id	sid	tid	token	lemma	pos
aiti-14579	1	1	microsoft	microsoft	PROPN
aiti-14579	1	2	word	word	NOUN
aiti-14579	1	3	3	3	NUM
aiti-14579	1	4	-	-	PUNCT
aiti-14579	1	5	v10n4(2025)-aiti#14579(358	v10n4(2025)-aiti#14579(358	NOUN
aiti-14579	1	6	-	-	PUNCT
aiti-14579	1	7	369).docx	369).docx	NUM
aiti-14579	1	8	advances	advance	NOUN
aiti-14579	1	9	in	in	ADP
aiti-14579	1	10	technology	technology	NOUN
aiti-14579	1	11	innovation	innovation	NOUN
aiti-14579	1	12	,	,	PUNCT
aiti-14579	1	13	vol	vol	NOUN
aiti-14579	1	14	.	.	PROPN
aiti-14579	1	15	10	10	NUM
aiti-14579	1	16	,	,	PUNCT
aiti-14579	1	17	no	no	INTJ
aiti-14579	1	18	.	.	NOUN
aiti-14579	1	19	4	4	NUM
aiti-14579	1	20	,	,	PUNCT
aiti-14579	1	21	2025	2025	NUM
aiti-14579	1	22	,	,	PUNCT
aiti-14579	1	23	pp	pp	ADJ
aiti-14579	1	24	.	.	PUNCT
aiti-14579	2	1	358	358	NUM
aiti-14579	2	2	-	-	SYM
aiti-14579	2	3	369	369	NUM
aiti-14579	2	4	dbscan	dbscan	NOUN
aiti-14579	2	5	-	-	PUNCT
aiti-14579	2	6	based	base	VERB
aiti-14579	2	7	minimum	minimum	ADJ
aiti-14579	2	8	enclosing	enclosing	NOUN
aiti-14579	2	9	ellipse	ellipse	NOUN
aiti-14579	2	10	using	use	VERB
aiti-14579	2	11	the	the	DET
aiti-14579	2	12	control	control	NOUN
aiti-14579	2	13	barrier	barrier	NOUN
aiti-14579	2	14	function	function	NOUN
aiti-14579	2	15	for	for	ADP
aiti-14579	2	16	safe	safe	ADJ
aiti-14579	2	17	navigation	navigation	NOUN
aiti-14579	2	18	of	of	ADP
aiti-14579	2	19	mobile	mobile	PROPN
aiti-14579	2	20	robots	robots	PROPN
aiti-14579	2	21	ju	ju	PROPN
aiti-14579	2	22	-	-	PUNCT
aiti-14579	2	23	feng	feng	PROPN
aiti-14579	2	24	wu	wu	PROPN
aiti-14579	2	25	,	,	PUNCT
aiti-14579	2	26	chia	chia	PROPN
aiti-14579	2	27	-	-	PUNCT
aiti-14579	2	28	chun	chun	PROPN
aiti-14579	2	29	huang	huang	PROPN
aiti-14579	2	30	,	,	PUNCT
aiti-14579	2	31	ming	ming	PROPN
aiti-14579	2	32	-	-	PUNCT
aiti-14579	2	33	yang	yang	PROPN
aiti-14579	2	34	cheng	cheng	PROPN
aiti-14579	2	35	*	*	PROPN
aiti-14579	2	36	department	department	PROPN
aiti-14579	2	37	of	of	ADP
aiti-14579	2	38	electrical	electrical	ADJ
aiti-14579	2	39	engineering	engineering	NOUN
aiti-14579	2	40	,	,	PUNCT
aiti-14579	2	41	national	national	PROPN
aiti-14579	2	42	cheng	cheng	PROPN
aiti-14579	2	43	kung	kung	PROPN
aiti-14579	2	44	university	university	PROPN
aiti-14579	2	45	,	,	PUNCT
aiti-14579	2	46	tainan	tainan	PROPN
aiti-14579	2	47	,	,	PUNCT
aiti-14579	2	48	taiwan	taiwan	PROPN
aiti-14579	2	49	,	,	PUNCT
aiti-14579	2	50	roc	roc	PROPN
aiti-14579	2	51	received	receive	VERB
aiti-14579	2	52	03	03	NUM
aiti-14579	2	53	december	december	PROPN
aiti-14579	2	54	2024	2024	NUM
aiti-14579	2	55	;	;	PUNCT
aiti-14579	2	56	received	receive	VERB
aiti-14579	2	57	in	in	ADP
aiti-14579	2	58	revised	revise	VERB
aiti-14579	2	59	form	form	NOUN
aiti-14579	2	60	28	28	NUM
aiti-14579	2	61	february	february	NOUN
aiti-14579	2	62	2025	2025	NUM
aiti-14579	2	63	;	;	PUNCT
aiti-14579	2	64	accepted	accept	VERB
aiti-14579	2	65	11	11	NUM
aiti-14579	2	66	march	march	NOUN
aiti-14579	2	67	2025	2025	NUM
aiti-14579	2	68	doi	doi	NOUN
aiti-14579	2	69	:	:	PUNCT
aiti-14579	2	70	https://doi.org/10.46604/aiti.2025.14579	https://doi.org/10.46604/aiti.2025.14579	NOUN
aiti-14579	2	71	abstract	abstract	ADJ
aiti-14579	2	72	this	this	DET
aiti-14579	2	73	paper	paper	NOUN
aiti-14579	2	74	aims	aim	VERB
aiti-14579	2	75	to	to	PART
aiti-14579	2	76	reduce	reduce	VERB
aiti-14579	2	77	the	the	DET
aiti-14579	2	78	redundant	redundant	ADJ
aiti-14579	2	79	unsafe	unsafe	ADJ
aiti-14579	2	80	area	area	NOUN
aiti-14579	2	81	in	in	ADP
aiti-14579	2	82	quadratic	quadratic	ADJ
aiti-14579	2	83	program	program	NOUN
aiti-14579	2	84	approaches	approach	NOUN
aiti-14579	2	85	based	base	VERB
aiti-14579	2	86	on	on	ADP
aiti-14579	2	87	the	the	DET
aiti-14579	2	88	control	control	NOUN
aiti-14579	2	89	barrier	barrier	NOUN
aiti-14579	2	90	function	function	NOUN
aiti-14579	2	91	(	(	PUNCT
aiti-14579	2	92	cbf	cbf	PROPN
aiti-14579	2	93	)	)	PUNCT
aiti-14579	2	94	and	and	CCONJ
aiti-14579	2	95	the	the	DET
aiti-14579	2	96	control	control	NOUN
aiti-14579	2	97	lyapunov	lyapunov	PROPN
aiti-14579	2	98	function	function	NOUN
aiti-14579	2	99	(	(	PUNCT
aiti-14579	2	100	clf	clf	PROPN
aiti-14579	2	101	)	)	PUNCT
aiti-14579	2	102	for	for	ADP
aiti-14579	2	103	collision	collision	NOUN
aiti-14579	2	104	avoidance	avoidance	NOUN
aiti-14579	2	105	,	,	PUNCT
aiti-14579	2	106	hereafter	hereafter	ADV
aiti-14579	2	107	referred	refer	VERB
aiti-14579	2	108	to	to	ADP
aiti-14579	2	109	as	as	ADP
aiti-14579	2	110	the	the	DET
aiti-14579	2	111	cbf	cbf	PROPN
aiti-14579	2	112	-	-	PUNCT
aiti-14579	2	113	clf	clf	PROPN
aiti-14579	2	114	approach	approach	NOUN
aiti-14579	2	115	.	.	PUNCT
aiti-14579	3	1	existing	exist	VERB
aiti-14579	3	2	cbf	cbf	PROPN
aiti-14579	3	3	-	-	PUNCT
aiti-14579	3	4	clf	clf	PROPN
aiti-14579	3	5	quadratic	quadratic	PROPN
aiti-14579	3	6	program	program	NOUN
aiti-14579	3	7	approaches	approach	NOUN
aiti-14579	3	8	typically	typically	ADV
aiti-14579	3	9	construct	construct	VERB
aiti-14579	3	10	cbf	cbf	PROPN
aiti-14579	3	11	based	base	VERB
aiti-14579	3	12	on	on	ADP
aiti-14579	3	13	euclidean	euclidean	ADJ
aiti-14579	3	14	distance	distance	NOUN
aiti-14579	3	15	;	;	PUNCT
aiti-14579	3	16	however	however	ADV
aiti-14579	3	17	,	,	PUNCT
aiti-14579	3	18	the	the	DET
aiti-14579	3	19	redundant	redundant	ADJ
aiti-14579	3	20	unsafe	unsafe	ADJ
aiti-14579	3	21	area	area	NOUN
aiti-14579	3	22	due	due	ADP
aiti-14579	3	23	to	to	ADP
aiti-14579	3	24	obstacles	obstacle	NOUN
aiti-14579	3	25	is	be	AUX
aiti-14579	3	26	excessively	excessively	ADV
aiti-14579	3	27	large	large	ADJ
aiti-14579	3	28	,	,	PUNCT
aiti-14579	3	29	which	which	PRON
aiti-14579	3	30	may	may	AUX
aiti-14579	3	31	prevent	prevent	VERB
aiti-14579	3	32	finding	find	VERB
aiti-14579	3	33	feasible	feasible	ADJ
aiti-14579	3	34	solutions	solution	NOUN
aiti-14579	3	35	.	.	PUNCT
aiti-14579	4	1	to	to	PART
aiti-14579	4	2	address	address	VERB
aiti-14579	4	3	this	this	DET
aiti-14579	4	4	issue	issue	NOUN
aiti-14579	4	5	,	,	PUNCT
aiti-14579	4	6	this	this	DET
aiti-14579	4	7	study	study	NOUN
aiti-14579	4	8	employs	employ	VERB
aiti-14579	4	9	density	density	NOUN
aiti-14579	4	10	-	-	PUNCT
aiti-14579	4	11	based	base	VERB
aiti-14579	4	12	spatial	spatial	ADJ
aiti-14579	4	13	clustering	clustering	NOUN
aiti-14579	4	14	of	of	ADP
aiti-14579	4	15	applications	application	NOUN
aiti-14579	4	16	with	with	ADP
aiti-14579	4	17	noise	noise	NOUN
aiti-14579	4	18	(	(	PUNCT
aiti-14579	4	19	dbscan	dbscan	NOUN
aiti-14579	4	20	)	)	PUNCT
aiti-14579	4	21	and	and	CCONJ
aiti-14579	4	22	the	the	DET
aiti-14579	4	23	minimum	minimum	NOUN
aiti-14579	4	24	enclosing	enclosing	NOUN
aiti-14579	4	25	ellipse	ellipse	NOUN
aiti-14579	4	26	(	(	PUNCT
aiti-14579	4	27	mee	mee	PROPN
aiti-14579	4	28	)	)	PUNCT
aiti-14579	4	29	to	to	PART
aiti-14579	4	30	reduce	reduce	VERB
aiti-14579	4	31	the	the	DET
aiti-14579	4	32	unsafe	unsafe	ADJ
aiti-14579	4	33	area	area	NOUN
aiti-14579	4	34	.	.	PUNCT
aiti-14579	5	1	the	the	DET
aiti-14579	5	2	proposed	propose	VERB
aiti-14579	5	3	approach	approach	NOUN
aiti-14579	5	4	is	be	AUX
aiti-14579	5	5	referred	refer	VERB
aiti-14579	5	6	to	to	ADP
aiti-14579	5	7	as	as	ADP
aiti-14579	5	8	the	the	DET
aiti-14579	5	9	dbscan	dbscan	PROPN
aiti-14579	5	10	-	-	PUNCT
aiti-14579	5	11	mee	mee	PROPN
aiti-14579	5	12	-	-	PUNCT
aiti-14579	5	13	cbf	cbf	PROPN
aiti-14579	5	14	.	.	PUNCT
aiti-14579	6	1	the	the	DET
aiti-14579	6	2	effectiveness	effectiveness	NOUN
aiti-14579	6	3	of	of	ADP
aiti-14579	6	4	the	the	DET
aiti-14579	6	5	proposed	propose	VERB
aiti-14579	6	6	method	method	NOUN
aiti-14579	6	7	is	be	AUX
aiti-14579	6	8	demonstrated	demonstrate	VERB
aiti-14579	6	9	through	through	ADP
aiti-14579	6	10	both	both	DET
aiti-14579	6	11	computer	computer	NOUN
aiti-14579	6	12	simulations	simulation	NOUN
aiti-14579	6	13	and	and	CCONJ
aiti-14579	6	14	real	real	ADJ
aiti-14579	6	15	-	-	PUNCT
aiti-14579	6	16	world	world	NOUN
aiti-14579	6	17	experiments	experiment	NOUN
aiti-14579	6	18	.	.	PUNCT
aiti-14579	7	1	specifically	specifically	ADV
aiti-14579	7	2	,	,	PUNCT
aiti-14579	7	3	the	the	DET
aiti-14579	7	4	proposed	propose	VERB
aiti-14579	7	5	method	method	NOUN
aiti-14579	7	6	reduces	reduce	VERB
aiti-14579	7	7	the	the	DET
aiti-14579	7	8	size	size	NOUN
aiti-14579	7	9	of	of	ADP
aiti-14579	7	10	the	the	DET
aiti-14579	7	11	redundant	redundant	ADJ
aiti-14579	7	12	unsafe	unsafe	ADJ
aiti-14579	7	13	area	area	NOUN
aiti-14579	7	14	by	by	ADP
aiti-14579	7	15	up	up	ADP
aiti-14579	7	16	to	to	PART
aiti-14579	7	17	26.52	26.52	NUM
aiti-14579	7	18	%	%	NOUN
aiti-14579	7	19	while	while	SCONJ
aiti-14579	7	20	maintaining	maintain	VERB
aiti-14579	7	21	robust	robust	ADJ
aiti-14579	7	22	collision	collision	NOUN
aiti-14579	7	23	avoidance	avoidance	NOUN
aiti-14579	7	24	.	.	PUNCT
aiti-14579	8	1	keywords	keyword	NOUN
aiti-14579	8	2	:	:	PUNCT
aiti-14579	8	3	collision	collision	NOUN
aiti-14579	8	4	avoidance	avoidance	NOUN
aiti-14579	8	5	,	,	PUNCT
aiti-14579	8	6	mobile	mobile	NOUN
aiti-14579	8	7	robot	robot	NOUN
aiti-14579	8	8	navigation	navigation	NOUN
aiti-14579	8	9	,	,	PUNCT
aiti-14579	8	10	control	control	NOUN
aiti-14579	8	11	barrier	barrier	NOUN
aiti-14579	8	12	function	function	NOUN
aiti-14579	8	13	,	,	PUNCT
aiti-14579	8	14	control	control	NOUN
aiti-14579	8	15	lyapunov	lyapunov	PROPN
aiti-14579	8	16	function	function	VERB
aiti-14579	8	17	1	1	NUM
aiti-14579	8	18	.	.	PUNCT
aiti-14579	9	1	introduction	introduction	NOUN
aiti-14579	9	2	various	various	ADJ
aiti-14579	9	3	robotic	robotic	ADJ
aiti-14579	9	4	systems	system	NOUN
aiti-14579	9	5	are	be	AUX
aiti-14579	9	6	commonly	commonly	ADV
aiti-14579	9	7	used	use	VERB
aiti-14579	9	8	in	in	ADP
aiti-14579	9	9	automated	automate	VERB
aiti-14579	9	10	factories	factory	NOUN
aiti-14579	9	11	[	[	X
aiti-14579	9	12	1	1	NUM
aiti-14579	9	13	]	]	PUNCT
aiti-14579	9	14	.	.	PUNCT
aiti-14579	10	1	in	in	ADP
aiti-14579	10	2	addition	addition	NOUN
aiti-14579	10	3	to	to	ADP
aiti-14579	10	4	industrial	industrial	ADJ
aiti-14579	10	5	robot	robot	NOUN
aiti-14579	10	6	manipulators	manipulator	NOUN
aiti-14579	10	7	that	that	PRON
aiti-14579	10	8	are	be	AUX
aiti-14579	10	9	typically	typically	ADV
aiti-14579	10	10	fixed	fix	VERB
aiti-14579	10	11	to	to	ADP
aiti-14579	10	12	a	a	DET
aiti-14579	10	13	specific	specific	ADJ
aiti-14579	10	14	site	site	NOUN
aiti-14579	10	15	,	,	PUNCT
aiti-14579	10	16	other	other	ADJ
aiti-14579	10	17	robotic	robotic	ADJ
aiti-14579	10	18	systems	system	NOUN
aiti-14579	10	19	,	,	PUNCT
aiti-14579	10	20	such	such	ADJ
aiti-14579	10	21	as	as	ADP
aiti-14579	10	22	automated	automate	VERB
aiti-14579	10	23	guided	guide	VERB
aiti-14579	10	24	vehicles	vehicle	NOUN
aiti-14579	10	25	(	(	PUNCT
aiti-14579	10	26	agv	agv	NOUN
aiti-14579	10	27	)	)	PUNCT
aiti-14579	10	28	and	and	CCONJ
aiti-14579	10	29	autonomous	autonomous	ADJ
aiti-14579	10	30	mobile	mobile	ADJ
aiti-14579	10	31	robots	robot	NOUN
aiti-14579	10	32	(	(	PUNCT
aiti-14579	10	33	amr	amr	NOUN
aiti-14579	10	34	)	)	PUNCT
aiti-14579	10	35	,	,	PUNCT
aiti-14579	10	36	are	be	AUX
aiti-14579	10	37	also	also	ADV
aiti-14579	10	38	deployed	deploy	VERB
aiti-14579	10	39	in	in	ADP
aiti-14579	10	40	factories	factory	NOUN
aiti-14579	10	41	to	to	PART
aiti-14579	10	42	improve	improve	VERB
aiti-14579	10	43	production	production	NOUN
aiti-14579	10	44	efficiency	efficiency	NOUN
aiti-14579	10	45	.	.	PUNCT
aiti-14579	11	1	in	in	ADP
aiti-14579	11	2	particular	particular	ADJ
aiti-14579	11	3	,	,	PUNCT
aiti-14579	11	4	agvs	agv	NOUN
aiti-14579	11	5	move	move	VERB
aiti-14579	11	6	along	along	ADP
aiti-14579	11	7	a	a	DET
aiti-14579	11	8	pre	pre	ADJ
aiti-14579	11	9	-	-	ADJ
aiti-14579	11	10	defined	define	VERB
aiti-14579	11	11	path	path	NOUN
aiti-14579	11	12	.	.	PUNCT
aiti-14579	12	1	the	the	DET
aiti-14579	12	2	agv	agv	NOUN
aiti-14579	12	3	will	will	AUX
aiti-14579	12	4	stop	stop	VERB
aiti-14579	12	5	moving	move	VERB
aiti-14579	12	6	when	when	SCONJ
aiti-14579	12	7	it	it	PRON
aiti-14579	12	8	detects	detect	VERB
aiti-14579	12	9	obstacles	obstacle	NOUN
aiti-14579	12	10	that	that	PRON
aiti-14579	12	11	may	may	AUX
aiti-14579	12	12	cause	cause	VERB
aiti-14579	12	13	a	a	DET
aiti-14579	12	14	possible	possible	ADJ
aiti-14579	12	15	collision	collision	NOUN
aiti-14579	12	16	.	.	PUNCT
aiti-14579	13	1	however	however	ADV
aiti-14579	13	2	,	,	PUNCT
aiti-14579	13	3	the	the	DET
aiti-14579	13	4	number	number	NOUN
aiti-14579	13	5	of	of	ADP
aiti-14579	13	6	agvs	agv	NOUN
aiti-14579	13	7	used	use	VERB
aiti-14579	13	8	in	in	ADP
aiti-14579	13	9	modern	modern	ADJ
aiti-14579	13	10	automated	automate	VERB
aiti-14579	13	11	factories	factory	NOUN
aiti-14579	13	12	or	or	CCONJ
aiti-14579	13	13	logistics	logistic	NOUN
aiti-14579	13	14	centers	center	NOUN
aiti-14579	13	15	is	be	AUX
aiti-14579	13	16	very	very	ADV
aiti-14579	13	17	large	large	ADJ
aiti-14579	13	18	.	.	PUNCT
aiti-14579	14	1	since	since	SCONJ
aiti-14579	14	2	the	the	DET
aiti-14579	14	3	predefined	predefine	VERB
aiti-14579	14	4	paths	path	NOUN
aiti-14579	14	5	for	for	ADP
aiti-14579	14	6	agvs	agv	NOUN
aiti-14579	14	7	to	to	PART
aiti-14579	14	8	move	move	VERB
aiti-14579	14	9	along	along	ADP
aiti-14579	14	10	may	may	AUX
aiti-14579	14	11	intersect	intersect	VERB
aiti-14579	14	12	,	,	PUNCT
aiti-14579	14	13	collision	collision	NOUN
aiti-14579	14	14	events	event	NOUN
aiti-14579	14	15	will	will	AUX
aiti-14579	14	16	likely	likely	ADV
aiti-14579	14	17	occur	occur	VERB
aiti-14579	14	18	and	and	CCONJ
aiti-14579	14	19	lead	lead	VERB
aiti-14579	14	20	to	to	ADP
aiti-14579	14	21	a	a	DET
aiti-14579	14	22	deterioration	deterioration	NOUN
aiti-14579	14	23	in	in	ADP
aiti-14579	14	24	production	production	NOUN
aiti-14579	14	25	efficiency	efficiency	NOUN
aiti-14579	14	26	.	.	PUNCT
aiti-14579	15	1	to	to	PART
aiti-14579	15	2	cope	cope	VERB
aiti-14579	15	3	with	with	ADP
aiti-14579	15	4	this	this	DET
aiti-14579	15	5	problem	problem	NOUN
aiti-14579	15	6	,	,	PUNCT
aiti-14579	15	7	developing	develop	VERB
aiti-14579	15	8	a	a	DET
aiti-14579	15	9	mobile	mobile	ADJ
aiti-14579	15	10	robot	robot	NOUN
aiti-14579	15	11	that	that	PRON
aiti-14579	15	12	does	do	AUX
aiti-14579	15	13	not	not	PART
aiti-14579	15	14	need	need	VERB
aiti-14579	15	15	to	to	PART
aiti-14579	15	16	move	move	VERB
aiti-14579	15	17	along	along	ADP
aiti-14579	15	18	a	a	DET
aiti-14579	15	19	predefined	predefine	VERB
aiti-14579	15	20	path	path	NOUN
aiti-14579	15	21	and	and	CCONJ
aiti-14579	15	22	can	can	AUX
aiti-14579	15	23	avoid	avoid	VERB
aiti-14579	15	24	obstacles	obstacle	NOUN
aiti-14579	15	25	autonomously	autonomously	ADV
aiti-14579	15	26	is	be	AUX
aiti-14579	15	27	crucial	crucial	ADJ
aiti-14579	15	28	.	.	PUNCT
aiti-14579	16	1	in	in	ADP
aiti-14579	16	2	particular	particular	ADJ
aiti-14579	16	3	,	,	PUNCT
aiti-14579	16	4	commonly	commonly	ADV
aiti-14579	16	5	used	use	VERB
aiti-14579	16	6	collision	collision	NOUN
aiti-14579	16	7	avoidance	avoidance	NOUN
aiti-14579	16	8	algorithms	algorithm	NOUN
aiti-14579	16	9	for	for	ADP
aiti-14579	16	10	amrs	amrs	PROPN
aiti-14579	16	11	include	include	VERB
aiti-14579	16	12	the	the	DET
aiti-14579	16	13	potential	potential	ADJ
aiti-14579	16	14	field	field	NOUN
aiti-14579	16	15	method	method	NOUN
aiti-14579	16	16	[	[	X
aiti-14579	16	17	2	2	NUM
aiti-14579	16	18	]	]	PUNCT
aiti-14579	16	19	,	,	PUNCT
aiti-14579	16	20	vector	vector	NOUN
aiti-14579	16	21	field	field	NOUN
aiti-14579	16	22	histogram	histogram	NOUN
aiti-14579	16	23	(	(	PUNCT
aiti-14579	16	24	vfh	vfh	ADV
aiti-14579	16	25	)	)	PUNCT
aiti-14579	17	1	[	[	X
aiti-14579	17	2	3	3	NUM
aiti-14579	17	3	]	]	PUNCT
aiti-14579	17	4	,	,	PUNCT
aiti-14579	17	5	and	and	CCONJ
aiti-14579	17	6	rapidly	rapidly	ADV
aiti-14579	17	7	-	-	PUNCT
aiti-14579	17	8	exploring	explore	VERB
aiti-14579	17	9	random	random	ADJ
aiti-14579	17	10	tree	tree	NOUN
aiti-14579	17	11	(	(	PUNCT
aiti-14579	17	12	rrt	rrt	NOUN
aiti-14579	17	13	)	)	PUNCT
aiti-14579	17	14	and	and	CCONJ
aiti-14579	17	15	its	its	PRON
aiti-14579	17	16	improved	improved	ADJ
aiti-14579	17	17	variant	variant	NOUN
aiti-14579	17	18	,	,	PUNCT
aiti-14579	17	19	rrt	rrt	NOUN
aiti-14579	17	20	*	*	PUNCT
aiti-14579	17	21	,	,	PUNCT
aiti-14579	17	22	etc	etc	X
aiti-14579	17	23	.	.	X
aiti-14579	18	1	these	these	DET
aiti-14579	18	2	aforementioned	aforementione	VERB
aiti-14579	18	3	methods	method	NOUN
aiti-14579	18	4	can	can	AUX
aiti-14579	18	5	not	not	PART
aiti-14579	18	6	guarantee	guarantee	VERB
aiti-14579	18	7	the	the	DET
aiti-14579	18	8	safety	safety	NOUN
aiti-14579	18	9	of	of	ADP
aiti-14579	18	10	amrs	amrs	NOUN
aiti-14579	18	11	or	or	CCONJ
aiti-14579	18	12	agvs	agv	NOUN
aiti-14579	18	13	.	.	PUNCT
aiti-14579	19	1	to	to	PART
aiti-14579	19	2	cope	cope	VERB
aiti-14579	19	3	with	with	ADP
aiti-14579	19	4	this	this	DET
aiti-14579	19	5	problem	problem	NOUN
aiti-14579	19	6	,	,	PUNCT
aiti-14579	19	7	the	the	DET
aiti-14579	19	8	ideas	idea	NOUN
aiti-14579	19	9	of	of	ADP
aiti-14579	19	10	control	control	NOUN
aiti-14579	19	11	barrier	barrier	NOUN
aiti-14579	19	12	function	function	NOUN
aiti-14579	19	13	(	(	PUNCT
aiti-14579	19	14	cbf	cbf	PROPN
aiti-14579	19	15	)	)	PUNCT
aiti-14579	19	16	and	and	CCONJ
aiti-14579	19	17	control	control	NOUN
aiti-14579	19	18	lyapunov	lyapunov	PROPN
aiti-14579	19	19	function	function	NOUN
aiti-14579	19	20	(	(	PUNCT
aiti-14579	19	21	clf	clf	PROPN
aiti-14579	19	22	)	)	PUNCT
aiti-14579	19	23	are	be	AUX
aiti-14579	19	24	adopted	adopt	VERB
aiti-14579	19	25	in	in	ADP
aiti-14579	19	26	this	this	DET
aiti-14579	19	27	paper	paper	NOUN
aiti-14579	19	28	to	to	PART
aiti-14579	19	29	avoid	avoid	VERB
aiti-14579	19	30	collisions	collision	NOUN
aiti-14579	19	31	with	with	ADP
aiti-14579	19	32	obstacles	obstacle	NOUN
aiti-14579	19	33	.	.	PUNCT
aiti-14579	20	1	moreover	moreover	ADV
aiti-14579	20	2	,	,	PUNCT
aiti-14579	20	3	this	this	DET
aiti-14579	20	4	paper	paper	NOUN
aiti-14579	20	5	uses	use	VERB
aiti-14579	20	6	density	density	NOUN
aiti-14579	20	7	-	-	PUNCT
aiti-14579	20	8	based	base	VERB
aiti-14579	20	9	spatial	spatial	ADJ
aiti-14579	20	10	clustering	clustering	NOUN
aiti-14579	20	11	of	of	ADP
aiti-14579	20	12	applications	application	NOUN
aiti-14579	20	13	with	with	ADP
aiti-14579	20	14	noise	noise	NOUN
aiti-14579	20	15	(	(	PUNCT
aiti-14579	20	16	dbscan	dbscan	NOUN
aiti-14579	20	17	)	)	PUNCT
aiti-14579	20	18	in	in	ADP
aiti-14579	20	19	combination	combination	NOUN
aiti-14579	20	20	with	with	ADP
aiti-14579	20	21	a	a	DET
aiti-14579	20	22	minimum	minimum	ADJ
aiti-14579	20	23	enclosing	enclosing	NOUN
aiti-14579	20	24	ellipse	ellipse	NOUN
aiti-14579	20	25	(	(	PUNCT
aiti-14579	20	26	mee	mee	PROPN
aiti-14579	20	27	)	)	PUNCT
aiti-14579	20	28	to	to	PART
aiti-14579	20	29	define	define	VERB
aiti-14579	20	30	the	the	DET
aiti-14579	20	31	unsafe	unsafe	ADJ
aiti-14579	20	32	regions	region	NOUN
aiti-14579	20	33	around	around	ADP
aiti-14579	20	34	obstacles	obstacle	NOUN
aiti-14579	20	35	.	.	PUNCT
aiti-14579	21	1	compared	compare	VERB
aiti-14579	21	2	to	to	ADP
aiti-14579	21	3	the	the	DET
aiti-14579	21	4	enclosing	enclose	VERB
aiti-14579	21	5	circle	circle	NOUN
aiti-14579	21	6	,	,	PUNCT
aiti-14579	21	7	the	the	DET
aiti-14579	21	8	mee	mee	PROPN
aiti-14579	21	9	provides	provide	VERB
aiti-14579	21	10	more	more	ADJ
aiti-14579	21	11	space	space	NOUN
aiti-14579	21	12	for	for	ADP
aiti-14579	21	13	the	the	DET
aiti-14579	21	14	robot	robot	NOUN
aiti-14579	21	15	.	.	PUNCT
aiti-14579	22	1	both	both	DET
aiti-14579	22	2	computer	computer	NOUN
aiti-14579	22	3	simulations	simulation	NOUN
aiti-14579	22	4	and	and	CCONJ
aiti-14579	22	5	actual	actual	ADJ
aiti-14579	22	6	experiments	experiment	NOUN
aiti-14579	22	7	are	be	AUX
aiti-14579	22	8	conducted	conduct	VERB
aiti-14579	22	9	to	to	PART
aiti-14579	22	10	verify	verify	VERB
aiti-14579	22	11	the	the	DET
aiti-14579	22	12	effectiveness	effectiveness	NOUN
aiti-14579	22	13	of	of	ADP
aiti-14579	22	14	the	the	DET
aiti-14579	22	15	proposed	propose	VERB
aiti-14579	22	16	dbscan	dbscan	PROPN
aiti-14579	22	17	-	-	PUNCT
aiti-14579	22	18	mee	mee	PROPN
aiti-14579	22	19	-	-	PUNCT
aiti-14579	22	20	cbf	cbf	PROPN
aiti-14579	22	21	approach	approach	NOUN
aiti-14579	22	22	.	.	PUNCT
aiti-14579	23	1	in	in	ADP
aiti-14579	23	2	particular	particular	ADJ
aiti-14579	23	3	,	,	PUNCT
aiti-14579	23	4	a	a	DET
aiti-14579	23	5	turtlebot	turtlebot	NOUN
aiti-14579	23	6	running	run	VERB
aiti-14579	23	7	on	on	ADP
aiti-14579	23	8	robot	robot	NOUN
aiti-14579	23	9	operating	operating	NOUN
aiti-14579	23	10	system	system	NOUN
aiti-14579	23	11	(	(	PUNCT
aiti-14579	23	12	ros	ros	PROPN
aiti-14579	23	13	)	)	PUNCT
aiti-14579	23	14	is	be	AUX
aiti-14579	23	15	used	use	VERB
aiti-14579	23	16	to	to	PART
aiti-14579	23	17	perform	perform	VERB
aiti-14579	23	18	navigation	navigation	NOUN
aiti-14579	23	19	while	while	SCONJ
aiti-14579	23	20	avoiding	avoid	VERB
aiti-14579	23	21	obstacles	obstacle	NOUN
aiti-14579	23	22	.	.	PUNCT
aiti-14579	24	1	both	both	CCONJ
aiti-14579	24	2	the	the	DET
aiti-14579	24	3	simulation	simulation	NOUN
aiti-14579	24	4	and	and	CCONJ
aiti-14579	24	5	experimental	experimental	ADJ
aiti-14579	24	6	results	result	NOUN
aiti-14579	24	7	indicate	indicate	VERB
aiti-14579	24	8	that	that	SCONJ
aiti-14579	24	9	the	the	DET
aiti-14579	24	10	proposed	propose	VERB
aiti-14579	24	11	dbscan	dbscan	PROPN
aiti-14579	24	12	-	-	PUNCT
aiti-14579	24	13	mee	mee	PROPN
aiti-14579	24	14	-	-	PUNCT
aiti-14579	24	15	cbf	cbf	PROPN
aiti-14579	24	16	approach	approach	NOUN
aiti-14579	24	17	can	can	AUX
aiti-14579	24	18	reduce	reduce	VERB
aiti-14579	24	19	the	the	DET
aiti-14579	24	20	size	size	NOUN
aiti-14579	24	21	of	of	ADP
aiti-14579	24	22	the	the	DET
aiti-14579	24	23	redundant	redundant	ADJ
aiti-14579	24	24	unsafe	unsafe	ADJ
aiti-14579	24	25	area	area	NOUN
aiti-14579	24	26	of	of	ADP
aiti-14579	24	27	obstacles	obstacle	NOUN
aiti-14579	24	28	from	from	ADP
aiti-14579	24	29	1.602	1.602	NUM
aiti-14579	24	30	%	%	NOUN
aiti-14579	24	31	to	to	ADP
aiti-14579	24	32	26.52	26.52	NUM
aiti-14579	24	33	%	%	NOUN
aiti-14579	24	34	and	and	CCONJ
aiti-14579	24	35	accomplish	accomplish	ADJ
aiti-14579	24	36	collision	collision	NOUN
aiti-14579	24	37	avoidance	avoidance	NOUN
aiti-14579	24	38	.	.	PUNCT
aiti-14579	25	1	*	*	PUNCT
aiti-14579	25	2	corresponding	correspond	VERB
aiti-14579	25	3	author	author	NOUN
aiti-14579	25	4	.	.	PUNCT
aiti-14579	26	1	e	e	X
aiti-14579	26	2	-	-	NOUN
aiti-14579	26	3	mail	mail	NOUN
aiti-14579	26	4	address	address	NOUN
aiti-14579	26	5	:	:	PUNCT
aiti-14579	26	6	mycheng@mail.ncku.edu.tw	mycheng@mail.ncku.edu.tw	NOUN
aiti-14579	26	7	advances	advance	VERB
aiti-14579	26	8	in	in	ADP
aiti-14579	26	9	technology	technology	NOUN
aiti-14579	26	10	innovation	innovation	NOUN
aiti-14579	26	11	,	,	PUNCT
aiti-14579	26	12	vol	vol	NOUN
aiti-14579	26	13	.	.	PROPN
aiti-14579	27	1	10	10	NUM
aiti-14579	27	2	,	,	PUNCT
aiti-14579	27	3	no	no	INTJ
aiti-14579	27	4	.	.	NOUN
aiti-14579	27	5	4	4	NUM
aiti-14579	27	6	,	,	PUNCT
aiti-14579	27	7	2025	2025	NUM
aiti-14579	27	8	,	,	PUNCT
aiti-14579	27	9	pp	pp	ADJ
aiti-14579	27	10	.	.	PUNCT
aiti-14579	28	1	358	358	NUM
aiti-14579	28	2	-	-	SYM
aiti-14579	28	3	369	369	NUM
aiti-14579	28	4	359	359	NUM
aiti-14579	28	5	the	the	DET
aiti-14579	28	6	remainder	remainder	NOUN
aiti-14579	28	7	of	of	ADP
aiti-14579	28	8	this	this	DET
aiti-14579	28	9	paper	paper	NOUN
aiti-14579	28	10	is	be	AUX
aiti-14579	28	11	organized	organize	VERB
aiti-14579	28	12	as	as	SCONJ
aiti-14579	28	13	follows	follow	VERB
aiti-14579	28	14	.	.	PUNCT
aiti-14579	29	1	section	section	NOUN
aiti-14579	29	2	2	2	NUM
aiti-14579	29	3	provides	provide	VERB
aiti-14579	29	4	a	a	DET
aiti-14579	29	5	brief	brief	ADJ
aiti-14579	29	6	review	review	NOUN
aiti-14579	29	7	of	of	ADP
aiti-14579	29	8	previous	previous	ADJ
aiti-14579	29	9	works	work	NOUN
aiti-14579	29	10	related	relate	VERB
aiti-14579	29	11	to	to	PART
aiti-14579	29	12	obstacle	obstacle	VERB
aiti-14579	29	13	avoidance	avoidance	NOUN
aiti-14579	29	14	algorithms	algorithm	NOUN
aiti-14579	29	15	,	,	PUNCT
aiti-14579	29	16	cbf	cbf	PROPN
aiti-14579	29	17	-	-	PUNCT
aiti-14579	29	18	clf	clf	PROPN
aiti-14579	29	19	-	-	PUNCT
aiti-14579	29	20	based	base	VERB
aiti-14579	29	21	approaches	approach	NOUN
aiti-14579	29	22	,	,	PUNCT
aiti-14579	29	23	and	and	CCONJ
aiti-14579	29	24	dbscan	dbscan	ADJ
aiti-14579	29	25	clustering	clustering	NOUN
aiti-14579	29	26	.	.	PUNCT
aiti-14579	30	1	section	section	NOUN
aiti-14579	30	2	3	3	NUM
aiti-14579	30	3	gives	give	VERB
aiti-14579	30	4	a	a	DET
aiti-14579	30	5	brief	brief	ADJ
aiti-14579	30	6	introduction	introduction	NOUN
aiti-14579	30	7	to	to	ADP
aiti-14579	30	8	the	the	DET
aiti-14579	30	9	cbf	cbf	PROPN
aiti-14579	30	10	,	,	PUNCT
aiti-14579	30	11	which	which	PRON
aiti-14579	30	12	serves	serve	VERB
aiti-14579	30	13	as	as	ADP
aiti-14579	30	14	the	the	DET
aiti-14579	30	15	foundation	foundation	NOUN
aiti-14579	30	16	for	for	ADP
aiti-14579	30	17	the	the	DET
aiti-14579	30	18	proposed	propose	VERB
aiti-14579	30	19	method	method	NOUN
aiti-14579	30	20	.	.	PUNCT
aiti-14579	31	1	section	section	NOUN
aiti-14579	31	2	4	4	NUM
aiti-14579	31	3	introduces	introduce	NOUN
aiti-14579	31	4	the	the	DET
aiti-14579	31	5	proposed	propose	VERB
aiti-14579	31	6	dbscan	dbscan	NOUN
aiti-14579	31	7	and	and	CCONJ
aiti-14579	31	8	mee	mee	PROPN
aiti-14579	31	9	method	method	NOUN
aiti-14579	31	10	,	,	PUNCT
aiti-14579	31	11	explaining	explain	VERB
aiti-14579	31	12	how	how	SCONJ
aiti-14579	31	13	it	it	PRON
aiti-14579	31	14	improves	improve	VERB
aiti-14579	31	15	obstacle	obstacle	NOUN
aiti-14579	31	16	avoidance	avoidance	NOUN
aiti-14579	31	17	by	by	ADP
aiti-14579	31	18	reducing	reduce	VERB
aiti-14579	31	19	the	the	DET
aiti-14579	31	20	size	size	NOUN
aiti-14579	31	21	of	of	ADP
aiti-14579	31	22	the	the	DET
aiti-14579	31	23	redundant	redundant	ADJ
aiti-14579	31	24	unsafe	unsafe	ADJ
aiti-14579	31	25	areas	area	NOUN
aiti-14579	31	26	.	.	PUNCT
aiti-14579	32	1	section	section	NOUN
aiti-14579	32	2	5	5	NUM
aiti-14579	32	3	presents	present	NOUN
aiti-14579	32	4	simulation	simulation	NOUN
aiti-14579	32	5	and	and	CCONJ
aiti-14579	32	6	experimental	experimental	ADJ
aiti-14579	32	7	results	result	NOUN
aiti-14579	32	8	to	to	PART
aiti-14579	32	9	validate	validate	VERB
aiti-14579	32	10	the	the	DET
aiti-14579	32	11	effectiveness	effectiveness	NOUN
aiti-14579	32	12	of	of	ADP
aiti-14579	32	13	the	the	DET
aiti-14579	32	14	proposed	propose	VERB
aiti-14579	32	15	approach	approach	NOUN
aiti-14579	32	16	.	.	PUNCT
aiti-14579	33	1	finally	finally	ADV
aiti-14579	33	2	,	,	PUNCT
aiti-14579	33	3	section	section	NOUN
aiti-14579	33	4	6	6	NUM
aiti-14579	33	5	concludes	conclude	VERB
aiti-14579	33	6	the	the	DET
aiti-14579	33	7	paper	paper	NOUN
aiti-14579	33	8	and	and	CCONJ
aiti-14579	33	9	discusses	discuss	VERB
aiti-14579	33	10	potential	potential	ADJ
aiti-14579	33	11	future	future	ADJ
aiti-14579	33	12	research	research	NOUN
aiti-14579	33	13	directions	direction	NOUN
aiti-14579	33	14	.	.	PUNCT
aiti-14579	34	1	2	2	X
aiti-14579	34	2	.	.	X
aiti-14579	34	3	literature	literature	NOUN
aiti-14579	34	4	review	review	NOUN
aiti-14579	34	5	in	in	ADP
aiti-14579	34	6	recent	recent	ADJ
aiti-14579	34	7	years	year	NOUN
aiti-14579	34	8	,	,	PUNCT
aiti-14579	34	9	environmental	environmental	ADJ
aiti-14579	34	10	modeling	modeling	NOUN
aiti-14579	34	11	and	and	CCONJ
aiti-14579	34	12	risk	risk	NOUN
aiti-14579	34	13	-	-	PUNCT
aiti-14579	34	14	aware	aware	ADJ
aiti-14579	34	15	navigation	navigation	NOUN
aiti-14579	34	16	have	have	AUX
aiti-14579	34	17	become	become	VERB
aiti-14579	34	18	crucial	crucial	ADJ
aiti-14579	34	19	in	in	ADP
aiti-14579	34	20	public	public	ADJ
aiti-14579	34	21	health	health	NOUN
aiti-14579	34	22	surveillance	surveillance	NOUN
aiti-14579	34	23	[	[	X
aiti-14579	34	24	4	4	X
aiti-14579	34	25	]	]	PUNCT
aiti-14579	34	26	and	and	CCONJ
aiti-14579	34	27	mobile	mobile	NOUN
aiti-14579	34	28	robot	robot	NOUN
aiti-14579	34	29	navigation	navigation	NOUN
