id	sid	tid	token	lemma	pos
alkej-76	1	1	امنة	امنة	PROPN
alkej-76	1	2	al	al	PROPN
alkej-76	1	3	-	-	PUNCT
alkej-76	1	4	khwarizmi	khwarizmi	PROPN
alkej-76	1	5	engineering	engineering	PROPN
alkej-76	1	6	journal	journal	PROPN
alkej-76	1	7	al	al	PROPN
alkej-76	1	8	-	-	PUNCT
alkej-76	1	9	khwarizmi	khwarizmi	PROPN
alkej-76	1	10	engineering	engineering	NOUN
alkej-76	1	11	journal	journal	PROPN
alkej-76	1	12	,	,	PUNCT
alkej-76	1	13	vol	vol	NOUN
alkej-76	1	14	.	.	PROPN
alkej-76	1	15	7	7	NUM
alkej-76	1	16	,	,	PUNCT
alkej-76	1	17	no	no	INTJ
alkej-76	1	18	.	.	NOUN
alkej-76	1	19	4	4	NUM
alkej-76	1	20	,	,	PUNCT
alkej-76	1	21	pp1	pp1	NOUN
alkej-76	1	22	-	-	SYM
alkej-76	1	23	16	16	NUM
alkej-76	1	24	(	(	PUNCT
alkej-76	1	25	2011	2011	NUM
alkej-76	1	26	)	)	PUNCT
alkej-76	1	27	path	path	NOUN
alkej-76	1	28	planning	planning	NOUN
alkej-76	1	29	control	control	NOUN
alkej-76	1	30	for	for	ADP
alkej-76	1	31	mobile	mobile	NOUN
alkej-76	1	32	robot	robot	PROPN
alkej-76	1	33	nabeel	nabeel	PROPN
alkej-76	1	34	k.	k.	PROPN
alkej-76	1	35	abid	abid	PROPN
alkej-76	1	36	alsahib	alsahib	PROPN
alkej-76	1	37	amenah	amenah	PROPN
alkej-76	1	38	a.h	a.h	PROPN
alkej-76	1	39	.	.	PROPN
alkej-76	1	40	salih	salih	PROPN
alkej-76	1	41	department	department	PROPN
alkej-76	1	42	of	of	ADP
alkej-76	1	43	mechatronics	mechatronic	NOUN
alkej-76	1	44	engineering/	engineering/	NUM
alkej-76	1	45	al	al	PROPN
alkej-76	1	46	-	-	PUNCT
alkej-76	1	47	khwarizmi	khwarizmi	PROPN
alkej-76	1	48	college	college	NOUN
alkej-76	1	49	of	of	ADP
alkej-76	1	50	engineering	engineering	NOUN
alkej-76	1	51	/	/	SYM
alkej-76	1	52	university	university	PROPN
alkej-76	1	53	of	of	ADP
alkej-76	1	54	baghdad	baghdad	PROPN
alkej-76	1	55	email:dr-nabeelalsahib@hotmal.com	email:dr-nabeelalsahib@hotmal.com	PROPN
alkej-76	1	56	(	(	PUNCT
alkej-76	1	57	received	receive	VERB
alkej-76	1	58	16	16	NUM
alkej-76	1	59	february	february	NOUN
alkej-76	1	60	2011	2011	NUM
alkej-76	1	61	;	;	PUNCT
alkej-76	1	62	accepted	accept	VERB
alkej-76	1	63	20september	20september	NUM
alkej-76	1	64	2011	2011	NUM
alkej-76	1	65	)	)	PUNCT
alkej-76	1	66	abstract	abstract	ADJ
alkej-76	1	67	autonomous	autonomous	ADJ
alkej-76	1	68	motion	motion	NOUN
alkej-76	1	69	planning	planning	NOUN
alkej-76	1	70	is	be	AUX
alkej-76	1	71	important	important	ADJ
alkej-76	1	72	area	area	NOUN
alkej-76	1	73	of	of	ADP
alkej-76	1	74	robotics	robotic	NOUN
alkej-76	1	75	research	research	NOUN
alkej-76	1	76	.	.	PUNCT
alkej-76	2	1	this	this	DET
alkej-76	2	2	type	type	NOUN
alkej-76	2	3	of	of	ADP
alkej-76	2	4	planning	planning	NOUN
alkej-76	2	5	relieves	relieve	VERB
alkej-76	2	6	human	human	ADJ
alkej-76	2	7	operator	operator	NOUN
alkej-76	2	8	from	from	ADP
alkej-76	2	9	tedious	tedious	ADJ
alkej-76	2	10	job	job	NOUN
alkej-76	2	11	of	of	ADP
alkej-76	2	12	motion	motion	NOUN
alkej-76	2	13	planning	planning	NOUN
alkej-76	2	14	.	.	PUNCT
alkej-76	3	1	this	this	PRON
alkej-76	3	2	reduces	reduce	VERB
alkej-76	3	3	the	the	DET
alkej-76	3	4	possibility	possibility	NOUN
alkej-76	3	5	of	of	ADP
alkej-76	3	6	human	human	ADJ
alkej-76	3	7	error	error	NOUN
alkej-76	3	8	and	and	CCONJ
alkej-76	3	9	increase	increase	VERB
alkej-76	3	10	efficiency	efficiency	NOUN
alkej-76	3	11	of	of	ADP
alkej-76	3	12	whole	whole	ADJ
alkej-76	3	13	process	process	NOUN
alkej-76	3	14	.	.	PUNCT
alkej-76	4	1	this	this	DET
alkej-76	4	2	research	research	NOUN
alkej-76	4	3	presents	present	VERB
alkej-76	4	4	a	a	DET
alkej-76	4	5	new	new	ADJ
alkej-76	4	6	algorithm	algorithm	NOUN
alkej-76	4	7	to	to	PART
alkej-76	4	8	plan	plan	VERB
alkej-76	4	9	path	path	NOUN
alkej-76	4	10	for	for	ADP
alkej-76	4	11	autonomous	autonomous	ADJ
alkej-76	4	12	mobile	mobile	NOUN
alkej-76	4	13	robot	robot	NOUN
alkej-76	4	14	based	base	VERB
alkej-76	4	15	on	on	ADP
alkej-76	4	16	image	image	NOUN
alkej-76	4	17	processing	processing	NOUN
alkej-76	4	18	techniques	technique	NOUN
alkej-76	4	19	by	by	ADP
alkej-76	4	20	using	use	VERB
alkej-76	4	21	wireless	wireless	ADJ
alkej-76	4	22	camera	camera	NOUN
alkej-76	4	23	that	that	PRON
alkej-76	4	24	provides	provide	VERB
alkej-76	4	25	the	the	DET
alkej-76	4	26	desired	desire	VERB
alkej-76	4	27	image	image	NOUN
alkej-76	4	28	for	for	ADP
alkej-76	4	29	the	the	DET
alkej-76	4	30	unknown	unknown	ADJ
alkej-76	4	31	environment	environment	NOUN
alkej-76	4	32	.	.	PUNCT
alkej-76	5	1	the	the	DET
alkej-76	5	2	proposed	propose	VERB
alkej-76	5	3	algorithm	algorithm	NOUN
alkej-76	5	4	is	be	AUX
alkej-76	5	5	applied	apply	VERB
alkej-76	5	6	on	on	ADP
alkej-76	5	7	this	this	DET
alkej-76	5	8	image	image	NOUN
alkej-76	5	9	to	to	PART
alkej-76	5	10	obtain	obtain	VERB
alkej-76	5	11	a	a	DET
alkej-76	5	12	optimal	optimal	ADJ
alkej-76	5	13	path	path	NOUN
alkej-76	5	14	for	for	ADP
alkej-76	5	15	the	the	DET
alkej-76	5	16	robot	robot	NOUN
alkej-76	5	17	.	.	PUNCT
alkej-76	6	1	it	it	PRON
alkej-76	6	2	is	be	AUX
alkej-76	6	3	based	base	VERB
alkej-76	6	4	on	on	ADP
alkej-76	6	5	the	the	DET
alkej-76	6	6	observation	observation	NOUN
alkej-76	6	7	and	and	CCONJ
alkej-76	6	8	analysis	analysis	NOUN
alkej-76	6	9	of	of	ADP
alkej-76	6	10	the	the	DET
alkej-76	6	11	obstacles	obstacle	NOUN
alkej-76	6	12	that	that	PRON
alkej-76	6	13	lying	lie	VERB
alkej-76	6	14	in	in	ADP
alkej-76	6	15	the	the	DET
alkej-76	6	16	straight	straight	ADJ
alkej-76	6	17	path	path	NOUN
alkej-76	6	18	between	between	ADP
alkej-76	6	19	the	the	DET
alkej-76	6	20	start	start	NOUN
alkej-76	6	21	and	and	CCONJ
alkej-76	6	22	the	the	DET
alkej-76	6	23	goal	goal	NOUN
alkej-76	6	24	point	point	NOUN
alkej-76	6	25	by	by	ADP
alkej-76	6	26	detecting	detect	VERB
alkej-76	6	27	these	these	DET
alkej-76	6	28	obstacles	obstacle	NOUN
alkej-76	6	29	,	,	PUNCT
alkej-76	6	30	analyzing	analyze	VERB
alkej-76	6	31	and	and	CCONJ
alkej-76	6	32	studying	study	VERB
alkej-76	6	33	their	their	PRON
alkej-76	6	34	shapes	shape	NOUN
alkej-76	6	35	,	,	PUNCT
alkej-76	6	36	positions	position	NOUN
alkej-76	6	37	and	and	CCONJ
alkej-76	6	38	points	point	NOUN
alkej-76	6	39	of	of	ADP
alkej-76	6	40	intersection	intersection	NOUN
alkej-76	6	41	with	with	ADP
alkej-76	6	42	the	the	DET
alkej-76	6	43	straight	straight	ADJ
alkej-76	6	44	path	path	NOUN
alkej-76	6	45	to	to	PART
alkej-76	6	46	find	find	VERB
alkej-76	6	47	the	the	DET
alkej-76	6	48	nearly	nearly	ADV
alkej-76	6	49	optimal	optimal	ADJ
alkej-76	6	50	path	path	NOUN
alkej-76	6	51	which	which	PRON
alkej-76	6	52	connects	connect	VERB
alkej-76	6	53	the	the	DET
alkej-76	6	54	start	start	NOUN
alkej-76	6	55	and	and	CCONJ
alkej-76	6	56	the	the	DET
alkej-76	6	57	goal	goal	NOUN
alkej-76	6	58	point	point	NOUN
alkej-76	6	59	.	.	PUNCT
alkej-76	7	1	this	this	DET
alkej-76	7	2	work	work	NOUN
alkej-76	7	3	has	have	VERB
alkej-76	7	4	theoretical	theoretical	ADJ
alkej-76	7	5	part	part	NOUN
alkej-76	7	6	and	and	CCONJ
alkej-76	7	7	experimental	experimental	ADJ
alkej-76	7	8	part	part	NOUN
alkej-76	7	9	.	.	PUNCT
alkej-76	8	1	the	the	DET
alkej-76	8	2	theoretical	theoretical	ADJ
alkej-76	8	3	part	part	NOUN
alkej-76	8	4	includes	include	VERB
alkej-76	8	5	building	build	VERB
alkej-76	8	6	a	a	DET
alkej-76	8	7	matlab	matlab	PROPN
alkej-76	8	8	program	program	NOUN
alkej-76	8	9	which	which	PRON
alkej-76	8	10	is	be	AUX
alkej-76	8	11	applied	apply	VERB
alkej-76	8	12	to	to	ADP
alkej-76	8	13	environment	environment	NOUN
alkej-76	8	14	image	image	NOUN
alkej-76	8	15	to	to	PART
alkej-76	8	16	find	find	VERB
alkej-76	8	17	the	the	DET
alkej-76	8	18	nearly	nearly	ADV
alkej-76	8	19	optimal	optimal	ADJ
alkej-76	8	20	path	path	NOUN
alkej-76	8	21	.matlab	.matlab	PRON
alkej-76	8	22	c++.net	c++.net	PROPN
alkej-76	8	23	interface	interface	NOUN
alkej-76	8	24	is	be	AUX
alkej-76	8	25	accomplished	accomplish	VERB
alkej-76	8	26	then	then	ADV
alkej-76	8	27	to	to	PART
alkej-76	8	28	supply	supply	VERB
alkej-76	8	29	the	the	DET
alkej-76	8	30	path	path	NOUN
alkej-76	8	31	information	information	NOUN
alkej-76	8	32	for	for	ADP
alkej-76	8	33	c++.net	c++.net	PROPN
alkej-76	8	34	program	program	NOUN
alkej-76	8	35	which	which	PRON
alkej-76	8	36	is	be	AUX
alkej-76	8	37	done	do	VERB
alkej-76	8	38	for	for	ADP
alkej-76	8	39	programming	program	VERB
alkej-76	8	40	the	the	DET
alkej-76	8	41	pioneer	pioneer	PROPN
alkej-76	8	42	mobile	mobile	PROPN
alkej-76	8	43	robot	robot	NOUN
alkej-76	8	44	to	to	PART
alkej-76	8	45	achieve	achieve	VERB
alkej-76	8	46	the	the	DET
alkej-76	8	47	desired	desire	VERB
alkej-76	8	48	path	path	NOUN
alkej-76	8	49	.	.	PUNCT
alkej-76	9	1	the	the	DET
alkej-76	9	2	experimental	experimental	ADJ
alkej-76	9	3	part	part	NOUN
alkej-76	9	4	includes	include	VERB
alkej-76	9	5	using	use	VERB
alkej-76	9	6	wireless	wireless	ADJ
alkej-76	9	7	camera	camera	NOUN
alkej-76	9	8	that	that	PRON
alkej-76	9	9	takes	take	VERB
alkej-76	9	10	an	an	DET
alkej-76	9	11	image	image	NOUN
alkej-76	9	12	for	for	ADP
alkej-76	9	13	the	the	DET
alkej-76	9	14	environment	environment	NOUN
alkej-76	9	15	and	and	CCONJ
alkej-76	9	16	send	send	VERB
alkej-76	9	17	it	it	PRON
alkej-76	9	18	to	to	ADP
alkej-76	9	19	the	the	DET
alkej-76	9	20	computer	computer	NOUN
alkej-76	9	21	which	which	PRON
alkej-76	9	22	processes	process	VERB
alkej-76	9	23	this	this	DET
alkej-76	9	24	image	image	NOUN
alkej-76	9	25	and	and	CCONJ
alkej-76	9	26	sends	send	VERB
alkej-76	9	27	(	(	PUNCT
alkej-76	9	28	by	by	ADP
alkej-76	9	29	wireless	wireless	ADJ
alkej-76	9	30	connection	connection	NOUN
alkej-76	9	31	)	)	PUNCT
alkej-76	9	32	the	the	DET
alkej-76	9	33	resulted	result	VERB
alkej-76	9	34	path	path	NOUN
alkej-76	9	35	information	information	NOUN
alkej-76	9	36	to	to	ADP
alkej-76	9	37	robot	robot	NOUN
alkej-76	9	38	which	which	PRON
alkej-76	9	39	programmed	program	VERB
alkej-76	9	40	in	in	ADP
alkej-76	9	41	c++.net	c++.net	PROPN
alkej-76	9	42	program	program	NOUN
alkej-76	9	43	to	to	PART
alkej-76	9	44	walk	walk	VERB
alkej-76	9	45	according	accord	VERB
alkej-76	9	46	to	to	ADP
alkej-76	9	47	this	this	DET
alkej-76	9	48	path	path	NOUN
alkej-76	9	49	.	.	PUNCT
alkej-76	10	1	so	so	ADV
alkej-76	10	2	,	,	PUNCT
alkej-76	10	3	the	the	DET
alkej-76	10	4	overall	overall	ADJ
alkej-76	10	5	system	system	NOUN
alkej-76	10	6	can	can	AUX
alkej-76	10	7	be	be	AUX
alkej-76	10	8	represented	represent	VERB
alkej-76	10	9	by	by	ADP
alkej-76	10	10	:	:	PUNCT
alkej-76	10	11	wireless	wireless	ADJ
alkej-76	10	12	camera	camera	NOUN
alkej-76	10	13	–	–	PUNCT
alkej-76	10	14	computer	computer	NOUN
alkej-76	10	15	–	–	PUNCT
alkej-76	10	16	wireless	wireless	ADJ
alkej-76	10	17	connection	connection	NOUN
alkej-76	10	18	for	for	ADP
alkej-76	10	19	the	the	DET
alkej-76	10	20	mobile	mobile	ADJ
alkej-76	10	21	robot	robot	NOUN
alkej-76	10	22	.	.	PUNCT
alkej-76	11	1	the	the	DET
alkej-76	11	2	experimental	experimental	ADJ
alkej-76	11	3	work	work	NOUN
alkej-76	11	4	including	include	VERB
alkej-76	11	5	some	some	DET
alkej-76	11	6	experiments	experiment	NOUN
alkej-76	11	7	shows	show	VERB
alkej-76	11	8	that	that	SCONJ
alkej-76	11	9	the	the	DET
alkej-76	11	10	developed	develop	VERB
alkej-76	11	11	mobile	mobile	ADJ
alkej-76	11	12	robot	robot	NOUN
alkej-76	11	13	(	(	PUNCT
alkej-76	11	14	pioneer	pioneer	PROPN
alkej-76	11	15	p3	p3	PROPN
alkej-76	11	16	-	-	PUNCT
alkej-76	11	17	dx	dx	PROPN
alkej-76	11	18	)	)	PUNCT
alkej-76	11	19	travels	travel	VERB
alkej-76	11	20	successfully	successfully	ADV
alkej-76	11	21	from	from	ADP
alkej-76	11	22	the	the	DET
alkej-76	11	23	start	start	NOUN
alkej-76	11	24	point	point	NOUN
alkej-76	11	25	and	and	CCONJ
alkej-76	11	26	reach	reach	VERB
alkej-76	11	27	the	the	DET
alkej-76	11	28	goal	goal	NOUN
alkej-76	11	29	point	point	NOUN
alkej-76	11	30	across	across	ADP
alkej-76	11	31	the	the	DET
alkej-76	11	32	optimal	optimal	ADJ
alkej-76	11	33	path	path	NOUN
alkej-76	11	34	(	(	PUNCT
alkej-76	11	35	according	accord	VERB
alkej-76	11	36	to	to	ADP
alkej-76	11	37	time	time	NOUN
alkej-76	11	38	and	and	CCONJ
alkej-76	11	39	power	power	NOUN
alkej-76	11	40	)	)	PUNCT
alkej-76	11	41	which	which	PRON
alkej-76	11	42	is	be	AUX
alkej-76	11	43	obtained	obtain	VERB
alkej-76	11	44	as	as	ADP
alkej-76	11	45	result	result	NOUN
alkej-76	11	46	of	of	ADP
alkej-76	11	47	the	the	DET
alkej-76	11	48	proposed	propose	VERB
alkej-76	11	49	path	path	NOUN
alkej-76	11	50	planning	planning	NOUN
alkej-76	11	51	algorithm	algorithm	NOUN
alkej-76	11	52	introduced	introduce	VERB
alkej-76	11	53	in	in	ADP
alkej-76	11	54	this	this	DET
alkej-76	11	55	paper	paper	NOUN
alkej-76	11	56	.	.	PUNCT
alkej-76	12	1	keywords	keyword	NOUN
alkej-76	12	2	:	:	PUNCT
alkej-76	12	3	path	path	NOUN
alkej-76	12	4	planning	planning	NOUN
alkej-76	12	5	algorithms	algorithm	NOUN
alkej-76	12	6	,	,	PUNCT
alkej-76	12	7	pioneer	pioneer	PROPN
alkej-76	12	8	p3	p3	PROPN
alkej-76	12	9	-	-	PUNCT
alkej-76	12	10	dx	dx	PROPN
alkej-76	12	11	mobile	mobile	PROPN
alkej-76	12	12	robot	robot	NOUN
alkej-76	12	13	,	,	PUNCT
alkej-76	12	14	image	image	NOUN
alkej-76	12	15	processing	processing	NOUN
alkej-76	12	16	,	,	PUNCT
alkej-76	12	17	minimum	minimum	ADJ
alkej-76	12	18	time	time	NOUN
alkej-76	12	19	and	and	CCONJ
alkej-76	12	20	power	power	NOUN
alkej-76	12	21	.	.	PUNCT
alkej-76	13	1	1	1	X
alkej-76	13	2	.	.	X
alkej-76	13	3	introduction	introduction	NOUN
alkej-76	13	4	mobile	mobile	NOUN
alkej-76	13	5	robots	robot	NOUN
alkej-76	13	6	must	must	AUX
alkej-76	13	7	know	know	VERB
alkej-76	13	8	where	where	SCONJ
alkej-76	13	9	they	they	PRON
alkej-76	13	10	are	be	AUX
alkej-76	13	11	and	and	CCONJ
alkej-76	13	12	specify	specify	VERB
alkej-76	13	13	a	a	DET
alkej-76	13	14	suitable	suitable	ADJ
alkej-76	13	15	path	path	NOUN
alkej-76	13	16	to	to	ADP
alkej-76	13	17	the	the	DET
alkej-76	13	18	goal	goal	NOUN
alkej-76	13	19	to	to	PART
alkej-76	13	20	navigate	navigate	VERB
alkej-76	13	21	reliably	reliably	ADV
alkej-76	13	22	in	in	ADP
alkej-76	13	23	indoor	indoor	ADJ
alkej-76	13	24	environments	environment	NOUN
alkej-76	13	25	;	;	PUNCT
alkej-76	13	26	this	this	PRON
alkej-76	13	27	is	be	AUX
alkej-76	13	28	the	the	DET
alkej-76	13	29	task	task	NOUN
alkej-76	13	30	of	of	ADP
alkej-76	13	31	navigation	navigation	NOUN
alkej-76	13	32	and	and	CCONJ
alkej-76	13	33	path	path	NOUN
alkej-76	13	34	planning	planning	NOUN
alkej-76	13	35	to	to	PART
alkej-76	13	36	enable	enable	VERB
alkej-76	13	37	the	the	DET
alkej-76	13	38	robot	robot	NOUN
alkej-76	13	39	to	to	PART
alkej-76	13	40	reach	reach	VERB
alkej-76	13	41	the	the	DET
alkej-76	13	42	goal	goal	NOUN
alkej-76	13	43	point	point	NOUN
alkej-76	13	44	with	with	ADP
alkej-76	13	45	optimal	optimal	ADJ
alkej-76	13	46	path	path	NOUN
alkej-76	13	47	without	without	ADP
alkej-76	13	48	any	any	DET
alkej-76	13	49	knowledge	knowledge	NOUN
alkej-76	13	50	about	about	ADP
alkej-76	13	51	the	the	DET
alkej-76	13	52	environment	environment	NOUN
alkej-76	13	53	,	,	PUNCT
alkej-76	13	54	by	by	ADP
alkej-76	13	55	using	use	VERB
alkej-76	13	56	wireless	wireless	ADJ
alkej-76	13	57	camera	camera	NOUN
alkej-76	13	58	as	as	ADP
alkej-76	13	59	feedback	feedback	NOUN
alkej-76	13	60	sensor	sensor	NOUN
alkej-76	13	61	.	.	PUNCT
alkej-76	14	1	so	so	ADV
alkej-76	14	2	it	it	PRON
alkej-76	14	3	is	be	AUX
alkej-76	14	4	obvious	obvious	ADJ
alkej-76	14	5	that	that	SCONJ
alkej-76	14	6	an	an	DET
alkej-76	14	7	efficient	efficient	ADJ
alkej-76	14	8	control	control	NOUN
alkej-76	14	9	of	of	ADP
alkej-76	14	10	the	the	DET
alkej-76	14	11	mobile	mobile	NOUN
alkej-76	14	12	robot	robot	NOUN
alkej-76	14	13	needs	need	VERB
alkej-76	14	14	:	:	PUNCT
alkej-76	14	15	•	•	ADP
alkej-76	14	16	a	a	DET
alkej-76	14	17	local	local	ADJ
alkej-76	14	18	level	level	NOUN
alkej-76	14	19	based	base	VERB
alkej-76	14	20	completely	completely	ADV
alkej-76	14	21	on	on	ADP
alkej-76	14	22	the	the	DET
alkej-76	14	23	information	information	NOUN
alkej-76	14	24	of	of	ADP
alkej-76	14	25	different	different	ADJ
alkej-76	14	26	sensors	sensor	NOUN
alkej-76	14	27	covering	cover	VERB
alkej-76	14	28	the	the	DET
alkej-76	14	29	close	close	ADJ
alkej-76	14	30	circle	circle	NOUN
alkej-76	14	31	of	of	ADP
alkej-76	14	32	the	the	DET
alkej-76	14	33	robot	robot	NOUN
alkej-76	14	34	.	.	PUNCT
alkej-76	15	1	•	•	NUM
alkej-76	15	2	a	a	DET
alkej-76	15	3	high	high	ADJ
alkej-76	15	4	-	-	PUNCT
alkej-76	15	5	level	level	NOUN
alkej-76	15	6	for	for	ADP
alkej-76	15	7	path	path	NOUN
alkej-76	15	8	planning	planning	NOUN
alkej-76	15	9	using	use	VERB
alkej-76	15	10	a	a	DET
alkej-76	15	11	global	global	ADJ
alkej-76	15	12	description	description	NOUN
alkej-76	15	13	of	of	ADP
alkej-76	15	14	the	the	DET
alkej-76	15	15	world	world	NOUN
alkej-76	15	16	with	with	ADP
alkej-76	15	17	possibly	possibly	ADV
alkej-76	15	18	incomplete	incomplete	ADJ
alkej-76	15	19	and/or	and/or	CCONJ
alkej-76	15	20	imperfect	imperfect	ADJ
alkej-76	15	21	knowledge	knowledge	NOUN
alkej-76	15	22	.	.	PUNCT
alkej-76	16	1	this	this	PRON
alkej-76	16	2	allows	allow	VERB
alkej-76	16	3	having	have	VERB
alkej-76	16	4	a	a	DET
alkej-76	16	5	safe	safe	ADJ
alkej-76	16	6	navigation	navigation	NOUN
alkej-76	16	7	to	to	PART
alkej-76	16	8	modulate	modulate	VERB
alkej-76	16	9	continuously	continuously	ADV
alkej-76	16	10	the	the	DET
alkej-76	16	11	path	path	NOUN
alkej-76	16	12	and	and	CCONJ
alkej-76	16	13	eventually	eventually	ADV
alkej-76	16	14	to	to	PART
alkej-76	16	15	update	update	VERB
alkej-76	16	16	the	the	DET
alkej-76	16	17	map	map	NOUN
alkej-76	16	18	.	.	PUNCT
alkej-76	17	1	this	this	DET
alkej-76	17	2	work	work	NOUN
alkej-76	17	3	deals	deal	VERB
alkej-76	17	4	with	with	ADP
alkej-76	17	5	global	global	ADJ
alkej-76	17	6	path	path	NOUN
alkej-76	17	7	planning	planning	NOUN
alkej-76	17	8	in	in	ADP
alkej-76	17	9	which	which	PRON
alkej-76	17	10	the	the	DET
alkej-76	17	11	robot	robot	NOUN
alkej-76	17	12	is	be	AUX
alkej-76	17	13	sent	send	VERB
alkej-76	17	14	to	to	ADP
alkej-76	17	15	completely	completely	ADV
alkej-76	17	16	unknown	unknown	ADJ
alkej-76	17	17	environment	environment	NOUN
alkej-76	17	18	(	(	PUNCT
alkej-76	17	19	unknown	unknown	ADJ
alkej-76	17	20	environment	environment	NOUN
alkej-76	17	21	's	's	PART
alkej-76	17	22	dimensions	dimension	NOUN
alkej-76	17	23	,	,	PUNCT
alkej-76	17	24	obstacle	obstacle	NOUN
alkej-76	17	25	's	's	PART
alkej-76	17	26	shape	shape	NOUN
alkej-76	17	27	,	,	PUNCT
alkej-76	17	28	position	position	NOUN
alkej-76	17	29	and	and	CCONJ
alkej-76	17	30	dimension	dimension	NOUN
alkej-76	17	31	,	,	PUNCT
alkej-76	17	32	number	number	NOUN
alkej-76	17	33	of	of	ADP
alkej-76	17	34	obstacles	obstacle	NOUN
alkej-76	17	35	,	,	PUNCT
alkej-76	17	36	distribution	distribution	NOUN
alkej-76	17	37	of	of	ADP
alkej-76	17	38	obstacles	obstacle	NOUN
alkej-76	17	39	or	or	CCONJ
alkej-76	17	40	any	any	DET
alkej-76	17	41	other	other	ADJ
alkej-76	17	42	information	information	NOUN
alkej-76	17	43	)	)	PUNCT
alkej-76	17	44	,	,	PUNCT
alkej-76	17	45	and	and	CCONJ
alkej-76	17	46	as	as	ADV
alkej-76	17	47	soon	soon	ADV
alkej-76	17	48	as	as	SCONJ
alkej-76	17	49	the	the	DET
alkej-76	17	50	robot	robot	NOUN
alkej-76	17	51	reachs	reach	VERB
alkej-76	17	52	to	to	ADP
alkej-76	17	53	this	this	DET
alkej-76	17	54	environment	environment	NOUN
alkej-76	17	55	,	,	PUNCT
alkej-76	17	56	a	a	DET
alkej-76	17	57	wireless	wireless	ADJ
alkej-76	17	58	camera	camera	NOUN
alkej-76	17	59	will	will	AUX
alkej-76	17	60	send	send	VERB
alkej-76	17	61	it	it	PRON
alkej-76	17	62	information	information	NOUN
alkej-76	17	63	as	as	ADP
alkej-76	17	64	an	an	DET
alkej-76	17	65	image	image	NOUN
alkej-76	17	66	by	by	ADP
alkej-76	17	67	wireless	wireless	ADJ
alkej-76	17	68	connection	connection	NOUN
alkej-76	17	69	to	to	ADP
alkej-76	17	70	mailto:email:dr-nabeelalsahib@hotmal.com	mailto:email:dr-nabeelalsahib@hotmal.com	PROPN
alkej-76	17	71	nabeel	nabeel	PROPN
alkej-76	17	72	k.	k.	PROPN
alkej-76	17	73	abid	abid	PROPN
alkej-76	17	74	alsahib	alsahib	PROPN
alkej-76	17	75	al	al	PROPN
alkej-76	17	76	-	-	PUNCT
alkej-76	17	77	khwarizmi	khwarizmi	PROPN
alkej-76	17	78	engineering	engineering	NOUN
alkej-76	17	79	journal	journal	PROPN
alkej-76	17	80	,	,	PUNCT
alkej-76	17	81	vol	vol	NOUN
alkej-76	17	82	.	.	PROPN
alkej-76	17	83	7	7	NUM
alkej-76	17	84	,	,	PUNCT
alkej-76	17	85	no	no	INTJ
alkej-76	17	86	.	.	NOUN
alkej-76	17	87	4	4	NUM
alkej-76	17	88	,	,	PUNCT
alkej-76	17	89	pp	pp	ADV
alkej-76	17	90	1	1	NUM
alkej-76	17	91	-16	-16	SYM
alkej-76	17	92	(	(	PUNCT
alkej-76	17	93	2011	2011	NUM
alkej-76	17	94	)	)	PUNCT
alkej-76	17	95	2	2	NUM
alkej-76	17	96	computer	computer	NOUN
alkej-76	17	97	,	,	PUNCT
alkej-76	17	98	the	the	DET
alkej-76	17	99	computer	computer	NOUN
alkej-76	17	100	finds	find	VERB
alkej-76	17	101	the	the	DET
alkej-76	17	102	required	required	ADJ
alkej-76	17	103	path	path	NOUN
alkej-76	17	104	and	and	CCONJ
alkej-76	17	105	the	the	DET
alkej-76	17	106	information	information	NOUN
alkej-76	17	107	of	of	ADP
alkej-76	17	108	this	this	DET
alkej-76	17	109	path	path	NOUN
alkej-76	17	110	will	will	AUX
alkej-76	17	111	send	send	VERB
alkej-76	17	112	to	to	ADP
alkej-76	17	113	the	the	DET
alkej-76	17	114	robot	robot	NOUN
alkej-76	17	115	to	to	PART
alkej-76	17	116	do	do	VERB
alkej-76	17	117	it	it	PRON
alkej-76	17	118	's	be	AUX
alkej-76	17	119	task	task	NOUN
alkej-76	17	120	to	to	PART
alkej-76	17	121	reach	reach	VERB
alkej-76	17	122	the	the	DET
alkej-76	17	123	goal	goal	NOUN
alkej-76	17	124	point	point	NOUN
alkej-76	17	125	in	in	ADP
alkej-76	17	126	an	an	DET
alkej-76	17	127	approximately	approximately	ADV
alkej-76	17	128	optimal	optimal	ADJ
alkej-76	17	129	path	path	NOUN
alkej-76	18	1	[	[	X
alkej-76	18	2	1	1	NUM
alkej-76	18	3	]	]	PUNCT
alkej-76	18	4	.	.	PUNCT
alkej-76	19	1	2	2	X
alkej-76	19	2	.	.	X
alkej-76	19	3	pioneer	pioneer	PROPN
alkej-76	19	4	mobile	mobile	PROPN
alkej-76	19	5	robot	robot	NOUN
alkej-76	19	6	the	the	DET
alkej-76	19	7	platform	platform	NOUN
alkej-76	19	8	used	use	VERB
alkej-76	19	9	in	in	ADP
alkej-76	19	10	work	work	NOUN
alkej-76	19	11	is	be	AUX
alkej-76	19	12	pioneer3	pioneer3	PROPN
alkej-76	19	13	dx	dx	PROPN
alkej-76	19	14	which	which	PRON
alkej-76	19	15	is	be	AUX
alkej-76	19	16	a	a	DET
alkej-76	19	17	family	family	NOUN
alkej-76	19	18	of	of	ADP
alkej-76	19	19	two	two	NUM
alkej-76	19	20	wheels	wheel	NOUN
alkej-76	19	21	mobile	mobile	ADJ
alkej-76	19	22	robots	robot	NOUN
alkej-76	19	23	,	,	PUNCT
alkej-76	19	24	the	the	DET
alkej-76	19	25	newest	new	ADJ
alkej-76	19	26	pioneer3	pioneer3	NOUN
alkej-76	19	27	dx	dx	PROPN
alkej-76	19	28	is	be	AUX
alkej-76	19	29	used	use	VERB
alkej-76	19	30	for	for	ADP
alkej-76	19	31	university	university	NOUN
alkej-76	19	32	research	research	NOUN
alkej-76	19	33	and	and	CCONJ
alkej-76	19	34	the	the	DET
alkej-76	19	35	platform	platform	NOUN
alkej-76	19	36	shares	share	VERB
alkej-76	19	37	a	a	DET
alkej-76	19	38	common	common	ADJ
alkej-76	19	39	architecture	architecture	NOUN
alkej-76	19	40	and	and	CCONJ
alkej-76	19	41	foundation	foundation	NOUN
alkej-76	19	42	with	with	ADP
alkej-76	19	43	all	all	DET
alkej-76	19	44	other	other	ADJ
alkej-76	19	45	mobile	mobile	ADJ
alkej-76	19	46	robot	robot	NOUN
alkej-76	19	47	platforms	platform	NOUN
alkej-76	19	48	including	include	VERB
alkej-76	19	49	amigobot	amigobot	PROPN
alkej-76	19	50	™	™	PROPN
alkej-76	19	51	,	,	PUNCT
alkej-76	19	52	peoplebot	peoplebot	VERB
alkej-76	19	53	™	™	ADJ
alkej-76	19	54	v1	v1	NOUN
alkej-76	19	55	,	,	PUNCT
alkej-76	19	56	performance	performance	NOUN
alkej-76	19	57	peoplebot	peoplebot	NOUN
alkej-76	19	58	™	™	PROPN
alkej-76	19	59	and	and	CCONJ
alkej-76	19	60	powerbot	powerbot	NOUN
alkej-76	19	61	™	™	ADJ
alkej-76	19	62	mobile	mobile	ADJ
alkej-76	19	63	robots	robot	NOUN
alkej-76	19	64	.	.	PUNCT
alkej-76	20	1	the	the	DET
alkej-76	20	2	robot	robot	NOUN
alkej-76	20	3	is	be	AUX
alkej-76	20	4	built	build	VERB
alkej-76	20	5	completely	completely	ADV
alkej-76	20	6	with	with	ADP
alkej-76	20	7	a	a	DET
alkej-76	20	8	strong	strong	ADJ
alkej-76	20	9	aluminum	aluminum	NOUN
alkej-76	20	10	body	body	NOUN
alkej-76	20	11	;	;	PUNCT
alkej-76	20	12	a	a	DET
alkej-76	20	13	balanced	balanced	ADJ
alkej-76	20	14	drive	drive	NOUN
alkej-76	20	15	system	system	NOUN
alkej-76	20	16	(	(	PUNCT
alkej-76	20	17	twowheel	twowheel	NOUN
alkej-76	20	18	differential	differential	NOUN
alkej-76	20	19	with	with	ADP
alkej-76	20	20	free	free	ADJ
alkej-76	20	21	caster	caster	NOUN
alkej-76	20	22	wheel	wheel	NOUN
alkej-76	20	23	)	)	PUNCT
alkej-76	20	24	,	,	PUNCT
alkej-76	20	25	reversible	reversible	ADJ
alkej-76	20	26	dc	dc	PROPN
alkej-76	20	27	motors	motors	PROPN
alkej-76	20	28	,	,	PUNCT
alkej-76	20	29	motor	motor	NOUN
alkej-76	20	30	-	-	PUNCT
alkej-76	20	31	control	control	NOUN
alkej-76	20	32	and	and	CCONJ
alkej-76	20	33	drive	drive	ADJ
alkej-76	20	34	electronics	electronic	NOUN
alkej-76	20	35	,	,	PUNCT
alkej-76	20	36	high	high	ADJ
alkej-76	20	37	-	-	PUNCT
alkej-76	20	38	resolution	resolution	NOUN
alkej-76	20	39	motion	motion	NOUN
alkej-76	20	40	encoders	encoder	NOUN
alkej-76	20	41	,	,	PUNCT
alkej-76	20	42	and	and	CCONJ
alkej-76	20	43	battery	battery	NOUN
alkej-76	20	44	power	power	NOUN
alkej-76	20	45	,	,	PUNCT
alkej-76	20	46	all	all	PRON
alkej-76	20	47	are	be	AUX
alkej-76	20	48	managed	manage	VERB
alkej-76	20	49	by	by	ADP
alkej-76	20	50	an	an	DET
alkej-76	20	51	onboard	onboard	NOUN
alkej-76	20	52	microcontroller	microcontroller	NOUN
alkej-76	20	53	and	and	CCONJ
alkej-76	20	54	mobile	mobile	ADJ
alkej-76	20	55	-	-	PUNCT
alkej-76	20	56	robot	robot	NOUN
alkej-76	20	57	server	server	NOUN
alkej-76	20	58	software	software	NOUN
alkej-76	20	59	.	.	PUNCT
alkej-76	21	1	the	the	DET
alkej-76	21	2	software	software	NOUN
alkej-76	21	3	includes	include	VERB
alkej-76	21	4	foundation	foundation	NOUN
alkej-76	21	5	advanced	advanced	ADJ
alkej-76	21	6	robotics	robotic	NOUN
alkej-76	21	7	interface	interface	NOUN
alkej-76	21	8	for	for	ADP
alkej-76	21	9	applications	application	NOUN
alkej-76	21	10	(	(	PUNCT
alkej-76	21	11	aria	aria	NOUN
alkej-76	21	12	)	)	PUNCT
alkej-76	21	13	and	and	CCONJ
alkej-76	21	14	ar	ar	NOUN
alkej-76	21	15	networking	network	VERB
alkej-76	21	16	pioneer3	pioneer3	NOUN
alkej-76	21	17	robot	robot	NOUN
alkej-76	21	18	has	have	VERB
alkej-76	21	19	a	a	DET
alkej-76	21	20	variety	variety	NOUN
alkej-76	21	21	of	of	ADP
alkej-76	21	22	expansion	expansion	NOUN
alkej-76	21	23	power	power	NOUN
alkej-76	21	24	and	and	CCONJ
alkej-76	21	25	i	i	PRON
alkej-76	21	26	/	/	SYM
alkej-76	21	27	o	o	NOUN
alkej-76	21	28	ports	port	NOUN
alkej-76	21	29	for	for	ADP
alkej-76	21	30	attachment	attachment	NOUN
alkej-76	21	31	and	and	CCONJ
alkej-76	21	32	close	close	ADJ
alkej-76	21	33	integration	integration	NOUN
alkej-76	21	34	of	of	ADP
alkej-76	21	35	a	a	DET
alkej-76	21	36	client	client	NOUN
alkej-76	21	37	pc	pc	NOUN
alkej-76	21	38	,	,	PUNCT
alkej-76	21	39	sensors	sensor	NOUN
alkej-76	21	40	,	,	PUNCT
alkej-76	21	41	and	and	CCONJ
alkej-76	21	42	a	a	DET
alkej-76	21	43	variety	variety	NOUN
alkej-76	21	44	of	of	ADP
alkej-76	21	45	accessories	accessory	NOUN
alkej-76	21	46	,	,	PUNCT
alkej-76	21	47	all	all	PRON
alkej-76	21	48	are	be	AUX
alkej-76	21	49	accessible	accessible	ADJ
alkej-76	21	50	through	through	ADP
alkej-76	21	51	a	a	DET
alkej-76	21	52	common	common	ADJ
alkej-76	21	53	application	application	NOUN
alkej-76	21	54	interface	interface	NOUN
alkej-76	21	55	to	to	ADP
alkej-76	21	56	the	the	DET
alkej-76	21	57	robot	robot	NOUN
alkej-76	21	58	’s	’s	PART
alkej-76	21	59	server	server	NOUN
alkej-76	21	60	software	software	NOUN
alkej-76	21	61	[	[	X
alkej-76	21	62	2	2	NUM
alkej-76	21	63	]	]	PUNCT
alkej-76	21	64	.	.	PUNCT
alkej-76	22	1	the	the	DET
alkej-76	22	2	mobile	mobile	ADJ
alkej-76	22	3	platform	platform	NOUN
alkej-76	22	4	robot	robot	NOUN
alkej-76	22	5	(	(	PUNCT
alkej-76	22	6	pioneer3	pioneer3	PROPN
alkej-76	22	7	dx	dx	PROPN
alkej-76	22	8	)	)	PUNCT
alkej-76	22	9	used	use	VERB
alkej-76	22	10	is	be	AUX
alkej-76	22	11	shown	show	VERB
alkej-76	22	12	in	in	ADP
alkej-76	22	13	figure	figure	NOUN
alkej-76	22	14	(	(	PUNCT
alkej-76	22	15	1	1	NUM
alkej-76	22	16	)	)	PUNCT
alkej-76	22	17	.	.	PUNCT
alkej-76	23	1	fig.1	fig.1	PROPN
alkej-76	23	2	.	.	PUNCT
alkej-76	24	1	pioneer	pioneer	PROPN
alkej-76	24	2	mobile	mobile	PROPN
alkej-76	24	3	robot	robot	NOUN
alkej-76	24	4	[	[	X
alkej-76	24	5	2	2	NUM
alkej-76	24	6	]	]	PUNCT
alkej-76	24	7	.	.	PUNCT
alkej-76	25	1	3	3	X
alkej-76	25	2	.	.	NUM
alkej-76	25	3	oac	oac	PROPN
alkej-76	25	4	path	path	PROPN
alkej-76	25	5	planning	planning	PROPN
alkej-76	25	6	algorithm	algorithm	NOUN
alkej-76	25	7	this	this	DET
alkej-76	25	8	work	work	NOUN
alkej-76	25	9	present	present	VERB
alkej-76	25	10	an	an	DET
alkej-76	25	11	algorithm	algorithm	NOUN
alkej-76	25	12	for	for	ADP
alkej-76	25	13	planning	plan	VERB
alkej-76	25	14	the	the	DET
alkej-76	25	15	path	path	NOUN
alkej-76	25	16	for	for	ADP
alkej-76	25	17	the	the	DET
alkej-76	25	18	robot	robot	NOUN
alkej-76	25	19	which	which	PRON
alkej-76	25	20	is	be	AUX
alkej-76	25	21	based	base	VERB
alkej-76	25	22	on	on	ADP
alkej-76	25	23	detailed	detailed	ADJ
alkej-76	25	24	analysis	analysis	NOUN
alkej-76	25	25	and	and	CCONJ
alkej-76	25	26	observation	observation	NOUN
alkej-76	25	27	of	of	ADP
alkej-76	25	28	the	the	DET
alkej-76	25	29	obstacles	obstacle	NOUN
alkej-76	25	30	lying	lie	VERB
alkej-76	25	31	in	in	ADP
alkej-76	25	32	the	the	DET
alkej-76	25	33	supposed	suppose	VERB
alkej-76	25	34	straight	straight	ADJ
alkej-76	25	35	line	line	NOUN
alkej-76	25	36	path	path	NOUN
alkej-76	25	37	between	between	ADP
alkej-76	25	38	start	start	NOUN
alkej-76	25	39	and	and	CCONJ
alkej-76	25	40	goal	goal	NOUN
alkej-76	25	41	point	point	NOUN
alkej-76	25	42	.	.	PUNCT
alkej-76	26	1	when	when	SCONJ
alkej-76	26	2	the	the	DET
alkej-76	26	3	robot	robot	NOUN
alkej-76	26	4	detect	detect	VERB
alkej-76	26	5	on	on	ADP
alkej-76	26	6	obstacle	obstacle	NOUN
alkej-76	26	7	in	in	ADP
alkej-76	26	8	its	its	PRON
alkej-76	26	9	straight	straight	ADJ
alkej-76	26	10	direction	direction	NOUN
alkej-76	26	11	,	,	PUNCT
alkej-76	26	12	the	the	DET
alkej-76	26	13	path	path	NOUN
alkej-76	26	14	will	will	AUX
alkej-76	26	15	be	be	AUX
