id	sid	tid	token	lemma	pos
alkej-317	1	1	12	12	NUM
alkej-317	1	2	-	-	SYM
alkej-317	1	3	25	25	NUM
alkej-317	1	4	al	al	PROPN
alkej-317	1	5	-	-	PUNCT
alkej-317	1	6	khwarizmi	khwarizmi	PROPN
alkej-317	1	7	engineering	engineering	NOUN
alkej-317	1	8	journal	journal	PROPN
alkej-317	1	9	,	,	PUNCT
alkej-317	1	10	vol	vol	NOUN
alkej-317	1	11	.	.	PROPN
alkej-317	1	12	12	12	NUM
alkej-317	1	13	,	,	PUNCT
alkej-317	1	14	no	no	INTJ
alkej-317	1	15	.	.	NOUN
alkej-317	1	16	4	4	NUM
alkej-317	1	17	,	,	PUNCT
alkej-317	1	18	p.p	p.p	PROPN
alkej-317	1	19	.	.	PROPN
alkej-317	1	20	path	path	NOUN
alkej-317	1	21	planning	planning	NOUN
alkej-317	1	22	of	of	ADP
alkej-317	1	23	an	an	DET
alkej-317	1	24	autonomous	autonomous	ADJ
alkej-317	1	25	optimization	optimization	NOUN
alkej-317	1	26	technique	technique	NOUN
alkej-317	1	27	ibraheem	ibraheem	PROPN
alkej-317	1	28	kasim	kasim	PROPN
alkej-317	1	29	ibraheem	ibraheem	PROPN
alkej-317	1	30	*	*	PUNCT
alkej-317	1	31	,	,	PUNCT
alkej-317	1	32	*	*	PUNCT
alkej-317	1	33	*	*	PUNCT
alkej-317	1	34	department	department	NOUN
alkej-317	1	35	of	of	ADP
alkej-317	1	36	electrical	electrical	ADJ
alkej-317	1	37	engineering	engineering	NOUN
alkej-317	1	38	/	/	SYM
alkej-317	1	39	*	*	NOUN
alkej-317	1	40	email	email	NOUN
alkej-317	1	41	:	:	PUNCT
alkej-317	1	42	(	(	PUNCT
alkej-317	1	43	received	receive	VERB
alkej-317	1	44	http://dx.doi.org/10.22153/kej.2016.08.002	http://dx.doi.org/10.22153/kej.2016.08.002	NOUN
alkej-317	1	45	abstract	abstract	ADJ
alkej-317	1	46	this	this	DET
alkej-317	1	47	paper	paper	NOUN
alkej-317	1	48	presents	present	VERB
alkej-317	1	49	a	a	DET
alkej-317	1	50	meta	meta	ADJ
alkej-317	1	51	-	-	PUNCT
alkej-317	1	52	heuristic	heuristic	ADJ
alkej-317	1	53	swarm	swarm	NOUN
alkej-317	1	54	natural	natural	ADJ
alkej-317	1	55	activities	activity	NOUN
alkej-317	1	56	of	of	ADP
alkej-317	1	57	actual	actual	ADJ
alkej-317	1	58	ants	ant	NOUN
alkej-317	1	59	inspire	inspire	VERB
alkej-317	1	60	which	which	PRON
alkej-317	1	61	named	name	VERB
alkej-317	1	62	to	to	PART
alkej-317	1	63	find	find	VERB
alkej-317	1	64	the	the	DET
alkej-317	1	65	shortest	short	ADJ
alkej-317	1	66	and	and	CCONJ
alkej-317	1	67	safest	safest	ADJ
alkej-317	1	68	path	path	NOUN
alkej-317	1	69	for	for	ADP
alkej-317	1	70	nonzero	nonzero	ADJ
alkej-317	1	71	size	size	NOUN
alkej-317	1	72	for	for	ADP
alkej-317	1	73	the	the	DET
alkej-317	1	74	mobile	mobile	NOUN
alkej-317	1	75	robot	robot	NOUN
alkej-317	1	76	has	have	AUX
alkej-317	1	77	been	be	AUX
alkej-317	1	78	considered	consider	VERB
alkej-317	1	79	for	for	ADP
alkej-317	1	80	the	the	DET
alkej-317	1	81	actual	actual	ADJ
alkej-317	1	82	size	size	NOUN
alkej-317	1	83	of	of	ADP
alkej-317	1	84	the	the	DET
alkej-317	1	85	mobile	mobile	NOUN
alkej-317	1	86	robot	robot	NOUN
alkej-317	1	87	further	further	ADJ
alkej-317	1	88	modifications	modification	NOUN
alkej-317	1	89	.	.	PUNCT
alkej-317	2	1	simulations	simulation	NOUN
alkej-317	2	2	results	result	NOUN
alkej-317	2	3	,	,	PUNCT
alkej-317	2	4	which	which	PRON
alkej-317	2	5	carried	carry	VERB
alkej-317	2	6	out	out	ADP
alkej-317	2	7	using	use	VERB
alkej-317	2	8	matlab	matlab	PROPN
alkej-317	2	9	suggested	suggest	VERB
alkej-317	2	10	algorithm	algorithm	NOUN
alkej-317	2	11	outperforms	outperform	VERB
alkej-317	2	12	the	the	DET
alkej-317	2	13	standard	standard	ADJ
alkej-317	2	14	version	version	NOUN
alkej-317	2	15	of	of	ADP
alkej-317	2	16	aco	aco	PROPN
alkej-317	2	17	algorithm	algorithm	PROPN
alkej-317	2	18	for	for	ADP
alkej-317	2	19	the	the	DET
alkej-317	2	20	same	same	ADJ
alkej-317	2	21	problem	problem	NOUN
alkej-317	2	22	with	with	ADP
alkej-317	2	23	the	the	DET
alkej-317	2	24	same	same	ADJ
alkej-317	2	25	environmental	environmental	ADJ
alkej-317	2	26	conditions	condition	NOUN
alkej-317	2	27	by	by	ADP
alkej-317	2	28	providing	provide	VERB
alkej-317	2	29	the	the	DET
alkej-317	2	30	shortest	short	ADJ
alkej-317	2	31	path	path	NOUN
alkej-317	2	32	for	for	ADP
alkej-317	2	33	multiple	multiple	ADJ
alkej-317	2	34	testing	testing	NOUN
alkej-317	2	35	environments	environment	NOUN
alkej-317	2	36	.	.	PUNCT
alkej-317	3	1	keywords	keyword	NOUN
alkej-317	3	2	:	:	PUNCT
alkej-317	3	3	robotics	robotic	NOUN
alkej-317	3	4	,	,	PUNCT
alkej-317	3	5	path	path	NOUN
alkej-317	3	6	planning	planning	NOUN
alkej-317	3	7	,	,	PUNCT
alkej-317	3	8	ant	ant	ADJ
alkej-317	3	9	colony	colony	NOUN
alkej-317	3	10	optimization	optimization	NOUN
alkej-317	3	11	,	,	PUNCT
alkej-317	3	12	static	static	ADJ
alkej-317	3	13	environment	environment	NOUN
alkej-317	3	14	,	,	PUNCT
alkej-317	3	15	and	and	CCONJ
alkej-317	3	16	collision	collision	NOUN
alkej-317	3	17	1	1	NUM
alkej-317	3	18	.	.	PUNCT
alkej-317	3	19	introduction	introduction	NOUN
alkej-317	3	20	route	route	NOUN
alkej-317	3	21	forecasting	forecasting	NOUN
alkej-317	3	22	is	be	AUX
alkej-317	3	23	a	a	DET
alkej-317	3	24	vital	vital	ADJ
alkej-317	3	25	part	part	NOUN
alkej-317	3	26	of	of	ADP
alkej-317	3	27	steering	steering	NOUN
alkej-317	3	28	of	of	ADP
alkej-317	3	29	the	the	DET
alkej-317	3	30	mobile	mobile	NOUN
alkej-317	3	31	robot	robot	NOUN
alkej-317	3	32	;	;	PUNCT
alkej-317	3	33	it	it	PRON
alkej-317	3	34	is	be	AUX
alkej-317	3	35	recognized	recognize	VERB
alkej-317	3	36	obtaining	obtain	VERB
alkej-317	3	37	an	an	DET
alkej-317	3	38	enhanced	enhanced	ADJ
alkej-317	3	39	collision	collision	NOUN
alkej-317	3	40	-	-	PUNCT
alkej-317	3	41	free	free	ADJ
alkej-317	3	42	path	path	NOUN
alkej-317	3	43	from	from	ADP
alkej-317	3	44	the	the	DET
alkej-317	3	45	initial	initial	ADJ
alkej-317	3	46	point	point	NOUN
alkej-317	3	47	toward	toward	ADP
alkej-317	3	48	destination	destination	NOUN
alkej-317	3	49	station	station	NOUN
alkej-317	3	50	.	.	PUNCT
alkej-317	4	1	in	in	ADP
alkej-317	4	2	computational	computational	ADJ
alkej-317	4	3	complexity	complexity	NOUN
alkej-317	4	4	theory	theory	NOUN
alkej-317	4	5	,	,	PUNCT
alkej-317	4	6	route	route	NOUN
alkej-317	4	7	forecasting	forecasting	NOUN
alkej-317	4	8	is	be	AUX
alkej-317	4	9	categorized	categorize	VERB
alkej-317	4	10	as	as	ADP
alkej-317	4	11	an	an	DET
alkej-317	4	12	np	np	INTJ
alkej-317	4	13	(	(	PUNCT
alkej-317	4	14	nondeterministic	nondeterministic	ADJ
alkej-317	4	15	polynomial	polynomial	ADJ
alkej-317	4	16	time	time	NOUN
alkej-317	4	17	)	)	PUNCT
alkej-317	4	18	comprehensive	comprehensive	ADJ
alkej-317	4	19	problem	problem	NOUN
alkej-317	4	20	.	.	PUNCT
alkej-317	5	1	that	that	PRON
alkej-317	5	2	is	be	AUX
alkej-317	5	3	,	,	PUNCT
alkej-317	5	4	the	the	DET
alkej-317	5	5	computational	computational	ADJ
alkej-317	5	6	time	time	NOUN
alkej-317	5	7	that	that	PRON
alkej-317	5	8	is	be	AUX
alkej-317	5	9	required	require	VERB
alkej-317	5	10	to	to	PART
alkej-317	5	11	solve	solve	VERB
alkej-317	5	12	such	such	ADJ
alkej-317	5	13	problem	problem	NOUN
alkej-317	5	14	rises	rise	VERB
alkej-317	5	15	dramatically	dramatically	ADV
alkej-317	5	16	(	(	PUNCT
alkej-317	5	17	typically	typically	ADV
alkej-317	5	18	exponential	exponential	ADJ
alkej-317	5	19	rate	rate	NOUN
alkej-317	5	20	)	)	PUNCT
alkej-317	5	21	while	while	SCONJ
alkej-317	5	22	the	the	DET
alkej-317	5	23	size	size	NOUN
alkej-317	5	24	(	(	PUNCT
alkej-317	5	25	or	or	CCONJ
alkej-317	5	26	dimension	dimension	NOUN
alkej-317	5	27	)	)	PUNCT
alkej-317	5	28	of	of	ADP
alkej-317	5	29	the	the	DET
alkej-317	5	30	problem	problem	NOUN
alkej-317	5	31	raises	raise	VERB
alkej-317	5	32	.	.	PUNCT
alkej-317	6	1	the	the	DET
alkej-317	6	2	researche	researche	NOUN
alkej-317	6	3	forecasting	forecasting	NOUN
alkej-317	6	4	begin	begin	VERB
alkej-317	6	5	in	in	ADP
alkej-317	6	6	late	late	ADJ
alkej-317	6	7	60	60	NUM
alkej-317	6	8	's	's	PART
alkej-317	6	9	,	,	PUNCT
alkej-317	6	10	algorithms	algorithm	NOUN
alkej-317	6	11	have	have	AUX
alkej-317	6	12	been	be	AUX
alkej-317	6	13	proposed	propose	VERB
alkej-317	6	14	,	,	PUNCT
alkej-317	6	15	comprising	comprise	VERB
alkej-317	6	16	the	the	DET
alkej-317	6	17	roadmap	roadmap	NOUN
alkej-317	6	18	method	method	NOUN
alkej-317	6	19	,	,	PUNCT
alkej-317	6	20	cell	cell	NOUN
alkej-317	6	21	decomposition	decomposition	NOUN
alkej-317	6	22	,	,	PUNCT
alkej-317	6	23	potential	potential	ADJ
alkej-317	6	24	fields	field	NOUN
alkej-317	6	25	,	,	PUNCT
alkej-317	6	26	and	and	CCONJ
alkej-317	6	27	mathematical	mathematical	ADJ
alkej-317	6	28	programming	programming	NOUN
alkej-317	6	29	,	,	PUNCT
alkej-317	6	30	etc	etc	X
alkej-317	6	31	.	.	X
alkej-317	7	1	it	it	PRON
alkej-317	7	2	has	have	AUX
alkej-317	7	3	been	be	AUX
alkej-317	7	4	found	find	VERB
alkej-317	7	5	that	that	SCONJ
alkej-317	7	6	these	these	DET
alkej-317	7	7	methods	method	NOUN
alkej-317	7	8	are	be	AUX
alkej-317	7	9	either	either	CCONJ
alkej-317	7	10	ineffective	ineffective	ADJ
alkej-317	7	11	,	,	PUNCT
alkej-317	7	12	due	due	ADP
alkej-317	7	13	to	to	ADP
alkej-317	7	14	the	the	DET
alkej-317	7	15	significant	significant	ADJ
alkej-317	7	16	cost	cost	NOUN
alkej-317	7	17	;	;	PUNCT
alkej-317	7	18	or	or	CCONJ
alkej-317	7	19	imprecise	imprecise	ADV
alkej-317	7	20	,	,	PUNCT
alkej-317	7	21	due	due	ADP
alkej-317	7	22	to	to	ADP
alkej-317	7	23	the	the	DET
alkej-317	7	24	trapping	trapping	NOUN
alkej-317	7	25	in	in	ADP
alkej-317	7	26	local	local	ADJ
alkej-317	7	27	minima	minima	NOUN
alkej-317	7	28	.	.	PUNCT
alkej-317	8	1	to	to	PART
alkej-317	8	2	overcome	overcome	VERB
alkej-317	8	3	these	these	DET
alkej-317	8	4	drawbacks	drawback	NOUN
alkej-317	8	5	khwarizmi	khwarizmi	ADJ
alkej-317	8	6	engineering	engineering	NOUN
alkej-317	8	7	journal	journal	PROPN
alkej-317	8	8	,	,	PUNCT
alkej-317	8	9	vol	vol	NOUN
alkej-317	8	10	.	.	PROPN
alkej-317	9	1	12	12	NUM
alkej-317	9	2	,	,	PUNCT
alkej-317	9	3	no	no	INTJ
alkej-317	9	4	.	.	NOUN
alkej-317	9	5	4	4	NUM
alkej-317	9	6	,	,	PUNCT
alkej-317	9	7	p.p	p.p	PROPN
alkej-317	9	8	.	.	NOUN
alkej-317	9	9	1225	1225	NUM
alkej-317	9	10	(	(	PUNCT
alkej-317	9	11	2016	2016	NUM
alkej-317	9	12	)	)	PUNCT
alkej-317	9	13	path	path	NOUN
alkej-317	9	14	planning	planning	NOUN
alkej-317	9	15	of	of	ADP
alkej-317	9	16	an	an	DET
alkej-317	9	17	autonomous	autonomous	ADJ
alkej-317	9	18	mobile	mobile	NOUN
alkej-317	9	19	robot	robot	NOUN
alkej-317	9	20	using	use	VERB
alkej-317	9	21	optimization	optimization	NOUN
alkej-317	9	22	techniques	technique	NOUN
alkej-317	9	23	ibraheem	ibraheem	PROPN
alkej-317	9	24	kasim	kasim	PROPN
alkej-317	9	25	ibraheem	ibraheem	PROPN
alkej-317	9	26	*	*	PUNCT
alkej-317	9	27	fatin	fatin	PROPN
alkej-317	9	28	hassan	hassan	PROPN
alkej-317	9	29	ajeil	ajeil	PROPN
alkej-317	9	30	electrical	electrical	ADJ
alkej-317	9	31	engineering	engineering	NOUN
alkej-317	9	32	/	/	SYM
alkej-317	9	33	college	college	NOUN
alkej-317	9	34	of	of	ADP
alkej-317	9	35	engineering	engineering	NOUN
alkej-317	9	36	/	/	SYM
alkej-317	9	37	university	university	PROPN
alkej-317	9	38	of	of	ADP
alkej-317	9	39	baghdad	baghdad	PROPN
alkej-317	9	40	email	email	NOUN
alkej-317	9	41	:	:	PUNCT
alkej-317	9	42	ibraheemki@coeng.uobaghdad.edu.iq	ibraheemki@coeng.uobaghdad.edu.iq	ADJ
alkej-317	9	43	*	*	PUNCT
alkej-317	9	44	*	*	NOUN
alkej-317	9	45	email	email	NOUN
alkej-317	9	46	:	:	PUNCT
alkej-317	9	47	fatin.hassan0@gmail.com	fatin.hassan0@gmail.com	X
alkej-317	9	48	(	(	PUNCT
alkej-317	9	49	received	receive	VERB
alkej-317	9	50	19	19	NUM
alkej-317	9	51	april	april	PROPN
alkej-317	9	52	2016	2016	NUM
alkej-317	9	53	;	;	PUNCT
alkej-317	9	54	accepted	accept	VERB
alkej-317	9	55	23	23	NUM
alkej-317	9	56	august	august	PROPN
alkej-317	9	57	2016	2016	NUM
alkej-317	9	58	)	)	PUNCT
alkej-317	9	59	http://dx.doi.org/10.22153/kej.2016.08.002	http://dx.doi.org/10.22153/kej.2016.08.002	PROPN
alkej-317	9	60	heuristic	heuristic	ADJ
alkej-317	9	61	swarm	swarm	NOUN
alkej-317	9	62	based	base	VERB
alkej-317	9	63	optimization	optimization	NOUN
alkej-317	9	64	technique	technique	NOUN
alkej-317	9	65	for	for	ADP
alkej-317	9	66	solving	solve	VERB
alkej-317	9	67	robot	robot	NOUN
alkej-317	9	68	path	path	NOUN
alkej-317	9	69	planning	planning	NOUN
alkej-317	9	70	.	.	PUNCT
alkej-317	10	1	the	the	DET
alkej-317	10	2	which	which	PRON
alkej-317	10	3	named	name	VERB
alkej-317	10	4	ant	ant	ADJ
alkej-317	10	5	colony	colony	NOUN
alkej-317	10	6	optimization	optimization	NOUN
alkej-317	10	7	.	.	PUNCT
alkej-317	11	1	(	(	PUNCT
alkej-317	11	2	aco	aco	PROPN
alkej-317	11	3	)	)	PUNCT
alkej-317	11	4	has	have	AUX
alkej-317	11	5	been	be	AUX
alkej-317	11	6	proposed	propose	VERB
alkej-317	11	7	in	in	ADP
alkej-317	11	8	this	this	DET
alkej-317	11	9	work	work	NOUN
alkej-317	11	10	a	a	DET
alkej-317	11	11	mobile	mobile	ADJ
alkej-317	11	12	robot	robot	NOUN
alkej-317	11	13	in	in	ADP
alkej-317	11	14	different	different	ADJ
alkej-317	11	15	static	static	ADJ
alkej-317	11	16	environments	environment	NOUN
alkej-317	11	17	with	with	ADP
alkej-317	11	18	different	different	ADJ
alkej-317	11	19	complexities	complexity	NOUN
alkej-317	11	20	.	.	PUNCT
alkej-317	12	1	a	a	PRON
alkej-317	12	2	been	be	AUX
alkej-317	12	3	considered	consider	VERB
alkej-317	12	4	in	in	ADP
alkej-317	12	5	the	the	DET
alkej-317	12	6	project	project	NOUN
alkej-317	12	7	by	by	ADP
alkej-317	12	8	taking	take	VERB
alkej-317	12	9	a	a	DET
alkej-317	12	10	tolerance	tolerance	NOUN
alkej-317	12	11	around	around	ADP
alkej-317	12	12	the	the	DET
alkej-317	12	13	ob	ob	NOUN
alkej-317	12	14	for	for	ADP
alkej-317	12	15	the	the	DET
alkej-317	12	16	actual	actual	ADJ
alkej-317	12	17	size	size	NOUN
alkej-317	12	18	of	of	ADP
alkej-317	12	19	the	the	DET
alkej-317	12	20	mobile	mobile	NOUN
alkej-317	12	21	robot	robot	NOUN
alkej-317	12	22	.	.	PUNCT
alkej-317	13	1	a	a	DET
alkej-317	13	2	new	new	ADJ
alkej-317	13	3	concept	concept	NOUN
alkej-317	13	4	was	be	AUX
alkej-317	13	5	added	add	VERB
alkej-317	13	6	to	to	ADP
alkej-317	13	7	standard	standard	ADJ
alkej-317	13	8	ant	ant	ADJ
alkej-317	13	9	colony	colony	NOUN
alkej-317	13	10	optimization	optimization	NOUN
alkej-317	13	11	(	(	PUNCT
alkej-317	13	12	simulations	simulation	NOUN
alkej-317	13	13	results	result	NOUN
alkej-317	13	14	,	,	PUNCT
alkej-317	13	15	which	which	PRON
alkej-317	13	16	carried	carry	VERB
alkej-317	13	17	out	out	ADP
alkej-317	13	18	using	use	VERB
alkej-317	13	19	matlab	matlab	PROPN
alkej-317	13	20	2015(a	2015(a	NUM
alkej-317	13	21	)	)	PUNCT
alkej-317	13	22	environment	environment	NOUN
alkej-317	13	23	,	,	PUNCT
alkej-317	13	24	prove	prove	VERB
alkej-317	13	25	that	that	SCONJ
alkej-317	13	26	the	the	DET
alkej-317	13	27	suggested	suggest	VERB
alkej-317	13	28	algorithm	algorithm	NOUN
alkej-317	13	29	outperforms	outperform	VERB
alkej-317	13	30	the	the	DET
alkej-317	13	31	standard	standard	ADJ
alkej-317	13	32	version	version	NOUN
alkej-317	13	33	of	of	ADP
alkej-317	13	34	aco	aco	PROPN
alkej-317	13	35	algorithm	algorithm	PROPN
alkej-317	13	36	for	for	ADP
alkej-317	13	37	the	the	DET
alkej-317	13	38	same	same	ADJ
alkej-317	13	39	problem	problem	NOUN
alkej-317	13	40	with	with	ADP
alkej-317	13	41	the	the	DET
alkej-317	13	42	same	same	ADJ
alkej-317	13	43	environmental	environmental	ADJ
alkej-317	13	44	conditions	condition	NOUN
alkej-317	13	45	by	by	ADP
alkej-317	13	46	providing	provide	VERB
alkej-317	13	47	the	the	DET
alkej-317	13	48	shortest	short	ADJ
alkej-317	13	49	path	path	NOUN
alkej-317	13	50	for	for	ADP
alkej-317	13	51	multiple	multiple	ADJ
alkej-317	13	52	testing	testing	NOUN
alkej-317	13	53	environments	environment	NOUN
alkej-317	13	54	.	.	PUNCT
alkej-317	14	1	ing	ing	ADJ
alkej-317	14	2	,	,	PUNCT
alkej-317	14	3	ant	ant	ADJ
alkej-317	14	4	colony	colony	NOUN
alkej-317	14	5	optimization	optimization	NOUN
alkej-317	14	6	,	,	PUNCT
alkej-317	14	7	static	static	ADJ
alkej-317	14	8	environment	environment	NOUN
alkej-317	14	9	,	,	PUNCT
alkej-317	14	10	and	and	CCONJ
alkej-317	14	11	collision	collision	NOUN
alkej-317	14	12	route	route	NOUN
alkej-317	14	13	forecasting	forecasting	NOUN
alkej-317	14	14	is	be	AUX
alkej-317	14	15	a	a	DET
alkej-317	14	16	vital	vital	ADJ
alkej-317	14	17	part	part	NOUN
alkej-317	14	18	of	of	ADP
alkej-317	14	19	steering	steering	NOUN
alkej-317	14	20	of	of	ADP
alkej-317	14	21	s	s	PRON
alkej-317	14	22	recognized	recognize	VERB
alkej-317	14	23	as	as	ADP
alkej-317	14	24	the	the	DET
alkej-317	14	25	art	art	NOUN
alkej-317	14	26	of	of	ADP
alkej-317	14	27	free	free	ADJ
alkej-317	14	28	path	path	NOUN
alkej-317	14	29	from	from	ADP
alkej-317	14	30	the	the	DET
alkej-317	14	31	initial	initial	ADJ
alkej-317	14	32	point	point	NOUN
alkej-317	14	33	toward	toward	ADP
alkej-317	14	34	destination	destination	NOUN
alkej-317	14	35	station	station	NOUN
alkej-317	14	36	.	.	PUNCT
alkej-317	15	1	in	in	ADP
alkej-317	15	2	computational	computational	ADJ
alkej-317	15	3	complexity	complexity	NOUN
alkej-317	15	4	theory	theory	NOUN
alkej-317	15	5	,	,	PUNCT
alkej-317	15	6	route	route	PROPN
alkej-317	15	7	ng	ng	PROPN
alkej-317	15	8	is	be	AUX
alkej-317	15	9	categorized	categorize	VERB
alkej-317	15	10	as	as	ADP
alkej-317	15	11	an	an	DET
alkej-317	15	12	np	np	INTJ
alkej-317	15	13	(	(	PUNCT
alkej-317	15	14	nondeterministic	nondeterministic	ADJ
alkej-317	15	15	polynomial	polynomial	ADJ
alkej-317	15	16	time	time	NOUN
alkej-317	15	17	)	)	PUNCT
alkej-317	15	18	problem	problem	NOUN
alkej-317	15	19	.	.	PUNCT
alkej-317	16	1	that	that	PRON
alkej-317	16	2	is	be	AUX
alkej-317	16	3	,	,	PUNCT
alkej-317	16	4	the	the	DET
alkej-317	16	5	computational	computational	ADJ
alkej-317	16	6	time	time	NOUN
alkej-317	16	7	that	that	PRON
alkej-317	16	8	is	be	AUX
alkej-317	16	9	required	require	VERB
alkej-317	16	10	to	to	PART
alkej-317	16	11	solve	solve	VERB
alkej-317	16	12	such	such	ADJ
alkej-317	16	13	problem	problem	NOUN
alkej-317	16	14	rises	rise	VERB
alkej-317	16	15	dramatically	dramatically	ADV
alkej-317	16	16	(	(	PUNCT
alkej-317	16	17	typically	typically	ADV
alkej-317	16	18	at	at	ADP
alkej-317	16	19	an	an	DET
alkej-317	16	20	exponential	exponential	ADJ
alkej-317	16	21	rate	rate	NOUN
alkej-317	16	22	)	)	PUNCT
alkej-317	16	23	while	while	SCONJ
alkej-317	16	24	the	the	DET
alkej-317	16	25	size	size	NOUN
alkej-317	16	26	(	(	PUNCT
alkej-317	16	27	or	or	CCONJ
alkej-317	16	28	dimension	dimension	NOUN
alkej-317	16	29	)	)	PUNCT
alkej-317	16	30	of	of	ADP
alkej-317	16	31	researchers	researcher	NOUN
alkej-317	16	32	of	of	ADP
alkej-317	16	33	route	route	NOUN
alkej-317	16	34	and	and	CCONJ
alkej-317	16	35	several	several	ADJ
alkej-317	16	36	algorithms	algorithm	NOUN
alkej-317	16	37	have	have	AUX
alkej-317	16	38	been	be	AUX
alkej-317	16	39	proposed	propose	VERB
alkej-317	16	40	,	,	PUNCT
alkej-317	16	41	comprising	comprise	VERB
alkej-317	16	42	the	the	DET
alkej-317	16	43	roadmap	roadmap	NOUN
alkej-317	16	44	method	method	NOUN
alkej-317	16	45	,	,	PUNCT
alkej-317	16	46	cell	cell	NOUN
alkej-317	16	47	decomposition	decomposition	NOUN
alkej-317	16	48	,	,	PUNCT
alkej-317	16	49	potential	potential	ADJ
alkej-317	16	50	fields	field	NOUN
alkej-317	16	51	,	,	PUNCT
alkej-317	16	52	and	and	CCONJ
alkej-317	16	53	mathematical	mathematical	ADJ
alkej-317	16	54	programming	programming	NOUN
alkej-317	16	55	,	,	PUNCT
alkej-317	16	56	etc	etc	X
alkej-317	16	57	.	.	X
alkej-317	17	1	it	it	PRON
alkej-317	17	2	has	have	VERB
alkej-317	17	3	that	that	SCONJ
alkej-317	17	4	these	these	DET
alkej-317	17	5	methods	method	NOUN
alkej-317	17	6	are	be	AUX
alkej-317	17	7	either	either	CCONJ
alkej-317	17	8	computational	computational	ADJ
alkej-317	17	9	cost	cost	NOUN
alkej-317	17	10	;	;	PUNCT
alkej-317	17	11	or	or	CCONJ
alkej-317	17	12	imprecise	imprecise	ADV
alkej-317	17	13	,	,	PUNCT
alkej-317	17	14	due	due	ADP
alkej-317	17	15	to	to	ADP
alkej-317	17	16	the	the	DET
alkej-317	17	17	trapping	trapping	NOUN
alkej-317	17	18	in	in	ADP
alkej-317	17	19	local	local	ADJ
alkej-317	17	20	to	to	PART
alkej-317	17	21	overcome	overcome	VERB
alkej-317	17	22	these	these	DET
alkej-317	17	23	drawbacks	drawback	NOUN
alkej-317	17	24	,	,	PUNCT
alkej-317	17	25	many	many	ADJ
alkej-317	17	26	heuristic	heuristic	ADJ
alkej-317	17	27	methods	method	NOUN
alkej-317	17	28	have	have	AUX
alkej-317	17	29	been	be	AUX
alkej-317	17	30	implemented	implement	VERB
alkej-317	17	31	,	,	PUNCT
alkej-317	17	32	such	such	ADJ
alkej-317	17	33	as	as	ADP
alkej-317	17	34	the	the	DET
alkej-317	17	35	application	application	NOUN
alkej-317	17	36	of	of	ADP
alkej-317	17	37	artificial	artificial	ADJ
alkej-317	17	38	neura	neura	NOUN
alkej-317	17	39	of	of	ADP
alkej-317	17	40	the	the	DET
alkej-317	17	41	main	main	ADJ
alkej-317	17	42	benefits	benefit	NOUN
alkej-317	17	43	of	of	ADP
alkej-317	17	44	heuristic	heuristic	ADJ
alkej-317	17	45	algorithms	algorithm	NOUN
alkej-317	17	46	is	be	AUX
alkej-317	17	47	that	that	SCONJ
alkej-317	17	48	it	it	PRON
alkej-317	17	49	can	can	AUX
alkej-317	17	50	produce	produce	VERB
alkej-317	17	51	an	an	DET
alkej-317	17	52	acceptable	acceptable	ADJ
alkej-317	17	53	result	result	NOUN
alkej-317	17	54	very	very	ADV
alkej-317	17	55	fast	fast	ADV
alkej-317	17	56	,	,	PUNCT
alkej-317	17	57	which	which	PRON
alkej-317	17	58	is	be	AUX
alkej-317	17	59	especially	especially	ADV
alkej-317	17	60	suitable	suitable	ADJ
alkej-317	17	61	to	to	PART
alkej-317	17	62	solve	solve	VERB
alkej-317	17	63	np	np	ADP
alkej-317	17	64	problems	problem	NOUN
alkej-317	17	65	.	.	PUNCT
alkej-317	18	1	the	the	DET
alkej-317	18	2	objective	objective	NOUN
alkej-317	18	3	is	be	AUX
alkej-317	18	4	to	to	PART
alkej-317	18	5	find	find	VERB
alkej-317	18	6	the	the	DET
alkej-317	18	7	shortest	short	ADJ
alkej-317	18	8	and	and	CCONJ
alkej-317	18	9	collision	collision	NOUN
alkej-317	18	10	-	-	PUNCT
alkej-317	18	11	free	free	ADJ
alkej-317	18	12	route	route	NOUN
alkej-317	18	13	(	(	PUNCT
alkej-317	18	14	if	if	SCONJ
alkej-317	18	15	the	the	DET
alkej-317	18	16	initial	initial	ADJ
alkej-317	18	17	point	point	NOUN
alkej-317	18	18	and	and	CCONJ
alkej-317	18	19	an	an	DET
alkej-317	18	20	end	end	NOUN
alkej-317	18	21	point	point	NOUN
alkej-317	18	22	in	in	ADP
alkej-317	18	23	a	a	DET
alkej-317	18	24	network	network	NOUN
alkej-317	18	25	[	[	X
alkej-317	18	26	1	1	NUM
alkej-317	18	27	]	]	PUNCT
alkej-317	18	28	.	.	PUNCT
alkej-317	19	1	in	in	ADP
alkej-317	19	2	[	[	X
alkej-317	19	3	2	2	NUM
alkej-317	19	4	]	]	PUNCT
alkej-317	19	5	,	,	PUNCT
alkej-317	19	6	authors	author	NOUN
alkej-317	19	7	proposed	propose	VERB
alkej-317	19	8	two	two	NUM
alkej-317	19	9	kinds	kind	NOUN
alkej-317	19	10	of	of	ADP
alkej-317	19	11	route	route	NOUN
alkej-317	19	12	forecasting	forecasting	NOUN
alkej-317	19	13	in	in	ADP
alkej-317	19	14	the	the	DET
alkej-317	19	15	robotic	robotic	ADJ
alkej-317	19	16	field	field	NOUN
alkej-317	19	17	.	.	PUNCT
alkej-317	20	1	these	these	DET
alkej-317	20	2	techniques	technique	NOUN
alkej-317	20	3	are	be	AUX
alkej-317	20	4	identified	identify	VERB
alkej-317	20	5	as	as	ADP
alkej-317	20	6	global	global	ADJ
alkej-317	20	7	route	route	NOUN
alkej-317	20	8	forecasting	forecasting	NOUN
alkej-317	20	9	and	and	CCONJ
alkej-317	20	10	path	path	NOUN
alkej-317	20	11	prediction	prediction	NOUN
alkej-317	20	12	.	.	PUNCT
alkej-317	21	1	in	in	ADP
alkej-317	21	2	global	global	ADJ
alkej-317	21	3	route	route	NOUN
alkej-317	21	4	have	have	VERB
alkej-317	21	5	complete	complete	ADJ
alkej-317	21	6	information	information	NOUN
alkej-317	21	7	about	about	ADP
alkej-317	21	8	the	the	DET
alkej-317	21	9	situation	situation	NOUN
alkej-317	21	10	this	this	DET
alkej-317	21	11	global	global	ADJ
alkej-317	21	12	path	path	NOUN
alkej-317	21	13	can	can	AUX
alkej-317	21	14	aid	aid	VERB
alkej-317	21	15	the	the	DET
alkej-317	21	16	robot	robot	NOUN
alkej-317	21	17	to	to	PART
alkej-317	21	18	navigate	navigate	VERB
alkej-317	21	19	the	the	DET
alkej-317	21	20	real	real	ADJ
alkej-317	21	21	location	location	NOUN
alkej-317	21	22	because	because	SCONJ
alkej-317	21	23	the	the	DET
alkej-317	21	24	feasible	feasible	ADJ
alkej-317	21	25	optimal	optimal	ADJ
alkej-317	21	26	route	route	NOUN
alkej-317	21	27	has	have	AUX
alkej-317	21	28	been	be	AUX
alkej-317	21	29	found	find	VERB
alkej-317	21	30	within	within	ADP
alkej-317	21	31	the	the	DET
alkej-317	21	32	location	location	NOUN
alkej-317	21	33	before	before	SCONJ
alkej-317	21	34	robot	robot	NOUN
alkej-317	21	35	start	start	VERB
alkej-317	21	36	to	to	PART
alkej-317	21	37	navigate	navigate	VERB
alkej-317	21	38	)	)	PUNCT
alkej-317	21	39	whereas	whereas	SCONJ
alkej-317	21	40	in	in	ADP
alkej-317	21	41	local	local	ADJ
alkej-317	21	42	route	route	NOUN
alkej-317	21	43	forecasting	forecasting	NOUN
alkej-317	21	44	robots	robot	NOUN
alkej-317	21	45	do	do	AUX
alkej-317	21	46	not	not	PART
alkej-317	21	47	have	have	VERB
alkej-317	21	48	information	information	NOUN
alkej-317	21	49	about	about	ADP
alkej-317	21	50	the	the	DET
alkej-317	21	51	situation	situation	NOUN
alkej-317	21	52	or	or	CCONJ
alkej-317	21	53	the	the	DET
alkej-317	21	54	information	information	NOUN
alkej-317	21	55	is	be	AUX
alkej-317	21	56	not	not	PART
alkej-317	21	57	comprehensive	comprehensive	ADJ
alkej-317	21	58	(	(	PUNCT
alkej-317	21	59	incomplete	incomplete	ADJ
alkej-317	21	60	information	information	NOUN
alkej-317	21	61	)	)	PUNCT
alkej-317	21	62	.	.	PUNCT
alkej-317	22	1	main	main	ADJ
alkej-317	22	2	difficulties	difficulty	NOUN
alkej-317	22	3	for	for	ADP
alkej-317	22	4	constructing	construct	VERB
alkej-317	22	5	route	route	NOUN
alkej-317	22	6	algorithms	algorithm	NOUN
alkej-317	22	7	for	for	ADP
alkej-317	22	8	mobile	mobile	ADJ
alkej-317	22	9	robots	robot	NOUN
alkej-317	22	10	al	al	PROPN
alkej-317	22	11	-	-	PUNCT
alkej-317	22	12	khwarizmi	khwarizmi	PROPN
alkej-317	22	13	engineering	engineering	NOUN
alkej-317	22	14	journal	journal	PROPN
alkej-317	22	15	(	(	PUNCT
alkej-317	22	16	2016	2016	NUM
alkej-317	22	17	)	)	PUNCT
alkej-317	22	18	mobile	mobile	NOUN
alkej-317	22	19	robot	robot	NOUN
alkej-317	22	20	using	use	VERB
alkej-317	22	21	swarm	swarm	NOUN
alkej-317	22	22	based	base	VERB
alkej-317	22	23	ajeil	ajeil	PROPN
alkej-317	22	24	*	*	PROPN
alkej-317	22	25	*	*	PROPN
alkej-317	22	26	university	university	PROPN
alkej-317	22	27	of	of	ADP
alkej-317	22	28	baghdad	baghdad	PROPN
alkej-317	22	29	based	base	VERB
alkej-317	22	30	optimization	optimization	NOUN
alkej-317	22	31	technique	technique	NOUN
alkej-317	22	32	for	for	ADP
alkej-317	22	33	solving	solve	VERB
alkej-317	22	34	robot	robot	NOUN
alkej-317	22	35	path	path	NOUN
alkej-317	22	36	planning	planning	NOUN
alkej-317	22	37	.	.	PUNCT
alkej-317	23	1	the	the	PRON
alkej-317	23	2	has	have	AUX
alkej-317	23	3	been	be	AUX
alkej-317	23	4	proposed	propose	VERB
alkej-317	23	5	in	in	ADP
alkej-317	23	6	this	this	DET
alkej-317	23	7	work	work	NOUN
alkej-317	23	8	in	in	ADP
alkej-317	23	9	different	different	ADJ
alkej-317	23	10	static	static	ADJ
alkej-317	23	11	environments	environment	NOUN
alkej-317	23	12	with	with	ADP
alkej-317	23	13	different	different	ADJ
alkej-317	23	14	complexities	complexity	NOUN
alkej-317	23	15	.	.	PUNCT
alkej-317	24	1	a	a	PRON
alkej-317	24	2	around	around	ADP
alkej-317	24	3	the	the	DET
alkej-317	24	4	obstacle	obstacle	NOUN
alkej-317	24	5	to	to	PART
alkej-317	24	6	account	account	VERB
alkej-317	24	7	to	to	ADP
alkej-317	24	8	standard	standard	ADJ
alkej-317	24	9	ant	ant	ADJ
alkej-317	24	10	colony	colony	NOUN
alkej-317	24	11	optimization	optimization	NOUN
alkej-317	24	12	(	(	PUNCT
alkej-317	24	13	aco	aco	PROPN
alkej-317	24	14	)	)	PUNCT
alkej-317	24	15	for	for	ADP
alkej-317	24	16	environment	environment	NOUN
alkej-317	24	17	,	,	PUNCT
alkej-317	24	18	prove	prove	VERB
alkej-317	24	19	that	that	SCONJ
alkej-317	24	20	the	the	DET
alkej-317	24	21	suggested	suggest	VERB
alkej-317	24	22	algorithm	algorithm	NOUN
alkej-317	24	23	outperforms	outperform	VERB
alkej-317	24	24	the	the	DET
alkej-317	24	25	standard	standard	ADJ
alkej-317	24	26	version	version	NOUN
alkej-317	24	27	of	of	ADP
alkej-317	24	28	aco	aco	PROPN
alkej-317	24	29	algorithm	algorithm	PROPN
alkej-317	24	30	for	for	ADP
alkej-317	24	31	the	the	DET
alkej-317	24	32	same	same	ADJ
alkej-317	24	33	problem	problem	NOUN
alkej-317	24	34	with	with	ADP
alkej-317	24	35	the	the	DET
alkej-317	24	36	same	same	ADJ
alkej-317	24	37	ing	ing	NOUN
alkej-317	24	38	,	,	PUNCT
alkej-317	24	39	ant	ant	ADJ
alkej-317	24	40	colony	colony	NOUN
alkej-317	24	41	optimization	optimization	NOUN
alkej-317	24	42	,	,	PUNCT
alkej-317	24	43	static	static	ADJ
alkej-317	24	44	environment	environment	NOUN
alkej-317	24	45	,	,	PUNCT
alkej-317	24	46	and	and	CCONJ
alkej-317	24	47	collision	collision	NOUN
alkej-317	24	48	-	-	PUNCT
alkej-317	24	49	avoidance	avoidance	NOUN
alkej-317	24	50	.	.	PUNCT
alkej-317	25	1	heuristic	heuristic	ADJ
alkej-317	25	2	methods	method	NOUN
alkej-317	25	3	have	have	AUX
alkej-317	25	4	been	be	AUX
alkej-317	25	5	implemented	implement	VERB
alkej-317	25	6	,	,	PUNCT
alkej-317	25	7	such	such	ADJ
alkej-317	25	8	as	as	ADP
alkej-317	25	9	the	the	DET
alkej-317	25	10	application	application	NOUN
alkej-317	25	11	of	of	ADP
alkej-317	25	12	artificial	artificial	ADJ
alkej-317	25	13	neural	neural	ADJ
alkej-317	25	14	networks	network	NOUN
alkej-317	25	15	.	.	PUNCT
alkej-317	26	1	one	one	NUM
alkej-317	26	2	of	of	ADP
alkej-317	26	3	the	the	DET
alkej-317	26	4	main	main	ADJ
alkej-317	26	5	benefits	benefit	NOUN
alkej-317	26	6	of	of	ADP
alkej-317	26	7	heuristic	heuristic	ADJ
alkej-317	26	8	algorithms	algorithm	NOUN
alkej-317	26	9	is	be	AUX
alkej-317	26	10	that	that	SCONJ
alkej-317	26	11	it	it	PRON
alkej-317	26	12	can	can	AUX
alkej-317	26	13	produce	produce	VERB
alkej-317	26	14	an	an	DET
alkej-317	26	15	acceptable	acceptable	ADJ
alkej-317	26	16	result	result	NOUN
alkej-317	26	17	very	very	ADV
alkej-317	26	18	fast	fast	ADV
alkej-317	26	19	,	,	PUNCT
alkej-317	26	20	which	which	PRON
alkej-317	26	21	is	be	AUX
alkej-317	26	22	especially	especially	ADV
alkej-317	26	23	suitable	suitable	ADJ
alkej-317	26	24	to	to	PART
alkej-317	26	25	solve	solve	VERB
alkej-317	26	26	np	np	NOUN
alkej-317	26	27	-	-	PUNCT
alkej-317	26	28	complete	complete	ADJ
alkej-317	26	29	problems	problem	NOUN
alkej-317	26	30	.	.	PUNCT
alkej-317	27	1	the	the	DET
alkej-317	27	2	objective	objective	NOUN
alkej-317	27	3	is	be	AUX
alkej-317	27	4	to	to	PART
alkej-317	27	5	find	find	VERB
alkej-317	27	6	the	the	DET
alkej-317	27	7	shortest	short	ADJ
alkej-317	27	8	and	and	CCONJ
alkej-317	27	9	the	the	DET
alkej-317	27	10	path	path	NOUN
alkej-317	27	11	exists	exist	VERB
alkej-317	27	12	)	)	PUNCT
alkej-317	27	13	between	between	ADP
alkej-317	27	14	an	an	DET
alkej-317	27	15	initial	initial	ADJ
alkej-317	27	16	point	point	NOUN
alkej-317	27	17	and	and	CCONJ
alkej-317	27	18	an	an	DET
alkej-317	27	19	end	end	NOUN
alkej-317	27	20	point	point	NOUN
