10548	170	3	]	]	PUNCT
aiti-10548	171	1	t.	t.	PROPN
aiti-10548	171	2	liu	liu	PROPN
aiti-10548	171	3	,	,	PUNCT
aiti-10548	171	4	et	et	PROPN
aiti-10548	171	5	al	al	PROPN
aiti-10548	171	6	.	.	PROPN
aiti-10548	171	7	,	,	PUNCT
aiti-10548	171	8	“	"	PUNCT
aiti-10548	171	9	path	path	NOUN
aiti-10548	171	10	following	follow	VERB
aiti-10548	171	11	control	control	NOUN
aiti-10548	171	12	of	of	ADP
aiti-10548	171	13	the	the	DET
aiti-10548	171	14	underactuated	underactuated	ADJ
aiti-10548	171	15	usv	usv	PROPN
aiti-10548	171	16	based	base	VERB
aiti-10548	171	17	on	on	ADP
aiti-10548	171	18	the	the	DET
aiti-10548	171	19	improved	improve	VERB
aiti-10548	171	20	line	line	NOUN
aiti-10548	171	21	-	-	PUNCT
aiti-10548	171	22	of	of	ADP
aiti-10548	171	23	-	-	PUNCT
aiti-10548	171	24	sight	sight	NOUN
aiti-10548	171	25	guidance	guidance	NOUN
aiti-10548	171	26	algorithm	algorithm	NOUN
aiti-10548	171	27	,	,	PUNCT
aiti-10548	171	28	”	"	PUNCT
aiti-10548	171	29	journal	journal	NOUN
aiti-10548	171	30	of	of	ADP
aiti-10548	171	31	polish	polish	ADJ
aiti-10548	171	32	maritime	maritime	ADJ
aiti-10548	171	33	research	research	NOUN
aiti-10548	171	34	,	,	PUNCT
aiti-10548	171	35	vol	vol	NOUN
aiti-10548	171	36	.	.	PROPN
aiti-10548	171	37	24	24	NUM
aiti-10548	171	38	,	,	PUNCT
aiti-10548	171	39	no	no	INTJ
aiti-10548	171	40	.	.	NOUN
aiti-10548	171	41	1	1	NUM
aiti-10548	171	42	,	,	PUNCT
aiti-10548	171	43	pp	pp	ADJ
aiti-10548	171	44	.	.	PUNCT
aiti-10548	172	1	3	3	NUM
aiti-10548	172	2	-	-	SYM
aiti-10548	172	3	11	11	NUM
aiti-10548	172	4	,	,	PUNCT
aiti-10548	172	5	april	april	PROPN
aiti-10548	172	6	2017	2017	NUM
aiti-10548	172	7	.	.	PUNCT
aiti-10548	173	1	[	[	X
aiti-10548	173	2	16	16	X
aiti-10548	173	3	]	]	X
aiti-10548	173	4	y.	y.	PROPN
aiti-10548	173	5	zhao	zhao	PROPN
aiti-10548	173	6	,	,	PUNCT
aiti-10548	173	7	et	et	PROPN
aiti-10548	173	8	al	al	PROPN
aiti-10548	173	9	.	.	PROPN
aiti-10548	173	10	,	,	PUNCT
aiti-10548	173	11	“	"	PUNCT
aiti-10548	173	12	path	path	NOUN
aiti-10548	173	13	following	follow	VERB
aiti-10548	173	14	optimization	optimization	NOUN
aiti-10548	173	15	for	for	ADP
aiti-10548	173	16	an	an	DET
aiti-10548	173	17	underactuated	underactuated	ADJ
aiti-10548	173	18	usv	usv	NOUN
aiti-10548	173	19	using	use	VERB
aiti-10548	173	20	smoothly	smoothly	ADV
aiti-10548	173	21	-	-	PUNCT
aiti-10548	173	22	convergent	convergent	NOUN
aiti-10548	173	23	deep	deep	ADJ
aiti-10548	173	24	reinforcement	reinforcement	NOUN
aiti-10548	173	25	learning	learning	NOUN
aiti-10548	173	26	,	,	PUNCT
aiti-10548	173	27	”	"	PUNCT
aiti-10548	173	28	ieee	ieee	NOUN
aiti-10548	173	29	transactions	transaction	NOUN
aiti-10548	173	30	on	on	ADP
aiti-10548	173	31	intelligent	intelligent	ADJ
aiti-10548	173	32	transportation	transportation	NOUN