alkej-76	26	16	out	out	ADP
alkej-76	26	17	of	of	ADP
alkej-76	26	18	this	this	DET
alkej-76	26	19	direction	direction	NOUN
alkej-76	26	20	and	and	CCONJ
alkej-76	26	21	it	it	PRON
alkej-76	26	22	tends	tend	VERB
alkej-76	26	23	to	to	PART
alkej-76	26	24	turn	turn	VERB
alkej-76	26	25	around	around	ADP
alkej-76	26	26	the	the	DET
alkej-76	26	27	obstacle	obstacle	NOUN
alkej-76	26	28	(	(	PUNCT
alkej-76	26	29	either	either	CCONJ
alkej-76	26	30	clockwise	clockwise	NOUN
alkej-76	26	31	or	or	CCONJ
alkej-76	26	32	counterclockwise	counterclockwise	NOUN
alkej-76	26	33	)	)	PUNCT
alkej-76	26	34	until	until	SCONJ
alkej-76	26	35	it	it	PRON
alkej-76	26	36	reach	reach	VERB
alkej-76	26	37	the	the	DET
alkej-76	26	38	straight	straight	ADJ
alkej-76	26	39	direction	direction	NOUN
alkej-76	26	40	again	again	ADV
alkej-76	26	41	.	.	PUNCT
alkej-76	27	1	the	the	DET
alkej-76	27	2	phenomena	phenomenon	NOUN
alkej-76	27	3	that	that	SCONJ
alkej-76	27	4	the	the	DET
alkej-76	27	5	path	path	NOUN
alkej-76	27	6	follows	follow	VERB
alkej-76	27	7	it	it	PRON
alkej-76	27	8	to	to	PART
alkej-76	27	9	achieve	achieve	VERB
alkej-76	27	10	this	this	DET
alkej-76	27	11	movement	movement	NOUN
alkej-76	27	12	result	result	NOUN
alkej-76	27	13	from	from	ADP
alkej-76	27	14	observing	observe	VERB
alkej-76	27	15	the	the	DET
alkej-76	27	16	obstacle	obstacle	NOUN
alkej-76	27	17	shape	shape	NOUN
alkej-76	27	18	,	,	PUNCT
alkej-76	27	19	its	its	PRON
alkej-76	27	20	dimensions	dimension	NOUN
alkej-76	27	21	and	and	CCONJ
alkej-76	27	22	the	the	DET
alkej-76	27	23	points	point	NOUN
alkej-76	27	24	of	of	ADP
alkej-76	27	25	intersection	intersection	NOUN
alkej-76	27	26	with	with	ADP
alkej-76	27	27	straight	straight	ADJ
alkej-76	27	28	direction	direction	NOUN
alkej-76	27	29	that	that	PRON
alkej-76	27	30	connects	connect	VERB
alkej-76	27	31	start	start	NOUN
alkej-76	27	32	and	and	CCONJ
alkej-76	27	33	goal	goal	NOUN
alkej-76	27	34	point	point	NOUN
alkej-76	27	35	.	.	PUNCT
alkej-76	28	1	this	this	PRON
alkej-76	28	2	comes	come	VERB
alkej-76	28	3	from	from	ADP
alkej-76	28	4	detailed	detailed	ADJ
alkej-76	28	5	analysis	analysis	NOUN
alkej-76	28	6	for	for	ADP
alkej-76	28	7	these	these	DET
alkej-76	28	8	obstacles	obstacle	NOUN
alkej-76	28	9	and	and	CCONJ
alkej-76	28	10	all	all	DET
alkej-76	28	11	possible	possible	ADJ
alkej-76	28	12	cases	case	NOUN
alkej-76	28	13	of	of	ADP
alkej-76	28	14	intersection	intersection	NOUN
alkej-76	28	15	that	that	PRON
alkej-76	28	16	could	could	AUX
alkej-76	28	17	be	be	AUX
alkej-76	28	18	found	find	VERB
alkej-76	28	19	the	the	DET
alkej-76	28	20	upper	upper	ADJ
alkej-76	28	21	and	and	CCONJ
alkej-76	28	22	lower	low	ADJ
alkej-76	28	23	forms	form	NOUN
alkej-76	28	24	of	of	ADP
alkej-76	28	25	paths	path	NOUN
alkej-76	28	26	.	.	PUNCT
alkej-76	29	1	this	this	DET
alkej-76	29	2	phenomenon	phenomenon	NOUN
alkej-76	29	3	is	be	AUX
alkej-76	29	4	based	base	VERB
alkej-76	29	5	on	on	ADP
alkej-76	29	6	the	the	DET
alkej-76	29	7	observation	observation	NOUN
alkej-76	29	8	,	,	PUNCT
alkej-76	29	9	analysis	analysis	NOUN
alkej-76	29	10	and	and	CCONJ
alkej-76	29	11	conclusion	conclusion	NOUN
alkej-76	29	12	,	,	PUNCT
alkej-76	29	13	we	we	PRON
alkej-76	29	14	can	can	AUX
alkej-76	29	15	call	call	VERB
alkej-76	29	16	the	the	DET
alkej-76	29	17	algorithm	algorithm	NOUN
alkej-76	29	18	proposed	propose	VERB
alkej-76	29	19	here	here	ADV
alkej-76	29	20	and	and	CCONJ
alkej-76	29	21	which	which	PRON
alkej-76	29	22	depends	depend	VERB
alkej-76	29	23	on	on	ADP
alkej-76	29	24	the	the	DET
alkej-76	29	25	principles	principle	NOUN
alkej-76	29	26	the	the	DET
alkej-76	29	27	observation	observation	NOUN
alkej-76	29	28	,	,	PUNCT
alkej-76	29	29	analysis	analysis	NOUN
alkej-76	29	30	and	and	CCONJ
alkej-76	29	31	conclusion	conclusion	NOUN
alkej-76	29	32	based	base	VERB
alkej-76	29	33	algorithms	algorithm	NOUN
alkej-76	29	34	.	.	PUNCT
alkej-76	30	1	for	for	ADP
alkej-76	30	2	this	this	DET
alkej-76	30	3	reason	reason	NOUN
alkej-76	30	4	this	this	DET
alkej-76	30	5	algorithm	algorithm	NOUN
alkej-76	30	6	can	can	AUX
alkej-76	30	7	be	be	AUX
alkej-76	30	8	called	call	VERB
alkej-76	30	9	(	(	PUNCT
alkej-76	30	10	oac	oac	PROPN
alkej-76	30	11	)	)	PUNCT
alkej-76	30	12	algorithm	algorithm	NOUN
alkej-76	30	13	according	accord	VERB
alkej-76	30	14	to	to	ADP
alkej-76	30	15	the	the	DET
alkej-76	30	16	first	first	ADJ
alkej-76	30	17	letters	letter	NOUN
alkej-76	30	18	of	of	ADP
alkej-76	30	19	its	its	PRON
alkej-76	30	20	principles	principle	NOUN
alkej-76	30	21	.	.	PUNCT
alkej-76	31	1	4	4	X
alkej-76	31	2	.	.	NUM
alkej-76	31	3	oac	oac	PROPN
alkej-76	31	4	algorithm	algorithm	PROPN
alkej-76	31	5	explanation	explanation	NOUN
alkej-76	31	6	and	and	CCONJ
alkej-76	31	7	definition	definition	NOUN
alkej-76	31	8	in	in	ADP
alkej-76	31	9	this	this	DET
alkej-76	31	10	research	research	NOUN
alkej-76	31	11	,	,	PUNCT
alkej-76	31	12	it	it	PRON
alkej-76	31	13	is	be	AUX
alkej-76	31	14	intendended	intendende	VERB
alkej-76	31	15	to	to	PART
alkej-76	31	16	find	find	VERB
alkej-76	31	17	the	the	DET
alkej-76	31	18	optimal	optimal	ADJ
alkej-76	31	19	or	or	CCONJ
alkej-76	31	20	nearly	nearly	ADV
alkej-76	31	21	optimal	optimal	ADJ
alkej-76	31	22	path	path	NOUN
alkej-76	31	23	that	that	PRON
alkej-76	31	24	connects	connect	VERB
alkej-76	31	25	the	the	DET
alkej-76	31	26	start	start	NOUN
alkej-76	31	27	and	and	CCONJ
alkej-76	31	28	goal	goal	NOUN
alkej-76	31	29	point	point	NOUN
alkej-76	31	30	without	without	ADP
alkej-76	31	31	collision	collision	NOUN
alkej-76	31	32	with	with	ADP
alkej-76	31	33	the	the	DET
alkej-76	31	34	obstacles	obstacle	NOUN
alkej-76	31	35	which	which	PRON
alkej-76	31	36	are	be	AUX
alkej-76	31	37	found	find	VERB
alkej-76	31	38	in	in	ADP
alkej-76	31	39	its	its	PRON
alkej-76	31	40	direction	direction	NOUN
alkej-76	31	41	.if	.if	PUNCT
alkej-76	32	1	we	we	PRON
alkej-76	32	2	suppose	suppose	VERB
alkej-76	32	3	that	that	SCONJ
alkej-76	32	4	there	there	PRON
alkej-76	32	5	is	be	VERB
alkej-76	32	6	no	no	DET
alkej-76	32	7	obstacle	obstacle	NOUN
alkej-76	32	8	in	in	ADP
alkej-76	32	9	the	the	DET
alkej-76	32	10	straight	straight	ADJ
alkej-76	32	11	direction	direction	NOUN
alkej-76	32	12	between	between	ADP
alkej-76	32	13	the	the	DET
alkej-76	32	14	start	start	NOUN
alkej-76	32	15	and	and	CCONJ
alkej-76	32	16	goal	goal	NOUN
alkej-76	32	17	points	point	VERB
alkej-76	32	18	the	the	DET
alkej-76	32	19	path	path	NOUN
alkej-76	32	20	will	will	AUX
alkej-76	32	21	be	be	AUX
alkej-76	32	22	purely	purely	ADV
alkej-76	32	23	straight	straight	ADJ
alkej-76	32	24	line	line	NOUN
alkej-76	32	25	as	as	SCONJ
alkej-76	32	26	shown	show	VERB
alkej-76	32	27	in	in	ADP
alkej-76	32	28	fig	fig	NOUN
alkej-76	32	29	.	.	PUNCT
alkej-76	33	1	(	(	PUNCT
alkej-76	33	2	2	2	NUM
alkej-76	33	3	-	-	PUNCT
alkej-76	33	4	a	a	PRON
alkej-76	33	5	)	)	PUNCT
alkej-76	33	6	.	.	PUNCT
alkej-76	34	1	if	if	SCONJ
alkej-76	34	2	an	an	DET
alkej-76	34	3	obstacle	obstacle	NOUN
alkej-76	34	4	is	be	AUX
alkej-76	34	5	located	locate	VERB
alkej-76	34	6	between	between	ADP
alkej-76	34	7	the	the	DET
alkej-76	34	8	start	start	NOUN
alkej-76	34	9	and	and	CCONJ
alkej-76	34	10	goal	goal	NOUN
alkej-76	34	11	points	point	NOUN
alkej-76	34	12	,	,	PUNCT
alkej-76	34	13	it	it	PRON
alkej-76	34	14	will	will	AUX
alkej-76	34	15	intersect	intersect	VERB
alkej-76	34	16	with	with	ADP
alkej-76	34	17	this	this	DET
alkej-76	34	18	straight	straight	ADJ
alkej-76	34	19	line	line	NOUN
alkej-76	34	20	.	.	PUNCT
alkej-76	35	1	at	at	ADP
alkej-76	35	2	this	this	DET
alkej-76	35	3	point	point	NOUN
alkej-76	35	4	this	this	DET
alkej-76	35	5	straight	straight	ADJ
alkej-76	35	6	path	path	NOUN
alkej-76	35	7	must	must	AUX
alkej-76	35	8	change	change	VERB
alkej-76	35	9	its	its	PRON
alkej-76	35	10	direction	direction	NOUN
alkej-76	35	11	in	in	ADP
alkej-76	35	12	order	order	NOUN
alkej-76	35	13	to	to	PART
alkej-76	35	14	avoid	avoid	VERB
alkej-76	35	15	collision	collision	NOUN
alkej-76	35	16	with	with	ADP
alkej-76	35	17	the	the	DET
alkej-76	35	18	obstacle	obstacle	NOUN
alkej-76	35	19	,	,	PUNCT
alkej-76	35	20	this	this	PRON
alkej-76	35	21	is	be	AUX
alkej-76	35	22	done	do	VERB
alkej-76	35	23	by	by	ADP
alkej-76	35	24	making	make	VERB
alkej-76	35	25	the	the	DET
alkej-76	35	26	path	path	NOUN
alkej-76	35	27	turning	turn	VERB
alkej-76	35	28	around	around	ADP
alkej-76	35	29	the	the	DET
alkej-76	35	30	obstacle	obstacle	NOUN
alkej-76	35	31	(	(	PUNCT
alkej-76	35	32	adjacently	adjacently	ADV
alkej-76	35	33	with	with	ADP
alkej-76	35	34	edges	edge	NOUN
alkej-76	35	35	either	either	CCONJ
alkej-76	35	36	clockwise	clockwise	NOUN
alkej-76	35	37	or	or	CCONJ
alkej-76	35	38	counter	counter	NOUN
alkej-76	35	39	clockwise	clockwise	NOUN
alkej-76	35	40	)	)	PUNCT
alkej-76	35	41	until	until	SCONJ
alkej-76	35	42	it	it	PRON
alkej-76	35	43	exceeds	exceed	VERB
alkej-76	35	44	the	the	DET
alkej-76	35	45	obstacle	obstacle	NOUN
alkej-76	35	46	and	and	CCONJ
alkej-76	35	47	return	return	VERB
alkej-76	35	48	again	again	ADV
alkej-76	35	49	to	to	ADP
alkej-76	35	50	its	its	PRON
alkej-76	35	51	straight	straight	ADJ
alkej-76	35	52	direction	direction	NOUN
alkej-76	35	53	towards	towards	ADP
alkej-76	35	54	the	the	DET
alkej-76	35	55	goal	goal	NOUN
alkej-76	35	56	point	point	NOUN
alkej-76	35	57	,	,	PUNCT
alkej-76	35	58	this	this	DET
alkej-76	35	59	behavior	behavior	NOUN
alkej-76	35	60	is	be	AUX
alkej-76	35	61	always	always	ADV
alkej-76	35	62	repeated	repeat	VERB
alkej-76	35	63	with	with	ADP
alkej-76	35	64	any	any	DET
alkej-76	35	65	other	other	ADJ
alkej-76	35	66	obstacle	obstacle	NOUN
alkej-76	35	67	located	locate	VERB
alkej-76	35	68	an	an	DET
alkej-76	35	69	its	its	PRON
alkej-76	35	70	straight	straight	ADJ
alkej-76	35	71	direction	direction	NOUN
alkej-76	35	72	.	.	PUNCT
alkej-76	36	1	finally	finally	ADV
alkej-76	36	2	two	two	NUM
alkej-76	36	3	paths	path	NOUN
alkej-76	36	4	resulted	result	VERB
alkej-76	36	5	from	from	ADP
alkej-76	36	6	this	this	DET
alkej-76	36	7	behavior	behavior	NOUN
alkej-76	36	8	:	:	PUNCT
alkej-76	36	9	the	the	DET
alkej-76	36	10	upper	upper	ADJ
alkej-76	36	11	path	path	NOUN
alkej-76	36	12	:	:	PUNCT
alkej-76	36	13	is	be	AUX
alkej-76	36	14	the	the	DET
alkej-76	36	15	path	path	NOUN
alkej-76	36	16	that	that	PRON
alkej-76	36	17	resulted	result	VERB
alkej-76	36	18	as	as	ADP
alkej-76	36	19	a	a	DET
alkej-76	36	20	combination	combination	NOUN
alkej-76	36	21	between	between	ADP
alkej-76	36	22	two	two	NUM
alkej-76	36	23	merged	merged	ADJ
alkej-76	36	24	paths	path	NOUN
alkej-76	36	25	,	,	PUNCT
alkej-76	36	26	the	the	DET
alkej-76	36	27	first	first	ADJ
alkej-76	36	28	one	one	NOUN
alkej-76	36	29	is	be	AUX
alkej-76	36	30	represented	represent	VERB
alkej-76	36	31	by	by	ADP
alkej-76	36	32	a	a	DET
alkej-76	36	33	straight	straight	ADJ
alkej-76	36	34	line	line	NOUN
alkej-76	36	35	(	(	PUNCT
alkej-76	36	36	in	in	ADP
alkej-76	36	37	the	the	DET
alkej-76	36	38	no	no	DET
alkej-76	36	39	obstacle	obstacle	NOUN
alkej-76	36	40	area	area	NOUN
alkej-76	36	41	)	)	PUNCT
alkej-76	36	42	and	and	CCONJ
alkej-76	36	43	the	the	DET
alkej-76	36	44	other	other	ADJ
alkej-76	36	45	represents	represent	VERB
alkej-76	36	46	the	the	DET
alkej-76	36	47	surrounded	surround	VERB
alkej-76	36	48	part	part	NOUN
alkej-76	36	49	of	of	ADP
alkej-76	36	50	the	the	DET
alkej-76	36	51	path	path	NOUN
alkej-76	36	52	that	that	PRON
alkej-76	36	53	is	be	AUX
alkej-76	36	54	surrounding	surround	VERB
alkej-76	36	55	the	the	DET
alkej-76	36	56	obstacles	obstacle	NOUN
alkej-76	36	57	in	in	ADP
alkej-76	36	58	clockwise	clockwise	NOUN
alkej-76	36	59	manner	manner	NOUN
alkej-76	36	60	as	as	SCONJ
alkej-76	36	61	shown	show	VERB
alkej-76	36	62	in	in	ADP
alkej-76	36	63	figure(2	figure(2	PROPN
alkej-76	36	64	-	-	PUNCT
alkej-76	36	65	b	b	NOUN
alkej-76	36	66	)	)	PUNCT
alkej-76	36	67	.	.	PUNCT
alkej-76	37	1	nabeel	nabeel	PROPN
alkej-76	37	2	k.	k.	PROPN
alkej-76	37	3	abid	abid	PROPN
alkej-76	37	4	alsahib	alsahib	PROPN
alkej-76	37	5	al	al	PROPN
alkej-76	37	6	-	-	PUNCT
alkej-76	37	7	khwarizmi	khwarizmi	PROPN
alkej-76	37	8	engineering	engineering	NOUN
alkej-76	37	9	journal	journal	PROPN
alkej-76	37	10	,	,	PUNCT
alkej-76	37	11	vol	vol	NOUN
alkej-76	37	12	.	.	PROPN
alkej-76	37	13	7	7	NUM
alkej-76	37	14	,	,	PUNCT
alkej-76	37	15	no	no	INTJ
alkej-76	37	16	.	.	NOUN
alkej-76	37	17	4	4	NUM
alkej-76	37	18	,	,	PUNCT
alkej-76	37	19	pp	pp	ADV
alkej-76	37	20	1	1	NUM
alkej-76	37	21	-16	-16	SYM
alkej-76	37	22	(	(	PUNCT
alkej-76	37	23	2011	2011	NUM
alkej-76	37	24	)	)	PUNCT
alkej-76	37	25	3	3	NUM
alkej-76	37	26	the	the	DET
alkej-76	37	27	lower	low	ADJ
alkej-76	37	28	path	path	NOUN
alkej-76	37	29	:	:	PUNCT
alkej-76	37	30	is	be	AUX
alkej-76	37	31	the	the	DET
alkej-76	37	32	path	path	NOUN
alkej-76	37	33	resulted	result	VERB
alkej-76	37	34	as	as	ADP
alkej-76	37	35	a	a	DET
alkej-76	37	36	combination	combination	NOUN
alkej-76	37	37	between	between	ADP
alkej-76	37	38	two	two	NUM
alkej-76	37	39	merged	merged	ADJ
alkej-76	37	40	paths	path	NOUN
alkej-76	37	41	,	,	PUNCT
alkej-76	37	42	the	the	DET
alkej-76	37	43	first	first	ADJ
alkej-76	37	44	one	one	NOUN
alkej-76	37	45	is	be	AUX
alkej-76	37	46	represented	represent	VERB
alkej-76	37	47	by	by	ADP
alkej-76	37	48	a	a	DET
alkej-76	37	49	straight	straight	ADJ
alkej-76	37	50	line	line	NOUN
alkej-76	37	51	(	(	PUNCT
alkej-76	37	52	in	in	ADP
alkej-76	37	53	the	the	DET
alkej-76	37	54	no	no	DET
alkej-76	37	55	obstacle	obstacle	NOUN
alkej-76	37	56	area	area	NOUN
alkej-76	37	57	)	)	PUNCT
alkej-76	37	58	and	and	CCONJ
alkej-76	37	59	the	the	DET
alkej-76	37	60	other	other	ADJ
alkej-76	37	61	represents	represent	VERB
alkej-76	37	62	the	the	DET
alkej-76	37	63	surrounded	surround	VERB
alkej-76	37	64	part	part	NOUN
alkej-76	37	65	of	of	ADP
alkej-76	37	66	the	the	DET
alkej-76	37	67	path	path	NOUN
alkej-76	37	68	that	that	PRON
alkej-76	37	69	is	be	AUX
alkej-76	37	70	surrounding	surround	VERB
alkej-76	37	71	the	the	DET
alkej-76	37	72	obstacles	obstacle	NOUN
alkej-76	37	73	(	(	PUNCT
alkej-76	37	74	in	in	ADP
alkej-76	37	75	the	the	DET
alkej-76	37	76	area	area	NOUN
alkej-76	37	77	that	that	PRON
alkej-76	37	78	contains	contain	VERB
alkej-76	37	79	obstacles	obstacle	NOUN
alkej-76	37	80	)	)	PUNCT
alkej-76	37	81	in	in	ADP
alkej-76	37	82	counter	counter	ADJ
alkej-76	37	83	clockwise	clockwise	NOUN
alkej-76	37	84	manner	manner	NOUN
alkej-76	37	85	as	as	SCONJ
alkej-76	37	86	shown	show	VERB
alkej-76	37	87	in	in	ADP
alkej-76	37	88	fig	fig	NOUN
alkej-76	37	89	.	.	PUNCT
alkej-76	38	1	(	(	PUNCT
alkej-76	38	2	2	2	NUM
alkej-76	38	3	-	-	SYM
alkej-76	38	4	c	c	NOUN
alkej-76	38	5	)	)	PUNCT
alkej-76	38	6	.	.	PUNCT
alkej-76	39	1	(	(	PUNCT
alkej-76	39	2	a	a	X
alkej-76	39	3	)	)	PUNCT
alkej-76	39	4	the	the	DET
alkej-76	39	5	supposed	suppose	VERB
alkej-76	39	6	straight	straight	ADJ
alkej-76	39	7	line	line	NOUN
alkej-76	39	8	b	b	X
alkej-76	39	9	)	)	PUNCT
alkej-76	39	10	the	the	DET
alkej-76	39	11	upper	upper	ADJ
alkej-76	39	12	path	path	NOUN
alkej-76	39	13	(	(	PUNCT
alkej-76	39	14	c	c	X
alkej-76	39	15	)	)	PUNCT
alkej-76	39	16	the	the	DET
alkej-76	39	17	lower	low	ADJ
alkej-76	39	18	path	path	NOUN
alkej-76	39	19	(	(	PUNCT
alkej-76	39	20	d	d	NOUN
alkej-76	39	21	)	)	PUNCT
alkej-76	39	22	modified	modify	VERB
alkej-76	39	23	upper	upper	ADJ
alkej-76	39	24	path	path	NOUN
alkej-76	39	25	(	(	PUNCT
alkej-76	39	26	e	e	NOUN
alkej-76	39	27	)	)	PUNCT
alkej-76	39	28	intermediate	intermediate	ADV
alkej-76	39	29	lower	low	ADJ
alkej-76	39	30	(	(	PUNCT
alkej-76	39	31	f	f	X
alkej-76	39	32	)	)	PUNCT
alkej-76	39	33	modified	modify	VERB
alkej-76	39	34	lower	low	ADJ
alkej-76	39	35	path	path	NOUN
alkej-76	39	36	path	path	NOUN
alkej-76	39	37	fig	fig	NOUN
alkej-76	39	38	.2	.2	NUM
alkej-76	39	39	.	.	PUNCT
alkej-76	40	1	all	all	DET
alkej-76	40	2	the	the	DET
alkej-76	40	3	possible	possible	ADJ
alkej-76	40	4	paths	path	NOUN
alkej-76	40	5	.	.	PUNCT
alkej-76	41	1	note	note	NOUN
alkej-76	41	2	:	:	PUNCT
alkej-76	41	3	red	red	ADJ
alkej-76	41	4	point	point	NOUN
alkej-76	41	5	represents	represent	VERB
alkej-76	41	6	the	the	DET
alkej-76	41	7	start	start	NOUN
alkej-76	41	8	point	point	NOUN
alkej-76	41	9	.	.	PUNCT
alkej-76	42	1	blue	blue	ADJ
alkej-76	42	2	point	point	NOUN
alkej-76	42	3	represents	represent	VERB
alkej-76	42	4	the	the	DET
alkej-76	42	5	goal	goal	NOUN
alkej-76	42	6	point	point	NOUN
alkej-76	42	7	.	.	PUNCT
alkej-76	43	1	black	black	ADJ
alkej-76	43	2	rectangular	rectangular	NOUN
alkej-76	43	3	represents	represent	VERB
alkej-76	43	4	the	the	DET
alkej-76	43	5	obstacle	obstacle	NOUN
alkej-76	43	6	.	.	PUNCT
alkej-76	44	1	red	red	ADJ
alkej-76	44	2	area	area	NOUN
alkej-76	44	3	represents	represent	VERB
alkej-76	44	4	the	the	DET
alkej-76	44	5	clearance	clearance	NOUN
alkej-76	44	6	(	(	PUNCT
alkej-76	44	7	explained	explain	VERB
alkej-76	44	8	later	later	ADV
alkej-76	44	9	)	)	PUNCT
alkej-76	44	10	.	.	PUNCT
alkej-76	45	1	yellow	yellow	ADJ
alkej-76	45	2	circle	circle	NOUN
alkej-76	45	3	represents	represent	VERB
alkej-76	45	4	the	the	DET
alkej-76	45	5	robot	robot	NOUN
alkej-76	45	6	radius	radius	NOUN
alkej-76	45	7	.	.	PUNCT
alkej-76	46	1	as	as	SCONJ
alkej-76	46	2	shown	show	VERB
alkej-76	46	3	in	in	ADP
alkej-76	46	4	figures	figure	NOUN
alkej-76	46	5	(	(	PUNCT
alkej-76	46	6	2	2	NUM
alkej-76	46	7	-	-	SYM
alkej-76	46	8	b	b	NOUN
alkej-76	46	9	,	,	PUNCT
alkej-76	46	10	c	c	NOUN
alkej-76	46	11	)	)	PUNCT
alkej-76	46	12	,	,	PUNCT
alkej-76	46	13	the	the	DET
alkej-76	46	14	upper	upper	ADJ
alkej-76	46	15	and	and	CCONJ
alkej-76	46	16	lower	low	ADJ
alkej-76	46	17	paths	path	NOUN
alkej-76	46	18	are	be	AUX
alkej-76	46	19	not	not	PART
alkej-76	46	20	the	the	DET
alkej-76	46	21	optimal	optimal	ADJ
alkej-76	46	22	path	path	NOUN
alkej-76	46	23	.	.	PUNCT
alkej-76	47	1	in	in	ADP
alkej-76	47	2	order	order	NOUN
alkej-76	47	3	to	to	PART
alkej-76	47	4	find	find	VERB
alkej-76	47	5	the	the	DET
alkej-76	47	6	optimal	optimal	ADJ
alkej-76	47	7	path	path	NOUN
alkej-76	47	8	,	,	PUNCT
alkej-76	47	9	we	we	PRON
alkej-76	47	10	follow	follow	VERB
alkej-76	47	11	the	the	DET
alkej-76	47	12	following	follow	VERB
alkej-76	47	13	steps	step	NOUN
alkej-76	47	14	:	:	PUNCT
alkej-76	47	15	•	•	ADV
alkej-76	47	16	categorize	categorize	VERB
alkej-76	47	17	the	the	DET
alkej-76	47	18	indiviual	indiviual	ADJ
alkej-76	47	19	lines	line	NOUN
alkej-76	47	20	that	that	PRON
alkej-76	47	21	form	form	VERB
alkej-76	47	22	the	the	DET
alkej-76	47	23	upper	upper	ADJ
alkej-76	47	24	and	and	CCONJ
alkej-76	47	25	lower	low	ADJ
alkej-76	47	26	paths	path	NOUN
alkej-76	47	27	into	into	ADP
alkej-76	47	28	two	two	NUM
alkej-76	47	29	groups	group	NOUN
alkej-76	47	30	:	:	PUNCT
alkej-76	47	31	group	group	NOUN
alkej-76	47	32	a	a	X
alkej-76	47	33	:	:	PUNCT
alkej-76	47	34	it	it	PRON
alkej-76	47	35	is	be	AUX
alkej-76	47	36	the	the	DET
alkej-76	47	37	group	group	NOUN
alkej-76	47	38	of	of	ADP
alkej-76	47	39	all	all	DET
alkej-76	47	40	segments	segment	NOUN
alkej-76	47	41	(	(	PUNCT
alkej-76	47	42	individual	individual	ADJ
alkej-76	47	43	lines	line	NOUN
alkej-76	47	44	)	)	PUNCT
alkej-76	47	45	of	of	ADP
alkej-76	47	46	the	the	DET
alkej-76	47	47	upper	upper	ADJ
alkej-76	47	48	or	or	CCONJ
alkej-76	47	49	lower	low	ADJ
alkej-76	47	50	path	path	NOUN
alkej-76	47	51	found	find	VERB
alkej-76	47	52	from	from	ADP
alkej-76	47	53	straight	straight	ADJ
alkej-76	47	54	line	line	NOUN
alkej-76	47	55	equation	equation	NOUN
alkej-76	47	56	(	(	PUNCT
alkej-76	47	57	the	the	DET
alkej-76	47	58	parts	part	NOUN
alkej-76	47	59	of	of	ADP
alkej-76	47	60	the	the	DET
alkej-76	47	61	path	path	NOUN
alkej-76	47	62	in	in	ADP
alkej-76	47	63	space	space	NOUN
alkej-76	47	64	or	or	CCONJ
alkej-76	47	65	for	for	ADP
alkej-76	47	66	obstacles	obstacle	NOUN
alkej-76	47	67	area	area	NOUN
alkej-76	47	68	)	)	PUNCT
alkej-76	47	69	.	.	PUNCT
alkej-76	48	1	group	group	PROPN
alkej-76	48	2	b	b	NOUN
alkej-76	48	3	:	:	PUNCT
alkej-76	48	4	it	it	PRON
alkej-76	48	5	is	be	AUX
alkej-76	48	6	the	the	DET
alkej-76	48	7	group	group	NOUN
alkej-76	48	8	of	of	ADP
alkej-76	48	9	all	all	DET
alkej-76	48	10	segments	segment	NOUN
alkej-76	48	11	(	(	PUNCT
alkej-76	48	12	individual	individual	ADJ
alkej-76	48	13	lines	line	NOUN
alkej-76	48	14	)	)	PUNCT
alkej-76	48	15	of	of	ADP
alkej-76	48	16	the	the	DET
alkej-76	48	17	upper	upper	ADJ
alkej-76	48	18	or	or	CCONJ
alkej-76	48	19	lower	low	ADJ
alkej-76	48	20	path	path	NOUN
alkej-76	48	21	forming	form	VERB
alkej-76	48	22	a	a	DET
alkej-76	48	23	surrounded	surrounded	ADJ
alkej-76	48	24	path	path	NOUN
alkej-76	48	25	around	around	ADP
alkej-76	48	26	the	the	DET
alkej-76	48	27	obstacles	obstacle	NOUN
alkej-76	48	28	.	.	PUNCT
alkej-76	49	1	•	•	NOUN
alkej-76	49	2	finding	find	VERB
alkej-76	49	3	the	the	DET
alkej-76	49	4	resultant	resultant	NOUN
alkej-76	49	5	:	:	PUNCT
alkej-76	49	6	if	if	SCONJ
alkej-76	49	7	any	any	DET
alkej-76	49	8	line	line	NOUN
alkej-76	49	9	from	from	ADP
alkej-76	49	10	group	group	NOUN
alkej-76	49	11	a	a	PROPN
alkej-76	49	12	is	be	AUX
alkej-76	49	13	followed	follow	VERB
alkej-76	49	14	by	by	ADP
alkej-76	49	15	a	a	DET
alkej-76	49	16	line	line	NOUN
alkej-76	49	17	(	(	PUNCT
alkej-76	49	18	or	or	CCONJ
alkej-76	49	19	successive	successive	ADJ
alkej-76	49	20	lines	line	NOUN
alkej-76	49	21	)	)	PUNCT
alkej-76	49	22	from	from	ADP
alkej-76	49	23	group	group	PROPN
alkej-76	49	24	b	b	PROPN
alkej-76	49	25	,	,	PUNCT
alkej-76	49	26	they	they	PRON
alkej-76	49	27	will	will	AUX
alkej-76	49	28	be	be	AUX
alkej-76	49	29	replaced	replace	VERB
alkej-76	49	30	by	by	ADP
alkej-76	49	31	the	the	DET
alkej-76	49	32	resultant	resultant	NOUN
alkej-76	49	33	of	of	ADP
alkej-76	49	34	them	they	PRON
alkej-76	49	35	.	.	PUNCT
alkej-76	50	1	in	in	ADP
alkej-76	50	2	opposite	opposite	ADJ
alkej-76	50	3	,	,	PUNCT
alkej-76	50	4	if	if	SCONJ
alkej-76	50	5	any	any	DET
alkej-76	50	6	line	line	NOUN
alkej-76	50	7	(	(	PUNCT
alkej-76	50	8	or	or	CCONJ
alkej-76	50	9	successive	successive	ADJ
alkej-76	50	10	lines	line	NOUN
alkej-76	50	11	)	)	PUNCT
alkej-76	50	12	from	from	ADP
alkej-76	50	13	group	group	PROPN
alkej-76	50	14	b	b	PROPN
alkej-76	50	15	is	be	AUX
alkej-76	50	16	followed	follow	VERB
alkej-76	50	17	by	by	ADP
alkej-76	50	18	any	any	DET
alkej-76	50	19	line	line	NOUN
alkej-76	50	20	from	from	ADP
alkej-76	50	21	the	the	DET
alkej-76	50	22	group	group	NOUN
alkej-76	50	23	a	a	NOUN
alkej-76	50	24	,	,	PUNCT
alkej-76	50	25	they	they	PRON
alkej-76	50	26	will	will	AUX
alkej-76	50	27	be	be	AUX
alkej-76	50	28	replaced	replace	VERB
alkej-76	50	29	by	by	ADP
alkej-76	50	30	the	the	DET
alkej-76	50	31	resultant	resultant	NOUN
alkej-76	50	32	of	of	ADP
alkej-76	50	33	them	they	PRON
alkej-76	50	34	.	.	PUNCT
alkej-76	51	1	•	•	NUM
alkej-76	51	2	finding	find	VERB
alkej-76	51	3	tested	test	VERB
alkej-76	51	4	path	path	NOUN
alkej-76	51	5	:	:	PUNCT
alkej-76	51	6	it	it	PRON
alkej-76	51	7	is	be	AUX
alkej-76	51	8	the	the	DET
alkej-76	51	9	path	path	NOUN
alkej-76	51	10	that	that	PRON
alkej-76	51	11	results	result	VERB
alkej-76	51	12	from	from	ADP
alkej-76	51	13	finding	find	VERB
alkej-76	51	14	successive	successive	ADJ
alkej-76	51	15	resultants	resultant	NOUN
alkej-76	51	16	for	for	ADP
alkej-76	51	17	each	each	DET
alkej-76	51	18	nline	nline	NOUN
alkej-76	51	19	(	(	PUNCT
alkej-76	51	20	from	from	ADP
alkej-76	51	21	the	the	DET
alkej-76	51	22	upper	upper	ADJ
alkej-76	51	23	or	or	CCONJ
alkej-76	51	24	lower	low	ADJ
alkej-76	51	25	paths	path	NOUN
alkej-76	51	26	)	)	PUNCT
alkej-76	51	27	,	,	PUNCT
alkej-76	51	28	so	so	CCONJ
alkej-76	51	29	the	the	DET
alkej-76	51	30	tested	test	VERB
alkej-76	51	31	path	path	NOUN
alkej-76	51	32	is	be	AUX
alkej-76	51	33	combined	combine	VERB
alkej-76	51	34	from	from	ADP
alkej-76	51	35	these	these	DET
alkej-76	51	36	individual	individual	ADJ
alkej-76	51	37	resultants	resultant	NOUN
alkej-76	51	38	.	.	PUNCT
alkej-76	52	1	this	this	DET
alkej-76	52	2	path	path	NOUN
alkej-76	52	3	is	be	AUX
alkej-76	52	4	called	call	VERB
alkej-76	52	5	according	accord	VERB
alkej-76	52	6	to	to	ADP
alkej-76	52	7	(	(	PUNCT
alkej-76	52	8	oac	oac	PROPN
alkej-76	52	9	)	)	PUNCT
alkej-76	52	10	algorithm	algorithm	NOUN
alkej-76	52	11	the	the	DET
alkej-76	52	12	tested	test	VERB
alkej-76	52	13	path	path	NOUN
alkej-76	52	14	because	because	SCONJ
alkej-76	52	15	it	it	PRON
alkej-76	52	16	must	must	AUX
alkej-76	52	17	submit	submit	VERB
alkej-76	52	18	to	to	ADP
alkej-76	52	19	a	a	DET
alkej-76	52	20	specific	specific	ADJ
alkej-76	52	21	test	test	NOUN
alkej-76	52	22	to	to	PART
alkej-76	52	23	judge	judge	VERB
alkej-76	52	24	if	if	SCONJ
alkej-76	52	25	it	it	PRON
alkej-76	52	26	is	be	AUX
alkej-76	52	27	the	the	DET
alkej-76	52	28	optimal	optimal	ADJ
alkej-76	52	29	,	,	PUNCT
alkej-76	52	30	nearly	nearly	ADV
alkej-76	52	31	optimal	optimal	ADJ
alkej-76	52	32	or	or	CCONJ
alkej-76	52	33	not	not	PART
alkej-76	52	34	.	.	PUNCT
alkej-76	53	1	an	an	DET
alkej-76	53	2	important	important	ADJ
alkej-76	53	3	condition	condition	NOUN
alkej-76	53	4	must	must	AUX
alkej-76	53	5	be	be	AUX
alkej-76	53	6	satisfied	satisfied	ADJ
alkej-76	53	7	when	when	SCONJ
alkej-76	53	8	finding	find	VERB
alkej-76	53	9	each	each	DET
alkej-76	53	10	individual	individual	ADJ
alkej-76	53	11	resultant	resultant	VERB
alkej-76	53	12	that	that	SCONJ
alkej-76	53	13	it	it	PRON
alkej-76	53	14	must	must	AUX
alkej-76	53	15	be	be	AUX
alkej-76	53	16	checked	check	VERB
alkej-76	53	17	(	(	PUNCT
alkej-76	53	18	according	accord	VERB
alkej-76	53	19	to	to	ADP
alkej-76	53	20	environment	environment	NOUN
alkej-76	53	21	's	's	PART
alkej-76	53	22	image	image	NOUN
alkej-76	53	23	)	)	PUNCT
alkej-76	53	24	,	,	PUNCT
alkej-76	53	25	if	if	SCONJ
alkej-76	53	26	there	there	PRON
alkej-76	53	27	is	be	VERB
alkej-76	53	28	an	an	DET
alkej-76	53	29	obstacle	obstacle	NOUN
alkej-76	53	30	intersects	intersect	NOUN
alkej-76	53	31	with	with	ADP
alkej-76	53	32	it	it	PRON
alkej-76	53	33	on	on	ADP
alkej-76	53	34	or	or	CCONJ
alkej-76	53	35	not	not	PART
alkej-76	53	36	.	.	PUNCT
alkej-76	54	1	the	the	DET
alkej-76	54	2	specific	specific	ADJ
alkej-76	54	3	test	test	NOUN
alkej-76	54	4	is	be	AUX
alkej-76	54	5	summarized	summarize	VERB
alkej-76	54	6	in	in	ADP
alkej-76	54	7	the	the	DET
alkej-76	54	8	following	following	ADJ
alkej-76	54	9	stages	stage	NOUN
alkej-76	54	10	:	:	PUNCT
alkej-76	54	11	•	•	ADP
alkej-76	54	12	if	if	SCONJ
alkej-76	54	13	there	there	PRON
alkej-76	54	14	is	be	VERB
alkej-76	54	15	an	an	DET
alkej-76	54	16	obstacle	obstacle	NOUN
alkej-76	54	17	in	in	ADP
alkej-76	54	18	the	the	DET
alkej-76	54	19	direction	direction	NOUN
alkej-76	54	20	of	of	ADP
alkej-76	54	21	the	the	DET
alkej-76	54	22	resultant	resultant	NOUN
alkej-76	54	23	,	,	PUNCT
alkej-76	54	24	this	this	DET
alkej-76	54	25	resultant	resultant	NOUN
alkej-76	54	26	must	must	AUX
alkej-76	54	27	resolved	resolve	VERB
alkej-76	54	28	to	to	ADP
alkej-76	54	29	its	its	PRON
alkej-76	54	30	original	original	ADJ
alkej-76	54	31	components	component	NOUN
alkej-76	54	32	,	,	PUNCT
alkej-76	54	33	these	these	DET
alkej-76	54	34	components	component	NOUN
alkej-76	54	35	are	be	AUX
alkej-76	54	36	recognized	recognize	VERB
alkej-76	54	37	as	as	ADP
alkej-76	54	38	forbidden	forbid	VERB
alkej-76	54	39	lines	line	NOUN
alkej-76	54	40	(	(	PUNCT
alkej-76	54	41	referring	refer	VERB
alkej-76	54	42	to	to	ADP
alkej-76	54	43	its	its	PRON
alkej-76	54	44	inability	inability	NOUN
alkej-76	54	45	to	to	PART
alkej-76	54	46	be	be	AUX
alkej-76	54	47	replaced	replace	VERB
alkej-76	54	48	with	with	ADP
alkej-76	54	49	its	its	PRON
alkej-76	54	50	resultant	resultant	NOUN
alkej-76	54	51	)	)	PUNCT
alkej-76	54	52	.	.	PUNCT
alkej-76	55	1	•	•	INTJ
alkej-76	55	2	if	if	SCONJ
alkej-76	55	3	the	the	DET
alkej-76	55	4	direction	direction	NOUN
alkej-76	55	5	of	of	ADP
alkej-76	55	6	this	this	DET
alkej-76	55	7	resultant	resultant	NOUN
alkej-76	55	8	is	be	AUX
alkej-76	55	9	freeobstacle	freeobstacle	NOUN
alkej-76	55	10	this	this	DET
alkej-76	55	11	resultant	resultant	NOUN
alkej-76	55	12	is	be	AUX
alkej-76	55	13	kept	keep	VERB
alkej-76	55	14	and	and	CCONJ
alkej-76	55	15	takes	take	VERB
alkej-76	55	16	its	its	PRON
alkej-76	55	17	position	position	NOUN
alkej-76	55	18	in	in	ADP
alkej-76	55	19	the	the	DET
alkej-76	55	20	tested	test	VERB
alkej-76	55	21	path	path	NOUN
alkej-76	55	22	and	and	CCONJ
alkej-76	55	23	it	it	PRON
alkej-76	55	24	is	be	AUX
alkej-76	55	25	known	know	VERB
alkej-76	55	26	as	as	ADP
alkej-76	55	27	unforbidden	unforbidden	ADJ
alkej-76	55	28	lines	line	NOUN
alkej-76	55	29	.	.	PUNCT
alkej-76	56	1	•	•	NUM
alkej-76	56	2	the	the	DET
alkej-76	56	3	resulted	resulted	ADJ
alkej-76	56	4	path	path	NOUN
alkej-76	56	5	from	from	ADP
alkej-76	56	6	step	step	NOUN
alkej-76	56	7	1	1	NUM
alkej-76	56	8	and	and	CCONJ
alkej-76	56	9	2	2	NUM
alkej-76	56	10	can	can	AUX
alkej-76	56	11	be	be	AUX
alkej-76	56	12	retested	reteste	VERB
alkej-76	56	13	again	again	ADV
alkej-76	56	14	by	by	ADP
alkej-76	56	15	finding	find	VERB
alkej-76	56	16	the	the	DET
alkej-76	56	17	resultant	resultant	NOUN
alkej-76	56	18	for	for	ADP
alkej-76	56	19	only	only	ADV
alkej-76	56	20	unforbidden	unforbidden	ADJ
alkej-76	56	21	lines	line	NOUN
alkej-76	56	22	(	(	PUNCT
alkej-76	56	23	while	while	SCONJ
alkej-76	56	24	keeping	keep	VERB
alkej-76	56	25	forbidden	forbidden	ADJ
alkej-76	56	26	lines	line	NOUN
alkej-76	56	27	)	)	PUNCT
alkej-76	56	28	.	.	PUNCT
alkej-76	57	1	•	•	NUM
alkej-76	57	2	step	step	NOUN
alkej-76	57	3	3	3	NUM
alkej-76	57	4	continues	continue	VERB
alkej-76	57	5	until	until	SCONJ
alkej-76	57	6	there	there	PRON
alkej-76	57	7	is	be	VERB
alkej-76	57	8	no	no	DET
alkej-76	57	9	resultant	resultant	NOUN
alkej-76	57	10	to	to	PART
alkej-76	57	11	be	be	AUX
alkej-76	57	12	found	find	VERB
alkej-76	57	13	(	(	PUNCT
alkej-76	57	14	mostly	mostly	ADV
alkej-76	57	15	this	this	PRON
alkej-76	57	16	occurs	occur	VERB
alkej-76	57	17	one	one	NUM
alkej-76	57	18	or	or	CCONJ
alkej-76	57	19	two	two	NUM
alkej-76	57	20	times	time	NOUN
alkej-76	57	21	)	)	PUNCT
alkej-76	57	22	.	.	PUNCT
