id	sid	tid	token	lemma	pos
alkej-551	1	1	microsoft	microsoft	PROPN
alkej-551	1	2	word	word	NOUN
alkej-551	1	3	108	108	NUM
alkej-551	1	4	-	-	SYM
alkej-551	1	5	123\335\321\307\323	123\335\321\307\323	NUM
alkej-551	1	6	\346\307\343\344\355\311	\346\307\343\344\355\311	PROPN
alkej-551	1	7	)	)	PUNCT
alkej-551	1	8	al	al	PROPN
alkej-551	1	9	-	-	PUNCT
alkej-551	1	10	khwarizmi	khwarizmi	PROPN
alkej-551	1	11	engineering	engineering	PROPN
alkej-551	1	12	journal	journal	PROPN
alkej-551	1	13	al	al	PROPN
alkej-551	1	14	-	-	PUNCT
alkej-551	1	15	khwarizmi	khwarizmi	PROPN
alkej-551	1	16	engineering	engineering	NOUN
alkej-551	1	17	journal	journal	PROPN
alkej-551	1	18	,	,	PUNCT
alkej-551	1	19	vol	vol	NOUN
alkej-551	1	20	.	.	PROPN
alkej-551	1	21	15	15	NUM
alkej-551	1	22	,	,	PUNCT
alkej-551	1	23	no	no	INTJ
alkej-551	1	24	.	.	NOUN
alkej-551	1	25	2	2	NUM
alkej-551	1	26	,	,	PUNCT
alkej-551	1	27	june	june	PROPN
alkej-551	1	28	,	,	PUNCT
alkej-551	1	29	(	(	PUNCT
alkej-551	1	30	2019	2019	NUM
alkej-551	1	31	)	)	PUNCT
alkej-551	1	32	p.p	p.p	PROPN
alkej-551	1	33	.	.	PROPN
alkej-551	1	34	108123	108123	NUM
alkej-551	1	35	heuristic	heuristic	ADJ
alkej-551	1	36	d	d	X
alkej-551	1	37	*	*	NOUN
alkej-551	1	38	algorithm	algorithm	NOUN
alkej-551	1	39	based	base	VERB
alkej-551	1	40	on	on	ADP
alkej-551	1	41	particle	particle	NOUN
alkej-551	1	42	swarm	swarm	NOUN
alkej-551	1	43	optimization	optimization	NOUN
alkej-551	1	44	for	for	ADP
alkej-551	1	45	path	path	NOUN
alkej-551	1	46	planning	planning	NOUN
alkej-551	1	47	of	of	ADP
alkej-551	1	48	two	two	NUM
alkej-551	1	49	-	-	PUNCT
alkej-551	1	50	link	link	NOUN
alkej-551	1	51	robot	robot	NOUN
alkej-551	1	52	arm	arm	NOUN
alkej-551	1	53	in	in	ADP
alkej-551	1	54	dynamic	dynamic	ADJ
alkej-551	1	55	environment	environment	NOUN
alkej-551	1	56	firas	firas	PROPN
alkej-551	1	57	a.	a.	PROPN
alkej-551	1	58	raheem	raheem	PROPN
alkej-551	2	1	*	*	PUNCT
alkej-551	2	2	umniah	umniah	PROPN
alkej-551	2	3	i.	i.	PROPN
alkej-551	2	4	hameed	hameed	PROPN
alkej-551	2	5	*	*	PROPN
alkej-551	2	6	*	*	PUNCT
alkej-551	2	7	*	*	PUNCT
alkej-551	2	8	,	,	PUNCT
alkej-551	2	9	*	*	PUNCT
alkej-551	2	10	*	*	NOUN
alkej-551	2	11	department	department	NOUN
alkej-551	2	12	of	of	ADP
alkej-551	2	13	control	control	NOUN
alkej-551	2	14	and	and	CCONJ
alkej-551	2	15	systems	system	NOUN
alkej-551	2	16	engineering/	engineering/	NUM
alkej-551	2	17	university	university	NOUN
alkej-551	2	18	of	of	ADP
alkej-551	2	19	technology	technology	NOUN
alkej-551	2	20	*	*	NOUN
alkej-551	2	21	email	email	NOUN
alkej-551	2	22	:	:	PUNCT
alkej-551	2	23	60124@uotechnology.edu.iq	60124@uotechnology.edu.iq	NUM
alkej-551	2	24	*	*	PUNCT
alkej-551	2	25	*	*	NOUN
alkej-551	2	26	email	email	NOUN
alkej-551	2	27	:	:	PUNCT
alkej-551	2	28	61126@uotechnology.edu.iq	61126@uotechnology.edu.iq	NUM
alkej-551	2	29	(	(	PUNCT
alkej-551	2	30	received	receive	VERB
alkej-551	2	31	29	29	NUM
alkej-551	2	32	november	november	PROPN
alkej-551	2	33	2018	2018	NUM
alkej-551	2	34	;	;	PUNCT
alkej-551	2	35	accepted	accept	VERB
alkej-551	2	36	14	14	NUM
alkej-551	2	37	january	january	PROPN
alkej-551	2	38	2019	2019	NUM
alkej-551	2	39	)	)	PUNCT
alkej-551	2	40	https://doi.org/10.22153/kej.2019.01.004	https://doi.org/10.22153/kej.2019.01.004	PROPN
alkej-551	2	41	abstract	abstract	NOUN
alkej-551	2	42	finding	find	VERB
alkej-551	2	43	a	a	DET
alkej-551	2	44	path	path	NOUN
alkej-551	2	45	solution	solution	NOUN
alkej-551	2	46	in	in	ADP
alkej-551	2	47	a	a	DET
alkej-551	2	48	dynamic	dynamic	ADJ
alkej-551	2	49	environment	environment	NOUN
alkej-551	2	50	represents	represent	VERB
alkej-551	2	51	a	a	DET
alkej-551	2	52	challenge	challenge	NOUN
alkej-551	2	53	for	for	ADP
alkej-551	2	54	the	the	DET
alkej-551	2	55	robotics	robotic	NOUN
alkej-551	2	56	researchers	researcher	NOUN
alkej-551	2	57	,	,	PUNCT
alkej-551	2	58	furthermore	furthermore	ADV
alkej-551	2	59	,	,	PUNCT
alkej-551	2	60	it	it	PRON
alkej-551	2	61	is	be	AUX
alkej-551	2	62	the	the	DET
alkej-551	2	63	main	main	ADJ
alkej-551	2	64	issue	issue	NOUN
alkej-551	2	65	for	for	ADP
alkej-551	2	66	autonomous	autonomous	ADJ
alkej-551	2	67	robots	robot	NOUN
alkej-551	2	68	and	and	CCONJ
alkej-551	2	69	manipulators	manipulator	NOUN
alkej-551	2	70	since	since	SCONJ
alkej-551	2	71	nowadays	nowadays	ADV
alkej-551	2	72	the	the	DET
alkej-551	2	73	world	world	NOUN
alkej-551	2	74	is	be	AUX
alkej-551	2	75	looking	look	VERB
alkej-551	2	76	forward	forward	ADV
alkej-551	2	77	to	to	ADP
alkej-551	2	78	this	this	DET
alkej-551	2	79	challenge	challenge	NOUN
alkej-551	2	80	.	.	PUNCT
alkej-551	3	1	the	the	DET
alkej-551	3	2	collision	collision	NOUN
alkej-551	3	3	free	free	ADJ
alkej-551	3	4	path	path	NOUN
alkej-551	3	5	for	for	ADP
alkej-551	3	6	robot	robot	NOUN
alkej-551	3	7	in	in	ADP
alkej-551	3	8	an	an	DET
alkej-551	3	9	environment	environment	NOUN
alkej-551	3	10	with	with	ADP
alkej-551	3	11	moving	move	VERB
alkej-551	3	12	obstacles	obstacle	NOUN
alkej-551	3	13	such	such	ADJ
alkej-551	3	14	as	as	ADP
alkej-551	3	15	different	different	ADJ
alkej-551	3	16	objects	object	NOUN
alkej-551	3	17	,	,	PUNCT
alkej-551	3	18	humans	human	NOUN
alkej-551	3	19	,	,	PUNCT
alkej-551	3	20	animals	animal	NOUN
alkej-551	3	21	or	or	CCONJ
alkej-551	3	22	other	other	ADJ
alkej-551	3	23	robots	robot	NOUN
alkej-551	3	24	is	be	AUX
alkej-551	3	25	considered	consider	VERB
alkej-551	3	26	as	as	ADP
alkej-551	3	27	an	an	DET
alkej-551	3	28	actual	actual	ADJ
alkej-551	3	29	problem	problem	NOUN
alkej-551	3	30	that	that	PRON
alkej-551	3	31	needs	need	VERB
alkej-551	3	32	to	to	PART
alkej-551	3	33	be	be	AUX
alkej-551	3	34	solved	solve	VERB
alkej-551	3	35	.	.	PUNCT
alkej-551	4	1	in	in	ADP
alkej-551	4	2	addition	addition	NOUN
alkej-551	4	3	,	,	PUNCT
alkej-551	4	4	the	the	DET
alkej-551	4	5	local	local	ADJ
alkej-551	4	6	minima	minima	NOUN
alkej-551	4	7	and	and	CCONJ
alkej-551	4	8	sharp	sharp	ADJ
alkej-551	4	9	edges	edge	NOUN
alkej-551	4	10	are	be	AUX
alkej-551	4	11	the	the	DET
alkej-551	4	12	most	most	ADV
alkej-551	4	13	common	common	ADJ
alkej-551	4	14	problems	problem	NOUN
alkej-551	4	15	in	in	ADP
alkej-551	4	16	all	all	DET
alkej-551	4	17	path	path	NOUN
alkej-551	4	18	planning	planning	NOUN
alkej-551	4	19	algorithms	algorithm	NOUN
alkej-551	4	20	.	.	PUNCT
alkej-551	5	1	the	the	DET
alkej-551	5	2	main	main	ADJ
alkej-551	5	3	objective	objective	NOUN
alkej-551	5	4	of	of	ADP
alkej-551	5	5	this	this	DET
alkej-551	5	6	work	work	NOUN
alkej-551	5	7	is	be	AUX
alkej-551	5	8	to	to	PART
alkej-551	5	9	overcome	overcome	VERB
alkej-551	5	10	these	these	DET
alkej-551	5	11	problems	problem	NOUN
alkej-551	5	12	by	by	ADP
alkej-551	5	13	demonstrating	demonstrate	VERB
alkej-551	5	14	the	the	DET
alkej-551	5	15	robot	robot	NOUN
alkej-551	5	16	path	path	NOUN
alkej-551	5	17	planning	planning	NOUN
alkej-551	5	18	and	and	CCONJ
alkej-551	5	19	obstacle	obstacle	NOUN
alkej-551	5	20	avoidance	avoidance	NOUN
alkej-551	5	21	using	use	VERB
alkej-551	5	22	d	d	PROPN
alkej-551	5	23	star	star	NOUN
alkej-551	5	24	(	(	PUNCT
alkej-551	5	25	d	d	NOUN
alkej-551	5	26	*	*	NOUN
alkej-551	5	27	)	)	PUNCT
alkej-551	5	28	algorithm	algorithm	NOUN
alkej-551	5	29	based	base	VERB
alkej-551	5	30	on	on	ADP
alkej-551	5	31	particle	particle	NOUN
alkej-551	5	32	swarm	swarm	NOUN
alkej-551	5	33	optimization	optimization	NOUN
alkej-551	5	34	(	(	PUNCT
alkej-551	5	35	pso	pso	NOUN
alkej-551	5	36	)	)	PUNCT
alkej-551	5	37	technique	technique	NOUN
alkej-551	5	38	.	.	PUNCT
alkej-551	6	1	moreover	moreover	ADV
alkej-551	6	2	,	,	PUNCT
alkej-551	6	3	this	this	DET
alkej-551	6	4	work	work	NOUN
alkej-551	6	5	focuses	focus	VERB
alkej-551	6	6	on	on	ADP
alkej-551	6	7	computational	computational	ADJ
alkej-551	6	8	part	part	NOUN
alkej-551	6	9	of	of	ADP
alkej-551	6	10	motion	motion	NOUN
alkej-551	6	11	planning	planning	NOUN
alkej-551	6	12	in	in	ADP
alkej-551	6	13	completely	completely	ADV
alkej-551	6	14	changing	change	VERB
alkej-551	6	15	dynamic	dynamic	ADJ
alkej-551	6	16	environment	environment	NOUN
alkej-551	6	17	at	at	ADP
alkej-551	6	18	every	every	DET
alkej-551	6	19	motion	motion	NOUN
alkej-551	6	20	sample	sample	NOUN
alkej-551	6	21	domains	domain	NOUN
alkej-551	6	22	.	.	PUNCT
alkej-551	7	1	since	since	SCONJ
alkej-551	7	2	the	the	DET
alkej-551	7	3	environment	environment	NOUN
alkej-551	7	4	type	type	NOUN
alkej-551	7	5	that	that	PRON
alkej-551	7	6	discussed	discuss	VERB
alkej-551	7	7	here	here	ADV
alkej-551	7	8	is	be	AUX
alkej-551	7	9	a	a	DET
alkej-551	7	10	known	know	VERB
alkej-551	7	11	dynamic	dynamic	ADJ
alkej-551	7	12	environment	environment	NOUN
alkej-551	7	13	,	,	PUNCT
alkej-551	7	14	the	the	DET
alkej-551	7	15	solution	solution	NOUN
alkej-551	7	16	approach	approach	NOUN
alkej-551	7	17	can	can	AUX
alkej-551	7	18	be	be	AUX
alkej-551	7	19	off	off	ADP
alkej-551	7	20	-	-	PUNCT
alkej-551	7	21	line	line	NOUN
alkej-551	7	22	.	.	PUNCT
alkej-551	8	1	the	the	DET
alkej-551	8	2	main	main	ADJ
alkej-551	8	3	advantage	advantage	NOUN
alkej-551	8	4	of	of	ADP
alkej-551	8	5	the	the	DET
alkej-551	8	6	off	off	ADP
alkej-551	8	7	-	-	PUNCT
alkej-551	8	8	line	line	NOUN
alkej-551	8	9	planning	planning	NOUN
alkej-551	8	10	is	be	AUX
alkej-551	8	11	that	that	SCONJ
alkej-551	8	12	a	a	DET
alkej-551	8	13	global	global	ADJ
alkej-551	8	14	optimal	optimal	ADJ
alkej-551	8	15	path	path	NOUN
alkej-551	8	16	solution	solution	NOUN
alkej-551	8	17	is	be	AUX
alkej-551	8	18	always	always	ADV
alkej-551	8	19	obtained	obtain	VERB
alkej-551	8	20	,	,	PUNCT
alkej-551	8	21	which	which	PRON
alkej-551	8	22	is	be	AUX
alkej-551	8	23	able	able	ADJ
alkej-551	8	24	to	to	PART
alkej-551	8	25	overcome	overcome	VERB
alkej-551	8	26	all	all	DET
alkej-551	8	27	the	the	DET
alkej-551	8	28	difficulties	difficulty	NOUN
alkej-551	8	29	caused	cause	VERB
alkej-551	8	30	by	by	ADP
alkej-551	8	31	the	the	DET
alkej-551	8	32	dynamic	dynamic	ADJ
alkej-551	8	33	behavior	behavior	NOUN
alkej-551	8	34	of	of	ADP
alkej-551	8	35	the	the	DET
alkej-551	8	36	obstacles	obstacle	NOUN
alkej-551	8	37	.	.	PUNCT
alkej-551	9	1	a	a	DET
alkej-551	9	2	mixing	mix	VERB
alkej-551	9	3	approach	approach	NOUN
alkej-551	9	4	of	of	ADP
alkej-551	9	5	robot	robot	NOUN
alkej-551	9	6	path	path	NOUN
alkej-551	9	7	planning	planning	NOUN
alkej-551	9	8	using	use	VERB
alkej-551	9	9	the	the	DET
alkej-551	9	10	heuristic	heuristic	ADJ
alkej-551	9	11	method	method	NOUN
alkej-551	10	1	d	d	PROPN
alkej-551	10	2	*	*	PROPN
alkej-551	10	3	algorithm	algorithm	NOUN
alkej-551	10	4	based	base	VERB
alkej-551	10	5	on	on	ADP
alkej-551	10	6	optimization	optimization	NOUN
alkej-551	10	7	technique	technique	NOUN
alkej-551	10	8	is	be	AUX
alkej-551	10	9	used	use	VERB
alkej-551	10	10	.	.	PUNCT
alkej-551	11	1	the	the	DET
alkej-551	11	2	heuristic	heuristic	ADJ
alkej-551	11	3	d	d	NOUN
alkej-551	11	4	*	*	PUNCT
alkej-551	11	5	method	method	NOUN
alkej-551	11	6	is	be	AUX
alkej-551	11	7	chosen	choose	VERB
alkej-551	11	8	for	for	ADP
alkej-551	11	9	finding	find	VERB
alkej-551	11	10	the	the	DET
alkej-551	11	11	shortest	short	ADJ
alkej-551	11	12	path	path	NOUN
alkej-551	11	13	.	.	PUNCT
alkej-551	12	1	furthermore	furthermore	ADV
alkej-551	12	2	,	,	PUNCT
alkej-551	12	3	to	to	PART
alkej-551	12	4	insure	insure	VERB
alkej-551	12	5	the	the	DET
alkej-551	12	6	path	path	NOUN
alkej-551	12	7	length	length	NOUN
alkej-551	12	8	optimality	optimality	NOUN
alkej-551	12	9	and	and	CCONJ
alkej-551	12	10	for	for	ADP
alkej-551	12	11	enhancing	enhance	VERB
alkej-551	12	12	the	the	DET
alkej-551	12	13	final	final	ADJ
alkej-551	12	14	path	path	NOUN
alkej-551	12	15	,	,	PUNCT
alkej-551	12	16	pso	pso	NOUN
alkej-551	12	17	technique	technique	NOUN
alkej-551	12	18	has	have	AUX
alkej-551	12	19	been	be	AUX
alkej-551	12	20	utilized	utilize	VERB
alkej-551	12	21	.	.	PUNCT
alkej-551	13	1	the	the	DET
alkej-551	13	2	robot	robot	NOUN
alkej-551	13	3	type	type	NOUN
alkej-551	13	4	has	have	AUX
alkej-551	13	5	been	be	AUX
alkej-551	13	6	used	use	VERB
alkej-551	13	7	here	here	ADV
alkej-551	13	8	is	be	AUX
alkej-551	13	9	the	the	DET
alkej-551	13	10	two	two	NUM
alkej-551	13	11	-	-	PUNCT
alkej-551	13	12	link	link	NOUN
alkej-551	13	13	robot	robot	NOUN
alkej-551	13	14	arm	arm	NOUN
alkej-551	13	15	which	which	PRON
alkej-551	13	16	represents	represent	VERB
alkej-551	13	17	a	a	DET
alkej-551	13	18	more	more	ADV
alkej-551	13	19	difficult	difficult	ADJ
alkej-551	13	20	case	case	NOUN
alkej-551	13	21	than	than	ADP
alkej-551	13	22	the	the	DET
alkej-551	13	23	mobile	mobile	NOUN
alkej-551	13	24	robot	robot	NOUN
alkej-551	13	25	.	.	PUNCT
alkej-551	14	1	simulation	simulation	NOUN
alkej-551	14	2	results	result	NOUN
alkej-551	14	3	are	be	AUX
alkej-551	14	4	given	give	VERB
alkej-551	14	5	to	to	PART
alkej-551	14	6	show	show	VERB
alkej-551	14	7	the	the	DET
alkej-551	14	8	effectiveness	effectiveness	NOUN
alkej-551	14	9	of	of	ADP
alkej-551	14	10	the	the	DET
alkej-551	14	11	proposed	propose	VERB
alkej-551	14	12	method	method	NOUN
alkej-551	14	13	which	which	PRON
alkej-551	14	14	clearly	clearly	ADV
alkej-551	14	15	shows	show	VERB
alkej-551	14	16	a	a	DET
alkej-551	14	17	completely	completely	ADV
alkej-551	14	18	safe	safe	ADJ
alkej-551	14	19	and	and	CCONJ
alkej-551	14	20	short	short	ADJ
alkej-551	14	21	path	path	NOUN
alkej-551	14	22	.	.	PUNCT
alkej-551	15	1	keywords	keyword	NOUN
alkej-551	15	2	:	:	PUNCT
alkej-551	15	3	d	d	X
alkej-551	15	4	*	*	PUNCT
alkej-551	15	5	algorithm	algorithm	NOUN
alkej-551	15	6	,	,	PUNCT
alkej-551	15	7	known	know	VERB
alkej-551	15	8	dynamic	dynamic	ADJ
alkej-551	15	9	environment	environment	NOUN
alkej-551	15	10	,	,	PUNCT
alkej-551	15	11	particle	particle	NOUN
alkej-551	15	12	swarm	swarm	NOUN
alkej-551	15	13	optimization	optimization	NOUN
alkej-551	15	14	,	,	PUNCT
alkej-551	15	15	path	path	NOUN
alkej-551	15	16	planning	planning	NOUN
alkej-551	15	17	,	,	PUNCT
alkej-551	15	18	two	two	NUM
alkej-551	15	19	-	-	PUNCT
alkej-551	15	20	link	link	NOUN
alkej-551	15	21	arm	arm	NOUN
alkej-551	15	22	.	.	PUNCT
alkej-551	16	1	1	1	X
alkej-551	16	2	.	.	X
alkej-551	16	3	introduction	introduction	NOUN
alkej-551	16	4	the	the	DET
alkej-551	16	5	words	word	NOUN
alkej-551	16	6	“	"	PUNCT
alkej-551	16	7	path	path	NOUN
alkej-551	16	8	planning	planning	NOUN
alkej-551	16	9	”	"	PUNCT
alkej-551	16	10	in	in	ADP
alkej-551	16	11	robotics	robotic	NOUN
alkej-551	16	12	where	where	SCONJ
alkej-551	16	13	the	the	DET
alkej-551	16	14	process	process	NOUN
alkej-551	16	15	is	be	AUX
alkej-551	16	16	totally	totally	ADV
alkej-551	16	17	or	or	CCONJ
alkej-551	16	18	sub	sub	VERB
alkej-551	16	19	automated	automate	VERB
alkej-551	16	20	.	.	PUNCT
alkej-551	17	1	it	it	PRON
alkej-551	17	2	is	be	AUX
alkej-551	17	3	used	use	VERB
alkej-551	17	4	to	to	PART
alkej-551	17	5	refer	refer	VERB
alkej-551	17	6	to	to	ADP
alkej-551	17	7	this	this	DET
alkej-551	17	8	type	type	NOUN
alkej-551	17	9	of	of	ADP
alkej-551	17	10	computational	computational	ADJ
alkej-551	17	11	process	process	NOUN
alkej-551	17	12	for	for	ADP
alkej-551	17	13	moving	move	VERB
alkej-551	17	14	an	an	DET
alkej-551	17	15	object	object	NOUN
alkej-551	17	16	from	from	ADP
alkej-551	17	17	one	one	NUM
alkej-551	17	18	place	place	NOUN
alkej-551	17	19	to	to	ADP
alkej-551	17	20	another	another	PRON
alkej-551	17	21	with	with	ADP
alkej-551	17	22	respect	respect	NOUN
alkej-551	17	23	to	to	ADP
alkej-551	17	24	obstacles	obstacle	NOUN
alkej-551	17	25	.	.	PUNCT
alkej-551	18	1	in	in	ADP
alkej-551	18	2	other	other	ADJ
alkej-551	18	3	word	word	NOUN
alkej-551	18	4	it	it	PRON
alkej-551	18	5	is	be	AUX
alkej-551	18	6	searching	search	VERB
alkej-551	18	7	for	for	ADP
alkej-551	18	8	initial	initial	ADJ
alkej-551	18	9	feasible	feasible	ADJ
alkej-551	18	10	path	path	NOUN
alkej-551	18	11	and	and	CCONJ
alkej-551	18	12	this	this	PRON
alkej-551	18	13	is	be	AUX
alkej-551	18	14	the	the	DET
alkej-551	18	15	first	first	ADJ
alkej-551	18	16	step	step	NOUN
alkej-551	18	17	in	in	ADP
alkej-551	18	18	the	the	DET
alkej-551	18	19	planning	planning	NOUN
alkej-551	18	20	process	process	NOUN
alkej-551	18	21	for	for	ADP
alkej-551	18	22	the	the	DET
alkej-551	18	23	robot	robot	NOUN
alkej-551	18	24	path	path	NOUN
alkej-551	18	25	.	.	PUNCT
alkej-551	19	1	the	the	DET
alkej-551	19	2	path	path	NOUN
alkej-551	19	3	planning	planning	NOUN
alkej-551	19	4	problem	problem	NOUN
alkej-551	19	5	is	be	AUX
alkej-551	19	6	that	that	PRON
alkej-551	19	7	of	of	ADP
alkej-551	19	8	finding	find	VERB
alkej-551	19	9	a	a	DET
alkej-551	19	10	path	path	NOUN
alkej-551	19	11	for	for	ADP
alkej-551	19	12	a	a	DET
alkej-551	19	13	robot	robot	NOUN
alkej-551	19	14	that	that	PRON
alkej-551	19	15	must	must	AUX
alkej-551	19	16	move	move	VERB
alkej-551	19	17	from	from	ADP
alkej-551	19	18	initial	initial	ADJ
alkej-551	19	19	point	point	NOUN
alkej-551	19	20	,	,	PUNCT
alkej-551	19	21	which	which	PRON
alkej-551	19	22	is	be	AUX
alkej-551	19	23	given	give	VERB
alkej-551	19	24	as	as	ADP
alkej-551	19	25	the	the	DET
alkej-551	19	26	start	start	NOUN
alkej-551	19	27	position	position	NOUN
alkej-551	19	28	to	to	ADP
alkej-551	19	29	the	the	DET
alkej-551	19	30	goal	goal	NOUN
alkej-551	19	31	point	point	NOUN
alkej-551	19	32	which	which	PRON
alkej-551	19	33	is	be	AUX
alkej-551	19	34	given	give	VERB
alkej-551	19	35	as	as	ADP
alkej-551	19	36	the	the	DET
alkej-551	19	37	destination	destination	NOUN
alkej-551	19	38	position	position	NOUN
alkej-551	19	39	,	,	PUNCT
alkej-551	19	40	in	in	ADP
alkej-551	19	41	an	an	DET
alkej-551	19	42	environment	environment	NOUN
alkej-551	19	43	that	that	PRON
alkej-551	19	44	contains	contain	VERB
alkej-551	19	45	a	a	DET
alkej-551	19	46	fully	fully	ADV
alkej-551	19	47	defined	define	VERB
alkej-551	19	48	set	set	NOUN
alkej-551	19	49	of	of	ADP
alkej-551	19	50	obstacles	obstacle	NOUN
alkej-551	19	51	.	.	PUNCT
alkej-551	20	1	therefore	therefore	ADV
alkej-551	20	2	,	,	PUNCT
alkej-551	20	3	the	the	DET
alkej-551	20	4	robot	robot	NOUN
alkej-551	20	5	does	do	AUX
alkej-551	20	6	not	not	PART
alkej-551	20	7	collide	collide	VERB
alkej-551	20	8	with	with	ADP
alkej-551	20	9	any	any	PRON
alkej-551	20	10	of	of	ADP
alkej-551	20	11	the	the	DET
alkej-551	20	12	obstacles	obstacle	NOUN
alkej-551	20	13	[	[	X
alkej-551	20	14	1	1	NUM
alkej-551	20	15	]	]	PUNCT
alkej-551	20	16	.	.	PUNCT
alkej-551	21	1	generally	generally	ADV
alkej-551	21	2	,	,	PUNCT
alkej-551	21	3	obstacles	obstacle	NOUN
alkej-551	21	4	can	can	AUX
alkej-551	21	5	not	not	PART
alkej-551	21	6	always	always	ADV
alkej-551	21	7	be	be	AUX
alkej-551	21	8	static	static	ADJ
alkej-551	21	9	.	.	PUNCT
alkej-551	22	1	when	when	SCONJ
alkej-551	22	2	the	the	DET
alkej-551	22	3	object	object	NOUN
alkej-551	22	4	stays	stay	VERB
alkej-551	22	5	motionless	motionless	ADJ
alkej-551	22	6	in	in	ADP
alkej-551	22	7	the	the	DET
alkej-551	22	8	environment	environment	NOUN
alkej-551	22	9	,	,	PUNCT
alkej-551	22	10	it	it	PRON
alkej-551	22	11	calls	call	VERB
alkej-551	22	12	static	static	ADJ
alkej-551	22	13	,	,	PUNCT
alkej-551	22	14	i.e.	i.e.	X
alkej-551	22	15	,	,	PUNCT
alkej-551	22	16	fixed	fix	VERB
alkej-551	22	17	constantly	constantly	ADV
alkej-551	22	18	at	at	ADP
alkej-551	22	19	a	a	DET
alkej-551	22	20	location	location	NOUN
alkej-551	22	21	,	,	PUNCT
alkej-551	22	22	but	but	CCONJ
alkej-551	22	23	when	when	SCONJ
alkej-551	22	24	the	the	DET
alkej-551	22	25	object	object	NOUN
alkej-551	22	26	changes	change	VERB
alkej-551	22	27	its	its	PRON
alkej-551	22	28	location	location	NOUN
alkej-551	22	29	over	over	ADP
alkej-551	22	30	time	time	NOUN
alkej-551	22	31	,	,	PUNCT
alkej-551	22	32	it	it	PRON
alkej-551	22	33	calls	call	VERB
alkej-551	22	34	dynamic	dynamic	ADJ
alkej-551	22	35	.	.	PUNCT
alkej-551	23	1	dynamic	dynamic	ADJ
alkej-551	23	2	environment	environment	NOUN
alkej-551	23	3	represents	represent	VERB
alkej-551	23	4	a	a	DET
alkej-551	23	5	revolution	revolution	NOUN
alkej-551	23	6	and	and	CCONJ
alkej-551	23	7	important	important	ADJ
alkej-551	23	8	side	side	NOUN
alkej-551	23	9	in	in	ADP
alkej-551	23	10	modern	modern	ADJ
alkej-551	23	11	automation	automation	NOUN
alkej-551	23	12	,	,	PUNCT
alkej-551	23	13	it	it	PRON
alkej-551	23	14	redound	redound	VERB
alkej-551	23	15	in	in	ADP
alkej-551	23	16	many	many	ADJ
alkej-551	23	17	important	important	ADJ
alkej-551	23	18	diverse	diverse	ADJ
alkej-551	23	19	applications	application	NOUN
alkej-551	23	20	like	like	ADP
alkej-551	23	21	,	,	PUNCT
alkej-551	23	22	air	air	NOUN
alkej-551	23	23	and	and	CCONJ
alkej-551	23	24	sea	sea	NOUN
alkej-551	23	25	firas	firas	PROPN
alkej-551	23	26	a.	a.	PROPN
alkej-551	23	27	raheem	raheem	PROPN
alkej-551	23	28	al	al	PROPN
alkej-551	23	29	-	-	PUNCT
alkej-551	23	30	khwarizmi	khwarizmi	PROPN
alkej-551	23	31	engineering	engineering	NOUN
alkej-551	23	32	journal	journal	PROPN
alkej-551	23	33	,	,	PUNCT
alkej-551	23	34	vol	vol	NOUN
alkej-551	23	35	.	.	PROPN
alkej-551	24	1	15	15	NUM
alkej-551	24	2	,	,	PUNCT
alkej-551	24	3	no	no	INTJ
alkej-551	24	4	.	.	NOUN
alkej-551	24	5	2	2	NUM
alkej-551	24	6	,	,	PUNCT
alkej-551	24	7	p.p	p.p	PROPN
alkej-551	24	8	.	.	NOUN
alkej-551	24	9	108123	108123	NUM
alkej-551	24	10	(	(	PUNCT
alkej-551	24	11	2019	2019	NUM
alkej-551	24	12	)	)	PUNCT
alkej-551	24	13	109	109	NUM
alkej-551	24	14	traffic	traffic	NOUN
alkej-551	24	15	control	control	NOUN
alkej-551	24	16	negotiating	negotiating	NOUN
alkej-551	24	17	,	,	PUNCT
alkej-551	24	18	freeway	freeway	NOUN
alkej-551	24	19	traffic	traffic	NOUN
alkej-551	24	20	,	,	PUNCT
alkej-551	24	21	intelligent	intelligent	ADJ
alkej-551	24	22	vehicles	vehicle	NOUN
alkej-551	24	23	,	,	PUNCT
alkej-551	24	24	automated	automate	VERB
alkej-551	24	25	assembly	assembly	NOUN
alkej-551	24	26	and	and	CCONJ
alkej-551	24	27	automated	automate	VERB
alkej-551	24	28	wheel	wheel	NOUN
alkej-551	24	29	chairs	chair	NOUN
alkej-551	24	30	.	.	PUNCT
alkej-551	25	1	because	because	SCONJ
alkej-551	25	2	of	of	ADP
alkej-551	25	3	existence	existence	NOUN
alkej-551	25	4	the	the	DET
alkej-551	25	5	moving	move	VERB
alkej-551	25	6	objects	object	NOUN
alkej-551	25	7	,	,	PUNCT
alkej-551	25	8	the	the	DET
alkej-551	25	9	robot	robot	NOUN
alkej-551	25	10	needs	need	VERB
alkej-551	25	11	to	to	PART
alkej-551	25	12	make	make	VERB
alkej-551	25	13	decision	decision	NOUN
alkej-551	25	14	quickly	quickly	ADV
alkej-551	25	15	for	for	ADP
alkej-551	25	16	avoiding	avoid	VERB
alkej-551	25	17	possibility	possibility	NOUN
alkej-551	25	18	collisions	collision	NOUN
alkej-551	25	19	.	.	PUNCT
alkej-551	26	1	this	this	PRON
alkej-551	26	2	represents	represent	VERB
alkej-551	26	3	the	the	DET
alkej-551	26	4	mutual	mutual	ADJ
alkej-551	26	5	part	part	NOUN
alkej-551	26	6	among	among	ADP
alkej-551	26	7	these	these	DET
alkej-551	26	8	applications	application	NOUN
alkej-551	26	9	.	.	PUNCT
alkej-551	27	1	the	the	DET
alkej-551	27	2	ability	ability	NOUN
alkej-551	27	3	to	to	PART
alkej-551	27	4	deal	deal	VERB
alkej-551	27	5	with	with	ADP
alkej-551	27	6	moving	move	VERB
alkej-551	27	7	objects	object	NOUN
alkej-551	27	8	is	be	AUX
alkej-551	27	9	needful	needful	ADJ
alkej-551	27	10	for	for	ADP
alkej-551	27	11	the	the	DET
alkej-551	27	12	navigation	navigation	NOUN
alkej-551	27	13	of	of	ADP
alkej-551	27	14	any	any	DET
alkej-551	27	15	factual	factual	ADJ
alkej-551	27	16	robot	robot	NOUN
alkej-551	27	17	.	.	PUNCT
alkej-551	28	1	the	the	DET
alkej-551	28	2	range	range	NOUN
alkej-551	28	3	of	of	ADP
alkej-551	28	4	applications	application	NOUN
alkej-551	28	5	of	of	ADP
alkej-551	28	6	intelligent	intelligent	ADJ
alkej-551	28	7	robots	robot	NOUN
alkej-551	28	8	could	could	AUX
alkej-551	28	9	be	be	AUX
alkej-551	28	10	widely	widely	ADV
alkej-551	28	11	increased	increase	VERB
alkej-551	28	12	since	since	SCONJ
alkej-551	28	13	it	it	PRON
alkej-551	28	14	’s	’	VERB
alkej-551	28	15	able	able	ADJ
alkej-551	28	16	to	to	PART
alkej-551	28	17	handle	handle	VERB
alkej-551	28	18	moving	move	VERB
alkej-551	28	19	objects	object	NOUN
alkej-551	28	20	[	[	PUNCT
alkej-551	28	21	2	2	NUM
alkej-551	28	22	-	-	SYM
alkej-551	28	23	3	3	NUM
alkej-551	28	24	]	]	PUNCT
alkej-551	28	25	.	.	PUNCT
alkej-551	29	1	there	there	PRON
alkej-551	29	2	are	be	VERB
alkej-551	29	3	three	three	NUM
alkej-551	29	4	types	type	NOUN
alkej-551	29	5	of	of	ADP
alkej-551	29	6	dynamic	dynamic	ADJ
alkej-551	29	7	environment	environment	NOUN
alkej-551	29	8	,	,	PUNCT
alkej-551	29	9	where	where	SCONJ
alkej-551	29	10	all	all	DET
alkej-551	29	11	information	information	NOUN
alkej-551	29	12	is	be	AUX
alkej-551	29	13	regarding	regard	VERB
alkej-551	29	14	to	to	ADP
alkej-551	29	15	the	the	DET
alkej-551	29	16	obstacles	obstacle	NOUN
alkej-551	29	17	,	,	PUNCT
alkej-551	29	18	i.e.	i.e.	X
alkej-551	29	19	,	,	PUNCT
alkej-551	29	20	motions	motion	NOUN
alkej-551	29	21	,	,	PUNCT
alkej-551	29	22	sizes	size	NOUN
alkej-551	29	23	,	,	PUNCT
alkej-551	29	24	shapes	shape	NOUN
alkej-551	29	25	,	,	PUNCT
alkej-551	29	26	locations	location	NOUN
alkej-551	29	27	,	,	PUNCT
alkej-551	29	28	etc	etc	X
alkej-551	29	29	.	.	X
alkej-551	29	30	,	,	PUNCT
alkej-551	29	31	is	be	AUX
alkej-551	29	32	completely	completely	ADV
alkej-551	29	33	known	know	VERB
alkej-551	29	34	,	,	PUNCT
alkej-551	29	35	the	the	DET
alkej-551	29	36	obstacle	obstacle	NOUN
alkej-551	29	37	is	be	AUX
alkej-551	29	38	said	say	VERB
alkej-551	29	39	to	to	PART
alkej-551	29	40	be	be	AUX
alkej-551	29	41	in	in	ADP
alkej-551	29	42	a	a	DET
alkej-551	29	43	known	know	VERB
alkej-551	29	44	dynamic	dynamic	ADJ
alkej-551	29	45	environment	environment	NOUN
alkej-551	29	46	.	.	PUNCT
alkej-551	30	1	as	as	ADP
alkej-551	30	2	example	example	NOUN
alkej-551	30	3	for	for	ADP
alkej-551	30	4	known	known	ADJ
alkej-551	30	5	environment	environment	NOUN
alkej-551	30	6	the	the	DET
alkej-551	30	7	automated	automate	VERB
alkej-551	30	8	production	production	NOUN
alkej-551	30	9	line	line	NOUN
alkej-551	30	10	.	.	PUNCT
alkej-551	31	1	partially	partially	ADV
alkej-551	31	2	known	know	VERB
alkej-551	31	3	dynamic	dynamic	ADJ
alkej-551	31	4	environment	environment	NOUN
alkej-551	31	5	is	be	AUX
alkej-551	31	6	the	the	DET
alkej-551	31	7	second	second	ADJ
alkej-551	31	8	type	type	NOUN
alkej-551	31	9	when	when	SCONJ
alkej-551	31	10	not	not	PART
alkej-551	31	11	the	the	DET
alkej-551	31	12	all	all	DET
alkej-551	31	13	information	information	NOUN
alkej-551	31	14	about	about	ADP
alkej-551	31	15	the	the	DET
alkej-551	31	16	obstacle	obstacle	NOUN
alkej-551	31	17	are	be	AUX
alkej-551	31	18	exist	exist	VERB
alkej-551	31	19	at	at	ADP
alkej-551	31	20	the	the	DET
alkej-551	31	21	planning	planning	NOUN
alkej-551	31	22	time	time	NOUN
alkej-551	31	23	.	.	PUNCT
alkej-551	32	1	in	in	ADP
alkej-551	32	2	this	this	DET
alkej-551	32	3	state	state	NOUN
alkej-551	32	4	,	,	PUNCT
alkej-551	32	5	it	it	PRON
alkej-551	32	6	needs	need	VERB
alkej-551	32	7	to	to	PART
alkej-551	32	8	calculate	calculate	VERB
alkej-551	32	9	the	the	DET
alkej-551	32	10	robot	robot	NOUN
alkej-551	32	11	motion	motion	NOUN
alkej-551	32	12	with	with	ADP
alkej-551	32	13	according	accord	VERB
alkej-551	32	14	to	to	ADP
alkej-551	32	15	insufficient	insufficient	ADJ
alkej-551	32	16	information	information	NOUN
alkej-551	32	17	about	about	ADP
alkej-551	32	18	the	the	DET
alkej-551	32	19	environment	environment	NOUN
alkej-551	32	20	.	.	PUNCT
alkej-551	33	1	it	it	PRON
alkej-551	33	2	is	be	AUX
alkej-551	33	3	important	important	ADJ
alkej-551	33	4	to	to	PART
alkej-551	33	5	know	know	VERB
alkej-551	33	6	when	when	SCONJ
alkej-551	33	7	the	the	DET
alkej-551	33	8	robot	robot	NOUN
alkej-551	33	9	's	's	PART
alkej-551	33	10	mission	mission	NOUN
alkej-551	33	11	is	be	AUX
alkej-551	33	12	to	to	PART
alkej-551	33	13	complete	complete	VERB
alkej-551	33	14	a	a	DET
alkej-551	33	15	map	map	NOUN
alkej-551	33	16	of	of	ADP
alkej-551	33	17	the	the	DET
alkej-551	33	18	environment	environment	NOUN
alkej-551	33	19	by	by	ADP
alkej-551	33	20	scanning	scan	VERB
alkej-551	33	21	the	the	DET
alkej-551	33	22	area	area	NOUN
alkej-551	33	23	or	or	CCONJ
alkej-551	33	24	to	to	PART
alkej-551	33	25	scan	scan	VERB
alkej-551	33	26	a	a	DET
alkej-551	33	27	certain	certain	ADJ
alkej-551	33	28	area	area	NOUN
alkej-551	33	29	to	to	PART
alkej-551	33	30	make	make	VERB
alkej-551	33	31	sure	sure	ADJ
alkej-551	33	32	if	if	SCONJ
alkej-551	33	33	there	there	PRON
alkej-551	33	34	is	be	VERB
alkej-551	33	35	a	a	DET