aiti-10548	173	33	systems	system	NOUN
aiti-10548	173	34	,	,	PUNCT
aiti-10548	173	35	vol	vol	NOUN
aiti-10548	173	36	.	.	PROPN
aiti-10548	174	1	22	22	NUM
aiti-10548	174	2	,	,	PUNCT
aiti-10548	174	3	no	no	INTJ
aiti-10548	174	4	.	.	NOUN
aiti-10548	174	5	10	10	NUM
aiti-10548	174	6	,	,	PUNCT
aiti-10548	174	7	pp	pp	ADJ
aiti-10548	174	8	.	.	PUNCT
aiti-10548	175	1	6208	6208	NUM
aiti-10548	175	2	-	-	SYM
aiti-10548	175	3	6220	6220	NUM
aiti-10548	175	4	,	,	PUNCT
aiti-10548	175	5	october	october	PROPN
aiti-10548	175	6	2021	2021	NUM
aiti-10548	175	7	.	.	PUNCT
aiti-10548	176	1	[	[	X
aiti-10548	176	2	17	17	NUM
aiti-10548	176	3	]	]	PUNCT
aiti-10548	176	4	j.	j.	PROPN
aiti-10548	176	5	h.	h.	PROPN
aiti-10548	176	6	woo	woo	PROPN
aiti-10548	176	7	,	,	PUNCT
aiti-10548	176	8	et	et	PROPN
aiti-10548	176	9	al	al	PROPN
aiti-10548	176	10	.	.	PROPN
aiti-10548	176	11	,	,	PUNCT
aiti-10548	176	12	“	"	PUNCT
aiti-10548	176	13	deep	deep	ADJ
aiti-10548	176	14	reinforcement	reinforcement	NOUN
aiti-10548	176	15	learning	learning	NOUN
aiti-10548	176	16	-	-	PUNCT
aiti-10548	176	17	based	base	VERB
aiti-10548	176	18	controller	controller	NOUN
aiti-10548	176	19	for	for	ADP
aiti-10548	176	20	path	path	NOUN
aiti-10548	176	21	following	follow	VERB
aiti-10548	176	22	of	of	ADP
aiti-10548	176	23	an	an	DET
aiti-10548	176	24	unmanned	unmanned	ADJ
aiti-10548	176	25	surface	surface	NOUN
aiti-10548	176	26	vehicle	vehicle	NOUN
aiti-10548	176	27	,	,	PUNCT
aiti-10548	176	28	”	"	PUNCT
aiti-10548	176	29	ocean	ocean	NOUN
aiti-10548	176	30	engineering	engineering	NOUN
aiti-10548	176	31	,	,	PUNCT
aiti-10548	176	32	vol	vol	NOUN
aiti-10548	176	33	.	.	PROPN
aiti-10548	176	34	183	183	NUM
aiti-10548	176	35	,	,	PUNCT
aiti-10548	176	36	pp	pp	ADJ
aiti-10548	176	37	.	.	PUNCT
aiti-10548	177	1	155	155	NUM
aiti-10548	177	2	-	-	SYM
aiti-10548	177	3	166	166	NUM
aiti-10548	177	4	,	,	PUNCT
aiti-10548	177	5	july	july	PROPN
aiti-10548	177	6	2019	2019	NUM
aiti-10548	177	7	.	.	PUNCT
aiti-10548	178	1	[	[	X
aiti-10548	178	2	18	18	NUM
aiti-10548	178	3	]	]	PUNCT
aiti-10548	178	4	m.	m.	NOUN
aiti-10548	178	5	breivik	breivik	PROPN
aiti-10548	178	6	,	,	PUNCT
aiti-10548	178	7	et	et	PROPN
aiti-10548	178	8	al	al	PROPN
aiti-10548	178	9	.	.	PROPN
aiti-10548	178	10	,	,	PUNCT
aiti-10548	178	11	“	"	PUNCT
aiti-10548	178	12	straight	straight	ADJ
aiti-10548	178	13	-	-	PUNCT
aiti-10548	178	14	line	line	NOUN
aiti-10548	178	15	target	target	NOUN
aiti-10548	178	16	tracking	tracking	NOUN
aiti-10548	178	17	for	for	ADP
aiti-10548	178	18	unmanned	unmanned	ADJ
aiti-10548	178	19	surface	surface	NOUN
aiti-10548	178	20	vehicles	vehicle	NOUN
aiti-10548	178	21	,	,	PUNCT
aiti-10548	178	22	”	"	PUNCT
aiti-10548	178	23	modeling	modeling	NOUN
aiti-10548	178	24	,	,	PUNCT
aiti-10548	178	25	identification	identification	NOUN
