id	sid	tid	token	lemma	pos
alkej-316	1	1	26	26	NUM
alkej-316	1	2	-	-	SYM
alkej-316	1	3	35	35	NUM
alkej-316	1	4	al	al	PROPN
alkej-316	1	5	-	-	PUNCT
alkej-316	1	6	khwarizmi	khwarizmi	PROPN
alkej-316	1	7	engineering	engineering	NOUN
alkej-316	1	8	journal	journal	PROPN
alkej-316	1	9	,	,	PUNCT
alkej-316	1	10	vol	vol	NOUN
alkej-316	1	11	.	.	PUNCT
alkej-316	1	12	path	path	NOUN
alkej-316	1	13	planning	planning	NOUN
alkej-316	1	14	of	of	ADP
alkej-316	1	15	an	an	DET
alkej-316	1	16	autonomous	autonomous	ADJ
alkej-316	1	17	bacterial	bacterial	ADJ
alkej-316	1	18	foraging	forage	VERB
alkej-316	1	19	optimization	optimization	NOUN
alkej-316	1	20	nizar	nizar	NOUN
alkej-316	1	21	hadi	hadi	PROPN
alkej-316	1	22	*	*	PUNCT
alkej-316	1	23	,	,	PUNCT
alkej-316	1	24	*	*	PUNCT
alkej-316	1	25	*	*	NOUN
alkej-316	1	26	department	department	NOUN
alkej-316	1	27	of	of	ADP
alkej-316	1	28	electrical	electrical	ADJ
alkej-316	1	29	(	(	PUNCT
alkej-316	1	30	received	receive	VERB
alkej-316	1	31	http://dx.doi.org/10.22153/kej.2016.01.001	http://dx.doi.org/10.22153/kej.2016.01.001	PROPN
alkej-316	1	32	abstract	abstract	ADJ
alkej-316	1	33	this	this	DET
alkej-316	1	34	paper	paper	NOUN
alkej-316	1	35	describes	describe	VERB
alkej-316	1	36	the	the	DET
alkej-316	1	37	problem	problem	NOUN
alkej-316	1	38	of	of	ADP
alkej-316	1	39	online	online	ADJ
alkej-316	1	40	autonomous	autonomous	PROPN
alkej-316	1	41	mobile	mobile	PROPN
alkej-316	1	42	robot	robot	PROPN
alkej-316	1	43	path	path	NOUN
alkej-316	1	44	planning	planning	NOUN
alkej-316	1	45	,	,	PUNCT
alkej-316	1	46	which	which	PRON
alkej-316	1	47	is	be	AUX
alkej-316	1	48	consisted	consist	VERB
alkej-316	1	49	of	of	ADP
alkej-316	1	50	finding	find	VERB
alkej-316	1	51	optimal	optimal	ADJ
alkej-316	1	52	paths	path	NOUN
alkej-316	1	53	or	or	CCONJ
alkej-316	1	54	trajectories	trajectory	NOUN
alkej-316	1	55	for	for	ADP
alkej-316	1	56	an	an	DET
alkej-316	1	57	autonomous	autonomous	ADJ
alkej-316	1	58	mobile	mobile	NOUN
alkej-316	1	59	robot	robot	NOUN
alkej-316	1	60	from	from	ADP
alkej-316	1	61	a	a	DET
alkej-316	1	62	starting	starting	NOUN
alkej-316	1	63	point	point	NOUN
alkej-316	1	64	to	to	ADP
alkej-316	1	65	a	a	DET
alkej-316	1	66	destination	destination	NOUN
alkej-316	1	67	across	across	ADP
alkej-316	1	68	a	a	DET
alkej-316	1	69	flat	flat	ADJ
alkej-316	1	70	map	map	NOUN
alkej-316	1	71	of	of	ADP
alkej-316	1	72	a	a	DET
alkej-316	1	73	terrain	terrain	NOUN
alkej-316	1	74	,	,	PUNCT
alkej-316	1	75	represented	represent	VERB
alkej-316	1	76	by	by	ADP
alkej-316	1	77	a	a	DET
alkej-316	1	78	2	2	NUM
alkej-316	1	79	-	-	PUNCT
alkej-316	1	80	d	d	NOUN
alkej-316	1	81	workspace	workspace	NOUN
alkej-316	1	82	.	.	PUNCT
alkej-316	2	1	a	a	DET
alkej-316	2	2	bacterial	bacterial	ADJ
alkej-316	2	3	foraging	forage	VERB
alkej-316	2	4	optimization	optimization	NOUN
alkej-316	2	5	algorithm	algorithm	NOUN
alkej-316	2	6	is	be	AUX
alkej-316	2	7	presented	present	VERB
alkej-316	2	8	.	.	PUNCT
alkej-316	3	1	this	this	DET
alkej-316	3	2	the	the	DET
alkej-316	3	3	foraging	forage	VERB
alkej-316	3	4	behavior	behavior	NOUN
alkej-316	3	5	of	of	ADP
alkej-316	3	6	e	e	NOUN
alkej-316	3	7	-	-	NOUN
alkej-316	3	8	coli	coli	ADJ
alkej-316	3	9	bacteria	bacteria	NOUN
alkej-316	3	10	proposed	propose	VERB
alkej-316	3	11	algorithm	algorithm	NOUN
alkej-316	3	12	was	be	AUX
alkej-316	3	13	demonstrated	demonstrate	VERB
alkej-316	3	14	by	by	ADP
alkej-316	3	15	study	study	NOUN
alkej-316	3	16	was	be	AUX
alkej-316	3	17	evaluated	evaluate	VERB
alkej-316	3	18	between	between	ADP
alkej-316	3	19	the	the	DET
alkej-316	3	20	developed	develop	VERB
alkej-316	3	21	algorithm	algorithm	NOUN
alkej-316	3	22	and	and	CCONJ
alkej-316	3	23	other	other	ADJ
alkej-316	3	24	two	two	NUM
alkej-316	3	25	state	state	NOUN
alkej-316	3	26	the	the	DET
alkej-316	3	27	proposed	propose	VERB
alkej-316	3	28	method	method	NOUN
alkej-316	3	29	is	be	AUX
alkej-316	3	30	effective	effective	ADJ
alkej-316	3	31	and	and	CCONJ
alkej-316	3	32	produces	produce	VERB
alkej-316	3	33	trajectories	trajectory	NOUN
alkej-316	3	34	with	with	ADP
alkej-316	3	35	satisfactory	satisfactory	ADJ
alkej-316	3	36	results	result	NOUN
alkej-316	3	37	keywords	keyword	NOUN
alkej-316	3	38	:	:	PUNCT
alkej-316	3	39	autonomous	autonomous	ADJ
alkej-316	3	40	mobile	mobile	PROPN
alkej-316	3	41	robot	robot	NOUN
alkej-316	3	42	,	,	PUNCT
alkej-316	3	43	optimization	optimization	NOUN
alkej-316	3	44	algorithm	algorithm	NOUN
alkej-316	3	45	.	.	PUNCT
alkej-316	4	1	1	1	X
alkej-316	4	2	.	.	X
alkej-316	4	3	introduction	introduction	NOUN
alkej-316	4	4	the	the	DET
alkej-316	4	5	field	field	NOUN
alkej-316	4	6	robot	robot	NOUN
alkej-316	4	7	path	path	NOUN
alkej-316	4	8	planning	planning	NOUN
alkej-316	4	9	was	be	AUX
alkej-316	4	10	launched	launch	VERB
alkej-316	4	11	at	at	ADP
alkej-316	4	12	the	the	DET
alkej-316	4	13	middle	middle	NOUN
alkej-316	4	14	of	of	ADP
alkej-316	4	15	the	the	DET
alkej-316	4	16	1960s	1960s	NUM
alkej-316	4	17	.	.	PUNCT
alkej-316	5	1	robot	robot	NOUN
alkej-316	5	2	path	path	PROPN
alkej-316	5	3	planning	planning	NOUN
alkej-316	5	4	is	be	AUX
alkej-316	5	5	an	an	DET
alkej-316	5	6	important	important	ADJ
alkej-316	5	7	problem	problem	NOUN
alkej-316	5	8	in	in	ADP
alkej-316	5	9	navigation	navigation	NOUN
alkej-316	5	10	of	of	ADP
alkej-316	5	11	mobile	mobile	NOUN
alkej-316	5	12	robots	robot	NOUN
alkej-316	5	13	.	.	PUNCT
alkej-316	6	1	the	the	DET
alkej-316	6	2	aim	aim	NOUN
alkej-316	6	3	is	be	AUX
alkej-316	6	4	to	to	PART
alkej-316	6	5	find	find	VERB
alkej-316	6	6	an	an	DET
alkej-316	6	7	optimal	optimal	ADJ
alkej-316	6	8	and	and	CCONJ
alkej-316	6	9	collision	collision	NOUN
alkej-316	6	10	path	path	NOUN
alkej-316	6	11	from	from	ADP
alkej-316	6	12	a	a	DET
alkej-316	6	13	predefined	predefine	VERB
alkej-316	6	14	start	start	NOUN
alkej-316	6	15	position	position	NOUN
alkej-316	6	16	to	to	ADP
alkej-316	6	17	a	a	DET
alkej-316	6	18	target	target	NOUN
alkej-316	6	19	point	point	NOUN
alkej-316	6	20	in	in	ADP
alkej-316	6	21	a	a	DET
alkej-316	6	22	given	give	VERB
alkej-316	6	23	environment	environment	NOUN
alkej-316	6	24	.	.	PUNCT
alkej-316	7	1	generally	generally	ADV
alkej-316	7	2	,	,	PUNCT
alkej-316	7	3	there	there	PRON
alkej-316	7	4	are	be	VERB
alkej-316	7	5	many	many	ADJ
alkej-316	7	6	paths	path	NOUN
alkej-316	7	7	for	for	SCONJ
alkej-316	7	8	robot	robot	NOUN
alkej-316	7	9	to	to	PART
alkej-316	7	10	reach	reach	VERB
alkej-316	7	11	the	the	DET
alkej-316	7	12	target	target	NOUN
alkej-316	7	13	,	,	PUNCT
alkej-316	7	14	but	but	CCONJ
alkej-316	7	15	in	in	ADP
alkej-316	7	16	fact	fact	NOUN
alkej-316	7	17	,	,	PUNCT
alkej-316	7	18	the	the	DET
alkej-316	7	19	best	good	ADJ
alkej-316	7	20	path	path	NOUN
alkej-316	7	21	is	be	AUX
alkej-316	7	22	selected	select	VERB
alkej-316	7	23	according	accord	VERB
alkej-316	7	24	to	to	ADP
alkej-316	7	25	some	some	DET
alkej-316	7	26	guideline	guideline	NOUN
alkej-316	7	27	.	.	PUNCT
alkej-316	8	1	these	these	DET
alkej-316	8	2	guidelines	guideline	NOUN
alkej-316	8	3	are	be	AUX
alkej-316	8	4	:	:	PUNCT
alkej-316	8	5	shortest	short	ADJ
alkej-316	8	6	distance	distance	NOUN
alkej-316	8	7	,	,	PUNCT
alkej-316	8	8	least	least	ADJ
alkej-316	8	9	energy	energy	NOUN
alkej-316	8	10	consuming	consuming	NOUN
alkej-316	8	11	or	or	CCONJ
alkej-316	8	12	shortest	short	ADJ
alkej-316	8	13	time	time	NOUN
alkej-316	8	14	with	with	ADP
alkej-316	8	15	the	the	DET
alkej-316	8	16	shortest	short	ADJ
alkej-316	8	17	distance	distance	NOUN
alkej-316	8	18	is	be	AUX
alkej-316	8	19	the	the	DET
alkej-316	8	20	most	most	ADV
alkej-316	8	21	adopted	adopt	VERB
alkej-316	8	22	criteria	criterion	NOUN
alkej-316	8	23	[	[	X
alkej-316	8	24	1	1	NUM
alkej-316	8	25	]	]	PUNCT
alkej-316	8	26	.	.	PUNCT
alkej-316	9	1	path	path	NOUN
alkej-316	9	2	planning	planning	NOUN
alkej-316	9	3	can	can	AUX
alkej-316	9	4	be	be	AUX
alkej-316	9	5	seen	see	VERB
alkej-316	9	6	as	as	ADP
alkej-316	9	7	an	an	DET
alkej-316	9	8	optimization	optimization	NOUN
alkej-316	9	9	problem	problem	NOUN
alkej-316	9	10	since	since	SCONJ
alkej-316	9	11	its	its	PRON
alkej-316	9	12	purpose	purpose	NOUN
alkej-316	9	13	is	be	AUX
alkej-316	9	14	to	to	PART
alkej-316	9	15	search	search	VERB
alkej-316	9	16	for	for	ADP
alkej-316	9	17	a	a	DET
alkej-316	9	18	path	path	NOUN
alkej-316	9	19	with	with	ADP
alkej-316	9	20	shortest	short	ADJ
alkej-316	9	21	distance	distance	NOUN
alkej-316	9	22	under	under	ADP
alkej-316	9	23	certain	certain	ADJ
alkej-316	9	24	constraints	constraint	NOUN
alkej-316	9	25	such	such	ADJ
alkej-316	9	26	as	as	ADP
alkej-316	9	27	the	the	DET
alkej-316	9	28	given	give	VERB
alkej-316	9	29	environment	environment	NOUN
alkej-316	9	30	with	with	ADP
alkej-316	9	31	motion	motion	NOUN
alkej-316	9	32	[	[	X
alkej-316	9	33	2	2	NUM
alkej-316	9	34	]	]	PUNCT
alkej-316	9	35	.	.	PUNCT
alkej-316	10	1	in	in	ADP
alkej-316	10	2	the	the	DET
alkej-316	10	3	past	past	ADJ
alkej-316	10	4	several	several	ADJ
alkej-316	10	5	decades	decade	NOUN
alkej-316	10	6	,	,	PUNCT
alkej-316	10	7	research	research	NOUN
alkej-316	10	8	on	on	ADP
alkej-316	10	9	optimization	optimization	NOUN
alkej-316	10	10	algorithms	algorithm	NOUN
alkej-316	10	11	has	have	AUX
alkej-316	10	12	covered	cover	VERB
alkej-316	10	13	a	a	DET
alkej-316	10	14	wide	wide	ADJ
alkej-316	10	15	area	area	NOUN
alkej-316	10	16	of	of	ADP
alkej-316	10	17	researchers	researcher	NOUN
alkej-316	10	18	'	'	PART
alkej-316	10	19	attention	attention	NOUN
alkej-316	10	20	.	.	PUNCT
alkej-316	11	1	optimization	optimization	NOUN
alkej-316	11	2	methods	method	NOUN
alkej-316	11	3	and	and	CCONJ
alkej-316	11	4	algorithms	algorithm	NOUN
alkej-316	11	5	can	can	AUX
alkej-316	11	6	be	be	AUX
alkej-316	11	7	classified	classify	VERB
alkej-316	11	8	in	in	ADP
alkej-316	11	9	many	many	ADJ
alkej-316	11	10	arizmi	arizmi	ADJ
alkej-316	11	11	engineering	engineering	NOUN
alkej-316	11	12	journal	journal	NOUN
alkej-316	11	13	,	,	PUNCT
alkej-316	11	14	vol	vol	NOUN
alkej-316	11	15	.	.	PROPN
alkej-316	11	16	12	12	NUM
alkej-316	11	17	,	,	PUNCT
alkej-316	11	18	no	no	INTJ
alkej-316	11	19	.	.	NOUN
alkej-316	11	20	4	4	NUM
alkej-316	11	21	,	,	PUNCT
alkej-316	11	22	p.p	p.p	PROPN
alkej-316	11	23	.	.	NOUN
alkej-316	11	24	2635	2635	NUM
alkej-316	11	25	(	(	PUNCT
alkej-316	11	26	2016	2016	NUM
alkej-316	11	27	)	)	PUNCT
alkej-316	11	28	path	path	NOUN
alkej-316	11	29	planning	planning	NOUN
alkej-316	11	30	of	of	ADP
alkej-316	11	31	an	an	DET
alkej-316	11	32	autonomous	autonomous	ADJ
alkej-316	11	33	mobile	mobile	NOUN
alkej-316	11	34	robot	robot	NOUN
alkej-316	11	35	using	use	VERB
alkej-316	11	36	enhanced	enhance	VERB
alkej-316	11	37	bacterial	bacterial	ADJ
alkej-316	11	38	foraging	forage	VERB
alkej-316	11	39	optimization	optimization	NOUN
alkej-316	11	40	algorithm	algorithm	NOUN
alkej-316	11	41	adi	adi	PROPN
alkej-316	11	42	abbas	abbas	PROPN
alkej-316	11	43	*	*	PROPN
alkej-316	11	44	farah	farah	PROPN
alkej-316	11	45	mahdi	mahdi	PROPN
alkej-316	11	46	ali	ali	PROPN
alkej-316	12	1	*	*	PUNCT
alkej-316	12	2	*	*	PROPN
alkej-316	12	3	electrical	electrical	ADJ
alkej-316	12	4	engineering/	engineering/	NUM
alkej-316	12	5	college	college	NOUN
alkej-316	12	6	of	of	ADP
alkej-316	12	7	engineering/	engineering/	NUM
alkej-316	12	8	university	university	NOUN
alkej-316	12	9	of	of	ADP
alkej-316	12	10	baghdad	baghdad	PROPN
alkej-316	12	11	*	*	PUNCT
alkej-316	12	12	email	email	NOUN
alkej-316	12	13	:	:	PUNCT
alkej-316	13	1	drnizaralmsaodi@gmail.com	drnizaralmsaodi@gmail.com	X
alkej-316	13	2	*	*	PUNCT
alkej-316	13	3	*	*	NOUN
alkej-316	13	4	email	email	NOUN
alkej-316	13	5	:	:	PUNCT
alkej-316	13	6	farah95m@yahoo.com	farah95m@yahoo.com	X
alkej-316	13	7	(	(	PUNCT
alkej-316	13	8	received	receive	VERB
alkej-316	13	9	20	20	NUM
alkej-316	13	10	september	september	PROPN
alkej-316	13	11	2015	2015	NUM
alkej-316	13	12	;	;	PUNCT
alkej-316	13	13	accepted	accept	VERB
alkej-316	13	14	31	31	NUM
alkej-316	13	15	january	january	PROPN
alkej-316	13	16	2016	2016	NUM
alkej-316	13	17	)	)	PUNCT
alkej-316	14	1	http://dx.doi.org/10.22153/kej.2016.01.001	http://dx.doi.org/10.22153/kej.2016.01.001	X
alkej-316	14	2	the	the	DET
alkej-316	14	3	problem	problem	NOUN
alkej-316	14	4	of	of	ADP
alkej-316	14	5	online	online	ADJ
alkej-316	14	6	autonomous	autonomous	PROPN
alkej-316	14	7	mobile	mobile	PROPN
alkej-316	14	8	robot	robot	PROPN
alkej-316	14	9	path	path	NOUN
alkej-316	14	10	planning	planning	NOUN
alkej-316	14	11	,	,	PUNCT
alkej-316	14	12	which	which	PRON
alkej-316	14	13	is	be	AUX
alkej-316	14	14	consisted	consist	VERB
alkej-316	14	15	of	of	ADP
alkej-316	14	16	finding	find	VERB
alkej-316	14	17	optimal	optimal	ADJ
alkej-316	14	18	paths	path	NOUN
alkej-316	14	19	or	or	CCONJ
alkej-316	14	20	trajectories	trajectory	NOUN
alkej-316	14	21	for	for	ADP
alkej-316	14	22	an	an	DET
alkej-316	14	23	autonomous	autonomous	ADJ
alkej-316	14	24	mobile	mobile	NOUN
alkej-316	14	25	robot	robot	NOUN
alkej-316	14	26	from	from	ADP
alkej-316	14	27	a	a	DET
alkej-316	14	28	starting	starting	NOUN
alkej-316	14	29	point	point	NOUN
alkej-316	14	30	to	to	ADP
alkej-316	14	31	a	a	DET
alkej-316	14	32	destination	destination	NOUN
alkej-316	14	33	across	across	ADP
alkej-316	14	34	a	a	DET
alkej-316	14	35	flat	flat	ADJ
alkej-316	14	36	map	map	NOUN
alkej-316	14	37	of	of	ADP
alkej-316	14	38	a	a	DET
alkej-316	14	39	d	d	NOUN
alkej-316	14	40	workspace	workspace	NOUN
alkej-316	14	41	.	.	PUNCT
alkej-316	15	1	an	an	DET
alkej-316	15	2	enhanced	enhanced	ADJ
alkej-316	15	3	algorithm	algorithm	NOUN
alkej-316	15	4	for	for	ADP
alkej-316	15	5	solving	solve	VERB
alkej-316	15	6	the	the	DET
alkej-316	15	7	problem	problem	NOUN
alkej-316	15	8	of	of	ADP
alkej-316	15	9	path	path	NOUN
alkej-316	15	10	planning	planning	NOUN
alkej-316	15	11	using	use	VERB
alkej-316	15	12	bacterial	bacterial	ADJ
alkej-316	15	13	foraging	forage	VERB
alkej-316	15	14	optimization	optimization	NOUN
alkej-316	15	15	algorithm	algorithm	NOUN
alkej-316	15	16	is	be	AUX
alkej-316	15	17	presented	present	VERB
alkej-316	15	18	.	.	PUNCT
alkej-316	16	1	this	this	DET
alkej-316	16	2	nature	nature	NOUN
alkej-316	16	3	-	-	PUNCT
alkej-316	16	4	inspired	inspire	VERB
alkej-316	16	5	metaheuristic	metaheuristic	ADJ
alkej-316	16	6	algorithm	algorithm	NOUN
alkej-316	16	7	,	,	PUNCT
alkej-316	16	8	which	which	PRON
alkej-316	16	9	imitates	imitate	VERB
alkej-316	16	10	coli	coli	NOUN
alkej-316	16	11	bacteria	bacteria	NOUN
alkej-316	16	12	,	,	PUNCT
alkej-316	16	13	was	be	AUX
alkej-316	16	14	used	use	VERB
alkej-316	16	15	to	to	PART
alkej-316	16	16	find	find	VERB
alkej-316	16	17	the	the	DET
alkej-316	16	18	optimal	optimal	ADJ
alkej-316	16	19	path	path	NOUN
alkej-316	16	20	from	from	ADP
alkej-316	16	21	a	a	DET
alkej-316	16	22	starting	starting	NOUN
alkej-316	16	23	point	point	NOUN
alkej-316	16	24	to	to	ADP
alkej-316	16	25	a	a	DET
alkej-316	16	26	target	target	NOUN
alkej-316	16	27	point	point	NOUN
alkej-316	16	28	.	.	PUNCT
alkej-316	17	1	the	the	DET
alkej-316	17	2	demonstrated	demonstrate	VERB
alkej-316	17	3	by	by	ADP
alkej-316	17	4	simulations	simulation	NOUN
alkej-316	17	5	in	in	ADP
alkej-316	17	6	both	both	CCONJ
alkej-316	17	7	static	static	ADJ
alkej-316	17	8	and	and	CCONJ
alkej-316	17	9	dynamic	dynamic	ADJ
alkej-316	17	10	different	different	ADJ
alkej-316	17	11	environments	environment	NOUN
alkej-316	17	12	.	.	PUNCT
alkej-316	18	1	a	a	DET
alkej-316	18	2	com	com	NOUN
alkej-316	18	3	study	study	NOUN
alkej-316	18	4	was	be	AUX
alkej-316	18	5	evaluated	evaluate	VERB
alkej-316	18	6	between	between	ADP
alkej-316	18	7	the	the	DET
alkej-316	18	8	developed	develop	VERB
alkej-316	18	9	algorithm	algorithm	NOUN
alkej-316	18	10	and	and	CCONJ
alkej-316	18	11	other	other	ADJ
alkej-316	18	12	two	two	NUM
alkej-316	18	13	state	state	NOUN
alkej-316	18	14	-	-	PUNCT
alkej-316	18	15	of	of	ADP
alkej-316	18	16	-	-	PUNCT
alkej-316	18	17	the	the	DET
alkej-316	18	18	-	-	PUNCT
alkej-316	18	19	art	art	NOUN
alkej-316	18	20	algorithms	algorithm	NOUN
alkej-316	18	21	.	.	PUNCT
alkej-316	19	1	this	this	DET
alkej-316	19	2	study	study	NOUN
alkej-316	19	3	showed	show	VERB
alkej-316	19	4	that	that	SCONJ
alkej-316	19	5	the	the	DET
alkej-316	19	6	proposed	propose	VERB
alkej-316	19	7	method	method	NOUN
alkej-316	19	8	is	be	AUX
alkej-316	19	9	effective	effective	ADJ
alkej-316	19	10	and	and	CCONJ
alkej-316	19	11	produces	produce	VERB
alkej-316	19	12	trajectories	trajectory	NOUN
alkej-316	19	13	with	with	ADP
alkej-316	19	14	satisfactory	satisfactory	ADJ
alkej-316	19	15	results	result	NOUN
alkej-316	19	16	.	.	PUNCT
alkej-316	20	1	autonomous	autonomous	ADJ
alkej-316	20	2	mobile	mobile	PROPN
alkej-316	20	3	robot	robot	NOUN
alkej-316	20	4	,	,	PUNCT
alkej-316	20	5	path	path	NOUN
alkej-316	20	6	planning	planning	NOUN
alkej-316	20	7	,	,	PUNCT
alkej-316	20	8	static	static	ADJ
alkej-316	20	9	and	and	CCONJ
alkej-316	20	10	dynamic	dynamic	ADJ
alkej-316	20	11	environments	environment	NOUN
alkej-316	20	12	,	,	PUNCT
alkej-316	20	13	bacterial	bacterial	ADJ
alkej-316	20	14	foraging	forage	VERB
alkej-316	20	15	the	the	DET
alkej-316	20	16	field	field	NOUN
alkej-316	20	17	robot	robot	NOUN
alkej-316	20	18	path	path	NOUN
alkej-316	20	19	planning	planning	NOUN
alkej-316	20	20	was	be	AUX
alkej-316	20	21	launched	launch	VERB
alkej-316	20	22	at	at	ADP
alkej-316	20	23	the	the	DET
alkej-316	20	24	middle	middle	NOUN
alkej-316	20	25	of	of	ADP
alkej-316	20	26	the	the	DET
alkej-316	20	27	1960s	1960s	NUM
alkej-316	20	28	.	.	PUNCT
alkej-316	21	1	robot	robot	NOUN
alkej-316	21	2	path	path	PROPN
alkej-316	21	3	planning	planning	NOUN
alkej-316	21	4	is	be	AUX
alkej-316	21	5	an	an	DET
alkej-316	21	6	important	important	ADJ
alkej-316	21	7	problem	problem	NOUN
alkej-316	21	8	in	in	ADP
alkej-316	21	9	navigation	navigation	NOUN
alkej-316	21	10	of	of	ADP
alkej-316	21	11	mobile	mobile	NOUN
alkej-316	21	12	robots	robot	NOUN
alkej-316	21	13	.	.	PUNCT
alkej-316	22	1	the	the	DET
alkej-316	22	2	aim	aim	NOUN
alkej-316	22	3	is	be	AUX
alkej-316	22	4	to	to	PART
alkej-316	22	5	find	find	VERB
alkej-316	22	6	an	an	DET
alkej-316	22	7	optimal	optimal	ADJ
alkej-316	22	8	and	and	CCONJ
alkej-316	22	9	collision	collision	NOUN
alkej-316	22	10	-	-	PUNCT
alkej-316	22	11	free	free	ADJ
alkej-316	22	12	path	path	NOUN
alkej-316	22	13	from	from	ADP
alkej-316	22	14	a	a	DET
alkej-316	22	15	predefined	predefine	VERB
alkej-316	22	16	start	start	NOUN
alkej-316	22	17	position	position	NOUN
alkej-316	22	18	to	to	ADP
alkej-316	22	19	a	a	DET
alkej-316	22	20	target	target	NOUN
alkej-316	22	21	given	give	VERB
alkej-316	22	22	environment	environment	NOUN
alkej-316	22	23	.	.	PUNCT
alkej-316	23	1	generally	generally	ADV
alkej-316	23	2	,	,	PUNCT
alkej-316	23	3	there	there	PRON
alkej-316	23	4	are	be	VERB
alkej-316	23	5	many	many	ADJ
alkej-316	23	6	paths	path	NOUN
alkej-316	23	7	for	for	SCONJ
alkej-316	23	8	robot	robot	NOUN
alkej-316	23	9	to	to	PART
alkej-316	23	10	reach	reach	VERB
alkej-316	23	11	the	the	DET
alkej-316	23	12	target	target	NOUN
alkej-316	23	13	,	,	PUNCT
alkej-316	23	14	but	but	CCONJ
alkej-316	23	15	in	in	ADP
alkej-316	23	16	fact	fact	NOUN
alkej-316	23	17	,	,	PUNCT
alkej-316	23	18	the	the	DET
alkej-316	23	19	best	good	ADJ
alkej-316	23	20	path	path	NOUN
alkej-316	23	21	is	be	AUX
alkej-316	23	22	selected	select	VERB
alkej-316	23	23	according	accord	VERB
alkej-316	23	24	to	to	ADP
alkej-316	23	25	some	some	DET
alkej-316	23	26	guideline	guideline	NOUN
alkej-316	23	27	.	.	PUNCT
alkej-316	24	1	these	these	DET
alkej-316	24	2	guidelines	guideline	NOUN
alkej-316	24	3	are	be	AUX
alkej-316	24	4	:	:	PUNCT
alkej-316	24	5	shortest	short	ADJ
alkej-316	24	6	distance	distance	NOUN
alkej-316	24	7	,	,	PUNCT
alkej-316	24	8	least	least	ADJ
alkej-316	24	9	energy	energy	NOUN
alkej-316	24	10	consuming	consuming	NOUN
alkej-316	24	11	or	or	CCONJ
alkej-316	24	12	shortest	short	ADJ
alkej-316	24	13	time	time	NOUN
alkej-316	24	14	with	with	ADP
alkej-316	24	15	the	the	DET
alkej-316	24	16	ce	ce	PROPN
alkej-316	24	17	is	be	AUX
alkej-316	24	18	the	the	DET
alkej-316	24	19	most	most	ADV
alkej-316	24	20	adopted	adopt	VERB
alkej-316	24	21	criteria	criterion	NOUN
alkej-316	24	22	[	[	X
alkej-316	24	23	1	1	NUM
alkej-316	24	24	]	]	PUNCT
alkej-316	24	25	.	.	PUNCT
alkej-316	25	1	path	path	NOUN
alkej-316	25	2	planning	planning	NOUN
alkej-316	25	3	can	can	AUX
alkej-316	25	4	be	be	AUX
alkej-316	25	5	seen	see	VERB
alkej-316	25	6	as	as	ADP
alkej-316	25	7	an	an	DET
alkej-316	25	8	optimization	optimization	NOUN
alkej-316	25	9	problem	problem	NOUN
alkej-316	25	10	since	since	SCONJ
alkej-316	25	11	its	its	PRON
alkej-316	25	12	purpose	purpose	NOUN
alkej-316	25	13	is	be	AUX
alkej-316	25	14	to	to	PART
alkej-316	25	15	search	search	VERB
alkej-316	25	16	for	for	ADP
alkej-316	25	17	a	a	DET
alkej-316	25	18	path	path	NOUN
alkej-316	25	19	under	under	ADP
alkej-316	25	20	certain	certain	ADJ
alkej-316	25	21	constraints	constraint	NOUN
alkej-316	25	22	such	such	ADJ
alkej-316	25	23	as	as	ADP
alkej-316	25	24	the	the	DET
alkej-316	25	25	given	give	VERB
alkej-316	25	26	environment	environment	NOUN
alkej-316	25	27	with	with	ADP
alkej-316	25	28	collision	collision	NOUN
alkej-316	25	29	-	-	PUNCT
alkej-316	25	30	free	free	ADJ
alkej-316	25	31	everal	everal	ADJ
alkej-316	25	32	decades	decade	NOUN
alkej-316	25	33	,	,	PUNCT
alkej-316	25	34	research	research	NOUN
alkej-316	25	35	on	on	ADP
alkej-316	25	36	optimization	optimization	NOUN
alkej-316	25	37	algorithms	algorithm	NOUN
alkej-316	25	38	has	have	AUX
alkej-316	25	39	covered	cover	VERB
alkej-316	25	40	a	a	DET
alkej-316	25	41	wide	wide	ADJ
alkej-316	25	42	area	area	NOUN
alkej-316	25	43	of	of	ADP
alkej-316	25	44	researchers	researcher	NOUN
alkej-316	25	45	'	'	PART
alkej-316	25	46	attention	attention	NOUN
alkej-316	25	47	.	.	PUNCT
alkej-316	26	1	optimization	optimization	NOUN
alkej-316	26	2	methods	method	NOUN
alkej-316	26	3	and	and	CCONJ
alkej-316	26	4	algorithms	algorithm	NOUN
alkej-316	26	5	can	can	AUX
alkej-316	26	6	be	be	AUX
alkej-316	26	7	classified	classify	VERB
alkej-316	26	8	in	in	ADP
alkej-316	26	9	many	many	ADJ
alkej-316	26	10	types	type	NOUN
alkej-316	26	11	,	,	PUNCT
alkej-316	26	12	but	but	CCONJ
alkej-316	26	13	the	the	DET
alkej-316	26	14	simplest	simple	ADJ
alkej-316	26	15	way	way	NOUN
alkej-316	26	16	is	be	AUX
alkej-316	26	17	to	to	PART
alkej-316	26	18	look	look	VERB
alkej-316	26	19	at	at	ADP
alkej-316	26	20	the	the	DET
alkej-316	26	21	nature	nature	NOUN
alkej-316	26	22	of	of	ADP
alkej-316	26	23	the	the	DET
alkej-316	26	24	algorithm	algorithm	NOUN
alkej-316	26	25	,	,	PUNCT
alkej-316	26	26	and	and	CCONJ
alkej-316	26	27	this	this	PRON
alkej-316	26	28	grouped	group	VERB
alkej-316	26	29	the	the	DET
alkej-316	26	30	deterministic	deterministic	ADJ
alkej-316	26	31	and	and	CCONJ
alkej-316	26	32	stochastic	stochastic	ADJ
alkej-316	26	33	[	[	X
alkej-316	26	34	3	3	NUM
alkej-316	26	35	,	,	PUNCT
alkej-316	26	36	4	4	NUM
alkej-316	26	37	]	]	PUNCT
alkej-316	26	38	where	where	SCONJ
alkej-316	26	39	deterministic	deterministic	ADJ
alkej-316	26	40	techniques	technique	NOUN
alkej-316	26	41	depend	depend	VERB
alkej-316	26	42	on	on	ADP
alkej-316	26	43	the	the	DET
alkej-316	26	44	mathematical	mathematical	ADJ
alkej-316	26	45	nature	nature	NOUN
alkej-316	26	46	of	of	ADP
alkej-316	26	47	the	the	DET
alkej-316	26	48	problem	problem	NOUN
alkej-316	26	49	,	,	PUNCT
alkej-316	26	50	while	while	SCONJ
alkej-316	26	51	stochastic	stochastic	ADJ
alkej-316	26	52	techniques	technique	NOUN
alkej-316	26	53	do	do	AUX
alkej-316	26	54	not	not	PART
alkej-316	26	55	depend	depend	VERB
alkej-316	26	56	on	on	ADP
alkej-316	26	57	the	the	DET
alkej-316	26	58	mathematical	mathematical	ADJ
alkej-316	26	59	properties	property	NOUN
alkej-316	26	60	of	of	ADP
alkej-316	26	61	a	a	DET
alkej-316	26	62	given	give	VERB
alkej-316	26	63	function	function	NOUN
alkej-316	26	64	and	and	CCONJ
alkej-316	26	65	are	be	AUX
alkej-316	26	66	hence	hence	ADV
alkej-316	26	67	more	more	ADV
alkej-316	26	68	appropriate	appropriate	ADJ
alkej-316	26	69	for	for	SCONJ
alkej-316	26	70	find	find	VERB
alkej-316	26	71	optimal	optimal	ADJ
alkej-316	26	72	solutions	solution	NOUN
alkej-316	26	73	for	for	ADP
alkej-316	26	74	any	any	DET
alkej-316	26	75	type	type	NOUN
alkej-316	26	76	of	of	ADP
alkej-316	26	77	objective	objective	ADJ
alkej-316	26	78	function	function	NOUN
alkej-316	26	79	.	.	PUNCT
alkej-316	27	1	however	however	ADV
alkej-316	27	2	,	,	PUNCT
alkej-316	27	3	the	the	DET
alkej-316	27	4	weaknesses	weakness	NOUN
alkej-316	27	5	of	of	ADP
alkej-316	27	6	first	first	ADJ
alkej-316	27	7	technique	technique	NOUN
alkej-316	27	8	are	be	AUX
alkej-316	27	9	its	its	PRON
alkej-316	27	10	dependence	dependence	NOUN
alkej-316	27	11	on	on	ADP
alkej-316	27	12	gradient	gradient	NOUN
alkej-316	27	13	,	,	PUNCT
alkej-316	27	14	local	local	ADJ
alkej-316	27	15	optima	optima	NOUN
alkej-316	27	16	and	and	CCONJ
alkej-316	27	17	inefficient	inefficient	ADJ
alkej-316	27	18	in	in	ADP
alkej-316	27	19	large	large	ADJ
alkej-316	27	20	and	and	CCONJ
alkej-316	27	21	can	can	AUX
alkej-316	27	22	not	not	PART
alkej-316	27	23	solve	solve	VERB
alkej-316	27	24	discrete	discrete	ADJ
alkej-316	27	25	functions	function	NOUN
alkej-316	27	26	.	.	PUNCT
alkej-316	28	1	stochastic	stochastic	ADJ
alkej-316	28	2	techniques	technique	NOUN
alkej-316	28	3	are	be	AUX
alkej-316	28	4	considered	consider	VERB
alkej-316	28	5	to	to	PART
alkej-316	28	6	be	be	AUX
alkej-316	28	7	more	more	ADJ
alkej-316	28	8	users	user	NOUN
alkej-316	28	9	friendly	friendly	ADJ
alkej-316	28	10	.	.	PUNCT
alkej-316	29	1	as	as	SCONJ
alkej-316	29	2	many	many	ADJ
alkej-316	29	3	real	real	ADJ
alkej-316	29	4	problems	problem	NOUN
alkej-316	29	5	become	become	VERB
alkej-316	29	6	increasingly	increasingly	ADV
alkej-316	29	7	complex	complex	ADJ
alkej-316	29	8	,	,	PUNCT
alkej-316	29	9	using	use	VERB
alkej-316	29	10	stochastic	stochastic	ADJ
alkej-316	29	11	methods	method	NOUN
alkej-316	29	12	is	be	AUX
alkej-316	29	13	inevitable	inevitable	ADJ
alkej-316	29	14	.	.	PUNCT
alkej-316	30	1	these	these	DET
alkej-316	30	2	algorithms	algorithm	NOUN
alkej-316	30	3	have	have	AUX
alkej-316	30	4	been	be	AUX
alkej-316	30	5	found	find	VERB
alkej-316	30	6	to	to	PART
alkej-316	30	7	perform	perform	VERB
alkej-316	30	8	better	well	ADJ
alkej-316	30	9	than	than	ADP
alkej-316	30	10	the	the	DET
alkej-316	30	11	classical	classical	ADJ
alkej-316	30	12	or	or	CCONJ
alkej-316	30	13	gradient	gradient	NOUN
alkej-316	30	14	-	-	PUNCT
alkej-316	30	15	based	base	VERB
alkej-316	30	16	methods	method	NOUN
alkej-316	30	17	,	,	PUNCT
alkej-316	30	18	esp	esp	ADJ
alkej-316	30	19	optimizing	optimize	VERB
alkej-316	30	20	the	the	DET
alkej-316	30	21	non	non	ADJ
alkej-316	30	22	-	-	NOUN
alkej-316	30	23	diff	diff	ADJ
alkej-316	30	24	and	and	CCONJ
alkej-316	30	25	discrete	discrete	ADJ
alkej-316	30	26	complex	complex	ADJ
alkej-316	30	27	functions	function	NOUN
alkej-316	30	28	.	.	PUNCT
alkej-316	31	1	some	some	DET
alkej-316	31	2	e	e	PROPN
alkej-316	31	3	al	al	PROPN
alkej-316	31	4	-	-	PUNCT
alkej-316	31	5	khwarizmi	khwarizmi	PROPN
alkej-316	31	6	engineering	engineering	NOUN
alkej-316	31	7	journal	journal	PROPN
alkej-316	31	8	(	(	PUNCT
alkej-316	31	9	2016	2016	NUM
alkej-316	31	10	)	)	PUNCT
alkej-316	31	11	mobile	mobile	NOUN
alkej-316	31	12	robot	robot	NOUN
alkej-316	31	13	using	use	VERB
alkej-316	31	14	enhanced	enhanced	ADJ
alkej-316	31	15	algorithm	algorithm	NOUN
alkej-316	31	16	*	*	PUNCT
alkej-316	31	17	*	*	PUNCT
alkej-316	31	18	/	/	SYM
alkej-316	31	19	college	college	NOUN
alkej-316	31	20	of	of	ADP
alkej-316	31	21	engineering/	engineering/	NUM
alkej-316	31	22	university	university	NOUN
alkej-316	31	23	of	of	ADP
alkej-316	31	24	baghdad	baghdad	PROPN
alkej-316	31	25	the	the	DET
alkej-316	31	26	problem	problem	NOUN
alkej-316	31	27	of	of	ADP
alkej-316	31	28	online	online	ADJ
alkej-316	31	29	autonomous	autonomous	PROPN
alkej-316	31	30	mobile	mobile	PROPN
alkej-316	31	31	robot	robot	PROPN
alkej-316	31	32	path	path	NOUN
alkej-316	31	33	planning	planning	NOUN
alkej-316	31	34	,	,	PUNCT
alkej-316	31	35	which	which	PRON
alkej-316	31	36	is	be	AUX
alkej-316	31	37	consisted	consist	VERB
alkej-316	31	38	of	of	ADP
alkej-316	31	39	finding	find	VERB
alkej-316	31	40	optimal	optimal	ADJ
alkej-316	31	41	paths	path	NOUN
alkej-316	31	42	or	or	CCONJ
alkej-316	31	43	trajectories	trajectory	NOUN
alkej-316	31	44	for	for	ADP
alkej-316	31	45	an	an	DET
alkej-316	31	46	autonomous	autonomous	ADJ
alkej-316	31	47	mobile	mobile	NOUN
alkej-316	31	48	robot	robot	NOUN
alkej-316	31	49	from	from	ADP
alkej-316	31	50	a	a	DET
alkej-316	31	51	starting	starting	NOUN
alkej-316	31	52	point	point	NOUN
alkej-316	31	53	to	to	ADP
alkej-316	31	54	a	a	DET
alkej-316	31	55	destination	destination	NOUN
alkej-316	31	56	across	across	ADP
alkej-316	31	57	a	a	DET
alkej-316	31	58	flat	flat	ADJ
alkej-316	31	59	map	map	NOUN
alkej-316	31	60	of	of	ADP
alkej-316	31	61	a	a	PRON
alkej-316	31	62	n	n	ADV
alkej-316	31	63	enhanced	enhance	VERB
alkej-316	31	64	algorithm	algorithm	NOUN
alkej-316	31	65	for	for	ADP
alkej-316	31	66	solving	solve	VERB
alkej-316	31	67	the	the	DET
alkej-316	31	68	problem	problem	NOUN
alkej-316	31	69	of	of	ADP
alkej-316	31	70	path	path	NOUN
alkej-316	31	71	planning	planning	NOUN
alkej-316	31	72	using	use	VERB
alkej-316	31	73	inspired	inspire	VERB
alkej-316	31	74	metaheuristic	metaheuristic	ADJ
