id	sid	tid	token	lemma	pos
alkej-953	1	1	this	this	PRON
alkej-953	1	2	is	be	AUX
alkej-953	1	3	an	an	DET
alkej-953	1	4	open	open	ADJ
alkej-953	1	5	access	access	NOUN
alkej-953	1	6	article	article	NOUN
alkej-953	1	7	under	under	ADP
alkej-953	1	8	the	the	DET
alkej-953	1	9	cc	cc	NOUN
alkej-953	1	10	by	by	ADP
alkej-953	1	11	license	license	NOUN
alkej-953	1	12	:	:	PUNCT
alkej-953	1	13	al	al	PROPN
alkej-953	1	14	-	-	PUNCT
alkej-953	1	15	khwarizmi	khwarizmi	PROPN
alkej-953	1	16	engineering	engineering	PROPN
alkej-953	1	17	journal	journal	PROPN
alkej-953	1	18	al	al	PROPN
alkej-953	1	19	-	-	PUNCT
alkej-953	1	20	khwarizmi	khwarizmi	PROPN
alkej-953	1	21	engineering	engineering	PROPN
alkej-953	1	22	journal	journal	PROPN
alkej-953	1	23	issn	issn	PROPN
alkej-953	1	24	(	(	PUNCT
alkej-953	1	25	printed	print	VERB
alkej-953	1	26	):	):	PUNCT
alkej-953	1	27	1818	1818	NUM
alkej-953	1	28	–	–	PUNCT
alkej-953	1	29	1171	1171	NUM
alkej-953	1	30	,	,	PUNCT
alkej-953	1	31	issn	issn	PROPN
alkej-953	1	32	(	(	PUNCT
alkej-953	1	33	online	online	ADJ
alkej-953	1	34	):	):	PUNCT
alkej-953	1	35	2312	2312	NUM
alkej-953	1	36	–	–	PUNCT
alkej-953	1	37	0789	0789	NUM
alkej-953	1	38	vol	vol	NOUN
alkej-953	1	39	.	.	PROPN
alkej-953	1	40	21	21	NUM
alkej-953	1	41	,	,	PUNCT
alkej-953	1	42	no	no	INTJ
alkej-953	1	43	.	.	NOUN
alkej-953	1	44	2	2	NUM
alkej-953	1	45	,	,	PUNCT
alkej-953	1	46	june	june	PROPN
alkej-953	1	47	,	,	PUNCT
alkej-953	1	48	(	(	PUNCT
alkej-953	1	49	2025	2025	NUM
alkej-953	1	50	)	)	PUNCT
alkej-953	1	51	,	,	PUNCT
alkej-953	1	52	pp	pp	PROPN
alkej-953	1	53	.	.	PUNCT
alkej-953	2	1	42	42	NUM
alkej-953	2	2	-	-	SYM
alkej-953	2	3	52	52	NUM
alkej-953	2	4	autonomous	autonomous	ADJ
alkej-953	2	5	path	path	NOUN
alkej-953	2	6	planning	planning	NOUN
alkej-953	2	7	and	and	CCONJ
alkej-953	2	8	obstacle	obstacle	NOUN
alkej-953	2	9	avoidance	avoidance	NOUN
alkej-953	2	10	of	of	ADP
alkej-953	2	11	a	a	DET
alkej-953	2	12	wheeled	wheel	VERB
alkej-953	2	13	mobile	mobile	ADJ
alkej-953	2	14	robot	robot	NOUN
alkej-953	2	15	via	via	ADP
alkej-953	2	16	grey	grey	PROPN
alkej-953	2	17	wolf	wolf	PROPN
alkej-953	2	18	optimisation	optimisation	NOUN
alkej-953	2	19	zahraa	zahraa	PROPN
alkej-953	2	20	a.	a.	NOUN
alkej-953	2	21	abdulla1	abdulla1	PROPN
alkej-953	2	22	*	*	PUNCT
alkej-953	2	23	,	,	PUNCT
alkej-953	2	24	and	and	CCONJ
alkej-953	2	25	nabil	nabil	PROPN
alkej-953	2	26	h	h	PROPN
alkej-953	2	27	hadi2	hadi2	PROPN
alkej-953	2	28	1	1	NUM
alkej-953	2	29	department	department	NOUN
alkej-953	2	30	of	of	ADP
alkej-953	2	31	mechanical	mechanical	ADJ
alkej-953	2	32	engineering	engineering	NOUN
alkej-953	2	33	,	,	PUNCT
alkej-953	2	34	college	college	NOUN
alkej-953	2	35	of	of	ADP
alkej-953	2	36	engineering	engineering	NOUN
alkej-953	2	37	,	,	PUNCT
alkej-953	2	38	university	university	NOUN
alkej-953	2	39	of	of	ADP
alkej-953	2	40	baghdad	baghdad	PROPN
alkej-953	2	41	,	,	PUNCT
alkej-953	2	42	baghdad	baghdad	PROPN
alkej-953	2	43	,	,	PUNCT
alkej-953	2	44	iraq	iraq	PROPN
alkej-953	2	45	2	2	NUM
alkej-953	2	46	department	department	NOUN
alkej-953	2	47	of	of	ADP
alkej-953	2	48	aeronautical	aeronautical	PROPN
alkej-953	2	49	engineering	engineering	PROPN
alkej-953	2	50	,	,	PUNCT
alkej-953	2	51	college	college	NOUN
alkej-953	2	52	of	of	ADP
alkej-953	2	53	engineering	engineering	NOUN
alkej-953	2	54	,	,	PUNCT
alkej-953	2	55	university	university	NOUN
alkej-953	2	56	of	of	ADP
alkej-953	2	57	baghdad	baghdad	PROPN
alkej-953	2	58	,	,	PUNCT
alkej-953	2	59	baghdad	baghdad	PROPN
alkej-953	2	60	,	,	PUNCT
alkej-953	2	61	iraq	iraq	PROPN
alkej-953	2	62	corresponding	corresponding	PROPN
alkej-953	2	63	author	author	NOUN
alkej-953	2	64	’s	’s	PART
alkej-953	2	65	email	email	NOUN
alkej-953	2	66	:	:	PUNCT
alkej-953	2	67	zahraa.abdullah2003d@coeng.uobaghdad.edu.iq	zahraa.abdullah2003d@coeng.uobaghdad.edu.iq	NOUN
alkej-953	2	68	(	(	PUNCT
alkej-953	2	69	received	receive	VERB
alkej-953	2	70	19	19	NUM
alkej-953	2	71	may	may	PROPN
alkej-953	2	72	2024	2024	NUM
alkej-953	2	73	;	;	PUNCT
alkej-953	2	74	revised	revise	VERB
alkej-953	2	75	2	2	NUM
alkej-953	2	76	august	august	PROPN
alkej-953	2	77	2024	2024	NUM
alkej-953	2	78	;	;	PUNCT
alkej-953	2	79	accepted	accept	VERB
alkej-953	2	80	1	1	NUM
alkej-953	2	81	september	september	PROPN
alkej-953	2	82	2024	2024	NUM
alkej-953	2	83	;	;	PUNCT
alkej-953	2	84	published	publish	VERB
alkej-953	2	85	1	1	NUM
alkej-953	2	86	march	march	NOUN
alkej-953	2	87	2025	2025	NUM
alkej-953	2	88	)	)	PUNCT
alkej-953	3	1	https://doi.org/10.22153/kej.2025.09.003	https://doi.org/10.22153/kej.2025.09.003	PRON
alkej-953	3	2	abstract	abstract	ADV
alkej-953	3	3	the	the	DET
alkej-953	3	4	aim	aim	NOUN
alkej-953	3	5	of	of	ADP
alkej-953	3	6	this	this	DET
alkej-953	3	7	study	study	NOUN
alkej-953	3	8	was	be	AUX
alkej-953	3	9	to	to	PART
alkej-953	3	10	implement	implement	VERB
alkej-953	3	11	and	and	CCONJ
alkej-953	3	12	compare	compare	VERB
alkej-953	3	13	obstacle	obstacle	NOUN
alkej-953	3	14	avoidance	avoidance	NOUN
alkej-953	3	15	for	for	ADP
alkej-953	3	16	an	an	DET
alkej-953	3	17	autonomous	autonomous	ADJ
alkej-953	3	18	wheeled	wheel	VERB
alkej-953	3	19	mobile	mobile	NOUN
alkej-953	3	20	robot	robot	NOUN
alkej-953	3	21	(	(	PUNCT
alkej-953	3	22	wmr	wmr	PROPN
alkej-953	3	23	)	)	PUNCT
alkej-953	3	24	via	via	ADP
alkej-953	3	25	the	the	DET
alkej-953	3	26	grey	grey	ADJ
alkej-953	3	27	wolf	wolf	PROPN
alkej-953	3	28	optimisation	optimisation	NOUN
alkej-953	3	29	(	(	PUNCT
alkej-953	3	30	gwo	gwo	NOUN
alkej-953	3	31	)	)	PUNCT
alkej-953	3	32	algorithm	algorithm	NOUN
alkej-953	3	33	and	and	CCONJ
alkej-953	3	34	the	the	DET
alkej-953	3	35	artificial	artificial	ADJ
alkej-953	3	36	bee	bee	NOUN
alkej-953	3	37	colony	colony	NOUN
alkej-953	3	38	(	(	PUNCT
alkej-953	3	39	abc	abc	PROPN
alkej-953	3	40	)	)	PUNCT
alkej-953	3	41	algorithm	algorithm	NOUN
alkej-953	3	42	.	.	PUNCT
alkej-953	4	1	the	the	DET
alkej-953	4	2	study	study	NOUN
alkej-953	4	3	was	be	AUX
alkej-953	4	4	conducted	conduct	VERB
alkej-953	4	5	via	via	ADP
alkej-953	4	6	three	three	NUM
alkej-953	4	7	scenarios	scenario	NOUN
alkej-953	4	8	,	,	PUNCT
alkej-953	4	9	each	each	PRON
alkej-953	4	10	designed	design	VERB
alkej-953	4	11	to	to	PART
alkej-953	4	12	test	test	VERB
alkej-953	4	13	the	the	DET
alkej-953	4	14	performance	performance	NOUN
alkej-953	4	15	of	of	ADP
alkej-953	4	16	the	the	DET
alkej-953	4	17	algorithm	algorithm	NOUN
alkej-953	4	18	under	under	ADP
alkej-953	4	19	different	different	ADJ
alkej-953	4	20	conditions	condition	NOUN
alkej-953	4	21	,	,	PUNCT
alkej-953	4	22	considering	consider	VERB
alkej-953	4	23	fixed	fix	VERB
alkej-953	4	24	and	and	CCONJ
alkej-953	4	25	moving	move	VERB
alkej-953	4	26	circular	circular	ADJ
alkej-953	4	27	obstacles	obstacle	NOUN
alkej-953	4	28	in	in	ADP
alkej-953	4	29	the	the	DET
alkej-953	4	30	surrounding	surround	VERB
alkej-953	4	31	environment	environment	NOUN
alkej-953	4	32	.	.	PUNCT
alkej-953	5	1	gwo	gwo	PROPN
alkej-953	5	2	was	be	AUX
alkej-953	5	3	used	use	VERB
alkej-953	5	4	to	to	PART
alkej-953	5	5	determine	determine	VERB
alkej-953	5	6	the	the	DET
alkej-953	5	7	most	most	ADV
alkej-953	5	8	efficient	efficient	ADJ
alkej-953	5	9	,	,	PUNCT
alkej-953	5	10	shortest	short	ADJ
alkej-953	5	11	and	and	CCONJ
alkej-953	5	12	safest	safest	ADJ
alkej-953	5	13	path	path	NOUN
alkej-953	5	14	for	for	ADP
alkej-953	5	15	the	the	DET
alkej-953	5	16	wmr	wmr	PROPN
alkej-953	5	17	from	from	ADP
alkej-953	5	18	the	the	DET
alkej-953	5	19	starting	starting	NOUN
alkej-953	5	20	point	point	NOUN
alkej-953	5	21	to	to	ADP
alkej-953	5	22	the	the	DET
alkej-953	5	23	target	target	NOUN
alkej-953	5	24	point	point	NOUN
alkej-953	5	25	.	.	PUNCT
alkej-953	6	1	the	the	DET
alkej-953	6	2	results	result	NOUN
alkej-953	6	3	showed	show	VERB
alkej-953	6	4	that	that	SCONJ
alkej-953	6	5	the	the	DET
alkej-953	6	6	gwo	gwo	PROPN
alkej-953	6	7	outperformed	outperform	VERB
alkej-953	6	8	the	the	DET
alkej-953	6	9	abc	abc	PROPN
alkej-953	6	10	.	.	PUNCT
alkej-953	7	1	the	the	DET
alkej-953	7	2	gwo	gwo	PROPN
alkej-953	7	3	also	also	ADV
alkej-953	7	4	enabled	enable	VERB
alkej-953	7	5	the	the	DET
alkej-953	7	6	wmr	wmr	PROPN
alkej-953	7	7	to	to	PART
alkej-953	7	8	avoid	avoid	VERB
alkej-953	7	9	obstacles	obstacle	NOUN
alkej-953	7	10	faster	fast	ADV
alkej-953	7	11	by	by	ADP
alkej-953	7	12	11.8	11.8	NUM
alkej-953	7	13	%	%	NOUN
alkej-953	7	14	,	,	PUNCT
alkej-953	7	15	2.8	2.8	NUM
alkej-953	7	16	%	%	NOUN
alkej-953	7	17	and	and	CCONJ
alkej-953	7	18	4.6	4.6	NUM
alkej-953	7	19	%	%	NOUN
alkej-953	7	20	and	and	CCONJ
alkej-953	7	21	with	with	ADP
alkej-953	7	22	distances	distance	NOUN
alkej-953	7	23	shorter	short	ADJ
alkej-953	7	24	by	by	ADP
alkej-953	7	25	1.42	1.42	NUM
alkej-953	7	26	%	%	NOUN
alkej-953	7	27	,	,	PUNCT
alkej-953	7	28	2.2	2.2	NUM
alkej-953	7	29	%	%	NOUN
alkej-953	7	30	and	and	CCONJ
alkej-953	7	31	1.97	1.97	NUM
alkej-953	7	32	%	%	NOUN
alkej-953	7	33	for	for	ADP
alkej-953	7	34	the	the	DET
alkej-953	7	35	three	three	NUM
alkej-953	7	36	scenarios	scenario	NOUN
alkej-953	7	37	,	,	PUNCT
alkej-953	7	38	respectively	respectively	ADV
alkej-953	7	39	.	.	PUNCT
alkej-953	8	1	keywords	keyword	NOUN
alkej-953	8	2	:	:	PUNCT
alkej-953	8	3	bees	bee	NOUN
alkej-953	8	4	algorithm	algorithm	NOUN
alkej-953	8	5	;	;	PUNCT
alkej-953	8	6	grey	grey	PROPN
alkej-953	8	7	wolf	wolf	PROPN
alkej-953	8	8	optimisation	optimisation	NOUN
alkej-953	8	9	;	;	PUNCT
alkej-953	8	10	wheeled	wheel	VERB
alkej-953	8	11	mobile	mobile	ADJ
alkej-953	8	12	robot	robot	NOUN
alkej-953	8	13	.	.	PUNCT
alkej-953	9	1	1	1	X
alkej-953	9	2	.	.	X
alkej-953	9	3	introduction	introduction	NOUN
alkej-953	9	4	path	path	NOUN
alkej-953	9	5	planning	planning	NOUN
alkej-953	9	6	is	be	AUX
alkej-953	9	7	extensively	extensively	ADV
alkej-953	9	8	utilised	utilise	VERB
alkej-953	9	9	in	in	ADP
alkej-953	9	10	autonomous	autonomous	ADJ
alkej-953	9	11	robot	robot	NOUN
alkej-953	9	12	navigation	navigation	NOUN
alkej-953	9	13	to	to	PART
alkej-953	9	14	calculate	calculate	VERB
alkej-953	9	15	the	the	DET
alkej-953	9	16	most	most	ADV
alkej-953	9	17	effective	effective	ADJ
alkej-953	9	18	path	path	NOUN
alkej-953	9	19	between	between	ADP
alkej-953	9	20	the	the	DET
alkej-953	9	21	starting	starting	NOUN
alkej-953	9	22	point	point	NOUN
alkej-953	9	23	(	(	PUNCT
alkej-953	9	24	sp	sp	NOUN
alkej-953	9	25	)	)	PUNCT
alkej-953	9	26	and	and	CCONJ
alkej-953	9	27	the	the	DET
alkej-953	9	28	destination	destination	NOUN
alkej-953	9	29	or	or	CCONJ
alkej-953	9	30	target	target	NOUN
alkej-953	9	31	point	point	NOUN
alkej-953	9	32	(	(	PUNCT
alkej-953	9	33	tp	tp	NOUN
alkej-953	9	34	)	)	PUNCT
alkej-953	9	35	whilst	whilst	SCONJ
alkej-953	9	36	avoiding	avoid	VERB
alkej-953	9	37	obstacles	obstacle	NOUN
alkej-953	9	38	[	[	X
alkej-953	9	39	1,2	1,2	NUM
alkej-953	9	40	]	]	PUNCT
alkej-953	9	41	.	.	PUNCT
alkej-953	10	1	path	path	NOUN
alkej-953	10	2	planning	planning	NOUN
alkej-953	10	3	for	for	ADP
alkej-953	10	4	optimising	optimise	VERB
alkej-953	10	5	path	path	NOUN
alkej-953	10	6	length	length	NOUN
alkej-953	10	7	is	be	AUX
alkej-953	10	8	an	an	DET
alkej-953	10	9	important	important	ADJ
alkej-953	10	10	part	part	NOUN
alkej-953	10	11	of	of	ADP
alkej-953	10	12	mobile	mobile	ADJ
alkej-953	10	13	robot	robot	NOUN
alkej-953	10	14	navigation	navigation	NOUN
alkej-953	10	15	.	.	PUNCT
alkej-953	11	1	this	this	DET
alkej-953	11	2	optimisation	optimisation	NOUN
alkej-953	11	3	challenge	challenge	NOUN
alkej-953	11	4	involves	involve	VERB
alkej-953	11	5	determining	determine	VERB
alkej-953	11	6	a	a	DET
alkej-953	11	7	path	path	NOUN
alkej-953	11	8	that	that	PRON
alkej-953	11	9	minimises	minimise	NOUN
alkej-953	11	10	distance	distance	NOUN
alkej-953	11	11	whilst	whilst	SCONJ
alkej-953	11	12	conforming	conform	VERB
alkej-953	11	13	to	to	ADP
alkej-953	11	14	constraints	constraint	NOUN
alkej-953	11	15	such	such	ADJ
alkej-953	11	16	as	as	ADP
alkej-953	11	17	collision	collision	NOUN
alkej-953	11	18	avoidance	avoidance	NOUN
alkej-953	11	19	in	in	ADP
alkej-953	11	20	a	a	DET
alkej-953	11	21	particular	particular	ADJ
alkej-953	11	22	environment	environment	NOUN
alkej-953	11	23	.	.	PUNCT
alkej-953	12	1	over	over	ADP
alkej-953	12	2	time	time	NOUN
alkej-953	12	3	,	,	PUNCT
alkej-953	12	4	extensive	extensive	ADJ
alkej-953	12	5	research	research	NOUN
alkej-953	12	6	has	have	AUX
alkej-953	12	7	been	be	AUX
alkej-953	12	8	conducted	conduct	VERB
alkej-953	12	9	to	to	PART
alkej-953	12	10	overcome	overcome	VERB
alkej-953	12	11	this	this	DET
alkej-953	12	12	problem	problem	NOUN
alkej-953	12	13	,	,	PUNCT
alkej-953	12	14	classifying	classify	VERB
alkej-953	12	15	techniques	technique	NOUN
alkej-953	12	16	and	and	CCONJ
alkej-953	12	17	algorithms	algorithm	NOUN
alkej-953	12	18	as	as	ADP
alkej-953	12	19	stochastic	stochastic	ADJ
alkej-953	12	20	or	or	CCONJ
alkej-953	12	21	deterministic	deterministic	ADJ
alkej-953	12	22	approaches	approach	NOUN
alkej-953	12	23	[	[	X
alkej-953	12	24	1	1	NUM
alkej-953	12	25	]	]	PUNCT
alkej-953	12	26	.	.	PUNCT
alkej-953	13	1	linear	linear	PROPN
alkej-953	13	2	programming	programming	PROPN
alkej-953	13	3	and	and	CCONJ
alkej-953	13	4	newton	newton	PROPN
alkej-953	13	5	’s	’s	PART
alkej-953	13	6	method	method	NOUN
alkej-953	13	7	are	be	AUX
alkej-953	13	8	deterministic	deterministic	ADJ
alkej-953	13	9	algorithms	algorithm	NOUN
alkej-953	13	10	that	that	PRON
alkej-953	13	11	ignore	ignore	VERB
alkej-953	13	12	randomness	randomness	NOUN
alkej-953	13	13	in	in	ADP
alkej-953	13	14	their	their	PRON
alkej-953	13	15	mathematical	mathematical	ADJ
alkej-953	13	16	foundation	foundation	NOUN
alkej-953	13	17	.	.	PUNCT
alkej-953	14	1	by	by	ADP
alkej-953	14	2	contrast	contrast	NOUN
alkej-953	14	3	,	,	PUNCT
alkej-953	14	4	stochastic	stochastic	ADJ
alkej-953	14	5	approaches	approach	NOUN
alkej-953	14	6	are	be	AUX
alkej-953	14	7	unconstrained	unconstraine	VERB
alkej-953	14	8	by	by	ADP
alkej-953	14	9	specific	specific	ADJ
alkej-953	14	10	mathematical	mathematical	ADJ
alkej-953	14	11	properties	property	NOUN
alkej-953	14	12	;	;	PUNCT
alkej-953	14	13	thus	thus	ADV
alkej-953	14	14	,	,	PUNCT
alkej-953	14	15	they	they	PRON
alkej-953	14	16	can	can	AUX
alkej-953	14	17	attain	attain	VERB
alkej-953	14	18	global	global	ADJ
alkej-953	14	19	optimal	optimal	ADJ
alkej-953	14	20	solutions	solution	NOUN
alkej-953	14	21	across	across	ADP
alkej-953	14	22	various	various	ADJ
alkej-953	14	23	objective	objective	ADJ
alkej-953	14	24	functions	function	NOUN
alkej-953	14	25	.	.	PUNCT
alkej-953	15	1	these	these	DET
alkej-953	15	2	stochastic	stochastic	ADJ
alkej-953	15	3	algorithms	algorithm	NOUN
alkej-953	15	4	,	,	PUNCT
alkej-953	15	5	which	which	PRON
alkej-953	15	6	are	be	AUX
alkej-953	15	7	frequently	frequently	ADV
alkej-953	15	8	inspired	inspire	VERB
alkej-953	15	9	by	by	ADP
alkej-953	15	10	natural	natural	ADJ
alkej-953	15	11	behaviours	behaviour	NOUN
alkej-953	15	12	observed	observe	VERB
alkej-953	15	13	in	in	ADP
alkej-953	15	14	creatures	creature	NOUN
alkej-953	15	15	such	such	ADJ
alkej-953	15	16	as	as	ADP
alkej-953	15	17	birds	bird	NOUN
alkej-953	15	18	,	,	PUNCT
alkej-953	15	19	ants	ant	NOUN
alkej-953	15	20	,	,	PUNCT
alkej-953	15	21	bees	bee	NOUN
alkej-953	15	22	and	and	CCONJ
alkej-953	15	23	fish	fish	NOUN
alkej-953	15	24	,	,	PUNCT
alkej-953	15	25	have	have	AUX
alkej-953	15	26	gained	gain	VERB
alkej-953	15	27	popularity	popularity	NOUN
alkej-953	15	28	since	since	SCONJ
alkej-953	15	29	the	the	DET
alkej-953	15	30	1980s	1980	NOUN
alkej-953	15	31	[	[	X
alkej-953	15	32	2	2	NUM
alkej-953	15	33	]	]	PUNCT
alkej-953	15	34	.	.	PUNCT
alkej-953	16	1	numerous	numerous	ADJ
alkej-953	16	2	algorithms	algorithm	NOUN
alkej-953	16	3	,	,	PUNCT
alkej-953	16	4	such	such	ADJ
alkej-953	16	5	as	as	ADP
alkej-953	16	6	firefly	firefly	NOUN
alkej-953	16	7	algorithms	algorithm	NOUN
alkej-953	16	8	[	[	X
alkej-953	16	9	3	3	NUM
alkej-953	16	10	]	]	PUNCT
alkej-953	16	11	,	,	PUNCT
alkej-953	16	12	ant	ant	ADJ
alkej-953	16	13	colony	colony	NOUN
alkej-953	16	14	optimisation	optimisation	NOUN
alkej-953	16	15	[	[	X
alkej-953	16	16	4	4	NUM
alkej-953	16	17	]	]	PUNCT
alkej-953	16	18	,	,	PUNCT
alkej-953	16	19	particle	particle	NOUN
alkej-953	16	20	swarm	swarm	NOUN
alkej-953	16	21	optimisation	optimisation	NOUN
alkej-953	16	22	(	(	PUNCT
alkej-953	16	23	pso	pso	NOUN
alkej-953	16	24	)	)	PUNCT
alkej-953	17	1	[	[	X
alkej-953	17	2	7,8	7,8	NUM
alkej-953	17	3	]	]	PUNCT
alkej-953	17	4	and	and	CCONJ
alkej-953	17	5	grey	grey	ADJ
alkej-953	17	6	wolf	wolf	PROPN
alkej-953	17	7	optimisation	optimisation	NOUN
alkej-953	17	8	(	(	PUNCT
alkej-953	17	9	gwo	gwo	NOUN
alkej-953	17	10	)	)	PUNCT
alkej-953	18	1	[	[	X
alkej-953	18	2	9,10	9,10	NUM
alkej-953	18	3	]	]	PUNCT
alkej-953	18	4	,	,	PUNCT
alkej-953	18	5	are	be	AUX
alkej-953	18	6	widely	widely	ADV
alkej-953	18	7	used	use	VERB
alkej-953	18	8	.	.	PUNCT
alkej-953	19	1	gwo	gwo	PROPN
alkej-953	19	2	is	be	AUX
alkej-953	19	3	a	a	DET
alkej-953	19	4	recently	recently	ADV
alkej-953	19	5	discovered	discover	VERB
alkej-953	19	6	optimisation	optimisation	NOUN
alkej-953	19	7	method	method	NOUN
alkej-953	19	8	used	use	VERB
alkej-953	19	9	in	in	ADP
alkej-953	19	10	various	various	ADJ
alkej-953	19	11	relevant	relevant	ADJ
alkej-953	19	12	disciplines	discipline	NOUN
alkej-953	19	13	;	;	PUNCT
alkej-953	19	14	it	it	PRON
alkej-953	19	15	closely	closely	ADV
alkej-953	19	16	resembles	resemble	VERB
alkej-953	19	17	the	the	DET
alkej-953	19	18	hierarchical	hierarchical	ADJ
alkej-953	19	19	structure	structure	NOUN
alkej-953	19	20	and	and	CCONJ
alkej-953	19	21	hunting	hunt	VERB
alkej-953	19	22	methods	method	NOUN
alkej-953	19	23	of	of	ADP
alkej-953	19	24	grey	grey	ADJ
alkej-953	19	25	wolf	wolf	PROPN
alkej-953	19	26	packs	pack	NOUN
alkej-953	19	27	,	,	PUNCT
alkej-953	19	28	optimising	optimise	VERB
alkej-953	19	29	solutions	solution	NOUN
alkej-953	19	30	through	through	ADP
alkej-953	19	31	actions	action	NOUN
alkej-953	19	32	such	such	ADJ
alkej-953	19	33	as	as	ADP
alkej-953	19	34	tracking	tracking	NOUN
alkej-953	19	35	,	,	PUNCT
alkej-953	19	36	surrounding	surround	VERB
alkej-953	19	37	and	and	CCONJ
alkej-953	19	38	pouncing	pounce	VERB
alkej-953	19	39	.	.	PUNCT
alkej-953	20	1	in	in	ADP
alkej-953	20	2	contrast	contrast	NOUN
alkej-953	20	3	to	to	ADP
alkej-953	20	4	classic	classic	ADJ
alkej-953	20	5	algorithms	algorithm	NOUN
alkej-953	20	6	such	such	ADJ
alkej-953	20	7	as	as	ADP
alkej-953	20	8	pso	pso	NOUN
alkej-953	20	9	and	and	CCONJ
alkej-953	20	10	artificial	artificial	ADJ
alkej-953	20	11	bee	bee	NOUN
alkej-953	20	12	colony	colony	NOUN
alkej-953	20	13	(	(	PUNCT
alkej-953	20	14	abc	abc	PROPN
alkej-953	20	15	)	)	PUNCT
alkej-953	20	16	,	,	PUNCT
alkej-953	20	17	the	the	DET
alkej-953	20	18	gwo	gwo	PROPN
alkej-953	20	19	algorithm	algorithm	PROPN
alkej-953	20	20	is	be	AUX
alkej-953	20	21	notable	notable	ADJ
alkej-953	20	22	for	for	ADP
alkej-953	20	23	its	its	PRON
alkej-953	20	24	simplicity	simplicity	NOUN
alkej-953	20	25	;	;	PUNCT
alkej-953	20	26	it	it	PRON
alkej-953	20	27	needs	need	VERB
alkej-953	20	28	relatively	relatively	ADV
alkej-953	20	29	few	few	ADJ
alkej-953	20	30	parameters	parameter	NOUN
alkej-953	20	31	and	and	CCONJ
alkej-953	20	32	follows	follow	VERB
alkej-953	20	33	clear	clear	ADJ
alkej-953	20	34	implementation	implementation	NOUN
alkej-953	20	35	principles	principle	NOUN
alkej-953	20	36	.	.	PUNCT
alkej-953	21	1	path	path	NOUN
alkej-953	21	2	planning	planning	NOUN
alkej-953	21	3	remains	remain	VERB
alkej-953	21	4	a	a	DET
alkej-953	21	5	critical	critical	ADJ
alkej-953	21	6	topic	topic	NOUN
alkej-953	21	7	in	in	ADP
alkej-953	21	8	mobile	mobile	ADJ
alkej-953	21	9	robot	robot	NOUN
alkej-953	21	10	research	research	NOUN
alkej-953	21	11	,	,	PUNCT
alkej-953	21	12	with	with	ADP
alkej-953	21	13	the	the	DET
alkej-953	21	14	goal	goal	NOUN
alkej-953	21	15	of	of	ADP
alkej-953	21	16	determining	determine	VERB
alkej-953	21	17	collision	collision	NOUN
alkej-953	21	18	-	-	PUNCT
alkej-953	21	19	free	free	ADJ
alkej-953	21	20	pathways	pathway	NOUN
alkej-953	21	21	between	between	ADP
alkej-953	21	22	defined	define	VERB
alkej-953	21	23	start	start	NOUN
alkej-953	21	24	and	and	CCONJ
alkej-953	21	25	target	target	VERB
alkej-953	21	26	points	point	NOUN
alkej-953	21	27	in	in	ADP
alkej-953	21	28	a	a	DET
alkej-953	21	29	known	know	VERB
alkej-953	21	30	environment	environment	NOUN
alkej-953	21	31	[	[	X
alkej-953	21	32	9	9	NUM
alkej-953	21	33	]	]	PUNCT
alkej-953	21	34	.	.	PUNCT
alkej-953	22	1	this	this	DET
alkej-953	22	2	problem	problem	NOUN
alkej-953	22	3	is	be	AUX
alkej-953	22	4	further	far	ADV
alkej-953	22	5	separated	separate	VERB
alkej-953	22	6	into	into	ADP
alkej-953	22	7	two	two	NUM
alkej-953	22	8	parts	part	NOUN
alkej-953	22	9	:	:	PUNCT
alkej-953	22	10	static	static	ADJ
alkej-953	22	11	path	path	NOUN
alkej-953	22	12	planning	planning	NOUN
alkej-953	22	13	,	,	PUNCT
alkej-953	22	14	in	in	ADP
alkej-953	22	15	which	which	PRON
alkej-953	22	16	obstacles	obstacle	NOUN
alkej-953	22	17	remain	remain	VERB
alkej-953	22	18	fixed	fix	VERB
alkej-953	22	19	,	,	PUNCT
alkej-953	22	20	and	and	CCONJ
alkej-953	22	21	dynamic	dynamic	ADJ
alkej-953	22	22	path	path	NOUN
alkej-953	22	23	planning	planning	NOUN
alkej-953	22	24	,	,	PUNCT
alkej-953	22	25	in	in	ADP
alkej-953	22	26	which	which	PRON
alkej-953	22	27	obstacle	obstacle	NOUN
alkej-953	22	28	positions	position	NOUN
alkej-953	22	29	change	change	VERB
alkej-953	22	30	over	over	ADP
alkej-953	22	31	time	time	NOUN
alkej-953	22	32	.	.	PUNCT
alkej-953	23	1	several	several	ADJ
alkej-953	23	2	techniques	technique	NOUN
alkej-953	23	3	and	and	CCONJ
alkej-953	23	4	algorithms	algorithm	NOUN
alkej-953	23	5	have	have	AUX
alkej-953	23	6	been	be	AUX
alkej-953	23	7	suggested	suggest	VERB
alkej-953	23	8	to	to	PART
alkej-953	23	9	address	address	VERB
alkej-953	23	10	the	the	DET
alkej-953	23	11	path	path	NOUN
alkej-953	23	12	mailto:zahraa.abdullah2003d@coeng.uobaghdad.edu.iq	mailto:zahraa.abdullah2003d@coeng.uobaghdad.edu.iq	NOUN
alkej-953	23	13	mailto:zahraa.abdullah2003d@coeng.uobaghdad.edu.iq	mailto:zahraa.abdullah2003d@coeng.uobaghdad.edu.iq	VERB
alkej-953	23	14	https://doi.org/10.22153/kej.2025.09.003	https://doi.org/10.22153/kej.2025.09.003	X
alkej-953	23	15	zahraa	zahraa	PROPN
alkej-953	23	16	a.	a.	PROPN
alkej-953	23	17	abdullah	abdullah	PROPN
alkej-953	23	18	al	al	PROPN
alkej-953	23	19	-	-	PUNCT
alkej-953	23	20	khwarizmi	khwarizmi	PROPN
alkej-953	23	21	engineering	engineering	NOUN
alkej-953	23	22	journal	journal	PROPN
alkej-953	23	23	,	,	PUNCT
alkej-953	23	24	vol	vol	NOUN
alkej-953	23	25	.	.	PROPN
alkej-953	23	26	21	21	NUM
alkej-953	23	27	,	,	PUNCT
alkej-953	23	28	no.2	no.2	PROPN
alkej-953	23	29	,	,	PUNCT
alkej-953	23	30	pp	pp	ADJ
alkej-953	23	31	.	.	PUNCT
alkej-953	24	1	42	42	NUM
alkej-953	24	2	-	-	SYM
alkej-953	24	3	52	52	NUM
alkej-953	24	4	(	(	PUNCT
alkej-953	24	5	2025	2025	NUM