aiti-14579	34	30	[	[	X
aiti-14579	34	31	5	5	NUM
aiti-14579	34	32	]	]	PUNCT
aiti-14579	34	33	.	.	PUNCT
aiti-14579	35	1	in	in	ADP
aiti-14579	35	2	particular	particular	ADJ
aiti-14579	35	3	,	,	PUNCT
aiti-14579	35	4	the	the	DET
aiti-14579	35	5	role	role	NOUN
aiti-14579	35	6	of	of	ADP
aiti-14579	35	7	fluid	fluid	ADJ
aiti-14579	35	8	dynamics	dynamic	NOUN
aiti-14579	35	9	in	in	ADP
aiti-14579	35	10	airborne	airborne	ADJ
aiti-14579	35	11	disease	disease	NOUN
aiti-14579	35	12	transmission	transmission	NOUN
aiti-14579	35	13	is	be	AUX
aiti-14579	35	14	investigated	investigate	VERB
aiti-14579	35	15	in	in	ADP
aiti-14579	35	16	koley	koley	PROPN
aiti-14579	35	17	[	[	X
aiti-14579	35	18	4	4	NUM
aiti-14579	35	19	]	]	PUNCT
aiti-14579	35	20	,	,	PUNCT
aiti-14579	35	21	demonstrating	demonstrate	VERB
aiti-14579	35	22	that	that	SCONJ
aiti-14579	35	23	precise	precise	ADJ
aiti-14579	35	24	environmental	environmental	ADJ
aiti-14579	35	25	modeling	modeling	NOUN
aiti-14579	35	26	is	be	AUX
aiti-14579	35	27	essential	essential	ADJ
aiti-14579	35	28	for	for	ADP
aiti-14579	35	29	optimizing	optimize	VERB
aiti-14579	35	30	ventilation	ventilation	NOUN
aiti-14579	35	31	strategies	strategy	NOUN
aiti-14579	35	32	and	and	CCONJ
aiti-14579	35	33	infection	infection	NOUN
aiti-14579	35	34	risk	risk	NOUN
aiti-14579	35	35	assessment	assessment	NOUN
aiti-14579	35	36	.	.	PUNCT
aiti-14579	36	1	similarly	similarly	ADV
aiti-14579	36	2	,	,	PUNCT
aiti-14579	36	3	mobile	mobile	ADJ
aiti-14579	36	4	robots	robot	NOUN
aiti-14579	36	5	operating	operate	VERB
aiti-14579	36	6	in	in	ADP
aiti-14579	36	7	complex	complex	ADJ
aiti-14579	36	8	environments	environment	NOUN
aiti-14579	36	9	also	also	ADV
aiti-14579	36	10	require	require	VERB
aiti-14579	36	11	an	an	DET
aiti-14579	36	12	accurate	accurate	ADJ
aiti-14579	36	13	perception	perception	NOUN
aiti-14579	36	14	of	of	ADP
aiti-14579	36	15	obstacle	obstacle	NOUN
aiti-14579	36	16	distributions	distribution	NOUN
aiti-14579	36	17	and	and	CCONJ
aiti-14579	36	18	risk	risk	NOUN
aiti-14579	36	19	areas	area	NOUN
aiti-14579	36	20	to	to	PART
aiti-14579	36	21	navigate	navigate	VERB
aiti-14579	36	22	safely	safely	ADV
aiti-14579	36	23	and	and	CCONJ
aiti-14579	36	24	efficiently	efficiently	ADV
aiti-14579	36	25	.	.	PUNCT
aiti-14579	37	1	in	in	ADP
aiti-14579	37	2	the	the	DET
aiti-14579	37	3	existing	exist	VERB
aiti-14579	37	4	obstacle	obstacle	NOUN
aiti-14579	37	5	avoidance	avoidance	NOUN
aiti-14579	37	6	approaches	approach	NOUN
aiti-14579	37	7	,	,	PUNCT
aiti-14579	37	8	the	the	DET
aiti-14579	37	9	potential	potential	ADJ
aiti-14579	37	10	field	field	NOUN
aiti-14579	37	11	[	[	X
aiti-14579	37	12	6	6	NUM
aiti-14579	37	13	]	]	PUNCT
aiti-14579	37	14	approach	approach	NOUN
aiti-14579	37	15	can	can	AUX
aiti-14579	37	16	be	be	AUX
aiti-14579	37	17	applied	apply	VERB
aiti-14579	37	18	to	to	PART
aiti-14579	37	19	obstacle	obstacle	VERB
aiti-14579	37	20	avoidance	avoidance	NOUN
aiti-14579	37	21	problems	problem	NOUN
aiti-14579	37	22	for	for	ADP
aiti-14579	37	23	different	different	ADJ
aiti-14579	37	24	types	type	NOUN
aiti-14579	37	25	of	of	ADP
aiti-14579	37	26	robotic	robotic	ADJ
aiti-14579	37	27	systems	system	NOUN
aiti-14579	37	28	,	,	PUNCT
aiti-14579	37	29	such	such	ADJ
aiti-14579	37	30	as	as	ADP
aiti-14579	37	31	mobile	mobile	ADJ
aiti-14579	37	32	robots	robot	NOUN
aiti-14579	37	33	[	[	X
aiti-14579	37	34	7	7	NUM
aiti-14579	37	35	-	-	SYM
aiti-14579	37	36	9	9	NUM
aiti-14579	37	37	]	]	PUNCT
aiti-14579	37	38	and	and	CCONJ
aiti-14579	37	39	industrial	industrial	ADJ
aiti-14579	37	40	robot	robot	NOUN
aiti-14579	37	41	manipulators	manipulator	NOUN
aiti-14579	37	42	[	[	X
aiti-14579	37	43	10	10	NUM
aiti-14579	37	44	-	-	SYM
aiti-14579	37	45	12	12	NUM
aiti-14579	37	46	]	]	PUNCT
aiti-14579	37	47	.	.	PUNCT
aiti-14579	38	1	to	to	PART
aiti-14579	38	2	increase	increase	VERB
aiti-14579	38	3	computation	computation	NOUN
aiti-14579	38	4	speed	speed	NOUN
aiti-14579	38	5	and	and	CCONJ
aiti-14579	38	6	enhance	enhance	VERB
aiti-14579	38	7	the	the	DET
aiti-14579	38	8	stability	stability	NOUN
aiti-14579	38	9	of	of	ADP
aiti-14579	38	10	error	error	NOUN
aiti-14579	38	11	detection	detection	NOUN
aiti-14579	38	12	,	,	PUNCT
aiti-14579	38	13	the	the	DET
aiti-14579	38	14	moving	move	VERB
aiti-14579	38	15	direction	direction	NOUN
aiti-14579	38	16	of	of	ADP
aiti-14579	38	17	a	a	DET
aiti-14579	38	18	mobile	mobile	ADJ
aiti-14579	38	19	robot	robot	NOUN
aiti-14579	38	20	is	be	AUX
aiti-14579	38	21	represented	represent	VERB
aiti-14579	38	22	by	by	ADP
aiti-14579	38	23	a	a	DET
aiti-14579	38	24	histogram	histogram	NOUN
aiti-14579	38	25	in	in	ADP
aiti-14579	38	26	the	the	DET
aiti-14579	38	27	vfh	vfh	ADJ
aiti-14579	38	28	method	method	NOUN
aiti-14579	38	29	[	[	X
aiti-14579	38	30	13	13	NUM
aiti-14579	38	31	]	]	PUNCT
aiti-14579	38	32	.	.	PUNCT
aiti-14579	39	1	the	the	DET
aiti-14579	39	2	moving	move	VERB
aiti-14579	39	3	direction	direction	NOUN
aiti-14579	39	4	with	with	ADP
aiti-14579	39	5	a	a	DET
aiti-14579	39	6	higher	high	ADJ
aiti-14579	39	7	histogram	histogram	NOUN
aiti-14579	39	8	has	have	VERB
aiti-14579	39	9	a	a	DET
aiti-14579	39	10	higher	high	ADJ
aiti-14579	39	11	cost	cost	NOUN
aiti-14579	39	12	and	and	CCONJ
aiti-14579	39	13	is	be	AUX
aiti-14579	39	14	thus	thus	ADV
aiti-14579	39	15	less	less	ADV
aiti-14579	39	16	desirable	desirable	ADJ
aiti-14579	39	17	.	.	PUNCT
aiti-14579	40	1	the	the	DET
aiti-14579	40	2	vfh	vfh	NOUN
aiti-14579	40	3	*	*	X
aiti-14579	40	4	approach	approach	NOUN
aiti-14579	40	5	[	[	X
aiti-14579	40	6	14	14	NUM
aiti-14579	40	7	]	]	X
aiti-14579	40	8	,	,	PUNCT
aiti-14579	40	9	an	an	DET
aiti-14579	40	10	enhanced	enhanced	ADJ
aiti-14579	40	11	version	version	NOUN
aiti-14579	40	12	of	of	ADP
aiti-14579	40	13	the	the	DET
aiti-14579	40	14	vfh	vfh	ADJ
aiti-14579	40	15	method	method	NOUN
aiti-14579	40	16	,	,	PUNCT
aiti-14579	40	17	integrates	integrate	VERB
aiti-14579	40	18	the	the	DET
aiti-14579	40	19	vfh	vfh	ADV
aiti-14579	40	20	method	method	NOUN
aiti-14579	40	21	with	with	ADP
aiti-14579	40	22	the	the	DET
aiti-14579	40	23	a	a	DET
aiti-14579	40	24	-	-	PUNCT
aiti-14579	40	25	star	star	NOUN
aiti-14579	40	26	pathfinding	pathfinding	NOUN
aiti-14579	40	27	(	(	PUNCT
aiti-14579	40	28	a	a	DET
aiti-14579	40	29	*	*	ADJ
aiti-14579	40	30	)	)	PUNCT
aiti-14579	40	31	algorithm	algorithm	NOUN
aiti-14579	40	32	to	to	PART
aiti-14579	40	33	handle	handle	VERB
aiti-14579	40	34	the	the	DET
aiti-14579	40	35	dead	dead	ADJ
aiti-14579	40	36	-	-	PUNCT
aiti-14579	40	37	end	end	NOUN
aiti-14579	40	38	problem	problem	NOUN
aiti-14579	40	39	.	.	PUNCT
aiti-14579	41	1	however	however	ADV
aiti-14579	41	2	,	,	PUNCT
aiti-14579	41	3	the	the	DET
aiti-14579	41	4	common	common	ADJ
aiti-14579	41	5	drawback	drawback	NOUN
aiti-14579	41	6	of	of	ADP
aiti-14579	41	7	the	the	DET
aiti-14579	41	8	approaches	approach	NOUN
aiti-14579	41	9	mentioned	mention	VERB
aiti-14579	41	10	above	above	ADV
aiti-14579	41	11	is	be	AUX
aiti-14579	41	12	that	that	SCONJ
aiti-14579	41	13	the	the	DET
aiti-14579	41	14	mobile	mobile	ADJ
aiti-14579	41	15	robot	robot	NOUN
aiti-14579	41	16	may	may	AUX
aiti-14579	41	17	be	be	AUX
aiti-14579	41	18	trapped	trap	VERB
aiti-14579	41	19	at	at	ADP
aiti-14579	41	20	a	a	DET
aiti-14579	41	21	local	local	ADJ
aiti-14579	41	22	minimum	minimum	NOUN
aiti-14579	41	23	,	,	PUNCT
aiti-14579	41	24	so	so	SCONJ
aiti-14579	41	25	it	it	PRON
aiti-14579	41	26	may	may	AUX
aiti-14579	41	27	fail	fail	VERB
aiti-14579	41	28	to	to	PART
aiti-14579	41	29	reach	reach	VERB
aiti-14579	41	30	its	its	PRON
aiti-14579	41	31	destination	destination	NOUN
aiti-14579	41	32	.	.	PUNCT
aiti-14579	42	1	in	in	ADP
aiti-14579	42	2	contrast	contrast	NOUN
aiti-14579	42	3	,	,	PUNCT
aiti-14579	42	4	the	the	DET
aiti-14579	42	5	rrt	rrt	NOUN
aiti-14579	42	6	approach	approach	NOUN
aiti-14579	42	7	[	[	X
aiti-14579	42	8	15	15	NUM
aiti-14579	42	9	]	]	PUNCT
aiti-14579	42	10	adopts	adopt	VERB
aiti-14579	42	11	a	a	DET
aiti-14579	42	12	different	different	ADJ
aiti-14579	42	13	strategy	strategy	NOUN
aiti-14579	42	14	.	.	PUNCT
aiti-14579	43	1	in	in	ADP
aiti-14579	43	2	the	the	DET
aiti-14579	43	3	rrt	rrt	NOUN
aiti-14579	43	4	approach	approach	NOUN
aiti-14579	43	5	,	,	PUNCT
aiti-14579	43	6	the	the	DET
aiti-14579	43	7	environment	environment	NOUN
aiti-14579	43	8	model	model	NOUN
aiti-14579	43	9	is	be	AUX
aiti-14579	43	10	constructed	construct	VERB
aiti-14579	43	11	in	in	ADP
aiti-14579	43	12	advance	advance	NOUN
aiti-14579	43	13	.	.	PUNCT
aiti-14579	44	1	the	the	DET
aiti-14579	44	2	tree	tree	NOUN
aiti-14579	44	3	and	and	CCONJ
aiti-14579	44	4	nodes	node	NOUN
aiti-14579	44	5	between	between	ADP
aiti-14579	44	6	the	the	DET
aiti-14579	44	7	starting	starting	NOUN
aiti-14579	44	8	and	and	CCONJ
aiti-14579	44	9	destination	destination	NOUN
aiti-14579	44	10	points	point	NOUN
aiti-14579	44	11	are	be	AUX
aiti-14579	44	12	also	also	ADV
aiti-14579	44	13	built	build	VERB
aiti-14579	44	14	.	.	PUNCT
aiti-14579	45	1	if	if	SCONJ
aiti-14579	45	2	there	there	PRON
aiti-14579	45	3	are	be	VERB
aiti-14579	45	4	obstacles	obstacle	NOUN
aiti-14579	45	5	between	between	ADP
aiti-14579	45	6	the	the	DET
aiti-14579	45	7	starting	starting	NOUN
aiti-14579	45	8	point	point	NOUN
aiti-14579	45	9	and	and	CCONJ
aiti-14579	45	10	the	the	DET
aiti-14579	45	11	destination	destination	NOUN
aiti-14579	45	12	point	point	NOUN
aiti-14579	45	13	,	,	PUNCT
aiti-14579	45	14	these	these	DET
aiti-14579	45	15	obstacles	obstacle	NOUN
aiti-14579	45	16	can	can	AUX
aiti-14579	45	17	be	be	AUX
aiti-14579	45	18	avoided	avoid	VERB
aiti-14579	45	19	during	during	ADP
aiti-14579	45	20	the	the	DET
aiti-14579	45	21	tree	tree	NOUN
aiti-14579	45	22	construction	construction	NOUN
aiti-14579	45	23	process	process	NOUN
aiti-14579	45	24	.	.	PUNCT
aiti-14579	46	1	after	after	ADP
aiti-14579	46	2	completing	complete	VERB
aiti-14579	46	3	the	the	DET
aiti-14579	46	4	tree	tree	NOUN
aiti-14579	46	5	and	and	CCONJ
aiti-14579	46	6	nodes	node	NOUN
aiti-14579	46	7	,	,	PUNCT
aiti-14579	46	8	the	the	DET
aiti-14579	46	9	mobile	mobile	NOUN
aiti-14579	46	10	robot	robot	NOUN
aiti-14579	46	11	can	can	AUX
aiti-14579	46	12	move	move	VERB
aiti-14579	46	13	along	along	ADP
aiti-14579	46	14	the	the	DET
aiti-14579	46	15	planned	planned	ADJ
aiti-14579	46	16	path	path	NOUN
aiti-14579	46	17	to	to	PART
aiti-14579	46	18	prevent	prevent	VERB
aiti-14579	46	19	it	it	PRON
aiti-14579	46	20	from	from	ADP
aiti-14579	46	21	being	be	AUX
aiti-14579	46	22	trapped	trap	VERB
aiti-14579	46	23	in	in	ADP
aiti-14579	46	24	a	a	DET
aiti-14579	46	25	local	local	ADJ
aiti-14579	46	26	minimum	minimum	NOUN
aiti-14579	46	27	.	.	PUNCT
aiti-14579	47	1	however	however	ADV
aiti-14579	47	2	,	,	PUNCT
aiti-14579	47	3	one	one	NUM
aiti-14579	47	4	of	of	ADP
aiti-14579	47	5	the	the	DET
aiti-14579	47	6	biggest	big	ADJ
aiti-14579	47	7	problems	problem	NOUN
aiti-14579	47	8	for	for	ADP
aiti-14579	47	9	the	the	DET
aiti-14579	47	10	rrt	rrt	NOUN
aiti-14579	47	11	approach	approach	NOUN
aiti-14579	47	12	is	be	AUX
aiti-14579	47	13	that	that	SCONJ
aiti-14579	47	14	if	if	SCONJ
aiti-14579	47	15	an	an	DET
aiti-14579	47	16	object	object	NOUN
aiti-14579	47	17	accidentally	accidentally	ADV
aiti-14579	47	18	appears	appear	VERB
aiti-14579	47	19	on	on	ADP
aiti-14579	47	20	the	the	DET
aiti-14579	47	21	planned	plan	VERB
aiti-14579	47	22	path	path	NOUN
aiti-14579	47	23	when	when	SCONJ
aiti-14579	47	24	the	the	DET
aiti-14579	47	25	mobile	mobile	ADJ
aiti-14579	47	26	robot	robot	NOUN
aiti-14579	47	27	is	be	AUX
aiti-14579	47	28	moving	move	VERB
aiti-14579	47	29	along	along	ADP
aiti-14579	47	30	the	the	DET
aiti-14579	47	31	path	path	NOUN
aiti-14579	47	32	,	,	PUNCT
aiti-14579	47	33	the	the	DET
aiti-14579	47	34	mobile	mobile	NOUN
aiti-14579	47	35	robot	robot	NOUN
aiti-14579	47	36	must	must	AUX
aiti-14579	47	37	stop	stop	VERB
aiti-14579	47	38	to	to	PART
aiti-14579	47	39	replan	replan	VERB
aiti-14579	47	40	the	the	DET
aiti-14579	47	41	path	path	NOUN
aiti-14579	47	42	to	to	PART
aiti-14579	47	43	avoid	avoid	VERB
aiti-14579	47	44	the	the	DET
aiti-14579	47	45	obstacle	obstacle	NOUN
aiti-14579	47	46	.	.	PUNCT
aiti-14579	48	1	this	this	PRON
aiti-14579	48	2	may	may	AUX
aiti-14579	48	3	significantly	significantly	ADV
aiti-14579	48	4	slow	slow	VERB
aiti-14579	48	5	down	down	ADP
aiti-14579	48	6	the	the	DET
aiti-14579	48	7	moving	move	VERB
aiti-14579	48	8	task	task	NOUN
aiti-14579	48	9	,	,	PUNCT
aiti-14579	48	10	and	and	CCONJ
aiti-14579	48	11	the	the	DET
aiti-14579	48	12	production	production	NOUN
aiti-14579	48	13	efficiency	efficiency	NOUN
aiti-14579	48	14	will	will	AUX
aiti-14579	48	15	be	be	AUX
aiti-14579	48	16	affected	affect	VERB
aiti-14579	48	17	as	as	ADV
aiti-14579	48	18	well	well	ADV
aiti-14579	48	19	.	.	PUNCT
aiti-14579	49	1	to	to	PART
aiti-14579	49	2	remedy	remedy	VERB
aiti-14579	49	3	the	the	DET
aiti-14579	49	4	aforementioned	aforementioned	ADJ
aiti-14579	49	5	drawback	drawback	NOUN
aiti-14579	49	6	,	,	PUNCT
aiti-14579	49	7	a	a	DET
aiti-14579	49	8	motion	motion	NOUN
aiti-14579	49	9	planning	planning	NOUN
aiti-14579	49	10	approach	approach	NOUN
aiti-14579	49	11	that	that	PRON
aiti-14579	49	12	combines	combine	VERB
aiti-14579	49	13	the	the	DET
aiti-14579	49	14	cbf	cbf	PROPN
aiti-14579	49	15	and	and	CCONJ
aiti-14579	49	16	clf	clf	PROPN
aiti-14579	49	17	was	be	AUX
aiti-14579	49	18	proposed	propose	VERB
aiti-14579	50	1	[	[	PUNCT
aiti-14579	50	2	16	16	NUM
aiti-14579	50	3	-	-	SYM
aiti-14579	50	4	17	17	NUM
aiti-14579	50	5	]	]	PUNCT
aiti-14579	50	6	.	.	PUNCT
aiti-14579	51	1	in	in	ADP
aiti-14579	51	2	particular	particular	ADJ
aiti-14579	51	3	,	,	PUNCT
aiti-14579	51	4	the	the	DET
aiti-14579	51	5	clf	clf	PROPN
aiti-14579	51	6	is	be	AUX
aiti-14579	51	7	employed	employ	VERB
aiti-14579	51	8	as	as	ADP
aiti-14579	51	9	the	the	DET
aiti-14579	51	10	control	control	NOUN
aiti-14579	51	11	scheme	scheme	NOUN
aiti-14579	51	12	to	to	PART
aiti-14579	51	13	control	control	VERB
aiti-14579	51	14	the	the	DET
aiti-14579	51	15	mobile	mobile	ADJ
aiti-14579	51	16	robot	robot	NOUN
aiti-14579	51	17	moving	move	VERB
aiti-14579	51	18	from	from	ADP
aiti-14579	51	19	the	the	DET
aiti-14579	51	20	starting	starting	NOUN
aiti-14579	51	21	point	point	NOUN
aiti-14579	51	22	to	to	ADP
aiti-14579	51	23	the	the	DET
aiti-14579	51	24	destination	destination	NOUN
aiti-14579	51	25	point	point	NOUN
aiti-14579	51	26	.	.	PUNCT
aiti-14579	52	1	at	at	ADP
aiti-14579	52	2	the	the	DET
aiti-14579	52	3	same	same	ADJ
aiti-14579	52	4	time	time	NOUN
aiti-14579	52	5	,	,	PUNCT
aiti-14579	52	6	the	the	DET
aiti-14579	52	7	cbf	cbf	PROPN
aiti-14579	52	8	is	be	AUX
aiti-14579	52	9	used	use	VERB
aiti-14579	52	10	as	as	ADP
aiti-14579	52	11	a	a	DET
aiti-14579	52	12	safety	safety	NOUN
aiti-14579	52	13	filter	filter	NOUN
aiti-14579	52	14	to	to	PART
aiti-14579	52	15	ensure	ensure	VERB
aiti-14579	52	16	the	the	DET
aiti-14579	52	17	safety	safety	NOUN
aiti-14579	52	18	of	of	ADP
aiti-14579	52	19	the	the	DET
aiti-14579	52	20	mobile	mobile	NOUN
aiti-14579	52	21	robot	robot	NOUN
aiti-14579	52	22	when	when	SCONJ
aiti-14579	52	23	avoiding	avoid	VERB
aiti-14579	52	24	obstacles	obstacle	NOUN
aiti-14579	52	25	.	.	PUNCT
aiti-14579	53	1	moreover	moreover	ADV
aiti-14579	53	2	,	,	PUNCT
aiti-14579	53	3	through	through	ADP
aiti-14579	53	4	some	some	DET
aiti-14579	53	5	mathematical	mathematical	ADJ
aiti-14579	53	6	manipulations	manipulation	NOUN
aiti-14579	53	7	,	,	PUNCT
aiti-14579	53	8	cbf	cbf	PROPN
aiti-14579	53	9	and	and	CCONJ
aiti-14579	53	10	clf	clf	PROPN
aiti-14579	53	11	are	be	AUX
aiti-14579	53	12	unified	unify	VERB
aiti-14579	53	13	as	as	ADP
aiti-14579	53	14	a	a	DET
aiti-14579	53	15	quadratic	quadratic	ADJ
aiti-14579	53	16	program	program	NOUN
aiti-14579	53	17	,	,	PUNCT
aiti-14579	53	18	referred	refer	VERB
aiti-14579	53	19	to	to	ADP
aiti-14579	53	20	as	as	ADP
aiti-14579	53	21	the	the	DET
aiti-14579	53	22	cbf	cbf	PROPN
aiti-14579	53	23	-	-	PUNCT
aiti-14579	53	24	clf	clf	PROPN
aiti-14579	53	25	quadratic	quadratic	ADJ
aiti-14579	53	26	program	program	NOUN
aiti-14579	53	27	.	.	PUNCT
aiti-14579	54	1	nevertheless	nevertheless	ADV
aiti-14579	54	2	,	,	PUNCT
aiti-14579	54	3	when	when	SCONJ
aiti-14579	54	4	using	use	VERB
aiti-14579	54	5	the	the	DET
aiti-14579	54	6	cbf	cbf	PROPN
aiti-14579	54	7	-	-	PUNCT
aiti-14579	54	8	clf	clf	PROPN
aiti-14579	54	9	quadratic	quadratic	ADJ
aiti-14579	54	10	program	program	NOUN
aiti-14579	54	11	to	to	PART
aiti-14579	54	12	perform	perform	VERB
aiti-14579	54	13	motion	motion	NOUN
aiti-14579	54	14	planning	planning	NOUN
aiti-14579	54	15	,	,	PUNCT
aiti-14579	54	16	it	it	PRON
aiti-14579	54	17	may	may	AUX
aiti-14579	54	18	not	not	PART
aiti-14579	54	19	be	be	AUX
aiti-14579	54	20	possible	possible	ADJ
aiti-14579	54	21	to	to	PART
aiti-14579	54	22	find	find	VERB
aiti-14579	54	23	feasible	feasible	ADJ
aiti-14579	54	24	solutions	solution	NOUN
aiti-14579	54	25	since	since	SCONJ
aiti-14579	54	26	the	the	DET
aiti-14579	54	27	redundant	redundant	ADJ
aiti-14579	54	28	unsafe	unsafe	ADJ
aiti-14579	54	29	area	area	NOUN
aiti-14579	54	30	due	due	ADP
aiti-14579	54	31	to	to	ADP
aiti-14579	54	32	obstacles	obstacle	NOUN
aiti-14579	54	33	is	be	AUX
aiti-14579	54	34	excessively	excessively	ADV
aiti-14579	54	35	large	large	ADJ
aiti-14579	54	36	.	.	PUNCT
aiti-14579	55	1	to	to	PART
aiti-14579	55	2	tackle	tackle	VERB
aiti-14579	55	3	this	this	DET
aiti-14579	55	4	problem	problem	NOUN
aiti-14579	55	5	,	,	PUNCT
aiti-14579	55	6	this	this	DET
aiti-14579	55	7	paper	paper	NOUN
aiti-14579	55	8	proposes	propose	VERB
aiti-14579	55	9	an	an	DET
aiti-14579	55	10	approach	approach	NOUN
aiti-14579	55	11	that	that	PRON
aiti-14579	55	12	exploits	exploit	VERB
aiti-14579	55	13	the	the	DET
aiti-14579	55	14	idea	idea	NOUN
aiti-14579	55	15	of	of	ADP
aiti-14579	55	16	dbscan	dbscan	PROPN
aiti-14579	55	17	clustering	cluster	VERB
aiti-14579	55	18	[	[	X
aiti-14579	55	19	18	18	NUM
aiti-14579	55	20	]	]	PUNCT
aiti-14579	55	21	to	to	PART
aiti-14579	55	22	find	find	VERB
aiti-14579	55	23	the	the	DET
aiti-14579	55	24	mee	mee	PROPN
aiti-14579	55	25	for	for	ADP
aiti-14579	55	26	the	the	DET
aiti-14579	55	27	cbf	cbf	PROPN
aiti-14579	55	28	-	-	PUNCT
aiti-14579	55	29	clf	clf	PROPN
aiti-14579	55	30	quadratic	quadratic	PROPN
aiti-14579	55	31	program	program	NOUN
aiti-14579	55	32	,	,	PUNCT
aiti-14579	55	33	which	which	PRON
aiti-14579	55	34	is	be	AUX
aiti-14579	55	35	called	call	VERB
aiti-14579	55	36	the	the	DET
aiti-14579	55	37	dbscan	dbscan	PROPN
aiti-14579	55	38	-	-	PUNCT
aiti-14579	55	39	mee	mee	PROPN
aiti-14579	55	40	-	-	PUNCT
aiti-14579	55	41	cbf	cbf	PROPN
aiti-14579	55	42	in	in	ADP
aiti-14579	55	43	this	this	DET
aiti-14579	55	44	paper	paper	NOUN
aiti-14579	55	45	.	.	PUNCT
aiti-14579	56	1	the	the	DET
aiti-14579	56	2	proposed	propose	VERB
aiti-14579	56	3	dbscanmee	dbscanmee	PROPN
aiti-14579	56	4	-	-	PUNCT
aiti-14579	56	5	cbf	cbf	PROPN
aiti-14579	56	6	approach	approach	NOUN
aiti-14579	56	7	can	can	AUX
aiti-14579	56	8	reduce	reduce	VERB
aiti-14579	56	9	the	the	DET
aiti-14579	56	10	size	size	NOUN
aiti-14579	56	11	of	of	ADP
aiti-14579	56	12	the	the	DET
aiti-14579	56	13	redundant	redundant	ADJ
aiti-14579	56	14	unsafe	unsafe	ADJ
aiti-14579	56	15	area	area	NOUN
aiti-14579	56	16	of	of	ADP
aiti-14579	56	17	obstacles	obstacle	NOUN
aiti-14579	56	18	while	while	SCONJ
aiti-14579	56	19	ensuring	ensure	VERB
aiti-14579	56	20	that	that	SCONJ
aiti-14579	56	21	the	the	DET
aiti-14579	56	22	mobile	mobile	NOUN
aiti-14579	56	23	robot	robot	NOUN
aiti-14579	56	24	can	can	AUX
aiti-14579	56	25	successfully	successfully	ADV
aiti-14579	56	26	avoid	avoid	VERB
aiti-14579	56	27	obstacles	obstacle	NOUN
aiti-14579	56	28	.	.	PUNCT
aiti-14579	57	1	compared	compare	VERB
aiti-14579	57	2	with	with	ADP
aiti-14579	57	3	the	the	DET
aiti-14579	57	4	original	original	ADJ
aiti-14579	57	5	cbf	cbf	PROPN
aiti-14579	57	6	-	-	PUNCT
aiti-14579	57	7	clf	clf	PROPN
aiti-14579	57	8	quadratic	quadratic	PROPN
aiti-14579	57	9	program	program	NOUN
aiti-14579	57	10	,	,	PUNCT
aiti-14579	57	11	the	the	DET
aiti-14579	57	12	moving	move	VERB
aiti-14579	57	13	space	space	NOUN
aiti-14579	57	14	of	of	ADP
aiti-14579	57	15	the	the	DET
aiti-14579	57	16	mobile	mobile	NOUN
aiti-14579	57	17	robot	robot	NOUN
aiti-14579	57	18	,	,	PUNCT
aiti-14579	57	19	as	as	ADV
aiti-14579	57	20	well	well	ADV
aiti-14579	57	21	as	as	ADP
aiti-14579	57	22	the	the	DET
aiti-14579	57	23	chance	chance	NOUN
aiti-14579	57	24	of	of	ADP
aiti-14579	57	25	finding	find	VERB
aiti-14579	57	26	feasible	feasible	ADJ
aiti-14579	57	27	solutions	solution	NOUN
aiti-14579	57	28	,	,	PUNCT
aiti-14579	57	29	becomes	become	VERB
aiti-14579	57	30	larger	large	ADJ
aiti-14579	57	31	for	for	ADP
aiti-14579	57	32	the	the	DET
aiti-14579	57	33	proposed	propose	VERB
aiti-14579	57	34	dbscan	dbscan	PROPN
aiti-14579	57	35	-	-	PUNCT
aiti-14579	57	36	mee	mee	PROPN
aiti-14579	57	37	-	-	PUNCT
aiti-14579	57	38	cbf	cbf	PROPN
aiti-14579	57	39	approach	approach	NOUN
aiti-14579	57	40	.	.	PUNCT
aiti-14579	58	1	in	in	ADP
aiti-14579	58	2	addition	addition	NOUN
aiti-14579	58	3	,	,	PUNCT
aiti-14579	58	4	the	the	DET
aiti-14579	58	5	trajectory	trajectory	NOUN
aiti-14579	58	6	planned	plan	VERB
aiti-14579	58	7	by	by	ADP
aiti-14579	58	8	the	the	DET
aiti-14579	58	9	proposed	propose	VERB
aiti-14579	58	10	dbscan	dbscan	PROPN
aiti-14579	58	11	-	-	PUNCT
aiti-14579	58	12	mee	mee	PROPN
aiti-14579	58	13	-	-	PUNCT
aiti-14579	58	14	cbf	cbf	PROPN
aiti-14579	58	15	is	be	AUX
aiti-14579	58	16	shorter	short	ADJ
aiti-14579	58	17	.	.	PUNCT
aiti-14579	59	1	the	the	DET
aiti-14579	59	2	relationship	relationship	NOUN
aiti-14579	59	3	and	and	CCONJ
aiti-14579	59	4	comparison	comparison	NOUN
aiti-14579	59	5	of	of	ADP
aiti-14579	59	6	the	the	DET
aiti-14579	59	7	existing	exist	VERB
aiti-14579	59	8	literature	literature	NOUN
aiti-14579	59	9	are	be	AUX
aiti-14579	59	10	shown	show	VERB
aiti-14579	59	11	in	in	ADP
aiti-14579	59	12	table	table	NOUN
aiti-14579	59	13	1	1	NUM
aiti-14579	59	14	.	.	PUNCT
aiti-14579	59	15	advances	advance	NOUN
aiti-14579	59	16	in	in	ADP
aiti-14579	59	17	technology	technology	NOUN
aiti-14579	59	18	innovation	innovation	NOUN
aiti-14579	59	19	,	,	PUNCT
aiti-14579	59	20	vol	vol	NOUN
aiti-14579	59	21	.	.	PROPN
aiti-14579	60	1	10	10	NUM
aiti-14579	60	2	,	,	PUNCT
aiti-14579	60	3	no	no	INTJ
aiti-14579	60	4	.	.	NOUN
aiti-14579	60	5	4	4	NUM
aiti-14579	60	6	,	,	PUNCT
aiti-14579	60	7	2025	2025	NUM
aiti-14579	60	8	,	,	PUNCT
aiti-14579	60	9	pp	pp	ADJ
aiti-14579	60	10	.	.	PUNCT
aiti-14579	61	1	358	358	NUM
aiti-14579	61	2	-	-	SYM
aiti-14579	61	3	369	369	NUM
aiti-14579	61	4	360	360	NUM
aiti-14579	61	5	table	table	NOUN
aiti-14579	61	6	1	1	NUM
aiti-14579	61	7	the	the	DET
aiti-14579	61	8	relationship	relationship	NOUN
aiti-14579	61	9	and	and	CCONJ
aiti-14579	61	10	comparison	comparison	NOUN
aiti-14579	61	11	of	of	ADP
aiti-14579	61	12	the	the	DET
aiti-14579	61	13	literature	literature	NOUN
aiti-14579	61	14	method	method	NOUN
aiti-14579	61	15	key	key	ADJ
aiti-14579	61	16	concept	concept	NOUN
aiti-14579	61	17	advantages	advantage	NOUN
aiti-14579	61	18	disadvantages	disadvantage	VERB
aiti-14579	61	19	references	reference	NOUN
aiti-14579	61	20	potential	potential	ADJ
aiti-14579	61	21	field	field	NOUN
aiti-14579	61	22	uses	use	VERB
aiti-14579	61	23	attractive	attractive	ADJ
aiti-14579	61	24	and	and	CCONJ
aiti-14579	61	25	repulsive	repulsive	ADJ
aiti-14579	61	26	forces	force	NOUN
aiti-14579	61	27	to	to	PART
aiti-14579	61	28	navigate	navigate	VERB
aiti-14579	61	29	obstacles	obstacle	NOUN
aiti-14579	61	30	easy	easy	ADJ
aiti-14579	61	31	to	to	PART
aiti-14579	61	32	implement	implement	VERB
aiti-14579	61	33	;	;	PUNCT
aiti-14579	61	34	realtime	realtime	ADJ
aiti-14579	61	35	responsiveness	responsiveness	NOUN
aiti-14579	61	36	may	may	AUX
aiti-14579	61	37	get	get	AUX
aiti-14579	61	38	stuck	stick	VERB
aiti-14579	61	39	in	in	ADP
aiti-14579	61	40	a	a	DET
aiti-14579	61	41	local	local	ADJ
aiti-14579	61	42	minimum	minimum	NOUN
aiti-14579	61	43	[	[	X
aiti-14579	61	44	2	2	NUM
aiti-14579	61	45	,	,	PUNCT
aiti-14579	61	46	6	6	NUM
aiti-14579	61	47	]	]	PUNCT
aiti-14579	61	48	vector	vector	NOUN
aiti-14579	61	49	field	field	NOUN
aiti-14579	61	50	histogram	histogram	NOUN
aiti-14579	61	51	(	(	PUNCT
aiti-14579	61	52	vfh	vfh	ADV
aiti-14579	61	53	)	)	PUNCT
aiti-14579	61	54	a	a	DET
aiti-14579	61	55	bar	bar	NOUN
aiti-14579	61	56	chart	chart	NOUN
aiti-14579	61	57	can	can	AUX
aiti-14579	61	58	represent	represent	VERB
aiti-14579	61	59	the	the	DET
aiti-14579	61	60	traveling	travel	VERB
aiti-14579	61	61	cost	cost	NOUN
aiti-14579	61	62	in	in	ADP
aiti-14579	61	63	different	different	ADJ
aiti-14579	61	64	directions	direction	NOUN
aiti-14579	61	65	.	.	PUNCT
aiti-14579	62	1	the	the	PRON
aiti-14579	62	2	higher	high	ADJ
aiti-14579	62	3	the	the	DET
aiti-14579	62	4	bar	bar	NOUN
aiti-14579	62	5	,	,	PUNCT
aiti-14579	62	6	the	the	PRON
aiti-14579	62	7	greater	great	ADJ
aiti-14579	62	8	the	the	DET
aiti-14579	62	9	cost	cost	NOUN
aiti-14579	62	10	of	of	ADP
aiti-14579	62	11	moving	move	VERB
aiti-14579	62	12	in	in	ADP
aiti-14579	62	13	that	that	DET
aiti-14579	62	14	direction	direction	NOUN
aiti-14579	62	15	,	,	PUNCT
aiti-14579	62	16	indicating	indicate	VERB
aiti-14579	62	17	a	a	DET
aiti-14579	62	18	lower	low	ADJ
aiti-14579	62	19	likelihood	likelihood	NOUN
aiti-14579	62	20	of	of	ADP
aiti-14579	62	21	passage	passage	NOUN
aiti-14579	62	22	.	.	PUNCT
aiti-14579	63	1	efficient	efficient	ADJ
aiti-14579	63	2	obstacle	obstacle	NOUN
aiti-14579	63	3	detection	detection	NOUN
aiti-14579	63	4	;	;	PUNCT
aiti-14579	63	5	fast	fast	ADJ
aiti-14579	63	6	computation	computation	NOUN
aiti-14579	63	7	the	the	DET
aiti-14579	63	8	performance	performance	NOUN
aiti-14579	63	9	is	be	AUX
aiti-14579	63	10	not	not	PART
aiti-14579	63	11	good	good	ADJ
aiti-14579	63	12	when	when	SCONJ
aiti-14579	63	13	the	the	DET
aiti-14579	63	14	robot	robot	NOUN
aiti-14579	63	15	encounters	encounter	VERB
aiti-14579	63	16	a	a	DET
aiti-14579	63	17	dead	dead	ADJ
aiti-14579	63	18	end	end	NOUN
aiti-14579	63	19	and	and	CCONJ
aiti-14579	63	20	needs	need	VERB
aiti-14579	63	21	a	a	DET
aiti-14579	63	22	sharp	sharp	ADJ
aiti-14579	63	23	turn	turn	NOUN
aiti-14579	63	24	.	.	PUNCT
aiti-14579	64	1	[	[	X
aiti-14579	64	2	13	13	NUM
aiti-14579	64	3	]	]	X
aiti-14579	64	4	vfh	vfh	ADV
aiti-14579	64	5	*	*	PUNCT
aiti-14579	64	6	combines	combine	VERB
aiti-14579	64	7	vfh	vfh	ADV
aiti-14579	64	8	with	with	ADP
aiti-14579	64	9	a	a	DET
aiti-14579	64	10	*	*	ADJ
aiti-14579	64	11	algorithm	algorithm	NOUN
aiti-14579	64	12	to	to	PART
aiti-14579	64	13	address	address	VERB
aiti-14579	64	14	deadend	deadend	PROPN
aiti-14579	64	15	issues	issue	NOUN
aiti-14579	64	16	improved	improve	VERB
aiti-14579	64	17	pathfinding	pathfinde	VERB
aiti-14579	64	18	in	in	ADP
aiti-14579	64	19	complex	complex	ADJ
aiti-14579	64	20	environments	environment	NOUN
aiti-14579	64	21	still	still	ADV
aiti-14579	64	22	susceptible	susceptible	ADJ
aiti-14579	64	23	to	to	ADP
aiti-14579	64	24	local	local	ADJ
aiti-14579	64	25	minima	minima	NOUN
aiti-14579	65	1	[	[	X
aiti-14579	65	2	14	14	NUM
aiti-14579	65	3	]	]	X
aiti-14579	65	4	rapidly	rapidly	ADV
aiti-14579	65	5	-	-	PUNCT
aiti-14579	65	6	exploring	explore	VERB
aiti-14579	65	7	random	random	ADJ
aiti-14579	65	8	tree	tree	NOUN
aiti-14579	65	9	(	(	PUNCT
aiti-14579	65	10	rrt	rrt	NOUN
aiti-14579	65	11	)	)	PUNCT
aiti-14579	65	12	constructs	construct	VERB
aiti-14579	65	13	a	a	DET
aiti-14579	65	14	tree	tree	NOUN
aiti-14579	65	15	to	to	PART
aiti-14579	65	16	find	find	VERB
aiti-14579	65	17	feasible	feasible	ADJ
aiti-14579	65	18	paths	path	NOUN
aiti-14579	65	19	from	from	ADP
aiti-14579	65	20	start	start	NOUN
aiti-14579	65	21	to	to	ADP
aiti-14579	65	22	goal	goal	NOUN
aiti-14579	65	23	can	can	AUX
aiti-14579	65	24	handle	handle	VERB