alkej-316	31	75	algorithm	algorithm	NOUN
alkej-316	31	76	,	,	PUNCT
alkej-316	31	77	which	which	PRON
alkej-316	31	78	imitates	imitate	VERB
alkej-316	31	79	path	path	NOUN
alkej-316	31	80	from	from	ADP
alkej-316	31	81	a	a	DET
alkej-316	31	82	starting	starting	NOUN
alkej-316	31	83	point	point	NOUN
alkej-316	31	84	to	to	ADP
alkej-316	31	85	a	a	DET
alkej-316	31	86	target	target	NOUN
alkej-316	31	87	point	point	NOUN
alkej-316	31	88	.	.	PUNCT
alkej-316	32	1	the	the	DET
alkej-316	32	2	simulations	simulation	NOUN
alkej-316	32	3	in	in	ADP
alkej-316	32	4	both	both	CCONJ
alkej-316	32	5	static	static	ADJ
alkej-316	32	6	and	and	CCONJ
alkej-316	32	7	dynamic	dynamic	ADJ
alkej-316	32	8	different	different	ADJ
alkej-316	32	9	environments	environment	NOUN
alkej-316	32	10	.	.	PUNCT
alkej-316	33	1	a	a	DET
alkej-316	33	2	comparative	comparative	ADJ
alkej-316	33	3	hms	hms	NOUN
alkej-316	33	4	.	.	PUNCT
alkej-316	34	1	this	this	DET
alkej-316	34	2	study	study	NOUN
alkej-316	34	3	showed	show	VERB
alkej-316	34	4	that	that	SCONJ
alkej-316	34	5	path	path	NOUN
alkej-316	34	6	planning	planning	NOUN
alkej-316	34	7	,	,	PUNCT
alkej-316	34	8	static	static	ADJ
alkej-316	34	9	and	and	CCONJ
alkej-316	34	10	dynamic	dynamic	ADJ
alkej-316	34	11	environments	environment	NOUN
alkej-316	34	12	,	,	PUNCT
alkej-316	34	13	bacterial	bacterial	ADJ
alkej-316	34	14	foraging	forage	VERB
alkej-316	34	15	types	type	NOUN
alkej-316	34	16	,	,	PUNCT
alkej-316	34	17	but	but	CCONJ
alkej-316	34	18	the	the	DET
alkej-316	34	19	simplest	simple	ADJ
alkej-316	34	20	way	way	NOUN
alkej-316	34	21	is	be	AUX
alkej-316	34	22	to	to	PART
alkej-316	34	23	look	look	VERB
alkej-316	34	24	at	at	ADP
alkej-316	34	25	the	the	DET
alkej-316	34	26	nature	nature	NOUN
alkej-316	34	27	of	of	ADP
alkej-316	34	28	the	the	DET
alkej-316	34	29	algorithm	algorithm	NOUN
alkej-316	34	30	,	,	PUNCT
alkej-316	34	31	and	and	CCONJ
alkej-316	34	32	this	this	PRON
alkej-316	34	33	grouped	group	VERB
alkej-316	34	34	them	they	PRON
alkej-316	34	35	into	into	ADP
alkej-316	34	36	deterministic	deterministic	ADJ
alkej-316	34	37	and	and	CCONJ
alkej-316	34	38	stochastic	stochastic	ADJ
alkej-316	34	39	[	[	X
alkej-316	34	40	3	3	NUM
alkej-316	34	41	,	,	PUNCT
alkej-316	34	42	4	4	NUM
alkej-316	34	43	]	]	PUNCT
alkej-316	34	44	where	where	SCONJ
alkej-316	34	45	deterministic	deterministic	ADJ
alkej-316	34	46	techniques	technique	NOUN
alkej-316	34	47	depend	depend	VERB
alkej-316	34	48	on	on	ADP
alkej-316	34	49	the	the	DET
alkej-316	34	50	mathematical	mathematical	ADJ
alkej-316	34	51	nature	nature	NOUN
alkej-316	34	52	of	of	ADP
alkej-316	34	53	the	the	DET
alkej-316	34	54	problem	problem	NOUN
alkej-316	34	55	,	,	PUNCT
alkej-316	34	56	while	while	SCONJ
alkej-316	34	57	stochastic	stochastic	ADJ
alkej-316	34	58	techniques	technique	NOUN
alkej-316	34	59	do	do	AUX
alkej-316	34	60	not	not	PART
alkej-316	34	61	depend	depend	VERB
alkej-316	34	62	on	on	ADP
alkej-316	34	63	the	the	DET
alkej-316	34	64	mathematical	mathematical	ADJ
alkej-316	34	65	properties	property	NOUN
alkej-316	34	66	of	of	ADP
alkej-316	34	67	a	a	DET
alkej-316	34	68	given	give	VERB
alkej-316	34	69	function	function	NOUN
alkej-316	34	70	and	and	CCONJ
alkej-316	34	71	are	be	AUX
alkej-316	34	72	hence	hence	ADV
alkej-316	34	73	more	more	ADV
alkej-316	34	74	appropriate	appropriate	ADJ
alkej-316	34	75	for	for	ADP
alkej-316	34	76	finding	find	VERB
alkej-316	34	77	the	the	DET
alkej-316	34	78	global	global	ADJ
alkej-316	34	79	optimal	optimal	ADJ
alkej-316	34	80	solutions	solution	NOUN
alkej-316	34	81	for	for	ADP
alkej-316	34	82	any	any	DET
alkej-316	34	83	type	type	NOUN
alkej-316	34	84	of	of	ADP
alkej-316	34	85	objective	objective	ADJ
alkej-316	34	86	function	function	NOUN
alkej-316	34	87	.	.	PUNCT
alkej-316	35	1	however	however	ADV
alkej-316	35	2	,	,	PUNCT
alkej-316	35	3	the	the	DET
alkej-316	35	4	weaknesses	weakness	NOUN
alkej-316	35	5	of	of	ADP
alkej-316	35	6	first	first	ADJ
alkej-316	35	7	technique	technique	NOUN
alkej-316	35	8	are	be	AUX
alkej-316	35	9	its	its	PRON
alkej-316	35	10	dependence	dependence	NOUN
alkej-316	35	11	on	on	ADP
alkej-316	35	12	gradient	gradient	NOUN
alkej-316	35	13	,	,	PUNCT
alkej-316	35	14	local	local	ADJ
alkej-316	35	15	cient	cient	NOUN
alkej-316	35	16	in	in	ADP
alkej-316	35	17	large	large	ADJ
alkej-316	35	18	-	-	PUNCT
alkej-316	35	19	scale	scale	NOUN
alkej-316	35	20	search	search	NOUN
alkej-316	35	21	space	space	NOUN
alkej-316	35	22	and	and	CCONJ
alkej-316	35	23	can	can	AUX
alkej-316	35	24	not	not	PART
alkej-316	35	25	solve	solve	VERB
alkej-316	35	26	discrete	discrete	ADJ
alkej-316	35	27	functions	function	NOUN
alkej-316	35	28	.	.	PUNCT
alkej-316	36	1	stochastic	stochastic	ADJ
alkej-316	36	2	ues	ue	NOUN
alkej-316	36	3	are	be	AUX
alkej-316	36	4	considered	consider	VERB
alkej-316	36	5	to	to	PART
alkej-316	36	6	be	be	AUX
alkej-316	36	7	more	more	ADJ
alkej-316	36	8	users	user	NOUN
alkej-316	36	9	friendly	friendly	ADJ
alkej-316	36	10	.	.	PUNCT
alkej-316	37	1	as	as	SCONJ
alkej-316	37	2	many	many	ADJ
alkej-316	37	3	real	real	ADJ
alkej-316	37	4	-	-	PUNCT
alkej-316	37	5	world	world	NOUN
alkej-316	37	6	optimization	optimization	NOUN
alkej-316	37	7	problems	problem	NOUN
alkej-316	37	8	become	become	VERB
alkej-316	37	9	increasingly	increasingly	ADV
alkej-316	37	10	complex	complex	ADJ
alkej-316	37	11	,	,	PUNCT
alkej-316	37	12	using	use	VERB
alkej-316	37	13	stochastic	stochastic	ADJ
alkej-316	37	14	methods	method	NOUN
alkej-316	37	15	is	be	AUX
alkej-316	37	16	inevitable	inevitable	ADJ
alkej-316	37	17	.	.	PUNCT
alkej-316	38	1	these	these	DET
alkej-316	38	2	algorithms	algorithm	NOUN
alkej-316	38	3	have	have	AUX
alkej-316	38	4	been	be	AUX
alkej-316	38	5	found	find	VERB
alkej-316	38	6	to	to	PART
alkej-316	38	7	perform	perform	VERB
alkej-316	38	8	better	well	ADJ
alkej-316	38	9	than	than	ADP
alkej-316	38	10	the	the	DET
alkej-316	38	11	based	base	VERB
alkej-316	38	12	methods	method	NOUN
alkej-316	38	13	,	,	PUNCT
alkej-316	38	14	especially	especially	ADV
alkej-316	38	15	for	for	ADP
alkej-316	38	16	fferentiable	fferentiable	ADJ
alkej-316	38	17	,	,	PUNCT
alkej-316	38	18	multimodal	multimodal	ADJ
alkej-316	38	19	,	,	PUNCT
alkej-316	38	20	and	and	CCONJ
alkej-316	38	21	discrete	discrete	ADJ
alkej-316	38	22	complex	complex	ADJ
alkej-316	38	23	functions	function	NOUN
alkej-316	38	24	.	.	PUNCT
alkej-316	39	1	some	some	DET
alkej-316	39	2	effective	effective	ADJ
alkej-316	39	3	nizar	nizar	NOUN
alkej-316	39	4	hadi	hadi	PROPN
alkej-316	39	5	abbas	abbas	PROPN
alkej-316	39	6	al	al	PROPN
alkej-316	39	7	-	-	PUNCT
alkej-316	39	8	khwarizmi	khwarizmi	PROPN
alkej-316	39	9	engineering	engineering	NOUN
alkej-316	39	10	journal	journal	PROPN
alkej-316	39	11	,	,	PUNCT
alkej-316	39	12	vol	vol	NOUN
alkej-316	39	13	.	.	PROPN
alkej-316	39	14	12	12	NUM
alkej-316	39	15	,	,	PUNCT
alkej-316	39	16	no	no	INTJ
alkej-316	39	17	.	.	NOUN
alkej-316	39	18	4	4	NUM
alkej-316	39	19	,	,	PUNCT
alkej-316	39	20	p.p	p.p	PROPN
alkej-316	39	21	.	.	NOUN
alkej-316	39	22	2635(2016	2635(2016	NUM
alkej-316	39	23	)	)	PUNCT
alkej-316	39	24	27	27	NUM
alkej-316	39	25	stochastic	stochastic	ADJ
alkej-316	39	26	techniques	technique	NOUN
alkej-316	39	27	that	that	PRON
alkej-316	39	28	mimic	mimic	VERB
alkej-316	39	29	the	the	DET
alkej-316	39	30	behaviors	behavior	NOUN
alkej-316	39	31	of	of	ADP
alkej-316	39	32	certain	certain	ADJ
alkej-316	39	33	animals	animal	NOUN
alkej-316	39	34	or	or	CCONJ
alkej-316	39	35	insects	insect	NOUN
alkej-316	39	36	(	(	PUNCT
alkej-316	39	37	birds	bird	NOUN
alkej-316	39	38	,	,	PUNCT
alkej-316	39	39	ants	ant	NOUN
alkej-316	39	40	,	,	PUNCT
alkej-316	39	41	bees	bee	NOUN
alkej-316	39	42	,	,	PUNCT
alkej-316	39	43	flies	fly	NOUN
alkej-316	39	44	and	and	CCONJ
alkej-316	39	45	even	even	ADV
alkej-316	39	46	germs	germ	NOUN
alkej-316	39	47	!	!	PUNCT
alkej-316	39	48	)	)	PUNCT
alkej-316	40	1	and	and	CCONJ
alkej-316	40	2	called	call	VERB
alkej-316	40	3	nature	nature	NOUN
alkej-316	40	4	-	-	PUNCT
alkej-316	40	5	inspired	inspire	VERB
alkej-316	40	6	algorithms	algorithm	NOUN
alkej-316	40	7	have	have	AUX
alkej-316	40	8	been	be	AUX
alkej-316	40	9	developed	develop	VERB
alkej-316	40	10	since	since	SCONJ
alkej-316	40	11	1980s	1980s	NUM
alkej-316	40	12	.	.	PUNCT
alkej-316	41	1	currently	currently	ADV
alkej-316	41	2	,	,	PUNCT
alkej-316	41	3	these	these	DET
alkej-316	41	4	nature	nature	NOUN
alkej-316	41	5	-	-	PUNCT
alkej-316	41	6	inspired	inspire	VERB
alkej-316	41	7	paradigms	paradigm	NOUN
alkej-316	41	8	have	have	AUX
alkej-316	41	9	already	already	ADV
alkej-316	41	10	come	come	VERB
alkej-316	41	11	to	to	PART
alkej-316	41	12	be	be	AUX
alkej-316	41	13	widely	widely	ADV
alkej-316	41	14	used	use	VERB
alkej-316	41	15	in	in	ADP
alkej-316	41	16	many	many	ADJ
alkej-316	41	17	areas	area	NOUN
alkej-316	41	18	in	in	ADP
alkej-316	41	19	engineering	engineering	NOUN
alkej-316	41	20	fields	field	NOUN
alkej-316	41	21	[	[	X
alkej-316	41	22	5	5	NUM
alkej-316	41	23	,	,	PUNCT
alkej-316	41	24	6	6	NUM
alkej-316	41	25	]	]	PUNCT
alkej-316	41	26	.	.	PUNCT
alkej-316	42	1	some	some	PRON
alkej-316	42	2	of	of	ADP
alkej-316	42	3	these	these	DET
alkej-316	42	4	algorithms	algorithm	NOUN
alkej-316	42	5	are	be	AUX
alkej-316	42	6	particle	particle	NOUN
alkej-316	42	7	swarm	swarm	NOUN
alkej-316	42	8	optimization	optimization	NOUN
alkej-316	42	9	(	(	PUNCT
alkej-316	42	10	pso	pso	NOUN
alkej-316	42	11	)	)	PUNCT
alkej-316	43	1	[	[	X
alkej-316	43	2	7	7	NUM
alkej-316	43	3	]	]	PUNCT
alkej-316	43	4	,	,	PUNCT
alkej-316	43	5	ant	ant	ADJ
alkej-316	43	6	colony	colony	NOUN
alkej-316	43	7	optimization	optimization	NOUN
alkej-316	43	8	(	(	PUNCT
alkej-316	43	9	aco	aco	PROPN
alkej-316	43	10	)	)	PUNCT
alkej-316	44	1	[	[	X
alkej-316	44	2	8	8	NUM
alkej-316	44	3	]	]	PUNCT
alkej-316	44	4	,	,	PUNCT
alkej-316	44	5	artificial	artificial	ADJ
alkej-316	44	6	bee	bee	NOUN
alkej-316	44	7	colony	colony	NOUN
alkej-316	44	8	(	(	PUNCT
alkej-316	44	9	abc	abc	PROPN
alkej-316	44	10	)	)	PUNCT
alkej-316	45	1	[	[	X
alkej-316	45	2	9	9	NUM
alkej-316	45	3	]	]	PUNCT
alkej-316	45	4	and	and	CCONJ
alkej-316	45	5	bacteria	bacteria	NOUN
alkej-316	45	6	foraging	forage	VERB
alkej-316	45	7	optimization	optimization	NOUN
alkej-316	45	8	(	(	PUNCT
alkej-316	45	9	bfo	bfo	PROPN
alkej-316	45	10	)	)	PUNCT
alkej-316	46	1	[	[	X
alkej-316	46	2	10	10	NUM
alkej-316	46	3	]	]	PUNCT
alkej-316	46	4	.	.	PUNCT
alkej-316	47	1	the	the	DET
alkej-316	47	2	bacteria	bacteria	NOUN
alkej-316	47	3	foraging	forage	VERB
alkej-316	47	4	optimization	optimization	NOUN
alkej-316	47	5	(	(	PUNCT
alkej-316	47	6	bfo	bfo	PROPN
alkej-316	47	7	)	)	PUNCT
alkej-316	47	8	optimization	optimization	NOUN
alkej-316	47	9	is	be	AUX
alkej-316	47	10	one	one	NUM
alkej-316	47	11	of	of	ADP
alkej-316	47	12	the	the	DET
alkej-316	47	13	most	most	ADV
alkej-316	47	14	-	-	PUNCT
alkej-316	47	15	recent	recent	ADJ
alkej-316	47	16	population	population	NOUN
alkej-316	47	17	based	base	VERB
alkej-316	47	18	(	(	PUNCT
alkej-316	47	19	swarm	swarm	NOUN
alkej-316	47	20	intelligence	intelligence	NOUN
alkej-316	47	21	based	base	VERB
alkej-316	47	22	)	)	PUNCT
alkej-316	47	23	meta	meta	ADJ
alkej-316	47	24	-	-	PUNCT
alkej-316	47	25	heuristic	heuristic	ADJ
alkej-316	47	26	algorithms	algorithm	NOUN
alkej-316	47	27	,	,	PUNCT
alkej-316	47	28	which	which	PRON
alkej-316	47	29	simulate	simulate	VERB
alkej-316	47	30	the	the	DET
alkej-316	47	31	foraging	forage	VERB
alkej-316	47	32	behavior	behavior	NOUN
alkej-316	47	33	of	of	ADP
alkej-316	47	34	ecoli	ecoli	NOUN
alkej-316	47	35	colonies	colony	NOUN
alkej-316	47	36	.	.	PUNCT
alkej-316	48	1	it	it	PRON
alkej-316	48	2	proposed	propose	VERB
alkej-316	48	3	by	by	ADP
alkej-316	48	4	k.	k.	PROPN
alkej-316	48	5	m.	m.	PROPN
alkej-316	48	6	passino	passino	PROPN
alkej-316	49	1	[	[	X
alkej-316	49	2	10	10	NUM
alkej-316	49	3	]	]	PUNCT
alkej-316	49	4	in	in	ADP
alkej-316	49	5	2002.bfo	2002.bfo	PROPN
alkej-316	49	6	is	be	AUX
alkej-316	49	7	a	a	DET
alkej-316	49	8	simple	simple	ADJ
alkej-316	49	9	but	but	CCONJ
alkej-316	49	10	powerfulbioinspired	powerfulbioinspire	VERB
alkej-316	49	11	optimization	optimization	NOUN
alkej-316	49	12	technique	technique	NOUN
alkej-316	49	13	uses	use	VERB
alkej-316	49	14	the	the	DET
alkej-316	49	15	analogy	analogy	NOUN
alkej-316	49	16	of	of	ADP
alkej-316	49	17	swarming	swarm	VERB
alkej-316	49	18	principles	principle	NOUN
alkej-316	49	19	and	and	CCONJ
alkej-316	49	20	social	social	ADJ
alkej-316	49	21	behavior	behavior	NOUN
alkej-316	49	22	in	in	ADP
alkej-316	49	23	nature	nature	NOUN
alkej-316	49	24	swarm	swarm	NOUN
alkej-316	49	25	intelligence	intelligence	NOUN
alkej-316	49	26	and	and	CCONJ
alkej-316	49	27	it	it	PRON
alkej-316	49	28	have	have	AUX
alkej-316	49	29	been	be	AUX
alkej-316	49	30	adopted	adopt	VERB
alkej-316	49	31	to	to	PART
alkej-316	49	32	solve	solve	VERB
alkej-316	49	33	a	a	DET
alkej-316	49	34	variety	variety	NOUN
alkej-316	49	35	of	of	ADP
alkej-316	49	36	engineering	engineering	NOUN
alkej-316	49	37	and	and	CCONJ
alkej-316	49	38	mobile	mobile	ADJ
alkej-316	49	39	robotics	robotic	NOUN
alkej-316	49	40	problems	problem	NOUN
alkej-316	49	41	,	,	PUNCT
alkej-316	49	42	including	include	VERB
alkej-316	49	43	path	path	NOUN
alkej-316	49	44	planning	planning	NOUN
alkej-316	49	45	problem	problem	NOUN
alkej-316	49	46	[	[	X
alkej-316	49	47	11	11	NUM
alkej-316	49	48	]	]	PUNCT
alkej-316	49	49	.	.	PUNCT
alkej-316	50	1	in	in	ADP
alkej-316	50	2	this	this	DET
alkej-316	50	3	paper	paper	NOUN
alkej-316	50	4	,	,	PUNCT
alkej-316	50	5	an	an	DET
alkej-316	50	6	enhanced	enhanced	ADJ
alkej-316	50	7	version	version	NOUN
alkej-316	50	8	of	of	ADP
alkej-316	50	9	the	the	DET
alkej-316	50	10	bfo	bfo	PROPN
alkej-316	50	11	algorithm	algorithm	PROPN
alkej-316	50	12	called	call	VERB
alkej-316	50	13	adaptive	adaptive	PROPN
alkej-316	50	14	tumble	tumble	PROPN
alkej-316	50	15	bfo	bfo	PROPN
alkej-316	50	16	(	(	PUNCT
alkej-316	50	17	atbfo	atbfo	PROPN
alkej-316	50	18	)	)	PUNCT
alkej-316	50	19	is	be	AUX
alkej-316	50	20	proposed	propose	VERB
alkej-316	50	21	.	.	PUNCT
alkej-316	51	1	a	a	DET
alkej-316	51	2	method	method	NOUN
alkej-316	51	3	for	for	ADP
alkej-316	51	4	recording	record	VERB
alkej-316	51	5	the	the	DET
alkej-316	51	6	best	good	ADJ
alkej-316	51	7	positions	position	NOUN
alkej-316	51	8	achieved	achieve	VERB
alkej-316	51	9	by	by	ADP
alkej-316	51	10	the	the	DET
alkej-316	51	11	bacteria	bacteria	NOUN
alkej-316	51	12	so	so	ADV
alkej-316	51	13	far	far	ADV
alkej-316	51	14	and	and	CCONJ
alkej-316	51	15	saving	save	VERB
alkej-316	51	16	those	those	DET
alkej-316	51	17	directions	direction	NOUN
alkej-316	51	18	as	as	SCONJ
alkej-316	51	19	a	a	DET
alkej-316	51	20	guide	guide	NOUN
alkej-316	51	21	to	to	ADP
alkej-316	51	22	better	well	ADJ
alkej-316	51	23	potential	potential	ADJ
alkej-316	51	24	candidate	candidate	NOUN
alkej-316	51	25	solutions	solution	NOUN
alkej-316	51	26	is	be	AUX
alkej-316	51	27	proposed	propose	VERB
alkej-316	51	28	.	.	PUNCT
alkej-316	52	1	the	the	DET
alkej-316	52	2	rest	rest	NOUN
alkej-316	52	3	of	of	ADP
alkej-316	52	4	this	this	DET
alkej-316	52	5	paper	paper	NOUN
alkej-316	52	6	is	be	AUX
alkej-316	52	7	organized	organize	VERB
alkej-316	52	8	as	as	SCONJ
alkej-316	52	9	follows	follow	VERB
alkej-316	52	10	:	:	PUNCT
alkej-316	52	11	section	section	NOUN
alkej-316	52	12	2	2	NUM
alkej-316	52	13	describes	describe	VERB
alkej-316	52	14	path	path	NOUN
alkej-316	52	15	planning	planning	NOUN
alkej-316	52	16	and	and	CCONJ
alkej-316	52	17	problem	problem	NOUN
alkej-316	52	18	formulation	formulation	NOUN
alkej-316	52	19	;	;	PUNCT
alkej-316	52	20	section	section	NOUN
alkej-316	52	21	3	3	NUM
alkej-316	52	22	describes	describe	VERB
alkej-316	52	23	the	the	DET
alkej-316	52	24	standard	standard	ADJ
alkej-316	52	25	bfo	bfo	PROPN
alkej-316	52	26	algorithm	algorithm	PROPN
alkej-316	52	27	;	;	PUNCT
alkej-316	52	28	section	section	NOUN
alkej-316	52	29	4	4	NUM
alkej-316	52	30	describes	describe	VERB
alkej-316	52	31	the	the	DET
alkej-316	52	32	proposed	propose	VERB
alkej-316	52	33	atbfo	atbfo	NOUN
alkej-316	52	34	algorithm	algorithm	NOUN
alkej-316	52	35	;	;	PUNCT
alkej-316	52	36	section	section	NOUN
alkej-316	52	37	5	5	NUM
alkej-316	52	38	explains	explain	VERB
alkej-316	52	39	robot	robot	NOUN
alkej-316	52	40	path	path	NOUN
alkej-316	52	41	planning	planning	NOUN
alkej-316	52	42	using	use	VERB
alkej-316	52	43	atbfo	atbfo	NOUN
alkej-316	52	44	,	,	PUNCT
alkej-316	52	45	and	and	CCONJ
alkej-316	52	46	the	the	DET
alkej-316	52	47	simulation	simulation	NOUN
alkej-316	52	48	results	result	NOUN
alkej-316	52	49	are	be	AUX
alkej-316	52	50	shown	show	VERB
alkej-316	52	51	in	in	ADP
alkej-316	52	52	section	section	NOUN
alkej-316	52	53	6	6	NUM
alkej-316	52	54	.	.	PUNCT
alkej-316	53	1	finally	finally	ADV
alkej-316	53	2	,	,	PUNCT
alkej-316	53	3	section	section	NOUN
alkej-316	53	4	7	7	NUM
alkej-316	53	5	presents	present	VERB
alkej-316	53	6	the	the	DET
alkej-316	53	7	conclusion	conclusion	NOUN
alkej-316	53	8	of	of	ADP
alkej-316	53	9	the	the	DET
alkej-316	53	10	paper	paper	NOUN
alkej-316	53	11	.	.	PUNCT
alkej-316	54	1	2	2	X
alkej-316	54	2	.	.	X
alkej-316	54	3	path	path	NOUN
alkej-316	54	4	planning	planning	NOUN
alkej-316	54	5	and	and	CCONJ
alkej-316	54	6	problem	problem	NOUN
alkej-316	54	7	formulation	formulation	NOUN
alkej-316	54	8	robot	robot	NOUN
alkej-316	54	9	path	path	PROPN
alkej-316	54	10	planning	planning	PROPN
alkej-316	54	11	(	(	PUNCT
alkej-316	54	12	rpp	rpp	PROPN
alkej-316	54	13	)	)	PUNCT
alkej-316	54	14	is	be	AUX
alkej-316	54	15	one	one	NUM
alkej-316	54	16	of	of	ADP
alkej-316	54	17	the	the	DET
alkej-316	54	18	important	important	ADJ
alkej-316	54	19	aspects	aspect	NOUN
alkej-316	54	20	in	in	ADP
alkej-316	54	21	robot	robot	NOUN
alkej-316	54	22	navigation	navigation	NOUN
alkej-316	54	23	research	research	NOUN
alkej-316	54	24	.	.	PUNCT
alkej-316	55	1	depending	depend	VERB
alkej-316	55	2	on	on	ADP
alkej-316	55	3	the	the	DET
alkej-316	55	4	environment	environment	NOUN
alkej-316	55	5	where	where	SCONJ
alkej-316	55	6	the	the	DET
alkej-316	55	7	robot	robot	NOUN
alkej-316	55	8	located	locate	VERB
alkej-316	55	9	in	in	ADP
alkej-316	55	10	;	;	PUNCT
alkej-316	55	11	rpp	rpp	PROPN
alkej-316	55	12	can	can	AUX
alkej-316	55	13	be	be	AUX
alkej-316	55	14	classified	classify	VERB
alkej-316	55	15	into	into	ADP
alkej-316	55	16	two	two	NUM
alkej-316	55	17	types	type	NOUN
alkej-316	55	18	:	:	PUNCT
alkej-316	55	19	1	1	X
alkej-316	55	20	)	)	PUNCT
alkej-316	55	21	rpp	rpp	NOUN
alkej-316	55	22	in	in	ADP
alkej-316	55	23	static	static	ADJ
alkej-316	55	24	environment	environment	NOUN
alkej-316	55	25	which	which	PRON
alkej-316	55	26	has	have	AUX
alkej-316	55	27	fixed	fix	VERB
alkej-316	55	28	obstacles	obstacle	NOUN
alkej-316	55	29	.	.	PUNCT
alkej-316	56	1	2	2	X
alkej-316	56	2	)	)	PUNCT
alkej-316	56	3	rpp	rpp	NOUN
alkej-316	56	4	in	in	ADP
alkej-316	56	5	dynamic	dynamic	ADJ
alkej-316	56	6	environment	environment	NOUN
alkej-316	56	7	which	which	PRON
alkej-316	56	8	has	have	AUX
alkej-316	56	9	both	both	CCONJ
alkej-316	56	10	fixed	fix	VERB
alkej-316	56	11	and	and	CCONJ
alkej-316	56	12	moving	move	VERB
alkej-316	56	13	obstacles	obstacle	NOUN
alkej-316	56	14	.	.	PUNCT
alkej-316	57	1	each	each	PRON
alkej-316	57	2	of	of	ADP
alkej-316	57	3	these	these	DET
alkej-316	57	4	two	two	NUM
alkej-316	57	5	types	type	NOUN
alkej-316	57	6	could	could	AUX
alkej-316	57	7	be	be	AUX
alkej-316	57	8	further	far	ADV
alkej-316	57	9	subdivided	subdivide	VERB
alkej-316	57	10	into	into	ADP
alkej-316	57	11	a	a	DET
alkej-316	57	12	sub	sub	NOUN
alkej-316	57	13	-	-	NOUN
alkej-316	57	14	group	group	NOUN
alkej-316	57	15	:	:	PUNCT
alkej-316	57	16	1	1	NUM
alkej-316	57	17	)	)	PUNCT
alkej-316	57	18	global	global	ADJ
alkej-316	57	19	path	path	NOUN
alkej-316	57	20	planning	planning	NOUN
alkej-316	57	21	(	(	PUNCT
alkej-316	57	22	gpp	gpp	NOUN
alkej-316	57	23	):	):	PUNCT
alkej-316	57	24	if	if	SCONJ
alkej-316	57	25	the	the	DET
alkej-316	57	26	knowledge	knowledge	NOUN
alkej-316	57	27	of	of	ADP
alkej-316	57	28	the	the	DET
alkej-316	57	29	environment	environment	NOUN
alkej-316	57	30	is	be	AUX
alkej-316	57	31	known	know	VERB
alkej-316	57	32	,	,	PUNCT
alkej-316	57	33	the	the	DET
alkej-316	57	34	global	global	ADJ
alkej-316	57	35	path	path	NOUN
alkej-316	57	36	can	can	AUX
alkej-316	57	37	be	be	AUX
alkej-316	57	38	planned	plan	VERB
alkej-316	57	39	offline	offline	ADJ
alkej-316	57	40	before	before	SCONJ
alkej-316	57	41	the	the	DET
alkej-316	57	42	robot	robot	NOUN
alkej-316	57	43	starts	start	VERB
alkej-316	57	44	to	to	ADP
alkej-316	57	45	moves	move	NOUN
alkej-316	57	46	.	.	PUNCT
alkej-316	58	1	2	2	X
alkej-316	58	2	)	)	PUNCT
alkej-316	58	3	local	local	ADJ
alkej-316	58	4	path	path	NOUN
alkej-316	58	5	planning	planning	NOUN
alkej-316	58	6	(	(	PUNCT
alkej-316	58	7	lpp	lpp	PROPN
alkej-316	58	8	):	):	PUNCT
alkej-316	58	9	is	be	AUX
alkej-316	58	10	usually	usually	ADV
alkej-316	58	11	constructed	construct	VERB
alkej-316	58	12	online	online	ADV
alkej-316	58	13	when	when	SCONJ
alkej-316	58	14	the	the	DET
alkej-316	58	15	robot	robot	NOUN
alkej-316	58	16	avoids	avoid	VERB
alkej-316	58	17	the	the	DET
alkej-316	58	18	obstacles	obstacle	NOUN
alkej-316	58	19	in	in	ADP
alkej-316	58	20	a	a	DET
alkej-316	58	21	real	real	ADJ
alkej-316	58	22	time	time	NOUN
alkej-316	58	23	environment	environment	NOUN
alkej-316	58	24	[	[	X
alkej-316	58	25	12	12	NUM
alkej-316	58	26	]	]	PUNCT
alkej-316	58	27	.	.	PUNCT
alkej-316	59	1	in	in	ADP
alkej-316	59	2	this	this	DET
alkej-316	59	3	paper	paper	NOUN
alkej-316	59	4	,	,	PUNCT
alkej-316	59	5	local	local	ADJ
alkej-316	59	6	path	path	NOUN
alkej-316	59	7	planning	planning	NOUN
alkej-316	59	8	is	be	AUX
alkej-316	59	9	adopted	adopt	VERB
alkej-316	59	10	where	where	SCONJ
alkej-316	59	11	the	the	DET
alkej-316	59	12	environment	environment	NOUN
alkej-316	59	13	is	be	AUX
alkej-316	59	14	totally	totally	ADV
alkej-316	59	15	unknown	unknown	ADJ
alkej-316	59	16	.	.	PUNCT
alkej-316	60	1	constructing	construct	VERB
alkej-316	60	2	a	a	DET
alkej-316	60	3	model	model	NOUN
alkej-316	60	4	for	for	ADP
alkej-316	60	5	the	the	DET
alkej-316	60	6	environment	environment	NOUN
alkej-316	60	7	is	be	AUX
alkej-316	60	8	important	important	ADJ
alkej-316	60	9	issue	issue	NOUN
alkej-316	60	10	;	;	PUNCT
alkej-316	60	11	an	an	DET
alkej-316	60	12	appropriate	appropriate	ADJ
alkej-316	60	13	representation	representation	NOUN
alkej-316	60	14	of	of	ADP
alkej-316	60	15	the	the	DET
alkej-316	60	16	terrain	terrain	NOUN
alkej-316	60	17	is	be	AUX
alkej-316	60	18	needed	need	VERB
alkej-316	60	19	to	to	PART
alkej-316	60	20	generate	generate	VERB
alkej-316	60	21	a	a	DET
alkej-316	60	22	sufficiently	sufficiently	ADV
alkej-316	60	23	complete	complete	ADJ
alkej-316	60	24	map	map	NOUN
alkej-316	60	25	of	of	ADP
alkej-316	60	26	the	the	DET
alkej-316	60	27	given	give	VERB
alkej-316	60	28	surroundings	surrounding	NOUN
alkej-316	60	29	that	that	SCONJ
alkej-316	60	30	the	the	DET
alkej-316	60	31	robot	robot	NOUN
alkej-316	60	32	will	will	AUX
alkej-316	60	33	encounter	encounter	VERB
alkej-316	60	34	along	along	ADP
alkej-316	60	35	its	its	PRON
alkej-316	60	36	route	route	NOUN
alkej-316	60	37	.	.	PUNCT
alkej-316	61	1	the	the	DET
alkej-316	61	2	mobile	mobile	ADJ
alkej-316	61	3	robot	robot	NOUN
alkej-316	61	4	is	be	AUX
alkej-316	61	5	defined	define	VERB
alkej-316	61	6	as	as	ADP
alkej-316	61	7	a	a	DET
alkej-316	61	8	point	point	NOUN
alkej-316	61	9	object	object	NOUN
alkej-316	61	10	in	in	ADP
alkej-316	61	11	the	the	DET
alkej-316	61	12	2	2	NUM
alkej-316	61	13	-	-	PUNCT
alkej-316	61	14	d	d	NOUN
alkej-316	61	15	space	space	NOUN
alkej-316	61	16	.	.	PUNCT
alkej-316	62	1	since	since	SCONJ
alkej-316	62	2	the	the	DET
alkej-316	62	3	robot	robot	NOUN
alkej-316	62	4	reduced	reduce	VERB
alkej-316	62	5	to	to	ADP
alkej-316	62	6	a	a	DET
alkej-316	62	7	point	point	NOUN
alkej-316	62	8	each	each	DET
alkej-316	62	9	obstacle	obstacle	NOUN
alkej-316	62	10	must	must	AUX
alkej-316	62	11	be	be	AUX
alkej-316	62	12	inflated	inflate	VERB
alkej-316	62	13	by	by	ADP
alkej-316	62	14	the	the	DET
alkej-316	62	15	size	size	NOUN
alkej-316	62	16	of	of	ADP
alkej-316	62	17	the	the	DET
alkej-316	62	18	robot	robot	NOUN
alkej-316	62	19	’s	’s	PART
alkej-316	62	20	radius	radius	NOUN
alkej-316	62	21	to	to	PART
alkej-316	62	22	compensate	compensate	VERB
alkej-316	62	23	.	.	PUNCT
alkej-316	63	1	each	each	DET
alkej-316	63	2	obstacle	obstacle	NOUN
alkej-316	63	3	can	can	AUX
alkej-316	63	4	be	be	AUX
alkej-316	63	5	represented	represent	VERB
alkej-316	63	6	by	by	ADP
alkej-316	63	7	polygon	polygon	PROPN
alkej-316	63	8	surrounded	surround	VERB
alkej-316	63	9	by	by	ADP
alkej-316	63	10	a	a	DET
alkej-316	63	11	circle	circle	NOUN
alkej-316	63	12	.	.	PUNCT
alkej-316	64	1	obstacles	obstacle	NOUN
alkej-316	64	2	are	be	AUX
alkej-316	64	3	finite	finite	ADJ
alkej-316	64	4	in	in	ADP
alkej-316	64	5	size	size	NOUN
alkej-316	64	6	and	and	CCONJ
alkej-316	64	7	do	do	AUX
alkej-316	64	8	not	not	PART
alkej-316	64	9	overlap	overlap	VERB
alkej-316	64	10	and	and	CCONJ
alkej-316	64	11	have	have	VERB
alkej-316	64	12	a	a	DET
alkej-316	64	13	safety	safety	NOUN
alkej-316	64	14	zone	zone	NOUN
alkej-316	64	15	which	which	PRON
alkej-316	64	16	is	be	AUX
alkej-316	64	17	the	the	DET
alkej-316	64	18	region	region	NOUN
alkej-316	64	19	around	around	ADP
alkej-316	64	20	the	the	DET
alkej-316	64	21	obstacle	obstacle	NOUN
alkej-316	64	22	that	that	PRON
alkej-316	64	23	the	the	DET
alkej-316	64	24	mobile	mobile	NOUN
alkej-316	64	25	robot	robot	NOUN
alkej-316	64	26	must	must	AUX
alkej-316	64	27	avoid	avoid	VERB
alkej-316	64	28	.	.	PUNCT
alkej-316	65	1	as	as	SCONJ
alkej-316	65	2	the	the	DET
alkej-316	65	3	obstacle	obstacle	NOUN
alkej-316	65	4	is	be	AUX
alkej-316	65	5	of	of	ADP
alkej-316	65	6	an	an	DET
alkej-316	65	7	irregular	irregular	ADJ
alkej-316	65	8	shape	shape	NOUN
alkej-316	65	9	,	,	PUNCT
alkej-316	65	10	the	the	DET
alkej-316	65	11	radius	radius	NOUN
alkej-316	65	12	must	must	AUX
alkej-316	65	13	be	be	AUX
alkej-316	65	14	one	one	NUM
alkej-316	65	15	-	-	PUNCT
alkej-316	65	16	half	half	NOUN
alkej-316	65	17	of	of	ADP
alkej-316	65	18	the	the	DET
alkej-316	65	19	longest	long	ADJ
alkej-316	65	20	side	side	NOUN
alkej-316	65	21	of	of	ADP
alkej-316	65	22	the	the	DET
alkej-316	65	23	obstacle	obstacle	NOUN
alkej-316	65	24	plus	plus	CCONJ
alkej-316	65	25	the	the	DET
alkej-316	65	26	robot	robot	NOUN
alkej-316	65	27	's	's	PART
alkej-316	65	28	radius	radius	NOUN
alkej-316	65	29	.	.	PUNCT
alkej-316	66	1	3	3	X
alkej-316	66	2	.	.	X
alkej-316	66	3	standard	standard	PROPN
alkej-316	66	4	bfo	bfo	PROPN
alkej-316	66	5	algorithm	algorithm	PROPN
alkej-316	66	6	bacteria	bacteria	NOUN
alkej-316	66	7	foraging	forage	VERB
alkej-316	66	8	optimization	optimization	NOUN
alkej-316	66	9	(	(	PUNCT
alkej-316	66	10	bfo	bfo	PROPN
alkej-316	66	11	)	)	PUNCT
alkej-316	66	12	algorithm	algorithm	NOUN
alkej-316	66	13	invented	invent	VERB
alkej-316	66	14	by	by	ADP
alkej-316	66	15	k.	k.	PROPN
alkej-316	66	16	m.	m.	PROPN
alkej-316	66	17	passino	passino	PROPN
alkej-316	66	18	[	[	X
alkej-316	66	19	10	10	NUM
alkej-316	66	20	]	]	PUNCT
alkej-316	66	21	is	be	AUX
alkej-316	66	22	a	a	DET
alkej-316	66	23	relatively	relatively	ADV
alkej-316	66	24	new	new	ADJ
alkej-316	66	25	population	population	NOUN
alkej-316	66	26	-	-	PUNCT
alkej-316	66	27	based	base	VERB
alkej-316	66	28	algorithm	algorithm	NOUN
alkej-316	66	29	;	;	PUNCT
alkej-316	66	30	it	it	PRON
alkej-316	66	31	is	be	AUX
alkej-316	66	32	a	a	DET
alkej-316	66	33	nature	nature	NOUN
alkej-316	66	34	-	-	PUNCT
alkej-316	66	35	inspired	inspire	VERB
alkej-316	66	36	metaheuristic	metaheuristic	ADJ
alkej-316	66	37	algorithm	algorithm	NOUN
alkej-316	66	38	,	,	PUNCT
alkej-316	66	39	which	which	PRON
alkej-316	66	40	imitates	imitate	VERB
alkej-316	66	41	the	the	DET
alkej-316	66	42	foraging	forage	VERB
alkej-316	66	43	behavior	behavior	NOUN
alkej-316	66	44	of	of	ADP
alkej-316	66	45	e.	e.	PROPN
alkej-316	66	46	coli	coli	PROPN
alkej-316	66	47	.	.	PUNCT
alkej-316	67	1	an	an	DET
alkej-316	67	2	e.	e.	PROPN
alkej-316	67	3	coli	coli	NOUN
alkej-316	67	4	bacterium	bacterium	NOUN
alkej-316	67	5	can	can	AUX
alkej-316	67	6	move	move	VERB
alkej-316	67	7	in	in	ADP
alkej-316	67	8	two	two	NUM
alkej-316	67	9	different	different	ADJ
alkej-316	67	10	ways	way	NOUN
alkej-316	67	11	;	;	PUNCT
alkej-316	67	12	it	it	PRON
alkej-316	67	13	can	can	AUX
alkej-316	67	14	run	run	VERB
alkej-316	67	15	(	(	PUNCT
alkej-316	67	16	swim	swim	VERB
alkej-316	67	17	for	for	ADP
alkej-316	67	18	a	a	DET
alkej-316	67	19	period	period	NOUN
alkej-316	67	20	of	of	ADP
alkej-316	67	21	time	time	NOUN
alkej-316	67	22	)	)	PUNCT
alkej-316	67	23	,	,	PUNCT
alkej-316	67	24	or	or	CCONJ
alkej-316	67	25	it	it	PRON
alkej-316	67	26	can	can	AUX
alkej-316	67	27	tumble	tumble	VERB
alkej-316	67	28	,	,	PUNCT
alkej-316	67	29	and	and	CCONJ
alkej-316	67	30	it	it	PRON
alkej-316	67	31	alternates	alternate	VERB
alkej-316	67	32	between	between	ADP
alkej-316	67	33	these	these	DET
alkej-316	67	34	two	two	NUM
alkej-316	67	35	modes	mode	NOUN
alkej-316	67	36	of	of	ADP
alkej-316	67	37	operation	operation	NOUN
alkej-316	67	38	through	through	ADP
alkej-316	67	39	its	its	PRON
alkej-316	67	40	entire	entire	ADJ
alkej-316	67	41	lifetime	lifetime	NOUN
alkej-316	67	42	.	.	PUNCT
alkej-316	68	1	by	by	ADP
alkej-316	68	2	tumbling	tumble	VERB