alkej-551	33	36	new	new	ADJ
alkej-551	33	37	object	object	NOUN
alkej-551	33	38	is	be	AUX
alkej-551	33	39	found	find	VERB
alkej-551	33	40	in	in	ADP
alkej-551	33	41	the	the	DET
alkej-551	33	42	area	area	NOUN
alkej-551	33	43	.	.	PUNCT
alkej-551	34	1	finally	finally	ADV
alkej-551	34	2	when	when	SCONJ
alkej-551	34	3	there	there	PRON
alkej-551	34	4	is	be	VERB
alkej-551	34	5	nothing	nothing	PRON
alkej-551	34	6	to	to	PART
alkej-551	34	7	know	know	VERB
alkej-551	34	8	about	about	ADP
alkej-551	34	9	the	the	DET
alkej-551	34	10	obstacle	obstacle	NOUN
alkej-551	34	11	it	it	PRON
alkej-551	34	12	’s	’s	AUX
alkej-551	34	13	called	call	VERB
alkej-551	34	14	the	the	DET
alkej-551	34	15	totally	totally	ADV
alkej-551	34	16	unknown	unknown	ADJ
alkej-551	34	17	dynamic	dynamic	ADJ
alkej-551	34	18	environment	environment	NOUN
alkej-551	34	19	and	and	CCONJ
alkej-551	34	20	this	this	PRON
alkej-551	34	21	need	need	VERB
alkej-551	34	22	intelligent	intelligent	ADJ
alkej-551	34	23	ways	way	NOUN
alkej-551	34	24	to	to	PART
alkej-551	34	25	be	be	AUX
alkej-551	34	26	used	use	VERB
alkej-551	34	27	.	.	PUNCT
alkej-551	35	1	as	as	ADP
alkej-551	35	2	example	example	NOUN
alkej-551	35	3	for	for	ADP
alkej-551	35	4	unknown	unknown	ADJ
alkej-551	35	5	and	and	CCONJ
alkej-551	35	6	partially	partially	ADV
alkej-551	35	7	known	know	VERB
alkej-551	35	8	environment	environment	NOUN
alkej-551	35	9	the	the	DET
alkej-551	35	10	other	other	ADJ
alkej-551	35	11	robots	robot	NOUN
alkej-551	35	12	and	and	CCONJ
alkej-551	35	13	humans	human	NOUN
alkej-551	35	14	in	in	ADP
alkej-551	35	15	workspace	workspace	NOUN
alkej-551	35	16	[	[	X
alkej-551	35	17	3	3	NUM
alkej-551	35	18	]	]	PUNCT
alkej-551	35	19	.	.	PUNCT
alkej-551	36	1	path	path	NOUN
alkej-551	36	2	planning	planning	NOUN
alkej-551	36	3	in	in	ADP
alkej-551	36	4	dynamic	dynamic	ADJ
alkej-551	36	5	environment	environment	NOUN
alkej-551	36	6	is	be	AUX
alkej-551	36	7	considered	consider	VERB
alkej-551	36	8	as	as	ADP
alkej-551	36	9	an	an	DET
alkej-551	36	10	essential	essential	ADJ
alkej-551	36	11	problem	problem	NOUN
alkej-551	36	12	for	for	ADP
alkej-551	36	13	manipulators	manipulator	NOUN
alkej-551	36	14	and	and	CCONJ
alkej-551	36	15	autonomous	autonomous	ADJ
alkej-551	36	16	robots	robot	NOUN
alkej-551	36	17	therefore	therefore	ADV
alkej-551	36	18	,	,	PUNCT
alkej-551	36	19	the	the	DET
alkej-551	36	20	fundamental	fundamental	ADJ
alkej-551	36	21	issue	issue	NOUN
alkej-551	36	22	of	of	ADP
alkej-551	36	23	this	this	DET
alkej-551	36	24	work	work	NOUN
alkej-551	36	25	is	be	AUX
alkej-551	36	26	to	to	PART
alkej-551	36	27	show	show	VERB
alkej-551	36	28	the	the	DET
alkej-551	36	29	robot	robot	NOUN
alkej-551	36	30	path	path	NOUN
alkej-551	36	31	planning	planning	NOUN
alkej-551	36	32	in	in	ADP
alkej-551	36	33	a	a	DET
alkej-551	36	34	dynamic	dynamic	ADJ
alkej-551	36	35	environment	environment	NOUN
alkej-551	36	36	and	and	CCONJ
alkej-551	36	37	moving	move	VERB
alkej-551	36	38	obstacle	obstacle	NOUN
alkej-551	36	39	avoidance	avoidance	NOUN
alkej-551	36	40	utilizing	utilize	VERB
alkej-551	36	41	d	d	PROPN
alkej-551	36	42	*	*	NOUN
alkej-551	36	43	algorithm	algorithm	NOUN
alkej-551	36	44	to	to	PART
alkej-551	36	45	fulfill	fulfill	VERB
alkej-551	36	46	the	the	DET
alkej-551	36	47	accompanying	accompany	VERB
alkej-551	36	48	necessities	necessity	NOUN
alkej-551	36	49	.	.	PUNCT
alkej-551	37	1	2	2	X
alkej-551	37	2	.	.	X
alkej-551	37	3	review	review	NOUN
alkej-551	37	4	of	of	ADP
alkej-551	37	5	previous	previous	ADJ
alkej-551	37	6	researches	research	NOUN
alkej-551	37	7	to	to	PART
alkej-551	37	8	overcome	overcome	VERB
alkej-551	37	9	the	the	DET
alkej-551	37	10	dynamic	dynamic	ADJ
alkej-551	37	11	environment	environment	NOUN
alkej-551	37	12	challenges	challenge	NOUN
alkej-551	37	13	,	,	PUNCT
alkej-551	37	14	many	many	ADJ
alkej-551	37	15	path	path	NOUN
alkej-551	37	16	planning	planning	NOUN
alkej-551	37	17	algorithms	algorithm	NOUN
alkej-551	37	18	have	have	AUX
alkej-551	37	19	been	be	AUX
alkej-551	37	20	used	use	VERB
alkej-551	37	21	in	in	ADP
alkej-551	37	22	the	the	DET
alkej-551	37	23	literature	literature	NOUN
alkej-551	37	24	.	.	PUNCT
alkej-551	38	1	here	here	ADV
alkej-551	38	2	we	we	PRON
alkej-551	38	3	started	start	VERB
alkej-551	38	4	with	with	ADP
alkej-551	38	5	anthony	anthony	PROPN
alkej-551	38	6	stentz	stentz	PROPN
alkej-551	38	7	[	[	X
alkej-551	38	8	4	4	X
alkej-551	38	9	]	]	PUNCT
alkej-551	38	10	whom	whom	PRON
alkej-551	38	11	used	use	VERB
alkej-551	38	12	the	the	DET
alkej-551	38	13	d	d	PROPN
alkej-551	38	14	*	*	PROPN
alkej-551	38	15	algorithm	algorithm	NOUN
alkej-551	38	16	which	which	PRON
alkej-551	38	17	is	be	AUX
alkej-551	38	18	represented	represent	VERB
alkej-551	38	19	the	the	DET
alkej-551	38	20	dynamic	dynamic	ADJ
alkej-551	38	21	a	a	NOUN
alkej-551	38	22	*	*	PUNCT
alkej-551	38	23	,	,	PUNCT
alkej-551	38	24	it	it	PRON
alkej-551	38	25	aims	aim	VERB
alkej-551	38	26	to	to	PART
alkej-551	38	27	create	create	VERB
alkej-551	38	28	a	a	DET
alkej-551	38	29	short	short	ADJ
alkej-551	38	30	path	path	NOUN
alkej-551	38	31	in	in	ADP
alkej-551	38	32	real	real	ADJ
alkej-551	38	33	-	-	PUNCT
alkej-551	38	34	time	time	NOUN
alkej-551	38	35	by	by	ADP
alkej-551	38	36	incrementally	incrementally	ADV
alkej-551	38	37	reforming	reform	VERB
alkej-551	38	38	paths	path	NOUN
alkej-551	38	39	for	for	ADP
alkej-551	38	40	the	the	DET
alkej-551	38	41	robot	robot	NOUN
alkej-551	38	42	’s	’s	PART
alkej-551	38	43	state	state	NOUN
alkej-551	38	44	as	as	SCONJ
alkej-551	38	45	a	a	DET
alkej-551	38	46	new	new	ADJ
alkej-551	38	47	information	information	NOUN
alkej-551	38	48	is	be	AUX
alkej-551	38	49	found	find	VERB
alkej-551	38	50	.	.	PUNCT
alkej-551	39	1	the	the	DET
alkej-551	39	2	d	d	PROPN
alkej-551	39	3	*	*	PUNCT
alkej-551	39	4	extension	extension	NOUN
alkej-551	39	5	which	which	PRON
alkej-551	39	6	concentrate	concentrate	VERB
alkej-551	39	7	the	the	DET
alkej-551	39	8	repairs	repair	NOUN
alkej-551	39	9	of	of	ADP
alkej-551	39	10	significantly	significantly	ADJ
alkej-551	39	11	reduction	reduction	NOUN
alkej-551	39	12	the	the	DET
alkej-551	39	13	whole	whole	ADJ
alkej-551	39	14	time	time	NOUN
alkej-551	39	15	required	require	VERB
alkej-551	39	16	to	to	ADP
alkej-551	39	17	subsequent	subsequent	ADJ
alkej-551	39	18	and	and	CCONJ
alkej-551	39	19	calculate	calculate	VERB
alkej-551	39	20	the	the	DET
alkej-551	39	21	initial	initial	ADJ
alkej-551	39	22	path	path	NOUN
alkej-551	39	23	re	re	ADJ
alkej-551	39	24	-	-	NOUN
alkej-551	39	25	planning	planning	ADJ
alkej-551	39	26	operations	operation	NOUN
alkej-551	39	27	which	which	PRON
alkej-551	39	28	this	this	DET
alkej-551	39	29	paper	paper	NOUN
alkej-551	39	30	aims	aim	VERB
alkej-551	39	31	to	to	PART
alkej-551	39	32	.	.	PUNCT
alkej-551	39	33	followed	follow	VERB
alkej-551	39	34	by	by	ADP
alkej-551	39	35	enric	enric	PROPN
alkej-551	39	36	cervera	cervera	PROPN
alkej-551	39	37	i	i	PRON
alkej-551	39	38	mateu	mateu	VERB
alkej-551	40	1	[	[	X
alkej-551	40	2	5	5	NUM
alkej-551	40	3	]	]	PUNCT
alkej-551	40	4	who	who	PRON
alkej-551	40	5	suggested	suggest	VERB
alkej-551	40	6	using	use	VERB
alkej-551	40	7	robot	robot	NOUN
alkej-551	40	8	programming	programming	NOUN
alkej-551	40	9	architecture	architecture	NOUN
alkej-551	40	10	to	to	PART
alkej-551	40	11	learn	learn	VERB
alkej-551	40	12	fine	fine	ADJ
alkej-551	40	13	motion	motion	NOUN
alkej-551	40	14	tasks	task	NOUN
alkej-551	40	15	such	such	ADJ
alkej-551	40	16	as	as	ADP
alkej-551	40	17	autonomous	autonomous	ADJ
alkej-551	40	18	process	process	NOUN
alkej-551	40	19	of	of	ADP
alkej-551	40	20	experience	experience	NOUN
alkej-551	40	21	repetition	repetition	NOUN
alkej-551	40	22	could	could	AUX
alkej-551	40	23	carry	carry	VERB
alkej-551	40	24	out	out	ADP
alkej-551	40	25	the	the	DET
alkej-551	40	26	goal	goal	NOUN
alkej-551	40	27	in	in	ADP
alkej-551	40	28	minimized	minimized	ADJ
alkej-551	40	29	steps	step	NOUN
alkej-551	40	30	.	.	PUNCT
alkej-551	41	1	this	this	PRON
alkej-551	41	2	involves	involve	VERB
alkej-551	41	3	uncertainty	uncertainty	NOUN
alkej-551	41	4	in	in	ADP
alkej-551	41	5	location	location	NOUN
alkej-551	41	6	,	,	PUNCT
alkej-551	41	7	and	and	CCONJ
alkej-551	41	8	the	the	DET
alkej-551	41	9	robot	robot	NOUN
alkej-551	41	10	will	will	AUX
alkej-551	41	11	be	be	AUX
alkej-551	41	12	guided	guide	VERB
alkej-551	41	13	with	with	ADP
alkej-551	41	14	sensory	sensory	ADJ
alkej-551	41	15	information	information	NOUN
alkej-551	41	16	by	by	ADP
alkej-551	41	17	using	use	VERB
alkej-551	41	18	force	force	NOUN
alkej-551	41	19	sensor	sensor	NOUN
alkej-551	41	20	but	but	CCONJ
alkej-551	41	21	this	this	DET
alkej-551	41	22	work	work	NOUN
alkej-551	41	23	involves	involve	VERB
alkej-551	41	24	uncertainty	uncertainty	NOUN
alkej-551	41	25	in	in	ADP
alkej-551	41	26	location	location	NOUN
alkej-551	41	27	.	.	PUNCT
alkej-551	42	1	many	many	ADJ
alkej-551	42	2	other	other	ADJ
alkej-551	42	3	path	path	NOUN
alkej-551	42	4	planning	planning	NOUN
alkej-551	42	5	algorithms	algorithm	NOUN
alkej-551	42	6	were	be	AUX
alkej-551	42	7	applied	apply	VERB
alkej-551	42	8	for	for	ADP
alkej-551	42	9	solving	solve	VERB
alkej-551	42	10	dynamic	dynamic	ADJ
alkej-551	42	11	environment	environment	NOUN
alkej-551	42	12	problems	problem	NOUN
alkej-551	42	13	such	such	ADJ
alkej-551	42	14	as	as	ADP
alkej-551	42	15	deriving	derive	VERB
alkej-551	42	16	the	the	DET
alkej-551	42	17	non	non	ADJ
alkej-551	42	18	-	-	ADJ
alkej-551	42	19	linear	linear	ADJ
alkej-551	42	20	vobstacle	vobstacle	NOUN
alkej-551	42	21	for	for	ADP
alkej-551	42	22	general	general	ADJ
alkej-551	42	23	planar	planar	ADJ
alkej-551	42	24	obstacles	obstacle	NOUN
alkej-551	42	25	to	to	PART
alkej-551	42	26	be	be	AUX
alkej-551	42	27	useful	useful	ADJ
alkej-551	42	28	in	in	ADP
alkej-551	42	29	analytic	analytic	ADJ
alkej-551	42	30	expressions	expression	NOUN
alkej-551	42	31	.	.	PUNCT
alkej-551	43	1	considering	consider	VERB
alkej-551	43	2	obstacles	obstacle	NOUN
alkej-551	43	3	moving	move	VERB
alkej-551	43	4	on	on	ADP
alkej-551	43	5	arbitrarily	arbitrarily	ADV
alkej-551	43	6	trajectories	trajectory	NOUN
alkej-551	43	7	is	be	AUX
alkej-551	43	8	represents	represent	VERB
alkej-551	43	9	the	the	DET
alkej-551	43	10	concept	concept	NOUN
alkej-551	43	11	of	of	ADP
alkej-551	43	12	counting	count	VERB
alkej-551	43	13	velocity	velocity	NOUN
alkej-551	43	14	obstacles	obstacle	NOUN
alkej-551	43	15	.	.	PUNCT
alkej-551	44	1	the	the	DET
alkej-551	44	2	nonlinear	nonlinear	ADJ
alkej-551	44	3	v	v	NOUN
alkej-551	44	4	-	-	PUNCT
alkej-551	44	5	obstacle	obstacle	NOUN
alkej-551	44	6	has	have	AUX
alkej-551	44	7	been	be	AUX
alkej-551	44	8	consisted	consist	VERB
alkej-551	44	9	of	of	ADP
alkej-551	44	10	a	a	DET
alkej-551	44	11	deformed	deform	VERB
alkej-551	44	12	cone	cone	NOUN
alkej-551	44	13	i.e.	i.e.	X
alkej-551	44	14	a	a	DET
alkej-551	44	15	time	time	NOUN
alkej-551	44	16	-	-	PUNCT
alkej-551	44	17	scaled	scale	VERB
alkej-551	44	18	map	map	NOUN
alkej-551	44	19	of	of	ADP
alkej-551	44	20	the	the	DET
alkej-551	44	21	obstacles	obstacle	NOUN
alkej-551	44	22	that	that	PRON
alkej-551	44	23	extend	extend	VERB
alkej-551	44	24	along	along	ADP
alkej-551	44	25	their	their	PRON
alkej-551	44	26	trajectories	trajectory	NOUN
alkej-551	44	27	.	.	PUNCT
alkej-551	45	1	avoiding	avoid	VERB
alkej-551	45	2	the	the	DET
alkej-551	45	3	obstacle	obstacle	NOUN
alkej-551	45	4	during	during	ADP
alkej-551	45	5	the	the	DET
alkej-551	45	6	time	time	NOUN
alkej-551	45	7	interval	interval	NOUN
alkej-551	45	8	for	for	ADP
alkej-551	45	9	which	which	PRON
alkej-551	45	10	the	the	DET
alkej-551	45	11	v	v	NOUN
alkej-551	45	12	-	-	PUNCT
alkej-551	45	13	obstacle	obstacle	NOUN
alkej-551	45	14	has	have	AUX
alkej-551	45	15	been	be	AUX
alkej-551	45	16	generated	generate	VERB
alkej-551	45	17	could	could	AUX
alkej-551	45	18	be	be	AUX
alkej-551	45	19	achieved	achieve	VERB
alkej-551	45	20	by	by	ADP
alkej-551	45	21	selecting	select	VERB
alkej-551	45	22	a	a	DET
alkej-551	45	23	single	single	ADJ
alkej-551	45	24	velocity	velocity	NOUN
alkej-551	45	25	vector	vector	NOUN
alkej-551	45	26	outside	outside	ADP
alkej-551	45	27	the	the	DET
alkej-551	45	28	nonlinear	nonlinear	ADJ
alkej-551	45	29	v	v	NOUN
alkej-551	45	30	-	-	PUNCT
alkej-551	45	31	obstacle	obstacle	NOUN
alkej-551	45	32	.	.	PUNCT
alkej-551	46	1	this	this	DET
alkej-551	46	2	method	method	NOUN
alkej-551	46	3	works	work	VERB
alkej-551	46	4	accurate	accurate	ADJ
alkej-551	46	5	only	only	ADV
alkej-551	46	6	with	with	ADP
alkej-551	46	7	mobile	mobile	ADJ
alkej-551	46	8	robot	robot	NOUN
alkej-551	46	9	[	[	X
alkej-551	46	10	6	6	NUM
alkej-551	46	11	]	]	PUNCT
alkej-551	46	12	.	.	PUNCT
alkej-551	47	1	as	as	ADV
alkej-551	47	2	well	well	ADV
alkej-551	47	3	as	as	ADP
alkej-551	47	4	this	this	PRON
alkej-551	47	5	,	,	PUNCT
alkej-551	47	6	finding	find	VERB
alkej-551	47	7	out	out	ADP
alkej-551	47	8	a	a	DET
alkej-551	47	9	reasonable	reasonable	ADJ
alkej-551	47	10	relation	relation	NOUN
alkej-551	47	11	among	among	ADP
alkej-551	47	12	parameters	parameter	NOUN
alkej-551	47	13	that	that	PRON
alkej-551	47	14	used	use	VERB
alkej-551	47	15	in	in	ADP
alkej-551	47	16	the	the	DET
alkej-551	47	17	path	path	NOUN
alkej-551	47	18	planning	planning	NOUN
alkej-551	47	19	strategies	strategy	NOUN
alkej-551	47	20	in	in	ADP
alkej-551	47	21	a	a	DET
alkej-551	47	22	platform	platform	NOUN
alkej-551	47	23	,	,	PUNCT
alkej-551	47	24	where	where	SCONJ
alkej-551	47	25	a	a	DET
alkej-551	47	26	robot	robot	NOUN
alkej-551	47	27	will	will	AUX
alkej-551	47	28	be	be	AUX
alkej-551	47	29	able	able	ADJ
alkej-551	47	30	to	to	PART
alkej-551	47	31	move	move	VERB
alkej-551	47	32	freely	freely	ADV
alkej-551	47	33	from	from	ADP
alkej-551	47	34	the	the	DET
alkej-551	47	35	start	start	NOUN
alkej-551	47	36	location	location	NOUN
alkej-551	47	37	in	in	ADP
alkej-551	47	38	a	a	DET
alkej-551	47	39	dynamic	dynamic	ADJ
alkej-551	47	40	environment	environment	NOUN
alkej-551	47	41	with	with	ADP
alkej-551	47	42	map	map	NOUN
alkej-551	47	43	and	and	CCONJ
alkej-551	47	44	make	make	VERB
alkej-551	47	45	an	an	DET
alkej-551	47	46	optimal	optimal	ADJ
alkej-551	47	47	path	path	NOUN
alkej-551	47	48	to	to	ADP
alkej-551	47	49	a	a	DET
alkej-551	47	50	set	set	VERB
alkej-551	47	51	target	target	NOUN
alkej-551	47	52	location	location	NOUN
alkej-551	47	53	without	without	ADP
alkej-551	47	54	collision	collision	NOUN
alkej-551	47	55	with	with	ADP
alkej-551	47	56	the	the	DET
alkej-551	47	57	static	static	ADJ
alkej-551	47	58	and	and	CCONJ
alkej-551	47	59	moving	move	VERB
alkej-551	47	60	objects	object	NOUN
alkej-551	47	61	.	.	PUNCT
alkej-551	48	1	researchers	researcher	NOUN
alkej-551	48	2	used	use	VERB
alkej-551	48	3	a	a	DET
alkej-551	48	4	new	new	ADJ
alkej-551	48	5	optimal	optimal	ADJ
alkej-551	48	6	type	type	NOUN
alkej-551	48	7	algorithm	algorithm	NOUN
alkej-551	48	8	of	of	ADP
alkej-551	48	9	rapidly	rapidly	ADV
alkej-551	48	10	-	-	PUNCT
alkej-551	48	11	exploring	explore	VERB
alkej-551	48	12	random	random	ADJ
alkej-551	48	13	tree	tree	NOUN
alkej-551	48	14	rrt	rrt	NOUN
alkej-551	48	15	algorithm	algorithm	NOUN
alkej-551	48	16	,	,	PUNCT
alkej-551	48	17	named	name	VERB
alkej-551	48	18	rrt	rrt	NOUN
alkej-551	48	19	*	*	NOUN
alkej-551	48	20	.	.	PUNCT
alkej-551	49	1	the	the	DET
alkej-551	49	2	mechanism	mechanism	NOUN
alkej-551	49	3	of	of	ADP
alkej-551	49	4	this	this	DET
alkej-551	49	5	strategy	strategy	NOUN
alkej-551	49	6	is	be	AUX
alkej-551	49	7	based	base	VERB
alkej-551	49	8	on	on	ADP
alkej-551	49	9	incremental	incremental	ADJ
alkej-551	49	10	sampling	sampling	NOUN
alkej-551	49	11	that	that	PRON
alkej-551	49	12	covers	cover	VERB
alkej-551	49	13	the	the	DET
alkej-551	49	14	all	all	DET
alkej-551	49	15	space	space	NOUN
alkej-551	49	16	and	and	CCONJ
alkej-551	49	17	will	will	AUX
alkej-551	49	18	act	act	VERB
alkej-551	49	19	quickly	quickly	ADV
alkej-551	49	20	.	.	PUNCT
alkej-551	50	1	it	it	PRON
alkej-551	50	2	can	can	AUX
alkej-551	50	3	be	be	AUX
alkej-551	50	4	used	use	VERB
alkej-551	50	5	in	in	ADP
alkej-551	50	6	more	more	ADJ
alkej-551	50	7	than	than	ADP
alkej-551	50	8	single	single	ADJ
alkej-551	50	9	dimension	dimension	NOUN
alkej-551	50	10	environments	environment	NOUN
alkej-551	50	11	and	and	CCONJ
alkej-551	50	12	will	will	AUX
alkej-551	50	13	be	be	AUX
alkej-551	50	14	computationally	computationally	ADV
alkej-551	50	15	efficient	efficient	ADJ
alkej-551	50	16	but	but	CCONJ
alkej-551	50	17	they	they	PRON
alkej-551	50	18	have	have	AUX
alkej-551	50	19	found	find	VERB
alkej-551	50	20	that	that	SCONJ
alkej-551	50	21	a	a	DET
alkej-551	50	22	high	high	ADJ
alkej-551	50	23	number	number	NOUN
alkej-551	50	24	of	of	ADP
alkej-551	50	25	sampling	sampling	NOUN
alkej-551	50	26	does	do	AUX
alkej-551	50	27	n’t	not	PART
alkej-551	50	28	give	give	VERB
alkej-551	50	29	the	the	DET
alkej-551	50	30	best	good	ADJ
alkej-551	50	31	solution	solution	NOUN
alkej-551	50	32	in	in	ADP
alkej-551	50	33	addition	addition	NOUN
alkej-551	50	34	to	to	ADP
alkej-551	50	35	the	the	DET
alkej-551	50	36	higher	high	ADJ
alkej-551	50	37	computational	computational	ADJ
alkej-551	50	38	time	time	NOUN
alkej-551	50	39	that	that	PRON
alkej-551	50	40	was	be	AUX
alkej-551	50	41	required	require	VERB
alkej-551	50	42	for	for	ADP
alkej-551	50	43	finding	find	VERB
alkej-551	50	44	the	the	DET
alkej-551	50	45	path	path	NOUN
alkej-551	51	1	[	[	X
alkej-551	51	2	7	7	NUM
alkej-551	51	3	]	]	PUNCT
alkej-551	51	4	.	.	PUNCT
alkej-551	52	1	from	from	ADP
alkej-551	52	2	a	a	DET
alkej-551	52	3	point	point	NOUN
alkej-551	52	4	of	of	ADP
alkej-551	52	5	view	view	NOUN
alkej-551	52	6	,	,	PUNCT
alkej-551	52	7	algorithm	algorithm	NOUN
alkej-551	52	8	for	for	ADP
alkej-551	52	9	specify	specify	VERB
alkej-551	52	10	cartesian	cartesian	ADJ
alkej-551	52	11	constraints	constraint	NOUN
alkej-551	52	12	in	in	ADP
alkej-551	52	13	a	a	DET
alkej-551	52	14	single	single	ADJ
alkej-551	52	15	and	and	CCONJ
alkej-551	52	16	dual	dual	ADJ
alkej-551	52	17	arm	arm	NOUN
alkej-551	52	18	operation	operation	NOUN
alkej-551	52	19	is	be	AUX
alkej-551	52	20	proposed	propose	VERB
alkej-551	52	21	and	and	CCONJ
alkej-551	52	22	became	become	VERB
alkej-551	52	23	a	a	DET
alkej-551	52	24	library	library	NOUN
alkej-551	52	25	for	for	ADP
alkej-551	52	26	solving	solve	VERB
alkej-551	52	27	manipulator	manipulator	NOUN
alkej-551	52	28	motion	motion	NOUN
alkej-551	52	29	planning	planning	NOUN
alkej-551	52	30	problems	problem	NOUN
alkej-551	52	31	that	that	PRON
alkej-551	52	32	has	have	AUX
alkej-551	52	33	been	be	AUX
alkej-551	52	34	developed	develop	VERB
alkej-551	52	35	.	.	PUNCT
alkej-551	53	1	the	the	DET
alkej-551	53	2	main	main	ADJ
alkej-551	53	3	algorithm	algorithm	NOUN
alkej-551	53	4	is	be	AUX
alkej-551	53	5	based	base	VERB
alkej-551	53	6	on	on	ADP
alkej-551	53	7	rrt	rrt	NOUN
alkej-551	53	8	.	.	PUNCT
alkej-551	54	1	one	one	NUM
alkej-551	54	2	parameter	parameter	NOUN
alkej-551	54	3	is	be	AUX
alkej-551	54	4	used	use	VERB
alkej-551	54	5	to	to	PART
alkej-551	54	6	be	be	AUX
alkej-551	54	7	the	the	DET
alkej-551	54	8	common	common	ADJ
alkej-551	54	9	in	in	ADP
alkej-551	54	10	all	all	DET
alkej-551	54	11	rrt	rrt	NOUN
alkej-551	54	12	based	base	VERB
alkej-551	54	13	on	on	ADP
alkej-551	54	14	planers	planer	NOUN
alkej-551	54	15	is	be	AUX
alkej-551	54	16	the	the	DET
alkej-551	54	17	range	range	NOUN
alkej-551	54	18	.	.	PUNCT
alkej-551	55	1	the	the	DET
alkej-551	55	2	range	range	NOUN
alkej-551	55	3	represents	represent	VERB
alkej-551	55	4	a	a	DET
alkej-551	55	5	threshold	threshold	NOUN
alkej-551	55	6	for	for	ADP
alkej-551	55	7	the	the	DET
alkej-551	55	8	samples	sample	NOUN
alkej-551	55	9	drawn	draw	VERB
alkej-551	55	10	newly	newly	ADV
alkej-551	55	11	and	and	CCONJ
alkej-551	55	12	their	their	PRON
alkej-551	55	13	small	small	ADJ
alkej-551	55	14	distance	distance	NOUN
alkej-551	55	15	values	value	NOUN
alkej-551	55	16	after	after	SCONJ
alkej-551	55	17	that	that	SCONJ
alkej-551	55	18	those	those	PRON
alkej-551	55	19	will	will	AUX
alkej-551	55	20	add	add	VERB
alkej-551	55	21	to	to	ADP
alkej-551	55	22	the	the	DET
alkej-551	55	23	tree	tree	NOUN
alkej-551	55	24	.	.	PUNCT
alkej-551	56	1	range	range	NOUN
alkej-551	56	2	value	value	NOUN
alkej-551	56	3	will	will	AUX
alkej-551	56	4	be	be	AUX
alkej-551	56	5	affective	affective	ADJ
alkej-551	56	6	on	on	ADP
alkej-551	56	7	the	the	DET
alkej-551	56	8	planning	planning	NOUN
alkej-551	56	9	time	time	NOUN
alkej-551	56	10	which	which	PRON
alkej-551	56	11	means	mean	VERB
alkej-551	56	12	that	that	SCONJ
alkej-551	56	13	it	it	PRON
alkej-551	56	14	should	should	AUX
alkej-551	56	15	be	be	AUX
alkej-551	56	16	selected	select	VERB
alkej-551	56	17	carefully	carefully	ADV
alkej-551	56	18	since	since	SCONJ
alkej-551	56	19	the	the	DET
alkej-551	56	20	higher	high	ADJ
alkej-551	56	21	values	value	NOUN
alkej-551	56	22	causing	cause	VERB
alkej-551	56	23	short	short	ADJ
alkej-551	56	24	time	time	NOUN
alkej-551	56	25	planning	planning	NOUN
alkej-551	56	26	which	which	PRON
alkej-551	56	27	is	be	AUX
alkej-551	56	28	advantage	advantage	NOUN
alkej-551	56	29	but	but	CCONJ
alkej-551	56	30	as	as	ADP
alkej-551	56	31	a	a	DET
alkej-551	56	32	result	result	NOUN
alkej-551	56	33	it	it	PRON
alkej-551	56	34	also	also	ADV
alkej-551	56	35	cause	cause	VERB
alkej-551	56	36	a	a	DET
alkej-551	56	37	tensive	tensive	ADJ
alkej-551	56	38	motions	motion	NOUN
alkej-551	56	39	and	and	CCONJ
alkej-551	56	40	the	the	DET
alkej-551	56	41	smaller	small	ADJ
alkej-551	56	42	values	value	NOUN
alkej-551	56	43	give	give	VERB
alkej-551	56	44	a	a	DET
alkej-551	56	45	long	long	ADJ
alkej-551	56	46	time	time	NOUN
alkej-551	56	47	planning	planning	NOUN
alkej-551	56	48	and	and	CCONJ
alkej-551	56	49	it	it	PRON
alkej-551	56	50	composed	compose	VERB
alkej-551	56	51	more	more	ADJ
alkej-551	56	52	points	point	NOUN
alkej-551	56	53	in	in	ADP
alkej-551	56	54	the	the	DET
alkej-551	56	55	tree	tree	NOUN
alkej-551	56	56	.	.	PUNCT
alkej-551	57	1	also	also	ADV
alkej-551	57	2	more	more	ADJ
alkej-551	57	3	checking	checking	NOUN
alkej-551	57	4	will	will	AUX
alkej-551	57	5	be	be	AUX
alkej-551	57	6	needed	need	VERB
alkej-551	57	7	for	for	ADP
alkej-551	57	8	the	the	DET
alkej-551	57	9	firas	firas	PROPN
alkej-551	57	10	a.	a.	PROPN
alkej-551	57	11	raheem	raheem	PROPN
alkej-551	57	12	al	al	PROPN
alkej-551	57	13	-	-	PUNCT
alkej-551	57	14	khwarizmi	khwarizmi	PROPN
alkej-551	57	15	engineering	engineering	NOUN
alkej-551	57	16	journal	journal	PROPN
alkej-551	57	17	,	,	PUNCT
alkej-551	57	18	vol	vol	NOUN
alkej-551	57	19	.	.	PROPN
alkej-551	57	20	15	15	NUM
alkej-551	57	21	,	,	PUNCT
alkej-551	57	22	no	no	INTJ
alkej-551	57	23	.	.	NOUN
alkej-551	57	24	2	2	NUM
alkej-551	57	25	,	,	PUNCT
alkej-551	57	26	p.p	p.p	PROPN
alkej-551	57	27	.	.	NOUN
alkej-551	57	28	108123	108123	NUM
alkej-551	57	29	(	(	PUNCT
alkej-551	57	30	2019	2019	NUM
alkej-551	57	31	)	)	PUNCT
alkej-551	57	32	110	110	NUM
alkej-551	57	33	collision	collision	NOUN
alkej-551	57	34	that	that	PRON
alkej-551	57	35	may	may	AUX
alkej-551	57	36	be	be	AUX
alkej-551	57	37	occur	occur	ADJ
alkej-551	57	38	in	in	ADP
alkej-551	57	39	the	the	DET
alkej-551	57	40	space	space	NOUN
alkej-551	57	41	,	,	PUNCT
alkej-551	57	42	therefore	therefore	ADV
alkej-551	57	43	it	it	PRON
alkej-551	57	44	needs	need	VERB
alkej-551	57	45	extra	extra	ADJ
alkej-551	57	46	collision	collision	NOUN
alkej-551	57	47	checking	check	VERB
alkej-551	57	48	[	[	NOUN
alkej-551	57	49	8	8	NUM
alkej-551	57	50	]	]	PUNCT
alkej-551	57	51	.	.	PUNCT
alkej-551	58	1	most	most	ADJ
alkej-551	58	2	of	of	ADP
alkej-551	58	3	the	the	DET
alkej-551	58	4	existing	exist	VERB
alkej-551	58	5	literature	literature	NOUN
alkej-551	58	6	in	in	ADP
alkej-551	58	7	dynamic	dynamic	ADJ
alkej-551	58	8	environment	environment	NOUN
alkej-551	58	9	considers	consider	VERB
alkej-551	58	10	only	only	ADV
alkej-551	58	11	the	the	DET
alkej-551	58	12	traditional	traditional	ADJ
alkej-551	58	13	path	path	NOUN
alkej-551	58	14	planning	planning	NOUN
alkej-551	58	15	algorithms	algorithm	NOUN
alkej-551	58	16	and	and	CCONJ
alkej-551	58	17	there	there	PRON
alkej-551	58	18	are	be	VERB
alkej-551	58	19	only	only	ADV
alkej-551	58	20	a	a	DET
alkej-551	58	21	few	few	ADJ
alkej-551	58	22	studies	study	NOUN
alkej-551	58	23	that	that	PRON
alkej-551	58	24	consider	consider	VERB
alkej-551	58	25	the	the	DET
alkej-551	58	26	heuristic	heuristic	ADJ
alkej-551	58	27	algorithms	algorithm	NOUN
alkej-551	58	28	like	like	ADP
alkej-551	58	29	anirudh	anirudh	VERB
alkej-551	58	30	vemula	vemula	NOUN
alkej-551	59	1	[	[	X
alkej-551	59	2	9	9	NUM
alkej-551	59	3	]	]	PUNCT
alkej-551	59	4	whom	whom	PRON
alkej-551	59	5	uses	use	VERB
alkej-551	59	6	a	a	DET
alkej-551	59	7	heuristic	heuristic	ADJ
alkej-551	59	8	based	base	VERB
alkej-551	59	9	graph	graph	NOUN
alkej-551	59	10	search	search	NOUN
alkej-551	59	11	planning	planning	NOUN
alkej-551	59	12	algorithm	algorithm	NOUN
alkej-551	59	13	that	that	PRON
alkej-551	59	14	uses	use	VERB
alkej-551	59	15	adaptive	adaptive	ADJ
alkej-551	59	16	dimensionality	dimensionality	NOUN
alkej-551	59	17	consider	consider	VERB
alkej-551	59	18	time	time	NOUN
alkej-551	59	19	dimension	dimension	NOUN
alkej-551	59	20	corresponding	correspond	VERB
alkej-551	59	21	to	to	ADP
alkej-551	59	22	region	region	NOUN
alkej-551	59	23	where	where	SCONJ
alkej-551	59	24	potential	potential	ADJ
alkej-551	59	25	dynamic	dynamic	ADJ
alkej-551	59	26	obstacle	obstacle	NOUN
alkej-551	59	27	collisions	collision	NOUN
alkej-551	59	28	can	can	AUX
alkej-551	59	29	occur	occur	VERB
alkej-551	59	30	.	.	PUNCT
alkej-551	60	1	this	this	DET
alkej-551	60	2	reduction	reduction	NOUN
alkej-551	60	3	in	in	ADP
alkej-551	60	4	search	search	NOUN
alkej-551	60	5	space	space	NOUN
alkej-551	60	6	supply	supply	NOUN
alkej-551	60	7	the	the	DET
alkej-551	60	8	approach	approach	NOUN
alkej-551	60	9	in	in	ADP
alkej-551	60	10	great	great	ADJ
alkej-551	60	11	speedups	speedup	NOUN
alkej-551	60	12	in	in	ADP
alkej-551	60	13	planning	planning	NOUN
alkej-551	60	14	time	time	NOUN
alkej-551	60	15	over	over	ADP
alkej-551	60	16	traditional	traditional	ADJ
alkej-551	60	17	approaches	approach	NOUN
alkej-551	60	18	such	such	ADJ
alkej-551	60	19	as	as	ADP
alkej-551	60	20	heuristic	heuristic	NOUN
alkej-551	60	21	-	-	PUNCT
alkej-551	60	22	based	base	VERB
alkej-551	60	23	a	a	NOUN
alkej-551	60	24	*	*	PROPN
alkej-551	60	25	,	,	PUNCT
alkej-551	60	26	will	will	AUX
alkej-551	60	27	act	act	VERB
alkej-551	60	28	without	without	ADP
alkej-551	60	29	losing	lose	VERB
alkej-551	60	30	safety	safety	NOUN
alkej-551	60	31	,	,	PUNCT
alkej-551	60	32	dynamic	dynamic	ADJ
alkej-551	60	33	feasibility	feasibility	NOUN
alkej-551	60	34	and	and	CCONJ
alkej-551	60	35	bounded	bound	VERB
alkej-551	60	36	suboptimality	suboptimality	NOUN
alkej-551	60	37	of	of	ADP
alkej-551	60	38	the	the	DET
alkej-551	60	39	solution	solution	NOUN
alkej-551	60	40	this	this	DET
alkej-551	60	41	approach	approach	NOUN
alkej-551	60	42	can	can	AUX
alkej-551	60	43	only	only	ADV
alkej-551	60	44	model	model	VERB
alkej-551	60	45	simple	simple	ADJ
alkej-551	60	46	interactions	interaction	NOUN
alkej-551	60	47	and	and	CCONJ
alkej-551	60	48	fail	fail	VERB
alkej-551	60	49	to	to	PART
alkej-551	60	50	generalize	generalize	VERB
alkej-551	60	51	for	for	ADP
alkej-551	60	52	complex	complex	ADJ
alkej-551	60	53	crowded	crowded	ADJ
alkej-551	60	54	settings	setting	NOUN
alkej-551	60	55	.	.	PUNCT
alkej-551	61	1	inspired	inspire	VERB
alkej-551	61	2	by	by	ADP
alkej-551	61	3	the	the	DET
alkej-551	61	4	above	above	ADJ
alkej-551	61	5	discussion	discussion	NOUN
alkej-551	61	6	,	,	PUNCT
alkej-551	61	7	the	the	DET
alkej-551	61	8	contribution	contribution	NOUN
alkej-551	61	9	of	of	ADP
alkej-551	61	10	the	the	DET
alkej-551	61	11	proposed	propose	VERB
alkej-551	61	12	method	method	NOUN
alkej-551	61	13	in	in	ADP
alkej-551	61	14	this	this	DET
alkej-551	61	15	paper	paper	NOUN
alkej-551	61	16	can	can	AUX
alkej-551	61	17	be	be	AUX
alkej-551	61	18	summarized	summarize	VERB
alkej-551	61	19	in	in	ADP
alkej-551	61	20	the	the	DET
alkej-551	61	21	following	following	ADJ
alkej-551	61	22	points	point	NOUN
alkej-551	61	23	:	:	PUNCT
alkej-551	61	24	•	•	NUM
alkej-551	61	25	finding	find	VERB
alkej-551	61	26	path	path	NOUN