aiti-14579	65	25	complex	complex	ADJ
aiti-14579	65	26	environments	environment	NOUN
aiti-14579	65	27	requires	require	VERB
aiti-14579	65	28	re	re	NOUN
aiti-14579	65	29	-	-	NOUN
aiti-14579	65	30	planning	plan	VERB
aiti-14579	65	31	if	if	SCONJ
aiti-14579	65	32	new	new	ADJ
aiti-14579	65	33	obstacles	obstacle	NOUN
aiti-14579	65	34	appear	appear	VERB
aiti-14579	65	35	[	[	X
aiti-14579	65	36	15	15	NUM
aiti-14579	65	37	]	]	X
aiti-14579	65	38	traditional	traditional	ADJ
aiti-14579	65	39	cbf	cbf	PROPN
aiti-14579	65	40	-	-	PUNCT
aiti-14579	65	41	clf	clf	PROPN
aiti-14579	65	42	quadratic	quadratic	PROPN
aiti-14579	65	43	program	program	NOUN
aiti-14579	65	44	uses	use	VERB
aiti-14579	65	45	control	control	NOUN
aiti-14579	65	46	barrier	barrier	NOUN
aiti-14579	65	47	function	function	NOUN
aiti-14579	65	48	(	(	PUNCT
aiti-14579	65	49	cbf	cbf	PROPN
aiti-14579	65	50	)	)	PUNCT
aiti-14579	65	51	for	for	ADP
aiti-14579	65	52	safety	safety	NOUN
aiti-14579	65	53	and	and	CCONJ
aiti-14579	65	54	control	control	NOUN
aiti-14579	65	55	lyapunov	lyapunov	PROPN
aiti-14579	65	56	function	function	NOUN
aiti-14579	65	57	(	(	PUNCT
aiti-14579	65	58	clf	clf	PROPN
aiti-14579	65	59	)	)	PUNCT
aiti-14579	65	60	for	for	ADP
aiti-14579	65	61	control	control	NOUN
aiti-14579	65	62	ensures	ensure	VERB
aiti-14579	65	63	safety	safety	NOUN
aiti-14579	65	64	constraints	constraint	NOUN
aiti-14579	65	65	;	;	PUNCT
aiti-14579	65	66	robust	robust	ADJ
aiti-14579	65	67	control	control	NOUN
aiti-14579	65	68	it	it	PRON
aiti-14579	65	69	needs	need	VERB
aiti-14579	65	70	to	to	PART
aiti-14579	65	71	define	define	VERB
aiti-14579	65	72	unsafe	unsafe	ADJ
aiti-14579	65	73	regions	region	NOUN
aiti-14579	65	74	.	.	PUNCT
aiti-14579	66	1	if	if	SCONJ
aiti-14579	66	2	the	the	DET
aiti-14579	66	3	unsafe	unsafe	ADJ
aiti-14579	66	4	region	region	NOUN
aiti-14579	66	5	is	be	AUX
aiti-14579	66	6	too	too	ADV
aiti-14579	66	7	large	large	ADJ
aiti-14579	66	8	,	,	PUNCT
aiti-14579	66	9	the	the	DET
aiti-14579	66	10	space	space	NOUN
aiti-14579	66	11	available	available	ADJ
aiti-14579	66	12	for	for	SCONJ
aiti-14579	66	13	the	the	DET
aiti-14579	66	14	robot	robot	NOUN
aiti-14579	66	15	to	to	PART
aiti-14579	66	16	move	move	VERB
aiti-14579	66	17	will	will	AUX
aiti-14579	66	18	be	be	AUX
aiti-14579	66	19	limited	limit	VERB
aiti-14579	66	20	.	.	PUNCT
aiti-14579	67	1	[	[	X
aiti-14579	67	2	16	16	NUM
aiti-14579	67	3	-	-	SYM
aiti-14579	67	4	17	17	NUM
aiti-14579	67	5	,	,	PUNCT
aiti-14579	67	6	1920	1920	NUM
aiti-14579	67	7	]	]	PUNCT
aiti-14579	67	8	dbscan	dbscan	PROPN
aiti-14579	67	9	-	-	PUNCT
aiti-14579	67	10	mee	mee	PROPN
aiti-14579	67	11	-	-	PUNCT
aiti-14579	67	12	cbf	cbf	PROPN
aiti-14579	67	13	uses	use	VERB
aiti-14579	67	14	dbscan	dbscan	PROPN
aiti-14579	67	15	clustering	cluster	VERB
aiti-14579	67	16	to	to	PART
aiti-14579	67	17	refine	refine	VERB
aiti-14579	67	18	cbf	cbf	PROPN
aiti-14579	67	19	-	-	PUNCT
aiti-14579	67	20	clf	clf	PROPN
aiti-14579	67	21	safety	safety	NOUN
aiti-14579	67	22	constraints	constraint	NOUN
aiti-14579	67	23	reduces	reduce	VERB
aiti-14579	67	24	the	the	DET
aiti-14579	67	25	size	size	NOUN
aiti-14579	67	26	of	of	ADP
aiti-14579	67	27	redundant	redundant	ADJ
aiti-14579	67	28	,	,	PUNCT
aiti-14579	67	29	unsafe	unsafe	ADJ
aiti-14579	67	30	areas	area	NOUN
aiti-14579	67	31	;	;	PUNCT
aiti-14579	67	32	improves	improve	VERB
aiti-14579	67	33	feasible	feasible	ADJ
aiti-14579	67	34	solutions	solution	NOUN
aiti-14579	67	35	requires	require	VERB
aiti-14579	67	36	additional	additional	ADJ
aiti-14579	67	37	computation	computation	NOUN
aiti-14579	67	38	for	for	ADP
aiti-14579	67	39	clustering	cluster	VERB
aiti-14579	67	40	this	this	DET
aiti-14579	67	41	study	study	NOUN
aiti-14579	67	42	3	3	NUM
aiti-14579	67	43	.	.	PUNCT
aiti-14579	67	44	brief	brief	ADJ
aiti-14579	67	45	review	review	NOUN
aiti-14579	67	46	of	of	ADP
aiti-14579	67	47	cbf	cbf	PROPN
aiti-14579	67	48	and	and	CCONJ
aiti-14579	67	49	cbf	cbf	PROPN
aiti-14579	67	50	-	-	PUNCT
aiti-14579	67	51	clf	clf	PROPN
aiti-14579	67	52	quadratic	quadratic	ADJ
aiti-14579	67	53	programming	programming	NOUN
aiti-14579	67	54	in	in	ADP
aiti-14579	67	55	safety	safety	NOUN
aiti-14579	67	56	-	-	PUNCT
aiti-14579	67	57	critical	critical	ADJ
aiti-14579	67	58	systems	system	NOUN
aiti-14579	67	59	,	,	PUNCT
aiti-14579	67	60	the	the	DET
aiti-14579	67	61	system	system	NOUN
aiti-14579	67	62	states	state	NOUN
aiti-14579	67	63	must	must	AUX
aiti-14579	67	64	remain	remain	VERB
aiti-14579	67	65	within	within	ADP
aiti-14579	67	66	the	the	DET
aiti-14579	67	67	set	set	NOUN
aiti-14579	67	68	defined	define	VERB
aiti-14579	67	69	by	by	ADP
aiti-14579	67	70	the	the	DET
aiti-14579	67	71	safety	safety	NOUN
aiti-14579	67	72	constraint	constraint	NOUN
aiti-14579	67	73	.	.	PUNCT
aiti-14579	68	1	one	one	NUM
aiti-14579	68	2	effective	effective	ADJ
aiti-14579	68	3	means	mean	NOUN
aiti-14579	68	4	for	for	ADP
aiti-14579	68	5	dealing	deal	VERB
aiti-14579	68	6	with	with	ADP
aiti-14579	68	7	the	the	DET
aiti-14579	68	8	abovementioned	abovementione	VERB
aiti-14579	68	9	problem	problem	NOUN
aiti-14579	68	10	is	be	AUX
aiti-14579	68	11	to	to	PART
aiti-14579	68	12	ensure	ensure	VERB
aiti-14579	68	13	that	that	SCONJ
aiti-14579	68	14	the	the	DET
aiti-14579	68	15	system	system	NOUN
aiti-14579	68	16	possesses	possess	VERB
aiti-14579	68	17	the	the	DET
aiti-14579	68	18	property	property	NOUN
aiti-14579	68	19	of	of	ADP
aiti-14579	68	20	set	set	VERB
aiti-14579	68	21	invariance	invariance	NOUN
aiti-14579	68	22	using	use	VERB
aiti-14579	68	23	cbf	cbf	PROPN
aiti-14579	68	24	.	.	PUNCT
aiti-14579	69	1	cbf	cbf	PROPN
aiti-14579	69	2	has	have	AUX
aiti-14579	69	3	been	be	AUX
aiti-14579	69	4	widely	widely	ADV
aiti-14579	69	5	applied	apply	VERB
aiti-14579	69	6	in	in	ADP
aiti-14579	69	7	safety	safety	NOUN
aiti-14579	69	8	-	-	PUNCT
aiti-14579	69	9	critical	critical	ADJ
aiti-14579	69	10	control	control	NOUN
aiti-14579	69	11	tasks	task	NOUN
aiti-14579	69	12	,	,	PUNCT
aiti-14579	69	13	which	which	PRON
aiti-14579	69	14	ensure	ensure	VERB
aiti-14579	69	15	the	the	DET
aiti-14579	69	16	trajectories	trajectory	NOUN
aiti-14579	69	17	of	of	ADP
aiti-14579	69	18	an	an	DET
aiti-14579	69	19	agv	agv	NOUN
aiti-14579	69	20	remain	remain	VERB
aiti-14579	69	21	within	within	ADP
aiti-14579	69	22	the	the	DET
aiti-14579	69	23	safe	safe	ADJ
aiti-14579	69	24	regions	region	NOUN
aiti-14579	69	25	.	.	PUNCT
aiti-14579	70	1	in	in	ADP
aiti-14579	70	2	addition	addition	NOUN
aiti-14579	70	3	,	,	PUNCT
aiti-14579	70	4	clf	clf	PROPN
aiti-14579	70	5	provides	provide	VERB
aiti-14579	70	6	a	a	DET
aiti-14579	70	7	framework	framework	NOUN
aiti-14579	70	8	to	to	PART
aiti-14579	70	9	let	let	VERB
aiti-14579	70	10	agv	agv	NOUN
aiti-14579	70	11	move	move	VERB
aiti-14579	70	12	from	from	ADP
aiti-14579	70	13	the	the	DET
aiti-14579	70	14	initial	initial	ADJ
aiti-14579	70	15	position	position	NOUN
aiti-14579	70	16	to	to	ADP
aiti-14579	70	17	the	the	DET
aiti-14579	70	18	final	final	ADJ
aiti-14579	70	19	destination	destination	NOUN
aiti-14579	70	20	.	.	PUNCT
aiti-14579	71	1	the	the	DET
aiti-14579	71	2	combination	combination	NOUN
aiti-14579	71	3	of	of	ADP
aiti-14579	71	4	cbfs	cbfs	NOUN
aiti-14579	71	5	and	and	CCONJ
aiti-14579	71	6	clfs	clfs	NOUN
aiti-14579	71	7	has	have	AUX
aiti-14579	71	8	been	be	AUX
aiti-14579	71	9	effectively	effectively	ADV
aiti-14579	71	10	used	use	VERB
aiti-14579	71	11	in	in	ADP
aiti-14579	71	12	quadratic	quadratic	ADJ
aiti-14579	71	13	programming	programming	NOUN
aiti-14579	71	14	[	[	X
aiti-14579	71	15	16	16	NUM
aiti-14579	71	16	-	-	SYM
aiti-14579	71	17	17	17	NUM
aiti-14579	71	18	,	,	PUNCT
aiti-14579	71	19	19	19	NUM
aiti-14579	71	20	-	-	SYM
aiti-14579	71	21	20	20	NUM
aiti-14579	71	22	]	]	PUNCT
aiti-14579	71	23	,	,	PUNCT
aiti-14579	71	24	allowing	allow	VERB
aiti-14579	71	25	the	the	DET
aiti-14579	71	26	system	system	NOUN
aiti-14579	71	27	to	to	PART
aiti-14579	71	28	stay	stay	VERB
aiti-14579	71	29	in	in	ADP
aiti-14579	71	30	safe	safe	ADJ
aiti-14579	71	31	regions	region	NOUN
aiti-14579	71	32	while	while	SCONJ
aiti-14579	71	33	moving	move	VERB
aiti-14579	71	34	from	from	ADP
aiti-14579	71	35	the	the	DET
aiti-14579	71	36	initial	initial	ADJ
aiti-14579	71	37	position	position	NOUN
aiti-14579	71	38	to	to	ADP
aiti-14579	71	39	the	the	DET
aiti-14579	71	40	final	final	ADJ
aiti-14579	71	41	destination	destination	NOUN
aiti-14579	71	42	.	.	PUNCT
aiti-14579	72	1	consider	consider	VERB
aiti-14579	72	2	a	a	DET
aiti-14579	72	3	nonlinear	nonlinear	ADJ
aiti-14579	72	4	control	control	NOUN
aiti-14579	72	5	-	-	PUNCT
aiti-14579	72	6	affine	affine	NOUN
aiti-14579	72	7	system	system	NOUN
aiti-14579	72	8	,	,	PUNCT
aiti-14579	72	9	where	where	SCONJ
aiti-14579	72	10	the	the	DET
aiti-14579	72	11	system	system	NOUN
aiti-14579	72	12	dynamics	dynamic	NOUN
aiti-14579	72	13	are	be	AUX
aiti-14579	72	14	a	a	DET
aiti-14579	72	15	linear	linear	ADJ
aiti-14579	72	16	combination	combination	NOUN
aiti-14579	72	17	of	of	ADP
aiti-14579	72	18	the	the	DET
aiti-14579	72	19	system	system	NOUN
aiti-14579	72	20	state	state	NOUN
aiti-14579	72	21	and	and	CCONJ
aiti-14579	72	22	control	control	NOUN
aiti-14579	72	23	input	input	NOUN
aiti-14579	72	24	.	.	PUNCT
aiti-14579	73	1	the	the	DET
aiti-14579	73	2	system	system	NOUN
aiti-14579	73	3	dynamics	dynamic	NOUN
aiti-14579	73	4	can	can	AUX
aiti-14579	73	5	be	be	AUX
aiti-14579	73	6	expressed	express	VERB
aiti-14579	73	7	as	as	ADP
aiti-14579	73	8	:	:	PUNCT
aiti-14579	73	9	(	(	PUNCT
aiti-14579	73	10	)	)	PUNCT
aiti-14579	73	11	(	(	PUNCT
aiti-14579	73	12	)	)	PUNCT
aiti-14579	73	13	=	=	PUNCT
aiti-14579	74	1	+	+	PUNCT
aiti-14579	74	2	ɺx	ɺx	NOUN
aiti-14579	74	3	f	f	NOUN
aiti-14579	74	4	x	x	SYM
aiti-14579	74	5	g	g	PROPN
aiti-14579	74	6	x	x	X
aiti-14579	74	7	u	u	NOUN
aiti-14579	74	8	(	(	PUNCT
aiti-14579	74	9	1	1	NUM
aiti-14579	74	10	)	)	PUNCT
aiti-14579	74	11	where	where	SCONJ
aiti-14579	74	12	�	�	PROPN
aiti-14579	74	13	�	�	PROPN
aiti-14579	74	14	∙	∙	PROPN
aiti-14579	74	15	�	�	PROPN
aiti-14579	74	16	:	:	PUNCT
aiti-14579	74	17	ℝ	ℝ	PROPN
aiti-14579	74	18	�	�	PROPN
aiti-14579	74	19	→	→	SYM
aiti-14579	74	20	ℝ	ℝ	PROPN
aiti-14579	74	21	�	�	PROPN
aiti-14579	74	22	and	and	CCONJ
aiti-14579	74	23	�	�	PROPN
aiti-14579	74	24	∙	∙	PROPN
aiti-14579	74	25	�	�	PROPN
aiti-14579	74	26	:	:	PUNCT
aiti-14579	74	27	ℝ	ℝ	PROPN
aiti-14579	74	28	�	�	PROPN
aiti-14579	74	29	→	→	SYM
aiti-14579	74	30	ℝ	ℝ	PROPN
aiti-14579	74	31	�	�	PROPN
aiti-14579	74	32	.	.	PROPN
aiti-14579	74	33	3.1	3.1	NUM
aiti-14579	74	34	.	.	PUNCT
aiti-14579	74	35	control	control	NOUN
aiti-14579	74	36	barrier	barrier	NOUN
aiti-14579	74	37	function	function	NOUN
aiti-14579	74	38	(	(	PUNCT
aiti-14579	74	39	cbf	cbf	PROPN
aiti-14579	74	40	)	)	PUNCT
aiti-14579	74	41	the	the	DET
aiti-14579	74	42	concept	concept	NOUN
aiti-14579	74	43	of	of	ADP
aiti-14579	74	44	the	the	DET
aiti-14579	74	45	cbf	cbf	PROPN
aiti-14579	74	46	is	be	AUX
aiti-14579	74	47	similar	similar	ADJ
aiti-14579	74	48	to	to	ADP
aiti-14579	74	49	that	that	PRON
aiti-14579	74	50	of	of	ADP
aiti-14579	74	51	the	the	DET
aiti-14579	74	52	clf	clf	PROPN
aiti-14579	74	53	.	.	PUNCT
aiti-14579	75	1	the	the	DET
aiti-14579	75	2	goal	goal	NOUN
aiti-14579	75	3	of	of	ADP
aiti-14579	75	4	cbf	cbf	PROPN
aiti-14579	75	5	is	be	AUX
aiti-14579	75	6	to	to	PART
aiti-14579	75	7	ensure	ensure	VERB
aiti-14579	75	8	that	that	SCONJ
aiti-14579	75	9	the	the	DET
aiti-14579	75	10	system	system	NOUN
aiti-14579	75	11	states	state	NOUN
aiti-14579	75	12	remain	remain	VERB
aiti-14579	75	13	within	within	ADP
aiti-14579	75	14	the	the	DET
aiti-14579	75	15	set	set	NOUN
aiti-14579	75	16	defined	define	VERB
aiti-14579	75	17	by	by	ADP
aiti-14579	75	18	the	the	DET
aiti-14579	75	19	safety	safety	NOUN
aiti-14579	75	20	constraints	constraint	NOUN
aiti-14579	75	21	.	.	PUNCT
aiti-14579	76	1	namely	namely	ADV
aiti-14579	76	2	,	,	PUNCT
aiti-14579	76	3	the	the	DET
aiti-14579	76	4	system	system	NOUN
aiti-14579	76	5	possesses	possess	VERB
aiti-14579	76	6	the	the	DET
aiti-14579	76	7	property	property	NOUN
aiti-14579	76	8	of	of	ADP
aiti-14579	76	9	set	set	ADJ
aiti-14579	76	10	invariance	invariance	NOUN
aiti-14579	76	11	.	.	PUNCT
aiti-14579	77	1	consider	consider	VERB
aiti-14579	77	2	a	a	DET
aiti-14579	77	3	dynamical	dynamical	ADJ
aiti-14579	77	4	system	system	NOUN
aiti-14579	77	5	described	describe	VERB
aiti-14579	77	6	by	by	ADP
aiti-14579	77	7	eq	eq	PROPN
aiti-14579	77	8	.	.	PUNCT
aiti-14579	78	1	(	(	PUNCT
aiti-14579	78	2	1	1	NUM
aiti-14579	78	3	)	)	PUNCT
aiti-14579	78	4	,	,	PUNCT
aiti-14579	78	5	where	where	SCONJ
aiti-14579	78	6	�	�	PROPN
aiti-14579	78	7	�	�	PROPN
aiti-14579	78	8	∙	∙	PROPN
aiti-14579	78	9	�	�	PROPN
aiti-14579	78	10	,	,	PUNCT
aiti-14579	78	11	�	�	PROPN
aiti-14579	78	12	∙	∙	PROPN
aiti-14579	78	13	�	�	PROPN
aiti-14579	78	14	are	be	AUX
aiti-14579	78	15	local	local	ADJ
aiti-14579	78	16	lipschitz	lipschitz	NOUN
aiti-14579	78	17	continuous	continuous	ADJ
aiti-14579	78	18	.	.	PUNCT
aiti-14579	79	1	according	accord	VERB
aiti-14579	79	2	to	to	ADP
aiti-14579	79	3	the	the	DET
aiti-14579	79	4	definition	definition	NOUN
aiti-14579	79	5	given	give	VERB
aiti-14579	79	6	in	in	ADP
aiti-14579	79	7	xu	xu	PROPN
aiti-14579	79	8	[	[	X
aiti-14579	79	9	15	15	NUM
aiti-14579	79	10	]	]	PUNCT
aiti-14579	79	11	,	,	PUNCT
aiti-14579	79	12	given	give	VERB
aiti-14579	79	13	a	a	DET
aiti-14579	79	14	set	set	VERB
aiti-14579	79	15	�	�	NOUN
aiti-14579	79	16	defined	define	VERB
aiti-14579	79	17	by	by	ADP
aiti-14579	79	18	a	a	DET
aiti-14579	79	19	continuously	continuously	ADV
aiti-14579	79	20	differentiable	differentiable	ADJ
aiti-14579	79	21	function	function	NOUN
aiti-14579	79	22	ℎ	ℎ	PROPN
aiti-14579	79	23	�	�	PROPN
aiti-14579	79	24	�	�	PROPN
aiti-14579	79	25	�	�	PROPN
aiti-14579	79	26	:	:	PUNCT
aiti-14579	79	27	ℝ	ℝ	PROPN
aiti-14579	79	28	�	�	PROPN
aiti-14579	79	29	→	→	PUNCT
aiti-14579	79	30	ℝ	ℝ	PROPN
aiti-14579	79	31	as	as	SCONJ
aiti-14579	79	32	described	describe	VERB
aiti-14579	79	33	by	by	ADP
aiti-14579	79	34	:	:	PUNCT
aiti-14579	79	35	{	{	PUNCT
aiti-14579	79	36	}	}	PUNCT
aiti-14579	79	37	{	{	PUNCT
aiti-14579	79	38	}	}	PUNCT
aiti-14579	79	39	{	{	PUNCT
aiti-14579	79	40	}	}	PUNCT
aiti-14579	79	41	:	:	PUNCT
aiti-14579	79	42	(	(	PUNCT
aiti-14579	79	43	)	)	PUNCT
aiti-14579	79	44	0	0	NUM
aiti-14579	79	45	:	:	PUNCT
aiti-14579	79	46	(	(	PUNCT
aiti-14579	79	47	)	)	PUNCT
aiti-14579	79	48	0	0	NUM
aiti-14579	79	49	(	(	PUNCT
aiti-14579	79	50	)	)	PUNCT
aiti-14579	79	51	:	:	PUNCT
aiti-14579	79	52	(	(	PUNCT
aiti-14579	79	53	)	)	PUNCT
aiti-14579	79	54	0	0	X
aiti-14579	80	1	=	=	SYM
aiti-14579	80	2	∈	∈	PROPN
aiti-14579	80	3	≥	≥	NOUN
aiti-14579	80	4	∂	∂	NOUN
aiti-14579	80	5	=	=	SYM
aiti-14579	80	6	∈	∈	PROPN
aiti-14579	80	7	=	=	PUNCT
aiti-14579	80	8	=	=	SYM
aiti-14579	80	9	∈	∈	PROPN
aiti-14579	80	10	>	>	X
aiti-14579	80	11	ℝ	ℝ	PROPN
aiti-14579	80	12	ℝ	ℝ	NOUN
aiti-14579	80	13	ℝ	ℝ	NOUN
aiti-14579	80	14	n	n	NOUN
aiti-14579	80	15	n	n	NOUN
aiti-14579	80	16	n	n	NOUN
aiti-14579	80	17	c	c	NOUN
aiti-14579	80	18	x	x	SYM
aiti-14579	80	19	h	h	NOUN
aiti-14579	80	20	x	x	X
aiti-14579	80	21	c	c	NOUN
aiti-14579	80	22	x	x	SYM
aiti-14579	80	23	h	h	NOUN
aiti-14579	80	24	x	x	NOUN
aiti-14579	80	25	int	int	NOUN
aiti-14579	80	26	c	c	NOUN
aiti-14579	80	27	x	x	SYM
aiti-14579	80	28	h	h	NOUN
aiti-14579	80	29	x	x	X
aiti-14579	80	30	(	(	PUNCT
aiti-14579	80	31	2	2	NUM
aiti-14579	80	32	)	)	PUNCT
aiti-14579	80	33	where	where	SCONJ
aiti-14579	80	34	�	�	PROPN
aiti-14579	80	35	�	�	PROPN
aiti-14579	80	36	,	,	PUNCT
aiti-14579	80	37	�	�	PROPN
aiti-14579	80	38	�	�	PROPN
aiti-14579	80	39	�	�	PROPN
aiti-14579	80	40	�	�	PROPN
aiti-14579	80	41	�	�	PROPN
aiti-14579	80	42	�	�	PROPN
aiti-14579	80	43	represents	represent	VERB
aiti-14579	80	44	the	the	DET
aiti-14579	80	45	set	set	NOUN
aiti-14579	80	46	boundary	boundary	NOUN
aiti-14579	80	47	and	and	CCONJ
aiti-14579	80	48	the	the	DET
aiti-14579	80	49	interior	interior	NOUN
aiti-14579	80	50	of	of	ADP
aiti-14579	80	51	the	the	DET
aiti-14579	80	52	set	set	NOUN
aiti-14579	80	53	,	,	PUNCT
aiti-14579	80	54	respectively	respectively	ADV
aiti-14579	80	55	.	.	PUNCT
aiti-14579	81	1	advances	advance	NOUN
aiti-14579	81	2	in	in	ADP
aiti-14579	81	3	technology	technology	NOUN
aiti-14579	81	4	innovation	innovation	NOUN
aiti-14579	81	5	,	,	PUNCT
aiti-14579	81	6	vol	vol	NOUN
aiti-14579	81	7	.	.	PROPN
aiti-14579	82	1	10	10	NUM
aiti-14579	82	2	,	,	PUNCT
aiti-14579	82	3	no	no	INTJ
aiti-14579	82	4	.	.	NOUN
aiti-14579	82	5	4	4	NUM
aiti-14579	82	6	,	,	PUNCT
aiti-14579	82	7	2025	2025	NUM
aiti-14579	82	8	,	,	PUNCT
aiti-14579	82	9	pp	pp	ADJ
aiti-14579	82	10	.	.	PUNCT
aiti-14579	83	1	358	358	NUM
aiti-14579	83	2	-	-	SYM
aiti-14579	83	3	369	369	NUM
aiti-14579	83	4	361	361	NUM
aiti-14579	83	5	if	if	SCONJ
aiti-14579	83	6	there	there	PRON
aiti-14579	83	7	exists	exist	VERB
aiti-14579	83	8	an	an	DET
aiti-14579	83	9	extended	extended	ADJ
aiti-14579	83	10	class	class	NOUN
aiti-14579	83	11	k	k	PROPN
aiti-14579	83	12	function	function	PROPN
aiti-14579	83	13	�	�	PROPN
aiti-14579	83	14	�	�	PROPN
aiti-14579	83	15	∙	∙	PROPN
aiti-14579	83	16	�	�	NOUN
aiti-14579	83	17	such	such	ADJ
aiti-14579	83	18	that	that	SCONJ
aiti-14579	83	19	the	the	DET
aiti-14579	83	20	system	system	NOUN
aiti-14579	83	21	satisfies	satisfy	VERB
aiti-14579	83	22	a	a	DET
aiti-14579	83	23	certain	certain	ADJ
aiti-14579	83	24	inequality	inequality	NOUN
aiti-14579	83	25	,	,	PUNCT
aiti-14579	83	26	(	(	PUNCT
aiti-14579	83	27	)	)	PUNCT
aiti-14579	83	28	(	(	PUNCT
aiti-14579	83	29	)	)	PUNCT
aiti-14579	83	30	(	(	PUNCT
aiti-14579	83	31	)	)	PUNCT
aiti-14579	83	32	(	(	PUNCT
aiti-14579	83	33	)	)	PUNCT
aiti-14579	83	34	0α+	0α+	NOUN
aiti-14579	84	1	+	+	CCONJ
aiti-14579	84	2	≥gfl	≥gfl	PROPN
aiti-14579	84	3	h	h	NOUN
aiti-14579	84	4	x	x	X
aiti-14579	84	5	l	l	NOUN
aiti-14579	84	6	h	h	NOUN
aiti-14579	84	7	x	x	PUNCT
aiti-14579	84	8	u	u	NOUN
aiti-14579	84	9	h	h	NOUN
aiti-14579	84	10	x	x	X
aiti-14579	84	11	(	(	PUNCT
aiti-14579	84	12	3	3	NUM
aiti-14579	84	13	)	)	PUNCT
aiti-14579	84	14	then	then	ADV
aiti-14579	84	15	,	,	PUNCT
aiti-14579	84	16	this	this	DET
aiti-14579	84	17	ℎ	ℎ	PROPN
aiti-14579	84	18	�	�	PROPN
aiti-14579	84	19	�	�	PROPN
aiti-14579	84	20	�	�	PROPN
aiti-14579	84	21	is	be	AUX
aiti-14579	84	22	called	call	VERB
aiti-14579	84	23	the	the	DET
aiti-14579	84	24	zeroing	zeroing	PROPN
aiti-14579	84	25	cbf	cbf	PROPN
aiti-14579	84	26	.	.	PUNCT
aiti-14579	85	1	based	base	VERB
aiti-14579	85	2	on	on	ADP
aiti-14579	85	3	this	this	DET
aiti-14579	85	4	definition	definition	NOUN
aiti-14579	85	5	,	,	PUNCT
aiti-14579	85	6	a	a	DET
aiti-14579	85	7	control	control	NOUN
aiti-14579	85	8	law	law	NOUN
aiti-14579	85	9	can	can	AUX
aiti-14579	85	10	be	be	AUX
aiti-14579	85	11	derived	derive	VERB
aiti-14579	85	12	to	to	PART
aiti-14579	85	13	ensure	ensure	VERB
aiti-14579	85	14	that	that	SCONJ
aiti-14579	85	15	the	the	DET
aiti-14579	85	16	set	set	NOUN
aiti-14579	85	17	�	�	PROPN
aiti-14579	85	18	possesses	possess	VERB
aiti-14579	85	19	the	the	DET
aiti-14579	85	20	property	property	NOUN
aiti-14579	85	21	of	of	ADP
aiti-14579	85	22	set	set	ADJ
aiti-14579	85	23	invariance	invariance	NOUN
aiti-14579	85	24	.	.	PUNCT
aiti-14579	86	1	the	the	DET
aiti-14579	86	2	control	control	NOUN
aiti-14579	86	3	law	law	NOUN
aiti-14579	86	4	is	be	AUX
aiti-14579	86	5	expressed	express	VERB
aiti-14579	86	6	as	as	ADP
aiti-14579	86	7	:	:	PUNCT
aiti-14579	86	8	(	(	PUNCT
aiti-14579	86	9	)	)	PUNCT
aiti-14579	86	10	{	{	PUNCT
aiti-14579	86	11	}	}	PUNCT
aiti-14579	86	12	:	:	PUNCT
aiti-14579	86	13	(	(	PUNCT
aiti-14579	86	14	)	)	PUNCT
aiti-14579	86	15	(	(	PUNCT
aiti-14579	86	16	)	)	PUNCT
aiti-14579	86	17	(	(	PUNCT
aiti-14579	86	18	)	)	PUNCT
aiti-14579	86	19	0α=	0α=	PROPN
aiti-14579	87	1	∈	∈	NOUN
aiti-14579	87	2	+	+	CCONJ
aiti-14579	87	3	+	+	NUM
aiti-14579	87	4	≥	≥	NOUN
aiti-14579	87	5	zcbf	zcbf	PROPN
aiti-14579	87	6	gfk	gfk	PROPN
aiti-14579	87	7	u	u	PROPN
aiti-14579	87	8	u	u	PROPN
aiti-14579	87	9	l	l	NOUN
aiti-14579	87	10	h	h	NOUN
aiti-14579	87	11	x	x	X
aiti-14579	87	12	l	l	NOUN
aiti-14579	87	13	h	h	NOUN
aiti-14579	88	1	x	x	PUNCT
aiti-14579	88	2	u	u	NOUN
aiti-14579	88	3	h	h	NOUN
aiti-14579	88	4	x	x	X
aiti-14579	88	5	(	(	PUNCT
aiti-14579	88	6	4	4	NUM
aiti-14579	88	7	)	)	PUNCT
aiti-14579	88	8	3.2	3.2	NUM
aiti-14579	88	9	.	.	PUNCT
aiti-14579	89	1	cbf	cbf	PROPN
aiti-14579	89	2	-	-	PUNCT
aiti-14579	89	3	clf	clf	PROPN
aiti-14579	89	4	quadratic	quadratic	ADJ
aiti-14579	89	5	program	program	NOUN
aiti-14579	89	6	if	if	SCONJ
aiti-14579	89	7	the	the	DET
aiti-14579	89	8	control	control	NOUN
aiti-14579	89	9	system	system	NOUN
aiti-14579	89	10	of	of	ADP
aiti-14579	89	11	a	a	DET
aiti-14579	89	12	mobile	mobile	ADJ
aiti-14579	89	13	robot	robot	NOUN
aiti-14579	89	14	only	only	ADV
aiti-14579	89	15	contains	contain	VERB
aiti-14579	89	16	a	a	DET
aiti-14579	89	17	clf	clf	PROPN
aiti-14579	89	18	,	,	PUNCT
aiti-14579	89	19	then	then	ADV
aiti-14579	89	20	it	it	PRON
aiti-14579	89	21	can	can	AUX
aiti-14579	89	22	control	control	VERB
aiti-14579	89	23	the	the	DET
aiti-14579	89	24	mobile	mobile	ADJ
aiti-14579	89	25	robot	robot	NOUN
aiti-14579	89	26	moving	move	VERB
aiti-14579	89	27	toward	toward	ADP
aiti-14579	89	28	the	the	DET
aiti-14579	89	29	destination	destination	NOUN
aiti-14579	89	30	.	.	PUNCT
aiti-14579	90	1	however	however	ADV
aiti-14579	90	2	,	,	PUNCT
aiti-14579	90	3	the	the	DET
aiti-14579	90	4	mobile	mobile	NOUN
aiti-14579	90	5	robot	robot	NOUN
aiti-14579	90	6	can	can	AUX
aiti-14579	90	7	not	not	PART
aiti-14579	90	8	avoid	avoid	VERB
aiti-14579	90	9	obstacles	obstacle	NOUN
aiti-14579	90	10	.	.	PUNCT
aiti-14579	91	1	in	in	ADP
aiti-14579	91	2	contrast	contrast	NOUN
aiti-14579	91	3	,	,	PUNCT
aiti-14579	91	4	if	if	SCONJ
aiti-14579	91	5	the	the	DET
aiti-14579	91	6	control	control	NOUN
aiti-14579	91	7	system	system	NOUN
aiti-14579	91	8	of	of	ADP
aiti-14579	91	9	a	a	DET
aiti-14579	91	10	mobile	mobile	ADJ
aiti-14579	91	11	robot	robot	NOUN
aiti-14579	91	12	only	only	ADV
aiti-14579	91	13	contains	contain	VERB
aiti-14579	91	14	a	a	DET
aiti-14579	91	15	cbf	cbf	PROPN
aiti-14579	91	16	,	,	PUNCT
aiti-14579	91	17	then	then	ADV
aiti-14579	91	18	the	the	DET
aiti-14579	91	19	mobile	mobile	ADJ
aiti-14579	91	20	robot	robot	NOUN
aiti-14579	91	21	can	can	AUX
aiti-14579	91	22	avoid	avoid	VERB
aiti-14579	91	23	obstacles	obstacle	NOUN
aiti-14579	91	24	but	but	CCONJ
aiti-14579	91	25	can	can	AUX
aiti-14579	91	26	not	not	PART
aiti-14579	91	27	control	control	VERB
aiti-14579	91	28	the	the	DET
aiti-14579	91	29	mobile	mobile	ADJ
aiti-14579	91	30	robot	robot	NOUN
aiti-14579	91	31	to	to	PART
aiti-14579	91	32	reach	reach	VERB
aiti-14579	91	33	its	its	PRON
aiti-14579	91	34	destination	destination	NOUN
aiti-14579	91	35	.	.	PUNCT
aiti-14579	92	1	one	one	NUM
aiti-14579	92	2	way	way	NOUN
aiti-14579	92	3	to	to	PART
aiti-14579	92	4	overcome	overcome	VERB
aiti-14579	92	5	this	this	DET
aiti-14579	92	6	difficulty	difficulty	NOUN
aiti-14579	92	7	is	be	AUX
aiti-14579	92	8	by	by	ADP
aiti-14579	92	9	using	use	VERB
aiti-14579	92	10	the	the	DET
aiti-14579	92	11	clf	clf	PROPN
aiti-14579	92	12	as	as	ADP
aiti-14579	92	13	the	the	DET
aiti-14579	92	14	control	control	NOUN
aiti-14579	92	15	scheme	scheme	NOUN
aiti-14579	92	16	while	while	SCONJ
aiti-14579	92	17	the	the	DET
aiti-14579	92	18	cbf	cbf	PROPN
aiti-14579	92	19	is	be	AUX
aiti-14579	92	20	used	use	VERB
aiti-14579	92	21	as	as	ADP
aiti-14579	92	22	a	a	DET
aiti-14579	92	23	safety	safety	NOUN
aiti-14579	92	24	filter	filter	NOUN
aiti-14579	92	25	to	to	PART
aiti-14579	92	26	ensure	ensure	VERB
aiti-14579	92	27	the	the	DET
aiti-14579	92	28	safety	safety	NOUN
aiti-14579	92	29	of	of	ADP
aiti-14579	92	30	the	the	DET
aiti-14579	92	31	mobile	mobile	NOUN
aiti-14579	92	32	robot	robot	NOUN
aiti-14579	92	33	.	.	PUNCT
aiti-14579	93	1	to	to	PART
aiti-14579	93	2	combine	combine	VERB
aiti-14579	93	3	clf	clf	PROPN
aiti-14579	93	4	and	and	CCONJ
aiti-14579	93	5	cbf	cbf	PROPN
aiti-14579	93	6	,	,	PUNCT
aiti-14579	93	7	the	the	DET
aiti-14579	93	8	clf	clf	PROPN
aiti-14579	93	9	and	and	CCONJ
aiti-14579	93	10	cbf	cbf	PROPN
aiti-14579	93	11	constraints	constraint	NOUN
aiti-14579	93	12	can	can	AUX
aiti-14579	93	13	be	be	AUX
aiti-14579	93	14	reformulated	reformulate	VERB
aiti-14579	93	15	as	as	ADP
aiti-14579	93	16	a	a	DET
aiti-14579	93	17	quadratic	quadratic	ADJ
aiti-14579	93	18	program	program	NOUN
aiti-14579	93	19	.	.	PUNCT
aiti-14579	94	1	the	the	DET
aiti-14579	94	2	quadratic	quadratic	ADJ
aiti-14579	94	3	program	program	NOUN
aiti-14579	94	4	is	be	AUX
aiti-14579	94	5	expressed	express	VERB
aiti-14579	94	6	as	as	ADP
aiti-14579	94	7	:	:	PUNCT
aiti-14579	94	8	(	(	PUNCT
aiti-14579	94	9	)	)	PUNCT
aiti-14579	94	10	2	2	NUM
aiti-14579	94	11	,	,	PUNCT
aiti-14579	94	12	1	1	NUM
aiti-14579	94	13	min	min	NOUN
aiti-14579	94	14	2	2	NUM
aiti-14579	94	15	.	.	PUNCT
aiti-14579	95	1	(	(	PUNCT
aiti-14579	95	2	)	)	PUNCT
aiti-14579	95	3	(	(	PUNCT
aiti-14579	95	4	)	)	PUNCT
aiti-14579	95	5	(	(	PUNCT
aiti-14579	95	6	)	)	PUNCT
aiti-14579	95	7	(	(	PUNCT
aiti-14579	95	8	)	)	PUNCT
aiti-14579	95	9	(	(	PUNCT
aiti-14579	95	10	)	)	PUNCT
aiti-14579	95	11	(	(	PUNCT
aiti-14579	95	12	)	)	PUNCT
aiti-14579	95	13	0	0	NUM
aiti-14579	95	14	δ	δ	PROPN
aiti-14579	95	15	δ	δ	X
aiti-14579	95	16	δ	δ	PROPN
aiti-14579	95	17	α	α	NOUN
aiti-14579	95	18	∈	∈	PROPN
aiti-14579	96	1	+	+	X
aiti-14579	97	1	+	+	PUNCT
aiti-14579	97	2	+	+	CCONJ
aiti-14579	97	3	+	+	NOUN
aiti-14579	97	4	≤	≤	NOUN
aiti-14579	98	1	+	+	CCONJ
aiti-14579	98	2	+	+	NUM
aiti-14579	98	3	≥	≥	NOUN
aiti-14579	98	4	t	t	NOUN
aiti-14579	98	5	uu	uu	INTJ
aiti-14579	98	6	gf	gf	PROPN
aiti-14579	98	7	gf	gf	PROPN
aiti-14579	98	8	u	u	PROPN
aiti-14579	98	9	hu	hu	PROPN
aiti-14579	98	10	fu	fu	PROPN
aiti-14579	99	1	p	p	PROPN
aiti-14579	99	2	s	s	PROPN
aiti-14579	99	3	t	t	X
aiti-14579	99	4	l	l	NOUN
aiti-14579	99	5	v	v	NOUN
aiti-14579	99	6	x	x	SYM
aiti-14579	99	7	l	l	NOUN
aiti-14579	99	8	v	v	NOUN
aiti-14579	99	9	x	x	SYM
aiti-14579	99	10	u	u	NOUN
aiti-14579	99	11	cv	cv	PROPN
aiti-14579	99	12	x	x	SYM
aiti-14579	99	13	l	l	NOUN
aiti-14579	99	14	h	h	NOUN
aiti-14579	99	15	x	x	X
aiti-14579	99	16	l	l	NOUN
aiti-14579	99	17	h	h	NOUN
aiti-14579	99	18	x	x	PUNCT
aiti-14579	99	19	u	u	NOUN
aiti-14579	99	20	h	h	NOUN
aiti-14579	99	21	x	x	X
aiti-14579	99	22	(	(	PUNCT
aiti-14579	99	23	5	5	NUM
aiti-14579	99	24	)	)	PUNCT
aiti-14579	99	25	where	where	SCONJ
aiti-14579	99	26	�	�	PROPN
aiti-14579	99	27	∈	∈	PROPN
aiti-14579	99	28	ℝ	ℝ	PROPN
aiti-14579	99	29	�	�	PROPN
aiti-14579	99	30	�	�	PROPN
aiti-14579	99	31	�	�	PROPN
aiti-14579	99	32	is	be	AUX
aiti-14579	99	33	a	a	DET
aiti-14579	99	34	positive	positive	ADJ
aiti-14579	99	35	definite	definite	ADJ
aiti-14579	99	36	matrix	matrix	NOUN
aiti-14579	99	37	,	,	PUNCT
aiti-14579	99	38	�	�	PROPN
aiti-14579	99	39	∈	∈	PROPN
aiti-14579	99	40	ℝ	ℝ	PROPN
aiti-14579	99	41	�	�	PROPN
aiti-14579	99	42	and	and	CCONJ
aiti-14579	99	43	�	�	PROPN
aiti-14579	99	44	�	�	PROPN
aiti-14579	99	45	0	0	NUM
aiti-14579	99	46	.	.	PUNCT
aiti-14579	99	47	to	to	PART
aiti-14579	99	48	prevent	prevent	VERB
aiti-14579	99	49	a	a	DET
aiti-14579	99	50	situation	situation	NOUN
aiti-14579	99	51	wherein	wherein	SCONJ
aiti-14579	99	52	the	the	DET
aiti-14579	99	53	constraints	constraint	NOUN
aiti-14579	99	54	are	be	AUX
aiti-14579	99	55	too	too	ADV
aiti-14579	99	56	strict	strict	ADJ
aiti-14579	99	57	for	for	ADP
aiti-14579	99	58	feasible	feasible	ADJ
aiti-14579	99	59	solutions	solution	NOUN
aiti-14579	99	60	,	,	PUNCT
aiti-14579	99	61	a	a	DET
aiti-14579	99	62	relaxed	relaxed	ADJ
aiti-14579	99	63	term	term	NOUN
aiti-14579	99	64	δ	δ	PROPN
aiti-14579	99	65	is	be	AUX
aiti-14579	99	66	added	add	VERB
aiti-14579	99	67	to	to	ADP
aiti-14579	99	68	the	the	DET
aiti-14579	99	69	inequality	inequality	NOUN
aiti-14579	99	70	for	for	SCONJ
aiti-14579	99	71	the	the	DET