alkej-316	68	3	and	and	CCONJ
alkej-316	68	4	running	run	VERB
alkej-316	68	5	,	,	PUNCT
alkej-316	68	6	the	the	DET
alkej-316	68	7	bacteria	bacteria	NOUN
alkej-316	68	8	will	will	AUX
alkej-316	68	9	search	search	VERB
alkej-316	68	10	for	for	ADP
alkej-316	68	11	nutrient	nutrient	NOUN
alkej-316	68	12	area	area	NOUN
alkej-316	68	13	and	and	CCONJ
alkej-316	68	14	keep	keep	VERB
alkej-316	68	15	away	away	ADV
alkej-316	68	16	from	from	ADP
alkej-316	68	17	the	the	DET
alkej-316	68	18	poisonous	poisonous	ADJ
alkej-316	68	19	area	area	NOUN
alkej-316	68	20	,	,	PUNCT
alkej-316	68	21	as	as	SCONJ
alkej-316	68	22	shown	show	VERB
alkej-316	68	23	in	in	ADP
alkej-316	68	24	fig	fig	NOUN
alkej-316	68	25	.	.	PUNCT
alkej-316	69	1	1	1	X
alkej-316	69	2	.	.	X
alkej-316	69	3	fig	fig	NOUN
alkej-316	69	4	.	.	PUNCT
alkej-316	70	1	1	1	X
alkej-316	70	2	.	.	X
alkej-316	70	3	chemotactic	chemotactic	ADJ
alkej-316	70	4	behavior	behavior	NOUN
alkej-316	70	5	of	of	ADP
alkej-316	70	6	e.	e.	PROPN
alkej-316	70	7	coli	coli	PROPN
alkej-316	70	8	:	:	PUNCT
alkej-316	70	9	run	run	VERB
alkej-316	70	10	and	and	CCONJ
alkej-316	70	11	tumble	tumble	ADJ
alkej-316	70	12	3.1	3.1	NUM
alkej-316	70	13	.	.	PUNCT
alkej-316	71	1	chemotaxis	chemotaxis	ADJ
alkej-316	71	2	chemotaxis	chemotaxis	NOUN
alkej-316	71	3	is	be	AUX
alkej-316	71	4	the	the	DET
alkej-316	71	5	main	main	ADJ
alkej-316	71	6	motivation	motivation	NOUN
alkej-316	71	7	of	of	ADP
alkej-316	71	8	the	the	DET
alkej-316	71	9	bacteria	bacteria	NOUN
alkej-316	71	10	’s	’s	PART
alkej-316	71	11	foraging	foraging	NOUN
alkej-316	71	12	process	process	NOUN
alkej-316	71	13	.	.	PUNCT
alkej-316	72	1	it	it	PRON
alkej-316	72	2	consists	consist	VERB
alkej-316	72	3	of	of	ADP
alkej-316	72	4	a	a	DET
alkej-316	72	5	tumble	tumble	NOUN
alkej-316	72	6	nizar	nizar	NOUN
alkej-316	72	7	hadi	hadi	PROPN
alkej-316	72	8	abbas	abbas	PROPN
alkej-316	72	9	al	al	PROPN
alkej-316	72	10	-	-	PUNCT
alkej-316	72	11	khwarizmi	khwarizmi	PROPN
alkej-316	72	12	engineering	engineering	NOUN
alkej-316	72	13	journal	journal	PROPN
alkej-316	72	14	,	,	PUNCT
alkej-316	72	15	vol	vol	NOUN
alkej-316	72	16	.	.	PROPN
alkej-316	72	17	12	12	NUM
alkej-316	72	18	,	,	PUNCT
alkej-316	72	19	no	no	INTJ
alkej-316	72	20	.	.	NOUN
alkej-316	72	21	4	4	NUM
alkej-316	72	22	,	,	PUNCT
alkej-316	72	23	p.p	p.p	PROPN
alkej-316	72	24	.	.	NOUN
alkej-316	72	25	2635(2016	2635(2016	NUM
alkej-316	72	26	)	)	PUNCT
alkej-316	72	27	28	28	NUM
alkej-316	72	28	with	with	ADP
alkej-316	72	29	several	several	ADJ
alkej-316	72	30	runs	run	NOUN
alkej-316	72	31	as	as	SCONJ
alkej-316	72	32	shown	show	VERB
alkej-316	72	33	in	in	ADP
alkej-316	72	34	fig	fig	NOUN
alkej-316	72	35	.	.	PUNCT
alkej-316	73	1	1	1	X
alkej-316	73	2	.	.	X
alkej-316	73	3	in	in	ADP
alkej-316	73	4	bfo	bfo	PROPN
alkej-316	73	5	,	,	PUNCT
alkej-316	73	6	the	the	DET
alkej-316	73	7	position	position	NOUN
alkej-316	73	8	updating	updating	NOUN
alkej-316	73	9	,	,	PUNCT
alkej-316	73	10	which	which	PRON
alkej-316	73	11	simulates	simulate	VERB
alkej-316	73	12	the	the	DET
alkej-316	73	13	chemotaxis	chemotaxis	ADJ
alkej-316	73	14	procedure	procedure	NOUN
alkej-316	73	15	is	be	AUX
alkej-316	73	16	used	use	VERB
alkej-316	73	17	in	in	ADP
alkej-316	73	18	eq	eq	ADP
alkej-316	73	19	.	.	PUNCT
alkej-316	74	1	(	(	PUNCT
alkej-316	74	2	1	1	NUM
alkej-316	74	3	)	)	PUNCT
alkej-316	74	4	.	.	PUNCT
alkej-316	75	1	θ	θ	X
alkej-316	75	2	�	�	NOUN
alkej-316	75	3	�	�	NOUN
alkej-316	75	4	represents	represent	VERB
alkej-316	75	5	the	the	DET
alkej-316	75	6	position	position	NOUN
alkej-316	75	7	of	of	ADP
alkej-316	75	8	the	the	DET
alkej-316	75	9	ith	ith	PROPN
alkej-316	75	10	bacterium	bacterium	NOUN
alkej-316	75	11	in	in	ADP
alkej-316	75	12	the	the	DET
alkej-316	75	13	jth	jth	PROPN
alkej-316	75	14	chemotaxis	chemotaxis	ADJ
alkej-316	75	15	step	step	NOUN
alkej-316	75	16	,	,	PUNCT
alkej-316	75	17	c	c	VERB
alkej-316	75	18	i	i	PRON
alkej-316	75	19	is	be	AUX
alkej-316	75	20	the	the	DET
alkej-316	75	21	step	step	NOUN
alkej-316	75	22	length	length	NOUN
alkej-316	75	23	during	during	ADP
alkej-316	75	24	the	the	DET
alkej-316	75	25	jith	jith	ADJ
alkej-316	75	26	chemotaxis	chemotaxis	ADJ
alkej-316	75	27	and∅	and∅	PUNCT
alkej-316	75	28	i	i	PRON
alkej-316	75	29	is	be	AUX
alkej-316	75	30	a	a	DET
alkej-316	75	31	unit	unit	NOUN
alkej-316	75	32	vector	vector	NOUN
alkej-316	75	33	which	which	PRON
alkej-316	75	34	stands	stand	VERB
alkej-316	75	35	for	for	ADP
alkej-316	75	36	the	the	DET
alkej-316	75	37	swimming	swimming	NOUN
alkej-316	75	38	direction	direction	NOUN
alkej-316	75	39	after	after	ADP
alkej-316	75	40	a	a	DET
alkej-316	75	41	tumble	tumble	NOUN
alkej-316	75	42	.	.	PUNCT
alkej-316	76	1	it	it	PRON
alkej-316	76	2	can	can	AUX
alkej-316	76	3	be	be	AUX
alkej-316	76	4	generated	generate	VERB
alkej-316	76	5	by	by	ADP
alkej-316	76	6	eq	eq	PROPN
alkej-316	76	7	.	.	PUNCT
alkej-316	77	1	(	(	PUNCT
alkej-316	77	2	2	2	NUM
alkej-316	77	3	)	)	PUNCT
alkej-316	77	4	,	,	PUNCT
alkej-316	77	5	where	where	SCONJ
alkej-316	77	6	∆	∆	PROPN
alkej-316	77	7	�	�	PROPN
alkej-316	77	8	is	be	AUX
alkej-316	77	9	a	a	DET
alkej-316	77	10	randomly	randomly	ADV
alkej-316	77	11	produced	produce	VERB
alkej-316	77	12	vector	vector	NOUN
alkej-316	77	13	with	with	ADP
alkej-316	77	14	the	the	DET
alkej-316	77	15	same	same	ADJ
alkej-316	77	16	dimension	dimension	NOUN
alkej-316	77	17	of	of	ADP
alkej-316	77	18	the	the	DET
alkej-316	77	19	problem	problem	NOUN
alkej-316	77	20	:	:	PUNCT
alkej-316	77	21	�	�	PROPN
alkej-316	77	22	�	�	PROPN
alkej-316	77	23	�	�	PROPN
alkej-316	77	24	�	�	PROPN
alkej-316	77	25	=	=	SYM
alkej-316	77	26	�	�	PROPN
alkej-316	77	27	�	�	PROPN
alkej-316	77	28	+	+	CCONJ
alkej-316	77	29	�	�	PROPN
alkej-316	77	30	�	�	PROPN
alkej-316	77	31	.	.	PUNCT
alkej-316	78	1	∅	∅	PROPN
alkej-316	78	2	�	�	PROPN
alkej-316	78	3	…	…	PUNCT
alkej-316	78	4	1	1	NUM
alkej-316	78	5	∅	∅	NOUN
alkej-316	78	6	�	�	NOUN
alkej-316	78	7	=	=	PUNCT
alkej-316	78	8	∆	∆	PROPN
alkej-316	78	9	�	�	PROPN
alkej-316	78	10	�	�	PROPN
alkej-316	78	11	∆	∆	PROPN
alkej-316	78	12	�	�	PROPN
alkej-316	78	13	�	�	PROPN
alkej-316	78	14	∆	∆	PROPN
alkej-316	78	15	�	�	NOUN
alkej-316	78	16	…	…	PUNCT
alkej-316	78	17	2	2	NUM
alkej-316	78	18	in	in	ADP
alkej-316	78	19	each	each	DET
alkej-316	78	20	chemotactic	chemotactic	ADJ
alkej-316	78	21	step	step	NOUN
alkej-316	78	22	,	,	PUNCT
alkej-316	78	23	the	the	DET
alkej-316	78	24	bacterium	bacterium	NOUN
alkej-316	78	25	generated	generate	VERB
alkej-316	78	26	a	a	DET
alkej-316	78	27	tumble	tumble	NOUN
alkej-316	78	28	direction	direction	NOUN
alkej-316	78	29	firstly	firstly	ADV
alkej-316	78	30	.	.	PUNCT
alkej-316	79	1	then	then	ADV
alkej-316	79	2	the	the	DET
alkej-316	79	3	bacterium	bacterium	NOUN
alkej-316	79	4	moves	move	VERB
alkej-316	79	5	in	in	ADP
alkej-316	79	6	the	the	DET
alkej-316	79	7	direction	direction	NOUN
alkej-316	79	8	using	use	VERB
alkej-316	79	9	eq	eq	X
alkej-316	79	10	.	.	PUNCT
alkej-316	80	1	(	(	PUNCT
alkej-316	80	2	1	1	NUM
alkej-316	80	3	)	)	PUNCT
alkej-316	80	4	.	.	PUNCT
alkej-316	81	1	if	if	SCONJ
alkej-316	81	2	the	the	DET
alkej-316	81	3	nutrient	nutrient	ADJ
alkej-316	81	4	concentration	concentration	NOUN
alkej-316	81	5	in	in	ADP
alkej-316	81	6	the	the	DET
alkej-316	81	7	new	new	ADJ
alkej-316	81	8	position	position	NOUN
alkej-316	81	9	is	be	AUX
alkej-316	81	10	higher	high	ADJ
alkej-316	81	11	than	than	ADP
alkej-316	81	12	the	the	DET
alkej-316	81	13	last	last	ADJ
alkej-316	81	14	position	position	NOUN
alkej-316	81	15	,	,	PUNCT
alkej-316	81	16	it	it	PRON
alkej-316	81	17	will	will	AUX
alkej-316	81	18	run	run	VERB
alkej-316	81	19	one	one	NUM
alkej-316	81	20	more	more	ADJ
alkej-316	81	21	step	step	NOUN
alkej-316	81	22	in	in	ADP
alkej-316	81	23	the	the	DET
alkej-316	81	24	same	same	ADJ
alkej-316	81	25	direction	direction	NOUN
alkej-316	81	26	.	.	PUNCT
alkej-316	82	1	this	this	DET
alkej-316	82	2	procedure	procedure	NOUN
alkej-316	82	3	continues	continue	VERB
alkej-316	82	4	until	until	SCONJ
alkej-316	82	5	the	the	DET
alkej-316	82	6	nutrient	nutrient	NOUN
alkej-316	82	7	get	get	VERB
alkej-316	82	8	worse	bad	ADJ
alkej-316	82	9	or	or	CCONJ
alkej-316	82	10	the	the	DET
alkej-316	82	11	maximum	maximum	ADJ
alkej-316	82	12	run	run	NOUN
alkej-316	82	13	step	step	NOUN
alkej-316	82	14	is	be	AUX
alkej-316	82	15	reached	reach	VERB
alkej-316	82	16	.	.	PUNCT
alkej-316	83	1	the	the	DET
alkej-316	83	2	maximum	maximum	ADJ
alkej-316	83	3	run	run	NOUN
alkej-316	83	4	step	step	NOUN
alkej-316	83	5	is	be	AUX
alkej-316	83	6	controlled	control	VERB
alkej-316	83	7	by	by	ADP
alkej-316	83	8	a	a	DET
alkej-316	83	9	parameter	parameter	NOUN
alkej-316	83	10	called	call	VERB
alkej-316	83	11	�	�	PROPN
alkej-316	83	12	�	�	PROPN
alkej-316	83	13	.	.	PROPN
alkej-316	83	14	3.2	3.2	NUM
alkej-316	83	15	.	.	PUNCT
alkej-316	84	1	reproduction	reproduction	NOUN
alkej-316	84	2	for	for	ADP
alkej-316	84	3	every	every	DET
alkej-316	84	4	�	�	PROPN
alkej-316	84	5	�	�	PROPN
alkej-316	84	6	time	time	NOUN
alkej-316	84	7	of	of	ADP
alkej-316	84	8	chemotactic	chemotactic	ADJ
alkej-316	84	9	steps	step	NOUN
alkej-316	84	10	,	,	PUNCT
alkej-316	84	11	a	a	DET
alkej-316	84	12	reproduction	reproduction	NOUN
alkej-316	84	13	step	step	NOUN
alkej-316	84	14	is	be	AUX
alkej-316	84	15	taken	take	VERB
alkej-316	84	16	in	in	ADP
alkej-316	84	17	the	the	DET
alkej-316	84	18	bacteria	bacteria	NOUN
alkej-316	84	19	population	population	NOUN
alkej-316	84	20	.	.	PUNCT
alkej-316	85	1	the	the	DET
alkej-316	85	2	bacteria	bacteria	NOUN
alkej-316	85	3	are	be	AUX
alkej-316	85	4	sorted	sort	VERB
alkej-316	85	5	in	in	ADP
alkej-316	85	6	descending	descend	VERB
alkej-316	85	7	order	order	NOUN
alkej-316	85	8	by	by	ADP
alkej-316	85	9	their	their	PRON
alkej-316	85	10	nutrient	nutrient	NOUN
alkej-316	85	11	obtained	obtain	VERB
alkej-316	85	12	in	in	ADP
alkej-316	85	13	the	the	DET
alkej-316	85	14	previous	previous	ADJ
alkej-316	85	15	chemotactic	chemotactic	ADJ
alkej-316	85	16	processes	process	NOUN
alkej-316	85	17	.	.	PUNCT
alkej-316	86	1	bacteria	bacteria	NOUN
alkej-316	86	2	in	in	ADP
alkej-316	86	3	the	the	DET
alkej-316	86	4	first	first	ADJ
alkej-316	86	5	half	half	NOUN
alkej-316	86	6	of	of	ADP
alkej-316	86	7	the	the	DET
alkej-316	86	8	population	population	NOUN
alkej-316	86	9	are	be	AUX
alkej-316	86	10	regarded	regard	VERB
alkej-316	86	11	as	as	ADP
alkej-316	86	12	having	having	AUX
alkej-316	86	13	obtained	obtain	VERB
alkej-316	86	14	sufficient	sufficient	ADJ
alkej-316	86	15	nutrients	nutrient	NOUN
alkej-316	86	16	so	so	SCONJ
alkej-316	86	17	that	that	SCONJ
alkej-316	86	18	they	they	PRON
alkej-316	86	19	will	will	AUX
alkej-316	86	20	reproduce	reproduce	VERB
alkej-316	86	21	.	.	PUNCT
alkej-316	87	1	each	each	PRON
alkej-316	87	2	of	of	ADP
alkej-316	87	3	them	they	PRON
alkej-316	87	4	splits	split	VERB
alkej-316	87	5	into	into	ADP
alkej-316	87	6	two	two	NUM
alkej-316	87	7	(	(	PUNCT
alkej-316	87	8	duplicate	duplicate	VERB
alkej-316	87	9	one	one	NUM
alkej-316	87	10	copy	copy	NOUN
alkej-316	87	11	in	in	ADP
alkej-316	87	12	the	the	DET
alkej-316	87	13	same	same	ADJ
alkej-316	87	14	location	location	NOUN
alkej-316	87	15	)	)	PUNCT
alkej-316	87	16	.	.	PUNCT
alkej-316	88	1	bacteria	bacteria	NOUN
alkej-316	88	2	in	in	ADP
alkej-316	88	3	the	the	DET
alkej-316	88	4	residual	residual	ADJ
alkej-316	88	5	half	half	NOUN
alkej-316	88	6	of	of	ADP
alkej-316	88	7	the	the	DET
alkej-316	88	8	population	population	NOUN
alkej-316	88	9	die	die	VERB
alkej-316	88	10	,	,	PUNCT
alkej-316	88	11	and	and	CCONJ
alkej-316	88	12	they	they	PRON
alkej-316	88	13	are	be	AUX
alkej-316	88	14	removed	remove	VERB
alkej-316	88	15	out	out	ADP
alkej-316	88	16	from	from	ADP
alkej-316	88	17	the	the	DET
alkej-316	88	18	population	population	NOUN
alkej-316	88	19	.	.	PUNCT
alkej-316	89	1	the	the	DET
alkej-316	89	2	population	population	NOUN
alkej-316	89	3	size	size	NOUN
alkej-316	89	4	remains	remain	VERB
alkej-316	89	5	the	the	DET
alkej-316	89	6	same	same	ADJ
alkej-316	89	7	after	after	ADP
alkej-316	89	8	this	this	DET
alkej-316	89	9	procedure	procedure	NOUN
alkej-316	89	10	.	.	PUNCT
alkej-316	90	1	reproduction	reproduction	NOUN
alkej-316	90	2	is	be	AUX
alkej-316	90	3	the	the	DET
alkej-316	90	4	simulation	simulation	NOUN
alkej-316	90	5	of	of	ADP
alkej-316	90	6	the	the	DET
alkej-316	90	7	natural	natural	ADJ
alkej-316	90	8	reproduction	reproduction	NOUN
alkej-316	90	9	phenomenon	phenomenon	NOUN
alkej-316	90	10	.	.	PUNCT
alkej-316	91	1	by	by	ADP
alkej-316	91	2	this	this	DET
alkej-316	91	3	operation	operation	NOUN
alkej-316	91	4	,	,	PUNCT
alkej-316	91	5	individuals	individual	NOUN
alkej-316	91	6	with	with	ADP
alkej-316	91	7	higher	high	ADJ
alkej-316	91	8	nutrient	nutrient	NOUN
alkej-316	91	9	are	be	AUX
alkej-316	91	10	survived	survive	VERB
alkej-316	91	11	and	and	CCONJ
alkej-316	91	12	duplicated	duplicate	VERB
alkej-316	91	13	,	,	PUNCT
alkej-316	91	14	which	which	PRON
alkej-316	91	15	guarantees	guarantee	VERB
alkej-316	91	16	that	that	SCONJ
alkej-316	91	17	the	the	DET
alkej-316	91	18	potential	potential	ADJ
alkej-316	91	19	optimal	optimal	ADJ
alkej-316	91	20	areas	area	NOUN
alkej-316	91	21	are	be	AUX
alkej-316	91	22	searched	search	VERB
alkej-316	91	23	more	more	ADV
alkej-316	91	24	carefully	carefully	ADV
alkej-316	91	25	.	.	PUNCT
alkej-316	92	1	3.3	3.3	NUM
alkej-316	92	2	.	.	PUNCT
alkej-316	92	3	elimination	elimination	NOUN
alkej-316	92	4	and	and	CCONJ
alkej-316	92	5	dispersal	dispersal	NOUN
alkej-316	92	6	in	in	ADP
alkej-316	92	7	nature	nature	NOUN
alkej-316	92	8	,	,	PUNCT
alkej-316	92	9	the	the	DET
alkej-316	92	10	changes	change	NOUN
alkej-316	92	11	of	of	ADP
alkej-316	92	12	environment	environment	NOUN
alkej-316	92	13	where	where	SCONJ
alkej-316	92	14	population	population	NOUN
alkej-316	92	15	lives	live	VERB
alkej-316	92	16	may	may	AUX
alkej-316	92	17	affect	affect	VERB
alkej-316	92	18	the	the	DET
alkej-316	92	19	behaviors	behavior	NOUN
alkej-316	92	20	of	of	ADP
alkej-316	92	21	the	the	DET
alkej-316	92	22	population	population	NOUN
alkej-316	92	23	.	.	PUNCT
alkej-316	93	1	for	for	ADP
alkej-316	93	2	example	example	NOUN
alkej-316	93	3	,	,	PUNCT
alkej-316	93	4	the	the	DET
alkej-316	93	5	sudden	sudden	ADJ
alkej-316	93	6	change	change	NOUN
alkej-316	93	7	of	of	ADP
alkej-316	93	8	temperature	temperature	NOUN
alkej-316	93	9	,	,	PUNCT
alkej-316	93	10	nutrient	nutrient	NOUN
alkej-316	93	11	concentration	concentration	NOUN
alkej-316	93	12	and	and	CCONJ
alkej-316	93	13	the	the	DET
alkej-316	93	14	flow	flow	NOUN
alkej-316	93	15	of	of	ADP
alkej-316	93	16	water	water	NOUN
alkej-316	93	17	.	.	PUNCT
alkej-316	94	1	all	all	DET
alkej-316	94	2	these	these	PRON
alkej-316	94	3	may	may	AUX
alkej-316	94	4	cause	cause	VERB
alkej-316	94	5	bacteria	bacteria	NOUN
alkej-316	94	6	in	in	ADP
alkej-316	94	7	the	the	DET
alkej-316	94	8	population	population	NOUN
alkej-316	94	9	to	to	PART
alkej-316	94	10	die	die	VERB
alkej-316	94	11	or	or	CCONJ
alkej-316	94	12	move	move	VERB
alkej-316	94	13	to	to	ADP
alkej-316	94	14	another	another	DET
alkej-316	94	15	place	place	NOUN
alkej-316	94	16	.	.	PUNCT
alkej-316	95	1	to	to	PART
alkej-316	95	2	simulate	simulate	VERB
alkej-316	95	3	this	this	DET
alkej-316	95	4	phenomenon	phenomenon	NOUN
alkej-316	95	5	,	,	PUNCT
alkej-316	95	6	eliminate	eliminate	NOUN
alkej-316	95	7	-	-	PUNCT
alkej-316	95	8	dispersal	dispersal	NOUN
alkej-316	95	9	is	be	AUX
alkej-316	95	10	added	add	VERB
alkej-316	95	11	in	in	ADP
alkej-316	95	12	the	the	DET
alkej-316	95	13	bfo	bfo	PROPN
alkej-316	95	14	algorithm	algorithm	PROPN
alkej-316	95	15	.	.	PUNCT
alkej-316	96	1	after	after	ADP
alkej-316	96	2	every	every	DET
alkej-316	96	3	nre	nre	PROPN
alkej-316	96	4	time	time	NOUN
alkej-316	96	5	of	of	ADP
alkej-316	96	6	reproduction	reproduction	NOUN
alkej-316	96	7	steps	step	NOUN
alkej-316	96	8	,	,	PUNCT
alkej-316	96	9	an	an	DET
alkej-316	96	10	eliminate	eliminate	NOUN
alkej-316	96	11	-	-	PUNCT
alkej-316	96	12	dispersal	dispersal	NOUN
alkej-316	96	13	event	event	NOUN
alkej-316	96	14	happens	happen	VERB
alkej-316	96	15	.	.	PUNCT
alkej-316	97	1	for	for	ADP
alkej-316	97	2	each	each	DET
alkej-316	97	3	bacterium	bacterium	NOUN
alkej-316	97	4	,	,	PUNCT
alkej-316	97	5	a	a	DET
alkej-316	97	6	random	random	ADJ
alkej-316	97	7	number	number	NOUN
alkej-316	97	8	is	be	AUX
alkej-316	97	9	generated	generate	VERB
alkej-316	97	10	between	between	ADP
alkej-316	97	11	0	0	NUM
alkej-316	97	12	and	and	CCONJ
alkej-316	97	13	1	1	NUM
alkej-316	97	14	.	.	X
alkej-316	98	1	if	if	SCONJ
alkej-316	98	2	the	the	DET
alkej-316	98	3	random	random	ADJ
alkej-316	98	4	number	number	NOUN
alkej-316	98	5	is	be	AUX
alkej-316	98	6	less	less	ADJ
alkej-316	98	7	than	than	ADP
alkej-316	98	8	a	a	DET
alkej-316	98	9	predetermined	predetermined	ADJ
alkej-316	98	10	parameter	parameter	NOUN
alkej-316	98	11	,	,	PUNCT
alkej-316	98	12	known	know	VERB
alkej-316	98	13	as	as	ADP
alkej-316	98	14	"	"	PUNCT
alkej-316	98	15	#	#	NOUN
alkej-316	98	16	,	,	PUNCT
alkej-316	98	17	the	the	DET
alkej-316	98	18	bacterium	bacterium	NOUN
alkej-316	98	19	will	will	AUX
alkej-316	98	20	be	be	AUX
alkej-316	98	21	eliminated	eliminate	VERB
alkej-316	98	22	,	,	PUNCT
alkej-316	98	23	and	and	CCONJ
alkej-316	98	24	a	a	DET
alkej-316	98	25	new	new	ADJ
alkej-316	98	26	bacterium	bacterium	NOUN
alkej-316	98	27	is	be	AUX
alkej-316	98	28	generated	generate	VERB
alkej-316	98	29	in	in	ADP
alkej-316	98	30	the	the	DET
alkej-316	98	31	environment	environment	NOUN
alkej-316	98	32	.	.	PUNCT
alkej-316	99	1	the	the	DET
alkej-316	99	2	operator	operator	NOUN
alkej-316	99	3	can	can	AUX
alkej-316	99	4	be	be	AUX
alkej-316	99	5	also	also	ADV
alkej-316	99	6	regarded	regard	VERB
alkej-316	99	7	as	as	ADP
alkej-316	99	8	moving	move	VERB
alkej-316	99	9	the	the	DET
alkej-316	99	10	bacterium	bacterium	NOUN
alkej-316	99	11	to	to	ADP
alkej-316	99	12	a	a	DET
alkej-316	99	13	randomly	randomly	ADV
alkej-316	99	14	produced	produce	VERB
alkej-316	99	15	position	position	NOUN
alkej-316	99	16	.	.	PUNCT
alkej-316	100	1	the	the	DET
alkej-316	100	2	eliminate	eliminate	NOUN
alkej-316	100	3	-	-	PUNCT
alkej-316	100	4	dispersal	dispersal	NOUN
alkej-316	100	5	events	event	NOUN
alkej-316	100	6	may	may	AUX
alkej-316	100	7	destroy	destroy	VERB
alkej-316	100	8	the	the	DET
alkej-316	100	9	chemotactic	chemotactic	ADJ
alkej-316	100	10	progress	progress	NOUN
alkej-316	100	11	.	.	PUNCT
alkej-316	101	1	however	however	ADV
alkej-316	101	2	,	,	PUNCT
alkej-316	101	3	they	they	PRON
alkej-316	101	4	may	may	AUX
alkej-316	101	5	also	also	ADV
alkej-316	101	6	promote	promote	VERB
alkej-316	101	7	the	the	DET
alkej-316	101	8	solutions	solution	NOUN
alkej-316	101	9	since	since	SCONJ
alkej-316	101	10	dispersal	dispersal	NOUN
alkej-316	101	11	might	might	AUX
alkej-316	101	12	place	place	VERB
alkej-316	101	13	the	the	DET
alkej-316	101	14	bacteria	bacteria	NOUN
alkej-316	101	15	in	in	ADP
alkej-316	101	16	better	well	ADJ
alkej-316	101	17	positions	position	NOUN
alkej-316	101	18	[	[	X
alkej-316	101	19	13	13	NUM
alkej-316	101	20	]	]	PUNCT
alkej-316	101	21	.	.	PUNCT
alkej-316	102	1	over	over	ADP
alkej-316	102	2	all	all	PRON
alkej-316	102	3	,	,	PUNCT
alkej-316	102	4	contrary	contrary	ADJ
alkej-316	102	5	to	to	ADP
alkej-316	102	6	the	the	DET
alkej-316	102	7	reproduction	reproduction	NOUN
alkej-316	102	8	,	,	PUNCT
alkej-316	102	9	this	this	DET
alkej-316	102	10	operator	operator	NOUN
alkej-316	102	11	enhances	enhance	VERB
alkej-316	102	12	the	the	DET
alkej-316	102	13	diversity	diversity	NOUN
alkej-316	102	14	of	of	ADP
alkej-316	102	15	the	the	DET
alkej-316	102	16	algorithm	algorithm	NOUN
alkej-316	102	17	.	.	PUNCT
alkej-316	103	1	in	in	ADP
alkej-316	103	2	bfo	bfo	PROPN
alkej-316	103	3	algorithm	algorithm	PROPN
alkej-316	103	4	,	,	PUNCT
alkej-316	103	5	the	the	DET
alkej-316	103	6	eliminate	eliminate	NOUN
alkej-316	103	7	-	-	PUNCT
alkej-316	103	8	dispersal	dispersal	NOUN
alkej-316	103	9	events	event	NOUN
alkej-316	103	10	happen	happen	VERB
alkej-316	103	11	for	for	ADP
alkej-316	103	12	�	�	NOUN
alkej-316	103	13	#	#	SYM
alkej-316	103	14	$	$	SYM
alkej-316	103	15	times	time	NOUN
alkej-316	103	16	.	.	PUNCT
alkej-316	104	1	4	4	X
alkej-316	104	2	.	.	X
alkej-316	104	3	adaptive	adaptive	PROPN
alkej-316	104	4	tumble	tumble	PROPN
alkej-316	104	5	bfo	bfo	PROPN
alkej-316	104	6	(	(	PUNCT
alkej-316	104	7	atbfo	atbfo	PROPN
alkej-316	104	8	)	)	PUNCT
alkej-316	104	9	algorithm	algorithm	PROPN
alkej-316	104	10	bfo	bfo	PROPN
alkej-316	104	11	possesses	possess	VERB
alkej-316	104	12	a	a	DET
alkej-316	104	13	poor	poor	ADJ
alkej-316	104	14	convergence	convergence	NOUN
alkej-316	104	15	behavior	behavior	NOUN
alkej-316	104	16	over	over	ADP
alkej-316	104	17	complex	complex	ADJ
alkej-316	104	18	optimization	optimization	NOUN
alkej-316	104	19	problems	problem	NOUN
alkej-316	104	20	.	.	PUNCT
alkej-316	105	1	subsequently	subsequently	ADV
alkej-316	105	2	,	,	PUNCT
alkej-316	105	3	a	a	DET
alkej-316	105	4	method	method	NOUN
alkej-316	105	5	for	for	ADP
alkej-316	105	6	speed	speed	NOUN
alkej-316	105	7	up	up	ADP
alkej-316	105	8	the	the	DET
alkej-316	105	9	searching	searching	NOUN
alkej-316	105	10	process	process	NOUN
alkej-316	105	11	is	be	AUX
alkej-316	105	12	needed	need	VERB
alkej-316	105	13	.	.	PUNCT
alkej-316	106	1	the	the	DET
alkej-316	106	2	tumble	tumble	NOUN
alkej-316	106	3	angles	angle	NOUN
alkej-316	106	4	(	(	PUNCT
alkej-316	106	5	∆i	∆i	PROPN
alkej-316	106	6	)	)	PUNCT
alkej-316	106	7	in	in	ADP
alkej-316	106	8	the	the	DET
alkej-316	106	9	chemotactic	chemotactic	ADJ
alkej-316	106	10	phase	phase	NOUN
alkej-316	106	11	are	be	AUX
alkej-316	106	12	generated	generate	VERB
alkej-316	106	13	randomly	randomly	ADV
alkej-316	106	14	.	.	PUNCT
alkej-316	107	1	as	as	ADP
alkej-316	107	2	a	a	DET
alkej-316	107	3	result	result	NOUN
alkej-316	107	4	,	,	PUNCT
alkej-316	107	5	the	the	DET
alkej-316	107	6	algorithm	algorithm	NOUN
alkej-316	107	7	is	be	AUX
alkej-316	107	8	more	more	ADV
alkej-316	107	9	like	like	ADP
alkej-316	107	10	a	a	DET
alkej-316	107	11	random	random	ADJ
alkej-316	107	12	searching	searching	NOUN
alkej-316	107	13	algorithm	algorithm	NOUN
alkej-316	107	14	except	except	SCONJ
alkej-316	107	15	it	it	PRON
alkej-316	107	16	will	will	AUX
alkej-316	107	17	try	try	VERB
alkej-316	107	18	in	in	ADP
alkej-316	107	19	better	well	ADJ
alkej-316	107	20	directions[14	directions[14	PROPN
alkej-316	107	21	]	]	PUNCT
alkej-316	107	22	.	.	PUNCT
alkej-316	108	1	a	a	DET
alkej-316	108	2	method	method	NOUN
alkej-316	108	3	for	for	ADP
alkej-316	108	4	recording	record	VERB
alkej-316	108	5	the	the	DET
alkej-316	108	6	best	good	ADJ
alkej-316	108	7	positions	position	NOUN
alkej-316	108	8	achieved	achieve	VERB
alkej-316	108	9	by	by	ADP
alkej-316	108	10	the	the	DET
alkej-316	108	11	bacteria	bacteria	NOUN
alkej-316	108	12	so	so	ADV
alkej-316	108	13	far	far	ADV
alkej-316	108	14	and	and	CCONJ
alkej-316	108	15	saving	save	VERB
alkej-316	108	16	those	those	DET
alkej-316	108	17	directions	direction	NOUN
alkej-316	108	18	as	as	SCONJ
alkej-316	108	19	a	a	DET
alkej-316	108	20	guide	guide	NOUN
alkej-316	108	21	to	to	ADP
alkej-316	108	22	better	well	ADJ
alkej-316	108	23	potential	potential	ADJ
alkej-316	108	24	candidate	candidate	NOUN
alkej-316	108	25	areas	area	NOUN
alkej-316	108	26	is	be	AUX
alkej-316	108	27	proposed	propose	VERB
alkej-316	108	28	.	.	PUNCT
alkej-316	109	1	firstly	firstly	ADV
alkej-316	109	2	,	,	PUNCT
alkej-316	109	3	tumble	tumble	NOUN
alkej-316	109	4	angles	angle	NOUN
alkej-316	109	5	are	be	AUX
alkej-316	109	6	generated	generate	VERB
alkej-316	109	7	randomly	randomly	ADV
alkej-316	109	8	,	,	PUNCT
alkej-316	109	9	then	then	ADV
alkej-316	109	10	each	each	DET
alkej-316	109	11	bacterium	bacterium	NOUN
alkej-316	109	12	counts	count	VERB
alkej-316	109	13	its	its	PRON
alkej-316	109	14	health	health	NOUN
alkej-316	109	15	improvement	improvement	NOUN
alkej-316	109	16	if	if	SCONJ
alkej-316	109	17	it	it	PRON
alkej-316	109	18	is	be	AUX
alkej-316	109	19	larger	large	ADJ
alkej-316	109	20	than	than	ADP
alkej-316	109	21	predefine	predefine	ADJ
alkej-316	109	22	constant	constant	ADJ
alkej-316	109	23	parameter	parameter	NOUN
alkej-316	109	24	(	(	PUNCT
alkej-316	109	25	f	f	PROPN
alkej-316	109	26	�	�	PROPN
alkej-316	109	27	&	&	CCONJ
alkej-316	109	28	'	'	PUNCT
alkej-316	109	29	(	(	PUNCT
alkej-316	109	30	)	)	PUNCT
alkej-316	109	31	*	*	PUNCT
alkej-316	109	32	)	)	PUNCT
alkej-316	109	33	,	,	PUNCT
alkej-316	109	34	it	it	PRON
alkej-316	109	35	will	will	AUX
alkej-316	109	36	save	save	VERB
alkej-316	109	37	this	this	DET
alkej-316	109	38	tumble	tumble	NOUN
alkej-316	109	39	angle	angle	NOUN
alkej-316	109	40	as	as	ADP
alkej-316	109	41	an	an	DET
alkej-316	109	42	input	input	NOUN
alkej-316	109	43	to	to	ADP
alkej-316	109	44	the	the	DET
alkej-316	109	45	next	next	ADJ
alkej-316	109	46	reproduction	reproduction	NOUN
alkej-316	109	47	in	in	ADP
alkej-316	109	48	the	the	DET
alkej-316	109	49	foraging	forage	VERB
alkej-316	109	50	process	process	NOUN
alkej-316	109	51	.	.	PUNCT
alkej-316	110	1	that	that	PRON
alkej-316	110	2	is	is	ADV
alkej-316	110	3	,	,	PUNCT
alkej-316	110	4	the	the	DET
alkej-316	110	5	bacterial	bacterial	ADJ
alkej-316	110	6	join	join	NOUN
alkej-316	110	7	resources	resource	NOUN
alkej-316	110	8	uncovered	uncover	VERB
alkej-316	110	9	by	by	ADP
alkej-316	110	10	other	other	ADJ
alkej-316	110	11	bacteria	bacteria	NOUN
alkej-316	110	12	in	in	ADP
alkej-316	110	13	previous	previous	ADJ
alkej-316	110	14	chemotactic	chemotactic	ADJ
alkej-316	110	15	step	step	NOUN
alkej-316	110	16	.	.	PUNCT
alkej-316	111	1	afterwards	afterwards	ADV
alkej-316	111	2	,	,	PUNCT
alkej-316	111	3	they	they	PRON
alkej-316	111	4	start	start	VERB
alkej-316	111	5	exploiting	exploit	VERB
alkej-316	111	6	the	the	DET
alkej-316	111	7	neighborhood	neighborhood	NOUN
alkej-316	111	8	of	of	ADP
alkej-316	111	9	these	these	DET
alkej-316	111	10	current	current	ADJ
alkej-316	111	11	positions	position	NOUN
alkej-316	111	12	until	until	SCONJ
alkej-316	111	13	the	the	DET
alkej-316	111	14	needed	need	VERB
alkej-316	111	15	criterion	criterion	NOUN
alkej-316	111	16	(	(	PUNCT
alkej-316	111	17	i.e.	i.e.	X
alkej-316	111	18	,	,	PUNCT
alkej-316	111	19	the	the	DET
alkej-316	111	20	feedback	feedback	NOUN
alkej-316	111	21	from	from	ADP
alkej-316	111	22	the	the	DET
alkej-316	111	23	search	search	NOUN
alkej-316	111	24	process	process	NOUN
alkej-316	111	25	)	)	PUNCT
alkej-316	111	26	is	be	AUX
alkej-316	111	27	reached	reach	VERB
alkej-316	111	28	.	.	PUNCT
alkej-316	112	1	the	the	DET
alkej-316	112	2	saved	save	VERB
alkej-316	112	3	tumble	tumble	NOUN
alkej-316	112	4	angles	angle	NOUN
alkej-316	112	5	would	would	AUX
alkej-316	112	6	help	help	VERB
alkej-316	112	7	each	each	DET
alkej-316	112	8	bacterium	bacterium	NOUN
alkej-316	112	9	for	for	SCONJ
alkej-316	112	10	evaluate	evaluate	VERB
alkej-316	112	11	more	more	ADV
alkej-316	112	12	precise	precise	ADJ
alkej-316	112	13	solutions	solution	NOUN
alkej-316	112	14	.	.	PUNCT
alkej-316	113	1	the	the	DET
alkej-316	113	2	pseudo	pseudo	NOUN
alkej-316	113	3	code	code	NOUN
alkej-316	113	4	of	of	ADP
alkej-316	113	5	atbfo	atbfo	NOUN
alkej-316	113	6	algorithm	algorithm	NOUN
alkej-316	113	7	is	be	AUX
alkej-316	113	8	given	give	VERB
alkej-316	113	9	in	in	ADP
alkej-316	113	10	pseudo	pseudo	NOUN
alkej-316	113	11	code	code	NOUN
alkej-316	113	12	1	1	NUM
alkej-316	113	13	.	.	PUNCT
alkej-316	113	14	where	where	SCONJ
alkej-316	113	15	s	s	NOUN
alkej-316	113	16	is	be	AUX
alkej-316	113	17	the	the	DET
alkej-316	113	18	colony	colony	NOUN
alkej-316	113	19	size	size	NOUN
alkej-316	113	20	,	,	PUNCT
alkej-316	113	21	i	i	PRON
alkej-316	113	22	is	be	AUX
alkej-316	113	23	the	the	DET
alkej-316	113	24	bacterium	bacterium	NOUN
alkej-316	113	25	’s	’s	NOUN
alkej-316	113	26	i	i	PROPN
alkej-316	113	27	d	d	PROPN
alkej-316	113	28	counter	counter	PROPN
alkej-316	113	29	from	from	ADP
alkej-316	113	30	1	1	NUM
alkej-316	113	31	to	to	ADP
alkej-316	113	32	s	s	PRON
alkej-316	113	33	,	,	PUNCT
alkej-316	113	34	xi	xi	X
alkej-316	113	35	is	be	AUX
alkej-316	113	36	the	the	DET
alkej-316	113	37	ith	ith	PROPN
alkej-316	113	38	bacterium	bacterium	NOUN
alkej-316	113	39	’s	’s	PART
alkej-316	113	40	position	position	NOUN
alkej-316	113	41	of	of	ADP
alkej-316	113	42	the	the	DET
alkej-316	113	43	colony	colony	NOUN
alkej-316	113	44	,	,	PUNCT
alkej-316	113	45	�	�	PROPN
alkej-316	113	46	�	�	PROPN
alkej-316	113	47	is	be	AUX
alkej-316	113	48	the	the	DET
alkej-316	113	49	maximum	maximum	ADJ
alkej-316	113	50	number	number	NOUN
alkej-316	113	51	of	of	ADP
alkej-316	113	52	steps	step	NOUN
alkej-316	113	53	for	for	ADP
alkej-316	113	54	a	a	DET
alkej-316	113	55	single	single	ADJ
alkej-316	113	56	activity	activity	NOUN
alkej-316	113	57	of	of	ADP
alkej-316	113	58	swim	swim	NOUN
alkej-316	113	59	,	,	PUNCT
alkej-316	113	60	�	�	PROPN
alkej-316	113	61	,	,	PUNCT
alkej-316	113	62	-./012	-./012	NOUN
alkej-316	113	63	is	be	AUX
alkej-316	113	64	a	a	DET
alkej-316	113	65	counter	counter	NOUN
alkej-316	113	66	to	to	PART
alkej-316	113	67	determine	determine	VERB
alkej-316	113	68	the	the	DET
alkej-316	113	69	fitness	fitness	NOUN
alkej-316	113	70	improvement	improvement	NOUN
alkej-316	113	71	for	for	ADP
alkej-316	113	72	the	the	DET
alkej-316	113	73	bacteria	bacteria	NOUN
alkej-316	113	74	positions	position	NOUN
alkej-316	113	75	,	,	PUNCT