alkej-551	61	27	solution	solution	NOUN
alkej-551	61	28	utilizing	utilize	VERB
alkej-551	61	29	the	the	DET
alkej-551	61	30	heuristic	heuristic	ADJ
alkej-551	61	31	d	d	NOUN
alkej-551	61	32	*	*	NOUN
alkej-551	61	33	algorithm	algorithm	NOUN
alkej-551	61	34	based	base	VERB
alkej-551	61	35	on	on	ADP
alkej-551	61	36	the	the	DET
alkej-551	61	37	pso	pso	NOUN
alkej-551	61	38	optimization	optimization	NOUN
alkej-551	61	39	technique	technique	NOUN
alkej-551	61	40	in	in	ADP
alkej-551	61	41	known	know	VERB
alkej-551	61	42	dynamic	dynamic	ADJ
alkej-551	61	43	environment	environment	NOUN
alkej-551	61	44	.	.	PUNCT
alkej-551	62	1	•	•	NUM
alkej-551	62	2	applying	apply	VERB
alkej-551	62	3	the	the	DET
alkej-551	62	4	proposed	propose	VERB
alkej-551	62	5	method	method	NOUN
alkej-551	62	6	using	use	VERB
alkej-551	62	7	two	two	NUM
alkej-551	62	8	-	-	PUNCT
alkej-551	62	9	link	link	NOUN
alkej-551	62	10	robot	robot	NOUN
alkej-551	62	11	arm	arm	NOUN
alkej-551	62	12	,	,	PUNCT
alkej-551	62	13	which	which	PRON
alkej-551	62	14	does	do	AUX
alkej-551	62	15	not	not	PART
alkej-551	62	16	used	use	VERB
alkej-551	62	17	before	before	ADV
alkej-551	62	18	.	.	PUNCT
alkej-551	63	1	•	•	NOUN
alkej-551	63	2	this	this	DET
alkej-551	63	3	work	work	NOUN
alkej-551	63	4	can	can	AUX
alkej-551	63	5	solve	solve	VERB
alkej-551	63	6	the	the	DET
alkej-551	63	7	problem	problem	NOUN
alkej-551	63	8	of	of	ADP
alkej-551	63	9	finding	find	VERB
alkej-551	63	10	an	an	DET
alkej-551	63	11	optimal	optimal	ADJ
alkej-551	63	12	path	path	NOUN
alkej-551	63	13	in	in	ADP
alkej-551	63	14	dangerous	dangerous	ADJ
alkej-551	63	15	,	,	PUNCT
alkej-551	63	16	harsh	harsh	ADJ
alkej-551	63	17	,	,	PUNCT
alkej-551	63	18	toxic	toxic	ADJ
alkej-551	63	19	environments	environment	NOUN
alkej-551	63	20	and	and	CCONJ
alkej-551	63	21	inaccessible	inaccessible	ADJ
alkej-551	63	22	areas	area	NOUN
alkej-551	63	23	.	.	PUNCT
alkej-551	64	1	3	3	X
alkej-551	64	2	.	.	X
alkej-551	64	3	two	two	NUM
alkej-551	64	4	-	-	PUNCT
alkej-551	64	5	link	link	NOUN
alkej-551	64	6	robot	robot	NOUN
alkej-551	64	7	arm	arm	PROPN
alkej-551	64	8	kinematics	kinematic	NOUN
alkej-551	64	9	kinematics	kinematics	PROPN
alkej-551	64	10	is	be	AUX
alkej-551	64	11	the	the	DET
alkej-551	64	12	science	science	NOUN
alkej-551	64	13	of	of	ADP
alkej-551	64	14	motion	motion	NOUN
alkej-551	64	15	that	that	PRON
alkej-551	64	16	treats	treat	VERB
alkej-551	64	17	the	the	DET
alkej-551	64	18	subject	subject	NOUN
alkej-551	64	19	without	without	ADP
alkej-551	64	20	regard	regard	NOUN
alkej-551	64	21	to	to	ADP
alkej-551	64	22	the	the	DET
alkej-551	64	23	forces	force	NOUN
alkej-551	64	24	that	that	PRON
alkej-551	64	25	cause	cause	VERB
alkej-551	64	26	it	it	PRON
alkej-551	64	27	.	.	PUNCT
alkej-551	65	1	two	two	NUM
alkej-551	65	2	types	type	NOUN
alkej-551	65	3	of	of	ADP
alkej-551	65	4	kinematics	kinematic	NOUN
alkej-551	65	5	problems	problem	NOUN
alkej-551	65	6	can	can	AUX
alkej-551	65	7	be	be	AUX
alkej-551	65	8	classified	classify	VERB
alkej-551	65	9	,	,	PUNCT
alkej-551	65	10	the	the	DET
alkej-551	65	11	first	first	ADJ
alkej-551	65	12	one	one	NOUN
alkej-551	65	13	is	be	AUX
alkej-551	65	14	the	the	DET
alkej-551	65	15	forward	forward	ADJ
alkej-551	65	16	kinematics	kinematic	NOUN
alkej-551	65	17	problem	problem	NOUN
alkej-551	65	18	which	which	PRON
alkej-551	65	19	is	be	AUX
alkej-551	65	20	concerned	concern	VERB
alkej-551	65	21	with	with	ADP
alkej-551	65	22	the	the	DET
alkej-551	65	23	relationship	relationship	NOUN
alkej-551	65	24	between	between	ADP
alkej-551	65	25	the	the	DET
alkej-551	65	26	individual	individual	ADJ
alkej-551	65	27	joints	joint	NOUN
alkej-551	65	28	of	of	ADP
alkej-551	65	29	the	the	DET
alkej-551	65	30	robot	robot	NOUN
alkej-551	65	31	manipulator	manipulator	NOUN
alkej-551	65	32	and	and	CCONJ
alkej-551	65	33	the	the	DET
alkej-551	65	34	position	position	NOUN
alkej-551	65	35	and	and	CCONJ
alkej-551	65	36	orientation	orientation	NOUN
alkej-551	65	37	of	of	ADP
alkej-551	65	38	the	the	DET
alkej-551	65	39	tool	tool	NOUN
alkej-551	65	40	or	or	CCONJ
alkej-551	65	41	end	end	NOUN
alkej-551	65	42	-	-	PUNCT
alkej-551	65	43	effector	effector	NOUN
alkej-551	65	44	[	[	X
alkej-551	65	45	10	10	NUM
alkej-551	65	46	]	]	PUNCT
alkej-551	65	47	.	.	PUNCT
alkej-551	66	1	the	the	DET
alkej-551	66	2	second	second	ADJ
alkej-551	66	3	is	be	AUX
alkej-551	66	4	the	the	DET
alkej-551	66	5	inverse	inverse	ADJ
alkej-551	66	6	kinematics	kinematic	NOUN
alkej-551	66	7	problem	problem	NOUN
alkej-551	66	8	of	of	ADP
alkej-551	66	9	the	the	DET
alkej-551	66	10	serial	serial	ADJ
alkej-551	66	11	manipulators	manipulator	NOUN
alkej-551	66	12	has	have	AUX
alkej-551	66	13	been	be	AUX
alkej-551	66	14	studied	study	VERB
alkej-551	66	15	for	for	ADP
alkej-551	66	16	many	many	ADJ
alkej-551	66	17	decades	decade	NOUN
alkej-551	66	18	.	.	PUNCT
alkej-551	67	1	it	it	PRON
alkej-551	67	2	is	be	AUX
alkej-551	67	3	needed	need	VERB
alkej-551	67	4	in	in	ADP
alkej-551	67	5	the	the	DET
alkej-551	67	6	control	control	NOUN
alkej-551	67	7	of	of	ADP
alkej-551	67	8	manipulators	manipulator	NOUN
alkej-551	67	9	.	.	PUNCT
alkej-551	68	1	solving	solve	VERB
alkej-551	68	2	the	the	DET
alkej-551	68	3	inverse	inverse	NOUN
alkej-551	68	4	kinematics	kinematic	NOUN
alkej-551	68	5	is	be	AUX
alkej-551	68	6	computationally	computationally	ADV
alkej-551	68	7	expensive	expensive	ADJ
alkej-551	68	8	and	and	CCONJ
alkej-551	68	9	generally	generally	ADV
alkej-551	68	10	takes	take	VERB
alkej-551	68	11	a	a	DET
alkej-551	68	12	very	very	ADV
alkej-551	68	13	long	long	ADJ
alkej-551	68	14	time	time	NOUN
alkej-551	68	15	in	in	ADP
alkej-551	68	16	the	the	DET
alkej-551	68	17	real	real	ADJ
alkej-551	68	18	-	-	PUNCT
alkej-551	68	19	time	time	NOUN
alkej-551	68	20	control	control	NOUN
alkej-551	68	21	of	of	ADP
alkej-551	68	22	manipulators	manipulator	NOUN
alkej-551	68	23	.	.	PUNCT
alkej-551	69	1	tasks	task	NOUN
alkej-551	69	2	to	to	PART
alkej-551	69	3	be	be	AUX
alkej-551	69	4	performed	perform	VERB
alkej-551	69	5	by	by	ADP
alkej-551	69	6	a	a	DET
alkej-551	69	7	manipulator	manipulator	NOUN
alkej-551	69	8	are	be	AUX
alkej-551	69	9	in	in	ADP
alkej-551	69	10	the	the	DET
alkej-551	69	11	cartesian	cartesian	ADJ
alkej-551	69	12	space	space	NOUN
alkej-551	69	13	,	,	PUNCT
alkej-551	69	14	whereas	whereas	SCONJ
alkej-551	69	15	actuators	actuator	NOUN
alkej-551	69	16	work	work	VERB
alkej-551	69	17	in	in	ADP
alkej-551	69	18	joint	joint	ADJ
alkej-551	69	19	space	space	NOUN
alkej-551	69	20	.	.	PUNCT
alkej-551	70	1	cartesian	cartesian	ADJ
alkej-551	70	2	space	space	NOUN
alkej-551	70	3	includes	include	VERB
alkej-551	70	4	orientation	orientation	NOUN
alkej-551	70	5	matrix	matrix	NOUN
alkej-551	70	6	and	and	CCONJ
alkej-551	70	7	a	a	DET
alkej-551	70	8	position	position	NOUN
alkej-551	70	9	vector	vector	NOUN
alkej-551	70	10	.	.	PUNCT
alkej-551	71	1	however	however	ADV
alkej-551	71	2	,	,	PUNCT
alkej-551	71	3	joint	joint	ADJ
alkej-551	71	4	space	space	NOUN
alkej-551	71	5	is	be	AUX
alkej-551	71	6	represented	represent	VERB
alkej-551	71	7	by	by	ADP
alkej-551	71	8	joint	joint	ADJ
alkej-551	71	9	angles	angle	NOUN
alkej-551	71	10	.	.	PUNCT
alkej-551	72	1	the	the	DET
alkej-551	72	2	conversion	conversion	NOUN
alkej-551	72	3	of	of	ADP
alkej-551	72	4	the	the	DET
alkej-551	72	5	position	position	NOUN
alkej-551	72	6	and	and	CCONJ
alkej-551	72	7	orientation	orientation	NOUN
alkej-551	72	8	of	of	ADP
alkej-551	72	9	a	a	DET
alkej-551	72	10	manipulator	manipulator	NOUN
alkej-551	72	11	endeffector	endeffector	NOUN
alkej-551	72	12	from	from	ADP
alkej-551	72	13	cartesian	cartesian	ADJ
alkej-551	72	14	space	space	NOUN
alkej-551	72	15	to	to	ADP
alkej-551	72	16	joint	joint	ADJ
alkej-551	72	17	space	space	NOUN
alkej-551	72	18	is	be	AUX
alkej-551	72	19	called	call	VERB
alkej-551	72	20	an	an	DET
alkej-551	72	21	inverse	inverse	NOUN
alkej-551	72	22	kinematics	kinematic	NOUN
alkej-551	72	23	problem	problem	NOUN
alkej-551	72	24	[	[	X
alkej-551	72	25	11	11	NUM
alkej-551	72	26	]	]	PUNCT
alkej-551	72	27	.	.	PUNCT
alkej-551	73	1	the	the	DET
alkej-551	73	2	planar	planar	ADJ
alkej-551	73	3	manipulator	manipulator	NOUN
alkej-551	73	4	is	be	AUX
alkej-551	73	5	shown	show	VERB
alkej-551	73	6	in	in	ADP
alkej-551	73	7	figure	figure	NOUN
alkej-551	73	8	(	(	PUNCT
alkej-551	73	9	1	1	NUM
alkej-551	73	10	)	)	PUNCT
alkej-551	73	11	to	to	PART
alkej-551	73	12	illustrate	illustrate	VERB
alkej-551	73	13	the	the	DET
alkej-551	73	14	2	2	NUM
alkej-551	73	15	-	-	PUNCT
alkej-551	73	16	dof	dof	NOUN
alkej-551	73	17	.	.	PUNCT
alkej-551	74	1	the	the	DET
alkej-551	74	2	planar	planar	ADJ
alkej-551	74	3	manipulators	manipulator	NOUN
alkej-551	74	4	have	have	VERB
alkej-551	74	5	�	�	PROPN
alkej-551	74	6	�	�	PROPN
alkej-551	74	7	and	and	CCONJ
alkej-551	74	8	�	�	PROPN
alkej-551	74	9	�	�	PROPN
alkej-551	74	10	as	as	ADP
alkej-551	74	11	their	their	PRON
alkej-551	74	12	link	link	NOUN
alkej-551	74	13	lengths	length	NOUN
alkej-551	74	14	and	and	CCONJ
alkej-551	74	15	�	�	PROPN
alkej-551	74	16	�	�	PROPN
alkej-551	74	17	and	and	CCONJ
alkej-551	74	18	�	�	PROPN
alkej-551	74	19	�	�	PROPN
alkej-551	74	20	represent	represent	VERB
alkej-551	74	21	joint	joint	ADJ
alkej-551	74	22	angles	angle	NOUN
alkej-551	74	23	with	with	ADP
alkej-551	74	24	x	x	PUNCT
alkej-551	74	25	and	and	CCONJ
alkej-551	74	26	y	y	PROPN
alkej-551	74	27	as	as	ADP
alkej-551	74	28	task	task	NOUN
alkej-551	74	29	coordinates	coordinate	NOUN
alkej-551	74	30	.	.	PUNCT
alkej-551	75	1	fig	fig	NOUN
alkej-551	75	2	.	.	PUNCT
alkej-551	76	1	1	1	NUM
alkej-551	76	2	.	.	X
alkej-551	76	3	two	two	NUM
alkej-551	76	4	degrees	degree	NOUN
alkej-551	76	5	of	of	ADP
alkej-551	76	6	freedom	freedom	NOUN
alkej-551	76	7	manipulator	manipulator	NOUN
alkej-551	76	8	.	.	PUNCT
alkej-551	77	1	the	the	DET
alkej-551	77	2	forward	forward	ADJ
alkej-551	77	3	kinematics	kinematic	NOUN
alkej-551	77	4	equations	equation	NOUN
alkej-551	77	5	are	be	AUX
alkej-551	77	6	shown	show	VERB
alkej-551	77	7	below	below	ADP
alkej-551	77	8	:	:	PUNCT
alkej-551	77	9	�	�	PROPN
alkej-551	77	10	�	�	PROPN
alkej-551	77	11	�	�	PROPN
alkej-551	77	12	�	�	PROPN
alkej-551	77	13	cos	cos	PROPN
alkej-551	77	14	�	�	PROPN
alkej-551	77	15	�	�	PROPN
alkej-551	77	16	�	�	PROPN
alkej-551	77	17	�	�	PROPN
alkej-551	77	18	�	�	PROPN
alkej-551	77	19	cos	cos	PROPN
alkej-551	77	20	�	�	PROPN
alkej-551	77	21	�	�	PROPN
alkej-551	77	22	�	�	PROPN
alkej-551	77	23	�	�	PROPN
alkej-551	77	24	�	�	PROPN
alkej-551	77	25	�	�	PROPN
alkej-551	77	26	�	�	PROPN
alkej-551	77	27	…	…	PUNCT
alkej-551	77	28	(	(	PUNCT
alkej-551	77	29	1	1	X
alkej-551	77	30	)	)	PUNCT
alkej-551	77	31	�	�	PROPN
alkej-551	77	32	�	�	PROPN
alkej-551	77	33	�	�	PROPN
alkej-551	77	34	�	�	PROPN
alkej-551	77	35	sin	sin	PROPN
alkej-551	77	36	�	�	PROPN
alkej-551	77	37	�	�	PROPN
alkej-551	77	38	�	�	PROPN
alkej-551	77	39	�	�	PROPN
alkej-551	77	40	�	�	PROPN
alkej-551	77	41	sin	sin	PROPN
alkej-551	77	42	�	�	PROPN
alkej-551	77	43	�	�	PROPN
alkej-551	77	44	�	�	PROPN
alkej-551	77	45	�	�	PROPN
alkej-551	77	46	�	�	PROPN
alkej-551	77	47	�	�	PROPN
alkej-551	77	48	�	�	PROPN
alkej-551	77	49	…	…	PUNCT
alkej-551	77	50	(	(	PUNCT
alkej-551	77	51	2	2	X
alkej-551	77	52	)	)	PUNCT
alkej-551	77	53	in	in	ADP
alkej-551	77	54	2	2	NUM
alkej-551	77	55	-	-	PUNCT
alkej-551	77	56	dof	dof	NOUN
alkej-551	77	57	planner	planner	NOUN
alkej-551	77	58	manipulator	manipulator	NOUN
alkej-551	77	59	,	,	PUNCT
alkej-551	77	60	the	the	DET
alkej-551	77	61	geometric	geometric	ADJ
alkej-551	77	62	solution	solution	NOUN
alkej-551	77	63	approach	approach	NOUN
alkej-551	77	64	of	of	ADP
alkej-551	77	65	inverse	inverse	NOUN
alkej-551	77	66	kinematics	kinematic	NOUN
alkej-551	77	67	is	be	AUX
alkej-551	77	68	used	use	VERB
alkej-551	77	69	for	for	ADP
alkej-551	77	70	obtaining	obtain	VERB
alkej-551	77	71	the	the	DET
alkej-551	77	72	joint	joint	ADJ
alkej-551	77	73	variables	variable	NOUN
alkej-551	77	74	for	for	ADP
alkej-551	77	75	all	all	DET
alkej-551	77	76	the	the	DET
alkej-551	77	77	points	point	NOUN
alkej-551	77	78	in	in	ADP
alkej-551	77	79	cartesian	cartesian	ADJ
alkej-551	77	80	space	space	NOUN
alkej-551	77	81	regardless	regardless	ADV
alkej-551	77	82	their	their	PRON
alkej-551	77	83	orientation	orientation	NOUN
alkej-551	77	84	.	.	PUNCT
alkej-551	78	1	the	the	DET
alkej-551	78	2	calculations	calculation	NOUN
alkej-551	78	3	of	of	ADP
alkej-551	78	4	�	�	PROPN
alkej-551	78	5	�	�	PROPN
alkej-551	78	6	and	and	CCONJ
alkej-551	78	7	�	�	PROPN
alkej-551	78	8	�	�	PROPN
alkej-551	78	9	for	for	ADP
alkej-551	78	10	the	the	DET
alkej-551	78	11	2	2	NUM
alkej-551	78	12	-	-	PUNCT
alkej-551	78	13	dof	dof	NOUN
alkej-551	78	14	manipulator	manipulator	NOUN
alkej-551	78	15	could	could	AUX
alkej-551	78	16	be	be	AUX
alkej-551	78	17	found	find	VERB
alkej-551	78	18	by	by	ADP
alkej-551	78	19	applying	apply	VERB
alkej-551	78	20	the	the	DET
alkej-551	78	21	following	follow	VERB
alkej-551	78	22	equations	equation	NOUN
alkej-551	78	23	.	.	PUNCT
alkej-551	79	1	utilizing	utilize	VERB
alkej-551	79	2	the	the	DET
alkej-551	79	3	cosines	cosines	PROPN
alkej-551	79	4	law	law	NOUN
alkej-551	79	5	,	,	PUNCT
alkej-551	79	6	where	where	SCONJ
alkej-551	79	7	the	the	DET
alkej-551	79	8	angle	angle	NOUN
alkej-551	79	9	is	be	AUX
alkej-551	79	10	given	give	VERB
alkej-551	79	11	by	by	ADP
alkej-551	79	12	:	:	PUNCT
alkej-551	79	13	cos	cos	PROPN
alkej-551	79	14	�	�	PROPN
alkej-551	79	15	�	�	PROPN
alkej-551	79	16	�	�	PROPN
alkej-551	79	17	�	�	PROPN
alkej-551	79	18	�	�	PROPN
alkej-551	79	19	�	�	PROPN
alkej-551	79	20	�	�	PROPN
alkej-551	79	21	�	�	PROPN
alkej-551	79	22	�	�	PROPN
alkej-551	79	23	�	�	PROPN
alkej-551	79	24	!	!	PUNCT
alkej-551	79	25	"	"	PUNCT
alkej-551	80	1	�	�	PROPN
alkej-551	80	2	!	!	PUNCT
alkej-551	80	3	�	�	PROPN
alkej-551	80	4	�	�	PROPN
alkej-551	80	5	�	�	PROPN
alkej-551	80	6	!	!	PUNCT
alkej-551	80	7	"	"	PUNCT
alkej-551	80	8	!	!	PUNCT
alkej-551	80	9	�	�	PROPN
alkej-551	80	10	�	�	PROPN
alkej-551	80	11	#	#	NOUN
alkej-551	80	12	…	…	PUNCT
alkej-551	80	13	(	(	PUNCT
alkej-551	80	14	3	3	NUM
alkej-551	80	15	)	)	PUNCT
alkej-551	80	16	since	since	SCONJ
alkej-551	80	17	sin	sin	NOUN
alkej-551	80	18	�	�	PROPN
alkej-551	80	19	�	�	PROPN
alkej-551	80	20	is	be	AUX
alkej-551	80	21	sin	sin	NOUN
alkej-551	80	22	�	�	PROPN
alkej-551	80	23	�	�	PROPN
alkej-551	80	24	�	�	PROPN
alkej-551	80	25	√1	√1	PROPN
alkej-551	80	26	&	&	CCONJ
alkej-551	80	27	#	#	SYM
alkej-551	80	28	�	�	PROPN
alkej-551	80	29	�	�	PROPN
alkej-551	80	30	…	…	PUNCT
alkej-551	80	31	(	(	PUNCT
alkej-551	80	32	4	4	NUM
alkej-551	80	33	)	)	PUNCT
alkej-551	80	34	to	to	PART
alkej-551	80	35	solve	solve	VERB
alkej-551	80	36	�	�	PROPN
alkej-551	80	37	�	�	PROPN
alkej-551	80	38	,	,	PUNCT
alkej-551	80	39	it	it	PRON
alkej-551	80	40	has	have	VERB
alkej-551	80	41	to	to	PART
alkej-551	80	42	use	use	VERB
alkej-551	80	43	the	the	DET
alkej-551	80	44	'	'	PUNCT
alkej-551	80	45	(	(	PUNCT
alkej-551	80	46	)	)	PUNCT
alkej-551	80	47	�	�	NOUN
alkej-551	80	48	function	function	NOUN
alkej-551	80	49	.	.	PUNCT
alkej-551	81	1	although	although	SCONJ
alkej-551	81	2	it	it	PRON
alkej-551	81	3	is	be	AUX
alkej-551	81	4	more	more	ADV
alkej-551	81	5	benefical	benefical	ADJ
alkej-551	81	6	to	to	PART
alkej-551	81	7	use	use	VERB
alkej-551	81	8	*	*	PUNCT
alkej-551	81	9	+	+	PROPN
alkej-551	81	10	,	,	PUNCT
alkej-551	81	11	�	�	PROPN
alkej-551	81	12	for	for	ADP
alkej-551	81	13	numerical	numerical	ADJ
alkej-551	81	14	solution	solution	NOUN
alkej-551	81	15	[	[	X
alkej-551	81	16	11	11	NUM
alkej-551	81	17	]	]	PUNCT
alkej-551	81	18	.	.	PUNCT
alkej-551	82	1	subsequently	subsequently	ADV
alkej-551	82	2	,	,	PUNCT
alkej-551	82	3	the	the	DET
alkej-551	82	4	two	two	NUM
alkej-551	82	5	conceivable	conceivable	ADJ
alkej-551	82	6	solutions	solution	NOUN
alkej-551	82	7	for	for	ADP
alkej-551	82	8	�	�	PROPN
alkej-551	82	9	�	�	PROPN
alkej-551	82	10	can	can	AUX
alkej-551	82	11	be	be	AUX
alkej-551	82	12	written	write	VERB
alkej-551	82	13	as	as	ADP
alkej-551	82	14	:	:	PUNCT
alkej-551	82	15	�	�	PROPN
alkej-551	82	16	�	�	PROPN
alkej-551	82	17	�	�	PROPN
alkej-551	82	18	tan	tan	PROPN
alkej-551	82	19	�	�	PROPN
alkej-551	82	20	√	√	NUM
alkej-551	82	21	�	�	PROPN
alkej-551	82	22	-	-	PUNCT
alkej-551	82	23	�	�	PROPN
alkej-551	82	24	.	.	PUNCT
alkej-551	82	25	/	/	PUNCT
alkej-551	83	1	…	…	PUNCT
alkej-551	83	2	(	(	PUNCT
alkej-551	83	3	5	5	NUM
alkej-551	83	4	)	)	PUNCT
alkej-551	83	5	at	at	ADP
alkej-551	83	6	last	last	ADJ
alkej-551	83	7	,	,	PUNCT
alkej-551	83	8	�	�	PROPN
alkej-551	83	9	�	�	NOUN
alkej-551	83	10	can	can	AUX
alkej-551	83	11	be	be	AUX
alkej-551	83	12	solved	solve	VERB
alkej-551	83	13	by	by	ADP
alkej-551	83	14	:	:	PUNCT
alkej-551	83	15	�	�	PROPN
alkej-551	83	16	�	�	PROPN
alkej-551	83	17	�	�	PROPN
alkej-551	83	18	tan	tan	PROPN
alkej-551	83	19	�	�	PROPN
alkej-551	83	20	0	0	NUM
alkej-551	83	21	�	�	PROPN
alkej-551	83	22	�	�	PROPN
alkej-551	83	23	1	1	NUM
alkej-551	83	24	2	2	NUM
alkej-551	83	25	&	&	CCONJ
alkej-551	83	26	tan	tan	PROPN
alkej-551	83	27	�	�	PROPN
alkej-551	83	28	!	!	PUNCT
alkej-551	84	1	�	�	PROPN
alkej-551	84	2	345	345	NUM
alkej-551	84	3	6	6	NUM
alkej-551	84	4	�	�	NOUN
alkej-551	84	5	!	!	PUNCT
alkej-551	84	6	"	"	PUNCT
alkej-551	84	7	�	�	PROPN
alkej-551	84	8	!	!	PUNCT
alkej-551	84	9	�	�	PROPN
alkej-551	84	10	783	783	NUM
alkej-551	84	11	6	6	NUM
alkej-551	84	12	�	�	NOUN
alkej-551	84	13	…	…	PUNCT
alkej-551	84	14	(	(	PUNCT
alkej-551	84	15	6	6	NUM
alkej-551	84	16	)	)	PUNCT
alkej-551	84	17	where	where	SCONJ
alkej-551	84	18	�	�	PROPN
alkej-551	84	19	�	�	PROPN
alkej-551	84	20	and	and	CCONJ
alkej-551	84	21	�	�	PROPN
alkej-551	84	22	�	�	PROPN
alkej-551	84	23	are	be	AUX
alkej-551	84	24	lengths	length	NOUN
alkej-551	84	25	of	of	ADP
alkej-551	84	26	of	of	ADP
alkej-551	84	27	the	the	DET
alkej-551	84	28	first	first	ADJ
alkej-551	84	29	and	and	CCONJ
alkej-551	84	30	the	the	DET
alkej-551	84	31	second	second	ADJ
alkej-551	84	32	links	link	NOUN
alkej-551	84	33	,	,	PUNCT
alkej-551	84	34	respectively	respectively	ADV
alkej-551	84	35	.	.	PUNCT
alkej-551	85	1	4	4	X
alkej-551	85	2	.	.	X
alkej-551	85	3	free	free	ADJ
alkej-551	85	4	cartesian	cartesian	ADJ
alkej-551	85	5	space	space	NOUN
alkej-551	85	6	analysis	analysis	NOUN
alkej-551	85	7	the	the	DET
alkej-551	85	8	result	result	NOUN
alkej-551	85	9	of	of	ADP
alkej-551	85	10	inverse	inverse	NOUN
alkej-551	85	11	kinematics	kinematic	NOUN
alkej-551	85	12	has	have	AUX
alkej-551	85	13	been	be	AUX
alkej-551	85	14	used	use	VERB
alkej-551	85	15	to	to	PART
alkej-551	85	16	build	build	VERB
alkej-551	85	17	and	and	CCONJ
alkej-551	85	18	analyze	analyze	VERB
alkej-551	85	19	the	the	DET
alkej-551	85	20	workspace	workspace	NOUN
alkej-551	85	21	in	in	ADP
alkej-551	85	22	this	this	DET
alkej-551	85	23	work	work	NOUN
alkej-551	85	24	.	.	PUNCT
alkej-551	86	1	the	the	DET
alkej-551	86	2	specific	specific	ADJ
alkej-551	86	3	points	point	NOUN
alkej-551	86	4	that	that	SCONJ
alkej-551	86	5	the	the	DET
alkej-551	86	6	end	end	NOUN
alkej-551	86	7	-	-	PUNCT
alkej-551	86	8	effector	effector	NOUN
alkej-551	86	9	can	can	AUX
alkej-551	86	10	reach	reach	VERB
alkej-551	86	11	,	,	PUNCT
alkej-551	86	12	firas	firas	PROPN
alkej-551	86	13	a.	a.	PROPN
alkej-551	86	14	raheem	raheem	PROPN
alkej-551	86	15	al	al	PROPN
alkej-551	86	16	-	-	PUNCT
alkej-551	86	17	khwarizmi	khwarizmi	PROPN
alkej-551	86	18	engineering	engineering	NOUN
alkej-551	86	19	journal	journal	PROPN
alkej-551	86	20	,	,	PUNCT
alkej-551	86	21	vol	vol	NOUN
alkej-551	86	22	.	.	PROPN
alkej-551	86	23	15	15	NUM
alkej-551	86	24	,	,	PUNCT
alkej-551	86	25	no	no	INTJ
alkej-551	86	26	.	.	NOUN
alkej-551	86	27	2	2	NUM
alkej-551	86	28	,	,	PUNCT
alkej-551	86	29	p.p	p.p	PROPN
alkej-551	86	30	.	.	NOUN
alkej-551	86	31	108123	108123	NUM
alkej-551	86	32	(	(	PUNCT
alkej-551	86	33	2019	2019	NUM
alkej-551	86	34	)	)	PUNCT
alkej-551	86	35	111	111	NUM
alkej-551	86	36	can	can	AUX
alkej-551	86	37	be	be	AUX
alkej-551	86	38	defined	define	VERB
alkej-551	86	39	as	as	ADP
alkej-551	86	40	free	free	ADJ
alkej-551	86	41	cartesian	cartesian	ADJ
alkej-551	86	42	space	space	NOUN
alkej-551	86	43	(	(	PUNCT
alkej-551	86	44	fcs	fcs	PROPN
alkej-551	86	45	)	)	PUNCT
alkej-551	86	46	.	.	PUNCT
alkej-551	87	1	the	the	DET
alkej-551	87	2	angles	angle	NOUN
alkej-551	87	3	(	(	PUNCT
alkej-551	87	4	�	�	PROPN
alkej-551	87	5	�	�	PROPN
alkej-551	87	6	and	and	CCONJ
alkej-551	87	7	�	�	PROPN
alkej-551	87	8	�	�	PROPN
alkej-551	87	9	)	)	PUNCT
alkej-551	87	10	which	which	PRON
alkej-551	87	11	were	be	AUX
alkej-551	87	12	found	find	VERB
alkej-551	87	13	by	by	ADP
alkej-551	87	14	inverse	inverse	NOUN
alkej-551	87	15	kinematics	kinematic	NOUN
alkej-551	87	16	are	be	AUX
alkej-551	87	17	related	relate	VERB
alkej-551	87	18	to	to	ADP
alkej-551	87	19	these	these	DET
alkej-551	87	20	specific	specific	ADJ
alkej-551	87	21	points	point	NOUN
alkej-551	87	22	directly	directly	ADV
alkej-551	87	23	.	.	PUNCT
alkej-551	88	1	the	the	DET
alkej-551	88	2	shape	shape	NOUN
alkej-551	88	3	and	and	CCONJ
alkej-551	88	4	volume	volume	NOUN
alkej-551	88	5	of	of	ADP
alkej-551	88	6	the	the	DET
alkej-551	88	7	fcs	fcs	NOUN
alkej-551	88	8	in	in	ADP
alkej-551	88	9	an	an	DET
alkej-551	88	10	environment	environment	NOUN
alkej-551	88	11	,	,	PUNCT
alkej-551	88	12	which	which	PRON
alkej-551	88	13	contains	contain	VERB
alkej-551	88	14	many	many	ADJ
alkej-551	88	15	obstacles	obstacle	NOUN
alkej-551	88	16	,	,	PUNCT
alkej-551	88	17	are	be	AUX
alkej-551	88	18	changed	change	VERB
alkej-551	88	19	depending	depend	VERB
alkej-551	88	20	on	on	ADP
alkej-551	88	21	the	the	DET
alkej-551	88	22	number	number	NOUN
alkej-551	88	23	of	of	ADP
alkej-551	88	24	obstacles	obstacle	NOUN
alkej-551	88	25	,	,	PUNCT
alkej-551	88	26	position	position	NOUN
alkej-551	88	27	and	and	CCONJ
alkej-551	88	28	size	size	NOUN
alkej-551	88	29	in	in	ADP
alkej-551	88	30	addition	addition	NOUN
alkej-551	88	31	to	to	ADP
alkej-551	88	32	the	the	DET
alkej-551	88	33	joints	joint	NOUN
alkej-551	88	34	limits	limit	NOUN
alkej-551	88	35	.	.	PUNCT
alkej-551	89	1	in	in	ADP
alkej-551	89	2	order	order	NOUN
alkej-551	89	3	to	to	PART
alkej-551	89	4	model	model	VERB
alkej-551	89	5	and	and	CCONJ
alkej-551	89	6	simulate	simulate	VERB
alkej-551	89	7	the	the	DET
alkej-551	89	8	motion	motion	NOUN
alkej-551	89	9	of	of	ADP
alkej-551	89	10	twolink	twolink	NOUN
alkej-551	89	11	robot	robot	NOUN
alkej-551	89	12	arm	arm	NOUN
alkej-551	89	13	according	accord	VERB
alkej-551	89	14	to	to	PART
alkej-551	89	15	plan	plan	VERB
alkej-551	89	16	the	the	DET
alkej-551	89	17	path	path	NOUN
alkej-551	89	18	,	,	PUNCT
alkej-551	89	19	the	the	DET
alkej-551	89	20	theoretical	theoretical	ADJ
alkej-551	89	21	range	range	NOUN
alkej-551	89	22	of	of	ADP
alkej-551	89	23	the	the	DET
alkej-551	89	24	two	two	NUM
alkej-551	89	25	-	-	PUNCT
alkej-551	89	26	link	link	NOUN
alkej-551	89	27	arm	arm	NOUN
alkej-551	89	28	shown	show	VERB
alkej-551	89	29	in	in	ADP
alkej-551	89	30	table	table	NOUN
alkej-551	89	31	(	(	PUNCT
alkej-551	89	32	1	1	NUM
alkej-551	89	33	)	)	PUNCT
alkej-551	89	34	.	.	PUNCT
alkej-551	90	1	these	these	DET
alkej-551	90	2	restrictions	restriction	NOUN
alkej-551	90	3	impact	impact	NOUN
alkej-551	90	4	and	and	CCONJ
alkej-551	90	5	limit	limit	NOUN
alkej-551	90	6	movement	movement	NOUN
alkej-551	90	7	of	of	ADP
alkej-551	90	8	manipulator	manipulator	NOUN
alkej-551	90	9	and	and	CCONJ
alkej-551	90	10	additionally	additionally	ADV
alkej-551	90	11	split	split	VERB
alkej-551	90	12	up	up	ADP
alkej-551	90	13	the	the	DET
alkej-551	90	14	workspace	workspace	NOUN
alkej-551	90	15	into	into	ADP
alkej-551	90	16	a	a	DET
alkej-551	90	17	reachable	reachable	ADJ
alkej-551	90	18	region	region	NOUN
alkej-551	90	19	and	and	CCONJ
alkej-551	90	20	an	an	DET
alkej-551	90	21	inaccessible	inaccessible	ADJ
alkej-551	90	22	one	one	NUM
alkej-551	90	23	.	.	PUNCT
alkej-551	90	24	table	table	NOUN
alkej-551	90	25	1	1	NUM
alkej-551	90	26	,	,	PUNCT
alkej-551	90	27	the	the	DET
alkej-551	90	28	theoretical	theoretical	ADJ
alkej-551	90	29	range	range	NOUN
alkej-551	90	30	of	of	ADP
alkej-551	90	31	the	the	DET
alkej-551	90	32	two	two	NUM
alkej-551	90	33	-	-	PUNCT
alkej-551	90	34	link	link	NOUN
alkej-551	90	35	robot	robot	NOUN
alkej-551	90	36	arm	arm	NOUN
alkej-551	90	37	link	link	VERB
alkej-551	90	38	no	no	INTJ
alkej-551	90	39	.	.	PUNCT
alkej-551	91	1	ranges	range	VERB
alkej-551	91	2	joint	joint	ADJ
alkej-551	91	3	1	1	NUM
alkej-551	91	4	0	0	NUM
alkej-551	91	5	≤	≤	NUM
alkej-551	91	6	�	�	PROPN
alkej-551	91	7	�	�	PROPN
alkej-551	91	8	≤	≤	NOUN
alkej-551	91	9	360	360	NUM
alkej-551	91	10	joint	joint	ADJ
alkej-551	91	11	2	2	NUM
alkej-551	91	12	-90	-90	PUNCT
alkej-551	91	13	≤	≤	NUM
alkej-551	91	14	�	�	PROPN
alkej-551	91	15	�	�	PROPN
alkej-551	91	16	≤	≤	NUM
alkej-551	91	17	90	90	NUM
alkej-551	91	18	to	to	PART
alkej-551	91	19	find	find	VERB
alkej-551	91	20	all	all	DET
alkej-551	91	21	possible	possible	ADJ
alkej-551	91	22	solutions	solution	NOUN
alkej-551	91	23	,	,	PUNCT
alkej-551	91	24	should	should	AUX
alkej-551	91	25	be	be	AUX
alkej-551	91	26	computed	compute	VERB
alkej-551	91	27	the	the	DET
alkej-551	91	28	fcs	fcs	NOUN
alkej-551	91	29	and	and	CCONJ
alkej-551	91	30	that	that	PRON
alkej-551	91	31	was	be	AUX
alkej-551	91	32	done	do	VERB
alkej-551	91	33	by	by	ADP
alkej-551	91	34	analyzing	analyze	VERB
alkej-551	91	35	the	the	DET
alkej-551	91	36	environment	environment	NOUN
alkej-551	91	37	’s	’s	PART
alkej-551	91	38	points	point	NOUN
alkej-551	91	39	.	.	PUNCT
alkej-551	92	1	the	the	DET
alkej-551	92	2	center	center	NOUN
alkej-551	92	3	point	point	NOUN
alkej-551	92	4	and	and	CCONJ
alkej-551	92	5	the	the	DET
alkej-551	92	6	diameter	diameter	NOUN
alkej-551	92	7	of	of	ADP
alkej-551	92	8	the	the	DET
alkej-551	92	9	obstacles	obstacle	NOUN
alkej-551	92	10	are	be	AUX
alkej-551	92	11	the	the	DET
alkej-551	92	12	basic	basic	ADJ
alkej-551	92	13	issues	issue	NOUN
alkej-551	92	14	upon	upon	SCONJ
alkej-551	92	15	which	which	PRON
alkej-551	92	16	the	the	DET
alkej-551	92	17	checking	checking	NOUN
alkej-551	92	18	function	function	NOUN
alkej-551	92	19	depend	depend	VERB
alkej-551	92	20	.	.	PUNCT
alkej-551	93	1	moreover	moreover	ADV
alkej-551	93	2	,	,	PUNCT
alkej-551	93	3	there	there	PRON
alkej-551	93	4	are	be	VERB
alkej-551	93	5	four	four	NUM
alkej-551	93	6	possible	possible	ADJ
alkej-551	93	7	states	state	NOUN
alkej-551	93	8	for	for	ADP
alkej-551	93	9	each	each	DET
alkej-551	93	10	point	point	NOUN
alkej-551	93	11	in	in	ADP
alkej-551	93	12	the	the	DET
alkej-551	93	13	whole	whole	ADJ
alkej-551	93	14	environment	environment	NOUN
alkej-551	93	15	.	.	PUNCT
alkej-551	94	1	the	the	DET
alkej-551	94	2	first	first	ADJ
alkej-551	94	3	state	state	NOUN
alkej-551	94	4	is	be	AUX
alkej-551	94	5	the	the	DET
alkej-551	94	6	elbow	elbow	NOUN
alkej-551	94	7	up	up	ADP
alkej-551	94	8	solution	solution	NOUN
alkej-551	94	9	,	,	PUNCT
alkej-551	94	10	the	the	DET
alkej-551	94	11	second	second	ADJ
alkej-551	94	12	state	state	NOUN
alkej-551	94	13	is	be	AUX
alkej-551	94	14	the	the	DET
alkej-551	94	15	elbow	elbow	NOUN
alkej-551	94	16	down	down	ADP
alkej-551	94	17	solution	solution	NOUN
alkej-551	94	18	and	and	CCONJ
alkej-551	94	19	the	the	DET
alkej-551	94	20	third	third	ADJ
alkej-551	94	21	state	state	NOUN
alkej-551	94	22	is	be	AUX
alkej-551	94	23	the	the	DET
alkej-551	94	24	elbow	elbow	NOUN
alkej-551	94	25	up	up	ADP
alkej-551	94	26	and	and	CCONJ
alkej-551	94	27	down	down	ADP
alkej-551	94	28	solution	solution	NOUN
alkej-551	94	29	where	where	SCONJ
alkej-551	94	30	the	the	DET
alkej-551	94	31	arm	arm	NOUN
alkej-551	94	32	could	could	AUX
alkej-551	94	33	reach	reach	VERB
alkej-551	94	34	the	the	DET
alkej-551	94	35	target	target	NOUN
alkej-551	94	36	either	either	CCONJ
alkej-551	94	37	in	in	ADP
alkej-551	94	38	elbow	elbow	VERB
alkej-551	94	39	up	up	ADP
alkej-551	94	40	solution	solution	NOUN
alkej-551	94	41	or	or	CCONJ
alkej-551	94	42	elbow	elbow	VERB
alkej-551	94	43	down	down	ADP
alkej-551	94	44	solution	solution	NOUN
alkej-551	94	45	and	and	CCONJ
alkej-551	94	46	as	as	SCONJ
alkej-551	94	47	shown	show	VERB
alkej-551	94	48	in	in	ADP
alkej-551	94	49	figure	figure	NOUN
alkej-551	94	50	(	(	PUNCT
alkej-551	94	51	2	2	NUM
alkej-551	94	52	)	)	PUNCT