alkej-76	58	1	finally	finally	ADV
alkej-76	58	2	,	,	PUNCT
alkej-76	58	3	we	we	PRON
alkej-76	58	4	will	will	AUX
alkej-76	58	5	get	get	VERB
alkej-76	58	6	two	two	NUM
alkej-76	58	7	new	new	ADJ
alkej-76	58	8	paths	path	NOUN
alkej-76	58	9	,	,	PUNCT
alkej-76	58	10	the	the	DET
alkej-76	58	11	first	first	ADJ
alkej-76	58	12	resulted	result	VERB
alkej-76	58	13	from	from	ADP
alkej-76	58	14	the	the	DET
alkej-76	58	15	upper	upper	ADJ
alkej-76	58	16	path	path	NOUN
alkej-76	58	17	which	which	PRON
alkej-76	58	18	is	be	AUX
alkej-76	58	19	called	call	VERB
alkej-76	58	20	modified	modified	ADJ
alkej-76	58	21	upper	upper	ADJ
alkej-76	58	22	path	path	NOUN
alkej-76	58	23	and	and	CCONJ
alkej-76	58	24	the	the	DET
alkej-76	58	25	other	other	ADJ
alkej-76	58	26	resulted	result	VERB
alkej-76	58	27	from	from	ADP
alkej-76	58	28	the	the	DET
alkej-76	58	29	lower	low	ADJ
alkej-76	58	30	path	path	NOUN
alkej-76	58	31	which	which	PRON
alkej-76	58	32	is	be	AUX
alkej-76	58	33	called	call	VERB
alkej-76	58	34	modified	modify	VERB
alkej-76	58	35	lower	low	ADJ
alkej-76	58	36	path	path	NOUN
alkej-76	58	37	.	.	PUNCT
alkej-76	59	1	these	these	DET
alkej-76	59	2	two	two	NUM
alkej-76	59	3	paths	path	NOUN
alkej-76	59	4	with	with	ADP
alkej-76	59	5	addition	addition	NOUN
alkej-76	59	6	to	to	ADP
alkej-76	59	7	original	original	ADJ
alkej-76	59	8	upper	upper	ADJ
alkej-76	59	9	and	and	CCONJ
alkej-76	59	10	lower	low	ADJ
alkej-76	59	11	path	path	NOUN
alkej-76	59	12	and	and	CCONJ
alkej-76	59	13	all	all	DET
alkej-76	59	14	the	the	DET
alkej-76	59	15	resulted	resulted	ADJ
alkej-76	59	16	intermediate	intermediate	ADJ
alkej-76	59	17	paths	path	NOUN
alkej-76	59	18	are	be	AUX
alkej-76	59	19	examined	examine	VERB
alkej-76	59	20	and	and	CCONJ
alkej-76	59	21	the	the	DET
alkej-76	59	22	results	result	NOUN
alkej-76	59	23	of	of	ADP
alkej-76	59	24	the	the	DET
alkej-76	59	25	examination	examination	NOUN
alkej-76	59	26	are	be	AUX
alkej-76	59	27	compared	compare	VERB
alkej-76	59	28	with	with	ADP
alkej-76	59	29	each	each	DET
alkej-76	59	30	other	other	ADJ
alkej-76	59	31	in	in	ADP
alkej-76	59	32	order	order	NOUN
alkej-76	59	33	to	to	PART
alkej-76	59	34	determine	determine	VERB
alkej-76	59	35	the	the	DET
alkej-76	59	36	optimal	optimal	ADJ
alkej-76	59	37	path	path	NOUN
alkej-76	59	38	.	.	PUNCT
alkej-76	60	1	nabeel	nabeel	PROPN
alkej-76	60	2	k.	k.	PROPN
alkej-76	60	3	abid	abid	PROPN
alkej-76	60	4	alsahib	alsahib	PROPN
alkej-76	60	5	al	al	PROPN
alkej-76	60	6	-	-	PUNCT
alkej-76	60	7	khwarizmi	khwarizmi	PROPN
alkej-76	60	8	engineering	engineering	NOUN
alkej-76	60	9	journal	journal	PROPN
alkej-76	60	10	,	,	PUNCT
alkej-76	60	11	vol	vol	NOUN
alkej-76	60	12	.	.	PROPN
alkej-76	60	13	7	7	NUM
alkej-76	60	14	,	,	PUNCT
alkej-76	60	15	no	no	INTJ
alkej-76	60	16	.	.	NOUN
alkej-76	60	17	4	4	NUM
alkej-76	60	18	,	,	PUNCT
alkej-76	60	19	pp	pp	ADV
alkej-76	60	20	1	1	NUM
alkej-76	60	21	-16	-16	SYM
alkej-76	60	22	(	(	PUNCT
alkej-76	60	23	2011	2011	NUM
alkej-76	60	24	)	)	PUNCT
alkej-76	60	25	4	4	NUM
alkej-76	60	26	for	for	ADP
alkej-76	60	27	example	example	NOUN
alkej-76	60	28	,	,	PUNCT
alkej-76	60	29	the	the	DET
alkej-76	60	30	upper	upper	ADJ
alkej-76	60	31	and	and	CCONJ
alkej-76	60	32	the	the	DET
alkej-76	60	33	lower	low	ADJ
alkej-76	60	34	paths	path	NOUN
alkej-76	60	35	which	which	PRON
alkej-76	60	36	are	be	AUX
alkej-76	60	37	shown	show	VERB
alkej-76	60	38	in	in	ADP
alkej-76	60	39	fig	fig	NOUN
alkej-76	60	40	.	.	PUNCT
alkej-76	61	1	(	(	PUNCT
alkej-76	61	2	2	2	NUM
alkej-76	61	3	-	-	SYM
alkej-76	61	4	b	b	NOUN
alkej-76	61	5	,	,	PUNCT
alkej-76	61	6	c	c	NOUN
alkej-76	61	7	)	)	PUNCT
alkej-76	61	8	are	be	AUX
alkej-76	61	9	submitted	submit	VERB
alkej-76	61	10	to	to	ADP
alkej-76	61	11	the	the	DET
alkej-76	61	12	previous	previous	ADJ
alkej-76	61	13	test	test	NOUN
alkej-76	61	14	.	.	PUNCT
alkej-76	62	1	so	so	ADV
alkej-76	62	2	,	,	PUNCT
alkej-76	62	3	the	the	DET
alkej-76	62	4	upper	upper	ADJ
alkej-76	62	5	path	path	NOUN
alkej-76	62	6	will	will	AUX
alkej-76	62	7	converted	convert	VERB
alkej-76	62	8	into	into	ADP
alkej-76	62	9	modified	modified	ADJ
alkej-76	62	10	upper	upper	ADJ
alkej-76	62	11	path	path	NOUN
alkej-76	62	12	as	as	SCONJ
alkej-76	62	13	shown	show	VERB
alkej-76	62	14	in	in	ADP
alkej-76	62	15	fig	fig	NOUN
alkej-76	62	16	.	.	PUNCT
alkej-76	63	1	(	(	PUNCT
alkej-76	63	2	3	3	NUM
alkej-76	63	3	-	-	SYM
alkej-76	63	4	d	d	NOUN
alkej-76	63	5	)	)	PUNCT
alkej-76	63	6	and	and	CCONJ
alkej-76	63	7	the	the	DET
alkej-76	63	8	lower	low	ADJ
alkej-76	63	9	path	path	NOUN
alkej-76	63	10	will	will	AUX
alkej-76	63	11	be	be	AUX
alkej-76	63	12	converted	convert	VERB
alkej-76	63	13	into	into	ADP
alkej-76	63	14	intermediate	intermediate	ADJ
alkej-76	63	15	lower	low	ADJ
alkej-76	63	16	path	path	NOUN
alkej-76	63	17	and	and	CCONJ
alkej-76	63	18	then	then	ADV
alkej-76	63	19	into	into	ADP
alkej-76	63	20	amodified	amodified	ADJ
alkej-76	63	21	lower	low	ADJ
alkej-76	63	22	path	path	NOUN
alkej-76	63	23	as	as	SCONJ
alkej-76	63	24	shown	show	VERB
alkej-76	63	25	in	in	ADP
alkej-76	63	26	fig	fig	NOUN
alkej-76	63	27	.	.	PUNCT
alkej-76	64	1	(	(	PUNCT
alkej-76	64	2	2	2	NUM
alkej-76	64	3	-	-	SYM
alkej-76	64	4	e	e	NOUN
alkej-76	64	5	,	,	PUNCT
alkej-76	64	6	f	f	NOUN
alkej-76	64	7	)	)	PUNCT
alkej-76	64	8	.	.	PUNCT
alkej-76	65	1	5	5	X
alkej-76	65	2	.	.	X
alkej-76	65	3	the	the	DET
alkej-76	65	4	specific	specific	ADJ
alkej-76	65	5	examination	examination	NOUN
alkej-76	65	6	for	for	ADP
alkej-76	65	7	finding	find	VERB
alkej-76	65	8	optimal	optimal	ADJ
alkej-76	65	9	path	path	NOUN
alkej-76	65	10	the	the	DET
alkej-76	65	11	following	follow	VERB
alkej-76	65	12	examination	examination	NOUN
alkej-76	65	13	is	be	AUX
alkej-76	65	14	done	do	VERB
alkej-76	65	15	on	on	ADP
alkej-76	65	16	all	all	DET
alkej-76	65	17	the	the	DET
alkej-76	65	18	resulted	resulted	ADJ
alkej-76	65	19	paths	path	NOUN
alkej-76	65	20	from	from	ADP
alkej-76	65	21	(	(	PUNCT
alkej-76	65	22	oac	oac	NOUN
alkej-76	65	23	)	)	PUNCT
alkej-76	65	24	in	in	ADP
alkej-76	65	25	order	order	NOUN
alkej-76	65	26	to	to	PART
alkej-76	65	27	find	find	VERB
alkej-76	65	28	the	the	DET
alkej-76	65	29	optimal	optimal	ADJ
alkej-76	65	30	path	path	NOUN
alkej-76	65	31	which	which	PRON
alkej-76	65	32	is	be	AUX
alkej-76	65	33	accomplished	accomplish	VERB
alkej-76	65	34	by	by	ADP
alkej-76	65	35	checking	check	VERB
alkej-76	65	36	all	all	DET
alkej-76	65	37	the	the	DET
alkej-76	65	38	resulted	resulted	ADJ
alkej-76	65	39	paths	path	NOUN
alkej-76	65	40	with	with	ADP
alkej-76	65	41	respect	respect	NOUN
alkej-76	65	42	to	to	ADP
alkej-76	65	43	:	:	PUNCT
alkej-76	65	44	§	§	PROPN
alkej-76	65	45	length	length	NOUN
alkej-76	65	46	of	of	ADP
alkej-76	65	47	each	each	DET
alkej-76	65	48	path	path	NOUN
alkej-76	65	49	:	:	PUNCT
alkej-76	65	50	the	the	DET
alkej-76	65	51	length	length	NOUN
alkej-76	65	52	of	of	ADP
alkej-76	65	53	the	the	DET
alkej-76	65	54	path	path	NOUN
alkej-76	65	55	is	be	AUX
alkej-76	65	56	considered	consider	VERB
alkej-76	65	57	an	an	DET
alkej-76	65	58	important	important	ADJ
alkej-76	65	59	factor	factor	NOUN
alkej-76	65	60	in	in	ADP
alkej-76	65	61	determining	determine	VERB
alkej-76	65	62	the	the	DET
alkej-76	65	63	best	good	ADJ
alkej-76	65	64	path	path	NOUN
alkej-76	65	65	because	because	SCONJ
alkej-76	65	66	the	the	DET
alkej-76	65	67	robot	robot	NOUN
alkej-76	65	68	will	will	AUX
alkej-76	65	69	consume	consume	VERB
alkej-76	65	70	less	less	ADJ
alkej-76	65	71	time	time	NOUN
alkej-76	65	72	to	to	PART
alkej-76	65	73	reach	reach	VERB
alkej-76	65	74	the	the	DET
alkej-76	65	75	goal	goal	NOUN
alkej-76	65	76	point	point	NOUN
alkej-76	65	77	when	when	SCONJ
alkej-76	65	78	the	the	DET
alkej-76	65	79	path	path	NOUN
alkej-76	65	80	is	be	AUX
alkej-76	65	81	shorter	short	ADJ
alkej-76	65	82	.	.	PUNCT
alkej-76	66	1	§	§	ADJ
alkej-76	66	2	number	number	NOUN
alkej-76	66	3	of	of	ADP
alkej-76	66	4	segments	segment	NOUN
alkej-76	66	5	:	:	PUNCT
alkej-76	66	6	the	the	DET
alkej-76	66	7	number	number	NOUN
alkej-76	66	8	of	of	ADP
alkej-76	66	9	segments	segment	NOUN
alkej-76	66	10	of	of	ADP
alkej-76	66	11	the	the	DET
alkej-76	66	12	resulted	resulted	ADJ
alkej-76	66	13	path	path	NOUN
alkej-76	66	14	is	be	AUX
alkej-76	66	15	associated	associate	VERB
alkej-76	66	16	with	with	ADP
alkej-76	66	17	number	number	NOUN
alkej-76	66	18	of	of	ADP
alkej-76	66	19	turns	turn	NOUN
alkej-76	66	20	that	that	SCONJ
alkej-76	66	21	the	the	DET
alkej-76	66	22	robot	robot	NOUN
alkej-76	66	23	must	must	AUX
alkej-76	66	24	do	do	VERB
alkej-76	66	25	to	to	PART
alkej-76	66	26	access	access	VERB
alkej-76	66	27	the	the	DET
alkej-76	66	28	desired	desire	VERB
alkej-76	66	29	path	path	NOUN
alkej-76	66	30	.	.	PUNCT
alkej-76	67	1	it	it	PRON
alkej-76	67	2	is	be	AUX
alkej-76	67	3	considered	consider	VERB
alkej-76	67	4	an	an	DET
alkej-76	67	5	important	important	ADJ
alkej-76	67	6	factor	factor	NOUN
alkej-76	67	7	in	in	ADP
alkej-76	67	8	finding	find	VERB
alkej-76	67	9	the	the	DET
alkej-76	67	10	best	good	ADJ
alkej-76	67	11	path	path	NOUN
alkej-76	67	12	because	because	SCONJ
alkej-76	67	13	the	the	DET
alkej-76	67	14	robot	robot	NOUN
alkej-76	67	15	's	's	PART
alkej-76	67	16	motors	motor	NOUN
alkej-76	67	17	will	will	AUX
alkej-76	67	18	consume	consume	VERB
alkej-76	67	19	less	less	ADJ
alkej-76	67	20	power	power	NOUN
alkej-76	67	21	to	to	PART
alkej-76	67	22	reach	reach	VERB
alkej-76	67	23	the	the	DET
alkej-76	67	24	goal	goal	NOUN
alkej-76	67	25	point	point	NOUN
alkej-76	67	26	when	when	SCONJ
alkej-76	67	27	the	the	DET
alkej-76	67	28	path	path	NOUN
alkej-76	67	29	contains	contain	VERB
alkej-76	67	30	less	less	ADJ
alkej-76	67	31	number	number	NOUN
alkej-76	67	32	of	of	ADP
alkej-76	67	33	segments	segment	NOUN
alkej-76	67	34	,	,	PUNCT
alkej-76	67	35	because	because	SCONJ
alkej-76	67	36	it	it	PRON
alkej-76	67	37	requires	require	VERB
alkej-76	67	38	less	less	ADJ
alkej-76	67	39	number	number	NOUN
alkej-76	67	40	of	of	ADP
alkej-76	67	41	turning	turn	VERB
alkej-76	67	42	to	to	PART
alkej-76	67	43	change	change	VERB
alkej-76	67	44	its	its	PRON
alkej-76	67	45	direction	direction	NOUN
alkej-76	67	46	to	to	PART
alkej-76	67	47	follow	follow	VERB
alkej-76	67	48	the	the	DET
alkej-76	67	49	next	next	ADJ
alkej-76	67	50	segment	segment	NOUN
alkej-76	67	51	direction	direction	NOUN
alkej-76	67	52	.	.	PUNCT
alkej-76	68	1	5.1	5.1	NUM
alkej-76	68	2	clearance	clearance	NOUN
alkej-76	68	3	factor	factor	NOUN
alkej-76	68	4	(	(	PUNCT
alkej-76	68	5	c	c	X
alkej-76	68	6	)	)	PUNCT
alkej-76	68	7	it	it	PRON
alkej-76	68	8	is	be	AUX
alkej-76	68	9	worth	worth	ADJ
alkej-76	68	10	mentioning	mention	VERB
alkej-76	68	11	that	that	SCONJ
alkej-76	68	12	the	the	DET
alkej-76	68	13	size	size	NOUN
alkej-76	68	14	of	of	ADP
alkej-76	68	15	the	the	DET
alkej-76	68	16	obstacles	obstacle	NOUN
alkej-76	68	17	which	which	PRON
alkej-76	68	18	are	be	AUX
alkej-76	68	19	submitted	submit	VERB
alkej-76	68	20	to	to	ADP
alkej-76	68	21	(	(	PUNCT
alkej-76	68	22	oac	oac	PROPN
alkej-76	68	23	)	)	PUNCT
alkej-76	68	24	algorithm	algorithm	NOUN
alkej-76	68	25	is	be	AUX
alkej-76	68	26	larger	large	ADJ
alkej-76	68	27	than	than	ADP
alkej-76	68	28	their	their	PRON
alkej-76	68	29	actual	actual	ADJ
alkej-76	68	30	size	size	NOUN
alkej-76	68	31	because	because	SCONJ
alkej-76	68	32	a	a	DET
alkej-76	68	33	factor	factor	NOUN
alkej-76	68	34	which	which	PRON
alkej-76	68	35	is	be	AUX
alkej-76	68	36	called	call	VERB
alkej-76	68	37	clearance	clearance	NOUN
alkej-76	68	38	factor	factor	NOUN
alkej-76	68	39	is	be	AUX
alkej-76	68	40	added	add	VERB
alkej-76	68	41	to	to	ADP
alkej-76	68	42	their	their	PRON
alkej-76	68	43	dimensions	dimension	NOUN
alkej-76	68	44	in	in	ADP
alkej-76	68	45	order	order	NOUN
alkej-76	68	46	to	to	PART
alkej-76	68	47	prevent	prevent	VERB
alkej-76	68	48	the	the	DET
alkej-76	68	49	robot	robot	NOUN
alkej-76	68	50	from	from	ADP
alkej-76	68	51	penetrating	penetrate	VERB
alkej-76	68	52	the	the	DET
alkej-76	68	53	obstacles	obstacle	NOUN
alkej-76	68	54	or	or	CCONJ
alkej-76	68	55	being	be	AUX
alkej-76	68	56	in	in	ADP
alkej-76	68	57	contact	contact	NOUN
alkej-76	68	58	with	with	ADP
alkej-76	68	59	them	they	PRON
alkej-76	68	60	.	.	PUNCT
alkej-76	69	1	the	the	DET
alkej-76	69	2	clearance	clearance	NOUN
alkej-76	69	3	(	(	PUNCT
alkej-76	69	4	c	c	NOUN
alkej-76	69	5	)	)	PUNCT
alkej-76	69	6	is	be	AUX
alkej-76	69	7	:	:	PUNCT
alkej-76	69	8	c	c	X
alkej-76	70	1	=	=	SYM
alkej-76	70	2	r	r	NOUN
alkej-76	70	3	+	+	NOUN
alkej-76	70	4	t	t	NOUN
alkej-76	70	5	+	+	SYM
alkej-76	70	6	s	s	VERB
alkej-76	70	7	where	where	SCONJ
alkej-76	70	8	:	:	PUNCT
alkej-76	70	9	r	r	NOUN
alkej-76	70	10	=	=	SYM
alkej-76	70	11	radiuas	radiuas	NOUN
alkej-76	70	12	of	of	ADP
alkej-76	70	13	the	the	DET
alkej-76	70	14	plateform	plateform	NOUN
alkej-76	70	15	robot	robot	NOUN
alkej-76	70	16	.	.	PUNCT
alkej-76	71	1	t	t	NOUN
alkej-76	71	2	=	=	PUNCT
alkej-76	71	3	thickness	thickness	NOUN
alkej-76	71	4	of	of	ADP
alkej-76	71	5	the	the	DET
alkej-76	71	6	wheels	wheel	NOUN
alkej-76	71	7	of	of	ADP
alkej-76	71	8	the	the	DET
alkej-76	71	9	robot	robot	NOUN
alkej-76	71	10	.	.	PUNCT
alkej-76	72	1	s	s	PART
alkej-76	72	2	=	=	NOUN
alkej-76	72	3	safety	safety	NOUN
alkej-76	72	4	factor	factor	NOUN
alkej-76	72	5	.	.	PUNCT
alkej-76	73	1	5.1.1	5.1.1	NOUN
alkej-76	73	2	the	the	DET
alkej-76	73	3	effective	effective	ADJ
alkej-76	73	4	role	role	NOUN
alkej-76	73	5	for	for	ADP
alkej-76	73	6	factor	factor	NOUN
alkej-76	73	7	(	(	PUNCT
alkej-76	73	8	s	s	NOUN
alkej-76	73	9	)	)	PUNCT
alkej-76	73	10	factor	factor	NOUN
alkej-76	73	11	(	(	PUNCT
alkej-76	73	12	s	s	NOUN
alkej-76	73	13	)	)	PUNCT
alkej-76	73	14	is	be	AUX
alkej-76	73	15	assumed	assume	VERB
alkej-76	73	16	by	by	ADP
alkej-76	73	17	(	(	PUNCT
alkej-76	73	18	oac	oac	PROPN
alkej-76	73	19	)	)	PUNCT
alkej-76	73	20	algorithm	algorithm	NOUN
alkej-76	73	21	in	in	ADP
alkej-76	73	22	order	order	NOUN
alkej-76	73	23	to	to	PART
alkej-76	73	24	ensure	ensure	VERB
alkej-76	73	25	that	that	SCONJ
alkej-76	73	26	the	the	DET
alkej-76	73	27	robot	robot	NOUN
alkej-76	73	28	when	when	SCONJ
alkej-76	73	29	it	it	PRON
alkej-76	73	30	is	be	AUX
alkej-76	73	31	turning	turn	VERB
alkej-76	73	32	around	around	ADP
alkej-76	73	33	the	the	DET
alkej-76	73	34	obstacle	obstacle	NOUN
alkej-76	73	35	to	to	PART
alkej-76	73	36	follow	follow	VERB
alkej-76	73	37	the	the	DET
alkej-76	73	38	specific	specific	ADJ
alkej-76	73	39	planned	plan	VERB
alkej-76	73	40	path	path	NOUN
alkej-76	73	41	,	,	PUNCT
alkej-76	73	42	it	it	PRON
alkej-76	73	43	will	will	AUX
alkej-76	73	44	never	never	ADV
alkej-76	73	45	penetrate	penetrate	VERB
alkej-76	73	46	the	the	DET
alkej-76	73	47	obstacles	obstacle	NOUN
alkej-76	73	48	or	or	CCONJ
alkej-76	73	49	be	be	AUX
alkej-76	73	50	in	in	ADP
alkej-76	73	51	contact	contact	NOUN
alkej-76	73	52	with	with	ADP
alkej-76	73	53	their	their	PRON
alkej-76	73	54	edges	edge	NOUN
alkej-76	73	55	,	,	PUNCT
alkej-76	73	56	so	so	SCONJ
alkej-76	73	57	it	it	PRON
alkej-76	73	58	must	must	AUX
alkej-76	73	59	be	be	AUX
alkej-76	73	60	added	add	VERB
alkej-76	73	61	to	to	ADP
alkej-76	73	62	the	the	DET
alkej-76	73	63	obstacle	obstacle	NOUN
alkej-76	73	64	's	's	PART
alkej-76	73	65	dimensions	dimension	NOUN
alkej-76	73	66	.	.	PUNCT
alkej-76	74	1	the	the	DET
alkej-76	74	2	value	value	NOUN
alkej-76	74	3	of	of	ADP
alkej-76	74	4	this	this	DET
alkej-76	74	5	factor	factor	NOUN
alkej-76	74	6	is	be	AUX
alkej-76	74	7	free	free	ADJ
alkej-76	74	8	and	and	CCONJ
alkej-76	74	9	is	be	AUX
alkej-76	74	10	left	leave	VERB
alkej-76	74	11	for	for	ADP
alkej-76	74	12	the	the	DET
alkej-76	74	13	programmer	programmer	NOUN
alkej-76	74	14	of	of	ADP
alkej-76	74	15	the	the	DET
alkej-76	74	16	robot	robot	NOUN
alkej-76	74	17	who	who	PRON
alkej-76	74	18	decides	decide	VERB
alkej-76	74	19	this	this	DET
alkej-76	74	20	value	value	NOUN
alkej-76	74	21	with	with	ADP
alkej-76	74	22	respect	respect	NOUN
alkej-76	74	23	to	to	ADP
alkej-76	74	24	the	the	DET
alkej-76	74	25	environment	environment	NOUN
alkej-76	74	26	,	,	PUNCT
alkej-76	74	27	robot	robot	NOUN
alkej-76	74	28	dimensions	dimension	NOUN
alkej-76	74	29	,	,	PUNCT
alkej-76	74	30	the	the	DET
alkej-76	74	31	obstacles	obstacle	NOUN
alkej-76	74	32	'	'	PART
alkej-76	74	33	dimensions	dimension	NOUN
alkej-76	74	34	and	and	CCONJ
alkej-76	74	35	their	their	PRON
alkej-76	74	36	distribution	distribution	NOUN
alkej-76	74	37	within	within	ADP
alkej-76	74	38	the	the	DET
alkej-76	74	39	environment	environment	NOUN
alkej-76	74	40	which	which	PRON
alkej-76	74	41	the	the	DET
alkej-76	74	42	robot	robot	NOUN
alkej-76	74	43	must	must	AUX
alkej-76	74	44	navigate	navigate	VERB
alkej-76	74	45	within	within	ADP
alkej-76	74	46	it	it	PRON
alkej-76	74	47	.	.	PUNCT
alkej-76	75	1	according	accord	VERB
alkej-76	75	2	to	to	ADP
alkej-76	75	3	the	the	DET
alkej-76	75	4	properties	property	NOUN
alkej-76	75	5	of	of	ADP
alkej-76	75	6	the	the	DET
alkej-76	75	7	environment	environment	NOUN
alkej-76	75	8	,	,	PUNCT
alkej-76	75	9	pioneer	pioneer	PROPN
alkej-76	75	10	mobile	mobile	PROPN
alkej-76	75	11	robot	robot	NOUN
alkej-76	75	12	and	and	CCONJ
alkej-76	75	13	the	the	DET
alkej-76	75	14	obstacles	obstacle	NOUN
alkej-76	75	15	which	which	PRON
alkej-76	75	16	are	be	AUX
alkej-76	75	17	used	use	VERB
alkej-76	75	18	in	in	ADP
alkej-76	75	19	this	this	DET
alkej-76	75	20	experimental	experimental	ADJ
alkej-76	75	21	work	work	NOUN
alkej-76	75	22	,	,	PUNCT
alkej-76	75	23	the	the	DET
alkej-76	75	24	value	value	NOUN
alkej-76	75	25	of	of	ADP
alkej-76	75	26	factor	factor	NOUN
alkej-76	75	27	(	(	PUNCT
alkej-76	75	28	s	s	NOUN
alkej-76	75	29	)	)	PUNCT
alkej-76	75	30	ranging	range	VERB
alkej-76	75	31	(	(	PUNCT
alkej-76	75	32	from	from	ADP
alkej-76	75	33	5	5	NUM
alkej-76	75	34	to	to	PART
alkej-76	75	35	10	10	NUM
alkej-76	75	36	cm	cm	NOUN
alkej-76	75	37	)	)	PUNCT
alkej-76	75	38	and	and	CCONJ
alkej-76	75	39	this	this	PRON
alkej-76	75	40	is	be	AUX
alkej-76	75	41	considered	consider	VERB
alkej-76	75	42	its	its	PRON
alkej-76	75	43	normal	normal	ADJ
alkej-76	75	44	value	value	NOUN
alkej-76	75	45	in	in	ADP
alkej-76	75	46	most	most	ADJ
alkej-76	75	47	of	of	ADP
alkej-76	75	48	other	other	ADJ
alkej-76	75	49	cases	case	NOUN
alkej-76	75	50	.	.	PUNCT
alkej-76	76	1	the	the	DET
alkej-76	76	2	free	free	ADJ
alkej-76	76	3	selection	selection	NOUN
alkej-76	76	4	of	of	ADP
alkej-76	76	5	the	the	DET
alkej-76	76	6	factor	factor	NOUN
alkej-76	76	7	(	(	PUNCT
alkej-76	76	8	s	s	NOUN
alkej-76	76	9	)	)	PUNCT
alkej-76	76	10	value	value	NOUN
alkej-76	76	11	gives	give	VERB
alkej-76	76	12	it	it	PRON
alkej-76	76	13	an	an	DET
alkej-76	76	14	importance	importance	NOUN
alkej-76	76	15	which	which	PRON
alkej-76	76	16	clearly	clearly	ADV
alkej-76	76	17	appeared	appear	VERB
alkej-76	76	18	in	in	ADP
alkej-76	76	19	some	some	DET
alkej-76	76	20	complex	complex	ADJ
alkej-76	76	21	environments	environment	NOUN
alkej-76	76	22	that	that	PRON
alkej-76	76	23	contain	contain	VERB
alkej-76	76	24	large	large	ADJ
alkej-76	76	25	number	number	NOUN
alkej-76	76	26	of	of	ADP
alkej-76	76	27	close	close	ADJ
alkej-76	76	28	obstacles	obstacle	NOUN
alkej-76	76	29	.	.	PUNCT
alkej-76	77	1	this	this	DET
alkej-76	77	2	type	type	NOUN
alkej-76	77	3	of	of	ADP
alkej-76	77	4	environments	environment	NOUN
alkej-76	77	5	is	be	AUX
alkej-76	77	6	called	call	VERB
alkej-76	77	7	crowded	crowded	ADJ
alkej-76	77	8	environments	environment	NOUN
alkej-76	77	9	.	.	PUNCT
alkej-76	78	1	in	in	ADP
alkej-76	78	2	this	this	DET
alkej-76	78	3	environments	environment	NOUN
alkej-76	78	4	the	the	DET
alkej-76	78	5	distances	distance	NOUN
alkej-76	78	6	between	between	ADP
alkej-76	78	7	the	the	DET
alkej-76	78	8	obstacles	obstacle	NOUN
alkej-76	78	9	are	be	AUX
alkej-76	78	10	enough	enough	ADJ
alkej-76	78	11	for	for	SCONJ
alkej-76	78	12	the	the	DET
alkej-76	78	13	robot	robot	NOUN
alkej-76	78	14	to	to	PART
alkej-76	78	15	navigate	navigate	VERB
alkej-76	78	16	between	between	ADP
alkej-76	78	17	them	they	PRON
alkej-76	78	18	according	accord	VERB
alkej-76	78	19	to	to	ADP
alkej-76	78	20	the	the	DET
alkej-76	78	21	planned	plan	VERB
alkej-76	78	22	paths	path	NOUN
alkej-76	78	23	,	,	PUNCT
alkej-76	78	24	but	but	CCONJ
alkej-76	78	25	these	these	DET
alkej-76	78	26	paths	path	NOUN
alkej-76	78	27	are	be	AUX
alkej-76	78	28	not	not	PART
alkej-76	78	29	practical	practical	ADJ
alkej-76	78	30	,	,	PUNCT
alkej-76	78	31	because	because	SCONJ
alkej-76	78	32	they	they	PRON
alkej-76	78	33	have	have	VERB
alkej-76	78	34	large	large	ADJ
alkej-76	78	35	number	number	NOUN
alkej-76	78	36	of	of	ADP
alkej-76	78	37	curves	curve	NOUN
alkej-76	78	38	and	and	CCONJ
alkej-76	78	39	large	large	ADJ
alkej-76	78	40	length	length	NOUN
alkej-76	78	41	as	as	SCONJ
alkej-76	78	42	shown	show	VERB
alkej-76	78	43	in	in	ADP
alkej-76	78	44	figures	figure	NOUN
alkej-76	78	45	(	(	PUNCT
alkej-76	78	46	3	3	NUM
alkej-76	78	47	–	–	PUNCT
alkej-76	78	48	a	a	DET
alkej-76	78	49	,	,	PUNCT
alkej-76	78	50	b	b	NOUN
alkej-76	78	51	)	)	PUNCT
alkej-76	78	52	.	.	PUNCT
alkej-76	79	1	so	so	ADV
alkej-76	79	2	,	,	PUNCT
alkej-76	79	3	with	with	ADP
alkej-76	79	4	clever	clever	ADJ
alkej-76	79	5	selection	selection	NOUN
alkej-76	79	6	of	of	ADP
alkej-76	79	7	factor	factor	NOUN
alkej-76	79	8	(	(	PUNCT
alkej-76	79	9	s	s	NOUN
alkej-76	79	10	)	)	PUNCT
alkej-76	79	11	,	,	PUNCT
alkej-76	79	12	we	we	PRON
alkej-76	79	13	can	can	AUX
alkej-76	79	14	conclude	conclude	VERB
alkej-76	79	15	these	these	DET
alkej-76	79	16	distance	distance	NOUN
alkej-76	79	17	and	and	CCONJ
alkej-76	79	18	merge	merge	VERB
alkej-76	79	19	these	these	DET
alkej-76	79	20	obstacles	obstacle	NOUN
alkej-76	79	21	with	with	ADP
alkej-76	79	22	each	each	DET
alkej-76	79	23	other	other	ADJ
alkej-76	79	24	to	to	PART
alkej-76	79	25	form	form	VERB
alkej-76	79	26	a	a	DET
alkej-76	79	27	single	single	ADJ
alkej-76	79	28	irregular	irregular	ADJ
alkej-76	79	29	obstacle	obstacle	NOUN
alkej-76	79	30	which	which	PRON
alkej-76	79	31	can	can	AUX
alkej-76	79	32	be	be	AUX
alkej-76	79	33	regulated	regulate	VERB
alkej-76	79	34	(	(	PUNCT
alkej-76	79	35	by	by	ADP
alkej-76	79	36	converting	convert	VERB
alkej-76	79	37	it	it	PRON
alkej-76	79	38	into	into	ADP
alkej-76	79	39	single	single	ADJ
alkej-76	79	40	rectangular	rectangular	ADJ
alkej-76	79	41	obstacle	obstacle	NOUN
alkej-76	79	42	)	)	PUNCT
alkej-76	79	43	and	and	CCONJ
alkej-76	79	44	then	then	ADV
alkej-76	79	45	this	this	DET
alkej-76	79	46	obstacle	obstacle	NOUN
alkej-76	79	47	is	be	AUX
alkej-76	79	48	submitted	submit	VERB
alkej-76	79	49	to	to	ADP
alkej-76	79	50	(	(	PUNCT
alkej-76	79	51	oac	oac	PROPN
alkej-76	79	52	)	)	PUNCT
alkej-76	79	53	algorithm	algorithm	NOUN
alkej-76	79	54	to	to	PART
alkej-76	79	55	find	find	VERB
alkej-76	79	56	the	the	DET
alkej-76	79	57	optimal	optimal	ADJ
alkej-76	79	58	path	path	NOUN
alkej-76	79	59	as	as	SCONJ
alkej-76	79	60	shown	show	VERB
alkej-76	79	61	in	in	ADP
alkej-76	79	62	figure	figure	NOUN
alkej-76	79	63	(	(	PUNCT
alkej-76	79	64	3.c	3.c	NUM
alkej-76	79	65	)	)	PUNCT
alkej-76	79	66	.	.	PUNCT
alkej-76	80	1	(	(	PUNCT
alkej-76	80	2	a	a	X
alkej-76	80	3	)	)	PUNCT
alkej-76	80	4	modified	modify	VERB
alkej-76	80	5	upper	upper	ADJ
alkej-76	80	6	path	path	NOUN
alkej-76	80	7	(	(	PUNCT
alkej-76	80	8	b	b	NOUN
alkej-76	80	9	)	)	PUNCT
alkej-76	80	10	modified	modify	VERB
alkej-76	80	11	lower	low	ADJ
alkej-76	80	12	path	path	NOUN
alkej-76	80	13	for	for	ADP
alkej-76	80	14	small	small	ADJ
alkej-76	80	15	s	s	NOUN
alkej-76	80	16	for	for	ADP
alkej-76	80	17	small	small	ADJ
alkej-76	80	18	s	s	X
alkej-76	80	19	(	(	PUNCT
alkej-76	80	20	c	c	NOUN
alkej-76	80	21	)	)	PUNCT
alkej-76	80	22	optimal	optimal	ADJ
alkej-76	80	23	path	path	NOUN
alkej-76	80	24	for	for	ADP
alkej-76	80	25	large	large	ADJ
alkej-76	80	26	s	s	X
alkej-76	80	27	fig.3	fig.3	PROPN
alkej-76	80	28	.	.	PUNCT
alkej-76	80	29	crowded	crowded	ADJ
alkej-76	80	30	environment	environment	NOUN
alkej-76	80	31	.	.	PUNCT
alkej-76	81	1	nabeel	nabeel	PROPN
alkej-76	81	2	k.	k.	PROPN
alkej-76	81	3	abid	abid	PROPN
alkej-76	81	4	alsahib	alsahib	PROPN
alkej-76	81	5	al	al	PROPN
alkej-76	81	6	-	-	PUNCT
alkej-76	81	7	khwarizmi	khwarizmi	PROPN
alkej-76	81	8	engineering	engineering	NOUN
alkej-76	81	9	journal	journal	PROPN
alkej-76	81	10	,	,	PUNCT
alkej-76	81	11	vol	vol	NOUN
alkej-76	81	12	.	.	PROPN
alkej-76	81	13	7	7	NUM
alkej-76	81	14	,	,	PUNCT
alkej-76	81	15	no	no	INTJ
alkej-76	81	16	.	.	NOUN
alkej-76	81	17	4	4	NUM
alkej-76	81	18	,	,	PUNCT
alkej-76	81	19	pp	pp	ADV
alkej-76	81	20	1	1	NUM
alkej-76	81	21	-16	-16	SYM
alkej-76	81	22	(	(	PUNCT
alkej-76	81	23	2011	2011	NUM
alkej-76	81	24	)	)	PUNCT
alkej-76	81	25	5	5	NUM
alkej-76	81	26	6	6	NUM
alkej-76	81	27	.	.	PUNCT
alkej-76	82	1	obstacle	obstacle	NOUN
alkej-76	82	2	regulation	regulation	NOUN
alkej-76	82	3	to	to	PART
alkej-76	82	4	make	make	VERB
alkej-76	82	5	the	the	DET
alkej-76	82	6	(	(	PUNCT
alkej-76	82	7	oac	oac	PROPN
alkej-76	82	8	)	)	PUNCT
alkej-76	82	9	algorithm	algorithm	NOUN
alkej-76	82	10	capable	capable	ADJ
alkej-76	82	11	of	of	ADP
alkej-76	82	12	being	be	AUX
alkej-76	82	13	applied	apply	VERB
alkej-76	82	14	for	for	ADP
alkej-76	82	15	all	all	DET
alkej-76	82	16	obstacles	obstacle	NOUN
alkej-76	82	17	,	,	PUNCT
alkej-76	82	18	it	it	PRON
alkej-76	82	19	is	be	AUX
alkej-76	82	20	suggested	suggest	VERB
alkej-76	82	21	that	that	SCONJ
alkej-76	82	22	their	their	PRON
alkej-76	82	23	shapes	shape	NOUN
alkej-76	82	24	must	must	AUX
alkej-76	82	25	be	be	AUX
alkej-76	82	26	converted	convert	VERB
alkej-76	82	27	into	into	ADP
alkej-76	82	28	regular	regular	ADJ
alkej-76	82	29	shapes	shape	NOUN
alkej-76	82	30	(	(	PUNCT
alkej-76	82	31	it	it	PRON
alkej-76	82	32	is	be	AUX
alkej-76	82	33	a	a	DET
alkej-76	82	34	supposed	suppose	VERB
alkej-76	82	35	term	term	NOUN
alkej-76	82	36	that	that	PRON
alkej-76	82	37	refer	refer	VERB
alkej-76	82	38	to	to	ADP
alkej-76	82	39	the	the	DET
alkej-76	82	40	specific	specific	ADJ
alkej-76	82	41	shape	shape	NOUN
alkej-76	82	42	which	which	PRON
alkej-76	82	43	can	can	AUX
alkej-76	82	44	be	be	AUX
alkej-76	82	45	submitted	submit	VERB
alkej-76	82	46	to	to	ADP
alkej-76	82	47	(	(	PUNCT
alkej-76	82	48	oac	oac	PROPN
alkej-76	82	49	)	)	PUNCT
alkej-76	82	50	algorithm	algorithm	NOUN
alkej-76	82	51	which	which	PRON
alkej-76	82	52	is	be	AUX
alkej-76	82	53	the	the	DET
alkej-76	82	54	rectangular	rectangular	ADJ
alkej-76	82	55	shape	shape	NOUN
alkej-76	82	56	only	only	ADV
alkej-76	82	57	while	while	SCONJ
alkej-76	82	58	all	all	DET
alkej-76	82	59	other	other	ADJ
alkej-76	82	60	shapes	shape	NOUN
alkej-76	82	61	such	such	ADJ
alkej-76	82	62	as	as	ADP
alkej-76	82	63	atriangle	atriangle	NOUN
alkej-76	82	64	is	be	AUX
alkej-76	82	65	considered	consider	VERB
alkej-76	82	66	irregular	irregular	ADJ
alkej-76	82	67	shape	shape	NOUN
alkej-76	82	68	)	)	PUNCT
alkej-76	82	69	,	,	PUNCT
alkej-76	82	70	so	so	CCONJ
alkej-76	82	71	any	any	DET
alkej-76	82	72	other	other	ADJ
alkej-76	82	73	shape	shape	NOUN
alkej-76	82	74	must	must	AUX
alkej-76	82	75	be	be	AUX
alkej-76	82	76	converted	convert	VERB
alkej-76	82	77	into	into	ADP
alkej-76	82	78	a	a	DET
alkej-76	82	79	rectangular	rectangular	ADJ
alkej-76	82	80	shape	shape	NOUN
alkej-76	82	81	.	.	PUNCT
alkej-76	83	1	we	we	PRON
alkej-76	83	2	regulate	regulate	VERB
alkej-76	83	3	the	the	DET
alkej-76	83	4	obstacle	obstacle	NOUN
alkej-76	83	5	's	's	PART
alkej-76	83	6	shape	shape	NOUN
alkej-76	83	7	by	by	ADP
alkej-76	83	8	building	build	VERB
alkej-76	83	9	a	a	DET
alkej-76	83	10	matlab	matlab	PROPN
alkej-76	83	11	subprogram	subprogram	NOUN
alkej-76	83	12	which	which	PRON
alkej-76	83	13	is	be	AUX
alkej-76	83	14	part	part	NOUN
alkej-76	83	15	of	of	ADP
alkej-76	83	16	(	(	PUNCT
alkej-76	83	17	oac	oac	ADJ
alkej-76	83	18	)	)	PUNCT
alkej-76	83	19	algorithm	algorithm	NOUN
alkej-76	83	20	.	.	PUNCT
alkej-76	84	1	7	7	X
alkej-76	84	2	.	.	X
alkej-76	84	3	mrl	mrl	PROPN
alkej-76	84	4	and	and	CCONJ
alkej-76	84	5	mrs	mrs	PROPN
alkej-76	84	6	as	as	SCONJ
alkej-76	84	7	explained	explain	VERB
alkej-76	84	8	previously	previously	ADV
alkej-76	84	9	,	,	PUNCT
alkej-76	84	10	the	the	DET
alkej-76	84	11	(	(	PUNCT
alkej-76	84	12	oac	oac	PROPN
alkej-76	84	13	)	)	PUNCT
alkej-76	84	14	algorithm	algorithm	NOUN
alkej-76	84	15	gives	give	VERB
alkej-76	84	16	us	we	PRON
alkej-76	84	17	a	a	DET
alkej-76	84	18	number	number	NOUN
alkej-76	84	19	of	of	ADP
alkej-76	84	20	paths	path	NOUN
alkej-76	84	21	.	.	PUNCT
alkej-76	85	1	the	the	DET
alkej-76	85	2	modified	modify	VERB
alkej-76	85	3	upper	upper	NOUN
alkej-76	85	4	and	and	CCONJ
alkej-76	85	5	the	the	DET
alkej-76	85	6	modified	modify	VERB
alkej-76	85	7	lower	low	ADJ
alkej-76	85	8	path	path	NOUN
alkej-76	85	9	(	(	PUNCT
alkej-76	85	10	the	the	DET
alkej-76	85	11	optimal	optimal	ADJ
alkej-76	85	12	path	path	NOUN
alkej-76	85	13	is	be	AUX
alkej-76	85	14	one	one	NUM
alkej-76	85	15	of	of	ADP
alkej-76	85	16	them	they	PRON
alkej-76	85	17	)	)	PUNCT
alkej-76	85	18	are	be	AUX
alkej-76	85	19	resulted	result	VERB
alkej-76	85	20	from	from	ADP
alkej-76	85	21	achieve	achieve	VERB
alkej-76	85	22	modifications	modification	NOUN
alkej-76	85	23	on	on	ADP
alkej-76	85	24	the	the	DET
alkej-76	85	25	upper	upper	ADJ
alkej-76	85	26	and	and	CCONJ
alkej-76	85	27	lower	low	ADJ
alkej-76	85	28	paths	path	NOUN
alkej-76	85	29	respectively	respectively	ADV
alkej-76	85	30	.	.	PUNCT
alkej-76	86	1	this	this	DET
alkej-76	86	2	modification	modification	NOUN
alkej-76	86	3	is	be	AUX
alkej-76	86	4	done	do	VERB
alkej-76	86	5	either	either	ADV
alkej-76	86	6	in	in	ADP
alkej-76	86	7	the	the	DET
alkej-76	86	8	lengths	length	NOUN
alkej-76	86	9	of	of	ADP
alkej-76	86	10	these	these	DET
alkej-76	86	11	paths	path	NOUN
alkej-76	86	12	or	or	CCONJ
alkej-76	86	13	on	on	ADP
alkej-76	86	14	the	the	DET
alkej-76	86	15	number	number	NOUN
alkej-76	86	16	of	of	ADP
alkej-76	86	17	the	the	DET
alkej-76	86	18	individual	individual	ADJ
alkej-76	86	19	lines	line	NOUN
alkej-76	86	20	(	(	PUNCT
alkej-76	86	21	segments	segment	NOUN
alkej-76	86	22	)	)	PUNCT