alkej-316	113	76	f	f	PROPN
alkej-316	113	77	�	�	PROPN
alkej-316	113	78	&	&	CCONJ
alkej-316	113	79	'	'	PUNCT
alkej-316	113	80	(	(	PUNCT
alkej-316	113	81	)	)	PUNCT
alkej-316	113	82	*	*	PUNCT
alkej-316	113	83	is	be	AUX
alkej-316	113	84	a	a	DET
alkej-316	113	85	user	user	NOUN
alkej-316	113	86	defined	define	VERB
alkej-316	113	87	threshold	threshold	NOUN
alkej-316	113	88	of	of	ADP
alkej-316	113	89	the	the	DET
alkej-316	113	90	improvement	improvement	NOUN
alkej-316	113	91	count	count	NOUN
alkej-316	113	92	required	require	VERB
alkej-316	113	93	,	,	PUNCT
alkej-316	113	94	∆	∆	X
alkej-316	113	95	�	�	PROPN
alkej-316	113	96	3	3	NUM
alkej-316	113	97	�	�	PROPN
alkej-316	113	98	4	4	NUM
alkej-316	113	99	�	�	NOUN
alkej-316	113	100	56	56	NUM
alkej-316	113	101	is	be	AUX
alkej-316	113	102	the	the	DET
alkej-316	113	103	initial	initial	ADJ
alkej-316	113	104	directions	direction	NOUN
alkej-316	113	105	that	that	PRON
alkej-316	113	106	generated	generate	VERB
alkej-316	113	107	randomly	randomly	ADV
alkej-316	113	108	and	and	CCONJ
alkej-316	113	109	∆	∆	PROPN
alkej-316	113	110	�	�	PROPN
alkej-316	113	111	�	�	PROPN
alkej-316	113	112	,	,	PUNCT
alkej-316	113	113	∆	∆	PROPN
alkej-316	113	114	�	�	PROPN
alkej-316	113	115	�	�	PROPN
alkej-316	113	116	�	�	PROPN
alkej-316	113	117	�	�	PROPN
alkej-316	113	118	nizar	nizar	PROPN
alkej-316	113	119	hadi	hadi	PROPN
alkej-316	113	120	abbas	abbas	PROPN
alkej-316	113	121	al	al	PROPN
alkej-316	113	122	-	-	PUNCT
alkej-316	113	123	khwarizmi	khwarizmi	PROPN
alkej-316	113	124	engineering	engineering	NOUN
alkej-316	113	125	journal	journal	PROPN
alkej-316	113	126	,	,	PUNCT
alkej-316	113	127	vol	vol	NOUN
alkej-316	113	128	.	.	PROPN
alkej-316	114	1	12	12	NUM
alkej-316	114	2	,	,	PUNCT
alkej-316	114	3	no	no	INTJ
alkej-316	114	4	.	.	NOUN
alkej-316	114	5	4	4	NUM
alkej-316	114	6	,	,	PUNCT
alkej-316	114	7	p.p	p.p	PROPN
alkej-316	114	8	.	.	NOUN
alkej-316	114	9	2635(2016	2635(2016	NUM
alkej-316	114	10	)	)	PUNCT
alkej-316	114	11	29	29	NUM
alkej-316	114	12	are	be	AUX
alkej-316	114	13	current	current	ADJ
alkej-316	114	14	and	and	CCONJ
alkej-316	114	15	next	next	ADJ
alkej-316	114	16	saved	save	VERB
alkej-316	114	17	tumble	tumble	NOUN
alkej-316	114	18	angles	angle	NOUN
alkej-316	114	19	respectively	respectively	ADV
alkej-316	114	20	.	.	PUNCT
alkej-316	115	1	algorithm	algorithm	NOUN
alkej-316	115	2	1	1	NUM
alkej-316	115	3	:	:	PUNCT
alkej-316	115	4	adaptive	adaptive	PROPN
alkej-316	115	5	tumble	tumble	NOUN
alkej-316	115	6	bacterial	bacterial	ADJ
alkej-316	115	7	foraging	forage	VERB
alkej-316	115	8	optimization	optimization	NOUN
alkej-316	115	9	algorithm	algorithm	NOUN
alkej-316	115	10	step	step	NOUN
alkej-316	115	11	1	1	NUM
alkej-316	115	12	:	:	PUNCT
alkej-316	115	13	initialize	initialize	VERB
alkej-316	115	14	parameters	parameter	NOUN
alkej-316	115	15	89	89	NUM
alkej-316	115	16	:	:	PUNCT
alkej-316	115	17	,	,	PUNCT
alkej-316	115	18	8;9	8;9	NUM
alkej-316	115	19	,	,	PUNCT
alkej-316	115	20	8	8	NUM
alkej-316	115	21	<	<	NOUN
alkej-316	115	22	,	,	PUNCT
alkej-316	115	23	8=	8=	NUM
alkej-316	115	24	,	,	PUNCT
alkej-316	115	25	>	>	PUNCT
alkej-316	115	26	?	?	PUNCT
alkej-316	115	27	and	and	CCONJ
alkej-316	115	28	∆?@?a?bc=	∆?@?a?bc=	PRON
alkej-316	115	29	;	;	PUNCT
alkej-316	115	30	b@	b@	PROPN
alkej-316	115	31	:	:	PUNCT
alkej-316	115	32	d	d	X
alkej-316	115	33	step	step	NOUN
alkej-316	115	34	2	2	NUM
alkej-316	115	35	:	:	PUNCT
alkej-316	115	36	ife	ife	PROPN
alkej-316	115	37	<	<	X
alkej-316	115	38	gh	gh	PROPN
alkej-316	115	39	,	,	PUNCT
alkej-316	115	40	i	i	PRON
alkej-316	115	41	=	=	VERB
alkej-316	116	1	i	i	PROPN
alkej-316	116	2	+	+	CCONJ
alkej-316	116	3	j.	j.	PROPN
alkej-316	116	4	for	for	ADP
alkej-316	116	5	each	each	DET
alkej-316	116	6	bacterium	bacterium	NOUN
alkej-316	116	7	,	,	PUNCT
alkej-316	116	8	do	do	VERB
alkej-316	116	9	the	the	DET
alkej-316	116	10	following	follow	VERB
alkej-316	116	11	processes	process	NOUN
alkej-316	116	12	:	:	PUNCT
alkej-316	116	13	tumble	tumble	NOUN
alkej-316	116	14	:	:	PUNCT
alkej-316	116	15	generating	generate	VERB
alkej-316	116	16	a	a	DET
alkej-316	116	17	random	random	ADJ
alkej-316	116	18	direction	direction	NOUN
alkej-316	116	19	using	use	VERB
alkej-316	116	20	eq	eq	X
alkej-316	116	21	.	.	PUNCT
alkej-316	117	1	(	(	PUNCT
alkej-316	117	2	2	2	NUM
alkej-316	117	3	)	)	PUNCT
alkej-316	117	4	then	then	ADV
alkej-316	117	5	make	make	VERB
alkej-316	117	6	a	a	DET
alkej-316	117	7	move	move	NOUN
alkej-316	117	8	by	by	ADP
alkej-316	117	9	eq	eq	PROPN
alkej-316	117	10	.	.	PUNCT
alkej-316	118	1	(	(	PUNCT
alkej-316	118	2	1	1	NUM
alkej-316	118	3	)	)	PUNCT
alkej-316	119	1	and	and	CCONJ
alkej-316	119	2	calculate	calculate	VERB
alkej-316	119	3	the	the	DET
alkej-316	119	4	fitness	fitness	NOUN
alkej-316	119	5	value	value	NOUN
alkej-316	119	6	at	at	ADP
alkej-316	119	7	current	current	ADJ
alkej-316	119	8	position	position	NOUN
alkej-316	119	9	.	.	PUNCT
alkej-316	120	1	run	run	VERB
alkej-316	120	2	:	:	PUNCT
alkej-316	120	3	whenk	whenk	ADV
alkej-316	120	4	<	<	X
alkej-316	120	5	gl	gl	PROPN
alkej-316	120	6	,	,	PUNCT
alkej-316	120	7	k	k	PROPN
alkej-316	121	1	=	=	PUNCT
alkej-316	121	2	k	k	PROPN
alkej-316	121	3	+	+	CCONJ
alkej-316	121	4	j	j	AUX
alkej-316	121	5	..	..	AUX
alkej-316	121	6	calculating	calculate	VERB
alkej-316	121	7	the	the	DET
alkej-316	121	8	fitness	fitness	NOUN
alkej-316	121	9	value	value	NOUN
alkej-316	121	10	.	.	PUNCT
alkej-316	122	1	if	if	SCONJ
alkej-316	122	2	better	well	ADJ
alkej-316	122	3	than	than	ADP
alkej-316	122	4	last	last	ADJ
alkej-316	122	5	step	step	NOUN
alkej-316	122	6	,	,	PUNCT
alkej-316	122	7	keep	keep	VERB
alkej-316	122	8	running	run	VERB
alkej-316	122	9	until	until	ADP
alkej-316	122	10	k	k	PROPN
alkej-316	122	11	=	=	SYM
alkej-316	122	12	gl	gl	PROPN
alkej-316	122	13	,	,	PUNCT
alkej-316	122	14	mknhopqr	mknhopqr	NOUN
alkej-316	122	15	=	=	PUNCT
alkej-316	122	16	mknhopqr	mknhopqr	NOUN
alkej-316	122	17	+	+	ADP
alkej-316	122	18	j	j	PROPN
alkej-316	122	19	otherwise	otherwise	ADV
alkej-316	122	20	go	go	VERB
alkej-316	122	21	to	to	PART
alkej-316	122	22	step	step	VERB
alkej-316	122	23	3	3	NUM
alkej-316	122	24	.	.	PUNCT
alkej-316	123	1	step	step	NOUN
alkej-316	123	2	3	3	NUM
alkej-316	123	3	:	:	PUNCT
alkej-316	123	4	ifmknhopqr	ifmknhopqr	NOUN
alkej-316	123	5	>	>	X
alkej-316	123	6	tmknuov	tmknuov	PROPN
alkej-316	123	7	,	,	PUNCT
alkej-316	123	8	∆mi	∆mi	NOUN
alkej-316	123	9	�	�	NOUN
alkej-316	123	10	j=	j=	NOUN
alkej-316	123	11	∆mi	∆mi	NOUN
alkej-316	123	12	otherwise	otherwise	ADV
alkej-316	123	13	∆mi	∆mi	NOUN
alkej-316	123	14	�	�	NOUN
alkej-316	123	15	j=	j=	VERB
alkej-316	123	16	∆mqmrmwxi	∆mqmrmwxi	PROPN
alkej-316	123	17	.	.	PUNCT
alkej-316	124	1	step	step	NOUN
alkej-316	124	2	4	4	NUM
alkej-316	124	3	:	:	PUNCT
alkej-316	124	4	ify	ify	PROPN
alkej-316	124	5	<	<	X
alkej-316	124	6	guz	guz	PROPN
alkej-316	124	7	,	,	PUNCT
alkej-316	124	8	[	[	PUNCT
alkej-316	124	9	=	=	X
alkej-316	124	10	[	[	PUNCT
alkej-316	124	11	+	+	NUM
alkej-316	124	12	j	j	NOUN
alkej-316	124	13	,	,	PUNCT
alkej-316	124	14	start	start	VERB
alkej-316	124	15	reproduction	reproduction	NOUN
alkej-316	124	16	go	go	VERB
alkej-316	124	17	to	to	PART
alkej-316	124	18	step	step	VERB
alkej-316	124	19	2	2	NUM
alkej-316	124	20	,	,	PUNCT
alkej-316	124	21	otherwise	otherwise	ADV
alkej-316	124	22	go	go	VERB
alkej-316	124	23	to	to	PART
alkej-316	124	24	step	step	VERB
alkej-316	124	25	5	5	NUM
alkej-316	124	26	.	.	PUNCT
alkej-316	125	1	step	step	NOUN
alkej-316	125	2	5	5	NUM
alkej-316	125	3	:	:	PUNCT
alkej-316	125	4	ifc	ifc	NOUN
alkej-316	125	5	<	<	X
alkej-316	125	6	gz\	gz\	PROPN
alkej-316	125	7	,	,	PUNCT
alkej-316	125	8	x	x	SYM
alkej-316	125	9	=	=	SYM
alkej-316	125	10	x	x	SYM
alkej-316	126	1	+	+	NUM
alkej-316	126	2	j	j	NOUN
alkej-316	126	3	,	,	PUNCT
alkej-316	126	4	start	start	VERB
alkej-316	126	5	eliminationdispersal	eliminationdispersal	ADJ
alkej-316	126	6	step	step	NOUN
alkej-316	126	7	go	go	VERB
alkej-316	126	8	to	to	PART
alkej-316	126	9	step	step	VERB
alkej-316	126	10	2	2	NUM
alkej-316	126	11	,	,	PUNCT
alkej-316	126	12	otherwise	otherwise	ADV
alkej-316	126	13	end	end	VERB
alkej-316	126	14	.	.	PUNCT
alkej-316	127	1	5	5	X
alkej-316	127	2	.	.	X
alkej-316	127	3	robot	robot	NOUN
alkej-316	127	4	path	path	NOUN
alkej-316	127	5	planning	planning	NOUN
alkej-316	127	6	using	use	VERB
alkej-316	127	7	atbfo	atbfo	NOUN
alkej-316	127	8	despite	despite	SCONJ
alkej-316	127	9	classical	classical	ADJ
alkej-316	127	10	methods	method	NOUN
alkej-316	127	11	'	'	PART
alkej-316	127	12	drawback	drawback	NOUN
alkej-316	127	13	such	such	ADJ
alkej-316	127	14	as	as	SCONJ
alkej-316	127	15	trapped	trap	VERB
alkej-316	127	16	into	into	ADP
alkej-316	127	17	local	local	ADJ
alkej-316	127	18	minima	minima	NOUN
alkej-316	127	19	and	and	CCONJ
alkej-316	127	20	high	high	ADJ
alkej-316	127	21	time	time	NOUN
alkej-316	127	22	complexity	complexity	NOUN
alkej-316	127	23	in	in	ADP
alkej-316	127	24	high	high	ADJ
alkej-316	127	25	dimensional	dimensional	ADJ
alkej-316	127	26	problems	problem	NOUN
alkej-316	127	27	,	,	PUNCT
alkej-316	127	28	they	they	PRON
alkej-316	127	29	have	have	VERB
alkej-316	127	30	very	very	ADV
alkej-316	127	31	simple	simple	ADJ
alkej-316	127	32	structure	structure	NOUN
alkej-316	127	33	which	which	PRON
alkej-316	127	34	makes	make	VERB
alkej-316	127	35	them	they	PRON
alkej-316	127	36	easy	easy	ADJ
alkej-316	127	37	to	to	PART
alkej-316	127	38	implement	implement	VERB
alkej-316	127	39	.	.	PUNCT
alkej-316	128	1	classic	classic	ADJ
alkej-316	128	2	artificial	artificial	ADJ
alkej-316	128	3	potential	potential	ADJ
alkej-316	128	4	field	field	NOUN
alkej-316	128	5	(	(	PUNCT
alkej-316	128	6	apf	apf	PROPN
alkej-316	128	7	)	)	PUNCT
alkej-316	128	8	method	method	NOUN
alkej-316	128	9	was	be	AUX
alkej-316	128	10	originally	originally	ADV
alkej-316	128	11	introduced	introduce	VERB
alkej-316	128	12	by	by	ADP
alkej-316	128	13	khatib	khatib	PROPN
alkej-316	129	1	[	[	X
alkej-316	129	2	15	15	NUM
alkej-316	129	3	]	]	X
alkej-316	129	4	,	,	PUNCT
alkej-316	129	5	as	as	ADP
alkej-316	129	6	a	a	DET
alkej-316	129	7	real	real	ADJ
alkej-316	129	8	time	time	NOUN
alkej-316	129	9	obstacle	obstacle	NOUN
alkej-316	129	10	avoidance	avoidance	NOUN
alkej-316	129	11	method	method	NOUN
alkej-316	129	12	.	.	PUNCT
alkej-316	130	1	apf	apf	PROPN
alkej-316	130	2	is	be	AUX
alkej-316	130	3	particularly	particularly	ADV
alkej-316	130	4	attractive	attractive	ADJ
alkej-316	130	5	and	and	CCONJ
alkej-316	130	6	has	have	AUX
alkej-316	130	7	been	be	AUX
alkej-316	130	8	widely	widely	ADV
alkej-316	130	9	used	use	VERB
alkej-316	130	10	for	for	ADP
alkej-316	130	11	path	path	NOUN
alkej-316	130	12	planning	plan	VERB
alkej-316	130	13	related	relate	VERB
alkej-316	130	14	problems	problem	NOUN
alkej-316	130	15	for	for	ADP
alkej-316	130	16	more	more	ADJ
alkej-316	130	17	than	than	ADP
alkej-316	130	18	two	two	NUM
alkej-316	130	19	decades	decade	NOUN
alkej-316	130	20	because	because	SCONJ
alkej-316	130	21	of	of	ADP
alkej-316	130	22	its	its	PRON
alkej-316	130	23	elegant	elegant	ADJ
alkej-316	130	24	mathematical	mathematical	ADJ
alkej-316	130	25	analysis	analysis	NOUN
alkej-316	130	26	and	and	CCONJ
alkej-316	130	27	simplicity	simplicity	NOUN
alkej-316	130	28	[	[	X
alkej-316	130	29	16	16	NUM
alkej-316	130	30	]	]	PUNCT
alkej-316	130	31	.	.	PUNCT
alkej-316	131	1	however	however	ADV
alkej-316	131	2	it	it	PRON
alkej-316	131	3	suffers	suffer	VERB
alkej-316	131	4	from	from	ADP
alkej-316	131	5	many	many	ADJ
alkej-316	131	6	drawbacks	drawback	NOUN
alkej-316	131	7	[	[	X
alkej-316	131	8	17	17	NUM
alkej-316	131	9	]	]	X
alkej-316	131	10	:	:	PUNCT
alkej-316	131	11	trap	trap	NOUN
alkej-316	131	12	situations	situation	NOUN
alkej-316	131	13	due	due	ADJ
alkej-316	131	14	to	to	ADP
alkej-316	131	15	local	local	ADJ
alkej-316	131	16	minima	minima	NOUN
alkej-316	131	17	,	,	PUNCT
alkej-316	131	18	no	no	DET
alkej-316	131	19	passage	passage	NOUN
alkej-316	131	20	between	between	ADP
alkej-316	131	21	closely	closely	ADV
alkej-316	131	22	spaced	space	VERB
alkej-316	131	23	obstacles	obstacle	NOUN
alkej-316	131	24	,	,	PUNCT
alkej-316	131	25	oscillations	oscillation	NOUN
alkej-316	131	26	in	in	ADP
alkej-316	131	27	the	the	DET
alkej-316	131	28	presence	presence	NOUN
alkej-316	131	29	of	of	ADP
alkej-316	131	30	obstacles	obstacle	NOUN
alkej-316	131	31	and	and	CCONJ
alkej-316	131	32	oscillations	oscillation	NOUN
alkej-316	131	33	in	in	ADP
alkej-316	131	34	narrow	narrow	ADJ
alkej-316	131	35	passages	passage	NOUN
alkej-316	131	36	.	.	PUNCT
alkej-316	132	1	in	in	ADP
alkej-316	132	2	other	other	ADJ
alkej-316	132	3	hand	hand	NOUN
alkej-316	132	4	bfo	bfo	PROPN
alkej-316	132	5	is	be	AUX
alkej-316	132	6	a	a	DET
alkej-316	132	7	simple	simple	ADJ
alkej-316	132	8	and	and	CCONJ
alkej-316	132	9	effective	effective	ADJ
alkej-316	132	10	searching	searching	NOUN
alkej-316	132	11	algorithm	algorithm	NOUN
alkej-316	132	12	.	.	PUNCT
alkej-316	133	1	consequently	consequently	ADV
alkej-316	133	2	a	a	DET
alkej-316	133	3	method	method	NOUN
alkej-316	133	4	for	for	ADP
alkej-316	133	5	hybridizing	hybridize	VERB
alkej-316	133	6	apf	apf	PROPN
alkej-316	133	7	with	with	ADP
alkej-316	133	8	bfo	bfo	PROPN
alkej-316	133	9	as	as	ADP
alkej-316	133	10	lpp	lpp	PROPN
alkej-316	133	11	technique	technique	NOUN
alkej-316	133	12	(	(	PUNCT
alkej-316	133	13	making	make	VERB
alkej-316	133	14	use	use	NOUN
alkej-316	133	15	of	of	ADP
alkej-316	133	16	both	both	DET
alkej-316	133	17	methods	method	NOUN
alkej-316	133	18	'	'	PART
alkej-316	133	19	advantages	advantage	NOUN
alkej-316	133	20	)	)	PUNCT
alkej-316	133	21	,	,	PUNCT
alkej-316	133	22	is	be	AUX
alkej-316	133	23	introduced	introduce	VERB
alkej-316	133	24	in	in	ADP
alkej-316	133	25	this	this	DET
alkej-316	133	26	study	study	NOUN
alkej-316	133	27	.	.	PUNCT
alkej-316	134	1	as	as	SCONJ
alkej-316	134	2	stated	state	VERB
alkej-316	134	3	before	before	SCONJ
alkej-316	134	4	the	the	DET
alkej-316	134	5	environment	environment	NOUN
alkej-316	134	6	would	would	AUX
alkej-316	134	7	be	be	AUX
alkej-316	134	8	2d	2d	NUM
alkej-316	134	9	work	work	NOUN
alkej-316	134	10	space	space	NOUN
alkej-316	134	11	with	with	ADP
alkej-316	134	12	circular	circular	ADJ
alkej-316	134	13	obstacles	obstacle	NOUN
alkej-316	134	14	.	.	PUNCT
alkej-316	135	1	the	the	DET
alkej-316	135	2	mobile	mobile	ADJ
alkej-316	135	3	robot	robot	NOUN
alkej-316	135	4	is	be	AUX
alkej-316	135	5	represented	represent	VERB
alkej-316	135	6	as	as	ADP
alkej-316	135	7	a	a	DET
alkej-316	135	8	dot	dot	NOUN
alkej-316	135	9	by	by	ADP
alkej-316	135	10	cartesian	cartesian	ADJ
alkej-316	135	11	coordinates	coordinate	NOUN
alkej-316	135	12	(	(	PUNCT
alkej-316	135	13	x	x	X
alkej-316	135	14	,	,	PUNCT
alkej-316	135	15	y	y	NOUN
alkej-316	135	16	)	)	PUNCT
alkej-316	135	17	in	in	ADP
alkej-316	135	18	the	the	DET
alkej-316	135	19	xy	xy	NOUN
alkej-316	135	20	-	-	PUNCT
alkej-316	135	21	plan	plan	NOUN
alkej-316	135	22	.	.	PUNCT
alkej-316	136	1	a	a	DET
alkej-316	136	2	description	description	NOUN
alkej-316	136	3	for	for	ADP
alkej-316	136	4	the	the	DET
alkej-316	136	5	sensor	sensor	NOUN
alkej-316	136	6	is	be	AUX
alkej-316	136	7	needed	need	VERB
alkej-316	136	8	since	since	SCONJ
alkej-316	136	9	the	the	DET
alkej-316	136	10	robot	robot	NOUN
alkej-316	136	11	is	be	AUX
alkej-316	136	12	working	work	VERB
alkej-316	136	13	in	in	ADP
alkej-316	136	14	totally	totally	ADV
alkej-316	136	15	unknown	unknown	ADJ
alkej-316	136	16	environment	environment	NOUN
alkej-316	136	17	.	.	PUNCT
alkej-316	137	1	in	in	ADP
alkej-316	137	2	this	this	DET
alkej-316	137	3	work	work	NOUN
alkej-316	137	4	range	range	NOUN
alkej-316	137	5	based	base	VERB
alkej-316	137	6	obstacle	obstacle	NOUN
alkej-316	137	7	detection	detection	NOUN
alkej-316	137	8	is	be	AUX
alkej-316	137	9	done	do	VERB
alkej-316	137	10	using	use	VERB
alkej-316	137	11	infrared	infrared	ADJ
alkej-316	137	12	sensor	sensor	NOUN
alkej-316	137	13	(	(	PUNCT
alkej-316	137	14	ir	ir	PROPN
alkej-316	137	15	)	)	PUNCT
alkej-316	137	16	.	.	PUNCT
alkej-316	138	1	five	five	NUM
alkej-316	138	2	ir	ir	PROPN
alkej-316	138	3	sensors	sensor	NOUN
alkej-316	138	4	are	be	AUX
alkej-316	138	5	positioned	position	VERB
alkej-316	138	6	in	in	ADP
alkej-316	138	7	the	the	DET
alkej-316	138	8	mobile	mobile	NOUN
alkej-316	138	9	robot	robot	NOUN
alkej-316	138	10	(	(	PUNCT
alkej-316	138	11	r	r	NOUN
alkej-316	138	12	)	)	PUNCT
alkej-316	138	13	each	each	PRON
alkej-316	138	14	with	with	ADP
alkej-316	138	15	1.2	1.2	NUM
alkej-316	138	16	meter	meter	NOUN
alkej-316	138	17	range	range	NOUN
alkej-316	138	18	.	.	PUNCT
alkej-316	139	1	these	these	DET
alkej-316	139	2	sensors	sensor	NOUN
alkej-316	139	3	are	be	AUX
alkej-316	139	4	located	locate	VERB
alkej-316	139	5	in	in	ADP
alkej-316	139	6	five	five	NUM
alkej-316	139	7	angles	angle	NOUN
alkej-316	139	8	:	:	PUNCT
alkej-316	139	9	0	0	NUM
alkej-316	139	10	,	,	PUNCT
alkej-316	139	11	45	45	NUM
alkej-316	139	12	,	,	PUNCT
alkej-316	139	13	90,135	90,135	NUM
alkej-316	139	14	and	and	CCONJ
alkej-316	139	15	180	180	NUM
alkej-316	139	16	fig	fig	NOUN
alkej-316	139	17	.	.	PUNCT
alkej-316	140	1	2	2	X
alkej-316	140	2	.	.	X
alkej-316	140	3	fig	fig	NOUN
alkej-316	140	4	.	.	PUNCT
alkej-316	141	1	2	2	X
alkej-316	141	2	.	.	X
alkej-316	141	3	robot	robot	NOUN
alkej-316	141	4	model	model	NOUN
alkej-316	141	5	.	.	PUNCT
alkej-316	142	1	in	in	ADP
alkej-316	142	2	local	local	ADJ
alkej-316	142	3	path	path	NOUN
alkej-316	142	4	planning	planning	NOUN
alkej-316	142	5	,	,	PUNCT
alkej-316	142	6	finding	find	VERB
alkej-316	142	7	a	a	DET
alkej-316	142	8	path	path	NOUN
alkej-316	142	9	is	be	AUX
alkej-316	142	10	done	do	VERB
alkej-316	142	11	on	on	ADP
alkej-316	142	12	line	line	NOUN
alkej-316	142	13	by	by	ADP
alkej-316	142	14	only	only	ADV
alkej-316	142	15	the	the	DET
alkej-316	142	16	available	available	ADJ
alkej-316	142	17	readings	reading	NOUN
alkej-316	142	18	from	from	ADP
alkej-316	142	19	the	the	DET
alkej-316	142	20	sensors	sensor	NOUN
alkej-316	142	21	.	.	PUNCT
alkej-316	143	1	a	a	DET
alkej-316	143	2	function	function	NOUN
alkej-316	143	3	for	for	ADP
alkej-316	143	4	guiding	guide	VERB
alkej-316	143	5	the	the	DET
alkej-316	143	6	robot	robot	NOUN
alkej-316	143	7	toward	toward	ADP
alkej-316	143	8	the	the	DET
alkej-316	143	9	target	target	NOUN
alkej-316	143	10	is	be	AUX
alkej-316	143	11	needed	need	VERB
alkej-316	143	12	.	.	PUNCT
alkej-316	144	1	in	in	ADP
alkej-316	144	2	apf	apf	PROPN
alkej-316	144	3	method	method	NOUN
alkej-316	144	4	,	,	PUNCT
alkej-316	144	5	two	two	NUM
alkej-316	144	6	cost	cost	NOUN
alkej-316	144	7	functions	function	NOUN
alkej-316	144	8	(	(	PUNCT
alkej-316	144	9	attractive	attractive	ADJ
alkej-316	144	10	and	and	CCONJ
alkej-316	144	11	repulsive	repulsive	ADJ
alkej-316	144	12	)	)	PUNCT
alkej-316	144	13	are	be	AUX
alkej-316	144	14	used	use	VERB
alkej-316	144	15	to	to	PART
alkej-316	144	16	attract	attract	VERB
alkej-316	144	17	the	the	DET
alkej-316	144	18	robot	robot	NOUN
alkej-316	144	19	to	to	ADP
alkej-316	144	20	the	the	DET
alkej-316	144	21	target	target	NOUN
alkej-316	144	22	and	and	CCONJ
alkej-316	144	23	push	push	VERB
alkej-316	144	24	it	it	PRON
alkej-316	144	25	away	away	ADV
alkej-316	144	26	from	from	ADP
alkej-316	144	27	any	any	DET
alkej-316	144	28	obstacles	obstacle	NOUN
alkej-316	144	29	at	at	ADP
alkej-316	144	30	the	the	DET
alkej-316	144	31	same	same	ADJ
alkej-316	144	32	time	time	NOUN
alkej-316	144	33	.	.	PUNCT
alkej-316	145	1	a	a	DET
alkej-316	145	2	combination	combination	NOUN
alkej-316	145	3	of	of	ADP
alkej-316	145	4	both	both	DET
alkej-316	145	5	forces	force	NOUN
alkej-316	145	6	drives	drive	VERB
alkej-316	145	7	the	the	DET
alkej-316	145	8	robot	robot	NOUN
alkej-316	145	9	to	to	ADP
alkej-316	145	10	its	its	PRON
alkej-316	145	11	final	final	ADJ
alkej-316	145	12	destination	destination	NOUN
alkej-316	145	13	.	.	PUNCT
alkej-316	146	1	in	in	ADP
alkej-316	146	2	this	this	DET
alkej-316	146	3	work	work	NOUN
alkej-316	146	4	both	both	CCONJ
alkej-316	146	5	attractive	attractive	ADJ
alkej-316	146	6	and	and	CCONJ
alkej-316	146	7	repulsive	repulsive	ADJ
alkej-316	146	8	potential	potential	ADJ
alkej-316	146	9	functions	function	NOUN
alkej-316	146	10	(	(	PUNCT
alkej-316	146	11	not	not	PART
alkej-316	146	12	their	their	PRON
alkej-316	146	13	gradients	gradient	NOUN
alkej-316	146	14	forces	force	NOUN
alkej-316	146	15	)	)	PUNCT
alkej-316	146	16	are	be	AUX
alkej-316	146	17	hybridized	hybridize	VERB
alkej-316	146	18	with	with	ADP
alkej-316	146	19	bfo	bfo	PROPN
alkej-316	146	20	to	to	PART
alkej-316	146	21	drive	drive	VERB
alkej-316	146	22	the	the	DET
alkej-316	146	23	mobile	mobile	ADJ
alkej-316	146	24	robot	robot	NOUN
alkej-316	146	25	.	.	PUNCT
alkej-316	147	1	a	a	DET
alkej-316	147	2	goal	goal	NOUN
alkej-316	147	3	cost	cost	NOUN
alkej-316	147	4	function	function	NOUN
alkej-316	147	5	similar	similar	ADJ
alkej-316	147	6	to	to	ADP
alkej-316	147	7	apf	apf	PROPN
alkej-316	147	8	[	[	X
alkej-316	147	9	18	18	NUM
alkej-316	147	10	]	]	PUNCT
alkej-316	147	11	is	be	AUX
alkej-316	147	12	introduced	introduce	VERB
alkej-316	147	13	as	as	ADP
alkej-316	147	14	in	in	ADP
alkej-316	147	15	eq	eq	ADP
alkej-316	147	16	.	.	PUNCT
alkej-316	148	1	(	(	PUNCT
alkej-316	148	2	3	3	NUM
alkej-316	148	3	)	)	PUNCT
alkej-316	148	4	and	and	CCONJ
alkej-316	148	5	eq	eq	NOUN
alkej-316	148	6	.	.	PUNCT
alkej-316	149	1	(	(	PUNCT
alkej-316	149	2	4	4	NUM
alkej-316	149	3	)	)	PUNCT
alkej-316	149	4	.	.	PUNCT
alkej-316	150	1	j^)56	j^)56	VERB
alkej-316	151	1	=	=	NOUN
alkej-316	151	2	12	12	NUM
alkej-316	151	3	∗	∗	NOUN
alkej-316	151	4	ξ	ξ	PROPN
alkej-316	151	5	∗	∗	NOUN
alkej-316	151	6	‖pb	‖pb	NUM
alkej-316	151	7	c	c	PROPN
alkej-316	151	8	−	−	PROPN
alkej-316	151	9	cpe‖f	cpe‖f	PROPN
alkej-316	151	10	…	…	PUNCT
alkej-316	151	11	3	3	NUM
alkej-316	151	12	‖pb	‖pb	NUM
alkej-316	151	13	c	c	NOUN
alkej-316	151	14	−	−	NOUN
alkej-316	151	15	cpe‖	cpe‖	PUNCT
alkej-316	152	1	=	=	SYM
alkej-316	152	2	h	h	NOUN
alkej-316	152	3	xb	xb	PROPN
alkej-316	152	4	−	−	PROPN
alkej-316	153	1	xe	xe	PROPN
alkej-316	153	2	f	f	PROPN
alkej-316	153	3	+	+	CCONJ
alkej-316	154	1	yb	yb	PROPN
alkej-316	154	2	−	−	PROPN
alkej-316	155	1	ye	ye	PRON
alkej-316	155	2	f	f	PROPN
alkej-316	155	3	…	…	PUNCT
alkej-316	155	4	4	4	NUM
alkej-316	155	5	where	where	SCONJ
alkej-316	155	6	ξ	ξ	PROPN
alkej-316	155	7	is	be	AUX
alkej-316	155	8	a	a	DET
alkej-316	155	9	positive	positive	ADJ
alkej-316	155	10	constant	constant	ADJ
alkej-316	155	11	scaling	scaling	NOUN
alkej-316	155	12	factor,‖pb	factor,‖pb	NOUN
alkej-316	155	13	c	c	PROPN
alkej-316	155	14	−	−	PROPN
alkej-316	155	15	cpe‖	cpe‖	PUNCT
alkej-316	155	16	is	be	AUX
alkej-316	155	17	the	the	DET
alkej-316	155	18	euclidean	euclidean	ADJ
alkej-316	155	19	distance	distance	NOUN
alkej-316	155	20	between	between	ADP
alkej-316	155	21	the	the	DET
alkej-316	155	22	robot	robot	NOUN
alkej-316	155	23	pb	pb	ADP
alkej-316	155	24	and	and	CCONJ
alkej-316	155	25	the	the	DET
alkej-316	155	26	target	target	NOUN
alkej-316	155	27	pe	pe	INTJ
alkej-316	155	28	.	.	PUNCT
alkej-316	156	1	for	for	ADP
alkej-316	156	2	the	the	DET
alkej-316	156	3	obstacle	obstacle	NOUN
alkej-316	156	4	cost	cost	NOUN
alkej-316	156	5	function	function	NOUN
alkej-316	156	6	,	,	PUNCT
alkej-316	156	7	a	a	DET
alkej-316	156	8	repulsive	repulsive	ADJ
alkej-316	156	9	function	function	NOUN
alkej-316	156	10	is	be	AUX
alkej-316	156	11	assigned	assign	VERB
alkej-316	156	12	for	for	ADP
alkej-316	156	13	each	each	DET
alkej-316	156	14	detected	detect	VERB
alkej-316	156	15	obstacle	obstacle	NOUN
alkej-316	156	16	.	.	PUNCT
alkej-316	157	1	as	as	SCONJ
alkej-316	157	2	shown	show	VERB
alkej-316	157	3	in	in	ADP
alkej-316	157	4	eq	eq	ADP
alkej-316	157	5	.	.	PUNCT
alkej-316	158	1	(	(	PUNCT
alkej-316	158	2	5	5	NUM
alkej-316	158	3	)	)	PUNCT
alkej-316	158	4	.	.	PUNCT
alkej-316	159	1	j)lm	j)lm	PROPN
alkej-316	159	2	=	=	PROPN
alkej-316	159	3	n12	n12	PROPN
alkej-316	159	4	∗	∗	PROPN
alkej-316	159	5	η	η	PROPN
alkej-316	159	6	∗	∗	X
alkej-316	159	7	o	o	NOUN
alkej-316	159	8	1d	1d	NUM
alkej-316	159	9	r	r	NOUN
alkej-316	159	10	−	−	NOUN
alkej-316	159	11	1dos	1dos	NUM
alkej-316	159	12	if	if	SCONJ
alkej-316	159	13	d	d	PROPN
alkej-316	159	14	r	r	NOUN
alkej-316	159	15	≤	≤	PUNCT
alkej-316	160	1	dmw3mw	dmw3mw	PROPN
alkej-316	160	2	0	0	PUNCT
alkej-316	161	1	if	if	SCONJ
alkej-316	161	2	d	d	PROPN
alkej-316	161	3	r	r	NOUN
alkej-316	161	4	>	>	X
alkej-316	161	5	dmw3mw	dmw3mw	PROPN
alkej-316	161	6	c	c	PROPN
alkej-316	161	7	…	…	PUNCT
alkej-316	161	8	5	5	NUM
alkej-316	161	9	where	where	SCONJ
alkej-316	161	10	,	,	PUNCT
alkej-316	161	11	η	η	PROPN
alkej-316	161	12	is	be	AUX
alkej-316	161	13	a	a	DET
alkej-316	161	14	positive	positive	ADJ
alkej-316	161	15	constant	constant	ADJ
alkej-316	161	16	scaling	scaling	NOUN
alkej-316	161	17	factor	factor	NOUN
alkej-316	161	18	,	,	PUNCT
alkej-316	161	19	d	d	PROPN
alkej-316	161	20	r	r	NOUN
alkej-316	161	21	is	be	AUX
alkej-316	161	22	the	the	DET
alkej-316	161	23	distance	distance	NOUN
alkej-316	161	24	from	from	ADP
alkej-316	161	25	robot	robot	NOUN
alkej-316	161	26	to	to	ADP
alkej-316	161	27	the	the	DET
alkej-316	161	28	obstacle	obstacle	NOUN
alkej-316	161	29	,	,	PUNCT
alkej-316	161	30	do	do	AUX
alkej-316	161	31	is	be	AUX
alkej-316	161	32	a	a	DET
alkej-316	161	33	positive	positive	ADJ
alkej-316	161	34	constant	constant	NOUN
alkej-316	161	35	representing	represent	VERB
alkej-316	161	36	the	the	DET
alkej-316	161	37	influence	influence	NOUN
alkej-316	161	38	distance	distance	NOUN
alkej-316	161	39	of	of	ADP
alkej-316	161	40	the	the	DET
alkej-316	161	41	obstacle	obstacle	NOUN
alkej-316	161	42	and	and	CCONJ
alkej-316	161	43	dmw3mw	dmw3mw	PROPN
alkej-316	161	44	is	be	AUX
alkej-316	161	45	the	the	DET
alkej-316	161	46	sensing	sense	VERB
alkej-316	161	47	range	range	NOUN
alkej-316	161	48	.	.	PUNCT
alkej-316	162	1	the	the	DET
alkej-316	162	2	final	final	ADJ
alkej-316	162	3	function	function	NOUN
alkej-316	162	4	that	that	PRON
alkej-316	162	5	would	would	AUX
alkej-316	162	6	guide	guide	VERB
alkej-316	162	7	the	the	DET
alkej-316	162	8	robot	robot	NOUN
alkej-316	162	9	is	be	AUX
alkej-316	162	10	the	the	DET
alkej-316	162	11	sum	sum	NOUN
alkej-316	162	12	of	of	ADP
alkej-316	162	13	both	both	DET
alkej-316	162	14	functions	function	NOUN
alkej-316	162	15	;	;	PUNCT
alkej-316	162	16	as	as	SCONJ
alkej-316	162	17	shown	show	VERB
alkej-316	162	18	in	in	ADP
alkej-316	162	19	eq	eq	ADP
alkej-316	162	20	.	.	PUNCT
alkej-316	163	1	(	(	PUNCT
alkej-316	163	2	6	6	NUM
alkej-316	163	3	)	)	PUNCT
alkej-316	163	4	.	.	PUNCT
alkej-316	164	1	je)456	je)456	PROPN
alkej-316	164	2	=	=	PUNCT
alkej-316	164	3	j^)56	j^)56	PROPN
alkej-316	165	1	+	+	PUNCT
alkej-316	165	2	j)lm	j)lm	PROPN
alkej-316	165	3	…	…	PUNCT
alkej-316	165	4	6	6	NUM
alkej-316	165	5	the	the	DET
alkej-316	165	6	main	main	ADJ
alkej-316	165	7	target	target	NOUN
alkej-316	165	8	of	of	ADP
alkej-316	165	9	the	the	DET
alkej-316	165	10	bfo	bfo	PROPN
alkej-316	165	11	algorithm	algorithm	PROPN
alkej-316	165	12	is	be	AUX
alkej-316	165	13	to	to	PART
alkej-316	165	14	find	find	VERB
alkej-316	165	15	the	the	DET
alkej-316	165	16	minimum	minimum	ADJ
alkej-316	165	17	j	j	PROPN
alkej-316	165	18	,	,	PUNCT
alkej-316	165	19	∈	∈	PROPN
alkej-316	165	20	r²	r²	NOUN
alkej-316	165	21	without	without	ADP
alkej-316	165	22	considering	consider	VERB
alkej-316	165	23	the	the	DET
alkej-316	165	24	gradient	gradient	NOUN
alkej-316	165	25	,	,	PUNCT
alkej-316	165	26	∇j	∇j	PROPN
alkej-316	165	27	,	,	PUNCT
alkej-316	165	28	where	where	SCONJ
alkej-316	165	29	θ	θ	PROPN
alkej-316	165	30	is	be	AUX
alkej-316	165	31	the	the	DET
alkej-316	165	32	position	position	NOUN
alkej-316	165	33	of	of	ADP
alkej-316	165	34	a	a	DET
alkej-316	165	35	nizar	nizar	ADJ
alkej-316	165	36	hadi	hadi	PROPN
alkej-316	165	37	abbas	abbas	PROPN
alkej-316	165	38	al	al	PROPN
alkej-316	165	39	-	-	PUNCT
alkej-316	165	40	khwarizmi	khwarizmi	PROPN
alkej-316	165	41	engineering	engineering	NOUN
alkej-316	165	42	journal	journal	PROPN
alkej-316	165	43	,	,	PUNCT
alkej-316	165	44	vol	vol	NOUN
alkej-316	165	45	.	.	PROPN
alkej-316	165	46	12	12	NUM
alkej-316	165	47	,	,	PUNCT
alkej-316	165	48	no	no	INTJ
alkej-316	165	49	.	.	NOUN
alkej-316	165	50	4	4	NUM
alkej-316	165	51	,	,	PUNCT
alkej-316	165	52	p.p	p.p	PROPN
alkej-316	165	53	.	.	NOUN
alkej-316	165	54	2635(2016	2635(2016	NUM
alkej-316	165	55	)	)	PUNCT
alkej-316	165	56	30	30	NUM
alkej-316	165	57	bacterium	bacterium	NOUN
alkej-316	165	58	,	,	PUNCT
alkej-316	165	59	and	and	CCONJ
alkej-316	165	60	j	j	PROPN
alkej-316	165	61	is	be	AUX
alkej-316	165	62	cost	cost	NOUN
alkej-316	165	63	of	of	ADP
alkej-316	165	64	goal	goal	NOUN
alkej-316	165	65	plus	plus	CCONJ
alkej-316	165	66	obstacle	obstacle	NOUN
alkej-316	165	67	functions	function	NOUN
alkej-316	165	68	from	from	ADP
alkej-316	165	69	the	the	DET
alkej-316	165	70	environment	environment	NOUN
alkej-316	165	71	.	.	PUNCT
alkej-316	166	1	j	j	X
alkej-316	166	2	<	<	X
alkej-316	166	3	0	0	PROPN
alkej-316	166	4	,	,	PUNCT
alkej-316	166	5	j	j	PROPN
alkej-316	166	6	=	=	SYM
alkej-316	166	7	0	0	PROPN
alkej-316	166	8	,	,	PUNCT
alkej-316	166	9	and	and	CCONJ
alkej-316	166	10	j	j	PROPN
alkej-316	166	11	>	>	X
alkej-316	166	12	0	0	PUNCT
alkej-316	166	13	represent	represent	VERB
alkej-316	166	14	that	that	SCONJ
alkej-316	166	15	the	the	DET
alkej-316	166	16	bacterium	bacterium	NOUN