aiti-14579	99	72	clf	clf	PROPN
aiti-14579	99	73	to	to	PART
aiti-14579	99	74	relax	relax	VERB
aiti-14579	99	75	the	the	DET
aiti-14579	99	76	constraint	constraint	NOUN
aiti-14579	99	77	.	.	PUNCT
aiti-14579	100	1	4	4	X
aiti-14579	100	2	.	.	NUM
aiti-14579	100	3	proposed	propose	VERB
aiti-14579	100	4	methodology	methodology	NOUN
aiti-14579	100	5	–	–	PUNCT
aiti-14579	100	6	dbscan	dbscan	NOUN
aiti-14579	100	7	and	and	CCONJ
aiti-14579	100	8	mee	mee	PROPN
aiti-14579	100	9	in	in	ADP
aiti-14579	100	10	this	this	DET
aiti-14579	100	11	paper	paper	NOUN
aiti-14579	100	12	,	,	PUNCT
aiti-14579	100	13	the	the	DET
aiti-14579	100	14	mobile	mobile	NOUN
aiti-14579	100	15	robot	robot	NOUN
aiti-14579	100	16	is	be	AUX
aiti-14579	100	17	equipped	equip	VERB
aiti-14579	100	18	with	with	ADP
aiti-14579	100	19	a	a	DET
aiti-14579	100	20	lidar	lidar	NOUN
aiti-14579	100	21	.	.	PUNCT
aiti-14579	101	1	the	the	DET
aiti-14579	101	2	depth	depth	NOUN
aiti-14579	101	3	detected	detect	VERB
aiti-14579	101	4	by	by	ADP
aiti-14579	101	5	the	the	DET
aiti-14579	101	6	lidar	lidar	NOUN
aiti-14579	101	7	for	for	ADP
aiti-14579	101	8	each	each	DET
aiti-14579	101	9	angle	angle	NOUN
aiti-14579	101	10	�	�	PROPN
aiti-14579	101	11	�	�	PROPN
aiti-14579	101	12	�	�	PROPN
aiti-14579	101	13	�	�	PROPN
aiti-14579	101	14	�	�	PROPN
aiti-14579	101	15	is	be	AUX
aiti-14579	101	16	denoted	denote	VERB
aiti-14579	101	17	as	as	ADP
aiti-14579	101	18	!	!	PUNCT
aiti-14579	101	19	�	�	PROPN
aiti-14579	101	20	�	�	PROPN
aiti-14579	101	21	�	�	PROPN
aiti-14579	101	22	�	�	PROPN
aiti-14579	101	23	.	.	PUNCT
aiti-14579	102	1	each	each	DET
aiti-14579	102	2	pair	pair	NOUN
aiti-14579	102	3	of	of	ADP
aiti-14579	102	4	depth	depth	NOUN
aiti-14579	102	5	and	and	CCONJ
aiti-14579	102	6	angle	angle	NOUN
aiti-14579	102	7	(	(	PUNCT
aiti-14579	102	8	polar	polar	ADJ
aiti-14579	102	9	)	)	PUNCT
aiti-14579	102	10	coordinates	coordinate	NOUN
aiti-14579	102	11	can	can	AUX
aiti-14579	102	12	be	be	AUX
aiti-14579	102	13	converted	convert	VERB
aiti-14579	102	14	into	into	ADP
aiti-14579	102	15	its	its	PRON
aiti-14579	102	16	corresponding	corresponding	ADJ
aiti-14579	102	17	cartesian	cartesian	ADJ
aiti-14579	102	18	coordinates	coordinate	NOUN
aiti-14579	102	19	.	.	PUNCT
aiti-14579	103	1	the	the	DET
aiti-14579	103	2	conversion	conversion	NOUN
aiti-14579	103	3	is	be	AUX
aiti-14579	103	4	expressed	express	VERB
aiti-14579	103	5	as	as	ADP
aiti-14579	103	6	:	:	PUNCT
aiti-14579	103	7	(	(	PUNCT
aiti-14579	103	8	)	)	PUNCT
aiti-14579	103	9	(	(	PUNCT
aiti-14579	103	10	)	)	PUNCT
aiti-14579	104	1	[	[	PUNCT
aiti-14579	104	2	]	]	X
aiti-14579	104	3	,	,	PUNCT
aiti-14579	104	4	lidar	lidar	NOUN
aiti-14579	104	5	,	,	PUNCT
aiti-14579	104	6	lidar	lidar	NOUN
aiti-14579	104	7	,	,	PUNCT
aiti-14579	104	8	lidar	lidar	NOUN
aiti-14579	104	9	,	,	PUNCT
aiti-14579	104	10	lidar	lidar	NOUN
aiti-14579	104	11	cos	cos	PROPN
aiti-14579	104	12	,	,	PUNCT
aiti-14579	104	13	for	for	ADP
aiti-14579	104	14	0	0	NUM
aiti-14579	104	15	,	,	PUNCT
aiti-14579	104	16	2	2	NUM
aiti-14579	104	17	sin	sin	NOUN
aiti-14579	104	18	θ	θ	NOUN
aiti-14579	104	19	π	π	NOUN
aiti-14579	104	20	θ	θ	NOUN
aiti-14579	104	21			ADP
aiti-14579	104	22	=	=	NOUN
aiti-14579	104	23			NUM
aiti-14579	104	24	∈	∈	NOUN
aiti-14579	104	25	=	=	NOUN
aiti-14579	104	26			NOUN
aiti-14579	105	1	i	i	PRON
aiti-14579	105	2	i	i	PRON
aiti-14579	106	1	i	i	PRON
aiti-14579	106	2	i	i	PRON
aiti-14579	107	1	i	i	PRON
aiti-14579	108	1	i	i	VERB
aiti-14579	108	2	x	x	VERB
aiti-14579	109	1	d	d	NOUN
aiti-14579	109	2	i	i	PRON
aiti-14579	109	3	y	y	PROPN
aiti-14579	109	4	d	d	X
aiti-14579	109	5	(	(	PUNCT
aiti-14579	109	6	6	6	NUM
aiti-14579	109	7	)	)	PUNCT
aiti-14579	109	8	note	note	NOUN
aiti-14579	109	9	that	that	SCONJ
aiti-14579	109	10	these	these	DET
aiti-14579	109	11	coordinates	coordinate	NOUN
aiti-14579	109	12	do	do	AUX
aiti-14579	109	13	not	not	PART
aiti-14579	109	14	contain	contain	VERB
aiti-14579	109	15	the	the	DET
aiti-14579	109	16	information	information	NOUN
aiti-14579	109	17	about	about	ADP
aiti-14579	109	18	the	the	DET
aiti-14579	109	19	obstacles	obstacle	NOUN
aiti-14579	109	20	.	.	PUNCT
aiti-14579	110	1	this	this	DET
aiti-14579	110	2	paper	paper	NOUN
aiti-14579	110	3	utilizes	utilize	VERB
aiti-14579	110	4	the	the	DET
aiti-14579	110	5	dbscan	dbscan	ADJ
aiti-14579	110	6	approach	approach	NOUN
aiti-14579	110	7	[	[	X
aiti-14579	110	8	14	14	NUM
aiti-14579	110	9	]	]	PUNCT
aiti-14579	110	10	to	to	PART
aiti-14579	110	11	perform	perform	VERB
aiti-14579	110	12	clustering	cluster	VERB
aiti-14579	110	13	for	for	ADP
aiti-14579	110	14	the	the	DET
aiti-14579	110	15	data	data	NOUN
aiti-14579	110	16	points	point	NOUN
aiti-14579	110	17	detected	detect	VERB
aiti-14579	110	18	by	by	ADP
aiti-14579	110	19	the	the	DET
aiti-14579	110	20	lidar	lidar	NOUN
aiti-14579	110	21	.	.	PUNCT
aiti-14579	111	1	in	in	ADP
aiti-14579	111	2	particular	particular	ADJ
aiti-14579	111	3	,	,	PUNCT
aiti-14579	111	4	the	the	DET
aiti-14579	111	5	dbscan	dbscan	NOUN
aiti-14579	111	6	approach	approach	NOUN
aiti-14579	111	7	performs	perform	VERB
aiti-14579	111	8	clustering	cluster	VERB
aiti-14579	111	9	based	base	VERB
aiti-14579	111	10	on	on	ADP
aiti-14579	111	11	the	the	DET
aiti-14579	111	12	density	density	NOUN
aiti-14579	111	13	of	of	ADP
aiti-14579	111	14	the	the	DET
aiti-14579	111	15	detected	detect	VERB
aiti-14579	111	16	data	data	NOUN
aiti-14579	111	17	points	point	NOUN
aiti-14579	111	18	.	.	PUNCT
aiti-14579	112	1	in	in	ADP
aiti-14579	112	2	the	the	DET
aiti-14579	112	3	dbscan	dbscan	PROPN
aiti-14579	112	4	approach	approach	NOUN
aiti-14579	112	5	,	,	PUNCT
aiti-14579	112	6	the	the	DET
aiti-14579	112	7	data	data	NOUN
aiti-14579	112	8	points	point	NOUN
aiti-14579	112	9	are	be	AUX
aiti-14579	112	10	categorized	categorize	VERB
aiti-14579	112	11	into	into	ADP
aiti-14579	112	12	three	three	NUM
aiti-14579	112	13	classes	class	NOUN
aiti-14579	112	14	—	—	PUNCT
aiti-14579	112	15	kernel	kernel	PROPN
aiti-14579	112	16	points	point	NOUN
aiti-14579	112	17	,	,	PUNCT
aiti-14579	112	18	boundary	boundary	ADJ
aiti-14579	112	19	points	point	NOUN
aiti-14579	112	20	,	,	PUNCT
aiti-14579	112	21	and	and	CCONJ
aiti-14579	112	22	noise	noise	NOUN
aiti-14579	112	23	points	point	NOUN
aiti-14579	112	24	.	.	PUNCT
aiti-14579	113	1	two	two	NUM
aiti-14579	113	2	parameters	parameter	NOUN
aiti-14579	113	3	∈	∈	PROPN
aiti-14579	113	4	and	and	CCONJ
aiti-14579	113	5	�	�	PROPN
aiti-14579	113	6	�	�	PROPN
aiti-14579	113	7	"	"	PUNCT
aiti-14579	113	8	�	�	NOUN
aiti-14579	113	9	_	_	ADP
aiti-14579	113	10	$	$	SYM
aiti-14579	113	11	%	%	NOUN
aiti-14579	113	12	"	"	PUNCT
aiti-14579	113	13	�	�	PROPN
aiti-14579	113	14	&	&	CCONJ
aiti-14579	113	15	'	'	PUNCT
aiti-14579	113	16	are	be	AUX
aiti-14579	113	17	used	use	VERB
aiti-14579	113	18	to	to	PART
aiti-14579	113	19	categorize	categorize	VERB
aiti-14579	113	20	a	a	DET
aiti-14579	113	21	given	give	VERB
aiti-14579	113	22	data	data	NOUN
aiti-14579	113	23	point	point	NOUN
aiti-14579	113	24	.	.	PUNCT
aiti-14579	114	1	if	if	SCONJ
aiti-14579	114	2	(	(	PUNCT
aiti-14579	114	3	)	)	PUNCT
aiti-14579	114	4	*	*	X
aiti-14579	114	5	,	,	PUNCT
aiti-14579	114	6	�	�	PROPN
aiti-14579	114	7	�	�	PROPN
aiti-14579	114	8	"	"	PUNCT
aiti-14579	114	9	�	�	PROPN
aiti-14579	114	10	+	+	NOUN
aiti-14579	114	11	,	,	PUNCT
aiti-14579	114	12	-./0	-./0	NUM
aiti-14579	114	13	)	)	PUNCT
aiti-14579	114	14	4	4	NUM
aiti-14579	114	15	,	,	PUNCT
aiti-14579	114	16	then	then	ADV
aiti-14579	114	17	point	point	VERB
aiti-14579	114	18	a	a	PRON
aiti-14579	114	19	is	be	AUX
aiti-14579	114	20	a	a	DET
aiti-14579	114	21	kernel	kernel	NOUN
aiti-14579	114	22	point	point	NOUN
aiti-14579	114	23	,	,	PUNCT
aiti-14579	114	24	point	point	NOUN
aiti-14579	114	25	b	b	NOUN
aiti-14579	114	26	is	be	AUX
aiti-14579	114	27	a	a	DET
aiti-14579	114	28	boundary	boundary	ADJ
aiti-14579	114	29	point	point	NOUN
aiti-14579	114	30	,	,	PUNCT
aiti-14579	114	31	and	and	CCONJ
aiti-14579	114	32	point	point	NOUN
aiti-14579	114	33	c	c	NOUN
aiti-14579	114	34	is	be	AUX
aiti-14579	114	35	a	a	DET
aiti-14579	114	36	noise	noise	NOUN
aiti-14579	114	37	point	point	NOUN
aiti-14579	114	38	(	(	PUNCT
aiti-14579	114	39	fig	fig	NOUN
aiti-14579	114	40	.	.	PUNCT
aiti-14579	114	41	1	1	NUM
aiti-14579	114	42	)	)	PUNCT
aiti-14579	114	43	.	.	PUNCT
aiti-14579	115	1	fig	fig	NOUN
aiti-14579	115	2	.	.	PUNCT
aiti-14579	116	1	1	1	NUM
aiti-14579	116	2	illustration	illustration	NOUN
aiti-14579	116	3	of	of	ADP
aiti-14579	116	4	kernel	kernel	PROPN
aiti-14579	116	5	points	point	NOUN
aiti-14579	116	6	,	,	PUNCT
aiti-14579	116	7	boundary	boundary	ADJ
aiti-14579	116	8	points	point	NOUN
aiti-14579	116	9	,	,	PUNCT
aiti-14579	116	10	and	and	CCONJ
aiti-14579	116	11	noise	noise	NOUN
aiti-14579	116	12	points	point	NOUN
aiti-14579	116	13	advances	advance	NOUN
aiti-14579	116	14	in	in	ADP
aiti-14579	116	15	technology	technology	NOUN
aiti-14579	116	16	innovation	innovation	NOUN
aiti-14579	116	17	,	,	PUNCT
aiti-14579	116	18	vol	vol	NOUN
aiti-14579	116	19	.	.	PROPN
aiti-14579	116	20	10	10	NUM
aiti-14579	116	21	,	,	PUNCT
aiti-14579	116	22	no	no	INTJ
aiti-14579	116	23	.	.	NOUN
aiti-14579	116	24	4	4	NUM
aiti-14579	116	25	,	,	PUNCT
aiti-14579	116	26	2025	2025	NUM
aiti-14579	116	27	,	,	PUNCT
aiti-14579	116	28	pp	pp	ADJ
aiti-14579	116	29	.	.	PUNCT
aiti-14579	117	1	358	358	NUM
aiti-14579	117	2	-	-	SYM
aiti-14579	117	3	369	369	NUM
aiti-14579	117	4	362	362	NUM
aiti-14579	117	5	for	for	ADP
aiti-14579	117	6	any	any	DET
aiti-14579	117	7	given	give	VERB
aiti-14579	117	8	data	data	NOUN
aiti-14579	117	9	point	point	NOUN
aiti-14579	117	10	,	,	PUNCT
aiti-14579	117	11	define	define	VERB
aiti-14579	117	12	a	a	DET
aiti-14579	117	13	circle	circle	NOUN
aiti-14579	117	14	with	with	ADP
aiti-14579	117	15	a	a	DET
aiti-14579	117	16	radius	radius	NOUN
aiti-14579	117	17	,	,	PUNCT
aiti-14579	117	18	and	and	CCONJ
aiti-14579	117	19	its	its	PRON
aiti-14579	117	20	center	center	NOUN
aiti-14579	117	21	is	be	AUX
aiti-14579	117	22	at	at	ADP
aiti-14579	117	23	this	this	DET
aiti-14579	117	24	given	give	VERB
aiti-14579	117	25	data	data	NOUN
aiti-14579	117	26	point	point	NOUN
aiti-14579	117	27	.	.	PUNCT
aiti-14579	118	1	if	if	SCONJ
aiti-14579	118	2	the	the	DET
aiti-14579	118	3	number	number	NOUN
aiti-14579	118	4	of	of	ADP
aiti-14579	118	5	data	datum	NOUN
aiti-14579	118	6	points	point	NOUN
aiti-14579	118	7	inside	inside	ADP
aiti-14579	118	8	the	the	DET
aiti-14579	118	9	defined	define	VERB
aiti-14579	118	10	circle	circle	NOUN
aiti-14579	118	11	is	be	AUX
aiti-14579	118	12	larger	large	ADJ
aiti-14579	118	13	than	than	ADP
aiti-14579	118	14	�	�	PROPN
aiti-14579	118	15	�	�	PROPN
aiti-14579	118	16	"	"	PUNCT
aiti-14579	118	17	�	�	NOUN
aiti-14579	118	18	_	_	ADP
aiti-14579	118	19	$	$	SYM
aiti-14579	118	20	%	%	NOUN
aiti-14579	118	21	"	"	PUNCT
aiti-14579	118	22	�	�	PROPN
aiti-14579	118	23	&	&	CCONJ
aiti-14579	118	24	'	'	PUNCT
aiti-14579	118	25	,	,	PUNCT
aiti-14579	118	26	then	then	ADV
aiti-14579	118	27	this	this	DET
aiti-14579	118	28	given	give	VERB
aiti-14579	118	29	data	datum	NOUN
aiti-14579	118	30	point	point	NOUN
aiti-14579	118	31	belongs	belong	VERB
aiti-14579	118	32	to	to	ADP
aiti-14579	118	33	the	the	DET
aiti-14579	118	34	class	class	NOUN
aiti-14579	118	35	of	of	ADP
aiti-14579	118	36	kernel	kernel	PROPN
aiti-14579	118	37	points	point	NOUN
aiti-14579	118	38	.	.	PUNCT
aiti-14579	119	1	any	any	DET
aiti-14579	119	2	data	data	NOUN
aiti-14579	119	3	points	point	NOUN
aiti-14579	119	4	that	that	PRON
aiti-14579	119	5	are	be	AUX
aiti-14579	119	6	not	not	PART
aiti-14579	119	7	kernel	kernel	NOUN
aiti-14579	119	8	points	point	NOUN
aiti-14579	119	9	but	but	CCONJ
aiti-14579	119	10	are	be	AUX
aiti-14579	119	11	located	locate	VERB
aiti-14579	119	12	inside	inside	ADP
aiti-14579	119	13	a	a	DET
aiti-14579	119	14	circle	circle	NOUN
aiti-14579	119	15	defined	define	VERB
aiti-14579	119	16	by	by	ADP
aiti-14579	119	17	any	any	DET
aiti-14579	119	18	kernel	kernel	NOUN
aiti-14579	119	19	points	point	NOUN
aiti-14579	119	20	are	be	AUX
aiti-14579	119	21	called	call	VERB
aiti-14579	119	22	boundary	boundary	ADJ
aiti-14579	119	23	points	point	NOUN
aiti-14579	119	24	.	.	PUNCT
aiti-14579	120	1	for	for	ADP
aiti-14579	120	2	any	any	DET
aiti-14579	120	3	data	data	NOUN
aiti-14579	120	4	points	point	NOUN
aiti-14579	120	5	that	that	PRON
aiti-14579	120	6	are	be	AUX
aiti-14579	120	7	neither	neither	PRON
aiti-14579	120	8	kernel	kernel	NOUN
aiti-14579	120	9	points	point	NOUN
aiti-14579	120	10	nor	nor	CCONJ
aiti-14579	120	11	boundary	boundary	ADJ
aiti-14579	120	12	points	point	NOUN
aiti-14579	120	13	,	,	PUNCT
aiti-14579	120	14	they	they	PRON
aiti-14579	120	15	are	be	AUX
aiti-14579	120	16	called	call	VERB
aiti-14579	120	17	noise	noise	NOUN
aiti-14579	120	18	points	point	NOUN
aiti-14579	120	19	.	.	PUNCT
aiti-14579	121	1	for	for	ADP
aiti-14579	121	2	a	a	DET
aiti-14579	121	3	kernel	kernel	NOUN
aiti-14579	121	4	point	point	NOUN
aiti-14579	121	5	p	p	X
aiti-14579	121	6	,	,	PUNCT
aiti-14579	121	7	all	all	DET
aiti-14579	121	8	the	the	DET
aiti-14579	121	9	data	data	NOUN
aiti-14579	121	10	points	point	NOUN
aiti-14579	121	11	that	that	PRON
aiti-14579	121	12	are	be	AUX
aiti-14579	121	13	located	locate	VERB
aiti-14579	121	14	within	within	ADP
aiti-14579	121	15	the	the	DET
aiti-14579	121	16	distance	distance	NOUN
aiti-14579	121	17	(	(	PUNCT
aiti-14579	121	18	radius	radius	NOUN
aiti-14579	121	19	)	)	PUNCT
aiti-14579	121	20	∈	∈	NOUN
aiti-14579	121	21	of	of	ADP
aiti-14579	121	22	p	p	NOUN
aiti-14579	121	23	are	be	AUX
aiti-14579	121	24	called	call	VERB
aiti-14579	121	25	p	p	NOUN
aiti-14579	121	26	reachability	reachability	NOUN
aiti-14579	121	27	.	.	PUNCT
aiti-14579	122	1	for	for	ADP
aiti-14579	122	2	a	a	DET
aiti-14579	122	3	kernel	kernel	NOUN
aiti-14579	122	4	point	point	NOUN
aiti-14579	122	5	p	p	X
aiti-14579	122	6	,	,	PUNCT
aiti-14579	122	7	if	if	SCONJ
aiti-14579	122	8	both	both	DET
aiti-14579	122	9	data	datum	NOUN
aiti-14579	122	10	points	point	VERB
aiti-14579	122	11	23	23	NUM
aiti-14579	122	12	,	,	PUNCT
aiti-14579	122	13	24	24	NUM
aiti-14579	122	14	are	be	AUX
aiti-14579	122	15	p	p	NOUN
aiti-14579	122	16	reachability	reachability	NOUN
aiti-14579	122	17	,	,	PUNCT
aiti-14579	122	18	then	then	ADV
aiti-14579	122	19	data	datum	NOUN
aiti-14579	122	20	points	point	VERB
aiti-14579	122	21	23	23	NUM
aiti-14579	122	22	,	,	PUNCT
aiti-14579	122	23	24	24	NUM
aiti-14579	122	24	possess	possess	VERB
aiti-14579	122	25	connectedness	connectedness	NOUN
aiti-14579	122	26	.	.	PUNCT
aiti-14579	123	1	as	as	ADP
aiti-14579	123	2	a	a	DET
aiti-14579	123	3	result	result	NOUN
aiti-14579	123	4	,	,	PUNCT
aiti-14579	123	5	one	one	PRON
aiti-14579	123	6	can	can	AUX
aiti-14579	123	7	define	define	VERB
aiti-14579	123	8	that	that	SCONJ
aiti-14579	123	9	any	any	DET
aiti-14579	123	10	two	two	NUM
aiti-14579	123	11	data	datum	NOUN
aiti-14579	123	12	points	point	NOUN
aiti-14579	123	13	inside	inside	ADP
aiti-14579	123	14	the	the	DET
aiti-14579	123	15	same	same	ADJ
aiti-14579	123	16	cluster	cluster	NOUN
aiti-14579	123	17	possess	possess	NOUN
aiti-14579	123	18	connectedness	connectedness	NOUN
aiti-14579	123	19	.	.	PUNCT
aiti-14579	124	1	namely	namely	ADV
aiti-14579	124	2	,	,	PUNCT
aiti-14579	124	3	if	if	SCONJ
aiti-14579	124	4	data	datum	NOUN
aiti-14579	124	5	point	point	VERB
aiti-14579	124	6	q	q	NOUN
aiti-14579	124	7	and	and	CCONJ
aiti-14579	124	8	data	datum	NOUN
aiti-14579	124	9	point	point	NOUN
aiti-14579	124	10	p	p	NOUN
aiti-14579	124	11	possess	possess	NOUN
aiti-14579	124	12	connectedness	connectedness	NOUN
aiti-14579	124	13	,	,	PUNCT
aiti-14579	124	14	they	they	PRON
aiti-14579	124	15	must	must	AUX
aiti-14579	124	16	be	be	AUX
aiti-14579	124	17	in	in	ADP
aiti-14579	124	18	the	the	DET
aiti-14579	124	19	same	same	ADJ
aiti-14579	124	20	cluster	cluster	NOUN
aiti-14579	124	21	.	.	PUNCT
aiti-14579	125	1	through	through	ADP
aiti-14579	125	2	the	the	DET
aiti-14579	125	3	above	above	ADJ
aiti-14579	125	4	clustering	clustering	ADJ
aiti-14579	125	5	process	process	NOUN
aiti-14579	125	6	,	,	PUNCT
aiti-14579	125	7	one	one	PRON
aiti-14579	125	8	can	can	AUX
aiti-14579	125	9	obtain	obtain	VERB
aiti-14579	125	10	the	the	DET
aiti-14579	125	11	clustering	clustering	ADJ
aiti-14579	125	12	results	result	NOUN
aiti-14579	125	13	after	after	ADP
aiti-14579	125	14	several	several	ADJ
aiti-14579	125	15	iterations	iteration	NOUN
aiti-14579	125	16	.	.	PUNCT
aiti-14579	126	1	based	base	VERB
aiti-14579	126	2	on	on	ADP
aiti-14579	126	3	the	the	DET
aiti-14579	126	4	clustering	clustering	ADJ
aiti-14579	126	5	results	result	NOUN
aiti-14579	126	6	of	of	ADP
aiti-14579	126	7	dbscan	dbscan	NOUN
aiti-14579	126	8	,	,	PUNCT
aiti-14579	126	9	the	the	DET
aiti-14579	126	10	environment	environment	NOUN
aiti-14579	126	11	can	can	AUX
aiti-14579	126	12	be	be	AUX
aiti-14579	126	13	divided	divide	VERB
aiti-14579	126	14	into	into	ADP
aiti-14579	126	15	several	several	ADJ
aiti-14579	126	16	smaller	small	ADJ
aiti-14579	126	17	regions	region	NOUN
aiti-14579	126	18	containing	contain	VERB
aiti-14579	126	19	obstacles	obstacle	NOUN
aiti-14579	126	20	.	.	PUNCT
aiti-14579	127	1	in	in	ADP
aiti-14579	127	2	the	the	DET
aiti-14579	127	3	proposed	propose	VERB
aiti-14579	127	4	obstacle	obstacle	NOUN
aiti-14579	127	5	avoidance	avoidance	NOUN
aiti-14579	127	6	algorithm	algorithm	NOUN
aiti-14579	127	7	,	,	PUNCT
aiti-14579	127	8	for	for	ADP
aiti-14579	127	9	each	each	DET
aiti-14579	127	10	obstacle	obstacle	NOUN
aiti-14579	127	11	,	,	PUNCT
aiti-14579	127	12	an	an	DET
aiti-14579	127	13	ellipse	ellipse	NOUN
aiti-14579	127	14	is	be	AUX
aiti-14579	127	15	used	use	VERB
aiti-14579	127	16	to	to	PART
aiti-14579	127	17	enclose	enclose	VERB
aiti-14579	127	18	the	the	DET
aiti-14579	127	19	obstacle	obstacle	NOUN
aiti-14579	127	20	and	and	CCONJ
aiti-14579	127	21	will	will	AUX
aiti-14579	127	22	be	be	AUX
aiti-14579	127	23	used	use	VERB
aiti-14579	127	24	to	to	PART
aiti-14579	127	25	define	define	VERB
aiti-14579	127	26	the	the	DET
aiti-14579	127	27	safety	safety	NOUN
aiti-14579	127	28	set	set	NOUN
aiti-14579	127	29	of	of	ADP
aiti-14579	127	30	cbf	cbf	PROPN
aiti-14579	127	31	.	.	PUNCT
aiti-14579	128	1	firstly	firstly	ADV
aiti-14579	128	2	,	,	PUNCT
aiti-14579	128	3	find	find	VERB
aiti-14579	128	4	the	the	DET
aiti-14579	128	5	minimum	minimum	ADJ
aiti-14579	128	6	convex	convex	NOUN
aiti-14579	128	7	hull	hull	NOUN
aiti-14579	128	8	that	that	PRON
aiti-14579	128	9	encloses	enclose	VERB
aiti-14579	128	10	all	all	DET
aiti-14579	128	11	the	the	DET
aiti-14579	128	12	data	data	NOUN
aiti-14579	128	13	points	point	NOUN
aiti-14579	128	14	belonging	belong	VERB
aiti-14579	128	15	to	to	ADP
aiti-14579	128	16	the	the	DET
aiti-14579	128	17	obstacle	obstacle	NOUN
aiti-14579	128	18	,	,	PUNCT
aiti-14579	128	19	and	and	CCONJ
aiti-14579	128	20	the	the	DET
aiti-14579	128	21	average	average	ADJ
aiti-14579	128	22	�	�	PROPN
aiti-14579	128	23	�	�	PROPN
aiti-14579	128	24	56	56	NUM
aiti-14579	128	25	�	�	PROPN
aiti-14579	128	26	)	)	PUNCT
aiti-14579	128	27	7	7	NUM
aiti-14579	128	28	�	�	PROPN
aiti-14579	128	29	�	�	PROPN
aiti-14579	128	30	56	56	NUM
aiti-14579	128	31	�	�	PROPN
aiti-14579	128	32	,	,	PUNCT
aiti-14579	128	33	9	9	NUM
aiti-14579	128	34	�	�	SYM
aiti-14579	128	35	56	56	NUM
aiti-14579	128	36	�	�	PROPN
aiti-14579	128	37	:	:	PUNCT
aiti-14579	128	38	of	of	ADP
aiti-14579	128	39	the	the	DET
aiti-14579	128	40	data	data	NOUN
aiti-14579	128	41	points	point	NOUN
aiti-14579	128	42	enclosed	enclose	VERB
aiti-14579	128	43	by	by	ADP
aiti-14579	128	44	the	the	DET
aiti-14579	128	45	convex	convex	PROPN
aiti-14579	128	46	hull	hull	NOUN
aiti-14579	128	47	is	be	AUX
aiti-14579	128	48	chosen	choose	VERB
aiti-14579	128	49	as	as	ADP
aiti-14579	128	50	the	the	DET
aiti-14579	128	51	center	center	NOUN
aiti-14579	128	52	of	of	ADP
aiti-14579	128	53	the	the	DET
aiti-14579	128	54	ellipse	ellipse	NOUN
aiti-14579	128	55	.	.	PUNCT
aiti-14579	129	1	then	then	ADV
aiti-14579	129	2	,	,	PUNCT
aiti-14579	129	3	compute	compute	VERB
aiti-14579	129	4	the	the	DET
aiti-14579	129	5	covariance	covariance	NOUN
aiti-14579	129	6	matrix	matrix	NOUN
aiti-14579	129	7	σ	σ	X
aiti-14579	129	8	∈	∈	PROPN
aiti-14579	129	9	ℝ4	ℝ4	PROPN
aiti-14579	129	10	.	.	PUNCT
aiti-14579	130	1	since	since	SCONJ
aiti-14579	130	2	this	this	DET
aiti-14579	130	3	covariance	covariance	NOUN
aiti-14579	130	4	matrix	matrix	NOUN
aiti-14579	130	5	is	be	AUX
aiti-14579	130	6	symmetric	symmetric	ADJ
aiti-14579	130	7	,	,	PUNCT
aiti-14579	130	8	its	its	PRON
aiti-14579	130	9	eigenvectors	eigenvector	NOUN
aiti-14579	130	10	are	be	AUX
aiti-14579	130	11	orthogonal	orthogonal	ADJ
aiti-14579	130	12	to	to	ADP
aiti-14579	130	13	each	each	DET
aiti-14579	130	14	other	other	ADJ
aiti-14579	130	15	.	.	PUNCT
aiti-14579	131	1	based	base	VERB
aiti-14579	131	2	on	on	ADP
aiti-14579	131	3	the	the	DET
aiti-14579	131	4	eigenvalue	eigenvalue	PROPN
aiti-14579	131	5	<	<	X
aiti-14579	131	6	�	�	PROPN
aiti-14579	131	7	6=	6=	PROPN
aiti-14579	131	8	with	with	ADP
aiti-14579	131	9	the	the	DET
aiti-14579	131	10	largest	large	ADJ
aiti-14579	131	11	modulus	modulus	NOUN
aiti-14579	131	12	and	and	CCONJ
aiti-14579	131	13	its	its	PRON
aiti-14579	131	14	corresponding	corresponding	ADJ
aiti-14579	131	15	eigenvector	eigenvector	PROPN
aiti-14579	131	16	>	>	SYM
aiti-14579	131	17	�	�	PROPN
aiti-14579	131	18	6=	6=	PROPN
aiti-14579	131	19	,	,	PUNCT
aiti-14579	131	20	one	one	PRON
aiti-14579	131	21	can	can	AUX
aiti-14579	131	22	compute	compute	VERB
aiti-14579	131	23	the	the	DET
aiti-14579	131	24	length	length	NOUN
aiti-14579	131	25	a	a	PRON
aiti-14579	131	26	and	and	CCONJ
aiti-14579	131	27	the	the	DET
aiti-14579	131	28	orientation	orientation	NOUN
aiti-14579	131	29	>	>	PUNCT
aiti-14579	131	30	�	�	PROPN
aiti-14579	131	31	6?%@	6?%@	PROPN
aiti-14579	131	32	for	for	ADP
aiti-14579	131	33	the	the	DET
aiti-14579	131	34	long	long	ADJ
aiti-14579	131	35	axis	axis	NOUN
aiti-14579	131	36	of	of	ADP
aiti-14579	131	37	the	the	DET
aiti-14579	131	38	ellipse	ellipse	NOUN
aiti-14579	131	39	.	.	PUNCT
aiti-14579	132	1	similarly	similarly	ADV
aiti-14579	132	2	,	,	PUNCT
aiti-14579	132	3	according	accord	VERB
aiti-14579	132	4	to	to	ADP
aiti-14579	132	5	the	the	DET
aiti-14579	132	6	eigenvalue	eigenvalue	PROPN
aiti-14579	132	7	<	<	X
aiti-14579	132	8	�	�	PROPN
aiti-14579	132	9	"	"	PUNCT
aiti-14579	132	10	�	�	PROPN
aiti-14579	132	11	with	with	ADP
aiti-14579	132	12	the	the	DET
aiti-14579	132	13	smallest	small	ADJ
aiti-14579	132	14	modulus	modulus	NOUN
aiti-14579	132	15	and	and	CCONJ
aiti-14579	132	16	its	its	PRON
aiti-14579	132	17	corresponding	corresponding	ADJ
aiti-14579	132	18	eigenvector	eigenvector	PROPN
aiti-14579	132	19	>	>	SYM
aiti-14579	132	20	�	�	PROPN
aiti-14579	132	21	"	"	PUNCT
aiti-14579	132	22	�	�	PROPN
aiti-14579	132	23	,	,	PUNCT
aiti-14579	132	24	one	one	PRON
aiti-14579	132	25	can	can	AUX
aiti-14579	132	26	compute	compute	VERB
aiti-14579	132	27	length	length	NOUN
aiti-14579	132	28	b	b	NOUN
aiti-14579	132	29	and	and	CCONJ
aiti-14579	132	30	orientation	orientation	NOUN
aiti-14579	132	31	>	>	SYM
aiti-14579	132	32	�	�	PROPN
aiti-14579	132	33	"	"	PUNCT
aiti-14579	132	34	�	�	PROPN
aiti-14579	132	35	%	%	NOUN
aiti-14579	132	36	@	@	ADP
aiti-14579	132	37	for	for	ADP
aiti-14579	132	38	the	the	DET
aiti-14579	132	39	short	short	ADJ
aiti-14579	132	40	axis	axis	NOUN
aiti-14579	132	41	of	of	ADP
aiti-14579	132	42	the	the	DET
aiti-14579	132	43	ellipse	ellipse	NOUN
aiti-14579	132	44	.	.	PUNCT
aiti-14579	133	1	as	as	ADP
aiti-14579	133	2	a	a	DET
aiti-14579	133	3	result	result	NOUN
aiti-14579	133	4	,	,	PUNCT
aiti-14579	133	5	one	one	PRON
aiti-14579	133	6	can	can	AUX
aiti-14579	133	7	find	find	VERB
aiti-14579	133	8	the	the	DET
aiti-14579	133	9	mee	mee	PROPN
aiti-14579	133	10	as	as	SCONJ
aiti-14579	133	11	described	describe	VERB
aiti-14579	133	12	by	by	ADP
aiti-14579	133	13	:	:	PUNCT
aiti-14579	133	14	(	(	PUNCT
aiti-14579	133	15	)	)	PUNCT
aiti-14579	133	16	(	(	PUNCT
aiti-14579	133	17	)	)	PUNCT
aiti-14579	133	18	2	2	NUM
aiti-14579	133	19	2	2	NUM
aiti-14579	133	20	2	2	NUM
aiti-14579	133	21	2	2	NUM
aiti-14579	133	22	'cos	'co	NOUN
aiti-14579	133	23	(	(	PUNCT
aiti-14579	133	24	)	)	PUNCT
aiti-14579	133	25	'	'	PUNCT
aiti-14579	133	26	sin	sin	NOUN
aiti-14579	133	27	(	(	PUNCT
aiti-14579	133	28	)	)	PUNCT
aiti-14579	133	29	'cos	'cos	ADP
aiti-14579	133	30	(	(	PUNCT
aiti-14579	133	31	)	)	PUNCT
aiti-14579	133	32	'	'	PUNCT
aiti-14579	133	33	sin	sin	NOUN
aiti-14579	133	34	(	(	PUNCT
aiti-14579	133	35	)	)	PUNCT
aiti-14579	133	36	1	1	NUM
aiti-14579	133	37	0	0	NUM
aiti-14579	133	38	φ	φ	PROPN
aiti-14579	133	39	φ	φ	PROPN
aiti-14579	133	40	φ	φ	PROPN
aiti-14579	133	41	φ+	φ+	X
aiti-14579	133	42	−	−	PROPN
aiti-14579	134	1	+	+	CCONJ
aiti-14579	134	2	−	−	PROPN
aiti-14579	134	3	=	=	PUNCT
aiti-14579	134	4	x	x	PUNCT
aiti-14579	134	5	y	y	NOUN
aiti-14579	134	6	y	y	PROPN
aiti-14579	134	7	x	x	PROPN
aiti-14579	134	8	a	a	PRON
aiti-14579	134	9	b	b	PROPN
aiti-14579	134	10	(	(	PUNCT
aiti-14579	134	11	7	7	NUM
aiti-14579	134	12	)	)	PUNCT
aiti-14579	134	13	where	where	SCONJ
aiti-14579	134	14	�	�	PROPN
aiti-14579	134	15	a	a	PRON
aiti-14579	134	16	)	)	PUNCT
aiti-14579	134	17	�	�	PROPN
aiti-14579	134	18	b	b	PROPN
aiti-14579	134	19	�	�	PROPN
aiti-14579	134	20	�	�	PROPN
aiti-14579	134	21	56	56	NUM
aiti-14579	134	22	�	�	PROPN
aiti-14579	134	23	,	,	PUNCT
aiti-14579	134	24	9a	9a	NOUN
aiti-14579	134	25	)	)	PUNCT
aiti-14579	134	26	9	9	NUM
aiti-14579	134	27	b	b	SYM
aiti-14579	134	28	9	9	NUM
aiti-14579	134	29	�	�	PROPN
aiti-14579	134	30	56	56	NUM
aiti-14579	134	31	�	�	PROPN
aiti-14579	134	32	,	,	PUNCT
aiti-14579	134	33	c	c	NOUN
aiti-14579	134	34	)	)	PUNCT
aiti-14579	134	35	d1.5<	d1.5<	PROPN
aiti-14579	134	36	�	�	PROPN
aiti-14579	134	37	6=	6=	PROPN
aiti-14579	134	38	,	,	PUNCT
aiti-14579	134	39	h	h	NOUN
aiti-14579	134	40	)	)	PUNCT
aiti-14579	134	41	d1.5	d1.5	PROPN
aiti-14579	134	42	<	<	X
aiti-14579	134	43	�	�	PROPN
aiti-14579	134	44	"	"	PUNCT
aiti-14579	134	45	�	�	PROPN
aiti-14579	134	46	,	,	PUNCT
aiti-14579	134	47	i	i	PROPN
aiti-14579	134	48	)	)	PUNCT
aiti-14579	134	49	�	�	PROPN
aiti-14579	134	50	c	c	PROPN
aiti-14579	134	51	�	�	PROPN
aiti-14579	134	52	j3kl	j3kl	NOUN
aiti-14579	134	53	�	�	PROPN
aiti-14579	134	54	6?%@,m	6?%@,m	NUM
aiti-14579	134	55	l	l	NOUN
aiti-14579	134	56	�	�	NOUN
aiti-14579	134	57	6?%@,=⁄	6?%@,=⁄	VERB
aiti-14579	134	58	o	o	NOUN
aiti-14579	134	59	;	;	PUNCT
aiti-14579	134	60	l	l	X
aiti-14579	134	61	�	�	PROPN
aiti-14579	134	62	6?%@,=	6?%@,=	PROPN
aiti-14579	134	63	,	,	PUNCT
aiti-14579	134	64	l	l	X
aiti-14579	134	65	�	�	PROPN
aiti-14579	134	66	6?%@,m	6?%@,m	PROPN
aiti-14579	134	67	represent	represent	VERB
aiti-14579	134	68	the	the	DET
aiti-14579	134	69	x	x	ADJ
aiti-14579	134	70	components	component	NOUN
aiti-14579	134	71	and	and	CCONJ
aiti-14579	134	72	the	the	DET
aiti-14579	134	73	y	y	PROPN
aiti-14579	134	74	components	component	NOUN
aiti-14579	134	75	of	of	ADP
aiti-14579	134	76	l	l	PROPN
aiti-14579	134	77	�	�	PROPN
aiti-14579	134	78	6?%@	6?%@	NOUN
aiti-14579	134	79	,	,	PUNCT
aiti-14579	134	80	respectively	respectively	ADV
aiti-14579	134	81	,	,	PUNCT
aiti-14579	134	82	and	and	CCONJ
aiti-14579	134	83	the	the	DET
aiti-14579	134	84	flowchart	flowchart	NOUN
aiti-14579	134	85	of	of	ADP
aiti-14579	134	86	the	the	DET
aiti-14579	134	87	proposed	propose	VERB
aiti-14579	134	88	approach	approach	NOUN
aiti-14579	134	89	is	be	AUX
aiti-14579	134	90	shown	show	VERB
aiti-14579	134	91	in	in	ADP
aiti-14579	134	92	fig	fig	NOUN
aiti-14579	134	93	.	.	PUNCT
aiti-14579	135	1	2	2	X
aiti-14579	135	2	.	.	X
aiti-14579	135	3	fig	fig	NOUN
aiti-14579	135	4	.	.	PUNCT
aiti-14579	136	1	2	2	NUM
aiti-14579	136	2	flowchart	flowchart	NOUN
aiti-14579	136	3	of	of	ADP
aiti-14579	136	4	the	the	DET
aiti-14579	136	5	proposed	propose	VERB
aiti-14579	136	6	approach	approach	NOUN