alkej-76	86	23	which	which	PRON
alkej-76	86	24	form	form	VERB
alkej-76	86	25	them	they	PRON
alkej-76	86	26	.	.	PUNCT
alkej-76	87	1	we	we	PRON
alkej-76	87	2	suggest	suggest	VERB
alkej-76	87	3	two	two	NUM
alkej-76	87	4	formulas	formula	NOUN
alkej-76	87	5	to	to	PART
alkej-76	87	6	find	find	VERB
alkej-76	87	7	the	the	DET
alkej-76	87	8	value	value	NOUN
alkej-76	87	9	of	of	ADP
alkej-76	87	10	these	these	DET
alkej-76	87	11	modifications	modification	NOUN
alkej-76	87	12	for	for	ADP
alkej-76	87	13	each	each	DET
alkej-76	87	14	case	case	NOUN
alkej-76	87	15	study	study	NOUN
alkej-76	87	16	:	:	PUNCT
alkej-76	87	17	modification	modification	NOUN
alkej-76	87	18	rate	rate	NOUN
alkej-76	87	19	with	with	ADP
alkej-76	87	20	respect	respect	NOUN
alkej-76	87	21	to	to	ADP
alkej-76	87	22	path	path	NOUN
alkej-76	87	23	length	length	NOUN
alkej-76	87	24	(	(	PUNCT
alkej-76	87	25	mrl	mrl	PROPN
alkej-76	87	26	)	)	PUNCT
alkej-76	87	27	;	;	PUNCT
alkej-76	87	28	(	(	PUNCT
alkej-76	87	29	mrl	mrl	NOUN
alkej-76	87	30	)	)	PUNCT
alkej-76	87	31	=	=	PUNCT
alkej-76	88	1	%	%	NOUN
alkej-76	88	2	100	100	NUM
alkej-76	88	3	*	*	PUNCT
alkej-76	88	4	lengthpath	lengthpath	NOUN
alkej-76	88	5	largest	large	ADJ
alkej-76	88	6	length	length	NOUN
alkej-76	88	7	path	path	NOUN
alkej-76	88	8	smallest	small	ADJ
alkej-76	88	9	-lengthpath	-lengthpath	PROPN
alkej-76	88	10	largest	large	ADJ
alkej-76	88	11	modification	modification	NOUN
alkej-76	88	12	rate	rate	NOUN
alkej-76	88	13	with	with	ADP
alkej-76	88	14	respect	respect	NOUN
alkej-76	88	15	to	to	ADP
alkej-76	88	16	no	no	NOUN
alkej-76	88	17	.	.	PUNCT
alkej-76	89	1	of	of	ADP
alkej-76	89	2	segment	segment	NOUN
alkej-76	89	3	(	(	PUNCT
alkej-76	89	4	mrs	mrs	PROPN
alkej-76	89	5	)	)	PUNCT
alkej-76	89	6	;	;	PUNCT
alkej-76	89	7	(	(	PUNCT
alkej-76	89	8	mrs)=	mrs)=	NOUN
alkej-76	89	9	%	%	NOUN
alkej-76	89	10	100	100	NUM
alkej-76	89	11	*	*	NOUN
alkej-76	89	12	segment	segment	NOUN
alkej-76	89	13	of	of	ADP
alkej-76	89	14	no.path	no.path	ADV
alkej-76	89	15	largest	large	ADJ
alkej-76	89	16	segment	segment	NOUN
alkej-76	89	17	of	of	ADP
alkej-76	89	18	no.path	no.path	ADV
alkej-76	89	19	smallest	small	ADJ
alkej-76	89	20	-segment	-segment	NOUN
alkej-76	89	21	of	of	ADP
alkej-76	89	22	no.path	no.path	ADV
alkej-76	89	23	largest	large	ADJ
alkej-76	89	24	8	8	NUM
alkej-76	89	25	.	.	PUNCT
alkej-76	89	26	oac	oac	PROPN
alkej-76	89	27	flow	flow	PROPN
alkej-76	89	28	chart	chart	PROPN
alkej-76	89	29	figure	figure	NOUN
alkej-76	89	30	(	(	PUNCT
alkej-76	89	31	4	4	NUM
alkej-76	89	32	)	)	PUNCT
alkej-76	89	33	shows	show	VERB
alkej-76	89	34	the	the	DET
alkej-76	89	35	flowchart	flowchart	NOUN
alkej-76	89	36	of	of	ADP
alkej-76	89	37	both	both	DET
alkej-76	89	38	matlab	matlab	PROPN
alkej-76	89	39	and	and	CCONJ
alkej-76	89	40	c++.net	c++.net	PROPN
alkej-76	89	41	programs	program	NOUN
alkej-76	89	42	to	to	PART
alkej-76	89	43	implement	implement	VERB
alkej-76	89	44	oac	oac	ADJ
alkej-76	89	45	algorithm	algorithm	NOUN
alkej-76	89	46	with	with	ADP
alkej-76	89	47	all	all	DET
alkej-76	89	48	the	the	DET
alkej-76	89	49	required	required	ADJ
alkej-76	89	50	details	detail	NOUN
alkej-76	89	51	.	.	PUNCT
alkej-76	90	1	start	start	VERB
alkej-76	90	2	robot	robot	PROPN
alkej-76	90	3	initialization	initialization	PROPN
alkej-76	90	4	read	read	VERB
alkej-76	90	5	mobile	mobile	ADJ
alkej-76	90	6	robot	robot	NOUN
alkej-76	90	7	start	start	VERB
alkej-76	90	8	point	point	NOUN
alkej-76	90	9	(	(	PUNCT
alkej-76	90	10	x1	x1	PROPN
alkej-76	90	11	,	,	PUNCT
alkej-76	90	12	y1	y1	ADJ
alkej-76	90	13	)	)	PUNCT
alkej-76	90	14	input	input	NOUN
alkej-76	90	15	goal	goal	NOUN
alkej-76	90	16	point	point	NOUN
alkej-76	90	17	(	(	PUNCT
alkej-76	90	18	xg	xg	PROPN
alkej-76	90	19	,	,	PUNCT
alkej-76	90	20	yg	yg	PROPN
alkej-76	90	21	)	)	PUNCT
alkej-76	90	22	read	read	VERB
alkej-76	90	23	environment	environment	NOUN
alkej-76	90	24	's	's	PART
alkej-76	90	25	image	image	NOUN
alkej-76	90	26	received	receive	VERB
alkej-76	90	27	from	from	ADP
alkej-76	90	28	wireless	wireless	ADJ
alkej-76	90	29	camera	camera	NOUN
alkej-76	90	30	in	in	ADP
alkej-76	90	31	color	color	NOUN
alkej-76	90	32	representation	representation	NOUN
alkej-76	90	33	convert	convert	VERB
alkej-76	90	34	the	the	DET
alkej-76	90	35	coulured	coulure	VERB
alkej-76	90	36	image	image	NOUN
alkej-76	90	37	to	to	PART
alkej-76	90	38	gray	gray	ADJ
alkej-76	90	39	scale	scale	NOUN
alkej-76	90	40	image	image	NOUN
alkej-76	90	41	and	and	CCONJ
alkej-76	90	42	then	then	ADV
alkej-76	90	43	to	to	ADP
alkej-76	90	44	binary	binary	ADJ
alkej-76	90	45	image	image	NOUN
alkej-76	90	46	(	(	PUNCT
alkej-76	90	47	0,1	0,1	NUM
alkej-76	90	48	)	)	PUNCT
alkej-76	90	49	matrix	matrix	NOUN
alkej-76	90	50	remove	remove	NOUN
alkej-76	90	51	noise	noise	NOUN
alkej-76	90	52	from	from	ADP
alkej-76	90	53	the	the	DET
alkej-76	90	54	resulted	resulted	ADJ
alkej-76	90	55	image	image	NOUN
alkej-76	90	56	using	use	VERB
alkej-76	90	57	median	median	ADJ
alkej-76	90	58	filter	filter	NOUN
alkej-76	90	59	detect	detect	VERB
alkej-76	90	60	all	all	DET
alkej-76	90	61	the	the	DET
alkej-76	90	62	obstacles	obstacle	NOUN
alkej-76	90	63	in	in	ADP
alkej-76	90	64	the	the	DET
alkej-76	90	65	environment	environment	NOUN
alkej-76	90	66	examine	examine	VERB
alkej-76	90	67	all	all	DET
alkej-76	90	68	the	the	DET
alkej-76	90	69	obstacles	obstacle	NOUN
alkej-76	90	70	'	'	PART
alkej-76	90	71	shapes	shape	NOUN
alkej-76	91	1	m	m	PROPN
alkej-76	91	2	nabeel	nabeel	PROPN
alkej-76	91	3	k.	k.	PROPN
alkej-76	91	4	abid	abid	PROPN
alkej-76	91	5	alsahib	alsahib	PROPN
alkej-76	91	6	al	al	PROPN
alkej-76	91	7	-	-	PUNCT
alkej-76	91	8	khwarizmi	khwarizmi	PROPN
alkej-76	91	9	engineering	engineering	NOUN
alkej-76	91	10	journal	journal	PROPN
alkej-76	91	11	,	,	PUNCT
alkej-76	91	12	vol	vol	NOUN
alkej-76	91	13	.	.	PROPN
alkej-76	91	14	7	7	NUM
alkej-76	91	15	,	,	PUNCT
alkej-76	91	16	no	no	INTJ
alkej-76	91	17	.	.	NOUN
alkej-76	91	18	4	4	NUM
alkej-76	91	19	,	,	PUNCT
alkej-76	91	20	pp	pp	ADV
alkej-76	91	21	1	1	NUM
alkej-76	91	22	-16	-16	SYM
alkej-76	91	23	(	(	PUNCT
alkej-76	91	24	2011	2011	NUM
alkej-76	91	25	)	)	PUNCT
alkej-76	91	26	6	6	NUM
alkej-76	91	27	fig.4	fig.4	PROPN
alkej-76	91	28	.	.	PUNCT
alkej-76	92	1	the	the	DET
alkej-76	92	2	program	program	NOUN
alkej-76	92	3	flowchart	flowchart	PROPN
alkej-76	92	4	.	.	PUNCT
alkej-76	93	1	figure	figure	NOUN
alkej-76	93	2	(	(	PUNCT
alkej-76	93	3	4	4	NUM
alkej-76	93	4	)	)	PUNCT
alkej-76	93	5	continued	continue	VERB
alkej-76	93	6	9	9	NUM
alkej-76	93	7	.	.	PUNCT
alkej-76	93	8	simulation	simulation	NOUN
alkej-76	93	9	and	and	CCONJ
alkej-76	93	10	experimental	experimental	ADJ
alkej-76	93	11	work	work	NOUN
alkej-76	93	12	the	the	DET
alkej-76	93	13	work	work	NOUN
alkej-76	93	14	in	in	ADP
alkej-76	93	15	this	this	DET
alkej-76	93	16	paper	paper	NOUN
alkej-76	93	17	can	can	AUX
alkej-76	93	18	be	be	AUX
alkej-76	93	19	divided	divide	VERB
alkej-76	93	20	into	into	ADP
alkej-76	93	21	two	two	NUM
alkej-76	93	22	parts	part	NOUN
alkej-76	93	23	:	:	PUNCT
alkej-76	93	24	•	•	NUM
alkej-76	93	25	simulation	simulation	NOUN
alkej-76	93	26	:	:	PUNCT
alkej-76	93	27	it	it	PRON
alkej-76	93	28	enables	enable	VERB
alkej-76	93	29	us	we	PRON
alkej-76	93	30	to	to	PART
alkej-76	93	31	see	see	VERB
alkej-76	93	32	the	the	DET
alkej-76	93	33	original	original	ADJ
alkej-76	93	34	image	image	NOUN
alkej-76	93	35	,	,	PUNCT
alkej-76	93	36	the	the	DET
alkej-76	93	37	processed	process	VERB
alkej-76	93	38	image	image	NOUN
alkej-76	93	39	,	,	PUNCT
alkej-76	93	40	the	the	DET
alkej-76	93	41	(	(	PUNCT
alkej-76	93	42	oac	oac	PROPN
alkej-76	93	43	)	)	PUNCT
alkej-76	93	44	algorithm	algorithm	NOUN
alkej-76	93	45	steps	step	NOUN
alkej-76	93	46	and	and	CCONJ
alkej-76	93	47	all	all	DET
alkej-76	93	48	the	the	DET
alkej-76	93	49	resulted	resulted	ADJ
alkej-76	93	50	paths	path	NOUN
alkej-76	93	51	.this	.this	PRON
alkej-76	93	52	is	be	AUX
alkej-76	93	53	accomplished	accomplish	VERB
alkej-76	93	54	by	by	ADP
alkej-76	93	55	matlab	matlab	PROPN
alkej-76	93	56	program	program	PROPN
alkej-76	93	57	.	.	PUNCT
alkej-76	94	1	•	•	NUM
alkej-76	94	2	experimental	experimental	ADJ
alkej-76	94	3	work	work	NOUN
alkej-76	94	4	:	:	PUNCT
alkej-76	94	5	this	this	DET
alkej-76	94	6	part	part	NOUN
alkej-76	94	7	include	include	VERB
alkej-76	94	8	the	the	DET
alkej-76	94	9	programming	programming	NOUN
alkej-76	94	10	of	of	ADP
alkej-76	94	11	the	the	DET
alkej-76	94	12	robot	robot	NOUN
alkej-76	94	13	with	with	ADP
alkej-76	94	14	c++.net	c++.net	PROPN
alkej-76	94	15	program	program	NOUN
alkej-76	94	16	by	by	ADP
alkej-76	94	17	wireless	wireless	ADJ
alkej-76	94	18	connection	connection	NOUN
alkej-76	94	19	in	in	ADP
alkej-76	94	20	order	order	NOUN
alkej-76	94	21	to	to	PART
alkej-76	94	22	reach	reach	VERB
alkej-76	94	23	the	the	DET
alkej-76	94	24	goal	goal	NOUN
alkej-76	94	25	point	point	NOUN
alkej-76	94	26	according	accord	VERB
alkej-76	94	27	to	to	ADP
alkej-76	94	28	optimal	optimal	ADJ
alkej-76	94	29	path	path	NOUN
alkej-76	94	30	.	.	PUNCT
alkej-76	95	1	m	m	PROPN
alkej-76	95	2	are	be	AUX
alkej-76	95	3	the	the	DET
alkej-76	95	4	obstacles	obstacle	NOUN
alkej-76	95	5	'	'	PART
alkej-76	95	6	shapes	shape	NOUN
alkej-76	95	7	regular	regular	ADV
alkej-76	95	8	?	?	PUNCT
alkej-76	96	1	adding	add	VERB
alkej-76	96	2	a	a	DET
alkej-76	96	3	border	border	NOUN
alkej-76	96	4	=	=	SYM
alkej-76	96	5	clearance	clearance	NOUN
alkej-76	96	6	(	(	PUNCT
alkej-76	96	7	c	c	NOUN
alkej-76	96	8	)	)	PUNCT
alkej-76	96	9	around	around	ADP
alkej-76	96	10	all	all	DET
alkej-76	96	11	the	the	DET
alkej-76	96	12	obstacles	obstacle	NOUN
alkej-76	96	13	regulate	regulate	VERB
alkej-76	96	14	it	it	PRON
alkej-76	96	15	no	no	DET
alkej-76	96	16	ye	ye	NOUN
alkej-76	96	17	s	s	PART
alkej-76	96	18	select	select	VERB
alkej-76	96	19	it	it	PRON
alkej-76	96	20	as	as	ADP
alkej-76	96	21	the	the	DET
alkej-76	96	22	modified	modify	VERB
alkej-76	96	23	upper	upper	ADJ
alkej-76	96	24	and	and	CCONJ
alkej-76	96	25	lower	low	ADJ
alkej-76	96	26	path	path	NOUN
alkej-76	97	1	n	n	PRON
alkej-76	97	2	find	find	VERB
alkej-76	97	3	the	the	DET
alkej-76	97	4	upper	upper	ADJ
alkej-76	97	5	and	and	CCONJ
alkej-76	97	6	lower	low	ADJ
alkej-76	97	7	path	path	NOUN
alkej-76	97	8	can	can	AUX
alkej-76	97	9	be	be	AUX
alkej-76	97	10	modified	modify	VERB
alkej-76	97	11	?	?	PUNCT
alkej-76	98	1	find	find	VERB
alkej-76	98	2	the	the	DET
alkej-76	98	3	intermediate	intermediate	ADJ
alkej-76	98	4	upper	upper	ADJ
alkej-76	98	5	path	path	NOUN
alkej-76	98	6	can	can	AUX
alkej-76	98	7	be	be	AUX
alkej-76	98	8	modified	modify	VERB
alkej-76	98	9	?	?	PUNCT
alkej-76	99	1	no	no	INTJ
alkej-76	100	1	yes	yes	INTJ
alkej-76	101	1	yes	yes	INTJ
alkej-76	101	2	no	no	INTJ
alkej-76	101	3	n	n	ADV
alkej-76	101	4	select	select	VERB
alkej-76	101	5	the	the	DET
alkej-76	101	6	optimal	optimal	ADJ
alkej-76	101	7	path	path	NOUN
alkej-76	101	8	with	with	ADP
alkej-76	101	9	respect	respect	NOUN
alkej-76	101	10	to	to	ADP
alkej-76	101	11	time	time	NOUN
alkej-76	101	12	and	and	CCONJ
alkej-76	101	13	power	power	NOUN
alkej-76	101	14	upload	upload	VERB
alkej-76	101	15	the	the	DET
alkej-76	101	16	resulted	result	VERB
alkej-76	101	17	optimal	optimal	ADJ
alkej-76	101	18	path	path	NOUN
alkej-76	101	19	to	to	PART
alkej-76	101	20	c++	c++	VERB
alkej-76	101	21	.net	.net	NOUN
alkej-76	101	22	program	program	NOUN
alkej-76	101	23	by	by	ADP
alkej-76	101	24	matlab/	matlab/	NUM
alkej-76	101	25	c++.net	c++.net	PROPN
alkej-76	101	26	interface	interface	NOUN
alkej-76	101	27	c++	c++	NOUN
alkej-76	101	28	.net	.net	NOUN
alkej-76	101	29	program	program	PROPN
alkej-76	101	30	send	send	VERB
alkej-76	101	31	the	the	DET
alkej-76	101	32	robot	robot	NOUN
alkej-76	101	33	to	to	PART
alkej-76	101	34	reach	reach	VERB
alkej-76	101	35	the	the	DET
alkej-76	101	36	goal	goal	NOUN
alkej-76	101	37	point	point	NOUN
alkej-76	101	38	according	accord	VERB
alkej-76	101	39	to	to	ADP
alkej-76	101	40	the	the	DET
alkej-76	101	41	optimal	optimal	ADJ
alkej-76	101	42	path	path	NOUN
alkej-76	101	43	by	by	ADP
alkej-76	101	44	wireless	wireless	ADJ
alkej-76	101	45	connection	connection	NOUN
alkej-76	101	46	is	be	AUX
alkej-76	101	47	the	the	DET
alkej-76	101	48	robot	robot	NOUN
alkej-76	101	49	reached	reach	VERB
alkej-76	101	50	the	the	DET
alkej-76	101	51	goal	goal	NOUN
alkej-76	101	52	point	point	NOUN
alkej-76	101	53	?	?	PUNCT
alkej-76	102	1	end	end	NOUN
alkej-76	103	1	no	no	INTJ
alkej-76	103	2	yes	yes	INTJ
alkej-76	104	1	nabeel	nabeel	PROPN
alkej-76	104	2	k.	k.	PROPN
alkej-76	104	3	abid	abid	PROPN
alkej-76	104	4	alsahib	alsahib	PROPN
alkej-76	104	5	al	al	PROPN
alkej-76	104	6	-	-	PUNCT
alkej-76	104	7	khwarizmi	khwarizmi	PROPN
alkej-76	104	8	engineering	engineering	NOUN
alkej-76	104	9	journal	journal	PROPN
alkej-76	104	10	,	,	PUNCT
alkej-76	104	11	vol	vol	NOUN
alkej-76	104	12	.	.	PROPN
alkej-76	104	13	7	7	NUM
alkej-76	104	14	,	,	PUNCT
alkej-76	104	15	no	no	INTJ
alkej-76	104	16	.	.	NOUN
alkej-76	104	17	4	4	NUM
alkej-76	104	18	,	,	PUNCT
alkej-76	104	19	pp	pp	ADV
alkej-76	104	20	1	1	NUM
alkej-76	104	21	-16	-16	SYM
alkej-76	104	22	(	(	PUNCT
alkej-76	104	23	2011	2011	NUM
alkej-76	104	24	)	)	PUNCT
alkej-76	104	25	7	7	NUM
alkej-76	104	26	9.1	9.1	NUM
alkej-76	104	27	.	.	PUNCT
alkej-76	105	1	simulation	simulation	NOUN
alkej-76	105	2	using	use	VERB
alkej-76	105	3	matlab	matlab	PROPN
alkej-76	105	4	in	in	ADP
alkej-76	105	5	order	order	NOUN
alkej-76	105	6	to	to	PART
alkej-76	105	7	get	get	VERB
alkej-76	105	8	a	a	DET
alkej-76	105	9	complete	complete	NOUN
alkej-76	105	10	the	the	DET
alkej-76	105	11	image	image	NOUN
alkej-76	105	12	about	about	ADP
alkej-76	105	13	the	the	DET
alkej-76	105	14	overall	overall	ADJ
alkej-76	105	15	work	work	NOUN
alkej-76	105	16	,	,	PUNCT
alkej-76	105	17	and	and	CCONJ
alkej-76	105	18	be	be	AUX
alkej-76	105	19	able	able	ADJ
alkej-76	105	20	to	to	PART
alkej-76	105	21	see	see	VERB
alkej-76	105	22	all	all	DET
alkej-76	105	23	the	the	DET
alkej-76	105	24	results	result	NOUN
alkej-76	105	25	before	before	SCONJ
alkej-76	105	26	the	the	DET
alkej-76	105	27	order	order	NOUN
alkej-76	105	28	is	be	AUX
alkej-76	105	29	being	be	AUX
alkej-76	105	30	sent	send	VERB
alkej-76	105	31	to	to	ADP
alkej-76	105	32	robot	robot	NOUN
alkej-76	105	33	,	,	PUNCT
alkej-76	105	34	the	the	DET
alkej-76	105	35	process	process	NOUN
alkej-76	105	36	can	can	AUX
alkej-76	105	37	be	be	AUX
alkej-76	105	38	simulated	simulate	VERB
alkej-76	105	39	so	so	SCONJ
alkej-76	105	40	that	that	SCONJ
alkej-76	105	41	we	we	PRON
alkej-76	105	42	can	can	AUX
alkej-76	105	43	see	see	VERB
alkej-76	105	44	the	the	DET
alkej-76	105	45	original	original	ADJ
alkej-76	105	46	environment	environment	NOUN
alkej-76	105	47	's	's	PART
alkej-76	105	48	image	image	NOUN
alkej-76	105	49	,	,	PUNCT
alkej-76	105	50	the	the	DET
alkej-76	105	51	noised	noised	ADJ
alkej-76	105	52	image	image	NOUN
alkej-76	105	53	,	,	PUNCT
alkej-76	105	54	the	the	DET
alkej-76	105	55	converting	convert	VERB
alkej-76	105	56	steps	step	NOUN
alkej-76	105	57	of	of	ADP
alkej-76	105	58	this	this	DET
alkej-76	105	59	image	image	NOUN
alkej-76	105	60	,	,	PUNCT
alkej-76	105	61	the	the	DET
alkej-76	105	62	filtered	filter	VERB
alkej-76	105	63	image	image	NOUN
alkej-76	105	64	,	,	PUNCT
alkej-76	105	65	the	the	DET
alkej-76	105	66	oac	oac	NOUN
alkej-76	105	67	algorithm	algorithm	NOUN
alkej-76	105	68	steps	step	NOUN
alkej-76	105	69	and	and	CCONJ
alkej-76	105	70	all	all	DET
alkej-76	105	71	the	the	DET
alkej-76	105	72	resulted	resulted	ADJ
alkej-76	105	73	paths	path	NOUN
alkej-76	105	74	and	and	CCONJ
alkej-76	105	75	the	the	DET
alkej-76	105	76	optimal	optimal	ADJ
alkej-76	105	77	path	path	NOUN
alkej-76	105	78	.	.	PUNCT
alkej-76	106	1	matlab	matlab	PROPN
alkej-76	106	2	program	program	NOUN
alkej-76	106	3	which	which	PRON
alkej-76	106	4	is	be	AUX
alkej-76	106	5	built	build	VERB
alkej-76	106	6	in	in	ADP
alkej-76	106	7	order	order	NOUN
alkej-76	106	8	to	to	PART
alkej-76	106	9	achieve	achieve	VERB
alkej-76	106	10	image	image	NOUN
alkej-76	106	11	processing	processing	NOUN
alkej-76	106	12	and	and	CCONJ
alkej-76	106	13	the	the	DET
alkej-76	106	14	(	(	PUNCT
alkej-76	106	15	oac	oac	PROPN
alkej-76	106	16	)	)	PUNCT
alkej-76	106	17	algorithm	algorithm	NOUN
alkej-76	106	18	steps	step	NOUN
alkej-76	106	19	can	can	AUX
alkej-76	106	20	also	also	ADV
alkej-76	106	21	be	be	AUX
alkej-76	106	22	used	use	VERB
alkej-76	106	23	as	as	ADP
alkej-76	106	24	a	a	DET
alkej-76	106	25	simulation	simulation	NOUN
alkej-76	106	26	tool	tool	NOUN
alkej-76	106	27	to	to	PART
alkej-76	106	28	display	display	VERB
alkej-76	106	29	all	all	DET
alkej-76	106	30	the	the	DET
alkej-76	106	31	above	above	ADJ
alkej-76	106	32	information	information	NOUN
alkej-76	106	33	to	to	PART
alkej-76	106	34	be	be	AUX
alkej-76	106	35	clear	clear	ADJ
alkej-76	106	36	for	for	ADP
alkej-76	106	37	the	the	DET
alkej-76	106	38	programmer	programmer	NOUN
alkej-76	106	39	.	.	PUNCT
alkej-76	107	1	this	this	PRON
alkej-76	107	2	is	be	AUX
alkej-76	107	3	considered	consider	VERB
alkej-76	107	4	important	important	ADJ
alkej-76	107	5	requirement	requirement	NOUN
alkej-76	107	6	to	to	PART
alkej-76	107	7	enable	enable	VERB
alkej-76	107	8	the	the	DET
alkej-76	107	9	programmer	programmer	NOUN
alkej-76	107	10	to	to	PART
alkej-76	107	11	see	see	VERB
alkej-76	107	12	the	the	DET
alkej-76	107	13	results	result	NOUN
alkej-76	107	14	,	,	PUNCT
alkej-76	107	15	to	to	PART
alkej-76	107	16	modify	modify	VERB
alkej-76	107	17	the	the	DET
alkej-76	107	18	program	program	NOUN
alkej-76	107	19	if	if	SCONJ
alkej-76	107	20	required	require	VERB
alkej-76	107	21	and	and	CCONJ
alkej-76	107	22	to	to	PART
alkej-76	107	23	explore	explore	VERB
alkej-76	107	24	the	the	DET
alkej-76	107	25	error	error	NOUN
alkej-76	107	26	if	if	SCONJ
alkej-76	107	27	it	it	PRON
alkej-76	107	28	is	be	AUX
alkej-76	107	29	found	find	VERB
alkej-76	107	30	and	and	CCONJ
alkej-76	107	31	determine	determine	VERB
alkej-76	107	32	in	in	ADP
alkej-76	107	33	which	which	DET
alkej-76	107	34	stage	stage	NOUN
alkej-76	107	35	of	of	ADP
alkej-76	107	36	the	the	DET
alkej-76	107	37	process	process	NOUN
alkej-76	107	38	it	it	PRON
alkej-76	107	39	happened	happen	VERB
alkej-76	107	40	.	.	PUNCT
alkej-76	108	1	9.2	9.2	NUM
alkej-76	108	2	.	.	PUNCT
alkej-76	109	1	experimental	experimental	ADJ
alkej-76	109	2	work	work	NOUN
alkej-76	109	3	the	the	DET
alkej-76	109	4	(	(	PUNCT
alkej-76	109	5	oac	oac	PROPN
alkej-76	109	6	)	)	PUNCT
alkej-76	109	7	algorithm	algorithm	NOUN
alkej-76	109	8	required	require	VERB
alkej-76	109	9	the	the	DET
alkej-76	109	10	environment	environment	NOUN
alkej-76	109	11	's	's	PART
alkej-76	109	12	image	image	NOUN
alkej-76	109	13	to	to	PART
alkej-76	109	14	be	be	AUX
alkej-76	109	15	processed	process	VERB
alkej-76	109	16	to	to	PART
alkej-76	109	17	and	and	CCONJ
alkej-76	109	18	find	find	VERB
alkej-76	109	19	the	the	DET
alkej-76	109	20	optimal	optimal	ADJ
alkej-76	109	21	path	path	NOUN
alkej-76	109	22	instantaneously	instantaneously	ADV
alkej-76	109	23	.	.	PUNCT
alkej-76	110	1	this	this	PRON
alkej-76	110	2	required	require	VERB
alkej-76	110	3	a	a	DET
alkej-76	110	4	camera	camera	NOUN
alkej-76	110	5	as	as	SCONJ
alkej-76	110	6	shown	show	VERB
alkej-76	110	7	in	in	ADP
alkej-76	110	8	figure	figure	NOUN
alkej-76	110	9	(	(	PUNCT
alkej-76	110	10	5	5	NUM
alkej-76	110	11	)	)	PUNCT
alkej-76	110	12	ready	ready	ADJ
alkej-76	110	13	in	in	ADP
alkej-76	110	14	any	any	DET
alkej-76	110	15	moment	moment	NOUN
alkej-76	110	16	to	to	PART
alkej-76	110	17	offer	offer	VERB
alkej-76	110	18	the	the	DET
alkej-76	110	19	image	image	NOUN
alkej-76	110	20	of	of	ADP
alkej-76	110	21	environment	environment	NOUN
alkej-76	110	22	.	.	PUNCT
alkej-76	111	1	for	for	ADP
alkej-76	111	2	this	this	DET
alkej-76	111	3	purpose	purpose	NOUN
alkej-76	111	4	a	a	DET
alkej-76	111	5	wireless	wireless	ADJ
alkej-76	111	6	camera	camera	NOUN
alkej-76	111	7	is	be	AUX
alkej-76	111	8	used	use	VERB
alkej-76	111	9	here	here	ADV
alkej-76	111	10	to	to	PART
alkej-76	111	11	accomplish	accomplish	VERB
alkej-76	111	12	this	this	DET
alkej-76	111	13	task	task	NOUN
alkej-76	111	14	.	.	PUNCT
alkej-76	112	1	after	after	SCONJ
alkej-76	112	2	the	the	DET
alkej-76	112	3	image	image	NOUN
alkej-76	112	4	is	be	AUX
alkej-76	112	5	sent	send	VERB
alkej-76	112	6	to	to	ADP
alkej-76	112	7	matlab	matlab	PROPN
alkej-76	112	8	program	program	NOUN
alkej-76	112	9	(	(	PUNCT
alkej-76	112	10	by	by	ADP
alkej-76	112	11	camera	camera	NOUN
alkej-76	112	12	–	–	PUNCT
alkej-76	112	13	computer	computer	NOUN
alkej-76	112	14	wireless	wireless	NOUN
alkej-76	112	15	connection	connection	NOUN
alkej-76	112	16	)	)	PUNCT
alkej-76	112	17	and	and	CCONJ
alkej-76	112	18	as	as	ADV
alkej-76	112	19	soon	soon	ADV
alkej-76	112	20	as	as	SCONJ
alkej-76	112	21	the	the	DET
alkej-76	112	22	approximately	approximately	ADV
alkej-76	112	23	optimal	optimal	ADJ
alkej-76	112	24	path	path	NOUN
alkej-76	112	25	is	be	AUX
alkej-76	112	26	found	find	VERB
alkej-76	112	27	,	,	PUNCT
alkej-76	112	28	the	the	DET
alkej-76	112	29	path	path	NOUN
alkej-76	112	30	information	information	NOUN
alkej-76	112	31	is	be	AUX
alkej-76	112	32	processed	process	VERB
alkej-76	112	33	by	by	ADP
alkej-76	112	34	the	the	DET
alkej-76	112	35	built	build	VERB
alkej-76	112	36	c++.net	c++.net	NOUN
alkej-76	112	37	program	program	NOUN
alkej-76	112	38	in	in	ADP
alkej-76	112	39	order	order	NOUN
alkej-76	112	40	to	to	PART
alkej-76	112	41	program	program	VERB
alkej-76	112	42	move	move	NOUN
alkej-76	112	43	according	accord	VERB
alkej-76	112	44	to	to	ADP
alkej-76	112	45	this	this	DET
alkej-76	112	46	path	path	NOUN
alkej-76	112	47	until	until	SCONJ
alkej-76	112	48	it	it	PRON
alkej-76	112	49	reach	reach	VERB
alkej-76	112	50	the	the	DET
alkej-76	112	51	goal	goal	NOUN
alkej-76	112	52	point	point	NOUN
alkej-76	112	53	without	without	ADP
alkej-76	112	54	collision	collision	NOUN
alkej-76	112	55	with	with	ADP
alkej-76	112	56	obstacles	obstacle	NOUN
alkej-76	112	57	found	find	VERB
alkej-76	112	58	on	on	ADP
alkej-76	112	59	its	its	PRON
alkej-76	112	60	way	way	NOUN
alkej-76	112	61	.	.	PUNCT
alkej-76	113	1	this	this	DET
alkej-76	113	2	task	task	NOUN
alkej-76	113	3	represents	represent	VERB
alkej-76	113	4	the	the	DET
alkej-76	113	5	experimental	experimental	ADJ
alkej-76	113	6	side	side	NOUN
alkej-76	113	7	of	of	ADP
alkej-76	113	8	this	this	DET
alkej-76	113	9	work	work	NOUN
alkej-76	113	10	.	.	PUNCT
alkej-76	114	1	fig.5	fig.5	PROPN
alkej-76	114	2	.	.	PUNCT
alkej-76	114	3	wireless	wireless	ADJ
alkej-76	114	4	camera	camera	NOUN
alkej-76	114	5	.	.	PUNCT
alkej-76	115	1	in	in	ADP
alkej-76	115	2	work	work	NOUN
alkej-76	115	3	,	,	PUNCT
alkej-76	115	4	we	we	PRON
alkej-76	115	5	use	use	VERB
alkej-76	115	6	this	this	DET
alkej-76	115	7	camera	camera	NOUN
alkej-76	115	8	by	by	ADP
alkej-76	115	9	fixing	fix	VERB
alkej-76	115	10	it	it	PRON
alkej-76	115	11	above	above	ADP
alkej-76	115	12	any	any	DET
alkej-76	115	13	unknown	unknown	ADJ
alkej-76	115	14	environment	environment	NOUN
alkej-76	115	15	,	,	PUNCT
alkej-76	115	16	with	with	ADP
alkej-76	115	17	a	a	DET
alkej-76	115	18	suitable	suitable	ADJ
alkej-76	115	19	height	height	NOUN
alkej-76	115	20	that	that	PRON
alkej-76	115	21	offer	offer	VERB
alkej-76	115	22	the	the	DET
alkej-76	115	23	required	require	VERB
alkej-76	115	24	image	image	NOUN
alkej-76	115	25	requirement	requirement	NOUN
alkej-76	115	26	and	and	CCONJ
alkej-76	115	27	cover	cover	VERB
alkej-76	115	28	nearly	nearly	ADV
alkej-76	115	29	all	all	DET
alkej-76	115	30	the	the	DET
alkej-76	115	31	area	area	NOUN
alkej-76	115	32	of	of	ADP
alkej-76	115	33	the	the	DET
alkej-76	115	34	work	work	NOUN
alkej-76	115	35	which	which	PRON
alkej-76	115	36	is	be	AUX
alkej-76	115	37	nearly	nearly	ADV
alkej-76	115	38	(	(	PUNCT
alkej-76	115	39	2.4	2.4	NUM
alkej-76	115	40	m	m	NOUN
alkej-76	115	41	x	x	SYM
alkej-76	115	42	3.2	3.2	NUM
alkej-76	115	43	m	m	NOUN
alkej-76	115	44	)	)	PUNCT
alkej-76	115	45	square	square	ADJ
alkej-76	115	46	area	area	NOUN
alkej-76	115	47	.	.	PUNCT
alkej-76	116	1	the	the	DET
alkej-76	116	2	wireless	wireless	ADJ
alkej-76	116	3	camera	camera	NOUN
alkej-76	116	4	is	be	AUX
alkej-76	116	5	suited	suit	VERB
alkej-76	116	6	above	above	ADP
alkej-76	116	7	the	the	DET
alkej-76	116	8	environment	environment	NOUN
alkej-76	116	9	by	by	ADP
alkej-76	116	10	using	use	VERB
alkej-76	116	11	aluminum	aluminum	NOUN
alkej-76	116	12	bar	bar	NOUN
alkej-76	116	13	with	with	ADP
alkej-76	116	14	length	length	NOUN
alkej-76	116	15	of	of	ADP
alkej-76	116	16	(	(	PUNCT
alkej-76	116	17	4	4	NUM
alkej-76	116	18	meter	meter	NOUN
alkej-76	116	19	)	)	PUNCT
alkej-76	116	20	as	as	SCONJ
alkej-76	116	21	shown	show	VERB
alkej-76	116	22	in	in	ADP
alkej-76	116	23	figure	figure	NOUN
alkej-76	116	24	(	(	PUNCT
alkej-76	116	25	6	6	NUM
alkej-76	116	26	)	)	PUNCT
alkej-76	116	27	and	and	CCONJ
alkej-76	116	28	the	the	DET
alkej-76	116	29	group	group	NOUN
alkej-76	116	30	is	be	AUX
alkej-76	116	31	fixed	fix	VERB
alkej-76	116	32	on	on	ADP
alkej-76	116	33	height	height	NOUN
alkej-76	116	34	of	of	ADP
alkej-76	116	35	(	(	PUNCT
alkej-76	116	36	5	5	NUM
alkej-76	116	37	meter	meter	NOUN
alkej-76	116	38	)	)	PUNCT
alkej-76	116	39	.	.	PUNCT
alkej-76	117	1	fig.6	fig.6	PROPN
alkej-76	117	2	.	.	PUNCT
alkej-76	118	1	modeling	model	VERB
alkej-76	118	2	camera	camera	NOUN
alkej-76	118	3	–	–	PUNCT
alkej-76	118	4	aluminum	aluminum	NOUN
alkej-76	118	5	bar	bar	NOUN
alkej-76	118	6	connection	connection	NOUN
alkej-76	118	7	.	.	PUNCT
alkej-76	119	1	9.3	9.3	NUM
alkej-76	119	2	.	.	PUNCT
alkej-76	119	3	model	model	PROPN
alkej-76	119	4	environment	environment	NOUN
alkej-76	119	5	the	the	DET
alkej-76	119	6	environment	environment	NOUN
alkej-76	119	7	is	be	AUX
alkej-76	119	8	chosen	choose	VERB
alkej-76	119	9	to	to	PART
alkej-76	119	10	be	be	AUX
alkej-76	119	11	a	a	DET
alkej-76	119	12	rectangular	rectangular	ADJ
alkej-76	119	13	area	area	NOUN
alkej-76	119	14	with	with	ADP
alkej-76	119	15	dimensions	dimension	NOUN
alkej-76	119	16	(	(	PUNCT
alkej-76	119	17	2.4	2.4	NUM
alkej-76	119	18	m	m	NOUN
alkej-76	119	19	x	x	X
alkej-76	119	20	3.2	3.2	NUM
alkej-76	119	21	m	m	NOUN
alkej-76	119	22	)	)	PUNCT
alkej-76	119	23	depending	depend	VERB
alkej-76	119	24	on	on	ADP
alkej-76	119	25	the	the	DET
alkej-76	119	26	wireless	wireless	ADJ
alkej-76	119	27	camera	camera	NOUN
alkej-76	119	28	specification	specification	NOUN
alkej-76	119	29	.the	.the	DET
alkej-76	119	30	group	group	NOUN
alkej-76	119	31	of	of	ADP
alkej-76	119	32	environment	environment	NOUN
alkej-76	119	33	,	,	PUNCT
alkej-76	119	34	wireless	wireless	ADJ
alkej-76	119	35	camera	camera	NOUN
alkej-76	119	36	,	,	PUNCT
alkej-76	119	37	pioneer	pioneer	NOUN
alkej-76	119	38	mobile	mobile	NOUN
alkej-76	119	39	robot	robot	NOUN
alkej-76	119	40	and	and	CCONJ
alkej-76	119	41	obstacles	obstacle	NOUN
alkej-76	119	42	can	can	AUX
alkej-76	119	43	be	be	AUX
alkej-76	119	44	modeled	model	VERB
alkej-76	119	45	as	as	ADP
alkej-76	119	46	in	in	ADP
alkej-76	119	47	figure	figure	NOUN
alkej-76	119	48	(	(	PUNCT
alkej-76	119	49	7	7	NUM
alkej-76	119	50	)	)	PUNCT
alkej-76	119	51	.	.	PUNCT
alkej-76	120	1	fig.7	fig.7	ADJ
alkej-76	120	2	.	.	PUNCT
alkej-76	120	3	model	model	PROPN
alkej-76	120	4	environment	environment	PROPN
alkej-76	120	5	.	.	PUNCT
alkej-76	121	1	nabeel	nabeel	PROPN
alkej-76	121	2	k.	k.	PROPN
alkej-76	121	3	abid	abid	PROPN
alkej-76	121	4	alsahib	alsahib	PROPN
alkej-76	121	5	al	al	PROPN
alkej-76	121	6	-	-	PUNCT
alkej-76	121	7	khwarizmi	khwarizmi	PROPN
alkej-76	121	8	engineering	engineering	NOUN
alkej-76	121	9	journal	journal	PROPN
alkej-76	121	10	,	,	PUNCT
alkej-76	121	11	vol	vol	NOUN
alkej-76	121	12	.	.	PROPN
alkej-76	121	13	7	7	NUM
alkej-76	121	14	,	,	PUNCT
alkej-76	121	15	no	no	INTJ
alkej-76	121	16	.	.	NOUN
alkej-76	121	17	4	4	NUM
alkej-76	121	18	,	,	PUNCT
alkej-76	121	19	pp	pp	ADV
alkej-76	121	20	1	1	NUM
alkej-76	121	21	-16	-16	SYM
alkej-76	121	22	(	(	PUNCT
alkej-76	121	23	2011	2011	NUM
alkej-76	121	24	)	)	PUNCT
alkej-76	121	25	8	8	NUM
alkej-76	121	26	10	10	NUM
alkej-76	121	27	.	.	PUNCT
alkej-76	122	1	path	path	NOUN
alkej-76	122	2	planning	planning	NOUN
alkej-76	122	3	cases	case	NOUN
alkej-76	122	4	studies	study	NOUN
alkej-76	122	5	a	a	DET
alkej-76	122	6	number	number	NOUN
alkej-76	122	7	of	of	ADP
alkej-76	122	8	experiments	experiment	NOUN
alkej-76	122	9	were	be	AUX
alkej-76	122	10	carried	carry	VERB
alkej-76	122	11	out	out	ADP
alkej-76	122	12	(	(	PUNCT
alkej-76	122	13	see	see	VERB
alkej-76	122	14	table	table	NOUN
alkej-76	122	15	1	1	NUM
alkej-76	122	16	)	)	PUNCT
alkej-76	122	17	as	as	SCONJ
alkej-76	122	18	shown	show	VERB
alkej-76	122	19	in	in	ADP
alkej-76	122	20	figures	figure	NOUN
alkej-76	122	21	(	(	PUNCT
alkej-76	122	22	8	8	NUM
alkej-76	122	23	-	-	SYM
alkej-76	122	24	16	16	NUM
alkej-76	122	25	)	)	PUNCT
alkej-76	122	26	,	,	PUNCT
alkej-76	122	27	to	to	PART
alkej-76	122	28	test	test	VERB
alkej-76	122	29	the	the	DET
alkej-76	122	30	ability	ability	NOUN
alkej-76	122	31	of	of	ADP
alkej-76	122	32	the	the	DET
alkej-76	122	33	mobile	mobile	ADJ
alkej-76	122	34	robot	robot	NOUN
alkej-76	122	35	to	to	PART
alkej-76	122	36	reach	reach	VERB
alkej-76	122	37	its	its	PRON
alkej-76	122	38	goal	goal	NOUN
alkej-76	122	39	with	with	ADP
alkej-76	122	40	approximately	approximately	ADV
alkej-76	122	41	optimal	optimal	ADJ
alkej-76	122	42	path	path	NOUN
alkej-76	122	43	found	find	VERB
alkej-76	122	44	according	accord	VERB
alkej-76	122	45	to	to	ADP
alkej-76	122	46	(	(	PUNCT
alkej-76	122	47	oac	oac	NOUN
alkej-76	122	48	)	)	PUNCT
alkej-76	122	49	algorithm	algorithm	NOUN
alkej-76	122	50	.	.	PUNCT
alkej-76	123	1	these	these	DET
alkej-76	123	2	experiments	experiment	NOUN
alkej-76	123	3	,	,	PUNCT
alkej-76	123	4	represented	represent	VERB
alkej-76	123	5	by	by	ADP
alkej-76	123	6	the	the	DET
alkej-76	123	7	cases	case	NOUN
alkej-76	123	8	studies	study	NOUN
alkej-76	123	9	explained	explain	VERB