alkej-316	166	17	at	at	ADP
alkej-316	166	18	location	location	NOUN
alkej-316	166	19	is	be	AUX
alkej-316	166	20	in	in	ADP
alkej-316	166	21	nutrient	nutrient	NOUN
alkej-316	166	22	rich	rich	ADJ
alkej-316	166	23	,	,	PUNCT
alkej-316	166	24	neutral	neutral	ADJ
alkej-316	166	25	,	,	PUNCT
alkej-316	166	26	and	and	CCONJ
alkej-316	166	27	noxious	noxious	ADJ
alkej-316	166	28	environments	environment	NOUN
alkej-316	166	29	respectively	respectively	ADV
alkej-316	166	30	.	.	PUNCT
alkej-316	167	1	each	each	DET
alkej-316	167	2	bacterium	bacterium	NOUN
alkej-316	167	3	tries	try	VERB
alkej-316	167	4	to	to	PART
alkej-316	167	5	climb	climb	VERB
alkej-316	167	6	up	up	ADP
alkej-316	167	7	the	the	DET
alkej-316	167	8	nutrient	nutrient	ADJ
alkej-316	167	9	concentration	concentration	NOUN
alkej-316	167	10	(	(	PUNCT
alkej-316	167	11	i.e.	i.e.	X
alkej-316	167	12	,	,	PUNCT
alkej-316	167	13	lower	low	ADJ
alkej-316	167	14	and	and	CCONJ
alkej-316	167	15	lower	low	ADJ
alkej-316	167	16	values	value	NOUN
alkej-316	167	17	of	of	ADP
alkej-316	167	18	j	j	PROPN
alkej-316	167	19	)	)	PUNCT
alkej-316	167	20	and	and	CCONJ
alkej-316	167	21	avoids	avoid	VERB
alkej-316	167	22	being	be	AUX
alkej-316	167	23	at	at	ADP
alkej-316	167	24	positions	position	NOUN
alkej-316	167	25	where	where	SCONJ
alkej-316	167	26	j	j	PROPN
alkej-316	167	27	≥	≥	NOUN
alkej-316	167	28	0	0	NUM
alkej-316	167	29	.	.	PUNCT
alkej-316	168	1	according	accord	VERB
alkej-316	168	2	to	to	ADP
alkej-316	168	3	bfo	bfo	PROPN
alkej-316	168	4	algorithm,	algorithm,	PROPN
alkej-316	168	5	�	�	PROPN
alkej-316	168	6	~ℎ	~ℎ	PROPN
alkej-316	168	7	bacterium	bacterium	NOUN
alkej-316	168	8	at	at	ADP
alkej-316	168	9	the	the	DET
alkej-316	168	10	position	position	NOUN
alkej-316	168	11	takes	take	VERB
alkej-316	168	12	a	a	DET
alkej-316	168	13	chemotaxis	chemotaxis	ADJ
alkej-316	168	14	step	step	NOUN
alkej-316	168	15	j	j	NOUN
alkej-316	168	16	with	with	ADP
alkej-316	168	17	the	the	DET
alkej-316	168	18	step	step	NOUN
alkej-316	168	19	size	size	NOUN
alkej-316	168	20	c	c	PROPN
alkej-316	169	1	i	i	PRON
alkej-316	169	2	in	in	ADP
alkej-316	169	3	the	the	DET
alkej-316	169	4	random	random	ADJ
alkej-316	169	5	direction	direction	NOUN
alkej-316	170	1	and	and	CCONJ
alkej-316	170	2	calculates	calculate	VERB
alkej-316	170	3	the	the	DET
alkej-316	170	4	cost	cost	NOUN
alkej-316	170	5	function	function	NOUN
alkej-316	170	6	j	j	PROPN
alkej-316	170	7	at	at	ADP
alkej-316	170	8	each	each	DET
alkej-316	170	9	step	step	NOUN
alkej-316	170	10	.	.	PUNCT
alkej-316	171	1	if	if	SCONJ
alkej-316	171	2	the	the	DET
alkej-316	171	3	cost	cost	NOUN
alkej-316	171	4	function	function	NOUN
alkej-316	171	5	of	of	ADP
alkej-316	171	6	the	the	DET
alkej-316	171	7	new	new	ADJ
alkej-316	171	8	position	position	NOUN
alkej-316	171	9	θ	θ	PROPN
alkej-316	171	10	�	�	PROPN
alkej-316	171	11	�	�	PROPN
alkej-316	171	12	�	�	PROPN
alkej-316	171	13	�	�	PROPN
alkej-316	171	14	that	that	PRON
alkej-316	171	15	is	be	AUX
alkej-316	171	16	,	,	PUNCT
alkej-316	171	17	(	(	PUNCT
alkej-316	171	18	θ	θ	X
alkej-316	171	19	�	�	PROPN
alkej-316	171	20	�	�	PROPN
alkej-316	171	21	�	�	PROPN
alkej-316	171	22	�	�	PROPN
alkej-316	171	23	)	)	PUNCT
alkej-316	171	24	,	,	PUNCT
alkej-316	171	25	is	be	AUX
alkej-316	171	26	smaller	small	ADJ
alkej-316	171	27	than	than	ADP
alkej-316	171	28	the	the	DET
alkej-316	171	29	(	(	PUNCT
alkej-316	171	30	θ	θ	NOUN
alkej-316	171	31	�	�	PROPN
alkej-316	171	32	�	�	PROPN
alkej-316	171	33	)	)	PUNCT
alkej-316	171	34	,	,	PUNCT
alkej-316	171	35	then	then	ADV
alkej-316	171	36	another	another	DET
alkej-316	171	37	step	step	NOUN
alkej-316	171	38	size	size	NOUN
alkej-316	171	39	c	c	PROPN
alkej-316	172	1	i	i	PRON
alkej-316	172	2	in	in	ADP
alkej-316	172	3	the	the	DET
alkej-316	172	4	same	same	ADJ
alkej-316	172	5	previous	previous	ADJ
alkej-316	172	6	direction	direction	NOUN
alkej-316	172	7	will	will	AUX
alkej-316	172	8	be	be	AUX
alkej-316	172	9	taken	take	VERB
alkej-316	172	10	.	.	PUNCT
alkej-316	173	1	this	this	DET
alkej-316	173	2	process	process	NOUN
alkej-316	173	3	in	in	ADP
alkej-316	173	4	the	the	DET
alkej-316	173	5	direction	direction	NOUN
alkej-316	173	6	of	of	ADP
alkej-316	173	7	lower	low	ADJ
alkej-316	173	8	cost	cost	NOUN
alkej-316	173	9	function	function	NOUN
alkej-316	173	10	will	will	AUX
alkej-316	173	11	be	be	AUX
alkej-316	173	12	continued	continue	VERB
alkej-316	173	13	until	until	SCONJ
alkej-316	173	14	the	the	DET
alkej-316	173	15	maximum	maximum	ADJ
alkej-316	173	16	number	number	NOUN
alkej-316	173	17	of	of	ADP
alkej-316	173	18	steps	step	NOUN
alkej-316	173	19	(	(	PUNCT
alkej-316	173	20	�	�	NOUN
alkej-316	173	21	�	�	PROPN
alkej-316	173	22	)	)	PUNCT
alkej-316	173	23	is	be	AUX
alkej-316	173	24	reached	reach	VERB
alkej-316	173	25	or	or	CCONJ
alkej-316	173	26	until	until	SCONJ
alkej-316	173	27	bacteria	bacteria	NOUN
alkej-316	173	28	enter	enter	VERB
alkej-316	173	29	a	a	DET
alkej-316	173	30	poisonous	poisonous	ADJ
alkej-316	173	31	area	area	NOUN
alkej-316	173	32	.	.	PUNCT
alkej-316	174	1	thereafter	thereafter	ADV
alkej-316	174	2	,	,	PUNCT
alkej-316	174	3	in	in	ADP
alkej-316	174	4	each	each	DET
alkej-316	174	5	�	�	PROPN
alkej-316	174	6	�	�	PROPN
alkej-316	174	7	chemotaxis	chemotaxis	ADJ
alkej-316	174	8	step	step	NOUN
alkej-316	174	9	,	,	PUNCT
alkej-316	174	10	the	the	DET
alkej-316	174	11	least	least	ADV
alkej-316	174	12	healthy	healthy	ADJ
alkej-316	174	13	bacteria	bacteria	NOUN
alkej-316	174	14	(	(	PUNCT
alkej-316	174	15	lowest	low	ADJ
alkej-316	174	16	or	or	CCONJ
alkej-316	174	17	second	second	ADJ
alkej-316	174	18	half	half	NOUN
alkej-316	174	19	of	of	ADP
alkej-316	174	20	the	the	DET
alkej-316	174	21	population	population	NOUN
alkej-316	174	22	)	)	PUNCT
alkej-316	174	23	as	as	SCONJ
alkej-316	174	24	stated	state	VERB
alkej-316	174	25	by	by	ADP
alkej-316	174	26	the	the	DET
alkej-316	174	27	cost	cost	NOUN
alkej-316	174	28	function	function	NOUN
alkej-316	174	29	(	(	PUNCT
alkej-316	174	30	jθ	jθ	PROPN
alkej-316	174	31	�	�	PROPN
alkej-316	174	32	�	�	PROPN
alkej-316	174	33	)	)	PUNCT
alkej-316	174	34	are	be	AUX
alkej-316	174	35	replaced	replace	VERB
alkej-316	174	36	by	by	ADP
alkej-316	174	37	the	the	DET
alkej-316	174	38	copies	copy	NOUN
alkej-316	174	39	of	of	ADP
alkej-316	174	40	healthy	healthy	ADJ
alkej-316	174	41	ones	one	NOUN
alkej-316	174	42	(	(	PUNCT
alkej-316	174	43	highest	high	ADJ
alkej-316	174	44	or	or	CCONJ
alkej-316	174	45	first	first	ADJ
alkej-316	174	46	half	half	NOUN
alkej-316	174	47	of	of	ADP
alkej-316	174	48	the	the	DET
alkej-316	174	49	population	population	NOUN
alkej-316	174	50	)	)	PUNCT
alkej-316	174	51	.	.	PUNCT
alkej-316	175	1	this	this	DET
alkej-316	175	2	procedure	procedure	NOUN
alkej-316	175	3	is	be	AUX
alkej-316	175	4	called	call	VERB
alkej-316	175	5	reproduction	reproduction	NOUN
alkej-316	175	6	step	step	NOUN
alkej-316	175	7	,	,	PUNCT
alkej-316	175	8	and	and	CCONJ
alkej-316	175	9	it	it	PRON
alkej-316	175	10	is	be	AUX
alkej-316	175	11	followed	follow	VERB
alkej-316	175	12	by	by	ADP
alkej-316	175	13	the	the	DET
alkej-316	175	14	elimination	elimination	NOUN
alkej-316	175	15	–	–	PUNCT
alkej-316	175	16	dispersal	dispersal	NOUN
alkej-316	175	17	(	(	PUNCT
alkej-316	175	18	�	�	NOUN
alkej-316	175	19	#	#	SYM
alkej-316	175	20	$	$	NOUN
alkej-316	175	21	)	)	PUNCT
alkej-316	175	22	event	event	NOUN
alkej-316	175	23	.	.	PUNCT
alkej-316	176	1	for	for	ADP
alkej-316	176	2	each	each	DET
alkej-316	176	3	elimination	elimination	NOUN
alkej-316	176	4	-	-	PUNCT
alkej-316	176	5	dispersal	dispersal	NOUN
alkej-316	176	6	event	event	NOUN
alkej-316	176	7	,	,	PUNCT
alkej-316	176	8	the	the	DET
alkej-316	176	9	bacterium	bacterium	NOUN
alkej-316	176	10	in	in	ADP
alkej-316	176	11	the	the	DET
alkej-316	176	12	population	population	NOUN
alkej-316	176	13	is	be	AUX
alkej-316	176	14	subjected	subject	VERB
alkej-316	176	15	to	to	ADP
alkej-316	176	16	elimination	elimination	NOUN
alkej-316	176	17	dispersal	dispersal	NOUN
alkej-316	176	18	with	with	ADP
alkej-316	176	19	probability"#$.	probability"#$.	PROPN
alkej-316	176	20	initially	initially	ADV
alkej-316	176	21	the	the	DET
alkej-316	176	22	bacteria	bacteria	NOUN
alkej-316	176	23	are	be	AUX
alkej-316	176	24	randomly	randomly	ADV
alkej-316	176	25	generated	generate	VERB
alkej-316	176	26	and	and	CCONJ
alkej-316	176	27	distributed	distribute	VERB
alkej-316	176	28	in	in	ADP
alkej-316	176	29	front	front	NOUN
alkej-316	176	30	of	of	ADP
alkej-316	176	31	the	the	DET
alkej-316	176	32	mobile	mobile	NOUN
alkej-316	176	33	robot	robot	NOUN
alkej-316	176	34	(	(	PUNCT
alkej-316	176	35	mr	mr	PROPN
alkej-316	176	36	)	)	PUNCT
alkej-316	176	37	.	.	PUNCT
alkej-316	177	1	the	the	DET
alkej-316	177	2	angles	angle	NOUN
alkej-316	177	3	in	in	ADP
alkej-316	177	4	which	which	PRON
alkej-316	177	5	the	the	DET
alkej-316	177	6	bacteria	bacteria	NOUN
alkej-316	177	7	are	be	AUX
alkej-316	177	8	distributed	distribute	VERB
alkej-316	177	9	equal	equal	ADJ
alkej-316	177	10	to	to	ADP
alkej-316	177	11	45	45	NUM
alkej-316	177	12	°	°	NOUN
alkej-316	177	13	and	and	CCONJ
alkej-316	177	14	−45	−45	ADV
alkej-316	177	15	°	°	NUM
alkej-316	177	16	with	with	ADP
alkej-316	177	17	respect	respect	NOUN
alkej-316	177	18	to	to	ADP
alkej-316	177	19	the	the	DET
alkej-316	177	20	target	target	NOUN
alkej-316	177	21	.	.	PUNCT
alkej-316	178	1	the	the	DET
alkej-316	178	2	range	range	NOUN
alkej-316	178	3	of	of	ADP
alkej-316	178	4	distribution	distribution	NOUN
alkej-316	178	5	must	must	AUX
alkej-316	178	6	equal	equal	VERB
alkej-316	178	7	or	or	CCONJ
alkej-316	178	8	smaller	small	ADJ
alkej-316	178	9	than	than	ADP
alkej-316	178	10	sensing	sense	VERB
alkej-316	178	11	range	range	NOUN
alkej-316	178	12	(	(	PUNCT
alkej-316	178	13	equal	equal	ADJ
alkej-316	178	14	or	or	CCONJ
alkej-316	178	15	smaller	small	ADJ
alkej-316	178	16	than	than	ADP
alkej-316	178	17	1.2	1.2	NUM
alkej-316	178	18	m	m	NOUN
alkej-316	178	19	)	)	PUNCT
alkej-316	178	20	.	.	PUNCT
alkej-316	179	1	these	these	DET
alkej-316	179	2	bacteria	bacteria	NOUN
alkej-316	179	3	are	be	AUX
alkej-316	179	4	searched	search	VERB
alkej-316	179	5	for	for	ADP
alkej-316	179	6	the	the	DET
alkej-316	179	7	optimal	optimal	ADJ
alkej-316	179	8	path	path	NOUN
alkej-316	179	9	toward	toward	ADP
alkej-316	179	10	the	the	DET
alkej-316	179	11	target	target	NOUN
alkej-316	179	12	position	position	NOUN
alkej-316	179	13	while	while	SCONJ
alkej-316	179	14	avoiding	avoid	VERB
alkej-316	179	15	the	the	DET
alkej-316	179	16	obstacles	obstacle	NOUN
alkej-316	179	17	by	by	ADP
alkej-316	179	18	helping	help	VERB
alkej-316	179	19	the	the	DET
alkej-316	179	20	robot	robot	NOUN
alkej-316	179	21	’s	’s	PART
alkej-316	179	22	sensors	sensor	NOUN
alkej-316	179	23	.	.	PUNCT
alkej-316	180	1	then	then	ADV
alkej-316	180	2	the	the	DET
alkej-316	180	3	healthiest	healthy	ADJ
alkej-316	180	4	one	one	NUM
alkej-316	180	5	which	which	PRON
alkej-316	180	6	has	have	AUX
alkej-316	180	7	found	find	VERB
alkej-316	180	8	the	the	DET
alkej-316	180	9	smallest	small	ADJ
alkej-316	180	10	j	j	NOUN
alkej-316	180	11	among	among	ADP
alkej-316	180	12	other	other	ADJ
alkej-316	180	13	ones	one	NOUN
alkej-316	180	14	is	be	AUX
alkej-316	180	15	chosen	choose	VERB
alkej-316	180	16	and	and	CCONJ
alkej-316	180	17	the	the	DET
alkej-316	180	18	mobile	mobile	NOUN
alkej-316	180	19	robot	robot	NOUN
alkej-316	180	20	goes	go	VERB
alkej-316	180	21	to	to	ADP
alkej-316	180	22	this	this	DET
alkej-316	180	23	position	position	NOUN
alkej-316	180	24	.	.	PUNCT
alkej-316	181	1	this	this	DET
alkej-316	181	2	process	process	NOUN
alkej-316	181	3	will	will	AUX
alkej-316	181	4	continue	continue	VERB
alkej-316	181	5	until	until	SCONJ
alkej-316	181	6	the	the	DET
alkej-316	181	7	target	target	NOUN
alkej-316	181	8	is	be	AUX
alkej-316	181	9	reached	reach	VERB
alkej-316	181	10	.	.	PUNCT
alkej-316	182	1	for	for	ADP
alkej-316	182	2	choosing	choose	VERB
alkej-316	182	3	the	the	DET
alkej-316	182	4	best	good	ADJ
alkej-316	182	5	becterium	becterium	NOUN
alkej-316	182	6	,	,	PUNCT
alkej-316	182	7	cost	cost	NOUN
alkej-316	182	8	function	function	NOUN
alkej-316	182	9	j	j	PROPN
alkej-316	182	10	,	,	PUNCT
alkej-316	182	11	∈	∈	PROPN
alkej-316	182	12	r²is	r²is	PROPN
alkej-316	182	13	tested	test	VERB
alkej-316	182	14	and	and	CCONJ
alkej-316	182	15	compared	compare	VERB
alkej-316	182	16	,	,	PUNCT
alkej-316	182	17	which	which	PRON
alkej-316	182	18	is	be	AUX
alkej-316	182	19	an	an	DET
alkej-316	182	20	attractant	attractant	ADJ
alkej-316	182	21	-	-	PUNCT
alkej-316	182	22	repellent	repellent	NOUN
alkej-316	182	23	function	function	NOUN
alkej-316	182	24	from	from	ADP
alkej-316	182	25	the	the	DET
alkej-316	182	26	environment	environment	NOUN
alkej-316	182	27	.	.	PUNCT
alkej-316	183	1	during	during	ADP
alkej-316	183	2	the	the	DET
alkej-316	183	3	algorithm	algorithm	NOUN
alkej-316	183	4	,	,	PUNCT
alkej-316	183	5	whenever	whenever	SCONJ
alkej-316	183	6	the	the	DET
alkej-316	183	7	mr	mr	PROPN
alkej-316	183	8	detects	detect	VERB
alkej-316	183	9	an	an	DET
alkej-316	183	10	obstacle	obstacle	NOUN
alkej-316	183	11	within	within	ADP
alkej-316	183	12	its	its	PRON
alkej-316	183	13	sensor	sensor	NOUN
alkej-316	183	14	range	range	NOUN
alkej-316	183	15	,	,	PUNCT
alkej-316	183	16	it	it	PRON
alkej-316	183	17	assigns	assign	VERB
alkej-316	183	18	a	a	DET
alkej-316	183	19	value	value	NOUN
alkej-316	183	20	to	to	ADP
alkej-316	183	21	j)lm	j)lm	PROPN
alkej-316	183	22	(	(	PUNCT
alkej-316	183	23	eq	eq	NOUN
alkej-316	183	24	.	.	PUNCT
alkej-316	184	1	(	(	PUNCT
alkej-316	184	2	5	5	NUM
alkej-316	184	3	)	)	PUNCT
alkej-316	184	4	)	)	PUNCT
alkej-316	185	1	otherwise	otherwise	ADV
alkej-316	185	2	its	its	PRON
alkej-316	185	3	value	value	NOUN
alkej-316	185	4	is	be	AUX
alkej-316	185	5	zero	zero	NUM
alkej-316	185	6	.	.	PUNCT
alkej-316	186	1	in	in	ADP
alkej-316	186	2	other	other	ADJ
alkej-316	186	3	words	word	NOUN
alkej-316	186	4	,	,	PUNCT
alkej-316	186	5	a	a	DET
alkej-316	186	6	goal	goal	NOUN
alkej-316	186	7	cost	cost	NOUN
alkej-316	186	8	function	function	NOUN
alkej-316	186	9	j^)56	j^)56	X
alkej-316	186	10	(	(	PUNCT
alkej-316	186	11	eq	eq	NOUN
alkej-316	186	12	.	.	PUNCT
alkej-316	186	13	(	(	PUNCT
alkej-316	186	14	3	3	NUM
alkej-316	186	15	)	)	PUNCT
alkej-316	186	16	)	)	PUNCT
alkej-316	186	17	is	be	AUX
alkej-316	186	18	assigned	assign	VERB
alkej-316	186	19	to	to	PART
alkej-316	186	20	target	target	VERB
alkej-316	186	21	position	position	NOUN
alkej-316	186	22	throughout	throughout	ADP
alkej-316	186	23	the	the	DET
alkej-316	186	24	mission	mission	NOUN
alkej-316	186	25	.	.	PUNCT
alkej-316	187	1	the	the	DET
alkej-316	187	2	total	total	ADJ
alkej-316	187	3	cost	cost	NOUN
alkej-316	187	4	function	function	NOUN
alkej-316	187	5	which	which	PRON
alkej-316	187	6	is	be	AUX
alkej-316	187	7	the	the	DET
alkej-316	187	8	sum	sum	NOUN
alkej-316	187	9	of	of	ADP
alkej-316	187	10	both	both	DET
alkej-316	187	11	functions	function	NOUN
alkej-316	187	12	je)45	je)45	PROPN
alkej-316	187	13	6(eq	6(eq	PROPN
alkej-316	187	14	.	.	PUNCT
alkej-316	188	1	(	(	PUNCT
alkej-316	188	2	6	6	NUM
alkej-316	188	3	)	)	PUNCT
alkej-316	188	4	)	)	PUNCT
alkej-316	188	5	represents	represent	VERB
alkej-316	188	6	the	the	DET
alkej-316	188	7	cost	cost	NOUN
alkej-316	188	8	function	function	NOUN
alkej-316	188	9	j	j	PROPN
alkej-316	188	10	�	�	PROPN
alkej-316	188	11	defined	define	VERB
alkej-316	188	12	previously	previously	ADV
alkej-316	188	13	.	.	PUNCT
alkej-316	189	1	in	in	ADP
alkej-316	189	2	order	order	NOUN
alkej-316	189	3	to	to	PART
alkej-316	189	4	make	make	VERB
alkej-316	189	5	a	a	DET
alkej-316	189	6	decision	decision	NOUN
alkej-316	189	7	for	for	SCONJ
alkej-316	189	8	which	which	DET
alkej-316	189	9	bacterium	bacterium	NOUN
alkej-316	189	10	would	would	AUX
alkej-316	189	11	be	be	AUX
alkej-316	189	12	chosen	choose	VERB
alkej-316	189	13	as	as	ADP
alkej-316	189	14	the	the	DET
alkej-316	189	15	next	next	ADJ
alkej-316	189	16	position	position	NOUN
alkej-316	189	17	that	that	SCONJ
alkej-316	189	18	the	the	DET
alkej-316	189	19	mr	mr	PROPN
alkej-316	189	20	headed	head	VERB
alkej-316	189	21	to	to	ADP
alkej-316	189	22	,	,	PUNCT
alkej-316	189	23	a	a	DET
alkej-316	189	24	difference	difference	NOUN
alkej-316	189	25	cost	cost	NOUN
alkej-316	189	26	function	function	NOUN
alkej-316	189	27	is	be	AUX
alkej-316	189	28	defined	define	VERB
alkej-316	189	29	by	by	ADP
alkej-316	189	30	:	:	PUNCT
alkej-316	189	31	d	d	X
alkej-316	189	32	�	�	PROPN
alkej-316	189	33	�	�	PROPN
alkej-316	189	34	=	=	SYM
alkej-316	189	35	j	j	PROPN
alkej-316	189	36	�	�	PROPN
alkej-316	189	37	�	�	PROPN
alkej-316	189	38	t	t	PROPN
alkej-316	189	39	+	+	CCONJ
alkej-316	189	40	1	1	NUM
alkej-316	189	41	�	�	PROPN
alkej-316	189	42	−	−	PROPN
alkej-316	189	43	j	j	PROPN
alkej-316	189	44	�	�	PROPN
alkej-316	189	45	�	�	PROPN
alkej-316	189	46	t	t	PROPN
alkej-316	189	47	�	�	PROPN
alkej-316	189	48	i	i	NOUN
alkej-316	189	49	=	=	NOUN
alkej-316	189	50	1,2	1,2	NUM
alkej-316	189	51	,	,	PUNCT
alkej-316	189	52	…	…	PUNCT
alkej-316	189	53	s	s	NOUN
alkej-316	189	54	…	…	PUNCT
alkej-316	189	55	7	7	NUM
alkej-316	189	56	after	after	ADP
alkej-316	189	57	that	that	PRON
alkej-316	189	58	,	,	PUNCT
alkej-316	189	59	the	the	DET
alkej-316	189	60	robot	robot	NOUN
alkej-316	189	61	position	position	NOUN
alkej-316	189	62	is	be	AUX
alkej-316	189	63	updated	update	VERB
alkej-316	189	64	from	from	ADP
alkej-316	189	65	its	its	PRON
alkej-316	189	66	current	current	ADJ
alkej-316	189	67	location	location	NOUN
alkej-316	189	68	u	u	PROPN
alkej-316	189	69	t	t	NOUN
alkej-316	189	70	to	to	ADP
alkej-316	189	71	its	its	PRON
alkej-316	189	72	next	next	ADJ
alkej-316	189	73	location	location	NOUN
alkej-316	189	74	u	u	PROPN
alkej-316	189	75	t	t	PROPN
alkej-316	189	76	+	+	NOUN
alkej-316	189	77	1	1	NUM
alkej-316	189	78	(	(	PUNCT
alkej-316	189	79	pick	pick	VERB
alkej-316	189	80	best	good	ADJ
alkej-316	189	81	direction	direction	NOUN
alkej-316	189	82	)	)	PUNCT
alkej-316	189	83	and	and	CCONJ
alkej-316	189	84	move	move	VERB
alkej-316	189	85	one	one	NUM
alkej-316	189	86	-	-	PUNCT
alkej-316	189	87	step	step	NOUN
alkej-316	189	88	length	length	NOUN
alkej-316	189	89	equal	equal	ADJ
alkej-316	189	90	to	to	ADP
alkej-316	189	91	lambda	lambda	NOUN
alkej-316	189	92	(	(	PUNCT
alkej-316	189	93	λ	λ	X
alkej-316	189	94	)	)	PUNCT
alkej-316	189	95	as	as	SCONJ
alkej-316	189	96	follows	follow	VERB
alkej-316	189	97	:	:	PUNCT
alkej-316	189	98	ɸlwm4	ɸlwm4	NOUN
alkej-316	189	99	=	=	PROPN
alkej-316	189	100	tan	tan	PROPN
alkej-316	189	101	�	�	PROPN
alkej-316	189	102	�	�	PROPN
alkej-316	189	103	θlwm4	θlwm4	PROPN
alkej-316	189	104	�	�	PROPN
alkej-316	189	105	t	t	PROPN
alkej-316	189	106	+	+	CCONJ
alkej-316	190	1	1	1	NUM
alkej-316	190	2	−	−	PROPN
alkej-316	190	3	θ	θ	PROPN
alkej-316	190	4	�	�	PROPN
alkej-316	190	5	�	�	PROPN
alkej-316	190	6	t	t	PROPN
alkej-316	190	7	θlwm4	θlwm4	PROPN
alkej-316	190	8	�	�	PROPN
alkej-316	190	9	t	t	PROPN
alkej-316	190	10	+	+	CCONJ
alkej-316	190	11	1	1	NUM
alkej-316	190	12	−	−	PROPN
alkej-316	190	13	θ	θ	PROPN
alkej-316	190	14	�	�	PROPN
alkej-316	190	15	�	�	PROPN
alkej-316	190	16	t	t	PROPN
alkej-316	190	17	…	…	PUNCT
alkej-316	190	18	8	8	NUM
alkej-316	190	19	u	u	NOUN
alkej-316	190	20	t	t	PROPN
alkej-316	190	21	�	�	PROPN
alkej-316	190	22	+	+	CCONJ
alkej-316	190	23	1	1	NUM
alkej-316	190	24	=	=	SYM
alkej-316	190	25	u	u	PART
alkej-316	190	26	t	t	PROPN
alkej-316	190	27	�	�	PROPN
alkej-316	190	28	+	+	CCONJ
alkej-316	190	29	λ	λ	PROPN
alkej-316	190	30	∗	∗	NOUN
alkej-316	190	31	cos	cos	ADP
alkej-316	190	32	ɸlwm4	ɸlwm4	NOUN
alkej-316	190	33	…	…	PUNCT
alkej-316	190	34	9	9	NUM
alkej-316	190	35	u	u	NOUN
alkej-316	190	36	t	t	PROPN
alkej-316	190	37	�	�	PROPN
alkej-316	190	38	+	+	CCONJ
alkej-316	190	39	1	1	NUM
alkej-316	190	40	=	=	SYM
alkej-316	190	41	u	u	PART
alkej-316	190	42	t	t	PROPN
alkej-316	190	43	�	�	PROPN
alkej-316	190	44	+	+	NUM
alkej-316	190	45	λ	λ	PROPN
alkej-316	190	46	∗	∗	NOUN
alkej-316	190	47	sinɸlwm4	sinɸlwm4	NOUN
alkej-316	190	48	…	…	PUNCT
alkej-316	190	49	10	10	NUM
alkej-316	190	50	where	where	SCONJ
alkej-316	190	51	ɸlwm4	ɸlwm4	NOUN
alkej-316	190	52	is	be	AUX
alkej-316	190	53	the	the	DET
alkej-316	190	54	angle	angle	NOUN
alkej-316	190	55	between	between	ADP
alkej-316	190	56	current	current	ADJ
alkej-316	190	57	bacteria	bacteria	NOUN
alkej-316	190	58	coordinate	coordinate	NOUN
alkej-316	190	59	(	(	PUNCT
alkej-316	190	60	θ	θ	NOUN
alkej-316	190	61	�	�	PROPN
alkej-316	190	62	�	�	PROPN
alkej-316	190	63	t	t	PROPN
alkej-316	190	64	,	,	PUNCT
alkej-316	190	65	θ	θ	PROPN
alkej-316	190	66	�	�	PROPN
alkej-316	190	67	�	�	PROPN
alkej-316	190	68	t	t	PROPN
alkej-316	190	69	and	and	CCONJ
alkej-316	190	70	best	good	ADJ
alkej-316	190	71	next	next	ADJ
alkej-316	190	72	bacteria	bacteria	NOUN
alkej-316	190	73	coordinate	coordinate	NOUN
alkej-316	190	74	(	(	PUNCT
alkej-316	190	75	θlwm4	θlwm4	NOUN
alkej-316	190	76	�	�	PROPN
alkej-316	190	77	t	t	PROPN
alkej-316	190	78	+	+	CCONJ
alkej-316	190	79	1	1	NUM
alkej-316	190	80	,	,	PUNCT
alkej-316	190	81	θlwm4	θlwm4	PROPN
alkej-316	190	82	�	�	PROPN
alkej-316	190	83	t	t	PROPN
alkej-316	190	84	+	+	CCONJ
alkej-316	190	85	1	1	NUM
alkej-316	190	86	and	and	CCONJ
alkej-316	190	87	(	(	PUNCT
alkej-316	190	88	u	u	NOUN
alkej-316	190	89	t	t	PROPN
alkej-316	190	90	�	�	PROPN
alkej-316	190	91	+	+	CCONJ
alkej-316	190	92	1	1	NUM
alkej-316	190	93	,	,	PUNCT
alkej-316	190	94	u	u	PROPN
alkej-316	190	95	t	t	PROPN
alkej-316	190	96	�	�	PROPN
alkej-316	190	97	+	+	CCONJ
alkej-316	190	98	1	1	NUM
alkej-316	190	99	is	be	AUX
alkej-316	190	100	mr	mr	PROPN
alkej-316	190	101	next	next	ADJ
alkej-316	190	102	step	step	NOUN
alkej-316	190	103	point	point	NOUN
alkej-316	190	104	coordinates	coordinate	VERB
alkej-316	190	105	that	that	SCONJ
alkej-316	190	106	it	it	PRON
alkej-316	190	107	should	should	AUX
alkej-316	190	108	headed	head	VERB
alkej-316	190	109	toward	toward	ADP
alkej-316	190	110	smoothly	smoothly	ADV
alkej-316	190	111	.	.	PUNCT
alkej-316	191	1	6	6	X
alkej-316	191	2	.	.	X
alkej-316	191	3	simulation	simulation	NOUN
alkej-316	191	4	results	result	VERB
alkej-316	191	5	in	in	ADP
alkej-316	191	6	all	all	DET
alkej-316	191	7	simulation	simulation	NOUN
alkej-316	191	8	arenas	arena	NOUN
alkej-316	191	9	,	,	PUNCT
alkej-316	191	10	the	the	DET
alkej-316	191	11	population	population	NOUN
alkej-316	191	12	size	size	NOUN
alkej-316	191	13	s=100	s=100	PROPN
alkej-316	191	14	,	,	PUNCT
alkej-316	191	15	number	number	NOUN
alkej-316	191	16	of	of	ADP
alkej-316	191	17	chemotactic	chemotactic	ADJ
alkej-316	191	18	steps	step	NOUN
alkej-316	191	19	�	�	NOUN
alkej-316	191	20	�	�	NOUN
alkej-316	191	21	=	=	SYM
alkej-316	191	22	8	8	NUM
alkej-316	191	23	,	,	PUNCT
alkej-316	191	24	maximum	maximum	ADJ
alkej-316	191	25	number	number	NOUN
alkej-316	191	26	of	of	ADP
alkej-316	191	27	steps	step	NOUN
alkej-316	191	28	that	that	PRON
alkej-316	191	29	a	a	DET
alkej-316	191	30	bacterium	bacterium	NOUN
alkej-316	191	31	can	can	AUX
alkej-316	191	32	swim	swim	VERB
alkej-316	191	33	�	�	NOUN
alkej-316	191	34	�	�	PROPN
alkej-316	191	35	=	=	SYM
alkej-316	191	36	6	6	NUM
alkej-316	191	37	,	,	PUNCT
alkej-316	191	38	number	number	NOUN
alkej-316	191	39	of	of	ADP
alkej-316	191	40	reproductions	reproduction	NOUN
alkej-316	191	41	nre	nre	X
alkej-316	191	42	=	=	SYM
alkej-316	191	43	2	2	NUM
alkej-316	191	44	,	,	PUNCT
alkej-316	191	45	number	number	NOUN
alkej-316	191	46	of	of	ADP
alkej-316	191	47	elimination	elimination	NOUN
alkej-316	191	48	-	-	PUNCT
alkej-316	191	49	dispersals	dispersal	NOUN
alkej-316	191	50	events	event	NOUN
alkej-316	191	51	�	�	NOUN
alkej-316	191	52	#	#	SYM
alkej-316	191	53	$	$	SYM
alkej-316	191	54	=	=	SYM
alkej-316	191	55	1	1	NUM
alkej-316	191	56	,	,	PUNCT
alkej-316	191	57	elimination	elimination	NOUN
alkej-316	191	58	-	-	PUNCT
alkej-316	191	59	dispersal	dispersal	NOUN
alkej-316	191	60	probability	probability	NOUN
alkej-316	191	61	ped	ped	NOUN
alkej-316	191	62	=	=	PROPN
alkej-316	191	63	0.15	0.15	NUM
alkej-316	191	64	and	and	CCONJ
alkej-316	191	65	speed	speed	NOUN
alkej-316	191	66	of	of	ADP
alkej-316	191	67	the	the	DET
alkej-316	191	68	movement	movement	NOUN
alkej-316	191	69	taken	take	VERB
alkej-316	191	70	in	in	ADP
alkej-316	191	71	one	one	NUM
alkej-316	191	72	step	step	NOUN
alkej-316	191	73	c	c	NOUN
alkej-316	191	74	i	i	NOUN
alkej-316	191	75	=	=	NOUN
alkej-316	191	76	0.1	0.1	NUM
alkej-316	191	77	,	,	PUNCT
alkej-316	191	78	i	i	PRON
alkej-316	191	79	=	=	NOUN
alkej-316	191	80	1,2	1,2	NUM
alkej-316	191	81	,	,	PUNCT
alkej-316	191	82	.	.	PUNCT
alkej-316	191	83	.	.	PUNCT
alkej-316	191	84	.	.	PUNCT
alkej-316	192	1	s	s	X
alkej-316	192	2	,	,	PUNCT
alkej-316	192	3	ξ	ξ	X
alkej-316	192	4	=	=	SYM
alkej-316	192	5	0.1,η	0.1,η	PUNCT
alkej-316	193	1	=	=	NOUN
alkej-316	193	2	0.06	0.06	NUM
alkej-316	193	3	,	,	PUNCT
alkej-316	193	4	do	do	VERB
alkej-316	193	5	=	=	NOUN
alkej-316	193	6	1.5	1.5	NUM
alkej-316	193	7	,	,	PUNCT
alkej-316	193	8	step	step	NOUN
alkej-316	193	9	length	length	NOUN
alkej-316	193	10	lambdaλ	lambdaλ	NOUN
alkej-316	193	11	=	=	NOUN
alkej-316	193	12	0.2	0.2	NUM
alkej-316	193	13	,	,	PUNCT
alkej-316	193	14	f	f	PROPN
alkej-316	193	15	�	�	PROPN
alkej-316	193	16	&	&	CCONJ
alkej-316	193	17	'	'	PUNCT
alkej-316	193	18	(	(	PUNCT
alkej-316	193	19	)	)	PUNCT
alkej-316	193	20	*	*	PUNCT
alkej-316	194	1	=	=	PUNCT
alkej-316	194	2	3,dmw3mw	3,dmw3mw	NUM
alkej-316	194	3	=	=	SYM
alkej-316	194	4	1.2	1.2	NUM
alkej-316	194	5	m.	m.	NOUN
alkej-316	194	6	all	all	DET
alkej-316	194	7	experiments	experiment	NOUN
alkej-316	194	8	are	be	AUX
alkej-316	194	9	achieved	achieve	VERB
alkej-316	194	10	the	the	DET
alkej-316	194	11	following	follow	VERB
alkej-316	194	12	solutions	solution	NOUN
alkej-316	194	13	after	after	ADP
alkej-316	194	14	executing	execute	VERB
alkej-316	194	15	the	the	DET
alkej-316	194	16	algorithm	algorithm	NOUN
alkej-316	194	17	ten	ten	NUM
alkej-316	194	18	times	time	NOUN
alkej-316	194	19	using	use	VERB
alkej-316	194	20	matlab	matlab	PROPN
alkej-316	194	21	r2011b	r2011b	ADP
alkej-316	194	22	programming	programming	NOUN
alkej-316	194	23	language	language	NOUN
alkej-316	194	24	.	.	PUNCT
alkej-316	195	1	the	the	DET
alkej-316	195	2	matlab	matlab	PROPN
alkej-316	195	3	codes	code	NOUN
alkej-316	195	4	are	be	AUX
alkej-316	195	5	run	run	VERB
alkej-316	195	6	on	on	ADP
alkej-316	195	7	a	a	DET
alkej-316	195	8	computer	computer	NOUN
alkej-316	195	9	system	system	NOUN
alkej-316	195	10	with	with	ADP
alkej-316	195	11	2.13	2.13	NUM
alkej-316	195	12	ghz	ghz	NOUN
alkej-316	195	13	core	core	NOUN
alkej-316	195	14	i3	i3	NOUN
alkej-316	195	15	cpu	cpu	NOUN
alkej-316	195	16	,	,	PUNCT
alkej-316	195	17	and	and	CCONJ
alkej-316	195	18	2	2	NUM
alkej-316	195	19	g	g	NOUN
alkej-316	195	20	ram	ram	NOUN
alkej-316	195	21	.	.	PUNCT
alkej-316	196	1	6.1	6.1	NUM
alkej-316	196	2	case	case	NOUN
alkej-316	196	3	study	study	NOUN
alkej-316	196	4	1	1	NUM
alkej-316	196	5	:	:	PUNCT
alkej-316	196	6	environment	environment	NOUN
alkej-316	196	7	with	with	ADP
alkej-316	196	8	4	4	NUM
alkej-316	196	9	obstacles	obstacle	NOUN
alkej-316	196	10	in	in	ADP
alkej-316	196	11	case	case	NOUN
alkej-316	196	12	study	study	NOUN
alkej-316	196	13	1	1	NUM
alkej-316	196	14	four	four	NUM
alkej-316	196	15	obstacles	obstacle	NOUN
alkej-316	196	16	with	with	ADP
alkej-316	196	17	equal	equal	ADJ
alkej-316	196	18	size	size	NOUN
alkej-316	196	19	are	be	AUX
alkej-316	196	20	situated	situate	VERB
alkej-316	196	21	in	in	ADP
alkej-316	196	22	the	the	DET
alkej-316	196	23	environment	environment	NOUN
alkej-316	196	24	.	.	PUNCT
alkej-316	197	1	all	all	DET
alkej-316	197	2	obstacles	obstacle	NOUN
alkej-316	197	3	'	'	PART
alkej-316	197	4	positions	position	NOUN
alkej-316	197	5	are	be	AUX
alkej-316	197	6	listed	list	VERB
alkej-316	197	7	in	in	ADP
alkej-316	197	8	table	table	NOUN
alkej-316	197	9	1	1	NUM
alkej-316	197	10	.	.	PUNCT
alkej-316	198	1	the	the	DET
alkej-316	198	2	cost	cost	NOUN
alkej-316	198	3	function	function	NOUN
alkej-316	198	4	representing	represent	VERB
alkej-316	198	5	goal	goal	NOUN
alkej-316	198	6	plus	plus	CCONJ
alkej-316	198	7	obstacles	obstacle	NOUN
alkej-316	198	8	are	be	AUX
alkej-316	198	9	illustrated	illustrate	VERB
alkej-316	198	10	in	in	ADP
alkej-316	198	11	fig	fig	NOUN
alkej-316	198	12	.	.	PUNCT
alkej-316	199	1	3	3	NUM
alkej-316	199	2	and	and	CCONJ
alkej-316	199	3	fig	fig	NOUN
alkej-316	199	4	.	.	PUNCT
alkej-316	200	1	4	4	X
alkej-316	200	2	.	.	NOUN
alkej-316	200	3	table	table	NOUN
alkej-316	200	4	1	1	NUM
alkej-316	200	5	,	,	PUNCT
alkej-316	200	6	obstacles	obstacle	VERB
alkej-316	200	7	definition	definition	NOUN
alkej-316	200	8	for	for	ADP
alkej-316	200	9	case	case	NOUN
alkej-316	200	10	1	1	NUM
alkej-316	200	11	.	.	PUNCT
alkej-316	201	1	obstacle	obstacle	PROPN
alkej-316	201	2	radius	radius	PROPN
alkej-316	201	3	center(x	center(x	PROPN
alkej-316	201	4	,	,	PUNCT
alkej-316	201	5	y	y	PROPN
alkej-316	201	6	)	)	PUNCT
alkej-316	201	7	1	1	NUM
alkej-316	201	8	0.7	0.7	NUM
alkej-316	201	9	(	(	PUNCT
alkej-316	201	10	2,2	2,2	NUM
alkej-316	201	11	)	)	PUNCT
alkej-316	201	12	2	2	NUM
alkej-316	201	13	0.7	0.7	NUM
alkej-316	201	14	(	(	PUNCT
alkej-316	201	15	4,4.1	4,4.1	NUM
alkej-316	201	16	)	)	PUNCT
alkej-316	201	17	3	3	NUM
alkej-316	201	18	0.7	0.7	NUM
alkej-316	201	19	(	(	PUNCT
alkej-316	201	20	7.2,7	7.2,7	NOUN
alkej-316	201	21	)	)	PUNCT
alkej-316	201	22	4	4	NUM
alkej-316	201	23	0.7	0.7	NUM