alkej-551	94	53	.	.	PUNCT
alkej-551	95	1	in	in	ADP
alkej-551	95	2	addition	addition	NOUN
alkej-551	95	3	,	,	PUNCT
alkej-551	95	4	there	there	PRON
alkej-551	95	5	is	be	VERB
alkej-551	95	6	the	the	DET
alkej-551	95	7	last	last	ADJ
alkej-551	95	8	state	state	NOUN
alkej-551	95	9	the	the	DET
alkej-551	95	10	no	no	DET
alkej-551	95	11	solution	solution	NOUN
alkej-551	95	12	case	case	NOUN
alkej-551	95	13	because	because	SCONJ
alkej-551	95	14	the	the	DET
alkej-551	95	15	point	point	NOUN
alkej-551	95	16	lies	lie	VERB
alkej-551	95	17	out	out	ADP
alkej-551	95	18	of	of	ADP
alkej-551	95	19	the	the	DET
alkej-551	95	20	reachable	reachable	ADJ
alkej-551	95	21	area	area	NOUN
alkej-551	95	22	of	of	ADP
alkej-551	95	23	the	the	DET
alkej-551	95	24	manipulator	manipulator	NOUN
alkej-551	95	25	or	or	CCONJ
alkej-551	95	26	on	on	ADP
alkej-551	95	27	an	an	DET
alkej-551	95	28	obstacle	obstacle	NOUN
alkej-551	95	29	,	,	PUNCT
alkej-551	95	30	or	or	CCONJ
alkej-551	95	31	the	the	DET
alkej-551	95	32	one	one	NUM
alkej-551	95	33	or	or	CCONJ
alkej-551	95	34	two	two	NUM
alkej-551	95	35	links	link	NOUN
alkej-551	95	36	collide	collide	VERB
alkej-551	95	37	with	with	ADP
alkej-551	95	38	an	an	DET
alkej-551	95	39	obstacle	obstacle	NOUN
alkej-551	95	40	[	[	X
alkej-551	95	41	12	12	NUM
alkej-551	95	42	]	]	PUNCT
alkej-551	95	43	.	.	PUNCT
alkej-551	96	1	fig	fig	NOUN
alkej-551	96	2	.	.	PUNCT
alkej-551	97	1	2	2	X
alkej-551	97	2	.	.	X
alkej-551	97	3	the	the	DET
alkej-551	97	4	configurations	configuration	NOUN
alkej-551	97	5	of	of	ADP
alkej-551	97	6	two	two	NUM
alkej-551	97	7	-	-	PUNCT
alkej-551	97	8	link	link	NOUN
alkej-551	97	9	arm	arm	NOUN
alkej-551	97	10	elbow	elbow	VERB
alkej-551	97	11	up	up	ADP
alkej-551	97	12	and	and	CCONJ
alkej-551	97	13	elbow	elbow	VERB
alkej-551	97	14	down	down	ADP
alkej-551	97	15	.	.	PUNCT
alkej-551	98	1	the	the	DET
alkej-551	98	2	resulted	resulted	ADJ
alkej-551	98	3	areas	area	NOUN
alkej-551	98	4	are	be	AUX
alkej-551	98	5	separated	separate	VERB
alkej-551	98	6	into	into	ADP
alkej-551	98	7	three	three	NUM
alkej-551	98	8	parts	part	NOUN
alkej-551	98	9	,	,	PUNCT
alkej-551	98	10	the	the	DET
alkej-551	98	11	first	first	ADJ
alkej-551	98	12	one	one	NUM
alkej-551	98	13	contain	contain	VERB
alkej-551	98	14	the	the	DET
alkej-551	98	15	points	point	NOUN
alkej-551	98	16	which	which	PRON
alkej-551	98	17	can	can	AUX
alkej-551	98	18	be	be	AUX
alkej-551	98	19	reached	reach	VERB
alkej-551	98	20	by	by	ADP
alkej-551	98	21	the	the	DET
alkej-551	98	22	elbow	elbow	NOUN
alkej-551	98	23	up	up	ADP
alkej-551	98	24	solution	solution	NOUN
alkej-551	98	25	,	,	PUNCT
alkej-551	98	26	and	and	CCONJ
alkej-551	98	27	the	the	DET
alkej-551	98	28	second	second	ADJ
alkej-551	98	29	area	area	NOUN
alkej-551	98	30	contains	contain	VERB
alkej-551	98	31	the	the	DET
alkej-551	98	32	points	point	NOUN
alkej-551	98	33	which	which	PRON
alkej-551	98	34	can	can	AUX
alkej-551	98	35	be	be	AUX
alkej-551	98	36	reached	reach	VERB
alkej-551	98	37	by	by	ADP
alkej-551	98	38	the	the	DET
alkej-551	98	39	elbow	elbow	NOUN
alkej-551	98	40	down	down	ADP
alkej-551	98	41	solution	solution	NOUN
alkej-551	98	42	,	,	PUNCT
alkej-551	98	43	and	and	CCONJ
alkej-551	98	44	the	the	DET
alkej-551	98	45	third	third	ADJ
alkej-551	98	46	one	one	NOUN
alkej-551	98	47	represents	represent	VERB
alkej-551	98	48	the	the	DET
alkej-551	98	49	unreachable	unreachable	ADJ
alkej-551	98	50	points	point	NOUN
alkej-551	98	51	that	that	PRON
alkej-551	98	52	contain	contain	VERB
alkej-551	98	53	points	point	NOUN
alkej-551	98	54	outside	outside	ADP
alkej-551	98	55	the	the	DET
alkej-551	98	56	accessible	accessible	ADJ
alkej-551	98	57	range	range	NOUN
alkej-551	98	58	of	of	ADP
alkej-551	98	59	manipulator	manipulator	NOUN
alkej-551	98	60	workspace	workspace	NOUN
alkej-551	98	61	,	,	PUNCT
alkej-551	98	62	points	point	VERB
alkej-551	98	63	in	in	ADP
alkej-551	98	64	obstacle	obstacle	NOUN
alkej-551	98	65	’s	’s	PART
alkej-551	98	66	body	body	NOUN
alkej-551	98	67	and	and	CCONJ
alkej-551	98	68	points	point	NOUN
alkej-551	98	69	that	that	PRON
alkej-551	98	70	make	make	VERB
alkej-551	98	71	collision	collision	NOUN
alkej-551	98	72	with	with	ADP
alkej-551	98	73	the	the	DET
alkej-551	98	74	obstacles	obstacle	NOUN
alkej-551	98	75	.	.	PUNCT
alkej-551	99	1	the	the	DET
alkej-551	99	2	biggest	big	ADJ
alkej-551	99	3	factor	factor	NOUN
alkej-551	99	4	that	that	PRON
alkej-551	99	5	affects	affect	VERB
alkej-551	99	6	the	the	DET
alkej-551	99	7	free	free	ADJ
alkej-551	99	8	cartesian	cartesian	NOUN
alkej-551	99	9	is	be	AUX
alkej-551	99	10	the	the	DET
alkej-551	99	11	length	length	NOUN
alkej-551	99	12	of	of	ADP
alkej-551	99	13	the	the	DET
alkej-551	99	14	arm	arm	NOUN
alkej-551	99	15	link	link	NOUN
alkej-551	99	16	[	[	X
alkej-551	99	17	12	12	NUM
alkej-551	99	18	]	]	PUNCT
alkej-551	99	19	.	.	PUNCT
alkej-551	100	1	5	5	X
alkej-551	100	2	.	.	X
alkej-551	100	3	heuristic	heuristic	ADJ
alkej-551	100	4	d	d	X
alkej-551	100	5	*	*	PUNCT
alkej-551	100	6	algorithm	algorithm	NOUN
alkej-551	100	7	the	the	DET
alkej-551	100	8	d	d	PROPN
alkej-551	100	9	*	*	PUNCT
alkej-551	100	10	algorithm	algorithm	NOUN
alkej-551	100	11	is	be	AUX
alkej-551	100	12	an	an	DET
alkej-551	100	13	algorithm	algorithm	NOUN
alkej-551	100	14	that	that	PRON
alkej-551	100	15	is	be	AUX
alkej-551	100	16	generate	generate	VERB
alkej-551	100	17	short	short	ADJ
alkej-551	100	18	path	path	NOUN
alkej-551	100	19	in	in	ADP
alkej-551	100	20	real	real	ADJ
alkej-551	100	21	-	-	PUNCT
alkej-551	100	22	time	time	NOUN
alkej-551	100	23	by	by	ADP
alkej-551	100	24	a	a	DET
alkej-551	100	25	graph	graph	NOUN
alkej-551	100	26	with	with	ADP
alkej-551	100	27	update	update	NOUN
alkej-551	100	28	or	or	CCONJ
alkej-551	100	29	change	change	VERB
alkej-551	100	30	arc	arc	NOUN
alkej-551	100	31	costs	cost	NOUN
alkej-551	100	32	.	.	PUNCT
alkej-551	101	1	the	the	DET
alkej-551	101	2	utility	utility	NOUN
alkej-551	101	3	of	of	ADP
alkej-551	101	4	d	d	PROPN
alkej-551	101	5	*	*	PROPN
alkej-551	101	6	is	be	AUX
alkej-551	101	7	that	that	SCONJ
alkej-551	101	8	the	the	DET
alkej-551	101	9	most	most	ADJ
alkej-551	101	10	of	of	ADP
alkej-551	101	11	arc	arc	NOUN
alkej-551	101	12	cost	cost	NOUN
alkej-551	101	13	corrections	correction	NOUN
alkej-551	101	14	occurs	occur	VERB
alkej-551	101	15	in	in	ADP
alkej-551	101	16	the	the	DET
alkej-551	101	17	robot	robot	NOUN
alkej-551	101	18	’s	’s	PART
alkej-551	101	19	neighborhood	neighborhood	NOUN
alkej-551	101	20	.	.	PUNCT
alkej-551	102	1	from	from	ADP
alkej-551	102	2	this	this	DET
alkej-551	102	3	corrections	correction	NOUN
alkej-551	102	4	,	,	PUNCT
alkej-551	102	5	the	the	DET
alkej-551	102	6	only	only	ADJ
alkej-551	102	7	part	part	NOUN
alkej-551	102	8	of	of	ADP
alkej-551	102	9	the	the	DET
alkej-551	102	10	path	path	NOUN
alkej-551	102	11	is	be	AUX
alkej-551	102	12	going	go	VERB
alkej-551	102	13	to	to	PART
alkej-551	102	14	out	out	ADP
alkej-551	102	15	to	to	ADP
alkej-551	102	16	the	the	DET
alkej-551	102	17	robot	robot	NOUN
alkej-551	102	18	’s	’s	PART
alkej-551	102	19	current	current	ADJ
alkej-551	102	20	location	location	NOUN
alkej-551	102	21	is	be	AUX
alkej-551	102	22	need	need	NOUN
alkej-551	102	23	for	for	ADP
alkej-551	102	24	replanting	replant	VERB
alkej-551	102	25	.	.	PUNCT
alkej-551	103	1	the	the	DET
alkej-551	103	2	partial	partial	ADJ
alkej-551	103	3	optimal	optimal	ADJ
alkej-551	103	4	cost	cost	NOUN
alkej-551	103	5	map	map	NOUN
alkej-551	103	6	are	be	AUX
alkej-551	103	7	keep	keep	VERB
alkej-551	103	8	limited	limited	ADJ
alkej-551	103	9	for	for	ADP
alkej-551	103	10	the	the	DET
alkej-551	103	11	locations	location	NOUN
alkej-551	103	12	that	that	PRON
alkej-551	103	13	the	the	DET
alkej-551	103	14	robot	robot	NOUN
alkej-551	103	15	may	may	AUX
alkej-551	103	16	use	use	VERB
alkej-551	103	17	.	.	PUNCT
alkej-551	104	1	furthermore	furthermore	ADV
alkej-551	104	2	,	,	PUNCT
alkej-551	104	3	the	the	DET
alkej-551	104	4	states	state	NOUN
alkej-551	104	5	that	that	PRON
alkej-551	104	6	is	be	AUX
alkej-551	104	7	probable	probable	ADJ
alkej-551	104	8	to	to	PART
alkej-551	104	9	produce	produce	VERB
alkej-551	104	10	a	a	DET
alkej-551	104	11	new	new	ADJ
alkej-551	104	12	optimal	optimal	ADJ
alkej-551	104	13	path	path	NOUN
alkej-551	104	14	is	be	AUX
alkej-551	104	15	used	use	VERB
alkej-551	104	16	to	to	PART
alkej-551	104	17	reform	reform	NOUN
alkej-551	104	18	of	of	ADP
alkej-551	104	19	the	the	DET
alkej-551	104	20	map	map	NOUN
alkej-551	104	21	’s	’s	PART
alkej-551	104	22	cost	cost	NOUN
alkej-551	104	23	which	which	PRON
alkej-551	104	24	will	will	AUX
alkej-551	104	25	be	be	AUX
alkej-551	104	26	limited	limit	VERB
alkej-551	104	27	and	and	CCONJ
alkej-551	104	28	re	re	NOUN
alkej-551	104	29	-	-	NOUN
alkej-551	104	30	entrant	entrant	NOUN
alkej-551	104	31	partially	partially	ADV
alkej-551	104	32	.	.	PUNCT
alkej-551	105	1	d	d	PUNCT
alkej-551	105	2	*	*	PUNCT
alkej-551	105	3	sets	set	VERB
alkej-551	105	4	the	the	DET
alkej-551	105	5	conditions	condition	NOUN
alkej-551	105	6	for	for	ADP
alkej-551	105	7	determining	determine	VERB
alkej-551	105	8	when	when	SCONJ
alkej-551	105	9	repair	repair	NOUN
alkej-551	105	10	will	will	AUX
alkej-551	105	11	be	be	AUX
alkej-551	105	12	stood	stand	VERB
alkej-551	105	13	,	,	PUNCT
alkej-551	105	14	because	because	SCONJ
alkej-551	105	15	of	of	ADP
alkej-551	105	16	finding	find	VERB
alkej-551	105	17	a	a	DET
alkej-551	105	18	new	new	ADJ
alkej-551	105	19	path	path	NOUN
alkej-551	105	20	or	or	CCONJ
alkej-551	105	21	the	the	DET
alkej-551	105	22	previous	previous	ADJ
alkej-551	105	23	path	path	NOUN
alkej-551	105	24	has	have	AUX
alkej-551	105	25	been	be	AUX
alkej-551	105	26	found	find	VERB
alkej-551	105	27	is	be	AUX
alkej-551	105	28	still	still	ADV
alkej-551	105	29	optimal	optimal	ADJ
alkej-551	105	30	.	.	PUNCT
alkej-551	106	1	so	so	ADV
alkej-551	106	2	,	,	PUNCT
alkej-551	106	3	the	the	DET
alkej-551	106	4	d	d	PROPN
alkej-551	106	5	*	*	NOUN
alkej-551	106	6	strategy	strategy	NOUN
alkej-551	106	7	is	be	AUX
alkej-551	106	8	used	use	VERB
alkej-551	106	9	to	to	PART
alkej-551	106	10	say	say	VERB
alkej-551	106	11	that	that	SCONJ
alkej-551	106	12	it	it	PRON
alkej-551	106	13	is	be	AUX
alkej-551	106	14	very	very	ADV
alkej-551	106	15	memory	memory	NOUN
alkej-551	106	16	active	active	ADJ
alkej-551	106	17	,	,	PUNCT
alkej-551	106	18	works	work	VERB
alkej-551	106	19	in	in	ADP
alkej-551	106	20	unbounded	unbounded	ADJ
alkej-551	106	21	environments	environment	NOUN
alkej-551	106	22	and	and	CCONJ
alkej-551	106	23	computationally	computationally	ADV
alkej-551	106	24	as	as	ADV
alkej-551	106	25	well	well	ADV
alkej-551	106	26	.	.	PUNCT
alkej-551	107	1	the	the	DET
alkej-551	107	2	mechanism	mechanism	NOUN
alkej-551	107	3	of	of	ADP
alkej-551	107	4	the	the	DET
alkej-551	107	5	d	d	PROPN
alkej-551	107	6	*	*	PROPN
alkej-551	107	7	algorithm	algorithm	NOUN
alkej-551	107	8	is	be	AUX
alkej-551	107	9	designed	design	VERB
alkej-551	107	10	repeat	repeat	NOUN
alkej-551	107	11	finding	find	VERB
alkej-551	107	12	optimal	optimal	ADJ
alkej-551	107	13	path	path	NOUN
alkej-551	107	14	to	to	ADP
alkej-551	107	15	the	the	DET
alkej-551	107	16	directed	direct	VERB
alkej-551	107	17	graph	graph	NOUN
alkej-551	107	18	,	,	PUNCT
alkej-551	107	19	which	which	PRON
alkej-551	107	20	means	mean	VERB
alkej-551	107	21	that	that	SCONJ
alkej-551	107	22	the	the	DET
alkej-551	107	23	arc	arc	NOUN
alkej-551	107	24	costs	cost	NOUN
alkej-551	107	25	are	be	AUX
alkej-551	107	26	assorted	assort	VERB
alkej-551	107	27	with	with	ADP
alkej-551	107	28	transference	transference	NOUN
alkej-551	107	29	cost	cost	NOUN
alkej-551	107	30	values	value	NOUN
alkej-551	107	31	that	that	PRON
alkej-551	107	32	could	could	AUX
alkej-551	107	33	be	be	AUX
alkej-551	107	34	ranged	range	VERB
alkej-551	107	35	over	over	ADP
alkej-551	107	36	a	a	DET
alkej-551	107	37	continuation	continuation	NOUN
alkej-551	107	38	.	.	PUNCT
alkej-551	108	1	the	the	DET
alkej-551	108	2	corrections	correction	NOUN
alkej-551	108	3	of	of	ADP
alkej-551	108	4	the	the	DET
alkej-551	108	5	arc	arc	NOUN
alkej-551	108	6	cost	cost	NOUN
alkej-551	108	7	that	that	PRON
alkej-551	108	8	came	come	VERB
alkej-551	108	9	from	from	ADP
alkej-551	108	10	the	the	DET
alkej-551	108	11	sensors	sensor	NOUN
alkej-551	108	12	it	it	PRON
alkej-551	108	13	could	could	AUX
alkej-551	108	14	be	be	AUX
alkej-551	108	15	made	make	VERB
alkej-551	108	16	in	in	ADP
alkej-551	108	17	any	any	DET
alkej-551	108	18	time	time	NOUN
alkej-551	108	19	,	,	PUNCT
alkej-551	108	20	also	also	ADV
alkej-551	108	21	the	the	DET
alkej-551	108	22	estimated	estimate	VERB
alkej-551	108	23	and	and	CCONJ
alkej-551	108	24	measured	measured	ADJ
alkej-551	108	25	arc	arc	NOUN
alkej-551	108	26	costs	cost	NOUN
alkej-551	108	27	that	that	PRON
alkej-551	108	28	known	know	VERB
alkej-551	108	29	is	be	AUX
alkej-551	108	30	comprised	comprise	VERB
alkej-551	108	31	to	to	ADP
alkej-551	108	32	the	the	DET
alkej-551	108	33	environment	environment	NOUN
alkej-551	108	34	map	map	NOUN
alkej-551	108	35	.	.	PUNCT
alkej-551	109	1	this	this	DET
alkej-551	109	2	strategy	strategy	NOUN
alkej-551	109	3	could	could	AUX
alkej-551	109	4	be	be	AUX
alkej-551	109	5	used	use	VERB
alkej-551	109	6	in	in	ADP
alkej-551	109	7	any	any	DET
alkej-551	109	8	planning	planning	NOUN
alkej-551	109	9	representation	representation	NOUN
alkej-551	109	10	,	,	PUNCT
alkej-551	109	11	including	include	VERB
alkej-551	109	12	grid	grid	NOUN
alkej-551	109	13	cell	cell	NOUN
alkej-551	109	14	structures	structure	NOUN
alkej-551	109	15	and	and	CCONJ
alkej-551	109	16	visibility	visibility	NOUN
alkej-551	109	17	graphs	graph	NOUN
alkej-551	109	18	.	.	PUNCT
alkej-551	110	1	[	[	X
alkej-551	110	2	13	13	NUM
alkej-551	110	3	]	]	SYM
alkej-551	110	4	f	f	NOUN
alkej-551	110	5	=	=	PUNCT
alkej-551	110	6	g+	g+	NOUN
alkej-551	110	7	h	h	NOUN
alkej-551	110	8	…	…	PUNCT
alkej-551	110	9	(	(	PUNCT
alkej-551	110	10	7	7	X
alkej-551	110	11	)	)	PUNCT
alkej-551	110	12	where	where	SCONJ
alkej-551	110	13	the	the	DET
alkej-551	110	14	f	f	PROPN
alkej-551	110	15	is	be	AUX
alkej-551	110	16	objective	objective	ADJ
alkej-551	110	17	function	function	NOUN
alkej-551	110	18	and	and	CCONJ
alkej-551	110	19	g	g	NOUN
alkej-551	110	20	is	be	AUX
alkej-551	110	21	the	the	DET
alkej-551	110	22	estimated	estimate	VERB
alkej-551	110	23	cost	cost	NOUN
alkej-551	110	24	from	from	ADP
alkej-551	110	25	start	start	NOUN
alkej-551	110	26	point	point	NOUN
alkej-551	110	27	while	while	SCONJ
alkej-551	110	28	ℎ	ℎ	NOUN
alkej-551	110	29	is	be	AUX
alkej-551	110	30	the	the	DET
alkej-551	110	31	cost	cost	NOUN
alkej-551	110	32	to	to	ADP
alkej-551	110	33	the	the	DET
alkej-551	110	34	goal	goal	NOUN
alkej-551	110	35	.	.	PUNCT
alkej-551	111	1	6	6	NUM
alkej-551	111	2	.	.	X
alkej-551	111	3	particle	particle	NOUN
alkej-551	111	4	swarm	swarm	NOUN
alkej-551	111	5	optimization	optimization	NOUN
alkej-551	111	6	technique	technique	NOUN
alkej-551	111	7	theory	theory	NOUN
alkej-551	111	8	(	(	PUNCT
alkej-551	111	9	pso	pso	NOUN
alkej-551	111	10	)	)	PUNCT
alkej-551	111	11	pso	pso	NOUN
alkej-551	111	12	is	be	AUX
alkej-551	111	13	a	a	DET
alkej-551	111	14	laborious	laborious	ADJ
alkej-551	111	15	stochastic	stochastic	ADJ
alkej-551	111	16	optimization	optimization	NOUN
alkej-551	111	17	technique	technique	NOUN
alkej-551	111	18	,	,	PUNCT
alkej-551	111	19	it	it	PRON
alkej-551	111	20	depends	depend	VERB
alkej-551	111	21	on	on	ADP
alkej-551	111	22	the	the	DET
alkej-551	111	23	intelligence	intelligence	NOUN
alkej-551	111	24	and	and	CCONJ
alkej-551	111	25	movement	movement	NOUN
alkej-551	111	26	of	of	ADP
alkej-551	111	27	birds	bird	NOUN
alkej-551	111	28	swarms	swarm	NOUN
alkej-551	111	29	.	.	PUNCT
alkej-551	112	1	inspired	inspire	VERB
alkej-551	112	2	by	by	ADP
alkej-551	112	3	the	the	DET
alkej-551	112	4	behavior	behavior	NOUN
alkej-551	112	5	of	of	ADP
alkej-551	112	6	nature	nature	NOUN
alkej-551	112	7	social	social	ADJ
alkej-551	112	8	and	and	CCONJ
alkej-551	112	9	dynamic	dynamic	ADJ
alkej-551	112	10	motions	motion	NOUN
alkej-551	112	11	firas	firas	PROPN
alkej-551	112	12	a.	a.	PROPN
alkej-551	112	13	raheem	raheem	PROPN
alkej-551	112	14	al	al	PROPN
alkej-551	112	15	-	-	PUNCT
alkej-551	112	16	khwarizmi	khwarizmi	PROPN
alkej-551	112	17	engineering	engineering	NOUN
alkej-551	112	18	journal	journal	PROPN
alkej-551	112	19	,	,	PUNCT
alkej-551	112	20	vol	vol	NOUN
alkej-551	112	21	.	.	PROPN
alkej-551	112	22	15	15	NUM
alkej-551	112	23	,	,	PUNCT
alkej-551	112	24	no	no	INTJ
alkej-551	112	25	.	.	NOUN
alkej-551	112	26	2	2	NUM
alkej-551	112	27	,	,	PUNCT
alkej-551	112	28	p.p	p.p	PROPN
alkej-551	112	29	.	.	NOUN
alkej-551	112	30	108123	108123	NUM
alkej-551	112	31	(	(	PUNCT
alkej-551	112	32	2019	2019	NUM
alkej-551	112	33	)	)	PUNCT
alkej-551	112	34	112	112	NUM
alkej-551	112	35	with	with	ADP
alkej-551	112	36	communications	communication	NOUN
alkej-551	112	37	of	of	ADP
alkej-551	112	38	fish	fish	NOUN
alkej-551	112	39	schooling	schooling	NOUN
alkej-551	112	40	,	,	PUNCT
alkej-551	112	41	insects	insect	NOUN
alkej-551	112	42	or	or	CCONJ
alkej-551	112	43	birds	bird	NOUN
alkej-551	112	44	flocking	flock	VERB
alkej-551	112	45	.	.	PUNCT
alkej-551	113	1	a	a	DET
alkej-551	113	2	number	number	NOUN
alkej-551	113	3	of	of	ADP
alkej-551	113	4	basic	basic	ADJ
alkej-551	113	5	variations	variation	NOUN
alkej-551	113	6	have	have	AUX
alkej-551	113	7	been	be	AUX
alkej-551	113	8	developed	develop	VERB
alkej-551	113	9	due	due	ADJ
alkej-551	113	10	to	to	PART
alkej-551	113	11	improve	improve	VERB
alkej-551	113	12	speed	speed	NOUN
alkej-551	113	13	of	of	ADP
alkej-551	113	14	convergence	convergence	NOUN
alkej-551	113	15	and	and	CCONJ
alkej-551	113	16	quality	quality	NOUN
alkej-551	113	17	of	of	ADP
alkej-551	113	18	solution	solution	NOUN
alkej-551	113	19	found	find	VERB
alkej-551	113	20	by	by	ADP
alkej-551	113	21	the	the	DET
alkej-551	113	22	pso	pso	NOUN
alkej-551	113	23	.	.	PUNCT
alkej-551	114	1	the	the	DET
alkej-551	114	2	principle	principle	NOUN
alkej-551	114	3	of	of	ADP
alkej-551	114	4	pso	pso	NOUN
alkej-551	114	5	technique	technique	NOUN
alkej-551	114	6	depends	depend	VERB
alkej-551	114	7	on	on	ADP
alkej-551	114	8	generated	generate	VERB
alkej-551	114	9	specified	specify	VERB
alkej-551	114	10	number	number	NOUN
alkej-551	114	11	of	of	ADP
alkej-551	114	12	particles	particle	NOUN
alkej-551	114	13	in	in	ADP
alkej-551	114	14	random	random	ADJ
alkej-551	114	15	positions	position	NOUN
alkej-551	114	16	in	in	ADP
alkej-551	114	17	the	the	DET
alkej-551	114	18	specified	specified	ADJ
alkej-551	114	19	workspace	workspace	NOUN
alkej-551	114	20	,	,	PUNCT
alkej-551	114	21	also	also	ADV
alkej-551	114	22	the	the	DET
alkej-551	114	23	velocity	velocity	NOUN
alkej-551	114	24	of	of	ADP
alkej-551	114	25	those	those	DET
alkej-551	114	26	particles	particle	NOUN
alkej-551	114	27	is	be	AUX
alkej-551	114	28	nominated	nominate	VERB
alkej-551	114	29	randomly	randomly	ADV
alkej-551	114	30	,	,	PUNCT
alkej-551	114	31	each	each	DET
alkej-551	114	32	particle	particle	NOUN
alkej-551	114	33	has	have	VERB
alkej-551	114	34	a	a	DET
alkej-551	114	35	memory	memory	NOUN
alkej-551	114	36	that	that	PRON
alkej-551	114	37	stores	store	VERB
alkej-551	114	38	all	all	DET
alkej-551	114	39	the	the	DET
alkej-551	114	40	best	good	ADJ
alkej-551	114	41	position	position	NOUN
alkej-551	114	42	have	have	AUX
alkej-551	114	43	been	be	AUX
alkej-551	114	44	visited	visit	VERB
alkej-551	114	45	before	before	ADV
alkej-551	114	46	,	,	PUNCT
alkej-551	114	47	in	in	ADP
alkej-551	114	48	addition	addition	NOUN
alkej-551	114	49	to	to	ADP
alkej-551	114	50	the	the	DET
alkej-551	114	51	fitness	fitness	NOUN
alkej-551	114	52	in	in	ADP
alkej-551	114	53	that	that	DET
alkej-551	114	54	position	position	NOUN
alkej-551	114	55	which	which	PRON
alkej-551	114	56	has	have	AUX
alkej-551	114	57	been	be	AUX
alkej-551	114	58	improved	improve	VERB
alkej-551	114	59	over	over	ADP
alkej-551	114	60	time	time	NOUN
alkej-551	114	61	[	[	X
alkej-551	114	62	14	14	NUM
alkej-551	114	63	-	-	SYM
alkej-551	114	64	15	15	NUM
alkej-551	114	65	]	]	PUNCT
alkej-551	114	66	.	.	PUNCT
alkej-551	115	1	in	in	ADP
alkej-551	115	2	each	each	DET
alkej-551	115	3	iteration	iteration	NOUN
alkej-551	115	4	of	of	ADP
alkej-551	115	5	pso	pso	NOUN
alkej-551	115	6	technique	technique	NOUN
alkej-551	115	7	,	,	PUNCT
alkej-551	115	8	the	the	DET
alkej-551	115	9	9	9	NUM
alkej-551	115	10	(	(	PUNCT
alkej-551	115	11	):	):	PUNCT
alkej-551	115	12	;	;	PUNCT
alkej-551	115	13	and	and	CCONJ
alkej-551	115	14	<	<	X
alkej-551	115	15	=	=	NOUN
alkej-551	115	16	�	�	PROPN
alkej-551	115	17	:	:	PUNCT
alkej-551	115	18	,	,	PUNCT
alkej-551	115	19	;	;	PUNCT
alkej-551	115	20	?	?	PUNCT
alkej-551	116	1	vectors	vector	NOUN
alkej-551	116	2	of	of	ADP
alkej-551	116	3	particle	particle	NOUN
alkej-551	116	4	i	i	PRON
alkej-551	116	5	is	be	AUX
alkej-551	116	6	modified	modify	VERB
alkej-551	116	7	in	in	ADP
alkej-551	116	8	each	each	DET
alkej-551	116	9	dimension	dimension	NOUN
alkej-551	116	10	j	j	PROPN
alkej-551	116	11	in	in	ADP
alkej-551	116	12	order	order	NOUN
alkej-551	116	13	to	to	PART
alkej-551	116	14	lead	lead	VERB
alkej-551	116	15	the	the	DET
alkej-551	116	16	particle	particle	NOUN
alkej-551	116	17	i	i	PRON
alkej-551	116	18	toward	toward	ADP
alkej-551	116	19	either	either	CCONJ
alkej-551	116	20	the	the	DET
alkej-551	116	21	personal	personal	ADJ
alkej-551	116	22	best	good	ADJ
alkej-551	116	23	vector	vector	NOUN
alkej-551	116	24	(	(	PUNCT
alkej-551	116	25	9@=	9@=	PROPN
alkej-551	116	26	)	)	PUNCT
alkej-551	116	27	*	*	PUNCT
alkej-551	117	1	:	:	PUNCT
alkej-551	117	2	;)	;)	PUNCT
alkej-551	117	3	or	or	CCONJ
alkej-551	117	4	the	the	DET
alkej-551	117	5	swarm	swarm	NOUN
alkej-551	117	6	’s	’s	PART
alkej-551	117	7	best	good	ADJ
alkej-551	117	8	vector	vector	NOUN
alkej-551	117	9	(	(	PUNCT
alkej-551	117	10	a@=	a@=	NOUN
alkej-551	117	11	)	)	PUNCT
alkej-551	117	12	*	*	PUNCT
alkej-551	118	1	:	:	PUNCT
alkej-551	118	2	;)	;)	PUNCT
alkej-551	118	3	vel4,b	vel4,b	ADP
alkej-551	118	4	c	c	PROPN
alkej-551	118	5	�	�	PROPN
alkej-551	118	6	�	�	PROPN
alkej-551	118	7	�	�	PROPN
alkej-551	118	8	w	w	NOUN
alkej-551	118	9	×	×	PROPN
alkej-551	118	10	vel4,b	vel4,b	INTJ
alkej-551	118	11	c	c	PROPN
alkej-551	118	12	�	�	PROPN
alkej-551	118	13	c	c	PROPN
alkej-551	118	14	�	�	PROPN
alkej-551	118	15	×	×	PROPN
alkej-551	118	16	r	r	PROPN
alkej-551	118	17	�	�	PROPN
alkej-551	118	18	,b	,b	PUNCT
alkej-551	118	19	×	×	PROPN
alkej-551	118	20	0pbest4b	0pbest4b	PROPN
alkej-551	118	21	&	&	CCONJ
alkej-551	118	22	pos4b2	pos4b2	PROPN
alkej-551	118	23	�	�	PROPN
alkej-551	118	24	c	c	NOUN
alkej-551	118	25	�	�	PROPN
alkej-551	118	26	×	×	PROPN
alkej-551	118	27	r	r	PROPN
alkej-551	118	28	�	�	PROPN
alkej-551	118	29	,b	,b	SYM
alkej-551	118	30	×	×	PROPN
alkej-551	118	31	0gbest4b	0gbest4b	PROPN
alkej-551	118	32	&	&	CCONJ
alkej-551	118	33	pos4b2	pos4b2	PROPN
alkej-551	118	34	…	…	PUNCT
alkej-551	118	35	(	(	PUNCT
alkej-551	118	36	8)	8)	NUM
alkej-551	118	37	the	the	DET
alkej-551	118	38	position	position	NOUN
alkej-551	118	39	of	of	ADP
alkej-551	118	40	each	each	DET
alkej-551	118	41	particle	particle	NOUN
alkej-551	118	42	(	(	PUNCT
alkej-551	118	43	bird	bird	NOUN
alkej-551	118	44	)	)	PUNCT
alkej-551	118	45	is	be	AUX
alkej-551	118	46	updated	update	VERB
alkej-551	118	47	by	by	ADP
alkej-551	118	48	using	use	VERB
alkej-551	118	49	the	the	DET
alkej-551	118	50	new	new	ADJ
alkej-551	118	51	velocity	velocity	NOUN
alkej-551	118	52	for	for	ADP
alkej-551	118	53	that	that	DET
alkej-551	118	54	particle	particle	NOUN
alkej-551	118	55	,	,	PUNCT
alkej-551	118	56	according	accord	VERB
alkej-551	118	57	to	to	ADP
alkej-551	118	58	equation	equation	NOUN
alkej-551	118	59	below	below	ADV
alkej-551	118	60	:	:	PUNCT
alkej-551	118	61	pos4b	pos4b	PROPN
alkej-551	118	62	c	c	NOUN
alkej-551	118	63	�	�	PROPN
alkej-551	118	64	�	�	PROPN
alkej-551	118	65	�	�	PROPN
alkej-551	118	66	pos4b	pos4b	PROPN
alkej-551	118	67	c	c	NOUN
alkej-551	118	68	�	�	PROPN
alkej-551	118	69	vel4b	vel4b	PROPN
alkej-551	118	70	c	c	X
alkej-551	118	71	�	�	X
alkej-551	118	72	�	�	PROPN
alkej-551	118	73	…	…	PUNCT
alkej-551	118	74	(	(	PUNCT
alkej-551	118	75	9	9	NUM
alkej-551	118	76	)	)	PUNCT
alkej-551	118	77	where	where	SCONJ
alkej-551	118	78	'	'	PUNCT
alkej-551	118	79	�	�	PROPN
alkej-551	118	80	and	and	CCONJ
alkej-551	118	81	'	'	PUNCT
alkej-551	118	82	�	�	PROPN
alkej-551	118	83	are	be	AUX
alkej-551	118	84	the	the	DET
alkej-551	118	85	cognitive	cognitive	ADJ
alkej-551	118	86	coefficients	coefficient	NOUN
alkej-551	118	87	(	(	PUNCT
alkej-551	118	88	'	'	PUNCT
alkej-551	118	89	�	�	NOUN
alkej-551	118	90	+	+	NOUN
alkej-551	118	91	'	'	PART
alkej-551	118	92	�	�	NOUN
alkej-551	118	93	<	<	NOUN
alkej-551	118	94	=	=	NOUN
alkej-551	118	95	4	4	NUM
alkej-551	118	96	)	)	PUNCT
alkej-551	118	97	,	,	PUNCT
alkej-551	118	98	and	and	CCONJ
alkej-551	118	99	h	h	PROPN
alkej-551	118	100	�	�	PROPN
alkej-551	118	101	,	,	PUNCT
alkej-551	118	102	;	;	PUNCT
alkej-551	118	103	and	and	CCONJ
alkej-551	118	104	h	h	PROPN
alkej-551	118	105	�	�	PROPN
alkej-551	118	106	,	,	PUNCT
alkej-551	118	107	;	;	PUNCT
alkej-551	118	108	are	be	AUX
alkej-551	118	109	random	random	ADJ
alkej-551	118	110	real	real	ADJ
alkej-551	118	111	numbers	number	NOUN
alkej-551	118	112	between	between	ADP
alkej-551	118	113	[	[	X
alkej-551	118	114	0	0	NUM
alkej-551	118	115	,	,	PUNCT
alkej-551	118	116	1	1	NUM
alkej-551	118	117	]	]	PUNCT
alkej-551	118	118	,	,	PUNCT
alkej-551	118	119	the	the	DET
alkej-551	118	120	inertia	inertia	NOUN
alkej-551	118	121	weight	weight	NOUN
alkej-551	118	122	i	i	PRON
alkej-551	118	123	controls	control	VERB
alkej-551	118	124	the	the	DET
alkej-551	118	125	particle	particle	NOUN
alkej-551	118	126	momentum	momentum	NOUN
alkej-551	118	127	[	[	X
alkej-551	118	128	16	16	NUM
alkej-551	118	129	-	-	SYM
alkej-551	118	130	17	17	NUM
alkej-551	118	131	]	]	PUNCT
alkej-551	118	132	.	.	PUNCT
alkej-551	119	1	the	the	DET
alkej-551	119	2	value	value	NOUN
alkej-551	119	3	of	of	ADP
alkej-551	119	4	<	<	X
alkej-551	119	5	=	=	NOUN
alkej-551	119	6	�	�	PROPN
alkej-551	119	7	:	:	PUNCT
alkej-551	119	8	;	;	PUNCT
alkej-551	119	9	is	be	AUX
alkej-551	119	10	clamped	clamp	VERB
alkej-551	119	11	to	to	ADP
alkej-551	119	12	the	the	DET
alkej-551	119	13	range	range	NOUN
alkej-551	119	14	[	[	X
alkej-551	119	15	<	<	X
alkej-551	119	16	=	=	NOUN
alkej-551	119	17	�	�	PROPN
alkej-551	119	18	jkl	jkl	PROPN
alkej-551	119	19	,	,	PUNCT
alkej-551	119	20	<	<	X
alkej-551	119	21	=	=	PROPN
alkej-551	119	22	�	�	NOUN
alkej-551	119	23	jkl	jkl	NOUN
alkej-551	119	24	]	]	PUNCT
alkej-551	119	25	to	to	PART
alkej-551	119	26	reduce	reduce	VERB
alkej-551	119	27	the	the	DET
alkej-551	119	28	probability	probability	NOUN
alkej-551	119	29	of	of	ADP
alkej-551	119	30	leaving	leave	VERB
alkej-551	119	31	the	the	DET
alkej-551	119	32	search	search	NOUN
alkej-551	119	33	space	space	NOUN
alkej-551	119	34	by	by	ADP
alkej-551	119	35	the	the	DET
alkej-551	119	36	particle	particle	NOUN
alkej-551	119	37	.	.	PUNCT
alkej-551	120	1	if	if	SCONJ
alkej-551	120	2	the	the	DET
alkej-551	120	3	search	search	NOUN
alkej-551	120	4	space	space	NOUN
alkej-551	120	5	is	be	AUX
alkej-551	120	6	defined	define	VERB
alkej-551	120	7	by	by	ADP
alkej-551	120	8	the	the	DET
alkej-551	120	9	bounds	bound	NOUN
alkej-551	120	10	[	[	X
alkej-551	120	11	9()jkl	9()jkl	NOUN
alkej-551	120	12	,	,	PUNCT
alkej-551	120	13	9()jkl	9()jkl	NOUN
alkej-551	120	14	]	]	PUNCT
alkej-551	120	15	,	,	PUNCT
alkej-551	120	16	then	then	ADV
alkej-551	120	17	the	the	DET
alkej-551	120	18	value	value	NOUN
alkej-551	120	19	of	of	ADP
alkej-551	120	20	<	<	X
alkej-551	120	21	=	=	NOUN
alkej-551	120	22	�	�	NOUN
alkej-551	120	23	jkl	jkl	NOUN
alkej-551	120	24	is	be	AUX
alkej-551	120	25	typically	typically	ADV
alkej-551	120	26	set	set	VERB
alkej-551	120	27	so	so	SCONJ
alkej-551	120	28	that	that	SCONJ
alkej-551	120	29	<	<	NOUN
alkej-551	120	30	=	=	SYM
alkej-551	120	31	�	�	PROPN
alkej-551	120	32	jkl	jkl	NOUN
alkej-551	120	33	�	�	PROPN
alkej-551	120	34	m	m	PROPN
alkej-551	120	35	∗	∗	NOUN
alkej-551	120	36	9()jkl	9()jkl	NOUN
alkej-551	120	37	,	,	PUNCT
alkej-551	120	38	where	where	SCONJ
alkej-551	120	39	0.1	0.1	NUM
alkej-551	120	40	≤	≤	NUM
alkej-551	120	41	m	m	VERB