alkej-76	123	10	in	in	ADP
alkej-76	123	11	the	the	DET
alkej-76	123	12	next	next	ADJ
alkej-76	123	13	section	section	NOUN
alkej-76	123	14	,	,	PUNCT
alkej-76	123	15	are	be	AUX
alkej-76	123	16	done	do	VERB
alkej-76	123	17	depending	depend	VERB
alkej-76	123	18	on	on	ADP
alkej-76	123	19	the	the	DET
alkej-76	123	20	built	build	VERB
alkej-76	123	21	matlab	matlab	PROPN
alkej-76	123	22	program	program	NOUN
alkej-76	123	23	to	to	PART
alkej-76	123	24	find	find	VERB
alkej-76	123	25	the	the	DET
alkej-76	123	26	optimal	optimal	ADJ
alkej-76	123	27	paths	path	NOUN
alkej-76	123	28	and	and	CCONJ
alkej-76	123	29	then	then	ADV
alkej-76	123	30	these	these	DET
alkej-76	123	31	results	result	NOUN
alkej-76	123	32	are	be	AUX
alkej-76	123	33	transferred	transfer	VERB
alkej-76	123	34	by	by	ADP
alkej-76	123	35	matlab	matlab	PROPN
alkej-76	123	36	–	–	PUNCT
alkej-76	123	37	c++.net	c++.net	PROPN
alkej-76	123	38	interface	interface	NOUN
alkej-76	123	39	to	to	ADP
alkej-76	123	40	the	the	DET
alkej-76	123	41	c++.net	c++.net	PROPN
alkej-76	123	42	program	program	NOUN
alkej-76	123	43	in	in	ADP
alkej-76	123	44	order	order	NOUN
alkej-76	123	45	to	to	PART
alkej-76	123	46	program	program	VERB
alkej-76	123	47	the	the	DET
alkej-76	123	48	pioneer	pioneer	PROPN
alkej-76	123	49	mobile	mobile	PROPN
alkej-76	123	50	robot	robot	NOUN
alkej-76	123	51	to	to	PART
alkej-76	123	52	take	take	VERB
alkej-76	123	53	this	this	DET
alkej-76	123	54	path	path	NOUN
alkej-76	123	55	through	through	ADP
alkej-76	123	56	its	its	PRON
alkej-76	123	57	navigation	navigation	NOUN
alkej-76	123	58	from	from	ADP
alkej-76	123	59	the	the	DET
alkej-76	123	60	start	start	NOUN
alkej-76	123	61	point	point	NOUN
alkej-76	123	62	to	to	PART
alkej-76	123	63	reach	reach	VERB
alkej-76	123	64	the	the	DET
alkej-76	123	65	goal	goal	NOUN
alkej-76	123	66	point	point	NOUN
alkej-76	123	67	.	.	PUNCT
alkej-76	124	1	table	table	NOUN
alkej-76	124	2	1	1	NUM
alkej-76	124	3	,	,	PUNCT
alkej-76	124	4	different	different	ADJ
alkej-76	124	5	cases	case	NOUN
alkej-76	124	6	studies	study	NOUN
alkej-76	124	7	fig.8	fig.8	PROPN
alkej-76	124	8	.	.	PUNCT
alkej-76	125	1	case	case	NOUN
alkej-76	125	2	study	study	VERB
alkej-76	125	3	1	1	NUM
alkej-76	125	4	fig.9	fig.9	PROPN
alkej-76	125	5	.	.	PUNCT
alkej-76	126	1	case	case	NOUN
alkej-76	126	2	study	study	NOUN
alkej-76	126	3	2	2	NUM
alkej-76	126	4	fig.10	fig.10	ADJ
alkej-76	126	5	.	.	PUNCT
alkej-76	127	1	case	case	NOUN
alkej-76	127	2	study	study	VERB
alkej-76	127	3	3	3	NUM
alkej-76	127	4	fig.11	fig.11	NOUN
alkej-76	127	5	.	.	PUNCT
alkej-76	128	1	case	case	NOUN
alkej-76	128	2	study	study	VERB
alkej-76	128	3	4	4	NUM
alkej-76	128	4	fig.12	fig.12	NOUN
alkej-76	128	5	.	.	PUNCT
alkej-76	129	1	case	case	NOUN
alkej-76	129	2	study	study	VERB
alkej-76	129	3	5	5	NUM
alkej-76	129	4	fig.13	fig.13	NOUN
alkej-76	129	5	.	.	PUNCT
alkej-76	130	1	case	case	NOUN
alkej-76	130	2	study	study	NOUN
alkej-76	130	3	6	6	NUM
alkej-76	130	4	fig.14	fig.14	NOUN
alkej-76	130	5	.	.	NOUN
alkej-76	130	6	case	case	NOUN
alkej-76	130	7	study	study	VERB
alkej-76	130	8	7	7	NUM
alkej-76	130	9	fig.15	fig.15	NOUN
alkej-76	130	10	.	.	PUNCT
alkej-76	131	1	case	case	NOUN
alkej-76	131	2	study	study	NOUN
alkej-76	131	3	8	8	NUM
alkej-76	131	4	fig.16	fig.16	PROPN
alkej-76	131	5	.	.	PUNCT
alkej-76	131	6	case	case	NOUN
alkej-76	131	7	study	study	NOUN
alkej-76	131	8	9	9	NUM
alkej-76	131	9	description	description	NOUN
alkej-76	131	10	case	case	NOUN
alkej-76	131	11	study	study	NOUN
alkej-76	131	12	index	index	NOUN
alkej-76	131	13	an	an	DET
alkej-76	131	14	environment	environment	NOUN
alkej-76	131	15	with	with	ADP
alkej-76	131	16	single	single	ADJ
alkej-76	131	17	obstacle	obstacle	NOUN
alkej-76	131	18	case	case	NOUN
alkej-76	131	19	study	study	VERB
alkej-76	131	20	1	1	NUM
alkej-76	131	21	1	1	NUM
alkej-76	131	22	an	an	DET
alkej-76	131	23	environment	environment	NOUN
alkej-76	131	24	with	with	ADP
alkej-76	131	25	two	two	NUM
alkej-76	131	26	obstacles	obstacle	NOUN
alkej-76	131	27	case	case	NOUN
alkej-76	131	28	study	study	NOUN
alkej-76	131	29	2	2	NUM
alkej-76	131	30	2	2	NUM
alkej-76	131	31	an	an	DET
alkej-76	131	32	environment	environment	NOUN
alkej-76	131	33	with	with	ADP
alkej-76	131	34	two	two	NUM
alkej-76	131	35	irregular	irregular	ADJ
alkej-76	131	36	obstacles	obstacle	NOUN
alkej-76	131	37	case	case	NOUN
alkej-76	131	38	study	study	VERB
alkej-76	131	39	3	3	NUM
alkej-76	131	40	3	3	NUM
alkej-76	131	41	an	an	DET
alkej-76	131	42	environment	environment	NOUN
alkej-76	131	43	with	with	ADP
alkej-76	131	44	three	three	NUM
alkej-76	131	45	obstacles	obstacle	NOUN
alkej-76	131	46	case	case	NOUN
alkej-76	131	47	study	study	VERB
alkej-76	131	48	4	4	NUM
alkej-76	131	49	4	4	NUM
alkej-76	131	50	an	an	DET
alkej-76	131	51	environment	environment	NOUN
alkej-76	131	52	with	with	ADP
alkej-76	131	53	three	three	NUM
alkej-76	131	54	obstacles	obstacle	NOUN
alkej-76	131	55	/	/	PUNCT
alkej-76	131	56	for	for	ADP
alkej-76	131	57	different	different	ADJ
alkej-76	131	58	start	start	NOUN
alkej-76	131	59	and	and	CCONJ
alkej-76	131	60	goal	goal	NOUN
alkej-76	131	61	points	point	NOUN
alkej-76	131	62	case	case	NOUN
alkej-76	131	63	study	study	VERB
alkej-76	131	64	5	5	NUM
alkej-76	131	65	5	5	NUM
alkej-76	131	66	an	an	DET
alkej-76	131	67	environment	environment	NOUN
alkej-76	131	68	with	with	ADP
alkej-76	131	69	three	three	NUM
alkej-76	131	70	obstacles	obstacle	NOUN
alkej-76	131	71	including	include	VERB
alkej-76	131	72	irregular	irregular	ADJ
alkej-76	131	73	shapes	shape	NOUN
alkej-76	131	74	case	case	NOUN
alkej-76	131	75	study	study	VERB
alkej-76	131	76	6	6	NUM
alkej-76	131	77	6	6	NUM
alkej-76	131	78	an	an	DET
alkej-76	131	79	environment	environment	NOUN
alkej-76	131	80	with	with	ADP
alkej-76	131	81	four	four	NUM
alkej-76	131	82	obstacles	obstacle	NOUN
alkej-76	131	83	case	case	NOUN
alkej-76	131	84	study	study	VERB
alkej-76	131	85	7	7	NUM
alkej-76	131	86	7	7	NUM
alkej-76	131	87	an	an	DET
alkej-76	131	88	environment	environment	NOUN
alkej-76	131	89	with	with	ADP
alkej-76	131	90	six	six	NUM
alkej-76	131	91	obstacles	obstacle	NOUN
alkej-76	131	92	case	case	NOUN
alkej-76	131	93	study	study	NOUN
alkej-76	131	94	8	8	NUM
alkej-76	131	95	8	8	NUM
alkej-76	131	96	an	an	DET
alkej-76	131	97	environment	environment	NOUN
alkej-76	131	98	with	with	ADP
alkej-76	131	99	crowded	crowded	ADJ
alkej-76	131	100	obstacles	obstacle	NOUN
alkej-76	131	101	case	case	NOUN
alkej-76	131	102	study	study	NOUN
alkej-76	132	1	9	9	NUM
alkej-76	132	2	9	9	NUM
alkej-76	132	3	nabeel	nabeel	PROPN
alkej-76	132	4	k.	k.	PROPN
alkej-76	132	5	abid	abid	PROPN
alkej-76	132	6	alsahib	alsahib	PROPN
alkej-76	132	7	al	al	PROPN
alkej-76	132	8	-	-	PUNCT
alkej-76	132	9	khwarizmi	khwarizmi	PROPN
alkej-76	132	10	engineering	engineering	NOUN
alkej-76	132	11	journal	journal	PROPN
alkej-76	132	12	,	,	PUNCT
alkej-76	132	13	vol	vol	NOUN
alkej-76	132	14	.	.	PROPN
alkej-76	132	15	7	7	NUM
alkej-76	132	16	,	,	PUNCT
alkej-76	132	17	no	no	INTJ
alkej-76	132	18	.	.	NOUN
alkej-76	132	19	4	4	NUM
alkej-76	132	20	,	,	PUNCT
alkej-76	132	21	pp	pp	ADV
alkej-76	132	22	1	1	NUM
alkej-76	132	23	-16	-16	SYM
alkej-76	132	24	(	(	PUNCT
alkej-76	132	25	2011	2011	NUM
alkej-76	132	26	)	)	PUNCT
alkej-76	132	27	9	9	NUM
alkej-76	132	28	one	one	NUM
alkej-76	132	29	of	of	ADP
alkej-76	132	30	these	these	DET
alkej-76	132	31	case	case	NOUN
alkej-76	132	32	studies	study	NOUN
alkej-76	132	33	(	(	PUNCT
alkej-76	132	34	case	case	NOUN
alkej-76	132	35	study	study	NOUN
alkej-76	132	36	6	6	NUM
alkej-76	132	37	)	)	PUNCT
alkej-76	132	38	will	will	AUX
alkej-76	132	39	be	be	AUX
alkej-76	132	40	explained	explain	VERB
alkej-76	132	41	in	in	ADP
alkej-76	132	42	details	detail	NOUN
alkej-76	132	43	as	as	ADP
alkej-76	132	44	follow	follow	NOUN
alkej-76	132	45	:	:	PUNCT
alkej-76	133	1	11	11	NUM
alkej-76	133	2	.	.	PUNCT
alkej-76	134	1	an	an	DET
alkej-76	134	2	environment	environment	NOUN
alkej-76	134	3	with	with	ADP
alkej-76	134	4	three	three	NUM
alkej-76	134	5	obstacles	obstacle	NOUN
alkej-76	134	6	including	include	VERB
alkej-76	134	7	irregular	irregular	ADJ
alkej-76	134	8	shapes	shape	NOUN
alkej-76	134	9	the	the	DET
alkej-76	134	10	environment	environment	NOUN
alkej-76	134	11	which	which	PRON
alkej-76	134	12	is	be	AUX
alkej-76	134	13	shown	show	VERB
alkej-76	134	14	in	in	ADP
alkej-76	134	15	figure	figure	NOUN
alkej-76	134	16	(	(	PUNCT
alkej-76	134	17	17	17	NUM
alkej-76	134	18	)	)	PUNCT
alkej-76	134	19	of	of	ADP
alkej-76	134	20	dimensions	dimension	NOUN
alkej-76	134	21	(	(	PUNCT
alkej-76	134	22	2.4	2.4	NUM
alkej-76	134	23	m	m	NOUN
alkej-76	134	24	x	x	NOUN
alkej-76	134	25	3.2	3.2	NUM
alkej-76	134	26	m	m	NOUN
alkej-76	134	27	)	)	PUNCT
alkej-76	134	28	contains	contain	VERB
alkej-76	134	29	three	three	NUM
alkej-76	134	30	obstacles	obstacle	NOUN
alkej-76	134	31	one	one	NUM
alkej-76	134	32	of	of	ADP
alkej-76	134	33	them	they	PRON
alkej-76	134	34	is	be	AUX
alkej-76	134	35	regular	regular	ADJ
alkej-76	134	36	(	(	PUNCT
alkej-76	134	37	rectangular	rectangular	ADJ
alkej-76	134	38	20	20	NUM
alkej-76	134	39	cm	cm	NOUN
alkej-76	134	40	x	x	SYM
alkej-76	134	41	30	30	NUM
alkej-76	134	42	cm	cm	NOUN
alkej-76	134	43	in	in	ADP
alkej-76	134	44	area	area	NOUN
alkej-76	134	45	)	)	PUNCT
alkej-76	134	46	and	and	CCONJ
alkej-76	134	47	the	the	DET
alkej-76	134	48	others	other	NOUN
alkej-76	134	49	are	be	AUX
alkej-76	134	50	irregular	irregular	ADJ
alkej-76	134	51	(	(	PUNCT
alkej-76	134	52	triangle	triangle	NOUN
alkej-76	134	53	shape	shape	NOUN
alkej-76	134	54	is	be	AUX
alkej-76	134	55	considered	consider	VERB
alkej-76	134	56	irregular	irregular	ADJ
alkej-76	134	57	according	accord	VERB
alkej-76	134	58	to	to	ADP
alkej-76	134	59	oac	oac	ADJ
alkej-76	134	60	algorithm	algorithm	NOUN
alkej-76	134	61	principles	principle	NOUN
alkej-76	134	62	of	of	ADP
alkej-76	134	63	20	20	NUM
alkej-76	134	64	cm	cm	NOUN
alkej-76	134	65	height	height	NOUN
alkej-76	134	66	and	and	CCONJ
alkej-76	134	67	30	30	NUM
alkej-76	134	68	cm	cm	NOUN
alkej-76	134	69	base	base	NOUN
alkej-76	134	70	)	)	PUNCT
alkej-76	134	71	,	,	PUNCT
alkej-76	134	72	the	the	DET
alkej-76	134	73	start	start	NOUN
alkej-76	134	74	and	and	CCONJ
alkej-76	134	75	goal	goal	NOUN
alkej-76	134	76	point	point	NOUN
alkej-76	134	77	are	be	AUX
alkej-76	134	78	(	(	PUNCT
alkej-76	134	79	437	437	NUM
alkej-76	134	80	,	,	PUNCT
alkej-76	134	81	53	53	NUM
alkej-76	134	82	)	)	PUNCT
alkej-76	134	83	and	and	CCONJ
alkej-76	134	84	(	(	PUNCT
alkej-76	134	85	159	159	NUM
alkej-76	134	86	,	,	PUNCT
alkej-76	134	87	465	465	NUM
alkej-76	134	88	)	)	PUNCT
alkej-76	134	89	respectively	respectively	ADV
alkej-76	134	90	.	.	PUNCT
alkej-76	135	1	this	this	DET
alkej-76	135	2	image	image	NOUN
alkej-76	135	3	is	be	AUX
alkej-76	135	4	sent	send	VERB
alkej-76	135	5	by	by	ADP
alkej-76	135	6	wireless	wireless	ADJ
alkej-76	135	7	connection	connection	NOUN
alkej-76	135	8	to	to	ADP
alkej-76	135	9	the	the	DET
alkej-76	135	10	matlab	matlab	PROPN
alkej-76	135	11	program	program	NOUN
alkej-76	135	12	to	to	PART
alkej-76	135	13	apply	apply	VERB
alkej-76	135	14	oac	oac	ADJ
alkej-76	135	15	algorithm	algorithm	NOUN
alkej-76	135	16	on	on	ADP
alkej-76	135	17	it	it	PRON
alkej-76	135	18	,	,	PUNCT
alkej-76	135	19	so	so	CCONJ
alkej-76	135	20	the	the	DET
alkej-76	135	21	results	result	NOUN
alkej-76	135	22	are	be	AUX
alkej-76	135	23	as	as	SCONJ
alkej-76	135	24	follows	follow	VERB
alkej-76	135	25	:	:	PUNCT
alkej-76	135	26	•	•	NOUN
alkej-76	135	27	convert	convert	VERB
alkej-76	135	28	this	this	DET
alkej-76	135	29	colored	colored	ADJ
alkej-76	135	30	image	image	NOUN
alkej-76	135	31	into	into	ADP
alkej-76	135	32	a	a	DET
alkej-76	135	33	gray	gray	ADJ
alkej-76	135	34	scale	scale	NOUN
alkej-76	135	35	image	image	NOUN
alkej-76	135	36	as	as	SCONJ
alkej-76	135	37	shown	show	VERB
alkej-76	135	38	in	in	ADP
alkej-76	135	39	figure	figure	NOUN
alkej-76	135	40	(	(	PUNCT
alkej-76	135	41	18	18	NUM
alkej-76	135	42	)	)	PUNCT
alkej-76	135	43	.	.	PUNCT
alkej-76	136	1	•	•	NUM
alkej-76	136	2	convert	convert	VERB
alkej-76	136	3	this	this	DET
alkej-76	136	4	grayscale	grayscale	NOUN
alkej-76	136	5	image	image	NOUN
alkej-76	136	6	into	into	ADP
alkej-76	136	7	binary	binary	ADJ
alkej-76	136	8	image	image	NOUN
alkej-76	136	9	(	(	PUNCT
alkej-76	136	10	0	0	NUM
alkej-76	136	11	,	,	PUNCT
alkej-76	136	12	1	1	NUM
alkej-76	136	13	representation	representation	NOUN
alkej-76	136	14	)	)	PUNCT
alkej-76	136	15	by	by	ADP
alkej-76	136	16	selecting	select	VERB
alkej-76	136	17	suitable	suitable	ADJ
alkej-76	136	18	threshold	threshold	NOUN
alkej-76	136	19	as	as	SCONJ
alkej-76	136	20	shown	show	VERB
alkej-76	136	21	in	in	ADP
alkej-76	136	22	figure	figure	NOUN
alkej-76	136	23	(	(	PUNCT
alkej-76	136	24	19	19	NUM
alkej-76	136	25	)	)	PUNCT
alkej-76	136	26	,	,	PUNCT
alkej-76	136	27	note	note	VERB
alkej-76	136	28	that	that	SCONJ
alkej-76	136	29	the	the	DET
alkej-76	136	30	image	image	NOUN
alkej-76	136	31	is	be	AUX
alkej-76	136	32	noised	noise	VERB
alkej-76	136	33	with	with	ADP
alkej-76	136	34	pepper	pepper	NOUN
alkej-76	136	35	noise	noise	NOUN
alkej-76	136	36	.	.	PUNCT
alkej-76	137	1	•	•	NOUN
alkej-76	137	2	remov	remov	PROPN
alkej-76	137	3	noise	noise	NOUN
alkej-76	137	4	from	from	ADP
alkej-76	137	5	the	the	DET
alkej-76	137	6	image	image	NOUN
alkej-76	137	7	and	and	CCONJ
alkej-76	137	8	regulate	regulate	VERB
alkej-76	137	9	the	the	DET
alkej-76	137	10	obstacle	obstacle	NOUN
alkej-76	137	11	's	's	PART
alkej-76	137	12	shape	shape	NOUN
alkej-76	137	13	.	.	PUNCT
alkej-76	138	1	since	since	SCONJ
alkej-76	138	2	the	the	DET
alkej-76	138	3	image	image	NOUN
alkej-76	138	4	is	be	AUX
alkej-76	138	5	highly	highly	ADV
alkej-76	138	6	contemplating	contemplate	VERB
alkej-76	138	7	with	with	ADP
alkej-76	138	8	noise	noise	NOUN
alkej-76	138	9	it	it	PRON
alkej-76	138	10	is	be	AUX
alkej-76	138	11	required	require	VERB
alkej-76	138	12	to	to	PART
alkej-76	138	13	be	be	AUX
alkej-76	138	14	applied	apply	VERB
alkej-76	138	15	to	to	ADP
alkej-76	138	16	the	the	DET
alkej-76	138	17	filter	filter	NOUN
alkej-76	138	18	twice	twice	ADV
alkej-76	138	19	in	in	ADP
alkej-76	138	20	order	order	NOUN
alkej-76	138	21	to	to	PART
alkej-76	138	22	remove	remove	VERB
alkej-76	138	23	the	the	DET
alkej-76	138	24	noise	noise	NOUN
alkej-76	138	25	completely	completely	ADV
alkej-76	138	26	as	as	SCONJ
alkej-76	138	27	shown	show	VERB
alkej-76	138	28	in	in	ADP
alkej-76	138	29	figure	figure	NOUN
alkej-76	138	30	(	(	PUNCT
alkej-76	138	31	20	20	NUM
alkej-76	138	32	)	)	PUNCT
alkej-76	138	33	.	.	PUNCT
alkej-76	139	1	•	•	NOUN
alkej-76	139	2	add	add	VERB
alkej-76	139	3	a	a	DET
alkej-76	139	4	border	border	NOUN
alkej-76	139	5	of	of	ADP
alkej-76	139	6	thickness	thickness	NOUN
alkej-76	139	7	=	=	SYM
alkej-76	139	8	c	c	NOUN
alkej-76	140	1	=	=	SYM
alkej-76	140	2	67	67	NUM
alkej-76	140	3	pixels	pixel	NOUN
alkej-76	140	4	(	(	PUNCT
alkej-76	140	5	as	as	SCONJ
alkej-76	140	6	previously	previously	ADV
alkej-76	140	7	explained	explain	VERB
alkej-76	140	8	in	in	ADP
alkej-76	140	9	chapter	chapter	NOUN
alkej-76	140	10	3	3	NUM
alkej-76	140	11	)	)	PUNCT
alkej-76	140	12	to	to	PART
alkej-76	140	13	ensure	ensure	VERB
alkej-76	140	14	that	that	SCONJ
alkej-76	140	15	the	the	DET
alkej-76	140	16	robot	robot	NOUN
alkej-76	140	17	will	will	AUX
alkej-76	140	18	not	not	PART
alkej-76	140	19	be	be	AUX
alkej-76	140	20	in	in	ADP
alkej-76	140	21	contact	contact	NOUN
alkej-76	140	22	with	with	ADP
alkej-76	140	23	any	any	DET
alkej-76	140	24	obstacle	obstacle	NOUN
alkej-76	140	25	through	through	ADP
alkej-76	140	26	its	its	PRON
alkej-76	140	27	navigation	navigation	NOUN
alkej-76	140	28	according	accord	VERB
alkej-76	140	29	to	to	ADP
alkej-76	140	30	the	the	DET
alkej-76	140	31	specified	specified	ADJ
alkej-76	140	32	path	path	NOUN
alkej-76	140	33	as	as	SCONJ
alkej-76	140	34	shown	show	VERB
alkej-76	140	35	in	in	ADP
alkej-76	140	36	figure	figure	NOUN
alkej-76	140	37	(	(	PUNCT
alkej-76	140	38	21	21	NUM
alkej-76	140	39	)	)	PUNCT
alkej-76	140	40	.	.	PUNCT
alkej-76	141	1	•	•	NOUN
alkej-76	141	2	detect	detect	VERB
alkej-76	141	3	the	the	DET
alkej-76	141	4	obstacle	obstacle	NOUN
alkej-76	141	5	edges	edge	VERB
alkej-76	141	6	by	by	ADP
alkej-76	141	7	building	build	VERB
alkej-76	141	8	programming	programming	NOUN
alkej-76	141	9	steps	step	NOUN
alkej-76	141	10	to	to	PART
alkej-76	141	11	find	find	VERB
alkej-76	141	12	it	it	PRON
alkej-76	141	13	as	as	SCONJ
alkej-76	141	14	shown	show	VERB
alkej-76	141	15	in	in	ADP
alkej-76	141	16	figure	figure	NOUN
alkej-76	141	17	(	(	PUNCT
alkej-76	141	18	22	22	NUM
alkej-76	141	19	)	)	PUNCT
alkej-76	141	20	.	.	PUNCT
alkej-76	142	1	•	•	NUM
alkej-76	142	2	find	find	VERB
alkej-76	142	3	the	the	DET
alkej-76	142	4	upper	upper	ADJ
alkej-76	142	5	path	path	NOUN
alkej-76	142	6	,	,	PUNCT
alkej-76	142	7	note	note	VERB
alkej-76	142	8	that	that	SCONJ
alkej-76	142	9	the	the	DET
alkej-76	142	10	path	path	NOUN
alkej-76	142	11	is	be	AUX
alkej-76	142	12	at	at	ADP
alkej-76	142	13	a	a	DET
alkej-76	142	14	distance	distance	NOUN
alkej-76	142	15	=	=	SYM
alkej-76	142	16	c	c	NOUN
alkej-76	142	17	(	(	PUNCT
alkej-76	142	18	represented	represent	VERB
alkej-76	142	19	by	by	ADP
alkej-76	142	20	red	red	ADJ
alkej-76	142	21	color	color	NOUN
alkej-76	142	22	)	)	PUNCT
alkej-76	142	23	from	from	ADP
alkej-76	142	24	the	the	DET
alkej-76	142	25	obstacle	obstacle	NOUN
alkej-76	142	26	in	in	ADP
alkej-76	142	27	order	order	NOUN
alkej-76	142	28	to	to	PART
alkej-76	142	29	prevent	prevent	VERB
alkej-76	142	30	the	the	DET
alkej-76	142	31	robot	robot	NOUN
alkej-76	142	32	to	to	PART
alkej-76	142	33	touch	touch	VERB
alkej-76	142	34	obstacle	obstacle	NOUN
alkej-76	142	35	and	and	CCONJ
alkej-76	142	36	to	to	PART
alkej-76	142	37	enable	enable	VERB
alkej-76	142	38	it	it	PRON
alkej-76	142	39	to	to	PART
alkej-76	142	40	move	move	VERB
alkej-76	142	41	according	accord	VERB
alkej-76	142	42	to	to	ADP
alkej-76	142	43	its	its	PRON
alkej-76	142	44	path	path	NOUN
alkej-76	142	45	freely	freely	ADV
alkej-76	142	46	.	.	PUNCT
alkej-76	143	1	from	from	ADP
alkej-76	143	2	this	this	DET
alkej-76	143	3	path	path	NOUN
alkej-76	143	4	the	the	DET
alkej-76	143	5	intermediate	intermediate	ADJ
alkej-76	143	6	and	and	CCONJ
alkej-76	143	7	modified	modify	VERB
alkej-76	143	8	upper	upper	ADJ
alkej-76	143	9	path	path	NOUN
alkej-76	143	10	are	be	AUX
alkej-76	143	11	found	find	VERB
alkej-76	143	12	as	as	SCONJ
alkej-76	143	13	shown	show	VERB
alkej-76	143	14	in	in	ADP
alkej-76	143	15	figure	figure	NOUN
alkej-76	143	16	(	(	PUNCT
alkej-76	143	17	23	23	NUM
alkej-76	143	18	)	)	PUNCT
alkej-76	143	19	.	.	PUNCT
alkej-76	144	1	•	•	NUM
alkej-76	144	2	find	find	VERB
alkej-76	144	3	the	the	DET
alkej-76	144	4	upper	upper	ADJ
alkej-76	144	5	path	path	NOUN
alkej-76	144	6	,	,	PUNCT
alkej-76	144	7	note	note	VERB
alkej-76	144	8	that	that	SCONJ
alkej-76	144	9	the	the	DET
alkej-76	144	10	path	path	NOUN
alkej-76	144	11	is	be	AUX
alkej-76	144	12	at	at	ADP
alkej-76	144	13	a	a	DET
alkej-76	144	14	distance	distance	NOUN
alkej-76	144	15	=	=	SYM
alkej-76	144	16	c	c	NOUN
alkej-76	144	17	(	(	PUNCT
alkej-76	144	18	represented	represent	VERB
alkej-76	144	19	by	by	ADP
alkej-76	144	20	red	red	ADJ
alkej-76	144	21	color	color	NOUN
alkej-76	144	22	)	)	PUNCT
alkej-76	144	23	from	from	ADP
alkej-76	144	24	the	the	DET
alkej-76	144	25	obstacle	obstacle	NOUN
alkej-76	144	26	in	in	ADP
alkej-76	144	27	order	order	NOUN
alkej-76	144	28	to	to	PART
alkej-76	144	29	prevent	prevent	VERB
alkej-76	144	30	the	the	DET
alkej-76	144	31	robot	robot	NOUN
alkej-76	144	32	from	from	ADP
alkej-76	144	33	touching	touch	VERB
alkej-76	144	34	the	the	DET
alkej-76	144	35	obstacle	obstacle	NOUN
alkej-76	144	36	and	and	CCONJ
alkej-76	144	37	to	to	PART
alkej-76	144	38	enable	enable	VERB
alkej-76	144	39	it	it	PRON
alkej-76	144	40	to	to	PART
alkej-76	144	41	move	move	VERB
alkej-76	144	42	according	accord	VERB
alkej-76	144	43	to	to	ADP
alkej-76	144	44	its	its	PRON
alkej-76	144	45	path	path	NOUN
alkej-76	144	46	freely	freely	ADV
alkej-76	144	47	.	.	PUNCT
alkej-76	145	1	from	from	ADP
alkej-76	145	2	this	this	DET
alkej-76	145	3	path	path	NOUN
alkej-76	145	4	the	the	DET
alkej-76	145	5	intermediate	intermediate	ADJ
alkej-76	145	6	and	and	CCONJ
alkej-76	145	7	modified	modify	VERB
alkej-76	145	8	upper	upper	ADJ
alkej-76	145	9	path	path	NOUN
alkej-76	145	10	are	be	AUX
alkej-76	145	11	found	find	VERB
alkej-76	145	12	as	as	SCONJ
alkej-76	145	13	shown	show	VERB
alkej-76	145	14	in	in	ADP
alkej-76	145	15	figure	figure	NOUN
alkej-76	145	16	(	(	PUNCT
alkej-76	145	17	23	23	NUM
alkej-76	145	18	)	)	PUNCT
alkej-76	145	19	.	.	PUNCT
alkej-76	146	1	fig.17	fig.17	PROPN
alkej-76	146	2	.	.	PUNCT
alkej-76	147	1	the	the	DET
alkej-76	147	2	environment	environment	NOUN
alkej-76	147	3	fig.18	fig.18	VERB
alkej-76	147	4	.	.	PUNCT
alkej-76	148	1	the	the	DET
alkej-76	148	2	gray	gray	ADJ
alkej-76	148	3	scale	scale	NOUN
alkej-76	148	4	image	image	NOUN
alkej-76	148	5	image	image	NOUN
alkej-76	148	6	fig.19.binary	fig.19.binary	NOUN
alkej-76	148	7	image	image	NOUN
alkej-76	148	8	fig.20.the	fig.20.the	NOUN
alkej-76	148	9	filtered	filter	VERB
alkej-76	148	10	and	and	CCONJ
alkej-76	148	11	regulated	regulated	ADJ
alkej-76	148	12	image	image	NOUN
alkej-76	148	13	fig.21	fig.21	PROPN
alkej-76	148	14	.	.	PUNCT
alkej-76	149	1	the	the	DET
alkej-76	149	2	resulted	resulted	ADJ
alkej-76	149	3	fig.22	fig.22	NOUN
alkej-76	149	4	.	.	PUNCT
alkej-76	149	5	detect	detect	VERB
alkej-76	149	6	the	the	DET
alkej-76	149	7	image	image	NOUN
alkej-76	149	8	after	after	ADP
alkej-76	149	9	adding	add	VERB
alkej-76	149	10	edges	edge	NOUN
alkej-76	149	11	of	of	ADP
alkej-76	149	12	obstacle	obstacle	NOUN
alkej-76	149	13	a	a	DET
alkej-76	149	14	border	border	NOUN
alkej-76	149	15	=	=	NOUN
alkej-76	149	16	c	c	X
alkej-76	149	17	fig.23	fig.23	X
alkej-76	149	18	.	.	PUNCT
alkej-76	150	1	the	the	DET
alkej-76	150	2	all	all	DET
alkej-76	150	3	resulted	resulted	ADJ
alkej-76	150	4	paths	path	NOUN
alkej-76	150	5	according	accord	VERB
alkej-76	150	6	to	to	ADP
alkej-76	150	7	oac	oac	PROPN
alkej-76	150	8	algorithm	algorithm	PROPN
alkej-76	150	9	.	.	PUNCT
alkej-76	151	1	nabeel	nabeel	PROPN
alkej-76	151	2	k.	k.	PROPN
alkej-76	151	3	abid	abid	PROPN
alkej-76	151	4	alsahib	alsahib	PROPN
alkej-76	151	5	al	al	PROPN
alkej-76	151	6	-	-	PUNCT
alkej-76	151	7	khwarizmi	khwarizmi	PROPN
alkej-76	151	8	engineering	engineering	NOUN
alkej-76	151	9	journal	journal	PROPN
alkej-76	151	10	,	,	PUNCT
alkej-76	151	11	vol	vol	NOUN
alkej-76	151	12	.	.	PROPN
alkej-76	151	13	7	7	NUM
alkej-76	151	14	,	,	PUNCT
alkej-76	151	15	no	no	INTJ
alkej-76	151	16	.	.	NOUN
alkej-76	151	17	4	4	NUM
alkej-76	151	18	,	,	PUNCT
alkej-76	151	19	pp	pp	ADV
alkej-76	151	20	1	1	NUM
alkej-76	151	21	-16	-16	SYM
alkej-76	151	22	(	(	PUNCT
alkej-76	151	23	2011	2011	NUM
alkej-76	151	24	)	)	PUNCT
alkej-76	151	25	10	10	NUM
alkej-76	151	26	as	as	SCONJ
alkej-76	151	27	shown	show	VERB
alkej-76	151	28	,	,	PUNCT
alkej-76	151	29	five	five	NUM
alkej-76	151	30	paths	path	NOUN
alkej-76	151	31	resulted	result	VERB
alkej-76	151	32	in	in	ADP
alkej-76	151	33	this	this	DET
alkej-76	151	34	case	case	NOUN
alkej-76	151	35	study	study	NOUN
alkej-76	151	36	and	and	CCONJ
alkej-76	151	37	according	accord	VERB
alkej-76	151	38	to	to	ADP
alkej-76	151	39	the	the	DET
alkej-76	151	40	criteria	criterion	NOUN
alkej-76	151	41	of	of	ADP
alkej-76	151	42	determining	determine	VERB
alkej-76	151	43	the	the	DET
alkej-76	151	44	optimal	optimal	ADJ
alkej-76	151	45	path	path	NOUN
alkej-76	151	46	with	with	ADP
alkej-76	151	47	respect	respect	NOUN
alkej-76	151	48	to	to	ADP
alkej-76	151	49	(	(	PUNCT
alkej-76	151	50	oac	oac	PROPN
alkej-76	151	51	)	)	PUNCT
alkej-76	151	52	algorithm	algorithm	NOUN
alkej-76	151	53	the	the	DET
alkej-76	151	54	optimal	optimal	ADJ
alkej-76	151	55	path	path	NOUN
alkej-76	151	56	is	be	AUX
alkej-76	151	57	the	the	DET
alkej-76	151	58	modified	modify	VERB
alkej-76	151	59	lower	low	ADJ
alkej-76	151	60	path	path	NOUN
alkej-76	151	61	because	because	SCONJ
alkej-76	151	62	it	it	PRON
alkej-76	151	63	is	be	AUX
alkej-76	151	64	the	the	DET
alkej-76	151	65	smallest	small	ADJ
alkej-76	151	66	one	one	NUM
alkej-76	151	67	in	in	ADP
alkej-76	151	68	length	length	NOUN
alkej-76	151	69	and	and	CCONJ
alkej-76	151	70	in	in	ADP
alkej-76	151	71	number	number	NOUN
alkej-76	151	72	of	of	ADP
alkej-76	151	73	segments	segment	NOUN
alkej-76	151	74	,	,	PUNCT
alkej-76	151	75	see	see	VERB
alkej-76	151	76	table	table	NOUN
alkej-76	151	77	(	(	PUNCT
alkej-76	151	78	1	1	NUM
alkej-76	151	79	)	)	PUNCT
alkej-76	151	80	.	.	PUNCT
alkej-76	152	1	the	the	DET
alkej-76	152	2	above	above	ADJ
alkej-76	152	3	results	result	NOUN
alkej-76	152	4	represent	represent	VERB
alkej-76	152	5	the	the	DET
alkej-76	152	6	matlab	matlab	PROPN
alkej-76	152	7	simulation	simulation	NOUN
alkej-76	152	8	of	of	ADP
alkej-76	152	9	this	this	DET
alkej-76	152	10	case	case	NOUN
alkej-76	152	11	.	.	PUNCT
alkej-76	153	1	when	when	SCONJ
alkej-76	153	2	the	the	DET
alkej-76	153	3	optimal	optimal	ADJ
alkej-76	153	4	path	path	NOUN
alkej-76	153	5	is	be	AUX
alkej-76	153	6	sent	send	VERB
alkej-76	153	7	for	for	ADP
alkej-76	153	8	pioneer	pioneer	PROPN
alkej-76	153	9	mobile	mobile	PROPN
alkej-76	153	10	robot	robot	NOUN
alkej-76	153	11	,	,	PUNCT
alkej-76	153	12	it	it	PRON
alkej-76	153	13	successfully	successfully	ADV
alkej-76	153	14	reaches	reach	VERB
alkej-76	153	15	the	the	DET
alkej-76	153	16	goal	goal	NOUN
alkej-76	153	17	point	point	NOUN
alkej-76	153	18	without	without	ADP
alkej-76	153	19	collision	collision	NOUN
alkej-76	153	20	with	with	ADP
alkej-76	153	21	any	any	DET
alkej-76	153	22	obstacle	obstacle	NOUN
alkej-76	153	23	in	in	ADP
alkej-76	153	24	the	the	DET
alkej-76	153	25	area	area	NOUN
alkej-76	153	26	as	as	SCONJ
alkej-76	153	27	shown	show	VERB
alkej-76	153	28	in	in	ADP
alkej-76	153	29	figure	figure	NOUN
alkej-76	153	30	(	(	PUNCT
alkej-76	153	31	24	24	NUM
alkej-76	153	32	)	)	PUNCT
alkej-76	153	33	.	.	PUNCT
alkej-76	154	1	fig.24	fig.24	NOUN
alkej-76	154	2	.	.	PUNCT
alkej-76	155	1	the	the	DET
alkej-76	155	2	robot	robot	NOUN
alkej-76	155	3	navigation	navigation	NOUN
alkej-76	155	4	according	accord	VERB
alkej-76	155	5	to	to	ADP
alkej-76	155	6	the	the	DET
alkej-76	155	7	optimal	optimal	ADJ
alkej-76	155	8	path	path	NOUN
alkej-76	155	9	12	12	NUM
alkej-76	155	10	.	.	PUNCT
alkej-76	156	1	results	result	NOUN
alkej-76	156	2	and	and	CCONJ
alkej-76	156	3	discussion	discussion	NOUN
alkej-76	156	4	the	the	DET
alkej-76	156	5	results	result	NOUN
alkej-76	156	6	were	be	AUX
alkej-76	156	7	for	for	ADP
alkej-76	156	8	different	different	ADJ
alkej-76	156	9	cases	case	NOUN
alkej-76	156	10	by	by	ADP
alkej-76	156	11	taking	take	VERB
alkej-76	156	12	different	different	ADJ
alkej-76	156	13	images	image	NOUN
alkej-76	156	14	and	and	CCONJ
alkej-76	156	15	comparing	compare	VERB
alkej-76	156	16	between	between	ADP
alkej-76	156	17	the	the	DET
alkej-76	156	18	behavior	behavior	NOUN
alkej-76	156	19	of	of	ADP
alkej-76	156	20	path	path	NOUN
alkej-76	156	21	and	and	CCONJ
alkej-76	156	22	navigation	navigation	NOUN
alkej-76	156	23	of	of	ADP
alkej-76	156	24	the	the	DET
alkej-76	156	25	robot	robot	NOUN
alkej-76	156	26	in	in	ADP
alkej-76	156	27	unknown	unknown	ADJ
alkej-76	156	28	environment	environment	NOUN
alkej-76	156	29	,	,	PUNCT
alkej-76	156	30	changing	change	VERB
alkej-76	156	31	obstacles	obstacle	NOUN
alkej-76	156	32	number	number	NOUN
alkej-76	156	33	and	and	CCONJ
alkej-76	156	34	positions	position	NOUN
alkej-76	156	35	and	and	CCONJ
alkej-76	156	36	their	their	PRON
alkej-76	156	37	effectiveness	effectiveness	NOUN
alkej-76	156	38	on	on	ADP
alkej-76	156	39	the	the	DET
alkej-76	156	40	resulted	resulted	ADJ
alkej-76	156	41	paths	path	NOUN
alkej-76	156	42	(	(	PUNCT
alkej-76	156	43	specially	specially	ADV
alkej-76	156	44	the	the	DET
alkej-76	156	45	optimal	optimal	ADJ
alkej-76	156	46	path	path	NOUN
alkej-76	156	47	)	)	PUNCT
alkej-76	156	48	,	,	PUNCT
alkej-76	156	49	time	time	NOUN
alkej-76	156	50	required	require	VERB
alkej-76	156	51	and	and	CCONJ
alkej-76	156	52	power	power	NOUN
alkej-76	156	53	consumed	consume	VERB
alkej-76	156	54	for	for	ADP
alkej-76	156	55	each	each	DET
alkej-76	156	56	path	path	NOUN
alkej-76	156	57	.	.	PUNCT
alkej-76	157	1	the	the	DET
alkej-76	157	2	experimental	experimental	ADJ
alkej-76	157	3	work	work	NOUN
alkej-76	157	4	includes	include	VERB
alkej-76	157	5	the	the	DET
alkej-76	157	6	following	following	ADJ
alkej-76	157	7	specifications	specification	NOUN
alkej-76	157	8	:	:	PUNCT
alkej-76	158	1	1	1	X
alkej-76	158	2	.	.	X
alkej-76	158	3	the	the	DET
alkej-76	158	4	motion	motion	NOUN
alkej-76	158	5	along	along	ADP
alkej-76	158	6	the	the	DET
alkej-76	158	7	straight	straight	ADJ
alkej-76	158	8	segments	segment	NOUN
alkej-76	158	9	with	with	ADP
alkej-76	158	10	constant	constant	ADJ
alkej-76	158	11	speed	speed	NOUN
alkej-76	158	12	(	(	PUNCT
alkej-76	158	13	zero	zero	NUM
alkej-76	158	14	acceleration	acceleration	NOUN
alkej-76	158	15	)	)	PUNCT
alkej-76	158	16	.	.	PUNCT
alkej-76	159	1	this	this	DET
alkej-76	159	2	constant	constant	ADJ
alkej-76	159	3	speed	speed	NOUN
alkej-76	159	4	is	be	AUX
alkej-76	159	5	0.375	0.375	NUM
alkej-76	159	6	m	m	PROPN
alkej-76	159	7	/	/	SYM
alkej-76	159	8	sec	sec	PROPN
alkej-76	159	9	.	.	PROPN
alkej-76	159	10	2	2	NUM
alkej-76	159	11	.	.	X
alkej-76	160	1	the	the	DET
alkej-76	160	2	motion	motion	NOUN
alkej-76	160	3	at	at	ADP
alkej-76	160	4	turning	turn	VERB
alkej-76	160	5	parts	part	NOUN
alkej-76	160	6	of	of	ADP
alkej-76	160	7	the	the	DET
alkej-76	160	8	path	path	NOUN
alkej-76	160	9	with	with	ADP
alkej-76	160	10	constant	constant	ADJ
alkej-76	160	11	acceleration	acceleration	NOUN
alkej-76	160	12	which	which	PRON
alkej-76	160	13	is	be	AUX
alkej-76	160	14	0.1875	0.1875	NUM
alkej-76	160	15	m	m	NOUN
alkej-76	160	16	/	/	SYM
alkej-76	160	17	sec	sec	PROPN