alkej-316	201	24	(	(	PUNCT
alkej-316	201	25	9,8	9,8	NUM
alkej-316	201	26	)	)	PUNCT
alkej-316	201	27	nizar	nizar	PROPN
alkej-316	201	28	hadi	hadi	PROPN
alkej-316	201	29	abbas	abbas	PROPN
alkej-316	201	30	al	al	PROPN
alkej-316	201	31	-	-	PUNCT
alkej-316	201	32	khwarizmi	khwarizmi	PROPN
alkej-316	201	33	engineering	engineering	NOUN
alkej-316	201	34	journal	journal	PROPN
alkej-316	201	35	,	,	PUNCT
alkej-316	201	36	vol	vol	NOUN
alkej-316	201	37	.	.	PROPN
alkej-316	201	38	12	12	NUM
alkej-316	201	39	,	,	PUNCT
alkej-316	201	40	no	no	INTJ
alkej-316	201	41	.	.	NOUN
alkej-316	201	42	4	4	NUM
alkej-316	201	43	,	,	PUNCT
alkej-316	201	44	p.p	p.p	PROPN
alkej-316	201	45	.	.	NOUN
alkej-316	201	46	2635(2016	2635(2016	NUM
alkej-316	201	47	)	)	PUNCT
alkej-316	201	48	31	31	NUM
alkej-316	201	49	fig	fig	NOUN
alkej-316	201	50	.	.	PUNCT
alkej-316	202	1	3	3	X
alkej-316	202	2	.	.	X
alkej-316	202	3	cost	cost	NOUN
alkej-316	202	4	function	function	NOUN
alkej-316	202	5	used	use	VERB
alkej-316	202	6	for	for	ADP
alkej-316	202	7	case	case	NOUN
alkej-316	202	8	1	1	NUM
alkej-316	202	9	.	.	PUNCT
alkej-316	202	10	fig	fig	NOUN
alkej-316	202	11	.	.	PUNCT
alkej-316	203	1	4	4	X
alkej-316	203	2	.	.	X
alkej-316	203	3	contour	contour	NOUN
alkej-316	203	4	plot	plot	NOUN
alkej-316	203	5	forcost	forcost	NOUN
alkej-316	203	6	function	function	NOUN
alkej-316	203	7	for	for	ADP
alkej-316	203	8	case	case	NOUN
alkej-316	203	9	1	1	NUM
alkej-316	203	10	.	.	PUNCT
alkej-316	204	1	the	the	DET
alkej-316	204	2	best	good	ADJ
alkej-316	204	3	path	path	NOUN
alkej-316	204	4	with	with	ADP
alkej-316	204	5	shortest	short	ADJ
alkej-316	204	6	distance	distance	NOUN
alkej-316	204	7	using	use	VERB
alkej-316	204	8	atbfo	atbfo	NOUN
alkej-316	204	9	algorithm	algorithm	NOUN
alkej-316	204	10	is	be	AUX
alkej-316	204	11	equal	equal	ADJ
alkej-316	204	12	to	to	ADP
alkej-316	204	13	14.5346	14.5346	NUM
alkej-316	204	14	as	as	SCONJ
alkej-316	204	15	illustrated	illustrate	VERB
alkej-316	204	16	in	in	ADP
alkej-316	204	17	fig	fig	NOUN
alkej-316	204	18	.	.	PUNCT
alkej-316	205	1	5.a	5.a	NUM
alkej-316	205	2	second	second	ADJ
alkej-316	205	3	scenario	scenario	NOUN
alkej-316	205	4	is	be	AUX
alkej-316	205	5	tested	test	VERB
alkej-316	205	6	by	by	ADP
alkej-316	205	7	moving	move	VERB
alkej-316	205	8	the	the	DET
alkej-316	205	9	first	first	ADJ
alkej-316	205	10	obstacle	obstacle	NOUN
alkej-316	205	11	from	from	ADP
alkej-316	205	12	point	point	NOUN
alkej-316	205	13	(	(	PUNCT
alkej-316	205	14	3	3	NUM
alkej-316	205	15	,	,	PUNCT
alkej-316	205	16	2	2	NUM
alkej-316	205	17	)	)	PUNCT
alkej-316	205	18	to	to	PART
alkej-316	205	19	point	point	VERB
alkej-316	205	20	(	(	PUNCT
alkej-316	205	21	2	2	NUM
alkej-316	205	22	,	,	PUNCT
alkej-316	205	23	2	2	NUM
alkej-316	205	24	)	)	PUNCT
alkej-316	205	25	.	.	PUNCT
alkej-316	206	1	as	as	SCONJ
alkej-316	206	2	stated	state	VERB
alkej-316	206	3	by	by	ADP
alkej-316	206	4	[	[	X
alkej-316	206	5	19	19	NUM
alkej-316	206	6	]	]	PUNCT
alkej-316	206	7	the	the	DET
alkej-316	206	8	apf	apf	PROPN
alkej-316	206	9	fail	fail	VERB
alkej-316	206	10	to	to	PART
alkej-316	206	11	reach	reach	VERB
alkej-316	206	12	the	the	DET
alkej-316	206	13	target	target	NOUN
alkej-316	206	14	due	due	ADP
alkej-316	206	15	to	to	ADP
alkej-316	206	16	local	local	ADJ
alkej-316	206	17	minimum	minimum	ADJ
alkej-316	206	18	problem	problem	NOUN
alkej-316	206	19	.	.	PUNCT
alkej-316	207	1	the	the	DET
alkej-316	207	2	proposed	propose	VERB
alkej-316	207	3	algorithms	algorithm	NOUN
alkej-316	207	4	were	be	AUX
alkej-316	207	5	able	able	ADJ
alkej-316	207	6	to	to	PART
alkej-316	207	7	overcome	overcome	VERB
alkej-316	207	8	this	this	DET
alkej-316	207	9	drawback	drawback	NOUN
alkej-316	207	10	or	or	CCONJ
alkej-316	207	11	difficulty	difficulty	NOUN
alkej-316	207	12	as	as	SCONJ
alkej-316	207	13	shown	show	VERB
alkej-316	207	14	in	in	ADP
alkej-316	207	15	fig.6	fig.6	PROPN
alkej-316	207	16	with	with	ADP
alkej-316	207	17	total	total	ADJ
alkej-316	207	18	distance	distance	NOUN
alkej-316	207	19	equal	equal	ADJ
alkej-316	207	20	to	to	ADP
alkej-316	207	21	14.5412	14.5412	NUM
alkej-316	207	22	.	.	PUNCT
alkej-316	208	1	the	the	DET
alkej-316	208	2	proposed	propose	VERB
alkej-316	208	3	rpo	rpo	NOUN
alkej-316	208	4	algorithm	algorithm	NOUN
alkej-316	208	5	in	in	ADP
alkej-316	208	6	[	[	X
alkej-316	208	7	19	19	NUM
alkej-316	208	8	]	]	PUNCT
alkej-316	208	9	achieved	achieve	VERB
alkej-316	208	10	a	a	DET
alkej-316	208	11	path	path	NOUN
alkej-316	208	12	with	with	ADP
alkej-316	208	13	total	total	ADJ
alkej-316	208	14	run	run	NOUN
alkej-316	208	15	time	time	NOUN
alkej-316	208	16	equal	equal	ADJ
alkej-316	208	17	to	to	ADP
alkej-316	208	18	(	(	PUNCT
alkej-316	208	19	11.0321s	11.0321s	NUM
alkej-316	208	20	)	)	PUNCT
alkej-316	208	21	.	.	PUNCT
alkej-316	209	1	fig	fig	NOUN
alkej-316	209	2	.	.	PUNCT
alkej-316	210	1	5	5	X
alkej-316	210	2	.	.	X
alkej-316	210	3	best	good	ADJ
alkej-316	210	4	shortest	short	ADJ
alkej-316	210	5	path	path	NOUN
alkej-316	210	6	for	for	ADP
alkej-316	210	7	case	case	NOUN
alkej-316	210	8	1	1	NUM
alkej-316	210	9	.	.	PUNCT
alkej-316	210	10	fig	fig	NOUN
alkej-316	210	11	.	.	PUNCT
alkej-316	211	1	6	6	NUM
alkej-316	211	2	.	.	X
alkej-316	211	3	best	good	ADJ
alkej-316	211	4	shortest	short	ADJ
alkej-316	211	5	path	path	NOUN
alkej-316	211	6	(	(	PUNCT
alkej-316	211	7	2nd	2nd	ADJ
alkej-316	211	8	scenario	scenario	NOUN
alkej-316	211	9	)	)	PUNCT
alkej-316	211	10	for	for	ADP
alkej-316	211	11	case	case	NOUN
alkej-316	211	12	1	1	NUM
alkej-316	211	13	.	.	X
alkej-316	211	14	6.2	6.2	NUM
alkej-316	211	15	case	case	NOUN
alkej-316	211	16	study	study	NOUN
alkej-316	211	17	2	2	NUM
alkej-316	211	18	:	:	PUNCT
alkej-316	211	19	environment	environment	NOUN
alkej-316	211	20	with	with	ADP
alkej-316	211	21	12	12	NUM
alkej-316	211	22	obstacles	obstacle	NOUN
alkej-316	211	23	in	in	ADP
alkej-316	211	24	case	case	NOUN
alkej-316	211	25	study	study	NOUN
alkej-316	211	26	2	2	NUM
alkej-316	211	27	,	,	PUNCT
alkej-316	211	28	a	a	DET
alkej-316	211	29	complex	complex	ADJ
alkej-316	211	30	environment	environment	NOUN
alkej-316	211	31	with	with	ADP
alkej-316	211	32	twelve	twelve	NUM
alkej-316	211	33	obstacles	obstacle	NOUN
alkej-316	211	34	in	in	ADP
alkej-316	211	35	different	different	ADJ
alkej-316	211	36	sizes	size	NOUN
alkej-316	211	37	is	be	AUX
alkej-316	211	38	presented	present	VERB
alkej-316	211	39	.	.	PUNCT
alkej-316	212	1	all	all	DET
alkej-316	212	2	obstacles	obstacle	NOUN
alkej-316	212	3	'	'	PART
alkej-316	212	4	positions	position	NOUN
alkej-316	212	5	(	(	PUNCT
alkej-316	212	6	center	center	NOUN
alkej-316	212	7	and	and	CCONJ
alkej-316	212	8	radius	radius	NOUN
alkej-316	212	9	)	)	PUNCT
alkej-316	212	10	are	be	AUX
alkej-316	212	11	listed	list	VERB
alkej-316	212	12	in	in	ADP
alkej-316	212	13	table	table	NOUN
alkej-316	212	14	2	2	NUM
alkej-316	212	15	.	.	PUNCT
alkej-316	213	1	the	the	DET
alkej-316	213	2	cost	cost	NOUN
alkej-316	213	3	function	function	NOUN
alkej-316	213	4	representing	represent	VERB
alkej-316	213	5	goal	goal	NOUN
alkej-316	213	6	plus	plus	CCONJ
alkej-316	213	7	obstacles	obstacle	NOUN
alkej-316	213	8	are	be	AUX
alkej-316	213	9	illustrated	illustrate	VERB
alkej-316	213	10	in	in	ADP
alkej-316	213	11	fig	fig	NOUN
alkej-316	213	12	.	.	PUNCT
alkej-316	214	1	7	7	NUM
alkej-316	214	2	and	and	CCONJ
alkej-316	214	3	fig	fig	NOUN
alkej-316	214	4	.	.	PUNCT
alkej-316	215	1	8	8	NUM
alkej-316	215	2	.	.	PUNCT
alkej-316	216	1	the	the	DET
alkej-316	216	2	best	good	ADJ
alkej-316	216	3	path	path	NOUN
alkej-316	216	4	with	with	ADP
alkej-316	216	5	shortest	short	ADJ
alkej-316	216	6	distance	distance	NOUN
alkej-316	216	7	using	use	VERB
alkej-316	216	8	atbfo	atbfo	NOUN
alkej-316	216	9	algorithm	algorithm	NOUN
alkej-316	216	10	is	be	AUX
alkej-316	216	11	equal	equal	ADJ
alkej-316	216	12	to	to	ADP
alkej-316	216	13	14.4797as	14.4797as	PROPN
alkej-316	216	14	illustrated	illustrate	VERB
alkej-316	216	15	in	in	ADP
alkej-316	216	16	fig	fig	NOUN
alkej-316	216	17	.	.	PUNCT
alkej-316	217	1	9	9	NUM
alkej-316	217	2	,	,	PUNCT
alkej-316	217	3	while	while	SCONJ
alkej-316	217	4	thebest	theb	ADJ
alkej-316	217	5	path	path	NOUN
alkej-316	217	6	with	with	ADP
alkej-316	217	7	shortest	short	ADJ
alkej-316	217	8	execution	execution	NOUN
alkej-316	217	9	time	time	NOUN
alkej-316	217	10	is	be	AUX
alkej-316	217	11	8.274537s	8.274537s	NOUN
alkej-316	217	12	as	as	ADP
alkej-316	217	13	in	in	ADP
alkej-316	217	14	fig	fig	NOUN
alkej-316	217	15	.	.	PUNCT
alkej-316	218	1	10	10	NUM
alkej-316	218	2	.	.	PUNCT
alkej-316	219	1	the	the	DET
alkej-316	219	2	new	new	ADJ
alkej-316	219	3	bacteria	bacteria	NOUN
alkej-316	219	4	colony	colony	NOUN
alkej-316	219	5	approach	approach	NOUN
alkej-316	219	6	(	(	PUNCT
alkej-316	219	7	nbca	nbca	NOUN
alkej-316	219	8	)	)	PUNCT
alkej-316	219	9	with	with	ADP
alkej-316	219	10	variable	variable	ADJ
alkej-316	219	11	velocity	velocity	NOUN
alkej-316	219	12	and	and	CCONJ
alkej-316	219	13	ga	ga	NOUN
alkej-316	219	14	in	in	ADP
alkej-316	219	15	[	[	X
alkej-316	219	16	11	11	NUM
alkej-316	219	17	]	]	PUNCT
alkej-316	219	18	as	as	SCONJ
alkej-316	219	19	gpp	gpp	NOUN
alkej-316	219	20	algorithms	algorithm	NOUN
alkej-316	219	21	are	be	AUX
alkej-316	219	22	compared	compare	VERB
alkej-316	219	23	with	with	ADP
alkej-316	219	24	the	the	DET
alkej-316	219	25	proposed	propose	VERB
alkej-316	219	26	lpp	lpp	PROPN
alkej-316	219	27	algorithms.it	algorithms.it	PRON
alkej-316	219	28	achieved	achieve	VERB
alkej-316	219	29	path	path	NOUN
alkej-316	219	30	equal	equal	ADJ
alkej-316	219	31	to	to	ADP
alkej-316	219	32	14.40351	14.40351	NUM
alkej-316	219	33	(	(	PUNCT
alkej-316	219	34	after	after	SCONJ
alkej-316	219	35	divided	divide	VERB
alkej-316	219	36	by	by	ADP
alkej-316	219	37	scale	scale	NOUN
alkej-316	219	38	=	=	SYM
alkej-316	219	39	10	10	NUM
alkej-316	219	40	)	)	PUNCT
alkej-316	219	41	and	and	CCONJ
alkej-316	219	42	time	time	NOUN
alkej-316	219	43	62.14s	62.14s	PROPN
alkej-316	219	44	.	.	PUNCT
alkej-316	220	1	best	good	ADJ
alkej-316	220	2	result	result	NOUN
alkej-316	220	3	achieved	achieve	VERB
alkej-316	220	4	by	by	ADP
alkej-316	220	5	ga	ga	PROPN
alkej-316	220	6	with	with	ADP
alkej-316	220	7	path	path	NOUN
alkej-316	220	8	of	of	ADP
alkej-316	220	9	14.40982	14.40982	NUM
alkej-316	220	10	(	(	PUNCT
alkej-316	220	11	after	after	SCONJ
alkej-316	220	12	divided	divide	VERB
alkej-316	220	13	by	by	ADP
alkej-316	220	14	scale	scale	NOUN
alkej-316	220	15	=	=	SYM
alkej-316	220	16	10	10	NUM
alkej-316	220	17	)	)	PUNCT
alkej-316	220	18	and	and	CCONJ
alkej-316	220	19	time	time	NOUN
alkej-316	220	20	34.70	34.70	NUM
alkej-316	220	21	s.	s.	PROPN
alkej-316	220	22	in	in	ADP
alkej-316	220	23	order	order	NOUN
alkej-316	220	24	to	to	PART
alkej-316	220	25	investigate	investigate	VERB
alkej-316	220	26	the	the	DET
alkej-316	220	27	effect	effect	NOUN
alkej-316	220	28	of	of	ADP
alkej-316	220	29	the	the	DET
alkej-316	220	30	step	step	NOUN
alkej-316	220	31	size	size	NOUN
alkej-316	220	32	(	(	PUNCT
alkej-316	220	33	c	c	NOUN
alkej-316	220	34	i	i	NOUN
alkej-316	220	35	)	)	PUNCT
alkej-316	220	36	on	on	ADP
alkej-316	220	37	the	the	DET
alkej-316	220	38	overall	overall	ADJ
alkej-316	220	39	algorithms	algorithm	NOUN
alkej-316	220	40	,	,	PUNCT
alkej-316	220	41	the	the	DET
alkej-316	220	42	whole	whole	ADJ
alkej-316	220	43	test	test	NOUN
alkej-316	220	44	is	be	AUX
alkej-316	220	45	repeated	repeat	VERB
alkej-316	220	46	with	with	ADP
alkej-316	220	47	smaller	small	ADJ
alkej-316	220	48	step	step	NOUN
alkej-316	220	49	length	length	NOUN
alkej-316	220	50	c	c	NOUN
alkej-316	221	1	i	i	NOUN
alkej-316	221	2	=	=	NOUN
alkej-316	221	3	0.05	0.05	NUM
alkej-316	221	4	.	.	PUNCT
alkej-316	222	1	the	the	DET
alkej-316	222	2	best	good	ADJ
alkej-316	222	3	two	two	NUM
alkej-316	222	4	paths	path	NOUN
alkej-316	222	5	according	accord	VERB
alkej-316	222	6	to	to	ADP
alkej-316	222	7	distance	distance	NOUN
alkej-316	222	8	and	and	CCONJ
alkej-316	222	9	run	run	VERB
alkej-316	222	10	time	time	NOUN
alkej-316	222	11	are	be	AUX
alkej-316	222	12	illustrated	illustrate	VERB
alkej-316	222	13	in	in	ADP
alkej-316	222	14	fig	fig	NOUN
alkej-316	222	15	.	.	PUNCT
alkej-316	223	1	11	11	NUM
alkej-316	223	2	(	(	PUNCT
alkej-316	223	3	total	total	ADJ
alkej-316	223	4	distance	distance	NOUN
alkej-316	223	5	=	=	NOUN
alkej-316	223	6	14.7852	14.7852	NUM
alkej-316	223	7	)	)	PUNCT
alkej-316	223	8	and	and	CCONJ
alkej-316	223	9	fig	fig	NOUN
alkej-316	223	10	.	.	PUNCT
alkej-316	224	1	12	12	NUM
alkej-316	224	2	(	(	PUNCT
alkej-316	224	3	run	run	VERB
alkej-316	224	4	time	time	NOUN
alkej-316	224	5	=	=	NOUN
alkej-316	224	6	11.628703s	11.628703s	NUM
alkej-316	224	7	)	)	PUNCT
alkej-316	224	8	.	.	PUNCT
alkej-316	225	1	fig	fig	NOUN
alkej-316	225	2	.	.	PUNCT
alkej-316	226	1	7	7	X
alkej-316	226	2	.	.	X
alkej-316	226	3	cost	cost	NOUN
alkej-316	226	4	function	function	NOUN
alkej-316	226	5	for	for	ADP
alkej-316	226	6	case	case	NOUN
alkej-316	226	7	2	2	NUM
alkej-316	226	8	.	.	PUNCT
alkej-316	227	1	-5	-5	NUM
alkej-316	227	2	0	0	NUM
alkej-316	227	3	5	5	NUM
alkej-316	227	4	10	10	NUM
alkej-316	227	5	15	15	NUM
alkej-316	227	6	-2	-2	NOUN
alkej-316	227	7	0	0	NUM
alkej-316	227	8	2	2	NUM
alkej-316	227	9	4	4	NUM
alkej-316	227	10	6	6	NUM
alkej-316	227	11	8	8	NUM
alkej-316	227	12	10	10	NUM
alkej-316	227	13	12	12	NUM
alkej-316	227	14	0	0	NUM
alkej-316	227	15	0.2	0.2	NUM
alkej-316	227	16	0.4	0.4	NUM
alkej-316	227	17	0.6	0.6	NUM
alkej-316	227	18	0.8	0.8	NUM
alkej-316	227	19	1	1	NUM
alkej-316	227	20	1.2	1.2	NUM
alkej-316	227	21	1.4	1.4	NUM
alkej-316	227	22	1.6	1.6	NUM
alkej-316	227	23	goal	goal	NOUN
alkej-316	227	24	plus	plus	CCONJ
alkej-316	227	25	obstacle	obstacle	NOUN
alkej-316	227	26	functions	function	NOUN
alkej-316	227	27	y	y	PROPN
alkej-316	227	28	x	x	INTJ
alkej-316	227	29	jg	jg	PROPN
alkej-316	227	30	oa	oa	INTJ
alkej-316	227	31	l+	l+	AUX
alkej-316	227	32	jo	jo	X
alkej-316	227	33	bs	bs	PROPN
alkej-316	227	34	0	0	NUM
alkej-316	227	35	5	5	NUM
alkej-316	227	36	10	10	NUM
alkej-316	227	37	-2	-2	NOUN
alkej-316	227	38	0	0	NUM
alkej-316	227	39	2	2	NUM
alkej-316	227	40	4	4	NUM
alkej-316	227	41	6	6	NUM
alkej-316	227	42	8	8	NUM
alkej-316	227	43	10	10	NUM
alkej-316	227	44	12	12	NUM
alkej-316	227	45	-1	-1	SYM
alkej-316	227	46	-0.5	-0.5	X
alkej-316	227	47	0	0	NUM
alkej-316	227	48	0.5	0.5	NUM
alkej-316	227	49	1	1	NUM
alkej-316	227	50	goal	goal	NOUN
alkej-316	227	51	plus	plus	CCONJ
alkej-316	227	52	obstacle	obstacle	NOUN
alkej-316	227	53	functions	function	NOUN
alkej-316	227	54	y	y	PROPN
alkej-316	227	55	x	x	INTJ
alkej-316	227	56	jg	jg	PROPN
alkej-316	227	57	oa	oa	INTJ
alkej-316	227	58	l+	l+	PUNCT
alkej-316	227	59	jo	jo	INTJ
alkej-316	227	60	bs	bs	INTJ
alkej-316	227	61	-2	-2	INTJ
alkej-316	227	62	0	0	NUM
alkej-316	227	63	2	2	NUM
alkej-316	227	64	4	4	NUM
alkej-316	227	65	6	6	NUM
alkej-316	227	66	8	8	NUM
alkej-316	227	67	10	10	NUM
alkej-316	227	68	12	12	NUM
alkej-316	227	69	-2	-2	NOUN
alkej-316	227	70	0	0	NUM
alkej-316	227	71	2	2	NUM
alkej-316	227	72	4	4	NUM
alkej-316	227	73	6	6	NUM
alkej-316	227	74	8	8	NUM
alkej-316	227	75	10	10	NUM
alkej-316	227	76	12	12	NUM
alkej-316	227	77	x	x	NOUN
alkej-316	227	78	-	-	PUNCT
alkej-316	227	79	axis(m	axis(m	ADJ
alkej-316	227	80	)	)	PUNCT
alkej-316	227	81	y	y	PROPN
alkej-316	227	82	-a	-a	PUNCT
alkej-316	227	83	xi	xi	PROPN
alkej-316	227	84	s	s	PROPN
alkej-316	227	85	(	(	PUNCT
alkej-316	227	86	m	m	PROPN
alkej-316	227	87	)	)	PUNCT
alkej-316	227	88	rpp	rpp	PROPN
alkej-316	227	89	atbfo	atbfo	VERB
alkej-316	227	90	-2	-2	NOUN
alkej-316	227	91	0	0	NUM
alkej-316	227	92	2	2	NUM
alkej-316	227	93	4	4	NUM
alkej-316	227	94	6	6	NUM
alkej-316	227	95	8	8	NUM
alkej-316	227	96	10	10	NUM
alkej-316	227	97	12	12	NUM
alkej-316	228	1	-2	-2	NOUN
alkej-316	228	2	0	0	NUM
alkej-316	228	3	2	2	NUM
alkej-316	228	4	4	4	NUM
alkej-316	228	5	6	6	NUM
alkej-316	228	6	8	8	NUM
alkej-316	228	7	10	10	NUM
alkej-316	228	8	12	12	NUM
alkej-316	228	9	x	x	NOUN
alkej-316	228	10	-	-	PUNCT
alkej-316	228	11	axis(m	axis(m	ADJ
alkej-316	228	12	)	)	PUNCT
alkej-316	228	13	y	y	PROPN
alkej-316	228	14	-a	-a	PUNCT
alkej-316	228	15	xi	xi	PROPN
alkej-316	228	16	s	s	PROPN
alkej-316	228	17	(	(	PUNCT
alkej-316	228	18	m	m	PROPN
alkej-316	228	19	)	)	PUNCT
alkej-316	228	20	rpp	rpp	PROPN
alkej-316	228	21	atbfo	atbfo	PROPN
alkej-316	228	22	-5	-5	NOUN
alkej-316	228	23	0	0	NUM
alkej-316	228	24	5	5	NUM
alkej-316	228	25	10	10	NUM
alkej-316	228	26	15	15	NUM
alkej-316	228	27	-2	-2	NOUN
alkej-316	228	28	0	0	NUM
alkej-316	228	29	2	2	NUM
alkej-316	228	30	4	4	NUM
alkej-316	228	31	6	6	NUM
alkej-316	228	32	8	8	NUM
alkej-316	228	33	10	10	NUM
alkej-316	228	34	12	12	NUM
alkej-316	228	35	0	0	NUM
alkej-316	228	36	0.5	0.5	NUM
alkej-316	228	37	1	1	NUM
alkej-316	228	38	1.5	1.5	NUM
alkej-316	228	39	2	2	NUM
alkej-316	228	40	goal	goal	NOUN
alkej-316	228	41	plus	plus	CCONJ
alkej-316	228	42	obstacle	obstacle	NOUN
alkej-316	228	43	functions	function	NOUN
alkej-316	228	44	y	y	PROPN
alkej-316	228	45	x	x	INTJ
alkej-316	228	46	jg	jg	PROPN
alkej-316	228	47	oa	oa	INTJ
alkej-316	228	48	l+	l+	PUNCT
alkej-316	228	49	jo	jo	INTJ
alkej-316	228	50	bs	bs	PROPN
alkej-316	229	1	jt	jt	PROPN
alkej-316	229	2	ot	ot	PROPN
alkej-316	229	3	al	al	PROPN
alkej-316	229	4	jt	jt	PROPN
alkej-316	229	5	ot	ot	PROPN
alkej-316	229	6	al	al	PROPN
alkej-316	229	7	jt	jt	PROPN
alkej-316	229	8	ot	ot	PROPN
alkej-316	229	9	al	al	PROPN
alkej-316	229	10	nizar	nizar	PROPN
alkej-316	229	11	hadi	hadi	PROPN
alkej-316	229	12	abbas	abbas	PROPN
alkej-316	229	13	al	al	PROPN
alkej-316	229	14	-	-	PUNCT
alkej-316	229	15	khwarizmi	khwarizmi	PROPN
alkej-316	229	16	engineering	engineering	NOUN
alkej-316	229	17	journal	journal	PROPN
alkej-316	229	18	,	,	PUNCT
alkej-316	229	19	vol	vol	NOUN
alkej-316	229	20	.	.	PROPN
alkej-316	229	21	12	12	NUM
alkej-316	229	22	,	,	PUNCT
alkej-316	229	23	no	no	INTJ
alkej-316	229	24	.	.	NOUN
alkej-316	229	25	4	4	NUM
alkej-316	229	26	,	,	PUNCT
alkej-316	229	27	p.p	p.p	PROPN
alkej-316	229	28	.	.	NOUN
alkej-316	229	29	2635(2016	2635(2016	NUM
alkej-316	229	30	)	)	PUNCT
alkej-316	229	31	32	32	NUM
alkej-316	229	32	table	table	NOUN
alkej-316	229	33	2	2	NUM
alkej-316	229	34	,	,	PUNCT
alkej-316	229	35	obstacles	obstacle	VERB
alkej-316	229	36	definitions	definition	NOUN
alkej-316	229	37	for	for	ADP
alkej-316	229	38	case	case	NOUN
alkej-316	229	39	2	2	NUM
alkej-316	229	40	.	.	X
alkej-316	229	41	fig	fig	NOUN
alkej-316	229	42	.	.	PUNCT
alkej-316	230	1	8	8	NUM
alkej-316	230	2	.	.	X
alkej-316	230	3	contour	contour	NOUN
alkej-316	230	4	plot	plot	NOUN
alkej-316	230	5	forcost	forcost	NOUN
alkej-316	230	6	function	function	NOUN
alkej-316	230	7	for	for	ADP
alkej-316	230	8	case	case	NOUN
alkej-316	230	9	2	2	NUM
alkej-316	230	10	.	.	PUNCT
alkej-316	231	1	although	although	SCONJ
alkej-316	231	2	large	large	ADJ
alkej-316	231	3	step	step	NOUN
alkej-316	231	4	size	size	NOUN
alkej-316	231	5	speeds	speed	VERB
alkej-316	231	6	up	up	ADP
alkej-316	231	7	the	the	DET
alkej-316	231	8	algorithm	algorithm	NOUN
alkej-316	231	9	and	and	CCONJ
alkej-316	231	10	yields	yield	NOUN
alkej-316	231	11	to	to	ADP
alkej-316	231	12	fast	fast	ADJ
alkej-316	231	13	convergence	convergence	NOUN
alkej-316	231	14	,	,	PUNCT
alkej-316	231	15	it	it	PRON
alkej-316	231	16	leads	lead	VERB
alkej-316	231	17	to	to	ADP
alkej-316	231	18	less	less	ADV
alkej-316	231	19	smoother	smooth	ADJ
alkej-316	231	20	paths	path	NOUN
alkej-316	231	21	.	.	PUNCT
alkej-316	232	1	fig	fig	NOUN
alkej-316	232	2	.	.	PUNCT
alkej-316	233	1	9	9	X
alkej-316	233	2	.	.	X
alkej-316	233	3	best	good	ADJ
alkej-316	233	4	shortest	short	ADJ
alkej-316	233	5	path	path	NOUN
alkej-316	233	6	for	for	ADP
alkej-316	233	7	case	case	NOUN
alkej-316	233	8	2	2	NUM
alkej-316	233	9	.	.	X
alkej-316	233	10	fig	fig	NOUN
alkej-316	233	11	.	.	PUNCT
alkej-316	234	1	9	9	X
alkej-316	234	2	.	.	X
alkej-316	234	3	best	good	ADJ
alkej-316	234	4	shortest	short	ADJ
alkej-316	234	5	path	path	NOUN
alkej-316	234	6	for	for	ADP
alkej-316	234	7	case	case	NOUN
alkej-316	234	8	2	2	NUM
alkej-316	234	9	.	.	X
alkej-316	234	10	fig	fig	NOUN
alkej-316	234	11	.	.	PUNCT
alkej-316	235	1	11	11	NUM
alkej-316	235	2	.	.	PUNCT
alkej-316	235	3	best	good	ADJ
alkej-316	235	4	shortest	short	ADJ
alkej-316	235	5	path	path	NOUN
alkej-316	235	6	for	for	ADP
alkej-316	235	7	case	case	NOUN
alkej-316	235	8	2(2nd	2(2nd	NUM
alkej-316	235	9	test	test	NOUN
alkej-316	235	10	)	)	PUNCT
alkej-316	235	11	.	.	PUNCT
alkej-316	236	1	fig	fig	NOUN
alkej-316	236	2	.	.	PUNCT
alkej-316	237	1	12	12	NUM
alkej-316	237	2	:	:	PUNCT
alkej-316	237	3	shortest	short	ADJ
alkej-316	237	4	time	time	NOUN
alkej-316	237	5	path	path	NOUN
alkej-316	237	6	for	for	ADP
alkej-316	237	7	case	case	NOUN
alkej-316	237	8	2	2	NUM
alkej-316	237	9	(	(	PUNCT
alkej-316	237	10	2nd	2nd	ADJ
alkej-316	237	11	test	test	NOUN
alkej-316	237	12	)	)	PUNCT
alkej-316	237	13	.	.	PUNCT
alkej-316	238	1	6.3	6.3	NUM
alkej-316	238	2	case	case	NOUN
alkej-316	238	3	study	study	NOUN
alkej-316	238	4	3	3	NUM
alkej-316	238	5	:	:	PUNCT
alkej-316	238	6	environment	environment	NOUN
alkej-316	238	7	with	with	ADP
alkej-316	238	8	6	6	NUM
alkej-316	238	9	moving	move	VERB
alkej-316	238	10	obstacles	obstacle	NOUN
alkej-316	238	11	a	a	DET
alkej-316	238	12	dynamic	dynamic	ADJ
alkej-316	238	13	environment	environment	NOUN
alkej-316	238	14	with	with	ADP
alkej-316	238	15	six	six	NUM
alkej-316	238	16	moving	move	VERB
alkej-316	238	17	obstacles	obstacle	NOUN
alkej-316	238	18	with	with	ADP
alkej-316	238	19	equal	equal	ADJ
alkej-316	238	20	sizes	size	NOUN
alkej-316	238	21	is	be	AUX
alkej-316	238	22	presented	present	VERB
alkej-316	238	23	.	.	PUNCT
alkej-316	239	1	all	all	DET
alkej-316	239	2	obstacles	obstacle	NOUN
alkej-316	239	3	'	'	PART
alkej-316	239	4	initial	initial	ADJ
alkej-316	239	5	positions	position	NOUN
alkej-316	239	6	(	(	PUNCT
alkej-316	239	7	center	center	NOUN
alkej-316	239	8	and	and	CCONJ
alkej-316	239	9	radius	radius	NOUN
alkej-316	239	10	)	)	PUNCT
alkej-316	239	11	are	be	AUX
alkej-316	239	12	listed	list	VERB
alkej-316	239	13	in	in	ADP
alkej-316	239	14	table	table	NOUN
alkej-316	239	15	3	3	NUM
alkej-316	239	16	.	.	PUNCT
alkej-316	239	17	table	table	NOUN
alkej-316	239	18	3	3	NUM
alkej-316	239	19	,	,	PUNCT
alkej-316	239	20	obstacles	obstacle	VERB
alkej-316	239	21	definitions	definition	NOUN
alkej-316	239	22	for	for	ADP
alkej-316	239	23	case	case	NOUN
alkej-316	239	24	3	3	NUM
alkej-316	239	25	.	.	X
alkej-316	239	26	obstacle	obstacle	PROPN
alkej-316	239	27	no	no	PROPN
alkej-316	239	28	.	.	PUNCT
alkej-316	240	1	radius	radius	PROPN
alkej-316	240	2	center(x	center(x	PROPN
alkej-316	240	3	,	,	PUNCT
alkej-316	240	4	y	y	PROPN
alkej-316	240	5	)	)	PUNCT
alkej-316	240	6	1	1	NUM
alkej-316	240	7	.4	.4	NUM
alkej-316	240	8	(	(	PUNCT
alkej-316	240	9	1.5,1	1.5,1	NUM
alkej-316	240	10	)	)	PUNCT
alkej-316	240	11	2	2	NUM
alkej-316	240	12	.4	.4	NUM
alkej-316	240	13	(	(	PUNCT
alkej-316	240	14	3,3	3,3	NUM
alkej-316	240	15	)	)	PUNCT
alkej-316	240	16	3	3	NUM
alkej-316	240	17	.4	.4	NUM
alkej-316	240	18	(	(	PUNCT
alkej-316	240	19	5.5,4.1	5.5,4.1	NUM
alkej-316	240	20	)	)	PUNCT
alkej-316	240	21	4	4	NUM
alkej-316	240	22	.4	.4	NUM
alkej-316	240	23	(	(	PUNCT
alkej-316	240	24	6,5	6,5	NUM
alkej-316	240	25	)	)	PUNCT
alkej-316	240	26	5	5	NUM
alkej-316	240	27	.4	.4	NUM
alkej-316	240	28	(	(	PUNCT
alkej-316	240	29	8,6	8,6	NUM
alkej-316	240	30	)	)	PUNCT
alkej-316	240	31	6	6	NUM
alkej-316	240	32	.4	.4	NUM
alkej-316	240	33	(	(	PUNCT
alkej-316	240	34	11,10	11,10	NOUN
alkej-316	240	35	)	)	PUNCT
alkej-316	240	36	only	only	ADV
alkej-316	240	37	the	the	DET
alkej-316	240	38	original	original	ADJ
alkej-316	240	39	bfo	bfo	PROPN
alkej-316	240	40	is	be	AUX
alkej-316	240	41	hybridized	hybridize	VERB
alkej-316	240	42	with	with	ADP
alkej-316	240	43	apf	apf	PROPN
alkej-316	240	44	.	.	PUNCT
alkej-316	241	1	since	since	SCONJ
alkej-316	241	2	the	the	DET
alkej-316	241	3	next	next	ADJ
alkej-316	241	4	best	good	ADJ
alkej-316	241	5	location	location	NOUN
alkej-316	241	6	can	can	AUX
alkej-316	241	7	not	not	PART
alkej-316	241	8	be	be	AUX
alkej-316	241	9	predicted	predict	VERB
alkej-316	241	10	due	due	ADP
alkej-316	241	11	to	to	ADP
alkej-316	241	12	obstacles	obstacle	NOUN
alkej-316	241	13	movement	movement	NOUN
alkej-316	241	14	,	,	PUNCT
alkej-316	241	15	the	the	DET
alkej-316	241	16	calculation	calculation	NOUN
alkej-316	241	17	for	for	ADP
alkej-316	241	18	fitness	fitness	NOUN
alkej-316	241	19	improvement	improvement	NOUN
alkej-316	241	20	toward	toward	ADP
alkej-316	241	21	best	good	ADJ
alkej-316	241	22	next	next	ADJ
alkej-316	241	23	position	position	NOUN
alkej-316	241	24	is	be	AUX
alkej-316	241	25	pointless	pointless	ADJ
alkej-316	241	26	.	.	PUNCT
alkej-316	242	1	in	in	ADP
alkej-316	242	2	all	all	DET
alkej-316	242	3	scenarios	scenario	NOUN
alkej-316	242	4	three	three	NUM
alkej-316	242	5	obstacles	obstacle	NOUN
alkej-316	242	6	move	move	VERB
alkej-316	242	7	linearly	linearly	ADV
alkej-316	242	8	and	and	CCONJ
alkej-316	242	9	the	the	DET
alkej-316	242	10	other	other	ADJ
alkej-316	242	11	three	three	NUM
alkej-316	242	12	circulate	circulate	NOUN
alkej-316	242	13	in	in	ADP
alkej-316	242	14	a	a	DET
alkej-316	242	15	path	path	NOUN
alkej-316	242	16	with	with	ADP
alkej-316	242	17	radius	radius	NOUN
alkej-316	242	18	equal	equal	ADJ
alkej-316	242	19	to	to	ADP
alkej-316	242	20	1	1	NUM
alkej-316	242	21	.	.	PUNCT
alkej-316	243	1	the	the	DET
alkej-316	243	2	resultant	resultant	NOUN
alkej-316	243	3	path	path	NOUN
alkej-316	243	4	for	for	ADP
alkej-316	243	5	the	the	DET
alkej-316	243	6	first	first	ADJ
alkej-316	243	7	scenario	scenario	NOUN
alkej-316	243	8	can	can	AUX
alkej-316	243	9	be	be	AUX
alkej-316	243	10	shown	show	VERB
alkej-316	243	11	in	in	ADP
alkej-316	243	12	fig	fig	NOUN
alkej-316	243	13	.	.	PUNCT
alkej-316	244	1	13	13	NUM
alkej-316	244	2	which	which	PRON
alkej-316	244	3	takes	take	VERB
alkej-316	244	4	10.5203	10.5203	NUM
alkej-316	244	5	seconds	second	NOUN
alkej-316	244	6	.	.	PUNCT
alkej-316	245	1	0	0	NUM
alkej-316	245	2	5	5	NUM
alkej-316	245	3	10	10	NUM
alkej-316	245	4	-2	-2	NOUN
alkej-316	245	5	0	0	NUM
alkej-316	245	6	2	2	NUM
alkej-316	245	7	4	4	NUM
alkej-316	245	8	6	6	NUM
alkej-316	245	9	8	8	NUM
alkej-316	245	10	10	10	NUM
alkej-316	245	11	12	12	NUM
alkej-316	245	12	-1	-1	SYM
alkej-316	245	13	-0.5	-0.5	X
alkej-316	245	14	0	0	NUM
alkej-316	245	15	0.5	0.5	NUM
alkej-316	245	16	1	1	NUM
alkej-316	245	17	goal	goal	NOUN
alkej-316	245	18	plus	plus	CCONJ
alkej-316	245	19	obstacle	obstacle	NOUN
alkej-316	245	20	functions	function	NOUN
alkej-316	245	21	y	y	PROPN
alkej-316	245	22	x	x	INTJ
alkej-316	245	23	jg	jg	PROPN
alkej-316	245	24	oa	oa	INTJ
alkej-316	245	25	l+	l+	PUNCT
alkej-316	245	26	jo	jo	INTJ
alkej-316	245	27	bs	bs	INTJ
alkej-316	245	28	-2	-2	INTJ
alkej-316	245	29	0	0	NUM
alkej-316	245	30	2	2	NUM
alkej-316	245	31	4	4	NUM
alkej-316	245	32	6	6	NUM
alkej-316	245	33	8	8	NUM
alkej-316	245	34	10	10	NUM
alkej-316	245	35	12	12	NUM
alkej-316	245	36	-2	-2	NOUN
alkej-316	245	37	0	0	NUM
alkej-316	245	38	2	2	NUM
alkej-316	245	39	4	4	NUM
alkej-316	245	40	6	6	NUM
alkej-316	245	41	8	8	NUM
alkej-316	245	42	10	10	NUM
alkej-316	245	43	12	12	NUM
alkej-316	245	44	x	x	NOUN
alkej-316	245	45	-	-	PUNCT
alkej-316	245	46	axis(m	axis(m	ADJ
alkej-316	245	47	)	)	PUNCT
alkej-316	245	48	y	y	PROPN
alkej-316	245	49	-a	-a	PUNCT
alkej-316	245	50	xi	xi	PROPN
alkej-316	245	51	s	s	PROPN
alkej-316	245	52	(	(	PUNCT
alkej-316	245	53	m	m	PROPN
alkej-316	245	54	)	)	PUNCT
alkej-316	245	55	rpp	rpp	PROPN
alkej-316	245	56	atbfo	atbfo	VERB
alkej-316	245	57	-2	-2	NOUN
alkej-316	245	58	0	0	NUM
alkej-316	245	59	2	2	NUM
alkej-316	245	60	4	4	NUM
alkej-316	245	61	6	6	NUM
alkej-316	245	62	8	8	NUM
alkej-316	245	63	10	10	NUM
alkej-316	245	64	12	12	NUM
alkej-316	246	1	-2	-2	NOUN
alkej-316	246	2	0	0	NUM
alkej-316	246	3	2	2	NUM
alkej-316	246	4	4	4	NUM
alkej-316	246	5	6	6	NUM
alkej-316	246	6	8	8	NUM
alkej-316	246	7	10	10	NUM
alkej-316	246	8	12	12	NUM
alkej-316	246	9	x	x	NOUN
alkej-316	246	10	-	-	PUNCT
alkej-316	246	11	axis(m	axis(m	ADJ
alkej-316	246	12	)	)	PUNCT
alkej-316	246	13	y	y	PROPN
alkej-316	246	14	-a	-a	PUNCT
alkej-316	246	15	xi	xi	PROPN
alkej-316	246	16	s	s	PROPN
alkej-316	246	17	(	(	PUNCT
alkej-316	246	18	m	m	PROPN
alkej-316	246	19	)	)	PUNCT
alkej-316	246	20	rpp	rpp	PROPN
alkej-316	246	21	atbfo	atbfo	VERB
alkej-316	246	22	-2	-2	NOUN
alkej-316	246	23	0	0	NUM
alkej-316	246	24	2	2	NUM
alkej-316	246	25	4	4	NUM
alkej-316	246	26	6	6	NUM
alkej-316	246	27	8	8	NUM
alkej-316	246	28	10	10	NUM
alkej-316	246	29	12	12	NUM
alkej-316	247	1	-2	-2	NOUN
alkej-316	247	2	0	0	NUM
alkej-316	247	3	2	2	NUM
alkej-316	247	4	4	4	NUM
alkej-316	247	5	6	6	NUM
alkej-316	247	6	8	8	NUM
alkej-316	247	7	10	10	NUM
alkej-316	247	8	12	12	NUM
alkej-316	247	9	x	x	NOUN
alkej-316	247	10	-	-	PUNCT
alkej-316	247	11	axis(m	axis(m	ADJ
alkej-316	247	12	)	)	PUNCT
alkej-316	247	13	y	y	PROPN
alkej-316	247	14	-a	-a	PUNCT
alkej-316	247	15	xi	xi	PROPN
alkej-316	247	16	s	s	PROPN
alkej-316	247	17	(	(	PUNCT
alkej-316	247	18	m	m	PROPN
alkej-316	247	19	)	)	PUNCT
alkej-316	247	20	rpp	rpp	PROPN
alkej-316	247	21	atbfo	atbfo	VERB
alkej-316	247	22	-2	-2	NOUN
alkej-316	247	23	0	0	NUM
alkej-316	247	24	2	2	NUM
alkej-316	247	25	4	4	NUM
alkej-316	247	26	6	6	NUM
alkej-316	247	27	8	8	NUM
alkej-316	247	28	10	10	NUM
alkej-316	247	29	12	12	NUM
alkej-316	248	1	-2	-2	NOUN