aiti-10548	178	26	,	,	PUNCT
aiti-10548	178	27	and	and	CCONJ
aiti-10548	178	28	control	control	NOUN
aiti-10548	178	29	,	,	PUNCT
aiti-10548	178	30	vol	vol	NOUN
aiti-10548	178	31	.	.	PROPN
aiti-10548	178	32	29	29	NUM
aiti-10548	178	33	,	,	PUNCT
aiti-10548	178	34	no	no	INTJ
aiti-10548	178	35	.	.	NOUN
aiti-10548	178	36	4	4	NUM
aiti-10548	178	37	,	,	PUNCT
aiti-10548	178	38	pp	pp	ADJ
aiti-10548	178	39	.	.	PUNCT
aiti-10548	179	1	131	131	NUM
aiti-10548	179	2	-	-	SYM
aiti-10548	179	3	149	149	NUM
aiti-10548	179	4	,	,	PUNCT
aiti-10548	179	5	april	april	PROPN
aiti-10548	179	6	2008	2008	NUM
aiti-10548	179	7	.	.	PUNCT
aiti-10548	180	1	[	[	X
aiti-10548	180	2	19	19	NUM
aiti-10548	180	3	]	]	PUNCT
aiti-10548	180	4	t.	t.	PROPN
aiti-10548	180	5	i.	i.	PROPN
aiti-10548	180	6	fossen	fossen	PROPN
aiti-10548	180	7	,	,	PUNCT
aiti-10548	180	8	guidance	guidance	NOUN
aiti-10548	180	9	and	and	CCONJ
aiti-10548	180	10	control	control	NOUN
aiti-10548	180	11	of	of	ADP
aiti-10548	180	12	ocean	ocean	NOUN
aiti-10548	180	13	vehicles	vehicle	NOUN
aiti-10548	180	14	,	,	PUNCT
aiti-10548	180	15	new	new	PROPN
aiti-10548	180	16	york	york	PROPN
aiti-10548	180	17	:	:	PUNCT
aiti-10548	180	18	john	john	PROPN
aiti-10548	180	19	wiley	wiley	PROPN
aiti-10548	180	20	and	and	CCONJ
aiti-10548	180	21	sons	son	NOUN
aiti-10548	180	22	,	,	PUNCT
aiti-10548	180	23	1994	1994	NUM
aiti-10548	180	24	.	.	PUNCT
aiti-10548	181	1	copyright	copyright	NOUN
aiti-10548	181	2	©	©	PROPN
aiti-10548	181	3	by	by	ADP
aiti-10548	181	4	the	the	DET
aiti-10548	181	5	authors	author	NOUN
aiti-10548	181	6	.	.	PUNCT
aiti-10548	182	1	licensee	licensee	PROPN
aiti-10548	182	2	taeti	taeti	PROPN
aiti-10548	182	3	,	,	PUNCT
aiti-10548	182	4	taiwan	taiwan	PROPN
aiti-10548	182	5	.	.	PUNCT
aiti-10548	183	1	this	this	DET
aiti-10548	183	2	article	article	NOUN
aiti-10548	183	3	is	be	AUX
aiti-10548	183	4	an	an	DET
aiti-10548	183	5	open	open	ADJ
aiti-10548	183	6	access	access	NOUN
aiti-10548	183	7	article	article	NOUN
aiti-10548	183	8	distributed	distribute	VERB
aiti-10548	183	9	under	under	ADP
aiti-10548	183	10	the	the	DET
aiti-10548	183	11	terms	term	NOUN
aiti-10548	183	12	and	and	CCONJ
aiti-10548	183	13	conditions	condition	NOUN
aiti-10548	183	14	of	of	ADP
aiti-10548	183	15	the	the	DET
aiti-10548	183	16	creative	creative	ADJ
aiti-10548	183	17	commons	common	NOUN
aiti-10548	183	18	attribution	attribution	NOUN
aiti-10548	183	19	(	(	PUNCT
aiti-10548	183	20	cc	cc	NOUN
aiti-10548	183	21	by	by	ADP
aiti-10548	183	22	-	-	PUNCT
aiti-10548	183	23	nc	nc	NOUN
aiti-10548	183	24	)	)	PUNCT
aiti-10548	183	25	license	license	NOUN
aiti-10548	183	26	(	(	PUNCT
aiti-10548	183	27	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-10548	183	28	)	)	PUNCT
aiti-10548	183	29	.	.	PUNCT