alkej-76	160	18	2	2	NUM
alkej-76	160	19	.	.	PUNCT
alkej-76	161	1	3	3	X
alkej-76	161	2	.	.	X
alkej-76	161	3	radius	radius	NOUN
alkej-76	161	4	of	of	ADP
alkej-76	161	5	drive	drive	ADJ
alkej-76	161	6	wheels	wheel	NOUN
alkej-76	161	7	r	r	NOUN
alkej-76	161	8	=	=	SYM
alkej-76	161	9	8.25	8.25	NUM
alkej-76	161	10	cm	cm	NOUN
alkej-76	161	11	=	=	SYM
alkej-76	162	1	0.0825	0.0825	NUM
alkej-76	162	2	m.	m.	NOUN
alkej-76	162	3	4	4	NUM
alkej-76	162	4	.	.	PUNCT
alkej-76	162	5	robot	robot	NOUN
alkej-76	162	6	width	width	PROPN
alkej-76	162	7	b	b	NOUN
alkej-76	162	8	=	=	SYM
alkej-76	162	9	425	425	NUM
alkej-76	162	10	mm	mm	NOUN
alkej-76	162	11	=	=	NOUN
alkej-76	162	12	0.425	0.425	NUM
alkej-76	162	13	m.	m.	NOUN
alkej-76	162	14	5	5	NUM
alkej-76	162	15	.	.	PUNCT
alkej-76	162	16	robot	robot	NOUN
alkej-76	162	17	mass	mass	PROPN
alkej-76	162	18	m	m	PROPN
alkej-76	162	19	=	=	SYM
alkej-76	162	20	9	9	NUM
alkej-76	162	21	kg	kg	NOUN
alkej-76	162	22	.	.	PROPN
alkej-76	163	1	6	6	NUM
alkej-76	163	2	.	.	X
alkej-76	163	3	no	no	DET
alkej-76	163	4	-	-	PUNCT
alkej-76	163	5	load	load	NOUN
alkej-76	163	6	speed	speed	NOUN
alkej-76	163	7	v	v	X
alkej-76	163	8	max	max	NOUN
alkej-76	163	9	=	=	SYM
alkej-76	163	10	24.7	24.7	NUM
alkej-76	163	11	m	m	PROPN
alkej-76	163	12	/	/	SYM
alkej-76	163	13	sec	sec	PROPN
alkej-76	163	14	.	.	PROPN
alkej-76	164	1	7	7	NUM
alkej-76	164	2	.	.	PUNCT
alkej-76	164	3	the	the	DET
alkej-76	164	4	connection	connection	NOUN
alkej-76	164	5	type	type	NOUN
alkej-76	164	6	is	be	AUX
alkej-76	164	7	a	a	DET
alkej-76	164	8	wireless	wireless	ADJ
alkej-76	164	9	ethernet	ethernet	NOUN
alkej-76	164	10	-	-	PUNCT
alkej-76	164	11	toserial	toserial	NOUN
alkej-76	164	12	*	*	AUX
alkej-76	164	13	is	be	AUX
alkej-76	164	14	connected	connect	VERB
alkej-76	164	15	directly	directly	ADV
alkej-76	164	16	to	to	ADP
alkej-76	164	17	robot	robot	NOUN
alkej-76	164	18	’s	’s	PART
alkej-76	164	19	microcontroller	microcontroller	NOUN
alkej-76	164	20	;	;	PUNCT
alkej-76	164	21	it	it	PRON
alkej-76	164	22	works	work	VERB
alkej-76	164	23	by	by	ADP
alkej-76	164	24	automatically	automatically	ADV
alkej-76	164	25	translating	translate	VERB
alkej-76	164	26	network	network	NOUN
alkej-76	164	27	-	-	PUNCT
alkej-76	164	28	based	base	VERB
alkej-76	164	29	ethernet	ethernet	NOUN
alkej-76	164	30	packet	packet	NOUN
alkej-76	164	31	communications	communication	NOUN
alkej-76	164	32	tcp	tcp	PROPN
alkej-76	164	33	/	/	SYM
alkej-76	164	34	ip	ip	NOUN
alkej-76	164	35	into	into	ADP
alkej-76	164	36	streaming	streaming	NOUN
alkej-76	164	37	serial	serial	NOUN
alkej-76	164	38	for	for	ADP
alkej-76	164	39	the	the	DET
alkej-76	164	40	robot	robot	NOUN
alkej-76	164	41	microcontroller	microcontroller	NOUN
alkej-76	164	42	and	and	CCONJ
alkej-76	164	43	back	back	ADV
alkej-76	164	44	again	again	ADV
alkej-76	164	45	.	.	PUNCT
alkej-76	165	1	8	8	NUM
alkej-76	165	2	.	.	X
alkej-76	165	3	battery	battery	NOUN
alkej-76	165	4	=	=	SYM
alkej-76	165	5	12	12	NUM
alkej-76	165	6	volt	volt	NOUN
alkej-76	165	7	.	.	PUNCT
alkej-76	166	1	according	accord	VERB
alkej-76	166	2	to	to	ADP
alkej-76	166	3	(	(	PUNCT
alkej-76	166	4	oac	oac	PROPN
alkej-76	166	5	)	)	PUNCT
alkej-76	166	6	algorithm	algorithm	NOUN
alkej-76	166	7	the	the	DET
alkej-76	166	8	table	table	NOUN
alkej-76	166	9	of	of	ADP
alkej-76	166	10	results	result	NOUN
alkej-76	166	11	for	for	ADP
alkej-76	166	12	all	all	DET
alkej-76	166	13	cases	case	NOUN
alkej-76	166	14	studies	study	NOUN
alkej-76	166	15	is	be	AUX
alkej-76	166	16	shown	show	VERB
alkej-76	166	17	in	in	ADP
alkej-76	166	18	table	table	NOUN
alkej-76	166	19	(	(	PUNCT
alkej-76	166	20	2	2	NUM
alkej-76	166	21	)	)	PUNCT
alkej-76	166	22	and	and	CCONJ
alkej-76	166	23	the	the	DET
alkej-76	166	24	optimal	optimal	ADJ
alkej-76	166	25	paths	path	NOUN
alkej-76	166	26	for	for	ADP
alkej-76	166	27	all	all	DET
alkej-76	166	28	cases	case	NOUN
alkej-76	166	29	studies	study	NOUN
alkej-76	166	30	are	be	AUX
alkej-76	166	31	shown	show	VERB
alkej-76	166	32	in	in	ADP
alkej-76	166	33	table	table	NOUN
alkej-76	166	34	(	(	PUNCT
alkej-76	166	35	3	3	NUM
alkej-76	166	36	)	)	PUNCT
alkej-76	166	37	.	.	PUNCT
alkej-76	167	1	table	table	NOUN
alkej-76	167	2	2	2	NUM
alkej-76	167	3	,	,	PUNCT
alkej-76	167	4	resulted	result	VERB
alkej-76	167	5	for	for	ADP
alkej-76	167	6	all	all	DET
alkej-76	167	7	cases	case	NOUN
alkej-76	167	8	studies	study	NOUN
alkej-76	167	9	in	in	ADP
alkej-76	167	10	details	detail	NOUN
alkej-76	167	11	case	case	NOUN
alkej-76	167	12	study	study	NOUN
alkej-76	167	13	no	no	INTJ
alkej-76	167	14	.	.	PUNCT
alkej-76	168	1	of	of	ADP
alkej-76	168	2	paths	path	NOUN
alkej-76	168	3	resulted	result	VERB
alkej-76	168	4	path	path	NOUN
alkej-76	168	5	total	total	ADJ
alkej-76	168	6	length	length	NOUN
alkej-76	168	7	cm	cm	PROPN
alkej-76	168	8	time	time	NOUN
alkej-76	168	9	sec	sec	PROPN
alkej-76	168	10	no	no	INTJ
alkej-76	168	11	.	.	PUNCT
alkej-76	169	1	of	of	ADP
alkej-76	169	2	segment	segment	PROPN
alkej-76	169	3	k.e	k.e	PROPN
alkej-76	169	4	joul	joul	PROPN
alkej-76	169	5	case	case	NOUN
alkej-76	169	6	study	study	VERB
alkej-76	169	7	1	1	NUM
alkej-76	169	8	1	1	NUM
alkej-76	169	9	upper	upper	ADJ
alkej-76	169	10	path	path	NOUN
alkej-76	169	11	244	244	NUM
alkej-76	169	12	9.5	9.5	NUM
alkej-76	169	13	4	4	NUM
alkej-76	169	14	0.563k	0.563k	NUM
alkej-76	169	15	2	2	NUM
alkej-76	169	16	modified	modify	VERB
alkej-76	169	17	upper	upper	ADJ
alkej-76	169	18	path	path	NOUN
alkej-76	169	19	240	240	NUM
alkej-76	170	1	*	*	SYM
alkej-76	170	2	7.5	7.5	NUM
alkej-76	170	3	2	2	NUM
alkej-76	170	4	*	*	SYM
alkej-76	170	5	0.1875	0.1875	NUM
alkej-76	170	6	k	k	NOUN
alkej-76	170	7	3	3	NUM
alkej-76	170	8	lower	low	ADJ
alkej-76	170	9	path	path	NOUN
alkej-76	170	10	423	423	NUM
alkej-76	170	11	16.28	16.28	NUM
alkej-76	170	12	6	6	NUM
alkej-76	170	13	0.938	0.938	NUM
alkej-76	170	14	k	k	NOUN
alkej-76	170	15	4	4	NUM
alkej-76	170	16	intermediate	intermediate	ADJ
alkej-76	170	17	lower	low	ADJ
alkej-76	170	18	path	path	NOUN
alkej-76	170	19	320	320	NUM
alkej-76	170	20	11.53	11.53	NUM
alkej-76	170	21	4	4	NUM
alkej-76	170	22	0.563	0.563	NUM
alkej-76	170	23	k	k	SYM
alkej-76	170	24	5	5	NUM
alkej-76	170	25	modified	modify	VERB
alkej-76	170	26	lower	low	ADJ
alkej-76	170	27	path	path	NOUN
alkej-76	170	28	308	308	NUM
alkej-76	170	29	10.2	10.2	NUM
alkej-76	170	30	3	3	NUM
alkej-76	170	31	0.375	0.375	NUM
alkej-76	170	32	k	k	NOUN
alkej-76	170	33	case	case	NOUN
alkej-76	170	34	study	study	NOUN
alkej-76	170	35	2	2	NUM
alkej-76	170	36	1	1	NUM
alkej-76	170	37	upper	upper	ADJ
alkej-76	170	38	path	path	NOUN
alkej-76	170	39	304	304	NUM
alkej-76	170	40	14.11	14.11	NUM
alkej-76	170	41	7	7	NUM
alkej-76	170	42	1.125	1.125	NUM
alkej-76	170	43	k	k	SYM
alkej-76	170	44	2	2	NUM
alkej-76	170	45	modified	modify	VERB
alkej-76	170	46	upper	upper	ADJ
alkej-76	170	47	path	path	NOUN
alkej-76	170	48	276	276	NUM
alkej-76	171	1	*	*	SYM
alkej-76	171	2	9.36	9.36	NUM
alkej-76	171	3	3	3	NUM
alkej-76	171	4	*	*	SYM
alkej-76	171	5	0.375	0.375	NUM
alkej-76	171	6	k	k	SYM
alkej-76	171	7	3	3	NUM
alkej-76	171	8	lower	low	ADJ
alkej-76	171	9	path	path	NOUN
alkej-76	171	10	628	628	NUM
alkej-76	171	11	26.75	26.75	NUM
alkej-76	171	12	11	11	NUM
alkej-76	171	13	1.875	1.875	NUM
alkej-76	171	14	k	k	SYM
alkej-76	171	15	4	4	NUM
alkej-76	171	16	intermediate	intermediate	ADJ
alkej-76	171	17	lower	low	ADJ
alkej-76	171	18	path	path	NOUN
alkej-76	171	19	412	412	NUM
alkej-76	171	20	16	16	NUM
alkej-76	171	21	6	6	NUM
alkej-76	171	22	0.938	0.938	NUM
alkej-76	171	23	k	k	PROPN
alkej-76	171	24	5	5	NUM
alkej-76	171	25	modified	modify	VERB
alkej-76	171	26	lower	low	ADJ
alkej-76	171	27	path	path	NOUN
alkej-76	171	28	356	356	NUM
alkej-76	171	29	12.5	12.5	NUM
alkej-76	171	30	4	4	NUM
alkej-76	171	31	0.563	0.563	NUM
alkej-76	171	32	k	k	PROPN
alkej-76	171	33	nabeel	nabeel	PROPN
alkej-76	171	34	k.	k.	PROPN
alkej-76	171	35	abid	abid	PROPN
alkej-76	171	36	alsahib	alsahib	PROPN
alkej-76	171	37	al	al	PROPN
alkej-76	171	38	-	-	PUNCT
alkej-76	171	39	khwarizmi	khwarizmi	PROPN
alkej-76	171	40	engineering	engineering	NOUN
alkej-76	171	41	journal	journal	PROPN
alkej-76	171	42	,	,	PUNCT
alkej-76	171	43	vol	vol	NOUN
alkej-76	171	44	.	.	PROPN
alkej-76	171	45	7	7	NUM
alkej-76	171	46	,	,	PUNCT
alkej-76	171	47	no	no	INTJ
alkej-76	171	48	.	.	NOUN
alkej-76	171	49	4	4	NUM
alkej-76	171	50	,	,	PUNCT
alkej-76	171	51	pp	pp	ADV
alkej-76	171	52	1	1	NUM
alkej-76	171	53	-16	-16	SYM
alkej-76	171	54	(	(	PUNCT
alkej-76	171	55	2011	2011	NUM
alkej-76	171	56	)	)	PUNCT
alkej-76	171	57	11	11	NUM
alkej-76	171	58	case	case	NOUN
alkej-76	171	59	study	study	VERB
alkej-76	171	60	3	3	NUM
alkej-76	171	61	1	1	NUM
alkej-76	171	62	straight	straight	ADJ
alkej-76	171	63	line	line	NOUN
alkej-76	171	64	path	path	NOUN
alkej-76	171	65	252	252	NUM
alkej-76	171	66	6.72	6.72	NUM
alkej-76	171	67	1	1	NUM
alkej-76	171	68	zero	zero	NUM
alkej-76	171	69	k	k	NOUN
alkej-76	171	70	case	case	NOUN
alkej-76	171	71	study	study	NOUN
alkej-76	171	72	4	4	NUM
alkej-76	171	73	/	/	SYM
alkej-76	171	74	a	a	DET
alkej-76	171	75	1	1	NUM
alkej-76	171	76	upper	upper	ADJ
alkej-76	171	77	path	path	NOUN
alkej-76	171	78	252	252	NUM
alkej-76	171	79	10.72	10.72	NUM
alkej-76	171	80	5	5	NUM
alkej-76	171	81	0.75	0.75	NUM
alkej-76	171	82	k	k	SYM
alkej-76	171	83	2	2	NUM
alkej-76	171	84	modified	modify	VERB
alkej-76	171	85	upper	upper	ADJ
alkej-76	171	86	path	path	NOUN
alkej-76	171	87	200	200	NUM
alkej-76	171	88	7.33	7.33	NUM
alkej-76	171	89	3	3	NUM
alkej-76	171	90	*	*	SYM
alkej-76	171	91	0.375	0.375	NUM
alkej-76	171	92	k	k	NOUN
alkej-76	171	93	3	3	NUM
alkej-76	171	94	lower	low	ADJ
alkej-76	171	95	path	path	NOUN
alkej-76	171	96	220	220	NUM
alkej-76	171	97	9.86	9.86	NUM
alkej-76	171	98	5	5	NUM
alkej-76	171	99	0.75	0.75	NUM
alkej-76	171	100	k	k	SYM
alkej-76	171	101	4	4	NUM
alkej-76	171	102	modified	modify	VERB
alkej-76	171	103	lower	low	ADJ
alkej-76	171	104	path	path	NOUN
alkej-76	171	105	184	184	NUM
alkej-76	171	106	*	*	SYM
alkej-76	171	107	7	7	NUM
alkej-76	171	108	3	3	NUM
alkej-76	171	109	*	*	SYM
alkej-76	171	110	0.375	0.375	NUM
alkej-76	171	111	k	k	NOUN
alkej-76	171	112	case	case	NOUN
alkej-76	171	113	study	study	NOUN
alkej-76	171	114	4	4	NUM
alkej-76	171	115	/	/	SYM
alkej-76	171	116	b	b	SYM
alkej-76	171	117	1	1	NUM
alkej-76	171	118	upper	upper	ADJ
alkej-76	171	119	path	path	NOUN
alkej-76	171	120	384	384	NUM
alkej-76	171	121	18.24	18.24	NUM
alkej-76	171	122	9	9	NUM
alkej-76	171	123	1.5	1.5	NUM
alkej-76	171	124	k	k	SYM
alkej-76	171	125	2	2	NUM
alkej-76	171	126	intermediate	intermediate	ADJ
alkej-76	171	127	upper	upper	ADJ
alkej-76	171	128	path	path	NOUN
alkej-76	171	129	304	304	NUM
alkej-76	171	130	14.1	14.1	NUM
alkej-76	171	131	7	7	NUM
alkej-76	171	132	1.125	1.125	NUM
alkej-76	171	133	k	k	SYM
alkej-76	171	134	3	3	NUM
alkej-76	171	135	modified	modify	VERB
alkej-76	171	136	upper	upper	ADJ
alkej-76	171	137	path	path	NOUN
alkej-76	171	138	278	278	NUM
alkej-76	171	139	10.25	10.25	NUM
alkej-76	171	140	4	4	NUM
alkej-76	171	141	0.563	0.563	NUM
alkej-76	171	142	k	k	NUM
alkej-76	171	143	4	4	NUM
alkej-76	171	144	lower	low	ADJ
alkej-76	171	145	path	path	NOUN
alkej-76	171	146	764	764	NUM
alkej-76	171	147	28.4	28.4	NUM
alkej-76	171	148	9	9	NUM
alkej-76	171	149	1.5	1.5	NUM
alkej-76	171	150	k	k	NOUN
alkej-76	171	151	5	5	NUM
alkej-76	171	152	1'st	1'st	NUM
alkej-76	171	153	intermediate	intermediate	VERB
alkej-76	171	154	lower	low	ADJ
alkej-76	171	155	path	path	NOUN
alkej-76	171	156	304	304	NUM
alkej-76	171	157	12.1	12.1	NUM
alkej-76	171	158	5	5	NUM
alkej-76	171	159	0.75	0.75	NUM
alkej-76	171	160	k	k	PROPN
alkej-76	171	161	6	6	NUM
alkej-76	171	162	2'nd	2'nd	NUM
alkej-76	171	163	intermediate	intermediate	ADJ
alkej-76	171	164	lower	low	ADJ
alkej-76	171	165	path	path	NOUN
alkej-76	171	166	280	280	NUM
alkej-76	171	167	10.46	10.46	NUM
alkej-76	171	168	4	4	NUM
alkej-76	171	169	0.563	0.563	NUM
alkej-76	171	170	k	k	SYM
alkej-76	171	171	7	7	NUM
alkej-76	171	172	modified	modify	VERB
alkej-76	171	173	lower	low	ADJ
alkej-76	171	174	path	path	NOUN
alkej-76	171	175	276	276	NUM
alkej-76	171	176	*	*	SYM
alkej-76	171	177	9.36	9.36	NUM
alkej-76	171	178	3	3	NUM
alkej-76	171	179	*	*	SYM
alkej-76	171	180	0.375	0.375	NUM
alkej-76	171	181	k	k	NOUN
alkej-76	171	182	case	case	NOUN
alkej-76	171	183	study5	study5	NOUN
alkej-76	171	184	/a	/a	PUNCT
alkej-76	171	185	1	1	NUM
alkej-76	171	186	upper	upper	ADJ
alkej-76	171	187	path	path	NOUN
alkej-76	171	188	212	212	NUM
alkej-76	171	189	9.65	9.65	NUM
alkej-76	171	190	5	5	NUM
alkej-76	171	191	0.75	0.75	NUM
alkej-76	171	192	k	k	SYM
alkej-76	171	193	2	2	NUM
alkej-76	171	194	modified	modify	VERB
alkej-76	171	195	upper	upper	ADJ
alkej-76	171	196	path	path	NOUN
alkej-76	172	1	180	180	NUM
alkej-76	172	2	*	*	SYM
alkej-76	172	3	6.8	6.8	NUM
alkej-76	172	4	3	3	NUM
alkej-76	172	5	*	*	SYM
alkej-76	172	6	0.375	0.375	NUM
alkej-76	172	7	k	k	NOUN
alkej-76	172	8	3	3	NUM
alkej-76	172	9	lower	low	ADJ
alkej-76	172	10	path	path	NOUN
alkej-76	172	11	220	220	NUM
alkej-76	172	12	9.87	9.87	NUM
alkej-76	172	13	5	5	NUM
alkej-76	172	14	0.75	0.75	NUM
alkej-76	172	15	k	k	SYM
alkej-76	172	16	4	4	NUM
alkej-76	172	17	modified	modify	VERB
alkej-76	172	18	lower	low	ADJ
alkej-76	172	19	path	path	NOUN
alkej-76	172	20	188	188	NUM
alkej-76	172	21	7	7	NUM
alkej-76	172	22	3	3	NUM
alkej-76	172	23	*	*	SYM
alkej-76	172	24	0.375	0.375	NUM
alkej-76	172	25	k	k	NOUN
alkej-76	172	26	case	case	NOUN
alkej-76	172	27	study5	study5	NOUN
alkej-76	172	28	/b	/b	PUNCT
alkej-76	172	29	1	1	NUM
alkej-76	172	30	upper	upper	ADJ
alkej-76	172	31	path	path	NOUN
alkej-76	172	32	192	192	NUM
alkej-76	172	33	9.12	9.12	NUM
alkej-76	172	34	5	5	NUM
alkej-76	172	35	0.75	0.75	NUM
alkej-76	172	36	k	k	SYM
alkej-76	172	37	2	2	NUM
alkej-76	172	38	modified	modify	VERB
alkej-76	172	39	upper	upper	ADJ
alkej-76	172	40	path	path	NOUN
alkej-76	172	41	160	160	NUM
alkej-76	172	42	*	*	SYM
alkej-76	172	43	6.27	6.27	NUM
alkej-76	172	44	3	3	NUM
alkej-76	172	45	*	*	SYM
alkej-76	172	46	0.375	0.375	NUM
alkej-76	172	47	k	k	NOUN
alkej-76	172	48	3	3	NUM
alkej-76	172	49	lower	low	ADJ
alkej-76	172	50	path	path	NOUN
alkej-76	172	51	192	192	NUM
alkej-76	172	52	9.12	9.12	NUM
alkej-76	172	53	5	5	NUM
alkej-76	172	54	0.75	0.75	NUM
alkej-76	172	55	k	k	SYM
alkej-76	172	56	4	4	NUM
alkej-76	172	57	modified	modify	VERB
alkej-76	172	58	lower	low	ADJ
alkej-76	172	59	path	path	NOUN
alkej-76	172	60	160	160	NUM
alkej-76	172	61	*	*	SYM
alkej-76	172	62	6.27	6.27	NUM
alkej-76	172	63	3	3	NUM
alkej-76	172	64	*	*	SYM
alkej-76	172	65	0.375	0.375	NUM
alkej-76	172	66	k	k	NOUN
alkej-76	172	67	case	case	NOUN
alkej-76	172	68	study5	study5	NOUN
alkej-76	172	69	/c	/c	PUNCT
alkej-76	172	70	1	1	NUM
alkej-76	172	71	upper	upper	ADJ
alkej-76	172	72	path	path	NOUN
alkej-76	172	73	284	284	NUM
alkej-76	172	74	11.57	11.57	NUM
alkej-76	172	75	5	5	NUM
alkej-76	172	76	0.75	0.75	NUM
alkej-76	172	77	k	k	SYM
alkej-76	172	78	2	2	NUM
alkej-76	172	79	modified	modify	VERB
alkej-76	172	80	upper	upper	ADJ
alkej-76	172	81	path	path	NOUN
alkej-76	172	82	236	236	NUM
alkej-76	172	83	8.3	8.3	NUM
alkej-76	172	84	3	3	NUM
alkej-76	172	85	0.375	0.375	NUM
alkej-76	172	86	k	k	PROPN
alkej-76	172	87	3	3	NUM
alkej-76	172	88	lower	low	ADJ
alkej-76	172	89	path	path	NOUN
alkej-76	172	90	260	260	NUM
alkej-76	172	91	11	11	NUM
alkej-76	172	92	5	5	NUM
alkej-76	172	93	0.75	0.75	NUM
alkej-76	172	94	k	k	SYM
alkej-76	172	95	4	4	NUM
alkej-76	172	96	intermediate	intermediate	ADJ
alkej-76	172	97	lower	low	ADJ
alkej-76	172	98	path	path	NOUN
alkej-76	172	99	224	224	NUM
alkej-76	172	100	9	9	NUM
alkej-76	172	101	3	3	NUM
alkej-76	172	102	0.375	0.375	NUM
alkej-76	172	103	k	k	SYM
alkej-76	172	104	5	5	NUM
alkej-76	172	105	modified	modify	VERB
alkej-76	172	106	lower	low	ADJ
alkej-76	172	107	path	path	NOUN
alkej-76	172	108	200	200	NUM
alkej-76	172	109	*	*	NUM
alkej-76	172	110	6.34	6.34	NUM
alkej-76	172	111	2	2	NUM
alkej-76	172	112	*	*	SYM
alkej-76	172	113	0.1875	0.1875	NUM
alkej-76	172	114	k	k	NOUN
alkej-76	172	115	case	case	NOUN
alkej-76	172	116	study5	study5	NOUN
alkej-76	172	117	/d	/d	PUNCT
alkej-76	172	118	1	1	NUM
alkej-76	172	119	lower	low	ADJ
alkej-76	172	120	path	path	NOUN
alkej-76	172	121	384	384	NUM
alkej-76	172	122	17.24	17.24	NUM
alkej-76	172	123	8	8	NUM
alkej-76	172	124	1.3125	1.3125	NUM
alkej-76	172	125	k	k	SYM
alkej-76	172	126	2	2	NUM
alkej-76	172	127	modified	modify	VERB
alkej-76	172	128	lower	low	ADJ
alkej-76	172	129	path	path	NOUN
alkej-76	172	130	328	328	NUM
alkej-76	172	131	*	*	SYM
alkej-76	172	132	11.75	11.75	NUM
alkej-76	172	133	4	4	NUM
alkej-76	172	134	*	*	SYM
alkej-76	172	135	0.563	0.563	NUM
alkej-76	172	136	k	k	SYM
alkej-76	172	137	3	3	NUM
alkej-76	172	138	upper	upper	ADJ
alkej-76	172	139	path	path	NOUN
alkej-76	172	140	512	512	NUM
alkej-76	172	141	22.65	22.65	NUM
alkej-76	172	142	10	10	NUM
alkej-76	172	143	1.688	1.688	NUM
alkej-76	172	144	k	k	SYM
alkej-76	172	145	4	4	NUM
alkej-76	172	146	intermediate	intermediate	ADJ
alkej-76	172	147	upper	upper	ADJ
alkej-76	172	148	path	path	NOUN
alkej-76	172	149	424	424	NUM
alkej-76	172	150	16.31	16.31	NUM
alkej-76	172	151	6	6	NUM
alkej-76	172	152	0.938	0.938	NUM
alkej-76	172	153	k	k	PROPN
alkej-76	172	154	5	5	NUM
alkej-76	172	155	modified	modify	VERB
alkej-76	172	156	upper	upper	ADJ
alkej-76	172	157	path	path	NOUN
alkej-76	172	158	356	356	NUM
alkej-76	172	159	12.5	12.5	NUM
alkej-76	172	160	4	4	NUM
alkej-76	172	161	*	*	NUM
alkej-76	172	162	0.563	0.563	NUM
alkej-76	172	163	k	k	NOUN
alkej-76	172	164	case	case	NOUN
alkej-76	172	165	study6	study6	NOUN
alkej-76	172	166	/	/	PUNCT
alkej-76	172	167	a	a	DET
alkej-76	172	168	1	1	NUM
alkej-76	172	169	upper	upper	ADJ
alkej-76	172	170	path	path	NOUN
alkej-76	172	171	396	396	NUM
alkej-76	172	172	15.56	15.56	NUM
alkej-76	172	173	6	6	NUM
alkej-76	172	174	0.938	0.938	NUM
alkej-76	172	175	k	k	PROPN
alkej-76	172	176	2	2	NUM
alkej-76	172	177	intermediate	intermediate	ADJ
alkej-76	172	178	upper	upper	ADJ
alkej-76	172	179	path	path	NOUN
alkej-76	172	180	312	312	NUM
alkej-76	172	181	11.32	11.32	NUM
alkej-76	172	182	4	4	NUM
alkej-76	172	183	0.563	0.563	NUM
alkej-76	172	184	k	k	SYM
alkej-76	172	185	3	3	NUM
alkej-76	172	186	modified	modify	VERB
alkej-76	172	187	upper	upper	ADJ
alkej-76	172	188	path	path	NOUN
alkej-76	172	189	300	300	NUM
alkej-76	172	190	9	9	NUM
alkej-76	172	191	2	2	NUM
alkej-76	172	192	*	*	NUM
alkej-76	172	193	0.1875	0.1875	NUM
alkej-76	172	194	k	k	SYM
alkej-76	172	195	4	4	NUM
alkej-76	172	196	lower	low	ADJ
alkej-76	172	197	path	path	NOUN
alkej-76	172	198	280	280	NUM
alkej-76	172	199	10.47	10.47	NUM
alkej-76	172	200	4	4	NUM
alkej-76	172	201	0.563	0.563	NUM
alkej-76	172	202	k	k	SYM
alkej-76	172	203	5	5	NUM
alkej-76	172	204	modified	modify	VERB
alkej-76	172	205	lower	low	ADJ
alkej-76	172	206	path	path	NOUN
alkej-76	172	207	260	260	NUM
alkej-76	172	208	*	*	NOUN
alkej-76	172	209	8	8	NUM
alkej-76	172	210	2	2	NUM
alkej-76	172	211	*	*	SYM
alkej-76	172	212	0.1875	0.1875	NUM
alkej-76	172	213	k	k	PROPN
alkej-76	172	214	case	case	NOUN
alkej-76	172	215	study6	study6	NOUN
alkej-76	172	216	/b	/b	PUNCT
alkej-76	172	217	1	1	NUM
alkej-76	172	218	upper	upper	ADJ
alkej-76	172	219	path	path	NOUN
alkej-76	172	220	592	592	NUM
alkej-76	172	221	23.79	23.79	NUM
alkej-76	172	222	9	9	NUM
alkej-76	172	223	1.5	1.5	NUM
alkej-76	172	224	k	k	SYM
alkej-76	172	225	2	2	NUM
alkej-76	172	226	intermediate	intermediate	ADJ
alkej-76	172	227	upper	upper	ADJ
alkej-76	172	228	path	path	NOUN
alkej-76	172	229	420	420	NUM
alkej-76	172	230	15.2	15.2	NUM
alkej-76	172	231	5	5	NUM
alkej-76	172	232	0.75	0.75	NUM
alkej-76	172	233	k	k	PROPN
alkej-76	172	234	3	3	NUM
alkej-76	172	235	modified	modify	VERB
alkej-76	172	236	upper	upper	ADJ
alkej-76	172	237	path	path	NOUN
alkej-76	172	238	396	396	NUM
alkej-76	173	1	*	*	PUNCT
alkej-76	173	2	12.56	12.56	NUM
alkej-76	173	3	3	3	NUM
alkej-76	173	4	*	*	SYM
alkej-76	173	5	0.375	0.375	NUM
alkej-76	173	6	k	k	SYM
alkej-76	173	7	4	4	NUM
alkej-76	173	8	lower	low	ADJ
alkej-76	173	9	path	path	NOUN
alkej-76	173	10	604	604	NUM
alkej-76	173	11	24.11	24.11	NUM
alkej-76	173	12	9	9	NUM
alkej-76	173	13	1.5	1.5	NUM
alkej-76	173	14	k	k	SYM
alkej-76	173	15	5	5	NUM
alkej-76	173	16	modified	modify	VERB
alkej-76	173	17	lower	low	ADJ
alkej-76	173	18	path	path	NOUN
alkej-76	173	19	528	528	NUM
alkej-76	173	20	20.1	20.1	NUM
alkej-76	173	21	7	7	NUM
alkej-76	173	22	1.125	1.125	NUM
alkej-76	174	1	k	k	PROPN
alkej-76	174	2	nabeel	nabeel	PROPN
alkej-76	174	3	k.	k.	PROPN
alkej-76	174	4	abid	abid	PROPN
alkej-76	174	5	alsahib	alsahib	PROPN
alkej-76	174	6	al	al	PROPN
alkej-76	174	7	-	-	PUNCT
alkej-76	174	8	khwarizmi	khwarizmi	PROPN
alkej-76	174	9	engineering	engineering	NOUN
alkej-76	174	10	journal	journal	PROPN
alkej-76	174	11	,	,	PUNCT
alkej-76	174	12	vol	vol	NOUN
alkej-76	174	13	.	.	PROPN
alkej-76	174	14	7	7	NUM
alkej-76	174	15	,	,	PUNCT
alkej-76	174	16	no	no	INTJ
alkej-76	174	17	.	.	NOUN
alkej-76	174	18	4	4	NUM
alkej-76	174	19	,	,	PUNCT
alkej-76	174	20	pp	pp	ADV
alkej-76	174	21	1	1	NUM
alkej-76	174	22	-16	-16	SYM
alkej-76	174	23	(	(	PUNCT
alkej-76	174	24	2011	2011	NUM
alkej-76	174	25	)	)	PUNCT
alkej-76	174	26	12	12	NUM
alkej-76	174	27	note	note	NOUN
alkej-76	174	28	:	:	PUNCT
alkej-76	174	29	the	the	DET
alkej-76	174	30	star	star	NOUN
alkej-76	174	31	sign	sign	NOUN
alkej-76	174	32	refers	refer	VERB
alkej-76	174	33	to	to	ADP
alkej-76	174	34	the	the	DET
alkej-76	174	35	optimal	optimal	ADJ
alkej-76	174	36	selection	selection	NOUN
alkej-76	174	37	.	.	PUNCT
alkej-76	175	1	table	table	NOUN
alkej-76	175	2	3	3	NUM
alkej-76	175	3	.	.	X
alkej-76	175	4	optimal	optimal	ADJ
alkej-76	175	5	path	path	NOUN
alkej-76	175	6	information	information	NOUN
alkej-76	175	7	for	for	ADP
alkej-76	175	8	all	all	DET
alkej-76	175	9	cases	case	NOUN
alkej-76	175	10	studies	study	NOUN
alkej-76	175	11	.	.	PUNCT
alkej-76	176	1	case	case	NOUN
alkej-76	176	2	study7	study7	NOUN
alkej-76	176	3	1	1	NUM
alkej-76	176	4	upper	upper	ADJ
alkej-76	176	5	path	path	NOUN
alkej-76	176	6	376	376	NUM
alkej-76	176	7	17	17	NUM
alkej-76	176	8	8	8	NUM
alkej-76	176	9	1.3125	1.3125	NUM
alkej-76	176	10	k	k	SYM
alkej-76	176	11	2	2	NUM
alkej-76	176	12	modified	modify	VERB
alkej-76	176	13	upper	upper	ADJ
alkej-76	176	14	path	path	NOUN
alkej-76	176	15	308	308	NUM
alkej-76	176	16	*	*	PUNCT
alkej-76	176	17	11.2	11.2	NUM
alkej-76	176	18	4	4	NUM
alkej-76	176	19	0.563	0.563	NUM
alkej-76	176	20	k	k	NUM
alkej-76	176	21	3	3	NUM
alkej-76	176	22	lower	low	ADJ
alkej-76	176	23	path	path	NOUN
alkej-76	176	24	429	429	NUM
alkej-76	176	25	20.44	20.44	NUM
alkej-76	176	26	10	10	NUM
alkej-76	176	27	1.688	1.688	NUM
alkej-76	176	28	k	k	SYM
alkej-76	176	29	4	4	NUM
alkej-76	176	30	intermediate	intermediate	ADJ
alkej-76	176	31	lower	low	ADJ
alkej-76	176	32	path	path	NOUN
alkej-76	176	33	376	376	NUM
alkej-76	176	34	13.03	13.03	NUM
alkej-76	176	35	4	4	NUM
alkej-76	176	36	0.563	0.563	NUM
alkej-76	176	37	k	k	SYM
alkej-76	176	38	5	5	NUM
alkej-76	176	39	modified	modify	VERB
alkej-76	176	40	lower	low	ADJ
alkej-76	176	41	path	path	NOUN
alkej-76	176	42	340	340	NUM
alkej-76	176	43	11.07	11.07	NUM
alkej-76	176	44	3	3	NUM
alkej-76	176	45	*	*	SYM
alkej-76	176	46	0.375	0.375	NUM
alkej-76	176	47	k	k	NOUN
alkej-76	176	48	case	case	NOUN
alkej-76	176	49	study8	study8	ADJ
alkej-76	176	50	1	1	NUM
alkej-76	176	51	upper	upper	ADJ
alkej-76	176	52	path	path	NOUN
alkej-76	176	53	384	384	NUM
alkej-76	176	54	14.24	14.24	NUM
alkej-76	176	55	5	5	NUM
alkej-76	176	56	0.75	0.75	NUM
alkej-76	176	57	k	k	SYM
alkej-76	176	58	2	2	NUM
alkej-76	176	59	modified	modify	VERB
alkej-76	176	60	upper	upper	ADJ
alkej-76	176	61	path	path	NOUN
alkej-76	176	62	296	296	NUM
alkej-76	176	63	*	*	SYM
alkej-76	176	64	9.9	9.9	NUM
alkej-76	176	65	3	3	NUM
alkej-76	176	66	*	*	SYM
alkej-76	176	67	0.375	0.375	NUM
alkej-76	176	68	k	k	NOUN
alkej-76	176	69	3	3	NUM
alkej-76	176	70	lower	low	ADJ
alkej-76	176	71	path	path	NOUN
alkej-76	176	72	456	456	NUM
alkej-76	176	73	16.16	16.16	NUM
alkej-76	176	74	5	5	NUM
alkej-76	176	75	0.75	0.75	NUM
alkej-76	176	76	k	k	SYM
alkej-76	176	77	4	4	NUM
alkej-76	176	78	modified	modify	VERB
alkej-76	176	79	lower	low	ADJ
alkej-76	176	80	path	path	NOUN
alkej-76	176	81	356	356	NUM
alkej-76	176	82	11.5	11.5	NUM
alkej-76	176	83	3	3	NUM
alkej-76	176	84	*	*	SYM
alkej-76	176	85	0.375	0.375	NUM
alkej-76	176	86	k	k	NOUN
alkej-76	176	87	case	case	NOUN
alkej-76	176	88	study9	study9	NOUN
alkej-76	176	89	/	/	SYM
alkej-76	176	90	small	small	ADJ
alkej-76	176	91	s	s	PART
alkej-76	176	92	1	1	NUM
alkej-76	176	93	upper	upper	ADJ
alkej-76	176	94	path	path	NOUN
alkej-76	176	95	742	742	NUM
alkej-76	176	96	39.8	39.8	NUM
alkej-76	176	97	21	21	NUM
alkej-76	176	98	3.75	3.75	NUM
alkej-76	176	99	k	k	SYM
alkej-76	176	100	2	2	NUM
alkej-76	176	101	intermediate	intermediate	ADJ
alkej-76	176	102	upper	upper	ADJ
alkej-76	176	103	path	path	NOUN
alkej-76	176	104	404	404	NUM
alkej-76	176	105	20.77	20.77	NUM
alkej-76	176	106	11	11	NUM
alkej-76	176	107	1.875	1.875	NUM
alkej-76	176	108	k	k	PROPN
alkej-76	176	109	3	3	NUM
alkej-76	176	110	modified	modify	VERB
alkej-76	176	111	upper	upper	ADJ
alkej-76	176	112	path	path	NOUN
alkej-76	176	113	435	435	NUM
alkej-76	176	114	*	*	SYM
alkej-76	176	115	14.66	14.66	NUM
alkej-76	176	116	5	5	NUM
alkej-76	176	117	*	*	SYM
alkej-76	176	118	0.75	0.75	NUM
alkej-76	176	119	k	k	SYM
alkej-76	176	120	4	4	NUM
alkej-76	176	121	lower	low	ADJ
alkej-76	176	122	path	path	NOUN
alkej-76	176	123	720	720	NUM
alkej-76	176	124	39.2	39.2	NUM
alkej-76	176	125	21	21	NUM
alkej-76	176	126	3.75	3.75	NUM
alkej-76	176	127	k	k	SYM
alkej-76	176	128	5	5	NUM
alkej-76	176	129	intermediate	intermediate	ADJ
alkej-76	176	130	lower	low	ADJ
alkej-76	176	131	path	path	NOUN
alkej-76	176	132	476	476	NUM
alkej-76	176	133	22.7	22.7	NUM
alkej-76	176	134	11	11	NUM
alkej-76	176	135	1.875	1.875	NUM
alkej-76	176	136	k	k	PROPN
alkej-76	176	137	6	6	NUM
alkej-76	176	138	modified	modify	VERB
alkej-76	176	139	lower	low	ADJ
alkej-76	176	140	path	path	NOUN
alkej-76	176	141	465	465	NUM
alkej-76	176	142	20.4	20.4	NUM
alkej-76	176	143	9	9	NUM
alkej-76	176	144	1.5	1.5	NUM
alkej-76	176	145	k	k	NOUN
alkej-76	176	146	case	case	NOUN
alkej-76	176	147	study	study	NOUN
alkej-76	176	148	9	9	NUM
alkej-76	176	149	/	/	SYM
alkej-76	176	150	large	large	ADJ
alkej-76	176	151	s	s	PROPN
alkej-76	176	152	1	1	NUM
alkej-76	176	153	upper	upper	ADJ
alkej-76	176	154	path	path	NOUN
alkej-76	176	155	436	436	NUM
alkej-76	176	156	15.63	15.63	NUM
alkej-76	176	157	5	5	NUM
alkej-76	176	158	0.75	0.75	NUM
alkej-76	176	159	k	k	SYM
alkej-76	176	160	2	2	NUM
alkej-76	176	161	intermediate	intermediate	ADJ
alkej-76	176	162	upper	upper	ADJ
alkej-76	176	163	path	path	NOUN
alkej-76	176	164	429	429	NUM
alkej-76	176	165	13.44	13.44	NUM
alkej-76	176	166	3	3	NUM
alkej-76	176	167	0.375	0.375	NUM
alkej-76	176	168	k	k	PRON
alkej-76	176	169	3	3	NUM
alkej-76	176	170	modified	modify	VERB
alkej-76	176	171	upper	upper	ADJ
alkej-76	176	172	path	path	NOUN
alkej-76	176	173	425	425	NUM
alkej-76	176	174	*	*	SYM
alkej-76	176	175	12.33	12.33	NUM
alkej-76	176	176	2	2	NUM
alkej-76	176	177	*	*	SYM
alkej-76	176	178	0.1875	0.1875	NUM
alkej-76	176	179	k	k	SYM
alkej-76	176	180	4	4	NUM
alkej-76	176	181	lower	low	ADJ
alkej-76	176	182	path	path	NOUN
alkej-76	176	183	515	515	NUM
alkej-76	176	184	17.73	17.73	NUM
alkej-76	176	185	5	5	NUM
alkej-76	176	186	0.75	0.75	NUM
alkej-76	176	187	k	k	SYM
alkej-76	176	188	5	5	NUM
alkej-76	176	189	modified	modify	VERB
alkej-76	176	190	lower	low	ADJ
alkej-76	176	191	path	path	NOUN
alkej-76	176	192	483	483	NUM
alkej-76	176	193	14.88	14.88	NUM
alkej-76	176	194	3	3	NUM
alkej-76	176	195	0375	0375	NUM
alkej-76	176	196	k	k	NOUN
alkej-76	176	197	case	case	NOUN
alkej-76	176	198	study	study	VERB
alkej-76	176	199	optimal	optimal	ADJ
alkej-76	176	200	path	path	NOUN
alkej-76	176	201	total	total	ADJ
alkej-76	176	202	length	length	NOUN
alkej-76	176	203	(	(	PUNCT
alkej-76	176	204	cm	cm	NOUN
alkej-76	176	205	)	)	PUNCT
alkej-76	176	206	time	time	NOUN
alkej-76	176	207	(	(	PUNCT
alkej-76	176	208	sec	sec	PROPN
alkej-76	176	209	)	)	PUNCT
alkej-76	176	210	no	no	NOUN
alkej-76	176	211	.	.	NOUN
alkej-76	177	1	of	of	ADP
alkej-76	177	2	segment	segment	PROPN
alkej-76	177	3	k.e	k.e	PROPN
alkej-76	177	4	joul	joul	PROPN
alkej-76	177	5	mlr	mlr	PROPN
alkej-76	177	6	%	%	PROPN
alkej-76	177	7	mls	mls	PROPN
alkej-76	177	8	%	%	PROPN
alkej-76	177	9	msc	msc	PROPN
alkej-76	177	10	ts	ts	ADP
alkej-76	177	11	case	case	NOUN
alkej-76	177	12	study	study	NOUN
alkej-76	177	13	1	1	NUM
alkej-76	177	14	modified	modify	VERB
alkej-76	177	15	upper	upper	ADJ
alkej-76	177	16	path	path	NOUN
alkej-76	177	17	240	240	NUM
alkej-76	177	18	7.5	7.5	NUM
alkej-76	177	19	2	2	NUM
alkej-76	177	20	0.1875	0.1875	NUM
alkej-76	177	21	k	k	NOUN
alkej-76	177	22	43	43	NUM
alkej-76	177	23	67	67	NUM
alkej-76	177	24	1	1	NUM
alkej-76	177	25	5	5	NUM
alkej-76	177	26	case	case	NOUN
alkej-76	177	27	study	study	NOUN
alkej-76	177	28	2	2	NUM
alkej-76	177	29	modified	modify	VERB
alkej-76	177	30	upper	upper	ADJ
alkej-76	177	31	path	path	NOUN
alkej-76	177	32	276	276	NUM
alkej-76	177	33	9.36	9.36	NUM
alkej-76	177	34	3	3	NUM
alkej-76	177	35	0.375	0.375	NUM
alkej-76	177	36	k	k	PROPN
alkej-76	177	37	56	56	NUM
alkej-76	177	38	73	73	NUM
alkej-76	177	39	1	1	NUM
alkej-76	177	40	5	5	NUM
alkej-76	177	41	case	case	NOUN
alkej-76	177	42	study	study	NOUN
alkej-76	177	43	3	3	NUM
alkej-76	177	44	straight	straight	ADJ
alkej-76	177	45	line	line	NOUN
alkej-76	177	46	path	path	NOUN
alkej-76	177	47	252	252	NUM
alkej-76	177	48	6.72	6.72	NUM
alkej-76	177	49	1	1	NUM
alkej-76	177	50	zero	zero	NUM
alkej-76	177	51	0	0	NUM
alkej-76	177	52	0	0	NUM
alkej-76	177	53	0	0	NUM
alkej-76	177	54	1	1	NUM
alkej-76	177	55	case	case	NOUN
alkej-76	177	56	study	study	VERB
alkej-76	177	57	4	4	NUM
alkej-76	177	58	/	/	SYM
alkej-76	177	59	a	a	DET