alkej-953	24	6	)	)	PUNCT
alkej-953	24	7	43	43	NUM
alkej-953	24	8	planning	planning	NOUN
alkej-953	24	9	issue	issue	NOUN
alkej-953	24	10	.	.	PUNCT
alkej-953	25	1	a	a	DET
alkej-953	25	2	relatively	relatively	ADV
alkej-953	25	3	new	new	ADJ
alkej-953	25	4	method	method	NOUN
alkej-953	25	5	[	[	X
alkej-953	25	6	10	10	NUM
alkej-953	25	7	]	]	PUNCT
alkej-953	25	8	uses	use	VERB
alkej-953	25	9	abc	abc	PROPN
alkej-953	25	10	algorithms	algorithm	NOUN
alkej-953	25	11	to	to	PART
alkej-953	25	12	plan	plan	VERB
alkej-953	25	13	collision	collision	NOUN
alkej-953	25	14	-	-	PUNCT
alkej-953	25	15	free	free	ADJ
alkej-953	25	16	trajectories	trajectory	NOUN
alkej-953	25	17	for	for	ADP
alkej-953	25	18	mobile	mobile	ADJ
alkej-953	25	19	robots	robot	NOUN
alkej-953	25	20	.	.	PUNCT
alkej-953	26	1	this	this	DET
alkej-953	26	2	methodology	methodology	NOUN
alkej-953	26	3	reportedly	reportedly	ADV
alkej-953	26	4	produces	produce	VERB
alkej-953	26	5	the	the	DET
alkej-953	26	6	best	good	ADJ
alkej-953	26	7	results	result	NOUN
alkej-953	26	8	and	and	CCONJ
alkej-953	26	9	is	be	AUX
alkej-953	26	10	suitable	suitable	ADJ
alkej-953	26	11	for	for	ADP
alkej-953	26	12	real	real	ADJ
alkej-953	26	13	-	-	PUNCT
alkej-953	26	14	time	time	NOUN
alkej-953	26	15	applications	application	NOUN
alkej-953	26	16	.	.	PUNCT
alkej-953	27	1	the	the	DET
alkej-953	27	2	convergence	convergence	NOUN
alkej-953	27	3	and	and	CCONJ
alkej-953	27	4	stochastic	stochastic	ADJ
alkej-953	27	5	stability	stability	NOUN
alkej-953	27	6	of	of	ADP
alkej-953	27	7	the	the	DET
alkej-953	27	8	pso	pso	NOUN
alkej-953	27	9	algorithm	algorithm	NOUN
alkej-953	27	10	were	be	AUX
alkej-953	27	11	analysed	analyse	VERB
alkej-953	27	12	[	[	X
alkej-953	27	13	11	11	NUM
alkej-953	27	14	]	]	PUNCT
alkej-953	27	15	.	.	PUNCT
alkej-953	28	1	the	the	DET
alkej-953	28	2	research	research	NOUN
alkej-953	28	3	was	be	AUX
alkej-953	28	4	differentiated	differentiate	VERB
alkej-953	28	5	from	from	ADP
alkej-953	28	6	traditional	traditional	ADJ
alkej-953	28	7	pso	pso	NOUN
alkej-953	28	8	by	by	ADP
alkej-953	28	9	investigating	investigate	VERB
alkej-953	28	10	the	the	DET
alkej-953	28	11	statistical	statistical	ADJ
alkej-953	28	12	distributions	distribution	NOUN
alkej-953	28	13	of	of	ADP
alkej-953	28	14	the	the	DET
alkej-953	28	15	pso	pso	NOUN
alkej-953	28	16	parameters	parameter	NOUN
alkej-953	28	17	.	.	PUNCT
alkej-953	29	1	a	a	DET
alkej-953	29	2	comparative	comparative	ADJ
alkej-953	29	3	analysis	analysis	NOUN
alkej-953	29	4	[	[	X
alkej-953	29	5	12	12	NUM
alkej-953	29	6	]	]	PUNCT
alkej-953	29	7	was	be	AUX
alkej-953	29	8	conducted	conduct	VERB
alkej-953	29	9	to	to	PART
alkej-953	29	10	compare	compare	VERB
alkej-953	29	11	the	the	DET
alkej-953	29	12	standard	standard	NOUN
alkej-953	29	13	and	and	CCONJ
alkej-953	29	14	upgraded	upgrade	VERB
alkej-953	29	15	versions	version	NOUN
alkej-953	29	16	of	of	ADP
alkej-953	29	17	the	the	DET
alkej-953	29	18	bacterial	bacterial	ADJ
alkej-953	29	19	foraging	foraging	NOUN
alkej-953	29	20	optimisation	optimisation	NOUN
alkej-953	29	21	algorithm	algorithm	NOUN
alkej-953	29	22	.	.	PUNCT
alkej-953	30	1	this	this	DET
alkej-953	30	2	investigation	investigation	NOUN
alkej-953	30	3	resulted	result	VERB
alkej-953	30	4	in	in	ADP
alkej-953	30	5	the	the	DET
alkej-953	30	6	identification	identification	NOUN
alkej-953	30	7	of	of	ADP
alkej-953	30	8	optimal	optimal	ADJ
alkej-953	30	9	trajectories	trajectory	NOUN
alkej-953	30	10	.	.	PUNCT
alkej-953	31	1	chaotic	chaotic	ADJ
alkej-953	31	2	sequences	sequence	NOUN
alkej-953	32	1	[	[	X
alkej-953	32	2	13	13	NUM
alkej-953	32	3	]	]	PUNCT
alkej-953	32	4	were	be	AUX
alkej-953	32	5	utilised	utilise	VERB
alkej-953	32	6	to	to	PART
alkej-953	32	7	change	change	VERB
alkej-953	32	8	parameters	parameter	NOUN
alkej-953	32	9	and	and	CCONJ
alkej-953	32	10	improve	improve	VERB
alkej-953	32	11	optimisation	optimisation	NOUN
alkej-953	32	12	capabilities	capability	NOUN
alkej-953	32	13	.	.	PUNCT
alkej-953	33	1	enhanced	enhance	VERB
alkej-953	33	2	qlearning	qlearning	NOUN
alkej-953	33	3	algorithms	algorithm	NOUN
alkej-953	33	4	[	[	X
alkej-953	33	5	14	14	NUM
alkej-953	33	6	]	]	PUNCT
alkej-953	33	7	were	be	AUX
alkej-953	33	8	introduced	introduce	VERB
alkej-953	33	9	to	to	PART
alkej-953	33	10	expedite	expedite	VERB
alkej-953	33	11	convergence	convergence	NOUN
alkej-953	33	12	in	in	ADP
alkej-953	33	13	difficult	difficult	ADJ
alkej-953	33	14	situations	situation	NOUN
alkej-953	33	15	.	.	PUNCT
alkej-953	34	1	these	these	DET
alkej-953	34	2	algorithms	algorithm	NOUN
alkej-953	34	3	incorporate	incorporate	VERB
alkej-953	34	4	plant	plant	NOUN
alkej-953	34	5	pollination	pollination	NOUN
alkej-953	34	6	techniques	technique	NOUN
alkej-953	34	7	for	for	ADP
alkej-953	34	8	initialising	initialise	VERB
alkej-953	34	9	q	q	NOUN
alkej-953	34	10	values	value	NOUN
alkej-953	34	11	and	and	CCONJ
alkej-953	34	12	optimising	optimise	VERB
alkej-953	34	13	path	path	NOUN
alkej-953	34	14	planning	planning	NOUN
alkej-953	34	15	via	via	ADP
alkej-953	34	16	a	a	DET
alkej-953	34	17	variable	variable	NOUN
alkej-953	34	18	called	call	VERB
alkej-953	34	19	the	the	DET
alkej-953	34	20	‘	'	PUNCT
alkej-953	34	21	limit	limit	NOUN
alkej-953	34	22	’	'	PUNCT
alkej-953	34	23	.	.	PUNCT
alkej-953	35	1	finally	finally	ADV
alkej-953	35	2	,	,	PUNCT
alkej-953	35	3	a	a	DET
alkej-953	35	4	comparative	comparative	ADJ
alkej-953	35	5	analysis	analysis	NOUN
alkej-953	35	6	[	[	X
alkej-953	35	7	15	15	NUM
alkej-953	35	8	]	]	PUNCT
alkej-953	35	9	was	be	AUX
alkej-953	35	10	implemented	implement	VERB
alkej-953	35	11	to	to	PART
alkej-953	35	12	evaluate	evaluate	VERB
alkej-953	35	13	the	the	DET
alkej-953	35	14	effectiveness	effectiveness	NOUN
alkej-953	35	15	of	of	ADP
alkej-953	35	16	chaotic	chaotic	ADJ
alkej-953	35	17	pso	pso	NOUN
alkej-953	35	18	in	in	ADP
alkej-953	35	19	comparison	comparison	NOUN
alkej-953	35	20	with	with	ADP
alkej-953	35	21	typical	typical	ADJ
alkej-953	35	22	pso	pso	NOUN
alkej-953	35	23	algorithms	algorithm	NOUN
alkej-953	35	24	in	in	ADP
alkej-953	35	25	the	the	DET
alkej-953	35	26	task	task	NOUN
alkej-953	35	27	of	of	ADP
alkej-953	35	28	calculating	calculate	VERB
alkej-953	35	29	minimal	minimal	ADJ
alkej-953	35	30	distances	distance	NOUN
alkej-953	35	31	whilst	whilst	SCONJ
alkej-953	35	32	navigating	navigate	VERB
alkej-953	35	33	around	around	ADP
alkej-953	35	34	obstacles	obstacle	NOUN
alkej-953	35	35	in	in	ADP
alkej-953	35	36	static	static	ADJ
alkej-953	35	37	environments	environment	NOUN
alkej-953	35	38	.	.	PUNCT
alkej-953	36	1	the	the	DET
alkej-953	36	2	results	result	NOUN
alkej-953	36	3	demonstrated	demonstrate	VERB
alkej-953	36	4	that	that	SCONJ
alkej-953	36	5	chaotic	chaotic	ADJ
alkej-953	36	6	pso	pso	NOUN
alkej-953	36	7	was	be	AUX
alkej-953	36	8	more	more	ADV
alkej-953	36	9	efficient	efficient	ADJ
alkej-953	36	10	than	than	ADP
alkej-953	36	11	normal	normal	ADJ
alkej-953	36	12	pso	pso	NOUN
alkej-953	36	13	in	in	ADP
alkej-953	36	14	generating	generate	VERB
alkej-953	36	15	shorter	short	ADJ
alkej-953	36	16	paths	path	NOUN
alkej-953	36	17	and	and	CCONJ
alkej-953	36	18	achieving	achieve	VERB
alkej-953	36	19	faster	fast	ADJ
alkej-953	36	20	convergence	convergence	NOUN
alkej-953	36	21	.	.	PUNCT
alkej-953	37	1	this	this	DET
alkej-953	37	2	study	study	NOUN
alkej-953	37	3	utilised	utilise	VERB
alkej-953	37	4	the	the	DET
alkej-953	37	5	classical	classical	ADJ
alkej-953	37	6	abc	abc	PROPN
alkej-953	37	7	and	and	CCONJ
alkej-953	37	8	gwo	gwo	PROPN
alkej-953	37	9	algorithms	algorithm	NOUN
alkej-953	37	10	to	to	PART
alkej-953	37	11	compare	compare	VERB
alkej-953	37	12	their	their	PRON
alkej-953	37	13	achievements	achievement	NOUN
alkej-953	37	14	in	in	ADP
alkej-953	37	15	terms	term	NOUN
alkej-953	37	16	of	of	ADP
alkej-953	37	17	identifying	identify	VERB
alkej-953	37	18	the	the	DET
alkej-953	37	19	shortest	short	ADJ
alkej-953	37	20	path	path	NOUN
alkej-953	37	21	and	and	CCONJ
alkej-953	37	22	achieving	achieve	VERB
alkej-953	37	23	the	the	DET
alkej-953	37	24	fastest	fast	ADJ
alkej-953	37	25	time	time	NOUN
alkej-953	37	26	to	to	PART
alkej-953	37	27	reach	reach	VERB
alkej-953	37	28	the	the	DET
alkej-953	37	29	target	target	NOUN
alkej-953	37	30	point	point	NOUN
alkej-953	37	31	.	.	PUNCT
alkej-953	38	1	the	the	DET
alkej-953	38	2	results	result	NOUN
alkej-953	38	3	demonstrated	demonstrate	VERB
alkej-953	38	4	that	that	SCONJ
alkej-953	38	5	the	the	DET
alkej-953	38	6	gwo	gwo	PROPN
alkej-953	38	7	algorithm	algorithm	PROPN
alkej-953	38	8	had	have	VERB
alkej-953	38	9	higher	high	ADJ
alkej-953	38	10	efficiency	efficiency	NOUN
alkej-953	38	11	.	.	PUNCT
alkej-953	39	1	2	2	X
alkej-953	39	2	.	.	X
alkej-953	39	3	problem	problem	NOUN
alkej-953	39	4	formulation	formulation	NOUN
alkej-953	39	5	one	one	NUM
alkej-953	39	6	of	of	ADP
alkej-953	39	7	the	the	DET
alkej-953	39	8	fundamental	fundamental	ADJ
alkej-953	39	9	phases	phase	NOUN
alkej-953	39	10	in	in	ADP
alkej-953	39	11	path	path	NOUN
alkej-953	39	12	planning	planning	NOUN
alkej-953	39	13	is	be	AUX
alkej-953	39	14	environment	environment	NOUN
alkej-953	39	15	modelling	modelling	NOUN
alkej-953	39	16	.	.	PUNCT
alkej-953	40	1	the	the	DET
alkej-953	40	2	wheeled	wheel	VERB
alkej-953	40	3	mobile	mobile	NOUN
alkej-953	40	4	robot	robot	NOUN
alkej-953	40	5	(	(	PUNCT
alkej-953	40	6	wmr	wmr	PROPN
alkej-953	40	7	)	)	PUNCT
alkej-953	40	8	is	be	AUX
alkej-953	40	9	represented	represent	VERB
alkej-953	40	10	as	as	ADP
alkej-953	40	11	a	a	DET
alkej-953	40	12	particle	particle	NOUN
alkej-953	40	13	with	with	ADP
alkej-953	40	14	a	a	DET
alkej-953	40	15	radius	radius	NOUN
alkej-953	40	16	(	(	PUNCT
alkej-953	40	17	r	r	NOUN
alkej-953	40	18	)	)	PUNCT
alkej-953	40	19	in	in	ADP
alkej-953	40	20	a	a	DET
alkej-953	40	21	2d	2d	NUM
alkej-953	40	22	cartesian	cartesian	ADJ
alkej-953	40	23	space	space	NOUN
alkej-953	40	24	(	(	PUNCT
alkej-953	40	25	x	x	NOUN
alkej-953	40	26	,	,	PUNCT
alkej-953	40	27	y	y	PROPN
alkej-953	40	28	)	)	PUNCT
alkej-953	40	29	with	with	ADP
alkej-953	40	30	static	static	ADJ
alkej-953	40	31	barriers	barrier	NOUN
alkej-953	40	32	in	in	ADP
alkej-953	40	33	the	the	DET
alkej-953	40	34	environment	environment	NOUN
alkej-953	40	35	,	,	PUNCT
alkej-953	40	36	each	each	PRON
alkej-953	40	37	with	with	ADP
alkej-953	40	38	a	a	DET
alkej-953	40	39	radius	radius	NOUN
alkej-953	40	40	(	(	PUNCT
alkej-953	40	41	r	r	NOUN
alkej-953	40	42	)	)	PUNCT
alkej-953	40	43	(	(	PUNCT
alkej-953	40	44	figure	figure	NOUN
alkej-953	40	45	1	1	NUM
alkej-953	40	46	)	)	PUNCT
alkej-953	40	47	.	.	PUNCT
alkej-953	41	1	the	the	DET
alkej-953	41	2	point	point	NOUN
alkej-953	41	3	(	(	PUNCT
alkej-953	41	4	0,0	0,0	NOUN
alkej-953	41	5	)	)	PUNCT
alkej-953	41	6	in	in	ADP
alkej-953	41	7	the	the	DET
alkej-953	41	8	bottom	bottom	NOUN
alkej-953	41	9	left	leave	VERB
alkej-953	41	10	corner	corner	NOUN
alkej-953	41	11	of	of	ADP
alkej-953	41	12	the	the	DET
alkej-953	41	13	environment	environment	NOUN
alkej-953	41	14	symbolises	symbolise	VERB
alkej-953	41	15	the	the	DET
alkej-953	41	16	robot	robot	NOUN
alkej-953	41	17	’s	’s	PART
alkej-953	41	18	sp	sp	NOUN
alkej-953	41	19	.	.	PUNCT
alkej-953	42	1	the	the	DET
alkej-953	42	2	primary	primary	ADJ
alkej-953	42	3	goal	goal	NOUN
alkej-953	42	4	of	of	ADP
alkej-953	42	5	applying	apply	VERB
alkej-953	42	6	obstacle	obstacle	NOUN
alkej-953	42	7	avoidance	avoidance	NOUN
alkej-953	42	8	algorithms	algorithm	NOUN
alkej-953	42	9	in	in	ADP
alkej-953	42	10	local	local	ADJ
alkej-953	42	11	path	path	NOUN
alkej-953	42	12	planning	planning	NOUN
alkej-953	42	13	is	be	AUX
alkej-953	42	14	to	to	PART
alkej-953	42	15	generate	generate	VERB
alkej-953	42	16	an	an	DET
alkej-953	42	17	online	online	ADJ
alkej-953	42	18	optimal	optimal	ADJ
alkej-953	42	19	path	path	NOUN
alkej-953	42	20	between	between	ADP
alkej-953	42	21	the	the	DET
alkej-953	42	22	sp	sp	NOUN
alkej-953	42	23	and	and	CCONJ
alkej-953	42	24	tp	tp	X
alkej-953	42	25	without	without	ADP
alkej-953	42	26	colliding	collide	VERB
alkej-953	42	27	with	with	ADP
alkej-953	42	28	any	any	DET
alkej-953	42	29	obstacles	obstacle	NOUN
alkej-953	42	30	in	in	ADP
alkej-953	42	31	the	the	DET
alkej-953	42	32	surroundings	surrounding	NOUN
alkej-953	42	33	.	.	PUNCT
alkej-953	43	1	three	three	NUM
alkej-953	43	2	assumptions	assumption	NOUN
alkej-953	43	3	are	be	AUX
alkej-953	43	4	considered	consider	VERB
alkej-953	43	5	in	in	ADP
alkej-953	43	6	this	this	DET
alkej-953	43	7	research	research	NOUN
alkej-953	43	8	.	.	PUNCT
alkej-953	44	1	in	in	ADP
alkej-953	44	2	the	the	DET
alkej-953	44	3	first	first	ADJ
alkej-953	44	4	assumption	assumption	NOUN
alkej-953	44	5	,	,	PUNCT
alkej-953	44	6	obstacles	obstacle	NOUN
alkej-953	44	7	are	be	AUX
alkej-953	44	8	depicted	depict	VERB
alkej-953	44	9	as	as	ADP
alkej-953	44	10	round	round	ADJ
alkej-953	44	11	shapes	shape	NOUN
alkej-953	44	12	.	.	PUNCT
alkej-953	45	1	in	in	ADP
alkej-953	45	2	the	the	DET
alkej-953	45	3	second	second	ADJ
alkej-953	45	4	assumption	assumption	NOUN
alkej-953	45	5	,	,	PUNCT
alkej-953	45	6	all	all	DET
alkej-953	45	7	obstacles	obstacle	NOUN
alkej-953	45	8	are	be	AUX
alkej-953	45	9	increased	increase	VERB
alkej-953	45	10	by	by	ADP
alkej-953	45	11	the	the	DET
alkej-953	45	12	robot	robot	NOUN
alkej-953	45	13	’s	’s	PART
alkej-953	45	14	radius	radius	NOUN
alkej-953	45	15	to	to	PART
alkej-953	45	16	ensure	ensure	VERB
alkej-953	45	17	safe	safe	ADJ
alkej-953	45	18	navigation	navigation	NOUN
alkej-953	45	19	when	when	SCONJ
alkej-953	45	20	moving	move	VERB
alkej-953	45	21	from	from	ADP
alkej-953	45	22	the	the	DET
alkej-953	45	23	sp	sp	NOUN
alkej-953	45	24	to	to	ADP
alkej-953	45	25	the	the	DET
alkej-953	45	26	tp	tp	NOUN
alkej-953	45	27	;	;	PUNCT
alkej-953	45	28	however	however	ADV
alkej-953	45	29	,	,	PUNCT
alkej-953	45	30	in	in	ADP
alkej-953	45	31	the	the	DET
alkej-953	45	32	third	third	ADJ
alkej-953	45	33	assumption	assumption	NOUN
alkej-953	45	34	,	,	PUNCT
alkej-953	45	35	the	the	DET
alkej-953	45	36	type	type	NOUN
alkej-953	45	37	of	of	ADP
alkej-953	45	38	wmr	wmr	PROPN
alkej-953	45	39	is	be	AUX
alkej-953	45	40	nonholonomic	nonholonomic	ADJ
alkej-953	45	41	.	.	PUNCT
alkej-953	46	1	fig	fig	NOUN
alkej-953	46	2	.	.	PUNCT
alkej-953	47	1	1	1	X
alkej-953	47	2	.	.	X
alkej-953	47	3	original	original	ADJ
alkej-953	47	4	and	and	CCONJ
alkej-953	47	5	expanded	expand	VERB
alkej-953	47	6	obstacle	obstacle	NOUN
alkej-953	47	7	boundaries	boundary	NOUN
alkej-953	47	8	.	.	PUNCT
alkej-953	48	1	3	3	X
alkej-953	48	2	.	.	X
alkej-953	48	3	performance	performance	NOUN
alkej-953	48	4	criteria	criterion	NOUN
alkej-953	48	5	3.1	3.1	NUM
alkej-953	48	6	.	.	PUNCT
alkej-953	49	1	short	short	ADJ
alkej-953	49	2	path	path	NOUN
alkej-953	49	3	the	the	DET
alkej-953	49	4	shortest	short	ADJ
alkej-953	49	5	path	path	NOUN
alkej-953	49	6	is	be	AUX
alkej-953	49	7	achieved	achieve	VERB
alkej-953	49	8	in	in	ADP
alkej-953	49	9	planning	planning	NOUN
alkej-953	49	10	paths	path	NOUN
alkej-953	49	11	by	by	ADP
alkej-953	49	12	minimising	minimise	VERB
alkej-953	49	13	the	the	DET
alkej-953	49	14	distance	distance	NOUN
alkej-953	49	15	between	between	ADP
alkej-953	49	16	the	the	DET
alkej-953	49	17	sp	sp	NOUN
alkej-953	49	18	and	and	CCONJ
alkej-953	49	19	the	the	DET
alkej-953	49	20	tp	tp	NOUN
alkej-953	49	21	.	.	PUNCT
alkej-953	50	1	the	the	DET
alkej-953	50	2	mathematical	mathematical	ADJ
alkej-953	50	3	expression	expression	NOUN
alkej-953	50	4	used	use	VERB
alkej-953	50	5	to	to	PART
alkej-953	50	6	calculate	calculate	VERB
alkej-953	50	7	the	the	DET
alkej-953	50	8	function	function	NOUN
alkej-953	50	9	’s	’s	PART
alkej-953	50	10	objective	objective	NOUN
alkej-953	50	11	is	be	AUX
alkej-953	50	12	as	as	SCONJ
alkej-953	50	13	follows	follow	VERB
alkej-953	50	14	:	:	PUNCT
alkej-953	50	15	𝐹1	𝐹1	PROPN
alkej-953	50	16	=	=	PROPN
alkej-953	50	17	𝑑(𝑝𝑖(𝑡	𝑑(𝑝𝑖(𝑡	PROPN
alkej-953	50	18	)	)	PUNCT
alkej-953	50	19	,	,	PUNCT
alkej-953	50	20	𝑝(𝑁	𝑝(𝑁	NUM
alkej-953	50	21	)	)	PUNCT
alkej-953	50	22	)	)	PUNCT
alkej-953	50	23	…	…	PUNCT
alkej-953	50	24	(	(	PUNCT
alkej-953	50	25	1	1	NUM
alkej-953	50	26	)	)	PUNCT
alkej-953	50	27	where	where	SCONJ
alkej-953	50	28	𝑑	𝑑	PROPN
alkej-953	50	29	denotes	denote	VERB
alkej-953	50	30	the	the	DET
alkej-953	50	31	euclidean	euclidean	ADJ
alkej-953	50	32	distance	distance	NOUN
alkej-953	50	33	,	,	PUNCT
alkej-953	50	34	and	and	CCONJ
alkej-953	50	35	𝑝𝑖(𝑡	𝑝𝑖(𝑡	NUM
alkej-953	50	36	)	)	PUNCT
alkej-953	50	37	refers	refer	VERB
alkej-953	50	38	to	to	ADP
alkej-953	50	39	a	a	DET
alkej-953	50	40	set	set	NOUN
alkej-953	50	41	of	of	ADP
alkej-953	50	42	midpoints	midpoint	NOUN
alkej-953	50	43	the	the	DET
alkej-953	50	44	optimisation	optimisation	NOUN
alkej-953	50	45	algorithm	algorithm	NOUN
alkej-953	50	46	selects	select	NOUN
alkej-953	50	47	on	on	ADP
alkej-953	50	48	the	the	DET
alkej-953	50	49	basis	basis	NOUN
alkej-953	50	50	of	of	ADP
alkej-953	50	51	a	a	DET
alkej-953	50	52	specified	specified	ADJ
alkej-953	50	53	criterion	criterion	NOUN
alkej-953	50	54	.	.	PUNCT
alkej-953	51	1	this	this	DET
alkej-953	51	2	criterion	criterion	NOUN
alkej-953	51	3	requires	require	VERB
alkej-953	51	4	that	that	SCONJ
alkej-953	51	5	these	these	DET
alkej-953	51	6	points	point	NOUN
alkej-953	51	7	have	have	VERB
alkej-953	51	8	the	the	DET
alkej-953	51	9	shortest	short	ADJ
alkej-953	51	10	distance	distance	NOUN
alkej-953	51	11	to	to	ADP
alkej-953	51	12	the	the	DET
alkej-953	51	13	tp	tp	NOUN
alkej-953	51	14	,	,	PUNCT
alkej-953	51	15	denoted	denote	VERB
alkej-953	51	16	by	by	ADP
alkej-953	51	17	𝑝(𝑁	𝑝(𝑁	NOUN
alkej-953	51	18	)	)	PUNCT
alkej-953	51	19	.	.	PUNCT
alkej-953	52	1	the	the	DET
alkej-953	52	2	shortest	short	ADJ
alkej-953	52	3	path	path	NOUN
alkej-953	52	4	distance	distance	NOUN
alkej-953	52	5	(	(	PUNCT
alkej-953	52	6	𝑆𝑃𝐷	𝑆𝑃𝐷	PROPN
alkej-953	52	7	)	)	PUNCT
alkej-953	52	8	can	can	AUX
alkej-953	52	9	be	be	AUX
alkej-953	52	10	determined	determine	VERB
alkej-953	52	11	in	in	ADP
alkej-953	52	12	the	the	DET
alkej-953	52	13	following	following	ADJ
alkej-953	52	14	manner	manner	NOUN
alkej-953	52	15	.	.	PUNCT
alkej-953	53	1	𝑆𝑃𝐷	𝑆𝑃𝐷	NOUN
alkej-953	53	2	=	=	PUNCT
alkej-953	53	3	∑	∑	PUNCT
alkej-953	53	4	√(𝑋𝑝𝑖(𝑡	√(𝑋𝑝𝑖(𝑡	ADJ
alkej-953	53	5	+	+	CCONJ
alkej-953	53	6	1	1	NUM
alkej-953	53	7	)	)	PUNCT
alkej-953	53	8	−	−	PROPN
alkej-953	53	9	𝑋𝑝𝑖(𝑡	𝑋𝑝𝑖(𝑡	NUM
alkej-953	53	10	)	)	PUNCT
alkej-953	53	11	)	)	PUNCT
alkej-953	53	12	2	2	NUM
alkej-953	54	1	+	+	CCONJ
alkej-953	54	2	(	(	PUNCT
alkej-953	54	3	𝑌𝑝𝑖(𝑡	𝑌𝑝𝑖(𝑡	NOUN
alkej-953	54	4	+	+	CCONJ
alkej-953	54	5	1	1	NUM
alkej-953	54	6	)	)	PUNCT
alkej-953	54	7	−	−	PROPN
alkej-953	54	8	𝑌𝑝𝑖(𝑡	𝑌𝑝𝑖(𝑡	NOUN
alkej-953	54	9	)	)	PUNCT
alkej-953	54	10	)	)	PUNCT
alkej-953	54	11	2𝑁−1	2𝑁−1	NUM
alkej-953	55	1	𝑖=1	𝑖=1	PUNCT
alkej-953	55	2	…	…	PUNCT
alkej-953	55	3	(	(	PUNCT
alkej-953	55	4	2	2	NUM
alkej-953	55	5	)	)	PUNCT
alkej-953	55	6	where	where	SCONJ
alkej-953	55	7	(	(	PUNCT
alkej-953	55	8	t	t	NOUN
alkej-953	55	9	)	)	PUNCT
alkej-953	55	10	is	be	AUX
alkej-953	55	11	the	the	DET
alkej-953	55	12	simulation	simulation	NOUN
alkej-953	55	13	time	time	NOUN
alkej-953	55	14	.	.	PUNCT
alkej-953	56	1	3.2	3.2	NUM
alkej-953	56	2	.	.	PUNCT
alkej-953	56	3	path	path	NOUN
alkej-953	56	4	smoothness	smoothness	ADJ
alkej-953	56	5	the	the	DET
alkej-953	56	6	goal	goal	NOUN
alkej-953	56	7	of	of	ADP
alkej-953	56	8	obtaining	obtain	VERB
alkej-953	56	9	path	path	NOUN
alkej-953	56	10	smoothness	smoothness	ADJ
alkej-953	56	11	is	be	AUX
alkej-953	56	12	to	to	PART
alkej-953	56	13	reduce	reduce	VERB
alkej-953	56	14	the	the	DET
alkej-953	56	15	angular	angular	ADJ
alkej-953	56	16	difference	difference	NOUN
alkej-953	56	17	between	between	ADP
alkej-953	56	18	the	the	DET
alkej-953	56	19	present	present	ADJ
alkej-953	56	20	and	and	CCONJ
alkej-953	56	21	proposed	propose	VERB
alkej-953	56	22	locations	location	NOUN
alkej-953	56	23	(	(	PUNCT
alkej-953	56	24	figure	figure	NOUN
alkej-953	56	25	2	2	NUM
alkej-953	56	26	)	)	PUNCT
alkej-953	56	27	.	.	PUNCT
alkej-953	57	1	the	the	DET
alkej-953	57	2	mathematical	mathematical	ADJ
alkej-953	57	3	formula	formula	NOUN
alkej-953	57	4	used	use	VERB
alkej-953	57	5	to	to	PART
alkej-953	57	6	illustrate	illustrate	VERB
alkej-953	57	7	path	path	NOUN
alkej-953	57	8	smoothness	smoothness	NOUN
alkej-953	57	9	is	be	AUX
alkej-953	57	10	given	give	VERB
alkej-953	57	11	by	by	ADP
alkej-953	57	12	equations	equation	NOUN
alkej-953	57	13	(	(	PUNCT
alkej-953	57	14	3	3	NUM
alkej-953	57	15	)	)	PUNCT
alkej-953	57	16	to	to	ADP
alkej-953	57	17	(	(	PUNCT
alkej-953	57	18	5	5	X
alkej-953	57	19	)	)	PUNCT
alkej-953	57	20	[	[	X
alkej-953	57	21	16	16	NUM
alkej-953	57	22	]	]	PUNCT
alkej-953	57	23	.	.	PUNCT
alkej-953	58	1	fig	fig	NOUN
alkej-953	58	2	.	.	PUNCT
alkej-953	59	1	2	2	NUM
alkej-953	59	2	.	.	NOUN
alkej-953	59	3	example	example	NOUN
alkej-953	59	4	of	of	ADP
alkej-953	59	5	path	path	NOUN
alkej-953	59	6	smoothness	smoothness	PROPN
alkej-953	59	7	zahraa	zahraa	PROPN
alkej-953	59	8	a.	a.	PROPN
alkej-953	59	9	abdullah	abdullah	PROPN
alkej-953	59	10	al	al	PROPN
alkej-953	59	11	-	-	PUNCT
alkej-953	59	12	khwarizmi	khwarizmi	PROPN
alkej-953	59	13	engineering	engineering	NOUN
alkej-953	59	14	journal	journal	PROPN
alkej-953	59	15	,	,	PUNCT
alkej-953	59	16	vol	vol	NOUN
alkej-953	59	17	.	.	PROPN
alkej-953	59	18	21	21	NUM
alkej-953	59	19	,	,	PUNCT
alkej-953	59	20	no.2	no.2	PROPN
alkej-953	59	21	,	,	PUNCT
alkej-953	59	22	pp	pp	ADJ
alkej-953	59	23	.	.	PUNCT
alkej-953	60	1	42	42	NUM
alkej-953	60	2	-	-	SYM
alkej-953	60	3	52	52	NUM
alkej-953	60	4	(	(	PUNCT
alkej-953	60	5	2025	2025	NUM
alkej-953	60	6	)	)	PUNCT
alkej-953	60	7	44	44	NUM
alkej-953	60	8	𝐹2	𝐹2	NOUN
alkej-953	60	9	=	=	SYM
alkej-953	60	10	∑|𝜃(𝑝𝑖(𝑡	∑|𝜃(𝑝𝑖(𝑡	NOUN
alkej-953	60	11	)	)	PUNCT
alkej-953	60	12	,	,	PUNCT
alkej-953	60	13	𝑝𝑖(𝑡	𝑝𝑖(𝑡	X
alkej-953	61	1	+	+	SYM
alkej-953	61	2	1))𝜃(𝑝𝑖(𝑡	1))𝜃(𝑝𝑖(𝑡	NUM
alkej-953	61	3	)	)	PUNCT
alkej-953	61	4	,	,	PUNCT
alkej-953	61	5	𝑝(𝑁))|	𝑝(𝑁))|	PROPN
alkej-953	61	6	𝑁−1	𝑁−1	VERB
alkej-953	61	7	𝑖=1	𝑖=1	PROPN
alkej-953	61	8	…	…	PUNCT
alkej-953	61	9	(	(	PUNCT
alkej-953	61	10	3	3	NUM
alkej-953	61	11	)	)	PUNCT
alkej-953	61	12	𝜃(𝑝𝑖(𝑡	𝜃(𝑝𝑖(𝑡	NOUN
alkej-953	61	13	)	)	PUNCT
alkej-953	61	14	,	,	PUNCT
alkej-953	61	15	𝑝𝑖(𝑡	𝑝𝑖(𝑡	PUNCT
alkej-953	62	1	+	+	NOUN
alkej-953	62	2	1	1	NUM
alkej-953	62	3	)	)	PUNCT
alkej-953	62	4	)	)	PUNCT
alkej-953	63	1	=	=	SYM
alkej-953	63	2	tan−1	tan−1	PROPN
alkej-953	63	3	𝑌𝑝𝑖(𝑡+1)−𝑌𝑝𝑖(𝑡	𝑌𝑝𝑖(𝑡+1)−𝑌𝑝𝑖(𝑡	X
alkej-953	63	4	)	)	PUNCT
alkej-953	63	5	𝑋𝑝𝑖(𝑡+1)−𝑋𝑝𝑖(𝑡	𝑋𝑝𝑖(𝑡+1)−𝑋𝑝𝑖(𝑡	NUM
alkej-953	63	6	)	)	PUNCT
alkej-953	63	7	…	…	PUNCT
alkej-953	63	8	(	(	PUNCT
alkej-953	63	9	4	4	NUM
alkej-953	63	10	)	)	PUNCT
alkej-953	63	11	𝜃(𝑝𝑖(𝑡	𝜃(𝑝𝑖(𝑡	NOUN
alkej-953	63	12	)	)	PUNCT
alkej-953	63	13	,	,	PUNCT
alkej-953	63	14	𝑝(𝑁	𝑝(𝑁	NUM
alkej-953	63	15	)	)	PUNCT
alkej-953	63	16	)	)	PUNCT
alkej-953	64	1	=	=	SYM
alkej-953	64	2	tan−1	tan−1	PROPN
alkej-953	64	3	𝑌𝑝(𝑁)−𝑌𝑝𝑖(𝑡	𝑌𝑝(𝑁)−𝑌𝑝𝑖(𝑡	NOUN