alkej-317	27	21	in	in	ADP
alkej-317	27	22	a	a	DET
alkej-317	27	23	network	network	NOUN
alkej-317	27	24	[	[	X
alkej-317	27	25	1	1	NUM
alkej-317	27	26	]	]	PUNCT
alkej-317	27	27	.	.	PUNCT
alkej-317	28	1	in	in	ADP
alkej-317	28	2	[	[	X
alkej-317	28	3	2	2	NUM
alkej-317	28	4	]	]	PUNCT
alkej-317	28	5	,	,	PUNCT
alkej-317	28	6	authors	author	NOUN
alkej-317	28	7	proposed	propose	VERB
alkej-317	28	8	two	two	NUM
alkej-317	28	9	kinds	kind	NOUN
alkej-317	28	10	of	of	ADP
alkej-317	28	11	route	route	NOUN
alkej-317	28	12	forecasting	forecasting	NOUN
alkej-317	28	13	in	in	ADP
alkej-317	28	14	the	the	DET
alkej-317	28	15	robotic	robotic	ADJ
alkej-317	28	16	field	field	NOUN
alkej-317	28	17	.	.	PUNCT
alkej-317	29	1	these	these	DET
alkej-317	29	2	techniques	technique	NOUN
alkej-317	29	3	global	global	ADJ
alkej-317	29	4	route	route	PROPN
alkej-317	29	5	forecasting	forecasting	NOUN
alkej-317	29	6	and	and	CCONJ
alkej-317	29	7	local	local	ADJ
alkej-317	29	8	in	in	ADP
alkej-317	29	9	global	global	ADJ
alkej-317	29	10	route	route	PROPN
alkej-317	29	11	prediction	prediction	NOUN
alkej-317	29	12	,	,	PUNCT
alkej-317	29	13	robots	robot	NOUN
alkej-317	29	14	have	have	VERB
alkej-317	29	15	complete	complete	ADJ
alkej-317	29	16	information	information	NOUN
alkej-317	29	17	about	about	ADP
alkej-317	29	18	the	the	DET
alkej-317	29	19	situation	situation	NOUN
alkej-317	29	20	this	this	DET
alkej-317	29	21	global	global	ADJ
alkej-317	29	22	path	path	NOUN
alkej-317	29	23	can	can	AUX
alkej-317	29	24	aid	aid	VERB
alkej-317	29	25	the	the	DET
alkej-317	29	26	robot	robot	NOUN
alkej-317	29	27	to	to	PART
alkej-317	29	28	navigate	navigate	VERB
alkej-317	29	29	to	to	ADP
alkej-317	29	30	the	the	DET
alkej-317	29	31	real	real	ADJ
alkej-317	29	32	location	location	NOUN
alkej-317	29	33	because	because	SCONJ
alkej-317	29	34	the	the	DET
alkej-317	29	35	feasible	feasible	ADJ
alkej-317	29	36	optimal	optimal	ADJ
alkej-317	29	37	route	route	NOUN
alkej-317	29	38	has	have	AUX
alkej-317	29	39	been	be	AUX
alkej-317	29	40	found	find	VERB
alkej-317	29	41	within	within	ADP
alkej-317	29	42	the	the	DET
alkej-317	29	43	location	location	NOUN
alkej-317	29	44	before	before	SCONJ
alkej-317	29	45	robot	robot	NOUN
alkej-317	29	46	start	start	VERB
alkej-317	29	47	to	to	PART
alkej-317	29	48	navigate	navigate	VERB
alkej-317	29	49	)	)	PUNCT
alkej-317	29	50	whereas	whereas	SCONJ
alkej-317	29	51	in	in	ADP
alkej-317	29	52	local	local	ADJ
alkej-317	29	53	route	route	NOUN
alkej-317	29	54	ing	ing	NOUN
alkej-317	29	55	robots	robot	NOUN
alkej-317	29	56	do	do	AUX
alkej-317	29	57	not	not	PART
alkej-317	29	58	have	have	VERB
alkej-317	29	59	information	information	NOUN
alkej-317	29	60	about	about	ADP
alkej-317	29	61	the	the	DET
alkej-317	29	62	situation	situation	NOUN
alkej-317	29	63	or	or	CCONJ
alkej-317	29	64	the	the	DET
alkej-317	29	65	information	information	NOUN
alkej-317	29	66	is	be	AUX
alkej-317	29	67	not	not	PART
alkej-317	29	68	comprehensive	comprehensive	ADJ
alkej-317	29	69	(	(	PUNCT
alkej-317	29	70	incomplete	incomplete	ADJ
alkej-317	29	71	information	information	NOUN
alkej-317	29	72	)	)	PUNCT
alkej-317	29	73	.	.	PUNCT
alkej-317	30	1	the	the	DET
alkej-317	30	2	main	main	ADJ
alkej-317	30	3	difficulties	difficulty	NOUN
alkej-317	30	4	for	for	ADP
alkej-317	30	5	constructing	construct	VERB
alkej-317	30	6	route	route	NOUN
alkej-317	30	7	forecasting	forecasting	NOUN
alkej-317	30	8	algorithms	algorithm	NOUN
alkej-317	30	9	for	for	ADP
alkej-317	30	10	mobile	mobile	ADJ
alkej-317	30	11	robots	robot	NOUN
alkej-317	30	12	are	be	AUX
alkej-317	30	13	efficiency	efficiency	NOUN
alkej-317	30	14	and	and	CCONJ
alkej-317	30	15	ibraheem	ibraheem	ADJ
alkej-317	30	16	kasim	kasim	PROPN
alkej-317	30	17	ibraheem	ibraheem	PROPN
alkej-317	30	18	security	security	NOUN
alkej-317	30	19	.	.	PUNCT
alkej-317	31	1	efficiency	efficiency	NOUN
alkej-317	31	2	means	mean	VERB
alkej-317	31	3	it	it	PRON
alkej-317	31	4	should	should	AUX
alkej-317	31	5	take	take	VERB
alkej-317	31	6	best	good	ADJ
alkej-317	31	7	time	time	NOUN
alkej-317	31	8	and	and	CCONJ
alkej-317	31	9	safety	safety	NOUN
alkej-317	31	10	means	mean	VERB
alkej-317	31	11	avoiding	avoid	VERB
alkej-317	31	12	collision	collision	NOUN
alkej-317	31	13	with	with	ADP
alkej-317	31	14	obstacles	obstacle	NOUN
alkej-317	31	15	.	.	PUNCT
alkej-317	32	1	the	the	DET
alkej-317	32	2	robot	robot	NOUN
alkej-317	32	3	route	route	NOUN
alkej-317	32	4	forecasting	forecasting	NOUN
alkej-317	32	5	could	could	AUX
alkej-317	32	6	be	be	AUX
alkej-317	32	7	classified	classify	VERB
alkej-317	32	8	into	into	ADP
alkej-317	32	9	different	different	ADJ
alkej-317	32	10	kinds	kind	NOUN
alkej-317	32	11	based	base	VERB
alkej-317	32	12	on	on	ADP
alkej-317	32	13	number	number	NOUN
alkej-317	32	14	of	of	ADP
alkej-317	32	15	robot	robot	NOUN
alkej-317	32	16	(	(	PUNCT
alkej-317	32	17	single	single	ADJ
alkej-317	32	18	or	or	CCONJ
alkej-317	32	19	multi	multi	ADJ
alkej-317	32	20	robot	robot	NOUN
alkej-317	32	21	environment	environment	NOUN
alkej-317	32	22	(	(	PUNCT
alkej-317	32	23	static	static	ADJ
alkej-317	32	24	or	or	CCONJ
alkej-317	32	25	dynamic	dynamic	ADJ
alkej-317	32	26	)	)	PUNCT
alkej-317	32	27	.	.	PUNCT
alkej-317	33	1	the	the	DET
alkej-317	33	2	environment	environment	NOUN
alkej-317	33	3	where	where	SCONJ
alkej-317	33	4	the	the	DET
alkej-317	33	5	robot	robot	NOUN
alkej-317	33	6	is	be	AUX
alkej-317	33	7	situated	situate	VERB
alkej-317	33	8	,	,	PUNCT
alkej-317	33	9	the	the	DET
alkej-317	33	10	route	route	NOUN
alkej-317	33	11	forecasting	forecasting	NOUN
alkej-317	33	12	methods	method	NOUN
alkej-317	33	13	can	can	AUX
alkej-317	33	14	be	be	AUX
alkej-317	33	15	categorized	categorize	VERB
alkej-317	33	16	into	into	ADP
alkej-317	33	17	two	two	NUM
alkej-317	33	18	kinds	kind	NOUN
alkej-317	33	19	as	as	SCONJ
alkej-317	33	20	shown	show	VERB
alkej-317	33	21	in	in	ADP
alkej-317	33	22	figure	figure	NOUN
alkej-317	33	23	1	1	NUM
alkej-317	33	24	.	.	PUNCT
alkej-317	33	25	fig	fig	NOUN
alkej-317	33	26	.	.	PUNCT
alkej-317	34	1	1	1	X
alkej-317	34	2	.	.	X
alkej-317	34	3	classification	classification	NOUN
alkej-317	34	4	of	of	ADP
alkej-317	34	5	path	path	NOUN
alkej-317	34	6	planning	planning	NOUN
alkej-317	34	7	based	base	VERB
alkej-317	34	8	on	on	ADP
alkej-317	34	9	environment	environment	NOUN
alkej-317	34	10	.	.	PUNCT
alkej-317	35	1	looking	look	VERB
alkej-317	35	2	into	into	ADP
alkej-317	35	3	figure	figure	NOUN
alkej-317	35	4	1	1	NUM
alkej-317	35	5	,	,	PUNCT
alkej-317	35	6	for	for	SCONJ
alkej-317	35	7	each	each	PRON
alkej-317	35	8	of	of	ADP
alkej-317	35	9	these	these	DET
alkej-317	35	10	two	two	NUM
alkej-317	35	11	kinds	kind	NOUN
alkej-317	35	12	could	could	AUX
alkej-317	35	13	be	be	AUX
alkej-317	35	14	additionally	additionally	ADV
alkej-317	35	15	divided	divide	VERB
alkej-317	35	16	into	into	ADP
alkej-317	35	17	two	two	NUM
alkej-317	35	18	sub	sub	NOUN
alkej-317	35	19	classification	classification	NOUN
alkej-317	35	20	depending	depend	VERB
alkej-317	35	21	on	on	ADP
alkej-317	35	22	how	how	SCONJ
alkej-317	35	23	much	much	ADJ
alkej-317	35	24	the	the	DET
alkej-317	35	25	robot	robot	NOUN
alkej-317	35	26	recognizes	recognize	VERB
alkej-317	35	27	the	the	DET
alkej-317	35	28	complete	complete	ADJ
alkej-317	35	29	information	information	NOUN
alkej-317	35	30	of	of	ADP
alkej-317	35	31	the	the	DET
alkej-317	35	32	surrounding	surround	VERB
alkej-317	35	33	locations	location	NOUN
alkej-317	35	34	:	:	PUNCT
alkej-317	35	35	1	1	NUM
alkej-317	35	36	-	-	PUNCT
alkej-317	35	37	robot	robot	NOUN
alkej-317	35	38	route	route	NOUN
alkej-317	35	39	forecasting	forecasting	NOUN
alkej-317	35	40	in	in	ADP
alkej-317	35	41	a	a	DET
alkej-317	35	42	known	know	VERB
alkej-317	35	43	environment	environment	NOUN
alkej-317	35	44	in	in	ADP
alkej-317	35	45	which	which	PRON
alkej-317	35	46	the	the	DET
alkej-317	35	47	automation	automation	NOUN
alkej-317	35	48	previously	previously	ADV
alkej-317	35	49	knows	know	VERB
alkej-317	35	50	the	the	DET
alkej-317	35	51	position	position	NOUN
alkej-317	35	52	of	of	ADP
alkej-317	35	53	the	the	DET
alkej-317	35	54	obstacles	obstacle	NOUN
alkej-317	35	55	before	before	SCONJ
alkej-317	35	56	it	it	PRON
alkej-317	35	57	starts	start	VERB
alkej-317	35	58	to	to	PART
alkej-317	35	59	navigate	navigate	VERB
alkej-317	35	60	.	.	PUNCT
alkej-317	36	1	2robot	2robot	NUM
alkej-317	36	2	route	route	NOUN
alkej-317	36	3	forecasting	forecasting	NOUN
alkej-317	36	4	in	in	ADP
alkej-317	36	5	a	a	DET
alkej-317	36	6	partially	partially	ADV
alkej-317	36	7	known	know	VERB
alkej-317	36	8	or	or	CCONJ
alkej-317	36	9	inexact	inexact	ADJ
alkej-317	36	10	environment	environment	NOUN
alkej-317	36	11	in	in	ADP
alkej-317	36	12	which	which	PRON
alkej-317	36	13	the	the	DET
alkej-317	36	14	robot	robot	NOUN
alkej-317	36	15	estimates	estimate	VERB
alkej-317	36	16	the	the	DET
alkej-317	36	17	environment	environment	NOUN
alkej-317	36	18	using	use	VERB
alkej-317	36	19	sensors	sensor	NOUN
alkej-317	36	20	to	to	PART
alkej-317	36	21	get	get	VERB
alkej-317	36	22	the	the	DET
alkej-317	36	23	local	local	ADJ
alkej-317	36	24	information	information	NOUN
alkej-317	36	25	of	of	ADP
alkej-317	36	26	the	the	DET
alkej-317	36	27	location	location	NOUN
alkej-317	36	28	,	,	PUNCT
alkej-317	36	29	shape	shape	NOUN
alkej-317	36	30	and	and	CCONJ
alkej-317	36	31	dimension	dimension	NOUN
alkej-317	36	32	of	of	ADP
alkej-317	36	33	obstacles	obstacle	NOUN
alkej-317	36	34	and	and	CCONJ
alkej-317	36	35	then	then	ADV
alkej-317	36	36	uses	use	VERB
alkej-317	36	37	the	the	DET
alkej-317	36	38	information	information	NOUN
alkej-317	36	39	to	to	PART
alkej-317	36	40	ensure	ensure	VERB
alkej-317	36	41	local	local	ADJ
alkej-317	36	42	path	path	NOUN
alkej-317	36	43	planning	planning	NOUN
alkej-317	36	44	.	.	PUNCT
alkej-317	37	1	in	in	ADP
alkej-317	37	2	this	this	DET
alkej-317	37	3	paper	paper	NOUN
alkej-317	37	4	,	,	PUNCT
alkej-317	37	5	we	we	PRON
alkej-317	37	6	present	present	VERB
alkej-317	37	7	case	case	NOUN
alkej-317	37	8	1	1	NUM
alkej-317	37	9	when	when	SCONJ
alkej-317	37	10	the	the	DET
alkej-317	37	11	environment	environment	NOUN
alkej-317	37	12	is	be	AUX
alkej-317	37	13	static	static	ADJ
alkej-317	37	14	and	and	CCONJ
alkej-317	37	15	known	know	VERB
alkej-317	37	16	obstacles	obstacle	NOUN
alkej-317	37	17	2	2	NUM
alkej-317	37	18	.	.	PUNCT
alkej-317	38	1	related	relate	VERB
alkej-317	38	2	works	work	VERB
alkej-317	38	3	many	many	ADJ
alkej-317	38	4	types	type	NOUN
alkej-317	38	5	of	of	ADP
alkej-317	38	6	research	research	NOUN
alkej-317	38	7	studies	study	NOUN
alkej-317	38	8	path	path	NOUN
alkej-317	38	9	planning	planning	NOUN
alkej-317	38	10	in	in	ADP
alkej-317	38	11	recent	recent	ADJ
alkej-317	38	12	years	year	NOUN
alkej-317	38	13	.	.	PUNCT
alkej-317	39	1	[	[	X
alkej-317	39	2	3	3	X
alkej-317	39	3	]	]	PUNCT
alkej-317	39	4	describes	describe	VERB
alkej-317	39	5	the	the	DET
alkej-317	39	6	use	use	NOUN
alkej-317	39	7	of	of	ADP
alkej-317	39	8	algorithm	algorithm	NOUN
alkej-317	39	9	to	to	PART
alkej-317	39	10	find	find	VERB
alkej-317	39	11	the	the	DET
alkej-317	39	12	optimal	optimal	ADJ
alkej-317	39	13	path	path	NOUN
alkej-317	39	14	in	in	ADP
alkej-317	39	15	environment	environment	NOUN
alkej-317	39	16	;	;	PUNCT
alkej-317	39	17	the	the	DET
alkej-317	39	18	mobile	mobile	NOUN
alkej-317	39	19	robot	robot	NOUN
alkej-317	39	20	has	have	VERB
alkej-317	39	21	to	to	PART
alkej-317	39	22	find	find	VERB
alkej-317	39	23	the	the	DET
alkej-317	39	24	best	good	ADJ
alkej-317	39	25	route	route	NOUN
alkej-317	39	26	which	which	PRON
alkej-317	39	27	decreases	decrease	VERB
alkej-317	39	28	the	the	DET
alkej-317	39	29	number	number	NOUN
alkej-317	39	30	of	of	ADP
alkej-317	39	31	stages	stage	NOUN
alkej-317	39	32	to	to	PART
alkej-317	39	33	taken	take	VERB
alkej-317	39	34	between	between	ADP
alkej-317	39	35	the	the	DET
alkej-317	39	36	initial	initial	ADJ
alkej-317	39	37	point	point	NOUN
alkej-317	39	38	and	and	CCONJ
alkej-317	39	39	by	by	ADP
alkej-317	39	40	allowing	allow	VERB
alkej-317	39	41	four	four	NUM
alkej-317	39	42	-	-	PUNCT
alkej-317	39	43	neighbor	neighbor	NOUN
alkej-317	39	44	movements	movement	NOUN
alkej-317	39	45	of	of	ADP
alkej-317	39	46	robot	robot	NOUN
alkej-317	39	47	.	.	PUNCT
alkej-317	40	1	authors	author	NOUN
alkej-317	40	2	in	in	ADP
alkej-317	40	3	[	[	X
alkej-317	40	4	4	4	NUM
alkej-317	40	5	]	]	PUNCT
alkej-317	40	6	performed	perform	VERB
alkej-317	40	7	two	two	NUM
alkej-317	40	8	types	type	NOUN
alkej-317	40	9	of	of	ADP
alkej-317	40	10	path	path	NOUN
alkej-317	40	11	planning	planning	NOUN
alkej-317	40	12	:	:	PUNCT
alkej-317	40	13	global	global	ADJ
alkej-317	40	14	path	path	NOUN
alkej-317	40	15	planning	planning	NOUN
alkej-317	40	16	using	use	VERB
alkej-317	40	17	two	two	NUM
alkej-317	40	18	versions	version	NOUN
alkej-317	40	19	of	of	ADP
alkej-317	40	20	artificial	artificial	ADJ
alkej-317	40	21	bee	bee	NOUN
alkej-317	40	22	colony	colony	NOUN
alkej-317	40	23	(	(	PUNCT
alkej-317	40	24	abc	abc	PROPN
alkej-317	40	25	)	)	PUNCT
alkej-317	40	26	and	and	CCONJ
alkej-317	40	27	local	local	ADJ
alkej-317	40	28	path	path	NOUN
alkej-317	40	29	planning	planning	NOUN
alkej-317	40	30	by	by	ADP
alkej-317	40	31	hybrid	hybrid	ADJ
alkej-317	40	32	bacterial	bacterial	ADJ
alkej-317	40	33	foraging	forage	VERB
alkej-317	40	34	optimization	optimization	NOUN
alkej-317	40	35	(	(	PUNCT
alkej-317	40	36	bfo	bfo	PROPN
alkej-317	40	37	)	)	PUNCT
alkej-317	40	38	and	and	CCONJ
alkej-317	40	39	artificial	artificial	ADJ
alkej-317	40	40	potential	potential	ADJ
alkej-317	40	41	field	field	NOUN
alkej-317	40	42	al	al	PROPN
alkej-317	40	43	-	-	PUNCT
alkej-317	40	44	khwarizmi	khwarizmi	PROPN
alkej-317	40	45	engineering	engineering	NOUN
alkej-317	40	46	journal	journal	PROPN
alkej-317	40	47	,	,	PUNCT
alkej-317	40	48	vol	vol	NOUN
alkej-317	40	49	.	.	PROPN
alkej-317	40	50	12	12	NUM
alkej-317	40	51	,	,	PUNCT
alkej-317	40	52	no	no	INTJ
alkej-317	40	53	.	.	NOUN
alkej-317	40	54	4	4	NUM
alkej-317	40	55	,	,	PUNCT
alkej-317	40	56	p.p	p.p	PROPN
alkej-317	40	57	.	.	NOUN
alkej-317	40	58	13	13	NUM
alkej-317	40	59	should	should	AUX
alkej-317	40	60	take	take	VERB
alkej-317	40	61	best	good	ADJ
alkej-317	40	62	time	time	NOUN
alkej-317	40	63	means	mean	NOUN
alkej-317	40	64	avoiding	avoid	VERB
alkej-317	40	65	collision	collision	NOUN
alkej-317	40	66	with	with	ADP
alkej-317	40	67	forecasting	forecasting	NOUN
alkej-317	40	68	methods	method	NOUN
alkej-317	40	69	into	into	ADP
alkej-317	40	70	different	different	ADJ
alkej-317	40	71	kinds	kind	NOUN
alkej-317	40	72	based	base	VERB
alkej-317	40	73	on	on	ADP
alkej-317	40	74	multi	multi	ADJ
alkej-317	40	75	robot	robot	NOUN
alkej-317	40	76	)	)	PUNCT
alkej-317	40	77	or	or	CCONJ
alkej-317	40	78	type	type	NOUN
alkej-317	40	79	of	of	ADP
alkej-317	40	80	environment	environment	NOUN
alkej-317	40	81	(	(	PUNCT
alkej-317	40	82	static	static	ADJ
alkej-317	40	83	or	or	CCONJ
alkej-317	40	84	dynamic	dynamic	ADJ
alkej-317	40	85	)	)	PUNCT
alkej-317	40	86	.	.	PUNCT
alkej-317	41	1	according	accord	VERB
alkej-317	41	2	on	on	ADP
alkej-317	41	3	the	the	DET
alkej-317	41	4	environment	environment	NOUN
alkej-317	41	5	where	where	SCONJ
alkej-317	41	6	the	the	DET
alkej-317	41	7	robot	robot	NOUN
alkej-317	41	8	is	be	AUX
alkej-317	41	9	situated	situate	VERB
alkej-317	41	10	,	,	PUNCT
alkej-317	41	11	the	the	DET
alkej-317	41	12	route	route	NOUN
alkej-317	41	13	forecasting	forecasting	NOUN
alkej-317	41	14	methods	method	NOUN
alkej-317	41	15	can	can	AUX
alkej-317	41	16	be	be	AUX
alkej-317	41	17	categorized	categorize	VERB
alkej-317	41	18	into	into	ADP
alkej-317	41	19	classification	classification	NOUN
alkej-317	41	20	of	of	ADP
alkej-317	41	21	path	path	NOUN
alkej-317	41	22	planning	planning	NOUN
alkej-317	41	23	based	base	VERB
alkej-317	41	24	on	on	ADP
alkej-317	41	25	looking	look	VERB
alkej-317	41	26	into	into	ADP
alkej-317	41	27	figure	figure	NOUN
alkej-317	41	28	1	1	NUM
alkej-317	41	29	,	,	PUNCT
alkej-317	41	30	for	for	SCONJ
alkej-317	41	31	each	each	PRON
alkej-317	41	32	of	of	ADP
alkej-317	41	33	these	these	DET
alkej-317	41	34	two	two	NUM
alkej-317	41	35	divided	divide	VERB
alkej-317	41	36	into	into	ADP
alkej-317	41	37	two	two	NUM
alkej-317	41	38	subclassification	subclassification	NOUN
alkej-317	41	39	depending	depend	VERB
alkej-317	41	40	on	on	ADP
alkej-317	41	41	how	how	SCONJ
alkej-317	41	42	much	much	ADJ
alkej-317	41	43	the	the	DET
alkej-317	41	44	robot	robot	NOUN
alkej-317	41	45	information	information	NOUN
alkej-317	41	46	of	of	ADP
alkej-317	41	47	the	the	DET
alkej-317	41	48	robot	robot	NOUN
alkej-317	41	49	route	route	NOUN
alkej-317	41	50	forecasting	forecasting	NOUN
alkej-317	41	51	in	in	ADP
alkej-317	41	52	a	a	DET
alkej-317	41	53	known	know	VERB
alkej-317	41	54	environment	environment	NOUN
alkej-317	41	55	on	on	ADP
alkej-317	41	56	previously	previously	ADV
alkej-317	41	57	knows	know	VERB
alkej-317	41	58	the	the	DET
alkej-317	41	59	position	position	NOUN
alkej-317	41	60	of	of	ADP
alkej-317	41	61	the	the	DET
alkej-317	41	62	obstacles	obstacle	NOUN
alkej-317	41	63	before	before	SCONJ
alkej-317	41	64	it	it	PRON
alkej-317	41	65	starts	start	VERB
alkej-317	41	66	to	to	ADP
alkej-317	41	67	in	in	ADP
alkej-317	41	68	a	a	DET
alkej-317	41	69	partially	partially	ADV
alkej-317	41	70	known	know	VERB
alkej-317	41	71	or	or	CCONJ
alkej-317	41	72	inexact	inexact	ADJ
alkej-317	41	73	environment	environment	NOUN
alkej-317	41	74	in	in	ADP
alkej-317	41	75	which	which	PRON
alkej-317	41	76	the	the	DET
alkej-317	41	77	robot	robot	NOUN
alkej-317	41	78	estimates	estimate	VERB
alkej-317	41	79	the	the	DET
alkej-317	41	80	environment	environment	NOUN
alkej-317	41	81	using	use	VERB
alkej-317	41	82	sensors	sensor	NOUN
alkej-317	41	83	to	to	PART
alkej-317	41	84	get	get	VERB
alkej-317	41	85	the	the	DET
alkej-317	41	86	local	local	ADJ
alkej-317	41	87	tion	tion	NOUN
alkej-317	41	88	of	of	ADP
alkej-317	41	89	the	the	DET
alkej-317	41	90	location	location	NOUN
alkej-317	41	91	,	,	PUNCT
alkej-317	41	92	shape	shape	NOUN
alkej-317	41	93	and	and	CCONJ
alkej-317	41	94	dimension	dimension	NOUN
alkej-317	41	95	of	of	ADP
alkej-317	41	96	obstacles	obstacle	NOUN
alkej-317	41	97	and	and	CCONJ
alkej-317	41	98	then	then	ADV
alkej-317	41	99	uses	use	VERB
alkej-317	41	100	the	the	DET
alkej-317	41	101	information	information	NOUN
alkej-317	41	102	to	to	ADP
alkej-317	41	103	we	we	PRON
alkej-317	41	104	present	present	ADJ
alkej-317	41	105	case	case	NOUN
alkej-317	41	106	1	1	NUM
alkej-317	41	107	when	when	SCONJ
alkej-317	41	108	the	the	DET
alkej-317	41	109	obstacles	obstacle	NOUN
alkej-317	41	110	.	.	PUNCT
alkej-317	42	1	studies	study	NOUN
alkej-317	42	2	path	path	NOUN
alkej-317	42	3	planning	planning	NOUN
alkej-317	42	4	[	[	X
alkej-317	42	5	3	3	X
alkej-317	42	6	]	]	PUNCT
alkej-317	42	7	describes	describe	VERB
alkej-317	42	8	the	the	DET
alkej-317	42	9	use	use	NOUN
alkej-317	42	10	of	of	ADP
alkej-317	42	11	a	a	DET
alkej-317	42	12	genetic	genetic	ADJ
alkej-317	42	13	optimal	optimal	ADJ
alkej-317	42	14	path	path	NOUN
alkej-317	42	15	in	in	ADP
alkej-317	42	16	a	a	DET
alkej-317	42	17	grid	grid	NOUN
alkej-317	42	18	the	the	DET
alkej-317	42	19	mobile	mobile	NOUN
alkej-317	42	20	robot	robot	NOUN
alkej-317	42	21	has	have	VERB
alkej-317	42	22	to	to	PART
alkej-317	42	23	find	find	VERB
alkej-317	42	24	the	the	DET
alkej-317	42	25	best	good	ADJ
alkej-317	42	26	route	route	NOUN
alkej-317	42	27	which	which	PRON
alkej-317	42	28	decreases	decrease	VERB
alkej-317	42	29	the	the	DET
alkej-317	42	30	number	number	NOUN
alkej-317	42	31	of	of	ADP
alkej-317	42	32	stages	stage	NOUN
alkej-317	42	33	to	to	PART
alkej-317	42	34	be	be	AUX
alkej-317	42	35	between	between	ADP
alkej-317	42	36	the	the	DET
alkej-317	42	37	initial	initial	ADJ
alkej-317	42	38	point	point	NOUN
alkej-317	42	39	and	and	CCONJ
alkej-317	42	40	the	the	DET
alkej-317	42	41	end	end	NOUN
alkej-317	42	42	point	point	NOUN
alkej-317	42	43	neighbor	neighbor	NOUN
alkej-317	42	44	movements	movement	NOUN
alkej-317	42	45	of	of	ADP
alkej-317	42	46	the	the	DET
alkej-317	42	47	authors	author	NOUN
alkej-317	42	48	in	in	ADP
alkej-317	42	49	[	[	X
alkej-317	42	50	4	4	NUM
alkej-317	42	51	]	]	PUNCT
alkej-317	42	52	performed	perform	VERB
alkej-317	42	53	two	two	NUM
alkej-317	42	54	types	type	NOUN
alkej-317	42	55	of	of	ADP
alkej-317	42	56	path	path	NOUN
alkej-317	42	57	planning	planning	NOUN
alkej-317	42	58	:	:	PUNCT
alkej-317	42	59	global	global	ADJ
alkej-317	42	60	path	path	NOUN
alkej-317	42	61	planning	planning	NOUN
alkej-317	42	62	using	use	VERB
alkej-317	42	63	two	two	NUM
alkej-317	42	64	versions	version	NOUN
alkej-317	42	65	of	of	ADP
alkej-317	42	66	artificial	artificial	ADJ
alkej-317	42	67	bee	bee	NOUN
alkej-317	42	68	colony	colony	NOUN
alkej-317	42	69	(	(	PUNCT
alkej-317	42	70	abc	abc	PROPN
alkej-317	42	71	)	)	PUNCT
alkej-317	42	72	and	and	CCONJ
alkej-317	42	73	local	local	ADJ
alkej-317	42	74	path	path	NOUN
alkej-317	42	75	bacterial	bacterial	ADJ
alkej-317	42	76	foraging	forage	VERB
alkej-317	42	77	artificial	artificial	ADJ
alkej-317	42	78	potential	potential	ADJ
alkej-317	42	79	field	field	NOUN
alkej-317	42	80	(	(	PUNCT
alkej-317	42	81	apf	apf	PROPN
alkej-317	42	82	)	)	PUNCT
alkej-317	42	83	algorithms	algorithm	NOUN
alkej-317	42	84	.	.	PUNCT
alkej-317	43	1	while	while	SCONJ
alkej-317	43	2	the	the	DET
alkej-317	43	3	implementation	implementation	NOUN
alkej-317	43	4	of	of	ADP
alkej-317	43	5	the	the	DET
alkej-317	43	6	particle	particle	NOUN
alkej-317	43	7	swarm	swarm	NOUN
alkej-317	43	8	optimization	optimization	NOUN
alkej-317	43	9	(	(	PUNCT
alkej-317	43	10	pso	pso	NOUN
alkej-317	43	11	)	)	PUNCT
alkej-317	43	12	to	to	PART
alkej-317	43	13	find	find	VERB
alkej-317	43	14	optimum	optimum	ADJ
alkej-317	43	15	path	path	NOUN
alkej-317	43	16	,	,	PUNCT
alkej-317	43	17	obstacle	obstacle	NOUN
alkej-317	43	18	avoidance	avoidance	NOUN
alkej-317	43	19	is	be	AUX
alkej-317	43	20	done	do	VERB
alkej-317	43	21	by	by	ADP
alkej-317	43	22	translating	translate	VERB
alkej-317	43	23	robot	robot	NOUN
alkej-317	43	24	to	to	ADP
alkej-317	43	25	the	the	DET
alkej-317	43	26	adjacent	adjacent	ADJ
alkej-317	43	27	safe	safe	ADJ
alkej-317	43	28	point	point	NOUN
alkej-317	43	29	around	around	ADP
alkej-317	43	30	the	the	DET
alkej-317	43	31	obstacle	obstacle	NOUN
alkej-317	43	32	’s	’s	PART
alkej-317	43	33	border	border	NOUN
alkej-317	43	34	which	which	PRON
alkej-317	43	35	i	i	PRON
alkej-317	43	36	calculated	calculate	VERB
alkej-317	43	37	;	;	PUNCT
alkej-317	43	38	this	this	DET
alkej-317	43	39	work	work	NOUN
alkej-317	43	40	has	have	VERB
alkej-317	43	41	the	the	DET
alkej-317	43	42	researchers	researcher	NOUN
alkej-317	43	43	in	in	ADP
alkej-317	43	44	[	[	X
alkej-317	43	45	6	6	NUM
alkej-317	43	46	]	]	PUNCT
alkej-317	43	47	introduced	introduce	VERB
alkej-317	43	48	path	path	NOUN
alkej-317	43	49	planning	planning	NOUN
alkej-317	43	50	in	in	ADP
alkej-317	43	51	a	a	DET
alkej-317	43	52	dynamic	dynamic	ADJ
alkej-317	43	53	environment	environment	NOUN
alkej-317	43	54	by	by	ADP
alkej-317	43	55	combining	combine	VERB
alkej-317	43	56	heuristic	heuristic	ADJ
alkej-317	43	57	algorithm	algorithm	NOUN
alkej-317	43	58	and	and	CCONJ
alkej-317	43	59	simulated	simulate	VERB
alkej-317	43	60	annealing	annealing	NOUN
alkej-317	43	61	algorithms	algorithm	NOUN
alkej-317	43	62	.	.	PUNCT
alkej-317	44	1	the	the	DET
alkej-317	44	2	researchers	researcher	NOUN
alkej-317	44	3	in	in	ADP
alkej-317	44	4	[	[	X
alkej-317	44	5	7	7	NUM
alkej-317	44	6	]	]	PUNCT
alkej-317	44	7	implemented	implement	VERB
alkej-317	44	8	water	water	NOUN
alkej-317	44	9	drops	drop	NOUN
alkej-317	44	10	(	(	PUNCT
alkej-317	44	11	iwds	iwds	PROPN
alkej-317	44	12	)	)	PUNCT
alkej-317	44	13	algorithm	algorithm	NOUN
alkej-317	44	14	to	to	PART
alkej-317	44	15	solve	solve	VERB
alkej-317	44	16	robot	robot	NOUN
alkej-317	44	17	route	route	PROPN
alkej-317	44	18	forecasting	forecasting	NOUN
alkej-317	44	19	problem	problem	NOUN
alkej-317	44	20	,	,	PUNCT
alkej-317	44	21	the	the	DET
alkej-317	44	22	suggested	suggest	VERB
alkej-317	44	23	algorithm	algorithm	NOUN
alkej-317	44	24	has	have	VERB
alkej-317	44	25	two	two	NUM
alkej-317	44	26	stages	stage	NOUN
alkej-317	44	27	;	;	PUNCT
alkej-317	44	28	the	the	DET
alkej-317	44	29	first	first	ADJ
alkej-317	44	30	stage	stage	NOUN
alkej-317	44	31	,	,	PUNCT
alkej-317	44	32	finds	find	VERB
alkej-317	44	33	path	path	NOUN
alkej-317	44	34	.	.	PUNCT
alkej-317	45	1	the	the	DET
alkej-317	45	2	second	second	ADJ
alkej-317	45	3	stage	stage	NOUN
alkej-317	45	4	relatively	relatively	ADV
alkej-317	45	5	close	close	ADJ
alkej-317	45	6	distances	distance	NOUN
alkej-317	45	7	of	of	ADP
alkej-317	45	8	decreases	decrease	NOUN
alkej-317	45	9	its	its	PRON
alkej-317	45	10	length	length	NOUN
alkej-317	45	11	and	and	CCONJ
alkej-317	45	12	response	response	NOUN
alkej-317	45	13	yogita	yogita	PROPN
alkej-317	45	14	et	et	PROPN
alkej-317	45	15	al	al	PROPN
alkej-317	45	16	.	.	PROPN
alkej-317	45	17	describe	describe	VERB
alkej-317	45	18	the	the	DET
alkej-317	45	19	use	use	NOUN
alkej-317	45	20	of	of	ADP
alkej-317	45	21	two	two	NUM
alkej-317	45	22	metaheuristic	metaheuristic	ADJ
alkej-317	45	23	algorithm	algorithm	NOUN
alkej-317	45	24	based	base	VERB
alkej-317	45	25	on	on	ADP
alkej-317	45	26	solitary	solitary	ADJ
alkej-317	45	27	intelligence	intelligence	NOUN
alkej-317	45	28	cuckoo	cuckoo	NOUN
alkej-317	45	29	search	search	NOUN
alkej-317	45	30	algorithm	algorithm	NOUN
alkej-317	45	31	(	(	PUNCT
alkej-317	45	32	bs	bs	NOUN
alkej-317	45	33	)	)	PUNCT
alkej-317	45	34	algorithms	algorithm	NOUN
alkej-317	45	35	.	.	PUNCT
alkej-317	46	1	they	they	PRON
alkej-317	46	2	are	be	AUX
alkej-317	46	3	used	use	VERB
alkej-317	46	4	planning	plan	VERB
alkej-317	46	5	for	for	ADP
alkej-317	46	6	robot	robot	NOUN
alkej-317	46	7	in	in	ADP
alkej-317	46	8	the	the	DET
alkej-317	46	9	same	same	ADJ
alkej-317	46	10	static	static	ADJ
alkej-317	46	11	environment	environment	NOUN
alkej-317	46	12	contain	contain	VERB
alkej-317	46	13	twenty	twenty	NUM
alkej-317	46	14	obstacles	obstacle	NOUN
alkej-317	46	15	,	,	PUNCT
alkej-317	46	16	and	and	CCONJ
alkej-317	46	17	assume	assume	VERB
alkej-317	46	18	that	that	SCONJ
alkej-317	46	19	the	the	DET
alkej-317	46	20	robot	robot	NOUN
alkej-317	46	21	move	move	VERB
alkej-317	46	22	with	with	ADP
alkej-317	46	23	theta	theta	NOUN
alkej-317	46	24	and	and	CCONJ
alkej-317	46	25	distance	distance	NOUN
alkej-317	46	26	from	from	ADP
alkej-317	46	27	source	source	NOUN
alkej-317	46	28	station	station	NOUN
alkej-317	46	29	toward	toward	ADP
alkej-317	46	30	destination	destination	NOUN
alkej-317	46	31	,	,	PUNCT
alkej-317	46	32	they	they	PRON
alkej-317	46	33	assume	assume	VERB
alkej-317	46	34	that	that	SCONJ
alkej-317	46	35	robot	robot	NOUN
alkej-317	46	36	encounters	encounter	NOUN
alkej-317	46	37	obstacle	obstacle	VERB
alkej-317	46	38	,	,	PUNCT
alkej-317	46	39	it	it	PRON
alkej-317	46	40	will	will	AUX
alkej-317	46	41	back	back	VERB
alkej-317	46	42	one	one	NUM
alkej-317	46	43	size	size	NOUN
alkej-317	46	44	and	and	CCONJ
alkej-317	46	45	choose	choose	VERB
alkej-317	46	46	new	new	ADJ
alkej-317	46	47	position	position	NOUN
alkej-317	46	48	that	that	PRON
alkej-317	46	49	satisf	satisf	VERB
alkej-317	46	50	minimum	minimum	ADJ
alkej-317	46	51	distance	distance	NOUN
alkej-317	46	52	with	with	ADP
alkej-317	46	53	destination	destination	NOUN
alkej-317	46	54	,	,	PUNCT
alkej-317	46	55	the	the	DET
alkej-317	46	56	simulation	simulation	NOUN
alkej-317	46	57	result	result	NOUN
alkej-317	46	58	showed	show	VERB
alkej-317	46	59	that	that	SCONJ
alkej-317	46	60	the	the	DET
alkej-317	46	61	bat	bat	NOUN
alkej-317	46	62	search	search	NOUN
alkej-317	46	63	outperforms	outperform	VERB
alkej-317	46	64	the	the	DET
alkej-317	46	65	cuckoo	cuckoo	NOUN
alkej-317	46	66	search	search	NOUN
alkej-317	46	67	in	in	ADP
alkej-317	46	68	term	term	NOUN
alkej-317	46	69	of	of	ADP
alkej-317	46	70	number	number	NOUN
alkej-317	46	71	of	of	ADP
alkej-317	46	72	iteration	iteration	NOUN
alkej-317	46	73	and	and	CCONJ
alkej-317	46	74	complexity	complexity	NOUN
alkej-317	46	75	of	of	ADP
alkej-317	46	76	the	the	DET
alkej-317	46	77	environment	environment	NOUN
alkej-317	46	78	.	.	PUNCT
alkej-317	47	1	chih	chih	PROPN
alkej-317	47	2	et	et	PROPN
alkej-317	47	3	al	al	PROPN
alkej-317	47	4	.	.	PROPN
alkej-317	47	5	implemented	implement	VERB
alkej-317	47	6	artificial	artificial	ADJ
alkej-317	47	7	immune	immune	ADJ
alkej-317	47	8	system	system	NOUN
alkej-317	47	9	(	(	PUNCT
alkej-317	47	10	ais	ais	PROPN
alkej-317	47	11	)	)	PUNCT
alkej-317	47	12	which	which	PRON
alkej-317	47	13	is	be	AUX
alkej-317	47	14	based	base	VERB
alkej-317	47	15	on	on	ADP
alkej-317	47	16	natural	natural	ADJ
alkej-317	47	17	immune	immune	ADJ
alkej-317	47	18	system	system	NOUN
alkej-317	47	19	ability	ability	NOUN
alkej-317	47	20	to	to	PART
alkej-317	47	21	detect	detect	VERB
alkej-317	47	22	cells	cell	NOUN
alkej-317	47	23	foreign	foreign	ADJ
alkej-317	47	24	to	to	ADP
alkej-317	47	25	the	the	DET
alkej-317	47	26	body	body	NOUN
alkej-317	47	27	it	it	PRON
alkej-317	47	28	has	have	AUX
alkej-317	47	29	been	be	AUX
alkej-317	47	30	used	use	VERB
alkej-317	47	31	to	to	PART
alkej-317	47	32	construct	construct	VERB
alkej-317	47	33	initial	initial	ADJ
alkej-317	47	34	feasible	feasible	ADJ
alkej-317	47	35	shortest	short	ADJ
alkej-317	47	36	path	path	NOUN
alkej-317	47	37	for	for	ADP
alkej-317	47	38	mobile	mobile	ADJ
alkej-317	47	39	robot	robot	NOUN
alkej-317	47	40	from	from	ADP
alkej-317	47	41	start	start	NOUN
alkej-317	47	42	point	point	NOUN
alkej-317	47	43	to	to	ADP
alkej-317	47	44	the	the	DET
alkej-317	47	45	end	end	NOUN
alkej-317	47	46	after	after	SCONJ
alkej-317	47	47	that	that	SCONJ
alkej-317	47	48	they	they	PRON
alkej-317	47	49	smooth	smooth	VERB
alkej-317	47	50	by	by	ADP
alkej-317	47	51	applying	apply	VERB
alkej-317	47	52	most	most	ADV
alkej-317	47	53	effective	effective	ADJ
alkej-317	47	54	curve	curve	NOUN
alkej-317	47	55	interpolation	interpolation	NOUN
alkej-317	47	56	called	call	VERB
alkej-317	47	57	b	b	NUM
alkej-317	47	58	-	-	PUNCT
alkej-317	47	59	spline	spline	NOUN
alkej-317	47	60	interpolation	interpolation	NOUN
alkej-317	47	61	implemented	implement	VERB
alkej-317	47	62	for	for	ADP
alkej-317	47	63	the	the	DET
alkej-317	47	64	work	work	NOUN
alkej-317	47	65	was	be	AUX
alkej-317	47	66	only	only	ADV
alkej-317	47	67	static	static	ADJ
alkej-317	47	68	obstacle	obstacle	NOUN