alkej-316	248	2	0	0	NUM
alkej-316	248	3	2	2	NUM
alkej-316	248	4	4	4	NUM
alkej-316	248	5	6	6	NUM
alkej-316	248	6	8	8	NUM
alkej-316	248	7	10	10	NUM
alkej-316	248	8	12	12	NUM
alkej-316	248	9	x	x	NOUN
alkej-316	248	10	-	-	PUNCT
alkej-316	248	11	axis(m	axis(m	ADJ
alkej-316	248	12	)	)	PUNCT
alkej-316	248	13	y	y	PROPN
alkej-316	248	14	-a	-a	PUNCT
alkej-316	248	15	xi	xi	PROPN
alkej-316	248	16	s	s	PROPN
alkej-316	248	17	(	(	PUNCT
alkej-316	248	18	m	m	PROPN
alkej-316	248	19	)	)	PUNCT
alkej-316	248	20	rpp	rpp	PROPN
alkej-316	248	21	atbfo	atbfo	PROPN
alkej-316	248	22	obstacle	obstacle	PROPN
alkej-316	248	23	radius	radius	PROPN
alkej-316	248	24	center	center	PROPN
alkej-316	248	25	(	(	PUNCT
alkej-316	248	26	x	x	X
alkej-316	248	27	,	,	PUNCT
alkej-316	248	28	y	y	PROPN
alkej-316	248	29	)	)	PUNCT
alkej-316	248	30	1	1	NUM
alkej-316	248	31	1	1	NUM
alkej-316	248	32	(	(	PUNCT
alkej-316	248	33	1.3,2.5	1.3,2.5	NUM
alkej-316	248	34	)	)	PUNCT
alkej-316	248	35	2	2	NUM
alkej-316	248	36	.8	.8	NUM
alkej-316	248	37	(	(	PUNCT
alkej-316	248	38	1,7.6	1,7.6	NUM
alkej-316	248	39	)	)	PUNCT
alkej-316	248	40	3	3	NUM
alkej-316	248	41	.5	.5	NUM
alkej-316	248	42	(	(	PUNCT
alkej-316	248	43	7.6,.9	7.6,.9	NUM
alkej-316	248	44	)	)	PUNCT
alkej-316	248	45	4	4	NUM
alkej-316	248	46	1.3	1.3	NUM
alkej-316	248	47	(	(	PUNCT
alkej-316	248	48	4.5,4.5	4.5,4.5	PROPN
alkej-316	248	49	)	)	PUNCT
alkej-316	248	50	5	5	NUM
alkej-316	248	51	.9	.9	NUM
alkej-316	248	52	(	(	PUNCT
alkej-316	248	53	1.2,5.5	1.2,5.5	NUM
alkej-316	248	54	)	)	PUNCT
alkej-316	248	55	6	6	NUM
alkej-316	248	56	1.4	1.4	NUM
alkej-316	248	57	(	(	PUNCT
alkej-316	248	58	8,3	8,3	NUM
alkej-316	248	59	)	)	PUNCT
alkej-316	248	60	7	7	NUM
alkej-316	248	61	1.2	1.2	NUM
alkej-316	248	62	(	(	PUNCT
alkej-316	248	63	6.6,7.7	6.6,7.7	PROPN
alkej-316	248	64	)	)	PUNCT
alkej-316	248	65	8	8	NUM
alkej-316	248	66	.8	.8	NUM
alkej-316	248	67	(	(	PUNCT
alkej-316	248	68	3.2,1.5	3.2,1.5	NUM
alkej-316	248	69	)	)	PUNCT
alkej-316	248	70	9	9	NUM
alkej-316	248	71	.7	.7	PROPN
alkej-316	248	72	(	(	PUNCT
alkej-316	248	73	7.5,5.5	7.5,5.5	NOUN
alkej-316	248	74	)	)	PUNCT
alkej-316	248	75	10	10	NUM
alkej-316	248	76	.6	.6	NUM
alkej-316	248	77	(	(	PUNCT
alkej-316	248	78	8.7,7	8.7,7	NOUN
alkej-316	248	79	)	)	PUNCT
alkej-316	248	80	11	11	NUM
alkej-316	248	81	.8	.8	PROPN
alkej-316	248	82	(	(	PUNCT
alkej-316	248	83	3.5,6.6	3.5,6.6	PROPN
alkej-316	248	84	)	)	PUNCT
alkej-316	248	85	12	12	NUM
alkej-316	248	86	.5	.5	NUM
alkej-316	248	87	(	(	PUNCT
alkej-316	248	88	4.5,9	4.5,9	NOUN
alkej-316	248	89	)	)	PUNCT
alkej-316	248	90	jt	jt	PROPN
alkej-316	248	91	ot	ot	PROPN
alkej-316	248	92	al	al	PROPN
alkej-316	248	93	nizar	nizar	PROPN
alkej-316	248	94	hadi	hadi	PROPN
alkej-316	248	95	abbas	abbas	PROPN
alkej-316	248	96	al	al	PROPN
alkej-316	248	97	-	-	PUNCT
alkej-316	248	98	khwarizmi	khwarizmi	PROPN
alkej-316	248	99	engineering	engineering	NOUN
alkej-316	248	100	journal	journal	PROPN
alkej-316	248	101	,	,	PUNCT
alkej-316	248	102	vol	vol	NOUN
alkej-316	248	103	.	.	PROPN
alkej-316	248	104	12	12	NUM
alkej-316	248	105	,	,	PUNCT
alkej-316	248	106	no	no	INTJ
alkej-316	248	107	.	.	NOUN
alkej-316	248	108	4	4	NUM
alkej-316	248	109	,	,	PUNCT
alkej-316	248	110	p.p	p.p	PROPN
alkej-316	248	111	.	.	NOUN
alkej-316	248	112	2635(2016	2635(2016	NUM
alkej-316	248	113	)	)	PUNCT
alkej-316	248	114	33	33	NUM
alkej-316	248	115	fig	fig	NOUN
alkej-316	248	116	.	.	PUNCT
alkej-316	249	1	13	13	NUM
alkej-316	249	2	.	.	PUNCT
alkej-316	250	1	1st	1st	ADJ
alkej-316	250	2	scenario	scenario	NOUN
alkej-316	250	3	pathfor	pathfor	ADP
alkej-316	250	4	case3	case3	PROPN
alkej-316	250	5	.	.	PUNCT
alkej-316	251	1	in	in	ADP
alkej-316	251	2	the	the	DET
alkej-316	251	3	second	second	ADJ
alkej-316	251	4	scenario	scenario	NOUN
alkej-316	251	5	one	one	NUM
alkej-316	251	6	of	of	ADP
alkej-316	251	7	the	the	DET
alkej-316	251	8	obstacles	obstacle	NOUN
alkej-316	251	9	circulates	circulate	VERB
alkej-316	251	10	around	around	ADP
alkej-316	251	11	the	the	DET
alkej-316	251	12	target	target	NOUN
alkej-316	251	13	.	.	PUNCT
alkej-316	252	1	the	the	DET
alkej-316	252	2	path	path	NOUN
alkej-316	252	3	generated	generate	VERB
alkej-316	252	4	takes	take	VERB
alkej-316	252	5	11.5450	11.5450	NUM
alkej-316	252	6	seconds	second	NOUN
alkej-316	252	7	and	and	CCONJ
alkej-316	252	8	is	be	AUX
alkej-316	252	9	shown	show	VERB
alkej-316	252	10	in	in	ADP
alkej-316	252	11	fig	fig	NOUN
alkej-316	252	12	.	.	PUNCT
alkej-316	253	1	14	14	NUM
alkej-316	253	2	.	.	PUNCT
alkej-316	254	1	finally	finally	ADV
alkej-316	254	2	,	,	PUNCT
alkej-316	254	3	in	in	ADP
alkej-316	254	4	this	this	DET
alkej-316	254	5	scenario	scenario	NOUN
alkej-316	254	6	in	in	ADP
alkej-316	254	7	addition	addition	NOUN
alkej-316	254	8	to	to	ADP
alkej-316	254	9	the	the	DET
alkej-316	254	10	six	six	NUM
alkej-316	254	11	moving	move	VERB
alkej-316	254	12	obstacles	obstacle	NOUN
alkej-316	254	13	,	,	PUNCT
alkej-316	254	14	the	the	DET
alkej-316	254	15	target	target	NOUN
alkej-316	254	16	represented	represent	VERB
alkej-316	254	17	by	by	ADP
alkej-316	254	18	green	green	ADJ
alkej-316	254	19	stars	star	NOUN
alkej-316	254	20	,	,	PUNCT
alkej-316	254	21	rotates	rotate	VERB
alkej-316	254	22	around	around	ADP
alkej-316	254	23	center	center	NOUN
alkej-316	254	24	point	point	NOUN
alkej-316	254	25	(	(	PUNCT
alkej-316	254	26	9.5	9.5	NUM
alkej-316	254	27	,	,	PUNCT
alkej-316	254	28	9.5	9.5	NUM
alkej-316	254	29	)	)	PUNCT
alkej-316	254	30	with	with	ADP
alkej-316	254	31	radius	radius	NOUN
alkej-316	254	32	equal	equal	ADJ
alkej-316	254	33	to	to	ADP
alkej-316	254	34	1	1	NUM
alkej-316	254	35	.	.	PUNCT
alkej-316	255	1	the	the	DET
alkej-316	255	2	elapsed	elapse	VERB
alkej-316	255	3	time	time	NOUN
alkej-316	255	4	was	be	AUX
alkej-316	255	5	11.6911	11.6911	NUM
alkej-316	255	6	seconds	second	NOUN
alkej-316	255	7	and	and	CCONJ
alkej-316	255	8	is	be	AUX
alkej-316	255	9	shown	show	VERB
alkej-316	255	10	in	in	ADP
alkej-316	255	11	fig	fig	NOUN
alkej-316	255	12	.	.	PUNCT
alkej-316	256	1	15	15	NUM
alkej-316	256	2	.	.	X
alkej-316	256	3	fig	fig	NOUN
alkej-316	256	4	.	.	PUNCT
alkej-316	257	1	14	14	NUM
alkej-316	257	2	.	.	PUNCT
alkej-316	258	1	2nd	2nd	ADJ
alkej-316	258	2	scenario	scenario	NOUN
alkej-316	258	3	pathfor	pathfor	ADP
alkej-316	258	4	case3	case3	PROPN
alkej-316	258	5	.	.	PUNCT
alkej-316	258	6	fig	fig	PROPN
alkej-316	258	7	.	.	PUNCT
alkej-316	259	1	15	15	NUM
alkej-316	259	2	:	:	PUNCT
alkej-316	259	3	3rd	3rd	ADJ
alkej-316	259	4	scenario	scenario	NOUN
alkej-316	259	5	pathfor	pathfor	ADP
alkej-316	259	6	case3	case3	PROPN
alkej-316	259	7	.	.	PUNCT
alkej-316	260	1	the	the	DET
alkej-316	260	2	proposed	propose	VERB
alkej-316	260	3	random	random	ADJ
alkej-316	260	4	particle	particle	NOUN
alkej-316	260	5	optimization	optimization	NOUN
alkej-316	260	6	(	(	PUNCT
alkej-316	260	7	rpo	rpo	NOUN
alkej-316	260	8	)	)	PUNCT
alkej-316	260	9	in	in	ADP
alkej-316	260	10	[	[	X
alkej-316	260	11	19	19	NUM
alkej-316	260	12	]	]	PUNCT
alkej-316	260	13	is	be	AUX
alkej-316	260	14	compared	compare	VERB
alkej-316	260	15	with	with	ADP
alkej-316	260	16	the	the	DET
alkej-316	260	17	bfo	bfo	PROPN
alkej-316	260	18	-	-	PUNCT
alkej-316	260	19	apf	apf	PROPN
alkej-316	260	20	method	method	NOUN
alkej-316	260	21	.	.	PUNCT
alkej-316	261	1	the	the	DET
alkej-316	261	2	proposed	propose	VERB
alkej-316	261	3	algorithm	algorithm	NOUN
alkej-316	261	4	was	be	AUX
alkej-316	261	5	able	able	ADJ
alkej-316	261	6	to	to	PART
alkej-316	261	7	reach	reach	VERB
alkej-316	261	8	feasible	feasible	ADJ
alkej-316	261	9	paths	path	NOUN
alkej-316	261	10	and	and	CCONJ
alkej-316	261	11	avoid	avoid	VERB
alkej-316	261	12	been	be	AUX
alkej-316	261	13	trapped	trap	VERB
alkej-316	261	14	in	in	ADP
alkej-316	261	15	local	local	ADJ
alkej-316	261	16	minima	minima	ADJ
alkej-316	261	17	situation	situation	NOUN
alkej-316	261	18	in	in	ADP
alkej-316	261	19	three	three	NUM
alkej-316	261	20	different	different	ADJ
alkej-316	261	21	scenarios	scenario	NOUN
alkej-316	261	22	.	.	PUNCT
alkej-316	262	1	7	7	X
alkej-316	262	2	.	.	X
alkej-316	262	3	conclusion	conclusion	NOUN
alkej-316	262	4	in	in	ADP
alkej-316	262	5	this	this	DET
alkej-316	262	6	paper	paper	NOUN
alkej-316	262	7	,	,	PUNCT
alkej-316	262	8	a	a	DET
alkej-316	262	9	mobile	mobile	ADJ
alkej-316	262	10	robot	robot	NOUN
alkej-316	262	11	local	local	ADJ
alkej-316	262	12	path	path	PROPN
alkej-316	262	13	planning	planning	NOUN
alkej-316	262	14	model	model	NOUN
alkej-316	262	15	based	base	VERB
alkej-316	262	16	on	on	ADP
alkej-316	262	17	atbfo	atbfo	PROPN
alkej-316	262	18	is	be	AUX
alkej-316	262	19	developed	develop	VERB
alkej-316	262	20	.	.	PUNCT
alkej-316	263	1	the	the	DET
alkej-316	263	2	proposed	propose	VERB
alkej-316	263	3	algorithm	algorithm	NOUN
alkej-316	263	4	models	model	VERB
alkej-316	263	5	the	the	DET
alkej-316	263	6	environment	environment	NOUN
alkej-316	263	7	using	use	VERB
alkej-316	263	8	apf	apf	PROPN
alkej-316	263	9	method	method	NOUN
alkej-316	263	10	through	through	ADP
alkej-316	263	11	two	two	NUM
alkej-316	263	12	contradictory	contradictory	ADJ
alkej-316	263	13	forces	force	NOUN
alkej-316	263	14	:	:	PUNCT
alkej-316	263	15	attractive	attractive	ADJ
alkej-316	263	16	force	force	NOUN
alkej-316	263	17	for	for	ADP
alkej-316	263	18	the	the	DET
alkej-316	263	19	goal	goal	NOUN
alkej-316	263	20	and	and	CCONJ
alkej-316	263	21	repulsive	repulsive	ADJ
alkej-316	263	22	force	force	NOUN
alkej-316	263	23	for	for	ADP
alkej-316	263	24	the	the	DET
alkej-316	263	25	obstacles	obstacle	NOUN
alkej-316	263	26	.	.	PUNCT
alkej-316	264	1	the	the	DET
alkej-316	264	2	atbfo	atbfo	NOUN
alkej-316	264	3	algorithm	algorithm	NOUN
alkej-316	264	4	examines	examine	VERB
alkej-316	264	5	negative	negative	ADJ
alkej-316	264	6	feedback	feedback	NOUN
alkej-316	264	7	from	from	ADP
alkej-316	264	8	the	the	DET
alkej-316	264	9	algorithm	algorithm	NOUN
alkej-316	264	10	to	to	PART
alkej-316	264	11	choose	choose	VERB
alkej-316	264	12	appropriate	appropriate	ADJ
alkej-316	264	13	direction	direction	NOUN
alkej-316	264	14	vectors	vector	NOUN
alkej-316	264	15	(	(	PUNCT
alkej-316	264	16	∆	∆	X
alkej-316	264	17	�	�	NOUN
alkej-316	264	18	)	)	PUNCT
alkej-316	264	19	that	that	PRON
alkej-316	264	20	guide	guide	VERB
alkej-316	264	21	the	the	DET
alkej-316	264	22	search	search	NOUN
alkej-316	264	23	process	process	NOUN
alkej-316	264	24	to	to	ADP
alkej-316	264	25	promising	promise	VERB
alkej-316	264	26	area	area	NOUN
alkej-316	264	27	with	with	ADP
alkej-316	264	28	a	a	DET
alkej-316	264	29	better	well	ADJ
alkej-316	264	30	local	local	ADJ
alkej-316	264	31	search	search	NOUN
alkej-316	264	32	.	.	PUNCT
alkej-316	265	1	in	in	ADP
alkej-316	265	2	order	order	NOUN
alkej-316	265	3	to	to	PART
alkej-316	265	4	investigate	investigate	VERB
alkej-316	265	5	the	the	DET
alkej-316	265	6	influence	influence	NOUN
alkej-316	265	7	of	of	ADP
alkej-316	265	8	different	different	ADJ
alkej-316	265	9	step	step	NOUN
alkej-316	265	10	size	size	NOUN
alkej-316	265	11	on	on	ADP
alkej-316	265	12	the	the	DET
alkej-316	265	13	rpp	rpp	PROPN
alkej-316	265	14	problem	problem	NOUN
alkej-316	265	15	,	,	PUNCT
alkej-316	265	16	two	two	NUM
alkej-316	265	17	-	-	PUNCT
alkej-316	265	18	step	step	NOUN
alkej-316	265	19	sizes	size	NOUN
alkej-316	265	20	were	be	AUX
alkej-316	265	21	tested	test	VERB
alkej-316	265	22	.	.	PUNCT
alkej-316	266	1	the	the	DET
alkej-316	266	2	acquired	acquire	VERB
alkej-316	266	3	simulation	simulation	NOUN
alkej-316	266	4	results	result	NOUN
alkej-316	266	5	show	show	VERB
alkej-316	266	6	that	that	SCONJ
alkej-316	266	7	larger	large	ADJ
alkej-316	266	8	step	step	NOUN
alkej-316	266	9	size	size	NOUN
alkej-316	266	10	speed	speed	NOUN
alkej-316	266	11	up	up	ADP
alkej-316	266	12	the	the	DET
alkej-316	266	13	search	search	NOUN
alkej-316	266	14	process	process	NOUN
alkej-316	266	15	but	but	CCONJ
alkej-316	266	16	lead	lead	VERB
alkej-316	266	17	to	to	ADP
alkej-316	266	18	an	an	DET
alkej-316	266	19	unfavorable	unfavorable	ADJ
alkej-316	266	20	path	path	NOUN
alkej-316	266	21	(	(	PUNCT
alkej-316	266	22	less	less	ADV
alkej-316	266	23	smoothness	smoothness	ADJ
alkej-316	266	24	)	)	PUNCT
alkej-316	266	25	.	.	PUNCT
alkej-316	267	1	conversely	conversely	ADV
alkej-316	267	2	,	,	PUNCT
alkej-316	267	3	small	small	ADJ
alkej-316	267	4	step	step	NOUN
alkej-316	267	5	size	size	NOUN
alkej-316	267	6	may	may	AUX
alkej-316	267	7	slow	slow	VERB
alkej-316	267	8	down	down	ADP
alkej-316	267	9	the	the	DET
alkej-316	267	10	algorithm	algorithm	NOUN
alkej-316	267	11	,	,	PUNCT
alkej-316	267	12	but	but	CCONJ
alkej-316	267	13	it	it	PRON
alkej-316	267	14	achieves	achieve	VERB
alkej-316	267	15	more	more	ADV
alkej-316	267	16	suitable	suitable	ADJ
alkej-316	267	17	paths	path	NOUN
alkej-316	267	18	when	when	SCONJ
alkej-316	267	19	comes	come	VERB
alkej-316	267	20	to	to	PART
alkej-316	267	21	get	get	VERB
alkej-316	267	22	smoother	smooth	ADJ
alkej-316	267	23	ones	one	NOUN
alkej-316	267	24	.	.	PUNCT
alkej-316	268	1	three	three	NUM
alkej-316	268	2	case	case	NOUN
alkej-316	268	3	studies	study	NOUN
alkej-316	268	4	are	be	AUX
alkej-316	268	5	adopted	adopt	VERB
alkej-316	268	6	to	to	PART
alkej-316	268	7	evaluate	evaluate	VERB
alkej-316	268	8	the	the	DET
alkej-316	268	9	performance	performance	NOUN
alkej-316	268	10	of	of	ADP
alkej-316	268	11	the	the	DET
alkej-316	268	12	proposed	propose	VERB
alkej-316	268	13	algorithm	algorithm	NOUN
alkej-316	268	14	.	.	PUNCT
alkej-316	269	1	its	its	PRON
alkej-316	269	2	performance	performance	NOUN
alkej-316	269	3	has	have	AUX
alkej-316	269	4	been	be	AUX
alkej-316	269	5	compared	compare	VERB
alkej-316	269	6	with	with	ADP
alkej-316	269	7	some	some	DET
alkej-316	269	8	stateof	stateof	ADJ
alkej-316	269	9	-	-	PUNCT
alkej-316	269	10	the	the	DET
alkej-316	269	11	-	-	PUNCT
alkej-316	269	12	art	art	NOUN
alkej-316	269	13	algorithms	algorithm	NOUN
alkej-316	269	14	.	.	PUNCT
alkej-316	270	1	the	the	DET
alkej-316	270	2	atbfo	atbfo	NOUN
alkej-316	270	3	algorithm	algorithm	NOUN
alkej-316	270	4	achieved	achieve	VERB
alkej-316	270	5	feasible	feasible	ADJ
alkej-316	270	6	paths	path	NOUN
alkej-316	270	7	with	with	ADP
alkej-316	270	8	relatively	relatively	ADV
alkej-316	270	9	fast	fast	ADJ
alkej-316	270	10	speed	speed	NOUN
alkej-316	270	11	range	range	NOUN
alkej-316	270	12	from	from	ADP
alkej-316	270	13	2.3	2.3	NUM
alkej-316	270	14	m/s	m/s	NOUN
alkej-316	270	15	for	for	ADP
alkej-316	270	16	simple	simple	ADJ
alkej-316	270	17	environment	environment	NOUN
alkej-316	270	18	to	to	ADP
alkej-316	270	19	1.85	1.85	NUM
alkej-316	270	20	m/s	m/s	PROPN
alkej-316	270	21	for	for	ADP
alkej-316	270	22	crowded	crowded	ADJ
alkej-316	270	23	environment	environment	NOUN
alkej-316	270	24	case	case	NOUN
alkej-316	270	25	making	make	VERB
alkej-316	270	26	it	it	PRON
alkej-316	270	27	reliable	reliable	ADJ
alkej-316	270	28	and	and	CCONJ
alkej-316	270	29	efficient	efficient	ADJ
alkej-316	270	30	in	in	ADP
alkej-316	270	31	practice	practice	NOUN
alkej-316	270	32	.	.	PUNCT
alkej-316	271	1	list	list	NOUN
alkej-316	271	2	of	of	ADP
alkej-316	271	3	symbols	symbol	NOUN
alkej-316	271	4	symbol	symbol	NOUN
alkej-316	271	5	definition	definition	NOUN
alkej-316	271	6	∆	∆	PROPN
alkej-316	271	7	�	�	PROPN
alkej-316	271	8	random	random	ADJ
alkej-316	271	9	direction	direction	NOUN
alkej-316	271	10	�	�	PROPN
alkej-316	271	11	positive	positive	ADJ
alkej-316	271	12	scaling	scaling	NOUN
alkej-316	271	13	factor	factor	NOUN
alkej-316	271	14	λ	λ	NOUN
alkej-316	271	15	robot	robot	NOUN
alkej-316	271	16	step	step	NOUN
alkej-316	271	17	length	length	NOUN
alkej-316	271	18	∅∗	∅∗	ADP
alkej-316	271	19	uniformly	uniformly	ADV
alkej-316	271	20	distributed	distribute	VERB
alkej-316	271	21	number	number	NOUN
alkej-316	271	22	between	between	ADP
alkej-316	271	23	[	[	X
alkej-316	271	24	−1,1	−1,1	NOUN
alkej-316	271	25	]	]	X
alkej-316	271	26	ɸ	ɸ	PRON
alkej-316	271	27	best	well	ADV
alkej-316	271	28	picked	pick	VERB
alkej-316	271	29	direction	direction	NOUN
alkej-316	271	30	∗	∗	NOUN
alkej-316	271	31	bacterium	bacterium	NOUN
alkej-316	271	32	position	position	NOUN
alkej-316	271	33	�	�	PROPN
alkej-316	271	34	positive	positive	ADJ
alkej-316	271	35	scaling	scaling	NOUN
alkej-316	271	36	factor	factor	NOUN
alkej-316	271	37	�	�	PROPN
alkej-316	271	38	step	step	NOUN
alkej-316	271	39	size	size	NOUN
alkej-316	271	40	$	$	SYM
alkej-316	271	41	difference	difference	NOUN
alkej-316	271	42	cost	cost	NOUN
alkej-316	271	43	function	function	VERB
alkej-316	271	44	$	$	SYM
alkej-316	271	45	�	�	NOUN
alkej-316	271	46	positive	positive	ADJ
alkej-316	271	47	constant	constant	NOUN
alkej-316	271	48	for	for	ADP
alkej-316	271	49	obstacles	obstacle	NOUN
alkej-316	271	50	d(r	d(r	NOUN
alkej-316	271	51	)	)	PUNCT
alkej-316	271	52	distance	distance	NOUN
alkej-316	271	53	from	from	ADP
alkej-316	271	54	the	the	DET
alkej-316	271	55	robot	robot	NOUN
alkej-316	271	56	to	to	ADP
alkej-316	271	57	the	the	DET
alkej-316	271	58	obstacle	obstacle	NOUN
alkej-316	271	59	�	�	PROPN
alkej-316	271	60	sensing	sense	VERB
alkej-316	271	61	range	range	PROPN
alkej-316	271	62	�	�	PROPN
alkej-316	271	63	�	�	PROPN
alkej-316	271	64	�	�	PROPN
alkej-316	271	65	�	�	PROPN
alkej-316	271	66	�	�	PROPN
alkej-316	271	67	/	/	SYM
alkej-316	271	68	�	�	PROPN
alkej-316	271	69	fitness	fitness	NOUN
alkej-316	271	70	improvement	improvement	NOUN
alkej-316	271	71	threshold	threshold	PROPN
alkej-316	271	72	�	�	PROPN
alkej-316	271	73	�	�	PROPN
alkej-316	271	74	/	/	SYM
alkej-316	271	75	�	�	PROPN
alkej-316	271	76	�	�	PROPN
alkej-316	271	77	health	health	NOUN
alkej-316	271	78	goal	goal	NOUN
alkej-316	271	79	function	function	VERB
alkej-316	271	80	�	�	PROPN
alkej-316	271	81	/	/	SYM
alkej-316	271	82	�	�	PROPN
alkej-316	271	83	 	 	SPACE
alkej-316	271	84	health	health	NOUN
alkej-316	271	85	obstacle	obstacle	NOUN
alkej-316	271	86	function	function	PROPN
alkej-316	271	87	�	�	PROPN
alkej-316	271	88	�	�	PROPN
alkej-316	271	89	/2	/2	PROPN
alkej-316	271	90	�	�	PROPN
alkej-316	271	91	�	�	PROPN
alkej-316	271	92	health	health	NOUN
alkej-316	271	93	total	total	NOUN
alkej-316	271	94	function	function	PROPN
alkej-316	271	95	�	�	PROPN
alkej-316	271	96	�	�	PROPN
alkej-316	271	97	chemotactic	chemotactic	ADJ
alkej-316	271	98	no	no	NOUN
alkej-316	271	99	.	.	PUNCT
alkej-316	272	1	�	�	NOUN
alkej-316	272	2	#	#	SYM
alkej-316	272	3	$	$	SYM
alkej-316	272	4	elimination	elimination	NOUN
alkej-316	272	5	and	and	CCONJ
alkej-316	272	6	dispersal	dispersal	NOUN
alkej-316	272	7	no	no	PROPN
alkej-316	272	8	.	.	PUNCT
alkej-316	273	1	�	�	PROPN
alkej-316	273	2	¡	¡	NOUN
alkej-316	273	3	#	#	NOUN
alkej-316	273	4	reproduction	reproduction	NOUN
alkej-316	273	5	no	no	NOUN
alkej-316	273	6	.	.	PUNCT
alkej-316	273	7	�	�	PROPN
alkej-316	273	8	�	�	PROPN
alkej-316	273	9	swim	swim	NOUN
alkej-316	273	10	counter	counter	NOUN
alkej-316	273	11	"	"	PUNCT
alkej-316	273	12	#	#	NOUN
alkej-316	273	13	elimination	elimination	NOUN
alkej-316	273	14	parameter	parameter	NOUN
alkej-316	273	15	"	"	PUNCT
alkej-316	273	16	¢	¢	NUM
alkej-316	273	17	robot	robot	NOUN
alkej-316	273	18	position	position	NOUN
alkej-316	273	19	"	"	PUNCT
alkej-316	273	20	target	target	NOUN
alkej-316	273	21	position	position	NOUN
alkej-316	273	22	-2	-2	NOUN
alkej-316	273	23	0	0	NUM
alkej-316	273	24	2	2	NUM
alkej-316	273	25	4	4	NUM
alkej-316	273	26	6	6	NUM
alkej-316	273	27	8	8	NUM
alkej-316	273	28	10	10	NUM
alkej-316	273	29	12	12	NUM
alkej-316	273	30	-2	-2	NOUN
alkej-316	273	31	0	0	NUM
alkej-316	273	32	2	2	NUM
alkej-316	273	33	4	4	NUM
alkej-316	273	34	6	6	NUM
alkej-316	273	35	8	8	NUM
alkej-316	273	36	10	10	NUM
alkej-316	273	37	12	12	NUM
alkej-316	273	38	x	x	NOUN
alkej-316	273	39	-	-	PUNCT
alkej-316	273	40	axis(m	axis(m	ADJ
alkej-316	273	41	)	)	PUNCT
alkej-316	273	42	y	y	PROPN
alkej-316	273	43	-a	-a	PUNCT
alkej-316	273	44	xi	xi	PROPN
alkej-316	273	45	s	s	PROPN
alkej-316	273	46	(	(	PUNCT
alkej-316	273	47	m	m	PROPN
alkej-316	273	48	)	)	PUNCT
alkej-316	273	49	rpp	rpp	PROPN
alkej-316	273	50	bfo	bfo	PROPN
alkej-316	274	1	-2	-2	PROPN
alkej-316	274	2	0	0	NUM
alkej-316	274	3	2	2	NUM
alkej-316	274	4	4	4	NUM
alkej-316	274	5	6	6	NUM
alkej-316	274	6	8	8	NUM
alkej-316	274	7	10	10	NUM
alkej-316	274	8	12	12	NUM
alkej-316	274	9	-2	-2	NOUN
alkej-316	274	10	0	0	NUM
alkej-316	274	11	2	2	NUM
alkej-316	274	12	4	4	NUM
alkej-316	274	13	6	6	NUM
alkej-316	274	14	8	8	NUM
alkej-316	274	15	10	10	NUM
alkej-316	274	16	12	12	NUM
alkej-316	274	17	x	x	NOUN
alkej-316	274	18	-	-	PUNCT
alkej-316	274	19	axis(m	axis(m	ADJ
alkej-316	274	20	)	)	PUNCT
alkej-316	274	21	y	y	PROPN
alkej-316	274	22	-a	-a	PUNCT
alkej-316	274	23	xi	xi	PROPN
alkej-316	274	24	s	s	PROPN
alkej-316	274	25	(	(	PUNCT
alkej-316	274	26	m	m	PROPN
alkej-316	274	27	)	)	PUNCT
alkej-316	274	28	rpp	rpp	PROPN
alkej-316	274	29	bfo	bfo	PROPN
alkej-316	274	30	-2	-2	PROPN
alkej-316	274	31	0	0	NUM
alkej-316	274	32	2	2	NUM
alkej-316	274	33	4	4	NUM
alkej-316	274	34	6	6	NUM
alkej-316	274	35	8	8	NUM
alkej-316	274	36	10	10	NUM
alkej-316	274	37	12	12	NUM
alkej-316	274	38	-2	-2	NOUN
alkej-316	274	39	0	0	NUM
alkej-316	274	40	2	2	NUM
alkej-316	274	41	4	4	NUM
alkej-316	274	42	6	6	NUM
alkej-316	274	43	8	8	NUM
alkej-316	274	44	10	10	NUM
alkej-316	274	45	12	12	NUM
alkej-316	274	46	x	x	NOUN
alkej-316	274	47	-	-	PUNCT
alkej-316	274	48	axis(m	axis(m	ADJ
alkej-316	274	49	)	)	PUNCT
alkej-316	274	50	y	y	PROPN
alkej-316	274	51	-a	-a	PUNCT
alkej-316	274	52	xi	xi	PROPN
alkej-316	274	53	s	s	PROPN
alkej-316	274	54	(	(	PUNCT
alkej-316	274	55	m	m	PROPN
alkej-316	274	56	)	)	PUNCT
alkej-316	274	57	rpp	rpp	PROPN
alkej-316	274	58	bfo	bfo	PROPN
alkej-316	274	59	nizar	nizar	PROPN
alkej-316	274	60	hadi	hadi	PROPN
alkej-316	274	61	abbas	abbas	PROPN
alkej-316	274	62	al	al	PROPN
alkej-316	274	63	-	-	PUNCT
alkej-316	274	64	khwarizmi	khwarizmi	PROPN
alkej-316	274	65	engineering	engineering	NOUN
alkej-316	274	66	journal	journal	PROPN
alkej-316	274	67	,	,	PUNCT
alkej-316	274	68	vol	vol	NOUN
alkej-316	274	69	.	.	PROPN
alkej-316	274	70	12	12	NUM
alkej-316	274	71	,	,	PUNCT
alkej-316	274	72	no	no	INTJ
alkej-316	274	73	.	.	NOUN
alkej-316	274	74	4	4	NUM
alkej-316	274	75	,	,	PUNCT
alkej-316	274	76	p.p	p.p	PROPN
alkej-316	274	77	.	.	NOUN
alkej-316	274	78	2635(2016	2635(2016	NUM
alkej-316	274	79	)	)	PUNCT
alkej-316	274	80	34	34	NUM
alkej-316	274	81	s	s	NOUN
alkej-316	274	82	bacteria	bacteria	NOUN
alkej-316	274	83	colony	colony	NOUN
alkej-316	274	84	size	size	NOUN
alkej-316	274	85	£	£	NOUN
alkej-316	274	86	robot	robot	NOUN
alkej-316	274	87	position	position	NOUN
alkej-316	274	88	at	at	ADP
alkej-316	274	89	time	time	NOUN
alkej-316	274	90	t	t	PROPN
alkej-316	274	91	8	8	NUM
alkej-316	274	92	.	.	PUNCT
alkej-316	275	1	references	reference	NOUN
alkej-316	275	2	[	[	X
alkej-316	275	3	1	1	NUM
alkej-316	275	4	]	]	X
alkej-316	275	5	n.	n.	PROPN
alkej-316	275	6	h.	h.	PROPN
alkej-316	275	7	abbas	abbas	PROPN
alkej-316	275	8	and	and	CCONJ
alkej-316	275	9	f.	f.	PROPN
alkej-316	275	10	m.	m.	PROPN
alkej-316	275	11	ali	ali	PROPN
alkej-316	275	12	,	,	PUNCT
alkej-316	275	13	“	"	PUNCT
alkej-316	275	14	path	path	NOUN
alkej-316	275	15	planning	planning	NOUN
alkej-316	275	16	of	of	ADP
alkej-316	275	17	an	an	DET
alkej-316	275	18	autonomous	autonomous	ADJ
alkej-316	275	19	mobile	mobile	NOUN
alkej-316	275	20	robot	robot	NOUN
alkej-316	275	21	using	use	VERB
alkej-316	275	22	directed	direct	VERB
alkej-316	275	23	artificial	artificial	ADJ
alkej-316	275	24	bee	bee	NOUN
alkej-316	275	25	colony	colony	NOUN
alkej-316	275	26	algorithm,”international	algorithm,”international	ADJ
alkej-316	275	27	journal	journal	NOUN
alkej-316	275	28	of	of	ADP
alkej-316	275	29	computer	computer	NOUN
alkej-316	275	30	applications	application	NOUN
alkej-316	275	31	,	,	PUNCT
alkej-316	275	32	vol	vol	NOUN
alkej-316	275	33	.	.	PROPN
alkej-316	276	1	96	96	NUM
alkej-316	276	2	,	,	PUNCT
alkej-316	276	3	pp.11	pp.11	NOUN
alkej-316	276	4	-	-	SYM
alkej-316	276	5	16	16	NUM
alkej-316	276	6	.	.	PUNCT
alkej-316	277	1	june	june	PROPN
alkej-316	277	2	2014	2014	NUM
alkej-316	277	3	.	.	PUNCT
alkej-316	278	1	[	[	X
alkej-316	278	2	2	2	X
alkej-316	278	3	]	]	PUNCT
alkej-316	278	4	p.	p.	NOUN
alkej-316	278	5	a.m.	a.m.	PUNCT
alkej-316	279	1	ehlert	ehlert	PROPN
alkej-316	279	2	,	,	PUNCT
alkej-316	279	3	“	"	PUNCT
alkej-316	279	4	the	the	DET
alkej-316	279	5	use	use	NOUN
alkej-316	279	6	of	of	ADP
alkej-316	279	7	artificial	artificial	ADJ
alkej-316	279	8	intelligence	intelligence	NOUN
alkej-316	279	9	robots,”report	robots,”report	NOUN
alkej-316	279	10	on	on	ADP
alkej-316	279	11	research	research	NOUN
alkej-316	279	12	project	project	NOUN
alkej-316	279	13	,	,	PUNCT
alkej-316	279	14	delft	delft	PROPN
alkej-316	279	15	university	university	PROPN
alkej-316	279	16	of	of	ADP
alkej-316	279	17	technology	technology	PROPN
alkej-316	279	18	,	,	PUNCT
alkej-316	279	19	netherlands	netherlands	PROPN
alkej-316	279	20	,	,	PUNCT
alkej-316	279	21	october	october	PROPN
alkej-316	279	22	1999	1999	NUM
alkej-316	279	23	.	.	PUNCT
alkej-316	280	1	[	[	X
alkej-316	280	2	3	3	X
alkej-316	280	3	]	]	X
alkej-316	280	4	c.	c.	PROPN
alkej-316	280	5	a.	a.	PROPN
alkej-316	280	6	floudas	floudas	PROPN
alkej-316	280	7	,	,	PUNCT
alkej-316	280	8	‟deterministic	‟deterministic	ADJ
alkej-316	280	9	global	global	ADJ
alkej-316	280	10	optimization	optimization	NOUN
alkej-316	280	11	:	:	PUNCT
alkej-316	280	12	theory	theory	NOUN
alkej-316	280	13	,	,	PUNCT
alkej-316	280	14	methods	method	NOUN
alkej-316	280	15	and	and	CCONJ
alkej-316	280	16	applications,”nonconvex	applications,”nonconvex	NOUN
alkej-316	280	17	optimization	optimization	NOUN
alkej-316	280	18	and	and	CCONJ
alkej-316	280	19	its	its	PRON
alkej-316	280	20	applications	application	NOUN
alkej-316	280	21	,	,	PUNCT
alkej-316	280	22	kluwer	kluwer	NOUN
alkej-316	280	23	academic	academic	ADJ
alkej-316	280	24	publishers	publisher	NOUN
alkej-316	280	25	,	,	PUNCT
alkej-316	280	26	dordrecht	dordrecht	PROPN
alkej-316	280	27	,	,	PUNCT
alkej-316	280	28	the	the	DET
alkej-316	280	29	netherlands	netherlands	PROPN
alkej-316	280	30	,	,	PUNCT
alkej-316	280	31	2000	2000	NUM
alkej-316	280	32	.	.	PUNCT
alkej-316	281	1	[	[	X
alkej-316	281	2	4	4	X
alkej-316	281	3	]	]	X
alkej-316	281	4	j.	j.	PROPN
alkej-316	281	5	c.	c.	PROPN
alkej-316	281	6	spall	spall	PROPN
alkej-316	281	7	,	,	PUNCT
alkej-316	281	8	‟introduction	‟introduction	NOUN
alkej-316	281	9	to	to	PART
alkej-316	281	10	stochastic	stochastic	ADJ
alkej-316	281	11	search	search	NOUN
alkej-316	281	12	and	and	CCONJ
alkej-316	281	13	optimization	optimization	NOUN
alkej-316	281	14	:	:	PUNCT
alkej-316	281	15	estimation	estimation	NOUN
alkej-316	281	16	,	,	PUNCT
alkej-316	281	17	simulationand	simulationand	NOUN
alkej-316	281	18	control,”wiley	control,”wiley	ADJ
alkej-316	281	19	-	-	PUNCT
alkej-316	281	20	interscience	interscience	NOUN
alkej-316	281	21	series	series	NOUN
alkej-316	281	22	in	in	ADP
alkej-316	281	23	discrete	discrete	ADJ
alkej-316	281	24	mathematics	mathematic	NOUN
alkej-316	281	25	and	and	CCONJ
alkej-316	281	26	optimization	optimization	NOUN
alkej-316	281	27	,	,	PUNCT
alkej-316	281	28	wileyinterscience	wileyinterscience	NOUN
alkej-316	281	29	,	,	PUNCT
alkej-316	281	30	hoboken	hoboken	PROPN
alkej-316	281	31	,	,	PUNCT
alkej-316	281	32	nj	nj	PROPN
alkej-316	281	33	,	,	PUNCT
alkej-316	281	34	usa	usa	PROPN
alkej-316	281	35	,	,	PUNCT
alkej-316	281	36	2003	2003	NUM
alkej-316	281	37	.	.	PUNCT
alkej-316	282	1	[	[	X
alkej-316	282	2	5	5	NUM
alkej-316	282	3	]	]	PUNCT
alkej-316	282	4	x.	x.	NOUN
alkej-316	282	5	yang	yang	PROPN
alkej-316	282	6	,	,	PUNCT
alkej-316	282	7	‟	‟	ADJ
alkej-316	282	8	nature	nature	NOUN
alkej-316	282	9	-	-	PUNCT
alkej-316	282	10	inspired	inspire	VERB
alkej-316	282	11	metaheuristic	metaheuristic	ADJ
alkej-316	282	12	algorithms	algorithm	NOUN
alkej-316	282	13	,	,	PUNCT
alkej-316	282	14	”	"	PUNCT
alkej-316	282	15	2nd	2nd	NOUN
alkej-316	282	16	edition	edition	NOUN
alkej-316	282	17	,	,	PUNCT
alkej-316	282	18	by	by	ADP
alkej-316	282	19	luniver	luniver	PROPN
alkej-316	282	20	press	press	PROPN
alkej-316	282	21	united	united	PROPN
alkej-316	282	22	kingdom	kingdom	PROPN
alkej-316	282	23	,	,	PUNCT
alkej-316	282	24	2010	2010	NUM
alkej-316	282	25	.	.	PUNCT
alkej-316	283	1	[	[	X
alkej-316	283	2	6	6	NUM
alkej-316	283	3	]	]	PUNCT
alkej-316	283	4	h.	h.	PROPN
alkej-316	283	5	chen	chen	PROPN
alkej-316	283	6	,	,	PUNCT
alkej-316	283	7	y.	y.	PROPN
alkej-316	283	8	zhu	zhu	PROPN
alkej-316	283	9	,	,	PUNCT
alkej-316	283	10	and	and	CCONJ
alkej-316	283	11	k.	k.	PROPN
alkej-316	283	12	hu	hu	PROPN
alkej-316	283	13	,	,	PUNCT
alkej-316	283	14	‟	‟	ADJ
alkej-316	283	15	adaptive	adaptive	ADJ
alkej-316	283	16	bacterial	bacterial	ADJ
alkej-316	283	17	foraging	forage	VERB
alkej-316	283	18	optimization,”abstract	optimization,”abstract	PROPN
alkej-316	283	19	and	and	CCONJ
alkej-316	283	20	applied	apply	VERB
alkej-316	283	21	analysis	analysis	NOUN
alkej-316	283	22	,	,	PUNCT
alkej-316	283	23	hindawi	hindawi	ADJ
alkej-316	283	24	publishing	publishing	NOUN
alkej-316	283	25	corporation	corporation	NOUN
alkej-316	283	26	,	,	PUNCT
alkej-316	283	27	2011	2011	NUM
alkej-316	283	28	.	.	PUNCT
alkej-316	284	1	[	[	X
alkej-316	284	2	7	7	X
alkej-316	284	3	]	]	X
alkej-316	284	4	r.	r.	PROPN
alkej-316	284	5	c.	c.	PROPN
alkej-316	284	6	eberhart	eberhart	PROPN
alkej-316	284	7	,	,	PUNCT
alkej-316	284	8	and	and	CCONJ