alkej-953	64	4	)	)	PUNCT
alkej-953	64	5	𝑋𝑝(𝑁)−𝑋𝑝𝑖(𝑡	𝑋𝑝(𝑁)−𝑋𝑝𝑖(𝑡	NUM
alkej-953	64	6	)	)	PUNCT
alkej-953	64	7	…	…	PUNCT
alkej-953	64	8	(	(	PUNCT
alkej-953	64	9	5	5	NUM
alkej-953	64	10	)	)	PUNCT
alkej-953	64	11	the	the	DET
alkej-953	64	12	rating	rating	NOUN
alkej-953	64	13	of	of	ADP
alkej-953	64	14	fitness	fitness	NOUN
alkej-953	64	15	is	be	AUX
alkej-953	64	16	calculated	calculate	VERB
alkej-953	64	17	by	by	ADP
alkej-953	64	18	combining	combine	VERB
alkej-953	64	19	two	two	NUM
alkej-953	64	20	objectives	objective	NOUN
alkej-953	64	21	,	,	PUNCT
alkej-953	64	22	one	one	NUM
alkej-953	64	23	of	of	ADP
alkej-953	64	24	which	which	PRON
alkej-953	64	25	is	be	AUX
alkej-953	64	26	the	the	DET
alkej-953	64	27	weight	weight	NOUN
alkej-953	64	28	:	:	PUNCT
alkej-953	64	29	𝐹(𝑋	𝐹(𝑋	NOUN
alkej-953	64	30	,	,	PUNCT
alkej-953	64	31	𝑌	𝑌	PROPN
alkej-953	64	32	)	)	PUNCT
alkej-953	64	33	=	=	VERB
alkej-953	65	1	𝑤1	𝑤1	VERB
alkej-953	65	2	∙	∙	PROPN
alkej-953	65	3	𝐹1(𝑋	𝐹1(𝑋	PROPN
alkej-953	65	4	,	,	PUNCT
alkej-953	65	5	𝑌	𝑌	PROPN
alkej-953	65	6	)	)	PUNCT
alkej-953	65	7	+	+	NUM
alkej-953	65	8	𝑤2	𝑤2	NOUN
alkej-953	65	9	∙	∙	PROPN
alkej-953	65	10	𝐹2(𝑋	𝐹2(𝑋	PROPN
alkej-953	65	11	,	,	PUNCT
alkej-953	65	12	𝑌	𝑌	PROPN
alkej-953	65	13	)	)	PUNCT
alkej-953	65	14	…	…	PUNCT
alkej-953	65	15	(	(	PUNCT
alkej-953	65	16	6	6	NUM
alkej-953	65	17	)	)	PUNCT
alkej-953	65	18	the	the	DET
alkej-953	65	19	values	value	NOUN
alkej-953	65	20	𝑤1	𝑤1	VERB
alkej-953	65	21	and	and	CCONJ
alkej-953	65	22	𝑤2	𝑤2	NOUN
alkej-953	65	23	indicate	indicate	VERB
alkej-953	65	24	the	the	DET
alkej-953	65	25	relative	relative	ADJ
alkej-953	65	26	significance	significance	NOUN
alkej-953	65	27	of	of	ADP
alkej-953	65	28	the	the	DET
alkej-953	65	29	weights	weight	NOUN
alkej-953	65	30	applied	apply	VERB
alkej-953	65	31	to	to	ADP
alkej-953	65	32	each	each	DET
alkej-953	65	33	objective	objective	NOUN
alkej-953	65	34	.	.	PUNCT
alkej-953	66	1	their	their	PRON
alkej-953	66	2	individual	individual	ADJ
alkej-953	66	3	values	value	NOUN
alkej-953	66	4	must	must	AUX
alkej-953	66	5	satisfy	satisfy	VERB
alkej-953	66	6	the	the	DET
alkej-953	66	7	following	follow	VERB
alkej-953	66	8	criteria	criterion	NOUN
alkej-953	66	9	:	:	PUNCT
alkej-953	66	10	𝑤	𝑤	X
alkej-953	66	11	=	=	SYM
alkej-953	66	12	𝑤1	𝑤1	PROPN
alkej-953	66	13	+	+	CCONJ
alkej-953	66	14	𝑤2	𝑤2	NOUN
alkej-953	66	15	…	…	PUNCT
alkej-953	66	16	(	(	PUNCT
alkej-953	66	17	7	7	NUM
alkej-953	66	18	)	)	PUNCT
alkej-953	66	19	which	which	PRON
alkej-953	66	20	can	can	AUX
alkej-953	66	21	explain	explain	VERB
alkej-953	66	22	the	the	DET
alkej-953	66	23	following	follow	VERB
alkej-953	66	24	total	total	ADJ
alkej-953	66	25	fitness	fitness	NOUN
alkej-953	66	26	function	function	NOUN
alkej-953	66	27	:	:	PUNCT
alkej-953	67	1	𝑓𝑖𝑡𝑛𝑒𝑠𝑠	𝑓𝑖𝑡𝑛𝑒𝑠𝑠	NOUN
alkej-953	67	2	=	=	SYM
alkej-953	67	3	1	1	NUM
alkej-953	67	4	𝐹(𝑋,𝑌)+𝑒	𝐹(𝑋,𝑌)+𝑒	NOUN
alkej-953	67	5	…	…	PUNCT
alkej-953	67	6	(	(	PUNCT
alkej-953	67	7	8)	8)	NUM
alkej-953	67	8	typically	typically	ADV
alkej-953	67	9	,	,	PUNCT
alkej-953	67	10	the	the	DET
alkej-953	67	11	factor	factor	NOUN
alkej-953	67	12	′𝑒′	′𝑒′	NOUN
alkej-953	67	13	prevents	prevent	VERB
alkej-953	67	14	division	division	NOUN
alkej-953	67	15	by	by	ADP
alkej-953	67	16	zero	zero	NUM
alkej-953	67	17	and	and	CCONJ
alkej-953	67	18	is	be	AUX
alkej-953	67	19	often	often	ADV
alkej-953	67	20	set	set	VERB
alkej-953	67	21	to	to	ADP
alkej-953	67	22	a	a	DET
alkej-953	67	23	small	small	ADJ
alkej-953	67	24	value	value	NOUN
alkej-953	67	25	(	(	PUNCT
alkej-953	67	26	e.g.	e.g.	ADV
alkej-953	67	27	0.001	0.001	NUM
alkej-953	67	28	)	)	PUNCT
alkej-953	67	29	.	.	PUNCT
alkej-953	68	1	each	each	DET
alkej-953	68	2	iteration	iteration	NOUN
alkej-953	68	3	aims	aim	VERB
alkej-953	68	4	to	to	PART
alkej-953	68	5	select	select	VERB
alkej-953	68	6	an	an	DET
alkej-953	68	7	optimal	optimal	ADJ
alkej-953	68	8	solution	solution	NOUN
alkej-953	68	9	by	by	ADP
alkej-953	68	10	balancing	balance	VERB
alkej-953	68	11	the	the	DET
alkej-953	68	12	two	two	NUM
alkej-953	68	13	performance	performance	NOUN
alkej-953	68	14	objectives	objective	NOUN
alkej-953	68	15	outlined	outline	VERB
alkej-953	68	16	in	in	ADP
alkej-953	68	17	equations	equation	NOUN
alkej-953	68	18	(	(	PUNCT
alkej-953	68	19	1	1	NUM
alkej-953	68	20	)	)	PUNCT
alkej-953	68	21	to	to	ADP
alkej-953	68	22	(	(	PUNCT
alkej-953	68	23	3	3	NUM
alkej-953	68	24	)	)	PUNCT
alkej-953	68	25	.	.	PUNCT
alkej-953	69	1	amongst	amongst	ADP
alkej-953	69	2	the	the	DET
alkej-953	69	3	four	four	NUM
alkej-953	69	4	candidate	candidate	NOUN
alkej-953	69	5	locations	location	NOUN
alkej-953	69	6	,	,	PUNCT
alkej-953	69	7	p2	p2	PROPN
alkej-953	69	8	is	be	AUX
alkej-953	69	9	optimal	optimal	ADJ
alkej-953	69	10	for	for	ADP
alkej-953	69	11	the	the	DET
alkej-953	69	12	current	current	ADJ
alkej-953	69	13	iteration	iteration	NOUN
alkej-953	69	14	‘	'	PUNCT
alkej-953	69	15	t	t	NOUN
alkej-953	69	16	’	'	PUNCT
alkej-953	69	17	,	,	PUNCT
alkej-953	69	18	and	and	CCONJ
alkej-953	69	19	p3	p3	PROPN
alkej-953	69	20	is	be	AUX
alkej-953	69	21	optimal	optimal	ADJ
alkej-953	69	22	for	for	ADP
alkej-953	69	23	the	the	DET
alkej-953	69	24	next	next	ADJ
alkej-953	69	25	iteration	iteration	NOUN
alkej-953	69	26	‘	'	PUNCT
alkej-953	69	27	(	(	PUNCT
alkej-953	69	28	t	t	NOUN
alkej-953	69	29	+	+	NOUN
alkej-953	69	30	1	1	NUM
alkej-953	69	31	)	)	PUNCT
alkej-953	69	32	’	'	PUNCT
alkej-953	69	33	(	(	PUNCT
alkej-953	69	34	figure	figure	NOUN
alkej-953	69	35	3	3	NUM
alkej-953	69	36	)	)	PUNCT
alkej-953	69	37	.	.	PUNCT
alkej-953	70	1	however	however	ADV
alkej-953	70	2	,	,	PUNCT
alkej-953	70	3	for	for	ADP
alkej-953	70	4	the	the	DET
alkej-953	70	5	subsequent	subsequent	ADJ
alkej-953	70	6	iteration	iteration	NOUN
alkej-953	70	7	‘	'	PUNCT
alkej-953	70	8	(	(	PUNCT
alkej-953	70	9	t	t	NOUN
alkej-953	70	10	+	+	NOUN
alkej-953	70	11	2	2	NUM
alkej-953	70	12	)	)	PUNCT
alkej-953	70	13	’	'	PUNCT
alkej-953	70	14	,	,	PUNCT
alkej-953	70	15	whilst	whilst	SCONJ
alkej-953	70	16	the	the	DET
alkej-953	70	17	distances	distance	NOUN
alkej-953	70	18	for	for	ADP
alkej-953	70	19	p1	p1	NOUN
alkej-953	70	20	and	and	CCONJ
alkej-953	70	21	p4	p4	NOUN
alkej-953	70	22	may	may	AUX
alkej-953	70	23	be	be	AUX
alkej-953	70	24	short	short	ADJ
alkej-953	70	25	,	,	PUNCT
alkej-953	70	26	the	the	DET
alkej-953	70	27	angles	angle	NOUN
alkej-953	70	28	are	be	AUX
alkej-953	70	29	larger	large	ADJ
alkej-953	70	30	.	.	PUNCT
alkej-953	71	1	thus	thus	ADV
alkej-953	71	2	,	,	PUNCT
alkej-953	71	3	p2	p2	PROPN
alkej-953	71	4	strikes	strike	VERB
alkej-953	71	5	a	a	DET
alkej-953	71	6	balance	balance	NOUN
alkej-953	71	7	between	between	ADP
alkej-953	71	8	these	these	DET
alkej-953	71	9	two	two	NUM
alkej-953	71	10	objectives	objective	NOUN
alkej-953	71	11	.	.	PUNCT
alkej-953	72	1	this	this	DET
alkej-953	72	2	approach	approach	NOUN
alkej-953	72	3	continues	continue	VERB
alkej-953	72	4	iteratively	iteratively	ADV
alkej-953	72	5	until	until	SCONJ
alkej-953	72	6	a	a	DET
alkej-953	72	7	globally	globally	ADV
alkej-953	72	8	optimal	optimal	ADJ
alkej-953	72	9	solution	solution	NOUN
alkej-953	72	10	is	be	AUX
alkej-953	72	11	found	find	VERB
alkej-953	72	12	.	.	PUNCT
alkej-953	73	1	fig	fig	NOUN
alkej-953	73	2	.	.	PUNCT
alkej-953	74	1	3	3	X
alkej-953	74	2	.	.	X
alkej-953	74	3	planning	plan	VERB
alkej-953	74	4	the	the	DET
alkej-953	74	5	path	path	NOUN
alkej-953	74	6	with	with	ADP
alkej-953	74	7	point	point	NOUN
alkej-953	74	8	selection	selection	NOUN
alkej-953	74	9	[	[	X
alkej-953	74	10	16	16	NUM
alkej-953	74	11	]	]	SYM
alkej-953	74	12	3.3	3.3	NUM
alkej-953	74	13	.	.	PUNCT
alkej-953	75	1	moving	move	VERB
alkej-953	75	2	obstacles	obstacle	NOUN
alkej-953	75	3	each	each	DET
alkej-953	75	4	obstacle	obstacle	NOUN
alkej-953	75	5	might	might	AUX
alkej-953	75	6	vary	vary	VERB
alkej-953	75	7	its	its	PRON
alkej-953	75	8	position	position	NOUN
alkej-953	75	9	with	with	ADP
alkej-953	75	10	each	each	DET
alkej-953	75	11	time	time	NOUN
alkej-953	75	12	step	step	NOUN
alkej-953	75	13	.	.	PUNCT
alkej-953	76	1	here	here	ADV
alkej-953	76	2	,	,	PUNCT
alkej-953	76	3	obstacles	obstacle	NOUN
alkej-953	76	4	are	be	AUX
alkej-953	76	5	assumed	assume	VERB
alkej-953	76	6	to	to	PART
alkej-953	76	7	move	move	VERB
alkej-953	76	8	linearly	linearly	ADV
alkej-953	76	9	with	with	ADP
alkej-953	76	10	constant	constant	ADJ
alkej-953	76	11	speed	speed	NOUN
alkej-953	76	12	(	(	PUNCT
alkej-953	76	13	𝑣0𝑏𝑠	𝑣0𝑏𝑠	NOUN
alkej-953	76	14	)	)	PUNCT
alkej-953	76	15	and	and	CCONJ
alkej-953	76	16	direction	direction	NOUN
alkej-953	76	17	(	(	PUNCT
alkej-953	76	18	𝜃𝑜𝑏𝑠	𝜃𝑜𝑏𝑠	NOUN
alkej-953	76	19	)	)	PUNCT
alkej-953	76	20	according	accord	VERB
alkej-953	76	21	to	to	ADP
alkej-953	76	22	the	the	DET
alkej-953	76	23	following	following	ADJ
alkej-953	76	24	equations	equation	NOUN
alkej-953	76	25	:	:	PUNCT
alkej-953	76	26	𝑋𝑜𝑏𝑠2	𝑋𝑜𝑏𝑠2	PROPN
alkej-953	76	27	=	=	X
alkej-953	76	28	𝑋𝑜𝑏𝑠1	𝑋𝑜𝑏𝑠1	PROPN
alkej-953	76	29	+	+	PUNCT
alkej-953	76	30	𝑣0𝑏𝑠	𝑣0𝑏𝑠	NUM
alkej-953	76	31	∙	∙	PROPN
alkej-953	76	32	𝑐𝑜𝑠	𝑐𝑜𝑠	PROPN
alkej-953	76	33	𝜃𝑜𝑏𝑠	𝜃𝑜𝑏𝑠	PROPN
alkej-953	76	34	∙	∙	PROPN
alkej-953	76	35	𝑡	𝑡	X
alkej-953	76	36	…	…	PUNCT
alkej-953	76	37	(	(	PUNCT
alkej-953	76	38	9	9	NUM
alkej-953	76	39	)	)	PUNCT
alkej-953	76	40	𝑌𝑜𝑏𝑠2	𝑌𝑜𝑏𝑠2	NOUN
alkej-953	77	1	=	=	PUNCT
alkej-953	78	1	𝑌𝑜𝑏𝑠1	𝑌𝑜𝑏𝑠1	NOUN
alkej-953	79	1	+	+	PUNCT
alkej-953	79	2	𝑣0𝑏𝑠	𝑣0𝑏𝑠	NUM
alkej-953	79	3	∙	∙	PROPN
alkej-953	79	4	𝑠𝑖𝑛	𝑠𝑖𝑛	PROPN
alkej-953	79	5	𝜃𝑜𝑏𝑠	𝜃𝑜𝑏𝑠	PROPN
alkej-953	79	6	∙	∙	PROPN
alkej-953	79	7	𝑡	𝑡	X
alkej-953	79	8	…	…	PUNCT
alkej-953	79	9	(	(	PUNCT
alkej-953	79	10	10	10	NUM
alkej-953	79	11	)	)	SYM
alkej-953	79	12	4	4	NUM
alkej-953	79	13	.	.	PUNCT
alkej-953	79	14	swarm	swarm	NOUN
alkej-953	79	15	intelligence	intelligence	NOUN
alkej-953	79	16	swarm	swarm	NOUN
alkej-953	79	17	intelligence	intelligence	NOUN
alkej-953	79	18	(	(	PUNCT
alkej-953	79	19	si	si	X
alkej-953	79	20	)	)	PUNCT
alkej-953	79	21	is	be	AUX
alkej-953	79	22	a	a	DET
alkej-953	79	23	branch	branch	NOUN
alkej-953	79	24	of	of	ADP
alkej-953	79	25	study	study	NOUN
alkej-953	79	26	that	that	PRON
alkej-953	79	27	is	be	AUX
alkej-953	79	28	based	base	VERB
alkej-953	79	29	on	on	ADP
alkej-953	79	30	the	the	DET
alkej-953	79	31	collective	collective	ADJ
alkej-953	79	32	behaviour	behaviour	NOUN
alkej-953	79	33	of	of	ADP
alkej-953	79	34	social	social	ADJ
alkej-953	79	35	creatures	creature	NOUN
alkej-953	79	36	such	such	ADJ
alkej-953	79	37	as	as	ADP
alkej-953	79	38	ants	ant	NOUN
alkej-953	79	39	,	,	PUNCT
alkej-953	79	40	bees	bee	NOUN
alkej-953	79	41	,	,	PUNCT
alkej-953	79	42	wolves	wolf	NOUN
alkej-953	79	43	and	and	CCONJ
alkej-953	79	44	birds	bird	NOUN
alkej-953	79	45	.	.	PUNCT
alkej-953	80	1	the	the	DET
alkej-953	80	2	goal	goal	NOUN
alkej-953	80	3	is	be	AUX
alkej-953	80	4	to	to	PART
alkej-953	80	5	create	create	VERB
alkej-953	80	6	an	an	DET
alkej-953	80	7	artificial	artificial	ADJ
alkej-953	80	8	algorithm	algorithm	NOUN
alkej-953	80	9	that	that	PRON
alkej-953	80	10	imitates	imitate	VERB
alkej-953	80	11	the	the	DET
alkej-953	80	12	characteristics	characteristic	NOUN
alkej-953	80	13	of	of	ADP
alkej-953	80	14	these	these	DET
alkej-953	80	15	natural	natural	ADJ
alkej-953	80	16	swarms	swarm	NOUN
alkej-953	80	17	to	to	PART
alkej-953	80	18	address	address	VERB
alkej-953	80	19	challenging	challenging	ADJ
alkej-953	80	20	issues	issue	NOUN
alkej-953	80	21	.	.	PUNCT
alkej-953	81	1	si	si	PROPN
alkej-953	81	2	algorithms	algorithm	NOUN
alkej-953	81	3	frequently	frequently	ADV
alkej-953	81	4	use	use	VERB
alkej-953	81	5	a	a	DET
alkej-953	81	6	population	population	NOUN
alkej-953	81	7	of	of	ADP
alkej-953	81	8	simple	simple	ADJ
alkej-953	81	9	agents	agent	NOUN
alkej-953	81	10	or	or	CCONJ
alkej-953	81	11	particles	particle	NOUN
alkej-953	81	12	interacting	interact	VERB
alkej-953	81	13	with	with	ADP
alkej-953	81	14	one	one	NUM
alkej-953	81	15	another	another	DET
alkej-953	81	16	and	and	CCONJ
alkej-953	81	17	their	their	PRON
alkej-953	81	18	surroundings	surrounding	NOUN
alkej-953	81	19	to	to	PART
alkej-953	81	20	identify	identify	VERB
alkej-953	81	21	optimal	optimal	ADJ
alkej-953	81	22	solutions	solution	NOUN
alkej-953	81	23	.	.	PUNCT
alkej-953	82	1	these	these	DET
alkej-953	82	2	methods	method	NOUN
alkej-953	82	3	effectively	effectively	ADV
alkej-953	82	4	solve	solve	VERB
alkej-953	82	5	optimisation	optimisation	NOUN
alkej-953	82	6	,	,	PUNCT
alkej-953	82	7	clustering	cluster	VERB
alkej-953	82	8	and	and	CCONJ
alkej-953	82	9	routing	routing	NOUN
alkej-953	82	10	problems	problem	NOUN
alkej-953	82	11	.	.	PUNCT
alkej-953	83	1	here	here	ADV
alkej-953	83	2	,	,	PUNCT
alkej-953	83	3	two	two	NUM
alkej-953	83	4	optimisation	optimisation	NOUN
alkej-953	83	5	methods	method	NOUN
alkej-953	83	6	,	,	PUNCT
alkej-953	83	7	namely	namely	ADV
alkej-953	83	8	,	,	PUNCT
alkej-953	83	9	gwo	gwo	PROPN
alkej-953	83	10	and	and	CCONJ
alkej-953	83	11	abc	abc	PROPN
alkej-953	83	12	,	,	PUNCT
alkej-953	83	13	are	be	AUX
alkej-953	83	14	utilised	utilise	VERB
alkej-953	83	15	to	to	PART
alkej-953	83	16	address	address	VERB
alkej-953	83	17	the	the	DET
alkej-953	83	18	path	path	NOUN
alkej-953	83	19	-	-	PUNCT
alkej-953	83	20	planning	planning	NOUN
alkej-953	83	21	challenge	challenge	NOUN
alkej-953	83	22	of	of	ADP
alkej-953	83	23	wmrs	wmrs	ADJ
alkej-953	83	24	.	.	PUNCT
alkej-953	84	1	4.1	4.1	NUM
alkej-953	84	2	.	.	PUNCT
alkej-953	85	1	abc	abc	PROPN
alkej-953	85	2	algorithm	algorithm	PROPN
alkej-953	85	3	the	the	DET
alkej-953	85	4	abc	abc	PROPN
alkej-953	85	5	algorithm	algorithm	PROPN
alkej-953	85	6	belongs	belong	VERB
alkej-953	85	7	to	to	ADP
alkej-953	85	8	the	the	DET
alkej-953	85	9	si	si	NOUN
alkej-953	85	10	domain	domain	NOUN
alkej-953	85	11	and	and	CCONJ
alkej-953	85	12	is	be	AUX
alkej-953	85	13	influenced	influence	VERB
alkej-953	85	14	by	by	ADP
alkej-953	85	15	the	the	DET
alkej-953	85	16	natural	natural	ADJ
alkej-953	85	17	activities	activity	NOUN
alkej-953	85	18	of	of	ADP
alkej-953	85	19	honeybees	honeybee	NOUN
alkej-953	85	20	.	.	PUNCT
alkej-953	86	1	karboga	karboga	PROPN
alkej-953	86	2	introduced	introduce	VERB
alkej-953	86	3	abc	abc	PROPN
alkej-953	86	4	optimisation	optimisation	NOUN
alkej-953	86	5	in	in	ADP
alkej-953	86	6	2005	2005	NUM
alkej-953	86	7	to	to	PART
alkej-953	86	8	address	address	VERB
alkej-953	86	9	complicated	complicated	ADJ
alkej-953	86	10	situations[17	situations[17	NOUN
alkej-953	86	11	]	]	PUNCT
alkej-953	86	12	.	.	PUNCT
alkej-953	87	1	according	accord	VERB
alkej-953	87	2	to	to	ADP
alkej-953	87	3	the	the	DET
alkej-953	87	4	abc	abc	PROPN
alkej-953	87	5	framework	framework	NOUN
alkej-953	87	6	,	,	PUNCT
alkej-953	87	7	bees	bee	NOUN
alkej-953	87	8	are	be	AUX
alkej-953	87	9	classified	classify	VERB
alkej-953	87	10	into	into	ADP
alkej-953	87	11	three	three	NUM
alkej-953	87	12	types	type	NOUN
alkej-953	87	13	:	:	PUNCT
alkej-953	87	14	employed	employ	VERB
alkej-953	87	15	,	,	PUNCT
alkej-953	87	16	scout	scout	NOUN
alkej-953	87	17	and	and	CCONJ
alkej-953	87	18	onlooker	onlooker	NOUN
alkej-953	87	19	.	.	PUNCT
alkej-953	88	1	employed	employ	VERB
alkej-953	88	2	bees	bee	NOUN
alkej-953	88	3	,	,	PUNCT
alkej-953	88	4	up	up	ADP
alkej-953	88	5	to	to	PART
alkej-953	88	6	half	half	NOUN
alkej-953	88	7	of	of	ADP
alkej-953	88	8	the	the	DET
alkej-953	88	9	bee	bee	PROPN
alkej-953	88	10	population	population	NOUN
alkej-953	88	11	,	,	PUNCT
alkej-953	88	12	are	be	AUX
alkej-953	88	13	principally	principally	ADV
alkej-953	88	14	responsible	responsible	ADJ
alkej-953	88	15	for	for	ADP
alkej-953	88	16	finding	find	VERB
alkej-953	88	17	new	new	ADJ
alkej-953	88	18	food	food	NOUN
alkej-953	88	19	sources	source	NOUN
alkej-953	88	20	and	and	CCONJ
alkej-953	88	21	communicating	communicate	VERB
alkej-953	88	22	this	this	DET
alkej-953	88	23	knowledge	knowledge	NOUN
alkej-953	88	24	to	to	ADP
alkej-953	88	25	onlooker	onlooker	VERB
alkej-953	88	26	bees	bee	NOUN
alkej-953	88	27	.	.	PUNCT
alkej-953	89	1	after	after	ADP
alkej-953	89	2	receiving	receive	VERB
alkej-953	89	3	information	information	NOUN
alkej-953	89	4	from	from	ADP
alkej-953	89	5	employed	employ	VERB
alkej-953	89	6	bees	bee	NOUN
alkej-953	89	7	,	,	PUNCT
alkej-953	89	8	onlooker	onlooker	NOUN
alkej-953	89	9	bees	bee	NOUN
alkej-953	89	10	exploit	exploit	VERB
alkej-953	89	11	these	these	DET
alkej-953	89	12	food	food	NOUN
alkej-953	89	13	sources	source	NOUN
alkej-953	89	14	.	.	PUNCT
alkej-953	90	1	a	a	DET
alkej-953	90	2	food	food	NOUN
alkej-953	90	3	source	source	NOUN
alkej-953	90	4	depleted	deplete	VERB
alkej-953	90	5	by	by	ADP
alkej-953	90	6	exploitation	exploitation	NOUN
alkej-953	90	7	is	be	AUX
alkej-953	90	8	marked	mark	VERB
alkej-953	90	9	for	for	ADP
alkej-953	90	10	replenishment	replenishment	NOUN
alkej-953	90	11	,	,	PUNCT
alkej-953	90	12	and	and	CCONJ
alkej-953	90	13	a	a	DET
alkej-953	90	14	scout	scout	NOUN
alkej-953	90	15	bee	bee	NOUN
alkej-953	90	16	takes	take	VERB
alkej-953	90	17	on	on	ADP
alkej-953	90	18	this	this	DET
alkej-953	90	19	responsibility	responsibility	NOUN
alkej-953	90	20	.	.	PUNCT
alkej-953	91	1	the	the	DET
alkej-953	91	2	basic	basic	ADJ
alkej-953	91	3	steps	step	NOUN
alkej-953	91	4	of	of	ADP
alkej-953	91	5	the	the	DET
alkej-953	91	6	abc	abc	PROPN
alkej-953	91	7	algorithm	algorithm	PROPN
alkej-953	91	8	are	be	AUX
alkej-953	91	9	as	as	SCONJ
alkej-953	91	10	follows	follow	VERB
alkej-953	91	11	[	[	X
alkej-953	91	12	19,20	19,20	NUM
alkej-953	91	13	]	]	X
alkej-953	91	14	:	:	PUNCT
alkej-953	91	15	zahraa	zahraa	PROPN
alkej-953	91	16	a.	a.	PROPN
alkej-953	91	17	abdullah	abdullah	PROPN
alkej-953	91	18	al	al	PROPN
alkej-953	91	19	-	-	PUNCT
alkej-953	91	20	khwarizmi	khwarizmi	PROPN
alkej-953	91	21	engineering	engineering	NOUN
alkej-953	91	22	journal	journal	PROPN
alkej-953	91	23	,	,	PUNCT
alkej-953	91	24	vol	vol	NOUN
alkej-953	91	25	.	.	PROPN
alkej-953	91	26	21	21	NUM
alkej-953	91	27	,	,	PUNCT
alkej-953	91	28	no.2	no.2	PROPN
alkej-953	91	29	,	,	PUNCT
alkej-953	91	30	pp	pp	ADJ
alkej-953	91	31	.	.	PUNCT
alkej-953	92	1	42	42	NUM
alkej-953	92	2	-	-	SYM
alkej-953	92	3	52	52	NUM
alkej-953	92	4	(	(	PUNCT
alkej-953	92	5	2025	2025	NUM
alkej-953	92	6	)	)	PUNCT
alkej-953	92	7	45	45	NUM
alkej-953	92	8	4.1.1	4.1.1	NUM
alkej-953	92	9	.	.	PUNCT
alkej-953	93	1	population	population	NOUN
alkej-953	93	2	initialisation	initialisation	NOUN
alkej-953	93	3	a	a	DET
alkej-953	93	4	set	set	NOUN
alkej-953	93	5	of	of	ADP
alkej-953	93	6	sn	sn	PROPN
alkej-953	93	7	individuals	individual	NOUN
alkej-953	93	8	is	be	AUX
alkej-953	93	9	generated	generate	VERB
alkej-953	93	10	randomly	randomly	ADV
alkej-953	93	11	.	.	PUNCT
alkej-953	94	1	sn	sn	PROPN
alkej-953	94	2	indicates	indicate	VERB
alkej-953	94	3	the	the	DET
alkej-953	94	4	number	number	NOUN
alkej-953	94	5	of	of	ADP
alkej-953	94	6	solutions	solution	NOUN
alkej-953	94	7	,	,	PUNCT
alkej-953	94	8	which	which	PRON
alkej-953	94	9	is	be	AUX
alkej-953	94	10	equivalent	equivalent	ADJ
alkej-953	94	11	to	to	ADP
alkej-953	94	12	the	the	DET
alkej-953	94	13	number	number	NOUN
alkej-953	94	14	of	of	ADP
alkej-953	94	15	food	food	NOUN
alkej-953	94	16	sourcesxi	sourcesxi	NOUN
alkej-953	94	17	=	=	SYM
alkej-953	94	18	(	(	PUNCT
alkej-953	94	19	xi1	xi1	PROPN
alkej-953	94	20	,	,	PUNCT
alkej-953	94	21	xi2	xi2	PROPN
alkej-953	94	22	,	,	PUNCT
alkej-953	94	23	…	…	PUNCT
alkej-953	94	24	,	,	PUNCT
alkej-953	94	25	xid	xid	PROPN
alkej-953	94	26	)	)	PUNCT
alkej-953	94	27	.	.	PUNCT
alkej-953	95	1	the	the	DET
alkej-953	95	2	population	population	NOUN
alkej-953	95	3	searches	search	VERB
alkej-953	95	4	for	for	ADP
alkej-953	95	5	positions	position	NOUN
alkej-953	95	6	of	of	ADP
alkej-953	95	7	food	food	NOUN
alkej-953	95	8	sources	source	NOUN
alkej-953	95	9	.	.	PUNCT
alkej-953	96	1	this	this	DET
alkej-953	96	2	process	process	NOUN
alkej-953	96	3	continues	continue	VERB
alkej-953	96	4	until	until	SCONJ
alkej-953	96	5	the	the	DET
alkej-953	96	6	maximum	maximum	ADJ
alkej-953	96	7	number	number	NOUN
alkej-953	96	8	of	of	ADP
alkej-953	96	9	cycles	cycle	NOUN
alkej-953	96	10	is	be	AUX
alkej-953	96	11	reached	reach	VERB
alkej-953	96	12	.	.	PUNCT
alkej-953	97	1	each	each	DET
alkej-953	97	2	solution	solution	NOUN
alkej-953	97	3	can	can	AUX
alkej-953	97	4	be	be	AUX
alkej-953	97	5	generated	generate	VERB
alkej-953	97	6	according	accord	VERB
alkej-953	97	7	to	to	ADP
alkej-953	97	8	equation	equation	NOUN
alkej-953	97	9	(	(	PUNCT
alkej-953	97	10	11	11	NUM
alkej-953	97	11	)	)	PUNCT
alkej-953	98	1	[	[	X
alkej-953	98	2	18	18	NUM
alkej-953	98	3	]	]	PUNCT
alkej-953	98	4	.	.	PUNCT
alkej-953	98	5	𝑥𝑖,𝑗	𝑥𝑖,𝑗	PUNCT
alkej-953	99	1	=	=	PUNCT
alkej-953	99	2	𝑥𝑚𝑖𝑛,𝑗	𝑥𝑚𝑖𝑛,𝑗	PROPN
alkej-953	99	3	+	+	CCONJ
alkej-953	99	4	𝑟𝑎𝑛𝑑(0,1)(𝑥𝑚𝑎𝑥,𝑗	𝑟𝑎𝑛𝑑(0,1)(𝑥𝑚𝑎𝑥,𝑗	PROPN
alkej-953	99	5	−	−	PROPN
alkej-953	99	6	𝑥𝑚𝑖𝑛,𝑗	𝑥𝑚𝑖𝑛,𝑗	NUM
alkej-953	99	7	)	)	PUNCT
alkej-953	99	8	…	…	PUNCT
alkej-953	99	9	(	(	PUNCT
alkej-953	99	10	11	11	NUM
alkej-953	99	11	)	)	PUNCT
alkej-953	99	12	where	where	SCONJ
alkej-953	99	13	sn	sn	NOUN
alkej-953	99	14	:	:	PUNCT
alkej-953	99	15	number	number	NOUN
alkej-953	99	16	of	of	ADP
alkej-953	99	17	food	food	NOUN
alkej-953	99	18	sources	source	NOUN
alkej-953	99	19	(	(	PUNCT
alkej-953	99	20	equivalent	equivalent	ADJ
alkej-953	99	21	to	to	ADP
alkej-953	99	22	the	the	DET
alkej-953	99	23	number	number	NOUN
alkej-953	99	24	of	of	ADP
alkej-953	99	25	employed	employ	VERB
alkej-953	99	26	or	or	CCONJ
alkej-953	99	27	onlooker	onlooker	NOUN
alkej-953	99	28	bees	bee	NOUN
alkej-953	99	29	)	)	PUNCT
alkej-953	100	1	d	d	NOUN
alkej-953	100	2	:	:	PUNCT
alkej-953	100	3	number	number	NOUN
alkej-953	100	4	of	of	ADP
alkej-953	100	5	optimisation	optimisation	NOUN
alkej-953	100	6	parameters	parameter	NOUN
alkej-953	100	7	j	j	PROPN
alkej-953	100	8	=	=	SYM
alkej-953	100	9	1,2	1,2	NUM
alkej-953	100	10	,	,	PUNCT
alkej-953	100	11	…	…	PUNCT
alkej-953	100	12	.	.	PUNCT
alkej-953	100	13	.	.	PUNCT
alkej-953	101	1	d	d	X
alkej-953	101	2	і	і	X
alkej-953	101	3	=	=	SYM
alkej-953	101	4	1,2	1,2	NUM
alkej-953	101	5	…	…	PUNCT
alkej-953	101	6	.	.	PUNCT
alkej-953	102	1	sn	sn	PROPN
alkej-953	102	2	xmax	xmax	PROPN
alkej-953	102	3	,	,	PUNCT
alkej-953	102	4	j	j	PROPN
alkej-953	103	1	=	=	NUM
alkej-953	103	2	upper	upper	ADJ
alkej-953	103	3	bounds	bound	NOUN
alkej-953	103	4	of	of	ADP
alkej-953	103	5	xi	xi	PROPN
alkej-953	103	6	,	,	PUNCT
alkej-953	103	7	j	j	PROPN
alkej-953	103	8	xmin	xmin	PROPN
alkej-953	103	9	,	,	PUNCT
alkej-953	103	10	j	j	PROPN
alkej-953	103	11	=	=	PUNCT
alkej-953	103	12	lower	low	ADJ
alkej-953	103	13	bounds	bound	NOUN
alkej-953	103	14	of	of	ADP
alkej-953	103	15	xi	xi	PROPN
alkej-953	103	16	,	,	PUNCT
alkej-953	103	17	j	j	PROPN
alkej-953	103	18	rand(0,1	rand(0,1	NOUN
alkej-953	103	19	)	)	PUNCT
alkej-953	104	1	=	=	PUNCT
alkej-953	104	2	real	real	ADJ
alkej-953	104	3	number	number	NOUN
alkej-953	104	4	in	in	ADP
alkej-953	104	5	the	the	DET
alkej-953	104	6	interval	interval	NOUN
alkej-953	104	7	[	[	X
alkej-953	104	8	0	0	NUM