alkej-551	120	42	≤	≤	NOUN
alkej-551	120	43	1.0	1.0	NUM
alkej-551	120	44	.	.	PUNCT
alkej-551	121	1	[	[	X
alkej-551	121	2	16	16	NUM
alkej-551	121	3	]	]	PUNCT
alkej-551	121	4	a	a	DET
alkej-551	121	5	large	large	ADJ
alkej-551	121	6	inertia	inertia	NOUN
alkej-551	121	7	weight	weight	NOUN
alkej-551	121	8	(	(	PUNCT
alkej-551	121	9	w	w	NOUN
alkej-551	121	10	)	)	PUNCT
alkej-551	121	11	eases	ease	VERB
alkej-551	121	12	the	the	DET
alkej-551	121	13	local	local	ADJ
alkej-551	121	14	when	when	SCONJ
alkej-551	121	15	its	its	PRON
alkej-551	121	16	value	value	NOUN
alkej-551	121	17	is	be	AUX
alkej-551	121	18	large	large	ADJ
alkej-551	121	19	and	and	CCONJ
alkej-551	121	20	eases	ease	VERB
alkej-551	121	21	the	the	DET
alkej-551	121	22	global	global	ADJ
alkej-551	121	23	search	search	NOUN
alkej-551	121	24	when	when	SCONJ
alkej-551	121	25	its	its	PRON
alkej-551	121	26	value	value	NOUN
alkej-551	121	27	is	be	AUX
alkej-551	121	28	small	small	ADJ
alkej-551	121	29	.	.	PUNCT
alkej-551	122	1	to	to	PART
alkej-551	122	2	summarized	summarize	VERB
alkej-551	122	3	pso	pso	NOUN
alkej-551	122	4	technique	technique	NOUN
alkej-551	122	5	in	in	ADP
alkej-551	122	6	steps	step	NOUN
alkej-551	122	7	it	it	PRON
alkej-551	122	8	can	can	AUX
alkej-551	122	9	be	be	AUX
alkej-551	122	10	consist	consist	VERB
alkej-551	122	11	of	of	ADP
alkej-551	122	12	just	just	ADV
alkej-551	122	13	three	three	NUM
alkej-551	122	14	steps	step	NOUN
alkej-551	122	15	:	:	PUNCT
alkej-551	122	16	1	1	X
alkej-551	122	17	)	)	PUNCT
alkej-551	122	18	calculate	calculate	NOUN
alkej-551	122	19	fitness	fitness	NOUN
alkej-551	122	20	for	for	ADP
alkej-551	122	21	all	all	DET
alkej-551	122	22	particles	particle	NOUN
alkej-551	122	23	.	.	PUNCT
alkej-551	123	1	2	2	X
alkej-551	123	2	)	)	PUNCT
alkej-551	123	3	update	update	NOUN
alkej-551	123	4	local	local	ADJ
alkej-551	123	5	and	and	CCONJ
alkej-551	123	6	global	global	ADJ
alkej-551	123	7	bests	best	NOUN
alkej-551	123	8	.	.	PUNCT
alkej-551	124	1	3	3	X
alkej-551	124	2	)	)	PUNCT
alkej-551	124	3	update	update	NOUN
alkej-551	124	4	velocity	velocity	NOUN
alkej-551	124	5	and	and	CCONJ
alkej-551	124	6	position	position	NOUN
alkej-551	124	7	for	for	ADP
alkej-551	124	8	all	all	DET
alkej-551	124	9	particles	particle	NOUN
alkej-551	124	10	.	.	PUNCT
alkej-551	125	1	7	7	X
alkej-551	125	2	.	.	NUM
alkej-551	125	3	proposed	propose	VERB
alkej-551	125	4	method	method	NOUN
alkej-551	125	5	:	:	PUNCT
alkej-551	125	6	d	d	X
alkej-551	125	7	*	*	PUNCT
alkej-551	125	8	algorithm	algorithm	NOUN
alkej-551	125	9	based	base	VERB
alkej-551	125	10	on	on	ADP
alkej-551	125	11	pso	pso	NOUN
alkej-551	125	12	the	the	DET
alkej-551	125	13	path	path	NOUN
alkej-551	125	14	planning	planning	NOUN
alkej-551	125	15	algorithm	algorithm	NOUN
alkej-551	125	16	which	which	PRON
alkej-551	125	17	has	have	AUX
alkej-551	125	18	been	be	AUX
alkej-551	125	19	used	use	VERB
alkej-551	125	20	,	,	PUNCT
alkej-551	125	21	is	be	AUX
alkej-551	125	22	the	the	DET
alkej-551	125	23	heuristic	heuristic	ADJ
alkej-551	125	24	d	d	NOUN
alkej-551	125	25	*	*	NOUN
alkej-551	125	26	algorithm	algorithm	NOUN
alkej-551	125	27	that	that	PRON
alkej-551	125	28	depends	depend	VERB
alkej-551	125	29	expansion	expansion	NOUN
alkej-551	125	30	nodes	node	NOUN
alkej-551	125	31	,	,	PUNCT
alkej-551	125	32	in	in	ADP
alkej-551	125	33	an	an	DET
alkej-551	125	34	environment	environment	NOUN
alkej-551	125	35	with	with	ADP
alkej-551	125	36	moving	move	VERB
alkej-551	125	37	objects	object	NOUN
alkej-551	125	38	.	.	PUNCT
alkej-551	126	1	constructing	construct	VERB
alkej-551	126	2	the	the	DET
alkej-551	126	3	environment	environment	NOUN
alkej-551	126	4	includes	include	VERB
alkej-551	126	5	putting	put	VERB
alkej-551	126	6	the	the	DET
alkej-551	126	7	map	map	NOUN
alkej-551	126	8	limitation	limitation	NOUN
alkej-551	126	9	,	,	PUNCT
alkej-551	126	10	start	start	VERB
alkej-551	126	11	and	and	CCONJ
alkej-551	126	12	target	target	VERB
alkej-551	126	13	locations	location	NOUN
alkej-551	126	14	and	and	CCONJ
alkej-551	126	15	the	the	DET
alkej-551	126	16	obstacles	obstacle	NOUN
alkej-551	126	17	locations	location	NOUN
alkej-551	126	18	and	and	CCONJ
alkej-551	126	19	dimensions	dimension	NOUN
alkej-551	126	20	.	.	PUNCT
alkej-551	127	1	after	after	ADP
alkej-551	127	2	constructing	construct	VERB
alkej-551	127	3	the	the	DET
alkej-551	127	4	environment	environment	NOUN
alkej-551	127	5	,	,	PUNCT
alkej-551	127	6	the	the	DET
alkej-551	127	7	algorithm	algorithm	NOUN
alkej-551	127	8	will	will	AUX
alkej-551	127	9	start	start	VERB
alkej-551	127	10	its	its	PRON
alkej-551	127	11	work	work	NOUN
alkej-551	127	12	.	.	PUNCT
alkej-551	128	1	the	the	DET
alkej-551	128	2	robot	robot	NOUN
alkej-551	128	3	firstly	firstly	ADV
alkej-551	128	4	stands	stand	VERB
alkej-551	128	5	on	on	ADP
alkej-551	128	6	the	the	DET
alkej-551	128	7	target	target	NOUN
alkej-551	128	8	node	node	NOUN
alkej-551	128	9	and	and	CCONJ
alkej-551	128	10	start	start	VERB
alkej-551	128	11	the	the	DET
alkej-551	128	12	initial	initial	ADJ
alkej-551	128	13	expand	expand	NOUN
alkej-551	128	14	to	to	ADP
alkej-551	128	15	its	its	PRON
alkej-551	128	16	8	8	NUM
alkej-551	128	17	-	-	PUNCT
alkej-551	128	18	connected	connect	VERB
alkej-551	128	19	neighbor	neighbor	NOUN
alkej-551	128	20	.	.	PUNCT
alkej-551	129	1	each	each	DET
alkej-551	129	2	node	node	NOUN
alkej-551	129	3	will	will	AUX
alkej-551	129	4	have	have	VERB
alkej-551	129	5	an	an	DET
alkej-551	129	6	initial	initial	ADJ
alkej-551	129	7	cost	cost	NOUN
alkej-551	129	8	function	function	NOUN
alkej-551	129	9	where	where	SCONJ
alkej-551	129	10	the	the	DET
alkej-551	129	11	robot	robot	NOUN
alkej-551	129	12	will	will	AUX
alkej-551	129	13	choose	choose	VERB
alkej-551	129	14	the	the	DET
alkej-551	129	15	least	least	ADJ
alkej-551	129	16	cost	cost	NOUN
alkej-551	129	17	function	function	NOUN
alkej-551	129	18	node	node	NOUN
alkej-551	129	19	to	to	PART
alkej-551	129	20	move	move	VERB
alkej-551	129	21	on	on	ADV
alkej-551	129	22	and	and	CCONJ
alkej-551	129	23	put	put	VERB
alkej-551	129	24	it	it	PRON
alkej-551	129	25	in	in	ADP
alkej-551	129	26	the	the	DET
alkej-551	129	27	closed	closed	ADJ
alkej-551	129	28	list	list	NOUN
alkej-551	129	29	while	while	SCONJ
alkej-551	129	30	the	the	DET
alkej-551	129	31	other	other	ADJ
alkej-551	129	32	nodes	node	NOUN
alkej-551	129	33	will	will	AUX
alkej-551	129	34	go	go	VERB
alkej-551	129	35	to	to	ADP
alkej-551	129	36	the	the	DET
alkej-551	129	37	open	open	ADJ
alkej-551	129	38	list	list	NOUN
alkej-551	129	39	.	.	PUNCT
alkej-551	130	1	taking	take	VERB
alkej-551	130	2	into	into	ADP
alkej-551	130	3	consideration	consideration	NOUN
alkej-551	130	4	the	the	DET
alkej-551	130	5	obstacles	obstacle	NOUN
alkej-551	130	6	having	have	VERB
alkej-551	130	7	a	a	DET
alkej-551	130	8	huge	huge	ADJ
alkej-551	130	9	cost	cost	NOUN
alkej-551	130	10	function	function	NOUN
alkej-551	130	11	and	and	CCONJ
alkej-551	130	12	sorting	sort	VERB
alkej-551	130	13	in	in	ADP
alkej-551	130	14	the	the	DET
alkej-551	130	15	closed	closed	ADJ
alkej-551	130	16	list	list	NOUN
alkej-551	130	17	from	from	ADP
alkej-551	130	18	the	the	DET
alkej-551	130	19	beginning	beginning	NOUN
alkej-551	130	20	and	and	CCONJ
alkej-551	130	21	the	the	DET
alkej-551	130	22	process	process	NOUN
alkej-551	130	23	is	be	AUX
alkej-551	130	24	completed	complete	VERB
alkej-551	130	25	like	like	ADP
alkej-551	130	26	that	that	PRON
alkej-551	130	27	until	until	ADP
alkej-551	130	28	reaching	reach	VERB
alkej-551	130	29	the	the	DET
alkej-551	130	30	start	start	NOUN
alkej-551	130	31	node	node	NOUN
alkej-551	130	32	.	.	PUNCT
alkej-551	131	1	when	when	SCONJ
alkej-551	131	2	the	the	DET
alkej-551	131	3	search	search	NOUN
alkej-551	131	4	is	be	AUX
alkej-551	131	5	completed	complete	VERB
alkej-551	131	6	the	the	DET
alkej-551	131	7	robot	robot	NOUN
alkej-551	131	8	will	will	AUX
alkej-551	131	9	move	move	VERB
alkej-551	131	10	from	from	ADP
alkej-551	131	11	the	the	DET
alkej-551	131	12	start	start	NOUN
alkej-551	131	13	on	on	ADP
alkej-551	131	14	the	the	DET
alkej-551	131	15	nodes	node	NOUN
alkej-551	131	16	that	that	PRON
alkej-551	131	17	have	have	AUX
alkej-551	131	18	been	be	AUX
alkej-551	131	19	saved	save	VERB
alkej-551	131	20	in	in	ADP
alkej-551	131	21	the	the	DET
alkej-551	131	22	closed	closed	ADJ
alkej-551	131	23	list	list	NOUN
alkej-551	131	24	to	to	ADP
alkej-551	131	25	the	the	DET
alkej-551	131	26	target	target	NOUN
alkej-551	131	27	node	node	NOUN
alkej-551	131	28	(	(	PUNCT
alkej-551	131	29	therefore	therefore	ADV
alkej-551	131	30	it	it	PRON
alkej-551	131	31	is	be	AUX
alkej-551	131	32	called	call	VERB
alkej-551	131	33	backward	backward	ADV
alkej-551	131	34	searching	searching	NOUN
alkej-551	131	35	method	method	NOUN
alkej-551	131	36	)	)	PUNCT
alkej-551	131	37	avoiding	avoid	VERB
alkej-551	131	38	the	the	DET
alkej-551	131	39	obstacles	obstacle	NOUN
alkej-551	131	40	nodes	node	NOUN
alkej-551	131	41	,	,	PUNCT
alkej-551	131	42	the	the	DET
alkej-551	131	43	current	current	ADJ
alkej-551	131	44	node	node	NOUN
alkej-551	131	45	,	,	PUNCT
alkej-551	131	46	and	and	CCONJ
alkej-551	131	47	the	the	DET
alkej-551	131	48	next	next	ADJ
alkej-551	131	49	step	step	NOUN
alkej-551	131	50	movement	movement	NOUN
alkej-551	131	51	node	node	PROPN
alkej-551	131	52	.	.	PUNCT
alkej-551	132	1	the	the	DET
alkej-551	132	2	velocity	velocity	NOUN
alkej-551	132	3	of	of	ADP
alkej-551	132	4	the	the	DET
alkej-551	132	5	moving	move	VERB
alkej-551	132	6	obstacle	obstacle	NOUN
alkej-551	132	7	is	be	AUX
alkej-551	132	8	constant	constant	ADJ
alkej-551	132	9	and	and	CCONJ
alkej-551	132	10	the	the	DET
alkej-551	132	11	velocity	velocity	NOUN
alkej-551	132	12	of	of	ADP
alkej-551	132	13	the	the	DET
alkej-551	132	14	mass	mass	NOUN
alkej-551	132	15	point	point	NOUN
alkej-551	132	16	is	be	AUX
alkej-551	132	17	changing	change	VERB
alkej-551	132	18	over	over	ADP
alkej-551	132	19	time	time	NOUN
alkej-551	132	20	(	(	PUNCT
alkej-551	132	21	ms	ms	PROPN
alkej-551	132	22	×	×	PROPN
alkej-551	132	23	qr	qr	PROPN
alkej-551	132	24	)	)	PUNCT
alkej-551	132	25	and	and	CCONJ
alkej-551	132	26	it	it	PRON
alkej-551	132	27	is	be	AUX
alkej-551	132	28	calculated	calculate	VERB
alkej-551	132	29	by	by	ADP
alkej-551	132	30	:	:	PUNCT
alkej-551	132	31	vs	vs	PROPN
alkej-551	132	32	�	�	PROPN
alkej-551	132	33	t	t	PROPN
alkej-551	132	34	�	�	PROPN
alkej-551	132	35	�	�	PROPN
alkej-551	132	36	ts	ts	ADP
alkej-551	132	37	�	�	PROPN
alkej-551	132	38	c	c	PROPN
alkej-551	132	39	�	�	PROPN
alkej-551	132	40	uv×wx	uv×wx	PROPN
alkej-551	132	41	…	…	PUNCT
alkej-551	132	42	(	(	PUNCT
alkej-551	132	43	10	10	NUM
alkej-551	132	44	)	)	PUNCT
alkej-551	132	45	vy	vy	PROPN
alkej-551	132	46	�	�	PROPN
alkej-551	132	47	t	t	PROPN
alkej-551	132	48	�	�	PROPN
alkej-551	132	49	�	�	PROPN
alkej-551	132	50	ty	ty	PRON
alkej-551	132	51	�	�	PROPN
alkej-551	132	52	c	c	NOUN
alkej-551	132	53	�	�	PROPN
alkej-551	132	54	uv×wx	uv×wx	PROPN
alkej-551	132	55	…	…	PUNCT
alkej-551	132	56	(	(	PUNCT
alkej-551	132	57	11	11	NUM
alkej-551	132	58	)	)	PUNCT
alkej-551	132	59	where	where	SCONJ
alkej-551	132	60	δ	δ	PROPN
alkej-551	132	61	�	�	PROPN
alkej-551	132	62	represents	represent	VERB
alkej-551	132	63	the	the	DET
alkej-551	132	64	change	change	NOUN
alkej-551	132	65	of	of	ADP
alkej-551	132	66	distance	distance	NOUN
alkej-551	132	67	in	in	ADP
alkej-551	132	68	x	x	NOUN
alkej-551	132	69	-	-	ADJ
alkej-551	132	70	axis	axis	ADJ
alkej-551	132	71	,	,	PUNCT
alkej-551	132	72	δ	δ	PROPN
alkej-551	132	73	�	�	PROPN
alkej-551	132	74	represents	represent	VERB
alkej-551	132	75	the	the	DET
alkej-551	132	76	change	change	NOUN
alkej-551	132	77	of	of	ADP
alkej-551	132	78	distance	distance	NOUN
alkej-551	132	79	in	in	ADP
alkej-551	132	80	yaxis	yaxis	NOUN
alkej-551	132	81	,	,	PUNCT
alkej-551	132	82	ms	ms	PROPN
alkej-551	132	83	represents	represent	VERB
alkej-551	132	84	the	the	DET
alkej-551	132	85	motion	motion	NOUN
alkej-551	132	86	sample	sample	NOUN
alkej-551	132	87	and	and	CCONJ
alkej-551	132	88	qr	qr	NOUN
alkej-551	132	89	represents	represent	VERB
alkej-551	132	90	the	the	DET
alkej-551	132	91	sample	sample	NOUN
alkej-551	132	92	time	time	NOUN
alkej-551	132	93	which	which	PRON
alkej-551	132	94	assumed	assume	VERB
alkej-551	132	95	to	to	PART
alkej-551	132	96	be	be	AUX
alkej-551	132	97	0.01	0.01	NUM
alkej-551	132	98	sec	sec	PROPN
alkej-551	132	99	.	.	PUNCT
alkej-551	133	1	after	after	ADP
alkej-551	133	2	finding	find	VERB
alkej-551	133	3	the	the	DET
alkej-551	133	4	d	d	NOUN
alkej-551	133	5	*	*	NOUN
alkej-551	133	6	path	path	NOUN
alkej-551	133	7	,	,	PUNCT
alkej-551	133	8	the	the	DET
alkej-551	133	9	pso	pso	NOUN
alkej-551	133	10	optimization	optimization	NOUN
alkej-551	133	11	technique	technique	NOUN
alkej-551	133	12	is	be	AUX
alkej-551	133	13	used	use	VERB
alkej-551	133	14	for	for	ADP
alkej-551	133	15	enhancing	enhance	VERB
alkej-551	133	16	the	the	DET
alkej-551	133	17	path	path	NOUN
alkej-551	133	18	,	,	PUNCT
alkej-551	133	19	removing	remove	VERB
alkej-551	133	20	sharp	sharp	ADJ
alkej-551	133	21	edges	edge	NOUN
alkej-551	133	22	and	and	CCONJ
alkej-551	133	23	making	make	VERB
alkej-551	133	24	it	it	PRON
alkej-551	133	25	the	the	DET
alkej-551	133	26	shortest	short	ADJ
alkej-551	133	27	because	because	SCONJ
alkej-551	133	28	the	the	DET
alkej-551	133	29	d	d	PROPN
alkej-551	133	30	*	*	NOUN
alkej-551	133	31	path	path	NOUN
alkej-551	133	32	has	have	VERB
alkej-551	133	33	stairs	stair	NOUN
alkej-551	133	34	shape	shape	NOUN
alkej-551	133	35	sometimes	sometimes	ADV
alkej-551	133	36	.	.	PUNCT
alkej-551	134	1	the	the	DET
alkej-551	134	2	proposed	propose	VERB
alkej-551	134	3	planning	planning	NOUN
alkej-551	134	4	for	for	ADP
alkej-551	134	5	the	the	DET
alkej-551	134	6	mass	mass	ADJ
alkej-551	134	7	point	point	NOUN
alkej-551	134	8	in	in	ADP
alkej-551	134	9	dynamic	dynamic	ADJ
alkej-551	134	10	environment	environment	NOUN
alkej-551	134	11	is	be	AUX
alkej-551	134	12	shown	show	VERB
alkej-551	134	13	in	in	ADP
alkej-551	134	14	figurer	figurer	NOUN
alkej-551	134	15	(	(	PUNCT
alkej-551	134	16	3	3	NUM
alkej-551	134	17	)	)	PUNCT
alkej-551	134	18	.	.	PUNCT
alkej-551	135	1	the	the	DET
alkej-551	135	2	first	first	ADJ
alkej-551	135	3	step	step	NOUN
alkej-551	135	4	to	to	PART
alkej-551	135	5	operate	operate	VERB
alkej-551	135	6	the	the	DET
alkej-551	135	7	pso	pso	NOUN
alkej-551	135	8	,	,	PUNCT
alkej-551	135	9	is	be	AUX
alkej-551	135	10	to	to	PART
alkej-551	135	11	set	set	VERB
alkej-551	135	12	the	the	DET
alkej-551	135	13	parameters	parameter	NOUN
alkej-551	135	14	of	of	ADP
alkej-551	135	15	pso	pso	NOUN
alkej-551	135	16	(	(	PUNCT
alkej-551	135	17	'	'	PUNCT
alkej-551	135	18	�	�	NOUN
alkej-551	135	19	=	=	NOUN
alkej-551	135	20	1	1	NUM
alkej-551	135	21	,	,	PUNCT
alkej-551	135	22	'	'	PUNCT
alkej-551	135	23	�	�	NOUN
alkej-551	135	24	=3	=3	VERB
alkej-551	135	25	,	,	PUNCT
alkej-551	135	26	w=1	w=1	PROPN
alkej-551	135	27	)	)	PUNCT
alkej-551	135	28	which	which	PRON
alkej-551	135	29	are	be	AUX
alkej-551	135	30	found	find	VERB
alkej-551	135	31	by	by	ADP
alkej-551	135	32	a	a	DET
alkej-551	135	33	trial	trial	NOUN
alkej-551	135	34	and	and	CCONJ
alkej-551	135	35	error	error	NOUN
alkej-551	135	36	technique	technique	NOUN
alkej-551	135	37	to	to	PART
alkej-551	135	38	reach	reach	VERB
alkej-551	135	39	the	the	DET
alkej-551	135	40	best	good	ADJ
alkej-551	135	41	results	result	NOUN
alkej-551	135	42	.	.	PUNCT
alkej-551	136	1	now	now	ADV
alkej-551	136	2	,	,	PUNCT
alkej-551	136	3	the	the	DET
alkej-551	136	4	d	d	PROPN
alkej-551	136	5	*	*	PROPN
alkej-551	136	6	path	path	NOUN
alkej-551	136	7	enters	enter	VERB
alkej-551	136	8	the	the	DET
alkej-551	136	9	pso	pso	NOUN
alkej-551	136	10	work	work	NOUN
alkej-551	136	11	,	,	PUNCT
alkej-551	136	12	which	which	PRON
alkej-551	136	13	will	will	AUX
alkej-551	136	14	represent	represent	VERB
alkej-551	136	15	the	the	DET
alkej-551	136	16	d	d	PROPN
alkej-551	136	17	*	*	PUNCT
alkej-551	136	18	path	path	NOUN
alkej-551	136	19	as	as	ADP
alkej-551	136	20	the	the	DET
alkej-551	136	21	search	search	NOUN
alkej-551	136	22	space	space	NOUN
alkej-551	136	23	and	and	CCONJ
alkej-551	136	24	choose	choose	VERB
alkej-551	136	25	the	the	DET
alkej-551	136	26	optimal	optimal	ADJ
alkej-551	136	27	points	point	NOUN
alkej-551	136	28	from	from	ADP
alkej-551	136	29	it	it	PRON
alkej-551	136	30	,	,	PUNCT
alkej-551	136	31	taking	take	VERB
alkej-551	136	32	into	into	ADP
alkej-551	136	33	account	account	NOUN
alkej-551	136	34	the	the	DET
alkej-551	136	35	general	general	ADJ
alkej-551	136	36	shape	shape	NOUN
alkej-551	136	37	for	for	ADP
alkej-551	136	38	the	the	DET
alkej-551	136	39	d	d	PROPN
alkej-551	136	40	*	*	NOUN
alkej-551	136	41	path	path	NOUN
alkej-551	136	42	and	and	CCONJ
alkej-551	136	43	without	without	ADP
alkej-551	136	44	distorting	distort	VERB
alkej-551	136	45	the	the	DET
alkej-551	136	46	original	original	ADJ
alkej-551	136	47	form	form	NOUN
alkej-551	136	48	.	.	PUNCT
alkej-551	137	1	after	after	ADP
alkej-551	137	2	determining	determine	VERB
alkej-551	137	3	the	the	DET
alkej-551	137	4	pso	pso	NOUN
alkej-551	137	5	search	search	NOUN
alkej-551	137	6	space	space	NOUN
alkej-551	137	7	which	which	PRON
alkej-551	137	8	is	be	AUX
alkej-551	137	9	the	the	DET
alkej-551	137	10	d	d	PROPN
alkej-551	137	11	*	*	PROPN
alkej-551	137	12	path	path	NOUN
alkej-551	137	13	matrix	matrix	NOUN
alkej-551	137	14	,	,	PUNCT
alkej-551	137	15	the	the	DET
alkej-551	137	16	search	search	NOUN
alkej-551	137	17	process	process	NOUN
alkej-551	137	18	begins	begin	VERB
alkej-551	137	19	with	with	ADP
alkej-551	137	20	defining	define	VERB
alkej-551	137	21	the	the	DET
alkej-551	137	22	number	number	NOUN
alkej-551	137	23	of	of	ADP
alkej-551	137	24	via	via	ADP
alkej-551	137	25	points	point	NOUN
alkej-551	137	26	(	(	PUNCT
alkej-551	137	27	birdsnumber	birdsnumber	NOUN
alkej-551	137	28	)	)	PUNCT
alkej-551	137	29	that	that	PRON
alkej-551	137	30	search	search	VERB
alkej-551	137	31	for	for	ADP
alkej-551	137	32	the	the	DET
alkej-551	137	33	new	new	ADJ
alkej-551	137	34	points	point	NOUN
alkej-551	137	35	according	accord	VERB
alkej-551	137	36	to	to	ADP
alkej-551	137	37	the	the	DET
alkej-551	137	38	search	search	NOUN
alkej-551	137	39	space	space	NOUN
alkej-551	137	40	dimension	dimension	NOUN
alkej-551	137	41	and	and	CCONJ
alkej-551	137	42	the	the	DET
alkej-551	137	43	pso	pso	NOUN
alkej-551	137	44	parameters	parameter	NOUN
alkej-551	137	45	.	.	PUNCT
alkej-551	138	1	these	these	PRON
alkej-551	138	2	via	via	ADP
alkej-551	138	3	points	point	NOUN
alkej-551	138	4	are	be	AUX
alkej-551	138	5	chosen	choose	VERB
alkej-551	138	6	randomly	randomly	ADV
alkej-551	138	7	from	from	ADP
alkej-551	138	8	the	the	DET
alkej-551	138	9	search	search	NOUN
alkej-551	138	10	area	area	NOUN
alkej-551	138	11	(	(	PUNCT
alkej-551	138	12	d	d	NOUN
alkej-551	138	13	*	*	NOUN
alkej-551	138	14	path	path	NOUN
alkej-551	138	15	)	)	PUNCT
alkej-551	138	16	and	and	CCONJ
alkej-551	138	17	will	will	AUX
alkej-551	138	18	represent	represent	VERB
alkej-551	138	19	the	the	DET
alkej-551	138	20	position	position	NOUN
alkej-551	138	21	parameters	parameter	NOUN
alkej-551	138	22	in	in	ADP
alkej-551	138	23	the	the	DET
alkej-551	138	24	pso	pso	NOUN
alkej-551	138	25	equation	equation	NOUN
alkej-551	138	26	.	.	PUNCT
alkej-551	139	1	the	the	DET
alkej-551	139	2	cubic	cubic	ADJ
alkej-551	139	3	spline	spline	NOUN
alkej-551	139	4	interpolation	interpolation	NOUN
alkej-551	139	5	equation	equation	NOUN
alkej-551	139	6	has	have	AUX
alkej-551	139	7	been	be	AUX
alkej-551	139	8	used	use	VERB
alkej-551	139	9	to	to	PART
alkej-551	139	10	connect	connect	VERB
alkej-551	139	11	the	the	DET
alkej-551	139	12	bestchosen	bestchosen	ADJ
alkej-551	139	13	points	point	NOUN
alkej-551	139	14	from	from	ADP
alkej-551	139	15	the	the	DET
alkej-551	139	16	pso	pso	NOUN
alkej-551	139	17	optimization	optimization	NOUN
alkej-551	139	18	technique	technique	NOUN
alkej-551	139	19	to	to	PART
alkej-551	139	20	generate	generate	VERB
alkej-551	139	21	corresponding	corresponding	ADJ
alkej-551	139	22	smoothed	smooth	VERB
alkej-551	139	23	path	path	NOUN
alkej-551	139	24	.	.	PUNCT
alkej-551	140	1	the	the	DET
alkej-551	140	2	cost	cost	NOUN
alkej-551	140	3	function	function	NOUN
alkej-551	140	4	of	of	ADP
alkej-551	140	5	pso	pso	NOUN
alkej-551	140	6	which	which	PRON
alkej-551	140	7	is	be	AUX
alkej-551	140	8	firas	firas	PROPN
alkej-551	140	9	a.	a.	PROPN
alkej-551	140	10	raheem	raheem	PROPN
alkej-551	140	11	al	al	PROPN
alkej-551	140	12	-	-	PUNCT
alkej-551	140	13	khwarizmi	khwarizmi	PROPN
alkej-551	140	14	engineering	engineering	NOUN
alkej-551	140	15	journal	journal	PROPN
alkej-551	140	16	,	,	PUNCT
alkej-551	140	17	vol	vol	NOUN
alkej-551	140	18	.	.	PROPN
alkej-551	140	19	15	15	NUM
alkej-551	140	20	,	,	PUNCT
alkej-551	140	21	no	no	INTJ
alkej-551	140	22	.	.	NOUN
alkej-551	140	23	2	2	NUM
alkej-551	140	24	,	,	PUNCT
alkej-551	140	25	p.p	p.p	PROPN
alkej-551	140	26	.	.	NOUN
alkej-551	140	27	108123	108123	NUM
alkej-551	140	28	(	(	PUNCT
alkej-551	140	29	2019	2019	NUM
alkej-551	140	30	)	)	PUNCT
alkej-551	140	31	113	113	NUM
alkej-551	140	32	the	the	DET
alkej-551	140	33	path	path	NOUN
alkej-551	140	34	length	length	NOUN
alkej-551	140	35	is	be	AUX
alkej-551	140	36	computed	compute	VERB
alkej-551	140	37	.	.	PUNCT
alkej-551	141	1	then	then	ADV
alkej-551	141	2	the	the	DET
alkej-551	141	3	elementary	elementary	ADJ
alkej-551	141	4	velocity	velocity	NOUN
alkej-551	141	5	is	be	AUX
alkej-551	141	6	set	set	VERB
alkej-551	141	7	,	,	PUNCT
alkej-551	141	8	and	and	CCONJ
alkej-551	141	9	updating	update	VERB
alkej-551	141	10	the	the	DET
alkej-551	141	11	local	local	ADJ
alkej-551	141	12	and	and	CCONJ
alkej-551	141	13	global	global	ADJ
alkej-551	141	14	parameters	parameter	NOUN
alkej-551	141	15	is	be	AUX
alkej-551	141	16	the	the	DET
alkej-551	141	17	next	next	ADJ
alkej-551	141	18	step	step	NOUN
alkej-551	141	19	.	.	PUNCT
alkej-551	142	1	the	the	DET
alkej-551	142	2	procedure	procedure	NOUN
alkej-551	142	3	is	be	AUX
alkej-551	142	4	reiterated	reiterate	VERB
alkej-551	142	5	until	until	SCONJ
alkej-551	142	6	the	the	DET
alkej-551	142	7	given	give	VERB
alkej-551	142	8	points	point	NOUN
alkej-551	142	9	that	that	PRON
alkej-551	142	10	are	be	AUX
alkej-551	142	11	looked	look	VERB
alkej-551	142	12	over	over	ADP
alkej-551	142	13	the	the	DET
alkej-551	142	14	path	path	NOUN
alkej-551	142	15	are	be	AUX
alkej-551	142	16	finished	finish	VERB
alkej-551	142	17	.	.	PUNCT
alkej-551	143	1	the	the	DET
alkej-551	143	2	next	next	ADJ
alkej-551	143	3	step	step	NOUN
alkej-551	143	4	is	be	AUX
alkej-551	143	5	updating	update	VERB
alkej-551	143	6	the	the	DET
alkej-551	143	7	velocity	velocity	NOUN
alkej-551	143	8	and	and	CCONJ
alkej-551	143	9	position	position	NOUN
alkej-551	143	10	equations	equation	NOUN
alkej-551	143	11	,	,	PUNCT
alkej-551	143	12	for	for	ADP
alkej-551	143	13	converging	converge	VERB
alkej-551	143	14	the	the	PRON
alkej-551	143	15	via	via	ADP
alkej-551	143	16	points	point	NOUN
alkej-551	143	17	into	into	ADP
alkej-551	143	18	the	the	DET
alkej-551	143	19	best	good	ADJ
alkej-551	143	20	cost	cost	NOUN
alkej-551	143	21	,	,	PUNCT
alkej-551	143	22	and	and	CCONJ
alkej-551	143	23	also	also	ADV
alkej-551	143	24	updating	update	VERB
alkej-551	143	25	the	the	DET
alkej-551	143	26	local	local	ADJ
alkej-551	143	27	and	and	CCONJ
alkej-551	143	28	global	global	ADJ
alkej-551	143	29	parameters	parameter	NOUN
alkej-551	143	30	,	,	PUNCT
alkej-551	143	31	the	the	DET
alkej-551	143	32	flowchart	flowchart	NOUN
alkej-551	143	33	in	in	ADP
alkej-551	143	34	figure	figure	NOUN
alkej-551	143	35	(	(	PUNCT
alkej-551	143	36	4	4	NUM
alkej-551	143	37	)	)	PUNCT
alkej-551	143	38	explains	explain	VERB
alkej-551	143	39	the	the	DET
alkej-551	143	40	entire	entire	ADJ
alkej-551	143	41	process	process	NOUN
alkej-551	143	42	.	.	PUNCT
alkej-551	144	1	the	the	DET
alkej-551	144	2	cubic	cubic	ADJ
alkej-551	144	3	polynomial	polynomial	NOUN
alkej-551	144	4	will	will	AUX
alkej-551	144	5	connect	connect	VERB
alkej-551	144	6	the	the	DET
alkej-551	144	7	start	start	NOUN
alkej-551	144	8	point	point	NOUN
alkej-551	144	9	and	and	CCONJ
alkej-551	144	10	goal	goal	NOUN
alkej-551	144	11	point	point	NOUN
alkej-551	144	12	through	through	ADP
alkej-551	144	13	the	the	DET
alkej-551	144	14	waypoints	waypoint	NOUN
alkej-551	144	15	that	that	PRON
alkej-551	144	16	are	be	AUX
alkej-551	144	17	used	use	VERB
alkej-551	144	18	for	for	ADP
alkej-551	144	19	calculating	calculate	VERB
alkej-551	144	20	the	the	DET
alkej-551	144	21	following	follow	VERB
alkej-551	144	22	cost	cost	NOUN
alkej-551	144	23	function	function	NOUN
alkej-551	144	24	,	,	PUNCT
alkej-551	144	25	which	which	PRON
alkej-551	144	26	will	will	AUX
alkej-551	144	27	be	be	AUX
alkej-551	144	28	minimized	minimize	VERB
alkej-551	144	29	by	by	ADP
alkej-551	144	30	pso	pso	NOUN
alkej-551	144	31	algorithm	algorithm	NOUN
alkej-551	144	32	.	.	PUNCT
alkej-551	145	1	the	the	DET
alkej-551	145	2	final	final	ADJ
alkej-551	145	3	optimal	optimal	ADJ
alkej-551	145	4	path	path	NOUN
alkej-551	145	5	length	length	NOUN
alkej-551	145	6	represented	represent	VERB
alkej-551	145	7	in	in	ADP
alkej-551	145	8	the	the	DET
alkej-551	145	9	equation	equation	NOUN
alkej-551	145	10	(	(	PUNCT
alkej-551	145	11	12	12	NUM
alkej-551	145	12	)	)	PUNCT
alkej-551	145	13	below	below	ADV
alkej-551	145	14	.	.	PUNCT
alkej-551	146	1	cost	cost	VERB
alkej-551	146	2	=	=	SYM
alkej-551	146	3	∑	∑	SYM
alkej-551	146	4	\	\	PROPN
alkej-551	146	5	�	�	PROPN
alkej-551	146	6	�	�	PROPN
alkej-551	146	7	:	:	PUNCT
alkej-551	146	8	&	&	CCONJ
alkej-551	146	9	�	�	PROPN
alkej-551	146	10	:	:	PUNCT
alkej-551	146	11	�	�	PROPN
alkej-551	146	12	�	�	PROPN
alkej-551	146	13	�	�	PROPN
alkej-551	146	14	�	�	PROPN
alkej-551	146	15	�	�	PROPN
alkej-551	146	16	�	�	PROPN
alkej-551	146	17	�	�	PROPN
alkej-551	146	18	:	:	PUNCT
alkej-551	146	19	&	&	CCONJ
alkej-551	146	20	�	�	PROPN
alkej-551	146	21	:	:	PUNCT
alkej-551	146	22	�	�	PROPN
alkej-551	146	23	�	�	PROPN
alkej-551	146	24	�	�	PROPN
alkej-551	146	25	�	�	PROPN
alkej-551	146	26	j	j	PROPN
alkej-551	146	27	:]	:]	PROPN
alkej-551	146	28	�	�	PROPN
alkej-551	146	29	…	…	PUNCT
alkej-551	146	30	(	(	PUNCT
alkej-551	146	31	12	12	NUM
alkej-551	146	32	)	)	PUNCT
alkej-551	146	33	fig	fig	NOUN
alkej-551	146	34	.	.	PUNCT
alkej-551	147	1	3	3	X
alkej-551	147	2	.	.	NUM
alkej-551	147	3	proposed	propose	VERB
alkej-551	147	4	planning	planning	NOUN
alkej-551	147	5	for	for	ADP
alkej-551	147	6	the	the	DET
alkej-551	147	7	mass	mass	ADJ
alkej-551	147	8	point	point	NOUN
alkej-551	147	9	in	in	ADP
alkej-551	147	10	dynamic	dynamic	ADJ
alkej-551	147	11	environment	environment	NOUN
alkej-551	147	12	.	.	PUNCT
alkej-551	148	1	fig	fig	NOUN
alkej-551	148	2	.	.	PUNCT
alkej-551	149	1	4	4	X
alkej-551	149	2	.	.	X
alkej-551	150	1	the	the	DET
alkej-551	150	2	heuristic	heuristic	ADJ
alkej-551	150	3	d	d	X
alkej-551	150	4	*	*	NOUN
alkej-551	150	5	via	via	ADP
alkej-551	150	6	point	point	NOUN
alkej-551	150	7	flowchart	flowchart	NOUN
alkej-551	150	8	for	for	ADP
alkej-551	150	9	known	know	VERB
alkej-551	150	10	obstacle	obstacle	NOUN
alkej-551	150	11	position	position	NOUN
alkej-551	150	12	dynamic	dynamic	ADJ
alkej-551	150	13	environment	environment	NOUN
alkej-551	150	14	.	.	PUNCT
alkej-551	151	1	8	8	X
alkej-551	151	2	.	.	X
alkej-551	151	3	simulation	simulation	NOUN
alkej-551	151	4	results	result	NOUN
alkej-551	151	5	and	and	CCONJ
alkej-551	151	6	discussion	discussion	NOUN
alkej-551	151	7	8.1	8.1	NUM
alkej-551	151	8	first	first	ADJ
alkej-551	151	9	environment	environment	NOUN
alkej-551	151	10	here	here	ADV
alkej-551	151	11	it	it	PRON
alkej-551	151	12	is	be	AUX
alkej-551	151	13	applied	apply	VERB
alkej-551	151	14	the	the	DET
alkej-551	151	15	two	two	NUM
alkej-551	151	16	-	-	PUNCT
alkej-551	151	17	link	link	NOUN
alkej-551	151	18	robot	robot	NOUN
alkej-551	151	19	arm	arm	NOUN
alkej-551	151	20	as	as	ADP
alkej-551	151	21	a	a	DET
alkej-551	151	22	case	case	NOUN
alkej-551	151	23	study	study	NOUN
alkej-551	151	24	.	.	PUNCT
alkej-551	152	1	the	the	DET
alkej-551	152	2	first	first	ADJ
alkej-551	152	3	and	and	CCONJ
alkej-551	152	4	second	second	ADJ
alkej-551	152	5	link	link	NOUN
alkej-551	152	6	length	length	NOUN