alkej-317	47	69	,	,	PUNCT
alkej-317	47	70	the	the	DET
alkej-317	47	71	simulation	simulation	NOUN
alkej-317	47	72	results	result	NOUN
alkej-317	47	73	show	show	VERB
alkej-317	47	74	the	the	DET
alkej-317	47	75	effectiveness	effectiveness	NOUN
alkej-317	47	76	of	of	ADP
alkej-317	47	77	the	the	DET
alkej-317	47	78	proposed	propose	VERB
alkej-317	47	79	algorith	algorith	PROPN
alkej-317	47	80	shape	shape	NOUN
alkej-317	47	81	environment	environment	NOUN
alkej-317	47	82	.	.	PUNCT
alkej-317	48	1	several	several	ADJ
alkej-317	48	2	algorithms	algorithm	NOUN
alkej-317	48	3	have	have	VERB
alkej-317	48	4	this	this	DET
alkej-317	48	5	purpose	purpose	NOUN
alkej-317	48	6	,	,	PUNCT
alkej-317	48	7	ant	ant	ADJ
alkej-317	48	8	colony	colony	NOUN
alkej-317	48	9	optimization	optimization	NOUN
alkej-317	48	10	(	(	PUNCT
alkej-317	48	11	aco	aco	PROPN
alkej-317	48	12	)	)	PUNCT
alkej-317	48	13	is	be	AUX
alkej-317	48	14	one	one	NUM
alkej-317	48	15	of	of	ADP
alkej-317	48	16	the	the	DET
alkej-317	48	17	most	most	ADV
alkej-317	48	18	used	used	ADJ
alkej-317	48	19	algorithm	algorithm	NOUN
alkej-317	48	20	organized	organize	VERB
alkej-317	48	21	as	as	ADP
alkej-317	48	22	follow	follow	NOUN
alkej-317	48	23	:	:	PUNCT
alkej-317	48	24	section	section	NOUN
alkej-317	48	25	1	1	NUM
alkej-317	48	26	introduction	introduction	NOUN
alkej-317	48	27	,	,	PUNCT
alkej-317	48	28	work	work	NOUN
alkej-317	48	29	,	,	PUNCT
alkej-317	48	30	section	section	NOUN
alkej-317	48	31	3	3	NUM
alkej-317	48	32	ant	ant	ADJ
alkej-317	48	33	colony	colony	NOUN
alkej-317	48	34	optimization	optimization	NOUN
alkej-317	48	35	,	,	PUNCT
alkej-317	48	36	section	section	NOUN
alkej-317	48	37	4	4	NUM
alkej-317	48	38	modeling	modeling	NOUN
alkej-317	48	39	of	of	ADP
alkej-317	48	40	the	the	DET
alkej-317	48	41	environment	environment	NOUN
alkej-317	48	42	,	,	PUNCT
alkej-317	48	43	problem	problem	NOUN
alkej-317	48	44	definition	definition	NOUN
alkej-317	48	45	,	,	PUNCT
alkej-317	48	46	section	section	NOUN
alkej-317	48	47	based	base	VERB
alkej-317	48	48	robot	robot	NOUN
alkej-317	48	49	path	path	NOUN
alkej-317	48	50	planning	planning	NOUN
alkej-317	48	51	discussion	discussion	NOUN
alkej-317	48	52	,	,	PUNCT
alkej-317	48	53	section	section	NOUN
alkej-317	48	54	9acknowledgement	9acknowledgement	NUM
alkej-317	48	55	,	,	PUNCT
alkej-317	48	56	and	and	CCONJ
alkej-317	48	57	10	10	NUM
alkej-317	48	58	khwarizmi	khwarizmi	NOUN
alkej-317	48	59	engineering	engineering	NOUN
alkej-317	48	60	journal	journal	PROPN
alkej-317	48	61	,	,	PUNCT
alkej-317	48	62	vol	vol	NOUN
alkej-317	48	63	.	.	PROPN
alkej-317	48	64	12	12	NUM
alkej-317	48	65	,	,	PUNCT
alkej-317	48	66	no	no	INTJ
alkej-317	48	67	.	.	NOUN
alkej-317	48	68	4	4	NUM
alkej-317	48	69	,	,	PUNCT
alkej-317	48	70	p.p	p.p	PROPN
alkej-317	48	71	.	.	NOUN
alkej-317	48	72	1225(2016	1225(2016	NUM
alkej-317	48	73	)	)	PUNCT
alkej-317	48	74	algorithms	algorithm	NOUN
alkej-317	48	75	.	.	PUNCT
alkej-317	49	1	while	while	SCONJ
alkej-317	49	2	the	the	DET
alkej-317	49	3	implementation	implementation	NOUN
alkej-317	49	4	of	of	ADP
alkej-317	49	5	the	the	DET
alkej-317	49	6	particle	particle	NOUN
alkej-317	49	7	swarm	swarm	NOUN
alkej-317	49	8	optimization	optimization	NOUN
alkej-317	49	9	(	(	PUNCT
alkej-317	49	10	pso	pso	NOUN
alkej-317	49	11	)	)	PUNCT
alkej-317	49	12	to	to	PART
alkej-317	49	13	find	find	VERB
alkej-317	49	14	the	the	DET
alkej-317	49	15	path	path	NOUN
alkej-317	49	16	,	,	PUNCT
alkej-317	49	17	obstacle	obstacle	NOUN
alkej-317	49	18	avoidance	avoidance	NOUN
alkej-317	49	19	is	be	AUX
alkej-317	49	20	done	do	VERB
alkej-317	49	21	by	by	ADP
alkej-317	49	22	translating	translate	VERB
alkej-317	49	23	robot	robot	NOUN
alkej-317	49	24	to	to	ADP
alkej-317	49	25	the	the	DET
alkej-317	49	26	adjacent	adjacent	ADJ
alkej-317	49	27	safe	safe	ADJ
alkej-317	49	28	point	point	NOUN
alkej-317	49	29	around	around	ADP
alkej-317	49	30	the	the	DET
alkej-317	49	31	obstacle	obstacle	NOUN
alkej-317	49	32	’s	’s	PART
alkej-317	49	33	border	border	NOUN
alkej-317	49	34	which	which	PRON
alkej-317	49	35	is	be	AUX
alkej-317	49	36	pre	pre	ADJ
alkej-317	49	37	-	-	VERB
alkej-317	49	38	defined	define	VERB
alkej-317	49	39	and	and	CCONJ
alkej-317	49	40	has	have	AUX
alkej-317	49	41	been	be	AUX
alkej-317	49	42	presented	present	VERB
alkej-317	49	43	in	in	ADP
alkej-317	49	44	[	[	X
alkej-317	49	45	5	5	NUM
alkej-317	49	46	]	]	PUNCT
alkej-317	49	47	.	.	PUNCT
alkej-317	50	1	the	the	DET
alkej-317	50	2	researchers	researcher	NOUN
alkej-317	50	3	in	in	ADP
alkej-317	50	4	[	[	X
alkej-317	50	5	6	6	NUM
alkej-317	50	6	]	]	PUNCT
alkej-317	50	7	introduced	introduce	VERB
alkej-317	50	8	path	path	NOUN
alkej-317	50	9	planning	planning	NOUN
alkej-317	50	10	in	in	ADP
alkej-317	50	11	environment	environment	NOUN
alkej-317	50	12	by	by	ADP
alkej-317	50	13	combining	combine	VERB
alkej-317	50	14	heuristic	heuristic	ADJ
alkej-317	50	15	algorithm	algorithm	NOUN
alkej-317	50	16	and	and	CCONJ
alkej-317	50	17	simulated	simulate	VERB
alkej-317	50	18	annealing	annealing	NOUN
alkej-317	50	19	algorithms	algorithm	NOUN
alkej-317	50	20	.	.	PUNCT
alkej-317	51	1	the	the	DET
alkej-317	51	2	researchers	researcher	NOUN
alkej-317	51	3	in	in	ADP
alkej-317	51	4	[	[	X
alkej-317	51	5	7	7	NUM
alkej-317	51	6	]	]	PUNCT
alkej-317	51	7	implemented	implement	VERB
alkej-317	51	8	intelligent	intelligent	ADJ
alkej-317	51	9	water	water	NOUN
alkej-317	51	10	drops	drop	NOUN
alkej-317	51	11	(	(	PUNCT
alkej-317	51	12	iwds	iwds	PROPN
alkej-317	51	13	)	)	PUNCT
alkej-317	51	14	algorithm	algorithm	NOUN
alkej-317	51	15	to	to	PART
alkej-317	51	16	solve	solve	VERB
alkej-317	51	17	robot	robot	NOUN
alkej-317	51	18	route	route	PROPN
alkej-317	51	19	forecasting	forecasting	NOUN
alkej-317	51	20	problem	problem	NOUN
alkej-317	51	21	,	,	PUNCT
alkej-317	51	22	the	the	DET
alkej-317	51	23	suggested	suggest	VERB
alkej-317	51	24	algorithm	algorithm	NOUN
alkej-317	51	25	has	have	VERB
alkej-317	51	26	stage	stage	NOUN
alkej-317	51	27	,	,	PUNCT
alkej-317	51	28	finds	find	VERB
alkej-317	51	29	the	the	DET
alkej-317	51	30	best	good	ADJ
alkej-317	51	31	global	global	NOUN
alkej-317	51	32	does	do	VERB
alkej-317	51	33	a	a	DET
alkej-317	51	34	local	local	ADJ
alkej-317	51	35	search	search	NOUN
alkej-317	51	36	at	at	ADP
alkej-317	51	37	relatively	relatively	ADV
alkej-317	51	38	close	close	ADJ
alkej-317	51	39	distances	distance	NOUN
alkej-317	51	40	of	of	ADP
alkej-317	51	41	the	the	DET
alkej-317	51	42	global	global	ADJ
alkej-317	51	43	route	route	NOUN
alkej-317	51	44	and	and	CCONJ
alkej-317	51	45	s	s	VERB
alkej-317	51	46	its	its	PRON
alkej-317	51	47	length	length	NOUN
alkej-317	51	48	and	and	CCONJ
alkej-317	51	49	response	response	NOUN
alkej-317	51	50	time	time	NOUN
alkej-317	51	51	.	.	PUNCT
alkej-317	52	1	in	in	ADP
alkej-317	52	2	[	[	X
alkej-317	52	3	8	8	NUM
alkej-317	52	4	]	]	PUNCT
alkej-317	52	5	g.	g.	NOUN
alkej-317	52	6	describe	describe	VERB
alkej-317	52	7	the	the	DET
alkej-317	52	8	use	use	NOUN
alkej-317	52	9	of	of	ADP
alkej-317	52	10	two	two	NUM
alkej-317	52	11	metaheuristic	metaheuristic	ADJ
alkej-317	52	12	algorithm	algorithm	NOUN
alkej-317	52	13	based	base	VERB
alkej-317	52	14	on	on	ADP
alkej-317	52	15	solitary	solitary	ADJ
alkej-317	52	16	intelligence	intelligence	NOUN
alkej-317	52	17	,	,	PUNCT
alkej-317	52	18	these	these	PRON
alkej-317	52	19	are	be	AUX
alkej-317	52	20	cuckoo	cuckoo	NOUN
alkej-317	52	21	search	search	NOUN
alkej-317	52	22	algorithm	algorithm	NOUN
alkej-317	52	23	(	(	PUNCT
alkej-317	52	24	cs	cs	PROPN
alkej-317	52	25	)	)	PUNCT
alkej-317	52	26	and	and	CCONJ
alkej-317	52	27	bat	bat	NOUN
alkej-317	52	28	search	search	NOUN
alkej-317	52	29	they	they	PRON
alkej-317	52	30	are	be	AUX
alkej-317	52	31	used	use	VERB
alkej-317	52	32	to	to	PART
alkej-317	52	33	find	find	VERB
alkej-317	52	34	global	global	ADJ
alkej-317	52	35	planning	planning	NOUN
alkej-317	52	36	for	for	ADP
alkej-317	52	37	robot	robot	NOUN
alkej-317	52	38	in	in	ADP
alkej-317	52	39	the	the	DET
alkej-317	52	40	same	same	ADJ
alkej-317	52	41	static	static	ADJ
alkej-317	52	42	environment	environment	NOUN
alkej-317	52	43	contain	contain	VERB
alkej-317	52	44	twenty	twenty	NUM
alkej-317	52	45	obstacles	obstacle	NOUN
alkej-317	52	46	,	,	PUNCT
alkej-317	52	47	and	and	CCONJ
alkej-317	52	48	assume	assume	VERB
alkej-317	52	49	that	that	SCONJ
alkej-317	52	50	the	the	DET
alkej-317	52	51	robot	robot	NOUN
alkej-317	52	52	move	move	VERB
alkej-317	52	53	with	with	ADP
alkej-317	52	54	theta	theta	NOUN
alkej-317	52	55	and	and	CCONJ
alkej-317	52	56	distance	distance	NOUN
alkej-317	52	57	from	from	ADP
alkej-317	52	58	source	source	NOUN
alkej-317	52	59	destination	destination	NOUN
alkej-317	52	60	,	,	PUNCT
alkej-317	52	61	they	they	PRON
alkej-317	52	62	assume	assume	VERB
alkej-317	52	63	that	that	SCONJ
alkej-317	52	64	if	if	SCONJ
alkej-317	52	65	the	the	DET
alkej-317	52	66	obstacle	obstacle	NOUN
alkej-317	52	67	,	,	PUNCT
alkej-317	52	68	it	it	PRON
alkej-317	52	69	will	will	AUX
alkej-317	52	70	back	back	VERB
alkej-317	52	71	one	one	NUM
alkej-317	52	72	step	step	NOUN
alkej-317	52	73	size	size	NOUN
alkej-317	52	74	and	and	CCONJ
alkej-317	52	75	choose	choose	VERB
alkej-317	52	76	new	new	ADJ
alkej-317	52	77	position	position	NOUN
alkej-317	52	78	that	that	PRON
alkej-317	52	79	satisfies	satisfy	VERB
alkej-317	52	80	minimum	minimum	ADJ
alkej-317	52	81	distance	distance	NOUN
alkej-317	52	82	with	with	ADP
alkej-317	52	83	destination	destination	NOUN
alkej-317	52	84	,	,	PUNCT
alkej-317	52	85	the	the	DET
alkej-317	52	86	simulation	simulation	NOUN
alkej-317	52	87	result	result	NOUN
alkej-317	52	88	showed	show	VERB
alkej-317	52	89	that	that	SCONJ
alkej-317	52	90	the	the	DET
alkej-317	52	91	bat	bat	NOUN
alkej-317	52	92	search	search	NOUN
alkej-317	52	93	outperforms	outperform	VERB
alkej-317	52	94	the	the	DET
alkej-317	52	95	cuckoo	cuckoo	NOUN
alkej-317	52	96	search	search	NOUN
alkej-317	52	97	in	in	ADP
alkej-317	52	98	term	term	NOUN
alkej-317	52	99	of	of	ADP
alkej-317	52	100	number	number	NOUN
alkej-317	52	101	of	of	ADP
alkej-317	52	102	iteration	iteration	NOUN
alkej-317	52	103	and	and	CCONJ
alkej-317	52	104	complexity	complexity	NOUN
alkej-317	52	105	of	of	ADP
alkej-317	52	106	the	the	DET
alkej-317	52	107	environment	environment	NOUN
alkej-317	52	108	.	.	PUNCT
alkej-317	53	1	in	in	ADP
alkej-317	53	2	[	[	X
alkej-317	53	3	9	9	NUM
alkej-317	53	4	]	]	PUNCT
alkej-317	53	5	h.	h.	PROPN
alkej-317	53	6	hsumplemented	hsumplemente	VERB
alkej-317	53	7	artificial	artificial	ADJ
alkej-317	53	8	immune	immune	NOUN
alkej-317	53	9	(	(	PUNCT
alkej-317	53	10	ais	ais	PROPN
alkej-317	53	11	)	)	PUNCT
alkej-317	53	12	which	which	PRON
alkej-317	53	13	is	be	AUX
alkej-317	53	14	based	base	VERB
alkej-317	53	15	on	on	ADP
alkej-317	53	16	natural	natural	ADJ
alkej-317	53	17	immune	immune	ADJ
alkej-317	53	18	system	system	NOUN
alkej-317	53	19	ability	ability	NOUN
alkej-317	53	20	to	to	PART
alkej-317	53	21	detect	detect	VERB
alkej-317	53	22	cells	cell	NOUN
alkej-317	53	23	foreign	foreign	ADJ
alkej-317	53	24	to	to	ADP
alkej-317	53	25	the	the	DET
alkej-317	53	26	body	body	NOUN
alkej-317	53	27	.	.	PUNCT
alkej-317	54	1	to	to	PART
alkej-317	54	2	construct	construct	VERB
alkej-317	54	3	initial	initial	ADJ
alkej-317	54	4	feasible	feasible	ADJ
alkej-317	54	5	shortest	short	ADJ
alkej-317	54	6	path	path	NOUN
alkej-317	54	7	for	for	ADP
alkej-317	54	8	mobile	mobile	ADJ
alkej-317	54	9	robot	robot	NOUN
alkej-317	54	10	from	from	ADP
alkej-317	54	11	start	start	NOUN
alkej-317	54	12	point	point	NOUN
alkej-317	54	13	to	to	ADP
alkej-317	54	14	the	the	DET
alkej-317	54	15	end	end	NOUN
alkej-317	54	16	after	after	ADP
alkej-317	54	17	that	that	PRON
alkej-317	54	18	they	they	PRON
alkej-317	54	19	smoothed	smooth	VERB
alkej-317	54	20	the	the	DET
alkej-317	54	21	resulting	result	VERB
alkej-317	54	22	path	path	NOUN
alkej-317	54	23	by	by	ADP
alkej-317	54	24	applying	apply	VERB
alkej-317	54	25	most	most	ADV
alkej-317	54	26	effective	effective	ADJ
alkej-317	54	27	curve	curve	NOUN
alkej-317	54	28	interpolation	interpolation	NOUN
alkej-317	54	29	spline	spline	NOUN
alkej-317	54	30	interpolation	interpolation	NOUN
alkej-317	54	31	.	.	PUNCT
alkej-317	55	1	the	the	DET
alkej-317	55	2	environment	environment	NOUN
alkej-317	55	3	implemented	implement	VERB
alkej-317	55	4	for	for	ADP
alkej-317	55	5	the	the	DET
alkej-317	55	6	work	work	NOUN
alkej-317	55	7	was	be	AUX
alkej-317	55	8	a	a	DET
alkej-317	55	9	grid	grid	NOUN
alkej-317	55	10	and	and	CCONJ
alkej-317	55	11	contain	contain	VERB
alkej-317	55	12	only	only	ADV
alkej-317	55	13	static	static	ADJ
alkej-317	55	14	obstacle	obstacle	NOUN
alkej-317	55	15	,	,	PUNCT
alkej-317	55	16	the	the	DET
alkej-317	55	17	simulation	simulation	NOUN
alkej-317	55	18	results	result	NOUN
alkej-317	55	19	show	show	VERB
alkej-317	55	20	the	the	DET
alkej-317	55	21	effectiveness	effectiveness	NOUN
alkej-317	55	22	of	of	ADP
alkej-317	55	23	the	the	DET
alkej-317	55	24	proposed	propose	VERB
alkej-317	55	25	algorithm	algorithm	NOUN
alkej-317	55	26	in	in	ADP
alkej-317	55	27	iseveral	iseveral	ADJ
alkej-317	55	28	algorithms	algorithm	NOUN
alkej-317	55	29	have	have	AUX
alkej-317	55	30	been	be	AUX
alkej-317	55	31	suggested	suggest	VERB
alkej-317	55	32	for	for	ADP
alkej-317	55	33	this	this	DET
alkej-317	55	34	purpose	purpose	NOUN
alkej-317	55	35	,	,	PUNCT
alkej-317	55	36	ant	ant	ADJ
alkej-317	55	37	colony	colony	NOUN
alkej-317	55	38	optimization	optimization	NOUN
alkej-317	55	39	(	(	PUNCT
alkej-317	55	40	aco	aco	PROPN
alkej-317	55	41	)	)	PUNCT
alkej-317	55	42	is	be	AUX
alkej-317	55	43	algorithms	algorithm	NOUN
alkej-317	55	44	.	.	PUNCT
alkej-317	56	1	this	this	DET
alkej-317	56	2	paper	paper	NOUN
alkej-317	56	3	is	be	AUX
alkej-317	56	4	introduction	introduction	NOUN
alkej-317	56	5	,	,	PUNCT
alkej-317	56	6	section	section	NOUN
alkej-317	56	7	2	2	NUM
alkej-317	56	8	related	relate	VERB
alkej-317	56	9	ant	ant	ADJ
alkej-317	56	10	colony	colony	NOUN
alkej-317	56	11	optimization	optimization	NOUN
alkej-317	56	12	,	,	PUNCT
alkej-317	56	13	section	section	NOUN
alkej-317	56	14	of	of	ADP
alkej-317	56	15	the	the	DET
alkej-317	56	16	environment	environment	NOUN
alkej-317	56	17	,	,	PUNCT
alkej-317	56	18	section	section	NOUN
alkej-317	56	19	5	5	NUM
alkej-317	56	20	ection	ection	PROPN
alkej-317	56	21	aco	aco	PROPN
alkej-317	56	22	and	and	CCONJ
alkej-317	56	23	maco	maco	PROPN
alkej-317	56	24	based	base	VERB
alkej-317	56	25	robot	robot	NOUN
alkej-317	56	26	path	path	PROPN
alkej-317	56	27	planning	planning	NOUN
alkej-317	56	28	,	,	PUNCT
alkej-317	56	29	section	section	NOUN
alkej-317	56	30	7	7	NUM
alkej-317	56	31	-	-	PUNCT
alkej-317	56	32	result	result	NOUN
alkej-317	56	33	,	,	PUNCT
alkej-317	56	34	and	and	CCONJ
alkej-317	56	35	8	8	NUM
alkej-317	56	36	conclusion	conclusion	NOUN
alkej-317	56	37	,	,	PUNCT
alkej-317	56	38	10	10	NUM
alkej-317	56	39	-	-	PUNCT
alkej-317	56	40	references	reference	NOUN
alkej-317	56	41	.	.	PUNCT
alkej-317	57	1	ibraheem	ibraheem	PROPN
alkej-317	57	2	kasim	kasim	PROPN
alkej-317	57	3	ibraheem	ibraheem	PROPN
alkej-317	57	4	3	3	NUM
alkej-317	57	5	.	.	PUNCT
alkej-317	57	6	ant	ant	ADJ
alkej-317	57	7	colony	colony	NOUN
alkej-317	57	8	optimization	optimization	NOUN
alkej-317	57	9	(	(	PUNCT
alkej-317	57	10	aco	aco	PROPN
alkej-317	57	11	)	)	PUNCT
alkej-317	57	12	algorithm	algorithm	PROPN
alkej-317	57	13	aco	aco	PROPN
alkej-317	57	14	is	be	AUX
alkej-317	57	15	a	a	DET
alkej-317	57	16	met	meet	VERB
alkej-317	57	17	heuristic	heuristic	ADJ
alkej-317	57	18	method	method	NOUN
alkej-317	57	19	that	that	PRON
alkej-317	57	20	belongs	belong	VERB
alkej-317	57	21	to	to	ADP
alkej-317	57	22	the	the	DET
alkej-317	57	23	arbitrary	arbitrary	ADJ
alkej-317	57	24	searching	searching	NOUN
alkej-317	57	25	algorithm	algorithm	NOUN
alkej-317	57	26	.	.	PUNCT
alkej-317	58	1	this	this	DET
alkej-317	58	2	algorithm	algorithm	NOUN
alkej-317	58	3	was	be	AUX
alkej-317	58	4	firstly	firstly	ADV
alkej-317	58	5	introduced	introduce	VERB
alkej-317	58	6	by	by	ADP
alkej-317	58	7	m.	m.	PROPN
alkej-317	58	8	dorigo	dorigo	PROPN
alkej-317	58	9	[	[	PUNCT
alkej-317	58	10	made	make	VERB
alkej-317	58	11	the	the	DET
alkej-317	58	12	complete	complete	ADJ
alkej-317	58	13	use	use	NOUN
alkej-317	58	14	of	of	ADP
alkej-317	58	15	the	the	DET
alkej-317	58	16	likenesses	likeness	NOUN
alkej-317	58	17	between	between	ADP
alkej-317	58	18	the	the	DET
alkej-317	58	19	routes	route	NOUN
alkej-317	58	20	of	of	ADP
alkej-317	58	21	ant	ant	ADJ
alkej-317	58	22	colony	colony	NOUN
alkej-317	58	23	searching	search	VERB
alkej-317	58	24	for	for	ADP
alkej-317	58	25	food	food	NOUN
alkej-317	58	26	and	and	CCONJ
alkej-317	58	27	the	the	DET
alkej-317	58	28	well	well	ADV
alkej-317	58	29	-	-	PUNCT
alkej-317	58	30	known	know	VERB
alkej-317	58	31	travel	travel	NOUN
alkej-317	58	32	salesman	salesman	NOUN
alkej-317	58	33	problem	problem	NOUN
alkej-317	58	34	(	(	PUNCT
alkej-317	58	35	tsp	tsp	NOUN
alkej-317	58	36	)	)	PUNCT
alkej-317	58	37	.	.	PUNCT
alkej-317	59	1	to	to	PART
alkej-317	59	2	solve	solve	VERB
alkej-317	59	3	the	the	DET
alkej-317	59	4	tsp	tsp	NOUN
alkej-317	59	5	by	by	ADP
alkej-317	59	6	an	an	DET
alkej-317	59	7	artificially	artificially	ADV
alkej-317	59	8	simulating	simulate	VERB
alkej-317	59	9	the	the	DET
alkej-317	59	10	procedure	procedure	NOUN
alkej-317	59	11	of	of	ADP
alkej-317	59	12	ant	ant	NOUN
alkej-317	59	13	searching	search	VERB
alkej-317	59	14	for	for	ADP
alkej-317	59	15	the	the	DET
alkej-317	59	16	food	food	NOUN
alkej-317	59	17	,	,	PUNCT
alkej-317	59	18	discovery	discovery	VERB
alkej-317	59	19	the	the	DET
alkej-317	59	20	shortest	short	ADJ
alkej-317	59	21	route	route	NOUN
alkej-317	59	22	from	from	ADP
alkej-317	59	23	ant	ant	ADJ
alkej-317	59	24	nest	nest	NOUN
alkej-317	59	25	to	to	PART
alkej-317	59	26	food	food	NOUN
alkej-317	59	27	places	place	NOUN
alkej-317	59	28	through	through	ADP
alkej-317	59	29	the	the	DET
alkej-317	59	30	interchange	interchange	NOUN
alkej-317	59	31	of	of	ADP
alkej-317	59	32	information	information	NOUN
alkej-317	59	33	collaboration	collaboration	NOUN
alkej-317	59	34	[	[	X
alkej-317	59	35	11	11	NUM
alkej-317	59	36	]	]	PUNCT
alkej-317	59	37	.	.	PUNCT
alkej-317	60	1	all	all	DET
alkej-317	60	2	ants	ant	NOUN
alkej-317	60	3	of	of	ADP
alkej-317	60	4	the	the	DET
alkej-317	60	5	move	move	NOUN
alkej-317	60	6	along	along	ADP
alkej-317	60	7	the	the	DET
alkej-317	60	8	same	same	ADJ
alkej-317	60	9	path	path	NOUN
alkej-317	60	10	by	by	ADP
alkej-317	60	11	following	follow	VERB
alkej-317	60	12	one	one	NUM
alkej-317	60	13	another	another	DET
alkej-317	60	14	.	.	PUNCT
alkej-317	61	1	this	this	PRON
alkej-317	61	2	is	be	AUX
alkej-317	61	3	because	because	SCONJ
alkej-317	61	4	every	every	DET
alkej-317	61	5	ant	ant	ADJ
alkej-317	61	6	substance	substance	NOUN
alkej-317	61	7	called	call	VERB
alkej-317	61	8	“	"	PUNCT
alkej-317	61	9	pheromone	pheromone	NOUN
alkej-317	61	10	”	"	PUNCT
alkej-317	61	11	while	while	SCONJ
alkej-317	61	12	moving	move	VERB
alkej-317	61	13	.	.	PUNCT
alkej-317	62	1	the	the	DET
alkej-317	62	2	other	other	ADJ
alkej-317	62	3	ants	ant	NOUN
alkej-317	62	4	sense	sense	VERB
alkej-317	62	5	the	the	DET
alkej-317	62	6	intensity	intensity	NOUN
alkej-317	62	7	of	of	ADP
alkej-317	62	8	pheromone	pheromone	NOUN
alkej-317	62	9	and	and	CCONJ
alkej-317	62	10	follow	follow	VERB
alkej-317	62	11	the	the	DET
alkej-317	62	12	path	path	NOUN
alkej-317	62	13	having	have	VERB
alkej-317	62	14	a	a	DET
alkej-317	62	15	higher	high	ADJ
alkej-317	62	16	concentration	concentration	NOUN
alkej-317	62	17	of	of	ADP
alkej-317	62	18	pheromone	pheromone	NOUN
alkej-317	62	19	.	.	PUNCT
alkej-317	63	1	this	this	PRON
alkej-317	63	2	is	be	AUX
alkej-317	63	3	their	their	PRON
alkej-317	63	4	way	way	NOUN
alkej-317	63	5	to	to	PART
alkej-317	63	6	find	find	VERB
alkej-317	63	7	an	an	DET
alkej-317	63	8	optimized	optimize	VERB
alkej-317	63	9	path	path	NOUN
alkej-317	63	10	.	.	PUNCT
alkej-317	64	1	initially	initially	ADV
alkej-317	64	2	,	,	PUNCT
alkej-317	64	3	the	the	DET
alkej-317	64	4	ants	ant	NOUN
alkej-317	64	5	wander	wander	VERB
alkej-317	64	6	randomly	randomly	ADV
alkej-317	64	7	to	to	PART
alkej-317	64	8	find	find	VERB
alkej-317	64	9	their	their	PRON
alkej-317	64	10	way	way	NOUN
alkej-317	64	11	to	to	ADP
alkej-317	64	12	the	the	DET
alkej-317	64	13	destination	destination	NOUN
alkej-317	64	14	.	.	PUNCT
alkej-317	65	1	every	every	DET
alkej-317	65	2	pheromone	pheromone	NOUN
alkej-317	65	3	along	along	ADP
alkej-317	65	4	the	the	DET
alkej-317	65	5	route	route	NOUN
alkej-317	65	6	.	.	PUNCT
alkej-317	66	1	on	on	ADP
alkej-317	66	2	their	their	PRON
alkej-317	66	3	back	back	ADJ
alkej-317	66	4	tour	tour	NOUN
alkej-317	66	5	ant	ant	ADJ
alkej-317	66	6	senses	sense	NOUN
alkej-317	66	7	pheromone	pheromone	NOUN
alkej-317	66	8	intensity	intensity	NOUN
alkej-317	66	9	and	and	CCONJ
alkej-317	66	10	choose	choose	VERB
alkej-317	66	11	the	the	DET
alkej-317	66	12	path	path	NOUN
alkej-317	66	13	having	have	VERB
alkej-317	66	14	a	a	DET
alkej-317	66	15	higher	high	ADJ
alkej-317	66	16	concentration	concentration	NOUN
alkej-317	66	17	of	of	ADP
alkej-317	66	18	pheromone	pheromone	NOUN
alkej-317	66	19	.	.	PUNCT
alkej-317	67	1	the	the	DET
alkej-317	67	2	pheromone	pheromone	NOUN
alkej-317	67	3	evaporates	evaporate	VERB
alkej-317	67	4	with	with	ADP
alkej-317	67	5	time	time	NOUN
alkej-317	67	6	and	and	CCONJ
alkej-317	67	7	hence	hence	ADV
alkej-317	67	8	the	the	DET
alkej-317	67	9	concentration	concentration	NOUN
alkej-317	67	10	of	of	ADP
alkej-317	67	11	pheromone	pheromone	NOUN
alkej-317	67	12	would	would	AUX
alkej-317	67	13	be	be	AUX
alkej-317	67	14	higher	high	ADJ
alkej-317	67	15	along	along	ADP
alkej-317	67	16	the	the	DET
alkej-317	67	17	shortest	short	ADJ
alkej-317	67	18	path	path	NOUN
alkej-317	67	19	as	as	SCONJ
alkej-317	67	20	the	the	DET
alkej-317	67	21	time	time	NOUN
alkej-317	67	22	taken	take	VERB
alkej-317	67	23	to	to	PART
alkej-317	67	24	cover	cover	VERB
alkej-317	67	25	the	the	DET
alkej-317	67	26	shortest	short	ADJ
alkej-317	67	27	path	path	NOUN
alkej-317	67	28	would	would	AUX
alkej-317	67	29	be	be	AUX
alkej-317	67	30	minimum	minimum	ADJ
alkej-317	67	31	as	as	ADP
alkej-317	67	32	comp	comp	NOUN
alkej-317	67	33	to	to	ADP
alkej-317	67	34	other	other	ADJ
alkej-317	67	35	paths	path	NOUN
alkej-317	67	36	.	.	PUNCT
alkej-317	68	1	hence	hence	ADV
alkej-317	68	2	,	,	PUNCT
alkej-317	68	3	almost	almost	ADV
alkej-317	68	4	every	every	PRON
alkej-317	68	5	ant	ant	NOUN
alkej-317	68	6	would	would	AUX
alkej-317	68	7	be	be	AUX
alkej-317	68	8	attracted	attract	VERB
alkej-317	68	9	by	by	ADP
alkej-317	68	10	the	the	DET
alkej-317	68	11	higher	high	ADJ
alkej-317	68	12	intensity	intensity	NOUN
alkej-317	68	13	of	of	ADP
alkej-317	68	14	pheromone	pheromone	NOUN
alkej-317	68	15	along	along	ADP
alkej-317	68	16	the	the	DET
alkej-317	68	17	shortest	short	ADJ
alkej-317	68	18	path	path	NOUN
alkej-317	68	19	and	and	CCONJ
alkej-317	68	20	select	select	VERB
alkej-317	68	21	the	the	DET
alkej-317	68	22	optimized	optimize	VERB
alkej-317	68	23	path	path	NOUN
alkej-317	68	24	.	.	PUNCT
alkej-317	69	1	pheromones	pheromone	NOUN
alkej-317	69	2	:	:	PUNCT
alkej-317	69	3	biochemical	biochemical	ADJ
alkej-317	69	4	material	material	NOUN
alkej-317	69	5	left	leave	VERB
alkej-317	69	6	by	by	ADP
alkej-317	69	7	an	an	DET
alkej-317	69	8	ant	ant	NOUN
alkej-317	69	9	when	when	SCONJ
alkej-317	69	10	traveling	travel	VERB
alkej-317	69	11	;	;	PUNCT
alkej-317	69	12	separately	separately	ADV
alkej-317	69	13	ant	ant	NOUN
alkej-317	69	14	probabilistically	probabilistically	ADV
alkej-317	69	15	favors	favor	VERB
alkej-317	69	16	to	to	PART
alkej-317	69	17	follow	follow	VERB
alkej-317	69	18	route	route	NOUN
alkej-317	69	19	rich	rich	ADJ
alkej-317	69	20	in	in	ADP
alkej-317	69	21	pheromone	pheromone	NOUN
alkej-317	69	22	relatively	relatively	ADV
alkej-317	69	23	than	than	ADP
alkej-317	69	24	a	a	DET
alkej-317	69	25	lesser	less	ADJ
alkej-317	69	26	one	one	NOUN
alkej-317	69	27	[	[	X
alkej-317	69	28	12	12	NUM
alkej-317	69	29	if	if	SCONJ
alkej-317	69	30	the	the	DET
alkej-317	69	31	ants	ant	NOUN
alkej-317	69	32	encounter	encounter	VERB
alkej-317	69	33	obstacle	obstacle	NOUN
alkej-317	69	34	,	,	PUNCT
alkej-317	69	35	they	they	PRON
alkej-317	69	36	travel	travel	VERB
alkej-317	69	37	into	into	ADP
alkej-317	69	38	available	available	ADJ
alkej-317	69	39	paths	path	NOUN
alkej-317	69	40	with	with	ADP
alkej-317	69	41	equal	equal	ADJ
alkej-317	69	42	probability	probability	NOUN
alkej-317	69	43	(	(	PUNCT
alkej-317	69	44	pheromones	pheromone	NOUN
alkej-317	69	45	)	)	PUNCT
alkej-317	69	46	as	as	SCONJ
alkej-317	69	47	shown	show	VERB
alkej-317	69	48	in	in	ADP
alkej-317	69	49	the	the	DET
alkej-317	69	50	figure	figure	NOUN
alkej-317	69	51	below	below	ADP
alkej-317	69	52	:	:	PUNCT
alkej-317	69	53	fig	fig	NOUN
alkej-317	69	54	.	.	PUNCT
alkej-317	70	1	2	2	X
alkej-317	70	2	.	.	X
alkej-317	70	3	ants	ant	NOUN
alkej-317	70	4	obstacle	obstacle	VERB
alkej-317	70	5	avoidance	avoidance	PROPN
alkej-317	70	6	al	al	PROPN
alkej-317	70	7	-	-	PUNCT
alkej-317	70	8	khwarizmi	khwarizmi	PROPN
alkej-317	70	9	engineering	engineering	NOUN
alkej-317	70	10	journal	journal	PROPN
alkej-317	70	11	,	,	PUNCT
alkej-317	70	12	vol	vol	NOUN
alkej-317	70	13	.	.	PROPN
alkej-317	70	14	12	12	NUM
alkej-317	70	15	,	,	PUNCT
alkej-317	70	16	no	no	INTJ
alkej-317	70	17	.	.	NOUN
alkej-317	70	18	4	4	NUM
alkej-317	70	19	,	,	PUNCT
alkej-317	70	20	p.p	p.p	PROPN
alkej-317	70	21	.	.	NOUN
alkej-317	70	22	14	14	NUM
alkej-317	70	23	ant	ant	ADJ
alkej-317	70	24	colony	colony	NOUN
alkej-317	70	25	optimization	optimization	NOUN
alkej-317	70	26	(	(	PUNCT
alkej-317	70	27	aco	aco	PROPN
alkej-317	70	28	)	)	PUNCT
alkej-317	70	29	aco	aco	PROPN
alkej-317	70	30	is	be	AUX
alkej-317	70	31	a	a	DET
alkej-317	70	32	met	meet	VERB
alkej-317	70	33	heuristic	heuristic	ADJ
alkej-317	70	34	method	method	NOUN
alkej-317	70	35	that	that	PRON
alkej-317	70	36	belongs	belong	VERB
alkej-317	70	37	to	to	ADP
alkej-317	70	38	the	the	DET
alkej-317	70	39	arbitrary	arbitrary	ADJ
alkej-317	70	40	searching	searching	NOUN
alkej-317	70	41	algorithm	algorithm	NOUN
alkej-317	70	42	.	.	PUNCT
alkej-317	71	1	this	this	DET
alkej-317	71	2	algorithm	algorithm	NOUN
alkej-317	71	3	by	by	ADP
alkej-317	71	4	m.	m.	NOUN
alkej-317	71	5	dorigo	dorigo	PROPN
alkej-317	72	1	[	[	X
alkej-317	72	2	10	10	NUM
alkej-317	72	3	]	]	PUNCT
alkej-317	72	4	who	who	PRON
alkej-317	72	5	made	make	VERB
alkej-317	72	6	the	the	DET
alkej-317	72	7	complete	complete	ADJ
alkej-317	72	8	use	use	NOUN
alkej-317	72	9	of	of	ADP
alkej-317	72	10	the	the	DET
alkej-317	72	11	likenesses	likeness	NOUN
alkej-317	72	12	between	between	ADP
alkej-317	72	13	earching	earche	VERB
alkej-317	72	14	for	for	ADP
alkej-317	72	15	food	food	NOUN
alkej-317	72	16	and	and	CCONJ
alkej-317	72	17	the	the	DET
alkej-317	72	18	problem	problem	NOUN
alkej-317	72	19	(	(	PUNCT
alkej-317	72	20	tsp	tsp	NOUN
alkej-317	72	21	)	)	PUNCT
alkej-317	72	22	.	.	PUNCT
alkej-317	73	1	to	to	PART
alkej-317	73	2	solve	solve	VERB
alkej-317	73	3	the	the	DET
alkej-317	73	4	tsp	tsp	NOUN
alkej-317	73	5	by	by	ADP
alkej-317	73	6	an	an	DET
alkej-317	73	7	artificially	artificially	ADV
alkej-317	73	8	simulating	simulate	VERB
alkej-317	73	9	the	the	DET
alkej-317	73	10	procedure	procedure	NOUN
alkej-317	73	11	of	of	ADP
alkej-317	73	12	ant	ant	NOUN
alkej-317	73	13	searching	search	VERB
alkej-317	73	14	for	for	ADP
alkej-317	73	15	the	the	DET
alkej-317	73	16	food	food	NOUN
alkej-317	73	17	,	,	PUNCT
alkej-317	73	18	discovery	discovery	VERB
alkej-317	73	19	the	the	DET
alkej-317	73	20	shortest	short	ADJ
alkej-317	73	21	route	route	NOUN
alkej-317	73	22	from	from	ADP
alkej-317	73	23	ant	ant	ADJ
alkej-317	73	24	nest	nest	NOUN
alkej-317	73	25	to	to	PART
alkej-317	73	26	food	food	NOUN
alkej-317	73	27	places	place	NOUN
alkej-317	73	28	of	of	ADP
alkej-317	73	29	information	information	NOUN
alkej-317	73	30	and	and	CCONJ
alkej-317	73	31	shared	share	VERB
alkej-317	73	32	the	the	DET
alkej-317	73	33	same	same	ADJ
alkej-317	73	34	anthill	anthill	NOUN
alkej-317	73	35	move	move	VERB
alkej-317	73	36	along	along	ADP
alkej-317	73	37	the	the	DET
alkej-317	73	38	same	same	ADJ
alkej-317	73	39	path	path	NOUN
alkej-317	73	40	by	by	ADP
alkej-317	73	41	following	follow	VERB
alkej-317	73	42	one	one	NUM
alkej-317	73	43	ant	ant	NOUN
alkej-317	73	44	releases	release	VERB
alkej-317	73	45	a	a	DET
alkej-317	73	46	substance	substance	NOUN
alkej-317	73	47	called	call	VERB
alkej-317	73	48	“	"	PUNCT
alkej-317	73	49	pheromone	pheromone	NOUN
alkej-317	73	50	”	"	PUNCT
alkej-317	73	51	while	while	SCONJ
alkej-317	73	52	moving	move	VERB
alkej-317	73	53	.	.	PUNCT
alkej-317	74	1	the	the	DET
alkej-317	74	2	other	other	ADJ
alkej-317	74	3	ants	ant	NOUN
alkej-317	74	4	sense	sense	VERB
alkej-317	74	5	the	the	DET
alkej-317	74	6	intensity	intensity	NOUN
alkej-317	74	7	of	of	ADP
alkej-317	74	8	pheromone	pheromone	NOUN
alkej-317	74	9	and	and	CCONJ
alkej-317	74	10	ath	ath	NOUN
alkej-317	74	11	having	have	VERB
alkej-317	74	12	a	a	DET
alkej-317	74	13	higher	high	ADJ
alkej-317	74	14	concentration	concentration	NOUN
alkej-317	74	15	of	of	ADP
alkej-317	74	16	their	their	PRON
alkej-317	74	17	way	way	NOUN
alkej-317	74	18	to	to	PART
alkej-317	74	19	find	find	VERB
alkej-317	74	20	an	an	DET
alkej-317	74	21	optimized	optimize	VERB
alkej-317	74	22	the	the	DET
alkej-317	74	23	ants	ant	NOUN
alkej-317	74	24	wander	wander	VERB
alkej-317	74	25	randomly	randomly	ADV
alkej-317	74	26	to	to	PART
alkej-317	74	27	find	find	VERB
alkej-317	74	28	their	their	PRON
alkej-317	74	29	way	way	NOUN
alkej-317	74	30	to	to	ADP
alkej-317	74	31	the	the	DET
alkej-317	74	32	destination	destination	NOUN
alkej-317	74	33	.	.	PUNCT
alkej-317	75	1	every	every	DET
alkej-317	75	2	ant	ant	ADJ
alkej-317	75	3	releases	release	NOUN
alkej-317	75	4	.	.	PUNCT
alkej-317	76	1	on	on	ADP
alkej-317	76	2	their	their	PRON
alkej-317	76	3	back	back	ADJ
alkej-317	76	4	tour	tour	NOUN
alkej-317	76	5	ant	ant	ADJ
alkej-317	76	6	ensity	ensity	NOUN
alkej-317	76	7	and	and	CCONJ
alkej-317	76	8	choose	choose	VERB
alkej-317	76	9	the	the	DET
alkej-317	76	10	path	path	NOUN
alkej-317	76	11	of	of	ADP
alkej-317	76	12	pheromone	pheromone	NOUN
alkej-317	76	13	.	.	PUNCT
alkej-317	77	1	the	the	DET
alkej-317	77	2	pheromone	pheromone	NOUN
alkej-317	77	3	evaporates	evaporate	VERB
alkej-317	77	4	with	with	ADP
alkej-317	77	5	time	time	NOUN