alkej-953	104	9	,	,	PUNCT
alkej-953	104	10	1	1	NUM
alkej-953	104	11	]	]	PUNCT
alkej-953	104	12	4.1.2	4.1.2	NUM
alkej-953	104	13	employed	employ	VERB
alkej-953	104	14	bee	bee	NOUN
alkej-953	104	15	stage	stage	NOUN
alkej-953	104	16	at	at	ADP
alkej-953	104	17	this	this	DET
alkej-953	104	18	stage	stage	NOUN
alkej-953	104	19	,	,	PUNCT
alkej-953	104	20	a	a	DET
alkej-953	104	21	new	new	ADJ
alkej-953	104	22	solution	solution	NOUN
alkej-953	104	23	𝑣𝑖,𝑗	𝑣𝑖,𝑗	NOUN
alkej-953	104	24	=	=	SYM
alkej-953	104	25	{	{	PUNCT
alkej-953	104	26	𝑣𝑖,1,𝑣𝑖,2	𝑣𝑖,1,𝑣𝑖,2	PROPN
alkej-953	104	27	,	,	PUNCT
alkej-953	104	28	…	…	PUNCT
alkej-953	104	29	.	.	PUNCT
alkej-953	104	30	.	.	PUNCT
alkej-953	105	1	𝑣𝑖,𝐷	𝑣𝑖,𝐷	ADJ
alkej-953	105	2	}	}	PUNCT
alkej-953	105	3	is	be	AUX
alkej-953	105	4	constructed	construct	VERB
alkej-953	105	5	for	for	ADP
alkej-953	105	6	food	food	NOUN
alkej-953	105	7	source	source	NOUN
alkej-953	105	8	𝑥𝑖	𝑥𝑖	PROPN
alkej-953	105	9	,	,	PUNCT
alkej-953	105	10	with	with	ADP
alkej-953	105	11	only	only	ADV
alkej-953	105	12	one	one	NUM
alkej-953	105	13	parameter	parameter	NOUN
alkej-953	105	14	being	be	AUX
alkej-953	105	15	updated	update	VERB
alkej-953	105	16	by	by	ADP
alkej-953	105	17	𝑣𝑖,𝑗	𝑣𝑖,𝑗	NOUN
alkej-953	105	18	=	=	NOUN
alkej-953	105	19	𝑥𝑖,𝑗	𝑥𝑖,𝑗	X
alkej-953	105	20	+	+	CCONJ
alkej-953	105	21	∅𝑖,𝑗(𝑥𝑖,𝑗	∅𝑖,𝑗(𝑥𝑖,𝑗	VERB
alkej-953	105	22	−	−	NOUN
alkej-953	105	23	𝑥𝑘,𝑗	𝑥𝑘,𝑗	PUNCT
alkej-953	105	24	)	)	PUNCT
alkej-953	105	25	…	…	PUNCT
alkej-953	105	26	(	(	PUNCT
alkej-953	105	27	12	12	NUM
alkej-953	105	28	)	)	PUNCT
alkej-953	105	29	where	where	SCONJ
alkej-953	105	30	𝑘	𝑘	PRON
alkej-953	105	31	∈	∈	PROPN
alkej-953	106	1	[	[	X
alkej-953	106	2	1,2,3	1,2,3	NUM
alkej-953	106	3	……	……	NOUN
alkej-953	106	4	.	.	PUNCT
alkej-953	107	1	𝑆𝑁	𝑆𝑁	PROPN
alkej-953	107	2	]	]	PUNCT
alkej-953	107	3	and	and	CCONJ
alkej-953	107	4	𝑗	𝑗	PROPN
alkej-953	107	5	∈	∈	PROPN
alkej-953	107	6	,	,	PUNCT
alkej-953	107	7	𝑘	𝑘	X
alkej-953	107	8	≠i	≠i	ADV
alkej-953	107	9	,	,	PUNCT
alkej-953	107	10	∅𝑖,𝑗	∅𝑖,𝑗	PRON
alkej-953	107	11	denotes	denote	VERB
alkej-953	107	12	a	a	DET
alkej-953	107	13	real	real	ADJ
alkej-953	107	14	number	number	NOUN
alkej-953	107	15	selected	select	VERB
alkej-953	107	16	randomly	randomly	ADV
alkej-953	107	17	from	from	ADP
alkej-953	107	18	the	the	DET
alkej-953	107	19	interval	interval	NOUN
alkej-953	107	20	[	[	X
alkej-953	107	21	−1	−1	NOUN
alkej-953	107	22	,	,	PUNCT
alkej-953	107	23	1	1	NUM
alkej-953	107	24	]	]	PUNCT
alkej-953	107	25	.	.	PUNCT
alkej-953	108	1	each	each	DET
alkej-953	108	2	worker	worker	NOUN
alkej-953	108	3	bee	bee	NOUN
alkej-953	108	4	subsequently	subsequently	ADV
alkej-953	108	5	utilised	utilise	VERB
alkej-953	108	6	the	the	DET
alkej-953	108	7	greedy	greedy	ADJ
alkej-953	108	8	method	method	NOUN
alkej-953	108	9	to	to	PART
alkej-953	108	10	calculate	calculate	VERB
alkej-953	108	11	the	the	DET
alkej-953	108	12	difference	difference	NOUN
alkej-953	108	13	in	in	ADP
alkej-953	108	14	nectar	nectar	NOUN
alkej-953	108	15	quantity	quantity	NOUN
alkej-953	108	16	between	between	ADP
alkej-953	108	17	(	(	PUNCT
alkej-953	108	18	𝑥𝑖,𝑗	𝑥𝑖,𝑗	NOUN
alkej-953	108	19	)	)	PUNCT
alkej-953	108	20	and	and	CCONJ
alkej-953	108	21	(	(	PUNCT
alkej-953	108	22	𝑣𝑖,𝑗	𝑣𝑖,𝑗	NOUN
alkej-953	108	23	)	)	PUNCT
alkej-953	108	24	.	.	PUNCT
alkej-953	109	1	when	when	SCONJ
alkej-953	109	2	the	the	DET
alkej-953	109	3	quantity	quantity	NOUN
alkej-953	109	4	of	of	ADP
alkej-953	109	5	nectar	nectar	NOUN
alkej-953	109	6	in	in	ADP
alkej-953	109	7	(	(	PUNCT
alkej-953	109	8	𝑣𝑖,𝑗	𝑣𝑖,𝑗	NOUN
alkej-953	109	9	)	)	PUNCT
alkej-953	109	10	is	be	AUX
alkej-953	109	11	greater	great	ADJ
alkej-953	109	12	than	than	ADP
alkej-953	109	13	that	that	PRON
alkej-953	109	14	of	of	ADP
alkej-953	109	15	(	(	PUNCT
alkej-953	109	16	xi	xi	PROPN
alkej-953	109	17	,	,	PUNCT
alkej-953	109	18	j	j	PROPN
alkej-953	109	19	)	)	PUNCT
alkej-953	109	20	,	,	PUNCT
alkej-953	109	21	(	(	PUNCT
alkej-953	109	22	𝑣𝑖,𝑗	𝑣𝑖,𝑗	NOUN
alkej-953	109	23	)	)	PUNCT
alkej-953	109	24	is	be	AUX
alkej-953	109	25	substituted	substitute	VERB
alkej-953	109	26	for	for	ADP
alkej-953	109	27	(	(	PUNCT
alkej-953	109	28	𝑥𝑖,𝑗	𝑥𝑖,𝑗	NOUN
alkej-953	109	29	)	)	PUNCT
alkej-953	109	30	,	,	PUNCT
alkej-953	109	31	and	and	CCONJ
alkej-953	109	32	the	the	DET
alkej-953	109	33	resulting	result	VERB
alkej-953	109	34	population	population	NOUN
alkej-953	109	35	number	number	NOUN
alkej-953	109	36	is	be	AUX
alkej-953	109	37	𝑣𝑖,𝑗.	𝑣𝑖,𝑗.	PROPN
alkej-953	109	38	if	if	SCONJ
alkej-953	109	39	(	(	PUNCT
alkej-953	109	40	𝑥𝑖,𝑗	𝑥𝑖,𝑗	NOUN
alkej-953	109	41	)	)	PUNCT
alkej-953	109	42	changes	change	NOUN
alkej-953	109	43	,	,	PUNCT
alkej-953	109	44	then	then	ADV
alkej-953	109	45	counter	count	ADJ
alkej-953	109	46	(	(	PUNCT
alkej-953	109	47	𝑖	𝑖	X
alkej-953	109	48	)	)	PUNCT
alkej-953	109	49	is	be	AUX
alkej-953	109	50	incremented	incremente	VERB
alkej-953	109	51	by	by	ADP
alkej-953	109	52	1	1	NUM
alkej-953	109	53	.	.	PUNCT
alkej-953	110	1	𝑓𝑖𝑡𝑛𝑒𝑠𝑠𝑖	𝑓𝑖𝑡𝑛𝑒𝑠𝑠𝑖	ADV
alkej-953	110	2	=	=	PUNCT
alkej-953	110	3	{	{	PUNCT
alkej-953	110	4	1	1	NUM
alkej-953	110	5	+	+	CCONJ
alkej-953	110	6	𝑎𝑏𝑠(𝑓(𝑥𝑖	𝑎𝑏𝑠(𝑓(𝑥𝑖	ADJ
alkej-953	110	7	)	)	PUNCT
alkej-953	110	8	)	)	PUNCT
alkej-953	110	9	,	,	PUNCT
alkej-953	110	10	𝑓(𝑥𝑖	𝑓(𝑥𝑖	NOUN
alkej-953	110	11	)	)	PUNCT
alkej-953	110	12	<	<	X
alkej-953	110	13	0	0	NUM
alkej-953	110	14	1	1	NUM
alkej-953	110	15	1+𝑓(𝑥𝑖	1+𝑓(𝑥𝑖	NUM
alkej-953	110	16	)	)	PUNCT
alkej-953	110	17	,	,	PUNCT
alkej-953	110	18	𝑓(𝑥𝑖	𝑓(𝑥𝑖	PROPN
alkej-953	110	19	)	)	PUNCT
alkej-953	110	20	≥	≥	X
alkej-953	110	21	0	0	NUM
alkej-953	110	22	…	…	PUNCT
alkej-953	110	23	(	(	PUNCT
alkej-953	110	24	13	13	NUM
alkej-953	110	25	)	)	PUNCT
alkej-953	110	26	where	where	SCONJ
alkej-953	110	27	𝑓(𝑥𝑖	𝑓(𝑥𝑖	NOUN
alkej-953	110	28	)	)	PUNCT
alkej-953	110	29	is	be	AUX
alkej-953	110	30	the	the	DET
alkej-953	110	31	objective	objective	ADJ
alkej-953	110	32	value	value	NOUN
alkej-953	110	33	for	for	ADP
alkej-953	110	34	the	the	DET
alkej-953	110	35	solution	solution	NOUN
alkej-953	110	36	𝑥𝑖	𝑥𝑖	ADP
alkej-953	110	37	calculated	calculate	VERB
alkej-953	110	38	via	via	ADP
alkej-953	110	39	fitness	fitness	NOUN
alkej-953	110	40	equation	equation	NOUN
alkej-953	110	41	(	(	PUNCT
alkej-953	110	42	8)	8)	NUM
alkej-953	110	43	.	.	PUNCT
alkej-953	111	1	each	each	DET
alkej-953	111	2	onlooker	onlooker	NOUN
alkej-953	111	3	bee	bee	PROPN
alkej-953	111	4	’s	’s	PART
alkej-953	111	5	principal	principal	ADJ
alkej-953	111	6	function	function	NOUN
alkej-953	111	7	is	be	AUX
alkej-953	111	8	to	to	PART
alkej-953	111	9	determine	determine	VERB
alkej-953	111	10	the	the	DET
alkej-953	111	11	food	food	NOUN
alkej-953	111	12	’s	’s	PART
alkej-953	111	13	location	location	NOUN
alkej-953	111	14	by	by	ADP
alkej-953	111	15	applying	apply	VERB
alkej-953	111	16	the	the	DET
alkej-953	111	17	probability	probability	NOUN
alkej-953	111	18	(	(	PUNCT
alkej-953	111	19	pi	pi	NOUN
alkej-953	111	20	)	)	PUNCT
alkej-953	112	1	[	[	X
alkej-953	112	2	19	19	NUM
alkej-953	112	3	]	]	NUM
alkej-953	112	4	:	:	PUNCT
alkej-953	112	5	𝑝𝑖	𝑝𝑖	NOUN
alkej-953	112	6	=	=	VERB
alkej-953	112	7	𝑓𝑖𝑡𝑛𝑒𝑠𝑠𝑖	𝑓𝑖𝑡𝑛𝑒𝑠𝑠𝑖	ADV
alkej-953	112	8	∑	∑	PUNCT
alkej-953	112	9	𝑓𝑖𝑡𝑛𝑒𝑠𝑠𝑖	𝑓𝑖𝑡𝑛𝑒𝑠𝑠𝑖	ADV
alkej-953	112	10	𝑆𝑁	𝑆𝑁	PROPN
alkej-953	112	11	𝑖=1	𝑖=1	PROPN
alkej-953	112	12	…	…	PUNCT
alkej-953	112	13	(	(	PUNCT
alkej-953	112	14	14	14	NUM
alkej-953	112	15	)	)	PUNCT
alkej-953	112	16	the	the	DET
alkej-953	112	17	(	(	PUNCT
alkej-953	112	18	𝑓𝑖𝑡𝑛𝑒𝑠𝑠𝑖	𝑓𝑖𝑡𝑛𝑒𝑠𝑠𝑖	ADJ
alkej-953	112	19	)	)	PUNCT
alkej-953	112	20	value	value	NOUN
alkej-953	112	21	of	of	ADP
alkej-953	112	22	the	the	DET
alkej-953	112	23	solution	solution	NOUN
alkej-953	112	24	𝑥𝑖	𝑥𝑖	PRON
alkej-953	112	25	is	be	AUX
alkej-953	112	26	directly	directly	ADV
alkej-953	112	27	proportional	proportional	ADJ
alkej-953	112	28	to	to	ADP
alkej-953	112	29	the	the	DET
alkej-953	112	30	quantity	quantity	NOUN
alkej-953	112	31	of	of	ADP
alkej-953	112	32	nectar	nectar	NOUN
alkej-953	112	33	present	present	ADJ
alkej-953	112	34	in	in	ADP
alkej-953	112	35	that	that	DET
alkej-953	112	36	particular	particular	ADJ
alkej-953	112	37	food	food	NOUN
alkej-953	112	38	source	source	NOUN
alkej-953	112	39	.	.	PUNCT
alkej-953	113	1	once	once	ADV
alkej-953	113	2	the	the	DET
alkej-953	113	3	onlooker	onlooker	NOUN
alkej-953	113	4	bees	bee	NOUN
alkej-953	113	5	have	have	AUX
alkej-953	113	6	selected	select	VERB
alkej-953	113	7	the	the	DET
alkej-953	113	8	food	food	NOUN
alkej-953	113	9	positions	position	NOUN
alkej-953	113	10	,	,	PUNCT
alkej-953	113	11	new	new	ADJ
alkej-953	113	12	positions	position	NOUN
alkej-953	113	13	for	for	ADP
alkej-953	113	14	the	the	DET
alkej-953	113	15	food	food	NOUN
alkej-953	113	16	are	be	AUX
alkej-953	113	17	generated	generate	VERB
alkej-953	113	18	𝑣𝑖,𝑗	𝑣𝑖,𝑗	NOUN
alkej-953	113	19	via	via	ADP
alkej-953	113	20	equation	equation	NOUN
alkej-953	113	21	(	(	PUNCT
alkej-953	113	22	12	12	NUM
alkej-953	113	23	)	)	PUNCT
alkej-953	113	24	.	.	PUNCT
alkej-953	114	1	the	the	DET
alkej-953	114	2	bees	bee	NOUN
alkej-953	114	3	then	then	ADV
alkej-953	114	4	employ	employ	VERB
alkej-953	114	5	a	a	DET
alkej-953	114	6	similar	similar	ADJ
alkej-953	114	7	greedy	greedy	ADJ
alkej-953	114	8	strategy	strategy	NOUN
alkej-953	114	9	to	to	PART
alkej-953	114	10	assess	assess	VERB
alkej-953	114	11	these	these	DET
alkej-953	114	12	new	new	ADJ
alkej-953	114	13	positions	position	NOUN
alkej-953	114	14	.	.	PUNCT
alkej-953	115	1	4.1.3	4.1.3	NUM
alkej-953	115	2	scout	scout	PROPN
alkej-953	115	3	bee	bee	PROPN
alkej-953	115	4	stage	stage	VERB
alkej-953	115	5	the	the	DET
alkej-953	115	6	abandonment	abandonment	NOUN
alkej-953	115	7	counter	counter	NOUN
alkej-953	115	8	(	(	PUNCT
alkej-953	115	9	count	count	VERB
alkej-953	115	10	i	i	X
alkej-953	115	11	)	)	PUNCT
alkej-953	115	12	of	of	ADP
alkej-953	115	13	each	each	DET
alkej-953	115	14	solution	solution	NOUN
alkej-953	116	1	𝑥	𝑥	PROPN
alkej-953	116	2	𝑖	𝑖	ADP
alkej-953	116	3	is	be	AUX
alkej-953	116	4	evaluated	evaluate	VERB
alkej-953	116	5	in	in	ADP
alkej-953	116	6	relation	relation	NOUN
alkej-953	116	7	to	to	ADP
alkej-953	116	8	the	the	DET
alkej-953	116	9	limit	limit	NOUN
alkej-953	116	10	.	.	PUNCT
alkej-953	117	1	the	the	DET
alkej-953	117	2	algorithm	algorithm	NOUN
alkej-953	117	3	maintains	maintain	VERB
alkej-953	117	4	a	a	DET
alkej-953	117	5	constant	constant	ADJ
alkej-953	117	6	limit	limit	NOUN
alkej-953	117	7	throughout	throughout	ADP
alkej-953	117	8	its	its	PRON
alkej-953	117	9	execution	execution	NOUN
alkej-953	117	10	.	.	PUNCT
alkej-953	118	1	the	the	DET
alkej-953	118	2	employed	employ	VERB
alkej-953	118	3	bees	bee	NOUN
alkej-953	118	4	,	,	PUNCT
alkej-953	118	5	which	which	PRON
alkej-953	118	6	can	can	AUX
alkej-953	118	7	not	not	PART
alkej-953	118	8	improve	improve	VERB
alkej-953	118	9	their	their	PRON
alkej-953	118	10	self	self	NOUN
alkej-953	118	11	-	-	PUNCT
alkej-953	118	12	solution	solution	NOUN
alkej-953	118	13	through	through	ADP
alkej-953	118	14	the	the	DET
alkej-953	118	15	limit	limit	NOUN
alkej-953	118	16	,	,	PUNCT
alkej-953	118	17	are	be	AUX
alkej-953	118	18	considered	consider	VERB
alkej-953	118	19	the	the	DET
alkej-953	118	20	worst	bad	ADJ
alkej-953	118	21	.	.	PUNCT
alkej-953	119	1	the	the	DET
alkej-953	119	2	bees	bee	NOUN
alkej-953	119	3	are	be	AUX
alkej-953	119	4	then	then	ADV
alkej-953	119	5	dispatched	dispatch	VERB
alkej-953	119	6	as	as	ADP
alkej-953	119	7	scout	scout	NOUN
alkej-953	119	8	bees	bee	NOUN
alkej-953	119	9	,	,	PUNCT
alkej-953	119	10	in	in	ADP
alkej-953	119	11	accordance	accordance	NOUN
alkej-953	119	12	with	with	ADP
alkej-953	119	13	equation	equation	NOUN
alkej-953	119	14	(	(	PUNCT
alkej-953	119	15	11	11	NUM
alkej-953	119	16	)	)	PUNCT
alkej-953	119	17	,	,	PUNCT
alkej-953	119	18	to	to	PART
alkej-953	119	19	arbitrarily	arbitrarily	ADV
alkej-953	119	20	investigate	investigate	VERB
alkej-953	119	21	new	new	ADJ
alkej-953	119	22	food	food	NOUN
alkej-953	119	23	sources	source	NOUN
alkej-953	119	24	after	after	ADP
alkej-953	119	25	discarding	discard	VERB
alkej-953	119	26	the	the	DET
alkej-953	119	27	poorest	poor	ADJ
alkej-953	119	28	food	food	NOUN
alkej-953	119	29	source	source	NOUN
alkej-953	119	30	.	.	PUNCT
alkej-953	120	1	4.2	4.2	NUM
alkej-953	120	2	gwo	gwo	PROPN
alkej-953	120	3	algorithm	algorithm	PROPN
alkej-953	120	4	according	accord	VERB
alkej-953	120	5	to	to	ADP
alkej-953	120	6	research	research	NOUN
alkej-953	120	7	,	,	PUNCT
alkej-953	120	8	grey	grey	ADJ
alkej-953	120	9	wolves	wolf	NOUN
alkej-953	120	10	,	,	PUNCT
alkej-953	120	11	a	a	DET
alkej-953	120	12	type	type	NOUN
alkej-953	120	13	of	of	ADP
alkej-953	120	14	canid	canid	PROPN
alkej-953	120	15	animal	animal	NOUN
alkej-953	120	16	,	,	PUNCT
alkej-953	120	17	play	play	VERB
alkej-953	120	18	an	an	DET
alkej-953	120	19	important	important	ADJ
alkej-953	120	20	role	role	NOUN
alkej-953	120	21	as	as	ADP
alkej-953	120	22	apex	apex	NOUN
alkej-953	120	23	predators	predator	NOUN
alkej-953	120	24	in	in	ADP
alkej-953	120	25	the	the	DET
alkej-953	120	26	ecological	ecological	ADJ
alkej-953	120	27	food	food	NOUN
alkej-953	120	28	chain	chain	NOUN
alkej-953	120	29	,	,	PUNCT
alkej-953	120	30	indicating	indicate	VERB
alkej-953	120	31	that	that	SCONJ
alkej-953	120	32	they	they	PRON
alkej-953	120	33	are	be	AUX
alkej-953	120	34	top	top	ADJ
alkej-953	120	35	predators	predator	NOUN
alkej-953	120	36	.	.	PUNCT
alkej-953	121	1	these	these	DET
alkej-953	121	2	creatures	creature	NOUN
alkej-953	121	3	greatly	greatly	ADV
alkej-953	121	4	prefer	prefer	VERB
alkej-953	121	5	communal	communal	ADJ
alkej-953	121	6	living	living	NOUN
alkej-953	121	7	,	,	PUNCT
alkej-953	121	8	which	which	PRON
alkej-953	121	9	involves	involve	VERB
alkej-953	121	10	a	a	DET
alkej-953	121	11	complex	complex	ADJ
alkej-953	121	12	social	social	ADJ
alkej-953	121	13	hierarchy	hierarchy	NOUN
alkej-953	121	14	amongst	amongst	ADP
alkej-953	121	15	their	their	PRON
alkej-953	121	16	packs	pack	NOUN
alkej-953	121	17	(	(	PUNCT
alkej-953	121	18	figure	figure	NOUN
alkej-953	121	19	4	4	NUM
alkej-953	121	20	)	)	PUNCT
alkej-953	121	21	.	.	PUNCT
alkej-953	122	1	the	the	DET
alkej-953	122	2	α	α	PROPN
alkej-953	122	3	wolf	wolf	NOUN
alkej-953	122	4	is	be	AUX
alkej-953	122	5	at	at	ADP
alkej-953	122	6	the	the	DET
alkej-953	122	7	top	top	NOUN
alkej-953	122	8	of	of	ADP
alkej-953	122	9	the	the	DET
alkej-953	122	10	hierarchy	hierarchy	NOUN
alkej-953	122	11	,	,	PUNCT
alkej-953	122	12	functioning	function	VERB
alkej-953	122	13	as	as	ADP
alkej-953	122	14	the	the	DET
alkej-953	122	15	pack	pack	NOUN
alkej-953	122	16	’s	’s	PART
alkej-953	122	17	leader	leader	NOUN
alkej-953	122	18	and	and	CCONJ
alkej-953	122	19	being	be	AUX
alkej-953	122	20	in	in	ADP
alkej-953	122	21	charge	charge	NOUN
alkej-953	122	22	of	of	ADP
alkej-953	122	23	controlling	control	VERB
alkej-953	122	24	group	group	NOUN
alkej-953	122	25	dynamics	dynamic	NOUN
alkej-953	122	26	and	and	CCONJ
alkej-953	122	27	making	make	VERB
alkej-953	122	28	key	key	ADJ
alkej-953	122	29	decisions	decision	NOUN
alkej-953	122	30	.	.	PUNCT
alkej-953	123	1	the	the	DET
alkej-953	123	2	β	β	PROPN
alkej-953	123	3	wolves	wolf	NOUN
alkej-953	123	4	are	be	AUX
alkej-953	123	5	located	locate	VERB
alkej-953	123	6	below	below	ADP
alkej-953	123	7	the	the	DET
alkej-953	123	8	α	α	NOUN
alkej-953	123	9	wolf	wolf	NOUN
alkej-953	123	10	and	and	CCONJ
alkej-953	123	11	are	be	AUX
alkej-953	123	12	responsible	responsible	ADJ
alkej-953	123	13	for	for	ADP
alkej-953	123	14	helping	help	VERB
alkej-953	123	15	them	they	PRON
alkej-953	123	16	whilst	whilst	SCONJ
alkej-953	123	17	being	be	AUX
alkej-953	123	18	prepared	prepare	VERB
alkej-953	123	19	to	to	PART
alkej-953	123	20	take	take	VERB
alkej-953	123	21	on	on	ADP
alkej-953	123	22	leadership	leadership	NOUN
alkej-953	123	23	positions	position	NOUN
alkej-953	123	24	if	if	SCONJ
alkej-953	123	25	necessary	necessary	ADJ
alkej-953	123	26	.	.	PUNCT
alkej-953	124	1	the	the	DET
alkej-953	124	2	δ	δ	PROPN
alkej-953	124	3	wolves	wolf	NOUN
alkej-953	124	4	are	be	AUX
alkej-953	124	5	on	on	ADP
alkej-953	124	6	the	the	DET
alkej-953	124	7	third	third	ADJ
alkej-953	124	8	level	level	NOUN
alkej-953	124	9	,	,	PUNCT
alkej-953	124	10	obediently	obediently	ADV
alkej-953	124	11	carrying	carry	VERB
alkej-953	124	12	out	out	ADP
alkej-953	124	13	orders	order	NOUN
alkej-953	124	14	from	from	ADP
alkej-953	124	15	higher	higher	ADV
alkej-953	124	16	-	-	PUNCT
alkej-953	124	17	ranking	rank	VERB
alkej-953	124	18	commanders	commander	NOUN
alkej-953	124	19	and	and	CCONJ
alkej-953	124	20	doing	do	VERB
alkej-953	124	21	jobs	job	NOUN
alkej-953	124	22	such	such	ADJ
alkej-953	124	23	as	as	ADP
alkej-953	124	24	surveillance	surveillance	NOUN
alkej-953	124	25	and	and	CCONJ
alkej-953	124	26	reconnaissance	reconnaissance	NOUN
alkej-953	124	27	.	.	PUNCT
alkej-953	125	1	finally	finally	ADV
alkej-953	125	2	,	,	PUNCT
alkej-953	125	3	the	the	DET
alkej-953	125	4	omega	omega	NOUN
alkej-953	125	5	ω	ω	NUM
alkej-953	125	6	wolves	wolf	NOUN
alkej-953	125	7	at	at	ADP
alkej-953	125	8	the	the	DET
alkej-953	125	9	bottom	bottom	ADJ
alkej-953	125	10	level	level	NOUN
alkej-953	125	11	are	be	AUX
alkej-953	125	12	largely	largely	ADV
alkej-953	125	13	focused	focus	VERB
alkej-953	125	14	on	on	ADP
alkej-953	125	15	preserving	preserve	VERB
alkej-953	125	16	peaceful	peaceful	ADJ
alkej-953	125	17	interactions	interaction	NOUN
alkej-953	125	18	within	within	ADP
alkej-953	125	19	the	the	DET
alkej-953	125	20	pack	pack	NOUN
alkej-953	126	1	[	[	X
alkej-953	126	2	23,[21	23,[21	X
alkej-953	126	3	]	]	X
alkej-953	126	4	.	.	PUNCT
alkej-953	127	1	fig	fig	NOUN
alkej-953	127	2	.	.	PUNCT
alkej-953	128	1	4	4	X
alkej-953	128	2	.	.	X
alkej-953	128	3	grey	grey	PROPN
alkej-953	128	4	wolf	wolf	PROPN
alkej-953	128	5	class	class	PROPN
alkej-953	128	6	scheme	scheme	NOUN
alkej-953	128	7	the	the	DET
alkej-953	128	8	gwo	gwo	PROPN
alkej-953	128	9	algorithm	algorithm	PROPN
alkej-953	128	10	completes	complete	VERB
alkej-953	128	11	one	one	NUM
alkej-953	128	12	cycle	cycle	NOUN
alkej-953	128	13	in	in	ADP
alkej-953	128	14	four	four	NUM
alkej-953	128	15	stages	stage	NOUN
alkej-953	128	16	:	:	PUNCT
alkej-953	128	17	hierarchical	hierarchical	ADJ
alkej-953	128	18	division	division	NOUN
alkej-953	128	19	,	,	PUNCT
alkej-953	128	20	exploration	exploration	NOUN
alkej-953	128	21	,	,	PUNCT
alkej-953	128	22	surrounding	surround	VERB
alkej-953	128	23	and	and	CCONJ
alkej-953	128	24	attacking	attack	VERB
alkej-953	128	25	.	.	PUNCT
alkej-953	129	1	initially	initially	ADV
alkej-953	129	2	,	,	PUNCT
alkej-953	129	3	the	the	DET
alkej-953	129	4	wolf	wolf	PROPN
alkej-953	129	5	population	population	NOUN
alkej-953	129	6	is	be	AUX
alkej-953	129	7	separated	separate	VERB
alkej-953	129	8	into	into	ADP
alkej-953	129	9	hierarchies	hierarchy	NOUN
alkej-953	129	10	depending	depend	VERB
alkej-953	129	11	on	on	ADP
alkej-953	129	12	individual	individual	ADJ
alkej-953	129	13	fitness	fitness	NOUN
alkej-953	129	14	levels	level	NOUN
alkej-953	129	15	,	,	PUNCT
alkej-953	129	16	symbolised	symbolise	VERB
alkej-953	129	17	by	by	ADP
alkej-953	129	18	the	the	DET
alkej-953	129	19	letters	letter	NOUN
alkej-953	129	20	α	α	NOUN
alkej-953	129	21	,	,	PUNCT
alkej-953	129	22	β	β	PROPN
alkej-953	129	23	,	,	PUNCT
alkej-953	129	24	δ	δ	PROPN
alkej-953	129	25	and	and	CCONJ
alkej-953	129	26	ω	ω	PROPN
alkej-953	129	27	.	.	PUNCT
alkej-953	130	1	the	the	DET
alkej-953	130	2	algorithm	algorithm	NOUN
alkej-953	130	3	’s	’s	PART
alkej-953	130	4	optimisation	optimisation	NOUN
alkej-953	130	5	phase	phase	NOUN
alkej-953	130	6	concentrates	concentrate	VERB
alkej-953	130	7	on	on	ADP
alkej-953	130	8	each	each	DET
alkej-953	130	9	generation	generation	NOUN
alkej-953	130	10	’s	’s	PART
alkej-953	130	11	top	top	ADJ
alkej-953	130	12	three	three	NUM
alkej-953	130	13	optimal	optimal	ADJ
alkej-953	130	14	solutions	solution	NOUN
alkej-953	130	15	.	.	PUNCT
alkej-953	131	1	the	the	DET
alkej-953	131	2	mathematical	mathematical	ADJ
alkej-953	131	3	models	model	NOUN
alkej-953	131	4	that	that	PRON
alkej-953	131	5	define	define	VERB
alkej-953	131	6	grey	grey	ADJ
alkej-953	131	7	wolves	wolf	NOUN
alkej-953	131	8	’	'	PUNCT
alkej-953	131	9	exploration	exploration	NOUN
alkej-953	131	10	and	and	CCONJ
alkej-953	131	11	tracking	tracking	NOUN
alkej-953	131	12	zahraa	zahraa	PROPN
alkej-953	131	13	a.	a.	PROPN
alkej-953	131	14	abdullah	abdullah	PROPN
alkej-953	131	15	al	al	PROPN
alkej-953	131	16	-	-	PUNCT
alkej-953	131	17	khwarizmi	khwarizmi	PROPN
alkej-953	131	18	engineering	engineering	NOUN
alkej-953	131	19	journal	journal	PROPN
alkej-953	131	20	,	,	PUNCT
alkej-953	131	21	vol	vol	NOUN
alkej-953	131	22	.	.	PROPN
alkej-953	131	23	21	21	NUM
alkej-953	131	24	,	,	PUNCT
alkej-953	131	25	no.2	no.2	PROPN
alkej-953	131	26	,	,	PUNCT
alkej-953	131	27	pp	pp	ADJ
alkej-953	131	28	.	.	PUNCT
alkej-953	132	1	42	42	NUM
alkej-953	132	2	-	-	SYM
alkej-953	132	3	52	52	NUM
alkej-953	132	4	(	(	PUNCT
alkej-953	132	5	2025	2025	NUM
alkej-953	132	6	)	)	PUNCT
alkej-953	132	7	46	46	NUM
alkej-953	132	8	behaviours	behaviour	NOUN
alkej-953	132	9	are	be	AUX
alkej-953	132	10	outlined	outline	VERB
alkej-953	132	11	below	below	ADV
alkej-953	132	12	:	:	PUNCT
alkej-953	132	13	grey	grey	ADJ
alkej-953	132	14	wolves	wolf	NOUN
alkej-953	132	15	browse	browse	VERB
alkej-953	132	16	the	the	DET
alkej-953	132	17	search	search	NOUN
alkej-953	132	18	space	space	NOUN
alkej-953	132	19	to	to	PART
alkej-953	132	20	locate	locate	VERB
alkej-953	132	21	probable	probable	ADJ
alkej-953	132	22	solutions	solution	NOUN
alkej-953	132	23	,	,	PUNCT
alkej-953	132	24	simulating	simulate	VERB
alkej-953	132	25	their	their	PRON
alkej-953	132	26	hunting	hunt	VERB
alkej-953	132	27	behaviour	behaviour	NOUN
alkej-953	132	28	via	via	ADP
alkej-953	132	29	a	a	DET
alkej-953	132	30	mathematical	mathematical	ADJ
alkej-953	132	31	model	model	NOUN
alkej-953	132	32	.	.	PUNCT
alkej-953	133	1	surrounding	surround	VERB
alkej-953	133	2	:	:	PUNCT
alkej-953	133	3	when	when	SCONJ
alkej-953	133	4	grey	grey	ADJ
alkej-953	133	5	wolves	wolf	NOUN
alkej-953	133	6	locate	locate	VERB
alkej-953	133	7	a	a	DET
alkej-953	133	8	prospective	prospective	ADJ
alkej-953	133	9	candidate	candidate	NOUN
alkej-953	133	10	solution	solution	NOUN
alkej-953	133	11	or	or	CCONJ
alkej-953	133	12	prey	prey	NOUN
alkej-953	133	13	,	,	PUNCT
alkej-953	133	14	they	they	PRON
alkej-953	133	15	work	work	VERB
alkej-953	133	16	together	together	ADV
alkej-953	133	17	to	to	PART
alkej-953	133	18	surround	surround	VERB
alkej-953	133	19	it	it	PRON
alkej-953	133	20	,	,	PUNCT
alkej-953	133	21	producing	produce	VERB
alkej-953	133	22	an	an	DET
alkej-953	133	23	encirclement	encirclement	NOUN
alkej-953	133	24	pattern	pattern	NOUN
alkej-953	133	25	to	to	PART
alkej-953	133	26	increase	increase	VERB
alkej-953	133	27	the	the	DET
alkej-953	133	28	chances	chance	NOUN
alkej-953	133	29	of	of	ADP
alkej-953	133	30	catching	catch	VERB
alkej-953	133	31	it	it	PRON