aiti-14579	136	7	5	5	NUM
aiti-14579	136	8	.	.	PUNCT
aiti-14579	136	9	simulation	simulation	NOUN
aiti-14579	136	10	and	and	CCONJ
aiti-14579	136	11	experimental	experimental	ADJ
aiti-14579	136	12	results	result	NOUN
aiti-14579	136	13	to	to	PART
aiti-14579	136	14	validate	validate	VERB
aiti-14579	136	15	the	the	DET
aiti-14579	136	16	effectiveness	effectiveness	NOUN
aiti-14579	136	17	of	of	ADP
aiti-14579	136	18	the	the	DET
aiti-14579	136	19	proposed	propose	VERB
aiti-14579	136	20	dbscan	dbscan	PROPN
aiti-14579	136	21	-	-	PUNCT
aiti-14579	136	22	mee	mee	PROPN
aiti-14579	136	23	-	-	PUNCT
aiti-14579	136	24	cbf	cbf	PROPN
aiti-14579	136	25	approach	approach	NOUN
aiti-14579	136	26	,	,	PUNCT
aiti-14579	136	27	both	both	DET
aiti-14579	136	28	simulation	simulation	NOUN
aiti-14579	136	29	and	and	CCONJ
aiti-14579	136	30	real	real	ADJ
aiti-14579	136	31	-	-	PUNCT
aiti-14579	136	32	world	world	NOUN
aiti-14579	136	33	experiments	experiment	NOUN
aiti-14579	136	34	were	be	AUX
aiti-14579	136	35	conducted	conduct	VERB
aiti-14579	136	36	.	.	PUNCT
aiti-14579	137	1	the	the	DET
aiti-14579	137	2	results	result	NOUN
aiti-14579	137	3	from	from	ADP
aiti-14579	137	4	both	both	DET
aiti-14579	137	5	evaluations	evaluation	NOUN
aiti-14579	137	6	demonstrate	demonstrate	VERB
aiti-14579	137	7	that	that	SCONJ
aiti-14579	137	8	the	the	DET
aiti-14579	137	9	proposed	propose	VERB
aiti-14579	137	10	approach	approach	NOUN
aiti-14579	137	11	successfully	successfully	ADV
aiti-14579	137	12	reduces	reduce	VERB
aiti-14579	137	13	the	the	DET
aiti-14579	137	14	redundant	redundant	ADJ
aiti-14579	137	15	unsafe	unsafe	ADJ
aiti-14579	137	16	area	area	NOUN
aiti-14579	137	17	and	and	CCONJ
aiti-14579	137	18	improves	improve	VERB
aiti-14579	137	19	the	the	DET
aiti-14579	137	20	feasibility	feasibility	NOUN
aiti-14579	137	21	of	of	ADP
aiti-14579	137	22	motion	motion	NOUN
aiti-14579	137	23	planning	planning	NOUN
aiti-14579	137	24	.	.	PUNCT
aiti-14579	138	1	the	the	DET
aiti-14579	138	2	details	detail	NOUN
aiti-14579	138	3	of	of	ADP
aiti-14579	138	4	these	these	DET
aiti-14579	138	5	evaluations	evaluation	NOUN
aiti-14579	138	6	are	be	AUX
aiti-14579	138	7	presented	present	VERB
aiti-14579	138	8	in	in	ADP
aiti-14579	138	9	the	the	DET
aiti-14579	138	10	following	follow	VERB
aiti-14579	138	11	sections	section	NOUN
aiti-14579	138	12	.	.	PUNCT
aiti-14579	139	1	advances	advance	NOUN
aiti-14579	139	2	in	in	ADP
aiti-14579	139	3	technology	technology	NOUN
aiti-14579	139	4	innovation	innovation	NOUN
aiti-14579	139	5	,	,	PUNCT
aiti-14579	139	6	vol	vol	NOUN
aiti-14579	139	7	.	.	PROPN
aiti-14579	140	1	10	10	NUM
aiti-14579	140	2	,	,	PUNCT
aiti-14579	140	3	no	no	INTJ
aiti-14579	140	4	.	.	NOUN
aiti-14579	140	5	4	4	NUM
aiti-14579	140	6	,	,	PUNCT
aiti-14579	140	7	2025	2025	NUM
aiti-14579	140	8	,	,	PUNCT
aiti-14579	140	9	pp	pp	ADJ
aiti-14579	140	10	.	.	PUNCT
aiti-14579	141	1	358	358	NUM
aiti-14579	141	2	-	-	SYM
aiti-14579	141	3	369	369	NUM
aiti-14579	141	4	363	363	NUM
aiti-14579	141	5	5.1	5.1	NUM
aiti-14579	141	6	.	.	PUNCT
aiti-14579	142	1	simulation	simulation	NOUN
aiti-14579	142	2	turtlebot3	turtlebot3	PROPN
aiti-14579	142	3	burger	burger	NOUN
aiti-14579	142	4	is	be	AUX
aiti-14579	142	5	used	use	VERB
aiti-14579	142	6	as	as	ADP
aiti-14579	142	7	the	the	DET
aiti-14579	142	8	experimental	experimental	ADJ
aiti-14579	142	9	platform	platform	NOUN
aiti-14579	142	10	in	in	ADP
aiti-14579	142	11	this	this	DET
aiti-14579	142	12	paper	paper	NOUN
aiti-14579	142	13	.	.	PUNCT
aiti-14579	143	1	the	the	DET
aiti-14579	143	2	state	state	NOUN
aiti-14579	143	3	vector	vector	NOUN
aiti-14579	143	4	is	be	AUX
aiti-14579	143	5	denoted	denote	VERB
aiti-14579	143	6	as	as	ADP
aiti-14579	143	7	�	�	PROPN
aiti-14579	143	8	)	)	PUNCT
aiti-14579	143	9	7p	7p	NUM
aiti-14579	143	10	,	,	PUNCT
aiti-14579	143	11	q	q	NOUN
aiti-14579	143	12	,	,	PUNCT
aiti-14579	143	13	�	�	PROPN
aiti-14579	143	14	:	:	PUNCT
aiti-14579	143	15	r	r	NOUN
aiti-14579	143	16	∈	∈	PROPN
aiti-14579	143	17	ℝs	ℝs	PROPN
aiti-14579	143	18	,	,	PUNCT
aiti-14579	143	19	where	where	SCONJ
aiti-14579	143	20	x	x	PUNCT
aiti-14579	143	21	and	and	CCONJ
aiti-14579	143	22	y	y	PROPN
aiti-14579	143	23	are	be	AUX
aiti-14579	143	24	the	the	DET
aiti-14579	143	25	cartesian	cartesian	ADJ
aiti-14579	143	26	coordinates	coordinate	NOUN
aiti-14579	143	27	of	of	ADP
aiti-14579	143	28	the	the	DET
aiti-14579	143	29	turtlebot3	turtlebot3	ADJ
aiti-14579	143	30	burger	burger	NOUN
aiti-14579	143	31	and	and	CCONJ
aiti-14579	143	32	�	�	PROPN
aiti-14579	143	33	is	be	AUX
aiti-14579	143	34	its	its	PRON
aiti-14579	143	35	orientation	orientation	NOUN
aiti-14579	143	36	.	.	PUNCT
aiti-14579	144	1	the	the	DET
aiti-14579	144	2	state	state	NOUN
aiti-14579	144	3	equation	equation	NOUN
aiti-14579	144	4	is	be	AUX
aiti-14579	144	5	given	give	VERB
aiti-14579	144	6	as	as	ADP
aiti-14579	144	7	:	:	PUNCT
aiti-14579	144	8	(	(	PUNCT
aiti-14579	144	9	)	)	PUNCT
aiti-14579	144	10	(	(	PUNCT
aiti-14579	144	11	)	)	PUNCT
aiti-14579	144	12	cos	cos	ADP
aiti-14579	144	13	0	0	NUM
aiti-14579	144	14	sin	sin	NOUN
aiti-14579	144	15	0	0	NUM
aiti-14579	144	16	0	0	NUM
aiti-14579	144	17	1	1	NUM
aiti-14579	144	18	θ	θ	SYM
aiti-14579	144	19	θ	θ	NOUN
aiti-14579	145	1	ω	ω	NUM
aiti-14579	145	2	θ	θ	NOUN
aiti-14579	145	3			INTJ
aiti-14579	145	4			INTJ
aiti-14579	145	5			PROPN
aiti-14579	145	6			ADJ
aiti-14579	145	7			PROPN
aiti-14579	145	8			ADJ
aiti-14579	145	9			NOUN
aiti-14579	145	10			PROPN
aiti-14579	145	11			NOUN
aiti-14579	145	12			NOUN
aiti-14579	145	13			NOUN
aiti-14579	145	14	=	=	X
aiti-14579	145	15	=	=	SYM
aiti-14579	145	16	+	+	ADJ
aiti-14579	145	17			NOUN
aiti-14579	145	18			NOUN
aiti-14579	145	19			NOUN
aiti-14579	145	20			NOUN
aiti-14579	145	21			NOUN
aiti-14579	145	22			NOUN
aiti-14579	145	23			NOUN
aiti-14579	145	24			NOUN
aiti-14579	145	25			NOUN
aiti-14579	145	26			NOUN
aiti-14579	145	27			NOUN
aiti-14579	145	28			PRON
aiti-14579	145	29			SYM
aiti-14579	145	30			PROPN
aiti-14579	145	31			PROPN
aiti-14579	145	32	ɺ	ɺ	PROPN
aiti-14579	146	1	ɺɺ	ɺɺ	NOUN
aiti-14579	146	2	ɺ	ɺ	PROPN
aiti-14579	146	3	x	x	X
aiti-14579	146	4	v	v	NUM
aiti-14579	146	5	x	x	X
aiti-14579	146	6	y	y	PROPN
aiti-14579	146	7	v	v	X
aiti-14579	146	8	(	(	PUNCT
aiti-14579	146	9	8)	8)	NUM
aiti-14579	146	10	in	in	ADP
aiti-14579	146	11	the	the	DET
aiti-14579	146	12	simulation	simulation	NOUN
aiti-14579	146	13	,	,	PUNCT
aiti-14579	146	14	the	the	DET
aiti-14579	146	15	translation	translation	NOUN
aiti-14579	146	16	velocity	velocity	NOUN
aiti-14579	146	17	command	command	NOUN
aiti-14579	146	18	v	v	NOUN
aiti-14579	146	19	is	be	AUX
aiti-14579	146	20	a	a	DET
aiti-14579	146	21	constant	constant	ADJ
aiti-14579	146	22	,	,	PUNCT
aiti-14579	146	23	while	while	SCONJ
aiti-14579	146	24	the	the	DET
aiti-14579	146	25	angular	angular	ADJ
aiti-14579	146	26	velocity	velocity	NOUN
aiti-14579	146	27	command	command	NOUN
aiti-14579	146	28	t	t	PROPN
aiti-14579	146	29	is	be	AUX
aiti-14579	146	30	time	time	NOUN
aiti-14579	146	31	-	-	PUNCT
aiti-14579	146	32	varying	vary	VERB
aiti-14579	146	33	.	.	PUNCT
aiti-14579	147	1	5.1.1	5.1.1	X
aiti-14579	147	2	.	.	PUNCT
aiti-14579	148	1	the	the	DET
aiti-14579	148	2	original	original	ADJ
aiti-14579	148	3	cbf	cbf	PROPN
aiti-14579	148	4	-	-	PUNCT
aiti-14579	148	5	clf	clf	PROPN
aiti-14579	148	6	obstacle	obstacle	NOUN
aiti-14579	148	7	avoidance	avoidance	NOUN
aiti-14579	148	8	method	method	NOUN
aiti-14579	148	9	in	in	ADP
aiti-14579	148	10	the	the	DET
aiti-14579	148	11	simulation	simulation	NOUN
aiti-14579	148	12	,	,	PUNCT
aiti-14579	148	13	the	the	DET
aiti-14579	148	14	initial	initial	ADJ
aiti-14579	148	15	state	state	NOUN
aiti-14579	148	16	�	�	PROPN
aiti-14579	148	17	u	u	NOUN
aiti-14579	148	18	)	)	PUNCT
aiti-14579	148	19	7pu	7pu	PROPN
aiti-14579	148	20	,	,	PUNCT
aiti-14579	148	21	qu	qu	PROPN
aiti-14579	148	22	,	,	PUNCT
aiti-14579	148	23	�	�	PROPN
aiti-14579	148	24	u	u	NOUN
aiti-14579	148	25	:	:	PUNCT
aiti-14579	148	26	r	r	NOUN
aiti-14579	148	27	)	)	PUNCT
aiti-14579	148	28	70.0,0.0,0.0	70.0,0.0,0.0	NUM
aiti-14579	148	29	:	:	PUNCT
aiti-14579	148	30	r	r	NOUN
aiti-14579	148	31	,	,	PUNCT
aiti-14579	148	32	the	the	DET
aiti-14579	148	33	goal	goal	NOUN
aiti-14579	148	34	state	state	NOUN
aiti-14579	148	35	(	(	PUNCT
aiti-14579	148	36	i.e.	i.e.	X
aiti-14579	148	37	,	,	PUNCT
aiti-14579	148	38	destination	destination	NOUN
aiti-14579	148	39	)	)	PUNCT
aiti-14579	148	40	is	be	AUX
aiti-14579	148	41	�	�	PROPN
aiti-14579	148	42	%	%	NOUN
aiti-14579	148	43	6v	6v	NOUN
aiti-14579	148	44	)	)	PUNCT
aiti-14579	148	45	wp	wp	NOUN
aiti-14579	148	46	%	%	NOUN
aiti-14579	148	47	6v	6v	NOUN
aiti-14579	148	48	,	,	PUNCT
aiti-14579	148	49	q	q	NOUN
aiti-14579	148	50	%	%	NOUN
aiti-14579	148	51	6v	6v	NOUN
aiti-14579	148	52	,	,	PUNCT
aiti-14579	148	53	�	�	PROPN
aiti-14579	148	54	%	%	NOUN
aiti-14579	148	55	6vx	6vx	ADJ
aiti-14579	148	56	r	r	NOUN
aiti-14579	148	57	)	)	PUNCT
aiti-14579	149	1	7b1.2,1.2,0.0	7b1.2,1.2,0.0	NUM
aiti-14579	149	2	:	:	PUNCT
aiti-14579	149	3	r	r	NOUN
aiti-14579	149	4	,	,	PUNCT
aiti-14579	149	5	where	where	SCONJ
aiti-14579	149	6	the	the	DET
aiti-14579	149	7	units	unit	NOUN
aiti-14579	149	8	of	of	ADP
aiti-14579	149	9	x	x	PUNCT
aiti-14579	149	10	and	and	CCONJ
aiti-14579	149	11	y	y	PROPN
aiti-14579	149	12	are	be	AUX
aiti-14579	149	13	meters	meter	NOUN
aiti-14579	149	14	(	(	PUNCT
aiti-14579	149	15	m	m	NOUN
aiti-14579	149	16	)	)	PUNCT
aiti-14579	149	17	,	,	PUNCT
aiti-14579	149	18	and	and	CCONJ
aiti-14579	149	19	the	the	DET
aiti-14579	149	20	unit	unit	NOUN
aiti-14579	149	21	for	for	ADP
aiti-14579	149	22	�	�	PROPN
aiti-14579	149	23	is	be	AUX
aiti-14579	149	24	radian	radian	ADJ
aiti-14579	149	25	(	(	PUNCT
aiti-14579	149	26	rad	rad	PROPN
aiti-14579	149	27	)	)	PUNCT
aiti-14579	149	28	.	.	PUNCT
aiti-14579	150	1	to	to	PART
aiti-14579	150	2	verify	verify	VERB
aiti-14579	150	3	the	the	DET
aiti-14579	150	4	effectiveness	effectiveness	NOUN
aiti-14579	150	5	of	of	ADP
aiti-14579	150	6	the	the	DET
aiti-14579	150	7	cbf	cbf	PROPN
aiti-14579	150	8	obstacle	obstacle	PROPN
aiti-14579	150	9	avoidance	avoidance	NOUN
aiti-14579	150	10	method	method	NOUN
aiti-14579	150	11	,	,	PUNCT
aiti-14579	150	12	the	the	DET
aiti-14579	150	13	continuously	continuously	ADV
aiti-14579	150	14	differentiable	differentiable	ADJ
aiti-14579	150	15	function	function	NOUN
aiti-14579	150	16	ℎ	ℎ	PROPN
aiti-14579	150	17	�	�	PROPN
aiti-14579	150	18	�	�	PROPN
aiti-14579	150	19	�	�	PROPN
aiti-14579	150	20	is	be	AUX
aiti-14579	150	21	constructed	construct	VERB
aiti-14579	150	22	to	to	PART
aiti-14579	150	23	include	include	VERB
aiti-14579	150	24	the	the	DET
aiti-14579	150	25	square	square	NOUN
aiti-14579	150	26	of	of	ADP
aiti-14579	150	27	the	the	DET
aiti-14579	150	28	distance	distance	NOUN
aiti-14579	150	29	,	,	PUNCT
aiti-14579	150	30	the	the	DET
aiti-14579	150	31	derivative	derivative	NOUN
aiti-14579	150	32	of	of	ADP
aiti-14579	150	33	the	the	DET
aiti-14579	150	34	square	square	NOUN
aiti-14579	150	35	of	of	ADP
aiti-14579	150	36	the	the	DET
aiti-14579	150	37	distance	distance	NOUN
aiti-14579	150	38	,	,	PUNCT
aiti-14579	150	39	and	and	CCONJ
aiti-14579	150	40	the	the	DET
aiti-14579	150	41	square	square	NOUN
aiti-14579	150	42	of	of	ADP
aiti-14579	150	43	the	the	DET
aiti-14579	150	44	safety	safety	NOUN
aiti-14579	150	45	distance	distance	NOUN
aiti-14579	150	46	.	.	PUNCT
aiti-14579	151	1	(	(	PUNCT
aiti-14579	151	2	)	)	PUNCT
aiti-14579	151	3	(	(	PUNCT
aiti-14579	151	4	)	)	PUNCT
aiti-14579	151	5	(	(	PUNCT
aiti-14579	151	6	)	)	PUNCT
aiti-14579	151	7	(	(	PUNCT
aiti-14579	151	8	)	)	PUNCT
aiti-14579	151	9	2	2	NUM
aiti-14579	151	10	2	2	NUM
aiti-14579	151	11	2	2	NUM
aiti-14579	151	12	(	(	PUNCT
aiti-14579	151	13	)	)	PUNCT
aiti-14579	151	14	2	2	NUM
aiti-14579	151	15	cos	cos	PROPN
aiti-14579	151	16	(	(	PUNCT
aiti-14579	151	17	)	)	PUNCT
aiti-14579	151	18	2	2	NUM
aiti-14579	151	19	sin	sin	NOUN
aiti-14579	151	20	(	(	PUNCT
aiti-14579	151	21	)	)	PUNCT
aiti-14579	151	22	θ	θ	NOUN
aiti-14579	151	23	θ=	θ=	NOUN
aiti-14579	151	24	−	−	PROPN
aiti-14579	152	1	+	+	CCONJ
aiti-14579	152	2	−	−	PROPN
aiti-14579	152	3	−	−	PROPN
aiti-14579	153	1	+	+	CCONJ
aiti-14579	154	1	−	−	PROPN
aiti-14579	154	2	+	+	NUM
aiti-14579	154	3	−obs	−obs	PROPN
aiti-14579	154	4	obs	obs	VERB
aiti-14579	154	5	safe	safe	ADJ
aiti-14579	154	6	obs	obs	PROPN
aiti-14579	154	7	obsh	obsh	NOUN
aiti-14579	154	8	x	x	X
aiti-14579	154	9	x	x	PUNCT
aiti-14579	154	10	x	x	VERB
aiti-14579	154	11	y	y	NOUN
aiti-14579	154	12	y	y	PROPN
aiti-14579	155	1	d	d	PROPN
aiti-14579	155	2	v	v	NOUN
aiti-14579	155	3	x	x	SYM
aiti-14579	155	4	x	x	SYM
aiti-14579	155	5	v	v	ADP
aiti-14579	155	6	y	y	PROPN
aiti-14579	155	7	y	y	PROPN
aiti-14579	155	8	(	(	PUNCT
aiti-14579	155	9	9	9	NUM
aiti-14579	155	10	)	)	PUNCT
aiti-14579	155	11	where	where	SCONJ
aiti-14579	155	12	x	x	X
aiti-14579	155	13	,	,	PUNCT
aiti-14579	155	14	y	y	PROPN
aiti-14579	155	15	,	,	PUNCT
aiti-14579	155	16	and	and	CCONJ
aiti-14579	155	17	�	�	PROPN
aiti-14579	155	18	are	be	AUX
aiti-14579	155	19	system	system	NOUN
aiti-14579	155	20	states	state	NOUN
aiti-14579	155	21	;	;	PUNCT
aiti-14579	155	22	p%z	p%z	NOUN
aiti-14579	155	23	'	'	PUNCT
aiti-14579	155	24	,	,	PUNCT
aiti-14579	155	25	q%z	q%z	PROPN
aiti-14579	155	26	'	'	PUNCT
aiti-14579	155	27	are	be	AUX
aiti-14579	155	28	the	the	DET
aiti-14579	155	29	coordinates	coordinate	NOUN
aiti-14579	155	30	of	of	ADP
aiti-14579	155	31	the	the	DET
aiti-14579	155	32	center	center	NOUN
aiti-14579	155	33	of	of	ADP
aiti-14579	155	34	the	the	DET
aiti-14579	155	35	obstacle	obstacle	NOUN
aiti-14579	155	36	;	;	PUNCT
aiti-14579	155	37	and	and	CCONJ
aiti-14579	155	38	!	!	PUNCT
aiti-14579	155	39	'	'	PUNCT
aiti-14579	156	1	6[5	6[5	PRON
aiti-14579	156	2	is	be	AUX
aiti-14579	156	3	the	the	DET
aiti-14579	156	4	pre	pre	ADJ
aiti-14579	156	5	-	-	ADJ
aiti-14579	156	6	defined	define	VERB
aiti-14579	156	7	safety	safety	NOUN
aiti-14579	156	8	distance	distance	NOUN
aiti-14579	156	9	.	.	PUNCT
aiti-14579	157	1	in	in	ADP
aiti-14579	157	2	addition	addition	NOUN
aiti-14579	157	3	,	,	PUNCT
aiti-14579	157	4	one	one	PRON
aiti-14579	157	5	can	can	AUX
aiti-14579	157	6	use	use	VERB
aiti-14579	157	7	the	the	DET
aiti-14579	157	8	clf	clf	PROPN
aiti-14579	157	9	to	to	PART
aiti-14579	157	10	ensure	ensure	VERB
aiti-14579	157	11	that	that	SCONJ
aiti-14579	157	12	the	the	DET
aiti-14579	157	13	system	system	NOUN
aiti-14579	157	14	state	state	NOUN
aiti-14579	157	15	converges	converge	VERB
aiti-14579	157	16	to	to	ADP
aiti-14579	157	17	the	the	DET
aiti-14579	157	18	goal	goal	NOUN
aiti-14579	157	19	state	state	NOUN
aiti-14579	157	20	.	.	PUNCT
aiti-14579	158	1	the	the	DET
aiti-14579	158	2	clf	clf	PROPN
aiti-14579	158	3	is	be	AUX
aiti-14579	158	4	defined	define	VERB
aiti-14579	158	5	as	as	ADP
aiti-14579	158	6	:	:	PUNCT
aiti-14579	158	7	(	(	PUNCT
aiti-14579	158	8	)	)	PUNCT
aiti-14579	158	9	(	(	PUNCT
aiti-14579	158	10	)	)	PUNCT
aiti-14579	158	11	2	2	NUM
aiti-14579	158	12	2	2	NUM
aiti-14579	158	13	(	(	PUNCT
aiti-14579	158	14	)	)	PUNCT
aiti-14579	158	15	=	=	SYM
aiti-14579	159	1	−	−	PROPN
aiti-14579	159	2	+	+	CCONJ
aiti-14579	159	3	−goal	−goal	ADJ
aiti-14579	159	4	goalv	goalv	NOUN
aiti-14579	159	5	x	x	X
aiti-14579	159	6	x	x	PUNCT
aiti-14579	159	7	x	x	SYM
aiti-14579	159	8	y	y	PROPN
aiti-14579	159	9	y	y	PROPN
aiti-14579	159	10	(	(	PUNCT
aiti-14579	159	11	10	10	NUM
aiti-14579	159	12	)	)	PUNCT
aiti-14579	159	13	reformulating	reformulate	VERB
aiti-14579	159	14	the	the	DET
aiti-14579	159	15	above	above	ADJ
aiti-14579	159	16	cbf	cbf	PROPN
aiti-14579	159	17	and	and	CCONJ
aiti-14579	159	18	clf	clf	PROPN
aiti-14579	159	19	yields	yield	VERB
aiti-14579	159	20	a	a	DET
aiti-14579	159	21	quadratic	quadratic	ADJ
aiti-14579	159	22	program	program	NOUN
aiti-14579	159	23	.	.	PUNCT
aiti-14579	160	1	(	(	PUNCT
aiti-14579	160	2	)	)	PUNCT
aiti-14579	160	3	(	(	PUNCT
aiti-14579	160	4	)	)	PUNCT
aiti-14579	160	5	2	2	NUM
aiti-14579	160	6	1	1	NUM
aiti-14579	160	7	2	2	NUM
aiti-14579	160	8	,	,	PUNCT
aiti-14579	160	9	1	1	NUM
aiti-14579	160	10	min	min	NOUN
aiti-14579	160	11	2	2	NUM
aiti-14579	160	12	.	.	PUNCT
aiti-14579	161	1	(	(	PUNCT
aiti-14579	161	2	)	)	PUNCT
aiti-14579	161	3	(	(	PUNCT
aiti-14579	161	4	)	)	PUNCT
aiti-14579	161	5	(	(	PUNCT
aiti-14579	161	6	)	)	PUNCT
aiti-14579	161	7	(	(	PUNCT
aiti-14579	161	8	)	)	PUNCT
aiti-14579	161	9	(	(	PUNCT
aiti-14579	161	10	)	)	PUNCT
aiti-14579	161	11	(	(	PUNCT
aiti-14579	161	12	)	)	PUNCT
aiti-14579	161	13	0	0	NUM
aiti-14579	161	14	δ	δ	PROPN
aiti-14579	161	15	δ	δ	PROPN
aiti-14579	161	16	δ	δ	PROPN
aiti-14579	161	17	−	−	PROPN
aiti-14579	161	18	−	−	PROPN
aiti-14579	162	1	+	+	CCONJ
aiti-14579	162	2	+	+	CCONJ
aiti-14579	163	1	+	+	CCONJ
aiti-14579	163	2	≤	≤	NOUN
aiti-14579	164	1	+	+	CCONJ
aiti-14579	164	2	+	+	NUM
aiti-14579	164	3	≥	≥	NOUN
aiti-14579	164	4	t	t	PROPN
aiti-14579	164	5	ref	ref	NOUN
aiti-14579	164	6	ref	ref	NOUN
aiti-14579	164	7	u	u	PRON
aiti-14579	164	8	gf	gf	VERB
aiti-14579	164	9	gf	gf	PROPN
aiti-14579	164	10	u	u	NOUN
aiti-14579	164	11	u	u	NOUN
aiti-14579	164	12	h	h	NOUN
aiti-14579	164	13	u	u	NOUN
aiti-14579	164	14	u	u	NOUN
aiti-14579	164	15	p	p	NOUN
aiti-14579	164	16	s	s	PROPN
aiti-14579	164	17	t	t	X
aiti-14579	164	18	l	l	NOUN
aiti-14579	164	19	v	v	NOUN
aiti-14579	164	20	x	x	SYM
aiti-14579	164	21	l	l	NOUN
aiti-14579	164	22	v	v	NOUN
aiti-14579	164	23	x	x	SYM
aiti-14579	164	24	u	u	NOUN
aiti-14579	164	25	c	c	PROPN
aiti-14579	164	26	v	v	NOUN
aiti-14579	164	27	x	x	X
aiti-14579	164	28	l	l	NOUN
aiti-14579	164	29	h	h	NOUN
aiti-14579	165	1	x	x	X
aiti-14579	165	2	l	l	NOUN
aiti-14579	165	3	h	h	NOUN
aiti-14579	165	4	x	x	PUNCT
aiti-14579	165	5	u	u	NOUN
aiti-14579	165	6	c	c	NOUN
aiti-14579	165	7	h	h	NOUN
aiti-14579	165	8	x	x	X
aiti-14579	165	9	(	(	PUNCT
aiti-14579	165	10	11	11	NUM
aiti-14579	165	11	)	)	PUNCT
aiti-14579	165	12	the	the	DET
aiti-14579	165	13	environment	environment	NOUN
aiti-14579	165	14	used	use	VERB
aiti-14579	165	15	in	in	ADP
aiti-14579	165	16	the	the	DET
aiti-14579	165	17	simulation	simulation	NOUN
aiti-14579	165	18	is	be	AUX
aiti-14579	165	19	illustrated	illustrate	VERB
aiti-14579	165	20	in	in	ADP
aiti-14579	165	21	fig	fig	NOUN
aiti-14579	165	22	.	.	PUNCT
aiti-14579	166	1	3	3	X
aiti-14579	166	2	.	.	X
aiti-14579	166	3	three	three	NUM
aiti-14579	166	4	rectangular	rectangular	ADJ
aiti-14579	166	5	obstacles	obstacle	NOUN
aiti-14579	166	6	consist	consist	VERB
aiti-14579	166	7	of	of	ADP
aiti-14579	166	8	many	many	ADJ
aiti-14579	166	9	detected	detect	VERB
aiti-14579	166	10	data	data	NOUN
aiti-14579	166	11	points	point	NOUN
aiti-14579	166	12	.	.	PUNCT
aiti-14579	167	1	in	in	ADP
aiti-14579	167	2	the	the	DET
aiti-14579	167	3	original	original	ADJ
aiti-14579	167	4	cbf	cbf	PROPN
aiti-14579	167	5	-	-	PUNCT
aiti-14579	167	6	clf	clf	PROPN
aiti-14579	167	7	quadratic	quadratic	PROPN
aiti-14579	167	8	program	program	NOUN
aiti-14579	167	9	,	,	PUNCT
aiti-14579	167	10	circles	circle	NOUN
aiti-14579	167	11	are	be	AUX
aiti-14579	167	12	used	use	VERB
aiti-14579	167	13	to	to	PART
aiti-14579	167	14	construct	construct	VERB
aiti-14579	167	15	the	the	DET
aiti-14579	167	16	model	model	NOUN
aiti-14579	167	17	for	for	ADP
aiti-14579	167	18	obstacles	obstacle	NOUN
aiti-14579	167	19	.	.	PUNCT
aiti-14579	168	1	fig	fig	NOUN
aiti-14579	168	2	.	.	PUNCT
aiti-14579	169	1	4	4	NUM
aiti-14579	169	2	shows	show	VERB
aiti-14579	169	3	the	the	DET
aiti-14579	169	4	simulation	simulation	NOUN
aiti-14579	169	5	results	result	VERB
aiti-14579	169	6	for	for	ADP
aiti-14579	169	7	the	the	DET
aiti-14579	169	8	original	original	ADJ
aiti-14579	169	9	cbf	cbf	PROPN
aiti-14579	169	10	-	-	PUNCT
aiti-14579	169	11	clf	clf	PROPN
aiti-14579	169	12	quadratic	quadratic	ADJ
aiti-14579	169	13	program	program	NOUN
aiti-14579	169	14	.	.	PUNCT
aiti-14579	170	1	clearly	clearly	ADV
aiti-14579	170	2	,	,	PUNCT
aiti-14579	170	3	the	the	DET
aiti-14579	170	4	new	new	ADJ
aiti-14579	170	5	trajectory	trajectory	NOUN
aiti-14579	170	6	generated	generate	VERB
aiti-14579	170	7	by	by	ADP
aiti-14579	170	8	the	the	DET
aiti-14579	170	9	original	original	ADJ
aiti-14579	170	10	cbfclf	cbfclf	ADJ
aiti-14579	170	11	quadratic	quadratic	ADJ
aiti-14579	170	12	program	program	NOUN
aiti-14579	170	13	can	can	AUX
aiti-14579	170	14	avoid	avoid	VERB
aiti-14579	170	15	obstacles	obstacle	NOUN
aiti-14579	170	16	and	and	CCONJ
aiti-14579	170	17	reach	reach	VERB
aiti-14579	170	18	the	the	DET
aiti-14579	170	19	goal	goal	NOUN
aiti-14579	170	20	state	state	NOUN
aiti-14579	170	21	safely	safely	ADV
aiti-14579	170	22	.	.	PUNCT
aiti-14579	171	1	in	in	ADP
aiti-14579	171	2	addition	addition	NOUN
aiti-14579	171	3	,	,	PUNCT
aiti-14579	171	4	the	the	DET
aiti-14579	171	5	values	value	NOUN
aiti-14579	171	6	of	of	ADP
aiti-14579	171	7	cbf	cbf	PROPN
aiti-14579	171	8	for	for	ADP
aiti-14579	171	9	three	three	NUM
aiti-14579	171	10	obstacles	obstacle	NOUN
aiti-14579	171	11	shown	show	VERB
aiti-14579	171	12	in	in	ADP
aiti-14579	171	13	fig	fig	NOUN
aiti-14579	171	14	.	.	PUNCT
aiti-14579	172	1	5(a	5(a	NUM
aiti-14579	172	2	)	)	PUNCT
aiti-14579	172	3	are	be	AUX
aiti-14579	172	4	all	all	ADV
aiti-14579	172	5	positive	positive	ADJ
aiti-14579	172	6	,	,	PUNCT
aiti-14579	172	7	indicating	indicate	VERB
aiti-14579	172	8	that	that	SCONJ
aiti-14579	172	9	all	all	DET
aiti-14579	172	10	the	the	DET
aiti-14579	172	11	system	system	NOUN
aiti-14579	172	12	states	state	NOUN
aiti-14579	172	13	are	be	AUX
aiti-14579	172	14	in	in	ADP
aiti-14579	172	15	the	the	DET
aiti-14579	172	16	safety	safety	NOUN
aiti-14579	172	17	set	set	NOUN
aiti-14579	172	18	.	.	PUNCT
aiti-14579	173	1	in	in	ADP
aiti-14579	173	2	addition	addition	NOUN
aiti-14579	173	3	,	,	PUNCT
aiti-14579	173	4	the	the	DET
aiti-14579	173	5	value	value	NOUN
aiti-14579	173	6	of	of	ADP
aiti-14579	173	7	clf	clf	PROPN
aiti-14579	173	8	shown	show	VERB
aiti-14579	173	9	in	in	ADP
aiti-14579	173	10	fig	fig	NOUN
aiti-14579	173	11	.	.	PUNCT
aiti-14579	174	1	5(b	5(b	X
aiti-14579	174	2	)	)	PUNCT
aiti-14579	174	3	converges	converge	VERB
aiti-14579	174	4	exponentially	exponentially	ADV
aiti-14579	174	5	.	.	PUNCT
aiti-14579	175	1	fig	fig	NOUN
aiti-14579	175	2	.	.	PUNCT
aiti-14579	176	1	6(a	6(a	NUM
aiti-14579	176	2	)	)	PUNCT
aiti-14579	176	3	shows	show	VERB
aiti-14579	176	4	the	the	DET
aiti-14579	176	5	clustering	cluster	VERB
aiti-14579	176	6	results	result	NOUN
aiti-14579	176	7	of	of	ADP
aiti-14579	176	8	the	the	DET
aiti-14579	176	9	detected	detect	VERB
aiti-14579	176	10	data	data	NOUN
aiti-14579	176	11	points	point	NOUN
aiti-14579	176	12	using	use	VERB
aiti-14579	176	13	the	the	DET
aiti-14579	176	14	dbscan	dbscan	PROPN
aiti-14579	176	15	method	method	NOUN
aiti-14579	176	16	.	.	PUNCT
aiti-14579	177	1	the	the	DET
aiti-14579	177	2	mee	mee	PROPN
aiti-14579	177	3	for	for	ADP
aiti-14579	177	4	these	these	DET
aiti-14579	177	5	three	three	NUM
aiti-14579	177	6	obstacles	obstacle	NOUN
aiti-14579	177	7	obtained	obtain	VERB
aiti-14579	177	8	using	use	VERB
aiti-14579	177	9	eq	eq	ADP
aiti-14579	177	10	.	.	PUNCT
aiti-14579	178	1	(	(	PUNCT
aiti-14579	178	2	7	7	X
aiti-14579	178	3	)	)	PUNCT
aiti-14579	178	4	is	be	AUX
aiti-14579	178	5	shown	show	VERB
aiti-14579	178	6	in	in	ADP
aiti-14579	178	7	fig	fig	NOUN
aiti-14579	178	8	.	.	PUNCT
aiti-14579	179	1	6(b	6(b	NUM
aiti-14579	179	2	)	)	PUNCT
aiti-14579	179	3	.	.	PUNCT
aiti-14579	180	1	based	base	VERB
aiti-14579	180	2	on	on	ADP
aiti-14579	180	3	the	the	DET
aiti-14579	180	4	obtained	obtain	VERB
aiti-14579	180	5	mee	mee	PROPN
aiti-14579	180	6	,	,	PUNCT
aiti-14579	180	7	one	one	PRON
aiti-14579	180	8	can	can	AUX
aiti-14579	180	9	define	define	VERB
aiti-14579	180	10	the	the	DET
aiti-14579	180	11	cbf	cbf	PROPN
aiti-14579	180	12	with	with	ADP
aiti-14579	180	13	a	a	DET
aiti-14579	180	14	new	new	ADJ
aiti-14579	180	15	ℎ	ℎ	PROPN
aiti-14579	180	16	�	�	PROPN
aiti-14579	180	17	�	�	PROPN
aiti-14579	180	18	�	�	PROPN
aiti-14579	180	19	.	.	PUNCT
aiti-14579	181	1	it	it	PRON
aiti-14579	181	2	is	be	AUX
aiti-14579	181	3	given	give	VERB
aiti-14579	181	4	by	by	ADP
aiti-14579	181	5	:	:	PUNCT
aiti-14579	181	6	(	(	PUNCT
aiti-14579	181	7	)	)	PUNCT
aiti-14579	181	8	(	(	PUNCT
aiti-14579	181	9	)	)	PUNCT
aiti-14579	181	10	(	(	PUNCT
aiti-14579	181	11	)	)	PUNCT
aiti-14579	181	12	(	(	PUNCT
aiti-14579	181	13	)	)	PUNCT
aiti-14579	181	14	(	(	PUNCT
aiti-14579	181	15	)	)	PUNCT
aiti-14579	181	16	(	(	PUNCT
aiti-14579	181	17	)	)	PUNCT
aiti-14579	181	18	(	(	PUNCT
aiti-14579	181	19	)	)	PUNCT
aiti-14579	181	20	(	(	PUNCT
aiti-14579	181	21	)	)	PUNCT
aiti-14579	181	22	(	(	PUNCT
aiti-14579	181	23	)	)	PUNCT
aiti-14579	181	24	(	(	PUNCT
aiti-14579	181	25	)	)	PUNCT
aiti-14579	181	26	(	(	PUNCT
aiti-14579	181	27	)	)	PUNCT
aiti-14579	181	28	(	(	PUNCT
aiti-14579	181	29	)	)	PUNCT
aiti-14579	181	30	2	2	NUM
aiti-14579	181	31	2	2	NUM
aiti-14579	181	32	2	2	NUM
aiti-14579	181	33	2	2	NUM
aiti-14579	181	34	2	2	NUM
aiti-14579	181	35	cos	cos	PROPN
aiti-14579	181	36	(	(	PUNCT
aiti-14579	181	37	)	)	PUNCT
aiti-14579	181	38	sin	sin	NOUN
aiti-14579	181	39	(	(	PUNCT
aiti-14579	181	40	)	)	PUNCT
aiti-14579	181	41	sin	sin	NOUN
aiti-14579	181	42	(	(	PUNCT
aiti-14579	181	43	)	)	PUNCT
aiti-14579	181	44	cos	cos	PROPN
aiti-14579	181	45	(	(	PUNCT
aiti-14579	181	46	)	)	PUNCT
aiti-14579	181	47	(	(	PUNCT
aiti-14579	181	48	)	)	PUNCT
aiti-14579	181	49	2	2	NUM
aiti-14579	181	50	cos	cos	PROPN
aiti-14579	181	51	(	(	PUNCT
aiti-14579	181	52	)	)	PUNCT
aiti-14579	181	53	sin	sin	NOUN
aiti-14579	181	54	(	(	PUNCT
aiti-14579	181	55	)	)	PUNCT
aiti-14579	181	56	cos	cos	PROPN
aiti-14579	181	57	(	(	PUNCT
aiti-14579	181	58	)	)	PUNCT
aiti-14579	181	59	cos	cos	PROPN
aiti-14579	181	60	(	(	PUNCT
aiti-14579	181	61	)	)	PUNCT
aiti-14579	181	62	sin	sin	NOUN
aiti-14579	181	63	(	(	PUNCT
aiti-14579	181	64	)	)	PUNCT
aiti-14579	181	65	sin	sin	NOUN
aiti-14579	181	66	(	(	PUNCT
aiti-14579	181	67	)	)	PUNCT
aiti-14579	181	68	2	2	NUM
aiti-14579	181	69	sin	sin	NOUN
aiti-14579	181	70	(	(	PUNCT
aiti-14579	181	71	)	)	PUNCT
aiti-14579	181	72	cos	cos	PROPN
aiti-14579	181	73	(	(	PUNCT
aiti-14579	181	74	)	)	PUNCT
aiti-14579	181	75	cos	cos	PROPN
aiti-14579	181	76	(	(	PUNCT
aiti-14579	181	77	)	)	PUNCT
aiti-14579	181	78	sin	sin	NOUN
aiti-14579	181	79	(	(	PUNCT
aiti-14579	181	80	)	)	PUNCT
aiti-14579	181	81	sin	sin	PROPN
aiti-14579	181	82	φ	φ	PROPN
aiti-14579	181	83	φ	φ	PROPN
aiti-14579	181	84	φ	φ	PROPN
aiti-14579	181	85	φ	φ	PROPN
aiti-14579	181	86	φ	φ	PROPN
aiti-14579	181	87	φ	φ	PROPN
aiti-14579	181	88	θ	θ	PROPN
aiti-14579	181	89	φ	φ	PROPN
aiti-14579	181	90	θ	θ	PROPN
aiti-14579	181	91	φ	φ	PROPN
aiti-14579	181	92	φ	φ	PROPN
aiti-14579	181	93	φ	φ	PROPN
aiti-14579	181	94	θ	θ	PROPN
aiti-14579	181	95	φ	φ	PROPN
aiti-14579	181	96			PROPN
aiti-14579	181	97			ADJ
aiti-14579	181	98			PROPN
aiti-14579	181	99	−	−	NOUN
aiti-14579	181	100	+	+	CCONJ
aiti-14579	181	101	−	−	PROPN
aiti-14579	181	102	−	−	NUM
aiti-14579	181	103	−	−	PROPN
aiti-14579	182	1	+	+	CCONJ
aiti-14579	182	2	−	−	PROPN
aiti-14579	182	3			PROPN
aiti-14579	182	4			VERB
aiti-14579	182	5	=	=	PROPN
aiti-14579	182	6	+	+	PUNCT
aiti-14579	183	1	+	+	CCONJ
aiti-14579	183	2	+	+	CCONJ
aiti-14579	183	3			PRON
aiti-14579	183	4	−	−	NOUN
aiti-14579	183	5	+	+	CCONJ
aiti-14579	183	6	−	−	PUNCT
aiti-14579	184	1	+	+	NOUN
aiti-14579	184	2			X
aiti-14579	184	3	+	+	NOUN
aiti-14579	184	4	+	+	CCONJ
aiti-14579	184	5			PROPN
aiti-14579	184	6	−	−	NOUN
aiti-14579	184	7	−	−	PROPN
aiti-14579	184	8	+	+	CCONJ
aiti-14579	184	9	−	−	PROPN
aiti-14579	184	10	−	−	NOUN
aiti-14579	185	1	+	+	NOUN
aiti-14579	185	2			X
aiti-14579	185	3	+	+	PROPN
aiti-14579	185	4	obs	obs	PROPN
aiti-14579	185	5	obs	obs	PROPN
aiti-14579	185	6	obs	obs	PROPN
aiti-14579	185	7	obs	obs	PROPN
aiti-14579	185	8	safe	safe	ADJ
aiti-14579	185	9	safe	safe	ADJ
aiti-14579	185	10	obs	obs	PROPN
aiti-14579	185	11	obs	obs	VERB
aiti-14579	185	12	safe	safe	ADJ