alkej-317	77	6	and	and	CCONJ
alkej-317	77	7	hence	hence	ADV
alkej-317	77	8	the	the	DET
alkej-317	77	9	concentration	concentration	NOUN
alkej-317	77	10	of	of	ADP
alkej-317	77	11	pheromone	pheromone	NOUN
alkej-317	77	12	would	would	AUX
alkej-317	77	13	be	be	AUX
alkej-317	77	14	higher	high	ADJ
alkej-317	77	15	along	along	ADP
alkej-317	77	16	the	the	DET
alkej-317	77	17	shortest	short	ADJ
alkej-317	77	18	path	path	NOUN
alkej-317	77	19	as	as	SCONJ
alkej-317	77	20	the	the	DET
alkej-317	77	21	time	time	NOUN
alkej-317	77	22	taken	take	VERB
alkej-317	77	23	to	to	PART
alkej-317	77	24	cover	cover	VERB
alkej-317	77	25	the	the	DET
alkej-317	77	26	shortest	short	ADJ
alkej-317	77	27	path	path	NOUN
alkej-317	77	28	would	would	AUX
alkej-317	77	29	be	be	AUX
alkej-317	77	30	minimum	minimum	ADJ
alkej-317	77	31	as	as	ADP
alkej-317	77	32	compared	compare	VERB
alkej-317	77	33	.	.	PUNCT
alkej-317	78	1	hence	hence	ADV
alkej-317	78	2	,	,	PUNCT
alkej-317	78	3	almost	almost	ADV
alkej-317	78	4	every	every	PRON
alkej-317	78	5	ant	ant	NOUN
alkej-317	78	6	would	would	AUX
alkej-317	78	7	be	be	AUX
alkej-317	78	8	attracted	attract	VERB
alkej-317	78	9	by	by	ADP
alkej-317	78	10	the	the	DET
alkej-317	78	11	higher	high	ADJ
alkej-317	78	12	intensity	intensity	NOUN
alkej-317	78	13	of	of	ADP
alkej-317	78	14	pheromone	pheromone	NOUN
alkej-317	78	15	along	along	ADP
alkej-317	78	16	the	the	DET
alkej-317	78	17	shortest	short	ADJ
alkej-317	78	18	path	path	NOUN
alkej-317	78	19	and	and	CCONJ
alkej-317	78	20	select	select	VERB
alkej-317	78	21	the	the	DET
alkej-317	78	22	optimized	optimize	VERB
alkej-317	78	23	path	path	NOUN
alkej-317	78	24	.	.	PUNCT
alkej-317	79	1	pheromones	pheromone	NOUN
alkej-317	79	2	:	:	PUNCT
alkej-317	79	3	biochemical	biochemical	ADJ
alkej-317	79	4	material	material	NOUN
alkej-317	79	5	left	leave	VERB
alkej-317	79	6	by	by	ADP
alkej-317	79	7	;	;	PUNCT
alkej-317	79	8	separately	separately	ADV
alkej-317	79	9	ant	ant	ADJ
alkej-317	79	10	ors	or	NOUN
alkej-317	79	11	to	to	PART
alkej-317	79	12	follow	follow	VERB
alkej-317	79	13	route	route	NOUN
alkej-317	79	14	rich	rich	ADJ
alkej-317	79	15	in	in	ADP
alkej-317	79	16	relatively	relatively	ADV
alkej-317	79	17	than	than	ADP
alkej-317	79	18	a	a	DET
alkej-317	79	19	lesser	less	ADJ
alkej-317	79	20	one	one	NOUN
alkej-317	79	21	[	[	X
alkej-317	79	22	12	12	NUM
alkej-317	79	23	]	]	PUNCT
alkej-317	79	24	.	.	PUNCT
alkej-317	80	1	if	if	SCONJ
alkej-317	80	2	the	the	DET
alkej-317	80	3	ants	ant	NOUN
alkej-317	80	4	encounter	encounter	VERB
alkej-317	80	5	obstacle	obstacle	NOUN
alkej-317	80	6	,	,	PUNCT
alkej-317	80	7	they	they	PRON
alkej-317	80	8	travel	travel	VERB
alkej-317	80	9	into	into	ADP
alkej-317	80	10	available	available	ADJ
alkej-317	80	11	paths	path	NOUN
alkej-317	80	12	with	with	ADP
alkej-317	80	13	equal	equal	ADJ
alkej-317	80	14	probability	probability	NOUN
alkej-317	80	15	(	(	PUNCT
alkej-317	80	16	re	re	NOUN
alkej-317	80	17	-	-	NOUN
alkej-317	80	18	initialize	initialize	VERB
alkej-317	80	19	pheromones	pheromone	NOUN
alkej-317	80	20	)	)	PUNCT
alkej-317	80	21	as	as	SCONJ
alkej-317	80	22	shown	show	VERB
alkej-317	80	23	in	in	ADP
alkej-317	80	24	the	the	DET
alkej-317	80	25	figure	figure	NOUN
alkej-317	80	26	below	below	ADV
alkej-317	80	27	:	:	PUNCT
alkej-317	80	28	ants	ant	NOUN
alkej-317	80	29	obstacle	obstacle	VERB
alkej-317	80	30	avoidance	avoidance	NOUN
alkej-317	80	31	.	.	PUNCT
alkej-317	81	1	3.1	3.1	NUM
alkej-317	81	2	.	.	PUNCT
alkej-317	81	3	mathematical	mathematical	ADJ
alkej-317	81	4	model	model	NOUN
alkej-317	81	5	of	of	ADP
alkej-317	81	6	algorithm	algorithm	NOUN
alkej-317	81	7	[	[	X
alkej-317	81	8	13	13	NUM
alkej-317	81	9	]	]	SYM
alkej-317	81	10	1	1	NUM
alkej-317	81	11	-	-	PUNCT
alkej-317	81	12	for	for	ADP
alkej-317	81	13	kth	kth	NOUN
alkej-317	81	14	ant	ant	NOUN
alkej-317	81	15	at	at	ADP
alkej-317	81	16	node	node	PROPN
alkej-317	81	17	i	i	PRON
alkej-317	81	18	and	and	CCONJ
alkej-317	81	19	want	want	VERB
alkej-317	81	20	to	to	PART
alkej-317	81	21	move	move	VERB
alkej-317	81	22	to	to	ADP
alkej-317	81	23	next	next	ADJ
alkej-317	81	24	node	node	PROPN
alkej-317	81	25	j	j	PROPN
alkej-317	81	26	using	use	VERB
alkej-317	81	27	probability	probability	NOUN
alkej-317	81	28	formula	formula	NOUN
alkej-317	81	29	.	.	PUNCT
alkej-317	82	1	�	�	PROPN
alkej-317	82	2	�	�	PROPN
alkej-317	82	3	�	�	PROPN
alkej-317	82	4	�	�	PROPN
alkej-317	82	5	�	�	PROPN
alkej-317	82	6	�	�	PROPN
alkej-317	82	7	�	�	PROPN
alkej-317	82	8	�	�	PROPN
alkej-317	82	9	�	�	PROPN
alkej-317	82	10	�	�	PROPN
alkej-317	82	11	�	�	PROPN
alkej-317	82	12	∗	∗	PROPN
alkej-317	82	13	�	�	PROPN
alkej-317	82	14	�	�	PROPN
alkej-317	82	15	�	�	PROPN
alkej-317	82	16	�	�	PROPN
alkej-317	82	17	�	�	PROPN
alkej-317	82	18	�	�	PROPN
alkej-317	82	19	�	�	PROPN
alkej-317	82	20	�	�	PROPN
alkej-317	82	21	�	�	PROPN
alkej-317	82	22	�	�	PROPN
alkej-317	82	23	∗	∗	PROPN
alkej-317	82	24	�	�	PROPN
alkej-317	82	25	�	�	PROPN
alkej-317	82	26	�	�	PROPN
alkej-317	82	27	�	�	PROPN
alkej-317	82	28	�	�	PROPN
alkej-317	82	29	�	�	PROPN
alkej-317	82	30	�	�	PROPN
alkej-317	82	31	�	�	PROPN
alkej-317	82	32	�	�	PROPN
alkej-317	82	33	where	where	SCONJ
alkej-317	82	34	�	�	PROPN
alkej-317	82	35	&	&	CCONJ
alkej-317	82	36	�	�	PROPN
alkej-317	82	37	are	be	AUX
alkej-317	82	38	degree	degree	NOUN
alkej-317	82	39	of	of	ADP
alkej-317	82	40	importance	importance	NOUN
alkej-317	82	41	of	of	ADP
alkej-317	82	42	pheromones	pheromone	NOUN
alkej-317	82	43	and	and	CCONJ
alkej-317	82	44	heuristic	heuristic	ADJ
alkej-317	82	45	function	function	NOUN
alkej-317	82	46	respectively	respectively	ADV
alkej-317	82	47	.	.	PUNCT
alkej-317	83	1	2	2	NUM
alkej-317	83	2	-	-	PUNCT
alkej-317	83	3	after	after	SCONJ
alkej-317	83	4	the	the	DET
alkej-317	83	5	ants	ant	NOUN
alkej-317	83	6	complete	complete	VERB
alkej-317	83	7	their	their	PRON
alkej-317	83	8	tour	tour	NOUN
alkej-317	83	9	,	,	PUNCT
alkej-317	83	10	the	the	DET
alkej-317	83	11	pheromones	pheromone	NOUN
alkej-317	83	12	trial	trial	NOUN
alkej-317	83	13	values	value	NOUN
alkej-317	83	14	are	be	AUX
alkej-317	83	15	update	update	VERB
alkej-317	83	16	the	the	DET
alkej-317	83	17	following	follow	VERB
alkej-317	83	18	formula	formula	NOUN
alkej-317	83	19	:	:	PUNCT
alkej-317	83	20	�	�	PROPN
alkej-317	83	21	�	�	PROPN
alkej-317	83	22	�	�	PROPN
alkej-317	83	23	�	�	PROPN
alkej-317	83	24	�	�	PROPN
alkej-317	83	25	�	�	PROPN
alkej-317	83	26	�	�	PROPN
alkej-317	83	27	�	�	PROPN
alkej-317	83	28	�	�	PROPN
alkej-317	83	29	�	�	PROPN
alkej-317	83	30	1	1	NUM
alkej-317	83	31	�	�	PROPN
alkej-317	83	32	�	�	PROPN
alkej-317	83	33	!	!	SYM
alkej-317	83	34	�	�	PROPN
alkej-317	83	35	�	�	PROPN
alkej-317	83	36	�	�	PROPN
alkej-317	83	37	�	�	PROPN
alkej-317	83	38	where	where	SCONJ
alkej-317	83	39	is	be	AUX
alkej-317	83	40	the	the	DET
alkej-317	83	41	pheromones	pheromone	NOUN
alkej-317	83	42	decay	decay	NOUN
alkej-317	83	43	parameter	parameter	NOUN
alkej-317	83	44	range	range	NOUN
alkej-317	83	45	(	(	PUNCT
alkej-317	83	46	0	0	NUM
alkej-317	83	47	,	,	PUNCT
alkej-317	83	48	1	1	NUM
alkej-317	83	49	)	)	PUNCT
alkej-317	83	50	∆	∆	PROPN
alkej-317	83	51	�	�	PROPN
alkej-317	83	52	�	�	PROPN
alkej-317	83	53	�	�	PROPN
alkej-317	83	54	:	:	PUNCT
alkej-317	83	55	is	be	AUX
alkej-317	83	56	the	the	DET
alkej-317	83	57	amount	amount	NOUN
alkej-317	83	58	of	of	ADP
alkej-317	83	59	pheromones	pheromone	NOUN
alkej-317	83	60	added	add	VERB
alkej-317	83	61	by	by	ADP
alkej-317	83	62	ant	ant	NOUN
alkej-317	83	63	.	.	PUNCT
alkej-317	84	1	∆	∆	PROPN
alkej-317	84	2	�	�	PROPN
alkej-317	84	3	�	�	PROPN
alkej-317	84	4	�	�	PROPN
alkej-317	84	5	�	�	PROPN
alkej-317	84	6	∑	∑	ADV
alkej-317	84	7	∆	∆	PROPN
alkej-317	84	8	�	�	PROPN
alkej-317	84	9	�	�	PROPN
alkej-317	84	10	�	�	PROPN
alkej-317	84	11	.	.	PUNCT
alkej-317	84	12	^	^	PUNCT
alkej-317	84	13	�	�	PROPN
alkej-317	84	14	&	&	CCONJ
alkej-317	84	15	'	'	PROPN
alkej-317	84	16	(	(	PUNCT
alkej-317	84	17	)	)	PUNCT
alkej-317	84	18	∆	∆	PROPN
alkej-317	84	19	�	�	PROPN
alkej-317	84	20	�	�	PROPN
alkej-317	84	21	�	�	PROPN
alkej-317	84	22	.	.	PUNCT
alkej-317	84	23	'	'	PUNCT
alkej-317	84	24	�	�	PROPN
alkej-317	84	25	*	*	PUNCT
alkej-317	84	26	/,	/,	PROPN
alkej-317	84	27	�	�	PROPN
alkej-317	84	28	�	�	PROPN
alkej-317	84	29	�	�	PROPN
alkej-317	84	30	-	-	PUNCT
alkej-317	84	31	!	!	PUNCT
alkej-317	84	32	!	!	PUNCT
alkej-317	85	1	where	where	SCONJ
alkej-317	85	2	q	q	NOUN
alkej-317	85	3	is	be	AUX
alkej-317	85	4	pheromones	pheromone	NOUN
alkej-317	85	5	update	update	NOUN
alkej-317	85	6	constant	constant	ADJ
alkej-317	85	7	,	,	PUNCT
alkej-317	85	8	the	the	DET
alkej-317	85	9	performance	performance	NOUN
alkej-317	85	10	index	index	NOUN
alkej-317	85	11	needs	need	VERB
alkej-317	85	12	to	to	ADP
alkej-317	85	13	3.2	3.2	NUM
alkej-317	85	14	.	.	PUNCT
alkej-317	86	1	modified	modify	VERB
alkej-317	86	2	ant	ant	ADJ
alkej-317	86	3	colony	colony	NOUN
alkej-317	86	4	optimization	optimization	NOUN
alkej-317	86	5	algorithm	algorithm	NOUN
alkej-317	86	6	(	(	PUNCT
alkej-317	86	7	maco	maco	PROPN
alkej-317	86	8	)	)	PUNCT
alkej-317	86	9	the	the	DET
alkej-317	86	10	optimal	optimal	ADJ
alkej-317	86	11	path	path	NOUN
alkej-317	86	12	is	be	AUX
alkej-317	86	13	the	the	DET
alkej-317	86	14	main	main	ADJ
alkej-317	86	15	component	component	NOUN
alkej-317	86	16	of	of	ADP
alkej-317	86	17	the	the	DET
alkej-317	86	18	robotics	robotic	NOUN
alkej-317	86	19	domain	domain	NOUN
alkej-317	86	20	,	,	PUNCT
alkej-317	86	21	is	be	AUX
alkej-317	86	22	the	the	DET
alkej-317	86	23	specific	specific	ADJ
alkej-317	86	24	criteria	criterion	NOUN
alkej-317	86	25	such	such	ADJ
alkej-317	86	26	as	as	ADP
alkej-317	86	27	distance	distance	NOUN
alkej-317	86	28	,	,	PUNCT
alkej-317	86	29	this	this	DET
alkej-317	86	30	problem	problem	NOUN
alkej-317	86	31	solved	solve	VERB
alkej-317	86	32	by	by	ADP
alkej-317	86	33	using	use	VERB
alkej-317	86	34	optimization	optimization	NOUN
alkej-317	86	35	algorithm	algorithm	NOUN
alkej-317	86	36	such	such	ADJ
alkej-317	86	37	as	as	ADP
alkej-317	86	38	ant	ant	ADJ
alkej-317	86	39	colony	colony	NOUN
alkej-317	86	40	optimization	optimization	NOUN
alkej-317	86	41	(	(	PUNCT
alkej-317	86	42	aco	aco	PROPN
alkej-317	86	43	)	)	PUNCT
alkej-317	86	44	,	,	PUNCT
alkej-317	86	45	is	be	AUX
alkej-317	86	46	added	add	VERB
alkej-317	86	47	to	to	ADP
alkej-317	86	48	standard	standard	PROPN
alkej-317	86	49	aco	aco	PROPN
alkej-317	86	50	called	call	VERB
alkej-317	86	51	approach	approach	NOUN
alkej-317	86	52	to	to	PART
alkej-317	86	53	alleviate	alleviate	VERB
alkej-317	86	54	stagnation	stagnation	NOUN
alkej-317	86	55	is	be	AUX
alkej-317	86	56	pheromone	pheromone	NOUN
alkej-317	86	57	control	control	NOUN
alkej-317	86	58	.	.	PUNCT
alkej-317	87	1	pheromone	pheromone	NOUN
alkej-317	87	2	control	control	NOUN
alkej-317	87	3	adopts	adopt	VERB
alkej-317	87	4	several	several	ADJ
alkej-317	87	5	approaches	approach	NOUN
alkej-317	87	6	to	to	PART
alkej-317	87	7	reduce	reduce	VERB
alkej-317	87	8	the	the	DET
alkej-317	87	9	influence	influence	NOUN
alkej-317	87	10	and	and	CCONJ
alkej-317	87	11	encourage	encourage	VERB
alkej-317	87	12	the	the	DET
alkej-317	87	13	exploration	exploration	NOUN
alkej-317	87	14	of	of	ADP
alkej-317	87	15	new	new	ADJ
alkej-317	87	16	paths	path	NOUN
alkej-317	87	17	that	that	PRON
alkej-317	87	18	are	be	AUX
alkej-317	87	19	non	non	ADJ
alkej-317	87	20	-	-	ADJ
alkej-317	87	21	optimal	optimal	ADJ
alkej-317	87	22	.	.	PUNCT
alkej-317	88	1	aging	age	VERB
alkej-317	88	2	:	:	PUNCT
alkej-317	88	3	a	a	DET
alkej-317	88	4	past	past	ADJ
alkej-317	88	5	experience	experience	NOUN
alkej-317	88	6	controlling	control	VERB
alkej-317	88	7	the	the	DET
alkej-317	88	8	amount	amount	NOUN
alkej-317	88	9	of	of	ADP
alkej-317	88	10	pheromone	pheromone	NOUN
alkej-317	88	11	for	for	ADP
alkej-317	88	12	each	each	DET
alkej-317	88	13	ant	ant	NOUN
alkej-317	88	14	according	accord	VERB
alkej-317	88	15	to	to	ADP
alkej-317	88	16	its	its	PRON
alkej-317	88	17	age	age	NOUN
alkej-317	88	18	.	.	PUNCT
alkej-317	89	1	this	this	PRON
alkej-317	89	2	known	know	VERB
alkej-317	89	3	as	as	ADP
alkej-317	89	4	aging	age	VERB
alkej-317	89	5	.	.	PUNCT
alkej-317	90	1	in	in	ADP
alkej-317	90	2	aging	aging	NOUN
alkej-317	90	3	,	,	PUNCT
alkej-317	90	4	and	and	CCONJ
alkej-317	90	5	lesser	less	ADJ
alkej-317	90	6	amount	amount	NOUN
alkej-317	90	7	of	of	ADP
alkej-317	90	8	pheromone	pheromone	NOUN
alkej-317	90	9	as	as	SCONJ
alkej-317	90	10	it	it	PRON
alkej-317	90	11	moves	move	VERB
alkej-317	90	12	from	from	ADP
alkej-317	90	13	one	one	NUM
alkej-317	90	14	obstacle	obstacle	NOUN
alkej-317	90	15	to	to	ADP
alkej-317	90	16	another	another	DET
alkej-317	90	17	obstacle	obstacle	NOUN
alkej-317	90	18	on	on	ADP
alkej-317	90	19	the	the	DET
alkej-317	90	20	rationale	rationale	NOUN
alkej-317	90	21	that	that	SCONJ
alkej-317	90	22	old	old	ADJ
alkej-317	90	23	ants	ant	NOUN
alkej-317	90	24	are	be	AUX
alkej-317	90	25	less	less	ADV
alkej-317	90	26	successful	successful	ADJ
alkej-317	90	27	in	in	ADP
alkej-317	90	28	locating	locate	VERB
alkej-317	90	29	the	the	DET
alkej-317	90	30	optimal	optimal	ADJ
alkej-317	90	31	paths	path	NOUN
alkej-317	90	32	since	since	SCONJ
alkej-317	90	33	they	they	PRON
alkej-317	90	34	take	take	VERB
alkej-317	90	35	time	time	NOUN
alkej-317	90	36	to	to	PART
alkej-317	90	37	reach	reach	VERB
alkej-317	90	38	their	their	PRON
alkej-317	90	39	destination	destination	NOUN
alkej-317	90	40	.	.	PUNCT
alkej-317	91	1	both	both	PRON
alkej-317	91	2	aging	age	VERB
alkej-317	91	3	and	and	CCONJ
alkej-317	91	4	evaporation	evaporation	NOUN
alkej-317	91	5	encourage	encourage	VERB
alkej-317	91	6	discoveries	discovery	NOUN
alkej-317	91	7	of	of	ADP
alkej-317	91	8	new	new	ADJ
alkej-317	91	9	that	that	PRON
alkej-317	91	10	are	be	AUX
alkej-317	91	11	previously	previously	ADV
alkej-317	91	12	non	non	ADJ
alkej-317	91	13	-	-	ADJ
alkej-317	91	14	optimal	optimal	ADJ
alkej-317	91	15	since	since	SCONJ
alkej-317	91	16	the	the	DET
alkej-317	91	17	amount	amount	NOUN
alkej-317	91	18	of	of	ADP
alkej-317	91	19	pheromones	pheromone	NOUN
alkej-317	91	20	deposit	deposit	NOUN
alkej-317	91	21	by	by	ADP
alkej-317	91	22	every	every	DET
alkej-317	91	23	ant	ant	NOUN
alkej-317	91	24	is	be	AUX
alkej-317	91	25	giver	giver	NOUN
alkej-317	91	26	by	by	ADP
alkej-317	91	27	eq	eq	PROPN
alkej-317	91	28	.	.	PUNCT
alkej-317	92	1	(	(	PUNCT
alkej-317	92	2	4	4	NUM
alkej-317	92	3	)	)	PUNCT
alkej-317	92	4	,	,	PUNCT
alkej-317	92	5	that	that	PRON
alkej-317	92	6	’s	’s	ADV
alkej-317	92	7	mean	mean	VERB
alkej-317	92	8	the	the	DET
alkej-317	92	9	varying	varying	NOUN
alkej-317	92	10	with	with	ADP
alkej-317	92	11	corresponding	correspond	VERB
alkej-317	92	12	to	to	ADP
alkej-317	92	13	ants	ants	PROPN
alkej-317	92	14	age	age	NOUN
alkej-317	92	15	,	,	PUNCT
alkej-317	92	16	the	the	DET
alkej-317	92	17	suggested	suggest	VERB
alkej-317	92	18	equation	equation	NOUN
alkej-317	92	19	to	to	PART
alkej-317	92	20	change	change	VERB
alkej-317	92	21	the	the	DET
alkej-317	92	22	amount	amount	NOUN
alkej-317	92	23	of	of	ADP
alkej-317	92	24	pheromones	pheromone	NOUN
alkej-317	92	25	is	be	AUX
alkej-317	92	26	given	give	VERB
alkej-317	92	27	by	by	ADP
alkej-317	92	28	:	:	PUNCT
alkej-317	92	29	khwarizmi	khwarizmi	PROPN
alkej-317	92	30	engineering	engineering	PROPN
alkej-317	92	31	journal	journal	PROPN
alkej-317	92	32	,	,	PUNCT
alkej-317	92	33	vol	vol	NOUN
alkej-317	92	34	.	.	PROPN
alkej-317	92	35	12	12	NUM
alkej-317	92	36	,	,	PUNCT
alkej-317	92	37	no	no	INTJ
alkej-317	92	38	.	.	NOUN
alkej-317	92	39	4	4	NUM
alkej-317	92	40	,	,	PUNCT
alkej-317	92	41	p.p	p.p	PROPN
alkej-317	92	42	.	.	NOUN
alkej-317	92	43	1225(2016	1225(2016	NUM
alkej-317	92	44	)	)	PUNCT
alkej-317	92	45	mathematical	mathematical	ADJ
alkej-317	92	46	model	model	NOUN
alkej-317	92	47	of	of	ADP
alkej-317	92	48	the	the	DET
alkej-317	92	49	aco	aco	PROPN
alkej-317	92	50	and	and	CCONJ
alkej-317	92	51	want	want	VERB
alkej-317	92	52	to	to	PART
alkej-317	92	53	move	move	VERB
alkej-317	92	54	to	to	ADP
alkej-317	92	55	next	next	ADJ
alkej-317	92	56	node	node	PROPN
alkej-317	92	57	j	j	PROPN
alkej-317	92	58	using	use	VERB
alkej-317	92	59	probability	probability	NOUN
alkej-317	92	60	formula	formula	NOUN
alkej-317	92	61	.	.	PUNCT
alkej-317	93	1	�	�	PROPN
alkej-317	93	2	…	…	PUNCT
alkej-317	93	3	(	(	PUNCT
alkej-317	93	4	1	1	X
alkej-317	93	5	)	)	PUNCT
alkej-317	93	6	are	be	AUX
alkej-317	93	7	degree	degree	NOUN
alkej-317	93	8	of	of	ADP
alkej-317	93	9	importance	importance	NOUN
alkej-317	93	10	of	of	ADP
alkej-317	93	11	pheromones	pheromone	NOUN
alkej-317	93	12	and	and	CCONJ
alkej-317	93	13	heuristic	heuristic	ADJ
alkej-317	93	14	function	function	NOUN
alkej-317	93	15	respectively	respectively	ADV
alkej-317	93	16	.	.	PUNCT
alkej-317	94	1	after	after	SCONJ
alkej-317	94	2	the	the	DET
alkej-317	94	3	ants	ant	NOUN
alkej-317	94	4	complete	complete	VERB
alkej-317	94	5	their	their	PRON
alkej-317	94	6	tour	tour	NOUN
alkej-317	94	7	,	,	PUNCT
alkej-317	94	8	the	the	PRON
alkej-317	94	9	are	be	AUX
alkej-317	94	10	updated	update	VERB
alkej-317	94	11	according	accord	VERB
alkej-317	94	12	to	to	ADP
alkej-317	94	13	�	�	PROPN
alkej-317	94	14	�	�	PROPN
alkej-317	94	15	�	�	PROPN
alkej-317	94	16	�	�	PROPN
alkej-317	94	17	∆	∆	PROPN
alkej-317	94	18	�	�	PROPN
alkej-317	94	19	�	�	PROPN
alkej-317	94	20	�	�	PROPN
alkej-317	94	21	…	…	PUNCT
alkej-317	94	22	(	(	PUNCT
alkej-317	94	23	2	2	X
alkej-317	94	24	)	)	PUNCT
alkej-317	94	25	is	be	AUX
alkej-317	94	26	the	the	DET
alkej-317	94	27	pheromones	pheromone	NOUN
alkej-317	94	28	decay	decay	VERB
alkej-317	94	29	parameter	parameter	NOUN
alkej-317	94	30	in	in	ADP
alkej-317	94	31	:	:	PUNCT
alkej-317	94	32	is	be	AUX
alkej-317	94	33	the	the	DET
alkej-317	94	34	amount	amount	NOUN
alkej-317	94	35	of	of	ADP
alkej-317	94	36	pheromones	pheromone	NOUN
alkej-317	94	37	added	add	VERB
alkej-317	94	38	by	by	ADP
alkej-317	94	39	ant	ant	PROPN
alkej-317	94	40	.	.	PUNCT
alkej-317	95	1	…	…	PUNCT
alkej-317	95	2	(	(	PUNCT
alkej-317	95	3	3	3	NUM
alkej-317	95	4	)	)	PUNCT
alkej-317	95	5	…	…	PUNCT
alkej-317	95	6	(	(	PUNCT
alkej-317	95	7	4	4	X
alkej-317	95	8	)	)	PUNCT
alkej-317	95	9	is	be	AUX
alkej-317	95	10	pheromones	pheromone	NOUN
alkej-317	95	11	update	update	NOUN
alkej-317	95	12	constant	constant	ADJ
alkej-317	95	13	,	,	PUNCT
alkej-317	95	14	fitness	fitness	NOUN
alkej-317	95	15	is	be	AUX
alkej-317	95	16	the	the	DET
alkej-317	95	17	performance	performance	NOUN
alkej-317	95	18	index	index	NOUN
alkej-317	95	19	needs	need	VERB
alkej-317	95	20	to	to	PART
alkej-317	95	21	be	be	AUX
alkej-317	95	22	minimized	minimize	VERB
alkej-317	95	23	.	.	PUNCT
alkej-317	96	1	ant	ant	ADJ
alkej-317	96	2	colony	colony	NOUN
alkej-317	96	3	optimization	optimization	NOUN
alkej-317	96	4	path	path	NOUN
alkej-317	96	5	is	be	AUX
alkej-317	96	6	the	the	DET
alkej-317	96	7	main	main	ADJ
alkej-317	96	8	component	component	NOUN
alkej-317	96	9	of	of	ADP
alkej-317	96	10	the	the	DET
alkej-317	96	11	robotics	robotic	NOUN
alkej-317	96	12	domain	domain	NOUN
alkej-317	96	13	,	,	PUNCT
alkej-317	96	14	is	be	AUX
alkej-317	96	15	the	the	DET
alkej-317	96	16	path	path	NOUN
alkej-317	96	17	needed	need	VERB
alkej-317	96	18	to	to	PART
alkej-317	96	19	satisfy	satisfy	VERB
alkej-317	96	20	specific	specific	ADJ
alkej-317	96	21	criteria	criterion	NOUN
alkej-317	96	22	such	such	ADJ
alkej-317	96	23	as	as	ADP
alkej-317	96	24	distance	distance	NOUN
alkej-317	96	25	,	,	PUNCT
alkej-317	96	26	this	this	DET
alkej-317	96	27	problem	problem	NOUN
alkej-317	96	28	is	be	AUX
alkej-317	96	29	by	by	ADP
alkej-317	96	30	using	use	VERB
alkej-317	96	31	optimization	optimization	NOUN
alkej-317	96	32	algorithm	algorithm	NOUN
alkej-317	96	33	such	such	ADJ
alkej-317	96	34	as	as	ADP
alkej-317	96	35	ant	ant	ADJ
alkej-317	96	36	colony	colony	NOUN
alkej-317	96	37	optimization	optimization	NOUN
alkej-317	96	38	(	(	PUNCT
alkej-317	96	39	aco	aco	PROPN
alkej-317	96	40	)	)	PUNCT
alkej-317	96	41	,	,	PUNCT
alkej-317	96	42	the	the	DET
alkej-317	96	43	new	new	ADJ
alkej-317	96	44	concept	concept	NOUN
alkej-317	96	45	to	to	ADP
alkej-317	96	46	standard	standard	PROPN
alkej-317	96	47	aco	aco	PROPN
alkej-317	96	48	called	call	VERB
alkej-317	96	49	aging	aging	NOUN
alkej-317	96	50	.	.	PUNCT
alkej-317	97	1	the	the	DET
alkej-317	97	2	approach	approach	NOUN
alkej-317	97	3	to	to	PART
alkej-317	97	4	alleviate	alleviate	VERB
alkej-317	97	5	stagnation	stagnation	NOUN
alkej-317	97	6	is	be	AUX
alkej-317	97	7	pheromone	pheromone	NOUN
alkej-317	97	8	ntrol	ntrol	NOUN
alkej-317	97	9	.	.	PUNCT
alkej-317	98	1	pheromone	pheromone	NOUN
alkej-317	98	2	control	control	NOUN
alkej-317	98	3	adopts	adopt	VERB
alkej-317	98	4	several	several	ADJ
alkej-317	98	5	approaches	approach	NOUN
alkej-317	98	6	to	to	PART
alkej-317	98	7	reduce	reduce	VERB
alkej-317	98	8	the	the	DET
alkej-317	98	9	influence	influence	NOUN
alkej-317	98	10	of	of	ADP
alkej-317	98	11	experience	experience	NOUN
alkej-317	98	12	and	and	CCONJ
alkej-317	98	13	encourage	encourage	VERB
alkej-317	98	14	the	the	DET
alkej-317	98	15	exploration	exploration	NOUN
alkej-317	98	16	of	of	ADP
alkej-317	98	17	new	new	ADJ
alkej-317	98	18	paths	path	NOUN
alkej-317	98	19	that	that	PRON
alkej-317	98	20	experience	experience	NOUN
alkej-317	98	21	can	can	AUX
alkej-317	98	22	also	also	ADV
alkej-317	98	23	be	be	AUX
alkej-317	98	24	reduced	reduce	VERB
alkej-317	98	25	by	by	ADP
alkej-317	98	26	controlling	control	VERB
alkej-317	98	27	the	the	DET
alkej-317	98	28	amount	amount	NOUN
alkej-317	98	29	of	of	ADP
alkej-317	98	30	pheromone	pheromone	NOUN
alkej-317	98	31	deposited	deposit	VERB
alkej-317	98	32	ant	ant	NOUN
alkej-317	98	33	according	accord	VERB
alkej-317	98	34	to	to	ADP
alkej-317	98	35	its	its	PRON
alkej-317	98	36	age	age	NOUN
alkej-317	98	37	.	.	PUNCT
alkej-317	99	1	this	this	DET
alkej-317	99	2	approach	approach	NOUN
alkej-317	99	3	is	be	AUX
alkej-317	99	4	known	know	VERB
alkej-317	99	5	as	as	ADP
alkej-317	99	6	aging	age	VERB
alkej-317	99	7	.	.	PUNCT
alkej-317	100	1	in	in	ADP
alkej-317	100	2	aging	aging	NOUN
alkej-317	100	3	,	,	PUNCT
alkej-317	100	4	an	an	DET
alkej-317	100	5	ant	ant	ADJ
alkej-317	100	6	deposit	deposit	NOUN
alkej-317	100	7	lesser	less	ADJ
alkej-317	100	8	and	and	CCONJ
alkej-317	100	9	lesser	less	ADJ
alkej-317	100	10	amount	amount	NOUN
alkej-317	100	11	of	of	ADP
alkej-317	100	12	pheromone	pheromone	NOUN
alkej-317	100	13	as	as	SCONJ
alkej-317	100	14	it	it	PRON
alkej-317	100	15	moves	move	VERB
alkej-317	100	16	from	from	ADP
alkej-317	100	17	other	other	ADJ
alkej-317	100	18	obstacle	obstacle	NOUN
alkej-317	100	19	.	.	PUNCT
alkej-317	101	1	aging	aging	NOUN
alkej-317	101	2	is	be	AUX
alkej-317	101	3	based	base	VERB
alkej-317	101	4	on	on	ADP
alkej-317	101	5	the	the	DET
alkej-317	101	6	rationale	rationale	NOUN
alkej-317	101	7	that	that	SCONJ
alkej-317	101	8	old	old	ADJ
alkej-317	101	9	ants	ant	NOUN
alkej-317	101	10	are	be	AUX
alkej-317	101	11	less	less	ADV
alkej-317	101	12	successful	successful	ADJ
alkej-317	101	13	in	in	ADP
alkej-317	101	14	optimal	optimal	ADJ
alkej-317	101	15	paths	path	NOUN
alkej-317	101	16	since	since	SCONJ
alkej-317	101	17	they	they	PRON
alkej-317	101	18	take	take	VERB
alkej-317	101	19	a	a	DET
alkej-317	101	20	longer	long	ADJ
alkej-317	101	21	time	time	NOUN
alkej-317	101	22	to	to	PART
alkej-317	101	23	reach	reach	VERB
alkej-317	101	24	their	their	PRON
alkej-317	101	25	destination	destination	NOUN
alkej-317	101	26	.	.	PUNCT
alkej-317	102	1	both	both	PRON
alkej-317	102	2	aging	age	VERB
alkej-317	102	3	and	and	CCONJ
alkej-317	102	4	evaporation	evaporation	NOUN
alkej-317	102	5	encourage	encourage	VERB
alkej-317	102	6	discoveries	discovery	NOUN
alkej-317	102	7	of	of	ADP
alkej-317	102	8	new	new	ADJ
alkej-317	102	9	paths	path	NOUN
alkej-317	102	10	optimal	optimal	ADJ
alkej-317	102	11	[	[	X
alkej-317	102	12	14	14	NUM
alkej-317	102	13	]	]	PUNCT
alkej-317	102	14	.	.	PUNCT
alkej-317	103	1	since	since	SCONJ
alkej-317	103	2	the	the	DET
alkej-317	103	3	amount	amount	NOUN
alkej-317	103	4	of	of	ADP
alkej-317	103	5	pheromones	pheromone	NOUN
alkej-317	103	6	deposit	deposit	NOUN
alkej-317	103	7	by	by	ADP
alkej-317	103	8	every	every	PRON
alkej-317	103	9	by	by	ADP
alkej-317	103	10	eq	eq	PROPN
alkej-317	103	11	.	.	PUNCT
alkej-317	103	12	(	(	PUNCT
alkej-317	103	13	4	4	NUM
alkej-317	103	14	)	)	PUNCT
alkej-317	103	15	,	,	PUNCT
alkej-317	103	16	that	that	PRON
alkej-317	103	17	’s	’s	ADV
alkej-317	103	18	mean	mean	VERB
alkej-317	103	19	the	the	DET
alkej-317	103	20	∆	∆	PROPN
alkej-317	103	21	�	�	PROPN
alkej-317	103	22	�	�	PROPN
alkej-317	103	23	�	�	PROPN
alkej-317	103	24	is	be	AUX
alkej-317	103	25	varying	vary	VERB
alkej-317	103	26	with	with	ADP
alkej-317	103	27	corresponding	correspond	VERB
alkej-317	103	28	to	to	ADP
alkej-317	103	29	ants	ants	PROPN
alkej-317	103	30	age	age	NOUN
alkej-317	103	31	,	,	PUNCT
alkej-317	103	32	the	the	DET
alkej-317	103	33	suggested	suggest	VERB
alkej-317	103	34	equation	equation	NOUN
alkej-317	103	35	to	to	PART
alkej-317	103	36	change	change	VERB
alkej-317	103	37	the	the	DET
alkej-317	103	38	amount	amount	NOUN
alkej-317	103	39	of	of	ADP
alkej-317	103	40	ibraheem	ibraheem	ADJ
alkej-317	103	41	kasim	kasim	PROPN
alkej-317	103	42	ibraheem	ibraheem	PROPN
alkej-317	103	43	al	al	PROPN
alkej-317	103	44	-	-	PUNCT
alkej-317	103	45	khwarizmi	khwarizmi	PROPN
alkej-317	103	46	engineering	engineering	NOUN
alkej-317	103	47	journal	journal	PROPN
alkej-317	103	48	,	,	PUNCT
alkej-317	103	49	vol	vol	NOUN
alkej-317	103	50	.	.	PROPN
alkej-317	103	51	12	12	NUM
alkej-317	103	52	,	,	PUNCT
alkej-317	103	53	no	no	INTJ
alkej-317	103	54	.	.	NOUN
alkej-317	103	55	4	4	NUM
alkej-317	103	56	,	,	PUNCT
alkej-317	103	57	p.p	p.p	PROPN
alkej-317	103	58	.	.	NOUN
alkej-317	103	59	1225(2016	1225(2016	NUM
alkej-317	103	60	)	)	PUNCT
alkej-317	103	61	15	15	NUM
alkej-317	103	62	*	*	PUNCT
alkej-317	103	63	&	&	CCONJ
alkej-317	103	64	�	�	PROPN
alkej-317	103	65	*	*	PROPN
alkej-317	103	66	&	&	CCONJ
alkej-317	103	67	./	./	PROPN
alkej-317	103	68	�	�	PROPN
alkej-317	103	69	0	0	NUM
alkej-317	103	70	�	�	PROPN
alkej-317	103	71	1230	1230	NUM
alkej-317	103	72	�	�	PROPN
alkej-317	103	73	45	45	NUM
alkej-317	103	74	6	6	NUM
alkej-317	103	75	×	×	PROPN
alkej-317	103	76	89	89	NUM
alkej-317	103	77	�	�	PROPN
alkej-317	103	78	:	:	PUNCT
alkej-317	103	79	�	�	PROPN
alkej-317	103	80	0	0	NUM
alkej-317	103	81	�	�	PROPN
alkej-317	103	82	1230	1230	NUM
alkej-317	103	83	�	�	PROPN
alkej-317	103	84	45	45	NUM
alkej-317	103	85	;	;	PUNCT
alkej-317	103	86	×	×	PROPN
alkej-317	103	87	m	m	NOUN
alkej-317	103	88	…	…	PUNCT
alkej-317	103	89	(	(	PUNCT
alkej-317	103	90	5	5	NUM
alkej-317	103	91	)	)	PUNCT
alkej-317	103	92	where	where	SCONJ
alkej-317	103	93	*	*	PUNCT
alkej-317	103	94	&	&	CCONJ
alkej-317	103	95	./	./	PROPN
alkej-317	103	96	is	be	AUX
alkej-317	103	97	the	the	DET
alkej-317	103	98	upper	upper	ADJ
alkej-317	103	99	limit	limit	NOUN
alkej-317	103	100	of	of	ADP
alkej-317	103	101	pheromones	pheromone	NOUN
alkej-317	103	102	and	and	CCONJ
alkej-317	103	103	*	*	PROPN
alkej-317	103	104	&	&	CCONJ
alkej-317	103	105	�	�	PROPN
alkej-317	103	106	=	=	PUNCT
alkej-317	103	107	is	be	AUX
alkej-317	103	108	the	the	DET
alkej-317	103	109	lower	low	ADJ
alkej-317	103	110	limit	limit	NOUN
alkej-317	103	111	of	of	ADP
alkej-317	103	112	pheromones	pheromone	NOUN
alkej-317	103	113	,	,	PUNCT
alkej-317	103	114	m	m	VERB
alkej-317	103	115	is	be	AUX
alkej-317	103	116	the	the	DET
alkej-317	103	117	total	total	ADJ
alkej-317	103	118	number	number	NOUN
alkej-317	103	119	of	of	ADP
alkej-317	103	120	ants	ant	NOUN
alkej-317	103	121	,	,	PUNCT
alkej-317	103	122	and	and	CCONJ
alkej-317	103	123	m	m	PROPN
alkej-317	103	124	is	be	AUX
alkej-317	103	125	the	the	DET
alkej-317	103	126	index	index	NOUN
alkej-317	103	127	of	of	ADP
alkej-317	103	128	ant	ant	NOUN
alkej-317	103	129	in	in	ADP
alkej-317	103	130	the	the	DET
alkej-317	103	131	colony	colony	NOUN
alkej-317	103	132	.	.	PUNCT
alkej-317	104	1	4	4	X
alkej-317	104	2	.	.	X
alkej-317	104	3	mobile	mobile	ADJ
alkej-317	104	4	robot	robot	NOUN
alkej-317	104	5	environment	environment	NOUN
alkej-317	104	6	modelling	model	VERB
alkej-317	104	7	the	the	DET
alkej-317	104	8	first	first	ADJ
alkej-317	104	9	phase	phase	NOUN
alkej-317	104	10	of	of	ADP
alkej-317	104	11	route	route	NOUN
alkej-317	104	12	forecasting	forecasting	NOUN
alkej-317	104	13	is	be	AUX
alkej-317	104	14	to	to	PART
alkej-317	104	15	create	create	VERB
alkej-317	104	16	an	an	DET
alkej-317	104	17	environmental	environmental	ADJ
alkej-317	104	18	model	model	NOUN
alkej-317	104	19	for	for	ADP
alkej-317	104	20	the	the	DET
alkej-317	104	21	2	2	NUM
alkej-317	104	22	-	-	PUNCT
alkej-317	104	23	d	d	NOUN
alkej-317	104	24	workspace	workspace	NOUN
alkej-317	104	25	of	of	ADP
alkej-317	104	26	the	the	DET
alkej-317	104	27	mobile	mobile	ADJ
alkej-317	104	28	robot	robot	NOUN
alkej-317	104	29	.	.	PUNCT
alkej-317	105	1	there	there	PRON
alkej-317	105	2	are	be	VERB
alkej-317	105	3	several	several	ADJ
alkej-317	105	4	approaches	approach	NOUN
alkej-317	105	5	of	of	ADP
alkej-317	105	6	environment	environment	NOUN
alkej-317	105	7	forming	form	VERB
alkej-317	105	8	:	:	PUNCT
alkej-317	105	9	grid	grid	NOUN
alkej-317	105	10	-	-	PUNCT
alkej-317	105	11	based	base	VERB
alkej-317	105	12	method	method	NOUN
alkej-317	105	13	and	and	CCONJ
alkej-317	105	14	free	free	ADJ
alkej-317	105	15	space	space	NOUN
alkej-317	105	16	-	-	PUNCT
alkej-317	105	17	based	base	VERB
alkej-317	105	18	method	method	NOUN
alkej-317	105	19	.	.	PUNCT
alkej-317	106	1	each	each	PRON
alkej-317	106	2	of	of	ADP
alkej-317	106	3	these	these	DET
alkej-317	106	4	methods	method	NOUN
alkej-317	106	5	has	have	VERB
alkej-317	106	6	advantages	advantage	NOUN
alkej-317	106	7	and	and	CCONJ
alkej-317	106	8	disadvantages	disadvantage	NOUN
alkej-317	106	9	.	.	PUNCT
alkej-317	107	1	4.1	4.1	NUM
alkej-317	107	2	.	.	PUNCT
alkej-317	107	3	grid	grid	NOUN
alkej-317	107	4	-	-	PUNCT
alkej-317	107	5	based	base	VERB
alkej-317	107	6	method	method	NOUN
alkej-317	107	7	this	this	DET
alkej-317	107	8	environment	environment	NOUN
alkej-317	107	9	is	be	AUX
alkej-317	107	10	represented	represent	VERB
alkej-317	107	11	by	by	ADP
alkej-317	107	12	a	a	DET
alkej-317	107	13	grid	grid	NOUN
alkej-317	107	14	of	of	ADP
alkej-317	107	15	(	(	PUNCT
alkej-317	107	16	usually	usually	ADV
alkej-317	107	17	square	square	ADJ
alkej-317	107	18	)	)	PUNCT
alkej-317	107	19	cells	cell	NOUN
alkej-317	108	1	;	;	PUNCT