alkej-76	177	60	modified	modify	VERB
alkej-76	177	61	lower	low	ADJ
alkej-76	177	62	path	path	NOUN
alkej-76	177	63	184	184	NUM
alkej-76	177	64	7	7	NUM
alkej-76	177	65	3	3	NUM
alkej-76	177	66	0.375	0.375	NUM
alkej-76	177	67	k	k	NUM
alkej-76	177	68	27	27	NUM
alkej-76	177	69	40	40	NUM
alkej-76	177	70	1	1	NUM
alkej-76	177	71	4	4	NUM
alkej-76	177	72	case	case	NOUN
alkej-76	177	73	study	study	NOUN
alkej-76	177	74	4	4	NUM
alkej-76	177	75	/	/	SYM
alkej-76	177	76	b	b	NOUN
alkej-76	177	77	modified	modify	VERB
alkej-76	177	78	upper	upper	ADJ
alkej-76	177	79	path	path	NOUN
alkej-76	177	80	272	272	NUM
alkej-76	177	81	10.25	10.25	NUM
alkej-76	177	82	4	4	NUM
alkej-76	177	83	0.5625k	0.5625k	NOUN
alkej-76	177	84	65	65	NUM
alkej-76	177	85	67	67	NUM
alkej-76	177	86	2	2	NUM
alkej-76	177	87	7	7	NUM
alkej-76	177	88	case	case	NOUN
alkej-76	177	89	study	study	NOUN
alkej-76	177	90	5	5	NUM
alkej-76	177	91	/	/	SYM
alkej-76	177	92	a	a	DET
alkej-76	177	93	modified	modify	VERB
alkej-76	177	94	upper	upper	ADJ
alkej-76	177	95	path	path	NOUN
alkej-76	178	1	180	180	NUM
alkej-76	178	2	6.8	6.8	NUM
alkej-76	178	3	3	3	NUM
alkej-76	178	4	0.375	0.375	NUM
alkej-76	178	5	k	k	PROPN
alkej-76	178	6	18	18	NUM
alkej-76	178	7	40	40	NUM
alkej-76	178	8	1	1	NUM
alkej-76	178	9	4	4	NUM
alkej-76	178	10	case	case	NOUN
alkej-76	178	11	study	study	NOUN
alkej-76	178	12	5	5	NUM
alkej-76	178	13	/	/	SYM
alkej-76	178	14	b	b	NOUN
alkej-76	178	15	modified	modify	VERB
alkej-76	178	16	upper	upper	ADJ
alkej-76	178	17	&	&	CCONJ
alkej-76	178	18	lower	low	ADJ
alkej-76	178	19	path	path	NOUN
alkej-76	178	20	160	160	NUM
alkej-76	178	21	6.26	6.26	NUM
alkej-76	178	22	3	3	NUM
alkej-76	178	23	0.375	0.375	NUM
alkej-76	178	24	k	k	NUM
alkej-76	178	25	17	17	NUM
alkej-76	178	26	40	40	NUM
alkej-76	178	27	1	1	NUM
alkej-76	178	28	4	4	NUM
alkej-76	178	29	case	case	NOUN
alkej-76	178	30	study	study	NOUN
alkej-76	178	31	5	5	NUM
alkej-76	178	32	/	/	SYM
alkej-76	178	33	c	c	NOUN
alkej-76	178	34	modified	modify	VERB
alkej-76	178	35	lower	low	ADJ
alkej-76	178	36	path	path	NOUN
alkej-76	178	37	200	200	NUM
alkej-76	178	38	6.34	6.34	NUM
alkej-76	178	39	2	2	NUM
alkej-76	178	40	0.1875	0.1875	NUM
alkej-76	178	41	k	k	NOUN
alkej-76	178	42	30	30	NUM
alkej-76	178	43	60	60	NUM
alkej-76	178	44	2	2	NUM
alkej-76	178	45	5	5	NUM
alkej-76	179	1	nabeel	nabeel	PROPN
alkej-76	179	2	k.	k.	PROPN
alkej-76	179	3	abid	abid	PROPN
alkej-76	179	4	alsahib	alsahib	PROPN
alkej-76	179	5	al	al	PROPN
alkej-76	179	6	-	-	PUNCT
alkej-76	179	7	khwarizmi	khwarizmi	PROPN
alkej-76	179	8	engineering	engineering	NOUN
alkej-76	179	9	journal	journal	PROPN
alkej-76	179	10	,	,	PUNCT
alkej-76	179	11	vol	vol	NOUN
alkej-76	179	12	.	.	PROPN
alkej-76	179	13	7	7	NUM
alkej-76	179	14	,	,	PUNCT
alkej-76	179	15	no	no	INTJ
alkej-76	179	16	.	.	NOUN
alkej-76	179	17	4	4	NUM
alkej-76	179	18	,	,	PUNCT
alkej-76	179	19	pp	pp	ADV
alkej-76	179	20	1	1	NUM
alkej-76	179	21	-16	-16	SYM
alkej-76	179	22	(	(	PUNCT
alkej-76	179	23	2011	2011	NUM
alkej-76	179	24	)	)	PUNCT
alkej-76	179	25	13	13	NUM
alkej-76	179	26	where	where	SCONJ
alkej-76	179	27	and	and	CCONJ
alkej-76	179	28	constant	constant	ADJ
alkej-76	179	29	depend	depend	VERB
alkej-76	179	30	on	on	ADP
alkej-76	179	31	the	the	DET
alkej-76	179	32	dc	dc	PROPN
alkej-76	179	33	motor	motor	NOUN
alkej-76	179	34	parameters	parameter	NOUN
alkej-76	179	35	(	(	PUNCT
alkej-76	179	36	k	k	NOUN
alkej-76	179	37	)	)	PUNCT
alkej-76	179	38	.	.	PUNCT
alkej-76	180	1	12.1	12.1	NUM
alkej-76	180	2	.	.	PUNCT
alkej-76	180	3	modification	modification	NOUN
alkej-76	180	4	step	step	NOUN
alkej-76	180	5	cycle	cycle	NOUN
alkej-76	180	6	(	(	PUNCT
alkej-76	180	7	msc	msc	PROPN
alkej-76	180	8	)	)	PUNCT
alkej-76	180	9	it	it	PRON
alkej-76	180	10	is	be	AUX
alkej-76	180	11	the	the	DET
alkej-76	180	12	processing	processing	NOUN
alkej-76	180	13	time	time	NOUN
alkej-76	180	14	(	(	PUNCT
alkej-76	180	15	during	during	ADP
alkej-76	180	16	programming	programming	NOUN
alkej-76	180	17	)	)	PUNCT
alkej-76	180	18	which	which	PRON
alkej-76	180	19	is	be	AUX
alkej-76	180	20	required	require	VERB
alkej-76	180	21	for	for	ADP
alkej-76	180	22	modifying	modify	VERB
alkej-76	180	23	the	the	DET
alkej-76	180	24	path	path	NOUN
alkej-76	180	25	from	from	ADP
alkej-76	180	26	one	one	NUM
alkej-76	180	27	form	form	NOUN
alkej-76	180	28	to	to	ADP
alkej-76	180	29	another	another	PRON
alkej-76	180	30	according	accord	VERB
alkej-76	180	31	to	to	ADP
alkej-76	180	32	(	(	PUNCT
alkej-76	180	33	oac	oac	PROPN
alkej-76	180	34	)	)	PUNCT
alkej-76	180	35	algorithm	algorithm	NOUN
alkej-76	180	36	(	(	PUNCT
alkej-76	180	37	for	for	ADP
alkej-76	180	38	example	example	NOUN
alkej-76	180	39	converting	convert	VERB
alkej-76	180	40	the	the	DET
alkej-76	180	41	lower	low	ADJ
alkej-76	180	42	into	into	ADP
alkej-76	180	43	an	an	DET
alkej-76	180	44	intermediate	intermediate	ADJ
alkej-76	180	45	lower	low	ADJ
alkej-76	180	46	path	path	NOUN
alkej-76	180	47	or	or	CCONJ
alkej-76	180	48	into	into	ADP
alkej-76	180	49	a	a	DET
alkej-76	180	50	modified	modify	VERB
alkej-76	180	51	lower	low	ADJ
alkej-76	180	52	path	path	NOUN
alkej-76	180	53	directly	directly	ADV
alkej-76	180	54	)	)	PUNCT
alkej-76	180	55	.	.	PUNCT
alkej-76	181	1	12.2	12.2	NUM
alkej-76	181	2	.	.	PUNCT
alkej-76	182	1	selecting	select	VERB
alkej-76	182	2	time	time	NOUN
alkej-76	182	3	(	(	PUNCT
alkej-76	182	4	ts	ts	NOUN
alkej-76	182	5	)	)	PUNCT
alkej-76	182	6	it	it	PRON
alkej-76	182	7	is	be	AUX
alkej-76	182	8	the	the	DET
alkej-76	182	9	processing	processing	NOUN
alkej-76	182	10	time	time	NOUN
alkej-76	182	11	(	(	PUNCT
alkej-76	182	12	during	during	ADP
alkej-76	182	13	the	the	DET
alkej-76	182	14	programming	programming	NOUN
alkej-76	182	15	)	)	PUNCT
alkej-76	182	16	which	which	PRON
alkej-76	182	17	is	be	AUX
alkej-76	182	18	required	require	VERB
alkej-76	182	19	for	for	ADP
alkej-76	182	20	selecting	select	VERB
alkej-76	182	21	the	the	DET
alkej-76	182	22	optimal	optimal	ADJ
alkej-76	182	23	path	path	NOUN
alkej-76	182	24	among	among	ADP
alkej-76	182	25	all	all	DET
alkej-76	182	26	the	the	DET
alkej-76	182	27	resulted	resulted	ADJ
alkej-76	182	28	paths	path	NOUN
alkej-76	182	29	according	accord	VERB
alkej-76	182	30	to	to	ADP
alkej-76	182	31	(	(	PUNCT
alkej-76	182	32	oac	oac	NOUN
alkej-76	182	33	)	)	PUNCT
alkej-76	182	34	algorithm	algorithm	NOUN
alkej-76	182	35	.	.	PUNCT
alkej-76	183	1	13	13	NUM
alkej-76	183	2	.	.	X
alkej-76	183	3	length	length	NOUN
alkej-76	183	4	and	and	CCONJ
alkej-76	183	5	number	number	NOUN
alkej-76	183	6	of	of	ADP
alkej-76	183	7	segments	segment	NOUN
alkej-76	183	8	of	of	ADP
alkej-76	183	9	resulted	resulted	ADJ
alkej-76	183	10	paths	path	NOUN
alkej-76	183	11	in	in	ADP
alkej-76	183	12	all	all	DET
alkej-76	183	13	previous	previous	ADJ
alkej-76	183	14	case	case	NOUN
alkej-76	183	15	studies	study	NOUN
alkej-76	183	16	,	,	PUNCT
alkej-76	183	17	the	the	DET
alkej-76	183	18	resulted	resulted	ADJ
alkej-76	183	19	paths	path	NOUN
alkej-76	183	20	is	be	AUX
alkej-76	183	21	different	different	ADJ
alkej-76	183	22	from	from	ADP
alkej-76	183	23	each	each	PRON
alkej-76	183	24	to	to	ADP
alkej-76	183	25	other	other	ADJ
alkej-76	183	26	as	as	ADP
alkej-76	183	27	a	a	DET
alkej-76	183	28	result	result	NOUN
alkej-76	183	29	of	of	ADP
alkej-76	183	30	optimal	optimal	ADJ
alkej-76	183	31	path	path	NOUN
alkej-76	183	32	criteria	criterion	NOUN
alkej-76	183	33	which	which	PRON
alkej-76	183	34	try	try	VERB
alkej-76	183	35	to	to	PART
alkej-76	183	36	modify	modify	VERB
alkej-76	183	37	the	the	DET
alkej-76	183	38	upper	upper	ADJ
alkej-76	183	39	and	and	CCONJ
alkej-76	183	40	lower	low	ADJ
alkej-76	183	41	paths	path	NOUN
alkej-76	183	42	to	to	PART
alkej-76	183	43	get	get	VERB
alkej-76	183	44	the	the	DET
alkej-76	183	45	optimal	optimal	ADJ
alkej-76	183	46	path	path	NOUN
alkej-76	183	47	either	either	CCONJ
alkej-76	183	48	with	with	ADP
alkej-76	183	49	respect	respect	NOUN
alkej-76	183	50	to	to	ADP
alkej-76	183	51	length	length	NOUN
alkej-76	183	52	or	or	CCONJ
alkej-76	183	53	number	number	NOUN
alkej-76	183	54	of	of	ADP
alkej-76	183	55	segments	segment	NOUN
alkej-76	183	56	(	(	PUNCT
alkej-76	183	57	as	as	SCONJ
alkej-76	183	58	explained	explain	VERB
alkej-76	183	59	in	in	ADP
alkej-76	183	60	previous	previous	ADJ
alkej-76	183	61	chapters	chapter	NOUN
alkej-76	183	62	)	)	PUNCT
alkej-76	183	63	.	.	PUNCT
alkej-76	184	1	the	the	DET
alkej-76	184	2	modification	modification	NOUN
alkej-76	184	3	level	level	NOUN
alkej-76	184	4	is	be	AUX
alkej-76	184	5	different	different	ADJ
alkej-76	184	6	from	from	ADP
alkej-76	184	7	one	one	NUM
alkej-76	184	8	case	case	NOUN
alkej-76	184	9	to	to	ADP
alkej-76	184	10	other	other	ADJ
alkej-76	184	11	depending	depend	VERB
alkej-76	184	12	on	on	ADP
alkej-76	184	13	number	number	NOUN
alkej-76	184	14	of	of	ADP
alkej-76	184	15	obstacles	obstacle	NOUN
alkej-76	184	16	,	,	PUNCT
alkej-76	184	17	position	position	NOUN
alkej-76	184	18	and	and	CCONJ
alkej-76	184	19	distribution	distribution	NOUN
alkej-76	184	20	of	of	ADP
alkej-76	184	21	them	they	PRON
alkej-76	184	22	with	with	ADP
alkej-76	184	23	respect	respect	NOUN
alkej-76	184	24	to	to	PART
alkej-76	184	25	start	start	VERB
alkej-76	184	26	and	and	CCONJ
alkej-76	184	27	goal	goal	NOUN
alkej-76	184	28	point	point	NOUN
alkej-76	184	29	's	's	PART
alkej-76	184	30	positions	position	NOUN
alkej-76	184	31	,	,	PUNCT
alkej-76	184	32	size	size	NOUN
alkej-76	184	33	of	of	ADP
alkej-76	184	34	obstacles	obstacle	NOUN
alkej-76	184	35	…	…	PUNCT
alkej-76	184	36	,	,	PUNCT
alkej-76	184	37	etc	etc	X
alkej-76	184	38	.	.	X
alkej-76	185	1	however	however	ADV
alkej-76	185	2	the	the	DET
alkej-76	185	3	value	value	NOUN
alkej-76	185	4	of	of	ADP
alkej-76	185	5	this	this	DET
alkej-76	185	6	level	level	NOUN
alkej-76	185	7	in	in	ADP
alkej-76	185	8	all	all	DET
alkej-76	185	9	experiments	experiment	NOUN
alkej-76	185	10	is	be	AUX
alkej-76	185	11	that	that	SCONJ
alkej-76	185	12	the	the	DET
alkej-76	185	13	resulted	resulted	ADJ
alkej-76	185	14	paths	path	NOUN
alkej-76	185	15	are	be	AUX
alkej-76	185	16	modified	modify	VERB
alkej-76	185	17	with	with	ADP
alkej-76	185	18	respect	respect	NOUN
alkej-76	185	19	to	to	ADP
alkej-76	185	20	their	their	PRON
alkej-76	185	21	length	length	NOUN
alkej-76	185	22	and	and	CCONJ
alkej-76	185	23	number	number	NOUN
alkej-76	185	24	of	of	ADP
alkej-76	185	25	segments	segment	NOUN
alkej-76	185	26	.	.	PUNCT
alkej-76	186	1	figure	figure	NOUN
alkej-76	186	2	(	(	PUNCT
alkej-76	186	3	25	25	NUM
alkej-76	186	4	)	)	PUNCT
alkej-76	186	5	show	show	VERB
alkej-76	186	6	how	how	SCONJ
alkej-76	186	7	in	in	ADP
alkej-76	186	8	case	case	NOUN
alkej-76	186	9	study	study	NOUN
alkej-76	186	10	5	5	NUM
alkej-76	186	11	,	,	PUNCT
alkej-76	186	12	the	the	DET
alkej-76	186	13	length	length	NOUN
alkej-76	186	14	and	and	CCONJ
alkej-76	186	15	number	number	NOUN
alkej-76	186	16	of	of	ADP
alkej-76	186	17	segments	segment	NOUN
alkej-76	186	18	of	of	ADP
alkej-76	186	19	resulted	resulted	ADJ
alkej-76	186	20	paths	path	NOUN
alkej-76	186	21	are	be	AUX
alkej-76	186	22	decreased	decrease	VERB
alkej-76	186	23	with	with	ADP
alkej-76	186	24	increasing	increase	VERB
alkej-76	186	25	the	the	DET
alkej-76	186	26	index	index	NOUN
alkej-76	186	27	of	of	ADP
alkej-76	186	28	paths	path	NOUN
alkej-76	186	29	.	.	PUNCT
alkej-76	187	1	(	(	PUNCT
alkej-76	187	2	a	a	X
alkej-76	187	3	)	)	PUNCT
alkej-76	187	4	path	path	NOUN
alkej-76	187	5	length	length	NOUN
alkej-76	187	6	with	with	ADP
alkej-76	187	7	(	(	PUNCT
alkej-76	187	8	b	b	NOUN
alkej-76	187	9	)	)	PUNCT
alkej-76	187	10	path	path	NOUN
alkej-76	187	11	no	no	INTJ
alkej-76	187	12	.	.	PUNCT
alkej-76	188	1	of	of	ADP
alkej-76	188	2	respect	respect	NOUN
alkej-76	188	3	to	to	ADP
alkej-76	188	4	path	path	NOUN
alkej-76	188	5	index	index	NOUN
alkej-76	188	6	segments	segment	NOUN
alkej-76	188	7	with	with	ADP
alkej-76	188	8	respect	respect	NOUN
alkej-76	188	9	to	to	ADP
alkej-76	188	10	lower	low	ADJ
alkej-76	188	11	path	path	NOUN
alkej-76	188	12	index	index	NOUN
alkej-76	188	13	(	(	PUNCT
alkej-76	188	14	c	c	NOUN
alkej-76	188	15	)	)	PUNCT
alkej-76	188	16	path	path	NOUN
alkej-76	188	17	no	no	INTJ
alkej-76	188	18	.	.	PUNCT
alkej-76	189	1	of	of	ADP
alkej-76	189	2	segments	segment	NOUN
alkej-76	189	3	with	with	ADP
alkej-76	189	4	respect	respect	NOUN
alkej-76	189	5	to	to	ADP
alkej-76	189	6	path	path	PROPN
alkej-76	189	7	upper	upper	ADJ
alkej-76	189	8	index	index	NOUN
alkej-76	189	9	.	.	PUNCT
alkej-76	190	1	fig	fig	NOUN
alkej-76	190	2	.	.	PUNCT
alkej-76	191	1	25	25	NUM
alkej-76	191	2	.	.	PUNCT
alkej-76	191	3	path	path	NOUN
alkej-76	191	4	length	length	NOUN
alkej-76	191	5	and	and	CCONJ
alkej-76	191	6	no	no	INTJ
alkej-76	191	7	.	.	NOUN
alkej-76	191	8	of	of	ADP
alkej-76	191	9	segments	segment	NOUN
alkej-76	191	10	variation	variation	NOUN
alkej-76	191	11	for	for	ADP
alkej-76	191	12	case	case	NOUN
alkej-76	191	13	study	study	NOUN
alkej-76	191	14	6	6	NUM
alkej-76	191	15	.	.	PUNCT
alkej-76	192	1	case	case	NOUN
alkej-76	192	2	study	study	NOUN
alkej-76	192	3	5	5	NUM
alkej-76	192	4	/	/	SYM
alkej-76	192	5	d	d	NOUN
alkej-76	192	6	modified	modify	VERB
alkej-76	192	7	upper	upper	ADJ
alkej-76	192	8	path	path	NOUN
alkej-76	192	9	328	328	NUM
alkej-76	192	10	11.75	11.75	NUM
alkej-76	192	11	4	4	NUM
alkej-76	192	12	0.5625k	0.5625k	PROPN
alkej-76	192	13	36	36	NUM
alkej-76	192	14	60	60	NUM
alkej-76	192	15	1	1	NUM
alkej-76	192	16	5	5	NUM
alkej-76	192	17	case	case	NOUN
alkej-76	192	18	study	study	NOUN
alkej-76	192	19	6	6	NUM
alkej-76	192	20	/	/	SYM
alkej-76	192	21	a	a	DET
alkej-76	192	22	modified	modify	VERB
alkej-76	192	23	lower	low	ADJ
alkej-76	192	24	path	path	NOUN
alkej-76	192	25	260	260	NUM
alkej-76	192	26	8	8	NUM
alkej-76	192	27	2	2	NUM
alkej-76	192	28	0.1875	0.1875	NUM
alkej-76	192	29	k	k	PROPN
alkej-76	192	30	35	35	NUM
alkej-76	192	31	67	67	NUM
alkej-76	192	32	1	1	NUM
alkej-76	192	33	5	5	NUM
alkej-76	192	34	case	case	NOUN
alkej-76	192	35	study	study	VERB
alkej-76	192	36	6	6	NUM
alkej-76	192	37	/	/	SYM
alkej-76	192	38	b	b	NOUN
alkej-76	192	39	modified	modify	VERB
alkej-76	192	40	upper	upper	ADJ
alkej-76	192	41	path	path	NOUN
alkej-76	192	42	396	396	NUM
alkej-76	192	43	12.56	12.56	NUM
alkej-76	192	44	3	3	NUM
alkej-76	192	45	0.375	0.375	NUM
alkej-76	192	46	k	k	PROPN
alkej-76	192	47	35	35	NUM
alkej-76	192	48	67	67	NUM
alkej-76	192	49	2	2	NUM
alkej-76	192	50	5	5	NUM
alkej-76	192	51	case	case	NOUN
alkej-76	192	52	study	study	NOUN
alkej-76	192	53	7	7	NUM
alkej-76	192	54	modified	modify	VERB
alkej-76	192	55	upper	upper	ADJ
alkej-76	192	56	path	path	NOUN
alkej-76	192	57	308	308	NUM
alkej-76	192	58	11.2	11.2	NUM
alkej-76	192	59	4	4	NUM
alkej-76	192	60	0.5625k	0.5625k	NOUN
alkej-76	192	61	28	28	NUM
alkej-76	192	62	40	40	NUM
alkej-76	192	63	2	2	NUM
alkej-76	192	64	5	5	NUM
alkej-76	192	65	case	case	NOUN
alkej-76	192	66	study	study	NOUN
alkej-76	192	67	8	8	NUM
alkej-76	192	68	modified	modify	VERB
alkej-76	192	69	upper	upper	ADJ
alkej-76	192	70	path	path	NOUN
alkej-76	192	71	296	296	NUM
alkej-76	192	72	9.9	9.9	NUM
alkej-76	192	73	3	3	NUM
alkej-76	192	74	0.375	0.375	NUM
alkej-76	192	75	k	k	PROPN
alkej-76	192	76	35	35	NUM
alkej-76	192	77	70	70	NUM
alkej-76	192	78	1	1	NUM
alkej-76	192	79	4	4	NUM
alkej-76	192	80	case	case	NOUN
alkej-76	192	81	study	study	NOUN
alkej-76	192	82	9/	9/	NUM
alkej-76	192	83	small	small	NOUN
alkej-76	192	84	s	s	PART
alkej-76	192	85	modified	modify	VERB
alkej-76	192	86	upper	upper	ADJ
alkej-76	192	87	path	path	NOUN
alkej-76	192	88	400	400	NUM
alkej-76	192	89	14.66	14.66	NUM
alkej-76	192	90	5	5	NUM
alkej-76	192	91	0.75	0.75	NUM
alkej-76	192	92	k	k	NOUN
alkej-76	192	93	46	46	NUM
alkej-76	192	94	76	76	NUM
alkej-76	192	95	2	2	NUM
alkej-76	192	96	6	6	NUM
alkej-76	192	97	case	case	NOUN
alkej-76	192	98	study	study	NOUN
alkej-76	192	99	9	9	NUM
alkej-76	192	100	/	/	SYM
alkej-76	192	101	large	large	ADJ
alkej-76	192	102	s	s	PART
alkej-76	192	103	modified	modify	VERB
alkej-76	192	104	upper	upper	ADJ
alkej-76	192	105	path	path	NOUN
alkej-76	192	106	425	425	NUM
alkej-76	192	107	12.33	12.33	NUM
alkej-76	192	108	2	2	NUM
alkej-76	192	109	0.1875	0.1875	NUM
alkej-76	192	110	k	k	PROPN
alkej-76	192	111	18	18	NUM
alkej-76	192	112	60	60	NUM
alkej-76	192	113	2	2	NUM
alkej-76	192	114	4	4	NUM
alkej-76	192	115	nabeel	nabeel	PROPN
alkej-76	192	116	k.	k.	PROPN
alkej-76	192	117	abid	abid	PROPN
alkej-76	192	118	alsahib	alsahib	PROPN
alkej-76	192	119	al	al	PROPN
alkej-76	192	120	-	-	PUNCT
alkej-76	192	121	khwarizmi	khwarizmi	PROPN
alkej-76	192	122	engineering	engineering	NOUN
alkej-76	192	123	journal	journal	PROPN
alkej-76	192	124	,	,	PUNCT
alkej-76	192	125	vol	vol	NOUN
alkej-76	192	126	.	.	PROPN
alkej-76	192	127	7	7	NUM
alkej-76	192	128	,	,	PUNCT
alkej-76	192	129	no	no	INTJ
alkej-76	192	130	.	.	NOUN
alkej-76	192	131	4	4	NUM
alkej-76	192	132	,	,	PUNCT
alkej-76	192	133	pp	pp	ADV
alkej-76	192	134	1	1	NUM
alkej-76	192	135	-16	-16	SYM
alkej-76	192	136	(	(	PUNCT
alkej-76	192	137	2011	2011	NUM
alkej-76	192	138	)	)	PUNCT
alkej-76	192	139	14	14	NUM
alkej-76	192	140	14	14	NUM
alkej-76	192	141	.	.	PUNCT
alkej-76	193	1	conclusion	conclusion	NOUN
alkej-76	193	2	a	a	DET
alkej-76	193	3	proposed	propose	VERB
alkej-76	193	4	path	path	NOUN
alkej-76	193	5	planning	planning	NOUN
alkej-76	193	6	algorithm	algorithm	NOUN
alkej-76	193	7	which	which	PRON
alkej-76	193	8	is	be	AUX
alkej-76	193	9	called	call	VERB
alkej-76	193	10	(	(	PUNCT
alkej-76	193	11	oac	oac	PROPN
alkej-76	193	12	)	)	PUNCT
alkej-76	193	13	algorithm	algorithm	NOUN
alkej-76	193	14	is	be	AUX
alkej-76	193	15	proposed	propose	VERB
alkej-76	193	16	in	in	ADP
alkej-76	193	17	this	this	DET
alkej-76	193	18	work	work	NOUN
alkej-76	193	19	and	and	CCONJ
alkej-76	193	20	it	it	PRON
alkej-76	193	21	is	be	AUX
alkej-76	193	22	applied	apply	VERB
alkej-76	193	23	to	to	ADP
alkej-76	193	24	pioneer	pioneer	PROPN
alkej-76	193	25	p3	p3	PROPN
alkej-76	193	26	-	-	PROPN
alkej-76	193	27	dx	dx	PROPN
alkej-76	193	28	mobile	mobile	PROPN
alkej-76	193	29	robot	robot	NOUN
alkej-76	193	30	to	to	PART
alkej-76	193	31	obtain	obtain	VERB
alkej-76	193	32	the	the	DET
alkej-76	193	33	optimal	optimal	ADJ
alkej-76	193	34	path	path	NOUN
alkej-76	193	35	(	(	PUNCT
alkej-76	193	36	in	in	ADP
alkej-76	193	37	time	time	NOUN
alkej-76	193	38	and	and	CCONJ
alkej-76	193	39	power	power	NOUN
alkej-76	193	40	)	)	PUNCT
alkej-76	193	41	in	in	ADP
alkej-76	193	42	2d	2d	NUM
alkej-76	193	43	static	static	ADJ
alkej-76	193	44	environment	environment	NOUN
alkej-76	193	45	.	.	PUNCT
alkej-76	194	1	the	the	DET
alkej-76	194	2	building	building	NOUN
alkej-76	194	3	algorithm	algorithm	NOUN
alkej-76	194	4	is	be	AUX
alkej-76	194	5	based	base	VERB
alkej-76	194	6	on	on	ADP
alkej-76	194	7	the	the	DET
alkej-76	194	8	observation	observation	NOUN
alkej-76	194	9	,	,	PUNCT
alkej-76	194	10	analysis	analysis	NOUN
alkej-76	194	11	of	of	ADP
alkej-76	194	12	the	the	DET
alkej-76	194	13	obstacles	obstacle	NOUN
alkej-76	194	14	that	that	PRON
alkej-76	194	15	intersects	intersect	VERB
alkej-76	194	16	with	with	ADP
alkej-76	194	17	the	the	DET
alkej-76	194	18	supposed	suppose	VERB
alkej-76	194	19	straight	straight	ADJ
alkej-76	194	20	path	path	NOUN
alkej-76	194	21	that	that	PRON
alkej-76	194	22	connects	connect	VERB
alkej-76	194	23	the	the	DET
alkej-76	194	24	start	start	NOUN
alkej-76	194	25	and	and	CCONJ
alkej-76	194	26	goal	goal	NOUN
alkej-76	194	27	point	point	NOUN
alkej-76	194	28	and	and	CCONJ
alkej-76	194	29	conclude	conclude	VERB
alkej-76	194	30	the	the	DET
alkej-76	194	31	resulted	resulted	ADJ
alkej-76	194	32	paths	path	NOUN
alkej-76	194	33	and	and	CCONJ
alkej-76	194	34	select	select	VERB
alkej-76	194	35	the	the	DET
alkej-76	194	36	better	well	ADJ
alkej-76	194	37	one	one	NOUN
alkej-76	194	38	among	among	ADP
alkej-76	194	39	them	they	PRON
alkej-76	194	40	according	accord	VERB
alkej-76	194	41	to	to	ADP
alkej-76	194	42	lengths	length	NOUN
alkej-76	194	43	and	and	CCONJ
alkej-76	194	44	the	the	DET
alkej-76	194	45	number	number	NOUN
alkej-76	194	46	of	of	ADP
alkej-76	194	47	the	the	DET
alkej-76	194	48	individual	individual	ADJ
alkej-76	194	49	lines	line	NOUN
alkej-76	194	50	which	which	PRON
alkej-76	194	51	form	form	VERB
alkej-76	194	52	them	they	PRON
alkej-76	194	53	.	.	PUNCT
alkej-76	195	1	it	it	PRON
alkej-76	195	2	is	be	AUX
alkej-76	195	3	worthy	worthy	ADJ
alkej-76	195	4	to	to	PART
alkej-76	195	5	mention	mention	VERB
alkej-76	195	6	that	that	SCONJ
alkej-76	195	7	this	this	DET
alkej-76	195	8	algorithm	algorithm	NOUN
alkej-76	195	9	can	can	AUX
alkej-76	195	10	be	be	AUX
alkej-76	195	11	applied	apply	VERB
alkej-76	195	12	for	for	ADP
alkej-76	195	13	dynamic	dynamic	ADJ
alkej-76	195	14	environments	environment	NOUN
alkej-76	195	15	by	by	ADP
alkej-76	195	16	progranning	progranne	VERB
alkej-76	195	17	the	the	DET
alkej-76	195	18	cammera	cammera	NOUN
alkej-76	195	19	to	to	PART
alkej-76	195	20	provide	provide	VERB
alkej-76	195	21	an	an	DET
alkej-76	195	22	instantaneous	instantaneous	ADJ
alkej-76	195	23	image	image	NOUN
alkej-76	195	24	for	for	ADP
alkej-76	195	25	the	the	DET
alkej-76	195	26	environment	environment	NOUN
alkej-76	195	27	for	for	ADP
alkej-76	195	28	each	each	DET
alkej-76	195	29	spesific	spesific	ADJ
alkej-76	195	30	time	time	NOUN
alkej-76	195	31	and	and	CCONJ
alkej-76	195	32	make	make	VERB
alkej-76	195	33	the	the	DET
alkej-76	195	34	program	program	NOUN
alkej-76	195	35	repeat	repeat	VERB
alkej-76	195	36	itself	itself	PRON
alkej-76	195	37	consequently	consequently	ADV
alkej-76	195	38	in	in	ADP
alkej-76	195	39	intervals	interval	NOUN
alkej-76	195	40	.	.	PUNCT
alkej-76	196	1	this	this	DET
alkej-76	196	2	algorithm	algorithm	NOUN
alkej-76	196	3	requires	require	VERB
alkej-76	196	4	less	less	ADJ
alkej-76	196	5	computations	computation	NOUN
alkej-76	196	6	power	power	NOUN
alkej-76	196	7	than	than	ADP
alkej-76	196	8	most	most	ADJ
alkej-76	196	9	of	of	ADP
alkej-76	196	10	other	other	ADJ
alkej-76	196	11	algorithms	algorithm	NOUN
alkej-76	196	12	,	,	PUNCT
alkej-76	196	13	because	because	SCONJ
alkej-76	196	14	the	the	DET
alkej-76	196	15	selection	selection	NOUN
alkej-76	196	16	of	of	ADP
alkej-76	196	17	the	the	DET
alkej-76	196	18	optimal	optimal	ADJ
alkej-76	196	19	power	power	NOUN
alkej-76	196	20	is	be	AUX
alkej-76	196	21	applied	apply	VERB
alkej-76	196	22	maximally	maximally	ADV
alkej-76	196	23	among	among	ADP
alkej-76	196	24	six	six	NUM
alkej-76	196	25	or	or	CCONJ
alkej-76	196	26	seven	seven	NUM
alkej-76	196	27	paths	path	NOUN
alkej-76	196	28	.	.	PUNCT
alkej-76	197	1	the	the	DET
alkej-76	197	2	optimal	optimal	ADJ
alkej-76	197	3	path	path	NOUN
alkej-76	197	4	selection	selection	NOUN
alkej-76	197	5	is	be	AUX
alkej-76	197	6	not	not	PART
alkej-76	197	7	submitted	submit	VERB
alkej-76	197	8	to	to	ADP
alkej-76	197	9	known	know	VERB
alkej-76	197	10	optimization	optimization	NOUN
alkej-76	197	11	criteria	criterion	NOUN
alkej-76	197	12	,	,	PUNCT
alkej-76	197	13	but	but	CCONJ
alkej-76	197	14	it	it	PRON
alkej-76	197	15	is	be	AUX
alkej-76	197	16	found	find	VERB
alkej-76	197	17	by	by	ADP
alkej-76	197	18	a	a	DET
alkej-76	197	19	teqnique	teqnique	NOUN
alkej-76	197	20	that	that	PRON
alkej-76	197	21	give	give	VERB
alkej-76	197	22	us	we	PRON
alkej-76	197	23	the	the	DET
alkej-76	197	24	better	well	ADJ
alkej-76	197	25	path	path	NOUN
alkej-76	197	26	which	which	PRON
alkej-76	197	27	is	be	AUX
alkej-76	197	28	not	not	PART
alkej-76	197	29	only	only	ADV
alkej-76	197	30	the	the	DET
alkej-76	197	31	shortest	short	ADJ
alkej-76	197	32	one	one	NUM
alkej-76	197	33	but	but	CCONJ
alkej-76	197	34	also	also	ADV
alkej-76	197	35	the	the	DET
alkej-76	197	36	less	less	ADJ
alkej-76	197	37	one	one	NUM
alkej-76	197	38	in	in	ADP
alkej-76	197	39	consuming	consume	VERB
alkej-76	197	40	power	power	NOUN
alkej-76	197	41	.	.	PUNCT
alkej-76	198	1	this	this	PRON
alkej-76	198	2	with	with	ADP
alkej-76	198	3	addition	addition	NOUN
alkej-76	198	4	to	to	ADP
alkej-76	198	5	advantages	advantage	NOUN
alkej-76	198	6	of	of	ADP
alkej-76	198	7	the	the	DET
alkej-76	198	8	(	(	PUNCT
alkej-76	198	9	oac	oac	PROPN
alkej-76	198	10	)	)	PUNCT
alkej-76	198	11	algorithm	algorithm	NOUN
alkej-76	198	12	gives	give	VERB
alkej-76	198	13	it	it	PRON
alkej-76	198	14	enough	enough	ADJ
alkej-76	198	15	strength	strength	NOUN
alkej-76	198	16	that	that	PRON
alkej-76	198	17	qualifies	qualify	VERB
alkej-76	198	18	it	it	PRON
alkej-76	198	19	to	to	PART
alkej-76	198	20	compete	compete	VERB
alkej-76	198	21	with	with	ADP
alkej-76	198	22	all	all	DET
alkej-76	198	23	other	other	ADJ
alkej-76	198	24	path	path	NOUN
alkej-76	198	25	planning	planning	NOUN
alkej-76	198	26	algorithm	algorithm	NOUN
alkej-76	198	27	and	and	CCONJ
alkej-76	198	28	excel	excel	VERB
alkej-76	198	29	on	on	ADP
alkej-76	198	30	some	some	PRON
alkej-76	198	31	of	of	ADP
alkej-76	198	32	them	they	PRON
alkej-76	198	33	.	.	PUNCT
alkej-76	199	1	the	the	DET
alkej-76	199	2	advantages	advantage	NOUN
alkej-76	199	3	of	of	ADP
alkej-76	199	4	(	(	PUNCT
alkej-76	199	5	oac	oac	PROPN
alkej-76	199	6	)	)	PUNCT
alkej-76	199	7	algorithm	algorithm	NOUN
alkej-76	199	8	are	be	AUX
alkej-76	199	9	:	:	PUNCT
alkej-76	199	10	•	•	ADP
alkej-76	199	11	the	the	DET
alkej-76	199	12	possibility	possibility	NOUN
alkej-76	199	13	of	of	ADP
alkej-76	199	14	changing	change	VERB
alkej-76	199	15	the	the	DET
alkej-76	199	16	start	start	NOUN
alkej-76	199	17	and	and	CCONJ
alkej-76	199	18	goal	goal	NOUN
alkej-76	199	19	points	point	NOUN
alkej-76	199	20	for	for	ADP
alkej-76	199	21	any	any	DET
alkej-76	199	22	values	value	NOUN
alkej-76	199	23	and	and	CCONJ
alkej-76	199	24	from	from	ADP
alkej-76	199	25	any	any	DET
alkej-76	199	26	direction	direction	NOUN
alkej-76	199	27	.	.	PUNCT
alkej-76	200	1	this	this	PRON
alkej-76	200	2	is	be	AUX
alkej-76	200	3	considered	consider	VERB
alkej-76	200	4	a	a	DET
alkej-76	200	5	constraint	constraint	NOUN
alkej-76	200	6	for	for	ADP
alkej-76	200	7	some	some	DET
alkej-76	200	8	path	path	NOUN
alkej-76	200	9	planning	planning	NOUN
alkej-76	200	10	algorithms	algorithm	NOUN
alkej-76	200	11	which	which	PRON
alkej-76	200	12	do	do	AUX
alkej-76	200	13	not	not	PART
alkej-76	200	14	have	have	VERB
alkej-76	200	15	this	this	DET
alkej-76	200	16	ability	ability	NOUN
alkej-76	200	17	.	.	PUNCT
alkej-76	201	1	•	•	NOUN
alkej-76	201	2	this	this	DET
alkej-76	201	3	algorithm	algorithm	NOUN
alkej-76	201	4	can	can	AUX
alkej-76	201	5	be	be	AUX
alkej-76	201	6	applied	apply	VERB
alkej-76	201	7	for	for	ADP
alkej-76	201	8	different	different	ADJ
alkej-76	201	9	shapes	shape	NOUN
alkej-76	201	10	of	of	ADP
alkej-76	201	11	obstacles	obstacle	NOUN
alkej-76	201	12	by	by	ADP
alkej-76	201	13	creating	create	VERB
alkej-76	201	14	new	new	ADJ
alkej-76	201	15	suggestion	suggestion	NOUN
alkej-76	201	16	which	which	PRON
alkej-76	201	17	said	say	VERB
alkej-76	201	18	that	that	SCONJ
alkej-76	201	19	"	"	PUNCT
alkej-76	201	20	all	all	DET
alkej-76	201	21	different	different	ADJ
alkej-76	201	22	shapes	shape	NOUN
alkej-76	201	23	of	of	ADP
alkej-76	201	24	obstacles	obstacle	NOUN
alkej-76	201	25	can	can	AUX
alkej-76	201	26	be	be	AUX
alkej-76	201	27	regulated	regulate	VERB
alkej-76	201	28	by	by	ADP
alkej-76	201	29	converting	convert	VERB
alkej-76	201	30	them	they	PRON
alkej-76	201	31	into	into	ADP
alkej-76	201	32	square	square	ADJ
alkej-76	201	33	or	or	CCONJ
alkej-76	201	34	rectangular	rectangular	ADJ
alkej-76	201	35	shapes	shape	NOUN
alkej-76	201	36	only	only	ADV
alkej-76	201	37	"	"	PUNCT
alkej-76	201	38	.	.	PUNCT
alkej-76	202	1	this	this	PRON
alkej-76	202	2	is	be	AUX
alkej-76	202	3	considered	consider	VERB
alkej-76	202	4	a	a	DET
alkej-76	202	5	treatment	treatment	NOUN
alkej-76	202	6	for	for	ADP
alkej-76	202	7	some	some	DET
alkej-76	202	8	path	path	NOUN
alkej-76	202	9	planning	planning	NOUN
alkej-76	202	10	algorithms	algorithm	NOUN
alkej-76	202	11	which	which	PRON
alkej-76	202	12	is	be	AUX
alkej-76	202	13	constrainted	constrainte	VERB
alkej-76	202	14	by	by	ADP
alkej-76	202	15	the	the	DET
alkej-76	202	16	shape	shape	NOUN
alkej-76	202	17	of	of	ADP
alkej-76	202	18	the	the	DET
alkej-76	202	19	obstacles	obstacle	NOUN
alkej-76	202	20	.	.	PUNCT
alkej-76	203	1	•	•	NUM
alkej-76	203	2	the	the	DET
alkej-76	203	3	resulted	resulted	ADJ
alkej-76	203	4	optimal	optimal	ADJ
alkej-76	203	5	path	path	NOUN
alkej-76	203	6	is	be	AUX
alkej-76	203	7	the	the	DET
alkej-76	203	8	shortest	short	ADJ
alkej-76	203	9	one	one	NUM
alkej-76	203	10	in	in	ADP
alkej-76	203	11	length	length	NOUN
alkej-76	203	12	as	as	ADP
alkej-76	203	13	compared	compare	VERB
alkej-76	203	14	with	with	ADP
alkej-76	203	15	the	the	DET
alkej-76	203	16	other	other	ADJ
alkej-76	203	17	paths	path	NOUN
alkej-76	203	18	which	which	PRON
alkej-76	203	19	resulted	result	VERB
alkej-76	203	20	acccording	acccorde	VERB
alkej-76	203	21	to	to	ADP
alkej-76	203	22	oac	oac	ADJ
alkej-76	203	23	algorithm	algorithm	NOUN
alkej-76	203	24	(	(	PUNCT
alkej-76	203	25	and	and	CCONJ
alkej-76	203	26	so	so	ADV
alkej-76	203	27	in	in	ADP
alkej-76	203	28	time	time	NOUN
alkej-76	203	29	that	that	PRON
alkej-76	203	30	the	the	DET
alkej-76	203	31	robot	robot	NOUN
alkej-76	203	32	required	require	VERB
alkej-76	203	33	to	to	PART
alkej-76	203	34	accomplish	accomplish	VERB
alkej-76	203	35	this	this	DET
alkej-76	203	36	path	path	NOUN
alkej-76	203	37	)	)	PUNCT
alkej-76	203	38	when	when	SCONJ
alkej-76	203	39	it	it	PRON
alkej-76	203	40	compared	compare	VERB
alkej-76	203	41	with	with	ADP
alkej-76	203	42	some	some	DET
alkej-76	203	43	path	path	NOUN
alkej-76	203	44	planning	planning	NOUN
alkej-76	203	45	algorithms	algorithm	NOUN
alkej-76	203	46	such	such	ADJ
alkej-76	203	47	as	as	ADP
alkej-76	203	48	genetic	genetic	ADJ
alkej-76	203	49	algorithms	algorithm	NOUN
alkej-76	203	50	and	and	CCONJ
alkej-76	203	51	the	the	DET
alkej-76	203	52	potential	potential	ADJ
alkej-76	203	53	field	field	NOUN
alkej-76	203	54	algorithms	algorithm	NOUN
alkej-76	203	55	[	[	X