alkej-953	133	32	.	.	PUNCT
alkej-953	134	1	attack	attack	NOUN
alkej-953	134	2	:	:	PUNCT
alkej-953	134	3	finally	finally	ADV
alkej-953	134	4	,	,	PUNCT
alkej-953	134	5	after	after	ADP
alkej-953	134	6	successfully	successfully	ADV
alkej-953	134	7	surrounding	surround	VERB
alkej-953	134	8	the	the	DET
alkej-953	134	9	prey	prey	NOUN
alkej-953	134	10	,	,	PUNCT
alkej-953	134	11	grey	grey	ADJ
alkej-953	134	12	wolves	wolf	NOUN
alkej-953	134	13	select	select	VERB
alkej-953	134	14	the	the	DET
alkej-953	134	15	most	most	ADV
alkej-953	134	16	appropriate	appropriate	ADJ
alkej-953	134	17	individual	individual	NOUN
alkej-953	134	18	within	within	ADP
alkej-953	134	19	the	the	DET
alkej-953	134	20	surroundings	surrounding	NOUN
alkej-953	134	21	to	to	PART
alkej-953	134	22	start	start	VERB
alkej-953	134	23	an	an	DET
alkej-953	134	24	attack	attack	NOUN
alkej-953	134	25	,	,	PUNCT
alkej-953	134	26	with	with	ADP
alkej-953	134	27	the	the	DET
alkej-953	134	28	goal	goal	NOUN
alkej-953	134	29	of	of	ADP
alkej-953	134	30	increasing	increase	VERB
alkej-953	134	31	the	the	DET
alkej-953	134	32	population	population	NOUN
alkej-953	134	33	’s	’s	PART
alkej-953	134	34	overall	overall	ADJ
alkej-953	134	35	fitness	fitness	PROPN
alkej-953	134	36	.	.	PUNCT
alkej-953	135	1	figure	figure	NOUN
alkej-953	135	2	5	5	NUM
alkej-953	135	3	shows	show	VERB
alkej-953	135	4	solid	solid	ADJ
alkej-953	135	5	circles	circle	NOUN
alkej-953	135	6	representing	represent	VERB
alkej-953	135	7	the	the	DET
alkej-953	135	8	positions	position	NOUN
alkej-953	135	9	of	of	ADP
alkej-953	135	10	wolves	wolf	NOUN
alkej-953	135	11	labelled	label	VERB
alkej-953	135	12	α	α	PROPN
alkej-953	135	13	,	,	PUNCT
alkej-953	135	14	β	β	X
alkej-953	135	15	,	,	PUNCT
alkej-953	135	16	δ	δ	PROPN
alkej-953	135	17	and	and	CCONJ
alkej-953	135	18	ω	ω	NUM
alkej-953	135	19	in	in	ADP
alkej-953	135	20	a	a	DET
alkej-953	135	21	2d	2d	NUM
alkej-953	135	22	plane	plane	NOUN
alkej-953	135	23	.	.	PUNCT
alkej-953	136	1	the	the	DET
alkej-953	136	2	symbol	symbol	NOUN
alkej-953	136	3	p	p	NOUN
alkej-953	136	4	denotes	denote	VERB
alkej-953	136	5	the	the	DET
alkej-953	136	6	prey	prey	NOUN
alkej-953	136	7	’s	’s	PART
alkej-953	136	8	relative	relative	ADJ
alkej-953	136	9	position	position	NOUN
alkej-953	136	10	.	.	PUNCT
alkej-953	137	1	following	follow	VERB
alkej-953	137	2	the	the	DET
alkej-953	137	3	three	three	NUM
alkej-953	137	4	major	major	ADJ
alkej-953	137	5	processes	process	NOUN
alkej-953	137	6	of	of	ADP
alkej-953	137	7	grey	grey	ADJ
alkej-953	137	8	wolf	wolf	PROPN
alkej-953	137	9	hunting	hunting	NOUN
alkej-953	137	10	,	,	PUNCT
alkej-953	137	11	i.e.	i.e.	X
alkej-953	137	12	approaching	approach	VERB
alkej-953	137	13	,	,	PUNCT
alkej-953	137	14	surrounding	surround	VERB
alkej-953	137	15	and	and	CCONJ
alkej-953	137	16	attacking	attack	VERB
alkej-953	137	17	the	the	DET
alkej-953	137	18	prey	prey	NOUN
alkej-953	137	19	,	,	PUNCT
alkej-953	137	20	the	the	DET
alkej-953	137	21	α	α	NOUN
alkej-953	137	22	wolf	wolf	NOUN
alkej-953	137	23	,	,	PUNCT
alkej-953	137	24	accompanied	accompany	VERB
alkej-953	137	25	by	by	ADP
alkej-953	137	26	β	β	X
alkej-953	137	27	and	and	CCONJ
alkej-953	137	28	δ	δ	PROPN
alkej-953	137	29	wolves	wolf	NOUN
alkej-953	137	30	,	,	PUNCT
alkej-953	137	31	leads	lead	VERB
alkej-953	137	32	the	the	DET
alkej-953	137	33	pursuit	pursuit	NOUN
alkej-953	137	34	once	once	SCONJ
alkej-953	137	35	the	the	DET
alkej-953	137	36	prey	prey	NOUN
alkej-953	137	37	is	be	AUX
alkej-953	137	38	located	locate	VERB
alkej-953	137	39	.	.	PUNCT
alkej-953	138	1	amongst	amongst	ADP
alkej-953	138	2	the	the	DET
alkej-953	138	3	wolves	wolf	NOUN
alkej-953	138	4	,	,	PUNCT
alkej-953	138	5	α	α	X
alkej-953	138	6	,	,	PUNCT
alkej-953	138	7	β	β	X
alkej-953	138	8	and	and	CCONJ
alkej-953	138	9	δ	δ	PROPN
alkej-953	138	10	are	be	AUX
alkej-953	138	11	closest	close	ADJ
alkej-953	138	12	to	to	ADP
alkej-953	138	13	the	the	DET
alkej-953	138	14	prey	prey	NOUN
alkej-953	138	15	,	,	PUNCT
alkej-953	138	16	and	and	CCONJ
alkej-953	138	17	their	their	PRON
alkej-953	138	18	placements	placement	NOUN
alkej-953	138	19	influence	influence	VERB
alkej-953	138	20	the	the	DET
alkej-953	138	21	direction	direction	NOUN
alkej-953	138	22	of	of	ADP
alkej-953	138	23	prey	prey	NOUN
alkej-953	138	24	p.	p.	NOUN
alkej-953	138	25	when	when	SCONJ
alkej-953	138	26	the	the	DET
alkej-953	138	27	fitness	fitness	NOUN
alkej-953	138	28	of	of	ADP
alkej-953	138	29	the	the	DET
alkej-953	138	30	grey	grey	ADJ
alkej-953	138	31	wolves	wolf	NOUN
alkej-953	138	32	is	be	AUX
alkej-953	138	33	assessed	assess	VERB
alkej-953	138	34	,	,	PUNCT
alkej-953	138	35	optimal	optimal	ADJ
alkej-953	138	36	,	,	PUNCT
alkej-953	138	37	good	good	ADJ
alkej-953	138	38	and	and	CCONJ
alkej-953	138	39	suboptimal	suboptimal	ADJ
alkej-953	138	40	options	option	NOUN
alkej-953	138	41	can	can	AUX
alkej-953	138	42	be	be	AUX
alkej-953	138	43	identified	identify	VERB
alkej-953	138	44	.	.	PUNCT
alkej-953	139	1	the	the	DET
alkej-953	139	2	positions	position	NOUN
alkej-953	139	3	of	of	ADP
alkej-953	139	4	the	the	DET
alkej-953	139	5	other	other	ADJ
alkej-953	139	6	wolves	wolf	NOUN
alkej-953	139	7	are	be	AUX
alkej-953	139	8	based	base	VERB
alkej-953	139	9	on	on	ADP
alkej-953	139	10	those	those	PRON
alkej-953	139	11	of	of	ADP
alkej-953	139	12	α	α	PRON
alkej-953	139	13	,	,	PUNCT
alkej-953	139	14	β	β	X
alkej-953	139	15	and	and	CCONJ
alkej-953	139	16	δ	δ	PROPN
alkej-953	139	17	.	.	PUNCT
alkej-953	140	1	each	each	DET
alkej-953	140	2	wolf	wolf	NOUN
alkej-953	140	3	in	in	ADP
alkej-953	140	4	the	the	DET
alkej-953	140	5	pack	pack	NOUN
alkej-953	140	6	indicates	indicate	VERB
alkej-953	140	7	a	a	DET
alkej-953	140	8	possible	possible	ADJ
alkej-953	140	9	option	option	NOUN
alkej-953	140	10	for	for	ADP
alkej-953	140	11	the	the	DET
alkej-953	140	12	population	population	NOUN
alkej-953	140	13	.	.	PUNCT
alkej-953	141	1	the	the	DET
alkej-953	141	2	location	location	NOUN
alkej-953	141	3	of	of	ADP
alkej-953	141	4	the	the	DET
alkej-953	141	5	α	α	PROPN
alkej-953	141	6	wolf	wolf	NOUN
alkej-953	141	7	represents	represent	VERB
alkej-953	141	8	the	the	DET
alkej-953	141	9	optimal	optimal	ADJ
alkej-953	141	10	answer	answer	NOUN
alkej-953	141	11	,	,	PUNCT
alkej-953	141	12	and	and	CCONJ
alkej-953	141	13	the	the	DET
alkej-953	141	14	positions	position	NOUN
alkej-953	141	15	of	of	ADP
alkej-953	141	16	β	β	X
alkej-953	141	17	and	and	CCONJ
alkej-953	141	18	δ	δ	PROPN
alkej-953	141	19	reflect	reflect	VERB
alkej-953	141	20	good	good	ADJ
alkej-953	141	21	and	and	CCONJ
alkej-953	141	22	inferior	inferior	ADJ
alkej-953	141	23	solutions	solution	NOUN
alkej-953	141	24	.	.	PUNCT
alkej-953	142	1	𝑥⃗⃗	𝑥⃗⃗	NOUN
alkej-953	142	2	indicates	indicate	VERB
alkej-953	142	3	a	a	DET
alkej-953	142	4	grey	grey	ADJ
alkej-953	142	5	wolf	wolf	PROPN
alkej-953	142	6	’s	’s	PART
alkej-953	142	7	current	current	ADJ
alkej-953	142	8	position	position	NOUN
alkej-953	142	9	vector	vector	NOUN
alkej-953	142	10	.	.	PUNCT
alkej-953	143	1	𝑥𝛼⃗⃗	𝑥𝛼⃗⃗	PROPN
alkej-953	143	2	⃗⃗	⃗⃗	NOUN
alkej-953	143	3	,	,	PUNCT
alkej-953	143	4	𝑥𝛽⃗⃗⃗⃗	𝑥𝛽⃗⃗⃗⃗	PROPN
alkej-953	143	5	and	and	CCONJ
alkej-953	143	6	𝑥𝛿⃗⃗⃗⃗	𝑥𝛿⃗⃗⃗⃗	PROPN
alkej-953	143	7	represent	represent	VERB
alkej-953	143	8	the	the	DET
alkej-953	143	9	three	three	NUM
alkej-953	143	10	best	good	ADJ
alkej-953	143	11	individuals	individual	NOUN
alkej-953	143	12	.	.	PUNCT
alkej-953	144	1	the	the	DET
alkej-953	144	2	vectors	vector	NOUN
alkej-953	144	3	𝐶1	𝐶1	VERB
alkej-953	144	4	⃗⃗⃗⃗	⃗⃗⃗⃗	X
alkej-953	144	5	,	,	PUNCT
alkej-953	144	6	𝐶2	𝐶2	PROPN
alkej-953	144	7	⃗⃗⃗⃗	⃗⃗⃗⃗	NOUN
alkej-953	144	8	and	and	CCONJ
alkej-953	144	9	𝐶3	𝐶3	PROPN
alkej-953	144	10	⃗⃗⃗⃗	⃗⃗⃗⃗	PROPN
alkej-953	144	11	are	be	AUX
alkej-953	144	12	random	random	ADJ
alkej-953	144	13	,	,	PUNCT
alkej-953	144	14	and	and	CCONJ
alkej-953	144	15	𝐷𝛼	𝐷𝛼	NOUN
alkej-953	144	16	⃗⃗⃗⃗	⃗⃗⃗⃗	NOUN
alkej-953	145	1	⃗	⃗	PROPN
alkej-953	145	2	and	and	CCONJ
alkej-953	145	3	𝐷𝛿	𝐷𝛿	PROPN
alkej-953	145	4	⃗⃗⃗⃗	⃗⃗⃗⃗	X
alkej-953	146	1	⃗	⃗	PROPN
alkej-953	146	2	represent	represent	VERB
alkej-953	146	3	the	the	DET
alkej-953	146	4	distances	distance	NOUN
alkej-953	146	5	between	between	ADP
alkej-953	146	6	the	the	DET
alkej-953	146	7	candidate	candidate	NOUN
alkej-953	146	8	wolf	wolf	NOUN
alkej-953	146	9	and	and	CCONJ
alkej-953	146	10	the	the	DET
alkej-953	146	11	three	three	NUM
alkej-953	146	12	best	good	ADJ
alkej-953	146	13	individuals	individual	NOUN
alkej-953	146	14	.	.	PUNCT
alkej-953	147	1	the	the	DET
alkej-953	147	2	vectors	vector	NOUN
alkej-953	147	3	𝑥1	𝑥1	PROPN
alkej-953	147	4	⃗⃗	⃗⃗	PROPN
alkej-953	147	5	⃗⃗	⃗⃗	PROPN
alkej-953	147	6	,	,	PUNCT
alkej-953	147	7	𝑥2,⃗⃗	𝑥2,⃗⃗	PROPN
alkej-953	147	8	⃗⃗	⃗⃗	PROPN
alkej-953	147	9	and	and	CCONJ
alkej-953	147	10	𝑥3⃗⃗⃗⃗	𝑥3⃗⃗⃗⃗	PRON
alkej-953	147	11	represent	represent	VERB
alkej-953	147	12	the	the	DET
alkej-953	147	13	candidate	candidate	NOUN
alkej-953	147	14	wolves	wolf	NOUN
alkej-953	147	15	’	'	PUNCT
alkej-953	147	16	step	step	NOUN
alkej-953	147	17	lengths	length	NOUN
alkej-953	147	18	towards	towards	ADP
alkej-953	147	19	the	the	DET
alkej-953	147	20	three	three	NUM
alkej-953	147	21	best	good	ADJ
alkej-953	147	22	individuals	individual	NOUN
alkej-953	147	23	.	.	PUNCT
alkej-953	148	1	figure	figure	NOUN
alkej-953	148	2	5	5	NUM
alkej-953	148	3	shows	show	VERB
alkej-953	148	4	the	the	DET
alkej-953	148	5	execution	execution	NOUN
alkej-953	148	6	concept	concept	NOUN
alkej-953	148	7	for	for	ADP
alkej-953	148	8	the	the	DET
alkej-953	148	9	gwo	gwo	PROPN
alkej-953	148	10	algorithm	algorithm	PROPN
alkej-953	148	11	.	.	PUNCT
alkej-953	149	1	fig	fig	NOUN
alkej-953	149	2	.	.	PUNCT
alkej-953	150	1	5	5	NUM
alkej-953	150	2	.	.	X
alkej-953	150	3	schematic	schematic	ADJ
alkej-953	150	4	of	of	ADP
alkej-953	150	5	gwo	gwo	PROPN
alkej-953	150	6	principles	principle	NOUN
alkej-953	150	7	the	the	DET
alkej-953	150	8	mathematical	mathematical	ADJ
alkej-953	150	9	framework	framework	NOUN
alkej-953	150	10	for	for	ADP
alkej-953	150	11	how	how	SCONJ
alkej-953	150	12	grey	grey	ADJ
alkej-953	150	13	wolves	wolf	NOUN
alkej-953	150	14	look	look	VERB
alkej-953	150	15	for	for	ADP
alkej-953	150	16	and	and	CCONJ
alkej-953	150	17	track	track	NOUN
alkej-953	150	18	prey	prey	NOUN
alkej-953	150	19	is	be	AUX
alkej-953	150	20	expressed	express	VERB
alkej-953	150	21	as	as	SCONJ
alkej-953	150	22	follows	follow	VERB
alkej-953	150	23	:	:	PUNCT
alkej-953	151	1	�	�	PROPN
alkej-953	151	2	⃗⃗	⃗⃗	PROPN
alkej-953	151	3	�	�	PROPN
alkej-953	151	4	=	=	SYM
alkej-953	151	5	|𝐶	|𝐶	X
alkej-953	151	6	⋅	⋅	PROPN
alkej-953	151	7	𝑥	𝑥	PROPN
alkej-953	151	8	𝑝	𝑝	PROPN
alkej-953	151	9	(	(	PUNCT
alkej-953	151	10	𝑡	𝑡	NOUN
alkej-953	151	11	)	)	PUNCT
alkej-953	151	12	−	−	PROPN
alkej-953	151	13	�	�	PROPN
alkej-953	151	14	⃑	⃑	NOUN
alkej-953	151	15	�	�	PROPN
alkej-953	151	16	(𝑡)|	(𝑡)|	NOUN
alkej-953	151	17	…	…	PUNCT
alkej-953	151	18	(	(	PUNCT
alkej-953	151	19	15	15	NUM
alkej-953	151	20	)	)	PUNCT
alkej-953	151	21	𝑥	𝑥	NOUN
alkej-953	151	22	(	(	PUNCT
alkej-953	151	23	𝑡	𝑡	X
alkej-953	151	24	+	+	NOUN
alkej-953	151	25	1	1	NUM
alkej-953	151	26	)	)	PUNCT
alkej-953	151	27	=	=	SYM
alkej-953	152	1	𝑥	𝑥	DET
alkej-953	152	2	𝑝(𝑡	𝑝(𝑡	PROPN
alkej-953	152	3	)	)	PUNCT
alkej-953	152	4	−	−	PROPN
alkej-953	152	5	𝐴	𝐴	PROPN
alkej-953	152	6	⋅	⋅	PROPN
alkej-953	152	7	�	�	PROPN
alkej-953	152	8	⃗⃗	⃗⃗	PROPN
alkej-953	152	9	�	�	PROPN
alkej-953	152	10	…	…	PUNCT
alkej-953	152	11	(	(	PUNCT
alkej-953	152	12	16	16	NUM
alkej-953	152	13	)	)	PUNCT
alkej-953	152	14	where	where	SCONJ
alkej-953	152	15	�	�	PROPN
alkej-953	152	16	⃗⃗	⃗⃗	PROPN
alkej-953	152	17	�	�	PROPN
alkej-953	152	18	represents	represent	VERB
alkej-953	152	19	the	the	DET
alkej-953	152	20	vector	vector	NOUN
alkej-953	152	21	reflecting	reflect	VERB
alkej-953	152	22	the	the	DET
alkej-953	152	23	distance	distance	NOUN
alkej-953	152	24	between	between	ADP
alkej-953	152	25	the	the	DET
alkej-953	152	26	gray	gray	ADJ
alkej-953	152	27	wolf	wolf	NOUN
alkej-953	152	28	and	and	CCONJ
alkej-953	152	29	its	its	PRON
alkej-953	152	30	prey	prey	NOUN
alkej-953	152	31	.	.	PUNCT
alkej-953	153	1	the	the	DET
alkej-953	153	2	prey	prey	PROPN
alkej-953	153	3	position	position	NOUN
alkej-953	153	4	vector	vector	NOUN
alkej-953	153	5	is	be	AUX
alkej-953	153	6	𝑥	𝑥	PRON
alkej-953	153	7	𝑝	𝑝	PROPN
alkej-953	153	8	,	,	PUNCT
alkej-953	153	9	the	the	DET
alkej-953	153	10	grey	grey	ADJ
alkej-953	153	11	wolf	wolf	PROPN
alkej-953	153	12	position	position	NOUN
alkej-953	153	13	vector	vector	NOUN
alkej-953	153	14	is	be	AUX
alkej-953	153	15	�	�	PROPN
alkej-953	153	16	⃑	⃑	NOUN
alkej-953	153	17	�	�	PROPN
alkej-953	153	18	,	,	PUNCT
alkej-953	153	19	the	the	DET
alkej-953	153	20	iteration	iteration	NOUN
alkej-953	153	21	number	number	NOUN
alkej-953	153	22	is	be	AUX
alkej-953	153	23	t	t	NOUN
alkej-953	153	24	,	,	PUNCT
alkej-953	153	25	and	and	CCONJ
alkej-953	153	26	the	the	DET
alkej-953	153	27	coefficient	coefficient	NOUN
alkej-953	153	28	vectors	vector	NOUN
alkej-953	153	29	are	be	AUX
alkej-953	153	30	𝐴	𝐴	PROPN
alkej-953	153	31	and	and	CCONJ
alkej-953	153	32	𝐶	𝐶	PROPN
alkej-953	153	33	.	.	PUNCT
alkej-953	154	1	the	the	DET
alkej-953	154	2	coefficient	coefficient	NOUN
alkej-953	154	3	vectors	vector	NOUN
alkej-953	154	4	𝐴	𝐴	PROPN
alkej-953	154	5	and	and	CCONJ
alkej-953	154	6	𝐶⃗⃗	𝐶⃗⃗	NOUN
alkej-953	154	7	⃗	⃗	PROPN
alkej-953	154	8	can	can	AUX
alkej-953	154	9	be	be	AUX
alkej-953	154	10	defined	define	VERB
alkej-953	154	11	as	as	SCONJ
alkej-953	154	12	follows	follow	VERB
alkej-953	154	13	:	:	PUNCT
alkej-953	154	14	𝐴	𝐴	PROPN
alkej-953	154	15	=	=	SYM
alkej-953	154	16	2𝑎	2𝑎	NUM
alkej-953	154	17	⋅	⋅	X
alkej-953	154	18	𝑟	𝑟	NOUN
alkej-953	154	19	1	1	NUM
alkej-953	154	20	−	−	NOUN
alkej-953	154	21	𝑎	𝑎	X
alkej-953	154	22	…	…	PUNCT
alkej-953	154	23	(	(	PUNCT
alkej-953	154	24	17	17	NUM
alkej-953	154	25	)	)	PUNCT
alkej-953	154	26	𝐶	𝐶	NOUN
alkej-953	154	27	=	=	PUNCT
alkej-953	154	28	2𝑟	2𝑟	NUM
alkej-953	154	29	2	2	NUM
alkej-953	154	30	…	…	PUNCT
alkej-953	154	31	(	(	PUNCT
alkej-953	154	32	18	18	NUM
alkej-953	154	33	)	)	PUNCT
alkej-953	154	34	the	the	DET
alkej-953	154	35	convergence	convergence	NOUN
alkej-953	154	36	factor	factor	NOUN
alkej-953	154	37	,	,	PUNCT
alkej-953	154	38	denoted	denote	VERB
alkej-953	154	39	by	by	ADP
alkej-953	154	40	𝑎	𝑎	NOUN
alkej-953	154	41	,	,	PUNCT
alkej-953	154	42	decreases	decrease	VERB
alkej-953	154	43	gradually	gradually	ADV
alkej-953	154	44	from	from	ADP
alkej-953	154	45	2	2	NUM
alkej-953	154	46	to	to	ADP
alkej-953	154	47	0	0	NUM
alkej-953	154	48	with	with	ADP
alkej-953	154	49	each	each	DET
alkej-953	154	50	iteration	iteration	NOUN
alkej-953	154	51	.	.	PUNCT
alkej-953	155	1	the	the	DET
alkej-953	155	2	values	value	NOUN
alkej-953	155	3	of	of	ADP
alkej-953	155	4	𝑟	𝑟	NOUN
alkej-953	155	5	1	1	NUM
alkej-953	155	6	and	and	CCONJ
alkej-953	155	7	𝑟	𝑟	NOUN
alkej-953	155	8	2	2	NUM
alkej-953	155	9	are	be	AUX
alkej-953	155	10	random	random	ADJ
alkej-953	155	11	numbers	number	NOUN
alkej-953	155	12	ranging	range	VERB
alkej-953	155	13	from	from	ADP
alkej-953	155	14	0	0	NUM
alkej-953	155	15	to	to	ADP
alkej-953	155	16	1	1	NUM
alkej-953	155	17	.	.	PUNCT
alkej-953	156	1	when	when	SCONJ
alkej-953	156	2	grey	grey	ADJ
alkej-953	156	3	wolves	wolf	NOUN
alkej-953	156	4	find	find	VERB
alkej-953	156	5	their	their	PRON
alkej-953	156	6	prey	prey	NOUN
alkej-953	156	7	whilst	whilst	SCONJ
alkej-953	156	8	searching	search	VERB
alkej-953	156	9	,	,	PUNCT
alkej-953	156	10	they	they	PRON
alkej-953	156	11	encircle	encircle	VERB
alkej-953	156	12	it	it	PRON
alkej-953	156	13	using	use	VERB
alkej-953	156	14	α	α	PRON
alkej-953	156	15	,	,	PUNCT
alkej-953	156	16	β	β	X
alkej-953	156	17	and	and	CCONJ
alkej-953	156	18	δ	δ	PROPN
alkej-953	156	19	as	as	ADP
alkej-953	156	20	guides	guide	NOUN
alkej-953	156	21	.	.	PUNCT
alkej-953	157	1	however	however	ADV
alkej-953	157	2	,	,	PUNCT
alkej-953	157	3	because	because	SCONJ
alkej-953	157	4	the	the	DET
alkej-953	157	5	specific	specific	ADJ
alkej-953	157	6	location	location	NOUN
alkej-953	157	7	of	of	ADP
alkej-953	157	8	the	the	DET
alkej-953	157	9	optimal	optimal	ADJ
alkej-953	157	10	prey	prey	NOUN
alkej-953	157	11	in	in	ADP
alkej-953	157	12	the	the	DET
alkej-953	157	13	abstract	abstract	ADJ
alkej-953	157	14	space	space	NOUN
alkej-953	157	15	is	be	AUX
alkej-953	157	16	unknown	unknown	ADJ
alkej-953	157	17	,	,	PUNCT
alkej-953	157	18	the	the	DET
alkej-953	157	19	top	top	ADJ
alkej-953	157	20	three	three	NUM
alkej-953	157	21	best	good	ADJ
alkej-953	157	22	solutions	solution	NOUN
alkej-953	157	23	identified	identify	VERB
alkej-953	157	24	thus	thus	ADV
alkej-953	157	25	far	far	ADV
alkej-953	157	26	are	be	AUX
alkej-953	157	27	preserved	preserve	VERB
alkej-953	157	28	to	to	PART
alkej-953	157	29	define	define	VERB
alkej-953	157	30	positions	position	NOUN
alkej-953	157	31	and	and	CCONJ
alkej-953	157	32	motivate	motivate	VERB
alkej-953	157	33	other	other	ADJ
alkej-953	157	34	individuals	individual	NOUN
alkej-953	157	35	to	to	PART
alkej-953	157	36	alter	alter	VERB
alkej-953	157	37	their	their	PRON
alkej-953	157	38	search	search	NOUN
alkej-953	157	39	positions	position	NOUN
alkej-953	157	40	to	to	PART
alkej-953	157	41	mimic	mimic	VERB
alkej-953	157	42	the	the	DET
alkej-953	157	43	true	true	ADJ
alkej-953	157	44	behaviour	behaviour	NOUN
alkej-953	157	45	of	of	ADP
alkej-953	157	46	grey	grey	ADJ
alkej-953	157	47	wolves	wolf	NOUN
alkej-953	157	48	.	.	PUNCT
alkej-953	158	1	the	the	DET
alkej-953	158	2	mathematical	mathematical	ADJ
alkej-953	158	3	model	model	NOUN
alkej-953	158	4	for	for	ADP
alkej-953	158	5	this	this	DET
alkej-953	158	6	method	method	NOUN
alkej-953	158	7	is	be	AUX
alkej-953	158	8	given	give	VERB
alkej-953	158	9	by	by	ADP
alkej-953	158	10	the	the	DET
alkej-953	158	11	following	following	NOUN
alkej-953	158	12	:	:	PUNCT
alkej-953	158	13	𝐷𝛼	𝐷𝛼	NOUN
alkej-953	158	14	⃗⃗⃗⃗	⃗⃗⃗⃗	X
alkej-953	159	1	⃗	⃗	PROPN
alkej-953	159	2	=	=	SYM
alkej-953	159	3	|𝐶	|𝐶	X
alkej-953	159	4	1	1	NUM
alkej-953	159	5	⋅	⋅	PROPN
alkej-953	159	6	𝑥	𝑥	PROPN
alkej-953	159	7	𝛼	𝛼	PROPN
alkej-953	159	8	−	−	PROPN
alkej-953	159	9	�	�	PROPN
alkej-953	159	10	⃑	⃑	NOUN
alkej-953	159	11	�	�	PROPN
alkej-953	159	12	|	|	NOUN
alkej-953	159	13	…	…	PUNCT
alkej-953	159	14	(	(	PUNCT
alkej-953	159	15	19	19	NUM
alkej-953	159	16	)	)	PUNCT
alkej-953	159	17	𝐷𝛽	𝐷𝛽	NOUN
alkej-953	159	18	⃗⃗⃗⃗	⃗⃗⃗⃗	PUNCT
alkej-953	160	1	⃗	⃗	PROPN
alkej-953	160	2	=	=	SYM
alkej-953	160	3	|𝐶	|𝐶	X
alkej-953	160	4	2	2	NUM
alkej-953	160	5	⋅	⋅	PROPN
alkej-953	160	6	𝑥	𝑥	PROPN
alkej-953	160	7	𝛽	𝛽	PROPN
alkej-953	160	8	−	−	PROPN
alkej-953	160	9	�	�	PROPN
alkej-953	160	10	⃑	⃑	NOUN
alkej-953	160	11	�	�	PROPN
alkej-953	160	12	|	|	NOUN
alkej-953	160	13	…	…	PUNCT
alkej-953	160	14	(	(	PUNCT
alkej-953	160	15	20	20	NUM
alkej-953	160	16	)	)	PUNCT
alkej-953	160	17	𝐷𝛿	𝐷𝛿	NOUN
alkej-953	160	18	⃗⃗⃗⃗	⃗⃗⃗⃗	PUNCT
alkej-953	161	1	⃗	⃗	PROPN
alkej-953	161	2	=	=	SYM
alkej-953	161	3	|𝐶	|𝐶	X
alkej-953	161	4	3	3	NUM
alkej-953	161	5	⋅	⋅	PROPN
alkej-953	161	6	𝑥	𝑥	PROPN
alkej-953	161	7	𝛿	𝛿	ADJ
alkej-953	161	8	−	−	PROPN
alkej-953	161	9	�	�	PROPN
alkej-953	161	10	⃑	⃑	NOUN
alkej-953	161	11	�	�	PROPN
alkej-953	161	12	|	|	NOUN
alkej-953	161	13	…	…	PUNCT
alkej-953	161	14	(	(	PUNCT
alkej-953	161	15	21	21	NUM
alkej-953	161	16	)	)	PUNCT
alkej-953	161	17	𝑥1⃗⃗⃗⃗	𝑥1⃗⃗⃗⃗	NOUN
alkej-953	162	1	=	=	SYM
alkej-953	162	2	𝑥	𝑥	PRON
alkej-953	162	3	𝛼	𝛼	X
alkej-953	162	4	−	−	PROPN
alkej-953	162	5	𝐴	𝐴	PROPN
alkej-953	162	6	1	1	NUM
alkej-953	162	7	⋅	⋅	PROPN
alkej-953	162	8	�	�	PROPN
alkej-953	162	9	⃗⃗	⃗⃗	PROPN
alkej-953	162	10	�	�	PROPN
alkej-953	162	11	𝛼	𝛼	PRON
alkej-953	162	12	…	…	PUNCT
alkej-953	162	13	(	(	PUNCT
alkej-953	162	14	22	22	NUM
alkej-953	162	15	)	)	PUNCT
alkej-953	162	16	𝑥2⃗⃗⃗⃗	𝑥2⃗⃗⃗⃗	NOUN
alkej-953	163	1	=	=	PUNCT
alkej-953	163	2	𝑥	𝑥	PRON
alkej-953	163	3	𝛽	𝛽	NOUN
alkej-953	163	4	−	−	PROPN
alkej-953	163	5	𝐴	𝐴	PROPN
alkej-953	163	6	2	2	NUM
alkej-953	163	7	⋅	⋅	PROPN
alkej-953	163	8	�	�	PROPN
alkej-953	163	9	⃗⃗	⃗⃗	PROPN
alkej-953	163	10	�	�	PROPN
alkej-953	163	11	𝛽	𝛽	PROPN
alkej-953	163	12	…	…	PUNCT
alkej-953	163	13	(	(	PUNCT
alkej-953	163	14	23	23	NUM
alkej-953	163	15	)	)	PUNCT
alkej-953	163	16	𝑥3⃗⃗⃗⃗	𝑥3⃗⃗⃗⃗	NOUN
alkej-953	164	1	=	=	PUNCT
alkej-953	165	1	𝑥	𝑥	PRON
alkej-953	165	2	𝛿	𝛿	ADJ
alkej-953	165	3	−	−	PROPN
alkej-953	165	4	𝐴	𝐴	PROPN
alkej-953	165	5	3	3	NUM
alkej-953	165	6	⋅	⋅	PROPN
alkej-953	165	7	�	�	PROPN
alkej-953	165	8	⃗⃗	⃗⃗	PROPN
alkej-953	165	9	�	�	PROPN
alkej-953	165	10	𝛿	𝛿	X
alkej-953	165	11	…	…	PUNCT
alkej-953	165	12	(	(	PUNCT
alkej-953	165	13	24	24	NUM
alkej-953	165	14	)	)	PUNCT
alkej-953	165	15	𝑥(𝑡	𝑥(𝑡	PROPN
alkej-953	165	16	+	+	CCONJ
alkej-953	165	17	1	1	X
alkej-953	165	18	)	)	PUNCT
alkej-953	165	19	=	=	SYM
alkej-953	165	20	𝑥1⃗⃗	𝑥1⃗⃗	PROPN
alkej-953	165	21	⃗⃗	⃗⃗	NOUN
alkej-953	165	22	+	+	PROPN
alkej-953	165	23	𝑥2⃗⃗	𝑥2⃗⃗	PROPN
alkej-953	165	24	⃗⃗	⃗⃗	NOUN
alkej-953	166	1	+	+	ADP
alkej-953	166	2	𝑥3	𝑥3	ADJ
alkej-953	166	3	⃗⃗	⃗⃗	PROPN
alkej-953	166	4	⃗⃗	⃗⃗	PROPN
alkej-953	166	5	⃗⃗	⃗⃗	PROPN
alkej-953	166	6	⃗⃗	⃗⃗	PROPN
alkej-953	166	7	⃗	⃗	PROPN
alkej-953	166	8	3	3	NUM
alkej-953	166	9	…	…	PUNCT
alkej-953	166	10	(	(	PUNCT
alkej-953	166	11	25	25	NUM
alkej-953	166	12	)	)	PUNCT
alkej-953	166	13	5	5	NUM
alkej-953	166	14	.	.	PUNCT
alkej-953	166	15	suggested	suggest	VERB
alkej-953	166	16	algorithm	algorithm	NOUN
alkej-953	166	17	this	this	DET
alkej-953	166	18	section	section	NOUN
alkej-953	166	19	covers	cover	VERB
alkej-953	166	20	the	the	DET
alkej-953	166	21	two	two	NUM
alkej-953	166	22	primary	primary	ADJ
alkej-953	166	23	subjects	subject	NOUN
alkej-953	166	24	of	of	ADP
alkej-953	166	25	the	the	DET
alkej-953	166	26	path	path	NOUN
alkej-953	166	27	planning	planning	NOUN
alkej-953	166	28	method	method	NOUN
alkej-953	166	29	for	for	ADP
alkej-953	166	30	nonholonomic	nonholonomic	ADJ
alkej-953	166	31	wmrs	wmrs	PROPN
alkej-953	166	32	.	.	PUNCT
alkej-953	167	1	the	the	DET
alkej-953	167	2	subjects	subject	NOUN
alkej-953	167	3	under	under	ADP
alkej-953	167	4	discussion	discussion	NOUN
alkej-953	167	5	include	include	VERB
alkej-953	167	6	the	the	DET
alkej-953	167	7	development	development	NOUN
alkej-953	167	8	of	of	ADP
alkej-953	167	9	feasible	feasible	ADJ
alkej-953	167	10	paths	path	NOUN
alkej-953	167	11	and	and	CCONJ
alkej-953	167	12	the	the	DET
alkej-953	167	13	detection	detection	NOUN
alkej-953	167	14	of	of	ADP
alkej-953	167	15	obstacles	obstacle	NOUN
alkej-953	167	16	.	.	PUNCT
alkej-953	168	1	5.1	5.1	NUM
alkej-953	168	2	.	.	PUNCT
alkej-953	168	3	feasible	feasible	ADJ
alkej-953	168	4	path	path	NOUN
alkej-953	168	5	generation	generation	NOUN
alkej-953	168	6	at	at	ADP
alkej-953	168	7	each	each	DET
alkej-953	168	8	iteration	iteration	NOUN
alkej-953	168	9	(	(	PUNCT
alkej-953	168	10	t	t	PROPN
alkej-953	168	11	)	)	PUNCT
alkej-953	168	12	,	,	PUNCT
alkej-953	168	13	the	the	DET
alkej-953	168	14	abc	abc	PROPN