alkej-551	152	7	is	be	AUX
alkej-551	152	8	equal	equal	ADJ
alkej-551	152	9	to	to	ADP
alkej-551	152	10	the	the	DET
alkej-551	152	11	half	half	NOUN
alkej-551	152	12	of	of	ADP
alkej-551	152	13	the	the	DET
alkej-551	152	14	robot	robot	NOUN
alkej-551	152	15	workspace	workspace	NOUN
alkej-551	152	16	and	and	CCONJ
alkej-551	152	17	the	the	DET
alkej-551	152	18	arm	arm	NOUN
alkej-551	152	19	has	have	VERB
alkej-551	152	20	360	360	NUM
alkej-551	152	21	degrees	degree	NOUN
alkej-551	152	22	.	.	PUNCT
alkej-551	153	1	figure	figure	NOUN
alkej-551	153	2	(	(	PUNCT
alkej-551	153	3	5	5	NUM
alkej-551	153	4	)	)	PUNCT
alkej-551	153	5	,	,	PUNCT
alkej-551	153	6	clarifies	clarify	VERB
alkej-551	153	7	the	the	DET
alkej-551	153	8	environment	environment	NOUN
alkej-551	153	9	analysis	analysis	NOUN
alkej-551	153	10	and	and	CCONJ
alkej-551	153	11	the	the	DET
alkej-551	153	12	obstacle	obstacle	NOUN
alkej-551	153	13	motion	motion	NOUN
alkej-551	153	14	behavior	behavior	NOUN
alkej-551	153	15	with	with	ADP
alkej-551	153	16	four	four	NUM
alkej-551	153	17	moving	move	VERB
alkej-551	153	18	obstacle	obstacle	NOUN
alkej-551	153	19	two	two	NUM
alkej-551	153	20	from	from	ADP
alkej-551	153	21	these	these	DET
alkej-551	153	22	obstacles	obstacle	NOUN
alkej-551	153	23	move	move	VERB
alkej-551	153	24	in	in	ADP
alkej-551	153	25	a	a	DET
alkej-551	153	26	square	square	ADJ
alkej-551	153	27	motion	motion	NOUN
alkej-551	153	28	shape	shape	NOUN
alkej-551	153	29	,	,	PUNCT
alkej-551	153	30	for	for	ADP
alkej-551	153	31	a	a	DET
alkej-551	153	32	while	while	NOUN
alkej-551	153	33	,	,	PUNCT
alkej-551	153	34	this	this	DET
alkej-551	153	35	generated	generate	VERB
alkej-551	153	36	path	path	NOUN
alkej-551	153	37	looks	look	VERB
alkej-551	153	38	like	like	ADP
alkej-551	153	39	a	a	DET
alkej-551	153	40	little	little	ADJ
alkej-551	153	41	bit	bit	NOUN
alkej-551	153	42	simple	simple	ADJ
alkej-551	153	43	,	,	PUNCT
alkej-551	153	44	but	but	CCONJ
alkej-551	153	45	this	this	DET
alkej-551	153	46	environment	environment	NOUN
alkej-551	153	47	featured	feature	VERB
alkej-551	153	48	a	a	DET
alkej-551	153	49	critical	critical	ADJ
alkej-551	153	50	path	path	NOUN
alkej-551	153	51	,	,	PUNCT
alkej-551	153	52	as	as	SCONJ
alkej-551	153	53	shown	show	VERB
alkej-551	153	54	in	in	ADP
alkej-551	153	55	figure	figure	NOUN
alkej-551	153	56	(	(	PUNCT
alkej-551	153	57	6	6	NUM
alkej-551	153	58	)	)	PUNCT
alkej-551	153	59	,	,	PUNCT
alkej-551	153	60	where	where	SCONJ
alkej-551	153	61	figure	figure	NOUN
alkej-551	153	62	(	(	PUNCT
alkej-551	153	63	6.a	6.a	NUM
alkej-551	153	64	)	)	PUNCT
alkej-551	153	65	represents	represent	VERB
alkej-551	153	66	the	the	DET
alkej-551	153	67	elbow	elbow	NOUN
alkej-551	153	68	down	down	ADP
alkej-551	153	69	analysis	analysis	NOUN
alkej-551	153	70	,	,	PUNCT
alkej-551	153	71	figure	figure	NOUN
alkej-551	153	72	(	(	PUNCT
alkej-551	153	73	6.b	6.b	NUM
alkej-551	153	74	)	)	PUNCT
alkej-551	153	75	represents	represent	VERB
alkej-551	153	76	the	the	DET
alkej-551	153	77	elbow	elbow	NOUN
alkej-551	153	78	up	up	ADP
alkej-551	153	79	analysis	analysis	NOUN
alkej-551	153	80	and	and	CCONJ
alkej-551	153	81	figure	figure	NOUN
alkej-551	153	82	(	(	PUNCT
alkej-551	153	83	6.c	6.c	NUM
alkej-551	153	84	)	)	PUNCT
alkej-551	153	85	represents	represent	VERB
alkej-551	153	86	the	the	DET
alkej-551	153	87	elbow	elbow	NOUN
alkej-551	153	88	up	up	ADP
alkej-551	153	89	and	and	CCONJ
alkej-551	153	90	down	down	ADP
alkej-551	153	91	analysis	analysis	NOUN
alkej-551	153	92	.	.	PUNCT
alkej-551	154	1	in	in	ADP
alkej-551	154	2	fcs	fcs	NOUN
alkej-551	154	3	analysis	analysis	NOUN
alkej-551	154	4	figures	figure	VERB
alkej-551	154	5	the	the	DET
alkej-551	154	6	colored	colored	ADJ
alkej-551	154	7	area	area	NOUN
alkej-551	154	8	(	(	PUNCT
alkej-551	154	9	blue	blue	ADJ
alkej-551	154	10	,	,	PUNCT
alkej-551	154	11	red	red	ADJ
alkej-551	154	12	or	or	CCONJ
alkej-551	154	13	green	green	ADJ
alkej-551	154	14	)	)	PUNCT
alkej-551	154	15	indicates	indicate	VERB
alkej-551	154	16	the	the	DET
alkej-551	154	17	free	free	ADJ
alkej-551	154	18	and	and	CCONJ
alkej-551	154	19	safe	safe	ADJ
alkej-551	154	20	area	area	NOUN
alkej-551	154	21	for	for	ADP
alkej-551	154	22	moving	move	VERB
alkej-551	154	23	robot	robot	NOUN
alkej-551	154	24	links	link	NOUN
alkej-551	154	25	while	while	SCONJ
alkej-551	154	26	the	the	DET
alkej-551	154	27	white	white	ADJ
alkej-551	154	28	area	area	NOUN
alkej-551	154	29	indicates	indicate	VERB
alkej-551	154	30	the	the	DET
alkej-551	154	31	unreachable	unreachable	ADJ
alkej-551	154	32	area	area	NOUN
alkej-551	154	33	.	.	PUNCT
alkej-551	155	1	therefore	therefore	ADV
alkej-551	155	2	,	,	PUNCT
alkej-551	155	3	the	the	DET
alkej-551	155	4	robot	robot	NOUN
alkej-551	155	5	can	can	AUX
alkej-551	155	6	take	take	VERB
alkej-551	155	7	a	a	DET
alkej-551	155	8	proper	proper	ADJ
alkej-551	155	9	decision	decision	NOUN
alkej-551	155	10	for	for	ADP
alkej-551	155	11	selecting	select	VERB
alkej-551	155	12	the	the	DET
alkej-551	155	13	next	next	ADJ
alkej-551	155	14	points	point	NOUN
alkej-551	155	15	in	in	ADP
alkej-551	155	16	a	a	DET
alkej-551	155	17	free	free	ADJ
alkej-551	155	18	and	and	CCONJ
alkej-551	155	19	completely	completely	ADV
alkej-551	155	20	safe	safe	ADJ
alkej-551	155	21	path	path	NOUN
alkej-551	155	22	inside	inside	ADP
alkej-551	155	23	the	the	DET
alkej-551	155	24	permitted	permit	VERB
alkej-551	155	25	motion	motion	NOUN
alkej-551	155	26	area	area	NOUN
alkej-551	155	27	.	.	PUNCT
alkej-551	156	1	since	since	SCONJ
alkej-551	156	2	the	the	DET
alkej-551	156	3	fcs	fcs	NOUN
alkej-551	156	4	is	be	AUX
alkej-551	156	5	very	very	ADV
alkej-551	156	6	limited	limited	ADJ
alkej-551	156	7	because	because	SCONJ
alkej-551	156	8	of	of	ADP
alkej-551	156	9	the	the	DET
alkej-551	156	10	range	range	NOUN
alkej-551	156	11	of	of	ADP
alkej-551	156	12	obstacle	obstacle	NOUN
alkej-551	156	13	’s	’s	PART
alkej-551	156	14	motion	motion	NOUN
alkej-551	156	15	,	,	PUNCT
alkej-551	156	16	so	so	ADV
alkej-551	156	17	the	the	DET
alkej-551	156	18	robot	robot	NOUN
alkej-551	156	19	will	will	AUX
alkej-551	156	20	move	move	VERB
alkej-551	156	21	in	in	ADP
alkej-551	156	22	elbow	elbow	NOUN
alkej-551	156	23	down	down	ADP
alkej-551	156	24	free	free	ADJ
alkej-551	156	25	space	space	NOUN
alkej-551	156	26	as	as	SCONJ
alkej-551	156	27	mentioned	mention	VERB
alkej-551	156	28	in	in	ADP
alkej-551	156	29	figure	figure	NOUN
alkej-551	156	30	(	(	PUNCT
alkej-551	156	31	2	2	NUM
alkej-551	156	32	)	)	PUNCT
alkej-551	156	33	to	to	ADP
alkej-551	156	34	the	the	DET
alkej-551	156	35	configuration	configuration	NOUN
alkej-551	156	36	of	of	ADP
alkej-551	156	37	the	the	DET
alkej-551	156	38	two	two	NUM
alkej-551	156	39	-	-	PUNCT
alkej-551	156	40	link	link	NOUN
alkej-551	156	41	arm	arm	NOUN
alkej-551	156	42	elbows	elbow	NOUN
alkej-551	156	43	.	.	PUNCT
alkej-551	157	1	figure	figure	NOUN
alkej-551	157	2	(	(	PUNCT
alkej-551	157	3	7	7	X
alkej-551	157	4	)	)	PUNCT
alkej-551	157	5	shows	show	VERB
alkej-551	157	6	the	the	DET
alkej-551	157	7	twolink	twolink	NOUN
alkej-551	157	8	robot	robot	NOUN
alkej-551	157	9	arm	arm	PROPN
alkej-551	157	10	environment	environment	NOUN
alkej-551	157	11	which	which	PRON
alkej-551	157	12	looks	look	VERB
alkej-551	157	13	very	very	ADV
alkej-551	157	14	crowded	crowded	ADJ
alkej-551	157	15	for	for	ADP
alkej-551	157	16	moving	move	VERB
alkej-551	157	17	in	in	ADP
alkej-551	157	18	.	.	PUNCT
alkej-551	158	1	where	where	SCONJ
alkej-551	158	2	the	the	DET
alkej-551	158	3	process	process	NOUN
alkej-551	158	4	is	be	AUX
alkej-551	158	5	offline	offline	ADJ
alkej-551	158	6	,	,	PUNCT
alkej-551	158	7	the	the	DET
alkej-551	158	8	pso	pso	NOUN
alkej-551	158	9	optimization	optimization	NOUN
alkej-551	158	10	technique	technique	NOUN
alkej-551	158	11	is	be	AUX
alkej-551	158	12	used	use	VERB
alkej-551	158	13	to	to	PART
alkej-551	158	14	get	get	AUX
alkej-551	158	15	rid	rid	VERB
alkej-551	158	16	of	of	ADP
alkej-551	158	17	sharp	sharp	ADJ
alkej-551	158	18	edge	edge	NOUN
alkej-551	158	19	and	and	CCONJ
alkej-551	158	20	shorten	shorten	VERB
alkej-551	158	21	the	the	DET
alkej-551	158	22	path	path	NOUN
alkej-551	158	23	and	and	CCONJ
alkej-551	158	24	as	as	SCONJ
alkej-551	158	25	shown	show	VERB
alkej-551	158	26	in	in	ADP
alkej-551	158	27	figure	figure	NOUN
alkej-551	158	28	(	(	PUNCT
alkej-551	158	29	8)	8)	NUM
alkej-551	158	30	,	,	PUNCT
alkej-551	158	31	the	the	DET
alkej-551	158	32	d	d	PROPN
alkej-551	158	33	*	*	PROPN
alkej-551	158	34	path	path	NOUN
alkej-551	158	35	based	base	VERB
alkej-551	158	36	on	on	ADP
alkej-551	158	37	pso	pso	NOUN
alkej-551	158	38	was	be	AUX
alkej-551	158	39	decreased	decrease	VERB
alkej-551	158	40	by	by	ADP
alkej-551	158	41	3.2846	3.2846	NUM
alkej-551	158	42	cm	cm	NOUN
alkej-551	158	43	long	long	ADV
alkej-551	158	44	from	from	ADP
alkej-551	158	45	the	the	DET
alkej-551	158	46	original	original	ADJ
alkej-551	158	47	path	path	NOUN
alkej-551	158	48	as	as	SCONJ
alkej-551	158	49	shown	show	VERB
alkej-551	158	50	in	in	ADP
alkej-551	158	51	table	table	NOUN
alkej-551	158	52	(	(	PUNCT
alkej-551	158	53	2	2	NUM
alkej-551	158	54	)	)	PUNCT
alkej-551	158	55	,	,	PUNCT
alkej-551	158	56	which	which	PRON
alkej-551	158	57	clarify	clarify	VERB
alkej-551	158	58	the	the	DET
alkej-551	158	59	environment	environment	NOUN
alkej-551	158	60	information	information	NOUN
alkej-551	158	61	such	such	ADJ
alkej-551	158	62	as	as	ADP
alkej-551	158	63	the	the	DET
alkej-551	158	64	original	original	ADJ
alkej-551	158	65	d	d	NOUN
alkej-551	158	66	*	*	X
alkej-551	158	67	path	path	NOUN
alkej-551	158	68	length	length	NOUN
alkej-551	158	69	and	and	CCONJ
alkej-551	158	70	the	the	DET
alkej-551	158	71	new	new	ADJ
alkej-551	158	72	optimal	optimal	ADJ
alkej-551	158	73	path	path	NOUN
alkej-551	158	74	length	length	NOUN
alkej-551	158	75	which	which	PRON
alkej-551	158	76	is	be	AUX
alkej-551	158	77	clearly	clearly	ADV
alkej-551	158	78	shorter	short	ADJ
alkej-551	158	79	.	.	PUNCT
alkej-551	159	1	figure	figure	NOUN
alkej-551	159	2	(	(	PUNCT
alkej-551	159	3	9	9	NUM
alkej-551	159	4	)	)	PUNCT
alkej-551	159	5	represents	represent	VERB
alkej-551	159	6	the	the	DET
alkej-551	159	7	new	new	ADJ
alkej-551	159	8	path	path	NOUN
alkej-551	159	9	of	of	ADP
alkej-551	159	10	d	d	PROPN
alkej-551	159	11	*	*	VERB
alkej-551	159	12	based	base	VERB
alkej-551	159	13	on	on	ADP
alkej-551	159	14	pso	pso	NOUN
alkej-551	159	15	.	.	PUNCT
alkej-551	160	1	the	the	DET
alkej-551	160	2	joint	joint	ADJ
alkej-551	160	3	angles	angle	NOUN
alkej-551	160	4	and	and	CCONJ
alkej-551	160	5	change	change	NOUN
alkej-551	160	6	in	in	ADP
alkej-551	160	7	angles	angle	NOUN
alkej-551	160	8	based	base	VERB
alkej-551	160	9	on	on	ADP
alkej-551	160	10	pso	pso	NOUN
alkej-551	160	11	path	path	NOUN
alkej-551	160	12	are	be	AUX
alkej-551	160	13	shown	show	VERB
alkej-551	160	14	in	in	ADP
alkej-551	160	15	figure	figure	NOUN
alkej-551	160	16	(	(	PUNCT
alkej-551	160	17	10	10	NUM
alkej-551	160	18	)	)	PUNCT
alkej-551	160	19	and	and	CCONJ
alkej-551	160	20	(	(	PUNCT
alkej-551	160	21	11	11	NUM
alkej-551	160	22	)	)	PUNCT
alkej-551	160	23	respectively	respectively	ADV
alkej-551	160	24	.	.	PUNCT
alkej-551	161	1	fig	fig	NOUN
alkej-551	161	2	.	.	PUNCT
alkej-551	162	1	5	5	X
alkej-551	162	2	.	.	X
alkej-551	162	3	obstacle	obstacle	NOUN
alkej-551	162	4	motion	motion	NOUN
alkej-551	162	5	behavior	behavior	NOUN
alkej-551	162	6	.	.	PUNCT
alkej-551	163	1	firas	firas	PROPN
alkej-551	163	2	a.	a.	PROPN
alkej-551	163	3	raheem	raheem	PROPN
alkej-551	163	4	al	al	PROPN
alkej-551	163	5	-	-	PUNCT
alkej-551	163	6	khwarizmi	khwarizmi	PROPN
alkej-551	163	7	engineering	engineering	NOUN
alkej-551	163	8	journal	journal	PROPN
alkej-551	163	9	,	,	PUNCT
alkej-551	163	10	vol	vol	NOUN
alkej-551	163	11	.	.	PROPN
alkej-551	163	12	15	15	NUM
alkej-551	163	13	,	,	PUNCT
alkej-551	163	14	no	no	INTJ
alkej-551	163	15	.	.	NOUN
alkej-551	163	16	2	2	NUM
alkej-551	163	17	,	,	PUNCT
alkej-551	163	18	p.p	p.p	PROPN
alkej-551	163	19	.	.	NOUN
alkej-551	163	20	108123	108123	NUM
alkej-551	163	21	(	(	PUNCT
alkej-551	163	22	2019	2019	NUM
alkej-551	163	23	)	)	PUNCT
alkej-551	163	24	114	114	NUM
alkej-551	163	25	(	(	PUNCT
alkej-551	163	26	a	a	NOUN
alkej-551	163	27	)	)	PUNCT
alkej-551	163	28	(	(	PUNCT
alkej-551	163	29	b	b	X
alkej-551	163	30	)	)	PUNCT
alkej-551	163	31	(	(	PUNCT
alkej-551	163	32	c	c	X
alkej-551	163	33	)	)	PUNCT
alkej-551	163	34	fig	fig	NOUN
alkej-551	163	35	.	.	PUNCT
alkej-551	164	1	6	6	NUM
alkej-551	164	2	.	.	NUM
alkej-551	164	3	fcs	fc	NOUN
alkej-551	164	4	for	for	ADP
alkej-551	164	5	known	know	VERB
alkej-551	164	6	obstacle	obstacle	NOUN
alkej-551	164	7	position	position	NOUN
alkej-551	164	8	dynamic	dynamic	ADJ
alkej-551	164	9	environment	environment	NOUN
alkej-551	164	10	where	where	SCONJ
alkej-551	164	11	(	(	PUNCT
alkej-551	164	12	a	a	X
alkej-551	164	13	)	)	PUNCT
alkej-551	164	14	represents	represents	AUX
alkej-551	164	15	elbow	elbow	VERB
alkej-551	164	16	down	down	ADP
alkej-551	164	17	,	,	PUNCT
alkej-551	164	18	(	(	PUNCT
alkej-551	164	19	b	b	X
alkej-551	164	20	)	)	PUNCT
alkej-551	164	21	represents	represents	AUX
alkej-551	164	22	elbow	elbow	VERB
alkej-551	164	23	up	up	ADP
alkej-551	164	24	and	and	CCONJ
alkej-551	164	25	(	(	PUNCT
alkej-551	164	26	c	c	X
alkej-551	164	27	)	)	PUNCT
alkej-551	164	28	represents	represent	VERB
alkej-551	164	29	the	the	DET
alkej-551	164	30	gathering	gathering	NOUN
alkej-551	164	31	between	between	ADP
alkej-551	164	32	elbow	elbow	NOUN
alkej-551	164	33	up	up	ADP
alkej-551	164	34	and	and	CCONJ
alkej-551	164	35	elbow	elbow	VERB
alkej-551	164	36	down	down	ADP
alkej-551	164	37	.	.	PUNCT
alkej-551	165	1	firas	firas	PROPN
alkej-551	165	2	a.	a.	PROPN
alkej-551	165	3	raheem	raheem	PROPN
alkej-551	165	4	al	al	PROPN
alkej-551	165	5	-	-	PUNCT
alkej-551	165	6	khwarizmi	khwarizmi	PROPN
alkej-551	165	7	engineering	engineering	NOUN
alkej-551	165	8	journal	journal	PROPN
alkej-551	165	9	,	,	PUNCT
alkej-551	165	10	vol	vol	NOUN
alkej-551	165	11	.	.	PROPN
alkej-551	165	12	15	15	NUM
alkej-551	165	13	,	,	PUNCT
alkej-551	165	14	no	no	INTJ
alkej-551	165	15	.	.	NOUN
alkej-551	165	16	2	2	NUM
alkej-551	165	17	,	,	PUNCT
alkej-551	165	18	p.p	p.p	PROPN
alkej-551	165	19	.	.	NOUN
alkej-551	165	20	108123	108123	NUM
alkej-551	165	21	(	(	PUNCT
alkej-551	165	22	2019	2019	NUM
alkej-551	165	23	)	)	PUNCT
alkej-551	165	24	115	115	NUM
alkej-551	165	25	fig	fig	NOUN
alkej-551	165	26	.	.	PUNCT
alkej-551	166	1	7	7	X
alkej-551	166	2	.	.	X
alkej-551	166	3	the	the	DET
alkej-551	166	4	two	two	NUM
alkej-551	166	5	-	-	PUNCT
alkej-551	166	6	link	link	NOUN
alkej-551	166	7	robot	robot	NOUN
alkej-551	166	8	arm	arm	NOUN
alkej-551	166	9	result	result	VERB
alkej-551	166	10	for	for	ADP
alkej-551	166	11	the	the	DET
alkej-551	166	12	d	d	PROPN
alkej-551	166	13	*	*	PROPN
alkej-551	166	14	path	path	NOUN
alkej-551	166	15	.	.	PUNCT
alkej-551	167	1	(	(	PUNCT
alkej-551	167	2	a	a	X
alkej-551	167	3	)	)	PUNCT
alkej-551	167	4	(	(	PUNCT
alkej-551	167	5	b	b	X
alkej-551	167	6	)	)	PUNCT
alkej-551	167	7	fig	fig	NOUN
alkej-551	167	8	.	.	PUNCT
alkej-551	168	1	8	8	NUM
alkej-551	168	2	.	.	PUNCT
alkej-551	169	1	(	(	PUNCT
alkej-551	169	2	a	a	X
alkej-551	169	3	)	)	PUNCT
alkej-551	169	4	represents	represent	VERB
alkej-551	169	5	final	final	ADJ
alkej-551	169	6	d	d	NOUN
alkej-551	169	7	*	*	PUNCT
alkej-551	169	8	and	and	CCONJ
alkej-551	169	9	(	(	PUNCT
alkej-551	169	10	b	b	NOUN
alkej-551	169	11	)	)	PUNCT
alkej-551	169	12	represents	represent	VERB
alkej-551	169	13	pso	pso	NOUN
alkej-551	169	14	path	path	NOUN
alkej-551	169	15	and	and	CCONJ
alkej-551	169	16	the	the	DET
alkej-551	169	17	path	path	NOUN
alkej-551	169	18	cost	cost	NOUN
alkej-551	169	19	function	function	NOUN
alkej-551	169	20	.	.	PUNCT
alkej-551	170	1	0	0	NUM
alkej-551	170	2	50	50	NUM
alkej-551	170	3	100	100	NUM
alkej-551	170	4	150	150	NUM
alkej-551	170	5	200	200	NUM
alkej-551	170	6	250	250	NUM
alkej-551	170	7	300	300	NUM
alkej-551	170	8	58.8	58.8	NUM
alkej-551	170	9	58.9	58.9	NUM
alkej-551	170	10	59	59	NUM
alkej-551	170	11	59.1	59.1	NUM
alkej-551	170	12	59.2	59.2	NUM
alkej-551	170	13	59.3	59.3	NUM
alkej-551	170	14	59.4	59.4	NUM
alkej-551	170	15	59.5	59.5	NUM
alkej-551	170	16	iteration	iteration	NOUN
alkej-551	170	17	b	b	PROPN
alkej-551	170	18	e	e	PROPN
alkej-551	170	19	s	s	PROPN
alkej-551	170	20	t	t	NOUN
alkej-551	170	21	c	c	NOUN
alkej-551	170	22	o	o	PROPN
alkej-551	170	23	s	s	PROPN
alkej-551	170	24	t	t	PROPN
alkej-551	170	25	firas	firas	PROPN
alkej-551	170	26	a.	a.	PROPN
alkej-551	170	27	raheem	raheem	PROPN
alkej-551	170	28	al	al	PROPN
alkej-551	170	29	-	-	PUNCT
alkej-551	170	30	khwarizmi	khwarizmi	PROPN
alkej-551	170	31	engineering	engineering	NOUN
alkej-551	170	32	journal	journal	PROPN
alkej-551	170	33	,	,	PUNCT
alkej-551	170	34	vol	vol	NOUN
alkej-551	170	35	.	.	PROPN
alkej-551	170	36	15	15	NUM
alkej-551	170	37	,	,	PUNCT
alkej-551	170	38	no	no	INTJ
alkej-551	170	39	.	.	NOUN
alkej-551	170	40	2	2	NUM
alkej-551	170	41	,	,	PUNCT
alkej-551	170	42	p.p	p.p	PROPN
alkej-551	170	43	.	.	NOUN
alkej-551	170	44	108123	108123	NUM
alkej-551	170	45	(	(	PUNCT
alkej-551	170	46	2019	2019	NUM
alkej-551	170	47	)	)	PUNCT
alkej-551	170	48	116	116	NUM
alkej-551	170	49	fig	fig	NOUN
alkej-551	170	50	.	.	PUNCT
alkej-551	171	1	9	9	X
alkej-551	171	2	.	.	X
alkej-551	171	3	the	the	DET
alkej-551	171	4	two	two	NUM
alkej-551	171	5	-	-	PUNCT
alkej-551	171	6	link	link	NOUN
alkej-551	171	7	robot	robot	NOUN
alkej-551	171	8	arm	arm	NOUN
alkej-551	171	9	result	result	VERB
alkej-551	171	10	for	for	ADP
alkej-551	171	11	the	the	DET
alkej-551	171	12	d	d	PROPN
alkej-551	171	13	*	*	VERB
alkej-551	171	14	based	base	VERB
alkej-551	171	15	on	on	ADP
alkej-551	171	16	pso	pso	NOUN
alkej-551	171	17	path	path	NOUN
alkej-551	171	18	.	.	PUNCT
alkej-551	172	1	fig	fig	NOUN
alkej-551	172	2	.	.	PUNCT
alkej-551	173	1	10	10	NUM
alkej-551	173	2	.	.	PUNCT
alkej-551	174	1	the	the	DET
alkej-551	174	2	first	first	ADJ
alkej-551	174	3	and	and	CCONJ
alkej-551	174	4	second	second	ADJ
alkej-551	174	5	angles	angle	NOUN
alkej-551	174	6	of	of	ADP
alkej-551	174	7	the	the	DET
alkej-551	174	8	two	two	NUM
alkej-551	174	9	-	-	PUNCT
alkej-551	174	10	link	link	NOUN
alkej-551	174	11	robot	robot	NOUN
alkej-551	174	12	arm	arm	NOUN
alkej-551	174	13	result	result	VERB
alkej-551	174	14	for	for	ADP
alkej-551	174	15	the	the	DET
alkej-551	174	16	d	d	PROPN
alkej-551	174	17	*	*	PROPN
alkej-551	174	18	path	path	NOUN
alkej-551	174	19	.	.	PUNCT
alkej-551	175	1	firas	firas	PROPN
alkej-551	175	2	a.	a.	PROPN
alkej-551	175	3	raheem	raheem	PROPN
alkej-551	175	4	al	al	PROPN
alkej-551	175	5	-	-	PUNCT
alkej-551	175	6	khwarizmi	khwarizmi	PROPN
alkej-551	175	7	engineering	engineering	NOUN
alkej-551	175	8	journal	journal	PROPN
alkej-551	175	9	,	,	PUNCT
alkej-551	175	10	vol	vol	NOUN
alkej-551	175	11	.	.	PROPN
alkej-551	175	12	15	15	NUM
alkej-551	175	13	,	,	PUNCT
alkej-551	175	14	no	no	INTJ
alkej-551	175	15	.	.	NOUN
alkej-551	175	16	2	2	NUM
alkej-551	175	17	,	,	PUNCT
alkej-551	175	18	p.p	p.p	PROPN
alkej-551	175	19	.	.	NOUN
alkej-551	175	20	108123	108123	NUM
alkej-551	175	21	(	(	PUNCT
alkej-551	175	22	2019	2019	NUM
alkej-551	175	23	)	)	PUNCT
alkej-551	175	24	117	117	NUM
alkej-551	175	25	fig	fig	NOUN
alkej-551	175	26	.	.	PUNCT
alkej-551	176	1	11	11	NUM
alkej-551	176	2	.	.	PUNCT
alkej-551	177	1	the	the	DET
alkej-551	177	2	change	change	NOUN
alkej-551	177	3	in	in	ADP
alkej-551	177	4	first	first	ADJ
alkej-551	177	5	and	and	CCONJ
alkej-551	177	6	second	second	ADJ
alkej-551	177	7	angles	angle	NOUN
alkej-551	177	8	of	of	ADP
alkej-551	177	9	the	the	DET
alkej-551	177	10	two	two	NUM
alkej-551	177	11	-	-	PUNCT
alkej-551	177	12	link	link	NOUN
alkej-551	177	13	robot	robot	NOUN
alkej-551	177	14	arm	arm	NOUN
alkej-551	177	15	result	result	VERB
alkej-551	177	16	for	for	ADP
alkej-551	177	17	the	the	DET
alkej-551	177	18	d	d	PROPN
alkej-551	177	19	*	*	PROPN
alkej-551	177	20	path	path	NOUN
alkej-551	177	21	.	.	PUNCT
alkej-551	178	1	8.2	8.2	NUM
alkej-551	178	2	second	second	ADJ
alkej-551	178	3	environment	environment	NOUN
alkej-551	178	4	for	for	ADP
alkej-551	178	5	more	more	ADJ
alkej-551	178	6	verification	verification	NOUN
alkej-551	178	7	,	,	PUNCT
alkej-551	178	8	a	a	DET
alkej-551	178	9	second	second	ADV
alkej-551	178	10	more	more	ADV
alkej-551	178	11	complicated	complicated	ADJ
alkej-551	178	12	environment	environment	NOUN
alkej-551	178	13	with	with	ADP
alkej-551	178	14	six	six	NUM
alkej-551	178	15	moving	move	VERB
alkej-551	178	16	obstacles	obstacle	NOUN
alkej-551	178	17	in	in	ADP
alkej-551	178	18	such	such	ADJ
alkej-551	178	19	different	different	ADJ
alkej-551	178	20	way	way	NOUN
alkej-551	178	21	in	in	ADP
alkej-551	178	22	comparing	compare	VERB
alkej-551	178	23	with	with	ADP
alkej-551	178	24	the	the	DET
alkej-551	178	25	first	first	ADJ
alkej-551	178	26	environment	environment	NOUN
alkej-551	178	27	and	and	CCONJ
alkej-551	178	28	more	more	ADV
alkej-551	178	29	close	close	ADJ
alkej-551	178	30	to	to	ADP
alkej-551	178	31	the	the	DET
alkej-551	178	32	robot	robot	NOUN
alkej-551	178	33	links	link	NOUN
alkej-551	178	34	.	.	PUNCT
alkej-551	179	1	figure	figure	NOUN
alkej-551	179	2	(	(	PUNCT
alkej-551	179	3	5	5	NUM
alkej-551	179	4	)	)	PUNCT
alkej-551	179	5	,	,	PUNCT
alkej-551	179	6	also	also	ADV
alkej-551	179	7	could	could	AUX
alkej-551	179	8	clarify	clarify	VERB
alkej-551	179	9	the	the	DET
alkej-551	179	10	environment	environment	NOUN
alkej-551	179	11	analysis	analysis	NOUN
alkej-551	179	12	since	since	SCONJ
alkej-551	179	13	this	this	DET
alkej-551	179	14	environment	environment	NOUN
alkej-551	179	15	has	have	VERB
alkej-551	179	16	only	only	ADV
alkej-551	179	17	horizontal	horizontal	ADJ
alkej-551	179	18	and	and	CCONJ
alkej-551	179	19	vertical	vertical	ADJ
alkej-551	179	20	motion	motion	NOUN
alkej-551	179	21	styles	style	NOUN
alkej-551	179	22	.	.	PUNCT
alkej-551	180	1	this	this	DET
alkej-551	180	2	environment	environment	NOUN
alkej-551	180	3	featured	feature	VERB
alkej-551	180	4	planning	planning	NOUN
alkej-551	180	5	in	in	ADP
alkej-551	180	6	complex	complex	ADJ
alkej-551	180	7	workspace	workspace	NOUN
alkej-551	180	8	and	and	CCONJ
alkej-551	180	9	generate	generate	VERB
alkej-551	180	10	path	path	NOUN
alkej-551	180	11	in	in	ADP
alkej-551	180	12	narrow	narrow	ADJ
alkej-551	180	13	area	area	NOUN
alkej-551	180	14	,	,	PUNCT
alkej-551	180	15	as	as	SCONJ
alkej-551	180	16	shown	show	VERB
alkej-551	180	17	in	in	ADP
alkej-551	180	18	figure	figure	NOUN
alkej-551	180	19	(	(	PUNCT
alkej-551	180	20	12	12	NUM
alkej-551	180	21	)	)	PUNCT
alkej-551	180	22	where	where	SCONJ
alkej-551	180	23	figure	figure	NOUN
alkej-551	180	24	(	(	PUNCT
alkej-551	180	25	12.a	12.a	NUM
alkej-551	180	26	)	)	PUNCT
alkej-551	180	27	represents	represent	VERB
alkej-551	180	28	the	the	DET
alkej-551	180	29	elbow	elbow	NOUN
alkej-551	180	30	down	down	ADP
alkej-551	180	31	analysis	analysis	NOUN
alkej-551	180	32	,	,	PUNCT
alkej-551	180	33	figure	figure	NOUN
alkej-551	180	34	(	(	PUNCT
alkej-551	180	35	12.b	12.b	NUM
alkej-551	180	36	)	)	PUNCT
alkej-551	180	37	represents	represent	VERB
alkej-551	180	38	the	the	DET
alkej-551	180	39	elbow	elbow	NOUN
alkej-551	180	40	up	up	ADP
alkej-551	180	41	analysis	analysis	NOUN
alkej-551	180	42	and	and	CCONJ
alkej-551	180	43	figure	figure	NOUN
alkej-551	180	44	(	(	PUNCT
alkej-551	180	45	12.c	12.c	NUM
alkej-551	180	46	)	)	PUNCT
alkej-551	180	47	represents	represent	VERB
alkej-551	180	48	the	the	DET
alkej-551	180	49	elbow	elbow	NOUN
alkej-551	180	50	up	up	ADP
alkej-551	180	51	and	and	CCONJ
alkej-551	180	52	down	down	ADP
alkej-551	180	53	analysis	analysis	NOUN
alkej-551	180	54	,	,	PUNCT
alkej-551	180	55	in	in	ADP
alkej-551	180	56	fcs	fcs	NOUN
alkej-551	180	57	analysis	analysis	NOUN
alkej-551	180	58	figure	figure	NOUN
alkej-551	180	59	the	the	DET
alkej-551	180	60	colored	colored	ADJ
alkej-551	180	61	area	area	NOUN
alkej-551	180	62	(	(	PUNCT
alkej-551	180	63	blue	blue	ADJ
alkej-551	180	64	,	,	PUNCT
alkej-551	180	65	red	red	ADJ
alkej-551	180	66	or	or	CCONJ
alkej-551	180	67	green	green	ADJ
alkej-551	180	68	)	)	PUNCT
alkej-551	180	69	indicates	indicate	VERB
alkej-551	180	70	the	the	DET
alkej-551	180	71	free	free	ADJ
alkej-551	180	72	and	and	CCONJ
alkej-551	180	73	safe	safe	ADJ
alkej-551	180	74	area	area	NOUN
alkej-551	180	75	for	for	ADP
alkej-551	180	76	moving	move	VERB
alkej-551	180	77	robot	robot	NOUN
alkej-551	180	78	links	link	NOUN
alkej-551	180	79	while	while	SCONJ
alkej-551	180	80	the	the	DET
alkej-551	180	81	white	white	ADJ
alkej-551	180	82	area	area	NOUN
alkej-551	180	83	indicates	indicate	VERB
alkej-551	180	84	the	the	DET
alkej-551	180	85	unreachable	unreachable	ADJ
alkej-551	180	86	area	area	NOUN
alkej-551	180	87	.	.	PUNCT
alkej-551	181	1	therefore	therefore	ADV
alkej-551	181	2	,	,	PUNCT
alkej-551	181	3	the	the	DET
alkej-551	181	4	robot	robot	NOUN
alkej-551	181	5	can	can	AUX
alkej-551	181	6	take	take	VERB
alkej-551	181	7	a	a	DET
alkej-551	181	8	proper	proper	ADJ
alkej-551	181	9	decision	decision	NOUN
alkej-551	181	10	for	for	ADP
alkej-551	181	11	selecting	select	VERB
alkej-551	181	12	the	the	DET
alkej-551	181	13	next	next	ADJ
alkej-551	181	14	points	point	NOUN
alkej-551	181	15	in	in	ADP
alkej-551	181	16	a	a	DET
alkej-551	181	17	free	free	ADJ
alkej-551	181	18	and	and	CCONJ
alkej-551	181	19	completely	completely	ADV
alkej-551	181	20	safe	safe	ADJ
alkej-551	181	21	path	path	NOUN
alkej-551	181	22	inside	inside	ADP
alkej-551	181	23	the	the	DET
alkej-551	181	24	permitted	permit	VERB
alkej-551	181	25	motion	motion	NOUN
alkej-551	181	26	area	area	NOUN
alkej-551	181	27	.	.	PUNCT
alkej-551	182	1	since	since	SCONJ
alkej-551	182	2	the	the	DET
alkej-551	182	3	fcs	fcs	NOUN
alkej-551	182	4	is	be	AUX
alkej-551	182	5	very	very	ADV
alkej-551	182	6	limited	limited	ADJ
alkej-551	182	7	because	because	SCONJ
alkej-551	182	8	of	of	ADP
alkej-551	182	9	the	the	DET
alkej-551	182	10	range	range	NOUN
alkej-551	182	11	of	of	ADP
alkej-551	182	12	obstacle	obstacle	NOUN
alkej-551	182	13	’s	’s	PART
alkej-551	182	14	motion	motion	NOUN
alkej-551	182	15	,	,	PUNCT
alkej-551	182	16	so	so	ADV
alkej-551	182	17	the	the	DET
alkej-551	182	18	robot	robot	NOUN
alkej-551	182	19	will	will	AUX
alkej-551	182	20	move	move	VERB
alkej-551	182	21	in	in	ADP
alkej-551	182	22	elbow	elbow	NOUN
alkej-551	182	23	up	up	ADP
alkej-551	182	24	free	free	ADJ
alkej-551	182	25	space	space	NOUN
alkej-551	182	26	as	as	SCONJ
alkej-551	182	27	mentioned	mention	VERB
alkej-551	182	28	in	in	ADP
alkej-551	182	29	figure	figure	NOUN
alkej-551	182	30	(	(	PUNCT
alkej-551	182	31	2	2	NUM
alkej-551	182	32	)	)	PUNCT
alkej-551	182	33	to	to	ADP
alkej-551	182	34	the	the	DET
alkej-551	182	35	configuration	configuration	NOUN
alkej-551	182	36	of	of	ADP
alkej-551	182	37	the	the	DET
alkej-551	182	38	two	two	NUM
alkej-551	182	39	-	-	PUNCT
alkej-551	182	40	link	link	NOUN
alkej-551	182	41	arm	arm	NOUN
alkej-551	182	42	elbows	elbow	NOUN
alkej-551	182	43	.	.	PUNCT
alkej-551	183	1	figure	figure	NOUN
alkej-551	183	2	(	(	PUNCT
alkej-551	183	3	13	13	NUM
alkej-551	183	4	)	)	PUNCT
alkej-551	183	5	shows	show	VERB
alkej-551	183	6	the	the	DET
alkej-551	183	7	twolink	twolink	NOUN
alkej-551	183	8	robot	robot	NOUN
alkej-551	183	9	arm	arm	PROPN
alkej-551	183	10	environment	environment	NOUN
alkej-551	183	11	which	which	PRON
alkej-551	183	12	looks	look	VERB
alkej-551	183	13	very	very	ADV
alkej-551	183	14	crowded	crowded	ADJ
alkej-551	183	15	for	for	ADP
alkej-551	183	16	moving	move	VERB
alkej-551	183	17	in	in	ADP
alkej-551	183	18	.	.	PUNCT
alkej-551	184	1	where	where	SCONJ
alkej-551	184	2	the	the	DET
alkej-551	184	3	process	process	NOUN
alkej-551	184	4	is	be	AUX
alkej-551	184	5	offline	offline	ADJ
alkej-551	184	6	,	,	PUNCT
alkej-551	184	7	the	the	DET
alkej-551	184	8	pso	pso	NOUN
alkej-551	184	9	optimization	optimization	NOUN
alkej-551	184	10	technique	technique	NOUN
alkej-551	184	11	is	be	AUX
alkej-551	184	12	used	use	VERB
alkej-551	184	13	to	to	PART
alkej-551	184	14	get	get	AUX
alkej-551	184	15	rid	rid	VERB
alkej-551	184	16	of	of	ADP
alkej-551	184	17	sharp	sharp	ADJ
alkej-551	184	18	edge	edge	NOUN
alkej-551	184	19	and	and	CCONJ
alkej-551	184	20	shorten	shorten	VERB