alkej-317	108	2	each	each	DET
alkej-317	108	3	cell	cell	NOUN
alkej-317	108	4	is	be	AUX
alkej-317	108	5	either	either	CCONJ
alkej-317	108	6	traversable	traversable	ADJ
alkej-317	108	7	or	or	CCONJ
alkej-317	108	8	obstructed	obstruct	VERB
alkej-317	108	9	object	object	NOUN
alkej-317	108	10	(	(	PUNCT
alkej-317	108	11	on	on	ADP
alkej-317	108	12	a	a	DET
alkej-317	108	13	traversable	traversable	ADJ
alkej-317	108	14	cell	cell	NOUN
alkej-317	108	15	)	)	PUNCT
alkej-317	108	16	can	can	AUX
alkej-317	108	17	move	move	VERB
alkej-317	108	18	to	to	ADP
alkej-317	108	19	any	any	DET
alkej-317	108	20	adjacent	adjacent	ADJ
alkej-317	108	21	traversable	traversable	ADJ
alkej-317	108	22	cell	cell	NOUN
alkej-317	108	23	.	.	PUNCT
alkej-317	109	1	the	the	DET
alkej-317	109	2	features	feature	NOUN
alkej-317	109	3	of	of	ADP
alkej-317	109	4	the	the	DET
alkej-317	109	5	grid	grid	NOUN
alkej-317	109	6	-	-	PUNCT
alkej-317	109	7	based	base	VERB
alkej-317	109	8	method	method	NOUN
alkej-317	109	9	it	it	PRON
alkej-317	109	10	is	be	AUX
alkej-317	109	11	conceptually	conceptually	ADV
alkej-317	109	12	simple	simple	ADJ
alkej-317	109	13	representation	representation	NOUN
alkej-317	109	14	,	,	PUNCT
alkej-317	109	15	local	local	ADJ
alkej-317	109	16	changes	change	NOUN
alkej-317	109	17	have	have	VERB
alkej-317	109	18	only	only	ADV
alkej-317	109	19	local	local	ADJ
alkej-317	109	20	effects	effect	NOUN
alkej-317	109	21	,	,	PUNCT
alkej-317	109	22	well	well	ADV
alkej-317	109	23	suited	suit	VERB
alkej-317	109	24	for	for	ADP
alkej-317	109	25	dynamic	dynamic	ADJ
alkej-317	109	26	environments	environment	NOUN
alkej-317	109	27	.	.	PUNCT
alkej-317	110	1	limitation	limitation	NOUN
alkej-317	110	2	of	of	ADP
alkej-317	110	3	grid	grid	NOUN
alkej-317	110	4	-	-	PUNCT
alkej-317	110	5	based	base	VERB
alkej-317	110	6	method	method	NOUN
alkej-317	110	7	are	be	AUX
alkej-317	110	8	:	:	PUNCT
alkej-317	110	9	imprecise	imprecise	ADJ
alkej-317	110	10	representation	representation	NOUN
alkej-317	110	11	of	of	ADP
alkej-317	110	12	arbitrary	arbitrary	ADJ
alkej-317	110	13	obstacle	obstacle	NOUN
alkej-317	110	14	increased	increase	VERB
alkej-317	110	15	resolution	resolution	NOUN
alkej-317	110	16	in	in	ADP
alkej-317	110	17	one	one	NUM
alkej-317	110	18	area	area	NOUN
alkej-317	110	19	increases	increase	VERB
alkej-317	110	20	complexity	complexity	NOUN
alkej-317	110	21	everywhere	everywhere	ADV
alkej-317	110	22	(	(	PUNCT
alkej-317	110	23	potentially	potentially	ADV
alkej-317	110	24	large	large	ADJ
alkej-317	110	25	memory	memory	NOUN
alkej-317	110	26	size	size	NOUN
alkej-317	110	27	)	)	PUNCT
alkej-317	110	28	as	as	SCONJ
alkej-317	110	29	shown	show	VERB
alkej-317	110	30	in	in	ADP
alkej-317	110	31	figure	figure	NOUN
alkej-317	110	32	3	3	NUM
alkej-317	110	33	below	below	ADV
alkej-317	110	34	:	:	PUNCT
alkej-317	110	35	(	(	PUNCT
alkej-317	110	36	a	a	X
alkej-317	110	37	)	)	PUNCT
alkej-317	110	38	(	(	PUNCT
alkej-317	110	39	b	b	X
alkej-317	110	40	)	)	PUNCT
alkej-317	110	41	(	(	PUNCT
alkej-317	110	42	c	c	X
alkej-317	110	43	)	)	PUNCT
alkej-317	110	44	fig	fig	NOUN
alkej-317	110	45	.	.	PUNCT
alkej-317	111	1	3	3	X
alkej-317	111	2	.	.	X
alkej-317	111	3	(	(	PUNCT
alkej-317	111	4	a	a	X
alkej-317	111	5	)	)	PUNCT
alkej-317	111	6	grid	grid	NOUN
alkej-317	111	7	-	-	PUNCT
alkej-317	111	8	based	base	VERB
alkej-317	111	9	method	method	NOUN
alkej-317	111	10	with	with	ADP
alkej-317	111	11	resolution	resolution	NOUN
alkej-317	111	12	(	(	PUNCT
alkej-317	111	13	1	1	NUM
alkej-317	111	14	)	)	PUNCT
alkej-317	111	15	,	,	PUNCT
alkej-317	111	16	(	(	PUNCT
alkej-317	111	17	b	b	X
alkej-317	111	18	)	)	PUNCT
alkej-317	111	19	grid	grid	NOUN
alkej-317	111	20	-	-	PUNCT
alkej-317	111	21	based	base	VERB
alkej-317	111	22	method	method	NOUN
alkej-317	111	23	with	with	ADP
alkej-317	111	24	resolution	resolution	NOUN
alkej-317	111	25	(	(	PUNCT
alkej-317	111	26	5	5	NUM
alkej-317	111	27	)	)	PUNCT
alkej-317	111	28	(	(	PUNCT
alkej-317	111	29	c	c	NOUN
alkej-317	111	30	)	)	PUNCT
alkej-317	111	31	grid	grid	NOUN
alkej-317	111	32	-	-	PUNCT
alkej-317	111	33	based	base	VERB
alkej-317	111	34	method	method	NOUN
alkej-317	111	35	with	with	ADP
alkej-317	111	36	resolution	resolution	NOUN
alkej-317	111	37	(	(	PUNCT
alkej-317	111	38	10	10	NUM
alkej-317	111	39	)	)	PUNCT
alkej-317	111	40	.	.	PUNCT
alkej-317	112	1	4.2	4.2	NUM
alkej-317	112	2	.	.	PUNCT
alkej-317	113	1	free	free	ADJ
alkej-317	113	2	space	space	NOUN
alkej-317	113	3	-	-	PUNCT
alkej-317	113	4	based	base	VERB
alkej-317	113	5	method	method	NOUN
alkej-317	113	6	the	the	DET
alkej-317	113	7	environment	environment	NOUN
alkej-317	113	8	is	be	AUX
alkej-317	113	9	an	an	DET
alkej-317	113	10	initially	initially	ADV
alkej-317	113	11	empty	empty	ADJ
alkej-317	113	12	simple	simple	ADJ
alkej-317	113	13	shape	shape	NOUN
alkej-317	113	14	,	,	PUNCT
alkej-317	113	15	represent	represent	VERB
alkej-317	113	16	obstacles	obstacle	NOUN
alkej-317	113	17	as	as	ADP
alkej-317	113	18	virtual	virtual	ADJ
alkej-317	113	19	circle	circle	NOUN
alkej-317	113	20	,	,	PUNCT
alkej-317	113	21	advantages	advantage	NOUN
alkej-317	113	22	:	:	PUNCT
alkej-317	113	23	arbitrary	arbitrary	ADJ
alkej-317	113	24	polygon	polygon	NOUN
alkej-317	113	25	obstacles	obstacle	NOUN
alkej-317	113	26	,	,	PUNCT
alkej-317	113	27	arbitrary	arbitrary	ADJ
alkej-317	113	28	motion	motion	NOUN
alkej-317	113	29	angles	angle	NOUN
alkej-317	113	30	,	,	PUNCT
alkej-317	113	31	and	and	CCONJ
alkej-317	113	32	unlimited	unlimited	ADJ
alkej-317	113	33	resolution	resolution	NOUN
alkej-317	113	34	so	so	SCONJ
alkej-317	113	35	memory	memory	NOUN
alkej-317	113	36	is	be	AUX
alkej-317	113	37	efficient	efficient	ADJ
alkej-317	113	38	.	.	PUNCT
alkej-317	114	1	limitations	limitation	NOUN
alkej-317	114	2	of	of	ADP
alkej-317	114	3	the	the	DET
alkej-317	114	4	free	free	ADJ
alkej-317	114	5	spacebased	spacebased	ADJ
alkej-317	114	6	method	method	NOUN
alkej-317	114	7	are	be	AUX
alkej-317	114	8	:	:	PUNCT
alkej-317	114	9	complex	complex	ADJ
alkej-317	114	10	code	code	NOUN
alkej-317	114	11	,	,	PUNCT
alkej-317	114	12	point	point	NOUN
alkej-317	114	13	localization	localization	NOUN
alkej-317	114	14	takes	take	VERB
alkej-317	114	15	more	more	ADJ
alkej-317	114	16	than	than	ADP
alkej-317	114	17	constant	constant	ADJ
alkej-317	114	18	time	time	NOUN
alkej-317	114	19	,	,	PUNCT
alkej-317	114	20	and	and	CCONJ
alkej-317	114	21	a	a	DET
alkej-317	114	22	waste	waste	NOUN
alkej-317	114	23	of	of	ADP
alkej-317	114	24	space	space	NOUN
alkej-317	114	25	(	(	PUNCT
alkej-317	114	26	see	see	VERB
alkej-317	114	27	figure4	figure4	ADJ
alkej-317	114	28	)	)	PUNCT
alkej-317	114	29	.	.	PUNCT
alkej-317	115	1	ibraheem	ibraheem	PROPN
alkej-317	115	2	kasim	kasim	PROPN
alkej-317	115	3	ibraheem	ibraheem	PROPN
alkej-317	115	4	fig	fig	PROPN
alkej-317	115	5	.	.	PUNCT
alkej-317	116	1	4	4	X
alkej-317	116	2	.	.	X
alkej-317	116	3	free	free	ADJ
alkej-317	116	4	space	space	NOUN
alkej-317	116	5	-	-	PUNCT
alkej-317	116	6	based	base	VERB
alkej-317	116	7	method	method	NOUN
alkej-317	116	8	.	.	PUNCT
alkej-317	117	1	in	in	ADP
alkej-317	117	2	this	this	DET
alkej-317	117	3	paper	paper	NOUN
alkej-317	117	4	,	,	PUNCT
alkej-317	117	5	we	we	PRON
alkej-317	117	6	present	present	VERB
alkej-317	117	7	path	path	NOUN
alkej-317	117	8	planning	planning	NOUN
alkej-317	117	9	in	in	ADP
alkej-317	117	10	binary	binary	ADJ
alkej-317	117	11	grid	grid	NOUN
alkej-317	117	12	method	method	NOUN
alkej-317	117	13	,	,	PUNCT
alkej-317	117	14	each	each	DET
alkej-317	117	15	cell	cell	NOUN
alkej-317	117	16	in	in	ADP
alkej-317	117	17	the	the	DET
alkej-317	117	18	occupancy	occupancy	NOUN
alkej-317	117	19	grid	grid	NOUN
alkej-317	117	20	has	have	VERB
alkej-317	117	21	a	a	DET
alkej-317	117	22	value	value	NOUN
alkej-317	117	23	representing	represent	VERB
alkej-317	117	24	the	the	DET
alkej-317	117	25	occupancy	occupancy	NOUN
alkej-317	117	26	status	status	NOUN
alkej-317	117	27	of	of	ADP
alkej-317	117	28	that	that	DET
alkej-317	117	29	cell	cell	NOUN
alkej-317	117	30	.	.	PUNCT
alkej-317	118	1	an	an	DET
alkej-317	118	2	occupied	occupy	VERB
alkej-317	118	3	location	location	NOUN
alkej-317	118	4	as	as	ADP
alkej-317	118	5	true	true	ADJ
alkej-317	118	6	(	(	PUNCT
alkej-317	118	7	1	1	NUM
alkej-317	118	8	)	)	PUNCT
alkej-317	118	9	and	and	CCONJ
alkej-317	118	10	a	a	DET
alkej-317	118	11	free	free	ADJ
alkej-317	118	12	location	location	NOUN
alkej-317	118	13	is	be	AUX
alkej-317	118	14	represented	represent	VERB
alkej-317	118	15	as	as	ADP
alkej-317	118	16	false	false	ADJ
alkej-317	118	17	(	(	PUNCT
alkej-317	118	18	0	0	NUM
alkej-317	118	19	)	)	PUNCT
alkej-317	118	20	.	.	PUNCT
alkej-317	119	1	5	5	X
alkej-317	119	2	.	.	X
alkej-317	119	3	problem	problem	NOUN
alkej-317	119	4	definition	definition	NOUN
alkej-317	119	5	assume	assume	VERB
alkej-317	119	6	a	a	DET
alkej-317	119	7	2	2	NUM
alkej-317	119	8	-	-	PUNCT
alkej-317	119	9	d	d	NOUN
alkej-317	119	10	square	square	ADJ
alkej-317	119	11	map	map	NOUN
alkej-317	119	12	covered	cover	VERB
alkej-317	119	13	with	with	ADP
alkej-317	119	14	a	a	DET
alkej-317	119	15	uniform	uniform	ADJ
alkej-317	119	16	arrangement	arrangement	NOUN
alkej-317	119	17	of	of	ADP
alkej-317	119	18	net	net	ADJ
alkej-317	119	19	points	point	NOUN
alkej-317	119	20	.	.	PUNCT
alkej-317	120	1	the	the	DET
alkej-317	120	2	size	size	NOUN
alkej-317	120	3	of	of	ADP
alkej-317	120	4	the	the	DET
alkej-317	120	5	environment	environment	NOUN
alkej-317	120	6	can	can	AUX
alkej-317	120	7	be	be	AUX
alkej-317	120	8	changed	change	VERB
alkej-317	120	9	randomly	randomly	ADV
alkej-317	120	10	;	;	PUNCT
alkej-317	120	11	here	here	ADV
alkej-317	120	12	,	,	PUNCT
alkej-317	120	13	the	the	DET
alkej-317	120	14	environment	environment	NOUN
alkej-317	120	15	comprises	comprise	VERB
alkej-317	120	16	of	of	ADP
alkej-317	120	17	a	a	DET
alkej-317	120	18	10	10	NUM
alkej-317	120	19	×10	×10	NOUN
alkej-317	120	20	,	,	PUNCT
alkej-317	120	21	20	20	NUM
alkej-317	120	22	×	×	NOUN
alkej-317	120	23	20	20	NUM
alkej-317	120	24	,	,	PUNCT
alkej-317	120	25	30×30	30×30	NUM
alkej-317	120	26	,	,	PUNCT
alkej-317	120	27	and	and	CCONJ
alkej-317	120	28	40×40	40×40	NUM
alkej-317	120	29	grid	grid	NOUN
alkej-317	120	30	cell	cell	NOUN
alkej-317	120	31	.	.	PUNCT
alkej-317	121	1	the	the	DET
alkej-317	121	2	left	left	ADJ
alkej-317	121	3	highest	high	ADJ
alkej-317	121	4	place	place	NOUN
alkej-317	121	5	of	of	ADP
alkej-317	121	6	the	the	DET
alkej-317	121	7	environment	environment	NOUN
alkej-317	121	8	is	be	AUX
alkej-317	121	9	the	the	DET
alkej-317	121	10	beginning	begin	VERB
alkej-317	121	11	point	point	NOUN
alkej-317	121	12	for	for	ADP
alkej-317	121	13	a	a	DET
alkej-317	121	14	route	route	NOUN
alkej-317	121	15	while	while	SCONJ
alkej-317	121	16	the	the	DET
alkej-317	121	17	right	right	ADV
alkej-317	121	18	lowest	low	ADJ
alkej-317	121	19	place	place	NOUN
alkej-317	121	20	of	of	ADP
alkej-317	121	21	the	the	DET
alkej-317	121	22	environment	environment	NOUN
alkej-317	121	23	is	be	AUX
alkej-317	121	24	the	the	DET
alkej-317	121	25	end	end	NOUN
alkej-317	121	26	point	point	NOUN
alkej-317	121	27	for	for	ADP
alkej-317	121	28	a	a	DET
alkej-317	121	29	route	route	NOUN
alkej-317	121	30	.	.	PUNCT
alkej-317	122	1	the	the	DET
alkej-317	122	2	shapes	shape	NOUN
alkej-317	122	3	and	and	CCONJ
alkej-317	122	4	the	the	DET
alkej-317	122	5	size	size	NOUN
alkej-317	122	6	of	of	ADP
alkej-317	122	7	an	an	DET
alkej-317	122	8	obstacle	obstacle	NOUN
alkej-317	122	9	are	be	AUX
alkej-317	122	10	variable	variable	ADJ
alkej-317	122	11	,	,	PUNCT
alkej-317	122	12	the	the	DET
alkej-317	122	13	positions	position	NOUN
alkej-317	122	14	of	of	ADP
alkej-317	122	15	the	the	DET
alkej-317	122	16	obstacles	obstacle	NOUN
alkej-317	122	17	are	be	AUX
alkej-317	122	18	arbitrarily	arbitrarily	ADV
alkej-317	122	19	closed	close	VERB
alkej-317	122	20	and	and	CCONJ
alkej-317	122	21	can	can	AUX
alkej-317	122	22	be	be	AUX
alkej-317	122	23	located	locate	VERB
alkej-317	122	24	at	at	ADP
alkej-317	122	25	any	any	DET
alkej-317	122	26	network	network	NOUN
alkej-317	122	27	locatio	locatio	NOUN
alkej-317	122	28	map	map	NOUN
alkej-317	122	29	excepting	except	VERB
alkej-317	122	30	at	at	ADP
alkej-317	122	31	locations	location	NOUN
alkej-317	122	32	adjacent	adjacent	ADJ
alkej-317	122	33	to	to	ADP
alkej-317	122	34	the	the	DET
alkej-317	122	35	initial	initial	ADJ
alkej-317	122	36	position	position	NOUN
alkej-317	122	37	region	region	NOUN
alkej-317	122	38	or	or	CCONJ
alkej-317	122	39	adjacent	adjacent	ADJ
alkej-317	122	40	to	to	ADP
alkej-317	122	41	the	the	DET
alkej-317	122	42	destination	destination	NOUN
alkej-317	122	43	region	region	NOUN
alkej-317	122	44	(	(	PUNCT
alkej-317	122	45	let	let	VERB
alkej-317	122	46	two	two	NUM
alkej-317	122	47	grid	grid	NOUN
alkej-317	122	48	location	location	NOUN
alkej-317	122	49	left	leave	VERB
alkej-317	122	50	)	)	PUNCT
alkej-317	122	51	.	.	PUNCT
alkej-317	123	1	also	also	ADV
alkej-317	123	2	,	,	PUNCT
alkej-317	123	3	several	several	ADJ
alkej-317	123	4	obstacles	obstacle	NOUN
alkej-317	123	5	are	be	AUX
alkej-317	123	6	possible	possible	ADJ
alkej-317	123	7	below	below	ADV
alkej-317	123	8	shows	show	VERB
alkej-317	123	9	an	an	DET
alkej-317	123	10	example	example	NOUN
alkej-317	123	11	of	of	ADP
alkej-317	123	12	such	such	DET
alkej-317	123	13	a	a	DET
alkej-317	123	14	procedure	procedure	NOUN
alkej-317	123	15	.	.	PUNCT
alkej-317	124	1	since	since	SCONJ
alkej-317	124	2	the	the	DET
alkej-317	124	3	mobile	mobile	ADJ
alkej-317	124	4	robot	robot	NOUN
alkej-317	124	5	is	be	AUX
alkej-317	124	6	not	not	PART
alkej-317	124	7	a	a	DET
alkej-317	124	8	point	point	NOUN
alkej-317	124	9	,	,	PUNCT
alkej-317	124	10	the	the	DET
alkej-317	124	11	dimension	dimension	NOUN
alkej-317	124	12	of	of	ADP
alkej-317	124	13	the	the	DET
alkej-317	124	14	robot	robot	NOUN
alkej-317	124	15	is	be	AUX
alkej-317	124	16	added	add	VERB
alkej-317	124	17	to	to	ADP
alkej-317	124	18	the	the	PRON
alkej-317	124	19	of	of	ADP
alkej-317	124	20	an	an	DET
alkej-317	124	21	obstacle	obstacle	NOUN
alkej-317	124	22	to	to	PART
alkej-317	124	23	ensuring	ensure	VERB
alkej-317	124	24	the	the	DET
alkej-317	124	25	safety	safety	NOUN
alkej-317	124	26	while	while	SCONJ
alkej-317	124	27	piloting	pilot	VERB
alkej-317	124	28	in	in	ADP
alkej-317	124	29	the	the	DET
alkej-317	124	30	environment	environment	NOUN
alkej-317	124	31	as	as	SCONJ
alkej-317	124	32	displayed	display	VERB
alkej-317	124	33	in	in	ADP
alkej-317	124	34	figure	figure	NOUN
alkej-317	124	35	5	5	NUM
alkej-317	124	36	.	.	PUNCT
alkej-317	125	1	al	al	PROPN
alkej-317	125	2	-	-	PUNCT
alkej-317	125	3	khwarizmi	khwarizmi	PROPN
alkej-317	125	4	engineering	engineering	NOUN
alkej-317	125	5	journal	journal	PROPN
alkej-317	125	6	,	,	PUNCT
alkej-317	125	7	vol	vol	NOUN
alkej-317	125	8	.	.	PROPN
alkej-317	125	9	12	12	NUM
alkej-317	125	10	,	,	PUNCT
alkej-317	125	11	no	no	INTJ
alkej-317	125	12	.	.	NOUN
alkej-317	125	13	4	4	NUM
alkej-317	125	14	,	,	PUNCT
alkej-317	125	15	p.p	p.p	PROPN
alkej-317	125	16	.	.	PROPN
alkej-317	125	17	16	16	NUM
alkej-317	125	18	based	base	VERB
alkej-317	125	19	method	method	NOUN
alkej-317	125	20	.	.	PUNCT
alkej-317	126	1	in	in	ADP
alkej-317	126	2	this	this	DET
alkej-317	126	3	paper	paper	NOUN
alkej-317	126	4	,	,	PUNCT
alkej-317	126	5	we	we	PRON
alkej-317	126	6	present	present	VERB
alkej-317	126	7	path	path	NOUN
alkej-317	126	8	planning	planning	NOUN
alkej-317	126	9	in	in	ADP
alkej-317	126	10	each	each	DET
alkej-317	126	11	cell	cell	NOUN
alkej-317	126	12	in	in	ADP
alkej-317	126	13	the	the	DET
alkej-317	126	14	occupancy	occupancy	NOUN
alkej-317	126	15	grid	grid	NOUN
alkej-317	126	16	has	have	VERB
alkej-317	126	17	a	a	DET
alkej-317	126	18	value	value	NOUN
alkej-317	126	19	representing	represent	VERB
alkej-317	126	20	the	the	DET
alkej-317	126	21	occupancy	occupancy	NOUN
alkej-317	126	22	status	status	NOUN
alkej-317	126	23	of	of	ADP
alkej-317	126	24	that	that	DET
alkej-317	126	25	cell	cell	NOUN
alkej-317	126	26	.	.	PUNCT
alkej-317	127	1	an	an	DET
alkej-317	127	2	occupied	occupy	VERB
alkej-317	127	3	location	location	NOUN
alkej-317	127	4	is	be	AUX
alkej-317	127	5	represented	represent	VERB
alkej-317	127	6	is	be	AUX
alkej-317	127	7	represented	represent	VERB
alkej-317	127	8	d	d	ADP
alkej-317	127	9	square	square	ADJ
alkej-317	127	10	map	map	NOUN
alkej-317	127	11	covered	cover	VERB
alkej-317	127	12	with	with	ADP
alkej-317	127	13	a	a	DET
alkej-317	127	14	uniform	uniform	ADJ
alkej-317	127	15	arrangement	arrangement	NOUN
alkej-317	127	16	of	of	ADP
alkej-317	127	17	net	net	ADJ
alkej-317	127	18	points	point	NOUN
alkej-317	127	19	.	.	PUNCT
alkej-317	128	1	the	the	DET
alkej-317	128	2	size	size	NOUN
alkej-317	128	3	of	of	ADP
alkej-317	128	4	the	the	DET
alkej-317	128	5	randomly	randomly	NOUN
alkej-317	128	6	;	;	PUNCT
alkej-317	128	7	here	here	ADV
alkej-317	128	8	,	,	PUNCT
alkej-317	128	9	the	the	DET
alkej-317	128	10	environment	environment	NOUN
alkej-317	128	11	comprises	comprise	VERB
alkej-317	128	12	of	of	ADP
alkej-317	128	13	a	a	DET
alkej-317	128	14	10	10	NUM
alkej-317	128	15	×10	×10	NOUN
alkej-317	128	16	,	,	PUNCT
alkej-317	128	17	20	20	NUM
alkej-317	128	18	×	×	NOUN
alkej-317	128	19	20	20	NUM
alkej-317	128	20	,	,	PUNCT
alkej-317	128	21	30×30	30×30	NUM
alkej-317	128	22	,	,	PUNCT
alkej-317	128	23	and	and	CCONJ
alkej-317	128	24	40×40	40×40	NUM
alkej-317	128	25	grid	grid	NOUN
alkej-317	128	26	cell	cell	NOUN
alkej-317	128	27	.	.	PUNCT
alkej-317	129	1	the	the	DET
alkej-317	129	2	left	left	ADJ
alkej-317	129	3	highest	high	ADJ
alkej-317	129	4	place	place	NOUN
alkej-317	129	5	e	e	NOUN
alkej-317	129	6	beginning	begin	VERB
alkej-317	129	7	point	point	NOUN
alkej-317	129	8	for	for	ADP
alkej-317	129	9	a	a	DET
alkej-317	129	10	route	route	NOUN
alkej-317	129	11	while	while	SCONJ
alkej-317	129	12	the	the	DET
alkej-317	129	13	right	right	ADV
alkej-317	129	14	lowest	low	ADJ
alkej-317	129	15	place	place	NOUN
alkej-317	129	16	of	of	ADP
alkej-317	129	17	the	the	DET
alkej-317	129	18	environment	environment	NOUN
alkej-317	129	19	is	be	AUX
alkej-317	129	20	the	the	DET
alkej-317	129	21	end	end	NOUN
alkej-317	129	22	point	point	NOUN
alkej-317	129	23	for	for	ADP
alkej-317	129	24	a	a	DET
alkej-317	129	25	route	route	NOUN
alkej-317	129	26	.	.	PUNCT
alkej-317	130	1	the	the	DET
alkej-317	130	2	shapes	shape	NOUN
alkej-317	130	3	and	and	CCONJ
alkej-317	130	4	the	the	DET
alkej-317	130	5	size	size	NOUN
alkej-317	130	6	of	of	ADP
alkej-317	130	7	an	an	DET
alkej-317	130	8	obstacle	obstacle	NOUN
alkej-317	130	9	are	be	AUX
alkej-317	130	10	variable	variable	ADJ
alkej-317	130	11	,	,	PUNCT
alkej-317	130	12	the	the	PRON
alkej-317	130	13	are	be	AUX
alkej-317	130	14	arbitrarily	arbitrarily	ADV
alkej-317	130	15	closed	close	VERB
alkej-317	130	16	at	at	ADP
alkej-317	130	17	any	any	DET
alkej-317	130	18	network	network	NOUN
alkej-317	130	19	location	location	NOUN
alkej-317	130	20	in	in	ADP
alkej-317	130	21	the	the	DET
alkej-317	130	22	adjacent	adjacent	ADJ
alkej-317	130	23	to	to	ADP
alkej-317	130	24	the	the	DET
alkej-317	130	25	initial	initial	ADJ
alkej-317	130	26	position	position	NOUN
alkej-317	130	27	region	region	NOUN
alkej-317	130	28	or	or	CCONJ
alkej-317	130	29	adjacent	adjacent	ADJ
alkej-317	130	30	to	to	ADP
alkej-317	130	31	the	the	DET
alkej-317	130	32	position	position	NOUN
alkej-317	130	33	grid	grid	NOUN
alkej-317	130	34	location	location	NOUN
alkej-317	130	35	left	leave	VERB
alkej-317	130	36	)	)	PUNCT
alkej-317	130	37	.	.	PUNCT
alkej-317	131	1	possible	possible	ADJ
alkej-317	131	2	;	;	PUNCT
alkej-317	131	3	figure	figure	VERB
alkej-317	131	4	4	4	NUM
alkej-317	131	5	below	below	ADV
alkej-317	131	6	shows	show	VERB
alkej-317	131	7	an	an	DET
alkej-317	131	8	example	example	NOUN
alkej-317	131	9	of	of	ADP
alkej-317	131	10	such	such	DET
alkej-317	131	11	a	a	DET
alkej-317	131	12	procedure	procedure	NOUN
alkej-317	131	13	.	.	PUNCT
alkej-317	132	1	bile	bile	NOUN
alkej-317	132	2	robot	robot	NOUN
alkej-317	132	3	is	be	AUX
alkej-317	132	4	not	not	PART
alkej-317	132	5	a	a	DET
alkej-317	132	6	point	point	NOUN
alkej-317	132	7	,	,	PUNCT
alkej-317	132	8	the	the	PRON
alkej-317	132	9	is	be	AUX
alkej-317	132	10	added	add	VERB
alkej-317	132	11	to	to	ADP
alkej-317	132	12	the	the	DET
alkej-317	132	13	dimension	dimension	NOUN
alkej-317	132	14	safety	safety	NOUN
alkej-317	132	15	of	of	ADP
alkej-317	132	16	robot	robot	NOUN
alkej-317	132	17	while	while	SCONJ
alkej-317	132	18	piloting	pilot	VERB
alkej-317	132	19	in	in	ADP
alkej-317	132	20	the	the	DET
alkej-317	132	21	environment	environment	NOUN
alkej-317	132	22	as	as	SCONJ
alkej-317	132	23	displayed	display	VERB
alkej-317	132	24	in	in	ADP
alkej-317	132	25	fig	fig	NOUN
alkej-317	132	26	.	.	PUNCT
alkej-317	133	1	5	5	X
alkej-317	133	2	.	.	X
alkej-317	133	3	expanding	expand	VERB
alkej-317	133	4	the	the	DET
alkej-317	133	5	size	size	NOUN
alkej-317	133	6	of	of	ADP
alkej-317	133	7	corresponding	correspond	VERB
alkej-317	133	8	to	to	ADP
alkej-317	133	9	robot	robot	NOUN
alkej-317	133	10	size	size	NOUN
alkej-317	133	11	in	in	ADP
alkej-317	133	12	the	the	DET
alkej-317	133	13	figure	figure	NOUN
alkej-317	133	14	above	above	ADP
alkej-317	133	15	the	the	DET
alkej-317	133	16	size	size	NOUN
alkej-317	133	17	of	of	ADP
alkej-317	133	18	enlarge	enlarge	NOUN
alkej-317	133	19	by	by	ADP
alkej-317	133	20	the	the	DET
alkej-317	133	21	radius	radius	NOUN
alkej-317	133	22	of	of	ADP
alkej-317	133	23	the	the	DET
alkej-317	133	24	beginning	beginning	NOUN
alkej-317	133	25	from	from	ADP
alkej-317	133	26	the	the	DET
alkej-317	133	27	net	net	ADJ
alkej-317	133	28	position	position	NOUN
alkej-317	133	29	(	(	PUNCT
alkej-317	133	30	1	1	NUM
alkej-317	133	31	,	,	PUNCT
alkej-317	133	32	1	1	NUM
alkej-317	133	33	)	)	PUNCT
alkej-317	133	34	iteratively	iteratively	ADV
alkej-317	133	35	travels	travel	VERB
alkej-317	133	36	from	from	ADP
alkej-317	133	37	its	its	PRON
alkej-317	133	38	current	current	ADJ
alkej-317	133	39	location	location	NOUN
alkej-317	133	40	to	to	ADP
alkej-317	133	41	one	one	NUM
alkej-317	133	42	of	of	ADP
alkej-317	133	43	its	its	PRON
alkej-317	133	44	surrounding	surround	VERB
alkej-317	133	45	locations	location	NOUN
alkej-317	133	46	(	(	PUNCT
alkej-317	133	47	row	row	NOUN
alkej-317	133	48	,	,	PUNCT
alkej-317	133	49	col	col	NOUN
alkej-317	133	50	)	)	PUNCT
alkej-317	133	51	,	,	PUNCT
alkej-317	133	52	ant	ant	VERB
alkej-317	133	53	a	a	PRON
alkej-317	133	54	can	can	AUX
alkej-317	133	55	select	select	VERB
alkej-317	133	56	the	the	DET
alkej-317	133	57	next	next	ADJ
alkej-317	133	58	location	location	NOUN
alkej-317	133	59	(	(	PUNCT
alkej-317	133	60	j	j	NOUN
alkej-317	133	61	)	)	PUNCT
alkej-317	133	62	by	by	ADP
alkej-317	133	63	selecting	select	VERB
alkej-317	133	64	one	one	NUM
alkej-317	133	65	of	of	ADP
alkej-317	133	66	its	its	PRON
alkej-317	133	67	8	8	NUM
alkej-317	133	68	surrounding	surround	VERB
alkej-317	133	69	j-1	j-1	ADV
alkej-317	133	70	)	)	PUNCT
alkej-317	133	71	,	,	PUNCT
alkej-317	133	72	(	(	PUNCT
alkej-317	133	73	i+1	i+1	NUM
alkej-317	133	74	,	,	PUNCT
alkej-317	133	75	j	j	NOUN
alkej-317	133	76	)	)	PUNCT
alkej-317	133	77	,	,	PUNCT
alkej-317	133	78	(	(	PUNCT
alkej-317	133	79	i+1	i+1	NOUN
alkej-317	133	80	,	,	PUNCT
alkej-317	133	81	j+1	j+1	NUM
alkej-317	133	82	)	)	PUNCT
alkej-317	133	83	...	...	PUNCT
alkej-317	133	84	]	]	X
alkej-317	134	1	…	…	PUNCT
alkej-317	134	2	c	c	X
alkej-317	134	3	,	,	PUNCT
alkej-317	134	4	where	where	SCONJ
alkej-317	134	5	is	be	AUX
alkej-317	134	6	the	the	DET
alkej-317	134	7	set	set	NOUN
alkej-317	134	8	of	of	ADP
alkej-317	134	9	all	all	DET
alkej-317	134	10	surrounding	surround	VERB
alkej-317	134	11	nodes	node	NOUN
alkej-317	134	12	of	of	ADP
alkej-317	134	13	the	the	DET
alkej-317	134	14	current	current	ADJ
alkej-317	134	15	node	node	NOUN
alkej-317	134	16	.	.	PUNCT
alkej-317	135	1	the	the	DET
alkej-317	135	2	ant	ant	NOUN
alkej-317	135	3	a	a	DET
alkej-317	135	4	takes	take	VERB
alkej-317	135	5	its	its	PRON
alkej-317	135	6	next	next	ADJ
alkej-317	135	7	nod	nod	NOUN
alkej-317	135	8	founded	found	VERB
alkej-317	135	9	on	on	ADP
alkej-317	135	10	the	the	DET
alkej-317	135	11	probability	probability	NOUN
alkej-317	135	12	given	give	VERB
alkej-317	135	13	by	by	ADP
alkej-317	135	14	equation	equation	NOUN
alkej-317	135	15	(	(	PUNCT
alkej-317	135	16	1	1	X
alkej-317	135	17	)	)	PUNCT
alkej-317	135	18	fig	fig	NOUN
alkej-317	135	19	.	.	PUNCT
alkej-317	136	1	6	6	NUM
alkej-317	136	2	.	.	X
alkej-317	137	1	an	an	DET
alkej-317	137	2	ant	ant	NOUN
alkej-317	137	3	searching	search	VERB
alkej-317	137	4	the	the	DET
alkej-317	137	5	surrounding	surround	VERB
alkej-317	137	6	cells	cell	NOUN
alkej-317	137	7	.	.	PUNCT
alkej-317	138	1	the	the	DET
alkej-317	138	2	ant	ant	ADJ
alkej-317	138	3	colony	colony	NOUN
alkej-317	138	4	optimization	optimization	NOUN
alkej-317	138	5	algorithm	algorithm	NOUN
alkej-317	138	6	is	be	AUX
alkej-317	138	7	a	a	DET
alkej-317	138	8	joining	join	VERB
alkej-317	138	9	product	product	NOUN
alkej-317	138	10	of	of	ADP
alkej-317	138	11	positive	positive	ADJ
alkej-317	138	12	response	response	NOUN
alkej-317	138	13	and	and	CCONJ
alkej-317	138	14	some	some	DET
alkej-317	138	15	heuristic	heuristic	ADJ
alkej-317	138	16	function	function	NOUN
alkej-317	138	17	.	.	PUNCT
alkej-317	139	1	in	in	ADP
alkej-317	139	2	ant	ant	ADJ
alkej-317	139	3	colony	colony	NOUN
alkej-317	139	4	optimization	optimization	NOUN
alkej-317	139	5	algorithm	algorithm	NOUN
alkej-317	139	6	,	,	PUNCT
alkej-317	139	7	ants	ant	NOUN
alkej-317	139	8	select	select	VERB
alkej-317	139	9	the	the	DET
alkej-317	139	10	route	route	NOUN
alkej-317	139	11	mainly	mainly	ADV
alkej-317	139	12	depend	depend	VERB
alkej-317	139	13	on	on	ADP
alkej-317	139	14	two	two	NUM
alkej-317	139	15	stimulating	stimulating	ADJ
alkej-317	139	16	message	message	NOUN
alkej-317	139	17	,	,	PUNCT
alkej-317	139	18	the	the	DET
alkej-317	139	19	pheromone	pheromone	NOUN
alkej-317	139	20	concentration	concentration	NOUN
alkej-317	139	21	and	and	CCONJ
alkej-317	139	22	the	the	DET
alkej-317	139	23	visibility	visibility	NOUN
alkej-317	139	24	of	of	ADP
alkej-317	139	25	ne	ne	PROPN
alkej-317	139	26	concentration	concentration	NOUN
alkej-317	139	27	of	of	ADP
alkej-317	139	28	pheromone	pheromone	NOUN
alkej-317	139	29	does	do	AUX
alkej-317	139	30	not	not	PART
alkej-317	139	31	have	have	VERB
alkej-317	139	32	the	the	DET
alkej-317	139	33	large	large	ADJ
alkej-317	139	34	effect	effect	NOUN
alkej-317	139	35	on	on	ADP
alkej-317	139	36	the	the	DET
alkej-317	139	37	process	process	NOUN
alkej-317	139	38	in	in	ADP
alkej-317	139	39	the	the	DET
alkej-317	139	40	process	process	NOUN
alkej-317	139	41	of	of	ADP
alkej-317	139	42	algorithm	algorithm	NOUN
alkej-317	139	43	.	.	PUNCT
alkej-317	140	1	so	so	ADV
alkej-317	140	2	,	,	PUNCT
alkej-317	140	3	ant	ant	NOUN
alkej-317	140	4	discovers	discover	VERB
alkej-317	140	5	enhanced	enhanced	ADJ
alkej-317	140	6	solutions	solution	NOUN
alkej-317	140	7	primarily	primarily	ADV
alkej-317	140	8	according	accord	VERB
alkej-317	140	9	to	to	ADP
alkej-317	140	10	the	the	DET
alkej-317	140	11	objective	objective	ADJ
alkej-317	140	12	function	function	NOUN
alkej-317	140	13	.	.	PUNCT
alkej-317	141	1	when	when	SCONJ
alkej-317	141	2	used	use	VERB
alkej-317	141	3	in	in	ADP
alkej-317	141	4	route	route	NOUN
alkej-317	141	5	forecasting	forecasting	NOUN
alkej-317	141	6	with	with	ADP
alkej-317	141	7	grid	grid	NOUN
alkej-317	141	8	model	model	NOUN
alkej-317	141	9	,	,	PUNCT
alkej-317	141	10	the	the	DET
alkej-317	141	11	objective	objective	ADJ
alkej-317	141	12	function	function	NOUN
alkej-317	141	13	is	be	AUX
alkej-317	141	14	distance	distance	NOUN
alkej-317	141	15	determined	determine	VERB
alkej-317	141	16	as	as	SCONJ
alkej-317	141	17	follows	follow	VERB
alkej-317	141	18	:	:	PUNCT
alkej-317	141	19	>	>	PUNCT
alkej-317	141	20	�	�	PROPN
alkej-317	141	21	�	�	PROPN
alkej-317	141	22	,	,	PUNCT
alkej-317	141	23	�	�	PROPN
alkej-317	141	24	�	�	PROPN
alkej-317	141	25	�	�	PROPN
alkej-317	141	26	@	@	ADP
alkej-317	141	27	�	�	PROPN
alkej-317	141	28	a	a	DET
alkej-317	141	29	�	�	PROPN
alkej-317	141	30	�	�	PROPN
alkej-317	141	31	ab	ab	PROPN
alkej-317	141	32	�	�	PROPN
alkej-317	141	33	6	6	NUM
alkej-317	141	34	where	where	SCONJ
alkej-317	141	35	g	g	PROPN
alkej-317	141	36	represents	represent	VERB
alkej-317	141	37	the	the	DET
alkej-317	141	38	goal	goal	NOUN
alkej-317	141	39	node	node	NOUN
alkej-317	141	40	and	and	CCONJ
alkej-317	141	41	the	the	DET
alkej-317	141	42	next	next	ADJ
alkej-317	141	43	node	node	NOUN
alkej-317	141	44	.	.	PUNCT
alkej-317	142	1	khwarizmi	khwarizmi	PROPN
alkej-317	142	2	engineering	engineering	PROPN
alkej-317	142	3	journal	journal	PROPN
alkej-317	142	4	,	,	PUNCT
alkej-317	142	5	vol	vol	NOUN
alkej-317	142	6	.	.	PROPN
alkej-317	142	7	12	12	NUM
alkej-317	142	8	,	,	PUNCT
alkej-317	142	9	no	no	INTJ
alkej-317	142	10	.	.	NOUN
alkej-317	142	11	4	4	NUM
alkej-317	142	12	,	,	PUNCT
alkej-317	142	13	p.p	p.p	PROPN
alkej-317	142	14	.	.	NOUN
alkej-317	142	15	1225(2016	1225(2016	NUM
alkej-317	142	16	)	)	PUNCT
alkej-317	142	17	expanding	expand	VERB
alkej-317	142	18	the	the	DET
alkej-317	142	19	size	size	NOUN
alkej-317	142	20	of	of	ADP
alkej-317	142	21	obstacle	obstacle	NOUN
alkej-317	142	22	corresponding	correspond	VERB
alkej-317	142	23	to	to	ADP
alkej-317	142	24	robot	robot	NOUN
alkej-317	142	25	size	size	NOUN
alkej-317	142	26	in	in	ADP
alkej-317	142	27	the	the	DET
alkej-317	142	28	figure	figure	NOUN
alkej-317	142	29	above	above	ADP
alkej-317	142	30	the	the	DET
alkej-317	142	31	size	size	NOUN
alkej-317	142	32	of	of	ADP
alkej-317	142	33	obstacles	obstacle	NOUN
alkej-317	142	34	is	be	AUX
alkej-317	142	35	the	the	DET
alkej-317	142	36	robot	robot	NOUN
alkej-317	142	37	(	(	PUNCT
alkej-317	142	38	r	r	NOUN
alkej-317	142	39	)	)	PUNCT
alkej-317	142	40	.	.	PUNCT
alkej-317	143	1	beginning	begin	VERB
alkej-317	143	2	from	from	ADP
alkej-317	143	3	the	the	DET
alkej-317	143	4	net	net	ADJ
alkej-317	143	5	position	position	NOUN
alkej-317	143	6	(	(	PUNCT
alkej-317	143	7	1	1	NUM
alkej-317	143	8	,	,	PUNCT
alkej-317	143	9	1	1	NUM
alkej-317	143	10	)	)	PUNCT
alkej-317	143	11	,	,	PUNCT
alkej-317	143	12	an	an	DET
alkej-317	143	13	ant	ant	NOUN
alkej-317	143	14	iteratively	iteratively	ADV
alkej-317	143	15	travels	travel	VERB
alkej-317	143	16	from	from	ADP
alkej-317	143	17	its	its	PRON
alkej-317	143	18	current	current	ADJ
alkej-317	143	19	location	location	NOUN
alkej-317	143	20	to	to	ADP
alkej-317	143	21	one	one	NUM