aiti-14579	185	13	obs	obs	X
aiti-14579	185	14	obs	obs	PROPN
aiti-14579	185	15	x	x	PUNCT
aiti-14579	185	16	x	x	PUNCT
aiti-14579	185	17	y	y	NOUN
aiti-14579	185	18	y	y	NOUN
aiti-14579	185	19	x	x	PUNCT
aiti-14579	186	1	x	x	VERB
aiti-14579	186	2	y	y	VERB
aiti-14579	186	3	y	y	NOUN
aiti-14579	186	4	h	h	NOUN
aiti-14579	186	5	x	x	PUNCT
aiti-14579	187	1	a	a	PRON
aiti-14579	187	2	d	d	X
aiti-14579	187	3	b	b	PROPN
aiti-14579	187	4	d	d	NOUN
aiti-14579	187	5	x	x	SYM
aiti-14579	187	6	x	x	VERB
aiti-14579	187	7	y	y	VERB
aiti-14579	187	8	y	y	PROPN
aiti-14579	187	9	v	v	NUM
aiti-14579	187	10	v	v	ADP
aiti-14579	187	11	a	a	DET
aiti-14579	187	12	d	d	NOUN
aiti-14579	187	13	x	x	SYM
aiti-14579	187	14	x	x	X
aiti-14579	187	15	y	y	PROPN
aiti-14579	187	16	y	y	PROPN
aiti-14579	187	17	v	v	PROPN
aiti-14579	187	18	v	v	NOUN
aiti-14579	187	19	(	(	PUNCT
aiti-14579	187	20	)	)	PUNCT
aiti-14579	187	21	(	(	PUNCT
aiti-14579	187	22	)	)	PUNCT
aiti-14579	187	23	2	2	NUM
aiti-14579	187	24	(	(	PUNCT
aiti-14579	187	25	)	)	PUNCT
aiti-14579	187	26	cos	cos	PROPN
aiti-14579	187	27	(	(	PUNCT
aiti-14579	187	28	)	)	PUNCT
aiti-14579	187	29	1	1	NUM
aiti-14579	187	30	θ	θ	PROPN
aiti-14579	187	31	φ	φ	NUM
aiti-14579	187	32	−	−	PROPN
aiti-14579	188	1	+	+	CCONJ
aiti-14579	188	2	safeb	safeb	NOUN
aiti-14579	188	3	d	d	X
aiti-14579	188	4	(	(	PUNCT
aiti-14579	188	5	12	12	NUM
aiti-14579	188	6	)	)	PUNCT
aiti-14579	188	7	advances	advance	NOUN
aiti-14579	188	8	in	in	ADP
aiti-14579	188	9	technology	technology	NOUN
aiti-14579	188	10	innovation	innovation	NOUN
aiti-14579	188	11	,	,	PUNCT
aiti-14579	188	12	vol	vol	NOUN
aiti-14579	188	13	.	.	PROPN
aiti-14579	188	14	10	10	NUM
aiti-14579	188	15	,	,	PUNCT
aiti-14579	188	16	no	no	INTJ
aiti-14579	188	17	.	.	NOUN
aiti-14579	188	18	4	4	NUM
aiti-14579	188	19	,	,	PUNCT
aiti-14579	188	20	2025	2025	NUM
aiti-14579	188	21	,	,	PUNCT
aiti-14579	188	22	pp	pp	ADJ
aiti-14579	188	23	.	.	PUNCT
aiti-14579	189	1	358	358	NUM
aiti-14579	189	2	-	-	SYM
aiti-14579	189	3	369	369	NUM
aiti-14579	189	4	364	364	NUM
aiti-14579	189	5	fig	fig	NOUN
aiti-14579	189	6	.	.	PUNCT
aiti-14579	190	1	3	3	NUM
aiti-14579	190	2	three	three	NUM
aiti-14579	190	3	rectangular	rectangular	ADJ
aiti-14579	190	4	obstacles	obstacle	NOUN
aiti-14579	190	5	were	be	AUX
aiti-14579	190	6	used	use	VERB
aiti-14579	190	7	in	in	ADP
aiti-14579	190	8	the	the	DET
aiti-14579	190	9	simulation	simulation	NOUN
aiti-14579	190	10	fig	fig	NOUN
aiti-14579	190	11	.	.	PUNCT
aiti-14579	191	1	4	4	NUM
aiti-14579	191	2	simulation	simulation	NOUN
aiti-14579	191	3	results	result	NOUN
aiti-14579	191	4	of	of	ADP
aiti-14579	191	5	the	the	DET
aiti-14579	191	6	original	original	ADJ
aiti-14579	191	7	cbf	cbf	PROPN
aiti-14579	191	8	-	-	PUNCT
aiti-14579	191	9	clf	clf	PROPN
aiti-14579	191	10	quadratic	quadratic	PROPN
aiti-14579	191	11	program	program	NOUN
aiti-14579	191	12	(	(	PUNCT
aiti-14579	191	13	a	a	DET
aiti-14579	191	14	)	)	PUNCT
aiti-14579	191	15	value	value	NOUN
aiti-14579	191	16	of	of	ADP
aiti-14579	191	17	cbf	cbf	PROPN
aiti-14579	191	18	(	(	PUNCT
aiti-14579	191	19	b	b	NOUN
aiti-14579	191	20	)	)	PUNCT
aiti-14579	191	21	value	value	NOUN
aiti-14579	191	22	of	of	ADP
aiti-14579	191	23	clf	clf	PROPN
aiti-14579	191	24	fig	fig	PROPN
aiti-14579	191	25	.	.	PUNCT
aiti-14579	192	1	5	5	NUM
aiti-14579	192	2	simulation	simulation	NOUN
aiti-14579	192	3	results	result	NOUN
aiti-14579	192	4	of	of	ADP
aiti-14579	192	5	the	the	DET
aiti-14579	192	6	original	original	ADJ
aiti-14579	192	7	cbf	cbf	PROPN
aiti-14579	192	8	-	-	PUNCT
aiti-14579	192	9	clf	clf	PROPN
aiti-14579	192	10	quadratic	quadratic	PROPN
aiti-14579	192	11	program	program	NOUN
aiti-14579	192	12	(	(	PUNCT
aiti-14579	192	13	a	a	X
aiti-14579	192	14	)	)	PUNCT
aiti-14579	192	15	results	result	NOUN
aiti-14579	192	16	of	of	ADP
aiti-14579	192	17	data	datum	NOUN
aiti-14579	192	18	point	point	NOUN
aiti-14579	192	19	clustering	clustering	NOUN
aiti-14579	192	20	using	use	VERB
aiti-14579	192	21	dbscan	dbscan	NOUN
aiti-14579	192	22	(	(	PUNCT
aiti-14579	192	23	b	b	X
aiti-14579	192	24	)	)	PUNCT
aiti-14579	192	25	mee	mee	PROPN
aiti-14579	192	26	obtained	obtain	VERB
aiti-14579	192	27	from	from	ADP
aiti-14579	192	28	eq	eq	PROPN
aiti-14579	192	29	.	.	PUNCT
aiti-14579	193	1	(	(	PUNCT
aiti-14579	193	2	7	7	X
aiti-14579	193	3	)	)	PUNCT
aiti-14579	193	4	fig	fig	NOUN
aiti-14579	193	5	.	.	PUNCT
aiti-14579	194	1	6	6	NUM
aiti-14579	194	2	results	result	NOUN
aiti-14579	194	3	of	of	ADP
aiti-14579	194	4	dbscan	dbscan	NOUN
aiti-14579	194	5	clustering	cluster	VERB
aiti-14579	194	6	and	and	CCONJ
aiti-14579	194	7	mee	mee	PROPN
aiti-14579	194	8	5.1.2	5.1.2	NUM
aiti-14579	194	9	.	.	PUNCT
aiti-14579	195	1	the	the	DET
aiti-14579	195	2	proposed	propose	VERB
aiti-14579	195	3	dbscan	dbscan	PROPN
aiti-14579	195	4	-	-	PUNCT
aiti-14579	195	5	mee	mee	PROPN
aiti-14579	195	6	-	-	PUNCT
aiti-14579	195	7	cbf	cbf	PROPN
aiti-14579	195	8	obstacle	obstacle	NOUN
aiti-14579	195	9	avoidance	avoidance	PROPN
aiti-14579	195	10	method	method	PROPN
aiti-14579	195	11	fig	fig	NOUN
aiti-14579	195	12	.	.	PUNCT
aiti-14579	196	1	7	7	NUM
aiti-14579	196	2	shows	show	VERB
aiti-14579	196	3	the	the	DET
aiti-14579	196	4	simulation	simulation	NOUN
aiti-14579	196	5	results	result	VERB
aiti-14579	196	6	for	for	ADP
aiti-14579	196	7	the	the	DET
aiti-14579	196	8	proposed	propose	VERB
aiti-14579	196	9	dbscan	dbscan	PROPN
aiti-14579	196	10	-	-	PUNCT
aiti-14579	196	11	mee	mee	PROPN
aiti-14579	196	12	-	-	PUNCT
aiti-14579	196	13	cbf	cbf	PROPN
aiti-14579	196	14	obstacle	obstacle	NOUN
aiti-14579	196	15	avoidance	avoidance	NOUN
aiti-14579	196	16	method	method	NOUN
aiti-14579	196	17	.	.	PUNCT
aiti-14579	197	1	the	the	DET
aiti-14579	197	2	new	new	ADJ
aiti-14579	197	3	trajectory	trajectory	NOUN
aiti-14579	197	4	can	can	AUX
aiti-14579	197	5	avoid	avoid	VERB
aiti-14579	197	6	obstacles	obstacle	NOUN
aiti-14579	197	7	and	and	CCONJ
aiti-14579	197	8	reach	reach	VERB
aiti-14579	197	9	the	the	DET
aiti-14579	197	10	goal	goal	NOUN
aiti-14579	197	11	state	state	NOUN
aiti-14579	197	12	safely	safely	ADV
aiti-14579	197	13	.	.	PUNCT
aiti-14579	198	1	moreover	moreover	ADV
aiti-14579	198	2	,	,	PUNCT
aiti-14579	198	3	compared	compare	VERB
aiti-14579	198	4	with	with	ADP
aiti-14579	198	5	the	the	DET
aiti-14579	198	6	circles	circle	NOUN
aiti-14579	198	7	used	use	VERB
aiti-14579	198	8	to	to	PART
aiti-14579	198	9	model	model	VERB
aiti-14579	198	10	the	the	DET
aiti-14579	198	11	obstacles	obstacle	NOUN
aiti-14579	198	12	in	in	ADP
aiti-14579	198	13	the	the	DET
aiti-14579	198	14	original	original	ADJ
aiti-14579	198	15	cbf	cbf	PROPN
aiti-14579	198	16	-	-	PUNCT
aiti-14579	198	17	clf	clf	PROPN
aiti-14579	198	18	quadratic	quadratic	PROPN
aiti-14579	198	19	program	program	NOUN
aiti-14579	198	20	,	,	PUNCT
aiti-14579	198	21	the	the	DET
aiti-14579	198	22	ellipses	ellipsis	NOUN
aiti-14579	198	23	used	use	VERB
aiti-14579	198	24	to	to	PART
aiti-14579	198	25	model	model	VERB
aiti-14579	198	26	the	the	DET
aiti-14579	198	27	obstacles	obstacle	NOUN
aiti-14579	198	28	in	in	ADP
aiti-14579	198	29	the	the	DET
aiti-14579	198	30	proposed	propose	VERB
aiti-14579	198	31	method	method	NOUN
aiti-14579	198	32	fit	fit	ADJ
aiti-14579	198	33	more	more	ADV
aiti-14579	198	34	closely	closely	ADV
aiti-14579	198	35	with	with	ADP
aiti-14579	198	36	the	the	DET
aiti-14579	198	37	shape	shape	NOUN
aiti-14579	198	38	of	of	ADP
aiti-14579	198	39	the	the	DET
aiti-14579	198	40	obstacle	obstacle	NOUN
aiti-14579	198	41	.	.	PUNCT
aiti-14579	199	1	in	in	ADP
aiti-14579	199	2	addition	addition	NOUN
aiti-14579	199	3	,	,	PUNCT
aiti-14579	199	4	the	the	DET
aiti-14579	199	5	values	value	NOUN
aiti-14579	199	6	of	of	ADP
aiti-14579	199	7	cbf	cbf	PROPN
aiti-14579	199	8	for	for	ADP
aiti-14579	199	9	the	the	DET
aiti-14579	199	10	three	three	NUM
aiti-14579	199	11	obstacles	obstacle	NOUN
aiti-14579	199	12	shown	show	VERB
aiti-14579	199	13	in	in	ADP
aiti-14579	199	14	fig	fig	NOUN
aiti-14579	199	15	.	.	PUNCT
aiti-14579	200	1	8(a	8(a	NUM
aiti-14579	200	2	)	)	PUNCT
aiti-14579	200	3	are	be	AUX
aiti-14579	200	4	all	all	ADV
aiti-14579	200	5	positive	positive	ADJ
aiti-14579	200	6	,	,	PUNCT
aiti-14579	200	7	indicating	indicate	VERB
aiti-14579	200	8	that	that	SCONJ
aiti-14579	200	9	all	all	DET
aiti-14579	200	10	the	the	DET
aiti-14579	200	11	system	system	NOUN
aiti-14579	200	12	states	state	NOUN
aiti-14579	200	13	are	be	AUX
aiti-14579	200	14	within	within	ADP
aiti-14579	200	15	the	the	DET
aiti-14579	200	16	safety	safety	NOUN
aiti-14579	200	17	set	set	NOUN
aiti-14579	200	18	.	.	PUNCT
aiti-14579	201	1	in	in	ADP
aiti-14579	201	2	addition	addition	NOUN
aiti-14579	201	3	,	,	PUNCT
aiti-14579	201	4	the	the	DET
aiti-14579	201	5	value	value	NOUN
aiti-14579	201	6	of	of	ADP
aiti-14579	201	7	clf	clf	PROPN
aiti-14579	201	8	shown	show	VERB
aiti-14579	201	9	in	in	ADP
aiti-14579	201	10	fig	fig	NOUN
aiti-14579	201	11	.	.	PUNCT
aiti-14579	202	1	8(b	8(b	NUM
aiti-14579	202	2	)	)	PUNCT
aiti-14579	202	3	converges	converge	VERB
aiti-14579	202	4	exponentially	exponentially	ADV
aiti-14579	202	5	.	.	PUNCT
aiti-14579	203	1	advances	advance	NOUN
aiti-14579	203	2	in	in	ADP
aiti-14579	203	3	technology	technology	NOUN
aiti-14579	203	4	innovation	innovation	NOUN
aiti-14579	203	5	,	,	PUNCT
aiti-14579	203	6	vol	vol	NOUN
aiti-14579	203	7	.	.	PROPN
aiti-14579	204	1	10	10	NUM
aiti-14579	204	2	,	,	PUNCT
aiti-14579	204	3	no	no	INTJ
aiti-14579	204	4	.	.	NOUN
aiti-14579	204	5	4	4	NUM
aiti-14579	204	6	,	,	PUNCT
aiti-14579	204	7	2025	2025	NUM
aiti-14579	204	8	,	,	PUNCT
aiti-14579	204	9	pp	pp	ADJ
aiti-14579	204	10	.	.	PUNCT
aiti-14579	205	1	358	358	NUM
aiti-14579	205	2	-	-	SYM
aiti-14579	205	3	369	369	NUM
aiti-14579	205	4	365	365	NUM
aiti-14579	205	5	fig	fig	NOUN
aiti-14579	205	6	.	.	PUNCT
aiti-14579	206	1	7	7	NUM
aiti-14579	206	2	obstacle	obstacle	NOUN
aiti-14579	206	3	avoidance	avoidance	NOUN
aiti-14579	206	4	in	in	ADP
aiti-14579	206	5	the	the	DET
aiti-14579	206	6	x	x	PROPN
aiti-14579	206	7	-	-	ADJ
aiti-14579	206	8	y	y	ADJ
aiti-14579	206	9	plane	plane	NOUN
aiti-14579	206	10	using	use	VERB
aiti-14579	206	11	dbscan	dbscan	PROPN
aiti-14579	206	12	-	-	PUNCT
aiti-14579	206	13	mee	mee	PROPN
aiti-14579	206	14	-	-	PUNCT
aiti-14579	206	15	cbf	cbf	PROPN
aiti-14579	206	16	(	(	PUNCT
aiti-14579	206	17	a	a	NOUN
aiti-14579	206	18	)	)	PUNCT
aiti-14579	206	19	value	value	NOUN
aiti-14579	206	20	of	of	ADP
aiti-14579	206	21	cbf	cbf	PROPN
aiti-14579	206	22	(	(	PUNCT
aiti-14579	206	23	b	b	NOUN
aiti-14579	206	24	)	)	PUNCT
aiti-14579	206	25	value	value	NOUN
aiti-14579	206	26	of	of	ADP
aiti-14579	206	27	clf	clf	PROPN
aiti-14579	206	28	fig	fig	PROPN
aiti-14579	206	29	.	.	PUNCT
aiti-14579	207	1	8	8	NUM
aiti-14579	207	2	dbscan	dbscan	PROPN
aiti-14579	207	3	-	-	PUNCT
aiti-14579	207	4	mee	mee	PROPN
aiti-14579	207	5	-	-	PUNCT
aiti-14579	207	6	cbf	cbf	PROPN
aiti-14579	207	7	obstacle	obstacle	NOUN
aiti-14579	207	8	avoidance	avoidance	NOUN
aiti-14579	207	9	5.2	5.2	NUM
aiti-14579	207	10	.	.	PUNCT
aiti-14579	208	1	experimental	experimental	ADJ
aiti-14579	208	2	results	result	NOUN
aiti-14579	208	3	in	in	ADP
aiti-14579	208	4	the	the	DET
aiti-14579	208	5	experiment	experiment	NOUN
aiti-14579	208	6	,	,	PUNCT
aiti-14579	208	7	python	python	PROPN
aiti-14579	208	8	is	be	AUX
aiti-14579	208	9	used	use	VERB
aiti-14579	208	10	to	to	PART
aiti-14579	208	11	solve	solve	VERB
aiti-14579	208	12	the	the	DET
aiti-14579	208	13	quadratic	quadratic	ADJ
aiti-14579	208	14	program	program	NOUN
aiti-14579	208	15	,	,	PUNCT
aiti-14579	208	16	and	and	CCONJ
aiti-14579	208	17	ros	ros	PROPN
aiti-14579	208	18	is	be	AUX
aiti-14579	208	19	used	use	VERB
aiti-14579	208	20	to	to	PART
aiti-14579	208	21	broadcast	broadcast	VERB
aiti-14579	208	22	the	the	DET
aiti-14579	208	23	translation	translation	NOUN
aiti-14579	208	24	velocity	velocity	NOUN
aiti-14579	208	25	command	command	NOUN
aiti-14579	208	26	and	and	CCONJ
aiti-14579	208	27	rotational	rotational	ADJ
aiti-14579	208	28	velocity	velocity	NOUN
aiti-14579	208	29	command	command	NOUN
aiti-14579	208	30	to	to	ADP
aiti-14579	208	31	the	the	DET
aiti-14579	208	32	turtlebot3	turtlebot3	NOUN
aiti-14579	208	33	burger	burger	NOUN
aiti-14579	208	34	.	.	PUNCT
aiti-14579	209	1	in	in	ADP
aiti-14579	209	2	addition	addition	NOUN
aiti-14579	209	3	,	,	PUNCT
aiti-14579	209	4	for	for	ADP
aiti-14579	209	5	safety	safety	NOUN
aiti-14579	209	6	concerns	concern	NOUN
aiti-14579	209	7	,	,	PUNCT
aiti-14579	209	8	an	an	DET
aiti-14579	209	9	additional	additional	ADJ
aiti-14579	209	10	1.5centimeter	1.5centimeter	NUM
aiti-14579	209	11	distance	distance	NOUN
aiti-14579	209	12	will	will	AUX
aiti-14579	209	13	be	be	AUX
aiti-14579	209	14	added	add	VERB
aiti-14579	209	15	to	to	ADP
aiti-14579	209	16	the	the	DET
aiti-14579	209	17	obstacle	obstacle	NOUN
aiti-14579	209	18	models	model	NOUN
aiti-14579	209	19	for	for	ADP
aiti-14579	209	20	all	all	DET
aiti-14579	209	21	methods	method	NOUN
aiti-14579	209	22	tested	test	VERB
aiti-14579	209	23	in	in	ADP
aiti-14579	209	24	the	the	DET
aiti-14579	209	25	experiment	experiment	NOUN
aiti-14579	209	26	.	.	PUNCT
aiti-14579	210	1	5.2.1	5.2.1	X
aiti-14579	210	2	.	.	PUNCT
aiti-14579	211	1	the	the	DET
aiti-14579	211	2	original	original	ADJ
aiti-14579	211	3	cbf	cbf	PROPN
aiti-14579	211	4	-	-	PUNCT
aiti-14579	211	5	clf	clf	PROPN
aiti-14579	211	6	quadratic	quadratic	PROPN
aiti-14579	211	7	program	program	NOUN
aiti-14579	211	8	obstacle	obstacle	NOUN
aiti-14579	211	9	avoidance	avoidance	NOUN
aiti-14579	211	10	method	method	NOUN
aiti-14579	211	11	in	in	ADP
aiti-14579	211	12	this	this	DET
aiti-14579	211	13	experiment	experiment	NOUN
aiti-14579	211	14	,	,	PUNCT
aiti-14579	211	15	the	the	DET
aiti-14579	211	16	original	original	ADJ
aiti-14579	211	17	cbf	cbf	PROPN
aiti-14579	211	18	-	-	PUNCT
aiti-14579	211	19	clf	clf	PROPN
aiti-14579	211	20	quadratic	quadratic	ADJ
aiti-14579	211	21	program	program	NOUN
aiti-14579	211	22	is	be	AUX
aiti-14579	211	23	used	use	VERB
aiti-14579	211	24	to	to	PART
aiti-14579	211	25	avoid	avoid	VERB
aiti-14579	211	26	obstacles	obstacle	NOUN
aiti-14579	211	27	.	.	PUNCT
aiti-14579	212	1	fig	fig	NOUN
aiti-14579	212	2	.	.	PUNCT
aiti-14579	213	1	9	9	NUM
aiti-14579	213	2	shows	show	VERB
aiti-14579	213	3	the	the	DET
aiti-14579	213	4	image	image	NOUN
aiti-14579	213	5	sequences	sequence	NOUN
aiti-14579	213	6	of	of	ADP
aiti-14579	213	7	the	the	DET
aiti-14579	213	8	turtlebot	turtlebot	NOUN
aiti-14579	213	9	moving	move	VERB
aiti-14579	213	10	from	from	ADP
aiti-14579	213	11	the	the	DET
aiti-14579	213	12	starting	starting	NOUN
aiti-14579	213	13	point	point	NOUN
aiti-14579	213	14	(	(	PUNCT
aiti-14579	213	15	fig	fig	NOUN
aiti-14579	213	16	.	.	PUNCT
aiti-14579	214	1	9(a	9(a	NUM
aiti-14579	214	2	)	)	PUNCT
aiti-14579	214	3	)	)	PUNCT
aiti-14579	214	4	to	to	ADP
aiti-14579	214	5	the	the	DET
aiti-14579	214	6	destination	destination	NOUN
aiti-14579	214	7	point	point	NOUN
aiti-14579	214	8	(	(	PUNCT
aiti-14579	214	9	fig	fig	NOUN
aiti-14579	214	10	.	.	PUNCT
aiti-14579	215	1	9(b	9(b	NUM
aiti-14579	215	2	)	)	PUNCT
aiti-14579	215	3	)	)	PUNCT
aiti-14579	215	4	.	.	PUNCT
aiti-14579	216	1	fig	fig	NOUN
aiti-14579	216	2	.	.	PUNCT
aiti-14579	217	1	10	10	NUM
aiti-14579	217	2	shows	show	VERB
aiti-14579	217	3	the	the	DET
aiti-14579	217	4	new	new	ADJ
aiti-14579	217	5	trajectory	trajectory	NOUN
aiti-14579	217	6	generated	generate	VERB
aiti-14579	217	7	by	by	ADP
aiti-14579	217	8	the	the	DET
aiti-14579	217	9	original	original	ADJ
aiti-14579	217	10	cbf	cbf	PROPN
aiti-14579	217	11	-	-	PUNCT
aiti-14579	217	12	clf	clf	PROPN
aiti-14579	217	13	quadratic	quadratic	PROPN
aiti-14579	217	14	program	program	NOUN
aiti-14579	217	15	obstacle	obstacle	NOUN
aiti-14579	217	16	avoidance	avoidance	NOUN
aiti-14579	217	17	method	method	NOUN
aiti-14579	217	18	.	.	PUNCT
aiti-14579	218	1	the	the	DET
aiti-14579	218	2	new	new	ADJ
aiti-14579	218	3	trajectory	trajectory	NOUN
aiti-14579	218	4	can	can	AUX
aiti-14579	218	5	successfully	successfully	ADV
aiti-14579	218	6	avoid	avoid	VERB
aiti-14579	218	7	obstacles	obstacle	NOUN
aiti-14579	218	8	and	and	CCONJ
aiti-14579	218	9	reach	reach	VERB
aiti-14579	218	10	the	the	DET
aiti-14579	218	11	goal	goal	NOUN
aiti-14579	218	12	state	state	NOUN
aiti-14579	218	13	safely	safely	ADV
aiti-14579	218	14	.	.	PUNCT
aiti-14579	219	1	the	the	DET
aiti-14579	219	2	values	value	NOUN
aiti-14579	219	3	of	of	ADP
aiti-14579	219	4	cbf	cbf	PROPN
aiti-14579	219	5	for	for	ADP
aiti-14579	219	6	three	three	NUM
aiti-14579	219	7	obstacles	obstacle	NOUN
aiti-14579	219	8	shown	show	VERB
aiti-14579	219	9	in	in	ADP
aiti-14579	219	10	fig	fig	NOUN
aiti-14579	219	11	.	.	PUNCT
aiti-14579	220	1	11(a	11(a	NUM
aiti-14579	220	2	)	)	PUNCT
aiti-14579	220	3	are	be	AUX
aiti-14579	220	4	all	all	ADV
aiti-14579	220	5	positive	positive	ADJ
aiti-14579	220	6	,	,	PUNCT
aiti-14579	220	7	indicating	indicate	VERB
aiti-14579	220	8	that	that	SCONJ
aiti-14579	220	9	all	all	DET
aiti-14579	220	10	the	the	DET
aiti-14579	220	11	system	system	NOUN
aiti-14579	220	12	states	state	NOUN
aiti-14579	220	13	are	be	AUX
aiti-14579	220	14	in	in	ADP
aiti-14579	220	15	the	the	DET
aiti-14579	220	16	safety	safety	NOUN
aiti-14579	220	17	set	set	NOUN
aiti-14579	220	18	.	.	PUNCT
aiti-14579	221	1	in	in	ADP
aiti-14579	221	2	addition	addition	NOUN
aiti-14579	221	3	,	,	PUNCT
aiti-14579	221	4	the	the	DET
aiti-14579	221	5	value	value	NOUN
aiti-14579	221	6	of	of	ADP
aiti-14579	221	7	clf	clf	PROPN
aiti-14579	221	8	shown	show	VERB
aiti-14579	221	9	in	in	ADP
aiti-14579	221	10	fig	fig	NOUN
aiti-14579	221	11	.	.	PUNCT
aiti-14579	222	1	11(b	11(b	NUM
aiti-14579	222	2	)	)	PUNCT
aiti-14579	222	3	converges	converge	VERB
aiti-14579	222	4	exponentially	exponentially	ADV
aiti-14579	222	5	.	.	PUNCT
aiti-14579	223	1	(	(	PUNCT
aiti-14579	223	2	a	a	X
aiti-14579	223	3	)	)	PUNCT
aiti-14579	223	4	starting	start	VERB
aiti-14579	223	5	point	point	NOUN
aiti-14579	223	6	of	of	ADP
aiti-14579	223	7	the	the	DET
aiti-14579	223	8	turtlebot	turtlebot	ADJ
aiti-14579	223	9	(	(	PUNCT
aiti-14579	223	10	b	b	NOUN
aiti-14579	223	11	)	)	PUNCT
aiti-14579	223	12	destination	destination	NOUN
aiti-14579	223	13	point	point	NOUN
aiti-14579	223	14	of	of	ADP
aiti-14579	223	15	the	the	DET
aiti-14579	223	16	turtlebot	turtlebot	ADJ
aiti-14579	223	17	fig	fig	NOUN
aiti-14579	223	18	.	.	PUNCT
aiti-14579	224	1	9	9	NUM
aiti-14579	224	2	comparison	comparison	NOUN
aiti-14579	224	3	of	of	ADP
aiti-14579	224	4	turtlebot	turtlebot	ADJ
aiti-14579	224	5	trajectories	trajectory	NOUN
aiti-14579	224	6	:	:	PUNCT
aiti-14579	224	7	original	original	ADJ
aiti-14579	224	8	cbf	cbf	PROPN
aiti-14579	224	9	-	-	PUNCT
aiti-14579	224	10	clf	clf	PROPN
aiti-14579	224	11	vs.	vs.	ADP
aiti-14579	224	12	proposed	propose	VERB
aiti-14579	224	13	dbscan	dbscan	PROPN
aiti-14579	224	14	-	-	PUNCT
aiti-14579	224	15	mee	mee	PROPN
aiti-14579	224	16	-	-	PUNCT
aiti-14579	224	17	cbf	cbf	PROPN
aiti-14579	224	18	advances	advance	VERB
aiti-14579	224	19	in	in	ADP
aiti-14579	224	20	technology	technology	NOUN
aiti-14579	224	21	innovation	innovation	NOUN
aiti-14579	224	22	,	,	PUNCT
aiti-14579	224	23	vol	vol	NOUN
aiti-14579	224	24	.	.	PROPN
aiti-14579	224	25	10	10	NUM
aiti-14579	224	26	,	,	PUNCT
aiti-14579	224	27	no	no	INTJ
aiti-14579	224	28	.	.	NOUN
aiti-14579	224	29	4	4	NUM
aiti-14579	224	30	,	,	PUNCT
aiti-14579	224	31	2025	2025	NUM
aiti-14579	224	32	,	,	PUNCT
aiti-14579	224	33	pp	pp	ADJ
aiti-14579	224	34	.	.	PUNCT
aiti-14579	225	1	358	358	NUM
aiti-14579	225	2	-	-	SYM
aiti-14579	225	3	369	369	NUM
aiti-14579	225	4	366	366	NUM
aiti-14579	225	5	fig	fig	NOUN
aiti-14579	225	6	.	.	PUNCT
aiti-14579	226	1	10	10	NUM
aiti-14579	226	2	x	x	X
aiti-14579	226	3	-	-	ADJ
aiti-14579	226	4	y	y	ADJ
aiti-14579	226	5	plane	plane	NOUN
aiti-14579	226	6	trajectory	trajectory	NOUN
aiti-14579	226	7	using	use	VERB
aiti-14579	226	8	the	the	DET
aiti-14579	226	9	original	original	ADJ
aiti-14579	226	10	cbf	cbf	PROPN
aiti-14579	226	11	-	-	PUNCT
aiti-14579	226	12	clf	clf	PROPN
aiti-14579	226	13	quadratic	quadratic	PROPN
aiti-14579	226	14	program	program	NOUN
aiti-14579	226	15	(	(	PUNCT
aiti-14579	226	16	a	a	DET
aiti-14579	226	17	)	)	PUNCT
aiti-14579	226	18	value	value	NOUN
aiti-14579	226	19	of	of	ADP
aiti-14579	226	20	cbf	cbf	PROPN
aiti-14579	226	21	(	(	PUNCT
aiti-14579	226	22	b	b	NOUN
aiti-14579	226	23	)	)	PUNCT
aiti-14579	226	24	value	value	NOUN
aiti-14579	226	25	of	of	ADP
aiti-14579	226	26	clf	clf	PROPN
aiti-14579	226	27	fig	fig	PROPN
aiti-14579	226	28	.	.	PUNCT
aiti-14579	227	1	11	11	NUM
aiti-14579	227	2	experimental	experimental	ADJ
aiti-14579	227	3	results	result	NOUN
aiti-14579	227	4	of	of	ADP
aiti-14579	227	5	the	the	DET
aiti-14579	227	6	original	original	ADJ
aiti-14579	227	7	cbf	cbf	PROPN
aiti-14579	227	8	-	-	PUNCT
aiti-14579	227	9	clf	clf	PROPN
aiti-14579	227	10	quadratic	quadratic	ADJ
aiti-14579	227	11	program	program	NOUN
aiti-14579	227	12	5.2.2	5.2.2	NUM
aiti-14579	227	13	.	.	PUNCT
aiti-14579	228	1	the	the	DET
aiti-14579	228	2	proposed	propose	VERB
aiti-14579	228	3	dbscan	dbscan	PROPN
aiti-14579	228	4	-	-	PUNCT
aiti-14579	228	5	mee	mee	PROPN
aiti-14579	228	6	-	-	PUNCT
aiti-14579	228	7	cbf	cbf	PROPN
aiti-14579	228	8	obstacle	obstacle	NOUN
aiti-14579	228	9	avoidance	avoidance	NOUN
aiti-14579	228	10	method	method	NOUN
aiti-14579	228	11	in	in	ADP
aiti-14579	228	12	this	this	DET
aiti-14579	228	13	experiment	experiment	NOUN
aiti-14579	228	14	,	,	PUNCT
aiti-14579	228	15	the	the	DET
aiti-14579	228	16	proposed	propose	VERB
aiti-14579	228	17	dbscan	dbscan	PROPN
aiti-14579	228	18	-	-	PUNCT
aiti-14579	228	19	mee	mee	PROPN
aiti-14579	228	20	-	-	PUNCT
aiti-14579	228	21	cbf	cbf	PROPN
aiti-14579	228	22	obstacle	obstacle	NOUN
aiti-14579	228	23	avoidance	avoidance	NOUN
aiti-14579	228	24	method	method	NOUN
aiti-14579	228	25	is	be	AUX
aiti-14579	228	26	used	use	VERB
aiti-14579	228	27	to	to	PART
aiti-14579	228	28	avoid	avoid	VERB
aiti-14579	228	29	obstacles	obstacle	NOUN
aiti-14579	228	30	.	.	PUNCT
aiti-14579	229	1	fig	fig	NOUN
aiti-14579	229	2	.	.	PUNCT
aiti-14579	230	1	12	12	NUM
aiti-14579	230	2	shows	show	VERB
aiti-14579	230	3	the	the	DET
aiti-14579	230	4	new	new	ADJ
aiti-14579	230	5	trajectory	trajectory	NOUN
aiti-14579	230	6	generated	generate	VERB
aiti-14579	230	7	by	by	ADP
aiti-14579	230	8	the	the	DET
aiti-14579	230	9	proposed	propose	VERB
aiti-14579	230	10	dbscan	dbscan	PROPN
aiti-14579	230	11	-	-	PUNCT
aiti-14579	230	12	mee	mee	PROPN
aiti-14579	230	13	-	-	PUNCT
aiti-14579	230	14	cbf	cbf	PROPN
aiti-14579	230	15	obstacle	obstacle	NOUN
aiti-14579	230	16	avoidance	avoidance	NOUN
aiti-14579	230	17	method	method	NOUN
aiti-14579	230	18	.	.	PUNCT
aiti-14579	231	1	unlike	unlike	ADP
aiti-14579	231	2	enclosing	enclose	VERB
aiti-14579	231	3	circles	circle	NOUN
aiti-14579	231	4	,	,	PUNCT
aiti-14579	231	5	which	which	PRON
aiti-14579	231	6	are	be	AUX
aiti-14579	231	7	used	use	VERB
aiti-14579	231	8	in	in	ADP
aiti-14579	231	9	fig	fig	NOUN
aiti-14579	231	10	.	.	PUNCT
aiti-14579	231	11	10	10	NUM
aiti-14579	231	12	,	,	PUNCT
aiti-14579	231	13	enclosing	enclose	VERB
aiti-14579	231	14	ellipses	ellipsis	NOUN
aiti-14579	231	15	are	be	AUX
aiti-14579	231	16	adopted	adopt	VERB
aiti-14579	231	17	in	in	ADP
aiti-14579	231	18	fig	fig	NOUN
aiti-14579	231	19	.	.	PUNCT
aiti-14579	232	1	12	12	NUM
aiti-14579	232	2	.	.	PUNCT
aiti-14579	233	1	as	as	ADP
aiti-14579	233	2	a	a	DET
aiti-14579	233	3	result	result	NOUN
aiti-14579	233	4	,	,	PUNCT
aiti-14579	233	5	the	the	DET
aiti-14579	233	6	size	size	NOUN
aiti-14579	233	7	of	of	ADP
aiti-14579	233	8	the	the	DET
aiti-14579	233	9	unsafe	unsafe	ADJ
aiti-14579	233	10	area	area	NOUN
aiti-14579	233	11	is	be	AUX
aiti-14579	233	12	reduced	reduce	VERB
aiti-14579	233	13	,	,	PUNCT
aiti-14579	233	14	and	and	CCONJ
aiti-14579	233	15	the	the	DET
aiti-14579	233	16	new	new	ADJ
aiti-14579	233	17	trajectory	trajectory	NOUN
aiti-14579	233	18	can	can	AUX
aiti-14579	233	19	successfully	successfully	ADV
aiti-14579	233	20	avoid	avoid	VERB
aiti-14579	233	21	obstacles	obstacle	NOUN
aiti-14579	233	22	and	and	CCONJ
aiti-14579	233	23	reach	reach	VERB
aiti-14579	233	24	the	the	DET
aiti-14579	233	25	goal	goal	NOUN
aiti-14579	233	26	state	state	NOUN
aiti-14579	233	27	safely	safely	ADV
aiti-14579	233	28	.	.	PUNCT
aiti-14579	234	1	the	the	DET
aiti-14579	234	2	values	value	NOUN
aiti-14579	234	3	of	of	ADP
aiti-14579	234	4	cbf	cbf	PROPN
aiti-14579	234	5	for	for	ADP
aiti-14579	234	6	three	three	NUM
aiti-14579	234	7	obstacles	obstacle	NOUN
aiti-14579	234	8	shown	show	VERB
aiti-14579	234	9	in	in	ADP
aiti-14579	234	10	fig	fig	NOUN
aiti-14579	234	11	.	.	PUNCT
aiti-14579	235	1	13(a	13(a	NUM
aiti-14579	235	2	)	)	PUNCT
aiti-14579	235	3	are	be	AUX
aiti-14579	235	4	all	all	ADV
aiti-14579	235	5	positive	positive	ADJ
aiti-14579	235	6	,	,	PUNCT
aiti-14579	235	7	indicating	indicate	VERB
aiti-14579	235	8	that	that	SCONJ
aiti-14579	235	9	all	all	DET
aiti-14579	235	10	the	the	DET
aiti-14579	235	11	system	system	NOUN
aiti-14579	235	12	states	state	NOUN
aiti-14579	235	13	are	be	AUX
aiti-14579	235	14	within	within	ADP
aiti-14579	235	15	the	the	DET
aiti-14579	235	16	safety	safety	NOUN
aiti-14579	235	17	set	set	NOUN
aiti-14579	235	18	.	.	PUNCT
aiti-14579	236	1	in	in	ADP
aiti-14579	236	2	addition	addition	NOUN
aiti-14579	236	3	,	,	PUNCT
aiti-14579	236	4	the	the	DET
aiti-14579	236	5	value	value	NOUN
aiti-14579	236	6	of	of	ADP
aiti-14579	236	7	clf	clf	PROPN
aiti-14579	236	8	shown	show	VERB
aiti-14579	236	9	in	in	ADP
aiti-14579	236	10	fig	fig	NOUN
aiti-14579	236	11	.	.	PUNCT
aiti-14579	237	1	13(b	13(b	X
aiti-14579	237	2	)	)	PUNCT
aiti-14579	237	3	converges	converge	VERB
aiti-14579	237	4	exponentially	exponentially	ADV
aiti-14579	237	5	.	.	PUNCT
aiti-14579	238	1	fig	fig	NOUN
aiti-14579	238	2	.	.	PUNCT
aiti-14579	239	1	12	12	NUM
aiti-14579	239	2	x	x	X
aiti-14579	239	3	-	-	PROPN
aiti-14579	239	4	y	y	ADJ
aiti-14579	239	5	plane	plane	NOUN
aiti-14579	239	6	trajectory	trajectory	NOUN
aiti-14579	239	7	using	use	VERB
aiti-14579	239	8	the	the	DET
aiti-14579	239	9	proposed	propose	VERB
aiti-14579	239	10	dbscan	dbscan	PROPN
aiti-14579	239	11	-	-	PUNCT
aiti-14579	239	12	mee	mee	PROPN
aiti-14579	239	13	-	-	PUNCT
aiti-14579	239	14	cbf	cbf	PROPN
aiti-14579	239	15	approach	approach	NOUN
aiti-14579	239	16	advances	advance	NOUN
aiti-14579	239	17	in	in	ADP
aiti-14579	239	18	technology	technology	NOUN
aiti-14579	239	19	innovation	innovation	NOUN
aiti-14579	239	20	,	,	PUNCT
aiti-14579	239	21	vol	vol	NOUN
aiti-14579	239	22	.	.	PROPN
aiti-14579	239	23	10	10	NUM
aiti-14579	239	24	,	,	PUNCT
aiti-14579	239	25	no	no	INTJ
aiti-14579	239	26	.	.	NOUN
aiti-14579	239	27	4	4	NUM
aiti-14579	239	28	,	,	PUNCT
aiti-14579	239	29	2025	2025	NUM
aiti-14579	239	30	,	,	PUNCT
aiti-14579	239	31	pp	pp	ADJ
aiti-14579	239	32	.	.	PUNCT
aiti-14579	240	1	358	358	NUM
aiti-14579	240	2	-	-	SYM
aiti-14579	240	3	369	369	NUM
aiti-14579	240	4	367	367	NUM
aiti-14579	240	5	(	(	PUNCT
aiti-14579	240	6	a	a	DET
aiti-14579	240	7	)	)	PUNCT
aiti-14579	240	8	value	value	NOUN
aiti-14579	240	9	of	of	ADP
aiti-14579	240	10	cbf	cbf	PROPN
aiti-14579	240	11	(	(	PUNCT
aiti-14579	240	12	b	b	NOUN
aiti-14579	240	13	)	)	PUNCT
aiti-14579	240	14	value	value	NOUN
aiti-14579	240	15	of	of	ADP
aiti-14579	240	16	clf	clf	PROPN
aiti-14579	240	17	fig	fig	PROPN
aiti-14579	240	18	.	.	PUNCT
aiti-14579	241	1	13	13	NUM
aiti-14579	241	2	experimental	experimental	ADJ
aiti-14579	241	3	results	result	NOUN
aiti-14579	241	4	of	of	ADP
aiti-14579	241	5	the	the	DET
aiti-14579	241	6	proposed	propose	VERB
aiti-14579	241	7	dbscan	dbscan	PROPN
aiti-14579	241	8	-	-	PUNCT
aiti-14579	241	9	mee	mee	PROPN
aiti-14579	241	10	-	-	PUNCT
aiti-14579	241	11	cbf	cbf	PROPN
aiti-14579	241	12	obstacle	obstacle	NOUN
aiti-14579	241	13	avoidance	avoidance	NOUN
aiti-14579	241	14	method	method	NOUN