alkej-76	203	56	3	3	X
alkej-76	203	57	]	]	PUNCT
alkej-76	203	58	as	as	SCONJ
alkej-76	203	59	shown	show	VERB
alkej-76	203	60	in	in	ADP
alkej-76	203	61	figure	figure	NOUN
alkej-76	203	62	(	(	PUNCT
alkej-76	203	63	26	26	NUM
alkej-76	203	64	-	-	PUNCT
alkej-76	203	65	a	a	NOUN
alkej-76	203	66	)	)	PUNCT
alkej-76	203	67	.	.	PUNCT
alkej-76	204	1	•	•	NOUN
alkej-76	204	2	the	the	DET
alkej-76	204	3	resulted	resulted	ADJ
alkej-76	204	4	optimal	optimal	ADJ
alkej-76	204	5	path	path	NOUN
alkej-76	204	6	consummes	consumme	NOUN
alkej-76	204	7	less	less	ADJ
alkej-76	204	8	the	the	DET
alkej-76	204	9	power	power	NOUN
alkej-76	205	1	and	and	CCONJ
alkej-76	205	2	it	it	PRON
alkej-76	205	3	is	be	AUX
alkej-76	205	4	required	require	VERB
alkej-76	205	5	to	to	PART
alkej-76	205	6	change	change	VERB
alkej-76	205	7	its	its	PRON
alkej-76	205	8	direction	direction	NOUN
alkej-76	205	9	in	in	ADP
alkej-76	205	10	the	the	DET
alkej-76	205	11	curved	curved	ADJ
alkej-76	205	12	parts	part	NOUN
alkej-76	205	13	in	in	ADP
alkej-76	205	14	the	the	DET
alkej-76	205	15	resulted	resulted	ADJ
alkej-76	205	16	path	path	NOUN
alkej-76	205	17	(	(	PUNCT
alkej-76	205	18	because	because	SCONJ
alkej-76	205	19	it	it	PRON
alkej-76	205	20	is	be	AUX
alkej-76	205	21	smooth	smooth	ADJ
alkej-76	205	22	and	and	CCONJ
alkej-76	205	23	contains	contain	VERB
alkej-76	205	24	small	small	ADJ
alkej-76	205	25	number	number	NOUN
alkej-76	205	26	of	of	ADP
alkej-76	205	27	curves	curve	NOUN
alkej-76	205	28	)	)	PUNCT
alkej-76	205	29	as	as	ADP
alkej-76	205	30	compared	compare	VERB
alkej-76	205	31	with	with	ADP
alkej-76	205	32	potential	potential	ADJ
alkej-76	205	33	algorithm	algorithm	NOUN
alkej-76	205	34	as	as	SCONJ
alkej-76	205	35	shown	show	VERB
alkej-76	205	36	in	in	ADP
alkej-76	205	37	figure	figure	NOUN
alkej-76	205	38	(	(	PUNCT
alkej-76	205	39	26	26	NUM
alkej-76	205	40	-	-	PUNCT
alkej-76	205	41	a	a	PRON
alkej-76	205	42	)	)	PUNCT
alkej-76	205	43	.	.	PUNCT
alkej-76	206	1	this	this	DET
alkej-76	206	2	resulted	result	VERB
alkej-76	206	3	path	path	NOUN
alkej-76	206	4	is	be	AUX
alkej-76	206	5	considered	consider	VERB
alkej-76	206	6	more	more	ADV
alkej-76	206	7	economic	economic	ADJ
alkej-76	206	8	as	as	SCONJ
alkej-76	206	9	shown	show	VERB
alkej-76	206	10	in	in	ADP
alkej-76	206	11	figure	figure	NOUN
alkej-76	206	12	(	(	PUNCT
alkej-76	206	13	26	26	NUM
alkej-76	206	14	-	-	PUNCT
alkej-76	206	15	b	b	NOUN
alkej-76	206	16	)	)	PUNCT
alkej-76	206	17	.	.	PUNCT
alkej-76	207	1	fig.26	fig.26	PROPN
alkej-76	207	2	.	.	PROPN
alkej-76	207	3	comparison	comparison	NOUN
alkej-76	207	4	between	between	ADP
alkej-76	207	5	oac	oac	NOUN
alkej-76	207	6	path	path	NOUN
alkej-76	207	7	and	and	CCONJ
alkej-76	207	8	potential	potential	ADJ
alkej-76	207	9	field	field	NOUN
alkej-76	207	10	path	path	NOUN
alkej-76	207	11	15	15	NUM
alkej-76	207	12	.	.	PUNCT
alkej-76	208	1	references	reference	NOUN
alkej-76	208	2	[	[	X
alkej-76	208	3	1	1	NUM
alkej-76	208	4	]	]	X
alkej-76	208	5	steven	steven	PROPN
alkej-76	208	6	m.	m.	PROPN
alkej-76	208	7	cavalle	cavalle	PROPN
alkej-76	208	8	,	,	PUNCT
alkej-76	208	9	'	'	PUNCT
alkej-76	208	10	planning	planning	NOUN
alkej-76	208	11	algorithm	algorithm	NOUN
alkej-76	208	12	'	'	PUNCT
alkej-76	208	13	,	,	PUNCT
alkej-76	208	14	cambridge	cambridge	PROPN
alkej-76	208	15	university	university	PROPN
alkej-76	208	16	press	press	PROPN
alkej-76	208	17	2006	2006	NUM
alkej-76	208	18	.	.	PUNCT
alkej-76	209	1	[	[	X
alkej-76	209	2	2	2	NUM
alkej-76	209	3	]	]	PUNCT
alkej-76	209	4	pioneer	pioneer	NOUN
alkej-76	209	5	reference	reference	NOUN
alkej-76	209	6	book	book	NOUN
alkej-76	209	7	,	,	PUNCT
alkej-76	209	8	www.mobilerobotics.com	www.mobilerobotics.com	PROPN
alkej-76	209	9	.	.	NOUN
alkej-76	209	10	2008	2008	NUM
alkej-76	209	11	.	.	PUNCT
alkej-76	210	1	[	[	X
alkej-76	210	2	3	3	X
alkej-76	210	3	]	]	X
alkej-76	210	4	adam	adam	PROPN
alkej-76	210	5	hoover	hoover	PROPN
alkej-76	210	6	,	,	PUNCT
alkej-76	210	7	bent	bent	ADJ
alkej-76	210	8	david	david	PROPN
alkej-76	210	9	olsen	olsen	PROPN
alkej-76	210	10	,	,	PUNCT
alkej-76	210	11	'	'	PUNCT
alkej-76	210	12	path	path	NOUN
alkej-76	210	13	planning	planning	NOUN
alkej-76	210	14	for	for	ADP
alkej-76	210	15	mobile	mobile	ADJ
alkej-76	210	16	robots	robot	NOUN
alkej-76	210	17	using	use	VERB
alkej-76	210	18	a	a	DET
alkej-76	210	19	video	video	NOUN
alkej-76	210	20	camera	camera	NOUN
alkej-76	210	21	network	network	NOUN
alkej-76	210	22	'	'	PUNCT
alkej-76	210	23	,	,	PUNCT
alkej-76	210	24	in	in	ADP
alkej-76	210	25	proc	proc	NOUN
alkej-76	210	26	.	.	PUNCT
alkej-76	210	27	of	of	ADP
alkej-76	210	28	ieee	ieee	PROPN
alkej-76	210	29	/	/	SYM
alkej-76	210	30	asme	asme	PROPN
alkej-76	210	31	int'l	int'l	NOUN
alkej-76	210	32	conf	conf	NOUN
alkej-76	210	33	.	.	PUNCT
alkej-76	211	1	on	on	ADP
alkej-76	211	2	advanced	advanced	ADJ
alkej-76	211	3	intelligent	intelligent	ADJ
alkej-76	211	4	mechatronics	mechatronic	NOUN
alkej-76	211	5	,	,	PUNCT
alkej-76	211	6	1999	1999	NUM
alkej-76	211	7	.	.	PUNCT
alkej-76	212	1	[	[	X
alkej-76	212	2	4	4	NUM
alkej-76	212	3	]	]	PUNCT
alkej-76	212	4	'	'	PUNCT
alkej-76	212	5	computer	computer	NOUN
alkej-76	212	6	vision	vision	NOUN
alkej-76	212	7	and	and	CCONJ
alkej-76	212	8	image	image	NOUN
alkej-76	212	9	processing	processing	NOUN
alkej-76	212	10	'	'	PUNCT
alkej-76	212	11	,	,	PUNCT
alkej-76	212	12	scott	scott	PROPN
alkej-76	212	13	e.	e.	PROPN
alkej-76	212	14	umbaugh	umbaugh	PROPN
alkej-76	212	15	,	,	PUNCT
alkej-76	212	16	prentice	prentice	NOUN
alkej-76	212	17	hall	hall	PROPN
alkej-76	212	18	press	press	PROPN
alkej-76	212	19	1998	1998	NUM
alkej-76	212	20	.	.	PUNCT
alkej-76	213	1	[	[	X
alkej-76	213	2	5	5	X
alkej-76	213	3	]	]	PUNCT
alkej-76	213	4	kamran	kamran	PROPN
alkej-76	213	5	h.	h.	PROPN
alkej-76	213	6	sedighi	sedighi	PROPN
alkej-76	213	7	,	,	PUNCT
alkej-76	213	8	kaveh	kaveh	PROPN
alkej-76	213	9	ashenayi	ashenayi	ADV
alkej-76	213	10	,	,	PUNCT
alkej-76	213	11	theodore	theodore	PROPN
alkej-76	213	12	w.	w.	PROPN
alkej-76	213	13	manikas	manikas	PROPN
alkej-76	213	14	,	,	PUNCT
alkej-76	213	15	roger	roger	PROPN
alkej-76	213	16	l.	l.	PROPN
alkej-76	213	17	wainwright	wainwright	PROPN
alkej-76	213	18	,	,	PUNCT
alkej-76	213	19	heng	heng	PROPN
alkej-76	213	20	-	-	PUNCT
alkej-76	213	21	ming	ming	PROPN
alkej-76	213	22	tai	tai	PROPN
alkej-76	213	23	.	.	PROPN
alkej-76	213	24	,	,	PUNCT
alkej-76	213	25	'	'	PUNCT
alkej-76	213	26	autonomous	autonomous	ADJ
alkej-76	213	27	local	local	ADJ
alkej-76	213	28	pathplanning	pathplanning	NOUN
alkej-76	213	29	for	for	ADP
alkej-76	213	30	a	a	DET
alkej-76	213	31	mobile	mobile	ADJ
alkej-76	213	32	robot	robot	NOUN
alkej-76	213	33	using	use	VERB
alkej-76	213	34	a	a	DET
alkej-76	213	35	genetic	genetic	ADJ
alkej-76	213	36	algorithm	algorithm	NOUN
alkej-76	213	37	'	'	PART
alkej-76	213	38	,	,	PUNCT
alkej-76	213	39	vol.2	vol.2	PROPN
alkej-76	213	40	,	,	PUNCT
alkej-76	213	41	2004	2004	NUM
alkej-76	213	42	,	,	PUNCT
alkej-76	213	43	page(s	page(s	NOUN
alkej-76	213	44	):	):	PUNCT
alkej-76	213	45	1338	1338	NUM
alkej-76	213	46	1345	1345	NUM
alkej-76	213	47	,	,	PUNCT
alkej-76	213	48	ieee	ieee	NOUN
alkej-76	213	49	.	.	PUNCT
alkej-76	214	1	[	[	X
alkej-76	214	2	6	6	NUM
alkej-76	214	3	]	]	PUNCT
alkej-76	214	4	anand	anand	NOUN
alkej-76	214	5	veeraswamy	veeraswamy	NOUN
alkej-76	214	6	,	,	PUNCT
alkej-76	214	7	'	'	PUNCT
alkej-76	214	8	optimal	optimal	ADJ
alkej-76	214	9	path	path	NOUN
alkej-76	214	10	planning	planning	NOUN
alkej-76	214	11	using	use	VERB
alkej-76	214	12	an	an	DET
alkej-76	214	13	imported	import	VERB
alkej-76	214	14	a	a	DET
alkej-76	214	15	*	*	ADJ
alkej-76	214	16	algorithm	algorithm	NOUN
alkej-76	214	17	for	for	ADP
alkej-76	214	18	homeland	homeland	NOUN
alkej-76	214	19	security	security	NOUN
alkej-76	214	20	applications	application	NOUN
alkej-76	214	21	'	'	PUNCT
alkej-76	214	22	,	,	PUNCT
alkej-76	214	23	february	february	PROPN
alkej-76	214	24	2006	2006	NUM
alkej-76	214	25	,	,	PUNCT
alkej-76	214	26	aia'06	aia'06	NUM
alkej-76	214	27	:	:	PUNCT
alkej-76	214	28	proceedings	proceeding	NOUN
alkej-76	214	29	of	of	ADP
alkej-76	214	30	the	the	DET
alkej-76	214	31	24th	24th	NOUN
alkej-76	214	32	lasted	last	VERB
alkej-76	214	33	international	international	ADJ
alkej-76	214	34	conference	conference	NOUN
alkej-76	214	35	on	on	ADP
alkej-76	214	36	artificial	artificial	ADJ
alkej-76	214	37	intelligence	intelligence	NOUN
alkej-76	214	38	and	and	CCONJ
alkej-76	214	39	applications	application	NOUN
alkej-76	214	40	.	.	PUNCT
alkej-76	215	1	[	[	X
alkej-76	215	2	7	7	X
alkej-76	215	3	]	]	X
alkej-76	215	4	andrew	andrew	PROPN
alkej-76	215	5	n.	n.	PROPN
alkej-76	215	6	hand	hand	PROPN
alkej-76	215	7	,	,	PUNCT
alkej-76	215	8	jagruthi	jagruthi	ADP
alkej-76	215	9	godugu	godugu	NOUN
alkej-76	215	10	,	,	PUNCT
alkej-76	215	11	kaveh	kaveh	PROPN
alkej-76	215	12	ashenyi	ashenyi	PROPN
alkej-76	215	13	,	,	PUNCT
alkej-76	215	14	theodore	theodore	PROPN
alkej-76	215	15	w.	w.	PROPN
alkej-76	215	16	manikas	manikas	PROPN
alkej-76	215	17	,	,	PUNCT
alkej-76	215	18	roger	roger	PROPN
alkej-76	215	19	l.	l.	PROPN
alkej-76	215	20	wainwrightb	wainwrightb	PROPN
alkej-76	215	21	.	.	PUNCT
alkej-76	216	1	'	'	PUNCT
alkej-76	216	2	benchmarking	benchmarke	VERB
alkej-76	216	3	robot	robot	NOUN
alkej-76	216	4	path	path	NOUN
alkej-76	216	5	planning	planning	PROPN
alkej-76	216	6	'	'	PUNCT
alkej-76	216	7	,	,	PUNCT
alkej-76	216	8	annie	annie	PROPN
alkej-76	216	9	2005	2005	NUM
alkej-76	216	10	.	.	PUNCT
alkej-76	217	1	[	[	X
alkej-76	217	2	8	8	X
alkej-76	217	3	]	]	X
alkej-76	217	4	mehmet	mehmet	PROPN
alkej-76	217	5	serdar	serdar	PROPN
alkej-76	217	6	guzel	guzel	PROPN
alkej-76	217	7	,	,	PUNCT
alkej-76	217	8	'	'	PUNCT
alkej-76	217	9	mobile	mobile	ADJ
alkej-76	217	10	robot	robot	NOUN
alkej-76	217	11	navigation	navigation	NOUN
alkej-76	217	12	using	use	VERB
alkej-76	217	13	a	a	DET
alkej-76	217	14	vision	vision	NOUN
alkej-76	217	15	based	base	VERB
alkej-76	217	16	approach	approach	NOUN
alkej-76	217	17	'	'	PUNCT
alkej-76	217	18	,	,	PUNCT
alkej-76	217	19	2003	2003	NUM
alkej-76	217	20	.	.	PUNCT
alkej-76	218	1	(	(	PUNCT
alkej-76	218	2	a	a	X
alkej-76	218	3	)	)	PUNCT
alkej-76	218	4	the	the	DET
alkej-76	218	5	resulted	resulted	ADJ
alkej-76	218	6	path	path	NOUN
alkej-76	218	7	according	accord	VERB
alkej-76	218	8	to	to	ADP
alkej-76	218	9	potential	potential	ADJ
alkej-76	218	10	field	field	NOUN
alkej-76	218	11	algorithm	algorithm	NOUN
alkej-76	218	12	[	[	X
alkej-76	218	13	3	3	X
alkej-76	218	14	]	]	PUNCT
alkej-76	218	15	(	(	PUNCT
alkej-76	218	16	b	b	X
alkej-76	218	17	)	)	PUNCT
alkej-76	218	18	the	the	DET
alkej-76	218	19	resulted	resulted	ADJ
alkej-76	218	20	path	path	NOUN
alkej-76	218	21	according	accord	VERB
alkej-76	218	22	to	to	ADP
alkej-76	218	23	(	(	PUNCT
alkej-76	218	24	oac	oac	PROPN
alkej-76	218	25	)	)	PUNCT
alkej-76	218	26	algorithm	algorithm	NOUN
alkej-76	218	27	http://www.mobilerobotics.com	http://www.mobilerobotics.com	X
alkej-76	219	1	nabeel	nabeel	PROPN
alkej-76	219	2	k.	k.	PROPN
alkej-76	219	3	abid	abid	PROPN
alkej-76	219	4	alsahib	alsahib	PROPN
alkej-76	219	5	al	al	PROPN
alkej-76	219	6	-	-	PUNCT
alkej-76	219	7	khwarizmi	khwarizmi	PROPN
alkej-76	219	8	engineering	engineering	NOUN
alkej-76	219	9	journal	journal	PROPN
alkej-76	219	10	,	,	PUNCT
alkej-76	219	11	vol	vol	NOUN
alkej-76	219	12	.	.	PROPN
alkej-76	219	13	7	7	NUM
alkej-76	219	14	,	,	PUNCT
alkej-76	219	15	no	no	INTJ
alkej-76	219	16	.	.	NOUN
alkej-76	219	17	4	4	NUM
alkej-76	219	18	,	,	PUNCT
alkej-76	219	19	pp	pp	ADV
alkej-76	219	20	1	1	NUM
alkej-76	219	21	-16	-16	SYM
alkej-76	219	22	(	(	PUNCT
alkej-76	219	23	2011	2011	NUM
alkej-76	219	24	)	)	PUNCT
alkej-76	219	25	15	15	NUM
alkej-76	220	1	[	[	X
alkej-76	220	2	9	9	NUM
alkej-76	220	3	]	]	PUNCT
alkej-76	220	4	'	'	PUNCT
alkej-76	220	5	digital	digital	ADJ
alkej-76	220	6	image	image	NOUN
alkej-76	220	7	processing	processing	NOUN
alkej-76	220	8	'	'	PUNCT
alkej-76	220	9	/second	/second	NOUN
alkej-76	220	10	edition	edition	PROPN
alkej-76	220	11	/	/	SYM
alkej-76	220	12	rafael	rafael	PROPN
alkej-76	220	13	c.gonzalez	c.gonzalez	PROPN
alkej-76	220	14	/	/	SYM
alkej-76	220	15	1987	1987	NUM
alkej-76	220	16	.	.	PUNCT
alkej-76	221	1	[	[	X
alkej-76	221	2	10	10	NUM
alkej-76	221	3	]	]	X
alkej-76	221	4	amar	amar	PROPN
alkej-76	221	5	rezoug	rezoug	PROPN
alkej-76	221	6	,	,	PUNCT
alkej-76	221	7	mohand	mohand	NOUN
alkej-76	221	8	said	say	VERB
alkej-76	221	9	djouadi	djouadi	NOUN
alkej-76	221	10	,	,	PUNCT
alkej-76	221	11	'	'	PUNCT
alkej-76	221	12	visual	visual	ADJ
alkej-76	221	13	based	base	VERB
alkej-76	221	14	lane	lane	NOUN
alkej-76	221	15	following	follow	VERB
alkej-76	221	16	for	for	ADP
alkej-76	221	17	nonholonomic	nonholonomic	ADJ
alkej-76	221	18	mobile	mobile	PROPN
alkej-76	221	19	robot	robot	NOUN
alkej-76	221	20	'	'	PUNCT
alkej-76	221	21	,	,	PUNCT
alkej-76	221	22	vol	vol	NOUN
alkej-76	221	23	.	.	PUNCT
alkej-76	222	1	iii	iii	PROPN
alkej-76	222	2	(	(	PUNCT
alkej-76	222	3	2008	2008	NUM
alkej-76	222	4	)	)	PUNCT
alkej-76	222	5	,	,	PUNCT
alkej-76	222	6	suppl	suppl	PROPN
alkej-76	222	7	.	.	PUNCT
alkej-76	223	1	issue	issue	NOUN
alkej-76	223	2	:	:	PUNCT
alkej-76	223	3	proceedings	proceeding	NOUN
alkej-76	223	4	of	of	ADP
alkej-76	223	5	icccc	icccc	PROPN
alkej-76	223	6	2008	2008	NUM
alkej-76	223	7	,	,	PUNCT
alkej-76	223	8	pp	pp	ADJ
alkej-76	223	9	.	.	PUNCT
alkej-76	224	1	475	475	NUM
alkej-76	224	2	-	-	SYM
alkej-76	224	3	479	479	NUM
alkej-76	224	4	,	,	PUNCT
alkej-76	224	5	int	int	NOUN
alkej-76	224	6	.	.	PUNCT
alkej-76	225	1	j.	j.	PROPN
alkej-76	225	2	of	of	ADP
alkej-76	225	3	computers	computer	NOUN
alkej-76	225	4	,	,	PUNCT
alkej-76	225	5	communications	communication	NOUN
alkej-76	225	6	&	&	CCONJ
alkej-76	225	7	control	control	PROPN
alkej-76	225	8	,	,	PUNCT
alkej-76	225	9	issn	issn	PROPN
alkej-76	225	10	18419836	18419836	NUM
alkej-76	225	11	,	,	PUNCT
alkej-76	225	12	e	e	X
alkej-76	225	13	-	-	PROPN
alkej-76	225	14	issn	issn	PROPN
alkej-76	225	15	1841	1841	NUM
alkej-76	225	16	-	-	SYM
alkej-76	225	17	9844	9844	NUM
alkej-76	225	18	.	.	PUNCT
alkej-76	226	1	[	[	X
alkej-76	226	2	11	11	NUM
alkej-76	226	3	]	]	PUNCT
alkej-76	226	4	arvind	arvind	PROPN
alkej-76	226	5	antonio	antonio	PROPN
alkej-76	226	6	de	de	PROPN
alkej-76	226	7	menezes	menezes	PROPN
alkej-76	226	8	pereira	pereira	PROPN
alkej-76	226	9	,	,	PUNCT
alkej-76	226	10	'	'	PUNCT
alkej-76	226	11	navigation	navigation	NOUN
alkej-76	226	12	and	and	CCONJ
alkej-76	226	13	guidance	guidance	NOUN
alkej-76	226	14	of	of	ADP
alkej-76	226	15	an	an	DET
alkej-76	226	16	autonomous	autonomous	ADJ
alkej-76	226	17	surface	surface	NOUN
alkej-76	226	18	'	'	PUNCT
alkej-76	226	19	,	,	PUNCT
alkej-76	226	20	volume	volume	NOUN
alkej-76	226	21	60	60	NUM
alkej-76	226	22	,	,	PUNCT
alkej-76	226	23	issue	issue	NOUN
alkej-76	226	24	2	2	NUM
alkej-76	226	25	,	,	PUNCT
alkej-76	226	26	march	march	PROPN
alkej-76	226	27	2008	2008	NUM
alkej-76	226	28	,	,	PUNCT
alkej-76	226	29	on	on	ADP
alkej-76	226	30	pages	page	NOUN
alkej-76	226	31	133	133	NUM
alkej-76	226	32	-	-	SYM
alkej-76	226	33	143	143	NUM
alkej-76	226	34	,	,	PUNCT
alkej-76	226	35	computers	computer	NOUN
alkej-76	226	36	and	and	CCONJ
alkej-76	226	37	electronics	electronic	NOUN
alkej-76	226	38	in	in	ADP
alkej-76	226	39	agriculture	agriculture	NOUN
alkej-76	226	40	.	.	PUNCT
alkej-76	227	1	[	[	X
alkej-76	227	2	12	12	NUM
alkej-76	227	3	]	]	PUNCT
alkej-76	227	4	ethar	ethar	PROPN
alkej-76	227	5	h.khalil	h.khalil	PROPN
alkej-76	227	6	,	,	PUNCT
alkej-76	227	7	'	'	PUNCT
alkej-76	227	8	application	application	NOUN
alkej-76	227	9	of	of	ADP
alkej-76	227	10	probability	probability	NOUN
alkej-76	227	11	recursive	recursive	ADJ
alkej-76	227	12	method	method	NOUN
alkej-76	227	13	for	for	ADP
alkej-76	227	14	path	path	NOUN
alkej-76	227	15	planning	planning	PROPN
alkej-76	227	16	'	'	PART
alkej-76	227	17	,	,	PUNCT
alkej-76	227	18	msc	msc	PROPN
alkej-76	227	19	.	.	PROPN
alkej-76	228	1	thesis	thesis	NOUN
alkej-76	228	2	,	,	PUNCT
alkej-76	228	3	2008	2008	NUM
alkej-76	228	4	.	.	PUNCT
alkej-76	229	1	[	[	X
alkej-76	229	2	13	13	NUM
alkej-76	229	3	]	]	SYM
alkej-76	229	4	'	'	PUNCT
alkej-76	229	5	visual	visual	ADJ
alkej-76	229	6	c++.net	c++.net	NOUN
alkej-76	229	7	'	'	PROPN
alkej-76	229	8	,	,	PUNCT
alkej-76	229	9	michel	michel	PROPN
alkej-76	229	10	hyman	hyman	PROPN
alkej-76	229	11	,	,	PUNCT
alkej-76	229	12	hungry	hungry	ADJ
alkej-76	229	13	minds	mind	NOUN
alkej-76	229	14	,	,	PUNCT
alkej-76	229	15	2002	2002	NUM
alkej-76	229	16	.	.	PUNCT
alkej-76	230	1	[	[	X
alkej-76	230	2	14	14	NUM
alkej-76	230	3	]	]	PUNCT
alkej-76	230	4	'	'	PUNCT
alkej-76	230	5	problem	problem	NOUN
alkej-76	230	6	solving	solve	VERB
alkej-76	230	7	with	with	ADP
alkej-76	230	8	c++'/	c++'/	PROPN
alkej-76	230	9	walter	walter	NOUN
alkej-76	230	10	savitch	savitch	PROPN
alkej-76	230	11	,	,	PUNCT
alkej-76	230	12	addison	addison	PROPN
alkej-76	230	13	wesley	wesley	PROPN
alkej-76	230	14	/	/	PUNCT
alkej-76	230	15	1999	1999	NUM
alkej-76	230	16	.	.	PUNCT
alkej-76	231	1	[	[	X
alkej-76	231	2	15	15	NUM
alkej-76	231	3	]	]	X
alkej-76	231	4	'	'	PUNCT
alkej-76	231	5	visual	visual	ADJ
alkej-76	231	6	c++.net	c++.net	NOUN
alkej-76	231	7	'	'	PART
alkej-76	231	8	,	,	PUNCT
alkej-76	231	9	h.m.deitel	h.m.deitel	X
alkej-76	231	10	,	,	PUNCT
alkej-76	231	11	2004	2004	NUM
alkej-76	231	12	,	,	PUNCT
alkej-76	231	13	prentice	prentice	PROPN
alkej-76	231	14	hall	hall	PROPN
alkej-76	231	15	press	press	PROPN
alkej-76	231	16	.	.	PUNCT
alkej-76	231	17	)	)	PUNCT
alkej-76	232	1	2011	2011	NUM
alkej-76	232	2	(	(	PUNCT
alkej-76	232	3	1	1	NUM
alkej-76	232	4	16	16	NUM
alkej-76	232	5	،	،	NOUN
alkej-76	232	6	صفحة4	صفحة4	PROPN
alkej-76	232	7	،	،	PROPN
alkej-76	232	8	العدد7مجلة	العدد7مجلة	PROPN
alkej-76	232	9	الخوارزمي	الخوارزمي	VERB
alkej-76	232	10	الھندسیة	الھندسیة	PROPN
alkej-76	232	11	المجلد	المجلد	PROPN
alkej-76	232	12	نبیل	نبیل	PROPN
alkej-76	232	13	كاظم	كاظم	NOUN
alkej-76	232	14	عبدالصاحب	عبدالصاحب	NOUN
alkej-76	232	15	16	16	NUM
alkej-76	232	16	لي	لي	NOUN
alkej-76	232	17	متحركآنسان	متحركآنسان	NOUN
alkej-76	232	18	السیطرة	السیطرة	PROPN
alkej-76	232	19	على	على	PROPN
alkej-76	232	20	المسار	المسار	PROPN
alkej-76	232	21	المخطط	المخطط	PROPN
alkej-76	232	22	أل	أل	ADP
alkej-76	232	23	آمنة	آمنة	PROPN
alkej-76	232	24	عبد	عبد	PROPN
alkej-76	232	25	الھادي	الھادي	NOUN
alkej-76	232	26	صالح	صالح	NOUN
alkej-76	232	27	بدالصاحب	بدالصاحب	NOUN
alkej-76	232	28	نبیل	نبیل	NOUN
alkej-76	232	29	كاظم	كاظم	NOUN
alkej-76	232	30	ع	ع	ADP
alkej-76	232	31	جامعة	جامعة	NOUN
alkej-76	232	32	بغداد/	بغداد/	NUM
alkej-76	232	33	كلیة	كلیة	NOUN
alkej-76	232	34	ھندسة	ھندسة	ADJ
alkej-76	232	35	الخوارزمي/	الخوارزمي/	NUM
alkej-76	232	36	المیكاترونیكس	المیكاترونیكس	NOUN
alkej-76	232	37	ھندسة	ھندسة	PROPN
alkej-76	233	1	قسم	قسم	INTJ
alkej-76	233	2	dr-nabeelalsahib@hotmal.com	dr-nabeelalsahib@hotmal.com	PROPN
alkej-76	234	1	:	:	PUNCT
alkej-76	234	2	االلكتروني	االلكتروني	NOUN
alkej-76	234	3	البرید	البرید	NOUN
alkej-76	234	4	الخالصة	الخالصة	NOUN
alkej-76	234	5	ال	ال	ADP
alkej-76	234	6	ذاتي	ذاتي	ADV
alkej-76	234	7	الق	الق	PROPN
alkej-76	234	8	ائم	ائم	PROPN
alkej-76	234	9	عل	عل	ADP
alkej-76	234	10	ى	ى	PROPN
alkej-76	234	11	تقنی	تقنی	NOUN
alkej-76	234	12	ات	ات	ADP
alkej-76	234	13	معالج	معالج	VERB
alkej-76	234	14	ة	ة	ADP
alkej-76	234	15	ذو	ذو	PROPN
alkej-76	234	16	ال	ال	PROPN
alkej-76	234	17	تحكم	تحكم	PROPN
alkej-76	234	18	p3	p3	PROPN
alkej-76	234	19	-	-	PUNCT
alkej-76	234	20	dx	dx	PROPN
alkej-76	234	21	pioneerن	pioneerن	NOUN
alkej-76	234	22	وع	وع	NOUN
alkej-76	234	23	للروب	للروب	NOUN
alkej-76	234	24	وت	وت	PRON
alkej-76	234	25	المتح	المتح	NOUN
alkej-76	234	26	رك	رك	ADP
alkej-76	234	27	تخطیط	تخطیط	PROPN
alkej-76	234	28	المس	المس	PROPN
alkej-76	234	29	ار	ار	PROPN
alkej-76	234	30	المتوق	المتوق	NOUN
alkej-76	234	31	ع	ع	PROPN
alkej-76	234	32	یقدم	یقدم	ADJ
alkej-76	235	1	ھذا	ھذا	NOUN
alkej-76	235	2	البحث	البحث	PROPN
alkej-76	235	3	خوارزمیة	خوارزمیة	PROPN
alkej-76	235	4	جدیدة	جدیدة	PROPN
alkej-76	235	5	ل	ل	PROPN
alkej-76	235	6	الص	الص	PROPN
alkej-76	235	7	ورة	ورة	PROPN
alkej-76	235	8	للحص	للحص	NOUN
alkej-76	235	9	ول	ول	INTJ
alkej-76	235	10	عل	عل	ADP
alkej-76	235	11	ى	ى	PROPN
alkej-76	235	12	المس	المس	NOUN
alkej-76	235	13	ار	ار	NOUN
alkej-76	235	14	یتم	یتم	NOUN
alkej-76	235	15	تطبیق	تطبیق	PROPN
alkej-76	235	16	الخوارزمیة	الخوارزمیة	PROPN
alkej-76	235	17	المقترح	المقترح	VERB
alkej-76	235	18	ة	ة	ADP
alkej-76	235	19	عل	عل	ADP
alkej-76	235	20	ى	ى	X
alkej-76	235	21	ھ	ھ	INTJ
alkej-76	235	22	ذه	ذه	INTJ
alkej-76	235	23	.	.	PUNCT
alkej-76	236	1	الصور	الصور	PROPN
alkej-76	236	2	باستخدام	باستخدام	PROPN
alkej-76	236	3	الكامیرا	الكامیرا	PROPN
alkej-76	236	4	الالسلكیة	الالسلكیة	PROPN
alkej-76	236	5	التي	التي	PROPN
alkej-76	236	6	توفر	توفر	VERB
alkej-76	236	7	الصورة	الصورة	PROPN
alkej-76	236	8	المطلوبة	المطلوبة	PROPN
alkej-76	236	9	لبیئة	لبیئة	NOUN
alkej-76	236	10	مجھولة	مجھولة	PROPN
alkej-76	236	11	في	في	SCONJ
alkej-76	236	12	الطریق	الطریق	PROPN
alkej-76	236	13	المستقیم	المستقیم	PROPN
alkej-76	236	14	بین	بین	PROPN
alkej-76	236	15	نقطة	نقطة	PROPN
alkej-76	236	16	البدایة	البدایة	PROPN
alkej-76	236	17	والھدف	والھدف	PROPN
alkej-76	236	18	من	من	PROPN
alkej-76	236	19	خالل	خالل	PROPN
alkej-76	236	20	الكشف	الكشف	VERB
alkej-76	236	21	عن	عن	PRON
alkej-76	236	22	ھذه	ھذه	VERB
alkej-76	237	1	العقبات	العقبات	PROPN
alkej-76	237	2	،	،	PROPN
alkej-76	237	3	تقع	تقع	PROPN
alkej-76	237	4	وھو	وھو	PROPN
alkej-76	237	5	یقوم	یقوم	PROPN
alkej-76	237	6	على	على	PROPN
alkej-76	237	7	رصد	رصد	PROPN
alkej-76	237	8	وتحلیل	وتحلیل	PROPN
alkej-76	237	9	العقبات	العقبات	PROPN
alkej-76	237	10	التي	التي	PROPN
alkej-76	237	11	.	.	PUNCT
alkej-76	238	1	للروبوت	للروبوت	PROPN
alkej-76	238	2	و	و	PRON
alkej-76	238	3	االفضل	االفضل	PROPN
alkej-76	238	4	األمثل	األمثل	NOUN
alkej-76	238	5	.الذي	.الذي	PROPN
alkej-76	238	6	یربط	یربط	PROPN
alkej-76	238	7	بین	بین	PROPN
alkej-76	238	8	نقطة	نقطة	PROPN
alkej-76	238	9	البدایة	البدایة	NOUN
alkej-76	238	10	والھدفالمسار	والھدفالمسار	PROPN
alkej-76	238	11	االفضل	االفضل	PROPN
alkej-76	238	12	لى	لى	X
alkej-76	238	13	لعثور	لعثور	PROPN
alkej-76	238	14	عا	عا	X
alkej-76	238	15	،	،	PROPN
alkej-76	238	16	ومحاولة	ومحاولة	PROPN
alkej-76	238	17	المفترض	المفترض	PROPN
alkej-76	238	18	المستقیم	المستقیم	PROPN
alkej-76	238	19	ونقاط	ونقاط	PROPN
alkej-76	238	20	التقاطع	التقاطع	VERB
alkej-76	238	21	مع	مع	INTJ
alkej-76	238	22	الطریق	الطریق	PROPN
alkej-76	238	23	مواقعھاوتحلیل	مواقعھاوتحلیل	VERB
alkej-76	238	24	ودراسة	ودراسة	PROPN
alkej-76	238	25	أشكالھا	أشكالھا	VERB
alkej-76	238	26	و	و	PRON
alkej-76	238	27	.	.	PUNCT
alkej-76	238	28	)	)	PUNCT
alkej-76	239	1	اتصال	اتصال	NOUN
alkej-76	239	2	السلكي	السلكي	VERB
alkej-76	239	3	للروبوت	للروبوت	NOUN
alkej-76	239	4	المتحرك	المتحرك	PROPN
alkej-76	239	5	-الكمبیوتر	-الكمبیوتر	PROPN
alkej-76	239	6	-كامیرا	-كامیرا	NOUN
alkej-76	239	7	السلكیة	السلكیة	NOUN
alkej-76	239	8	(:	(:	NOUN
alkej-76	239	9	یتضمن	یتضمن	PROPN
alkej-76	239	10	تمثیل	تمثیل	PROPN
alkej-76	239	11	النظام	النظام	PROPN
alkej-76	239	12	العام	العام	VERB
alkej-76	239	13	ان	ان	PROPN
alkej-76	239	14	وذلك	وذلك	PROPN
alkej-76	239	15	األمثل	األمثل	PROPN
alkej-76	239	16	تقریباالذي	تقریباالذي	PROPN
alkej-76	239	17	یطبق	یطبق	PROPN
alkej-76	239	18	على	على	PROPN
alkej-76	239	19	صورة	صورة	PROPN
alkej-76	239	20	بیئة	بیئة	NOUN
alkej-76	239	21	إلیجاد	إلیجاد	PROPN
alkej-76	239	22	الطریق	الطریق	NOUN
alkej-76	239	23	)	)	PUNCT
alkej-76	240	1	matlab(بلغة	matlab(بلغة	NOUN
alkej-76	240	2	برنامج	برنامج	NOUN
alkej-76	240	3	ویشمل	ویشمل	VERB
alkej-76	240	4	بناءالجزء	بناءالجزء	PROPN
alkej-76	240	5	االول	االول	PROPN
alkej-76	240	6	,	,	PUNCT
alkej-76	240	7	ئین	ئین	VERB
alkej-76	240	8	اساسیینھذا	اساسیینھذا	PROPN
alkej-76	240	9	العمل	العمل	PROPN
alkej-76	240	10	تضمن	تضمن	PROPN
alkej-76	240	11	جز	جز	ADP
alkej-76	240	12	visual(ال	visual(ال	PROPN
alkej-76	240	13	ى	ى	PROPN
alkej-76	240	14	البرن	البرن	X
alkej-76	240	15	امج	امج	PROPN
alkej-76	240	16	ال	ال	ADP
alkej-76	240	17	ذي	ذي	PROPN
alkej-76	240	18	ت	ت	DET
alkej-76	240	19	م	م	PROPN
alkej-76	240	20	بن	بن	PROPN
alkej-76	240	21	اؤه	اؤه	NOUN
alkej-76	240	22	بلغ	بلغ	NOUN
alkej-76	240	23	ة	ة	DET
alkej-76	240	24	مس	مس	NOUN
alkej-76	240	25	ار	ار	NOUN
alkej-76	240	26	المعلوم	المعلوم	NOUN
alkej-76	240	27	ات	ات	AUX
alkej-76	240	28	تزوی	تزوی	VERB
alkej-76	240	29	د	د	PRON
alkej-76	240	30	وی	وی	PROPN
alkej-76	240	31	تم	تم	PRON
alkej-76	240	32	c++.net	c++.net	PROPN
alkej-76	240	33	)	)	PUNCT
alkej-76	240	34	matlab	matlab	PROPN
alkej-76	240	35	(	(	PUNCT
alkej-76	240	36	م	م	NOUN
alkej-76	240	37	ن	ن	NOUN
alkej-76	240	38	خ	خ	NOUN
alkej-76	240	39	الل	الل	PROPN
alkej-76	240	40	التعش	التعش	VERB
alkej-76	240	41	یق	یق	VERB
alkej-76	240	42	ب	ب	PRON
alkej-76	240	43	ین	ین	ADV
alkej-76	240	44	اللغت	اللغت	VERB
alkej-76	240	45	ین	ین	ADV
alkej-76	240	46	الب	الب	PROPN
alkej-76	240	47	رمجیتین	رمجیتین	PROPN
alkej-76	240	48	c++.net	c++.net	PROPN
alkej-76	240	49	(	(	PUNCT
alkej-76	240	50	الروبوت	الروبوت	PROPN
alkej-76	240	51	الخاصة	الخاصة	PROPN
alkej-76	240	52	ببرمجة)pioneer	ببرمجة)pioneer	PROPN
alkej-76	240	53	p3	p3	PROPN
alkej-76	240	54	dx	dx	PROPN
alkej-76	240	55	(	(	PUNCT
alkej-76	240	56	لتحقیق	لتحقیق	PROPN
alkej-76	240	57	المسار	المسار	PROPN
alkej-76	240	58	المطلوب	المطلوب	PROPN
alkej-76	240	59	.	.	PUNCT
alkej-76	241	1	یرسل	یرسل	PROPN
alkej-76	241	2	لھا	لھا	VERB
alkej-76	241	3	إلى	إلى	NOUN
alkej-76	241	4	جھاز	جھاز	NOUN
alkej-76	241	5	الكمبیوتر	الكمبیوتر	NOUN
alkej-76	241	6	الذي	الذي	PROPN
alkej-76	241	7	یعالج	یعالج	VERB
alkej-76	241	8	،	،	PROPN
alkej-76	241	9	في	في	ADP
alkej-76	241	10	دوره	دوره	PROPN
alkej-76	241	11	،	،	PROPN
alkej-76	241	12	ھذه	ھذه	PROPN
alkej-76	241	13	الصورة	الصورة	PROPN
alkej-76	241	14	وثم	وثم	PROPN
alkej-76	241	15	یرس	یرس	NOUN
alkej-76	241	16	الواقعیة	الواقعیة	PROPN
alkej-76	241	17	أخذ	أخذ	PROPN
alkej-76	241	18	صورة	صورة	PROPN
alkej-76	241	19	للبیئةتسلكیة	للبیئةتسلكیة	PROPN
alkej-76	241	20	استخدام	استخدام	PROPN
alkej-76	241	21	كامیرا	كامیرا	NOUN
alkej-76	241	22	الالثاني	الالثاني	PROPN
alkej-76	241	23	یتمثل	یتمثل	NOUN
alkej-76	241	24	بالجزءاما	بالجزءاما	NOUN
alkej-76	241	25	.وفقا	.وفقا	PUNCT
alkej-76	241	26	لھذا	لھذا	PROPN
alkej-76	241	27	المسار	المسار	PROPN
alkej-76	241	28	لكي	لكي	PROPN
alkej-76	241	29	یسیر	یسیر	NOUN
alkej-76	241	30	)	)	PUNCT
alkej-76	241	31	visual	visual	ADJ
alkej-76	241	32	c++.net	c++.net	PROPN
alkej-76	241	33	برمجتھ	برمجتھ	PROPN
alkej-76	241	34	بلغة	بلغة	VERB
alkej-76	241	35	تم	تم	NOUN
alkej-76	241	36	مسار	مسار	PROPN
alkej-76	241	37	إلى	إلى	PROPN
alkej-76	241	38	الروبوت	الروبوت	PROPN
alkej-76	241	39	الذيالمعلومات	الذيالمعلومات	VERB
alkej-76	241	40	)	)	PUNCT
alkej-76	242	1	السلكيالتصال	السلكيالتصال	PROPN
alkej-76	242	2	اال	اال	NOUN
alkej-76	242	3	عن	عن	PROPN
alkej-76	242	4	طریق	طریق	NOUN
alkej-76	242	5	(	(	PUNCT
alkej-76	242	6	و	و	PRON
alkej-76	242	7	ال	ال	VERB
alkej-76	242	8	ذي	ذي	INTJ
alkej-76	242	9	ت	ت	PRON
alkej-76	242	10	م	م	PROPN
alkej-76	242	11	الوصول	الوصول	PROPN
alkej-76	242	12	إلى	إلى	PROPN
alkej-76	242	13	الھدف	الھدف	PROPN
alkej-76	242	14	عبر	عبر	PROPN
alkej-76	242	15	المسار	المسار	PROPN
alkej-76	242	16	األمث	األمث	PROPN
alkej-76	242	17	ل	ل	PROPN
alkej-76	243	1	و	و	PRON
alkej-76	243	2	بدایة	بدایة	PROPN
alkej-76	243	3	البنجاح	البنجاح	PROPN
alkej-76	243	4	من	من	PROPN
alkej-76	243	5	نقطة	نقطة	PROPN
alkej-76	243	6	تمكن	تمكن	NOUN
alkej-76	243	7	من	من	PRON
alkej-76	243	8	الحركة	الحركة	NOUN
alkej-76	243	9	)	)	PUNCT
alkej-76	243	10	pioneer	pioneer	NOUN
alkej-76	243	11	p3	p3	PROPN
alkej-76	243	12	dx(أن	dx(أن	PROPN
alkej-76	243	13	الروبوت	الروبوت	PROPN
alkej-76	243	14	النتائج	النتائج	PROPN
alkej-76	243	15	العملیة	العملیة	PROPN
alkej-76	243	16	بینت	بینت	NOUN
alkej-76	243	17	حیث	حیث	PROPN
alkej-76	243	18	تم	تم	PROPN
alkej-76	243	19	ایجاد	ایجاد	PROPN
alkej-76	243	20	مسارین	مسارین	NOUN
alkej-76	243	21	ھما	ھما	VERB
alkej-76	243	22	المسار	المسار	NOUN
alkej-76	243	23	العلوي	العلوي	PROPN
alkej-76	243	24	والمسار	والمسار	PROPN
alkej-76	243	25	السفلي	السفلي	PROPN
alkej-76	243	26	ثم	ثم	ADP
alkej-76	243	27	وفقا	وفقا	ADJ
alkej-76	243	28	لھذه	لھذه	NOUN
alkej-76	243	29	الخوارزمیة	الخوارزمیة	NOUN
alkej-76	243	30	ت	ت	ADP
alkej-76	243	31	م	م	PROPN
alkej-76	243	32	تح	تح	PROPN
alkej-76	243	33	دیثھما	دیثھما	NOUN
alkej-76	243	34	,	,	PUNCT
alkej-76	243	35	التي	التي	PROPN
alkej-76	243	36	تم	تم	PROPN
alkej-76	243	37	بناؤھا	بناؤھا	VERB
alkej-76	243	38	ھنا	ھنا	NUM
alkej-76	243	39	من	من	DET
alkej-76	243	40	الخوارزمیةیھ	الخوارزمیةیھ	PROPN
alkej-76	243	41	كنتیجة	كنتیجة	PROPN
alkej-76	243	42	الحصول	الحصول	PROPN
alkej-76	243	43	عل	عل	ADP
alkej-76	243	44	وم	وم	NOUN
alkej-76	243	45	ن	ن	PROPN
alkej-76	243	46	خ	خ	NOUN
alkej-76	243	47	الل	الل	NOUN
alkej-76	243	48	فح	فح	ADP
alkej-76	243	49	ص	ص	INTJ
alkej-76	243	50	,	,	PUNCT
alkej-76	243	51	لینتج	لینتج	PROPN
alkej-76	243	52	منھما	منھما	PROPN
alkej-76	243	53	المسار	المسار	PROPN
alkej-76	243	54	العلوي	العلوي	PROPN
alkej-76	243	55	الوسیط	الوسیط	VERB
alkej-76	243	56	و	و	PRON
alkej-76	243	57	المسار	المسار	NOUN
alkej-76	243	58	السفلي	السفلي	PROPN
alkej-76	243	59	الوسیط	الوسیط	VERB
alkej-76	243	60	ومن	ومن	PROPN
alkej-76	243	61	ثم	ثم	ADP
alkej-76	243	62	الحصول	الحصول	PROPN
alkej-76	243	63	على	على	PROPN
alkej-76	243	64	المسار	المسار	NOUN
alkej-76	243	65	العلوي	العلوي	PROPN
alkej-76	243	66	المحسن	المحسن	VERB
alkej-76	244	1	و	و	PRON
alkej-76	244	2	المس	المس	NOUN
alkej-76	244	3	ار	ار	PROPN
alkej-76	244	4	الس	الس	PROPN
alkej-76	244	5	فلي	فلي	PROPN
alkej-76	244	6	المحس	المحس	PROPN
alkej-76	244	7	ن	ن	PROPN
alkej-76	244	8	.ن	.ن	PROPN
alkej-76	244	9	النھائیین	النھائیین	ADJ
alkej-76	244	10	نسبة	نسبة	NOUN
alkej-76	244	11	للوقت	للوقت	PROPN
alkej-76	245	1	و	و	PRON
alkej-76	245	2	الطاقة	الطاقة	NOUN
alkej-76	245	3	یتم	یتم	PRON
alkej-76	245	4	اختیار	اختیار	PROPN
alkej-76	245	5	المسار	المسار	PROPN
alkej-76	245	6	االمثل	االمثل	PROPN
alkej-76	245	7	للروبوتھذین	للروبوتھذین	PROPN
alkej-76	245	8	المساری	المساری	PROPN
alkej-76	245	9	mailto:dr-nabeelalsahib@hotmal.com	mailto:dr-nabeelalsahib@hotmal.com	X