alkej-317	143	22	locations	location	NOUN
alkej-317	143	23	.	.	PUNCT
alkej-317	144	1	when	when	SCONJ
alkej-317	144	2	ant	ant	ADJ
alkej-317	144	3	at	at	ADP
alkej-317	144	4	node	node	PROPN
alkej-317	144	5	i	i	PROPN
alkej-317	144	6	(	(	PUNCT
alkej-317	144	7	row	row	NOUN
alkej-317	144	8	,	,	PUNCT
alkej-317	144	9	col	col	NOUN
alkej-317	144	10	)	)	PUNCT
alkej-317	144	11	,	,	PUNCT
alkej-317	144	12	ant	ant	VERB
alkej-317	144	13	a	a	PRON
alkej-317	144	14	can	can	AUX
alkej-317	144	15	select	select	VERB
alkej-317	144	16	the	the	DET
alkej-317	144	17	next	next	ADJ
alkej-317	144	18	location	location	NOUN
alkej-317	144	19	(	(	PUNCT
alkej-317	144	20	j	j	NOUN
alkej-317	144	21	)	)	PUNCT
alkej-317	144	22	by	by	ADP
alkej-317	144	23	selecting	select	VERB
alkej-317	144	24	one	one	NUM
alkej-317	144	25	of	of	ADP
alkej-317	144	26	its	its	PRON
alkej-317	144	27	8	8	NUM
alkej-317	144	28	surrounding	surround	VERB
alkej-317	144	29	locations	location	NOUN
alkej-317	144	30	:	:	PUNCT
alkej-317	145	1	[	[	X
alkej-317	145	2	(	(	PUNCT
alkej-317	145	3	i+1	i+1	NUM
alkej-317	145	4	,	,	PUNCT
alkej-317	145	5	)	)	PUNCT
alkej-317	145	6	,	,	PUNCT
alkej-317	145	7	(	(	PUNCT
alkej-317	145	8	i+1	i+1	NOUN
alkej-317	145	9	,	,	PUNCT
alkej-317	145	10	j+1	j+1	NUM
alkej-317	145	11	)	)	PUNCT
alkej-317	145	12	...	...	PUNCT
alkej-317	145	13	]	]	X
alkej-317	145	14	…	…	PUNCT
alkej-317	145	15	c	c	X
alkej-317	145	16	,	,	PUNCT
alkej-317	145	17	where	where	SCONJ
alkej-317	145	18	c	c	NOUN
alkej-317	145	19	typically	typically	ADV
alkej-317	145	20	is	be	AUX
alkej-317	145	21	the	the	DET
alkej-317	145	22	set	set	NOUN
alkej-317	145	23	of	of	ADP
alkej-317	145	24	all	all	DET
alkej-317	145	25	surrounding	surround	VERB
alkej-317	145	26	nodes	node	NOUN
alkej-317	145	27	of	of	ADP
alkej-317	145	28	the	the	DET
alkej-317	145	29	current	current	ADJ
alkej-317	145	30	node	node	NOUN
alkej-317	145	31	.	.	PUNCT
alkej-317	146	1	the	the	DET
alkej-317	146	2	ant	ant	NOUN
alkej-317	146	3	a	a	DET
alkej-317	146	4	takes	take	VERB
alkej-317	146	5	its	its	PRON
alkej-317	146	6	next	next	ADJ
alkej-317	146	7	node	node	NOUN
alkej-317	146	8	arbitrarily	arbitrarily	ADV
alkej-317	146	9	,	,	PUNCT
alkej-317	146	10	founded	found	VERB
alkej-317	146	11	on	on	ADP
alkej-317	146	12	the	the	DET
alkej-317	146	13	probability	probability	NOUN
alkej-317	146	14	given	give	VERB
alkej-317	146	15	by	by	ADP
alkej-317	146	16	equation	equation	NOUN
alkej-317	146	17	(	(	PUNCT
alkej-317	146	18	1	1	NUM
alkej-317	146	19	)	)	PUNCT
alkej-317	146	20	n	n	PRON
alkej-317	146	21	ant	ant	NOUN
alkej-317	146	22	searching	search	VERB
alkej-317	146	23	the	the	DET
alkej-317	146	24	surrounding	surround	VERB
alkej-317	146	25	cells	cell	NOUN
alkej-317	146	26	.	.	PUNCT
alkej-317	147	1	colony	colony	NOUN
alkej-317	147	2	optimization	optimization	NOUN
alkej-317	147	3	algorithm	algorithm	NOUN
alkej-317	147	4	is	be	AUX
alkej-317	147	5	a	a	DET
alkej-317	147	6	joining	join	VERB
alkej-317	147	7	product	product	NOUN
alkej-317	147	8	of	of	ADP
alkej-317	147	9	positive	positive	ADJ
alkej-317	147	10	response	response	NOUN
alkej-317	147	11	and	and	CCONJ
alkej-317	147	12	some	some	DET
alkej-317	147	13	heuristic	heuristic	ADJ
alkej-317	147	14	function	function	NOUN
alkej-317	147	15	.	.	PUNCT
alkej-317	148	1	in	in	ADP
alkej-317	148	2	ant	ant	ADJ
alkej-317	148	3	colony	colony	NOUN
alkej-317	148	4	optimization	optimization	NOUN
alkej-317	148	5	algorithm	algorithm	NOUN
alkej-317	148	6	,	,	PUNCT
alkej-317	148	7	ants	ant	NOUN
alkej-317	148	8	select	select	VERB
alkej-317	148	9	the	the	DET
alkej-317	148	10	route	route	NOUN
alkej-317	148	11	mainly	mainly	ADV
alkej-317	148	12	depend	depend	VERB
alkej-317	148	13	on	on	ADP
alkej-317	148	14	message	message	NOUN
alkej-317	148	15	,	,	PUNCT
alkej-317	148	16	the	the	DET
alkej-317	148	17	pheromone	pheromone	NOUN
alkej-317	148	18	concentration	concentration	NOUN
alkej-317	148	19	and	and	CCONJ
alkej-317	148	20	the	the	DET
alkej-317	148	21	visibility	visibility	NOUN
alkej-317	148	22	of	of	ADP
alkej-317	148	23	next	next	ADJ
alkej-317	148	24	node	node	NOUN
alkej-317	148	25	.	.	PUNCT
alkej-317	149	1	the	the	DET
alkej-317	149	2	concentration	concentration	NOUN
alkej-317	149	3	of	of	ADP
alkej-317	149	4	pheromone	pheromone	NOUN
alkej-317	149	5	does	do	AUX
alkej-317	149	6	not	not	PART
alkej-317	149	7	have	have	VERB
alkej-317	149	8	the	the	DET
alkej-317	149	9	effect	effect	NOUN
alkej-317	149	10	on	on	ADP
alkej-317	149	11	the	the	DET
alkej-317	149	12	process	process	NOUN
alkej-317	149	13	in	in	ADP
alkej-317	149	14	the	the	DET
alkej-317	149	15	early	early	ADJ
alkej-317	149	16	iterative	iterative	NOUN
alkej-317	149	17	.	.	PUNCT
alkej-317	150	1	so	so	ADV
alkej-317	150	2	,	,	PUNCT
alkej-317	150	3	ant	ant	NOUN
alkej-317	150	4	discovers	discover	VERB
alkej-317	150	5	enhanced	enhanced	ADJ
alkej-317	150	6	solutions	solution	NOUN
alkej-317	150	7	primarily	primarily	ADV
alkej-317	150	8	according	accord	VERB
alkej-317	150	9	to	to	ADP
alkej-317	150	10	the	the	DET
alkej-317	150	11	objective	objective	ADJ
alkej-317	150	12	function	function	NOUN
alkej-317	150	13	.	.	PUNCT
alkej-317	151	1	when	when	SCONJ
alkej-317	151	2	used	use	VERB
alkej-317	151	3	in	in	ADP
alkej-317	151	4	route	route	NOUN
alkej-317	151	5	forecasting	forecasting	NOUN
alkej-317	151	6	with	with	ADP
alkej-317	151	7	grid	grid	NOUN
alkej-317	151	8	model	model	NOUN
alkej-317	151	9	,	,	PUNCT
alkej-317	151	10	the	the	DET
alkej-317	151	11	objective	objective	ADJ
alkej-317	151	12	function	function	NOUN
alkej-317	151	13	is	be	AUX
alkej-317	151	14	the	the	DET
alkej-317	151	15	shortest	short	ADJ
alkej-317	151	16	distance	distance	NOUN
alkej-317	151	17	determined	determine	VERB
alkej-317	151	18	as	as	SCONJ
alkej-317	151	19	follows	follow	VERB
alkej-317	151	20	:	:	PUNCT
alkej-317	151	21	�	�	PROPN
alkej-317	151	22	�	�	PROPN
alkej-317	151	23	c	c	PROPN
alkej-317	151	24	�	�	PROPN
alkej-317	151	25	�	�	PROPN
alkej-317	151	26	cb	cb	PROPN
alkej-317	151	27	�	�	PROPN
alkej-317	151	28	6	6	NUM
alkej-317	151	29	…	…	PUNCT
alkej-317	151	30	(	(	PUNCT
alkej-317	151	31	6	6	NUM
alkej-317	151	32	)	)	PUNCT
alkej-317	151	33	where	where	SCONJ
alkej-317	151	34	g	g	PROPN
alkej-317	151	35	represents	represent	VERB
alkej-317	151	36	the	the	DET
alkej-317	151	37	goal	goal	NOUN
alkej-317	151	38	node	node	NOUN
alkej-317	151	39	and	and	CCONJ
alkej-317	151	40	i	i	PRON
alkej-317	151	41	represent	represent	VERB
alkej-317	151	42	ibraheem	ibraheem	PROPN
alkej-317	151	43	kasim	kasim	PROPN
alkej-317	151	44	ibraheem	ibraheem	PROPN
alkej-317	151	45	6	6	NUM
alkej-317	151	46	.	.	PUNCT
alkej-317	151	47	aco	aco	PROPN
alkej-317	151	48	and	and	CCONJ
alkej-317	151	49	maco	maco	PROPN
alkej-317	151	50	based	base	VERB
alkej-317	151	51	planning	plan	VERB
alkej-317	151	52	the	the	DET
alkej-317	151	53	ant	ant	ADJ
alkej-317	151	54	colony	colony	NOUN
alkej-317	151	55	optimization	optimization	NOUN
alkej-317	151	56	technique	technique	NOUN
alkej-317	151	57	can	can	AUX
alkej-317	151	58	be	be	AUX
alkej-317	151	59	applied	apply	VERB
alkej-317	151	60	to	to	ADP
alkej-317	151	61	the	the	DET
alkej-317	151	62	robots	robot	NOUN
alkej-317	151	63	to	to	PART
alkej-317	151	64	find	find	VERB
alkej-317	151	65	an	an	DET
alkej-317	151	66	optimized	optimize	VERB
alkej-317	151	67	path	path	NOUN
alkej-317	151	68	while	while	SCONJ
alkej-317	151	69	navigating	navigate	VERB
alkej-317	151	70	in	in	ADP
alkej-317	151	71	an	an	DET
alkej-317	151	72	environment	environment	NOUN
alkej-317	151	73	.	.	PUNCT
alkej-317	152	1	artificial	artificial	ADJ
alkej-317	152	2	ant	ant	NOUN
alkej-317	152	3	:	:	PUNCT
alkej-317	152	4	are	be	AUX
alkej-317	152	5	the	the	DET
alkej-317	152	6	mobile	mobile	ADJ
alkej-317	152	7	robot	robot	NOUN
alkej-317	152	8	that	that	PRON
alkej-317	152	9	is	be	AUX
alkej-317	152	10	stimulated	stimulate	VERB
alkej-317	152	11	the	the	DET
alkej-317	152	12	natural	natural	ADJ
alkej-317	152	13	ants	ant	NOUN
alkej-317	152	14	.	.	PUNCT
alkej-317	153	1	the	the	DET
alkej-317	153	2	moving	moving	NOUN
alkej-317	153	3	of	of	ADP
alkej-317	153	4	the	the	PRON
alkej-317	153	5	is	be	AUX
alkej-317	153	6	directed	direct	VERB
alkej-317	153	7	by	by	ADP
alkej-317	153	8	a	a	DET
alkej-317	153	9	probabilistic	probabilistic	ADJ
alkej-317	153	10	function	function	NOUN
alkej-317	153	11	that	that	PRON
alkej-317	153	12	depends	depend	VERB
alkej-317	153	13	on	on	ADP
alkej-317	153	14	heuristic	heuristic	ADJ
alkej-317	153	15	and	and	CCONJ
alkej-317	153	16	trail	trail	NOUN
alkej-317	153	17	functions	function	NOUN
alkej-317	153	18	.	.	PUNCT
alkej-317	154	1	they	they	PRON
alkej-317	154	2	transfer	transfer	VERB
alkej-317	154	3	in	in	ADP
alkej-317	154	4	the	the	DET
alkej-317	154	5	search	search	NOUN
alkej-317	154	6	space	space	NOUN
alkej-317	154	7	having	have	VERB
alkej-317	154	8	all	all	DET
alkej-317	154	9	possible	possible	ADJ
alkej-317	154	10	solutions	solution	NOUN
alkej-317	154	11	and	and	CCONJ
alkej-317	154	12	choose	choose	VERB
alkej-317	154	13	best	good	ADJ
alkej-317	154	14	solutions	solution	NOUN
alkej-317	154	15	among	among	ADP
alkej-317	154	16	them	they	PRON
alkej-317	154	17	.	.	PUNCT
alkej-317	155	1	artificial	artificial	ADJ
alkej-317	155	2	ant	ant	NOUN
alkej-317	155	3	favors	favor	VERB
alkej-317	155	4	routes	route	NOUN
alkej-317	155	5	having	have	VERB
alkej-317	155	6	larger	large	ADJ
alkej-317	155	7	pheromone	pheromone	NOUN
alkej-317	155	8	concentration	concentration	NOUN
alkej-317	155	9	.	.	PUNCT
alkej-317	156	1	the	the	DET
alkej-317	156	2	place	place	NOUN
alkej-317	156	3	of	of	ADP
alkej-317	156	4	ants	ant	NOUN
alkej-317	156	5	and	and	CCONJ
alkej-317	156	6	quality	quality	NOUN
alkej-317	156	7	of	of	ADP
alkej-317	156	8	solution	solution	NOUN
alkej-317	156	9	is	be	AUX
alkej-317	156	10	recorded	record	VERB
alkej-317	156	11	so	so	SCONJ
alkej-317	156	12	that	that	SCONJ
alkej-317	156	13	best	good	ADJ
alkej-317	156	14	solutions	solution	NOUN
alkej-317	156	15	can	can	AUX
alkej-317	156	16	obtained	obtain	VERB
alkej-317	156	17	.	.	PUNCT
alkej-317	157	1	flow	flow	NOUN
alkej-317	157	2	code	code	NOUN
alkej-317	157	3	for	for	ADP
alkej-317	157	4	maco	maco	PROPN
alkej-317	157	5	algorithm	algorithm	PROPN
alkej-317	158	1	[	[	X
alkej-317	158	2	12	12	NUM
alkej-317	158	3	]	]	X
alkej-317	158	4	1do	1do	NOUN
alkej-317	158	5	for	for	ADP
alkej-317	158	6	iteration=1	iteration=1	PROPN
alkej-317	158	7	,	,	PUNCT
alkej-317	158	8	2	2	NUM
alkej-317	158	9	,	,	PUNCT
alkej-317	158	10	…	…	PUNCT
alkej-317	158	11	n	n	DET
alkej-317	158	12	initialization	initialization	NOUN
alkej-317	158	13	stage	stage	NOUN
alkej-317	158	14	pre	pre	VERB
alkej-317	158	15	-	-	VERB
alkej-317	158	16	initialize	initialize	VERB
alkej-317	158	17	the	the	DET
alkej-317	158	18	taboo	taboo	ADJ
alkej-317	158	19	table	table	NOUN
alkej-317	158	20	of	of	ADP
alkej-317	158	21	each	each	DET
alkej-317	158	22	ant	ant	NOUN
alkej-317	158	23	and	and	CCONJ
alkej-317	158	24	the	the	DET
alkej-317	158	25	pheromone	pheromone	NOUN
alkej-317	158	26	intensity	intensity	NOUN
alkej-317	158	27	on	on	ADP
alkej-317	158	28	all	all	DET
alkej-317	158	29	sides	side	NOUN
alkej-317	158	30	.	.	PUNCT
alkej-317	159	1	each	each	DET
alkej-317	159	2	ant	ant	NOUN
alkej-317	159	3	needs	need	VERB
alkej-317	159	4	to	to	PART
alkej-317	159	5	choose	choose	VERB
alkej-317	159	6	the	the	DET
alkej-317	159	7	next	next	ADJ
alkej-317	159	8	destination	destination	NOUN
alkej-317	159	9	based	base	VERB
alkej-317	159	10	on	on	ADP
alkej-317	159	11	the	the	DET
alkej-317	159	12	restriction	restriction	NOUN
alkej-317	159	13	of	of	ADP
alkej-317	159	14	the	the	DET
alkej-317	159	15	taboo	taboo	NOUN
alkej-317	159	16	table	table	NOUN
alkej-317	159	17	.	.	PUNCT
alkej-317	160	1	2	2	NUM
alkej-317	160	2	-	-	PUNCT
alkej-317	160	3	do	do	VERB
alkej-317	160	4	for	for	ADP
alkej-317	160	5	ant=1	ant=1	NOUN
alkej-317	160	6	,	,	PUNCT
alkej-317	160	7	2	2	NUM
alkej-317	160	8	,	,	PUNCT
alkej-317	160	9	…	…	PUNCT
alkej-317	160	10	.	.	PUNCT
alkej-317	161	1	k	k	PROPN
alkej-317	161	2	3do	3do	PROPN
alkej-317	161	3	for	for	ADP
alkej-317	161	4	step=1,2	step=1,2	ADJ
alkej-317	161	5	,	,	PUNCT
alkej-317	161	6	…	…	PUNCT
alkej-317	161	7	.	.	PUNCT
alkej-317	162	1	m	m	VERB
alkej-317	162	2	4	4	NUM
alkej-317	162	3	-	-	PUNCT
alkej-317	162	4	compute	compute	VERB
alkej-317	162	5	the	the	DET
alkej-317	162	6	probability	probability	NOUN
alkej-317	162	7	of	of	ADP
alkej-317	162	8	the	the	DET
alkej-317	162	9	kth	kth	PROPN
alkej-317	162	10	ant	ant	PROPN
alkej-317	162	11	’s	’s	PART
alkej-317	162	12	next	next	ADJ
alkej-317	162	13	node	node	NOUN
alkej-317	162	14	using	use	VERB
alkej-317	162	15	equation	equation	NOUN
alkej-317	162	16	(	(	PUNCT
alkej-317	162	17	1	1	NUM
alkej-317	162	18	)	)	PUNCT
alkej-317	162	19	.	.	PUNCT
alkej-317	163	1	5if	5if	ADJ
alkej-317	163	2	the	the	DET
alkej-317	163	3	next	next	ADJ
alkej-317	163	4	node	node	NOUN
alkej-317	163	5	occupied	occupy	VERB
alkej-317	163	6	by	by	ADP
alkej-317	163	7	obstacle	obstacle	NOUN
alkej-317	163	8	neglect	neglect	NOUN
alkej-317	163	9	it	it	PRON
alkej-317	163	10	else	else	ADV
alkej-317	163	11	move	move	VERB
alkej-317	163	12	to	to	ADP
alkej-317	163	13	a	a	DET
alkej-317	163	14	next	next	ADJ
alkej-317	163	15	node	node	NOUN
alkej-317	163	16	by	by	ADP
alkej-317	163	17	the	the	DET
alkej-317	163	18	computed	compute	VERB
alkej-317	163	19	probability	probability	NOUN
alkej-317	163	20	store	store	NOUN
alkej-317	163	21	the	the	DET
alkej-317	163	22	history	history	NOUN
alkej-317	163	23	of	of	ADP
alkej-317	163	24	past	past	ADJ
alkej-317	163	25	node	node	ADJ
alkej-317	163	26	locations	location	NOUN
alkej-317	163	27	in	in	ADP
alkej-317	163	28	an	an	DET
alkej-317	163	29	array	array	NOUN
alkej-317	163	30	6if	6if	NOUN
alkej-317	163	31	the	the	DET
alkej-317	163	32	current	current	ADJ
alkej-317	163	33	location	location	NOUN
alkej-317	163	34	is	be	AUX
alkej-317	163	35	equal	equal	ADJ
alkej-317	163	36	to	to	ADP
alkej-317	163	37	the	the	DET
alkej-317	163	38	end	end	NOUN
alkej-317	163	39	point	point	NOUN
alkej-317	163	40	?	?	PUNCT
alkej-317	164	1	then	then	ADV
alkej-317	164	2	obtain	obtain	VERB
alkej-317	164	3	the	the	DET
alkej-317	164	4	path	path	NOUN
alkej-317	164	5	passed	pass	VERB
alkej-317	164	6	-update	-update	NOUN
alkej-317	164	7	the	the	DET
alkej-317	164	8	pheromone	pheromone	NOUN
alkej-317	164	9	evaporated	evaporate	VERB
alkej-317	164	10	on	on	ADP
alkej-317	164	11	the	the	DET
alkej-317	164	12	entire	entire	ADJ
alkej-317	164	13	map	map	NOUN
alkej-317	164	14	generated	generate	VERB
alkej-317	164	15	using	use	VERB
alkej-317	164	16	equation	equation	NOUN
alkej-317	164	17	(	(	PUNCT
alkej-317	164	18	2	2	NUM
alkej-317	164	19	)	)	PUNCT
alkej-317	164	20	else	else	ADV
alkej-317	164	21	go	go	VERB
alkej-317	164	22	to	to	PART
alkej-317	164	23	step	step	VERB
alkej-317	164	24	4	4	NUM
alkej-317	164	25	end	end	NOUN
alkej-317	164	26	.	.	PUNCT
alkej-317	165	1	7	7	X
alkej-317	165	2	.	.	NOUN
alkej-317	165	3	results	result	NOUN
alkej-317	165	4	and	and	CCONJ
alkej-317	165	5	discussions	discussion	NOUN
alkej-317	165	6	7.1	7.1	NUM
alkej-317	165	7	.	.	PUNCT
alkej-317	166	1	effect	effect	NOUN
alkej-317	166	2	of	of	ADP
alkej-317	166	3	design	design	NOUN
alkej-317	166	4	parameter	parameter	NOUN
alkej-317	166	5	in	in	ADP
alkej-317	166	6	this	this	DET
alkej-317	166	7	section	section	NOUN
alkej-317	166	8	we	we	PRON
alkej-317	166	9	present	present	VERB
alkej-317	166	10	the	the	DET
alkej-317	166	11	influence	influence	NOUN
alkej-317	166	12	of	of	ADP
alkej-317	166	13	design	design	NOUN
alkej-317	166	14	parameter	parameter	NOUN
alkej-317	166	15	:	:	PUNCT
alkej-317	166	16	number	number	NOUN
alkej-317	166	17	of	of	ADP
alkej-317	166	18	iteration	iteration	NOUN
alkej-317	166	19	,	,	PUNCT
alkej-317	166	20	ants	ant	NOUN
alkej-317	166	21	,	,	PUNCT
alkej-317	166	22	and	and	CCONJ
alkej-317	166	23	evaporation	evaporation	NOUN
alkej-317	166	24	factor	factor	NOUN
alkej-317	166	25	(	(	PUNCT
alkej-317	166	26	ρ	ρ	NOUN
alkej-317	166	27	)	)	PUNCT
alkej-317	166	28	on	on	ADP
alkej-317	166	29	global	global	ADJ
alkej-317	166	30	search	search	NOUN
alkej-317	166	31	the	the	DET
alkej-317	166	32	results	result	NOUN
alkej-317	166	33	are	be	AUX
alkej-317	166	34	applying	apply	VERB
alkej-317	166	35	to	to	ADP
alkej-317	166	36	10×10	10×10	NUM
alkej-317	166	37	,	,	PUNCT
alkej-317	166	38	and	and	CCONJ
alkej-317	166	39	20	20	NUM
alkej-317	166	40	size	size	NOUN
alkej-317	166	41	as	as	SCONJ
alkej-317	166	42	shown	show	VERB
alkej-317	166	43	below	below	ADP
alkej-317	166	44	:	:	PUNCT
alkej-317	166	45	al	al	PROPN
alkej-317	166	46	-	-	PUNCT
alkej-317	166	47	khwarizmi	khwarizmi	PROPN
alkej-317	166	48	engineering	engineering	NOUN
alkej-317	166	49	journal	journal	PROPN
alkej-317	166	50	,	,	PUNCT
alkej-317	166	51	vol	vol	NOUN
alkej-317	166	52	.	.	PROPN
alkej-317	166	53	12	12	NUM
alkej-317	166	54	,	,	PUNCT
alkej-317	166	55	no	no	INTJ
alkej-317	166	56	.	.	NOUN
alkej-317	166	57	4	4	NUM
alkej-317	166	58	,	,	PUNCT
alkej-317	166	59	p.p	p.p	PROPN
alkej-317	166	60	.	.	PROPN
alkej-317	166	61	17	17	NUM
alkej-317	166	62	robot	robot	NOUN
alkej-317	166	63	path	path	NOUN
alkej-317	166	64	the	the	DET
alkej-317	166	65	ant	ant	ADJ
alkej-317	166	66	colony	colony	NOUN
alkej-317	166	67	optimization	optimization	NOUN
alkej-317	166	68	technique	technique	NOUN
alkej-317	166	69	can	can	AUX
alkej-317	166	70	be	be	AUX
alkej-317	166	71	the	the	DET
alkej-317	166	72	robots	robot	NOUN
alkej-317	166	73	to	to	PART
alkej-317	166	74	find	find	VERB
alkej-317	166	75	an	an	DET
alkej-317	166	76	optimized	optimize	VERB
alkej-317	166	77	path	path	NOUN
alkej-317	166	78	while	while	SCONJ
alkej-317	166	79	navigating	navigate	VERB
alkej-317	166	80	in	in	ADP
alkej-317	166	81	an	an	DET
alkej-317	166	82	environment	environment	NOUN
alkej-317	166	83	.	.	PUNCT
alkej-317	167	1	artificial	artificial	PROPN
alkej-317	167	2	stimulated	stimulate	VERB
alkej-317	167	3	from	from	ADP
alkej-317	167	4	.	.	PUNCT
alkej-317	168	1	the	the	DET
alkej-317	168	2	moving	moving	NOUN
alkej-317	168	3	of	of	ADP
alkej-317	168	4	the	the	DET
alkej-317	168	5	artificial	artificial	ADJ
alkej-317	168	6	ants	ant	NOUN
alkej-317	168	7	a	a	DET
alkej-317	168	8	probabilistic	probabilistic	ADJ
alkej-317	168	9	function	function	NOUN
alkej-317	168	10	that	that	PRON
alkej-317	168	11	depends	depend	VERB
alkej-317	168	12	.	.	PUNCT
alkej-317	169	1	they	they	PRON
alkej-317	169	2	transfer	transfer	VERB
alkej-317	169	3	in	in	ADP
alkej-317	169	4	the	the	DET
alkej-317	169	5	search	search	NOUN
alkej-317	169	6	space	space	NOUN
alkej-317	169	7	having	have	VERB
alkej-317	169	8	all	all	DET
alkej-317	169	9	possible	possible	ADJ
alkej-317	169	10	solutions	solution	NOUN
alkej-317	169	11	and	and	CCONJ
alkej-317	169	12	choose	choose	VERB
alkej-317	169	13	best	good	ADJ
alkej-317	169	14	solutions	solution	NOUN
alkej-317	169	15	among	among	ADP
alkej-317	169	16	them	they	PRON
alkej-317	169	17	.	.	PUNCT
alkej-317	170	1	artificial	artificial	ADJ
alkej-317	170	2	ant	ant	NOUN
alkej-317	170	3	favors	favor	VERB
alkej-317	170	4	routes	route	NOUN
alkej-317	170	5	having	have	VERB
alkej-317	170	6	larger	large	ADJ
alkej-317	170	7	pheromone	pheromone	NOUN
alkej-317	170	8	and	and	CCONJ
alkej-317	170	9	quality	quality	NOUN
alkej-317	170	10	of	of	ADP
alkej-317	170	11	the	the	DET
alkej-317	170	12	so	so	ADV
alkej-317	170	13	that	that	SCONJ
alkej-317	170	14	best	good	ADJ
alkej-317	170	15	solutions	solution	NOUN
alkej-317	170	16	can	can	AUX
alkej-317	170	17	be	be	AUX
alkej-317	170	18	aco	aco	PROPN
alkej-317	170	19	algorithm	algorithm	NOUN
alkej-317	171	1	[	[	X
alkej-317	171	2	12	12	NUM
alkej-317	171	3	]	]	PUNCT
alkej-317	171	4	initialize	initialize	VERB
alkej-317	171	5	the	the	DET
alkej-317	171	6	taboo	taboo	ADJ
alkej-317	171	7	table	table	NOUN
alkej-317	171	8	of	of	ADP
alkej-317	171	9	each	each	DET
alkej-317	171	10	ant	ant	NOUN
alkej-317	171	11	and	and	CCONJ
alkej-317	171	12	the	the	DET
alkej-317	171	13	pheromone	pheromone	NOUN
alkej-317	171	14	intensity	intensity	NOUN
alkej-317	171	15	on	on	ADP
alkej-317	171	16	all	all	DET
alkej-317	171	17	sides	side	NOUN
alkej-317	171	18	.	.	PUNCT
alkej-317	172	1	each	each	DET
alkej-317	172	2	ant	ant	NOUN
alkej-317	172	3	needs	need	VERB
alkej-317	172	4	to	to	PART
alkej-317	172	5	choose	choose	VERB
alkej-317	172	6	the	the	DET
alkej-317	172	7	next	next	ADJ
alkej-317	172	8	destination	destination	NOUN
alkej-317	172	9	based	base	VERB
alkej-317	172	10	on	on	ADP
alkej-317	172	11	the	the	DET
alkej-317	172	12	restriction	restriction	NOUN
alkej-317	172	13	of	of	ADP
alkej-317	172	14	the	the	DET
alkej-317	172	15	compute	compute	NOUN
alkej-317	172	16	the	the	DET
alkej-317	172	17	probability	probability	NOUN
alkej-317	172	18	of	of	ADP
alkej-317	172	19	the	the	DET
alkej-317	172	20	kth	kth	PROPN
alkej-317	172	21	ant	ant	PROPN
alkej-317	172	22	’s	’s	PART
alkej-317	172	23	next	next	ADJ
alkej-317	172	24	obstacle	obstacle	NOUN
alkej-317	172	25	?	?	PUNCT
alkej-317	173	1	then	then	ADV
alkej-317	173	2	move	move	VERB
alkej-317	173	3	to	to	ADP
alkej-317	173	4	a	a	DET
alkej-317	173	5	next	next	ADJ
alkej-317	173	6	node	node	NOUN
alkej-317	173	7	by	by	ADP
alkej-317	173	8	the	the	DET
alkej-317	173	9	computed	compute	VERB
alkej-317	173	10	probability	probability	NOUN
alkej-317	173	11	store	store	NOUN
alkej-317	173	12	the	the	DET
alkej-317	173	13	history	history	NOUN
alkej-317	173	14	of	of	ADP
alkej-317	173	15	past	past	ADJ
alkej-317	173	16	node	node	ADJ
alkej-317	173	17	locations	location	NOUN
alkej-317	173	18	in	in	ADP
alkej-317	173	19	an	an	DET
alkej-317	173	20	array	array	NOUN
alkej-317	173	21	is	be	AUX
alkej-317	173	22	equal	equal	ADJ
alkej-317	173	23	to	to	ADP
alkej-317	173	24	the	the	DET
alkej-317	173	25	end	end	NOUN
alkej-317	173	26	point	point	NOUN
alkej-317	173	27	?	?	PUNCT
alkej-317	174	1	update	update	VERB
alkej-317	174	2	the	the	DET
alkej-317	174	3	pheromone	pheromone	NOUN
alkej-317	174	4	evaporated	evaporate	VERB
alkej-317	174	5	on	on	ADP
alkej-317	174	6	re	re	PART
alkej-317	174	7	map	map	NOUN
alkej-317	174	8	generated	generate	VERB
alkej-317	174	9	using	use	VERB
alkej-317	174	10	equation	equation	NOUN
alkej-317	174	11	.1	.1	PROPN
alkej-317	174	12	.	.	PUNCT
alkej-317	175	1	effect	effect	NOUN
alkej-317	175	2	of	of	ADP
alkej-317	175	3	design	design	NOUN
alkej-317	175	4	parameters	parameter	NOUN
alkej-317	175	5	in	in	ADP
alkej-317	175	6	this	this	DET
alkej-317	175	7	section	section	NOUN
alkej-317	175	8	we	we	PRON
alkej-317	175	9	present	present	VERB
alkej-317	175	10	the	the	DET
alkej-317	175	11	influence	influence	NOUN
alkej-317	175	12	of	of	ADP
alkej-317	175	13	design	design	NOUN
alkej-317	175	14	parameter	parameter	NOUN
alkej-317	175	15	:	:	PUNCT
alkej-317	175	16	number	number	NOUN
alkej-317	175	17	of	of	ADP
alkej-317	175	18	iteration	iteration	NOUN
alkej-317	175	19	,	,	PUNCT
alkej-317	175	20	number	number	NOUN
alkej-317	175	21	of	of	ADP
alkej-317	175	22	ρ	ρ	PROPN
alkej-317	175	23	)	)	PUNCT
alkej-317	175	24	on	on	ADP
alkej-317	175	25	global	global	ADJ
alkej-317	175	26	search	search	NOUN
alkej-317	175	27	.	.	PUNCT
alkej-317	176	1	10	10	NUM
alkej-317	176	2	,	,	PUNCT
alkej-317	176	3	and	and	CCONJ
alkej-317	176	4	20×20	20×20	NUM
alkej-317	176	5	map	map	NOUN
alkej-317	176	6	(	(	PUNCT
alkej-317	176	7	a	a	NOUN
alkej-317	176	8	)	)	PUNCT
alkej-317	176	9	(	(	PUNCT
alkej-317	176	10	b	b	X
alkej-317	176	11	)	)	PUNCT
alkej-317	176	12	fig	fig	NOUN
alkej-317	176	13	.	.	PUNCT
alkej-317	177	1	7	7	X
alkej-317	177	2	.	.	X
alkej-317	177	3	effect	effect	NOUN
alkej-317	177	4	of	of	ADP
alkej-317	177	5	no	no	PRON
alkej-317	177	6	of	of	ADP
alkej-317	177	7	iteration	iteration	NOUN
alkej-317	177	8	andexecution	andexecution	NOUN
alkej-317	177	9	time	time	NOUN
alkej-317	177	10	for	for	ADP
alkej-317	177	11	10	10	NUM
alkej-317	177	12	map	map	NOUN
alkej-317	177	13	.	.	PUNCT
alkej-317	178	1	from	from	ADP
alkej-317	178	2	the	the	DET
alkej-317	178	3	previous	previous	ADJ
alkej-317	178	4	figure	figure	NOUN
alkej-317	178	5	,	,	PUNCT
alkej-317	178	6	it	it	PRON
alkej-317	178	7	's	be	AUX
alkej-317	178	8	algorithm	algorithm	NOUN
alkej-317	178	9	finds	find	VERB
alkej-317	178	10	an	an	DET
alkej-317	178	11	optimal	optimal	ADJ
alkej-317	178	12	number	number	NOUN
alkej-317	178	13	of	of	ADP
alkej-317	178	14	iteration	iteration	NOUN
alkej-317	178	15	,	,	PUNCT
alkej-317	178	16	as	as	SCONJ
alkej-317	178	17	shown	show	VERB
alkej-317	178	18	in	in	ADP
alkej-317	178	19	iteration	iteration	NOUN
alkej-317	178	20	(	(	PUNCT
alkej-317	178	21	80	80	NUM
alkej-317	178	22	)	)	PUNCT
alkej-317	178	23	the	the	DET
alkej-317	178	24	path	path	NOUN
alkej-317	178	25	length	length	NOUN
alkej-317	178	26	are	be	AUX
alkej-317	178	27	(	(	PUNCT
alkej-317	178	28	15.07	15.07	NUM
alkej-317	178	29	)	)	PUNCT
alkej-317	178	30	,	,	PUNCT
alkej-317	178	31	(	(	PUNCT
alkej-317	178	32	28.6274	28.6274	NUM
alkej-317	178	33	)	)	PUNCT
alkej-317	178	34	.	.	PUNCT
alkej-317	179	1	time	time	NOUN
alkej-317	179	2	require	require	NOUN
alkej-317	179	3	is	be	AUX
alkej-317	179	4	increased	increase	VERB
alkej-317	179	5	by	by	ADP
alkej-317	179	6	changing	change	VERB
alkej-317	179	7	the	the	DET
alkej-317	179	8	total	total	ADJ
alkej-317	179	9	numb	numb	ADJ
alkej-317	179	10	colony	colony	NOUN
alkej-317	179	11	from	from	ADP
alkej-317	179	12	(	(	PUNCT
alkej-317	179	13	5	5	NUM
alkej-317	179	14	)	)	PUNCT
alkej-317	179	15	to	to	ADP
alkej-317	179	16	(	(	PUNCT
alkej-317	179	17	50	50	NUM
alkej-317	179	18	)	)	PUNCT
alkej-317	179	19	,	,	PUNCT
alkej-317	179	20	it	it	PRON
alkej-317	179	21	's	be	AUX
alkej-317	179	22	obvious	obvious	ADJ
alkej-317	179	23	the	the	DET
alkej-317	179	24	number	number	NOUN
alkej-317	179	25	of	of	ADP
alkej-317	179	26	ants	ant	NOUN
alkej-317	179	27	should	should	AUX
alkej-317	179	28	be	be	AUX
alkej-317	179	29	increased	increase	VERB
alkej-317	179	30	with	with	ADP
alkej-317	179	31	increased	increase	VERB
alkej-317	179	32	search	search	NOUN
alkej-317	179	33	space	space	NOUN
alkej-317	179	34	as	as	SCONJ
alkej-317	179	35	shown	show	VERB
alkej-317	179	36	in	in	ADP
alkej-317	179	37	the	the	DET
alkej-317	179	38	figure	figure	NOUN
alkej-317	179	39	below	below	ADP
alkej-317	179	40	khwarizmi	khwarizmi	PROPN
alkej-317	179	41	engineering	engineering	PROPN
alkej-317	179	42	journal	journal	PROPN
alkej-317	179	43	,	,	PUNCT
alkej-317	179	44	vol	vol	NOUN
alkej-317	179	45	.	.	PROPN
alkej-317	179	46	12	12	NUM
alkej-317	179	47	,	,	PUNCT
alkej-317	179	48	no	no	INTJ
alkej-317	179	49	.	.	NOUN
alkej-317	179	50	4	4	NUM
alkej-317	179	51	,	,	PUNCT
alkej-317	179	52	p.p	p.p	PROPN
alkej-317	179	53	.	.	NOUN
alkej-317	179	54	1225(2016	1225(2016	NUM
alkej-317	179	55	)	)	PUNCT
alkej-317	179	56	(	(	PUNCT
alkej-317	179	57	a	a	X
alkej-317	179	58	)	)	PUNCT
alkej-317	179	59	(	(	PUNCT
alkej-317	179	60	b	b	NOUN
alkej-317	179	61	)	)	PUNCT
alkej-317	179	62	7	7	NUM
alkej-317	179	63	.	.	X
alkej-317	179	64	effect	effect	NOUN
alkej-317	179	65	of	of	ADP
alkej-317	179	66	no	no	PRON
alkej-317	179	67	of	of	ADP
alkej-317	179	68	iterations	iteration	NOUN
alkej-317	179	69	on	on	ADP
alkej-317	179	70	path	path	NOUN
alkej-317	179	71	length	length	PROPN
alkej-317	179	72	×10	×10	PROPN
alkej-317	179	73	map	map	NOUN
alkej-317	179	74	,	,	PUNCT
alkej-317	179	75	and	and	CCONJ
alkej-317	179	76	(	(	PUNCT
alkej-317	179	77	b	b	NOUN
alkej-317	179	78	)	)	PUNCT
alkej-317	179	79	20×20	20×20	NUM
alkej-317	179	80	from	from	ADP
alkej-317	179	81	the	the	DET
alkej-317	179	82	previous	previous	ADJ
alkej-317	179	83	figure	figure	NOUN
alkej-317	179	84	,	,	PUNCT
alkej-317	179	85	it	it	PRON
alkej-317	179	86	's	be	AUX
alkej-317	179	87	evident	evident	ADJ
alkej-317	179	88	that	that	SCONJ
alkej-317	179	89	the	the	DET
alkej-317	179	90	optimal	optimal	ADJ
alkej-317	179	91	path	path	NOUN
alkej-317	179	92	with	with	ADP
alkej-317	179	93	increase	increase	NOUN
alkej-317	179	94	total	total	ADJ
alkej-317	179	95	number	number	NOUN
alkej-317	179	96	of	of	ADP
alkej-317	179	97	iteration	iteration	NOUN
alkej-317	179	98	,	,	PUNCT
alkej-317	179	99	as	as	SCONJ
alkej-317	179	100	shown	show	VERB
alkej-317	179	101	in	in	ADP
alkej-317	179	102	iteration	iteration	NOUN
alkej-317	179	103	(	(	PUNCT
alkej-317	179	104	80	80	NUM
alkej-317	179	105	)	)	PUNCT
alkej-317	179	106	the	the	DET
alkej-317	179	107	path	path	NOUN
alkej-317	179	108	length	length	NOUN
alkej-317	179	109	are	be	AUX
alkej-317	179	110	(	(	PUNCT
alkej-317	179	111	15.07	15.07	NUM
alkej-317	179	112	)	)	PUNCT
alkej-317	179	113	,	,	PUNCT
alkej-317	179	114	(	(	PUNCT
alkej-317	179	115	28.6274	28.6274	NUM
alkej-317	179	116	)	)	PUNCT
alkej-317	179	117	.	.	PUNCT
alkej-317	180	1	also	also	ADV
alkej-317	180	2	,	,	PUNCT
alkej-317	180	3	the	the	DET
alkej-317	180	4	whole	whole	NOUN
alkej-317	180	5	by	by	ADP
alkej-317	180	6	changing	change	VERB
alkej-317	180	7	the	the	DET
alkej-317	180	8	total	total	ADJ
alkej-317	180	9	number	number	NOUN
alkej-317	180	10	of	of	ADP
alkej-317	180	11	ant	ant	NOUN
alkej-317	180	12	in	in	ADP
alkej-317	180	13	the	the	DET
alkej-317	180	14	(	(	PUNCT
alkej-317	180	15	5	5	NUM
alkej-317	180	16	)	)	PUNCT
alkej-317	180	17	to	to	ADP
alkej-317	180	18	(	(	PUNCT
alkej-317	180	19	50	50	NUM
alkej-317	180	20	)	)	PUNCT
alkej-317	180	21	,	,	PUNCT
alkej-317	180	22	it	it	PRON
alkej-317	180	23	's	be	AUX
alkej-317	180	24	obvious	obvious	ADJ
alkej-317	180	25	the	the	DET
alkej-317	180	26	number	number	NOUN
alkej-317	180	27	of	of	ADP
alkej-317	180	28	hould	hould	AUX
alkej-317	180	29	be	be	AUX
alkej-317	180	30	increased	increase	VERB
alkej-317	180	31	with	with	ADP
alkej-317	180	32	increased	increase	VERB
alkej-317	180	33	search	search	NOUN
alkej-317	180	34	space	space	NOUN
alkej-317	180	35	as	as	SCONJ
alkej-317	180	36	shown	show	VERB
alkej-317	180	37	in	in	ADP
alkej-317	180	38	the	the	DET
alkej-317	180	39	figure	figure	NOUN
alkej-317	180	40	below	below	ADV
alkej-317	180	41	:	:	PUNCT
alkej-317	180	42	ibraheem	ibraheem	PROPN
alkej-317	180	43	kasim	kasim	PROPN
alkej-317	180	44	ibraheem	ibraheem	PROPN
alkej-317	180	45	(	(	PUNCT
alkej-317	180	46	a	a	NOUN
alkej-317	180	47	)	)	PUNCT
alkej-317	180	48	(	(	PUNCT
alkej-317	180	49	b	b	X
alkej-317	180	50	)	)	PUNCT
alkej-317	180	51	fig	fig	NOUN
alkej-317	180	52	.	.	PUNCT
alkej-317	181	1	8	8	NUM
alkej-317	181	2	.	.	X
alkej-317	181	3	effect	effect	NOUN
alkej-317	181	4	of	of	ADP
alkej-317	181	5	no	no	PRON
alkej-317	181	6	of	of	ADP
alkej-317	181	7	ants	ant	NOUN
alkej-317	181	8	on	on	ADP