alkej-551	184	21	the	the	DET
alkej-551	184	22	path	path	NOUN
alkej-551	184	23	and	and	CCONJ
alkej-551	184	24	as	as	SCONJ
alkej-551	184	25	shown	show	VERB
alkej-551	184	26	in	in	ADP
alkej-551	184	27	figure	figure	NOUN
alkej-551	184	28	(	(	PUNCT
alkej-551	184	29	14	14	NUM
alkej-551	184	30	)	)	PUNCT
alkej-551	184	31	,	,	PUNCT
alkej-551	184	32	the	the	DET
alkej-551	184	33	d	d	X
alkej-551	184	34	*	*	PROPN
alkej-551	184	35	path	path	NOUN
alkej-551	184	36	based	base	VERB
alkej-551	184	37	on	on	ADP
alkej-551	184	38	pso	pso	NOUN
alkej-551	184	39	was	be	AUX
alkej-551	184	40	decreased	decrease	VERB
alkej-551	184	41	by	by	ADP
alkej-551	184	42	2.4413	2.4413	NUM
alkej-551	184	43	cm	cm	NOUN
alkej-551	184	44	long	long	ADV
alkej-551	184	45	from	from	ADP
alkej-551	184	46	the	the	DET
alkej-551	184	47	original	original	ADJ
alkej-551	184	48	path	path	NOUN
alkej-551	184	49	as	as	SCONJ
alkej-551	184	50	shown	show	VERB
alkej-551	184	51	in	in	ADP
alkej-551	184	52	table	table	NOUN
alkej-551	184	53	(	(	PUNCT
alkej-551	184	54	2	2	NUM
alkej-551	184	55	)	)	PUNCT
alkej-551	184	56	,	,	PUNCT
alkej-551	184	57	which	which	PRON
alkej-551	184	58	clarify	clarify	VERB
alkej-551	184	59	the	the	DET
alkej-551	184	60	environment	environment	NOUN
alkej-551	184	61	information	information	NOUN
alkej-551	184	62	such	such	ADJ
alkej-551	184	63	as	as	ADP
alkej-551	184	64	the	the	DET
alkej-551	184	65	original	original	ADJ
alkej-551	184	66	d	d	NOUN
alkej-551	184	67	*	*	X
alkej-551	184	68	path	path	NOUN
alkej-551	184	69	length	length	NOUN
alkej-551	184	70	and	and	CCONJ
alkej-551	184	71	the	the	DET
alkej-551	184	72	new	new	ADJ
alkej-551	184	73	optimal	optimal	ADJ
alkej-551	184	74	path	path	NOUN
alkej-551	184	75	length	length	NOUN
alkej-551	184	76	which	which	PRON
alkej-551	184	77	is	be	AUX
alkej-551	184	78	clearly	clearly	ADV
alkej-551	184	79	shorter	short	ADJ
alkej-551	184	80	.	.	PUNCT
alkej-551	185	1	figure	figure	NOUN
alkej-551	185	2	(	(	PUNCT
alkej-551	185	3	15	15	NUM
alkej-551	185	4	)	)	PUNCT
alkej-551	185	5	represents	represent	VERB
alkej-551	185	6	the	the	DET
alkej-551	185	7	new	new	ADJ
alkej-551	185	8	path	path	NOUN
alkej-551	185	9	of	of	ADP
alkej-551	185	10	d	d	PROPN
alkej-551	185	11	*	*	VERB
alkej-551	185	12	based	base	VERB
alkej-551	185	13	on	on	ADP
alkej-551	185	14	pso	pso	NOUN
alkej-551	185	15	.	.	PUNCT
alkej-551	186	1	the	the	DET
alkej-551	186	2	joint	joint	ADJ
alkej-551	186	3	angles	angle	NOUN
alkej-551	186	4	and	and	CCONJ
alkej-551	186	5	change	change	NOUN
alkej-551	186	6	in	in	ADP
alkej-551	186	7	angles	angle	NOUN
alkej-551	186	8	based	base	VERB
alkej-551	186	9	on	on	ADP
alkej-551	186	10	pso	pso	NOUN
alkej-551	186	11	path	path	NOUN
alkej-551	186	12	are	be	AUX
alkej-551	186	13	shown	show	VERB
alkej-551	186	14	in	in	ADP
alkej-551	186	15	figure	figure	NOUN
alkej-551	186	16	(	(	PUNCT
alkej-551	186	17	16	16	NUM
alkej-551	186	18	)	)	PUNCT
alkej-551	186	19	and	and	CCONJ
alkej-551	186	20	(	(	PUNCT
alkej-551	186	21	17	17	NUM
alkej-551	186	22	)	)	PUNCT
alkej-551	186	23	respectively	respectively	ADV
alkej-551	186	24	.	.	PUNCT
alkej-551	187	1	(	(	PUNCT
alkej-551	187	2	a	a	X
alkej-551	187	3	)	)	PUNCT
alkej-551	187	4	(	(	PUNCT
alkej-551	187	5	b	b	X
alkej-551	187	6	)	)	PUNCT
alkej-551	187	7	firas	firas	PROPN
alkej-551	187	8	a.	a.	PROPN
alkej-551	187	9	raheem	raheem	PROPN
alkej-551	187	10	al	al	PROPN
alkej-551	187	11	-	-	PUNCT
alkej-551	187	12	khwarizmi	khwarizmi	PROPN
alkej-551	187	13	engineering	engineering	NOUN
alkej-551	187	14	journal	journal	PROPN
alkej-551	187	15	,	,	PUNCT
alkej-551	187	16	vol	vol	NOUN
alkej-551	187	17	.	.	PROPN
alkej-551	187	18	15	15	NUM
alkej-551	187	19	,	,	PUNCT
alkej-551	187	20	no	no	INTJ
alkej-551	187	21	.	.	NOUN
alkej-551	187	22	2	2	NUM
alkej-551	187	23	,	,	PUNCT
alkej-551	187	24	p.p	p.p	PROPN
alkej-551	187	25	.	.	NOUN
alkej-551	187	26	108123	108123	NUM
alkej-551	187	27	(	(	PUNCT
alkej-551	187	28	2019	2019	NUM
alkej-551	187	29	)	)	PUNCT
alkej-551	187	30	118	118	NUM
alkej-551	187	31	(	(	PUNCT
alkej-551	187	32	c	c	NOUN
alkej-551	187	33	)	)	PUNCT
alkej-551	187	34	fig	fig	NOUN
alkej-551	187	35	.	.	PUNCT
alkej-551	188	1	12	12	NUM
alkej-551	188	2	.	.	PUNCT
alkej-551	189	1	fcs	fcs	NOUN
alkej-551	189	2	for	for	ADP
alkej-551	189	3	known	know	VERB
alkej-551	189	4	obstacle	obstacle	NOUN
alkej-551	189	5	position	position	NOUN
alkej-551	189	6	dynamic	dynamic	ADJ
alkej-551	189	7	environment	environment	NOUN
alkej-551	189	8	where	where	SCONJ
alkej-551	189	9	(	(	PUNCT
alkej-551	189	10	a	a	X
alkej-551	189	11	)	)	PUNCT
alkej-551	189	12	represents	represents	AUX
alkej-551	189	13	elbow	elbow	VERB
alkej-551	189	14	down	down	ADP
alkej-551	189	15	,	,	PUNCT
alkej-551	189	16	(	(	PUNCT
alkej-551	189	17	b	b	X
alkej-551	189	18	)	)	PUNCT
alkej-551	189	19	represents	represents	AUX
alkej-551	189	20	elbow	elbow	VERB
alkej-551	189	21	up	up	ADP
alkej-551	189	22	and	and	CCONJ
alkej-551	189	23	(	(	PUNCT
alkej-551	189	24	c	c	X
alkej-551	189	25	)	)	PUNCT
alkej-551	189	26	represents	represent	VERB
alkej-551	189	27	the	the	DET
alkej-551	189	28	gathering	gathering	NOUN
alkej-551	189	29	between	between	ADP
alkej-551	189	30	elbow	elbow	NOUN
alkej-551	189	31	up	up	ADP
alkej-551	189	32	and	and	CCONJ
alkej-551	189	33	elbow	elbow	VERB
alkej-551	189	34	down	down	ADP
alkej-551	189	35	.	.	PUNCT
alkej-551	190	1	firas	firas	PROPN
alkej-551	190	2	a.	a.	PROPN
alkej-551	190	3	raheem	raheem	PROPN
alkej-551	190	4	al	al	PROPN
alkej-551	190	5	-	-	PUNCT
alkej-551	190	6	khwarizmi	khwarizmi	PROPN
alkej-551	190	7	engineering	engineering	NOUN
alkej-551	190	8	journal	journal	PROPN
alkej-551	190	9	,	,	PUNCT
alkej-551	190	10	vol	vol	NOUN
alkej-551	190	11	.	.	PROPN
alkej-551	190	12	15	15	NUM
alkej-551	190	13	,	,	PUNCT
alkej-551	190	14	no	no	INTJ
alkej-551	190	15	.	.	NOUN
alkej-551	190	16	2	2	NUM
alkej-551	190	17	,	,	PUNCT
alkej-551	190	18	p.p	p.p	PROPN
alkej-551	190	19	.	.	NOUN
alkej-551	190	20	108123	108123	NUM
alkej-551	190	21	(	(	PUNCT
alkej-551	190	22	2019	2019	NUM
alkej-551	190	23	)	)	PUNCT
alkej-551	190	24	119	119	NUM
alkej-551	190	25	fig	fig	NOUN
alkej-551	190	26	.	.	PUNCT
alkej-551	191	1	13	13	NUM
alkej-551	191	2	.	.	PUNCT
alkej-551	192	1	the	the	DET
alkej-551	192	2	two	two	NUM
alkej-551	192	3	-	-	PUNCT
alkej-551	192	4	link	link	NOUN
alkej-551	192	5	robot	robot	NOUN
alkej-551	192	6	arm	arm	NOUN
alkej-551	192	7	result	result	VERB
alkej-551	192	8	for	for	ADP
alkej-551	192	9	the	the	DET
alkej-551	192	10	d	d	PROPN
alkej-551	192	11	*	*	NOUN
alkej-551	192	12	path	path	NOUN
alkej-551	192	13	for	for	ADP
alkej-551	192	14	the	the	DET
alkej-551	192	15	second	second	ADJ
alkej-551	192	16	environment	environment	NOUN
alkej-551	192	17	(	(	PUNCT
alkej-551	192	18	a	a	NOUN
alkej-551	192	19	)	)	PUNCT
alkej-551	192	20	(	(	PUNCT
alkej-551	192	21	b	b	X
alkej-551	192	22	)	)	PUNCT
alkej-551	192	23	fig	fig	NOUN
alkej-551	192	24	.	.	PUNCT
alkej-551	193	1	14	14	NUM
alkej-551	193	2	.	.	PUNCT
alkej-551	194	1	(	(	PUNCT
alkej-551	194	2	a	a	X
alkej-551	194	3	)	)	PUNCT
alkej-551	194	4	represents	represent	VERB
alkej-551	194	5	final	final	ADJ
alkej-551	194	6	d	d	NOUN
alkej-551	194	7	*	*	PUNCT
alkej-551	194	8	and	and	CCONJ
alkej-551	194	9	(	(	PUNCT
alkej-551	194	10	b	b	NOUN
alkej-551	194	11	)	)	PUNCT
alkej-551	194	12	represents	represent	VERB
alkej-551	194	13	pso	pso	NOUN
alkej-551	194	14	path	path	NOUN
alkej-551	194	15	and	and	CCONJ
alkej-551	194	16	the	the	DET
alkej-551	194	17	path	path	NOUN
alkej-551	194	18	cost	cost	NOUN
alkej-551	194	19	function	function	NOUN
alkej-551	194	20	for	for	ADP
alkej-551	194	21	the	the	DET
alkej-551	194	22	second	second	ADJ
alkej-551	194	23	environment	environment	NOUN
alkej-551	194	24	.	.	PUNCT
alkej-551	195	1	0	0	NUM
alkej-551	196	1	10	10	NUM
alkej-551	196	2	20	20	NUM
alkej-551	196	3	30	30	NUM
alkej-551	196	4	40	40	NUM
alkej-551	196	5	50	50	NUM
alkej-551	196	6	60	60	NUM
alkej-551	196	7	70	70	NUM
alkej-551	196	8	80	80	NUM
alkej-551	196	9	90	90	NUM
alkej-551	196	10	100	100	NUM
alkej-551	196	11	64.1	64.1	NUM
alkej-551	196	12	64.15	64.15	NUM
alkej-551	196	13	64.2	64.2	NUM
alkej-551	196	14	64.25	64.25	NUM
alkej-551	196	15	64.3	64.3	NUM
alkej-551	196	16	64.35	64.35	NUM
alkej-551	196	17	iteration	iteration	NOUN
alkej-551	196	18	b	b	PROPN
alkej-551	196	19	e	e	PROPN
alkej-551	196	20	s	s	PROPN
alkej-551	196	21	t	t	NOUN
alkej-551	196	22	c	c	NOUN
alkej-551	196	23	o	o	PROPN
alkej-551	196	24	s	s	PROPN
alkej-551	196	25	t	t	PROPN
alkej-551	196	26	firas	firas	PROPN
alkej-551	196	27	a.	a.	PROPN
alkej-551	196	28	raheem	raheem	PROPN
alkej-551	196	29	al	al	PROPN
alkej-551	196	30	-	-	PUNCT
alkej-551	196	31	khwarizmi	khwarizmi	PROPN
alkej-551	196	32	engineering	engineering	NOUN
alkej-551	196	33	journal	journal	PROPN
alkej-551	196	34	,	,	PUNCT
alkej-551	196	35	vol	vol	NOUN
alkej-551	196	36	.	.	PROPN
alkej-551	196	37	15	15	NUM
alkej-551	196	38	,	,	PUNCT
alkej-551	196	39	no	no	INTJ
alkej-551	196	40	.	.	NOUN
alkej-551	196	41	2	2	NUM
alkej-551	196	42	,	,	PUNCT
alkej-551	196	43	p.p	p.p	PROPN
alkej-551	196	44	.	.	NOUN
alkej-551	196	45	108123	108123	NUM
alkej-551	196	46	(	(	PUNCT
alkej-551	196	47	2019	2019	NUM
alkej-551	196	48	)	)	PUNCT
alkej-551	196	49	120	120	NUM
alkej-551	196	50	fig	fig	NOUN
alkej-551	196	51	.	.	PUNCT
alkej-551	197	1	15	15	NUM
alkej-551	197	2	.	.	PUNCT
alkej-551	198	1	the	the	DET
alkej-551	198	2	two	two	NUM
alkej-551	198	3	-	-	PUNCT
alkej-551	198	4	link	link	NOUN
alkej-551	198	5	robot	robot	NOUN
alkej-551	198	6	arm	arm	NOUN
alkej-551	198	7	result	result	VERB
alkej-551	198	8	for	for	ADP
alkej-551	198	9	the	the	DET
alkej-551	198	10	d	d	PROPN
alkej-551	198	11	*	*	VERB
alkej-551	198	12	based	base	VERB
alkej-551	198	13	on	on	ADP
alkej-551	198	14	pso	pso	NOUN
alkej-551	198	15	path	path	NOUN
alkej-551	198	16	for	for	ADP
alkej-551	198	17	the	the	DET
alkej-551	198	18	second	second	ADJ
alkej-551	198	19	environment	environment	NOUN
alkej-551	198	20	.	.	PUNCT
alkej-551	199	1	fig	fig	NOUN
alkej-551	199	2	.	.	PUNCT
alkej-551	200	1	16	16	NUM
alkej-551	200	2	.	.	PUNCT
alkej-551	201	1	the	the	DET
alkej-551	201	2	first	first	ADJ
alkej-551	201	3	and	and	CCONJ
alkej-551	201	4	second	second	ADJ
alkej-551	201	5	angles	angle	NOUN
alkej-551	201	6	of	of	ADP
alkej-551	201	7	the	the	DET
alkej-551	201	8	two	two	NUM
alkej-551	201	9	-	-	PUNCT
alkej-551	201	10	link	link	NOUN
alkej-551	201	11	robot	robot	NOUN
alkej-551	201	12	arm	arm	NOUN
alkej-551	201	13	result	result	VERB
alkej-551	201	14	for	for	ADP
alkej-551	201	15	the	the	DET
alkej-551	201	16	d	d	PROPN
alkej-551	201	17	*	*	VERB
alkej-551	201	18	based	base	VERB
alkej-551	201	19	on	on	ADP
alkej-551	201	20	pso	pso	NOUN
alkej-551	201	21	path	path	NOUN
alkej-551	201	22	for	for	ADP
alkej-551	201	23	the	the	DET
alkej-551	201	24	second	second	ADJ
alkej-551	201	25	environment	environment	NOUN
alkej-551	201	26	.	.	PUNCT
alkej-551	202	1	firas	firas	PROPN
alkej-551	202	2	a.	a.	PROPN
alkej-551	202	3	raheem	raheem	PROPN
alkej-551	202	4	al	al	PROPN
alkej-551	202	5	-	-	PUNCT
alkej-551	202	6	khwarizmi	khwarizmi	PROPN
alkej-551	202	7	engineering	engineering	NOUN
alkej-551	202	8	journal	journal	PROPN
alkej-551	202	9	,	,	PUNCT
alkej-551	202	10	vol	vol	NOUN
alkej-551	202	11	.	.	PROPN
alkej-551	202	12	15	15	NUM
alkej-551	202	13	,	,	PUNCT
alkej-551	202	14	no	no	INTJ
alkej-551	202	15	.	.	NOUN
alkej-551	202	16	2	2	NUM
alkej-551	202	17	,	,	PUNCT
alkej-551	202	18	p.p	p.p	PROPN
alkej-551	202	19	.	.	NOUN
alkej-551	202	20	108123	108123	NUM
alkej-551	202	21	(	(	PUNCT
alkej-551	202	22	2019	2019	NUM
alkej-551	202	23	)	)	PUNCT
alkej-551	202	24	121	121	NUM
alkej-551	202	25	fig	fig	NOUN
alkej-551	202	26	.	.	PUNCT
alkej-551	203	1	17	17	NUM
alkej-551	203	2	.	.	PUNCT
alkej-551	204	1	the	the	DET
alkej-551	204	2	change	change	NOUN
alkej-551	204	3	in	in	ADP
alkej-551	204	4	first	first	ADJ
alkej-551	204	5	and	and	CCONJ
alkej-551	204	6	second	second	ADJ
alkej-551	204	7	angles	angle	NOUN
alkej-551	204	8	of	of	ADP
alkej-551	204	9	the	the	DET
alkej-551	204	10	two	two	NUM
alkej-551	204	11	-	-	PUNCT
alkej-551	204	12	link	link	NOUN
alkej-551	204	13	robot	robot	NOUN
alkej-551	204	14	arm	arm	NOUN
alkej-551	204	15	result	result	VERB
alkej-551	204	16	for	for	ADP
alkej-551	204	17	the	the	DET
alkej-551	204	18	d	d	PROPN
alkej-551	204	19	*	*	VERB
alkej-551	204	20	based	base	VERB
alkej-551	204	21	on	on	ADP
alkej-551	204	22	pso	pso	NOUN
alkej-551	204	23	path	path	NOUN
alkej-551	204	24	for	for	ADP
alkej-551	204	25	the	the	DET
alkej-551	204	26	second	second	ADJ
alkej-551	204	27	environment	environment	NOUN
alkej-551	204	28	.	.	PUNCT
alkej-551	205	1	at	at	ADP
alkej-551	205	2	first	first	ADV
alkej-551	205	3	,	,	PUNCT
alkej-551	205	4	the	the	DET
alkej-551	205	5	d	d	PROPN
alkej-551	205	6	*	*	PUNCT
alkej-551	205	7	algorithm	algorithm	NOUN
alkej-551	205	8	is	be	AUX
alkej-551	205	9	applied	apply	VERB
alkej-551	205	10	to	to	PART
alkej-551	205	11	find	find	VERB
alkej-551	205	12	the	the	DET
alkej-551	205	13	shortest	short	ADJ
alkej-551	205	14	and	and	CCONJ
alkej-551	205	15	best	good	ADJ
alkej-551	205	16	path	path	NOUN
alkej-551	205	17	then	then	ADV
alkej-551	205	18	the	the	DET
alkej-551	205	19	particle	particle	NOUN
alkej-551	205	20	swarm	swarm	NOUN
alkej-551	205	21	optimization	optimization	NOUN
alkej-551	205	22	method	method	NOUN
alkej-551	205	23	is	be	AUX
alkej-551	205	24	used	use	VERB
alkej-551	205	25	to	to	PART
alkej-551	205	26	enhance	enhance	VERB
alkej-551	205	27	the	the	DET
alkej-551	205	28	final	final	ADJ
alkej-551	205	29	path	path	NOUN
alkej-551	205	30	by	by	ADP
alkej-551	205	31	removing	remove	VERB
alkej-551	205	32	the	the	DET
alkej-551	205	33	sharp	sharp	ADJ
alkej-551	205	34	edges	edge	NOUN
alkej-551	205	35	as	as	SCONJ
alkej-551	205	36	clearly	clearly	ADV
alkej-551	205	37	shown	show	VERB
alkej-551	205	38	in	in	ADP
alkej-551	205	39	results	result	NOUN
alkej-551	205	40	figures	figure	NOUN
alkej-551	205	41	of	of	ADP
alkej-551	205	42	the	the	DET
alkej-551	205	43	first	first	ADJ
alkej-551	205	44	and	and	CCONJ
alkej-551	205	45	the	the	DET
alkej-551	205	46	second	second	ADJ
alkej-551	205	47	environment	environment	NOUN
alkej-551	205	48	till	till	SCONJ
alkej-551	205	49	finding	find	VERB
alkej-551	205	50	optimal	optimal	ADJ
alkej-551	205	51	path	path	NOUN
alkej-551	205	52	.	.	PUNCT
alkej-551	206	1	the	the	DET
alkej-551	206	2	result	result	NOUN
alkej-551	206	3	clearly	clearly	ADV
alkej-551	206	4	proves	prove	VERB
alkej-551	206	5	the	the	DET
alkej-551	206	6	advantage	advantage	NOUN
alkej-551	206	7	of	of	ADP
alkej-551	206	8	using	use	VERB
alkej-551	206	9	the	the	DET
alkej-551	206	10	proposed	propose	VERB
alkej-551	206	11	mixed	mixed	ADJ
alkej-551	206	12	approach	approach	NOUN
alkej-551	206	13	as	as	SCONJ
alkej-551	206	14	shown	show	VERB
alkej-551	206	15	in	in	ADP
alkej-551	206	16	table	table	NOUN
alkej-551	206	17	(	(	PUNCT
alkej-551	206	18	2	2	NUM
alkej-551	206	19	)	)	PUNCT
alkej-551	206	20	.	.	PUNCT
alkej-551	207	1	in	in	ADP
alkej-551	207	2	comparison	comparison	NOUN
alkej-551	207	3	with	with	ADP
alkej-551	207	4	other	other	ADJ
alkej-551	207	5	path	path	NOUN
alkej-551	207	6	planning	planning	NOUN
alkej-551	207	7	algorithms	algorithm	NOUN
alkej-551	207	8	like	like	ADP
alkej-551	207	9	artificial	artificial	ADJ
alkej-551	207	10	potential	potential	ADJ
alkej-551	207	11	field	field	NOUN
alkej-551	207	12	(	(	PUNCT
alkej-551	207	13	apf	apf	PROPN
alkej-551	207	14	)	)	PUNCT
alkej-551	208	1	[	[	X
alkej-551	208	2	2	2	NUM
alkej-551	208	3	,	,	PUNCT
alkej-551	208	4	17	17	NUM
alkej-551	208	5	]	]	PUNCT
alkej-551	208	6	,	,	PUNCT
alkej-551	208	7	the	the	DET
alkej-551	208	8	heuristic	heuristic	ADJ
alkej-551	208	9	d	d	X
alkej-551	208	10	*	*	PUNCT
alkej-551	208	11	is	be	AUX
alkej-551	208	12	more	more	ADV
alkej-551	208	13	suitable	suitable	ADJ
alkej-551	208	14	for	for	ADP
alkej-551	208	15	the	the	DET
alkej-551	208	16	dynamic	dynamic	ADJ
alkej-551	208	17	environment	environment	NOUN
alkej-551	208	18	because	because	SCONJ
alkej-551	208	19	of	of	ADP
alkej-551	208	20	its	its	PRON
alkej-551	208	21	behavior	behavior	NOUN
alkej-551	208	22	in	in	ADP
alkej-551	208	23	saving	save	VERB
alkej-551	208	24	cost	cost	NOUN
alkej-551	208	25	and	and	CCONJ
alkej-551	208	26	gives	give	VERB
alkej-551	208	27	safe	safe	ADJ
alkej-551	208	28	and	and	CCONJ
alkej-551	208	29	better	well	ADJ
alkej-551	208	30	path	path	NOUN
alkej-551	208	31	length	length	NOUN
alkej-551	208	32	cost	cost	NOUN
alkej-551	208	33	function	function	NOUN
alkej-551	208	34	.	.	PUNCT
alkej-551	209	1	in	in	ADP
alkej-551	209	2	addition	addition	NOUN
alkej-551	209	3	,	,	PUNCT
alkej-551	209	4	the	the	DET
alkej-551	209	5	most	most	ADV
alkej-551	209	6	important	important	ADJ
alkej-551	209	7	issue	issue	NOUN
alkej-551	209	8	is	be	AUX
alkej-551	209	9	the	the	DET
alkej-551	209	10	heuristic	heuristic	ADJ
alkej-551	209	11	methods	method	NOUN
alkej-551	209	12	does	do	AUX
alkej-551	209	13	not	not	PART
alkej-551	209	14	suffer	suffer	VERB
alkej-551	209	15	from	from	ADP
alkej-551	209	16	the	the	DET
alkej-551	209	17	local	local	ADJ
alkej-551	209	18	minima	minima	ADJ
alkej-551	209	19	problem	problem	NOUN
alkej-551	209	20	that	that	PRON
alkej-551	209	21	appears	appear	VERB
alkej-551	209	22	mainly	mainly	ADV
alkej-551	209	23	in	in	ADP
alkej-551	209	24	apf	apf	PROPN
alkej-551	209	25	path	path	NOUN
alkej-551	209	26	planning	planning	NOUN
alkej-551	209	27	approaches	approach	NOUN
alkej-551	209	28	.	.	PUNCT
alkej-551	210	1	table	table	NOUN
alkej-551	210	2	2	2	NUM
alkej-551	210	3	,	,	PUNCT
alkej-551	210	4	environments	environment	NOUN
alkej-551	210	5	information	information	NOUN
alkej-551	210	6	.	.	PUNCT
alkej-551	211	1	environment	environment	NOUN
alkej-551	211	2	1	1	NUM
alkej-551	211	3	2	2	NUM
alkej-551	211	4	obstacles	obstacle	NOUN
alkej-551	211	5	number	number	NOUN
alkej-551	211	6	4	4	NUM
alkej-551	211	7	6	6	NUM
alkej-551	211	8	population	population	NOUN
alkej-551	211	9	50	50	NUM
alkej-551	211	10	50	50	NUM
alkej-551	211	11	iteration	iteration	NOUN
alkej-551	211	12	300	300	NUM
alkej-551	211	13	100	100	NUM
alkej-551	211	14	d	d	NOUN
alkej-551	211	15	*	*	PUNCT
alkej-551	211	16	path	path	NOUN
alkej-551	211	17	62.1421	62.1421	NUM
alkej-551	211	18	cm	cm	PROPN
alkej-551	211	19	66.5685	66.5685	NUM
alkej-551	211	20	cm	cm	NOUN
alkej-551	211	21	pso	pso	NOUN
alkej-551	211	22	path	path	NOUN
alkej-551	211	23	58.8575	58.8575	NUM
alkej-551	211	24	cm	cm	NOUN
alkej-551	211	25	64.1272	64.1272	NUM
alkej-551	211	26	cm	cm	NOUN
alkej-551	211	27	9	9	NUM
alkej-551	211	28	.	.	PUNCT
alkej-551	212	1	conclusions	conclusion	NOUN
alkej-551	212	2	this	this	DET
alkej-551	212	3	paper	paper	NOUN
alkej-551	212	4	proposed	propose	VERB
alkej-551	212	5	a	a	DET
alkej-551	212	6	methodology	methodology	NOUN
alkej-551	212	7	that	that	PRON
alkej-551	212	8	considers	consider	VERB
alkej-551	212	9	solving	solve	VERB
alkej-551	212	10	the	the	DET
alkej-551	212	11	path	path	NOUN
alkej-551	212	12	planning	planning	NOUN
alkej-551	212	13	problem	problem	NOUN
alkej-551	212	14	for	for	ADP
alkej-551	212	15	two	two	NUM
alkej-551	212	16	-	-	PUNCT
alkej-551	212	17	link	link	NOUN
alkej-551	212	18	robot	robot	NOUN
alkej-551	212	19	arm	arm	NOUN
alkej-551	212	20	in	in	ADP
alkej-551	212	21	known	know	VERB
alkej-551	212	22	position	position	NOUN
alkej-551	212	23	changes	change	VERB
alkej-551	212	24	dynamic	dynamic	ADJ
alkej-551	212	25	environment	environment	NOUN
alkej-551	212	26	utilizing	utilize	VERB
alkej-551	212	27	the	the	DET
alkej-551	212	28	use	use	NOUN
alkej-551	212	29	of	of	ADP
alkej-551	212	30	heuristic	heuristic	ADJ
alkej-551	212	31	d	d	NOUN
alkej-551	212	32	*	*	NOUN
alkej-551	212	33	algorithm	algorithm	NOUN
alkej-551	212	34	for	for	ADP
alkej-551	212	35	finding	find	VERB
alkej-551	212	36	the	the	DET
alkej-551	212	37	best	good	ADJ
alkej-551	212	38	path	path	NOUN
alkej-551	212	39	and	and	CCONJ
alkej-551	212	40	the	the	DET
alkej-551	212	41	use	use	NOUN
alkej-551	212	42	of	of	ADP
alkej-551	212	43	pso	pso	NOUN
alkej-551	212	44	optimization	optimization	NOUN
alkej-551	212	45	technique	technique	NOUN
alkej-551	212	46	for	for	ADP
alkej-551	212	47	getting	get	VERB
alkej-551	212	48	the	the	DET
alkej-551	212	49	final	final	ADJ
alkej-551	212	50	optimal	optimal	ADJ
alkej-551	212	51	path	path	NOUN
alkej-551	212	52	.	.	PUNCT
alkej-551	213	1	from	from	ADP
alkej-551	213	2	this	this	DET
alkej-551	213	3	approach	approach	NOUN
alkej-551	213	4	,	,	PUNCT
alkej-551	213	5	it	it	PRON
alkej-551	213	6	was	be	AUX
alkej-551	213	7	possible	possible	ADJ
alkej-551	213	8	to	to	PART
alkej-551	213	9	get	get	VERB
alkej-551	213	10	an	an	DET
alkej-551	213	11	acceptable	acceptable	ADJ
alkej-551	213	12	path	path	NOUN
alkej-551	213	13	in	in	ADP
alkej-551	213	14	spite	spite	NOUN
alkej-551	213	15	of	of	ADP
alkej-551	213	16	the	the	DET
alkej-551	213	17	environment	environment	NOUN
alkej-551	213	18	difficulties	difficulty	NOUN
alkej-551	213	19	where	where	SCONJ
alkej-551	213	20	a	a	DET
alkej-551	213	21	completely	completely	ADV
alkej-551	213	22	collision	collision	ADJ
alkej-551	213	23	free	free	ADJ
alkej-551	213	24	path	path	NOUN
alkej-551	213	25	could	could	AUX
alkej-551	213	26	be	be	AUX
alkej-551	213	27	found	find	VERB
alkej-551	213	28	at	at	ADP
alkej-551	213	29	the	the	DET
alkej-551	213	30	expense	expense	NOUN
alkej-551	213	31	of	of	ADP
alkej-551	213	32	optimality	optimality	NOUN
alkej-551	213	33	.	.	PUNCT
alkej-551	214	1	therefore	therefore	ADV
alkej-551	214	2	,	,	PUNCT
alkej-551	214	3	the	the	DET
alkej-551	214	4	pso	pso	NOUN
alkej-551	214	5	optimization	optimization	NOUN
alkej-551	214	6	technique	technique	NOUN
alkej-551	214	7	has	have	AUX
alkej-551	214	8	been	be	AUX
alkej-551	214	9	used	use	VERB
alkej-551	214	10	to	to	PART
alkej-551	214	11	reach	reach	VERB
alkej-551	214	12	optimality	optimality	NOUN
alkej-551	214	13	.	.	PUNCT
alkej-551	215	1	the	the	DET
alkej-551	215	2	length	length	NOUN
alkej-551	215	3	of	of	ADP
alkej-551	215	4	the	the	DET
alkej-551	215	5	new	new	ADJ
alkej-551	215	6	path	path	NOUN
alkej-551	215	7	produced	produce	VERB
alkej-551	215	8	by	by	ADP
alkej-551	215	9	the	the	DET
alkej-551	215	10	optimization	optimization	NOUN
alkej-551	215	11	technique	technique	NOUN
alkej-551	215	12	was	be	AUX
alkej-551	215	13	smooth	smooth	ADJ
alkej-551	215	14	,	,	PUNCT
alkej-551	215	15	safe	safe	ADJ
alkej-551	215	16	,	,	PUNCT
alkej-551	215	17	optimal	optimal	ADJ
alkej-551	215	18	and	and	CCONJ
alkej-551	215	19	shortest	short	ADJ
alkej-551	215	20	which	which	DET
alkej-551	215	21	traditional	traditional	ADJ
alkej-551	215	22	d	d	NOUN
alkej-551	215	23	*	*	NOUN
alkej-551	215	24	method	method	NOUN
alkej-551	215	25	could	could	AUX
alkej-551	215	26	not	not	PART
alkej-551	215	27	find	find	VERB
alkej-551	215	28	such	such	DET
alkej-551	215	29	a	a	DET
alkej-551	215	30	path	path	NOUN
alkej-551	215	31	.	.	PUNCT
alkej-551	216	1	10	10	NUM
alkej-551	216	2	.	.	PUNCT
alkej-551	216	3	references	reference	NOUN
alkej-551	216	4	[	[	X
alkej-551	216	5	1	1	NUM
alkej-551	216	6	]	]	PUNCT
alkej-551	216	7	h.	h.	PROPN
alkej-551	216	8	miao	miao	PROPN
alkej-551	216	9	,	,	PUNCT
alkej-551	216	10	y.-c	y.-c	PROPN
alkej-551	216	11	.	.	PUNCT
alkej-551	217	1	tian	tian	PROPN
alkej-551	217	2	and	and	CCONJ
alkej-551	217	3	y.m	y.m	PROPN
alkej-551	217	4	.	.	PROPN
alkej-551	217	5	feng	feng	PROPN
alkej-551	217	6	,	,	PUNCT
alkej-551	217	7	“	"	PUNCT
alkej-551	217	8	robot	robot	NOUN
alkej-551	217	9	path	path	NOUN
alkej-551	217	10	planning	planning	NOUN
alkej-551	217	11	in	in	ADP
alkej-551	217	12	dynamic	dynamic	ADJ
alkej-551	217	13	environments	environment	NOUN
alkej-551	217	14	using	use	VERB
alkej-551	217	15	a	a	DET
alkej-551	217	16	simulated	simulate	VERB
alkej-551	217	17	annealing	annealing	NOUN
alkej-551	217	18	based	base	VERB
alkej-551	217	19	approach	approach	NOUN
alkej-551	217	20	”	"	PUNCT
alkej-551	217	21	,	,	PUNCT
alkej-551	217	22	faculty	faculty	NOUN
alkej-551	217	23	of	of	ADP
alkej-551	217	24	science	science	NOUN
alkej-551	217	25	and	and	CCONJ
alkej-551	217	26	technology	technology	PROPN
alkej-551	217	27	queensland	queensland	PROPN
alkej-551	217	28	university	university	PROPN
alkej-551	217	29	of	of	ADP
alkej-551	217	30	technology	technology	NOUN
alkej-551	217	31	,	,	PUNCT
alkej-551	217	32	2014	2014	NUM
alkej-551	217	33	.	.	PUNCT
alkej-551	218	1	[	[	X
alkej-551	218	2	2	2	X
alkej-551	218	3	]	]	PUNCT
alkej-551	218	4	f.	f.	PROPN
alkej-551	218	5	a.	a.	PROPN
alkej-551	218	6	raheem	raheem	PROPN
alkej-551	218	7	and	and	CCONJ
alkej-551	218	8	m.	m.	NOUN
alkej-551	218	9	m.	m.	PROPN
alkej-551	218	10	bader	bader	PROPN
alkej-551	218	11	,	,	PUNCT
alkej-551	218	12	“	"	PUNCT
alkej-551	218	13	development	development	NOUN
alkej-551	218	14	of	of	ADP
alkej-551	218	15	modified	modify	VERB
alkej-551	218	16	path	path	NOUN
alkej-551	218	17	planning	planning	NOUN
alkej-551	218	18	algorithm	algorithm	NOUN
alkej-551	218	19	using	use	VERB
alkej-551	218	20	artificial	artificial	ADJ
alkej-551	218	21	potential	potential	ADJ
alkej-551	218	22	field	field	NOUN
alkej-551	218	23	(	(	PUNCT
alkej-551	218	24	apf	apf	PROPN
alkej-551	218	25	)	)	PUNCT
alkej-551	218	26	based	base	VERB
alkej-551	218	27	on	on	ADP
alkej-551	218	28	pso	pso	NOUN
alkej-551	218	29	for	for	ADP
alkej-551	218	30	factors	factor	NOUN
alkej-551	218	31	optimization	optimization	NOUN
alkej-551	218	32	,	,	PUNCT
alkej-551	218	33	”	"	PUNCT
alkej-551	218	34	american	american	ADJ
alkej-551	218	35	scientific	scientific	ADJ
alkej-551	218	36	research	research	NOUN
alkej-551	218	37	journal	journal	NOUN
alkej-551	218	38	for	for	ADP
alkej-551	218	39	engineering	engineering	NOUN
alkej-551	218	40	,	,	PUNCT
alkej-551	218	41	technology	technology	NOUN
alkej-551	218	42	,	,	PUNCT
alkej-551	218	43	and	and	CCONJ
alkej-551	218	44	science	science	NOUN
alkej-551	218	45	,	,	PUNCT
alkej-551	218	46	37	37	NUM
alkej-551	218	47	,	,	PUNCT
alkej-551	218	48	316	316	NUM
alkej-551	218	49	-	-	SYM
alkej-551	218	50	328	328	NUM
alkej-551	218	51	,	,	PUNCT
alkej-551	218	52	2017	2017	NUM
alkej-551	218	53	.	.	PUNCT
alkej-551	219	1	[	[	X
alkej-551	219	2	3	3	NUM
alkej-551	219	3	]	]	X
alkej-551	219	4	kikuo	kikuo	NOUN
alkej-551	219	5	fujimura	fujimura	PROPN
alkej-551	219	6	,	,	PUNCT
alkej-551	219	7	“	"	PUNCT
alkej-551	219	8	motion	motion	NOUN
alkej-551	219	9	planning	planning	NOUN
alkej-551	219	10	in	in	ADP
alkej-551	219	11	dynamic	dynamic	ADJ
alkej-551	219	12	environments	environment	NOUN
alkej-551	219	13	”	"	PUNCT
alkej-551	219	14	,	,	PUNCT
alkej-551	219	15	springer	springer	NOUN
alkej-551	219	16	-	-	PUNCT
alkej-551	219	17	verlag	verlag	PROPN
alkej-551	219	18	tokyo	tokyo	PROPN
alkej-551	219	19	,	,	PUNCT
alkej-551	219	20	1991	1991	NUM
alkej-551	219	21	.	.	PUNCT
alkej-551	220	1	https://doi.org/10.1007/978-4431-68165-6	https://doi.org/10.1007/978-4431-68165-6	PROPN
alkej-551	221	1	[	[	X
alkej-551	221	2	4	4	NUM
alkej-551	221	3	]	]	PUNCT
alkej-551	221	4	a.	a.	NOUN
alkej-551	221	5	stentz	stentz	PROPN
alkej-551	221	6	,	,	PUNCT
alkej-551	221	7	the	the	DET
alkej-551	221	8	focused	focused	ADJ
alkej-551	221	9	d	d	PROPN
alkej-551	221	10	*	*	NOUN
alkej-551	221	11	algorithm	algorithm	NOUN
alkej-551	221	12	for	for	ADP
alkej-551	221	13	real	real	ADJ
alkej-551	221	14	-	-	PUNCT
alkej-551	221	15	time	time	NOUN
alkej-551	221	16	replanning	replanning	NOUN
alkej-551	221	17	.	.	PUNCT
alkej-551	222	1	proceedings	proceeding	NOUN
alkej-551	222	2	of	of	ADP
alkej-551	222	3	the	the	DET
alkej-551	222	4	international	international	ADJ
alkej-551	222	5	joint	joint	ADJ
alkej-551	222	6	conference	conference	NOUN
alkej-551	222	7	on	on	ADP
alkej-551	222	8	artificial	artificial	ADJ
alkej-551	222	9	intelligence	intelligence	NOUN
alkej-551	222	10	,	,	PUNCT
alkej-551	222	11	montreal	montreal	PROPN
alkej-551	222	12	,	,	PUNCT
alkej-551	222	13	20	20	NUM
alkej-551	222	14	-	-	SYM
alkej-551	222	15	25	25	NUM
alkej-551	222	16	august	august	PROPN
alkej-551	222	17	1995	1995	NUM
alkej-551	222	18	,	,	PUNCT
alkej-551	222	19	1652	1652	NUM
alkej-551	222	20	-	-	SYM
alkej-551	222	21	1659	1659	NUM
alkej-551	222	22	,	,	PUNCT
alkej-551	222	23	1995	1995	NUM
alkej-551	222	24	.	.	PUNCT
alkej-551	223	1	[	[	X
alkej-551	223	2	5	5	NUM