alkej-953	168	15	and	and	CCONJ
alkej-953	168	16	gwo	gwo	PROPN
alkej-953	168	17	provide	provide	VERB
alkej-953	168	18	multiple	multiple	ADJ
alkej-953	168	19	solutions	solution	NOUN
alkej-953	168	20	.	.	PUNCT
alkej-953	169	1	the	the	DET
alkej-953	169	2	task	task	NOUN
alkej-953	169	3	is	be	AUX
alkej-953	169	4	to	to	PART
alkej-953	169	5	select	select	VERB
alkej-953	169	6	the	the	DET
alkej-953	169	7	most	most	ADV
alkej-953	169	8	suitable	suitable	ADJ
alkej-953	169	9	via	via	ADP
alkej-953	169	10	-	-	PUNCT
alkej-953	169	11	points	point	NOUN
alkej-953	169	12	from	from	ADP
alkej-953	169	13	the	the	DET
alkej-953	169	14	set	set	NOUN
alkej-953	169	15	of	of	ADP
alkej-953	169	16	possible	possible	ADJ
alkej-953	169	17	options	option	NOUN
alkej-953	169	18	.	.	PUNCT
alkej-953	170	1	the	the	DET
alkej-953	170	2	choice	choice	NOUN
alkej-953	170	3	of	of	ADP
alkej-953	170	4	via	via	ADP
alkej-953	170	5	-	-	PUNCT
alkej-953	170	6	points	point	NOUN
alkej-953	170	7	is	be	AUX
alkej-953	170	8	contingent	contingent	ADJ
alkej-953	170	9	upon	upon	SCONJ
alkej-953	170	10	formulating	formulate	VERB
alkej-953	170	11	the	the	DET
alkej-953	170	12	objective	objective	ADJ
alkej-953	170	13	function	function	NOUN
alkej-953	170	14	specified	specify	VERB
alkej-953	170	15	in	in	ADP
alkej-953	170	16	equation	equation	NOUN
alkej-953	170	17	(	(	PUNCT
alkej-953	170	18	6	6	NUM
alkej-953	170	19	)	)	PUNCT
alkej-953	170	20	.	.	PUNCT
alkej-953	171	1	this	this	DET
alkej-953	171	2	process	process	NOUN
alkej-953	171	3	continues	continue	VERB
alkej-953	171	4	until	until	SCONJ
alkej-953	171	5	the	the	DET
alkej-953	171	6	wmr	wmr	PROPN
alkej-953	171	7	reaches	reach	VERB
alkej-953	171	8	its	its	PRON
alkej-953	171	9	target	target	NOUN
alkej-953	171	10	point	point	NOUN
alkej-953	171	11	.	.	PUNCT
alkej-953	172	1	zahraa	zahraa	PROPN
alkej-953	172	2	a.	a.	PROPN
alkej-953	172	3	abdullah	abdullah	PROPN
alkej-953	172	4	al	al	PROPN
alkej-953	172	5	-	-	PUNCT
alkej-953	172	6	khwarizmi	khwarizmi	PROPN
alkej-953	172	7	engineering	engineering	NOUN
alkej-953	172	8	journal	journal	PROPN
alkej-953	172	9	,	,	PUNCT
alkej-953	172	10	vol	vol	NOUN
alkej-953	172	11	.	.	PROPN
alkej-953	172	12	21	21	NUM
alkej-953	172	13	,	,	PUNCT
alkej-953	172	14	no.2	no.2	PROPN
alkej-953	172	15	,	,	PUNCT
alkej-953	172	16	pp	pp	ADJ
alkej-953	172	17	.	.	PUNCT
alkej-953	173	1	42	42	NUM
alkej-953	173	2	-	-	SYM
alkej-953	173	3	52	52	NUM
alkej-953	173	4	(	(	PUNCT
alkej-953	173	5	2025	2025	NUM
alkej-953	173	6	)	)	PUNCT
alkej-953	173	7	47	47	NUM
alkej-953	173	8	5.2	5.2	NUM
alkej-953	173	9	procedure	procedure	NOUN
alkej-953	173	10	for	for	ADP
alkej-953	173	11	obstacle	obstacle	NOUN
alkej-953	173	12	detection	detection	NOUN
alkej-953	173	13	sensing	sensing	NOUN
alkej-953	173	14	is	be	AUX
alkej-953	173	15	accomplished	accomplish	VERB
alkej-953	173	16	by	by	ADP
alkej-953	173	17	attaching	attach	VERB
alkej-953	173	18	12	12	NUM
alkej-953	173	19	virtual	virtual	ADJ
alkej-953	173	20	sensors	sensor	NOUN
alkej-953	173	21	around	around	ADP
alkej-953	173	22	the	the	DET
alkej-953	173	23	mobile	mobile	NOUN
alkej-953	173	24	robot	robot	NOUN
alkej-953	173	25	.	.	PUNCT
alkej-953	174	1	these	these	DET
alkej-953	174	2	sensors	sensor	NOUN
alkej-953	174	3	have	have	VERB
alkej-953	174	4	equal	equal	ADJ
alkej-953	174	5	distances	distance	NOUN
alkej-953	174	6	,	,	PUNCT
alkej-953	174	7	with	with	ADP
alkej-953	174	8	each	each	DET
alkej-953	174	9	sensor	sensor	NOUN
alkej-953	174	10	covering	cover	VERB
alkej-953	174	11	an	an	DET
alkej-953	174	12	angle	angle	NOUN
alkej-953	174	13	range	range	NOUN
alkej-953	174	14	of	of	ADP
alkej-953	174	15	30	30	NUM
alkej-953	174	16	°	°	NUM
alkej-953	174	17	and	and	CCONJ
alkej-953	174	18	having	have	VERB
alkej-953	174	19	a	a	DET
alkej-953	174	20	certain	certain	ADJ
alkej-953	174	21	sensing	sense	VERB
alkej-953	174	22	range	range	NOUN
alkej-953	174	23	(	(	PUNCT
alkej-953	174	24	sr	sr	PROPN
alkej-953	174	25	)	)	PUNCT
alkej-953	174	26	value	value	NOUN
alkej-953	174	27	(	(	PUNCT
alkej-953	174	28	figure	figure	NOUN
alkej-953	174	29	6	6	NUM
alkej-953	174	30	)	)	PUNCT
alkej-953	174	31	.	.	PUNCT
alkej-953	175	1	in	in	ADP
alkej-953	175	2	the	the	DET
alkej-953	175	3	research	research	NOUN
alkej-953	175	4	design	design	NOUN
alkej-953	175	5	,	,	PUNCT
alkej-953	175	6	the	the	DET
alkej-953	175	7	sr	sr	PROPN
alkej-953	175	8	is	be	AUX
alkej-953	175	9	0.4	0.4	NUM
alkej-953	175	10	m.	m.	NOUN
alkej-953	175	11	fig	fig	NOUN
alkej-953	175	12	.	.	PUNCT
alkej-953	176	1	6	6	NUM
alkej-953	176	2	.	.	X
alkej-953	176	3	mobile	mobile	ADJ
alkej-953	176	4	robot	robot	NOUN
alkej-953	176	5	sensor	sensor	NOUN
alkej-953	176	6	deployment	deployment	NOUN
alkej-953	176	7	the	the	DET
alkej-953	176	8	sensory	sensory	ADJ
alkej-953	176	9	vector	vector	NOUN
alkej-953	176	10	(	(	PUNCT
alkej-953	176	11	𝑣𝑠	𝑣𝑠	X
alkej-953	176	12	)	)	PUNCT
alkej-953	176	13	is	be	AUX
alkej-953	176	14	employed	employ	VERB
alkej-953	176	15	as	as	ADP
alkej-953	176	16	a	a	DET
alkej-953	176	17	binary	binary	ADJ
alkej-953	176	18	vector	vector	NOUN
alkej-953	176	19	to	to	PART
alkej-953	176	20	indicate	indicate	VERB
alkej-953	176	21	whether	whether	SCONJ
alkej-953	176	22	or	or	CCONJ
alkej-953	176	23	not	not	PART
alkej-953	176	24	environmental	environmental	ADJ
alkej-953	176	25	impediments	impediment	NOUN
alkej-953	176	26	are	be	AUX
alkej-953	176	27	present	present	ADJ
alkej-953	176	28	.	.	PUNCT
alkej-953	177	1	each	each	PRON
alkej-953	177	2	of	of	ADP
alkej-953	177	3	the	the	DET
alkej-953	177	4	12	12	NUM
alkej-953	177	5	binary	binary	ADJ
alkej-953	177	6	values	value	NOUN
alkej-953	177	7	that	that	PRON
alkej-953	177	8	comprise	comprise	VERB
alkej-953	177	9	sv=	sv=	NOUN
alkej-953	177	10	[	[	X
alkej-953	177	11	s	s	X
alkej-953	177	12	(	(	PUNCT
alkej-953	177	13	1	1	NUM
alkej-953	177	14	)	)	PUNCT
alkej-953	177	15	,	,	PUNCT
alkej-953	177	16	s	s	X
alkej-953	177	17	(	(	PUNCT
alkej-953	177	18	2	2	NUM
alkej-953	177	19	)	)	PUNCT
alkej-953	177	20	...	...	PUNCT
alkej-953	177	21	,	,	PUNCT
alkej-953	177	22	s	s	X
alkej-953	177	23	(	(	PUNCT
alkej-953	177	24	12	12	NUM
alkej-953	177	25	)	)	PUNCT
alkej-953	177	26	]	]	PUNCT
alkej-953	177	27	represents	represent	VERB
alkej-953	177	28	a	a	DET
alkej-953	177	29	deployed	deploy	VERB
alkej-953	177	30	sensor	sensor	NOUN
alkej-953	177	31	.	.	PUNCT
alkej-953	178	1	the	the	DET
alkej-953	178	2	equation	equation	NOUN
alkej-953	178	3	s(1	s(1	PROPN
alkej-953	178	4	)	)	PUNCT
alkej-953	179	1	=	=	SYM
alkej-953	179	2	s	s	X
alkej-953	179	3	(	(	PUNCT
alkej-953	179	4	3	3	NUM
alkej-953	179	5	)	)	PUNCT
alkej-953	179	6	=	=	SYM
alkej-953	179	7	s	s	X
alkej-953	179	8	(	(	PUNCT
alkej-953	179	9	4	4	NUM
alkej-953	179	10	)	)	PUNCT
alkej-953	179	11	=	=	NOUN
alkej-953	179	12	logic	logic	NOUN
alkej-953	179	13	‘	'	PUNCT
alkej-953	179	14	1	1	NUM
alkej-953	179	15	’	'	PUNCT
alkej-953	179	16	might	might	AUX
alkej-953	179	17	be	be	AUX
alkej-953	179	18	used	use	VERB
alkej-953	179	19	to	to	PART
alkej-953	179	20	identify	identify	VERB
alkej-953	179	21	obstacles	obstacle	NOUN
alkej-953	179	22	within	within	ADP
alkej-953	179	23	the	the	DET
alkej-953	179	24	dr	dr	PROPN
alkej-953	179	25	range	range	NOUN
alkej-953	179	26	of	of	ADP
alkej-953	179	27	s1	s1	NOUN
alkej-953	179	28	,	,	PUNCT
alkej-953	179	29	s3	s3	PROPN
alkej-953	179	30	and	and	CCONJ
alkej-953	179	31	s4	s4	PROPN
alkej-953	179	32	and	and	CCONJ
alkej-953	179	33	the	the	DET
alkej-953	179	34	da	da	PROPN
alkej-953	179	35	range	range	NOUN
alkej-953	179	36	of	of	ADP
alkej-953	179	37	s4	s4	PROPN
alkej-953	179	38	.	.	PUNCT
alkej-953	180	1	otherwise	otherwise	ADV
alkej-953	180	2	,	,	PUNCT
alkej-953	180	3	logic	logic	NOUN
alkej-953	180	4	‘	'	PUNCT
alkej-953	180	5	0	0	NUM
alkej-953	180	6	’	'	PUNCT
alkej-953	180	7	means	mean	VERB
alkej-953	180	8	to	to	PART
alkej-953	180	9	release	release	VERB
alkej-953	180	10	space	space	NOUN
alkej-953	180	11	in	in	ADP
alkej-953	180	12	the	the	DET
alkej-953	180	13	surrounding	surround	VERB
alkej-953	180	14	surroundings	surrounding	NOUN
alkej-953	180	15	.	.	PUNCT
alkej-953	181	1	here	here	ADV
alkej-953	181	2	,	,	PUNCT
alkej-953	181	3	two	two	NUM
alkej-953	181	4	environmental	environmental	ADJ
alkej-953	181	5	impediments	impediment	NOUN
alkej-953	181	6	are	be	AUX
alkej-953	181	7	assumed	assume	VERB
alkej-953	181	8	.	.	PUNCT
alkej-953	182	1	if	if	SCONJ
alkej-953	182	2	the	the	DET
alkej-953	182	3	first	first	ADJ
alkej-953	182	4	obstacle	obstacle	NOUN
alkej-953	182	5	is	be	AUX
alkej-953	182	6	expressed	express	VERB
alkej-953	182	7	as	as	ADP
alkej-953	182	8	sv=[1	sv=[1	NOUN
alkej-953	182	9	0	0	NUM
alkej-953	182	10	1	1	NUM
alkej-953	182	11	1	1	NUM
alkej-953	182	12	0	0	NUM
alkej-953	182	13	0	0	NUM
alkej-953	182	14	0	0	NUM
alkej-953	182	15	0	0	NUM
alkej-953	182	16	0	0	NUM
alkej-953	182	17	0	0	NUM
alkej-953	182	18	0	0	NUM
alkej-953	182	19	0	0	NUM
alkej-953	182	20	]	]	PUNCT
alkej-953	182	21	,	,	PUNCT
alkej-953	182	22	then	then	ADV
alkej-953	182	23	it	it	PRON
alkej-953	182	24	evidently	evidently	ADV
alkej-953	182	25	falls	fall	VERB
alkej-953	182	26	within	within	ADP
alkej-953	182	27	the	the	DET
alkej-953	182	28	immediate	immediate	ADJ
alkej-953	182	29	scope	scope	NOUN
alkej-953	182	30	of	of	ADP
alkej-953	182	31	s1	s1	NOUN
alkej-953	182	32	.	.	PUNCT
alkej-953	183	1	however	however	ADV
alkej-953	183	2	,	,	PUNCT
alkej-953	183	3	the	the	DET
alkej-953	183	4	second	second	ADJ
alkej-953	183	5	obstacle	obstacle	NOUN
alkej-953	183	6	is	be	AUX
alkej-953	183	7	located	locate	VERB
alkej-953	183	8	between	between	ADP
alkej-953	183	9	s3	s3	PROPN
alkej-953	183	10	and	and	CCONJ
alkej-953	183	11	s4	s4	PROPN
alkej-953	183	12	.	.	PUNCT
alkej-953	184	1	this	this	DET
alkej-953	184	2	process	process	NOUN
alkej-953	184	3	is	be	AUX
alkej-953	184	4	completed	complete	VERB
alkej-953	184	5	by	by	ADP
alkej-953	184	6	determining	determine	VERB
alkej-953	184	7	the	the	DET
alkej-953	184	8	geometrical	geometrical	ADJ
alkej-953	184	9	distance	distance	NOUN
alkej-953	184	10	between	between	ADP
alkej-953	184	11	the	the	DET
alkej-953	184	12	obstacle	obstacle	NOUN
alkej-953	184	13	and	and	CCONJ
alkej-953	184	14	the	the	DET
alkej-953	184	15	location	location	NOUN
alkej-953	184	16	of	of	ADP
alkej-953	184	17	the	the	DET
alkej-953	184	18	wmr	wmr	NOUN
alkej-953	184	19	,	,	PUNCT
alkej-953	184	20	and	and	CCONJ
alkej-953	184	21	the	the	DET
alkej-953	184	22	following	follow	VERB
alkej-953	184	23	formula	formula	NOUN
alkej-953	184	24	is	be	AUX
alkej-953	184	25	used	use	VERB
alkej-953	184	26	.	.	PUNCT
alkej-953	185	1	𝑑(𝑀𝑅𝑝𝑜𝑠	𝑑(𝑀𝑅𝑝𝑜𝑠	NUM
alkej-953	185	2	,	,	PUNCT
alkej-953	185	3	𝑂𝑏𝑠𝑡𝑝𝑜𝑠	𝑂𝑏𝑠𝑡𝑝𝑜𝑠	PROPN
alkej-953	185	4	)	)	PUNCT
alkej-953	185	5	…	…	PUNCT
alkej-953	185	6	(	(	PUNCT
alkej-953	185	7	26	26	NUM
alkej-953	185	8	)	)	PUNCT
alkej-953	185	9	6	6	NUM
alkej-953	185	10	.	.	PUNCT
alkej-953	185	11	results	result	NOUN
alkej-953	185	12	and	and	CCONJ
alkej-953	185	13	discussion	discussion	NOUN
alkej-953	185	14	three	three	NUM
alkej-953	185	15	scenarios	scenario	NOUN
alkej-953	185	16	were	be	AUX
alkej-953	185	17	tested	test	VERB
alkej-953	185	18	to	to	PART
alkej-953	185	19	evaluate	evaluate	VERB
alkej-953	185	20	the	the	DET
alkej-953	185	21	performance	performance	NOUN
alkej-953	185	22	of	of	ADP
alkej-953	185	23	the	the	DET
alkej-953	185	24	implemented	implement	VERB
alkej-953	185	25	algorithms	algorithm	NOUN
alkej-953	185	26	via	via	ADP
alkej-953	185	27	matlab	matlab	PROPN
alkej-953	185	28	and	and	CCONJ
alkej-953	185	29	graphical	graphical	ADJ
alkej-953	185	30	user	user	NOUN
alkej-953	185	31	interface	interface	NOUN
alkej-953	185	32	programming	programming	NOUN
alkej-953	185	33	.	.	PUNCT
alkej-953	186	1	in	in	ADP
alkej-953	186	2	the	the	DET
alkej-953	186	3	first	first	ADJ
alkej-953	186	4	scenario	scenario	NOUN
alkej-953	186	5	,	,	PUNCT
alkej-953	186	6	six	six	NUM
alkej-953	186	7	fixed	fixed	ADJ
alkej-953	186	8	obstacles	obstacle	NOUN
alkej-953	186	9	are	be	AUX
alkej-953	186	10	present	present	ADJ
alkej-953	186	11	in	in	ADP
alkej-953	186	12	the	the	DET
alkej-953	186	13	surrounding	surround	VERB
alkej-953	186	14	environment	environment	NOUN
alkej-953	186	15	.	.	PUNCT
alkej-953	187	1	in	in	ADP
alkej-953	187	2	the	the	DET
alkej-953	187	3	second	second	ADJ
alkej-953	187	4	scenario	scenario	NOUN
alkej-953	187	5	,	,	PUNCT
alkej-953	187	6	three	three	NUM
alkej-953	187	7	moving	move	VERB
alkej-953	187	8	obstacles	obstacle	NOUN
alkej-953	187	9	are	be	AUX
alkej-953	187	10	present	present	ADJ
alkej-953	187	11	in	in	ADP
alkej-953	187	12	the	the	DET
alkej-953	187	13	surrounding	surround	VERB
alkej-953	187	14	environment	environment	NOUN
alkej-953	187	15	.	.	PUNCT
alkej-953	188	1	in	in	ADP
alkej-953	188	2	the	the	DET
alkej-953	188	3	third	third	ADJ
alkej-953	188	4	scenario	scenario	NOUN
alkej-953	188	5	,	,	PUNCT
alkej-953	188	6	five	five	NUM
alkej-953	188	7	obstacles	obstacle	NOUN
alkej-953	188	8	,	,	PUNCT
alkej-953	188	9	three	three	NUM
alkej-953	188	10	fixed	fix	VERB
alkej-953	188	11	and	and	CCONJ
alkej-953	188	12	two	two	NUM
alkej-953	188	13	moving	move	VERB
alkej-953	188	14	obstacles	obstacle	NOUN
alkej-953	188	15	,	,	PUNCT
alkej-953	188	16	are	be	AUX
alkej-953	188	17	present	present	ADJ
alkej-953	188	18	.	.	PUNCT
alkej-953	189	1	the	the	DET
alkej-953	189	2	setting	setting	NOUN
alkej-953	189	3	had	have	VERB
alkej-953	189	4	dimensions	dimension	NOUN
alkej-953	189	5	of	of	ADP
alkej-953	189	6	10	10	NUM
alkej-953	189	7	m	m	NOUN
alkej-953	189	8	×	×	NOUN
alkej-953	189	9	10	10	NUM
alkej-953	189	10	m.	m.	NOUN
alkej-953	189	11	the	the	DET
alkej-953	189	12	parameters	parameter	NOUN
alkej-953	189	13	consisted	consist	VERB
alkej-953	189	14	of	of	ADP
alkej-953	189	15	a	a	DET
alkej-953	189	16	population	population	NOUN
alkej-953	189	17	size	size	NOUN
alkej-953	189	18	of	of	ADP
alkej-953	189	19	0.5	0.5	NUM
alkej-953	189	20	and	and	CCONJ
alkej-953	189	21	a	a	DET
alkej-953	189	22	wmr	wmr	PROPN
alkej-953	189	23	radius	radius	NOUN
alkej-953	189	24	of	of	ADP
alkej-953	189	25	0.15	0.15	NUM
alkej-953	189	26	m	m	NOUN
alkej-953	189	27	,	,	PUNCT
alkej-953	189	28	with	with	ADP
alkej-953	189	29	the	the	DET
alkej-953	189	30	sp	sp	NOUN
alkej-953	189	31	at	at	ADP
alkej-953	189	32	(	(	PUNCT
alkej-953	189	33	0,0	0,0	NOUN
alkej-953	189	34	)	)	PUNCT
alkej-953	189	35	,	,	PUNCT
alkej-953	189	36	the	the	DET
alkej-953	189	37	tp	tp	PROPN
alkej-953	189	38	at	at	ADP
alkej-953	189	39	(	(	PUNCT
alkej-953	189	40	10,10	10,10	NUM
alkej-953	189	41	)	)	PUNCT
alkej-953	189	42	m	m	PROPN
alkej-953	189	43	,	,	PUNCT
alkej-953	189	44	a	a	DET
alkej-953	189	45	wmr	wmr	PROPN
alkej-953	189	46	velocity	velocity	NOUN
alkej-953	189	47	of	of	ADP
alkej-953	189	48	0.2	0.2	NUM
alkej-953	189	49	m	m	NOUN
alkej-953	189	50	/	/	SYM
alkej-953	189	51	s	s	PROPN
alkej-953	189	52	and	and	CCONJ
alkej-953	189	53	a	a	DET
alkej-953	189	54	total	total	NOUN
alkej-953	189	55	of	of	ADP
alkej-953	189	56	100	100	NUM
alkej-953	189	57	iterations	iteration	NOUN
alkej-953	189	58	.	.	PUNCT
alkej-953	190	1	each	each	DET
alkej-953	190	2	scenario	scenario	NOUN
alkej-953	190	3	was	be	AUX
alkej-953	190	4	replicated	replicate	VERB
alkej-953	190	5	ten	ten	NUM
alkej-953	190	6	times	time	NOUN
alkej-953	190	7	to	to	PART
alkej-953	190	8	evaluate	evaluate	VERB
alkej-953	190	9	the	the	DET
alkej-953	190	10	efficacy	efficacy	NOUN
alkej-953	190	11	of	of	ADP
alkej-953	190	12	the	the	DET
alkej-953	190	13	two	two	NUM
alkej-953	190	14	algorithms	algorithm	NOUN
alkej-953	190	15	.	.	PUNCT
alkej-953	191	1	6.1	6.1	NUM
alkej-953	191	2	.	.	PUNCT
alkej-953	192	1	first	first	ADJ
alkej-953	192	2	scenario	scenario	NOUN
alkej-953	192	3	six	six	NUM
alkej-953	192	4	fixed	fix	VERB
alkej-953	192	5	obstacles	obstacle	NOUN
alkej-953	192	6	with	with	ADP
alkej-953	192	7	three	three	NUM
alkej-953	192	8	via	via	ADP
alkej-953	192	9	points	point	NOUN
alkej-953	192	10	are	be	AUX
alkej-953	192	11	employed	employ	VERB
alkej-953	192	12	.	.	PUNCT
alkej-953	193	1	the	the	DET
alkej-953	193	2	details	detail	NOUN
alkej-953	193	3	of	of	ADP
alkej-953	193	4	the	the	DET
alkej-953	193	5	obstacles	obstacle	NOUN
alkej-953	193	6	are	be	AUX
alkej-953	193	7	shown	show	VERB
alkej-953	193	8	in	in	ADP
alkej-953	193	9	table	table	NOUN
alkej-953	193	10	1	1	NUM
alkej-953	193	11	.	.	PUNCT
alkej-953	193	12	table	table	NOUN
alkej-953	193	13	1	1	NUM
alkej-953	193	14	.	.	PUNCT
alkej-953	193	15	description	description	NOUN
alkej-953	193	16	of	of	ADP
alkej-953	193	17	the	the	DET
alkej-953	193	18	obstacles	obstacle	NOUN
alkej-953	193	19	in	in	ADP
alkej-953	193	20	the	the	DET
alkej-953	193	21	first	first	ADJ
alkej-953	193	22	scenario	scenario	NOUN
alkej-953	193	23	obstacles	obstacle	NOUN
alkej-953	193	24	centre	centre	PROPN
alkej-953	193	25	(	(	PUNCT
alkej-953	193	26	x	x	NOUN
alkej-953	193	27	,	,	PUNCT
alkej-953	193	28	y	y	NOUN
alkej-953	193	29	)	)	PUNCT
alkej-953	193	30	m	m	VERB
alkej-953	193	31	radius	radius	NOUN
alkej-953	193	32	(	(	PUNCT
alkej-953	193	33	unit	unit	NOUN
alkej-953	193	34	)	)	PUNCT
alkej-953	193	35	m	m	VERB
alkej-953	193	36	1	1	NUM
alkej-953	193	37	(	(	PUNCT
alkej-953	193	38	1,1	1,1	NUM
alkej-953	193	39	)	)	PUNCT
alkej-953	193	40	0.2	0.2	NUM
alkej-953	193	41	2	2	NUM
alkej-953	193	42	(	(	PUNCT
alkej-953	193	43	3,4	3,4	NUM
alkej-953	193	44	)	)	PUNCT
alkej-953	193	45	0.25	0.25	NUM
alkej-953	193	46	3	3	NUM
alkej-953	193	47	(	(	PUNCT
alkej-953	193	48	4,6	4,6	NOUN
alkej-953	193	49	)	)	PUNCT
alkej-953	193	50	0.4	0.4	NUM
alkej-953	193	51	4	4	NUM
alkej-953	193	52	(	(	PUNCT
alkej-953	193	53	8,4	8,4	NUM
alkej-953	193	54	)	)	PUNCT
alkej-953	193	55	0.3	0.3	NUM
alkej-953	193	56	5	5	NUM
alkej-953	193	57	(	(	PUNCT
alkej-953	193	58	7,8	7,8	NUM
alkej-953	193	59	)	)	PUNCT
alkej-953	193	60	0.2	0.2	NUM
alkej-953	193	61	6	6	NUM
alkej-953	193	62	(	(	PUNCT
alkej-953	193	63	6,8	6,8	NUM
alkej-953	193	64	)	)	PUNCT
alkej-953	193	65	0.4	0.4	NUM
alkej-953	193	66	fig	fig	NOUN
alkej-953	193	67	.	.	PUNCT
alkej-953	194	1	7	7	X
alkej-953	194	2	.	.	X
alkej-953	194	3	optimal	optimal	ADJ
alkej-953	194	4	path	path	NOUN
alkej-953	194	5	suggested	suggest	VERB
alkej-953	194	6	by	by	ADP
alkej-953	194	7	abc	abc	PROPN
alkej-953	194	8	(	(	PUNCT
alkej-953	194	9	fixed	fix	VERB
alkej-953	194	10	obstacles	obstacle	NOUN
alkej-953	194	11	)	)	PUNCT
alkej-953	194	12	zahraa	zahraa	PROPN
alkej-953	194	13	a.	a.	PROPN
alkej-953	194	14	abdullah	abdullah	PROPN
alkej-953	194	15	al	al	PROPN
alkej-953	194	16	-	-	PUNCT
alkej-953	194	17	khwarizmi	khwarizmi	PROPN
alkej-953	194	18	engineering	engineering	NOUN
alkej-953	194	19	journal	journal	PROPN
alkej-953	194	20	,	,	PUNCT
alkej-953	194	21	vol	vol	NOUN
alkej-953	194	22	.	.	PROPN
alkej-953	194	23	21	21	NUM
alkej-953	194	24	,	,	PUNCT
alkej-953	194	25	no.2	no.2	PROPN
alkej-953	194	26	,	,	PUNCT
alkej-953	194	27	pp	pp	ADJ
alkej-953	194	28	.	.	PUNCT
alkej-953	195	1	42	42	NUM
alkej-953	195	2	-	-	SYM
alkej-953	195	3	52	52	NUM
alkej-953	195	4	(	(	PUNCT
alkej-953	195	5	2025	2025	NUM
alkej-953	195	6	)	)	PUNCT
alkej-953	195	7	48	48	NUM
alkej-953	195	8	fig	fig	NOUN
alkej-953	195	9	.	.	PUNCT
alkej-953	196	1	8	8	NUM
alkej-953	196	2	.	.	X
alkej-953	196	3	optimal	optimal	ADJ
alkej-953	196	4	path	path	NOUN
alkej-953	196	5	suggested	suggest	VERB
alkej-953	196	6	by	by	ADP
alkej-953	196	7	gwo	gwo	PROPN
alkej-953	196	8	(	(	PUNCT
alkej-953	196	9	fixed	fix	VERB
alkej-953	196	10	obstacles	obstacle	NOUN
alkej-953	196	11	)	)	PUNCT
alkej-953	196	12	on	on	ADP
alkej-953	196	13	the	the	DET
alkej-953	196	14	basis	basis	NOUN
alkej-953	196	15	of	of	ADP
alkej-953	196	16	the	the	DET
alkej-953	196	17	presented	present	VERB
alkej-953	196	18	plots	plot	NOUN
alkej-953	196	19	,	,	PUNCT
alkej-953	196	20	specifically	specifically	ADV
alkej-953	196	21	figures	figure	VERB
alkej-953	196	22	7	7	NUM
alkej-953	196	23	and	and	CCONJ
alkej-953	196	24	8	8	NUM
alkej-953	196	25	,	,	PUNCT
alkej-953	196	26	the	the	DET
alkej-953	196	27	path	path	NOUN
alkej-953	196	28	produced	produce	VERB
alkej-953	196	29	by	by	ADP
alkej-953	196	30	the	the	DET
alkej-953	196	31	abc	abc	PROPN
alkej-953	196	32	method	method	NOUN
alkej-953	196	33	has	have	VERB
alkej-953	196	34	a	a	DET
alkej-953	196	35	length	length	NOUN
alkej-953	196	36	of	of	ADP
alkej-953	196	37	14.255	14.255	NUM
alkej-953	196	38	m.	m.	NOUN
alkej-953	196	39	the	the	DET
alkej-953	196	40	computation	computation	NOUN
alkej-953	196	41	time	time	NOUN
alkej-953	196	42	for	for	ADP
alkej-953	196	43	generating	generate	VERB
alkej-953	196	44	this	this	DET
alkej-953	196	45	path	path	NOUN
alkej-953	196	46	is	be	AUX
alkej-953	196	47	27.0246	27.0246	NUM
alkej-953	196	48	s.	s.	PROPN
alkej-953	196	49	additionally	additionally	ADV
alkej-953	196	50	,	,	PUNCT
alkej-953	196	51	the	the	DET
alkej-953	196	52	via	via	NOUN
alkej-953	196	53	-	-	PUNCT
alkej-953	196	54	points	point	NOUN
alkej-953	196	55	are	be	AUX
alkej-953	196	56	located	locate	VERB
alkej-953	196	57	at	at	ADP
alkej-953	196	58	coordinates	coordinate	NOUN
alkej-953	196	59	(	(	PUNCT
alkej-953	196	60	2	2	NUM
alkej-953	196	61	,	,	PUNCT
alkej-953	196	62	2.435	2.435	NUM
alkej-953	196	63	)	)	PUNCT
alkej-953	196	64	,	,	PUNCT
alkej-953	196	65	(	(	PUNCT
alkej-953	196	66	5.32	5.32	NUM
alkej-953	196	67	,	,	PUNCT
alkej-953	196	68	5	5	NUM
alkej-953	196	69	,	,	PUNCT
alkej-953	196	70	61	61	NUM
alkej-953	196	71	)	)	PUNCT
alkej-953	196	72	and	and	CCONJ
alkej-953	196	73	(	(	PUNCT
alkej-953	196	74	8	8	NUM
alkej-953	196	75	,	,	PUNCT
alkej-953	196	76	8.122	8.122	NUM
alkej-953	196	77	)	)	PUNCT
alkej-953	196	78	.	.	PUNCT
alkej-953	197	1	by	by	ADP
alkej-953	197	2	contrast	contrast	NOUN
alkej-953	197	3	,	,	PUNCT
alkej-953	197	4	the	the	DET
alkej-953	197	5	gwo	gwo	PROPN
alkej-953	197	6	algorithm	algorithm	PROPN
alkej-953	197	7	produces	produce	VERB
alkej-953	197	8	a	a	DET
alkej-953	197	9	path	path	NOUN
alkej-953	197	10	that	that	PRON
alkej-953	197	11	has	have	VERB
alkej-953	197	12	a	a	DET
alkej-953	197	13	length	length	NOUN
alkej-953	197	14	of	of	ADP
alkej-953	197	15	14.0541	14.0541	NUM
alkej-953	197	16	m.	m.	NOUN
alkej-953	197	17	the	the	DET
alkej-953	197	18	computation	computation	NOUN
alkej-953	197	19	time	time	NOUN
alkej-953	197	20	for	for	ADP
alkej-953	197	21	this	this	DET
alkej-953	197	22	approach	approach	NOUN
alkej-953	197	23	is	be	AUX
alkej-953	197	24	24.0114	24.0114	NUM
alkej-953	197	25	s.	s.	NOUN
alkej-953	197	26	the	the	DET
alkej-953	197	27	more	more	ADV
alkej-953	197	28	significant	significant	ADJ
alkej-953	197	29	via	via	ADP
alkej-953	197	30	-	-	PUNCT
alkej-953	197	31	points	point	NOUN
alkej-953	197	32	are	be	AUX
alkej-953	197	33	situated	situate	VERB
alkej-953	197	34	at	at	ADP
alkej-953	197	35	coordinates	coordinate	NOUN
alkej-953	197	36	(	(	PUNCT
alkej-953	197	37	2.01	2.01	NUM
alkej-953	197	38	,	,	PUNCT
alkej-953	197	39	1.6074	1.6074	NUM
alkej-953	197	40	)	)	PUNCT
alkej-953	197	41	,	,	PUNCT
alkej-953	197	42	(	(	PUNCT