alkej-317	181	9	path	path	NOUN
alkej-317	181	10	length	length	NOUN
alkej-317	181	11	and	and	CCONJ
alkej-317	181	12	execution	execution	NOUN
alkej-317	181	13	time	time	NOUN
alkej-317	181	14	for	for	ADP
alkej-317	181	15	(	(	PUNCT
alkej-317	181	16	a	a	PRON
alkej-317	181	17	)	)	PUNCT
alkej-317	181	18	10×10	10×10	NUM
alkej-317	181	19	map	map	NOUN
alkej-317	181	20	,	,	PUNCT
alkej-317	181	21	and	and	CCONJ
alkej-317	181	22	(	(	PUNCT
alkej-317	181	23	b	b	NOUN
alkej-317	181	24	)	)	PUNCT
alkej-317	181	25	map	map	NOUN
alkej-317	181	26	.	.	PUNCT
alkej-317	182	1	from	from	ADP
alkej-317	182	2	the	the	DET
alkej-317	182	3	previous	previous	ADJ
alkej-317	182	4	figure	figure	NOUN
alkej-317	182	5	,	,	PUNCT
alkej-317	182	6	it	it	PRON
alkej-317	182	7	's	be	AUX
alkej-317	182	8	obvious	obvious	ADJ
alkej-317	182	9	best	good	ADJ
alkej-317	182	10	number	number	NOUN
alkej-317	182	11	for	for	ADP
alkej-317	182	12	10×10	10×10	NUM
alkej-317	182	13	map	map	NOUN
alkej-317	182	14	is	be	AUX
alkej-317	182	15	(	(	PUNCT
alkej-317	182	16	20	20	NUM
alkej-317	182	17	)	)	PUNCT
alkej-317	182	18	,	,	PUNCT
alkej-317	182	19	and	and	CCONJ
alkej-317	182	20	for	for	ADP
alkej-317	182	21	20	20	NUM
alkej-317	182	22	map	map	NOUN
alkej-317	182	23	is	be	AUX
alkej-317	182	24	(	(	PUNCT
alkej-317	182	25	40	40	NUM
alkej-317	182	26	)	)	PUNCT
alkej-317	182	27	.	.	PUNCT
alkej-317	183	1	also	also	ADV
alkej-317	183	2	,	,	PUNCT
alkej-317	183	3	the	the	DET
alkej-317	183	4	total	total	ADJ
alkej-317	183	5	time	time	NOUN
alkej-317	183	6	require	require	NOUN
alkej-317	183	7	is	be	AUX
alkej-317	183	8	increased	increase	VERB
alkej-317	183	9	.	.	PUNCT
alkej-317	184	1	the	the	DET
alkej-317	184	2	best	good	ADJ
alkej-317	184	3	value	value	NOUN
alkej-317	184	4	of	of	ADP
alkej-317	184	5	evaporation	evaporation	NOUN
alkej-317	184	6	factor	factor	NOUN
alkej-317	184	7	(	(	PUNCT
alkej-317	184	8	is	be	AUX
alkej-317	184	9	between	between	ADP
alkej-317	184	10	(	(	PUNCT
alkej-317	184	11	0.3	0.3	NUM
alkej-317	184	12	to	to	PART
alkej-317	184	13	0.7	0.7	NUM
alkej-317	184	14	)	)	PUNCT
alkej-317	184	15	for	for	ADP
alkej-317	184	16	all	all	DET
alkej-317	184	17	dimension	dimension	NOUN
alkej-317	184	18	of	of	ADP
alkej-317	184	19	space	space	NOUN
alkej-317	184	20	,	,	PUNCT
alkej-317	184	21	and	and	CCONJ
alkej-317	184	22	has	have	VERB
alkej-317	184	23	no	no	DET
alkej-317	184	24	effect	effect	NOUN
alkej-317	184	25	on	on	ADP
alkej-317	184	26	computation	computation	NOUN
alkej-317	184	27	time	time	NOUN
alkej-317	184	28	as	as	SCONJ
alkej-317	184	29	shown	show	VERB
alkej-317	184	30	in	in	ADP
alkej-317	184	31	the	the	DET
alkej-317	184	32	figure	figure	NOUN
alkej-317	184	33	below	below	ADV
alkej-317	184	34	:	:	PUNCT
alkej-317	184	35	al	al	PROPN
alkej-317	184	36	-	-	PUNCT
alkej-317	184	37	khwarizmi	khwarizmi	PROPN
alkej-317	184	38	engineering	engineering	NOUN
alkej-317	184	39	journal	journal	PROPN
alkej-317	184	40	,	,	PUNCT
alkej-317	184	41	vol	vol	NOUN
alkej-317	184	42	.	.	PROPN
alkej-317	184	43	12	12	NUM
alkej-317	184	44	,	,	PUNCT
alkej-317	184	45	no	no	INTJ
alkej-317	184	46	.	.	NOUN
alkej-317	184	47	4	4	NUM
alkej-317	184	48	,	,	PUNCT
alkej-317	184	49	p.p	p.p	PROPN
alkej-317	184	50	.	.	PROPN
alkej-317	184	51	18	18	NUM
alkej-317	184	52	8	8	NUM
alkej-317	184	53	.	.	PUNCT
alkej-317	184	54	effect	effect	NOUN
alkej-317	184	55	of	of	ADP
alkej-317	184	56	no	no	PRON
alkej-317	184	57	of	of	ADP
alkej-317	184	58	ants	ant	NOUN
alkej-317	184	59	on	on	ADP
alkej-317	184	60	path	path	NOUN
alkej-317	184	61	length	length	NOUN
alkej-317	184	62	and	and	CCONJ
alkej-317	184	63	10	10	NUM
alkej-317	184	64	map	map	NOUN
alkej-317	184	65	,	,	PUNCT
alkej-317	184	66	and	and	CCONJ
alkej-317	184	67	(	(	PUNCT
alkej-317	184	68	b	b	NOUN
alkej-317	184	69	)	)	PUNCT
alkej-317	184	70	20×20	20×20	NUM
alkej-317	184	71	obvious	obvious	ADJ
alkej-317	184	72	that	that	SCONJ
alkej-317	184	73	the	the	DET
alkej-317	184	74	10	10	NUM
alkej-317	184	75	map	map	NOUN
alkej-317	184	76	is	be	AUX
alkej-317	184	77	(	(	PUNCT
alkej-317	184	78	20	20	NUM
alkej-317	184	79	)	)	PUNCT
alkej-317	184	80	,	,	PUNCT
alkej-317	184	81	and	and	CCONJ
alkej-317	184	82	for	for	ADP
alkej-317	184	83	20×20	20×20	NUM
alkej-317	184	84	the	the	DET
alkej-317	184	85	total	total	ADJ
alkej-317	184	86	time	time	NOUN
alkej-317	184	87	require	require	VERB
alkej-317	184	88	is	be	AUX
alkej-317	184	89	evaporation	evaporation	NOUN
alkej-317	184	90	factor	factor	NOUN
alkej-317	184	91	(	(	PUNCT
alkej-317	184	92	ρ	ρ	NOUN
alkej-317	184	93	)	)	PUNCT
alkej-317	184	94	r	r	NOUN
alkej-317	184	95	all	all	DET
alkej-317	184	96	dimension	dimension	NOUN
alkej-317	184	97	of	of	ADP
alkej-317	184	98	search	search	NOUN
alkej-317	184	99	,	,	PUNCT
alkej-317	184	100	and	and	CCONJ
alkej-317	184	101	has	have	VERB
alkej-317	184	102	no	no	DET
alkej-317	184	103	effect	effect	NOUN
alkej-317	184	104	on	on	ADP
alkej-317	184	105	computation	computation	NOUN
alkej-317	184	106	time	time	NOUN
alkej-317	184	107	as	as	ADP
alkej-317	184	108	(	(	PUNCT
alkej-317	184	109	a	a	NOUN
alkej-317	184	110	)	)	PUNCT
alkej-317	184	111	(	(	PUNCT
alkej-317	184	112	b	b	X
alkej-317	184	113	)	)	PUNCT
alkej-317	184	114	fig	fig	NOUN
alkej-317	184	115	.	.	PUNCT
alkej-317	185	1	9	9	X
alkej-317	185	2	.	.	X
alkej-317	185	3	effect	effect	NOUN
alkej-317	185	4	of	of	ADP
alkej-317	185	5	evaporation	evaporation	NOUN
alkej-317	185	6	factor	factor	NOUN
alkej-317	185	7	(	(	PUNCT
alkej-317	185	8	length	length	NOUN
alkej-317	185	9	and	and	CCONJ
alkej-317	185	10	execution	execution	NOUN
alkej-317	185	11	time	time	NOUN
alkej-317	185	12	for	for	ADP
alkej-317	185	13	(	(	PUNCT
alkej-317	185	14	a	a	X
alkej-317	185	15	)	)	PUNCT
alkej-317	185	16	10	10	NUM
alkej-317	185	17	(	(	PUNCT
alkej-317	185	18	b	b	NOUN
alkej-317	185	19	)	)	PUNCT
alkej-317	185	20	20×20	20×20	NUM
alkej-317	185	21	map	map	NOUN
alkej-317	185	22	.	.	PUNCT
alkej-317	186	1	7.2	7.2	NUM
alkej-317	186	2	.	.	PUNCT
alkej-317	186	3	aco	aco	PROPN
alkej-317	186	4	and	and	CCONJ
alkej-317	186	5	maco	maco	PROPN
alkej-317	186	6	path	path	PROPN
alkej-317	186	7	planning	planning	NOUN
alkej-317	186	8	results	result	VERB
alkej-317	186	9	the	the	DET
alkej-317	186	10	results	result	NOUN
alkej-317	186	11	of	of	ADP
alkej-317	186	12	implementing	implement	VERB
alkej-317	186	13	standard	standard	PROPN
alkej-317	186	14	aco	aco	PROPN
alkej-317	186	15	algorithm	algorithm	PROPN
alkej-317	186	16	is	be	AUX
alkej-317	186	17	introduced	introduce	VERB
alkej-317	186	18	in	in	ADP
alkej-317	186	19	this	this	DET
alkej-317	186	20	section	section	NOUN
alkej-317	186	21	.	.	PUNCT
alkej-317	187	1	objective	objective	ADJ
alkej-317	187	2	situations	situation	NOUN
alkej-317	187	3	,	,	PUNCT
alkej-317	187	4	four	four	NUM
alkej-317	187	5	experiments	experiment	NOUN
alkej-317	187	6	showed	show	VERB
alkej-317	187	7	.	.	PUNCT
alkej-317	188	1	all	all	ADV
alkej-317	188	2	with	with	ADP
alkej-317	188	3	different	different	ADJ
alkej-317	188	4	complexity	complexity	NOUN
alkej-317	188	5	(	(	PUNCT
alkej-317	188	6	size	size	NOUN
alkej-317	188	7	of	of	ADP
alkej-317	188	8	search	search	NOUN
alkej-317	188	9	space	space	NOUN
alkej-317	188	10	,	,	PUNCT
alkej-317	188	11	position	position	NOUN
alkej-317	188	12	,	,	PUNCT
alkej-317	188	13	shape	shape	NOUN
alkej-317	188	14	,	,	PUNCT
alkej-317	188	15	and	and	CCONJ
alkej-317	188	16	obstacle	obstacle	NOUN
alkej-317	188	17	)	)	PUNCT
alkej-317	188	18	experiments	experiment	NOUN
alkej-317	188	19	were	be	AUX
alkej-317	188	20	done	do	VERB
alkej-317	188	21	r2015	r2015	PROPN
alkej-317	188	22	(	(	PUNCT
alkej-317	188	23	a	a	NOUN
alkej-317	188	24	)	)	PUNCT
alkej-317	188	25	.	.	PUNCT
alkej-317	189	1	the	the	DET
alkej-317	189	2	parameter	parameter	NOUN
alkej-317	189	3	setting	set	VERB
alkej-317	189	4	table	table	NOUN
alkej-317	189	5	1	1	NUM
alkej-317	189	6	below	below	ADV
alkej-317	189	7	.	.	PUNCT
alkej-317	190	1	for	for	SCONJ
alkej-317	190	2	all	all	DET
alkej-317	190	3	the	the	DET
alkej-317	190	4	case	case	NOUN
alkej-317	190	5	studies	study	VERB
alkej-317	190	6	the	the	DET
alkej-317	190	7	pheromone	pheromone	NOUN
alkej-317	190	8	evaporation	evaporation	NOUN
alkej-317	190	9	rate	rate	NOUN
alkej-317	190	10	khwarizmi	khwarizmi	PROPN
alkej-317	190	11	engineering	engineering	PROPN
alkej-317	190	12	journal	journal	PROPN
alkej-317	190	13	,	,	PUNCT
alkej-317	190	14	vol	vol	NOUN
alkej-317	190	15	.	.	PROPN
alkej-317	190	16	12	12	NUM
alkej-317	190	17	,	,	PUNCT
alkej-317	190	18	no	no	INTJ
alkej-317	190	19	.	.	NOUN
alkej-317	190	20	4	4	NUM
alkej-317	190	21	,	,	PUNCT
alkej-317	190	22	p.p	p.p	PROPN
alkej-317	190	23	.	.	NOUN
alkej-317	190	24	1225(2016	1225(2016	NUM
alkej-317	190	25	)	)	PUNCT
alkej-317	190	26	(	(	PUNCT
alkej-317	190	27	a	a	X
alkej-317	190	28	)	)	PUNCT
alkej-317	190	29	(	(	PUNCT
alkej-317	190	30	b	b	X
alkej-317	190	31	)	)	PUNCT
alkej-317	190	32	evaporation	evaporation	NOUN
alkej-317	190	33	factor	factor	NOUN
alkej-317	190	34	(	(	PUNCT
alkej-317	190	35	ρ	ρ	NOUN
alkej-317	190	36	)	)	PUNCT
alkej-317	190	37	on	on	ADP
alkej-317	190	38	path	path	NOUN
alkej-317	190	39	length	length	NOUN
alkej-317	190	40	and	and	CCONJ
alkej-317	190	41	execution	execution	NOUN
alkej-317	190	42	time	time	NOUN
alkej-317	190	43	for	for	ADP
alkej-317	190	44	(	(	PUNCT
alkej-317	190	45	a	a	PRON
alkej-317	190	46	)	)	PUNCT
alkej-317	190	47	10×10	10×10	NUM
alkej-317	190	48	map	map	NOUN
alkej-317	190	49	,	,	PUNCT
alkej-317	190	50	and	and	CCONJ
alkej-317	190	51	aco	aco	PROPN
alkej-317	190	52	and	and	CCONJ
alkej-317	190	53	maco	maco	PROPN
alkej-317	190	54	path	path	PROPN
alkej-317	190	55	planning	plan	VERB
alkej-317	190	56	the	the	DET
alkej-317	190	57	results	result	NOUN
alkej-317	190	58	of	of	ADP
alkej-317	190	59	implementing	implement	VERB
alkej-317	190	60	standard	standard	PROPN
alkej-317	190	61	aco	aco	PROPN
alkej-317	190	62	in	in	ADP
alkej-317	190	63	this	this	DET
alkej-317	190	64	section	section	NOUN
alkej-317	190	65	.	.	PUNCT
alkej-317	191	1	to	to	PART
alkej-317	191	2	make	make	VERB
alkej-317	191	3	four	four	NUM
alkej-317	191	4	experiments	experiment	NOUN
alkej-317	191	5	were	be	AUX
alkej-317	191	6	.	.	PUNCT
alkej-317	192	1	all	all	ADV
alkej-317	192	2	with	with	ADP
alkej-317	192	3	different	different	ADJ
alkej-317	192	4	complexity	complexity	NOUN
alkej-317	192	5	(	(	PUNCT
alkej-317	192	6	size	size	NOUN
alkej-317	192	7	of	of	ADP
alkej-317	192	8	search	search	NOUN
alkej-317	192	9	space	space	NOUN
alkej-317	192	10	,	,	PUNCT
alkej-317	192	11	position	position	NOUN
alkej-317	192	12	,	,	PUNCT
alkej-317	192	13	shape	shape	NOUN
alkej-317	192	14	,	,	PUNCT
alkej-317	192	15	and	and	CCONJ
alkej-317	192	16	some	some	DET
alkej-317	192	17	an	an	PRON
alkej-317	192	18	were	be	AUX
alkej-317	192	19	done	do	VERB
alkej-317	192	20	with	with	ADP
alkej-317	192	21	matlab	matlab	PROPN
alkej-317	192	22	r2015	r2015	PROPN
alkej-317	192	23	(	(	PUNCT
alkej-317	192	24	a	a	NOUN
alkej-317	192	25	)	)	PUNCT
alkej-317	192	26	.	.	PUNCT
alkej-317	193	1	the	the	DET
alkej-317	193	2	parameter	parameter	NOUN
alkej-317	193	3	setting	set	VERB
alkej-317	193	4	is	be	AUX
alkej-317	193	5	shown	show	VERB
alkej-317	193	6	in	in	ADP
alkej-317	193	7	table	table	NOUN
alkej-317	193	8	1	1	NUM
alkej-317	193	9	below	below	ADV
alkej-317	193	10	.	.	PUNCT
alkej-317	194	1	for	for	SCONJ
alkej-317	194	2	all	all	DET
alkej-317	194	3	the	the	DET
alkej-317	194	4	case	case	NOUN
alkej-317	194	5	studies	study	VERB
alkej-317	194	6	the	the	DET
alkej-317	194	7	pheromone	pheromone	NOUN
alkej-317	194	8	evaporation	evaporation	NOUN
alkej-317	194	9	rate	rate	NOUN
alkej-317	194	10	is	be	AUX
alkej-317	194	11	set	set	VERB
alkej-317	194	12	to	to	ADP
alkej-317	194	13	=	=	SYM
alkej-317	194	14	0.3	0.3	NUM
alkej-317	194	15	.	.	PUNCT
alkej-317	195	1	ibraheem	ibraheem	PROPN
alkej-317	195	2	kasim	kasim	PROPN
alkej-317	195	3	ibraheem	ibraheem	PROPN
alkej-317	195	4	al	al	PROPN
alkej-317	195	5	-	-	PUNCT
alkej-317	195	6	khwarizmi	khwarizmi	PROPN
alkej-317	195	7	engineering	engineering	NOUN
alkej-317	195	8	journal	journal	PROPN
alkej-317	195	9	,	,	PUNCT
alkej-317	195	10	vol	vol	NOUN
alkej-317	195	11	.	.	PROPN
alkej-317	195	12	12	12	NUM
alkej-317	195	13	,	,	PUNCT
alkej-317	195	14	no	no	INTJ
alkej-317	195	15	.	.	NOUN
alkej-317	195	16	4	4	NUM
alkej-317	195	17	,	,	PUNCT
alkej-317	195	18	p.p	p.p	PROPN
alkej-317	195	19	.	.	NOUN
alkej-317	195	20	1225(2016	1225(2016	NUM
alkej-317	195	21	)	)	PUNCT
alkej-317	195	22	19	19	NUM
alkej-317	195	23	table	table	NOUN
alkej-317	195	24	1	1	NUM
alkej-317	195	25	,	,	PUNCT
alkej-317	195	26	parameter	parameter	NOUN
alkej-317	195	27	specification	specification	NOUN
alkej-317	195	28	.	.	PUNCT
alkej-317	196	1	7.2.1	7.2.1	X
alkej-317	196	2	.	.	X
alkej-317	196	3	standard	standard	PROPN
alkej-317	196	4	aco	aco	PROPN
alkej-317	196	5	experiment	experiment	NOUN
alkej-317	196	6	(	(	PUNCT
alkej-317	196	7	1	1	NUM
alkej-317	196	8	)	)	PUNCT
alkej-317	196	9	in	in	ADP
alkej-317	196	10	this	this	DET
alkej-317	196	11	experiment	experiment	NOUN
alkej-317	196	12	the	the	DET
alkej-317	196	13	size	size	NOUN
alkej-317	196	14	of	of	ADP
alkej-317	196	15	search	search	NOUN
alkej-317	196	16	space	space	NOUN
alkej-317	196	17	is	be	AUX
alkej-317	196	18	(	(	PUNCT
alkej-317	196	19	10×10	10×10	X
alkej-317	196	20	)	)	PUNCT
alkej-317	196	21	grid	grid	NOUN
alkej-317	196	22	cell	cell	NOUN
alkej-317	196	23	,	,	PUNCT
alkej-317	196	24	and	and	CCONJ
alkej-317	196	25	five	five	NUM
alkej-317	196	26	obstacles	obstacle	NOUN
alkej-317	196	27	are	be	AUX
alkej-317	196	28	located	locate	VERB
alkej-317	196	29	in	in	ADP
alkej-317	196	30	random	random	ADJ
alkej-317	196	31	manner	manner	NOUN
alkej-317	196	32	for	for	SCONJ
alkej-317	196	33	obtain	obtain	VERB
alkej-317	196	34	the	the	DET
alkej-317	196	35	optimal	optimal	ADJ
alkej-317	196	36	path	path	NOUN
alkej-317	196	37	,	,	PUNCT
alkej-317	196	38	its	its	PRON
alkej-317	196	39	show	show	NOUN
alkej-317	196	40	that	that	SCONJ
alkej-317	196	41	the	the	DET
alkej-317	196	42	shortest	short	ADJ
alkej-317	196	43	path	path	NOUN
alkej-317	196	44	is	be	AUX
alkej-317	196	45	(	(	PUNCT
alkej-317	196	46	15.07	15.07	NUM
alkej-317	196	47	)	)	PUNCT
alkej-317	196	48	.	.	PUNCT
alkej-317	197	1	the	the	DET
alkej-317	197	2	figures	figure	NOUN
alkej-317	197	3	10	10	NUM
alkej-317	197	4	and	and	CCONJ
alkej-317	197	5	11	11	NUM
alkej-317	197	6	shows	show	VERB
alkej-317	197	7	the	the	DET
alkej-317	197	8	results	result	NOUN
alkej-317	197	9	of	of	ADP
alkej-317	197	10	saco	saco	PROPN
alkej-317	197	11	algorithm	algorithm	PROPN
alkej-317	197	12	.	.	PUNCT
alkej-317	198	1	fig	fig	NOUN
alkej-317	198	2	.	.	PUNCT
alkej-317	199	1	10	10	NUM
alkej-317	199	2	.	.	PUNCT
alkej-317	200	1	best	good	ADJ
alkej-317	200	2	path	path	NOUN
alkej-317	200	3	found	find	VERB
alkej-317	200	4	by	by	ADP
alkej-317	200	5	standard	standard	PROPN
alkej-317	200	6	aco	aco	PROPN
alkej-317	200	7	for	for	ADP
alkej-317	200	8	experiment	experiment	NOUN
alkej-317	200	9	1	1	NUM
alkej-317	200	10	.	.	PUNCT
alkej-317	200	11	fig	fig	NOUN
alkej-317	200	12	.	.	PUNCT
alkej-317	201	1	11	11	NUM
alkej-317	201	2	.	.	PUNCT
alkej-317	202	1	the	the	DET
alkej-317	202	2	convergence	convergence	NOUN
alkej-317	202	3	curve	curve	NOUN
alkej-317	202	4	for	for	ADP
alkej-317	202	5	experiment	experiment	NOUN
alkej-317	202	6	1	1	NUM
alkej-317	202	7	from	from	ADP
alkej-317	202	8	the	the	DET
alkej-317	202	9	previous	previous	ADJ
alkej-317	202	10	two	two	NUM
alkej-317	202	11	figure	figure	NOUN
alkej-317	202	12	,	,	PUNCT
alkej-317	202	13	the	the	DET
alkej-317	202	14	mobile	mobile	ADJ
alkej-317	202	15	robot	robot	NOUN
alkej-317	202	16	start	start	VERB
alkej-317	202	17	avoids	avoid	VERB
alkej-317	202	18	static	static	ADJ
alkej-317	202	19	obstacles	obstacle	NOUN
alkej-317	202	20	with	with	ADP
alkej-317	202	21	the	the	DET
alkej-317	202	22	shortest	short	ADJ
alkej-317	202	23	path	path	NOUN
alkej-317	202	24	is	be	AUX
alkej-317	202	25	(	(	PUNCT
alkej-317	202	26	15.07	15.07	NUM
alkej-317	202	27	)	)	PUNCT
alkej-317	202	28	in	in	ADP
alkej-317	202	29	iteration	iteration	NOUN
alkej-317	202	30	(	(	PUNCT
alkej-317	202	31	78	78	NUM
alkej-317	202	32	)	)	PUNCT
alkej-317	202	33	with	with	ADP
alkej-317	202	34	the	the	DET
alkej-317	202	35	total	total	ADJ
alkej-317	202	36	computation	computation	NOUN
alkej-317	202	37	time	time	NOUN
alkej-317	202	38	equal	equal	ADJ
alkej-317	202	39	to	to	ADP
alkej-317	202	40	(	(	PUNCT
alkej-317	202	41	1.217323	1.217323	NUM
alkej-317	202	42	)	)	PUNCT
alkej-317	202	43	sec	sec	PROPN
alkej-317	202	44	.	.	PROPN
alkej-317	202	45	experiment	experiment	NOUN
alkej-317	202	46	(	(	PUNCT
alkej-317	202	47	2	2	NUM
alkej-317	202	48	)	)	PUNCT
alkej-317	202	49	in	in	ADP
alkej-317	202	50	this	this	DET
alkej-317	202	51	experiment	experiment	NOUN
alkej-317	202	52	the	the	DET
alkej-317	202	53	size	size	NOUN
alkej-317	202	54	of	of	ADP
alkej-317	202	55	search	search	NOUN
alkej-317	202	56	space	space	NOUN
alkej-317	202	57	is	be	AUX
alkej-317	202	58	(	(	PUNCT
alkej-317	202	59	20×20	20×20	NUM
alkej-317	202	60	)	)	PUNCT
alkej-317	202	61	grid	grid	NOUN
alkej-317	202	62	cell	cell	NOUN
alkej-317	202	63	,	,	PUNCT
alkej-317	202	64	and	and	CCONJ
alkej-317	202	65	ten	ten	NUM
alkej-317	202	66	obstacles	obstacle	NOUN
alkej-317	202	67	are	be	AUX
alkej-317	202	68	located	locate	VERB
alkej-317	202	69	in	in	ADP
alkej-317	202	70	a	a	DET
alkej-317	202	71	random	random	ADJ
alkej-317	202	72	manner	manner	NOUN
alkej-317	202	73	for	for	ADP
alkej-317	202	74	obtaining	obtain	VERB
alkej-317	202	75	the	the	DET
alkej-317	202	76	optimal	optimal	ADJ
alkej-317	202	77	path	path	NOUN
alkej-317	202	78	,	,	PUNCT
alkej-317	202	79	its	its	PRON
alkej-317	202	80	show	show	NOUN
alkej-317	202	81	that	that	SCONJ
alkej-317	202	82	the	the	DET
alkej-317	202	83	shortest	short	ADJ
alkej-317	202	84	path	path	NOUN
alkej-317	202	85	is	be	AUX
alkej-317	202	86	(	(	PUNCT
alkej-317	202	87	28.63	28.63	NUM
alkej-317	202	88	)	)	PUNCT
alkej-317	202	89	.	.	PUNCT
alkej-317	203	1	the	the	DET
alkej-317	203	2	figures	figure	NOUN
alkej-317	203	3	12	12	NUM
alkej-317	203	4	and	and	CCONJ
alkej-317	203	5	13	13	NUM
alkej-317	203	6	shows	show	VERB
alkej-317	203	7	the	the	DET
alkej-317	203	8	results	result	NOUN
alkej-317	203	9	of	of	ADP
alkej-317	203	10	saco	saco	PROPN
alkej-317	203	11	algorithm	algorithm	NOUN
alkej-317	203	12	for	for	ADP
alkej-317	203	13	experiment	experiment	NOUN
alkej-317	203	14	2	2	NUM
alkej-317	203	15	.	.	PUNCT
alkej-317	203	16	fig	fig	NOUN
alkej-317	203	17	.	.	PUNCT
alkej-317	204	1	12	12	NUM
alkej-317	204	2	.	.	PUNCT
alkej-317	205	1	best	good	ADJ
alkej-317	205	2	path	path	NOUN
alkej-317	205	3	found	find	VERB
alkej-317	205	4	by	by	ADP
alkej-317	205	5	standard	standard	PROPN
alkej-317	205	6	aco	aco	PROPN
alkej-317	205	7	for	for	ADP
alkej-317	205	8	experiment	experiment	NOUN
alkej-317	205	9	2	2	NUM
alkej-317	205	10	.	.	PUNCT
alkej-317	205	11	ibraheem	ibraheem	PROPN
alkej-317	205	12	kasim	kasim	PROPN
alkej-317	205	13	ibraheem	ibraheem	PROPN
alkej-317	205	14	al	al	PROPN
alkej-317	205	15	-	-	PUNCT
alkej-317	205	16	khwarizmi	khwarizmi	PROPN
alkej-317	205	17	engineering	engineering	NOUN
alkej-317	205	18	journal	journal	PROPN
alkej-317	205	19	,	,	PUNCT
alkej-317	205	20	vol	vol	NOUN
alkej-317	205	21	.	.	PROPN
alkej-317	205	22	12	12	NUM
alkej-317	205	23	,	,	PUNCT
alkej-317	205	24	no	no	INTJ
alkej-317	205	25	.	.	NOUN
alkej-317	205	26	4	4	NUM
alkej-317	205	27	,	,	PUNCT
alkej-317	205	28	p.p	p.p	PROPN
alkej-317	205	29	.	.	NOUN
alkej-317	205	30	1225(2016	1225(2016	NUM
alkej-317	205	31	)	)	PUNCT
alkej-317	205	32	20	20	NUM
alkej-317	205	33	fig	fig	NOUN
alkej-317	205	34	.	.	PUNCT
alkej-317	206	1	13	13	NUM
alkej-317	206	2	.	.	PUNCT
alkej-317	207	1	the	the	DET
alkej-317	207	2	convergence	convergence	NOUN
alkej-317	207	3	curve	curve	NOUN
alkej-317	207	4	for	for	ADP
alkej-317	207	5	experiment	experiment	NOUN
alkej-317	207	6	2	2	NUM
alkej-317	207	7	.	.	PUNCT
alkej-317	207	8	from	from	ADP
alkej-317	207	9	the	the	DET
alkej-317	207	10	previous	previous	ADJ
alkej-317	207	11	two	two	NUM
alkej-317	207	12	figure	figure	NOUN
alkej-317	207	13	,	,	PUNCT
alkej-317	207	14	the	the	DET
alkej-317	207	15	mobile	mobile	ADJ
alkej-317	207	16	robot	robot	NOUN
alkej-317	207	17	start	start	VERB
alkej-317	207	18	avoids	avoid	VERB
alkej-317	207	19	static	static	ADJ
alkej-317	207	20	obstacles	obstacle	NOUN
alkej-317	207	21	with	with	ADP
alkej-317	207	22	the	the	DET
alkej-317	207	23	shortest	short	ADJ
alkej-317	207	24	path	path	NOUN
alkej-317	207	25	is	be	AUX
alkej-317	207	26	(	(	PUNCT
alkej-317	207	27	28.63	28.63	NUM
alkej-317	207	28	)	)	PUNCT
alkej-317	207	29	in	in	ADP
alkej-317	207	30	iteration	iteration	NOUN
alkej-317	207	31	(	(	PUNCT
alkej-317	207	32	79	79	NUM
alkej-317	207	33	)	)	PUNCT
alkej-317	207	34	with	with	ADP
alkej-317	207	35	the	the	DET
alkej-317	207	36	total	total	ADJ
alkej-317	207	37	computation	computation	NOUN
alkej-317	207	38	time	time	NOUN
alkej-317	207	39	equal	equal	ADJ
alkej-317	207	40	to	to	ADP
alkej-317	207	41	(	(	PUNCT
alkej-317	207	42	9.072979	9.072979	NUM
alkej-317	207	43	)	)	PUNCT
alkej-317	207	44	.	.	PUNCT
alkej-317	208	1	experiment	experiment	NOUN
alkej-317	208	2	(	(	PUNCT
alkej-317	208	3	3	3	NUM
alkej-317	208	4	)	)	PUNCT
alkej-317	208	5	in	in	ADP
alkej-317	208	6	this	this	DET
alkej-317	208	7	experiment	experiment	NOUN
alkej-317	208	8	the	the	DET
alkej-317	208	9	size	size	NOUN
alkej-317	208	10	of	of	ADP
alkej-317	208	11	search	search	NOUN
alkej-317	208	12	space	space	NOUN
alkej-317	208	13	is	be	AUX
alkej-317	208	14	(	(	PUNCT
alkej-317	208	15	30×30	30×30	NUM
alkej-317	208	16	)	)	PUNCT
alkej-317	208	17	grid	grid	NOUN
alkej-317	208	18	cell	cell	NOUN
alkej-317	208	19	,	,	PUNCT
alkej-317	208	20	and	and	CCONJ
alkej-317	208	21	obstacles	obstacle	NOUN
alkej-317	208	22	are	be	AUX
alkej-317	208	23	located	locate	VERB
alkej-317	208	24	in	in	ADP
alkej-317	208	25	a	a	DET
alkej-317	208	26	random	random	ADJ
alkej-317	208	27	manner	manner	NOUN
alkej-317	208	28	for	for	ADP
alkej-317	208	29	obtaining	obtain	VERB
alkej-317	208	30	the	the	DET
alkej-317	208	31	optimal	optimal	ADJ
alkej-317	208	32	path	path	NOUN
alkej-317	208	33	,	,	PUNCT
alkej-317	208	34	its	its	PRON
alkej-317	208	35	show	show	NOUN
alkej-317	208	36	that	that	SCONJ
alkej-317	208	37	the	the	DET
alkej-317	208	38	shortest	short	ADJ
alkej-317	208	39	path	path	NOUN
alkej-317	208	40	is	be	AUX
alkej-317	208	41	(	(	PUNCT
alkej-317	208	42	45.9411	45.9411	NUM
alkej-317	208	43	)	)	PUNCT
alkej-317	208	44	.	.	PUNCT
alkej-317	209	1	the	the	DET
alkej-317	209	2	figures	figure	NOUN
alkej-317	209	3	14	14	NUM
alkej-317	209	4	and	and	CCONJ
alkej-317	209	5	15	15	NUM
alkej-317	209	6	shows	show	VERB
alkej-317	209	7	the	the	DET
alkej-317	209	8	results	result	NOUN
alkej-317	209	9	of	of	ADP
alkej-317	209	10	saco	saco	PROPN
alkej-317	209	11	algorithm	algorithm	NOUN
alkej-317	209	12	for	for	ADP
alkej-317	209	13	experiment	experiment	NOUN
alkej-317	209	14	3	3	NUM
alkej-317	209	15	.	.	PUNCT
alkej-317	209	16	fig	fig	NOUN
alkej-317	209	17	.	.	PUNCT
alkej-317	210	1	14	14	NUM
alkej-317	210	2	.	.	PUNCT
alkej-317	211	1	best	good	ADJ
alkej-317	211	2	path	path	NOUN
alkej-317	211	3	found	find	VERB
alkej-317	211	4	by	by	ADP
alkej-317	211	5	standard	standard	PROPN
alkej-317	211	6	aco	aco	PROPN
alkej-317	211	7	for	for	ADP
alkej-317	211	8	experiment	experiment	NOUN
alkej-317	211	9	3	3	NUM
alkej-317	211	10	fig	fig	NOUN
alkej-317	211	11	.	.	PUNCT
alkej-317	212	1	15	15	NUM
alkej-317	212	2	.	.	PUNCT
alkej-317	213	1	the	the	DET
alkej-317	213	2	convergence	convergence	NOUN
alkej-317	213	3	curve	curve	NOUN
alkej-317	213	4	for	for	ADP
alkej-317	213	5	experiment	experiment	NOUN
alkej-317	213	6	3	3	NUM
alkej-317	213	7	.	.	PUNCT
alkej-317	213	8	from	from	ADP
alkej-317	213	9	the	the	DET
alkej-317	213	10	previous	previous	ADJ
alkej-317	213	11	two	two	NUM
alkej-317	213	12	figure	figure	NOUN
alkej-317	213	13	,	,	PUNCT
alkej-317	213	14	the	the	DET
alkej-317	213	15	mobile	mobile	ADJ
alkej-317	213	16	robot	robot	NOUN
alkej-317	213	17	start	start	VERB
alkej-317	213	18	avoids	avoid	VERB
alkej-317	213	19	static	static	ADJ
alkej-317	213	20	obstacles	obstacle	NOUN
alkej-317	213	21	with	with	ADP
alkej-317	213	22	the	the	DET
alkej-317	213	23	shortest	short	ADJ
alkej-317	213	24	path	path	NOUN
alkej-317	213	25	is	be	AUX
alkej-317	213	26	(	(	PUNCT
alkej-317	213	27	45.9411	45.9411	NUM
alkej-317	213	28	)	)	PUNCT
alkej-317	213	29	in	in	ADP
alkej-317	213	30	iteration	iteration	NOUN
alkej-317	213	31	(	(	PUNCT
alkej-317	213	32	97	97	NUM
alkej-317	213	33	)	)	PUNCT
alkej-317	213	34	with	with	ADP
alkej-317	213	35	the	the	DET
alkej-317	213	36	total	total	ADJ
alkej-317	213	37	computation	computation	NOUN
alkej-317	213	38	time	time	NOUN
alkej-317	213	39	equal	equal	ADJ
alkej-317	213	40	to	to	ADP
alkej-317	213	41	(	(	PUNCT
alkej-317	213	42	52.853641	52.853641	NUM
alkej-317	213	43	)	)	PUNCT
alkej-317	213	44	.	.	PUNCT
alkej-317	214	1	experiment	experiment	NOUN
alkej-317	214	2	(	(	PUNCT
alkej-317	214	3	4	4	NUM
alkej-317	214	4	)	)	PUNCT
alkej-317	214	5	in	in	ADP
alkej-317	214	6	this	this	DET
alkej-317	214	7	experiment	experiment	NOUN
alkej-317	214	8	the	the	DET
alkej-317	214	9	size	size	NOUN
alkej-317	214	10	of	of	ADP
alkej-317	214	11	search	search	NOUN
alkej-317	214	12	space	space	NOUN
alkej-317	214	13	is	be	AUX
alkej-317	214	14	(	(	PUNCT
alkej-317	214	15	40×40	40×40	NOUN
alkej-317	214	16	)	)	PUNCT
alkej-317	214	17	grid	grid	NOUN
alkej-317	214	18	cell	cell	NOUN
alkej-317	214	19	,	,	PUNCT
alkej-317	214	20	and	and	CCONJ
alkej-317	214	21	obstacles	obstacle	NOUN
alkej-317	214	22	are	be	AUX
alkej-317	214	23	located	locate	VERB
alkej-317	214	24	in	in	ADP
alkej-317	214	25	a	a	DET
alkej-317	214	26	random	random	ADJ
alkej-317	214	27	manner	manner	NOUN
alkej-317	214	28	for	for	ADP
alkej-317	214	29	obtaining	obtain	VERB
alkej-317	214	30	the	the	DET
alkej-317	214	31	optimal	optimal	ADJ
alkej-317	214	32	path	path	NOUN
alkej-317	214	33	,	,	PUNCT
alkej-317	214	34	its	its	PRON
alkej-317	214	35	show	show	NOUN
alkej-317	214	36	that	that	SCONJ
alkej-317	214	37	the	the	DET
alkej-317	214	38	shortest	short	ADJ
alkej-317	214	39	path	path	NOUN
alkej-317	214	40	is	be	AUX
alkej-317	214	41	(	(	PUNCT
alkej-317	214	42	62.6690	62.6690	NUM
alkej-317	214	43	)	)	PUNCT
alkej-317	214	44	.	.	PUNCT
alkej-317	215	1	the	the	DET
alkej-317	215	2	figures	figure	NOUN
alkej-317	215	3	16	16	NUM
alkej-317	215	4	and	and	CCONJ
alkej-317	215	5	17	17	NUM
alkej-317	215	6	shows	show	VERB
alkej-317	215	7	the	the	DET
alkej-317	215	8	results	result	NOUN
alkej-317	215	9	of	of	ADP
alkej-317	215	10	saco	saco	PROPN
alkej-317	215	11	algorithm	algorithm	NOUN
alkej-317	215	12	for	for	ADP
alkej-317	215	13	experiment	experiment	NOUN
alkej-317	215	14	4	4	NUM
alkej-317	215	15	.	.	PUNCT
alkej-317	215	16	fig	fig	NOUN
alkej-317	215	17	.	.	PUNCT
alkej-317	216	1	16	16	NUM
alkej-317	216	2	.	.	PUNCT
alkej-317	217	1	best	good	ADJ
alkej-317	217	2	path	path	NOUN
alkej-317	217	3	found	find	VERB
alkej-317	217	4	by	by	ADP
alkej-317	217	5	standard	standard	PROPN
alkej-317	217	6	aco	aco	PROPN
alkej-317	217	7	for	for	ADP
alkej-317	217	8	experiment	experiment	NOUN
alkej-317	217	9	4	4	NUM
alkej-317	217	10	ibraheem	ibraheem	ADJ
alkej-317	217	11	kasim	kasim	PROPN
alkej-317	217	12	ibraheem	ibraheem	PROPN
alkej-317	217	13	al	al	PROPN
alkej-317	217	14	-	-	PUNCT
alkej-317	217	15	khwarizmi	khwarizmi	PROPN
alkej-317	217	16	engineering	engineering	NOUN
alkej-317	217	17	journal	journal	PROPN
alkej-317	217	18	,	,	PUNCT
alkej-317	217	19	vol	vol	NOUN
alkej-317	217	20	.	.	PROPN
alkej-317	217	21	12	12	NUM
alkej-317	217	22	,	,	PUNCT
alkej-317	217	23	no	no	INTJ
alkej-317	217	24	.	.	NOUN
alkej-317	217	25	4	4	NUM
alkej-317	217	26	,	,	PUNCT
alkej-317	217	27	p.p	p.p	PROPN
alkej-317	217	28	.	.	NOUN
alkej-317	217	29	1225(2016	1225(2016	NUM
alkej-317	217	30	)	)	PUNCT
alkej-317	217	31	21	21	NUM
alkej-317	217	32	fig	fig	NOUN
alkej-317	217	33	.	.	PUNCT
alkej-317	218	1	17	17	NUM
alkej-317	218	2	.	.	PUNCT
alkej-317	219	1	the	the	DET
alkej-317	219	2	convergence	convergence	NOUN
alkej-317	219	3	curve	curve	NOUN
alkej-317	219	4	for	for	ADP
alkej-317	219	5	experiment	experiment	NOUN
alkej-317	219	6	4	4	NUM
alkej-317	219	7	from	from	ADP
alkej-317	219	8	the	the	DET
alkej-317	219	9	previous	previous	ADJ
alkej-317	219	10	two	two	NUM
alkej-317	219	11	figure	figure	NOUN
alkej-317	219	12	,	,	PUNCT
alkej-317	219	13	the	the	DET
alkej-317	219	14	mobile	mobile	ADJ
alkej-317	219	15	robot	robot	NOUN
alkej-317	219	16	start	start	VERB
alkej-317	219	17	avoids	avoid	VERB
alkej-317	219	18	static	static	ADJ
alkej-317	219	19	obstacles	obstacle	NOUN
alkej-317	219	20	with	with	ADP
alkej-317	219	21	the	the	DET
alkej-317	219	22	shortest	short	ADJ
alkej-317	219	23	path	path	NOUN
alkej-317	219	24	is	be	AUX
alkej-317	219	25	(	(	PUNCT
alkej-317	219	26	62.6690	62.6690	NUM
alkej-317	219	27	)	)	PUNCT
alkej-317	219	28	in	in	ADP
alkej-317	219	29	iteration	iteration	NOUN
alkej-317	219	30	(	(	PUNCT
alkej-317	219	31	96	96	NUM
alkej-317	219	32	)	)	PUNCT
alkej-317	219	33	with	with	ADP
alkej-317	219	34	the	the	DET
alkej-317	219	35	total	total	ADJ
alkej-317	219	36	computation	computation	NOUN
alkej-317	219	37	time	time	NOUN
alkej-317	219	38	equal	equal	ADJ
alkej-317	219	39	to	to	ADP
alkej-317	219	40	(	(	PUNCT
alkej-317	219	41	134.770856	134.770856	NUM
alkej-317	219	42	)	)	PUNCT
alkej-317	219	43	.	.	PUNCT
alkej-317	220	1	7.2.2	7.2.2	NUM
alkej-317	220	2	.	.	PUNCT
alkej-317	220	3	modified	modified	PROPN
alkej-317	220	4	aco	aco	PROPN
alkej-317	220	5	(	(	PUNCT
alkej-317	220	6	maco	maco	PROPN
alkej-317	220	7	)	)	PUNCT
alkej-317	220	8	experiment	experiment	NOUN
alkej-317	220	9	(	(	PUNCT
alkej-317	220	10	1	1	NUM
alkej-317	220	11	)	)	PUNCT
alkej-317	220	12	in	in	ADP
alkej-317	220	13	this	this	DET
alkej-317	220	14	experiment	experiment	NOUN
alkej-317	220	15	the	the	DET
alkej-317	220	16	size	size	NOUN
alkej-317	220	17	of	of	ADP
alkej-317	220	18	search	search	NOUN
alkej-317	220	19	space	space	NOUN
alkej-317	220	20	is	be	AUX
alkej-317	220	21	(	(	PUNCT
alkej-317	220	22	10×10	10×10	X
alkej-317	220	23	)	)	PUNCT
alkej-317	220	24	grid	grid	NOUN
alkej-317	220	25	cell	cell	NOUN
alkej-317	220	26	,	,	PUNCT
alkej-317	220	27	and	and	CCONJ
alkej-317	220	28	five	five	NUM
alkej-317	220	29	obstacles	obstacle	NOUN
alkej-317	220	30	are	be	AUX
alkej-317	220	31	located	locate	VERB
alkej-317	220	32	in	in	ADP