aiti-14579	241	15	5.2.3	5.2.3	NUM
aiti-14579	241	16	.	.	PUNCT
aiti-14579	241	17	comparison	comparison	NOUN
aiti-14579	241	18	of	of	ADP
aiti-14579	241	19	experimental	experimental	ADJ
aiti-14579	241	20	results	result	NOUN
aiti-14579	241	21	as	as	SCONJ
aiti-14579	241	22	indicated	indicate	VERB
aiti-14579	241	23	by	by	ADP
aiti-14579	241	24	table	table	NOUN
aiti-14579	241	25	2	2	NUM
aiti-14579	241	26	,	,	PUNCT
aiti-14579	241	27	the	the	DET
aiti-14579	241	28	actual	actual	ADJ
aiti-14579	241	29	curve	curve	NOUN
aiti-14579	241	30	length	length	NOUN
aiti-14579	241	31	for	for	ADP
aiti-14579	241	32	the	the	DET
aiti-14579	241	33	original	original	ADJ
aiti-14579	241	34	cbf	cbf	PROPN
aiti-14579	241	35	-	-	PUNCT
aiti-14579	241	36	clf	clf	PROPN
aiti-14579	241	37	quadratic	quadratic	ADJ
aiti-14579	241	38	program	program	NOUN
aiti-14579	241	39	is	be	AUX
aiti-14579	241	40	longer	long	ADJ
aiti-14579	241	41	than	than	ADP
aiti-14579	241	42	the	the	DET
aiti-14579	241	43	actual	actual	ADJ
aiti-14579	241	44	curve	curve	NOUN
aiti-14579	241	45	length	length	NOUN
aiti-14579	241	46	for	for	ADP
aiti-14579	241	47	the	the	DET
aiti-14579	241	48	proposed	propose	VERB
aiti-14579	241	49	dbscan	dbscan	PROPN
aiti-14579	241	50	-	-	PUNCT
aiti-14579	241	51	mee	mee	PROPN
aiti-14579	241	52	-	-	PUNCT
aiti-14579	241	53	cbf	cbf	PROPN
aiti-14579	241	54	obstacle	obstacle	NOUN
aiti-14579	241	55	avoidance	avoidance	NOUN
aiti-14579	241	56	method	method	NOUN
aiti-14579	241	57	.	.	PUNCT
aiti-14579	242	1	table	table	NOUN
aiti-14579	242	2	3	3	NUM
aiti-14579	242	3	shows	show	VERB
aiti-14579	242	4	a	a	DET
aiti-14579	242	5	comparison	comparison	NOUN
aiti-14579	242	6	of	of	ADP
aiti-14579	242	7	the	the	DET
aiti-14579	242	8	area	area	NOUN
aiti-14579	242	9	of	of	ADP
aiti-14579	242	10	the	the	DET
aiti-14579	242	11	enclosing	enclose	VERB
aiti-14579	242	12	circle	circle	NOUN
aiti-14579	242	13	used	use	VERB
aiti-14579	242	14	in	in	ADP
aiti-14579	242	15	the	the	DET
aiti-14579	242	16	original	original	ADJ
aiti-14579	242	17	cbf	cbf	PROPN
aiti-14579	242	18	-	-	PUNCT
aiti-14579	242	19	clf	clf	PROPN
aiti-14579	242	20	quadratic	quadratic	ADJ
aiti-14579	242	21	program	program	NOUN
aiti-14579	242	22	and	and	CCONJ
aiti-14579	242	23	the	the	DET
aiti-14579	242	24	area	area	NOUN
aiti-14579	242	25	of	of	ADP
aiti-14579	242	26	the	the	DET
aiti-14579	242	27	enclosing	enclose	VERB
aiti-14579	242	28	ellipse	ellipse	NOUN
aiti-14579	242	29	used	use	VERB
aiti-14579	242	30	in	in	ADP
aiti-14579	242	31	the	the	DET
aiti-14579	242	32	proposed	propose	VERB
aiti-14579	242	33	dbscan	dbscan	PROPN
aiti-14579	242	34	-	-	PUNCT
aiti-14579	242	35	mee	mee	PROPN
aiti-14579	242	36	-	-	PUNCT
aiti-14579	242	37	cbf	cbf	PROPN
aiti-14579	242	38	obstacle	obstacle	NOUN
aiti-14579	242	39	avoidance	avoidance	NOUN
aiti-14579	242	40	method	method	NOUN
aiti-14579	242	41	without	without	ADP
aiti-14579	242	42	considering	consider	VERB
aiti-14579	242	43	the	the	DET
aiti-14579	242	44	extra	extra	ADJ
aiti-14579	242	45	safety	safety	NOUN
aiti-14579	242	46	distance	distance	NOUN
aiti-14579	242	47	.	.	PUNCT
aiti-14579	243	1	table	table	NOUN
aiti-14579	243	2	4	4	NUM
aiti-14579	243	3	shows	show	VERB
aiti-14579	243	4	a	a	DET
aiti-14579	243	5	comparison	comparison	NOUN
aiti-14579	243	6	of	of	ADP
aiti-14579	243	7	the	the	DET
aiti-14579	243	8	area	area	NOUN
aiti-14579	243	9	of	of	ADP
aiti-14579	243	10	the	the	DET
aiti-14579	243	11	enclosing	enclose	VERB
aiti-14579	243	12	circle	circle	NOUN
aiti-14579	243	13	used	use	VERB
aiti-14579	243	14	in	in	ADP
aiti-14579	243	15	the	the	DET
aiti-14579	243	16	original	original	ADJ
aiti-14579	243	17	cbf	cbf	PROPN
aiti-14579	243	18	-	-	PUNCT
aiti-14579	243	19	clf	clf	PROPN
aiti-14579	243	20	quadratic	quadratic	ADJ
aiti-14579	243	21	program	program	NOUN
aiti-14579	243	22	and	and	CCONJ
aiti-14579	243	23	the	the	DET
aiti-14579	243	24	area	area	NOUN
aiti-14579	243	25	of	of	ADP
aiti-14579	243	26	the	the	DET
aiti-14579	243	27	enclosing	enclose	VERB
aiti-14579	243	28	ellipse	ellipse	NOUN
aiti-14579	243	29	used	use	VERB
aiti-14579	243	30	in	in	ADP
aiti-14579	243	31	the	the	DET
aiti-14579	243	32	proposed	propose	VERB
aiti-14579	243	33	dbscan	dbscan	PROPN
aiti-14579	243	34	-	-	PUNCT
aiti-14579	243	35	mee	mee	PROPN
aiti-14579	243	36	-	-	PUNCT
aiti-14579	243	37	cbf	cbf	PROPN
aiti-14579	243	38	obstacle	obstacle	NOUN
aiti-14579	243	39	avoidance	avoidance	NOUN
aiti-14579	243	40	method	method	NOUN
aiti-14579	243	41	by	by	ADP
aiti-14579	243	42	considering	consider	VERB
aiti-14579	243	43	the	the	DET
aiti-14579	243	44	extra	extra	ADJ
aiti-14579	243	45	safety	safety	NOUN
aiti-14579	243	46	distance	distance	NOUN
aiti-14579	243	47	.	.	PUNCT
aiti-14579	244	1	table	table	NOUN
aiti-14579	244	2	2	2	NUM
aiti-14579	244	3	actual	actual	ADJ
aiti-14579	244	4	curve	curve	NOUN
aiti-14579	244	5	length	length	NOUN
aiti-14579	244	6	method	method	NOUN
aiti-14579	244	7	length	length	NOUN
aiti-14579	244	8	(	(	PUNCT
aiti-14579	244	9	m	m	NOUN
aiti-14579	244	10	)	)	PUNCT
aiti-14579	244	11	original	original	ADJ
aiti-14579	244	12	cbf	cbf	PROPN
aiti-14579	244	13	-	-	PUNCT
aiti-14579	244	14	clf	clf	PROPN
aiti-14579	244	15	quadratic	quadratic	ADJ
aiti-14579	244	16	program	program	NOUN
aiti-14579	244	17	1.95962927	1.95962927	NUM
aiti-14579	244	18	proposed	propose	VERB
aiti-14579	244	19	dbscan	dbscan	PROPN
aiti-14579	244	20	-	-	PUNCT
aiti-14579	244	21	mee	mee	PROPN
aiti-14579	244	22	-	-	PUNCT
aiti-14579	244	23	cbf	cbf	PROPN
aiti-14579	244	24	obstacle	obstacle	NOUN
aiti-14579	244	25	avoidance	avoidance	NOUN
aiti-14579	244	26	method	method	VERB
aiti-14579	244	27	1.923764028	1.923764028	NUM
aiti-14579	244	28	table	table	NOUN
aiti-14579	244	29	3	3	NUM
aiti-14579	244	30	enclosing	enclosing	NOUN
aiti-14579	244	31	area	area	NOUN
aiti-14579	244	32	analysis	analysis	NOUN
aiti-14579	244	33	:	:	PUNCT
aiti-14579	244	34	original	original	ADJ
aiti-14579	244	35	cbf	cbf	PROPN
aiti-14579	244	36	-	-	PUNCT
aiti-14579	244	37	clf	clf	PROPN
aiti-14579	244	38	vs.	vs.	ADP
aiti-14579	244	39	proposed	propose	VERB
aiti-14579	244	40	dbscan	dbscan	PROPN
aiti-14579	244	41	-	-	PUNCT
aiti-14579	244	42	mee	mee	PROPN
aiti-14579	244	43	-	-	PUNCT
aiti-14579	244	44	cbf	cbf	PROPN
aiti-14579	244	45	enclosing	enclose	VERB
aiti-14579	244	46	circle	circle	NOUN
aiti-14579	244	47	enclosing	enclose	VERB
aiti-14579	244	48	ellipse	ellipse	NOUN
aiti-14579	244	49	comparison	comparison	NOUN
aiti-14579	244	50	between	between	ADP
aiti-14579	244	51	the	the	DET
aiti-14579	244	52	enclosing	enclose	VERB
aiti-14579	244	53	circle	circle	NOUN
aiti-14579	244	54	and	and	CCONJ
aiti-14579	244	55	the	the	DET
aiti-14579	244	56	enclosing	enclose	VERB
aiti-14579	244	57	ellipse	ellipse	NOUN
aiti-14579	244	58	area	area	NOUN
aiti-14579	244	59	(	(	PUNCT
aiti-14579	244	60	m2	m2	PROPN
aiti-14579	244	61	)	)	PUNCT
aiti-14579	244	62	area	area	NOUN
aiti-14579	244	63	(	(	PUNCT
aiti-14579	244	64	m2	m2	PROPN
aiti-14579	244	65	)	)	PUNCT
aiti-14579	244	66	area	area	NOUN
aiti-14579	244	67	difference	difference	NOUN
aiti-14579	244	68	(	(	PUNCT
aiti-14579	244	69	m2	m2	NOUN
aiti-14579	244	70	)	)	PUNCT
aiti-14579	244	71	percentage	percentage	NOUN
aiti-14579	244	72	of	of	ADP
aiti-14579	244	73	area	area	NOUN
aiti-14579	244	74	difference	difference	NOUN
aiti-14579	244	75	(	(	PUNCT
aiti-14579	244	76	%	%	INTJ
aiti-14579	244	77	)	)	PUNCT
aiti-14579	244	78	obstacle	obstacle	NOUN
aiti-14579	244	79	1	1	NUM
aiti-14579	244	80	0.024550164	0.024550164	NUM
aiti-14579	244	81	0.018855005	0.018855005	NUM
aiti-14579	244	82	0.005695159	0.005695159	NUM
aiti-14579	244	83	23.2	23.2	NUM
aiti-14579	244	84	obstacle	obstacle	NOUN
aiti-14579	244	85	2	2	NUM
aiti-14579	244	86	0.129461892	0.129461892	NUM
aiti-14579	244	87	0.125658986	0.125658986	NUM
aiti-14579	244	88	0.003802906	0.003802906	NUM
aiti-14579	244	89	2.937	2.937	NUM
aiti-14579	244	90	obstacle	obstacle	NOUN
aiti-14579	244	91	3	3	NUM
aiti-14579	244	92	0.023942989	0.023942989	NUM
aiti-14579	244	93	0.017592874	0.017592874	NUM
aiti-14579	244	94	0.006350115	0.006350115	NUM
aiti-14579	244	95	26.52	26.52	NUM
aiti-14579	244	96	table	table	NOUN
aiti-14579	244	97	4	4	NUM
aiti-14579	244	98	area	area	NOUN
aiti-14579	244	99	comparison	comparison	NOUN
aiti-14579	244	100	between	between	ADP
aiti-14579	244	101	enclosing	enclose	VERB
aiti-14579	244	102	circle	circle	NOUN
aiti-14579	244	103	and	and	CCONJ
aiti-14579	244	104	enclosing	enclose	VERB
aiti-14579	244	105	ellipse	ellipse	NOUN
aiti-14579	244	106	in	in	ADP
aiti-14579	244	107	obstacle	obstacle	NOUN
aiti-14579	244	108	avoidance	avoidance	NOUN
aiti-14579	244	109	methods	method	NOUN
aiti-14579	244	110	enclosing	enclose	VERB
aiti-14579	244	111	circle	circle	NOUN
aiti-14579	244	112	enclosing	enclose	VERB
aiti-14579	244	113	ellipse	ellipse	NOUN
aiti-14579	244	114	comparison	comparison	NOUN
aiti-14579	244	115	between	between	ADP
aiti-14579	244	116	the	the	DET
aiti-14579	244	117	enclosing	enclose	VERB
aiti-14579	244	118	circle	circle	NOUN
aiti-14579	244	119	and	and	CCONJ
aiti-14579	244	120	the	the	DET
aiti-14579	244	121	enclosing	enclose	VERB
aiti-14579	244	122	ellipse	ellipse	NOUN
aiti-14579	244	123	area	area	NOUN
aiti-14579	244	124	(	(	PUNCT
aiti-14579	244	125	m2	m2	PROPN
aiti-14579	244	126	)	)	PUNCT
aiti-14579	244	127	area	area	NOUN
aiti-14579	244	128	(	(	PUNCT
aiti-14579	244	129	m2	m2	PROPN
aiti-14579	244	130	)	)	PUNCT
aiti-14579	244	131	area	area	NOUN
aiti-14579	244	132	difference	difference	NOUN
aiti-14579	244	133	(	(	PUNCT
aiti-14579	244	134	m2	m2	NOUN
aiti-14579	244	135	)	)	PUNCT
aiti-14579	244	136	percentage	percentage	NOUN
aiti-14579	244	137	of	of	ADP
aiti-14579	244	138	area	area	NOUN
aiti-14579	244	139	difference	difference	NOUN
aiti-14579	244	140	(	(	PUNCT
aiti-14579	244	141	%	%	INTJ
aiti-14579	244	142	)	)	PUNCT
aiti-14579	244	143	obstacle	obstacle	NOUN
aiti-14579	244	144	1	1	NUM
aiti-14579	244	145	0.117506749	0.117506749	NUM
aiti-14579	244	146	0.108311789	0.108311789	NUM
aiti-14579	244	147	0.00919496	0.00919496	NUM
aiti-14579	244	148	7.825	7.825	NUM
aiti-14579	244	149	obstacle	obstacle	NOUN
aiti-14579	244	150	2	2	NUM
aiti-14579	244	151	0.298024045	0.298024045	NUM
aiti-14579	244	152	0.293247445	0.293247445	NUM
aiti-14579	244	153	0.0047766	0.0047766	NUM
aiti-14579	244	154	1.602	1.602	NUM
aiti-14579	244	155	obstacle	obstacle	NOUN
aiti-14579	244	156	3	3	NUM
aiti-14579	244	157	0.116173866	0.116173866	NUM
aiti-14579	244	158	0.105878397	0.105878397	NUM
aiti-14579	244	159	0.010295469	0.010295469	NUM
aiti-14579	244	160	8.86	8.86	NUM
aiti-14579	244	161	both	both	DET
aiti-14579	244	162	table	table	NOUN
aiti-14579	244	163	3	3	NUM
aiti-14579	244	164	and	and	CCONJ
aiti-14579	244	165	table	table	NOUN
aiti-14579	244	166	4	4	NUM
aiti-14579	244	167	indicate	indicate	VERB
aiti-14579	244	168	that	that	SCONJ
aiti-14579	244	169	the	the	DET
aiti-14579	244	170	proposed	propose	VERB
aiti-14579	244	171	dbscan	dbscan	PROPN
aiti-14579	244	172	-	-	PUNCT
aiti-14579	244	173	mee	mee	PROPN
aiti-14579	244	174	-	-	PUNCT
aiti-14579	244	175	cbf	cbf	PROPN
aiti-14579	244	176	obstacle	obstacle	NOUN
aiti-14579	244	177	avoidance	avoidance	NOUN
aiti-14579	244	178	method	method	NOUN
aiti-14579	244	179	yields	yield	VERB
aiti-14579	244	180	a	a	DET
aiti-14579	244	181	smaller	small	ADJ
aiti-14579	244	182	area	area	NOUN
aiti-14579	244	183	for	for	ADP
aiti-14579	244	184	enclosing	enclose	VERB
aiti-14579	244	185	obstacles	obstacle	NOUN
aiti-14579	244	186	.	.	PUNCT
aiti-14579	245	1	namely	namely	ADV
aiti-14579	245	2	,	,	PUNCT
aiti-14579	245	3	the	the	DET
aiti-14579	245	4	size	size	NOUN
aiti-14579	245	5	of	of	ADP
aiti-14579	245	6	the	the	DET
aiti-14579	245	7	redundant	redundant	ADJ
aiti-14579	245	8	unsafe	unsafe	ADJ
aiti-14579	245	9	area	area	NOUN
aiti-14579	245	10	of	of	ADP
aiti-14579	245	11	obstacles	obstacle	NOUN
aiti-14579	245	12	can	can	AUX
aiti-14579	245	13	be	be	AUX
aiti-14579	245	14	reduced	reduce	VERB
aiti-14579	245	15	.	.	PUNCT
aiti-14579	246	1	therefore	therefore	ADV
aiti-14579	246	2	,	,	PUNCT
aiti-14579	246	3	the	the	DET
aiti-14579	246	4	mobile	mobile	NOUN
aiti-14579	246	5	robot	robot	NOUN
aiti-14579	246	6	can	can	AUX
aiti-14579	246	7	have	have	VERB
aiti-14579	246	8	a	a	DET
aiti-14579	246	9	larger	large	ADJ
aiti-14579	246	10	safe	safe	ADJ
aiti-14579	246	11	space	space	NOUN
aiti-14579	246	12	to	to	PART
aiti-14579	246	13	move	move	VERB
aiti-14579	246	14	in	in	ADV
aiti-14579	246	15	,	,	PUNCT
aiti-14579	246	16	so	so	CCONJ
aiti-14579	246	17	the	the	DET
aiti-14579	246	18	likelihood	likelihood	NOUN
aiti-14579	246	19	of	of	ADP
aiti-14579	246	20	finding	find	VERB
aiti-14579	246	21	a	a	DET
aiti-14579	246	22	feasible	feasible	ADJ
aiti-14579	246	23	solution	solution	NOUN
aiti-14579	246	24	will	will	AUX
aiti-14579	246	25	increase	increase	VERB
aiti-14579	246	26	.	.	PUNCT
aiti-14579	247	1	the	the	DET
aiti-14579	247	2	purpose	purpose	NOUN
aiti-14579	247	3	of	of	ADP
aiti-14579	247	4	the	the	DET
aiti-14579	247	5	proposed	propose	VERB
aiti-14579	247	6	dbscan	dbscan	PROPN
aiti-14579	247	7	-	-	PUNCT
aiti-14579	247	8	mee	mee	PROPN
aiti-14579	247	9	-	-	PUNCT
aiti-14579	247	10	cbf	cbf	PROPN
aiti-14579	247	11	method	method	NOUN
aiti-14579	247	12	is	be	AUX
aiti-14579	247	13	to	to	PART
aiti-14579	247	14	provide	provide	VERB
aiti-14579	247	15	a	a	DET
aiti-14579	247	16	safer	safe	ADJ
aiti-14579	247	17	space	space	NOUN
aiti-14579	247	18	for	for	ADP
aiti-14579	247	19	the	the	DET
aiti-14579	247	20	robot	robot	NOUN
aiti-14579	247	21	during	during	ADP
aiti-14579	247	22	navigation	navigation	NOUN
aiti-14579	247	23	compared	compare	VERB
aiti-14579	247	24	with	with	ADP
aiti-14579	247	25	that	that	PRON
aiti-14579	247	26	obtained	obtain	VERB
aiti-14579	247	27	advances	advance	NOUN
aiti-14579	247	28	in	in	ADP
aiti-14579	247	29	technology	technology	NOUN
aiti-14579	247	30	innovation	innovation	NOUN
aiti-14579	247	31	,	,	PUNCT
aiti-14579	247	32	vol	vol	NOUN
aiti-14579	247	33	.	.	PROPN
aiti-14579	247	34	10	10	NUM
aiti-14579	247	35	,	,	PUNCT
aiti-14579	247	36	no	no	INTJ
aiti-14579	247	37	.	.	NOUN
aiti-14579	247	38	4	4	NUM
aiti-14579	247	39	,	,	PUNCT
aiti-14579	247	40	2025	2025	NUM
aiti-14579	247	41	,	,	PUNCT
aiti-14579	247	42	pp	pp	ADJ
aiti-14579	247	43	.	.	PUNCT
aiti-14579	248	1	358	358	NUM
aiti-14579	248	2	-	-	SYM
aiti-14579	248	3	369	369	NUM
aiti-14579	248	4	368	368	NUM
aiti-14579	248	5	from	from	ADP
aiti-14579	248	6	the	the	DET
aiti-14579	248	7	conventional	conventional	ADJ
aiti-14579	248	8	enclosing	enclosing	NOUN
aiti-14579	248	9	circle	circle	NOUN
aiti-14579	248	10	approach	approach	NOUN
aiti-14579	248	11	.	.	PUNCT
aiti-14579	249	1	additionally	additionally	ADV
aiti-14579	249	2	,	,	PUNCT
aiti-14579	249	3	compared	compare	VERB
aiti-14579	249	4	with	with	ADP
aiti-14579	249	5	traditional	traditional	ADJ
aiti-14579	249	6	methods	method	NOUN
aiti-14579	249	7	[	[	X
aiti-14579	249	8	n3	n3	NOUN
aiti-14579	249	9	]	]	PUNCT
aiti-14579	249	10	,	,	PUNCT
aiti-14579	249	11	the	the	DET
aiti-14579	249	12	use	use	NOUN
aiti-14579	249	13	of	of	ADP
aiti-14579	249	14	cbf	cbf	PROPN
aiti-14579	249	15	in	in	ADP
aiti-14579	249	16	this	this	DET
aiti-14579	249	17	paper	paper	NOUN
aiti-14579	249	18	enables	enable	VERB
aiti-14579	249	19	the	the	DET
aiti-14579	249	20	robot	robot	NOUN
aiti-14579	249	21	to	to	PART
aiti-14579	249	22	successfully	successfully	ADV
aiti-14579	249	23	avoid	avoid	VERB
aiti-14579	249	24	obstacles	obstacle	NOUN
aiti-14579	249	25	while	while	SCONJ
aiti-14579	249	26	ensuring	ensure	VERB
aiti-14579	249	27	that	that	SCONJ
aiti-14579	249	28	it	it	PRON
aiti-14579	249	29	does	do	AUX
aiti-14579	249	30	not	not	PART
aiti-14579	249	31	enter	enter	VERB
aiti-14579	249	32	restricted	restricted	ADJ
aiti-14579	249	33	areas	area	NOUN
aiti-14579	249	34	.	.	PUNCT
aiti-14579	250	1	this	this	PRON
aiti-14579	250	2	makes	make	VERB
aiti-14579	250	3	the	the	DET
aiti-14579	250	4	approach	approach	NOUN
aiti-14579	250	5	not	not	PART
aiti-14579	250	6	only	only	ADV
aiti-14579	250	7	applicable	applicable	ADJ
aiti-14579	250	8	to	to	ADP
aiti-14579	250	9	turtlebot3	turtlebot3	NOUN
aiti-14579	250	10	but	but	CCONJ
aiti-14579	250	11	also	also	ADV
aiti-14579	250	12	extendable	extendable	ADJ
aiti-14579	250	13	to	to	ADP
aiti-14579	250	14	other	other	ADJ
aiti-14579	250	15	robots	robot	NOUN
aiti-14579	250	16	.	.	PUNCT
aiti-14579	251	1	6	6	NUM
aiti-14579	251	2	.	.	X
aiti-14579	251	3	conclusion	conclusion	NOUN
aiti-14579	251	4	and	and	CCONJ
aiti-14579	251	5	future	future	ADJ
aiti-14579	251	6	work	work	NOUN
aiti-14579	251	7	this	this	DET
aiti-14579	251	8	paper	paper	NOUN
aiti-14579	251	9	presented	present	VERB
aiti-14579	251	10	the	the	DET
aiti-14579	251	11	dbscan	dbscan	PROPN
aiti-14579	251	12	-	-	PUNCT
aiti-14579	251	13	mee	mee	PROPN
aiti-14579	251	14	-	-	PUNCT
aiti-14579	251	15	cbf	cbf	PROPN
aiti-14579	251	16	approach	approach	NOUN
aiti-14579	251	17	,	,	PUNCT
aiti-14579	251	18	which	which	DET
aiti-14579	251	19	integrates	integrate	NOUN
aiti-14579	251	20	dbscan	dbscan	NOUN
aiti-14579	251	21	clustering	cluster	VERB
aiti-14579	251	22	with	with	ADP
aiti-14579	251	23	the	the	DET
aiti-14579	251	24	cbf	cbf	PROPN
aiti-14579	251	25	-	-	PUNCT
aiti-14579	251	26	clf	clf	PROPN
aiti-14579	251	27	quadratic	quadratic	ADJ
aiti-14579	251	28	program	program	NOUN
aiti-14579	251	29	to	to	PART
aiti-14579	251	30	determine	determine	VERB
aiti-14579	251	31	the	the	DET
aiti-14579	251	32	mee	mee	PROPN
aiti-14579	251	33	for	for	ADP
aiti-14579	251	34	obstacle	obstacle	NOUN
aiti-14579	251	35	representation	representation	NOUN
aiti-14579	251	36	.	.	PUNCT
aiti-14579	252	1	this	this	DET
aiti-14579	252	2	method	method	NOUN
aiti-14579	252	3	aimed	aim	VERB
aiti-14579	252	4	to	to	PART
aiti-14579	252	5	reduce	reduce	VERB
aiti-14579	252	6	the	the	DET
aiti-14579	252	7	redundant	redundant	ADJ
aiti-14579	252	8	unsafe	unsafe	ADJ
aiti-14579	252	9	area	area	NOUN
aiti-14579	252	10	in	in	ADP
aiti-14579	252	11	obstacle	obstacle	NOUN
aiti-14579	252	12	avoidance	avoidance	NOUN
aiti-14579	252	13	.	.	PUNCT
aiti-14579	253	1	a	a	DET
aiti-14579	253	2	turtlebot	turtlebot	NOUN
aiti-14579	253	3	running	run	VERB
aiti-14579	253	4	on	on	ADP
aiti-14579	253	5	ros	ros	PROPN
aiti-14579	253	6	was	be	AUX
aiti-14579	253	7	used	use	VERB
aiti-14579	253	8	as	as	ADP
aiti-14579	253	9	the	the	DET
aiti-14579	253	10	simulation	simulation	NOUN
aiti-14579	253	11	and	and	CCONJ
aiti-14579	253	12	experimental	experimental	ADJ
aiti-14579	253	13	platform	platform	NOUN
aiti-14579	253	14	to	to	PART
aiti-14579	253	15	validate	validate	VERB
aiti-14579	253	16	the	the	DET
aiti-14579	253	17	effectiveness	effectiveness	NOUN
aiti-14579	253	18	of	of	ADP
aiti-14579	253	19	the	the	DET
aiti-14579	253	20	proposed	propose	VERB
aiti-14579	253	21	approach	approach	NOUN
aiti-14579	253	22	.	.	PUNCT
aiti-14579	254	1	both	both	PRON
aiti-14579	254	2	simulation	simulation	NOUN
aiti-14579	254	3	and	and	CCONJ
aiti-14579	254	4	experimental	experimental	ADJ
aiti-14579	254	5	results	result	NOUN
aiti-14579	254	6	confirmed	confirm	VERB
aiti-14579	254	7	that	that	SCONJ
aiti-14579	254	8	,	,	PUNCT
aiti-14579	254	9	compared	compare	VERB
aiti-14579	254	10	with	with	ADP
aiti-14579	254	11	the	the	DET
aiti-14579	254	12	original	original	ADJ
aiti-14579	254	13	cbf	cbf	PROPN
aiti-14579	254	14	-	-	PUNCT
aiti-14579	254	15	clf	clf	PROPN
aiti-14579	254	16	quadratic	quadratic	PROPN
aiti-14579	254	17	program	program	NOUN
aiti-14579	254	18	,	,	PUNCT
aiti-14579	254	19	the	the	DET
aiti-14579	254	20	proposed	propose	VERB
aiti-14579	254	21	dbscan	dbscan	PROPN
aiti-14579	254	22	-	-	PUNCT
aiti-14579	254	23	mee	mee	PROPN
aiti-14579	254	24	-	-	PUNCT
aiti-14579	254	25	cbf	cbf	PROPN
aiti-14579	254	26	approach	approach	NOUN
aiti-14579	254	27	can	can	AUX
aiti-14579	254	28	effectively	effectively	ADV
aiti-14579	254	29	reduce	reduce	VERB
aiti-14579	254	30	the	the	DET
aiti-14579	254	31	redundant	redundant	ADJ
aiti-14579	254	32	unsafe	unsafe	ADJ
aiti-14579	254	33	area	area	NOUN
aiti-14579	254	34	of	of	ADP
aiti-14579	254	35	obstacles	obstacle	NOUN
aiti-14579	254	36	,	,	PUNCT
aiti-14579	254	37	thereby	thereby	ADV
aiti-14579	254	38	achieving	achieve	VERB
aiti-14579	254	39	safer	safe	ADJ
aiti-14579	254	40	and	and	CCONJ
aiti-14579	254	41	more	more	ADV
aiti-14579	254	42	feasible	feasible	ADJ
aiti-14579	254	43	navigation	navigation	NOUN
aiti-14579	254	44	.	.	PUNCT
aiti-14579	255	1	the	the	DET
aiti-14579	255	2	main	main	ADJ
aiti-14579	255	3	findings	finding	NOUN
aiti-14579	255	4	are	be	AUX
aiti-14579	255	5	summarized	summarize	VERB
aiti-14579	255	6	as	as	SCONJ
aiti-14579	255	7	follows	follow	VERB
aiti-14579	255	8	:	:	PUNCT
aiti-14579	255	9	(	(	PUNCT
aiti-14579	255	10	1	1	X
aiti-14579	255	11	)	)	PUNCT
aiti-14579	255	12	the	the	DET
aiti-14579	255	13	dbscan	dbscan	PROPN
aiti-14579	255	14	-	-	PUNCT
aiti-14579	255	15	mee	mee	PROPN
aiti-14579	255	16	-	-	PUNCT
aiti-14579	255	17	cbf	cbf	PROPN
aiti-14579	255	18	approach	approach	NOUN
aiti-14579	255	19	reduces	reduce	VERB
aiti-14579	255	20	the	the	DET
aiti-14579	255	21	redundant	redundant	ADJ
aiti-14579	255	22	unsafe	unsafe	ADJ
aiti-14579	255	23	area	area	NOUN
aiti-14579	255	24	around	around	ADP
aiti-14579	255	25	obstacles	obstacle	NOUN
aiti-14579	255	26	,	,	PUNCT
aiti-14579	255	27	providing	provide	VERB
aiti-14579	255	28	a	a	DET
aiti-14579	255	29	larger	large	ADJ
aiti-14579	255	30	feasible	feasible	ADJ
aiti-14579	255	31	space	space	NOUN
aiti-14579	255	32	for	for	ADP
aiti-14579	255	33	navigation	navigation	NOUN
aiti-14579	255	34	.	.	PUNCT
aiti-14579	256	1	(	(	PUNCT
aiti-14579	256	2	2	2	NUM
aiti-14579	256	3	)	)	PUNCT
aiti-14579	256	4	compared	compare	VERB
aiti-14579	256	5	with	with	ADP
aiti-14579	256	6	the	the	DET
aiti-14579	256	7	traditional	traditional	ADJ
aiti-14579	256	8	cbf	cbf	PROPN
aiti-14579	256	9	-	-	PUNCT
aiti-14579	256	10	clf	clf	PROPN
aiti-14579	256	11	method	method	NOUN
aiti-14579	256	12	,	,	PUNCT
aiti-14579	256	13	the	the	DET
aiti-14579	256	14	proposed	propose	VERB
aiti-14579	256	15	approach	approach	NOUN
aiti-14579	256	16	alleviates	alleviate	VERB
aiti-14579	256	17	unnecessary	unnecessary	ADJ
aiti-14579	256	18	safety	safety	NOUN
aiti-14579	256	19	constraints	constraint	NOUN
aiti-14579	256	20	and	and	CCONJ
aiti-14579	256	21	improves	improve	VERB
aiti-14579	256	22	path	path	NOUN
aiti-14579	256	23	feasibility	feasibility	NOUN
aiti-14579	256	24	.	.	PUNCT
aiti-14579	257	1	(	(	PUNCT
aiti-14579	257	2	3	3	X
aiti-14579	257	3	)	)	PUNCT
aiti-14579	257	4	both	both	DET
aiti-14579	257	5	simulation	simulation	NOUN
aiti-14579	257	6	and	and	CCONJ
aiti-14579	257	7	experimental	experimental	ADJ
aiti-14579	257	8	results	result	NOUN
aiti-14579	257	9	validated	validate	VERB
aiti-14579	257	10	the	the	DET
aiti-14579	257	11	effectiveness	effectiveness	NOUN
aiti-14579	257	12	and	and	CCONJ
aiti-14579	257	13	practicality	practicality	NOUN
aiti-14579	257	14	of	of	ADP
aiti-14579	257	15	the	the	DET
aiti-14579	257	16	proposed	propose	VERB
aiti-14579	257	17	method	method	NOUN
aiti-14579	257	18	for	for	ADP
aiti-14579	257	19	obstacle	obstacle	NOUN
aiti-14579	257	20	avoidance	avoidance	NOUN
aiti-14579	257	21	.	.	PUNCT
aiti-14579	258	1	in	in	ADP
aiti-14579	258	2	addition	addition	NOUN
aiti-14579	258	3	to	to	ADP
aiti-14579	258	4	these	these	DET
aiti-14579	258	5	conclusions	conclusion	NOUN
aiti-14579	258	6	,	,	PUNCT
aiti-14579	258	7	several	several	ADJ
aiti-14579	258	8	directions	direction	NOUN
aiti-14579	258	9	for	for	ADP
aiti-14579	258	10	future	future	ADJ
aiti-14579	258	11	research	research	NOUN
aiti-14579	258	12	are	be	AUX
aiti-14579	258	13	highlighted	highlight	VERB
aiti-14579	258	14	.	.	PUNCT
aiti-14579	259	1	the	the	DET
aiti-14579	259	2	method	method	NOUN
aiti-14579	259	3	could	could	AUX
aiti-14579	259	4	be	be	AUX
aiti-14579	259	5	extended	extend	VERB
aiti-14579	259	6	to	to	PART
aiti-14579	259	7	handle	handle	VERB
aiti-14579	259	8	dynamic	dynamic	ADJ
aiti-14579	259	9	obstacles	obstacle	NOUN
aiti-14579	259	10	with	with	ADP
aiti-14579	259	11	real	real	ADJ
aiti-14579	259	12	-	-	PUNCT
aiti-14579	259	13	time	time	NOUN
aiti-14579	259	14	updates	update	NOUN
aiti-14579	259	15	to	to	PART
aiti-14579	259	16	obstacle	obstacle	VERB
aiti-14579	259	17	boundaries	boundary	NOUN
aiti-14579	259	18	for	for	ADP
aiti-14579	259	19	applications	application	NOUN
aiti-14579	259	20	in	in	ADP
aiti-14579	259	21	complex	complex	ADJ
aiti-14579	259	22	environments	environment	NOUN
aiti-14579	259	23	.	.	PUNCT
aiti-14579	260	1	furthermore	furthermore	ADV
aiti-14579	260	2	,	,	PUNCT
aiti-14579	260	3	integrating	integrate	VERB
aiti-14579	260	4	reinforcement	reinforcement	NOUN
aiti-14579	260	5	learning	learning	NOUN
aiti-14579	260	6	or	or	CCONJ
aiti-14579	260	7	other	other	ADJ
aiti-14579	260	8	ai	ai	AUX
aiti-14579	260	9	-	-	PUNCT
aiti-14579	260	10	driven	drive	VERB
aiti-14579	260	11	decision	decision	NOUN
aiti-14579	260	12	-	-	PUNCT
aiti-14579	260	13	making	make	VERB
aiti-14579	260	14	techniques	technique	NOUN
aiti-14579	260	15	with	with	ADP
aiti-14579	260	16	dbscan	dbscan	PROPN
aiti-14579	260	17	-	-	PUNCT
aiti-14579	260	18	mee	mee	PROPN
aiti-14579	260	19	-	-	PUNCT
aiti-14579	260	20	cbf	cbf	PROPN
aiti-14579	260	21	could	could	AUX
aiti-14579	260	22	enhance	enhance	VERB
aiti-14579	260	23	its	its	PRON
aiti-14579	260	24	adaptability	adaptability	NOUN
aiti-14579	260	25	,	,	PUNCT
aiti-14579	260	26	enabling	enable	VERB
aiti-14579	260	27	autonomous	autonomous	ADJ
aiti-14579	260	28	robots	robot	NOUN
aiti-14579	260	29	to	to	PART
aiti-14579	260	30	learn	learn	VERB
aiti-14579	260	31	optimal	optimal	ADJ
aiti-14579	260	32	navigation	navigation	NOUN
aiti-14579	260	33	strategies	strategy	NOUN
aiti-14579	260	34	under	under	ADP
aiti-14579	260	35	varying	vary	VERB
aiti-14579	260	36	environmental	environmental	ADJ
aiti-14579	260	37	conditions	condition	NOUN
aiti-14579	260	38	.	.	PUNCT
aiti-14579	261	1	conflicts	conflict	NOUN
aiti-14579	261	2	of	of	ADP
aiti-14579	261	3	interest	interest	NOUN
aiti-14579	261	4	the	the	DET
aiti-14579	261	5	authors	author	NOUN
aiti-14579	261	6	declare	declare	VERB
aiti-14579	261	7	no	no	DET
aiti-14579	261	8	conflict	conflict	NOUN
aiti-14579	261	9	of	of	ADP
aiti-14579	261	10	interest	interest	NOUN
aiti-14579	261	11	.	.	PUNCT
aiti-14579	262	1	references	reference	NOUN
aiti-14579	262	2	[	[	X
aiti-14579	262	3	1	1	X
aiti-14579	262	4	]	]	PUNCT
aiti-14579	262	5	s.	s.	PROPN
aiti-14579	262	6	sotnik	sotnik	PROPN
aiti-14579	262	7	and	and	CCONJ
aiti-14579	262	8	v.	v.	ADP
aiti-14579	262	9	lyashenko	lyashenko	NOUN
aiti-14579	262	10	,	,	PUNCT
aiti-14579	262	11	“	"	PUNCT
aiti-14579	262	12	modern	modern	ADJ
aiti-14579	262	13	industrial	industrial	ADJ
aiti-14579	262	14	robotics	robotic	NOUN
aiti-14579	262	15	industry	industry	NOUN
aiti-14579	262	16	,	,	PUNCT
aiti-14579	262	17	”	"	PUNCT
aiti-14579	262	18	international	international	ADJ
aiti-14579	262	19	journal	journal	NOUN
aiti-14579	262	20	of	of	ADP
aiti-14579	262	21	academic	academic	ADJ
aiti-14579	262	22	engineering	engineering	NOUN
aiti-14579	262	23	research	research	NOUN
aiti-14579	262	24	,	,	PUNCT
aiti-14579	262	25	vol	vol	NOUN
aiti-14579	262	26	.	.	PROPN
aiti-14579	262	27	6	6	NUM
aiti-14579	262	28	,	,	PUNCT
aiti-14579	262	29	no	no	INTJ
aiti-14579	262	30	.	.	NOUN
aiti-14579	262	31	1	1	NUM
aiti-14579	262	32	,	,	PUNCT
aiti-14579	262	33	pp	pp	ADJ
aiti-14579	262	34	.	.	PUNCT
aiti-14579	263	1	37	37	NUM
aiti-14579	263	2	-	-	SYM
aiti-14579	263	3	46	46	NUM
aiti-14579	263	4	,	,	PUNCT
aiti-14579	263	5	2022	2022	NUM
aiti-14579	263	6	.	.	PUNCT
aiti-14579	264	1	[	[	X
aiti-14579	264	2	2	2	X
aiti-14579	264	3	]	]	PUNCT
aiti-14579	264	4	y.	y.	PROPN
aiti-14579	264	5	k.	k.	PROPN
aiti-14579	264	6	hwang	hwang	PROPN
aiti-14579	264	7	and	and	CCONJ
aiti-14579	264	8	n.	n.	PROPN