alkej-953	197	43	5.02	5.02	NUM
alkej-953	197	44	,	,	PUNCT
alkej-953	197	45	4.7808	4.7808	NUM
alkej-953	197	46	)	)	PUNCT
alkej-953	197	47	and	and	CCONJ
alkej-953	197	48	(	(	PUNCT
alkej-953	197	49	7.988	7.988	NUM
alkej-953	197	50	,	,	PUNCT
alkej-953	197	51	7.71	7.71	NUM
alkej-953	197	52	)	)	PUNCT
alkej-953	197	53	.	.	PUNCT
alkej-953	198	1	the	the	DET
alkej-953	198	2	analysis	analysis	NOUN
alkej-953	198	3	of	of	ADP
alkej-953	198	4	the	the	DET
alkej-953	198	5	performance	performance	NOUN
alkej-953	198	6	data	datum	NOUN
alkej-953	198	7	from	from	ADP
alkej-953	198	8	figures	figure	NOUN
alkej-953	198	9	7	7	NUM
alkej-953	198	10	and	and	CCONJ
alkej-953	198	11	8	8	NUM
alkej-953	198	12	reveal	reveal	VERB
alkej-953	198	13	that	that	SCONJ
alkej-953	198	14	the	the	DET
alkej-953	198	15	path	path	NOUN
alkej-953	198	16	produced	produce	VERB
alkej-953	198	17	by	by	ADP
alkej-953	198	18	gwo	gwo	PROPN
alkej-953	198	19	is	be	AUX
alkej-953	198	20	approximately	approximately	ADV
alkej-953	198	21	1.42	1.42	NUM
alkej-953	198	22	%	%	NOUN
alkej-953	198	23	shorter	short	ADJ
alkej-953	198	24	and	and	CCONJ
alkej-953	198	25	approximately	approximately	ADV
alkej-953	198	26	11.8	11.8	NUM
alkej-953	198	27	%	%	NOUN
alkej-953	198	28	faster	fast	ADV
alkej-953	198	29	than	than	ADP
alkej-953	198	30	that	that	PRON
alkej-953	198	31	produced	produce	VERB
alkej-953	198	32	by	by	ADP
alkej-953	198	33	abc	abc	PROPN
alkej-953	198	34	.	.	PUNCT
alkej-953	199	1	therefore	therefore	ADV
alkej-953	199	2	,	,	PUNCT
alkej-953	199	3	gwo	gwo	PROPN
alkej-953	199	4	outperforms	outperform	VERB
alkej-953	199	5	abc	abc	PROPN
alkej-953	199	6	because	because	SCONJ
alkej-953	199	7	of	of	ADP
alkej-953	199	8	the	the	DET
alkej-953	199	9	improvement	improvement	NOUN
alkej-953	199	10	in	in	ADP
alkej-953	199	11	the	the	DET
alkej-953	199	12	control	control	NOUN
alkej-953	199	13	limit	limit	NOUN
alkej-953	199	14	parameter	parameter	NOUN
alkej-953	199	15	in	in	ADP
alkej-953	199	16	gwo	gwo	PROPN
alkej-953	199	17	.	.	PROPN
alkej-953	200	1	6.2	6.2	NUM
alkej-953	200	2	.	.	PUNCT
alkej-953	201	1	second	second	ADJ
alkej-953	201	2	scenario	scenario	NOUN
alkej-953	201	3	three	three	NUM
alkej-953	201	4	moving	move	VERB
alkej-953	201	5	obstacles	obstacle	NOUN
alkej-953	201	6	with	with	ADP
alkej-953	201	7	two	two	NUM
alkej-953	201	8	waypoints	waypoint	NOUN
alkej-953	201	9	are	be	AUX
alkej-953	201	10	implemented	implement	VERB
alkej-953	201	11	.	.	PUNCT
alkej-953	202	1	the	the	DET
alkej-953	202	2	obstacle	obstacle	NOUN
alkej-953	202	3	parameters	parameter	NOUN
alkej-953	202	4	are	be	AUX
alkej-953	202	5	shown	show	VERB
alkej-953	202	6	in	in	ADP
alkej-953	202	7	table	table	NOUN
alkej-953	202	8	2	2	NUM
alkej-953	202	9	.	.	PUNCT
alkej-953	202	10	table	table	NOUN
alkej-953	202	11	2	2	NUM
alkej-953	202	12	.	.	PUNCT
alkej-953	202	13	description	description	NOUN
alkej-953	202	14	of	of	ADP
alkej-953	202	15	the	the	DET
alkej-953	202	16	obstacles	obstacle	NOUN
alkej-953	202	17	in	in	ADP
alkej-953	202	18	the	the	DET
alkej-953	202	19	second	second	ADJ
alkej-953	202	20	scenario	scenario	NOUN
alkej-953	202	21	obstacles	obstacle	NOUN
alkej-953	202	22	initial	initial	ADJ
alkej-953	202	23	(	(	PUNCT
alkej-953	202	24	x	x	NOUN
alkej-953	202	25	,	,	PUNCT
alkej-953	202	26	y	y	NOUN
alkej-953	202	27	)	)	PUNCT
alkej-953	202	28	m	m	VERB
alkej-953	202	29	radius	radius	NOUN
alkej-953	202	30	(	(	PUNCT
alkej-953	202	31	unit	unit	NOUN
alkej-953	202	32	)	)	PUNCT
alkej-953	202	33	m	m	VERB
alkej-953	202	34	𝒗𝒐𝒃𝒔𝒕𝒂𝒄𝒍𝒆	𝒗𝒐𝒃𝒔𝒕𝒂𝒄𝒍𝒆	ADJ
alkej-953	202	35	(	(	PUNCT
alkej-953	202	36	m	m	NOUN
alkej-953	202	37	/	/	SYM
alkej-953	202	38	s	s	PART
alkej-953	202	39	)	)	PUNCT
alkej-953	202	40	𝜽𝒐𝒃𝒂𝒕𝒂𝒄𝒍𝒆	𝜽𝒐𝒃𝒂𝒕𝒂𝒄𝒍𝒆	NOUN
alkej-953	202	41	(	(	PUNCT
alkej-953	202	42	degree	degree	NOUN
alkej-953	202	43	)	)	PUNCT
alkej-953	202	44	1	1	NUM
alkej-953	202	45	(	(	PUNCT
alkej-953	202	46	2,0	2,0	NUM
alkej-953	202	47	)	)	PUNCT
alkej-953	202	48	0.2	0.2	NUM
alkej-953	202	49	0.01	0.01	NUM
alkej-953	202	50	90	90	NUM
alkej-953	202	51	2	2	NUM
alkej-953	202	52	(	(	PUNCT
alkej-953	202	53	4,3	4,3	NUM
alkej-953	202	54	)	)	PUNCT
alkej-953	202	55	0.4	0.4	NUM
alkej-953	202	56	0.05	0.05	NUM
alkej-953	202	57	150	150	NUM
alkej-953	202	58	3	3	NUM
alkej-953	202	59	(	(	PUNCT
alkej-953	202	60	0,6	0,6	NUM
alkej-953	202	61	)	)	PUNCT
alkej-953	202	62	0.3	0.3	NUM
alkej-953	202	63	0.01	0.01	NUM
alkej-953	202	64	270	270	NUM
alkej-953	202	65	(	(	PUNCT
alkej-953	202	66	a	a	NOUN
alkej-953	202	67	)	)	PUNCT
alkej-953	202	68	(	(	PUNCT
alkej-953	202	69	b	b	X
alkej-953	202	70	)	)	PUNCT
alkej-953	202	71	fig	fig	NOUN
alkej-953	202	72	.	.	PUNCT
alkej-953	203	1	9	9	X
alkej-953	203	2	.	.	X
alkej-953	203	3	optimal	optimal	ADJ
alkej-953	203	4	path	path	NOUN
alkej-953	203	5	suggested	suggest	VERB
alkej-953	203	6	by	by	ADP
alkej-953	203	7	abc	abc	PROPN
alkej-953	203	8	(	(	PUNCT
alkej-953	203	9	moving	move	VERB
alkej-953	203	10	obstacles	obstacle	NOUN
alkej-953	203	11	)	)	PUNCT
alkej-953	203	12	(	(	PUNCT
alkej-953	203	13	a	a	X
alkej-953	203	14	)	)	PUNCT
alkej-953	203	15	zahraa	zahraa	PROPN
alkej-953	203	16	a.	a.	PROPN
alkej-953	203	17	abdullah	abdullah	PROPN
alkej-953	203	18	al	al	PROPN
alkej-953	203	19	-	-	PUNCT
alkej-953	203	20	khwarizmi	khwarizmi	PROPN
alkej-953	203	21	engineering	engineering	NOUN
alkej-953	203	22	journal	journal	PROPN
alkej-953	203	23	,	,	PUNCT
alkej-953	203	24	vol	vol	NOUN
alkej-953	203	25	.	.	PROPN
alkej-953	203	26	21	21	NUM
alkej-953	203	27	,	,	PUNCT
alkej-953	203	28	no.2	no.2	PROPN
alkej-953	203	29	,	,	PUNCT
alkej-953	203	30	pp	pp	ADJ
alkej-953	203	31	.	.	PUNCT
alkej-953	204	1	42	42	NUM
alkej-953	204	2	-	-	SYM
alkej-953	204	3	52	52	NUM
alkej-953	204	4	(	(	PUNCT
alkej-953	204	5	2025	2025	NUM
alkej-953	204	6	)	)	PUNCT
alkej-953	204	7	49	49	NUM
alkej-953	204	8	(	(	PUNCT
alkej-953	204	9	b	b	NOUN
alkej-953	204	10	)	)	PUNCT
alkej-953	204	11	fig	fig	NOUN
alkej-953	204	12	.	.	PUNCT
alkej-953	205	1	10	10	NUM
alkej-953	205	2	.	.	X
alkej-953	205	3	optimal	optimal	ADJ
alkej-953	205	4	path	path	NOUN
alkej-953	205	5	suggested	suggest	VERB
alkej-953	205	6	by	by	ADP
alkej-953	205	7	abc	abc	PROPN
alkej-953	205	8	(	(	PUNCT
alkej-953	205	9	moving	move	VERB
alkej-953	205	10	obstacles	obstacle	NOUN
alkej-953	205	11	)	)	PUNCT
alkej-953	205	12	the	the	DET
alkej-953	205	13	robot	robot	NOUN
alkej-953	205	14	starts	start	VERB
alkej-953	205	15	its	its	PRON
alkej-953	205	16	path	path	NOUN
alkej-953	205	17	from	from	ADP
alkej-953	205	18	the	the	DET
alkej-953	205	19	sp	sp	NOUN
alkej-953	205	20	at	at	ADP
alkej-953	205	21	(	(	PUNCT
alkej-953	205	22	0,0	0,0	NOUN
alkej-953	205	23	)	)	PUNCT
alkej-953	205	24	and	and	CCONJ
alkej-953	205	25	moves	move	NOUN
alkej-953	205	26	towards	towards	ADP
alkej-953	205	27	the	the	DET
alkej-953	205	28	tp	tp	PROPN
alkej-953	205	29	at	at	ADP
alkej-953	205	30	(	(	PUNCT
alkej-953	205	31	10,10	10,10	NUM
alkej-953	205	32	)	)	PUNCT
alkej-953	205	33	m	m	PROPN
alkej-953	205	34	(	(	PUNCT
alkej-953	205	35	figures	figure	NOUN
alkej-953	205	36	9(a	9(a	NUM
alkej-953	205	37	)	)	PUNCT
alkej-953	205	38	and	and	CCONJ
alkej-953	205	39	10(a	10(a	NUM
alkej-953	205	40	)	)	PUNCT
alkej-953	205	41	)	)	PUNCT
alkej-953	205	42	.	.	PUNCT
alkej-953	206	1	figures	figure	NOUN
alkej-953	206	2	9(b	9(b	NUM
alkej-953	206	3	)	)	PUNCT
alkej-953	206	4	and	and	CCONJ
alkej-953	206	5	10(b	10(b	NUM
alkej-953	206	6	)	)	PUNCT
alkej-953	206	7	show	show	VERB
alkej-953	206	8	where	where	SCONJ
alkej-953	206	9	the	the	DET
alkej-953	206	10	robot	robot	NOUN
alkej-953	206	11	decided	decide	VERB
alkej-953	206	12	to	to	PART
alkej-953	206	13	deviate	deviate	VERB
alkej-953	206	14	from	from	ADP
alkej-953	206	15	its	its	PRON
alkej-953	206	16	initial	initial	ADJ
alkej-953	206	17	path	path	NOUN
alkej-953	206	18	and	and	CCONJ
alkej-953	206	19	instead	instead	ADV
alkej-953	206	20	used	use	VERB
alkej-953	206	21	the	the	DET
alkej-953	206	22	abc	abc	PROPN
alkej-953	206	23	and	and	CCONJ
alkej-953	206	24	gwo	gwo	PROPN
alkej-953	206	25	algorithms	algorithm	NOUN
alkej-953	206	26	to	to	PART
alkej-953	206	27	create	create	VERB
alkej-953	206	28	new	new	ADJ
alkej-953	206	29	paths	path	NOUN
alkej-953	206	30	to	to	PART
alkej-953	206	31	avoid	avoid	VERB
alkej-953	206	32	moving	move	VERB
alkej-953	206	33	obstacles	obstacle	NOUN
alkej-953	206	34	in	in	ADP
alkej-953	206	35	the	the	DET
alkej-953	206	36	environment	environment	NOUN
alkej-953	206	37	.	.	PUNCT
alkej-953	207	1	the	the	DET
alkej-953	207	2	robot	robot	NOUN
alkej-953	207	3	securely	securely	ADV
alkej-953	207	4	reaches	reach	VERB
alkej-953	207	5	the	the	DET
alkej-953	207	6	goal	goal	NOUN
alkej-953	207	7	point	point	NOUN
alkej-953	207	8	(	(	PUNCT
alkej-953	207	9	10	10	NUM
alkej-953	207	10	m	m	NOUN
alkej-953	207	11	×	×	NOUN
alkej-953	207	12	10	10	NUM
alkej-953	207	13	m	m	NOUN
alkej-953	207	14	)	)	PUNCT
alkej-953	207	15	.	.	PUNCT
alkej-953	208	1	the	the	DET
alkej-953	208	2	total	total	ADJ
alkej-953	208	3	length	length	NOUN
alkej-953	208	4	of	of	ADP
alkej-953	208	5	the	the	DET
alkej-953	208	6	path	path	NOUN
alkej-953	208	7	from	from	ADP
alkej-953	208	8	the	the	DET
alkej-953	208	9	sp	sp	NOUN
alkej-953	208	10	to	to	ADP
alkej-953	208	11	the	the	DET
alkej-953	208	12	tp	tp	NOUN
alkej-953	208	13	in	in	ADP
alkej-953	208	14	figure	figure	NOUN
alkej-953	208	15	9	9	NUM
alkej-953	208	16	is	be	AUX
alkej-953	208	17	equal	equal	ADJ
alkej-953	208	18	to	to	ADP
alkej-953	208	19	14.8913	14.8913	NUM
alkej-953	208	20	m	m	NOUN
alkej-953	208	21	,	,	PUNCT
alkej-953	208	22	and	and	CCONJ
alkej-953	208	23	the	the	DET
alkej-953	208	24	computation	computation	NOUN
alkej-953	208	25	time	time	NOUN
alkej-953	208	26	is	be	AUX
alkej-953	208	27	37.433	37.433	NUM
alkej-953	208	28	s.	s.	PROPN
alkej-953	208	29	the	the	DET
alkej-953	208	30	positions	position	NOUN
alkej-953	208	31	of	of	ADP
alkej-953	208	32	the	the	DET
alkej-953	208	33	more	more	ADV
alkej-953	208	34	significant	significant	ADJ
alkej-953	208	35	via	via	ADP
alkej-953	208	36	-	-	PUNCT
alkej-953	208	37	points	point	NOUN
alkej-953	208	38	are	be	AUX
alkej-953	208	39	(	(	PUNCT
alkej-953	208	40	3.21	3.21	NUM
alkej-953	208	41	,	,	PUNCT
alkej-953	208	42	5.817	5.817	NUM
alkej-953	208	43	)	)	PUNCT
alkej-953	208	44	and	and	CCONJ
alkej-953	208	45	(	(	PUNCT
alkej-953	208	46	7.34	7.34	NUM
alkej-953	208	47	,	,	PUNCT
alkej-953	208	48	8)	8)	NUM
alkej-953	208	49	.	.	PUNCT
alkej-953	209	1	the	the	DET
alkej-953	209	2	total	total	ADJ
alkej-953	209	3	path	path	NOUN
alkej-953	209	4	length	length	NOUN
alkej-953	209	5	from	from	ADP
alkej-953	209	6	the	the	DET
alkej-953	209	7	sp	sp	NOUN
alkej-953	209	8	to	to	ADP
alkej-953	209	9	the	the	DET
alkej-953	209	10	tp	tp	NOUN
alkej-953	209	11	in	in	ADP
alkej-953	209	12	figure	figure	NOUN
alkej-953	209	13	10	10	NUM
alkej-953	209	14	is	be	AUX
alkej-953	209	15	14.566	14.566	NUM
alkej-953	209	16	m	m	NOUN
alkej-953	209	17	,	,	PUNCT
alkej-953	209	18	and	and	CCONJ
alkej-953	209	19	the	the	DET
alkej-953	209	20	computation	computation	NOUN
alkej-953	209	21	time	time	NOUN
alkej-953	209	22	is	be	AUX
alkej-953	209	23	36.4	36.4	NUM
alkej-953	209	24	s.	s.	NOUN
alkej-953	209	25	the	the	DET
alkej-953	209	26	positions	position	NOUN
alkej-953	209	27	of	of	ADP
alkej-953	209	28	the	the	DET
alkej-953	209	29	more	more	ADV
alkej-953	209	30	significant	significant	ADJ
alkej-953	209	31	via	via	ADP
alkej-953	209	32	-	-	PUNCT
alkej-953	209	33	points	point	NOUN
alkej-953	209	34	are	be	AUX
alkej-953	209	35	(	(	PUNCT
alkej-953	209	36	3.02	3.02	NUM
alkej-953	209	37	,	,	PUNCT
alkej-953	209	38	4.917	4.917	NUM
alkej-953	209	39	)	)	PUNCT
alkej-953	209	40	and	and	CCONJ
alkej-953	209	41	(	(	PUNCT
alkej-953	209	42	7.07	7.07	NUM
alkej-953	209	43	,	,	PUNCT
alkej-953	209	44	7.866	7.866	NUM
alkej-953	209	45	)	)	PUNCT
alkej-953	209	46	.	.	PUNCT
alkej-953	210	1	the	the	DET
alkej-953	210	2	results	result	NOUN
alkej-953	210	3	showed	show	VERB
alkej-953	210	4	that	that	SCONJ
alkej-953	210	5	the	the	DET
alkej-953	210	6	optimised	optimise	VERB
alkej-953	210	7	path	path	NOUN
alkej-953	210	8	generated	generate	VERB
alkej-953	210	9	by	by	ADP
alkej-953	210	10	gwo	gwo	PROPN
alkej-953	210	11	was	be	AUX
alkej-953	210	12	2.2	2.2	NUM
alkej-953	210	13	%	%	NOUN
alkej-953	210	14	shorter	short	ADJ
alkej-953	210	15	and	and	CCONJ
alkej-953	210	16	2.8	2.8	NUM
alkej-953	210	17	%	%	NOUN
alkej-953	210	18	faster	fast	ADV
alkej-953	210	19	than	than	ADP
alkej-953	210	20	that	that	PRON
alkej-953	210	21	generated	generate	VERB
alkej-953	210	22	by	by	ADP
alkej-953	210	23	abc	abc	PROPN
alkej-953	210	24	.	.	PUNCT
alkej-953	211	1	the	the	DET
alkej-953	211	2	gwo	gwo	PROPN
alkej-953	211	3	algorithm	algorithm	PROPN
alkej-953	211	4	performs	perform	VERB
alkej-953	211	5	better	well	ADV
alkej-953	211	6	than	than	SCONJ
alkej-953	211	7	abc	abc	PROPN
alkej-953	211	8	does	do	VERB
alkej-953	211	9	,	,	PUNCT
alkej-953	211	10	and	and	CCONJ
alkej-953	211	11	the	the	DET
alkej-953	211	12	algorithm	algorithm	NOUN
alkej-953	211	13	’s	’s	PART
alkej-953	211	14	capacity	capacity	NOUN
alkej-953	211	15	to	to	PART
alkej-953	211	16	determine	determine	VERB
alkej-953	211	17	the	the	DET
alkej-953	211	18	quickest	quick	ADJ
alkej-953	211	19	and	and	CCONJ
alkej-953	211	20	shortest	short	ADJ
alkej-953	211	21	optimal	optimal	ADJ
alkej-953	211	22	path	path	NOUN
alkej-953	211	23	is	be	AUX
alkej-953	211	24	enhanced	enhance	VERB
alkej-953	211	25	.	.	PUNCT
alkej-953	212	1	6.3	6.3	NUM
alkej-953	212	2	.	.	PUNCT
alkej-953	212	3	third	third	ADJ
alkej-953	212	4	scenario	scenario	NOUN
alkej-953	212	5	five	five	NUM
alkej-953	212	6	obstacles	obstacle	NOUN
alkej-953	212	7	are	be	AUX
alkej-953	212	8	considered	consider	VERB
alkej-953	212	9	.	.	PUNCT
alkej-953	213	1	the	the	DET
alkej-953	213	2	third	third	ADJ
alkej-953	213	3	and	and	CCONJ
alkej-953	213	4	fourth	fourth	ADJ
alkej-953	213	5	obstacles	obstacle	NOUN
alkej-953	213	6	are	be	AUX
alkej-953	213	7	moving	move	VERB
alkej-953	213	8	,	,	PUNCT
alkej-953	213	9	and	and	CCONJ
alkej-953	213	10	the	the	DET
alkej-953	213	11	others	other	NOUN
alkej-953	213	12	are	be	AUX
alkej-953	213	13	fixed	fix	VERB
alkej-953	213	14	with	with	ADP
alkej-953	213	15	three	three	NUM
alkej-953	213	16	via	via	ADP
alkej-953	213	17	-	-	PUNCT
alkej-953	213	18	points	point	NOUN
alkej-953	213	19	.	.	PUNCT
alkej-953	214	1	the	the	DET
alkej-953	214	2	details	detail	NOUN
alkej-953	214	3	of	of	ADP
alkej-953	214	4	the	the	DET
alkej-953	214	5	obstacles	obstacle	NOUN
alkej-953	214	6	are	be	AUX
alkej-953	214	7	shown	show	VERB
alkej-953	214	8	in	in	ADP
alkej-953	214	9	table	table	NOUN
alkej-953	214	10	3	3	NUM
alkej-953	214	11	.	.	PUNCT
alkej-953	214	12	table	table	NOUN
alkej-953	214	13	3	3	NUM
alkej-953	214	14	.	.	PUNCT
alkej-953	214	15	description	description	NOUN
alkej-953	214	16	of	of	ADP
alkej-953	214	17	the	the	DET
alkej-953	214	18	obstacles	obstacle	NOUN
alkej-953	214	19	in	in	ADP
alkej-953	214	20	the	the	DET
alkej-953	214	21	third	third	ADJ
alkej-953	214	22	scenario	scenario	NOUN
alkej-953	214	23	obstacles	obstacle	NOUN
alkej-953	214	24	centre	centre	PROPN
alkej-953	214	25	(	(	PUNCT
alkej-953	214	26	x	x	NOUN
alkej-953	214	27	,	,	PUNCT
alkej-953	214	28	y	y	NOUN
alkej-953	214	29	)	)	PUNCT
alkej-953	214	30	m	m	VERB
alkej-953	214	31	radius	radius	NOUN
alkej-953	214	32	(	(	PUNCT
alkej-953	214	33	unit	unit	NOUN
alkej-953	214	34	)	)	PUNCT
alkej-953	214	35	m	m	VERB
alkej-953	214	36	𝒗𝒐𝒃𝒔𝒕𝒂𝒄𝒍𝒆	𝒗𝒐𝒃𝒔𝒕𝒂𝒄𝒍𝒆	ADJ
alkej-953	214	37	(	(	PUNCT
alkej-953	214	38	m	m	NOUN
alkej-953	214	39	/	/	SYM
alkej-953	214	40	s	s	PART
alkej-953	214	41	)	)	PUNCT
alkej-953	214	42	𝜽𝒐𝒃𝒂𝒕𝒂𝒄𝒍𝒆	𝜽𝒐𝒃𝒂𝒕𝒂𝒄𝒍𝒆	NOUN
alkej-953	214	43	(	(	PUNCT
alkej-953	214	44	degree	degree	NOUN
alkej-953	214	45	)	)	PUNCT
alkej-953	214	46	1	1	NUM
alkej-953	214	47	(	(	PUNCT
alkej-953	214	48	1,1	1,1	NUM
alkej-953	214	49	)	)	PUNCT
alkej-953	214	50	0.4	0.4	NUM
alkej-953	214	51	-------------	-------------	SYM
alkej-953	214	52	2	2	NUM
alkej-953	214	53	(	(	PUNCT
alkej-953	214	54	2,3	2,3	NUM
alkej-953	214	55	)	)	PUNCT
alkej-953	214	56	0.25	0.25	NUM
alkej-953	214	57	-------------	-------------	SYM
alkej-953	214	58	3	3	NUM
alkej-953	214	59	(	(	PUNCT
alkej-953	214	60	6,3	6,3	NUM
alkej-953	214	61	)	)	PUNCT
alkej-953	214	62	0.3	0.3	NUM
alkej-953	214	63	0.05	0.05	NUM
alkej-953	214	64	60	60	NUM
alkej-953	214	65	4	4	NUM
alkej-953	214	66	(	(	PUNCT
alkej-953	214	67	2,5	2,5	NUM
alkej-953	214	68	)	)	PUNCT
alkej-953	214	69	0.25	0.25	NUM
alkej-953	214	70	0.01	0.01	NUM
alkej-953	214	71	90	90	NUM
alkej-953	214	72	5	5	NUM
alkej-953	214	73	(	(	PUNCT
alkej-953	214	74	7,7	7,7	NUM
alkej-953	214	75	)	)	PUNCT
alkej-953	214	76	0.35	0.35	NUM
alkej-953	214	77	------------	------------	PUNCT
alkej-953	214	78	fig	fig	NOUN
alkej-953	214	79	.	.	PUNCT
alkej-953	215	1	11	11	NUM
alkej-953	215	2	.	.	X
alkej-953	216	1	robot	robot	NOUN
alkej-953	216	2	and	and	CCONJ
alkej-953	216	3	obstacle	obstacle	NOUN
alkej-953	216	4	locations	location	NOUN
alkej-953	216	5	for	for	ADP
alkej-953	216	6	the	the	DET
alkej-953	216	7	third	third	ADJ
alkej-953	216	8	scenario	scenario	NOUN
alkej-953	216	9	before	before	SCONJ
alkej-953	216	10	traveling	travel	VERB
alkej-953	216	11	begins	begin	VERB
alkej-953	216	12	figure	figure	NOUN
alkej-953	216	13	11	11	NUM
alkej-953	216	14	shows	show	VERB
alkej-953	216	15	the	the	DET
alkej-953	216	16	robot	robot	NOUN
alkej-953	216	17	’s	’s	PART
alkej-953	216	18	position	position	NOUN
alkej-953	216	19	and	and	CCONJ
alkej-953	216	20	the	the	DET
alkej-953	216	21	fixed	fix	VERB
alkej-953	216	22	and	and	CCONJ
alkej-953	216	23	moving	move	VERB
alkej-953	216	24	obstacles	obstacle	NOUN
alkej-953	216	25	before	before	SCONJ
alkej-953	216	26	it	it	PRON
alkej-953	216	27	begins	begin	VERB
alkej-953	216	28	moving	move	VERB
alkej-953	216	29	to	to	PART
alkej-953	216	30	take	take	VERB
alkej-953	216	31	the	the	DET
alkej-953	216	32	right	right	ADJ
alkej-953	216	33	path	path	NOUN
alkej-953	216	34	,	,	PUNCT
alkej-953	216	35	which	which	PRON
alkej-953	216	36	allows	allow	VERB
alkej-953	216	37	it	it	PRON
alkej-953	216	38	to	to	PART
alkej-953	216	39	avoid	avoid	VERB
alkej-953	216	40	obstacles	obstacle	NOUN
alkej-953	216	41	and	and	CCONJ
alkej-953	216	42	safely	safely	ADV
alkej-953	216	43	reach	reach	VERB
alkej-953	216	44	its	its	PRON
alkej-953	216	45	target	target	NOUN
alkej-953	216	46	point	point	NOUN
alkej-953	216	47	.	.	PUNCT
alkej-953	217	1	fig	fig	NOUN
alkej-953	217	2	.	.	PUNCT
alkej-953	218	1	12	12	NUM
alkej-953	218	2	.	.	PUNCT
alkej-953	219	1	optimal	optimal	ADJ
alkej-953	219	2	path	path	NOUN
alkej-953	219	3	suggested	suggest	VERB
alkej-953	219	4	by	by	ADP
alkej-953	219	5	abc	abc	PROPN
alkej-953	219	6	(	(	PUNCT
alkej-953	219	7	fixed	fix	VERB
alkej-953	219	8	and	and	CCONJ
alkej-953	219	9	moving	move	VERB
alkej-953	219	10	obstacles	obstacle	NOUN
alkej-953	219	11	)	)	PUNCT
alkej-953	219	12	fig	fig	NOUN
alkej-953	219	13	.	.	PUNCT
alkej-953	220	1	13	13	NUM
alkej-953	220	2	.	.	X
alkej-953	220	3	optimal	optimal	ADJ
alkej-953	220	4	path	path	NOUN
alkej-953	220	5	suggested	suggest	VERB
alkej-953	220	6	by	by	ADP
alkej-953	220	7	gwo	gwo	PROPN
alkej-953	220	8	(	(	PUNCT
alkej-953	220	9	fixed	fix	VERB
alkej-953	220	10	and	and	CCONJ
alkej-953	220	11	moving	move	VERB
alkej-953	220	12	obstacles	obstacle	NOUN
alkej-953	220	13	)	)	PUNCT
alkej-953	220	14	zahraa	zahraa	PROPN
alkej-953	220	15	a.	a.	PROPN
alkej-953	220	16	abdullah	abdullah	PROPN
alkej-953	220	17	al	al	PROPN
alkej-953	220	18	-	-	PUNCT
alkej-953	220	19	khwarizmi	khwarizmi	PROPN
alkej-953	220	20	engineering	engineering	NOUN
alkej-953	220	21	journal	journal	PROPN
alkej-953	220	22	,	,	PUNCT
alkej-953	220	23	vol	vol	NOUN
alkej-953	220	24	.	.	PROPN
alkej-953	220	25	21	21	NUM
alkej-953	220	26	,	,	PUNCT
alkej-953	220	27	no.2	no.2	PROPN
alkej-953	220	28	,	,	PUNCT
alkej-953	220	29	pp	pp	ADJ
alkej-953	220	30	.	.	PUNCT
alkej-953	221	1	42	42	NUM
alkej-953	221	2	-	-	SYM
alkej-953	221	3	52	52	NUM
alkej-953	221	4	(	(	PUNCT
alkej-953	221	5	2025	2025	NUM
alkej-953	221	6	)	)	PUNCT
alkej-953	221	7	50	50	NUM
alkej-953	221	8	figures	figure	NOUN
alkej-953	221	9	12	12	NUM
alkej-953	221	10	and	and	CCONJ
alkej-953	221	11	13	13	NUM
alkej-953	221	12	show	show	VERB
alkej-953	221	13	the	the	DET
alkej-953	221	14	paths	path	NOUN
alkej-953	221	15	produced	produce	VERB
alkej-953	221	16	by	by	ADP
alkej-953	221	17	the	the	DET
alkej-953	221	18	abc	abc	PROPN
alkej-953	221	19	and	and	CCONJ
alkej-953	221	20	gwo	gwo	PROPN
alkej-953	221	21	methods	method	NOUN
alkej-953	221	22	.	.	PUNCT
alkej-953	222	1	the	the	DET
alkej-953	222	2	path	path	NOUN
alkej-953	222	3	of	of	ADP
alkej-953	222	4	the	the	DET
alkej-953	222	5	abc	abc	PROPN
alkej-953	222	6	algorithm	algorithm	PROPN
alkej-953	222	7	has	have	VERB
alkej-953	222	8	a	a	DET
alkej-953	222	9	length	length	NOUN
alkej-953	222	10	of	of	ADP
alkej-953	222	11	14.7233	14.7233	NUM
alkej-953	222	12	m.	m.	NOUN
alkej-953	222	13	the	the	DET
alkej-953	222	14	computation	computation	NOUN
alkej-953	222	15	time	time	NOUN
alkej-953	222	16	for	for	ADP
alkej-953	222	17	the	the	DET
alkej-953	222	18	robot	robot	NOUN
alkej-953	222	19	traveling	travel	VERB
alkej-953	222	20	is	be	AUX
alkej-953	222	21	27.8	27.8	NUM
alkej-953	222	22	s.	s.	NOUN
alkej-953	222	23	additionally	additionally	ADV
alkej-953	222	24	,	,	PUNCT
alkej-953	222	25	the	the	DET
alkej-953	222	26	more	more	ADV
alkej-953	222	27	significant	significant	ADJ
alkej-953	222	28	via	via	ADP
alkej-953	222	29	-	-	PUNCT
alkej-953	222	30	points	point	NOUN
alkej-953	222	31	are	be	AUX
alkej-953	222	32	located	locate	VERB
alkej-953	222	33	at	at	ADP
alkej-953	222	34	coordinates	coordinate	NOUN
alkej-953	222	35	(	(	PUNCT
alkej-953	222	36	1.33	1.33	NUM
alkej-953	222	37	,	,	PUNCT
alkej-953	222	38	3.07	3.07	NUM
alkej-953	222	39	)	)	PUNCT
alkej-953	222	40	,	,	PUNCT
alkej-953	222	41	(	(	PUNCT
alkej-953	222	42	2.53	2.53	NUM
alkej-953	222	43	,	,	PUNCT
alkej-953	222	44	4.029	4.029	NUM
alkej-953	222	45	)	)	PUNCT
alkej-953	222	46	and	and	CCONJ
alkej-953	222	47	(	(	PUNCT
alkej-953	222	48	7.17	7.17	NUM
alkej-953	222	49	,	,	PUNCT
alkej-953	222	50	7.7381	7.7381	NUM
alkej-953	222	51	)	)	PUNCT
alkej-953	222	52	.	.	PUNCT
alkej-953	223	1	by	by	ADP
alkej-953	223	2	contrast	contrast	NOUN
alkej-953	223	3	,	,	PUNCT
alkej-953	223	4	the	the	DET
alkej-953	223	5	gwo	gwo	PROPN
alkej-953	223	6	algorithm	algorithm	PROPN
alkej-953	223	7	produces	produce	VERB
alkej-953	223	8	a	a	DET
alkej-953	223	9	path	path	NOUN
alkej-953	223	10	with	with	ADP
alkej-953	223	11	a	a	DET
alkej-953	223	12	length	length	NOUN
alkej-953	223	13	of	of	ADP
alkej-953	223	14	14.4361	14.4361	NUM
alkej-953	223	15	m.	m.	NOUN
alkej-953	223	16	the	the	DET
alkej-953	223	17	computation	computation	NOUN
alkej-953	223	18	time	time	NOUN
alkej-953	223	19	for	for	ADP
alkej-953	223	20	this	this	DET
alkej-953	223	21	approach	approach	NOUN
alkej-953	223	22	is	be	AUX