alkej-551	223	3	]	]	PUNCT
alkej-551	223	4	enric	enric	PROPN
alkej-551	223	5	cervera	cervera	PROPN
alkej-551	223	6	i	i	PRON
alkej-551	223	7	mateu	mateu	VERB
alkej-551	223	8	,	,	PUNCT
alkej-551	223	9	“	"	PUNCT
alkej-551	223	10	perception	perception	NOUN
alkej-551	223	11	–	–	PUNCT
alkej-551	223	12	based	base	VERB
alkej-551	223	13	learning	learning	NOUN
alkej-551	223	14	for	for	ADP
alkej-551	223	15	fine	fine	ADJ
alkej-551	223	16	motin	motin	PROPN
alkej-551	223	17	planning	planning	NOUN
alkej-551	223	18	in	in	ADP
alkej-551	223	19	robot	robot	NOUN
alkej-551	223	20	manipulation”,jaume	manipulation”,jaume	PROPN
alkej-551	223	21	-	-	PROPN
alkej-551	223	22	i	i	PROPN
alkej-551	223	23	university	university	PROPN
alkej-551	223	24	of	of	ADP
alkej-551	223	25	castello	castello	PROPN
alkej-551	223	26	.	.	PUNCT
alkej-551	224	1	spain	spain	PROPN
alkej-551	224	2	,	,	PUNCT
alkej-551	224	3	1997	1997	NUM
alkej-551	224	4	.	.	PUNCT
alkej-551	225	1	[	[	X
alkej-551	225	2	6	6	NUM
alkej-551	225	3	]	]	PUNCT
alkej-551	225	4	z.	z.	PROPN
alkej-551	225	5	shiller	shiller	PROPN
alkej-551	225	6	,	,	PUNCT
alkej-551	225	7	f.	f.	PROPN
alkej-551	225	8	large	large	PROPN
alkej-551	225	9	and	and	CCONJ
alkej-551	225	10	s.	s.	PROPN
alkej-551	225	11	sekhavat	sekhavat	PROPN
alkej-551	225	12	,	,	PUNCT
alkej-551	225	13	“	"	PUNCT
alkej-551	225	14	motion	motion	NOUN
alkej-551	225	15	planning	planning	NOUN
alkej-551	225	16	in	in	ADP
alkej-551	225	17	dynamic	dynamic	ADJ
alkej-551	225	18	environments	environment	NOUN
alkej-551	225	19	:	:	PUNCT
alkej-551	225	20	obstacles	obstacle	NOUN
alkej-551	225	21	moving	move	VERB
alkej-551	225	22	along	along	ADP
alkej-551	225	23	arbitrary	arbitrary	ADJ
alkej-551	225	24	trajectories	trajectory	NOUN
alkej-551	225	25	”	"	PUNCT
alkej-551	225	26	,	,	PUNCT
alkej-551	225	27	mechanical	mechanical	ADJ
alkej-551	225	28	and	and	CCONJ
alkej-551	225	29	aerospace	aerospace	NOUN
alkej-551	225	30	engineering	engineering	NOUN
alkej-551	225	31	,	,	PUNCT
alkej-551	225	32	university	university	PROPN
alkej-551	225	33	of	of	ADP
alkej-551	225	34	california	california	PROPN
alkej-551	225	35	,	,	PUNCT
alkej-551	225	36	proceedings	proceeding	NOUN
alkej-551	225	37	of	of	ADP
alkej-551	225	38	the	the	DET
alkej-551	225	39	ieee	ieee	NOUN
alkej-551	225	40	international	international	PROPN
alkej-551	225	41	conference	conference	NOUN
alkej-551	225	42	on	on	ADP
alkej-551	225	43	robotics	robotic	NOUN
alkej-551	225	44	&	&	CCONJ
alkej-551	225	45	automation	automation	PROPN
alkej-551	225	46	seoul	seoul	PROPN
alkej-551	225	47	,	,	PUNCT
alkej-551	225	48	korea	korea	PROPN
alkej-551	225	49	.	.	PUNCT
alkej-551	226	1	may	may	AUX
alkej-551	226	2	21	21	NUM
alkej-551	226	3	-	-	SYM
alkej-551	226	4	26	26	NUM
alkej-551	226	5	,	,	PUNCT
alkej-551	226	6	2001	2001	NUM
alkej-551	226	7	.	.	PUNCT
alkej-551	227	1	[	[	X
alkej-551	227	2	7	7	X
alkej-551	227	3	]	]	X
alkej-551	227	4	r.	r.	PROPN
alkej-551	227	5	s.	s.	PROPN
alkej-551	227	6	m.	m.	PROPN
alkej-551	227	7	asghari	asghari	PROPN
alkej-551	227	8	and	and	CCONJ
alkej-551	227	9	o.	o.	NOUN
alkej-551	227	10	a.	a.	NOUN
alkej-551	227	11	tabataba	tabataba	PROPN
alkej-551	227	12	,	,	PUNCT
alkej-551	227	13	“	"	PUNCT
alkej-551	227	14	mobile	mobile	ADJ
alkej-551	227	15	robot	robot	NOUN
alkej-551	227	16	path	path	NOUN
alkej-551	227	17	planning	planning	NOUN
alkej-551	227	18	by	by	ADP
alkej-551	227	19	rrt	rrt	NOUN
alkej-551	227	20	*	*	PUNCT
alkej-551	227	21	in	in	ADP
alkej-551	227	22	dynamic	dynamic	ADJ
alkej-551	227	23	environments	environment	NOUN
alkej-551	227	24	”	"	PUNCT
alkej-551	227	25	,	,	PUNCT
alkej-551	227	26	mecs	mecs	PROPN
alkej-551	227	27	,	,	PUNCT
alkej-551	227	28	april	april	PROPN
alkej-551	227	29	2015	2015	NUM
alkej-551	227	30	.	.	PUNCT
alkej-551	228	1	[	[	X
alkej-551	228	2	8	8	NUM
alkej-551	228	3	]	]	X
alkej-551	228	4	b.	b.	PROPN
alkej-551	228	5	asadi	asadi	PROPN
alkej-551	228	6	,	,	PUNCT
alkej-551	228	7	“	"	PUNCT
alkej-551	228	8	single	single	ADJ
alkej-551	228	9	and	and	CCONJ
alkej-551	228	10	dual	dual	ADJ
alkej-551	228	11	arm	arm	NOUN
alkej-551	228	12	manipulator	manipulator	NOUN
alkej-551	228	13	motion	motion	NOUN
alkej-551	228	14	planning	planning	NOUN
alkej-551	228	15	library	library	NOUN
alkej-551	228	16	”	"	PUNCT
alkej-551	228	17	,	,	PUNCT
alkej-551	228	18	ieee	ieee	NOUN
alkej-551	228	19	/	/	SYM
alkej-551	228	20	rsj	rsj	NOUN
alkej-551	228	21	international	international	ADJ
alkej-551	228	22	conference	conference	NOUN
alkej-551	228	23	on	on	ADP
alkej-551	228	24	intelligent	intelligent	ADJ
alkej-551	228	25	robots	robot	NOUN
alkej-551	228	26	and	and	CCONJ
alkej-551	228	27	systems	system	NOUN
alkej-551	228	28	(	(	PUNCT
alkej-551	228	29	iros	iro	NOUN
alkej-551	228	30	)	)	PUNCT
alkej-551	228	31	,	,	PUNCT
alkej-551	228	32	hamburg	hamburg	PROPN
alkej-551	228	33	,	,	PUNCT
alkej-551	228	34	28	28	NUM
alkej-551	228	35	september-2	september-2	NUM
alkej-551	228	36	october	october	PROPN
alkej-551	228	37	2015	2015	NUM
alkej-551	228	38	.	.	PUNCT
alkej-551	229	1	firas	firas	PROPN
alkej-551	229	2	a.	a.	PROPN
alkej-551	229	3	raheem	raheem	PROPN
alkej-551	229	4	al	al	PROPN
alkej-551	229	5	-	-	PUNCT
alkej-551	229	6	khwarizmi	khwarizmi	PROPN
alkej-551	229	7	engineering	engineering	NOUN
alkej-551	229	8	journal	journal	PROPN
alkej-551	229	9	,	,	PUNCT
alkej-551	229	10	vol	vol	NOUN
alkej-551	229	11	.	.	PROPN
alkej-551	229	12	15	15	NUM
alkej-551	229	13	,	,	PUNCT
alkej-551	229	14	no	no	INTJ
alkej-551	229	15	.	.	NOUN
alkej-551	229	16	2	2	NUM
alkej-551	229	17	,	,	PUNCT
alkej-551	229	18	p.p	p.p	PROPN
alkej-551	229	19	.	.	NOUN
alkej-551	229	20	108123	108123	NUM
alkej-551	229	21	(	(	PUNCT
alkej-551	229	22	2019	2019	NUM
alkej-551	229	23	)	)	PUNCT
alkej-551	229	24	122	122	NUM
alkej-551	230	1	[	[	X
alkej-551	230	2	9	9	NUM
alkej-551	230	3	]	]	PUNCT
alkej-551	230	4	a.	a.	NOUN
alkej-551	230	5	vemula	vemula	NOUN
alkej-551	230	6	,	,	PUNCT
alkej-551	230	7	“	"	PUNCT
alkej-551	230	8	safe	safe	ADJ
alkej-551	230	9	and	and	CCONJ
alkej-551	230	10	efficient	efficient	ADJ
alkej-551	230	11	navigation	navigation	NOUN
alkej-551	230	12	in	in	ADP
alkej-551	230	13	dynamic	dynamic	ADJ
alkej-551	230	14	environments	environment	NOUN
alkej-551	230	15	,	,	PUNCT
alkej-551	230	16	”	"	PUNCT
alkej-551	230	17	carnegie	carnegie	PROPN
alkej-551	230	18	mellon	mellon	PROPN
alkej-551	230	19	university	university	PROPN
alkej-551	230	20	,	,	PUNCT
alkej-551	230	21	pittsburgh	pittsburgh	PROPN
alkej-551	230	22	,	,	PUNCT
alkej-551	230	23	no	no	INTJ
alkej-551	230	24	.	.	PUNCT
alkej-551	231	1	july	july	PROPN
alkej-551	231	2	,	,	PUNCT
alkej-551	231	3	2017	2017	NUM
alkej-551	232	1	[	[	SYM
alkej-551	232	2	10	10	NUM
alkej-551	232	3	]	]	PUNCT
alkej-551	232	4	mark	mark	PROPN
alkej-551	232	5	w.	w.	PROPN
alkej-551	232	6	spong	spong	PROPN
alkej-551	232	7	,	,	PUNCT
alkej-551	232	8	seth	seth	PROPN
alkej-551	232	9	hutchinson	hutchinson	PROPN
alkej-551	232	10	,	,	PUNCT
alkej-551	232	11	m.	m.	NOUN
alkej-551	232	12	vidyasagar	vidyasagar	PROPN
alkej-551	232	13	“	"	PUNCT
alkej-551	232	14	robot	robot	NOUN
alkej-551	232	15	modeling	modeling	NOUN
alkej-551	232	16	and	and	CCONJ
alkej-551	232	17	control	control	NOUN
alkej-551	232	18	”	"	PUNCT
alkej-551	232	19	united	united	PROPN
alkej-551	232	20	states	states	PROPN
alkej-551	232	21	of	of	ADP
alkej-551	232	22	america	america	PROPN
alkej-551	232	23	first	first	PROPN
alkej-551	232	24	edition	edition	PROPN
alkej-551	232	25	,	,	PUNCT
alkej-551	232	26	wiley	wiley	PROPN
alkej-551	232	27	,	,	PUNCT
alkej-551	232	28	hoboken	hoboken	PROPN
alkej-551	232	29	,	,	PUNCT
alkej-551	232	30	2006	2006	NUM
alkej-551	232	31	.	.	PUNCT
alkej-551	233	1	[	[	X
alkej-551	233	2	11	11	NUM
alkej-551	233	3	]	]	X
alkej-551	233	4	john	john	PROPN
alkej-551	233	5	j.	j.	PROPN
alkej-551	233	6	craig	craig	PROPN
alkej-551	233	7	“	"	PUNCT
alkej-551	233	8	introduction	introduction	NOUN
alkej-551	233	9	to	to	ADP
alkej-551	233	10	robotics	robotic	NOUN
alkej-551	233	11	mechanics	mechanic	NOUN
alkej-551	233	12	and	and	CCONJ
alkej-551	233	13	control	control	PROPN
alkej-551	233	14	”	"	PUNCT
alkej-551	233	15	united	united	PROPN
alkej-551	233	16	states	states	PROPN
alkej-551	233	17	of	of	ADP
alkej-551	233	18	america	america	PROPN
alkej-551	233	19	third	third	PROPN
alkej-551	233	20	edition	edition	PROPN
alkej-551	233	21	,	,	PUNCT
alkej-551	233	22	pearson	pearson	PROPN
alkej-551	233	23	prentice	prentice	PROPN
alkej-551	233	24	hall	hall	PROPN
alkej-551	233	25	pearson	pearson	PROPN
alkej-551	233	26	education	education	PROPN
alkej-551	233	27	,	,	PUNCT
alkej-551	233	28	inc	inc	PROPN
alkej-551	233	29	.	.	PROPN
alkej-551	233	30	,	,	PUNCT
alkej-551	233	31	upper	upper	ADJ
alkej-551	233	32	saddle	saddle	NOUN
alkej-551	233	33	river	river	PROPN
alkej-551	233	34	,	,	PUNCT
alkej-551	233	35	nj	nj	PROPN
alkej-551	233	36	.	.	PROPN
alkej-551	233	37	2005	2005	NUM
alkej-551	233	38	.	.	PUNCT
alkej-551	234	1	[	[	X
alkej-551	234	2	12	12	NUM
alkej-551	234	3	]	]	PUNCT
alkej-551	234	4	a.	a.	NOUN
alkej-551	234	5	t.	t.	PROPN
alkej-551	234	6	sadiq	sadiq	PROPN
alkej-551	234	7	,	,	PUNCT
alkej-551	234	8	f.	f.	PROPN
alkej-551	234	9	a.	a.	PROPN
alkej-551	234	10	raheem	raheem	PROPN
alkej-551	234	11	,	,	PUNCT
alkej-551	234	12	and	and	CCONJ
alkej-551	234	13	n.	n.	PROPN
alkej-551	234	14	a.	a.	PROPN
alkej-551	234	15	f.	f.	PROPN
alkej-551	234	16	abbas	abbas	PROPN
alkej-551	234	17	,	,	PUNCT
alkej-551	234	18	“	"	PUNCT
alkej-551	234	19	optimal	optimal	ADJ
alkej-551	234	20	trajectory	trajectory	NOUN
alkej-551	234	21	planning	planning	NOUN
alkej-551	234	22	of	of	ADP
alkej-551	234	23	2dof	2dof	NUM
alkej-551	234	24	robot	robot	NOUN
alkej-551	234	25	arm	arm	NOUN
alkej-551	234	26	using	use	VERB
alkej-551	234	27	the	the	DET
alkej-551	234	28	integration	integration	NOUN
alkej-551	234	29	of	of	ADP
alkej-551	234	30	pso	pso	NOUN
alkej-551	234	31	based	base	VERB
alkej-551	234	32	on	on	ADP
alkej-551	234	33	d	d	PROPN
alkej-551	234	34	*	*	PUNCT
alkej-551	234	35	algorithm	algorithm	NOUN
alkej-551	234	36	and	and	CCONJ
alkej-551	234	37	cubic	cubic	ADJ
alkej-551	234	38	polynomial	polynomial	ADJ
alkej-551	234	39	equation	equation	NOUN
alkej-551	234	40	,	,	PUNCT
alkej-551	234	41	”	"	PUNCT
alkej-551	234	42	first	first	ADJ
alkej-551	234	43	int	int	NOUN
alkej-551	234	44	.	.	PUNCT
alkej-551	235	1	conf	conf	PROPN
alkej-551	235	2	.	.	PUNCT
alkej-551	236	1	eng	eng	PROPN
alkej-551	236	2	.	.	PUNCT
alkej-551	237	1	res	res	PROPN
alkej-551	237	2	.	.	PROPN
alkej-551	237	3	,	,	PUNCT
alkej-551	237	4	no	no	INTJ
alkej-551	237	5	.	.	PUNCT
alkej-551	238	1	march	march	PROPN
alkej-551	238	2	,	,	PUNCT
alkej-551	238	3	pp	pp	ADV
alkej-551	238	4	.	.	PUNCT
alkej-551	239	1	458–467,2017	458–467,2017	X
alkej-551	239	2	.	.	PUNCT
alkej-551	240	1	[	[	X
alkej-551	240	2	13	13	NUM
alkej-551	240	3	]	]	PUNCT
alkej-551	240	4	a.	a.	NOUN
alkej-551	240	5	t.	t.	PROPN
alkej-551	240	6	sadiq	sadiq	PROPN
alkej-551	240	7	,	,	PUNCT
alkej-551	240	8	f.	f.	PROPN
alkej-551	240	9	a.	a.	PROPN
alkej-551	240	10	raheem	raheem	PROPN
alkej-551	240	11	,	,	PUNCT
alkej-551	240	12	and	and	CCONJ
alkej-551	240	13	n.	n.	PROPN
alkej-551	240	14	a.	a.	PROPN
alkej-551	240	15	f.	f.	PROPN
alkej-551	240	16	abbas	abbas	PROPN
alkej-551	240	17	,	,	PUNCT
alkej-551	240	18	“	"	PUNCT
alkej-551	240	19	robot	robot	NOUN
alkej-551	240	20	arm	arm	NOUN
alkej-551	240	21	path	path	NOUN
alkej-551	240	22	planning	planning	NOUN
alkej-551	240	23	using	use	VERB
alkej-551	240	24	modified	modify	VERB
alkej-551	240	25	particle	particle	NOUN
alkej-551	240	26	swarm	swarm	NOUN
alkej-551	240	27	optimization	optimization	NOUN
alkej-551	240	28	based	base	VERB
alkej-551	240	29	on	on	ADP
alkej-551	240	30	d	d	PROPN
alkej-551	240	31	*	*	PUNCT
alkej-551	240	32	algorithm	algorithm	PROPN
alkej-551	240	33	”	"	PUNCT
alkej-551	240	34	al	al	PROPN
alkej-551	240	35	-	-	PUNCT
alkej-551	240	36	khwarizmi	khwarizmi	PROPN
alkej-551	240	37	engineering	engineering	NOUN
alkej-551	240	38	journal	journal	PROPN
alkej-551	240	39	,	,	PUNCT
alkej-551	240	40	vol	vol	NOUN
alkej-551	240	41	.	.	PROPN
alkej-551	240	42	13	13	NUM
alkej-551	240	43	,	,	PUNCT
alkej-551	240	44	no	no	INTJ
alkej-551	240	45	.	.	NOUN
alkej-551	240	46	3	3	NUM
alkej-551	240	47	,	,	PUNCT
alkej-551	240	48	pp	pp	ADJ
alkej-551	240	49	.	.	NOUN
alkej-551	240	50	2737	2737	NUM
alkej-551	240	51	,	,	PUNCT
alkej-551	240	52	2017	2017	NUM
alkej-551	240	53	.	.	PUNCT
alkej-551	241	1	[	[	X
alkej-551	241	2	14	14	NUM
alkej-551	241	3	]	]	PUNCT
alkej-551	241	4	p.	p.	NOUN
alkej-551	241	5	boonyaritdachochai	boonyaritdachochai	ADJ
alkej-551	241	6	,	,	PUNCT
alkej-551	241	7	et	et	PROPN
alkej-551	241	8	al	al	PROPN
alkej-551	241	9	.	.	PROPN
alkej-551	241	10	,	,	PUNCT
alkej-551	241	11	"	"	PUNCT
alkej-551	241	12	optimal	optimal	ADJ
alkej-551	241	13	congestion	congestion	NOUN
alkej-551	241	14	management	management	NOUN
alkej-551	241	15	in	in	ADP
alkej-551	241	16	an	an	DET
alkej-551	241	17	electricity	electricity	NOUN
alkej-551	241	18	market	market	NOUN
alkej-551	241	19	using	use	VERB
alkej-551	241	20	particle	particle	NOUN
alkej-551	241	21	swarm	swarm	NOUN
alkej-551	241	22	optimization	optimization	NOUN
alkej-551	241	23	with	with	ADP
alkej-551	241	24	time	time	NOUN
alkej-551	241	25	-	-	PUNCT
alkej-551	241	26	varying	vary	VERB
alkej-551	241	27	acceleration	acceleration	NOUN
alkej-551	241	28	coefficients	coefficient	NOUN
alkej-551	241	29	,	,	PUNCT
alkej-551	241	30	"	"	PUNCT
alkej-551	241	31	computers	computer	NOUN
alkej-551	241	32	&	&	CCONJ
alkej-551	241	33	mathematics	mathematic	NOUN
alkej-551	241	34	with	with	ADP
alkej-551	241	35	applications	application	NOUN
alkej-551	241	36	,	,	PUNCT
alkej-551	241	37	vol	vol	NOUN
alkej-551	241	38	.	.	PUNCT
alkej-551	242	1	in	in	ADP
alkej-551	242	2	press	press	NOUN
alkej-551	242	3	,	,	PUNCT
alkej-551	242	4	corrected	correct	VERB
alkej-551	242	5	proof	proof	NOUN
alkej-551	242	6	,	,	PUNCT
alkej-551	242	7	2010	2010	NUM
alkej-551	242	8	.	.	PUNCT
alkej-551	243	1	[	[	X
alkej-551	243	2	15	15	NUM
alkej-551	243	3	]	]	X
alkej-551	243	4	poli	poli	PROPN
alkej-551	243	5	,	,	PUNCT
alkej-551	243	6	r.	r.	PROPN
alkej-551	243	7	,	,	PUNCT
alkej-551	243	8	kennedy	kennedy	PROPN
alkej-551	243	9	,	,	PUNCT
alkej-551	243	10	j.	j.	PROPN
alkej-551	243	11	and	and	CCONJ
alkej-551	243	12	blackwell	blackwell	PROPN
alkej-551	243	13	,	,	PUNCT
alkej-551	243	14	t.	t.	NOUN
alkej-551	243	15	particle	particle	NOUN
alkej-551	243	16	swarm	swarm	NOUN
alkej-551	243	17	optimization	optimization	NOUN
alkej-551	243	18	:	:	PUNCT
alkej-551	243	19	an	an	DET
alkej-551	243	20	overview	overview	NOUN
alkej-551	243	21	.	.	PUNCT
alkej-551	244	1	swarm	swarm	NOUN
alkej-551	244	2	intelligence	intelligence	NOUN
alkej-551	244	3	,	,	PUNCT
alkej-551	244	4	1	1	NUM
alkej-551	244	5	,	,	PUNCT
alkej-551	244	6	33	33	NUM
alkej-551	244	7	-	-	SYM
alkej-551	244	8	57	57	NUM
alkej-551	244	9	,	,	PUNCT
alkej-551	244	10	2007	2007	NUM
alkej-551	245	1	[	[	X
alkej-551	245	2	16	16	NUM
alkej-551	245	3	]	]	PUNCT
alkej-551	245	4	k.	k.	PROPN
alkej-551	245	5	t.	t.	PROPN
alkej-551	245	6	chaturvedi	chaturvedi	PROPN
alkej-551	245	7	,	,	PUNCT
alkej-551	245	8	et	et	PROPN
alkej-551	245	9	al	al	PROPN
alkej-551	245	10	.	.	PROPN
alkej-551	245	11	,	,	PUNCT
alkej-551	245	12	"	"	PUNCT
alkej-551	245	13	particle	particle	NOUN
alkej-551	245	14	swarm	swarm	NOUN
alkej-551	245	15	optimization	optimization	NOUN
alkej-551	245	16	with	with	ADP
alkej-551	245	17	time	time	NOUN
alkej-551	245	18	varying	vary	VERB
alkej-551	245	19	acceleration	acceleration	NOUN
alkej-551	245	20	coefficients	coefficient	NOUN
alkej-551	245	21	for	for	ADP
alkej-551	245	22	non	non	ADJ
alkej-551	245	23	-	-	ADJ
alkej-551	245	24	convex	convex	ADJ
alkej-551	245	25	economic	economic	ADJ
alkej-551	245	26	power	power	NOUN
alkej-551	245	27	dispatch	dispatch	NOUN
alkej-551	245	28	,	,	PUNCT
alkej-551	245	29	"	"	PUNCT
alkej-551	245	30	international	international	ADJ
alkej-551	245	31	journal	journal	NOUN
alkej-551	245	32	of	of	ADP
alkej-551	245	33	electrical	electrical	ADJ
alkej-551	245	34	power	power	NOUN
alkej-551	245	35	&	&	CCONJ
alkej-551	245	36	energy	energy	NOUN
alkej-551	245	37	systems	system	NOUN
alkej-551	245	38	,	,	PUNCT
alkej-551	245	39	vol	vol	NOUN
alkej-551	245	40	.	.	PROPN
alkej-551	246	1	31	31	NUM
alkej-551	246	2	,	,	PUNCT
alkej-551	246	3	pp	pp	ADJ
alkej-551	246	4	.	.	PUNCT
alkej-551	247	1	249257	249257	NUM
alkej-551	247	2	,	,	PUNCT
alkej-551	247	3	2009	2009	NUM
alkej-551	247	4	.	.	PUNCT
alkej-551	248	1	[	[	X
alkej-551	248	2	17	17	NUM
alkej-551	248	3	]	]	X
alkej-551	248	4	ni	ni	PROPN
alkej-551	248	5	,	,	PUNCT
alkej-551	248	6	j.j	j.j	PROPN
alkej-551	248	7	.	.	PROPN
alkej-551	248	8	,	,	PUNCT
alkej-551	248	9	wu	wu	PROPN
alkej-551	248	10	,	,	PUNCT
alkej-551	248	11	w.b	w.b	PROPN
alkej-551	248	12	.	.	PROPN
alkej-551	248	13	,	,	PUNCT
alkej-551	248	14	shen	shen	PROPN
alkej-551	248	15	,	,	PUNCT
alkej-551	248	16	j.r	j.r	PROPN
alkej-551	248	17	.	.	PROPN
alkej-551	248	18	and	and	CCONJ
alkej-551	248	19	fan	fan	PROPN
alkej-551	248	20	,	,	PUNCT
alkej-551	248	21	x.n	x.n	PROPN
alkej-551	248	22	.	.	PUNCT
alkej-551	249	1	an	an	DET
alkej-551	249	2	improved	improved	ADJ
alkej-551	249	3	vff	vff	NOUN
alkej-551	249	4	approach	approach	NOUN
alkej-551	249	5	for	for	ADP
alkej-551	249	6	robot	robot	NOUN
alkej-551	249	7	path	path	NOUN
alkej-551	249	8	planning	planning	NOUN
alkej-551	249	9	in	in	ADP
alkej-551	249	10	unknown	unknown	ADJ
alkej-551	249	11	and	and	CCONJ
alkej-551	249	12	dynamic	dynamic	ADJ
alkej-551	249	13	environments	environment	NOUN
alkej-551	249	14	.	.	PUNCT
alkej-551	250	1	mathematical	mathematical	ADJ
alkej-551	250	2	problems	problem	NOUN
alkej-551	250	3	in	in	ADP
alkej-551	250	4	engineering	engineering	NOUN
alkej-551	250	5	,	,	PUNCT
alkej-551	250	6	2014	2014	NUM
alkej-551	250	7	,	,	PUNCT
alkej-551	250	8	article	article	NOUN
alkej-551	250	9	id:461237	id:461237	PROPN
alkej-551	250	10	.	.	PUNCT
alkej-551	250	11	https://doi.org/10.1155/2014/461237	https://doi.org/10.1155/2014/461237	PROPN
alkej-551	250	12	)	)	PUNCT
alkej-551	250	13	2019	2019	NUM
alkej-551	250	14	(	(	PUNCT
alkej-551	250	15	108123	108123	NUM
alkej-551	250	16	،	،	PROPN
alkej-551	250	17	صفحة	صفحة	PROPN
alkej-551	250	18	2د	2د	PROPN
alkej-551	250	19	،	،	PROPN
alkej-551	250	20	العد15دالخوارزمي	العد15دالخوارزمي	PROPN
alkej-551	250	21	الهندسية	الهندسية	PROPN
alkej-551	250	22	المجلجلة	المجلجلة	PROPN
alkej-551	250	23	م	م	PROPN
alkej-551	250	24	امنية	امنية	PROPN
alkej-551	250	25	ابراهيم	ابراهيم	PROPN
alkej-551	250	26	حميد	حميد	PROPN
alkej-551	250	27	123	123	NUM
alkej-551	250	28	باالعتماد	باالعتماد	NOUN
alkej-551	250	29	على	على	NOUN
alkej-551	250	30	تقنية	تقنية	PROPN
alkej-551	250	31	d*ستخدام	d*ستخدام	PRON
alkej-551	250	32	خوارزمية	خوارزمية	ADJ
alkej-551	250	33	اتخطيط	اتخطيط	NOUN
alkej-551	250	34	مسار	مسار	PROPN
alkej-551	250	35	لذراع	لذراع	PROPN
alkej-551	250	36	روبوت	روبوت	PROPN
alkej-551	250	37	ب	ب	PROPN
alkej-551	250	38	سرب	سرب	PROPN
alkej-551	250	39	الطيور	الطيور	PROPN
alkej-551	250	40	رحيم	رحيم	PROPN
alkej-551	250	41	*	*	PROPN
alkej-551	250	42	عبد	عبد	PROPN
alkej-551	250	43	الرزاقفراس	الرزاقفراس	NOUN
alkej-551	250	44	حميد	حميد	NOUN
alkej-551	250	45	*	*	PUNCT
alkej-551	250	46	*	*	PUNCT
alkej-551	250	47	ابراهيمأُمنية	ابراهيمأُمنية	PUNCT
alkej-551	250	48	العراق	العراق	PROPN
alkej-551	250	49	/	/	SYM
alkej-551	250	50	بغداد	بغداد	PROPN
alkej-551	250	51	/الجامعة	/الجامعة	ADV
alkej-551	250	52	التكنولوجية	التكنولوجية	PROPN
alkej-551	250	53	/قسم	/قسم	PROPN
alkej-551	250	54	هندسة	هندسة	NOUN
alkej-551	250	55	السيطرة	السيطرة	PROPN
alkej-551	250	56	والنظم	والنظم	PROPN
alkej-551	250	57	،	،	PROPN
alkej-551	250	58	*	*	PUNCT
alkej-551	250	59	*	*	PUNCT
alkej-551	250	60	*	*	PUNCT
alkej-551	250	61	60124@uotechnology.edu.iq	60124@uotechnology.edu.iq	NUM
alkej-551	250	62	:	:	PUNCT
alkej-551	250	63	البريدااللكتروني	البريدااللكتروني	NOUN
alkej-551	250	64	61126@uotechnology.edu.iq	61126@uotechnology.edu.iq	NUM
alkej-551	250	65	:	:	PUNCT
alkej-551	250	66	البريدااللكتروني	البريدااللكتروني	PROPN
alkej-551	250	67	الخالصة	الخالصة	PROPN
alkej-551	250	68	ذلك	ذلك	PROPN
alkej-551	250	69	فأنها	فأنها	NOUN
alkej-551	250	70	تمثل	تمثل	VERB
alkej-551	250	71	القضية	القضية	NUM
alkej-551	250	72	الرئيسية	الرئيسية	NOUN
alkej-551	250	73	للروبوتات	للروبوتات	PROPN
alkej-551	250	74	واذرع	واذرع	PROPN
alkej-551	250	75	الروبوتات	الروبوتات	PROPN
alkej-551	250	76	فضالً	فضالً	PROPN
alkej-551	250	77	عنان	عنان	PROPN
alkej-551	250	78	ايجاد	ايجاد	PROPN
alkej-551	250	79	حل	حل	PROPN
alkej-551	250	80	للمسار	للمسار	PROPN
alkej-551	250	81	في	في	ADP
alkej-551	250	82	بيئة	بيئة	PROPN
alkej-551	250	83	ديناميكية	ديناميكية	PROPN
alkej-551	250	84	يمثل	يمثل	PROPN
alkej-551	250	85	تحديا	تحديا	NOUN
alkej-551	250	86	للباحثين	للباحثين	ADJ
alkej-551	250	87	في	في	ADP
alkej-551	250	88	مجال	مجال	ADJ
alkej-551	250	89	الروبوتات	الروبوتات	PROPN
alkej-551	250	90	مثل	مثل	PROPN
alkej-551	250	91	الكائنات	الكائنات	PROPN
alkej-551	250	92	المختلفة	المختلفة	PROPN
alkej-551	250	93	والبشر	والبشر	PROPN
alkej-551	250	94	والحيوانات	والحيوانات	PROPN
alkej-551	250	95	أو	أو	AUX
alkej-551	250	96	روبوتات	روبوتات	NOUN
alkej-551	250	97	أخرى	أخرى	PROPN
alkej-551	250	98	المسار	المسار	PROPN
alkej-551	250	99	الخالي	الخالي	VERB
alkej-551	251	1	من	من	DET
alkej-551	251	2	التصادم	التصادم	PROPN
alkej-551	251	3	في	في	ADP
alkej-551	251	4	البيئات	البيئات	PROPN
alkej-551	251	5	ذات	ذات	NOUN
alkej-551	251	6	العوائق	العوائق	PROPN
alkej-551	251	7	المتحركة	المتحركة	NOUN
alkej-551	251	8	دالتي	دالتي	PROPN
alkej-551	251	9	يتطلع	يتطلع	PROPN
alkej-551	251	10	اليها	اليها	PROPN
alkej-551	251	11	العالم	العالم	PROPN
alkej-551	251	12	اليوم	اليوم	PROPN
alkej-551	251	13	.	.	PUNCT
alkej-551	252	1	يع	يع	INTJ
alkej-551	252	2	األكثر	األكثر	NOUN
alkej-551	252	3	شيوًعا	شيوًعا	PROPN
alkej-551	252	4	في	في	ADP
alkej-551	252	5	جميع	جميع	PROPN
alkej-551	252	6	خوارزميات	خوارزميات	PROPN
alkej-551	252	7	تخطيط	تخطيط	ADJ
alkej-551	252	8	المسار	المسار	NOUN
alkej-551	252	9	.	.	PUNCT
alkej-551	253	1	كالتذلك	كالتذلك	PROPN
alkej-551	253	2	،	،	X
alkej-551	253	3	الحدود	الحدود	PROPN
alkej-551	253	4	الدنيا	الدنيا	PROPN
alkej-551	253	5	المحلية	المحلية	PROPN
alkej-551	253	6	والحواف	والحواف	PROPN
alkej-551	253	7	الحادة	الحادة	PROPN
alkej-551	253	8	هي	هي	PROPN
alkej-551	253	9	المش	المش	PROPN
alkej-551	253	10	فضالً	فضالً	PROPN
alkej-551	253	11	عنمشكلة	عنمشكلة	VERB
alkej-551	253	12	حقيقية	حقيقية	NOUN
alkej-551	253	13	ويحتاج	ويحتاج	ADJ
alkej-551	253	14	إلى	إلى	NOUN
alkej-551	253	15	حل	حل	PROPN
alkej-551	253	16	.	.	PUNCT
alkej-551	254	1	عالوة	عالوة	PROPN
alkej-551	254	2	على	على	PROPN
alkej-551	254	3	،	،	PROPN
alkej-551	254	4	psoباالعتماد	psoباالعتماد	PROPN
alkej-551	254	5	على	على	PROPN
alkej-551	254	6	تقنية	تقنية	PROPN
alkej-551	254	7	التحسين	التحسين	PROPN
alkej-551	254	8	*	*	PUNCT
alkej-551	254	9	dستخدام	dستخدام	PROPN
alkej-551	254	10	خوارزمية	خوارزمية	ADJ
alkej-551	254	11	تخطيط	تخطيط	ADJ
alkej-551	254	12	المسار	المسار	PROPN
alkej-551	254	13	اب	اب	X
alkej-551	254	14	شكالتالرئيس	شكالتالرئيس	PROPN
alkej-551	254	15	من	من	INTJ
alkej-551	254	16	هذا	هذا	NOUN
alkej-551	254	17	العمل	العمل	VERB
alkej-551	254	18	هو	هو	PRON
alkej-551	254	19	التغلب	التغلب	PROPN
alkej-551	254	20	على	على	NOUN
alkej-551	254	21	هذه	هذه	PROPN
alkej-551	254	22	الم	الم	NOUN
alkej-551	254	23	الهدف	الهدف	ADP
alkej-551	254	24	نظًرا	نظًرا	NOUN
alkej-551	254	25	ألن	ألن	NOUN
alkej-551	254	26	نوع	نوع	PROPN
alkej-551	254	27	البيئة	البيئة	PROPN
alkej-551	254	28	الذي	الذي	PROPN
alkej-551	254	29	تمت	تمت	PROPN
alkej-551	254	30	.	.	PUNCT
alkej-551	255	1	motion	motion	NOUN
alkej-551	255	2	sample	sample	NOUN
alkej-551	255	3	،	،	NOUN
alkej-551	255	4	يركز	يركز	NOUN
alkej-551	255	5	هذا	هذا	NOUN
alkej-551	255	6	العمل	العمل	PROPN
alkej-551	255	7	على	على	PROPN
alkej-551	255	8	الجزء	الجزء	PROPN
alkej-551	255	9	الحسابي	الحسابي	PROPN
alkej-551	255	10	من	من	PROPN
alkej-551	255	11	تخطيط	تخطيط	ADJ
alkej-551	255	12	الحركة	الحركة	PROPN
alkej-551	255	13	في	في	ADP
alkej-551	255	14	بيئة	بيئة	PROPN
alkej-551	255	15	ديناميكية	ديناميكية	PROPN
alkej-551	255	16	متغيرة	متغيرة	PROPN
alkej-551	255	17	تماًما	تماًما	ADP
alkej-551	255	18	مع	مع	NOUN
alkej-551	255	19	كل	كل	PROPN
alkej-551	255	20	ذلك	ذلك	NOUN
alkej-551	255	21	هو	هو	ADP
alkej-551	255	22	دائما	دائما	PROPN
alkej-551	255	23	الحصول	الحصول	PROPN
alkej-551	255	24	على	على	PROPN
alkej-551	255	25	حل	حل	PROPN
alkej-551	255	26	المسار	المسار	NOUN
alkej-551	255	27	off	off	ADP
alkej-551	255	28	-	-	PUNCT
alkej-551	255	29	line	line	NOUN
alkej-551	255	30	ـ	ـ	X
alkej-551	255	31	.	.	PUNCT
alkej-551	256	1	ان	ان	PROPN
alkej-551	256	2	الميزة	الميزة	PROPN
alkej-551	256	3	الرئيسة	الرئيسة	NOUN
alkej-551	256	4	لتخطيط	لتخطيط	ADJ
alkej-551	256	5	المسار	المسار	NOUN
alkej-551	256	6	الoff	الoff	NOUN
alkej-551	256	7	-	-	PUNCT
alkej-551	256	8	lineمناقشته	lineمناقشته	NOUN
alkej-551	256	9	هنا	هنا	PROPN
alkej-551	257	1	هو	هو	PROPN
alkej-551	257	2	البيئة	البيئة	PROPN
alkej-551	257	3	الديناميكية	الديناميكية	PROPN
alkej-551	257	4	المعروفة	المعروفة	PROPN
alkej-551	258	1	فأن	فأن	PROPN
alkej-551	258	2	الحل	الحل	PROPN
alkej-551	259	1	سيكون	سيكون	INTJ
alkej-551	260	1	مع	مع	PROPN
alkej-551	260	2	*	*	PUNCT
alkej-551	260	3	dالديناميكي	dالديناميكي	PROPN
alkej-551	260	4	للعقبات	للعقبات	PROPN
alkej-551	260	5	.	.	PUNCT
alkej-551	261	1	ولذلك	ولذلك	PROPN
alkej-551	261	2	تم	تم	NOUN
alkej-551	261	3	اللجوء	اللجوء	PROPN
alkej-551	261	4	الى	الى	PROPN
alkej-551	261	5	خوارومية	خوارومية	PROPN
alkej-551	261	6	،	،	PROPN
alkej-551	261	7	والتي	والتي	PROPN
alkej-551	261	8	هي	هي	PROPN
alkej-551	261	9	قادرة	قادرة	PROPN
alkej-551	261	10	على	على	PROPN
alkej-551	261	11	التغلب	التغلب	PROPN
alkej-551	261	12	على	على	NOUN
alkej-551	261	13	جميع	جميع	VERB
alkej-551	261	14	الصعوبات	الصعوبات	PROPN
alkej-551	261	15	الناجمة	الناجمة	PROPN
alkej-551	261	16	عن	عن	PROPN
alkej-551	261	17	السلوك	السلوك	PROPN
alkej-551	261	18	االمثل	االمثل	NOUN
alkej-551	261	19	.	.	PUNCT
alkej-551	262	1	global	global	ADJ
alkej-551	262	2	ال	ال	ADP
alkej-551	262	3	لتحسين	لتحسين	PROPN
alkej-551	262	4	psoللحصول	psoللحصول	PROPN
alkej-551	262	5	على	على	PROPN
alkej-551	262	6	اقصر	اقصر	PROPN
alkej-551	262	7	مسار	مسار	PROPN
alkej-551	262	8	ومن	ومن	VERB
alkej-551	262	9	ثم	ثم	ADP
alkej-551	262	10	تطبيق	تطبيق	PROPN
alkej-551	262	11	تقنية	تقنية	PROPN
alkej-551	262	12	تحسين	تحسين	NOUN
alkej-551	262	13	المسار	المسار	PROPN
alkej-551	262	14	*	*	PUNCT
alkej-551	262	15	dحيث	dحيث	PROPN
alkej-551	262	16	تم	تم	PROPN
alkej-551	262	17	استخدام	استخدام	PROPN
alkej-551	262	18	خوارزمية	خوارزمية	PROPN
alkej-551	262	19	تخطيط	تخطيط	PROPN
alkej-551	262	20	المسار	المسار	PROPN
alkej-551	262	21	psoتقنية	psoتقنية	PROPN
alkej-551	262	22	التحسين	التحسين	PROPN
alkej-551	262	23	ال	ال	PROPN
alkej-551	262	24	ية	ية	PROPN
alkej-551	262	25	الختبار	الختبار	NOUN
alkej-551	262	26	الطريقة	الطريقة	NOUN
alkej-551	262	27	المقترحة	المقترحة	PROPN
alkej-551	262	28	وهي	وهي	PROPN
alkej-551	262	29	تمثل	تمثل	PROPN
alkej-551	262	30	حالة	حالة	PROPN
alkej-551	262	31	اكثر	اكثر	PROPN
alkej-551	262	32	صعوبة	صعوبة	PROPN
alkej-551	262	33	من	من	PRON
alkej-551	262	34	الحالة	الحالة	PROPN
alkej-551	262	35	دراسبوصفه	دراسبوصفه	PROPN
alkej-551	262	36	المسار	المسار	PROPN
alkej-551	262	37	النهائي	النهائي	PROPN
alkej-551	262	38	.	.	PUNCT
alkej-551	263	1	تم	تم	PROPN
alkej-551	263	2	استخدام	استخدام	PROPN
alkej-551	263	3	ذراع	ذراع	PROPN
alkej-551	263	4	الروبوت	الروبوت	PROPN
alkej-551	263	5	ثنائي	ثنائي	PROPN
alkej-551	263	6	درجات	درجات	PROPN
alkej-551	263	7	الحرية	الحرية	NOUN
alkej-551	263	8	mobile	mobile	PROPN
alkej-551	263	9	robot	robot	NOUN
alkej-551	263	10	بوضوح	بوضوح	PROPN
alkej-551	263	11	المسار	المسار	PROPN
alkej-551	263	12	االمن	االمن	PROPN
alkej-551	263	13	والقصير	والقصير	INTJ
alkej-551	263	14	تماما	تماما	PROPN
alkej-551	263	15	.	.	PUNCT
alkej-551	264	1	ررحة	ررحة	PROPN
alkej-551	264	2	والتي	والتي	PROPN
alkej-551	264	3	تظهقت	تظهقت	PROPN
alkej-551	264	4	.	.	PUNCT
alkej-551	265	1	كما	كما	PROPN
alkej-551	265	2	ان	ان	PROPN
alkej-551	265	3	نتائج	نتائج	PROPN
alkej-551	265	4	المحاكاة	المحاكاة	PROPN
alkej-551	265	5	تظهر	تظهر	INTJ
alkej-551	266	1	فعالية	فعالية	NOUN
alkej-551	266	2	الطريقة	الطريقة	NOUN
alkej-551	266	3	الم	الم	VERB
alkej-551	266	4	124	124	NUM