aiti-14579	264	9	ahuja	ahuja	PROPN
aiti-14579	264	10	,	,	PUNCT
aiti-14579	264	11	“	"	PUNCT
aiti-14579	264	12	a	a	DET
aiti-14579	264	13	potential	potential	ADJ
aiti-14579	264	14	field	field	NOUN
aiti-14579	264	15	approach	approach	NOUN
aiti-14579	264	16	to	to	ADP
aiti-14579	264	17	path	path	NOUN
aiti-14579	264	18	planning	planning	NOUN
aiti-14579	264	19	,	,	PUNCT
aiti-14579	264	20	”	"	PUNCT
aiti-14579	264	21	ieee	ieee	NOUN
aiti-14579	264	22	transactions	transaction	NOUN
aiti-14579	264	23	on	on	ADP
aiti-14579	264	24	robotics	robotic	NOUN
aiti-14579	264	25	and	and	CCONJ
aiti-14579	264	26	automation	automation	NOUN
aiti-14579	264	27	,	,	PUNCT
aiti-14579	264	28	vol	vol	NOUN
aiti-14579	264	29	.	.	PROPN
aiti-14579	264	30	8	8	NUM
aiti-14579	264	31	,	,	PUNCT
aiti-14579	264	32	no	no	INTJ
aiti-14579	264	33	.	.	NOUN
aiti-14579	264	34	1	1	NUM
aiti-14579	264	35	,	,	PUNCT
aiti-14579	264	36	pp	pp	ADJ
aiti-14579	264	37	.	.	PUNCT
aiti-14579	265	1	23	23	NUM
aiti-14579	265	2	-	-	SYM
aiti-14579	265	3	32	32	NUM
aiti-14579	265	4	,	,	PUNCT
aiti-14579	265	5	1992	1992	NUM
aiti-14579	265	6	.	.	PUNCT
aiti-14579	266	1	[	[	X
aiti-14579	266	2	3	3	X
aiti-14579	266	3	]	]	X
aiti-14579	266	4	c.	c.	PROPN
aiti-14579	266	5	zong	zong	PROPN
aiti-14579	266	6	,	,	PUNCT
aiti-14579	266	7	q.	q.	PROPN
aiti-14579	266	8	du	du	PROPN
aiti-14579	266	9	,	,	PUNCT
aiti-14579	266	10	j.	j.	PROPN
aiti-14579	266	11	chen	chen	PROPN
aiti-14579	266	12	,	,	PUNCT
aiti-14579	266	13	y.	y.	PROPN
aiti-14579	266	14	shan	shan	PROPN
aiti-14579	266	15	,	,	PUNCT
aiti-14579	266	16	y.	y.	PROPN
aiti-14579	266	17	wu	wu	PROPN
aiti-14579	266	18	,	,	PUNCT
aiti-14579	266	19	and	and	CCONJ
aiti-14579	266	20	zhida	zhida	PROPN
aiti-14579	266	21	sha	sha	PROPN
aiti-14579	266	22	,	,	PUNCT
aiti-14579	266	23	“	"	PUNCT
aiti-14579	266	24	a	a	DET
aiti-14579	266	25	design	design	NOUN
aiti-14579	266	26	of	of	ADP
aiti-14579	266	27	three	three	NUM
aiti-14579	266	28	-	-	PUNCT
aiti-14579	266	29	dimensional	dimensional	ADJ
aiti-14579	266	30	spatial	spatial	ADJ
aiti-14579	266	31	path	path	NOUN
aiti-14579	266	32	planning	planning	NOUN
aiti-14579	266	33	algorithm	algorithm	NOUN
aiti-14579	266	34	based	base	VERB
aiti-14579	266	35	on	on	ADP
aiti-14579	266	36	vector	vector	NOUN
aiti-14579	266	37	field	field	NOUN
aiti-14579	266	38	histogram	histogram	NOUN
aiti-14579	266	39	*	*	SYM
aiti-14579	266	40	,	,	PUNCT
aiti-14579	266	41	”	"	PUNCT
aiti-14579	266	42	sensors	sensor	NOUN
aiti-14579	266	43	,	,	PUNCT
aiti-14579	266	44	vol	vol	NOUN
aiti-14579	266	45	.	.	PROPN
aiti-14579	266	46	24	24	NUM
aiti-14579	266	47	,	,	PUNCT
aiti-14579	266	48	no	no	INTJ
aiti-14579	266	49	.	.	NOUN
aiti-14579	266	50	17	17	NUM
aiti-14579	266	51	,	,	PUNCT
aiti-14579	266	52	article	article	NOUN
aiti-14579	266	53	no	no	NOUN
aiti-14579	266	54	.	.	PROPN
aiti-14579	266	55	5647	5647	NUM
aiti-14579	266	56	,	,	PUNCT
aiti-14579	266	57	2024	2024	NUM
aiti-14579	266	58	.	.	PUNCT
aiti-14579	267	1	[	[	X
aiti-14579	267	2	4	4	X
aiti-14579	267	3	]	]	PUNCT
aiti-14579	267	4	s.	s.	PROPN
aiti-14579	267	5	koley	koley	PROPN
aiti-14579	267	6	,	,	PUNCT
aiti-14579	267	7	“	"	PUNCT
aiti-14579	267	8	role	role	NOUN
aiti-14579	267	9	of	of	ADP
aiti-14579	267	10	fluid	fluid	ADJ
aiti-14579	267	11	dynamics	dynamic	NOUN
aiti-14579	267	12	in	in	ADP
aiti-14579	267	13	infectious	infectious	ADJ
aiti-14579	267	14	disease	disease	NOUN
aiti-14579	267	15	transmission	transmission	NOUN
aiti-14579	267	16	:	:	PUNCT
aiti-14579	267	17	insights	insight	NOUN
aiti-14579	267	18	from	from	ADP
aiti-14579	267	19	covid-19	covid-19	PROPN
aiti-14579	267	20	and	and	CCONJ
aiti-14579	267	21	other	other	ADJ
aiti-14579	267	22	pathogens	pathogen	NOUN
aiti-14579	267	23	,	,	PUNCT
aiti-14579	267	24	”	"	PUNCT
aiti-14579	267	25	trends	trend	NOUN
aiti-14579	267	26	in	in	ADP
aiti-14579	267	27	sciences	science	NOUN
aiti-14579	267	28	,	,	PUNCT
aiti-14579	267	29	vol	vol	NOUN
aiti-14579	267	30	.	.	PROPN
aiti-14579	267	31	21	21	NUM
aiti-14579	267	32	,	,	PUNCT
aiti-14579	267	33	no	no	INTJ
aiti-14579	267	34	.	.	NOUN
aiti-14579	267	35	8	8	NUM
aiti-14579	267	36	,	,	PUNCT
aiti-14579	267	37	article	article	NOUN
aiti-14579	267	38	no	no	NOUN
aiti-14579	267	39	.	.	PROPN
aiti-14579	267	40	8287	8287	NUM
aiti-14579	267	41	,	,	PUNCT
aiti-14579	267	42	2024	2024	NUM
aiti-14579	267	43	.	.	PUNCT
aiti-14579	268	1	[	[	X
aiti-14579	268	2	5	5	NUM
aiti-14579	268	3	]	]	PUNCT
aiti-14579	268	4	a.	a.	NOUN
aiti-14579	268	5	n.	n.	PROPN
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aiti-14579	268	8	,	,	PUNCT
aiti-14579	268	9	n	n	X
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aiti-14579	268	11	,	,	PUNCT
aiti-14579	268	12	and	and	CCONJ
aiti-14579	268	13	n.	n.	PROPN
aiti-14579	268	14	i.	i.	PROPN
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aiti-14579	268	16	,	,	PUNCT
aiti-14579	268	17	“	"	PUNCT
aiti-14579	268	18	a	a	DET
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aiti-14579	268	20	on	on	ADP
aiti-14579	268	21	path	path	NOUN
aiti-14579	268	22	planning	planning	NOUN
aiti-14579	268	23	and	and	CCONJ
aiti-14579	268	24	obstacle	obstacle	VERB
aiti-14579	268	25	avoidance	avoidance	NOUN
aiti-14579	268	26	algorithms	algorithm	NOUN
aiti-14579	268	27	for	for	ADP
aiti-14579	268	28	autonomous	autonomous	ADJ
aiti-14579	268	29	mobile	mobile	ADJ
aiti-14579	268	30	robots	robot	NOUN
aiti-14579	268	31	,	,	PUNCT
aiti-14579	268	32	”	"	PUNCT
aiti-14579	268	33	journal	journal	NOUN
aiti-14579	268	34	of	of	ADP
aiti-14579	268	35	robotics	robotic	NOUN
aiti-14579	268	36	,	,	PUNCT
aiti-14579	268	37	vol	vol	NOUN
aiti-14579	268	38	.	.	NOUN
aiti-14579	268	39	2022	2022	NUM
aiti-14579	268	40	,	,	PUNCT
aiti-14579	268	41	no	no	INTJ
aiti-14579	268	42	.	.	NOUN
aiti-14579	268	43	1	1	NUM
aiti-14579	268	44	,	,	PUNCT
aiti-14579	268	45	article	article	NOUN
aiti-14579	268	46	no	no	NOUN
aiti-14579	268	47	.	.	PROPN
aiti-14579	268	48	2538220	2538220	NUM
aiti-14579	268	49	,	,	PUNCT
aiti-14579	268	50	2022	2022	NUM
aiti-14579	268	51	.	.	PUNCT
aiti-14579	269	1	[	[	X
aiti-14579	269	2	6	6	NUM
aiti-14579	269	3	]	]	PUNCT
aiti-14579	269	4	h.	h.	PROPN
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aiti-14579	269	6	lin	lin	PROPN
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aiti-14579	269	8	m.	m.	PROPN
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aiti-14579	269	11	,	,	PUNCT
aiti-14579	269	12	“	"	PUNCT
aiti-14579	269	13	robotic	robotic	ADJ
aiti-14579	269	14	arm	arm	NOUN
aiti-14579	269	15	path	path	NOUN
aiti-14579	269	16	planning	planning	NOUN
aiti-14579	269	17	based	base	VERB
aiti-14579	269	18	on	on	ADP
aiti-14579	269	19	three	three	NUM
aiti-14579	269	20	-	-	PUNCT
aiti-14579	269	21	dimensional	dimensional	ADJ
aiti-14579	269	22	artificial	artificial	ADJ
aiti-14579	269	23	potential	potential	ADJ
aiti-14579	269	24	field	field	NOUN
aiti-14579	269	25	,	,	PUNCT
aiti-14579	269	26	”	"	PUNCT
aiti-14579	269	27	18th	18th	ADJ
aiti-14579	269	28	international	international	ADJ
aiti-14579	269	29	conference	conference	NOUN
aiti-14579	269	30	on	on	ADP
aiti-14579	269	31	control	control	NOUN
aiti-14579	269	32	,	,	PUNCT
aiti-14579	269	33	automation	automation	NOUN
aiti-14579	269	34	and	and	CCONJ
aiti-14579	269	35	systems	system	NOUN
aiti-14579	269	36	,	,	PUNCT
aiti-14579	269	37	pp	pp	ADV
aiti-14579	269	38	.	.	PUNCT
aiti-14579	270	1	740	740	NUM
aiti-14579	270	2	-	-	SYM
aiti-14579	270	3	745	745	NUM
aiti-14579	270	4	,	,	PUNCT
aiti-14579	270	5	2018	2018	NUM
aiti-14579	270	6	.	.	PUNCT
aiti-14579	271	1	[	[	X
aiti-14579	271	2	7	7	X
aiti-14579	271	3	]	]	PUNCT
aiti-14579	271	4	j.	j.	PROPN
aiti-14579	271	5	chen	chen	PROPN
aiti-14579	271	6	,	,	PUNCT
aiti-14579	271	7	x.	x.	PROPN
aiti-14579	271	8	zhang	zhang	PROPN
aiti-14579	271	9	,	,	PUNCT
aiti-14579	271	10	x.	x.	PROPN
aiti-14579	271	11	peng	peng	PROPN
aiti-14579	271	12	,	,	PUNCT
aiti-14579	271	13	d.	d.	PROPN
aiti-14579	271	14	xu	xu	PROPN
aiti-14579	271	15	,	,	PUNCT
aiti-14579	271	16	and	and	CCONJ
aiti-14579	271	17	j.	j.	PROPN
aiti-14579	271	18	peng	peng	PROPN
aiti-14579	271	19	,	,	PUNCT
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aiti-14579	271	21	efficient	efficient	ADJ
aiti-14579	271	22	routing	routing	NOUN
aiti-14579	271	23	for	for	ADP
aiti-14579	271	24	multi	multi	ADJ
aiti-14579	271	25	-	-	NOUN
aiti-14579	271	26	agv	agv	NOUN
aiti-14579	271	27	based	base	VERB
aiti-14579	271	28	on	on	ADP
aiti-14579	271	29	optimized	optimize	VERB
aiti-14579	271	30	ant	ant	NOUN
aiti-14579	271	31	-	-	PUNCT
aiti-14579	271	32	agent	agent	NOUN
aiti-14579	271	33	,	,	PUNCT
aiti-14579	271	34	”	"	PUNCT
aiti-14579	271	35	computers	computer	NOUN
aiti-14579	271	36	&	&	CCONJ
aiti-14579	271	37	industrial	industrial	ADJ
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aiti-14579	271	39	,	,	PUNCT
aiti-14579	271	40	vol	vol	NOUN
aiti-14579	271	41	.	.	PROPN
aiti-14579	271	42	167	167	NUM
aiti-14579	271	43	,	,	PUNCT
aiti-14579	271	44	article	article	NOUN
aiti-14579	271	45	no	no	NOUN
aiti-14579	271	46	.	.	PROPN
aiti-14579	271	47	108042	108042	NUM
aiti-14579	271	48	,	,	PUNCT
aiti-14579	271	49	2022	2022	NUM
aiti-14579	271	50	.	.	PUNCT
aiti-14579	272	1	[	[	X
aiti-14579	272	2	8	8	NUM
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aiti-14579	272	4	c.	c.	PROPN
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aiti-14579	272	9	,	,	PUNCT
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aiti-14579	272	13	agv	agv	NOUN
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aiti-14579	272	19	artificial	artificial	ADJ
aiti-14579	272	20	potential	potential	ADJ
aiti-14579	272	21	field	field	NOUN
aiti-14579	272	22	algorithm	algorithm	NOUN
aiti-14579	272	23	,	,	PUNCT
aiti-14579	272	24	”	"	PUNCT
aiti-14579	272	25	proceedings	proceeding	NOUN
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aiti-14579	272	28	3rd	3rd	PROPN
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aiti-14579	272	31	pacific	pacific	PROPN
aiti-14579	272	32	conference	conference	NOUN
aiti-14579	272	33	on	on	ADP
aiti-14579	272	34	image	image	NOUN
aiti-14579	272	35	processing	processing	NOUN
aiti-14579	272	36	,	,	PUNCT
aiti-14579	272	37	electronics	electronic	NOUN
aiti-14579	272	38	and	and	CCONJ
aiti-14579	272	39	computers	computer	NOUN
aiti-14579	272	40	,	,	PUNCT
aiti-14579	272	41	pp	pp	ADP
aiti-14579	272	42	.	.	PUNCT
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aiti-14579	272	44	-	-	SYM
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aiti-14579	272	46	,	,	PUNCT
aiti-14579	272	47	2022	2022	NUM
aiti-14579	272	48	.	.	PUNCT
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aiti-14579	273	2	9	9	NUM
aiti-14579	273	3	]	]	X
aiti-14579	273	4	r.	r.	PROPN
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aiti-14579	273	6	,	,	PUNCT
aiti-14579	273	7	t.	t.	NOUN
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aiti-14579	273	9	,	,	PUNCT
aiti-14579	273	10	and	and	CCONJ
aiti-14579	273	11	k.	k.	PROPN
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aiti-14579	273	13	,	,	PUNCT
aiti-14579	273	14	“	"	PUNCT
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aiti-14579	273	24	artificial	artificial	ADJ
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aiti-14579	273	26	field	field	NOUN
aiti-14579	273	27	,	,	PUNCT
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aiti-14579	273	31	,	,	PUNCT
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aiti-14579	273	33	.	.	PROPN
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aiti-14579	273	35	,	,	PUNCT
aiti-14579	273	36	pp	pp	ADJ
aiti-14579	273	37	.	.	PUNCT
aiti-14579	273	38	39729	39729	NUM
aiti-14579	273	39	-	-	SYM
aiti-14579	273	40	39742	39742	NUM
aiti-14579	273	41	,	,	PUNCT
aiti-14579	273	42	2022	2022	NUM
aiti-14579	273	43	.	.	PUNCT
aiti-14579	274	1	advances	advance	NOUN
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aiti-14579	275	6	,	,	PUNCT
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aiti-14579	275	8	,	,	PUNCT
aiti-14579	275	9	pp	pp	ADJ
aiti-14579	275	10	.	.	PUNCT
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aiti-14579	276	2	-	-	SYM
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aiti-14579	277	2	10	10	NUM
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aiti-14579	277	9	,	,	PUNCT
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aiti-14579	277	36	method	method	NOUN
aiti-14579	277	37	,	,	PUNCT
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aiti-14579	277	49	,	,	PUNCT
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aiti-14579	279	36	.	.	NOUN
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aiti-14579	279	38	,	,	PUNCT
aiti-14579	279	39	pp	pp	ADJ
aiti-14579	279	40	.	.	PUNCT
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aiti-14579	279	42	-	-	SYM
aiti-14579	279	43	850	850	NUM
aiti-14579	279	44	,	,	PUNCT
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aiti-14579	279	46	.	.	PUNCT
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aiti-14579	280	12	,	,	PUNCT
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aiti-14579	280	40	method	method	NOUN
aiti-14579	280	41	,	,	PUNCT
aiti-14579	280	42	”	"	PUNCT
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aiti-14579	280	44	,	,	PUNCT
aiti-14579	280	45	vol	vol	NOUN
aiti-14579	280	46	.	.	PROPN
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aiti-14579	281	11	,	,	PUNCT
aiti-14579	281	12	2023	2023	NUM
aiti-14579	281	13	.	.	PUNCT
aiti-14579	282	1	[	[	X
aiti-14579	282	2	13	13	NUM
aiti-14579	282	3	]	]	X
aiti-14579	282	4	j.	j.	PROPN
aiti-14579	282	5	borenstein	borenstein	PROPN
aiti-14579	282	6	and	and	CCONJ
aiti-14579	282	7	y.	y.	PROPN
aiti-14579	282	8	koren	koren	PROPN
aiti-14579	282	9	,	,	PUNCT
aiti-14579	282	10	“	"	PUNCT
aiti-14579	282	11	the	the	DET
aiti-14579	282	12	vector	vector	NOUN
aiti-14579	282	13	field	field	NOUN
aiti-14579	282	14	histogram	histogram	NOUN
aiti-14579	282	15	-	-	PUNCT
aiti-14579	282	16	fast	fast	ADJ
aiti-14579	282	17	obstacle	obstacle	NOUN
aiti-14579	282	18	avoidance	avoidance	NOUN
aiti-14579	282	19	for	for	ADP
aiti-14579	282	20	mobile	mobile	ADJ
aiti-14579	282	21	robots	robot	NOUN
aiti-14579	282	22	,	,	PUNCT
aiti-14579	282	23	”	"	PUNCT
aiti-14579	282	24	ieee	ieee	NOUN
aiti-14579	282	25	transactions	transaction	NOUN
aiti-14579	282	26	on	on	ADP
aiti-14579	282	27	robotics	robotic	NOUN
aiti-14579	282	28	and	and	CCONJ
aiti-14579	282	29	automation	automation	NOUN
aiti-14579	282	30	,	,	PUNCT
aiti-14579	282	31	vol	vol	NOUN
aiti-14579	282	32	.	.	PROPN
aiti-14579	282	33	7	7	NUM
aiti-14579	282	34	,	,	PUNCT
aiti-14579	282	35	no	no	INTJ
aiti-14579	282	36	.	.	NOUN
aiti-14579	282	37	3	3	NUM
aiti-14579	282	38	,	,	PUNCT
aiti-14579	282	39	pp	pp	ADJ
aiti-14579	282	40	.	.	PUNCT
aiti-14579	283	1	278	278	NUM
aiti-14579	283	2	-	-	SYM
aiti-14579	283	3	288	288	NUM
aiti-14579	283	4	,	,	PUNCT
aiti-14579	283	5	1991	1991	NUM
aiti-14579	283	6	.	.	PUNCT
aiti-14579	284	1	[	[	X
aiti-14579	284	2	14	14	NUM
aiti-14579	284	3	]	]	X
aiti-14579	284	4	i.	i.	PROPN
aiti-14579	284	5	ulrich	ulrich	PROPN
aiti-14579	284	6	and	and	CCONJ
aiti-14579	284	7	j.	j.	PROPN
aiti-14579	284	8	borenstein	borenstein	PROPN
aiti-14579	284	9	,	,	PUNCT
aiti-14579	284	10	“	"	PUNCT
aiti-14579	284	11	vfh	vfh	ADV
aiti-14579	284	12	/	/	SYM
aiti-14579	284	13	sup	sup	NOUN
aiti-14579	284	14	*	*	PUNCT
aiti-14579	284	15	/	/	SYM
aiti-14579	284	16	:	:	PUNCT
aiti-14579	284	17	local	local	ADJ
aiti-14579	284	18	obstacle	obstacle	NOUN
aiti-14579	284	19	avoidance	avoidance	NOUN
aiti-14579	284	20	with	with	ADP
aiti-14579	284	21	look	look	VERB
aiti-14579	284	22	-	-	PUNCT
aiti-14579	284	23	ahead	ahead	NOUN
aiti-14579	284	24	verification	verification	NOUN
aiti-14579	284	25	,	,	PUNCT
aiti-14579	284	26	”	"	PUNCT
aiti-14579	284	27	proceedings	proceeding	NOUN
aiti-14579	284	28	2000	2000	NUM
aiti-14579	284	29	icra	icra	PROPN
aiti-14579	284	30	.	.	PUNCT
aiti-14579	284	31	millennium	millennium	PROPN
aiti-14579	284	32	conference	conference	PROPN
aiti-14579	284	33	.	.	PUNCT
aiti-14579	285	1	ieee	ieee	PROPN
aiti-14579	285	2	international	international	PROPN
aiti-14579	285	3	conference	conference	NOUN
aiti-14579	285	4	on	on	ADP
aiti-14579	285	5	robotics	robotic	NOUN
aiti-14579	285	6	and	and	CCONJ
aiti-14579	285	7	automation	automation	NOUN
aiti-14579	285	8	.	.	PUNCT
aiti-14579	286	1	symposia	symposia	NOUN
aiti-14579	286	2	proceedings	proceeding	NOUN
aiti-14579	286	3	(	(	PUNCT
aiti-14579	286	4	cat	cat	NOUN
aiti-14579	286	5	.	.	PUNCT
aiti-14579	287	1	no.00ch37065	no.00ch37065	NOUN
aiti-14579	287	2	)	)	PUNCT
aiti-14579	287	3	,	,	PUNCT
aiti-14579	287	4	vol	vol	NOUN
aiti-14579	287	5	.	.	PROPN
aiti-14579	288	1	3	3	NUM
aiti-14579	288	2	,	,	PUNCT
aiti-14579	288	3	pp	pp	ADJ
aiti-14579	288	4	.	.	PUNCT
aiti-14579	289	1	2505	2505	NUM
aiti-14579	289	2	-	-	SYM
aiti-14579	289	3	2511	2511	NUM
aiti-14579	289	4	,	,	PUNCT
aiti-14579	289	5	2000	2000	NUM
aiti-14579	289	6	.	.	PUNCT
aiti-14579	290	1	[	[	X
aiti-14579	290	2	15	15	NUM
aiti-14579	290	3	]	]	PUNCT
aiti-14579	290	4	t.	t.	PROPN
aiti-14579	290	5	xu	xu	PROPN
aiti-14579	290	6	,	,	PUNCT
aiti-14579	290	7	“	"	PUNCT
aiti-14579	290	8	recent	recent	ADJ
aiti-14579	290	9	advances	advance	NOUN
aiti-14579	290	10	in	in	ADP
aiti-14579	290	11	rapidly	rapidly	ADV
aiti-14579	290	12	-	-	PUNCT
aiti-14579	290	13	exploring	explore	VERB
aiti-14579	290	14	random	random	ADJ
aiti-14579	290	15	tree	tree	NOUN
aiti-14579	290	16	:	:	PUNCT
aiti-14579	290	17	a	a	DET
aiti-14579	290	18	review	review	NOUN
aiti-14579	290	19	,	,	PUNCT
aiti-14579	290	20	”	"	PUNCT
aiti-14579	290	21	heliyon	heliyon	NOUN
aiti-14579	290	22	,	,	PUNCT
aiti-14579	290	23	vol	vol	NOUN
aiti-14579	290	24	.	.	PROPN
aiti-14579	291	1	10	10	NUM
aiti-14579	291	2	,	,	PUNCT
aiti-14579	291	3	no	no	INTJ
aiti-14579	291	4	.	.	NOUN
aiti-14579	291	5	11	11	NUM
aiti-14579	291	6	,	,	PUNCT
aiti-14579	291	7	article	article	NOUN
aiti-14579	291	8	no	no	INTJ
aiti-14579	291	9	.	.	PUNCT
aiti-14579	292	1	e32451	e32451	NOUN
aiti-14579	292	2	,	,	PUNCT
aiti-14579	292	3	2024	2024	NUM
aiti-14579	292	4	.	.	PUNCT
aiti-14579	293	1	[	[	X
aiti-14579	293	2	16	16	NUM
aiti-14579	293	3	]	]	PUNCT
aiti-14579	293	4	a.	a.	PROPN
aiti-14579	293	5	d.	d.	PROPN
aiti-14579	293	6	ames	ames	PROPN
aiti-14579	293	7	,	,	PUNCT
aiti-14579	293	8	x.	x.	PROPN
aiti-14579	293	9	xu	xu	PROPN
aiti-14579	293	10	,	,	PUNCT
aiti-14579	293	11	j.	j.	PROPN
aiti-14579	293	12	w.	w.	PROPN
aiti-14579	293	13	grizzle	grizzle	PROPN
aiti-14579	293	14	,	,	PUNCT
aiti-14579	293	15	and	and	CCONJ
aiti-14579	293	16	p.	p.	NOUN
aiti-14579	293	17	tabuada	tabuada	NOUN
aiti-14579	293	18	,	,	PUNCT
aiti-14579	293	19	“	"	PUNCT
aiti-14579	293	20	control	control	NOUN
aiti-14579	293	21	barrier	barrier	NOUN
aiti-14579	293	22	function	function	NOUN
aiti-14579	293	23	based	base	VERB
aiti-14579	293	24	quadratic	quadratic	ADJ
aiti-14579	293	25	programs	program	NOUN
aiti-14579	293	26	for	for	ADP
aiti-14579	293	27	safety	safety	NOUN
aiti-14579	293	28	critical	critical	ADJ
aiti-14579	293	29	systems	system	NOUN
aiti-14579	293	30	,	,	PUNCT
aiti-14579	293	31	”	"	PUNCT
aiti-14579	293	32	ieee	ieee	NOUN
aiti-14579	293	33	transactions	transaction	NOUN
aiti-14579	293	34	on	on	ADP
aiti-14579	293	35	automatic	automatic	ADJ
aiti-14579	293	36	control	control	NOUN
aiti-14579	293	37	,	,	PUNCT
aiti-14579	293	38	vol	vol	NOUN
aiti-14579	293	39	.	.	PROPN
aiti-14579	294	1	62	62	NUM
aiti-14579	294	2	,	,	PUNCT
aiti-14579	294	3	no	no	INTJ
aiti-14579	294	4	.	.	NOUN
aiti-14579	294	5	8	8	NUM
aiti-14579	294	6	,	,	PUNCT
aiti-14579	294	7	pp	pp	ADJ
aiti-14579	294	8	.	.	PUNCT
aiti-14579	295	1	3861	3861	NUM
aiti-14579	295	2	-	-	SYM
aiti-14579	295	3	3876	3876	NUM
aiti-14579	295	4	,	,	PUNCT
aiti-14579	295	5	2017	2017	NUM
aiti-14579	295	6	.	.	PUNCT
aiti-14579	296	1	[	[	X
aiti-14579	296	2	17	17	NUM
aiti-14579	296	3	]	]	X
aiti-14579	296	4	e.	e.	PROPN
aiti-14579	296	5	a.	a.	PROPN
aiti-14579	296	6	basso	basso	PROPN
aiti-14579	296	7	and	and	CCONJ
aiti-14579	296	8	k.	k.	PROPN
aiti-14579	296	9	y.	y.	PROPN
aiti-14579	296	10	pettersen	pettersen	PROPN
aiti-14579	296	11	,	,	PUNCT
aiti-14579	296	12	“	"	PUNCT
aiti-14579	296	13	task	task	NOUN
aiti-14579	296	14	-	-	PUNCT
aiti-14579	296	15	priority	priority	NOUN
aiti-14579	296	16	control	control	NOUN
aiti-14579	296	17	of	of	ADP
aiti-14579	296	18	redundant	redundant	ADJ
aiti-14579	296	19	robotic	robotic	ADJ
aiti-14579	296	20	systems	system	NOUN
aiti-14579	296	21	using	use	VERB
aiti-14579	296	22	control	control	NOUN
aiti-14579	296	23	lyapunov	lyapunov	NOUN
aiti-14579	296	24	and	and	CCONJ
aiti-14579	296	25	control	control	NOUN
aiti-14579	296	26	barrier	barrier	NOUN
aiti-14579	296	27	function	function	NOUN
aiti-14579	296	28	based	base	VERB
aiti-14579	296	29	quadratic	quadratic	ADJ
aiti-14579	296	30	programs	program	NOUN
aiti-14579	296	31	,	,	PUNCT
aiti-14579	296	32	”	"	PUNCT
aiti-14579	296	33	ifac	ifac	NOUN
aiti-14579	296	34	-	-	PUNCT
aiti-14579	296	35	papersonline	papersonline	NOUN
aiti-14579	296	36	,	,	PUNCT
aiti-14579	296	37	vol	vol	NOUN
aiti-14579	296	38	.	.	PROPN
aiti-14579	297	1	53	53	NUM
aiti-14579	297	2	,	,	PUNCT
aiti-14579	297	3	no	no	INTJ
aiti-14579	297	4	.	.	NOUN
aiti-14579	297	5	2	2	NUM
aiti-14579	297	6	,	,	PUNCT
aiti-14579	297	7	pp	pp	ADJ
aiti-14579	297	8	.	.	PUNCT
aiti-14579	298	1	9037	9037	NUM
aiti-14579	298	2	-	-	SYM
aiti-14579	298	3	9044	9044	NUM
aiti-14579	298	4	,	,	PUNCT
aiti-14579	298	5	2020	2020	NUM
aiti-14579	298	6	.	.	PUNCT
aiti-14579	299	1	[	[	X
aiti-14579	299	2	18	18	NUM
aiti-14579	299	3	]	]	X
aiti-14579	299	4	e.	e.	PROPN
aiti-14579	299	5	schubert	schubert	PROPN
aiti-14579	299	6	,	,	PUNCT
aiti-14579	299	7	j.	j.	PROPN
aiti-14579	299	8	sander	sander	PROPN
aiti-14579	299	9	,	,	PUNCT
aiti-14579	299	10	m.	m.	NOUN
aiti-14579	299	11	ester	ester	NOUN
aiti-14579	299	12	,	,	PUNCT
aiti-14579	299	13	h.	h.	PROPN
aiti-14579	299	14	p.	p.	PROPN
aiti-14579	299	15	kriegel	kriegel	PROPN
aiti-14579	299	16	,	,	PUNCT
aiti-14579	299	17	and	and	CCONJ
aiti-14579	299	18	x.	x.	PROPN
aiti-14579	299	19	xu	xu	PROPN
aiti-14579	299	20	,	,	PUNCT
aiti-14579	299	21	“	"	PUNCT
aiti-14579	299	22	dbscan	dbscan	PROPN
aiti-14579	299	23	revisited	revisit	VERB
aiti-14579	299	24	,	,	PUNCT
aiti-14579	299	25	revisited	revisit	VERB
aiti-14579	299	26	:	:	PUNCT
aiti-14579	299	27	why	why	SCONJ
aiti-14579	299	28	and	and	CCONJ
aiti-14579	299	29	how	how	SCONJ
aiti-14579	299	30	you	you	PRON
aiti-14579	299	31	should	should	AUX
aiti-14579	299	32	(	(	PUNCT
aiti-14579	299	33	still	still	ADV
aiti-14579	299	34	)	)	PUNCT
aiti-14579	299	35	use	use	NOUN
aiti-14579	299	36	dbscan	dbscan	NOUN
aiti-14579	299	37	,	,	PUNCT
aiti-14579	299	38	”	"	PUNCT
aiti-14579	299	39	acm	acm	NOUN
aiti-14579	299	40	transactions	transaction	NOUN
aiti-14579	299	41	on	on	ADP
aiti-14579	299	42	database	database	NOUN
aiti-14579	299	43	systems	system	NOUN
aiti-14579	299	44	,	,	PUNCT
aiti-14579	299	45	vol	vol	NOUN
aiti-14579	299	46	.	.	PROPN
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aiti-14579	299	48	,	,	PUNCT
aiti-14579	299	49	no	no	INTJ
aiti-14579	299	50	.	.	NOUN
aiti-14579	299	51	3	3	NUM
aiti-14579	299	52	,	,	PUNCT
aiti-14579	299	53	pp	pp	ADJ
aiti-14579	299	54	.	.	PUNCT
aiti-14579	300	1	1	1	NUM
aiti-14579	300	2	-	-	SYM
aiti-14579	300	3	21	21	NUM
aiti-14579	300	4	,	,	PUNCT
aiti-14579	300	5	2017	2017	NUM
aiti-14579	300	6	.	.	PUNCT
aiti-14579	301	1	[	[	X
aiti-14579	301	2	19	19	NUM
aiti-14579	301	3	]	]	X
aiti-14579	301	4	i.	i.	PROPN
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aiti-14579	301	7	h.	h.	PROPN
aiti-14579	301	8	j.	j.	PROPN
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aiti-14579	301	13	control	control	NOUN
aiti-14579	301	14	for	for	ADP
aiti-14579	301	15	navigation	navigation	NOUN
aiti-14579	301	16	in	in	ADP
aiti-14579	301	17	cluttered	cluttered	ADJ
aiti-14579	301	18	space	space	NOUN
aiti-14579	301	19	using	use	VERB
aiti-14579	301	20	multiple	multiple	ADJ
aiti-14579	301	21	lyapunov	lyapunov	NOUN
aiti-14579	301	22	-	-	PUNCT
aiti-14579	301	23	based	base	VERB
aiti-14579	301	24	control	control	NOUN
aiti-14579	301	25	barrier	barrier	NOUN
aiti-14579	301	26	functions	function	NOUN
aiti-14579	301	27	,	,	PUNCT
aiti-14579	301	28	”	"	PUNCT
aiti-14579	301	29	ieee	ieee	NOUN
aiti-14579	301	30	robotics	robotic	NOUN
aiti-14579	301	31	and	and	CCONJ
aiti-14579	301	32	automation	automation	NOUN
aiti-14579	301	33	letters	letter	NOUN
aiti-14579	301	34	,	,	PUNCT
aiti-14579	301	35	vol	vol	NOUN
aiti-14579	301	36	.	.	PROPN
aiti-14579	301	37	9	9	NUM
aiti-14579	301	38	,	,	PUNCT
aiti-14579	301	39	no	no	INTJ
aiti-14579	301	40	.	.	NOUN
aiti-14579	301	41	3	3	NUM
aiti-14579	301	42	,	,	PUNCT
aiti-14579	301	43	pp	pp	ADJ
aiti-14579	301	44	.	.	PUNCT
aiti-14579	301	45	2056	2056	NUM
aiti-14579	301	46	-	-	SYM
aiti-14579	301	47	2063	2063	NUM
aiti-14579	301	48	,	,	PUNCT
aiti-14579	301	49	2024	2024	NUM
aiti-14579	301	50	.	.	PUNCT
aiti-14579	302	1	[	[	X
aiti-14579	302	2	20	20	NUM
aiti-14579	302	3	]	]	X
aiti-14579	302	4	h.	h.	PROPN
aiti-14579	302	5	dai	dai	PROPN
aiti-14579	302	6	,	,	PUNCT
aiti-14579	302	7	c.	c.	PROPN
aiti-14579	302	8	jiang	jiang	PROPN
aiti-14579	302	9	,	,	PUNCT
aiti-14579	302	10	h.	h.	PROPN
aiti-14579	302	11	zhang	zhang	PROPN
aiti-14579	302	12	,	,	PUNCT
aiti-14579	302	13	and	and	CCONJ
aiti-14579	302	14	a.	a.	NOUN
aiti-14579	302	15	clark	clark	PROPN
aiti-14579	302	16	,	,	PUNCT
aiti-14579	302	17	“	"	PUNCT
aiti-14579	302	18	verification	verification	NOUN
aiti-14579	302	19	and	and	CCONJ
aiti-14579	302	20	synthesis	synthesis	NOUN
aiti-14579	302	21	of	of	ADP
aiti-14579	302	22	compatible	compatible	ADJ
aiti-14579	302	23	control	control	NOUN
aiti-14579	302	24	lyapunov	lyapunov	NOUN
aiti-14579	302	25	and	and	CCONJ
aiti-14579	302	26	control	control	NOUN
aiti-14579	302	27	barrier	barrier	NOUN
aiti-14579	302	28	functions	function	NOUN
aiti-14579	302	29	,	,	PUNCT
aiti-14579	302	30	”	"	PUNCT
aiti-14579	302	31	ieee	ieee	NOUN
aiti-14579	302	32	63rd	63rd	ADJ
aiti-14579	302	33	conference	conference	NOUN
aiti-14579	302	34	on	on	ADP
aiti-14579	302	35	decision	decision	NOUN
aiti-14579	302	36	and	and	CCONJ
aiti-14579	302	37	control	control	NOUN
aiti-14579	302	38	,	,	PUNCT
aiti-14579	302	39	pp	pp	ADP
aiti-14579	302	40	.	.	PUNCT
aiti-14579	302	41	8178	8178	NUM
aiti-14579	302	42	-	-	SYM
aiti-14579	302	43	8185	8185	NUM
aiti-14579	302	44	,	,	PUNCT
aiti-14579	302	45	2024	2024	NUM
aiti-14579	302	46	.	.	PUNCT
aiti-14579	303	1	copyright	copyright	NOUN
aiti-14579	303	2	©	©	PROPN
aiti-14579	303	3	by	by	ADP
aiti-14579	303	4	the	the	DET
aiti-14579	303	5	authors	author	NOUN
aiti-14579	303	6	.	.	PUNCT
aiti-14579	304	1	licensee	licensee	PROPN
aiti-14579	304	2	taeti	taeti	PROPN
aiti-14579	304	3	,	,	PUNCT
aiti-14579	304	4	taiwan	taiwan	PROPN
aiti-14579	304	5	.	.	PUNCT
aiti-14579	305	1	this	this	DET
aiti-14579	305	2	article	article	NOUN
aiti-14579	305	3	is	be	AUX
aiti-14579	305	4	an	an	DET
aiti-14579	305	5	open	open	ADJ
aiti-14579	305	6	-	-	PUNCT
aiti-14579	305	7	access	access	NOUN
aiti-14579	305	8	article	article	NOUN
aiti-14579	305	9	distributed	distribute	VERB
aiti-14579	305	10	under	under	ADP
aiti-14579	305	11	the	the	DET
aiti-14579	305	12	terms	term	NOUN
aiti-14579	305	13	and	and	CCONJ
aiti-14579	305	14	conditions	condition	NOUN
aiti-14579	305	15	of	of	ADP
aiti-14579	305	16	the	the	DET
aiti-14579	305	17	creative	creative	ADJ
aiti-14579	305	18	commons	common	NOUN
aiti-14579	305	19	attribution	attribution	NOUN
aiti-14579	305	20	(	(	PUNCT
aiti-14579	305	21	cc	cc	NOUN
aiti-14579	305	22	by	by	ADP
aiti-14579	305	23	-	-	PUNCT
aiti-14579	305	24	nc	nc	NOUN
aiti-14579	305	25	)	)	PUNCT
aiti-14579	305	26	license	license	NOUN
aiti-14579	305	27	(	(	PUNCT
aiti-14579	305	28	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-14579	305	29	)	)	PUNCT
aiti-14579	305	30	.	.	PUNCT