alkej-316	284	9	j.	j.	PROPN
alkej-316	284	10	kennedy	kennedy	PROPN
alkej-316	284	11	,	,	PUNCT
alkej-316	284	12	“	"	PUNCT
alkej-316	284	13	a	a	DET
alkej-316	284	14	new	new	ADJ
alkej-316	284	15	optimizer	optimizer	NOUN
alkej-316	284	16	using	use	VERB
alkej-316	284	17	particle	particle	NOUN
alkej-316	284	18	swarm	swarm	NOUN
alkej-316	284	19	theory,”inproceedings	theory,”inproceeding	NOUN
alkej-316	284	20	of	of	ADP
alkej-316	284	21	the	the	DET
alkej-316	284	22	sixth	sixth	ADJ
alkej-316	284	23	international	international	ADJ
alkej-316	284	24	symposium	symposium	NOUN
alkej-316	284	25	on	on	ADP
alkej-316	284	26	micro	micro	ADJ
alkej-316	284	27	machine	machine	NOUN
alkej-316	284	28	and	and	CCONJ
alkej-316	284	29	human	human	ADJ
alkej-316	284	30	science	science	NOUN
alkej-316	284	31	,	,	PUNCT
alkej-316	284	32	nagoya	nagoya	PROPN
alkej-316	284	33	,	,	PUNCT
alkej-316	284	34	japan	japan	PROPN
alkej-316	284	35	,	,	PUNCT
alkej-316	284	36	vol	vol	NOUN
alkej-316	284	37	.	.	PROPN
alkej-316	284	38	1	1	NUM
alkej-316	284	39	,	,	PUNCT
alkej-316	284	40	pp	pp	ADJ
alkej-316	284	41	.	.	PUNCT
alkej-316	285	1	39	39	NUM
alkej-316	285	2	-	-	SYM
alkej-316	285	3	43	43	NUM
alkej-316	285	4	.	.	PUNCT
alkej-316	286	1	1995	1995	NUM
alkej-316	286	2	.	.	PUNCT
alkej-316	287	1	[	[	X
alkej-316	287	2	8	8	NUM
alkej-316	287	3	]	]	X
alkej-316	287	4	m.	m.	NOUN
alkej-316	287	5	dorigo	dorigo	PROPN
alkej-316	287	6	,	,	PUNCT
alkej-316	287	7	g.	g.	PROPN
alkej-316	287	8	d.	d.	PROPN
alkej-316	287	9	caro	caro	PROPN
alkej-316	287	10	,	,	PUNCT
alkej-316	287	11	and	and	CCONJ
alkej-316	287	12	l.	l.	PROPN
alkej-316	287	13	m.	m.	PROPN
alkej-316	287	14	gambardella	gambardella	PROPN
alkej-316	287	15	,	,	PUNCT
alkej-316	287	16	“	"	PUNCT
alkej-316	287	17	ant	ant	ADJ
alkej-316	287	18	algorithms	algorithm	NOUN
alkej-316	287	19	for	for	ADP
alkej-316	287	20	discrete	discrete	ADJ
alkej-316	287	21	optimization	optimization	NOUN
alkej-316	287	22	,	,	PUNCT
alkej-316	287	23	”	"	PUNCT
alkej-316	287	24	artificial	artificial	ADJ
alkej-316	287	25	life	life	NOUN
alkej-316	287	26	,	,	PUNCT
alkej-316	287	27	vol.5	vol.5	PROPN
alkej-316	287	28	,	,	PUNCT
alkej-316	287	29	no	no	INTJ
alkej-316	287	30	.	.	PUNCT
alkej-316	287	31	2,pp.137	2,pp.137	NUM
alkej-316	287	32	-	-	SYM
alkej-316	287	33	172,1999	172,1999	NUM
alkej-316	287	34	.	.	PUNCT
alkej-316	288	1	[	[	X
alkej-316	288	2	9	9	NUM
alkej-316	288	3	]	]	PUNCT
alkej-316	288	4	d.	d.	PROPN
alkej-316	288	5	karaboga	karaboga	PROPN
alkej-316	288	6	,	,	PUNCT
alkej-316	288	7	“	"	PUNCT
alkej-316	288	8	an	an	DET
alkej-316	288	9	idea	idea	NOUN
alkej-316	288	10	based	base	VERB
alkej-316	288	11	on	on	ADP
alkej-316	288	12	honey	honey	PROPN
alkej-316	288	13	bee	bee	PROPN
alkej-316	288	14	swarm	swarm	NOUN
alkej-316	288	15	for	for	ADP
alkej-316	288	16	numerical	numerical	ADJ
alkej-316	288	17	optimization	optimization	NOUN
alkej-316	288	18	,	,	PUNCT
alkej-316	288	19	”	"	PUNCT
alkej-316	288	20	technical	technical	ADJ
alkej-316	288	21	report	report	NOUN
alkej-316	288	22	,	,	PUNCT
alkej-316	288	23	erciyes	erciye	NOUN
alkej-316	288	24	university	university	NOUN
alkej-316	288	25	,	,	PUNCT
alkej-316	288	26	engineering	engineering	NOUN
alkej-316	288	27	faculty	faculty	NOUN
alkej-316	288	28	,	,	PUNCT
alkej-316	288	29	computer	computer	NOUN
alkej-316	288	30	engineering	engineering	NOUN
alkej-316	288	31	department	department	PROPN
alkej-316	288	32	,	,	PUNCT
alkej-316	288	33	pp	pp	ADJ
alkej-316	288	34	.	.	PUNCT
alkej-316	289	1	1	1	NUM
alkej-316	289	2	-	-	SYM
alkej-316	289	3	10	10	NUM
alkej-316	289	4	,	,	PUNCT
alkej-316	289	5	2005	2005	NUM
alkej-316	289	6	.	.	PUNCT
alkej-316	290	1	[	[	X
alkej-316	290	2	10	10	NUM
alkej-316	290	3	]	]	PUNCT
alkej-316	290	4	k.	k.	PROPN
alkej-316	290	5	m.	m.	PROPN
alkej-316	290	6	passino	passino	PROPN
alkej-316	290	7	,	,	PUNCT
alkej-316	290	8	‟	‟	ADJ
alkej-316	290	9	biomimicry	biomimicry	NOUN
alkej-316	290	10	of	of	ADP
alkej-316	290	11	bacterial	bacterial	ADJ
alkej-316	290	12	foraging	foraging	NOUN
alkej-316	290	13	for	for	ADP
alkej-316	290	14	distributed	distribute	VERB
alkej-316	290	15	optimization	optimization	NOUN
alkej-316	290	16	and	and	CCONJ
alkej-316	290	17	control	control	NOUN
alkej-316	290	18	,	,	PUNCT
alkej-316	290	19	”	"	PUNCT
alkej-316	290	20	ieee	ieee	NOUN
alkej-316	290	21	control	control	PROPN
alkej-316	290	22	systems	systems	PROPN
alkej-316	290	23	magazine	magazine	PROPN
alkej-316	290	24	,	,	PUNCT
alkej-316	290	25	june	june	PROPN
alkej-316	290	26	2002	2002	NUM
alkej-316	290	27	.	.	PUNCT
alkej-316	291	1	[	[	X
alkej-316	291	2	11	11	NUM
alkej-316	291	3	]	]	PUNCT
alkej-316	291	4	l.	l.	PROPN
alkej-316	291	5	s.	s.	PROPN
alkej-316	291	6	coelho	coelho	PROPN
alkej-316	291	7	and	and	CCONJ
alkej-316	291	8	c.	c.	PROPN
alkej-316	291	9	a.	a.	PROPN
alkej-316	291	10	sierakowski	sierakowski	PROPN
alkej-316	291	11	,	,	PUNCT
alkej-316	291	12	“	"	PUNCT
alkej-316	291	13	bacteria	bacteria	NOUN
alkej-316	291	14	colony	colony	NOUN
alkej-316	291	15	approaches	approach	VERB
alkej-316	291	16	with	with	ADP
alkej-316	291	17	variable	variable	ADJ
alkej-316	291	18	velocity	velocity	NOUN
alkej-316	291	19	applied	apply	VERB
alkej-316	291	20	to	to	ADP
alkej-316	291	21	path	path	NOUN
alkej-316	291	22	optimization	optimization	NOUN
alkej-316	291	23	of	of	ADP
alkej-316	291	24	mobile	mobile	ADJ
alkej-316	291	25	robots	robot	NOUN
alkej-316	291	26	,	,	PUNCT
alkej-316	291	27	”	"	PUNCT
alkej-316	291	28	18th	18th	ADJ
alkej-316	291	29	international	international	ADJ
alkej-316	291	30	congress	congress	PROPN
alkej-316	291	31	of	of	ADP
alkej-316	291	32	mechanical	mechanical	ADJ
alkej-316	291	33	engineering	engineering	NOUN
alkej-316	291	34	,	,	PUNCT
alkej-316	291	35	ouropreto	ouropreto	ADJ
alkej-316	291	36	,	,	PUNCT
alkej-316	291	37	mg	mg	PROPN
alkej-316	291	38	,	,	PUNCT
alkej-316	291	39	brazil	brazil	PROPN
alkej-316	291	40	,	,	PUNCT
alkej-316	291	41	november	november	PROPN
alkej-316	291	42	6	6	NUM
alkej-316	291	43	-	-	SYM
alkej-316	291	44	11	11	NUM
alkej-316	291	45	,	,	PUNCT
alkej-316	291	46	2005	2005	NUM
alkej-316	291	47	.	.	PUNCT
alkej-316	292	1	[	[	X
alkej-316	292	2	12	12	NUM
alkej-316	292	3	]	]	PUNCT
alkej-316	292	4	h.	h.	PROPN
alkej-316	292	5	miao	miao	PROPN
alkej-316	292	6	,	,	PUNCT
alkej-316	292	7	“	"	PUNCT
alkej-316	292	8	robot	robot	NOUN
alkej-316	292	9	path	path	NOUN
alkej-316	292	10	planning	planning	NOUN
alkej-316	292	11	in	in	ADP
alkej-316	292	12	dynamic	dynamic	ADJ
alkej-316	292	13	environments	environment	NOUN
alkej-316	292	14	using	use	VERB
alkej-316	292	15	simulated	simulated	ADJ
alkej-316	292	16	annealing	annealing	NOUN
alkej-316	292	17	based	base	VERB
alkej-316	292	18	approach	approach	NOUN
alkej-316	292	19	,	,	PUNCT
alkej-316	292	20	"	"	PUNCT
alkej-316	292	21	master	master	NOUN
alkej-316	292	22	thesis	thesis	NOUN
alkej-316	292	23	,	,	PUNCT
alkej-316	292	24	queensland	queensland	PROPN
alkej-316	292	25	university	university	PROPN
alkej-316	292	26	of	of	ADP
alkej-316	292	27	technology	technology	PROPN
alkej-316	292	28	,	,	PUNCT
alkej-316	292	29	queensland	queensland	PROPN
alkej-316	292	30	,	,	PUNCT
alkej-316	292	31	australia	australia	PROPN
alkej-316	292	32	,	,	PUNCT
alkej-316	292	33	march	march	PROPN
alkej-316	292	34	2009	2009	NUM
alkej-316	292	35	.	.	PUNCT
alkej-316	293	1	[	[	X
alkej-316	293	2	13	13	NUM
alkej-316	293	3	]	]	PUNCT
alkej-316	293	4	s.	s.	PROPN
alkej-316	293	5	das	das	PROPN
alkej-316	293	6	,	,	PUNCT
alkej-316	293	7	a.	a.	PROPN
alkej-316	293	8	biswas	biswas	PROPN
alkej-316	293	9	,	,	PUNCT
alkej-316	293	10	s.	s.	PROPN
alkej-316	293	11	dasgupta1	dasgupta1	PROPN
alkej-316	293	12	,	,	PUNCT
alkej-316	293	13	and	and	CCONJ
alkej-316	293	14	a.	a.	NOUN
alkej-316	293	15	abraham,‟	abraham,‟	PROPN
alkej-316	293	16	bacterial	bacterial	ADJ
alkej-316	293	17	foraging	forage	VERB
alkej-316	293	18	optimization	optimization	NOUN
alkej-316	293	19	algorithm	algorithm	NOUN
alkej-316	293	20	:	:	PUNCT
alkej-316	293	21	theoretical	theoretical	ADJ
alkej-316	293	22	foundations	foundation	NOUN
alkej-316	293	23	,	,	PUNCT
alkej-316	293	24	analysis	analysis	NOUN
alkej-316	293	25	,	,	PUNCT
alkej-316	293	26	and	and	CCONJ
alkej-316	293	27	applications	application	NOUN
alkej-316	293	28	”	"	PUNCT
alkej-316	293	29	,	,	PUNCT
alkej-316	293	30	foundations	foundation	VERB
alkej-316	293	31	ofcomputational	ofcomputational	ADJ
alkej-316	293	32	intelligence	intelligence	NOUN
alkej-316	293	33	,	,	PUNCT
alkej-316	293	34	vol	vol	NOUN
alkej-316	293	35	.	.	PROPN
alkej-316	293	36	3	3	NUM
alkej-316	293	37	,	,	PUNCT
alkej-316	293	38	sci	sci	PROPN
alkej-316	293	39	203	203	NUM
alkej-316	293	40	,	,	PUNCT
alkej-316	293	41	pp.23	pp.23	NOUN
alkej-316	293	42	-	-	PUNCT
alkej-316	293	43	55,springer	55,springer	NUM
alkej-316	293	44	,	,	PUNCT
alkej-316	293	45	2009	2009	NUM
alkej-316	293	46	.	.	PUNCT
alkej-316	294	1	[	[	X
alkej-316	294	2	14	14	NUM
alkej-316	294	3	]	]	PUNCT
alkej-316	294	4	x.	x.	PROPN
alkej-316	294	5	yan	yan	PROPN
alkej-316	294	6	,	,	PUNCT
alkej-316	294	7	y.	y.	PROPN
alkej-316	294	8	zhu	zhu	PROPN
alkej-316	294	9	,	,	PUNCT
alkej-316	294	10	h.	h.	PROPN
alkej-316	294	11	zhang	zhang	PROPN
alkej-316	294	12	,	,	PUNCT
alkej-316	294	13	h.	h.	PROPN
alkej-316	294	14	chen	chen	PROPN
alkej-316	294	15	,	,	PUNCT
alkej-316	294	16	and	and	CCONJ
alkej-316	294	17	b.	b.	PROPN
alkej-316	294	18	niu	niu	PROPN
alkej-316	294	19	,	,	PUNCT
alkej-316	294	20	“	"	PUNCT
alkej-316	294	21	an	an	DET
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alkej-316	294	23	bacterial	bacterial	ADJ
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alkej-316	294	25	optimization	optimization	NOUN
alkej-316	294	26	algorithm	algorithm	NOUN
alkej-316	294	27	with	with	ADP
alkej-316	294	28	lifecycle	lifecycle	NOUN
alkej-316	294	29	and	and	CCONJ
alkej-316	294	30	social	social	ADJ
alkej-316	294	31	learning	learning	NOUN
alkej-316	294	32	,	,	PUNCT
alkej-316	294	33	”	"	PUNCT
alkej-316	294	34	hindawi	hindawi	ADJ
alkej-316	294	35	publishing	publishing	NOUN
alkej-316	294	36	corporation	corporation	NOUN
alkej-316	294	37	,	,	PUNCT
alkej-316	294	38	discrete	discrete	ADJ
alkej-316	294	39	dynamics	dynamic	NOUN
alkej-316	294	40	in	in	ADP
alkej-316	294	41	nature	nature	NOUN
alkej-316	294	42	and	and	CCONJ
alkej-316	294	43	society	society	NOUN
alkej-316	294	44	,	,	PUNCT
alkej-316	294	45	pp	pp	ADP
alkej-316	294	46	.	.	PUNCT
alkej-316	295	1	1	1	NUM
alkej-316	295	2	-	-	SYM
alkej-316	295	3	20	20	NUM
alkej-316	295	4	,	,	PUNCT
alkej-316	295	5	2012	2012	NUM
alkej-316	295	6	.	.	PUNCT
alkej-316	296	1	[	[	X
alkej-316	296	2	15	15	NUM
alkej-316	296	3	]	]	PUNCT
alkej-316	296	4	]	]	PUNCT
alkej-316	296	5	o.	o.	PROPN
alkej-316	296	6	khatib	khatib	PROPN
alkej-316	296	7	,	,	PUNCT
alkej-316	296	8	“	"	PUNCT
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alkej-316	296	10	-	-	PUNCT
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alkej-316	296	12	obstacle	obstacle	NOUN
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alkej-316	296	14	for	for	ADP
alkej-316	296	15	manipulators	manipulator	NOUN
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alkej-316	296	17	mobile	mobile	NOUN
alkej-316	296	18	robots	robot	NOUN
alkej-316	296	19	”	"	PUNCT
alkej-316	296	20	,	,	PUNCT
alkej-316	296	21	int	int	NOUN
alkej-316	296	22	.	.	PUNCT
alkej-316	297	1	j.	j.	PROPN
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alkej-316	297	5	,	,	PUNCT
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alkej-316	297	7	.	.	PROPN
alkej-316	297	8	5	5	NUM
alkej-316	297	9	,	,	PUNCT
alkej-316	297	10	no	no	INTJ
alkej-316	297	11	.	.	NOUN
alkej-316	297	12	1	1	NUM
alkej-316	297	13	,	,	PUNCT
alkej-316	297	14	pp	pp	ADJ
alkej-316	297	15	.	.	PUNCT
alkej-316	297	16	9099	9099	NUM
alkej-316	297	17	,	,	PUNCT
alkej-316	297	18	1986	1986	NUM
alkej-316	297	19	.	.	PUNCT
alkej-316	298	1	[	[	X
alkej-316	298	2	16	16	NUM
alkej-316	298	3	]	]	X
alkej-316	298	4	h.	h.	PROPN
alkej-316	298	5	adeli	adeli	PROPN
alkej-316	298	6	,	,	PUNCT
alkej-316	298	7	m.h.n	m.h.n	PROPN
alkej-316	298	8	.	.	PUNCT
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alkej-316	298	10	,	,	PUNCT
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alkej-316	298	19	“	"	PUNCT
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alkej-316	298	24	robots	robot	NOUN
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alkej-316	298	26	iterative	iterative	ADJ
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alkej-316	298	35	(	(	PUNCT
alkej-316	298	36	ijcsi	ijcsi	PROPN
alkej-316	298	37	)	)	PUNCT
alkej-316	298	38	,	,	PUNCT
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alkej-316	298	40	.	.	PROPN
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alkej-316	298	42	,	,	PUNCT
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alkej-316	298	45	,	,	PUNCT
alkej-316	298	46	no	no	DET
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alkej-316	299	2	17	17	NUM
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alkej-316	299	4	y.	y.	PROPN
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alkej-316	299	17	robot	robot	NOUN
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alkej-316	299	19	,	,	PUNCT
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alkej-316	299	27	on	on	ADP
alkej-316	299	28	robotics	robotic	NOUN
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alkej-316	299	30	automation	automation	NOUN
alkej-316	299	31	,	,	PUNCT
alkej-316	299	32	sacramento	sacramento	PROPN
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alkej-316	299	34	california	california	PROPN
alkej-316	299	35	,	,	PUNCT
alkej-316	299	36	vol	vol	NOUN
alkej-316	299	37	.	.	PROPN
alkej-316	299	38	2	2	NUM
alkej-316	299	39	,	,	PUNCT
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alkej-316	299	41	-	-	PUNCT
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alkej-316	299	44	11	11	NUM
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alkej-316	299	46	.	.	PUNCT
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alkej-316	300	2	18	18	NUM
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alkej-316	300	10	y.	y.	PROPN
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alkej-316	300	18	robot	robot	NOUN
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alkej-316	300	23	method	method	NOUN
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alkej-316	300	26	environments	environment	NOUN
alkej-316	300	27	”	"	PUNCT
alkej-316	300	28	,	,	PUNCT
alkej-316	300	29	seventh	seventh	ADJ
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alkej-316	300	31	conference	conference	NOUN
alkej-316	300	32	on	on	ADP
alkej-316	300	33	natural	natural	ADJ
alkej-316	300	34	computation	computation	NOUN
alkej-316	300	35	(	(	PUNCT
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alkej-316	300	37	,	,	PUNCT
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alkej-316	300	39	,	,	PUNCT
alkej-316	300	40	pp.1011	pp.1011	PROPN
alkej-316	300	41	-	-	PUNCT
alkej-316	300	42	1014	1014	NUM
alkej-316	300	43	,	,	PUNCT
alkej-316	300	44	2628	2628	NUM
alkej-316	300	45	july	july	PROPN
alkej-316	300	46	2011	2011	NUM
alkej-316	300	47	.	.	PUNCT
alkej-316	301	1	[	[	X
alkej-316	301	2	19	19	NUM
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alkej-316	301	4	b.	b.	PROPN
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alkej-316	301	6	,	,	PUNCT
alkej-316	301	7	k.	k.	PROPN
alkej-316	301	8	kiani	kiani	PROPN
alkej-316	301	9	,	,	PUNCT
alkej-316	301	10	e.	e.	PROPN
alkej-316	301	11	samiei	samiei	PROPN
alkej-316	301	12	,	,	PUNCT
alkej-316	301	13	and	and	CCONJ
alkej-316	301	14	m.	m.	NOUN
alkej-316	301	15	sharifi	sharifi	NOUN
alkej-316	301	16	,	,	PUNCT
alkej-316	301	17	“	"	PUNCT
alkej-316	301	18	a	a	DET
alkej-316	301	19	new	new	ADJ
alkej-316	301	20	online	online	ADJ
alkej-316	301	21	random	random	ADJ
alkej-316	301	22	particles	particle	NOUN
alkej-316	301	23	optimization	optimization	NOUN
alkej-316	301	24	algorithm	algorithm	NOUN
alkej-316	301	25	for	for	ADP
alkej-316	301	26	mobile	mobile	NOUN
alkej-316	301	27	robot	robot	NOUN
alkej-316	301	28	path	path	NOUN
alkej-316	301	29	planning	planning	NOUN
alkej-316	301	30	in	in	ADP
alkej-316	301	31	dynamic	dynamic	ADJ
alkej-316	301	32	environments	environment	NOUN
alkej-316	301	33	,	,	PUNCT
alkej-316	301	34	”	"	PUNCT
alkej-316	301	35	mathematical	mathematical	ADJ
alkej-316	301	36	problems	problem	NOUN
alkej-316	301	37	in	in	ADP
alkej-316	301	38	engineering	engineering	NOUN
alkej-316	301	39	,	,	PUNCT
alkej-316	301	40	hindawi	hindawi	ADJ
alkej-316	301	41	publishing	publishing	NOUN
alkej-316	301	42	corporation	corporation	NOUN
alkej-316	301	43	,	,	PUNCT
alkej-316	301	44	vol	vol	NOUN
alkej-316	301	45	.	.	PROPN
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alkej-316	301	47	,	,	PUNCT
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alkej-316	301	49	i	i	PROPN
alkej-316	301	50	d	d	PROPN
alkej-316	301	51	491346	491346	NUM
alkej-316	301	52	,	,	PUNCT
alkej-316	301	53	9	9	NUM
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alkej-316	301	55	,	,	PUNCT
alkej-316	301	56	2013	2013	NUM
alkej-316	301	57	.	.	PUNCT
alkej-316	302	1	nizar	nizar	PROPN
alkej-316	302	2	hadi	hadi	PROPN
alkej-316	302	3	abbas	abbas	PROPN
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alkej-316	302	6	khwarizmi	khwarizmi	PROPN
alkej-316	302	7	engineering	engineering	NOUN
alkej-316	302	8	journal	journal	PROPN
alkej-316	302	9	,	,	PUNCT
alkej-316	302	10	vol	vol	NOUN
alkej-316	302	11	.	.	PROPN
alkej-316	302	12	12	12	NUM
alkej-316	302	13	,	,	PUNCT
alkej-316	302	14	no	no	INTJ
alkej-316	302	15	.	.	NOUN
alkej-316	302	16	4	4	NUM
alkej-316	302	17	,	,	PUNCT
alkej-316	302	18	p.p	p.p	PROPN
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alkej-316	302	20	2635(2016	2635(2016	NUM
alkej-316	302	21	)	)	PUNCT
alkej-316	302	22	35	35	NUM
alkej-316	302	23	�	�	PROPN
alkej-316	302	24	ت	ت	PROPN
alkej-316	302	25	�	�	PROPN
alkej-316	302	26	�	�	PROPN
alkej-316	302	27	�	�	PROPN
alkej-316	302	28	�	�	PROPN
alkej-316	302	29	�	�	PROPN
alkej-316	302	30	�	�	PROPN
alkej-316	302	31	ر	ر	PROPN
alkej-316	302	32	�	�	PROPN
alkej-316	302	33	�	�	PROPN
alkej-316	302	34	�	�	PROPN
alkej-316	302	35	اا	اا	PROPN
alkej-316	302	36	�	�	PROPN
alkej-316	302	37	�	�	PROPN
alkej-316	302	38	�	�	PROPN
alkej-316	302	39	�	�	PROPN
alkej-316	302	40	�	�	PROPN
alkej-316	302	41	�	�	PROPN
alkej-316	302	42	�	�	PROPN
alkej-316	302	43	�	�	PROPN
alkej-316	302	44	�	�	PROPN
alkej-316	302	45	�	�	PROPN
alkej-316	302	46	أ	أ	PROPN
alkej-316	302	47	�	�	PROPN
alkej-316	302	48	�	�	NOUN
alkej-316	302	49	س	س	PRON
alkej-316	302	50	ا	ا	X
alkej-316	302	51	�	�	PROPN
alkej-316	302	52	�	�	PROPN
alkej-316	302	53	و	و	SYM
alkej-316	302	54	�	�	PROPN
alkej-316	302	55	�	�	PROPN
alkej-316	302	56	�	�	PROPN
alkej-316	302	57	�	�	PROPN
alkej-316	302	58	�	�	PROPN
alkej-316	302	59	رز	رز	PROPN
alkej-316	302	60	�	�	PROPN
alkej-316	302	61	�	�	PROPN
alkej-316	302	62	�	�	PROPN
alkej-316	302	63	ا	ا	SYM
alkej-316	302	64	�	�	PROPN
alkej-316	302	65	�	�	NOUN
alkej-316	302	66	#	#	ADJ
alkej-316	302	67	"	"	PUNCT
alkej-316	302	68	�	�	PROPN
alkej-316	302	69	�	�	PROPN
alkej-316	302	70	!	!	PUNCT
alkej-316	302	71	�	�	PROPN
alkej-316	302	72	�	�	PROPN
alkej-316	302	73	�	�	PROPN
alkej-316	302	74	�	�	PROPN
alkej-316	302	75	ا	ا	PRON
alkej-316	302	76	�	�	PROPN
alkej-316	302	77	*	*	PUNCT
alkej-316	302	78	*	*	PROPN
alkej-316	302	79	-	-	PUNCT
alkej-316	302	80	�	�	PROPN
alkej-316	302	81	ح	ح	NOUN
alkej-316	302	82	�	�	NOUN
alkej-316	302	83	#	#	SYM
alkej-316	302	84	+	+	PROPN
alkej-316	302	85	ي	ي	PROPN
alkej-316	302	86	�	�	NOUN
alkej-316	302	87	�	�	NOUN
alkej-316	302	88	*	*	PUNCT
alkej-316	302	89	*	*	PUNCT
alkej-316	302	90	(	(	PUNCT
alkej-316	302	91	)	)	PUNCT
alkej-316	302	92	ار	ار	PROPN
alkej-316	302	93	ھ	ھ	PROPN
alkej-316	302	94	�	�	PROPN
alkej-316	302	95	دي	دي	PROPN
alkej-316	302	96	�	�	PROPN
alkej-316	302	97	!	!	PUNCT
alkej-316	302	98	�	�	PROPN
alkej-316	302	99	س	س	X
alkej-316	302	100	=	=	NOUN
alkej-316	302	101	*	*	PUNCT
alkej-316	302	102	>	>	PUNCT
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alkej-316	302	104	'	'	PUNCT
alkej-316	302	105	+	+	ADJ
alkej-316	302	106	:	:	PUNCT
alkej-316	302	107	2اد	2اد	ADJ
alkej-316	302	108	/78	/78	NUM
alkej-316	302	109	)	)	PUNCT
alkej-316	302	110	'	'	PART
alkej-316	302	111	ا/-123	ا/-123	NOUN
alkej-316	302	112	'	'	PUNCT
alkej-316	302	113	/	/	SYM
alkej-316	302	114	456	456	NUM
alkej-316	302	115	ا/-123	ا/-123	NOUN
alkej-316	302	116	'	'	PUNCT
alkej-316	302	117	ا/.-,+	ا/.-,+	NOUN
alkej-316	302	118	*	*	PUNCT
alkej-316	302	119	(	(	PUNCT
alkej-316	302	120	)	)	PUNCT
alkej-316	302	121	'	'	PUNCT
alkej-316	303	1	*	*	PUNCT
alkej-316	304	1	*	*	PUNCT
alkej-316	304	2	*	*	PUNCT
alkej-316	304	3	،	،	X
alkej-316	304	4	drnizaralmsaodi@gmail.com	drnizaralmsaodi@gmail.com	X
alkej-316	304	5	:	:	PUNCT
alkej-316	304	6	ا/2d	ا/2d	NOUN
alkej-316	304	7	,	,	PUNCT
alkej-316	304	8	e	e	X
alkej-316	304	9	اb./c	اb./c	PROPN
alkej-316	304	10	,	,	PUNCT
alkej-316	304	11	و@	و@	ADJ
alkej-316	304	12	?	?	PUNCT
alkej-316	305	1	*	*	PUNCT
alkej-316	305	2	farah95m@yahoo.com	farah95m@yahoo.com	NOUN
alkej-316	305	3	:	:	PUNCT
alkej-316	305	4	ا/2d	ا/2d	NUM
alkej-316	305	5	,	,	PUNCT
alkej-316	305	6	e	e	X
alkej-316	305	7	اb./c	اb./c	PROPN
alkej-316	305	8	,	,	PUNCT
alkej-316	305	9	و@	و@	ADJ
alkej-316	305	10	?	?	PUNCT
alkej-316	305	11	*	*	PUNCT
alkej-316	305	12	*	*	PUNCT
alkej-316	305	13	ا	ا	X
alkej-316	305	14	�	�	PROPN
alkej-316	305	15	/.	/.	SYM
alkej-316	305	16	�	�	PROPN
alkej-316	305	17	fggghe	fggghe	PROPN
alkej-316	305	18	/	/	SYM
alkej-316	305	19	ا	ا	X
alkej-316	305	20	اiggg2	اiggg2	PROPN
alkej-316	305	21	م	م	X
alkej-316	305	22	ھgggld	ھgggld	ADJ
alkej-316	305	23	،	،	NOUN
alkej-316	305	24	mgggnو	mgggnو	PROPN
alkej-316	305	25	*	*	PUNCT
alkej-316	305	26	'	'	PUNCT
alkej-316	305	27	gggd2ا+	gggd2ا+	PRON
alkej-316	305	28	'	'	VERB
alkej-316	305	29	gggol@	gggol@	ADP
alkej-316	305	30	pggg	pggg	VERB
alkej-316	305	31	<	<	X
alkej-316	305	32	تrggg+7,و/	تrggg+7,و/	PROPN
alkej-316	305	33	sgggt	sgggt	PROPN
alkej-316	305	34	<	<	X
alkej-316	305	35	ر	ر	X
alkej-316	305	36	ا*ggg5	ا*ggg5	ADJ
alkej-316	305	37	<	<	X
alkej-316	305	38	د*gggvd*+	د*gggvd*+	ADJ
alkej-316	305	39	'	'	PUNCT
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alkej-316	305	41	/	/	SYM
alkej-316	305	42	وا	وا	NOUN
alkej-316	305	43	?	?	PUNCT
alkej-316	305	44	gggl(lh	gggl(lh	VERB
alkej-316	305	45	/	/	SYM
alkej-316	305	46	ا	ا	NOUN
alkej-316	305	47	p	p	X
alkej-316	305	48	<	<	X
alkej-316	305	49	xggg	xggg	NOUN
alkej-316	305	50	/	/	SYM
alkej-316	305	51	ا	ا	ADJ
alkej-316	305	52	?	?	PUNCT
alkej-316	306	1	gggy	gggy	ADJ
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alkej-316	306	4	/	/	SYM
alkej-316	306	5	ت	ت	DET
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alkej-316	306	7	<	<	X
alkej-316	306	8	[	[	X
alkej-316	306	9	(	(	PUNCT
alkej-316	306	10	gggo\z	gggo\z	PROPN
alkej-316	306	11	'	'	PROPN
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alkej-316	306	13	.	.	PUNCT
alkej-316	307	1	2ggg6	2ggg6	NUM
alkej-316	307	2	م	م	NOUN
alkej-316	307	3	raارز>)gggld	raارز>)gggld	NOUN
alkej-316	307	4	,	,	PUNCT
alkej-316	307	5	o/	o/	NOUN
alkej-316	307	6	'	'	NUM
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alkej-316	307	8	<	<	X
alkej-316	307	9	'	'	PUNCT
alkej-316	307	10	ggg	ggg	NOUN
alkej-316	307	11	'	'	PUNCT
alkej-316	307	12	ا	ا	PROPN
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alkej-316	307	14	gggo\z	gggo\z	NOUN
alkej-316	307	15	d	d	PROPN
alkej-316	307	16	/	/	SYM
alkej-316	307	17	eggg5	eggg5	ADJ
alkej-316	307	18	<	<	X
alkej-316	307	19	sgggh/	sgggh/	NUM
alkej-316	307	20	*	*	NOUN
alkej-316	307	21	gggd	gggd	X
alkej-316	307	22	,	,	PUNCT
alkej-316	307	23	b.e7/	b.e7/	PROPN
alkej-316	307	24	4	4	NUM
alkej-316	307	25	-	-	SYM
alkej-316	307	26	3ggg	3ggg	NUM
alkej-316	307	27	)	)	PUNCT
alkej-316	307	28	]	]	PUNCT
alkej-316	308	1	ا	ا	X
alkej-316	308	2	/	/	SYM
alkej-316	308	3	ggg5w*ر	ggg5w*ر	NOUN
alkej-316	308	4	.	.	PUNCT
alkej-316	309	1	وا	وا	NOUN
alkej-316	309	2	/	/	SYM
alkej-316	309	3	ggg()*3	ggg()*3	NOUN
alkej-316	309	4	_	_	PUNCT
alkej-316	309	5	'	'	PUNCT
alkej-316	309	6	`	`	PUNCT
alkej-316	309	7	*	*	PUNCT
alkej-316	309	8	ggg5	ggg5	VERB
alkej-316	309	9	<	<	X
alkej-316	309	10	s.ggg]+	s.ggg]+	PROPN
alkej-316	310	1	'	'	PUNCT
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alkej-316	310	3	<	<	X
alkej-316	310	4	'	'	PUNCT
alkej-316	310	5	gggod	gggod	NOUN
alkej-316	310	6	,	,	PUNCT
alkej-316	310	7	a	a	DET
alkej-316	310	8	bggg7c	bggg7c	ADJ
alkej-316	310	9	'	'	PUNCT
alkej-316	310	10	gggd*-@	gggd*-@	ADJ
alkej-316	310	11	'	'	PUNCT
alkej-316	310	12	gggol@	gggol@	NOUN
alkej-316	310	13	bggg	bggg	NOUN
alkej-316	310	14	'	'	PART
alkej-316	310	15	ا^+;ggg*د	ا^+;ggg*د	NOUN
alkej-316	310	16	ggg	ggg	NOUN
alkej-316	310	17	<	<	X
alkej-316	310	18	ة*`rbggg5w	ة*`rbggg5w	NOUN
alkej-316	310	19	/	/	SYM
alkej-316	310	20	ا	ا	NOUN
alkej-316	310	21	'	'	NOUN
alkej-316	310	22	ggg(<ارزr\/ه	ggg(<ارزr\/ه	NOUN
alkej-316	310	23	اiggg2ان	اiggg2ان	PROPN
alkej-316	310	24	ھggg7lz	ھggg7lz	NOUN
alkej-316	310	25	?	?	PUNCT
alkej-316	311	1	gggb	gggb	ADJ
alkej-316	311	2	/	/	SYM
alkej-316	311	3	وا	وا	NOUN
alkej-316	311	4	'	'	PUNCT
alkej-316	311	5	ggg;(eo	ggg;(eo	VERB
alkej-316	311	6	/	/	SYM
alkej-316	311	7	ا	ا	NOUN
alkej-316	312	1	p	p	NOUN
alkej-316	312	2	نjgggw	نjgggw	PROPN
alkej-316	312	3	/	/	SYM
alkej-316	312	4	ا	ا	NOUN
alkej-316	312	5	pgggc	pgggc	NOUN
alkej-316	312	6	fgggh+	fgggh+	X
alkej-316	312	7	'	'	PUNCT
alkej-316	312	8	ggg(7wc	ggg(7wc	PROPN
alkej-316	312	9	/	/	SYM
alkej-316	312	10	ل*ggg+	ل*ggg+	NUM
alkej-316	312	11	ة*wggg5	ة*wggg5	ADJ
alkej-316	312	12	<	<	X
alkej-316	312	13	*	*	X
alkej-316	312	14	gggd	gggd	PROPN
alkej-316	312	15	,	,	PUNCT
alkej-316	312	16	b.e	b.e	PROPN
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alkej-316	312	18	ي^rggg8	ي^rggg8	PROPN
alkej-316	312	19	أي	أي	VERB
alkej-316	312	20	(	(	PUNCT
alkej-316	312	21	'	'	PUNCT
alkej-316	312	22	gggol@	gggol@	ADP
alkej-316	312	23	pggg	pggg	VERB
alkej-316	312	24	<	<	X
alkej-316	312	25	ر*ggg5	ر*ggg5	X
alkej-316	312	26	<	<	X
alkej-316	312	27	د*gggvd^	د*gggvd^	PROPN
alkej-316	312	28	d<2\bggg1ا	d<2\bggg1ا	NOUN
alkej-316	312	29	'	'	PUNCT
alkej-316	312	30	gggd*-@	gggd*-@	ADJ
alkej-316	312	31	'	'	PUNCT
alkej-316	312	32	gggol@	gggol@	NOUN
alkej-316	312	33	bggg	bggg	NOUN
alkej-316	312	34	/	/	SYM
alkej-316	312	35	ا	ا	NOUN
alkej-316	312	36	'	'	PUNCT
alkej-316	312	37	gggd2ا+	gggd2ا+	X
alkej-316	312	38	.'ggg8,hbw	.'ggg8,hbw	PUNCT
alkej-316	312	39	/	/	SYM
alkej-316	312	40	وا	وا	NOUN
alkej-316	312	41	'	'	PUNCT
alkej-316	312	42	gggb+*t	gggb+*t	ADV
alkej-316	312	43	/	/	SYM
alkej-316	312	44	ا	ا	PUNCT
alkej-316	312	45	'	'	PUNCT
alkej-316	312	46	gggm7b\w	gggm7b\w	VERB
alkej-316	312	47	/	/	SYM
alkej-316	312	48	ت	ت	DET
alkej-316	312	49	ا*gggn(e	ا*gggn(e	PROPN
alkej-316	312	50	/	/	SYM
alkej-316	312	51	ا	ا	VERB
alkej-316	312	52	pggg	pggg	NOUN
alkej-316	312	53	<	<	X
alkej-316	312	54	p(crggg3/	p(crggg3/	PROPN
alkej-316	312	55	ة*ggg8*h	ة*ggg8*h	PROPN
alkej-316	312	56	<	<	X
alkej-316	312	57	ogggd	ogggd	NOUN
alkej-316	312	58	,	,	PUNCT
alkej-316	312	59	ط	ط	X
alkej-316	312	60	pgggc	pgggc	NOUN
alkej-316	312	61	*	*	NOUN
alkej-316	312	62	ggg	ggg	NOUN
alkej-316	312	63	-	-	PUNCT
alkej-316	312	64	z*e_وا	z*e_وا	NOUN
alkej-316	312	65	*	*	PUNCT
alkej-316	312	66	-gggq	-gggq	PROPN
alkej-316	312	67	,	,	PUNCT
alkej-316	312	68	c	c	PROPN
alkej-316	312	69	4gggz	4gggz	NUM
alkej-316	312	70	'	'	PUNCT
alkej-316	312	71	ggg`,blw	ggg`,blw	NOUN
alkej-316	312	72	/	/	SYM
alkej-316	312	73	ا	ا	NOUN
alkej-316	312	74	'	'	PUNCT
alkej-316	312	75	ggg(<ارزr\/ا	ggg(<ارزr\/ا	VERB
alkej-316	312	76	.	.	PUNCT
alkej-316	313	1	dgggd,=ا	dgggd,=ا	VERB
alkej-316	313	2	,	,	PUNCT
alkej-316	313	3	ggggرة	ggggرة	NOUN
alkej-316	313	4	و	و	PRON
alkej-316	313	5	طrgggow	طrgggow	VERB
alkej-316	313	6	/	/	SYM
alkej-316	313	7	ا	ا	NOUN
alkej-316	313	8	'	'	PUNCT
alkej-316	313	9	ggggld	ggggld	ADJ
alkej-316	313	10	,	,	PUNCT
alkej-316	313	11	o	o	NOUN
alkej-316	313	12	/	/	SYM
alkej-316	313	13	ا	ا	NOUN
alkej-316	313	14	p(ggg+	p(ggg+	ADJ
alkej-316	313	15	'	'	PUNCT
alkej-316	313	16	ggg@ر*l<'gggtd2	ggg@ر*l<'gggtd2	PROPN
alkej-316	313	17	`	`	PUNCT
alkej-316	313	18	p(d	p(d	PROPN
alkej-316	313	19	,	,	PUNCT
alkej-316	313	20	gggaا	gggaا	PROPN
alkej-316	313	21	p(bld	p(bld	PROPN
alkej-316	313	22	.	.	PUNCT
alkej-316	314	1	د*gggvdا	د*gggvdا	PROPN
alkej-316	314	2	?	?	PUNCT
alkej-316	315	1	ggggy	ggggy	PROPN
alkej-316	315	2	'	'	PUNCT
alkej-316	315	3	ggg`,blw	ggg`,blw	NOUN
alkej-316	315	4	/	/	SYM
alkej-316	315	5	ا	ا	NOUN
alkej-316	315	6	'	'	PUNCT
alkej-316	315	7	gggld	gggld	ADJ
alkej-316	315	8	,	,	PUNCT
alkej-316	315	9	o	o	NOUN
alkej-316	315	10	/	/	SYM
alkej-316	315	11	ه	ه	X
alkej-316	315	12	اiggggھ	اiggggھ	NOUN
alkej-316	315	13	'	'	PUNCT
alkej-316	315	14	ggg(7c*y	ggg(7c*y	NOUN
alkej-316	315	15	,	,	PUNCT
alkej-316	315	16	gggg	gggg	PROPN
alkej-316	315	17	-	-	PUNCT
alkej-316	315	18	اظ	اظ	NOUN
alkej-316	315	19	fggghe	fggghe	NOUN
alkej-316	315	20	/	/	SYM
alkej-316	315	21	ا	ا	VERB
alkej-316	315	22	اiggggضٍ	اiggggضٍ	NOUN
alkej-316	315	23	ھ	ھ	PROPN
alkej-316	315	24	,	,	PUNCT
alkej-316	315	25	gggg	gggg	PROPN
alkej-316	315	26	<	<	X
alkej-316	315	27	s.ggg]+	s.ggg]+	PROPN
alkej-316	316	1	رات*gggg5	رات*gggg5	VERB
alkej-316	316	2	<	<	X
alkej-316	316	3	.	.	PUNCT