alkej-317	220	33	random	random	ADJ
alkej-317	220	34	manner	manner	NOUN
alkej-317	220	35	for	for	SCONJ
alkej-317	220	36	obtain	obtain	VERB
alkej-317	220	37	the	the	DET
alkej-317	220	38	optimal	optimal	ADJ
alkej-317	220	39	path	path	NOUN
alkej-317	220	40	,	,	PUNCT
alkej-317	220	41	its	its	PRON
alkej-317	220	42	show	show	NOUN
alkej-317	220	43	that	that	SCONJ
alkej-317	220	44	the	the	DET
alkej-317	220	45	shortest	short	ADJ
alkej-317	220	46	path	path	NOUN
alkej-317	220	47	is	be	AUX
alkej-317	220	48	(	(	PUNCT
alkej-317	220	49	15.07	15.07	NUM
alkej-317	220	50	)	)	PUNCT
alkej-317	220	51	.	.	PUNCT
alkej-317	221	1	the	the	DET
alkej-317	221	2	figures	figure	NOUN
alkej-317	221	3	18	18	NUM
alkej-317	221	4	and	and	CCONJ
alkej-317	221	5	19	19	NUM
alkej-317	221	6	shows	show	VERB
alkej-317	221	7	the	the	DET
alkej-317	221	8	results	result	NOUN
alkej-317	221	9	of	of	ADP
alkej-317	221	10	maco	maco	PROPN
alkej-317	221	11	algorithm	algorithm	PROPN
alkej-317	221	12	.	.	PUNCT
alkej-317	222	1	fig	fig	NOUN
alkej-317	222	2	.	.	PUNCT
alkej-317	223	1	18	18	NUM
alkej-317	223	2	.	.	PUNCT
alkej-317	224	1	best	good	ADJ
alkej-317	224	2	path	path	NOUN
alkej-317	224	3	found	find	VERB
alkej-317	224	4	by	by	ADP
alkej-317	224	5	modified	modified	PROPN
alkej-317	224	6	aco	aco	PROPN
alkej-317	224	7	for	for	ADP
alkej-317	224	8	experiment	experiment	NOUN
alkej-317	224	9	1	1	NUM
alkej-317	224	10	.	.	PUNCT
alkej-317	224	11	fig	fig	NOUN
alkej-317	224	12	.	.	PUNCT
alkej-317	225	1	19	19	NUM
alkej-317	225	2	.	.	PUNCT
alkej-317	226	1	the	the	DET
alkej-317	226	2	convergence	convergence	NOUN
alkej-317	226	3	curve	curve	NOUN
alkej-317	226	4	for	for	ADP
alkej-317	226	5	experiment	experiment	NOUN
alkej-317	226	6	1	1	NUM
alkej-317	226	7	from	from	ADP
alkej-317	226	8	the	the	DET
alkej-317	226	9	previous	previous	ADJ
alkej-317	226	10	two	two	NUM
alkej-317	226	11	figure	figure	NOUN
alkej-317	226	12	,	,	PUNCT
alkej-317	226	13	the	the	DET
alkej-317	226	14	mobile	mobile	ADJ
alkej-317	226	15	robot	robot	NOUN
alkej-317	226	16	start	start	VERB
alkej-317	226	17	avoids	avoid	VERB
alkej-317	226	18	static	static	ADJ
alkej-317	226	19	obstacles	obstacle	NOUN
alkej-317	226	20	with	with	ADP
alkej-317	226	21	the	the	DET
alkej-317	226	22	shortest	short	ADJ
alkej-317	226	23	path	path	NOUN
alkej-317	226	24	is	be	AUX
alkej-317	226	25	(	(	PUNCT
alkej-317	226	26	15.07	15.07	NUM
alkej-317	226	27	)	)	PUNCT
alkej-317	226	28	in	in	ADP
alkej-317	226	29	iteration	iteration	NOUN
alkej-317	226	30	(	(	PUNCT
alkej-317	226	31	58	58	NUM
alkej-317	226	32	)	)	PUNCT
alkej-317	226	33	with	with	ADP
alkej-317	226	34	the	the	DET
alkej-317	226	35	total	total	ADJ
alkej-317	226	36	computation	computation	NOUN
alkej-317	226	37	time	time	NOUN
alkej-317	226	38	equal	equal	ADJ
alkej-317	226	39	to	to	ADP
alkej-317	226	40	(	(	PUNCT
alkej-317	226	41	1.154530	1.154530	NUM
alkej-317	226	42	)	)	PUNCT
alkej-317	226	43	.	.	PUNCT
alkej-317	227	1	experiment	experiment	NOUN
alkej-317	227	2	(	(	PUNCT
alkej-317	227	3	2	2	NUM
alkej-317	227	4	)	)	PUNCT
alkej-317	227	5	in	in	ADP
alkej-317	227	6	this	this	DET
alkej-317	227	7	experiment	experiment	NOUN
alkej-317	227	8	the	the	DET
alkej-317	227	9	size	size	NOUN
alkej-317	227	10	of	of	ADP
alkej-317	227	11	search	search	NOUN
alkej-317	227	12	space	space	NOUN
alkej-317	227	13	is	be	AUX
alkej-317	227	14	(	(	PUNCT
alkej-317	227	15	20×20	20×20	NUM
alkej-317	227	16	)	)	PUNCT
alkej-317	227	17	grid	grid	NOUN
alkej-317	227	18	cell	cell	NOUN
alkej-317	227	19	,	,	PUNCT
alkej-317	227	20	and	and	CCONJ
alkej-317	227	21	ten	ten	NUM
alkej-317	227	22	obstacles	obstacle	NOUN
alkej-317	227	23	are	be	AUX
alkej-317	227	24	located	locate	VERB
alkej-317	227	25	in	in	ADP
alkej-317	227	26	a	a	DET
alkej-317	227	27	random	random	ADJ
alkej-317	227	28	manner	manner	NOUN
alkej-317	227	29	for	for	ADP
alkej-317	227	30	obtaining	obtain	VERB
alkej-317	227	31	the	the	DET
alkej-317	227	32	optimal	optimal	ADJ
alkej-317	227	33	path	path	NOUN
alkej-317	227	34	,	,	PUNCT
alkej-317	227	35	its	its	PRON
alkej-317	227	36	show	show	NOUN
alkej-317	227	37	that	that	SCONJ
alkej-317	227	38	the	the	DET
alkej-317	227	39	shortest	short	ADJ
alkej-317	227	40	path	path	NOUN
alkej-317	227	41	is	be	AUX
alkej-317	227	42	(	(	PUNCT
alkej-317	227	43	28.63	28.63	NUM
alkej-317	227	44	)	)	PUNCT
alkej-317	227	45	.	.	PUNCT
alkej-317	228	1	the	the	DET
alkej-317	228	2	figures	figure	NOUN
alkej-317	228	3	20	20	NUM
alkej-317	228	4	and	and	CCONJ
alkej-317	228	5	21	21	NUM
alkej-317	228	6	shows	show	VERB
alkej-317	228	7	the	the	DET
alkej-317	228	8	results	result	NOUN
alkej-317	228	9	of	of	ADP
alkej-317	228	10	maco	maco	PROPN
alkej-317	228	11	algorithm	algorithm	PROPN
alkej-317	228	12	for	for	ADP
alkej-317	228	13	experiment	experiment	NOUN
alkej-317	228	14	2	2	NUM
alkej-317	228	15	.	.	PUNCT
alkej-317	228	16	fig	fig	NOUN
alkej-317	228	17	.	.	PUNCT
alkej-317	229	1	20	20	NUM
alkej-317	229	2	.	.	PUNCT
alkej-317	230	1	best	good	ADJ
alkej-317	230	2	path	path	NOUN
alkej-317	230	3	found	find	VERB
alkej-317	230	4	by	by	ADP
alkej-317	230	5	modified	modified	PROPN
alkej-317	230	6	aco	aco	PROPN
alkej-317	230	7	for	for	ADP
alkej-317	230	8	experiment	experiment	NOUN
alkej-317	230	9	2	2	NUM
alkej-317	230	10	.	.	PUNCT
alkej-317	230	11	ibraheem	ibraheem	PROPN
alkej-317	230	12	kasim	kasim	PROPN
alkej-317	230	13	ibraheem	ibraheem	PROPN
alkej-317	230	14	al	al	PROPN
alkej-317	230	15	-	-	PUNCT
alkej-317	230	16	khwarizmi	khwarizmi	PROPN
alkej-317	230	17	engineering	engineering	NOUN
alkej-317	230	18	journal	journal	PROPN
alkej-317	230	19	,	,	PUNCT
alkej-317	230	20	vol	vol	NOUN
alkej-317	230	21	.	.	PROPN
alkej-317	230	22	12	12	NUM
alkej-317	230	23	,	,	PUNCT
alkej-317	230	24	no	no	INTJ
alkej-317	230	25	.	.	NOUN
alkej-317	230	26	4	4	NUM
alkej-317	230	27	,	,	PUNCT
alkej-317	230	28	p.p	p.p	PROPN
alkej-317	230	29	.	.	NOUN
alkej-317	230	30	1225(2016	1225(2016	NUM
alkej-317	230	31	)	)	PUNCT
alkej-317	230	32	22	22	NUM
alkej-317	230	33	fig	fig	NOUN
alkej-317	230	34	.	.	PUNCT
alkej-317	231	1	21	21	NUM
alkej-317	231	2	.	.	PUNCT
alkej-317	232	1	the	the	DET
alkej-317	232	2	convergence	convergence	NOUN
alkej-317	232	3	curve	curve	NOUN
alkej-317	232	4	for	for	ADP
alkej-317	232	5	experiment	experiment	NOUN
alkej-317	232	6	2	2	NUM
alkej-317	232	7	from	from	ADP
alkej-317	232	8	the	the	DET
alkej-317	232	9	previous	previous	ADJ
alkej-317	232	10	two	two	NUM
alkej-317	232	11	figure	figure	NOUN
alkej-317	232	12	,	,	PUNCT
alkej-317	232	13	the	the	DET
alkej-317	232	14	mobile	mobile	ADJ
alkej-317	232	15	robot	robot	NOUN
alkej-317	232	16	start	start	VERB
alkej-317	232	17	avoids	avoid	VERB
alkej-317	232	18	static	static	ADJ
alkej-317	232	19	obstacles	obstacle	NOUN
alkej-317	232	20	with	with	ADP
alkej-317	232	21	the	the	DET
alkej-317	232	22	shortest	short	ADJ
alkej-317	232	23	path	path	NOUN
alkej-317	232	24	is	be	AUX
alkej-317	232	25	(	(	PUNCT
alkej-317	232	26	28.63	28.63	NUM
alkej-317	232	27	)	)	PUNCT
alkej-317	232	28	in	in	ADP
alkej-317	232	29	iteration	iteration	NOUN
alkej-317	232	30	(	(	PUNCT
alkej-317	232	31	31	31	NUM
alkej-317	232	32	)	)	PUNCT
alkej-317	232	33	with	with	ADP
alkej-317	232	34	the	the	DET
alkej-317	232	35	total	total	ADJ
alkej-317	232	36	computation	computation	NOUN
alkej-317	232	37	time	time	NOUN
alkej-317	232	38	equal	equal	ADJ
alkej-317	232	39	to	to	ADP
alkej-317	232	40	(	(	PUNCT
alkej-317	232	41	7.838582	7.838582	NUM
alkej-317	232	42	)	)	PUNCT
alkej-317	232	43	.	.	PUNCT
alkej-317	233	1	experiment	experiment	NOUN
alkej-317	233	2	(	(	PUNCT
alkej-317	233	3	3	3	NUM
alkej-317	233	4	)	)	PUNCT
alkej-317	233	5	in	in	ADP
alkej-317	233	6	this	this	DET
alkej-317	233	7	experiment	experiment	NOUN
alkej-317	233	8	the	the	DET
alkej-317	233	9	size	size	NOUN
alkej-317	233	10	of	of	ADP
alkej-317	233	11	search	search	NOUN
alkej-317	233	12	space	space	NOUN
alkej-317	233	13	is	be	AUX
alkej-317	233	14	(	(	PUNCT
alkej-317	233	15	30×30	30×30	NUM
alkej-317	233	16	)	)	PUNCT
alkej-317	233	17	grid	grid	NOUN
alkej-317	233	18	cell	cell	NOUN
alkej-317	233	19	,	,	PUNCT
alkej-317	233	20	and	and	CCONJ
alkej-317	233	21	obstacles	obstacle	NOUN
alkej-317	233	22	are	be	AUX
alkej-317	233	23	located	locate	VERB
alkej-317	233	24	in	in	ADP
alkej-317	233	25	random	random	ADJ
alkej-317	233	26	manner	manner	NOUN
alkej-317	233	27	for	for	SCONJ
alkej-317	233	28	obtain	obtain	VERB
alkej-317	233	29	the	the	DET
alkej-317	233	30	optimal	optimal	ADJ
alkej-317	233	31	path	path	NOUN
alkej-317	233	32	,	,	PUNCT
alkej-317	233	33	its	its	PRON
alkej-317	233	34	show	show	NOUN
alkej-317	233	35	that	that	SCONJ
alkej-317	233	36	the	the	DET
alkej-317	233	37	shortest	short	ADJ
alkej-317	233	38	path	path	NOUN
alkej-317	233	39	is	be	AUX
alkej-317	233	40	(	(	PUNCT
alkej-317	233	41	45	45	NUM
alkej-317	233	42	.	.	NOUN
alkej-317	233	43	1127	1127	NUM
alkej-317	233	44	)	)	PUNCT
alkej-317	233	45	.	.	PUNCT
alkej-317	234	1	the	the	DET
alkej-317	234	2	figures	figure	NOUN
alkej-317	234	3	22	22	NUM
alkej-317	234	4	and	and	CCONJ
alkej-317	234	5	23	23	NUM
alkej-317	234	6	shows	show	VERB
alkej-317	234	7	the	the	DET
alkej-317	234	8	results	result	NOUN
alkej-317	234	9	of	of	ADP
alkej-317	234	10	maco	maco	PROPN
alkej-317	234	11	algorithm	algorithm	PROPN
alkej-317	234	12	for	for	ADP
alkej-317	234	13	experiment	experiment	NOUN
alkej-317	234	14	3	3	NUM
alkej-317	234	15	.	.	PUNCT
alkej-317	234	16	fig	fig	NOUN
alkej-317	234	17	.	.	PUNCT
alkej-317	235	1	22	22	NUM
alkej-317	235	2	.	.	PUNCT
alkej-317	236	1	best	good	ADJ
alkej-317	236	2	path	path	NOUN
alkej-317	236	3	found	find	VERB
alkej-317	236	4	by	by	ADP
alkej-317	236	5	modified	modified	PROPN
alkej-317	236	6	aco	aco	PROPN
alkej-317	236	7	for	for	ADP
alkej-317	236	8	experiment	experiment	NOUN
alkej-317	236	9	3	3	NUM
alkej-317	236	10	.	.	PUNCT
alkej-317	236	11	fig	fig	NOUN
alkej-317	236	12	.	.	PUNCT
alkej-317	237	1	23	23	NUM
alkej-317	237	2	.	.	PUNCT
alkej-317	238	1	the	the	DET
alkej-317	238	2	convergence	convergence	NOUN
alkej-317	238	3	curve	curve	NOUN
alkej-317	238	4	for	for	ADP
alkej-317	238	5	experiment	experiment	NOUN
alkej-317	238	6	3	3	NUM
alkej-317	238	7	from	from	ADP
alkej-317	238	8	the	the	DET
alkej-317	238	9	previous	previous	ADJ
alkej-317	238	10	two	two	NUM
alkej-317	238	11	figure	figure	NOUN
alkej-317	238	12	,	,	PUNCT
alkej-317	238	13	the	the	DET
alkej-317	238	14	mobile	mobile	ADJ
alkej-317	238	15	robot	robot	NOUN
alkej-317	238	16	start	start	VERB
alkej-317	238	17	avoids	avoid	VERB
alkej-317	238	18	static	static	ADJ
alkej-317	238	19	obstacles	obstacle	NOUN
alkej-317	238	20	with	with	ADP
alkej-317	238	21	the	the	DET
alkej-317	238	22	shortest	short	ADJ
alkej-317	238	23	path	path	NOUN
alkej-317	238	24	is	be	AUX
alkej-317	238	25	(	(	PUNCT
alkej-317	238	26	45.1127	45.1127	NUM
alkej-317	238	27	)	)	PUNCT
alkej-317	238	28	in	in	ADP
alkej-317	238	29	iteration	iteration	NOUN
alkej-317	238	30	(	(	PUNCT
alkej-317	238	31	92	92	NUM
alkej-317	238	32	)	)	PUNCT
alkej-317	238	33	with	with	ADP
alkej-317	238	34	the	the	DET
alkej-317	238	35	total	total	ADJ
alkej-317	238	36	computation	computation	NOUN
alkej-317	238	37	time	time	NOUN
alkej-317	238	38	equal	equal	ADJ
alkej-317	238	39	to	to	ADP
alkej-317	238	40	(	(	PUNCT
alkej-317	238	41	52.017160	52.017160	NUM
alkej-317	238	42	)	)	PUNCT
alkej-317	238	43	.	.	PUNCT
alkej-317	239	1	experiment	experiment	NOUN
alkej-317	239	2	(	(	PUNCT
alkej-317	239	3	4	4	NUM
alkej-317	239	4	)	)	PUNCT
alkej-317	239	5	in	in	ADP
alkej-317	239	6	this	this	DET
alkej-317	239	7	experiment	experiment	NOUN
alkej-317	239	8	the	the	DET
alkej-317	239	9	size	size	NOUN
alkej-317	239	10	of	of	ADP
alkej-317	239	11	search	search	NOUN
alkej-317	239	12	space	space	NOUN
alkej-317	239	13	is	be	AUX
alkej-317	239	14	(	(	PUNCT
alkej-317	239	15	40×40	40×40	NOUN
alkej-317	239	16	)	)	PUNCT
alkej-317	239	17	grid	grid	NOUN
alkej-317	239	18	cell	cell	NOUN
alkej-317	239	19	,	,	PUNCT
alkej-317	239	20	and	and	CCONJ
alkej-317	239	21	obstacles	obstacle	NOUN
alkej-317	239	22	are	be	AUX
alkej-317	239	23	located	locate	VERB
alkej-317	239	24	in	in	ADP
alkej-317	239	25	a	a	DET
alkej-317	239	26	random	random	ADJ
alkej-317	239	27	manner	manner	NOUN
alkej-317	239	28	for	for	ADP
alkej-317	239	29	obtaining	obtain	VERB
alkej-317	239	30	the	the	DET
alkej-317	239	31	optimal	optimal	ADJ
alkej-317	239	32	path	path	NOUN
alkej-317	239	33	,	,	PUNCT
alkej-317	239	34	its	its	PRON
alkej-317	239	35	show	show	NOUN
alkej-317	239	36	that	that	SCONJ
alkej-317	239	37	the	the	DET
alkej-317	239	38	shortest	short	ADJ
alkej-317	239	39	path	path	NOUN
alkej-317	239	40	is	be	AUX
alkej-317	239	41	(	(	PUNCT
alkej-317	239	42	61.8406	61.8406	NUM
alkej-317	239	43	)	)	PUNCT
alkej-317	239	44	.	.	PUNCT
alkej-317	240	1	the	the	DET
alkej-317	240	2	figures	figure	NOUN
alkej-317	240	3	24	24	NUM
alkej-317	240	4	and	and	CCONJ
alkej-317	240	5	25	25	NUM
alkej-317	240	6	shows	show	VERB
alkej-317	240	7	the	the	DET
alkej-317	240	8	results	result	NOUN
alkej-317	240	9	of	of	ADP
alkej-317	240	10	maco	maco	PROPN
alkej-317	240	11	algorithm	algorithm	PROPN
alkej-317	240	12	for	for	ADP
alkej-317	240	13	experiment	experiment	NOUN
alkej-317	240	14	4	4	NUM
alkej-317	240	15	.	.	PUNCT
alkej-317	240	16	fig	fig	NOUN
alkej-317	240	17	.	.	PUNCT
alkej-317	241	1	24	24	NUM
alkej-317	241	2	.	.	PUNCT
alkej-317	242	1	best	good	ADJ
alkej-317	242	2	path	path	NOUN
alkej-317	242	3	found	find	VERB
alkej-317	242	4	by	by	ADP
alkej-317	242	5	modified	modified	PROPN
alkej-317	242	6	aco	aco	PROPN
alkej-317	242	7	for	for	ADP
alkej-317	242	8	experiment	experiment	NOUN
alkej-317	242	9	4	4	NUM
alkej-317	242	10	.	.	PUNCT
alkej-317	242	11	ibraheem	ibraheem	PROPN
alkej-317	242	12	kasim	kasim	PROPN
alkej-317	242	13	ibraheem	ibraheem	PROPN
alkej-317	242	14	al	al	PROPN
alkej-317	242	15	-	-	PUNCT
alkej-317	242	16	khwarizmi	khwarizmi	PROPN
alkej-317	242	17	engineering	engineering	NOUN
alkej-317	242	18	journal	journal	PROPN
alkej-317	242	19	,	,	PUNCT
alkej-317	242	20	vol	vol	NOUN
alkej-317	242	21	.	.	PROPN
alkej-317	242	22	12	12	NUM
alkej-317	242	23	,	,	PUNCT
alkej-317	242	24	no	no	INTJ
alkej-317	242	25	.	.	NOUN
alkej-317	242	26	4	4	NUM
alkej-317	242	27	,	,	PUNCT
alkej-317	242	28	p.p	p.p	PROPN
alkej-317	242	29	.	.	NOUN
alkej-317	242	30	1225(2016	1225(2016	NUM
alkej-317	242	31	)	)	PUNCT
alkej-317	242	32	23	23	NUM
alkej-317	242	33	fig	fig	NOUN
alkej-317	242	34	.	.	PUNCT
alkej-317	243	1	25	25	NUM
alkej-317	243	2	.	.	PUNCT
alkej-317	244	1	the	the	DET
alkej-317	244	2	convergence	convergence	NOUN
alkej-317	244	3	curve	curve	NOUN
alkej-317	244	4	for	for	ADP
alkej-317	244	5	experiment	experiment	NOUN
alkej-317	244	6	4	4	NUM
alkej-317	244	7	.	.	PUNCT
alkej-317	244	8	from	from	ADP
alkej-317	244	9	the	the	DET
alkej-317	244	10	previous	previous	ADJ
alkej-317	244	11	two	two	NUM
alkej-317	244	12	figure	figure	NOUN
alkej-317	244	13	,	,	PUNCT
alkej-317	244	14	the	the	DET
alkej-317	244	15	mobile	mobile	ADJ
alkej-317	244	16	robot	robot	NOUN
alkej-317	244	17	start	start	VERB
alkej-317	244	18	avoids	avoid	VERB
alkej-317	244	19	static	static	ADJ
alkej-317	244	20	obstacles	obstacle	NOUN
alkej-317	244	21	with	with	ADP
alkej-317	244	22	the	the	DET
alkej-317	244	23	shortest	short	ADJ
alkej-317	244	24	path	path	NOUN
alkej-317	244	25	is	be	AUX
alkej-317	244	26	(	(	PUNCT
alkej-317	244	27	61.8406	61.8406	NUM
alkej-317	244	28	)	)	PUNCT
alkej-317	244	29	in	in	ADP
alkej-317	244	30	iteration	iteration	NOUN
alkej-317	244	31	(	(	PUNCT
alkej-317	244	32	96	96	NUM
alkej-317	244	33	)	)	PUNCT
alkej-317	244	34	with	with	ADP
alkej-317	244	35	the	the	DET
alkej-317	244	36	total	total	ADJ
alkej-317	244	37	computation	computation	NOUN
alkej-317	244	38	time	time	NOUN
alkej-317	244	39	equal	equal	ADJ
alkej-317	244	40	to	to	ADP
alkej-317	244	41	(	(	PUNCT
alkej-317	244	42	132.678247	132.678247	NUM
alkej-317	244	43	)	)	PUNCT
alkej-317	244	44	.	.	PUNCT
alkej-317	245	1	table	table	NOUN
alkej-317	245	2	2	2	NUM
alkej-317	245	3	,	,	PUNCT
alkej-317	245	4	comparison	comparison	NOUN
alkej-317	245	5	between	between	ADP
alkej-317	245	6	standard	standard	PROPN
alkej-317	245	7	aco	aco	PROPN
alkej-317	245	8	and	and	CCONJ
alkej-317	245	9	maco	maco	PROPN
alkej-317	245	10	in	in	ADP
alkej-317	245	11	term	term	NOUN
alkej-317	245	12	of	of	ADP
alkej-317	245	13	path	path	NOUN
alkej-317	245	14	length	length	NOUN
alkej-317	245	15	and	and	CCONJ
alkej-317	245	16	execution	execution	NOUN
alkej-317	245	17	time	time	NOUN
alkej-317	245	18	.	.	PUNCT
alkej-317	246	1	by	by	ADP
alkej-317	246	2	looking	look	VERB
alkej-317	246	3	to	to	PART
alkej-317	246	4	convergence	convergence	NOUN
alkej-317	246	5	curve	curve	NOUN
alkej-317	246	6	for	for	ADP
alkej-317	246	7	each	each	DET
alkej-317	246	8	map	map	NOUN
alkej-317	246	9	,	,	PUNCT
alkej-317	246	10	we	we	PRON
alkej-317	246	11	noticed	notice	VERB
alkej-317	246	12	the	the	DET
alkej-317	246	13	proposed	propose	VERB
alkej-317	246	14	algorithm	algorithm	NOUN
alkej-317	246	15	is	be	AUX
alkej-317	246	16	reached	reach	VERB
alkej-317	246	17	to	to	ADP
alkej-317	246	18	global	global	ADJ
alkej-317	246	19	optimum	optimum	NOUN
alkej-317	246	20	faster	fast	ADV
alkej-317	246	21	than	than	ADP
alkej-317	246	22	the	the	DET
alkej-317	246	23	standard	standard	ADJ
alkej-317	246	24	version	version	NOUN
alkej-317	246	25	of	of	ADP
alkej-317	246	26	the	the	DET
alkej-317	246	27	algorithm	algorithm	NOUN
alkej-317	246	28	,	,	PUNCT
alkej-317	246	29	and	and	CCONJ
alkej-317	246	30	from	from	ADP
alkej-317	246	31	table	table	NOUN
alkej-317	246	32	ii	ii	PROPN
alkej-317	246	33	,	,	PUNCT
alkej-317	246	34	the	the	DET
alkej-317	246	35	proposed	propose	VERB
alkej-317	246	36	algorithm	algorithm	NOUN
alkej-317	246	37	requires	require	VERB
alkej-317	246	38	less	less	ADJ
alkej-317	246	39	time	time	NOUN
alkej-317	246	40	,	,	PUNCT
alkej-317	246	41	and	and	CCONJ
alkej-317	246	42	path	path	NOUN
alkej-317	246	43	length	length	NOUN
alkej-317	246	44	either	either	CCONJ
alkej-317	246	45	equal	equal	ADJ
alkej-317	246	46	or	or	CCONJ
alkej-317	246	47	less	less	ADJ
alkej-317	246	48	than	than	ADP
alkej-317	246	49	the	the	DET
alkej-317	246	50	standard	standard	ADJ
alkej-317	246	51	version	version	NOUN
alkej-317	246	52	.	.	PUNCT
alkej-317	247	1	the	the	DET
alkej-317	247	2	time	time	NOUN
alkej-317	247	3	requires	require	VERB
alkej-317	247	4	to	to	PART
alkej-317	247	5	solve	solve	VERB
alkej-317	247	6	problem	problem	NOUN
alkej-317	247	7	increased	increase	VERB
alkej-317	247	8	dramatically	dramatically	ADV
alkej-317	247	9	with	with	ADP
alkej-317	247	10	increasing	increase	VERB
alkej-317	247	11	search	search	NOUN
alkej-317	247	12	space	space	NOUN
alkej-317	247	13	,	,	PUNCT
alkej-317	247	14	(	(	PUNCT
alkej-317	247	15	from	from	ADP
alkej-317	247	16	1.217323	1.217323	NUM
alkej-317	247	17	to	to	ADP
alkej-317	247	18	134.770856	134.770856	NUM
alkej-317	247	19	)	)	PUNCT
alkej-317	247	20	sec	sec	PROPN
alkej-317	247	21	for	for	ADP
alkej-317	247	22	standard	standard	PROPN
alkej-317	247	23	aco	aco	PROPN
alkej-317	247	24	and	and	CCONJ
alkej-317	247	25	(	(	PUNCT
alkej-317	247	26	from	from	ADP
alkej-317	247	27	1.154530	1.154530	NUM
alkej-317	247	28	to	to	ADP
alkej-317	247	29	132.678247	132.678247	NUM
alkej-317	247	30	)	)	PUNCT
alkej-317	247	31	sec	sec	PROPN
alkej-317	247	32	for	for	ADP
alkej-317	247	33	modified	modify	VERB
alkej-317	247	34	aco	aco	PROPN
alkej-317	247	35	;	;	PUNCT
alkej-317	247	36	this	this	PRON
alkej-317	247	37	is	be	AUX
alkej-317	247	38	because	because	SCONJ
alkej-317	247	39	non	non	ADJ
alkej-317	247	40	-	-	ADJ
alkej-317	247	41	deterministic	deterministic	ADJ
alkej-317	247	42	polynomial	polynomial	ADJ
alkej-317	247	43	nature	nature	NOUN
alkej-317	247	44	of	of	ADP
alkej-317	247	45	path	path	NOUN
alkej-317	247	46	planning	planning	NOUN
alkej-317	247	47	as	as	ADP
alkej-317	247	48	mention	mention	NOUN
alkej-317	247	49	earlier	early	ADV
alkej-317	247	50	.	.	PUNCT
alkej-317	248	1	8	8	X
alkej-317	248	2	.	.	PUNCT
alkej-317	248	3	conclusions	conclusion	NOUN
alkej-317	248	4	this	this	DET
alkej-317	248	5	paper	paper	NOUN
alkej-317	248	6	presented	present	VERB
alkej-317	248	7	route	route	NOUN
alkej-317	248	8	forecasting	forecasting	NOUN
alkej-317	248	9	of	of	ADP
alkej-317	248	10	a	a	DET
alkej-317	248	11	mobile	mobile	ADJ
alkej-317	248	12	robot	robot	NOUN
alkej-317	248	13	using	use	VERB
alkej-317	248	14	a	a	DET
alkej-317	248	15	new	new	ADJ
alkej-317	248	16	proposed	propose	VERB
alkej-317	248	17	metaheuristic	metaheuristic	ADJ
alkej-317	248	18	algorithm	algorithm	NOUN
alkej-317	248	19	called	call	VERB
alkej-317	248	20	the	the	DET
alkej-317	248	21	ant	ant	NOUN
alkej-317	248	22	's	's	PART
alkej-317	248	23	age	age	NOUN
alkej-317	248	24	colony	colony	NOUN
alkej-317	248	25	optimization	optimization	NOUN
alkej-317	248	26	.	.	PUNCT
alkej-317	249	1	it	it	PRON
alkej-317	249	2	reaches	reach	VERB
alkej-317	249	3	the	the	DET
alkej-317	249	4	goal	goal	NOUN
alkej-317	249	5	using	use	VERB
alkej-317	249	6	the	the	DET
alkej-317	249	7	capability	capability	NOUN
alkej-317	249	8	of	of	ADP
alkej-317	249	9	the	the	DET
alkej-317	249	10	optimization	optimization	NOUN
alkej-317	249	11	of	of	ADP
alkej-317	249	12	ant	ant	ADJ
alkej-317	249	13	system	system	NOUN
alkej-317	249	14	algorithm	algorithm	NOUN
alkej-317	249	15	in	in	ADP
alkej-317	249	16	the	the	DET
alkej-317	249	17	assumed	assumed	ADJ
alkej-317	249	18	stationary	stationary	ADJ
alkej-317	249	19	environment	environment	NOUN
alkej-317	249	20	.	.	PUNCT
alkej-317	250	1	the	the	DET
alkej-317	250	2	number	number	NOUN
alkej-317	250	3	of	of	ADP
alkej-317	250	4	case	case	NOUN
alkej-317	250	5	studies	study	NOUN
alkej-317	250	6	has	have	AUX
alkej-317	250	7	been	be	AUX
alkej-317	250	8	directed	direct	VERB
alkej-317	250	9	by	by	ADP
alkej-317	250	10	varying	vary	VERB
alkej-317	250	11	the	the	DET
alkej-317	250	12	number	number	NOUN
alkej-317	250	13	,	,	PUNCT
alkej-317	250	14	size	size	NOUN
alkej-317	250	15	and	and	CCONJ
alkej-317	250	16	position	position	NOUN
alkej-317	250	17	of	of	ADP
alkej-317	250	18	the	the	DET
alkej-317	250	19	obstacle	obstacle	NOUN
alkej-317	250	20	.	.	PUNCT
alkej-317	251	1	the	the	DET
alkej-317	251	2	result	result	NOUN
alkej-317	251	3	is	be	AUX
alkej-317	251	4	found	find	VERB
alkej-317	251	5	to	to	PART
alkej-317	251	6	be	be	AUX
alkej-317	251	7	best	good	ADJ
alkej-317	251	8	and	and	CCONJ
alkej-317	251	9	satisfying	satisfy	VERB
alkej-317	251	10	for	for	ADP
alkej-317	251	11	the	the	DET
alkej-317	251	12	individual	individual	ADJ
alkej-317	251	13	problem	problem	NOUN
alkej-317	251	14	with	with	ADP
alkej-317	251	15	the	the	DET
alkej-317	251	16	parameters	parameter	NOUN
alkej-317	251	17	(	(	PUNCT
alkej-317	251	18	α	α	NOUN
alkej-317	251	19	=	=	SYM
alkej-317	251	20	1	1	NUM
alkej-317	251	21	,	,	PUNCT
alkej-317	251	22	ρ=	ρ=	ADJ
alkej-317	251	23	0.3	0.3	NUM
alkej-317	251	24	and	and	CCONJ
alkej-317	251	25	number	number	NOUN
alkej-317	251	26	of	of	ADP
alkej-317	251	27	ant	ant	NOUN
alkej-317	251	28	's	's	PART
alkej-317	251	29	m	m	NOUN
alkej-317	251	30	=	=	NOUN
alkej-317	251	31	50	50	NUM
alkej-317	251	32	)	)	PUNCT
alkej-317	251	33	.	.	PUNCT
alkej-317	252	1	with	with	ADP
alkej-317	252	2	rising	rise	VERB
alkej-317	252	3	in	in	ADP
alkej-317	252	4	the	the	DET
alkej-317	252	5	complexity	complexity	NOUN
alkej-317	252	6	of	of	ADP
alkej-317	252	7	the	the	DET
alkej-317	252	8	problem	problem	NOUN
alkej-317	252	9	,	,	PUNCT
alkej-317	252	10	i.e.	i.e.	X
alkej-317	252	11	with	with	ADP
alkej-317	252	12	an	an	DET
alkej-317	252	13	increase	increase	NOUN
alkej-317	252	14	in	in	ADP
alkej-317	252	15	some	some	DET
alkej-317	252	16	obstacles	obstacle	NOUN
alkej-317	252	17	existing	exist	VERB
alkej-317	252	18	in	in	ADP
alkej-317	252	19	the	the	DET
alkej-317	252	20	map	map	NOUN
alkej-317	252	21	;	;	PUNCT
alkej-317	252	22	this	this	DET
alkej-317	252	23	algorithm	algorithm	NOUN
alkej-317	252	24	will	will	AUX
alkej-317	252	25	need	need	VERB
alkej-317	252	26	a	a	DET
alkej-317	252	27	larger	large	ADJ
alkej-317	252	28	amount	amount	NOUN
alkej-317	252	29	of	of	ADP
alkej-317	252	30	execution	execution	NOUN
alkej-317	252	31	time	time	NOUN
alkej-317	252	32	.	.	PUNCT
alkej-317	253	1	9	9	X
alkej-317	253	2	.	.	X
alkej-317	253	3	acknowledgement	acknowledgement	NOUN
alkej-317	253	4	i	i	PRON
alkej-317	253	5	would	would	AUX
alkej-317	253	6	like	like	VERB
alkej-317	253	7	to	to	PART
alkej-317	253	8	acknowledge	acknowledge	VERB
alkej-317	253	9	all	all	DET
alkej-317	253	10	the	the	DET
alkej-317	253	11	staff	staff	NOUN
alkej-317	253	12	of	of	ADP
alkej-317	253	13	the	the	DET
alkej-317	253	14	electrical	electrical	ADJ
alkej-317	253	15	engineering	engineering	NOUN
alkej-317	253	16	department	department	NOUN
alkej-317	253	17	at	at	ADP
alkej-317	253	18	baghdad	baghdad	PROPN
alkej-317	253	19	university	university	PROPN
alkej-317	253	20	for	for	ADP
alkej-317	253	21	their	their	PRON
alkej-317	253	22	help	help	NOUN
alkej-317	253	23	.	.	PUNCT
alkej-317	254	1	10	10	NUM
alkej-317	254	2	.	.	PUNCT
alkej-317	254	3	references	reference	NOUN
alkej-317	254	4	[	[	X
alkej-317	254	5	1	1	NUM
alkej-317	254	6	]	]	PUNCT
alkej-317	254	7	b.	b.	PROPN
alkej-317	254	8	michael	michael	PROPN
alkej-317	254	9	et	et	PROPN
alkej-317	254	10	al	al	PROPN
alkej-317	254	11	.	.	PUNCT
alkej-317	254	12	"	"	PUNCT
alkej-317	254	13	ant	ant	ADJ
alkej-317	254	14	colony	colony	NOUN
alkej-317	254	15	optimization	optimization	NOUN
alkej-317	254	16	algorithm	algorithm	NOUN
alkej-317	254	17	for	for	ADP
alkej-317	254	18	robot	robot	NOUN
alkej-317	254	19	path	path	NOUN
alkej-317	254	20	planning	planning	NOUN
alkej-317	254	21	"	"	PUNCT
alkej-317	254	22	,	,	PUNCT
alkej-317	254	23	international	international	ADJ
alkej-317	254	24	conference	conference	NOUN
alkej-317	254	25	on	on	ADP
alkej-317	254	26	computer	computer	NOUN
alkej-317	254	27	design	design	NOUN
alkej-317	254	28	and	and	CCONJ
alkej-317	254	29	applications	application	NOUN
alkej-317	254	30	(	(	PUNCT
alkej-317	254	31	iccda	iccda	NOUN
alkej-317	254	32	)	)	PUNCT
alkej-317	254	33	2010	2010	NUM
alkej-317	254	34	.	.	PUNCT
alkej-317	255	1	[	[	X
alkej-317	255	2	2	2	NUM
alkej-317	255	3	]	]	PUNCT
alkej-317	255	4	a.	a.	NOUN
alkej-317	255	5	a.	a.	PROPN
alkej-317	255	6	david	david	PROPN
alkej-317	255	7	m.w	m.w	PROPN
alkej-317	255	8	.	.	PROPN
alkej-317	255	9	powers	power	NOUN
alkej-317	255	10	,	,	PUNCT
alkej-317	255	11	"	"	PUNCT
alkej-317	255	12	review	review	NOUN
alkej-317	255	13	of	of	ADP
alkej-317	255	14	classical	classical	ADJ
alkej-317	255	15	and	and	CCONJ
alkej-317	255	16	heuristic	heuristic	NOUN
alkej-317	255	17	-	-	PUNCT
alkej-317	255	18	based	base	VERB
alkej-317	255	19	navigation	navigation	NOUN
alkej-317	255	20	and	and	CCONJ
alkej-317	255	21	path	path	NOUN
alkej-317	255	22	planning	planning	NOUN
alkej-317	255	23	approaches	approach	NOUN
alkej-317	255	24	"	"	PUNCT
alkej-317	255	25	,	,	PUNCT
alkej-317	255	26	2013	2013	NUM
alkej-317	255	27	.	.	PUNCT
alkej-317	256	1	[	[	X
alkej-317	256	2	3	3	NUM
alkej-317	256	3	]	]	X
alkej-317	256	4	al	al	PROPN
alkej-317	256	5	-	-	PUNCT
alkej-317	256	6	taharwa	taharwa	NOUN
alkej-317	256	7	.	.	PUNCT
alkej-317	257	1	ismail	ismail	NOUN
alkej-317	257	2	,	,	PUNCT
alkej-317	257	3	"	"	PUNCT
alkej-317	257	4	a	a	DET
alkej-317	257	5	mobile	mobile	ADJ
alkej-317	257	6	robot	robot	NOUN
alkej-317	257	7	path	path	NOUN
alkej-317	257	8	planning	planning	NOUN
alkej-317	257	9	using	use	VERB
alkej-317	257	10	genetic	genetic	ADJ
alkej-317	257	11	algorithm	algorithm	NOUN
alkej-317	257	12	in	in	ADP
alkej-317	257	13	static	static	ADJ
alkej-317	257	14	environment	environment	NOUN
alkej-317	257	15	"	"	PUNCT
alkej-317	257	16	,	,	PUNCT
alkej-317	257	17	journal	journal	NOUN
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alkej-317	257	34	,	,	PUNCT
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alkej-317	257	36	.	.	PUNCT
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alkej-317	258	2	-	-	SYM
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alkej-317	259	2	4	4	X
alkej-317	259	3	]	]	X
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alkej-317	260	2	thesis	thesis	NOUN
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alkej-317	260	14	.	.	PUNCT
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alkej-317	261	2	5	5	X
alkej-317	261	3	]	]	PUNCT
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alkej-317	263	1	(	(	PUNCT
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alkej-317	263	7	,	,	PUNCT
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alkej-317	264	2	.	.	PROPN
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alkej-317	265	2	,	,	PUNCT
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alkej-317	265	6	,	,	PUNCT
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alkej-317	265	8	-	-	SYM
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alkej-317	265	10	,	,	PUNCT
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alkej-317	266	2	6	6	NUM
alkej-317	266	3	]	]	PUNCT
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alkej-317	266	41	,	,	PUNCT
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alkej-317	266	45	,	,	PUNCT
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alkej-317	268	11	problem	problem	NOUN
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alkej-317	268	13	,	,	PUNCT
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alkej-317	269	33	engineering	engineering	NOUN
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alkej-317	269	41	,	,	PUNCT
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alkej-317	269	44	,	,	PUNCT
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alkej-317	269	47	.	.	PUNCT
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alkej-317	271	22	processing	processing	NOUN
alkej-317	271	23	[	[	X
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alkej-317	272	1	[	[	X
alkej-317	272	2	10]-d	10]-d	NUM
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alkej-317	274	2	11	11	NUM
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alkej-317	274	7	"	"	PUNCT
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alkej-317	274	12	"	"	PUNCT
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alkej-317	276	2	13	13	NUM
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alkej-317	276	8	"	"	PUNCT
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alkej-317	277	23	and	and	CCONJ
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