alkej-953	223	23	26.548	26.548	NUM
alkej-953	223	24	s.	s.	NOUN
alkej-953	223	25	the	the	DET
alkej-953	223	26	more	more	ADV
alkej-953	223	27	significant	significant	ADJ
alkej-953	223	28	via	via	ADP
alkej-953	223	29	-	-	PUNCT
alkej-953	223	30	points	point	NOUN
alkej-953	223	31	are	be	AUX
alkej-953	223	32	situated	situate	VERB
alkej-953	223	33	at	at	ADP
alkej-953	223	34	coordinates	coordinate	NOUN
alkej-953	223	35	(	(	PUNCT
alkej-953	223	36	1.32	1.32	NUM
alkej-953	223	37	,	,	PUNCT
alkej-953	223	38	3.13	3.13	NUM
alkej-953	223	39	)	)	PUNCT
alkej-953	223	40	,	,	PUNCT
alkej-953	223	41	(	(	PUNCT
alkej-953	223	42	2.54	2.54	NUM
alkej-953	223	43	,	,	PUNCT
alkej-953	223	44	4.17	4.17	NUM
alkej-953	223	45	)	)	PUNCT
alkej-953	223	46	and	and	CCONJ
alkej-953	223	47	(	(	PUNCT
alkej-953	223	48	7.18	7.18	NUM
alkej-953	223	49	,	,	PUNCT
alkej-953	223	50	7.7761	7.7761	NUM
alkej-953	223	51	)	)	PUNCT
alkej-953	223	52	.	.	PUNCT
alkej-953	224	1	the	the	DET
alkej-953	224	2	performance	performance	NOUN
alkej-953	224	3	data	datum	NOUN
alkej-953	224	4	shown	show	VERB
alkej-953	224	5	in	in	ADP
alkej-953	224	6	figures	figure	NOUN
alkej-953	224	7	12	12	NUM
alkej-953	224	8	and	and	CCONJ
alkej-953	224	9	13	13	NUM
alkej-953	224	10	reveal	reveal	VERB
alkej-953	224	11	that	that	SCONJ
alkej-953	224	12	the	the	DET
alkej-953	224	13	path	path	NOUN
alkej-953	224	14	produced	produce	VERB
alkej-953	224	15	by	by	ADP
alkej-953	224	16	gwo	gwo	PROPN
alkej-953	224	17	is	be	AUX
alkej-953	224	18	approximately	approximately	ADV
alkej-953	224	19	1.97	1.97	NUM
alkej-953	224	20	%	%	NOUN
alkej-953	224	21	shorter	short	ADJ
alkej-953	224	22	and	and	CCONJ
alkej-953	224	23	approximately	approximately	ADV
alkej-953	224	24	4.6	4.6	NUM
alkej-953	224	25	%	%	NOUN
alkej-953	224	26	faster	fast	ADV
alkej-953	224	27	than	than	ADP
alkej-953	224	28	that	that	PRON
alkej-953	224	29	produced	produce	VERB
alkej-953	224	30	by	by	ADP
alkej-953	224	31	abc	abc	PROPN
alkej-953	224	32	.	.	PUNCT
alkej-953	225	1	thus	thus	ADV
alkej-953	225	2	,	,	PUNCT
alkej-953	225	3	gwo	gwo	PROPN
alkej-953	225	4	outperforms	outperform	VERB
alkej-953	225	5	abc	abc	PROPN
alkej-953	225	6	because	because	SCONJ
alkej-953	225	7	of	of	ADP
alkej-953	225	8	the	the	DET
alkej-953	225	9	improvement	improvement	NOUN
alkej-953	225	10	in	in	ADP
alkej-953	225	11	the	the	DET
alkej-953	225	12	control	control	NOUN
alkej-953	225	13	limit	limit	NOUN
alkej-953	225	14	parameter	parameter	NOUN
alkej-953	225	15	in	in	ADP
alkej-953	225	16	gwo	gwo	PROPN
alkej-953	225	17	.	.	PROPN
alkej-953	226	1	7	7	X
alkej-953	226	2	.	.	X
alkej-953	226	3	conclusion	conclusion	NOUN
alkej-953	226	4	the	the	DET
alkej-953	226	5	abc	abc	PROPN
alkej-953	226	6	or	or	CCONJ
alkej-953	226	7	gwo	gwo	PROPN
alkej-953	226	8	algorithms	algorithm	NOUN
alkej-953	226	9	are	be	AUX
alkej-953	226	10	triggered	trigger	VERB
alkej-953	226	11	to	to	PART
alkej-953	226	12	create	create	VERB
alkej-953	226	13	a	a	DET
alkej-953	226	14	safe	safe	ADJ
alkej-953	226	15	,	,	PUNCT
alkej-953	226	16	smooth	smooth	ADJ
alkej-953	226	17	and	and	CCONJ
alkej-953	226	18	faster	fast	ADJ
alkej-953	226	19	alternative	alternative	ADJ
alkej-953	226	20	path	path	NOUN
alkej-953	226	21	to	to	ADP
alkej-953	226	22	the	the	DET
alkej-953	226	23	tp	tp	NOUN
alkej-953	226	24	.	.	PUNCT
alkej-953	227	1	the	the	DET
alkej-953	227	2	gwo	gwo	PROPN
alkej-953	227	3	algorithm	algorithm	PROPN
alkej-953	227	4	is	be	AUX
alkej-953	227	5	compared	compare	VERB
alkej-953	227	6	with	with	ADP
alkej-953	227	7	the	the	DET
alkej-953	227	8	classical	classical	ADJ
alkej-953	227	9	abc	abc	PROPN
alkej-953	227	10	algorithm	algorithm	NOUN
alkej-953	227	11	in	in	ADP
alkej-953	227	12	different	different	ADJ
alkej-953	227	13	scenarios	scenario	NOUN
alkej-953	227	14	to	to	PART
alkej-953	227	15	test	test	VERB
alkej-953	227	16	how	how	SCONJ
alkej-953	227	17	sufficiently	sufficiently	ADV
alkej-953	227	18	each	each	DET
alkej-953	227	19	algorithm	algorithm	NOUN
alkej-953	227	20	performs	perform	VERB
alkej-953	227	21	,	,	PUNCT
alkej-953	227	22	and	and	CCONJ
alkej-953	227	23	metrics	metric	NOUN
alkej-953	227	24	involving	involve	VERB
alkej-953	227	25	the	the	DET
alkej-953	227	26	calculation	calculation	NOUN
alkej-953	227	27	time	time	NOUN
alkej-953	227	28	and	and	CCONJ
alkej-953	227	29	path	path	NOUN
alkej-953	227	30	length	length	NOUN
alkej-953	227	31	are	be	AUX
alkej-953	227	32	evaluated	evaluate	VERB
alkej-953	227	33	.	.	PUNCT
alkej-953	228	1	the	the	DET
alkej-953	228	2	simulation	simulation	NOUN
alkej-953	228	3	results	result	NOUN
alkej-953	228	4	demonstrated	demonstrate	VERB
alkej-953	228	5	that	that	SCONJ
alkej-953	228	6	the	the	DET
alkej-953	228	7	ideal	ideal	ADJ
alkej-953	228	8	path	path	NOUN
alkej-953	228	9	produced	produce	VERB
alkej-953	228	10	by	by	ADP
alkej-953	228	11	gwo	gwo	PROPN
alkej-953	228	12	is	be	AUX
alkej-953	228	13	approximately	approximately	ADV
alkej-953	228	14	1.42	1.42	NUM
alkej-953	228	15	%	%	NOUN
alkej-953	228	16	shorter	short	ADJ
alkej-953	228	17	and	and	CCONJ
alkej-953	228	18	11.8	11.8	NUM
alkej-953	228	19	%	%	NOUN
alkej-953	228	20	faster	fast	ADV
alkej-953	228	21	than	than	ADP
alkej-953	228	22	the	the	DET
alkej-953	228	23	path	path	NOUN
alkej-953	228	24	generated	generate	VERB
alkej-953	228	25	by	by	ADP
alkej-953	228	26	abc	abc	PROPN
alkej-953	228	27	in	in	ADP
alkej-953	228	28	the	the	DET
alkej-953	228	29	initial	initial	ADJ
alkej-953	228	30	scenario	scenario	NOUN
alkej-953	228	31	,	,	PUNCT
alkej-953	228	32	which	which	PRON
alkej-953	228	33	includes	include	VERB
alkej-953	228	34	six	six	NUM
alkej-953	228	35	fixed	fix	VERB
alkej-953	228	36	environmental	environmental	ADJ
alkej-953	228	37	obstacles	obstacle	NOUN
alkej-953	228	38	.	.	PUNCT
alkej-953	229	1	the	the	DET
alkej-953	229	2	second	second	ADJ
alkej-953	229	3	example	example	NOUN
alkej-953	229	4	has	have	VERB
alkej-953	229	5	three	three	NUM
alkej-953	229	6	moving	move	VERB
alkej-953	229	7	obstacles	obstacle	NOUN
alkej-953	229	8	in	in	ADP
alkej-953	229	9	the	the	DET
alkej-953	229	10	environment	environment	NOUN
alkej-953	229	11	.	.	PUNCT
alkej-953	230	1	the	the	DET
alkej-953	230	2	gwo	gwo	PROPN
alkej-953	230	3	algorithm	algorithm	PROPN
alkej-953	230	4	yields	yield	VERB
alkej-953	230	5	a	a	DET
alkej-953	230	6	path	path	NOUN
alkej-953	230	7	that	that	PRON
alkej-953	230	8	is	be	AUX
alkej-953	230	9	2.2	2.2	NUM
alkej-953	230	10	%	%	NOUN
alkej-953	230	11	shorter	short	ADJ
alkej-953	230	12	and	and	CCONJ
alkej-953	230	13	2.8	2.8	NUM
alkej-953	230	14	%	%	NOUN
alkej-953	230	15	faster	fast	ADV
alkej-953	230	16	than	than	ADP
alkej-953	230	17	the	the	DET
alkej-953	230	18	other	other	ADJ
alkej-953	230	19	paths	path	NOUN
alkej-953	230	20	.	.	PUNCT
alkej-953	231	1	the	the	DET
alkej-953	231	2	third	third	ADJ
alkej-953	231	3	scenario	scenario	NOUN
alkej-953	231	4	has	have	VERB
alkej-953	231	5	five	five	NUM
alkej-953	231	6	obstacles	obstacle	NOUN
alkej-953	231	7	,	,	PUNCT
alkej-953	231	8	consisting	consist	VERB
alkej-953	231	9	of	of	ADP
alkej-953	231	10	two	two	NUM
alkej-953	231	11	moving	move	VERB
alkej-953	231	12	obstacles	obstacle	NOUN
alkej-953	231	13	and	and	CCONJ
alkej-953	231	14	three	three	NUM
alkej-953	231	15	fixed	fix	VERB
alkej-953	231	16	obstacles	obstacle	NOUN
alkej-953	231	17	.	.	PUNCT
alkej-953	232	1	furthermore	furthermore	ADV
alkej-953	232	2	,	,	PUNCT
alkej-953	232	3	the	the	DET
alkej-953	232	4	gwo	gwo	PROPN
alkej-953	232	5	algorithm	algorithm	PROPN
alkej-953	232	6	outperforms	outperform	VERB
alkej-953	232	7	the	the	DET
alkej-953	232	8	abc	abc	PROPN
alkej-953	232	9	algorithm	algorithm	NOUN
alkej-953	232	10	by	by	ADP
alkej-953	232	11	following	follow	VERB
alkej-953	232	12	a	a	DET
alkej-953	232	13	path	path	NOUN
alkej-953	232	14	that	that	PRON
alkej-953	232	15	is	be	AUX
alkej-953	232	16	1.97	1.97	NUM
alkej-953	232	17	%	%	NOUN
alkej-953	232	18	shorter	short	ADJ
alkej-953	232	19	and	and	CCONJ
alkej-953	232	20	4.6	4.6	NUM
alkej-953	232	21	%	%	NOUN
alkej-953	232	22	faster	fast	ADV
alkej-953	232	23	than	than	ADP
alkej-953	232	24	the	the	DET
alkej-953	232	25	other	other	ADJ
alkej-953	232	26	paths	path	NOUN
alkej-953	232	27	.	.	PUNCT
alkej-953	233	1	references	reference	NOUN
alkej-953	233	2	[	[	X
alkej-953	233	3	1	1	NUM
alkej-953	233	4	]	]	PUNCT
alkej-953	233	5	k.	k.	PROPN
alkej-953	233	6	heero	heero	PROPN
alkej-953	233	7	,	,	PUNCT
alkej-953	233	8	path	path	NOUN
alkej-953	233	9	planning	planning	NOUN
alkej-953	233	10	and	and	CCONJ
alkej-953	233	11	learning	learn	VERB
alkej-953	233	12	strategies	strategy	NOUN
alkej-953	233	13	for	for	ADP
alkej-953	233	14	mobile	mobile	ADJ
alkej-953	233	15	robots	robot	NOUN
alkej-953	233	16	in	in	ADP
alkej-953	233	17	dynamic	dynamic	ADJ
alkej-953	233	18	partially	partially	ADV
alkej-953	233	19	unknown	unknown	ADJ
alkej-953	233	20	environments	environment	NOUN
alkej-953	233	21	.	.	PUNCT
alkej-953	234	1	tartu	tartu	PROPN
alkej-953	234	2	university	university	PROPN
alkej-953	234	3	press	press	NOUN
alkej-953	234	4	,	,	PUNCT
alkej-953	234	5	2006	2006	NUM
alkej-953	234	6	.	.	PUNCT
alkej-953	235	1	[	[	X
alkej-953	235	2	2	2	X
alkej-953	235	3	]	]	PUNCT
alkej-953	235	4	h.	h.	PROPN
alkej-953	235	5	chen	chen	PROPN
alkej-953	235	6	,	,	PUNCT
alkej-953	235	7	y.	y.	PROPN
alkej-953	235	8	zhu	zhu	PROPN
alkej-953	235	9	,	,	PUNCT
alkej-953	235	10	and	and	CCONJ
alkej-953	235	11	k.	k.	PROPN
alkej-953	235	12	hu	hu	PROPN
alkej-953	235	13	,	,	PUNCT
alkej-953	235	14	“	"	PUNCT
alkej-953	235	15	adaptive	adaptive	ADJ
alkej-953	235	16	bacterial	bacterial	ADJ
alkej-953	235	17	foraging	forage	VERB
alkej-953	235	18	optimization	optimization	NOUN
alkej-953	235	19	.	.	PUNCT
alkej-953	236	1	abstract	abstract	ADJ
alkej-953	236	2	and	and	CCONJ
alkej-953	236	3	applied	apply	VERB
alkej-953	236	4	analysis	analysis	NOUN
alkej-953	236	5	,	,	PUNCT
alkej-953	236	6	”	"	PUNCT
alkej-953	236	7	abstr	abstr	PROPN
alkej-953	236	8	.	.	PUNCT
alkej-953	237	1	appl	appl	PROPN
alkej-953	237	2	.	.	PUNCT
alkej-953	238	1	anal	anal	PROPN
alkej-953	238	2	.	.	PUNCT
alkej-953	239	1	https//doi	https//doi	PROPN
alkej-953	239	2	.	.	PROPN
alkej-953	239	3	org/10.1155/2011/108269	org/10.1155/2011/108269	PROPN
alkej-953	239	4	,	,	PUNCT
alkej-953	239	5	2011	2011	NUM
alkej-953	239	6	.	.	PUNCT
alkej-953	240	1	[	[	X
alkej-953	240	2	3	3	X
alkej-953	240	3	]	]	PUNCT
alkej-953	240	4	x.-s	x.-s	PROPN
alkej-953	240	5	.	.	PUNCT
alkej-953	240	6	yang	yang	PROPN
alkej-953	240	7	,	,	PUNCT
alkej-953	240	8	optimization	optimization	NOUN
alkej-953	240	9	techniques	technique	NOUN
alkej-953	240	10	and	and	CCONJ
alkej-953	240	11	applications	application	NOUN
alkej-953	240	12	with	with	ADP
alkej-953	240	13	examples	example	NOUN
alkej-953	240	14	.	.	PUNCT
alkej-953	241	1	john	john	PROPN
alkej-953	241	2	wiley	wiley	PROPN
alkej-953	241	3	&	&	CCONJ
alkej-953	241	4	sons	son	NOUN
alkej-953	241	5	,	,	PUNCT
alkej-953	241	6	2018	2018	NUM
alkej-953	241	7	.	.	PUNCT
alkej-953	242	1	[	[	X
alkej-953	242	2	4	4	NUM
alkej-953	242	3	]	]	PUNCT
alkej-953	242	4	a.	a.	NOUN
alkej-953	242	5	m.	m.	PROPN
alkej-953	242	6	husain	husain	PROPN
alkej-953	242	7	,	,	PUNCT
alkej-953	242	8	s.	s.	PROPN
alkej-953	242	9	m.	m.	PROPN
alkej-953	242	10	sohail	sohail	PROPN
alkej-953	242	11	,	,	PUNCT
alkej-953	242	12	and	and	CCONJ
alkej-953	242	13	v.	v.	ADP
alkej-953	242	14	s.	s.	PROPN
alkej-953	242	15	narwane	narwane	PROPN
alkej-953	242	16	,	,	PUNCT
alkej-953	242	17	“	"	PUNCT
alkej-953	242	18	path	path	NOUN
alkej-953	242	19	planning	planning	NOUN
alkej-953	242	20	of	of	ADP
alkej-953	242	21	material	material	NOUN
alkej-953	242	22	handling	handling	NOUN
alkej-953	242	23	robot	robot	NOUN
alkej-953	242	24	using	use	VERB
alkej-953	242	25	ant	ant	ADJ
alkej-953	242	26	colony	colony	NOUN
alkej-953	242	27	optimization	optimization	NOUN
alkej-953	242	28	(	(	PUNCT
alkej-953	242	29	aco	aco	PROPN
alkej-953	242	30	)	)	PUNCT
alkej-953	242	31	technique	technique	NOUN
alkej-953	242	32	,	,	PUNCT
alkej-953	242	33	”	"	PUNCT
alkej-953	242	34	int	int	NOUN
alkej-953	242	35	.	.	PUNCT
alkej-953	243	1	j.	j.	PROPN
alkej-953	243	2	eng	eng	PROPN
alkej-953	243	3	.	.	PUNCT
alkej-953	244	1	res	res	PROPN
alkej-953	244	2	.	.	PUNCT
alkej-953	244	3	appl	appl	PROPN
alkej-953	244	4	.	.	PROPN
alkej-953	244	5	,	,	PUNCT
alkej-953	244	6	vol	vol	NOUN
alkej-953	244	7	.	.	PROPN
alkej-953	245	1	2	2	NUM
alkej-953	245	2	,	,	PUNCT
alkej-953	245	3	no	no	INTJ
alkej-953	245	4	.	.	NOUN
alkej-953	245	5	5	5	NUM
alkej-953	245	6	,	,	PUNCT
alkej-953	245	7	pp	pp	ADJ
alkej-953	245	8	.	.	PUNCT
alkej-953	246	1	1698–1701	1698–1701	NUM
alkej-953	246	2	,	,	PUNCT
alkej-953	246	3	2012	2012	NUM
alkej-953	246	4	.	.	PUNCT
alkej-953	247	1	[	[	X
alkej-953	247	2	5	5	X
alkej-953	247	3	]	]	PUNCT
alkej-953	247	4	d.	d.	PROPN
alkej-953	247	5	wang	wang	PROPN
alkej-953	247	6	,	,	PUNCT
alkej-953	247	7	d.	d.	PROPN
alkej-953	247	8	tan	tan	PROPN
alkej-953	247	9	,	,	PUNCT
alkej-953	247	10	and	and	CCONJ
alkej-953	247	11	l.	l.	PROPN
alkej-953	247	12	liu	liu	PROPN
alkej-953	247	13	,	,	PUNCT
alkej-953	247	14	“	"	PUNCT
alkej-953	247	15	particle	particle	NOUN
alkej-953	247	16	swarm	swarm	NOUN
alkej-953	247	17	optimization	optimization	NOUN
alkej-953	247	18	algorithm	algorithm	NOUN
alkej-953	247	19	:	:	PUNCT
alkej-953	247	20	an	an	DET
alkej-953	247	21	overview	overview	NOUN
alkej-953	247	22	,	,	PUNCT
alkej-953	247	23	”	"	PUNCT
alkej-953	247	24	soft	soft	ADJ
alkej-953	247	25	comput	comput	NOUN
alkej-953	247	26	.	.	PUNCT
alkej-953	247	27	,	,	PUNCT
alkej-953	247	28	vol	vol	NOUN
alkej-953	247	29	.	.	PROPN
alkej-953	247	30	22	22	NUM
alkej-953	247	31	,	,	PUNCT
alkej-953	247	32	pp	pp	ADJ
alkej-953	247	33	.	.	PUNCT
alkej-953	248	1	387–408	387–408	NUM
alkej-953	248	2	,	,	PUNCT
alkej-953	248	3	2018	2018	NUM
alkej-953	248	4	.	.	PUNCT
alkej-953	249	1	[	[	X
alkej-953	249	2	6	6	NUM
alkej-953	249	3	]	]	PUNCT
alkej-953	249	4	h.	h.	PROPN
alkej-953	249	5	zhangfang	zhangfang	PROPN
alkej-953	249	6	,	,	PUNCT
alkej-953	249	7	f.	f.	PROPN
alkej-953	249	8	chunyi	chunyi	PROPN
alkej-953	249	9	,	,	PUNCT
alkej-953	249	10	and	and	CCONJ
alkej-953	249	11	l.	l.	PROPN
alkej-953	249	12	yuan	yuan	PROPN
alkej-953	249	13	,	,	PUNCT
alkej-953	249	14	“	"	PUNCT
alkej-953	249	15	improved	improve	VERB
alkej-953	249	16	particle	particle	NOUN
alkej-953	249	17	swarm	swarm	NOUN
alkej-953	249	18	optimization	optimization	NOUN
alkej-953	249	19	algorithm	algorithm	NOUN
alkej-953	249	20	for	for	ADP
alkej-953	249	21	mobile	mobile	ADJ
alkej-953	249	22	robot	robot	NOUN
alkej-953	249	23	path	path	NOUN
alkej-953	249	24	planning	planning	NOUN
alkej-953	249	25	,	,	PUNCT
alkej-953	249	26	”	"	PUNCT
alkej-953	249	27	comput	comput	NOUN
alkej-953	249	28	.	.	PUNCT
alkej-953	250	1	appl	appl	PROPN
alkej-953	250	2	.	.	PUNCT
alkej-953	251	1	res	re	NOUN
alkej-953	251	2	,	,	PUNCT
alkej-953	251	3	vol	vol	NOUN
alkej-953	251	4	.	.	PROPN
alkej-953	252	1	38	38	NUM
alkej-953	252	2	,	,	PUNCT
alkej-953	252	3	pp	pp	ADJ
alkej-953	252	4	.	.	PUNCT
alkej-953	253	1	3089–3092	3089–3092	NUM
alkej-953	253	2	,	,	PUNCT
alkej-953	253	3	2021	2021	NUM
alkej-953	253	4	.	.	PUNCT
alkej-953	254	1	[	[	X
alkej-953	254	2	7	7	X
alkej-953	254	3	]	]	X
alkej-953	254	4	s.	s.	PROPN
alkej-953	254	5	mirjalili	mirjalili	PROPN
alkej-953	254	6	,	,	PUNCT
alkej-953	254	7	s.	s.	PROPN
alkej-953	254	8	m.	m.	PROPN
alkej-953	254	9	mirjalili	mirjalili	PROPN
alkej-953	254	10	,	,	PUNCT
alkej-953	254	11	and	and	CCONJ
alkej-953	254	12	a.	a.	PROPN
alkej-953	254	13	lewis	lewis	PROPN
alkej-953	254	14	,	,	PUNCT
alkej-953	254	15	“	"	PUNCT
alkej-953	254	16	grey	grey	ADJ
alkej-953	254	17	wolf	wolf	PROPN
alkej-953	254	18	optimizer	optimizer	NOUN
alkej-953	254	19	,	,	PUNCT
alkej-953	254	20	”	"	PUNCT
alkej-953	254	21	adv	adv	PROPN
alkej-953	254	22	.	.	PUNCT
alkej-953	255	1	eng	eng	PROPN
alkej-953	255	2	.	.	PUNCT
alkej-953	256	1	softw	softw	PROPN
alkej-953	256	2	.	.	PUNCT
alkej-953	257	1	,	,	PUNCT
alkej-953	257	2	vol	vol	NOUN
alkej-953	257	3	.	.	PROPN
alkej-953	258	1	69	69	NUM
alkej-953	258	2	,	,	PUNCT
alkej-953	258	3	pp	pp	ADJ
alkej-953	258	4	.	.	PUNCT
alkej-953	259	1	46–61	46–61	NUM
alkej-953	259	2	,	,	PUNCT
alkej-953	259	3	2014	2014	NUM
alkej-953	259	4	.	.	PUNCT
alkej-953	260	1	[	[	X
alkej-953	260	2	8	8	X
alkej-953	260	3	]	]	X
alkej-953	260	4	j.	j.	PROPN
alkej-953	260	5	cai	cai	PROPN
alkej-953	260	6	,	,	PUNCT
alkej-953	260	7	“	"	PUNCT
alkej-953	260	8	non	non	ADJ
alkej-953	260	9	-	-	ADJ
alkej-953	260	10	linear	linear	ADJ
alkej-953	260	11	grey	grey	ADJ
alkej-953	260	12	wolf	wolf	PROPN
alkej-953	260	13	optimization	optimization	NOUN
alkej-953	260	14	algorithm	algorithm	NOUN
alkej-953	260	15	based	base	VERB
alkej-953	260	16	on	on	ADP
alkej-953	260	17	tent	tent	NOUN
alkej-953	260	18	mapping	mapping	NOUN
alkej-953	260	19	and	and	CCONJ
alkej-953	260	20	elite	elite	ADJ
alkej-953	260	21	gauss	gauss	ADJ
alkej-953	260	22	perturbation	perturbation	NOUN
alkej-953	260	23	.	.	PUNCT
alkej-953	261	1	comput	comput	NOUN
alkej-953	261	2	,	,	PUNCT
alkej-953	261	3	”	"	PUNCT
alkej-953	261	4	eng	eng	PROPN
alkej-953	261	5	.	.	PUNCT
alkej-953	262	1	des	des	PROPN
alkej-953	262	2	,	,	PUNCT
alkej-953	262	3	vol	vol	NOUN
alkej-953	262	4	.	.	PROPN
alkej-953	263	1	43	43	NUM
alkej-953	263	2	,	,	PUNCT
alkej-953	263	3	pp	pp	ADJ
alkej-953	263	4	.	.	PUNCT
alkej-953	264	1	186–195	186–195	NUM
alkej-953	264	2	,	,	PUNCT
alkej-953	264	3	2022	2022	NUM
alkej-953	264	4	.	.	PUNCT
alkej-953	265	1	[	[	X
alkej-953	265	2	9	9	NUM
alkej-953	265	3	]	]	PUNCT
alkej-953	265	4	m.	m.	NOUN
alkej-953	265	5	j.	j.	PROPN
alkej-953	265	6	mohamed	mohamed	PROPN
alkej-953	265	7	and	and	CCONJ
alkej-953	265	8	f.	f.	PROPN
alkej-953	265	9	s.	s.	PROPN
alkej-953	265	10	khoshaba	khoshaba	PROPN
alkej-953	265	11	,	,	PUNCT
alkej-953	265	12	“	"	PUNCT
alkej-953	265	13	enhanced	enhance	VERB
alkej-953	265	14	genetic	genetic	ADJ
alkej-953	265	15	algorithm	algorithm	NOUN
alkej-953	265	16	based	base	VERB
alkej-953	265	17	on	on	ADP
alkej-953	265	18	node	node	ADJ
alkej-953	265	19	codes	code	NOUN
alkej-953	265	20	for	for	ADP
alkej-953	265	21	mobile	mobile	ADJ
alkej-953	265	22	robot	robot	NOUN
alkej-953	265	23	path	path	NOUN
alkej-953	265	24	planning	planning	NOUN
alkej-953	265	25	,	,	PUNCT
alkej-953	265	26	”	"	PUNCT
alkej-953	265	27	iraqi	iraqi	ADJ
alkej-953	265	28	j.	j.	PROPN
alkej-953	265	29	comput	comput	PROPN
alkej-953	265	30	.	.	PUNCT
alkej-953	266	1	commun	commun	PROPN
alkej-953	266	2	.	.	PUNCT
alkej-953	267	1	control	control	PROPN
alkej-953	267	2	eng	eng	PROPN
alkej-953	267	3	.	.	PROPN
alkej-953	267	4	,	,	PUNCT
alkej-953	267	5	vol	vol	NOUN
alkej-953	267	6	.	.	PROPN
alkej-953	267	7	12	12	NUM
alkej-953	267	8	,	,	PUNCT
alkej-953	267	9	no	no	INTJ
alkej-953	267	10	.	.	NOUN
alkej-953	267	11	2	2	NUM
alkej-953	267	12	,	,	PUNCT
alkej-953	267	13	pp	pp	ADJ
alkej-953	267	14	.	.	PUNCT
alkej-953	268	1	69–80	69–80	NUM
alkej-953	268	2	,	,	PUNCT
alkej-953	268	3	2012	2012	NUM
alkej-953	268	4	.	.	PUNCT
alkej-953	269	1	[	[	X
alkej-953	269	2	10	10	NUM
alkej-953	269	3	]	]	X
alkej-953	269	4	e.	e.	PROPN
alkej-953	269	5	garcía	garcía	PROPN
alkej-953	269	6	-	-	PUNCT
alkej-953	269	7	gonzalo	gonzalo	PROPN
alkej-953	269	8	and	and	CCONJ
alkej-953	269	9	j.	j.	PROPN
alkej-953	269	10	l.	l.	PROPN
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alkej-953	269	12	,	,	PUNCT
alkej-953	269	13	“	"	PUNCT
alkej-953	269	14	convergence	convergence	NOUN
alkej-953	269	15	and	and	CCONJ
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alkej-953	269	17	stability	stability	NOUN
alkej-953	269	18	analysis	analysis	NOUN
alkej-953	269	19	of	of	ADP
alkej-953	269	20	particle	particle	NOUN
alkej-953	269	21	swarm	swarm	NOUN
alkej-953	269	22	optimization	optimization	NOUN
alkej-953	269	23	variants	variant	NOUN
alkej-953	269	24	with	with	ADP
alkej-953	269	25	generic	generic	ADJ
alkej-953	269	26	parameter	parameter	NOUN
alkej-953	269	27	distributions	distribution	NOUN
alkej-953	269	28	,	,	PUNCT
alkej-953	269	29	”	"	PUNCT
alkej-953	269	30	appl	appl	NOUN
alkej-953	269	31	.	.	PROPN
alkej-953	269	32	math	math	NOUN
alkej-953	269	33	.	.	PUNCT
alkej-953	270	1	comput	comput	NOUN
alkej-953	270	2	.	.	PUNCT
alkej-953	270	3	,	,	PUNCT
alkej-953	270	4	vol	vol	NOUN
alkej-953	270	5	.	.	PROPN
alkej-953	271	1	249	249	NUM
alkej-953	271	2	,	,	PUNCT
alkej-953	271	3	pp	pp	ADJ
alkej-953	271	4	.	.	PUNCT
alkej-953	272	1	286–302	286–302	NUM
alkej-953	272	2	,	,	PUNCT
alkej-953	272	3	2014	2014	NUM
alkej-953	272	4	.	.	PUNCT
alkej-953	273	1	[	[	X
alkej-953	273	2	11	11	NUM
alkej-953	273	3	]	]	X
alkej-953	273	4	n.	n.	PROPN
alkej-953	273	5	h.	h.	PROPN
alkej-953	273	6	abbas	abbas	PROPN
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alkej-953	273	8	f.	f.	PROPN
alkej-953	273	9	m.	m.	PROPN
alkej-953	273	10	ali	ali	PROPN
alkej-953	273	11	,	,	PUNCT
alkej-953	273	12	“	"	PUNCT
alkej-953	273	13	path	path	NOUN
alkej-953	273	14	planning	planning	NOUN
alkej-953	273	15	of	of	ADP
alkej-953	273	16	an	an	DET
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alkej-953	273	18	mobile	mobile	NOUN
alkej-953	273	19	robot	robot	NOUN
alkej-953	273	20	using	use	VERB
alkej-953	273	21	enhanced	enhance	VERB
alkej-953	273	22	bacterial	bacterial	ADJ
alkej-953	273	23	foraging	forage	VERB
alkej-953	273	24	optimization	optimization	NOUN
alkej-953	273	25	algorithm	algorithm	NOUN
alkej-953	273	26	,	,	PUNCT
alkej-953	273	27	”	"	PUNCT
alkej-953	273	28	alkhwarizmi	alkhwarizmi	NOUN
alkej-953	273	29	eng	eng	PROPN
alkej-953	273	30	.	.	PUNCT
alkej-953	274	1	j.	j.	PROPN
alkej-953	274	2	,	,	PUNCT
alkej-953	274	3	vol	vol	NOUN
alkej-953	274	4	.	.	PROPN
alkej-953	274	5	12	12	NUM
alkej-953	274	6	,	,	PUNCT
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alkej-953	274	8	.	.	NOUN
alkej-953	274	9	4	4	NUM
alkej-953	274	10	,	,	PUNCT
alkej-953	274	11	pp	pp	ADJ
alkej-953	274	12	.	.	PUNCT
alkej-953	275	1	26–35	26–35	NUM
alkej-953	275	2	,	,	PUNCT
alkej-953	275	3	2016	2016	NUM
alkej-953	275	4	.	.	PUNCT
alkej-953	276	1	[	[	X
alkej-953	276	2	12	12	NUM
alkej-953	276	3	]	]	PUNCT
alkej-953	276	4	m.	m.	NOUN
alkej-953	276	5	jasim	jasim	PROPN
alkej-953	276	6	mohamed	mohamed	PROPN
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alkej-953	276	8	m.	m.	PROPN
alkej-953	276	9	waad	waad	PROPN
alkej-953	276	10	abbas	abbas	PROPN
alkej-953	276	11	,	,	PUNCT
alkej-953	276	12	“	"	PUNCT
alkej-953	276	13	enhanced	enhance	VERB
alkej-953	276	14	ga	ga	PROPN
alkej-953	276	15	for	for	ADP
alkej-953	276	16	mobile	mobile	NOUN
alkej-953	276	17	robot	robot	NOUN
alkej-953	276	18	path	path	NOUN
alkej-953	276	19	planning	planning	NOUN
alkej-953	276	20	based	base	VERB
alkej-953	276	21	on	on	ADP
alkej-953	276	22	links	link	NOUN
alkej-953	276	23	among	among	ADP
alkej-953	276	24	distributed	distribute	VERB
alkej-953	276	25	nodes	node	NOUN
alkej-953	276	26	,	,	PUNCT
alkej-953	276	27	”	"	PUNCT
alkej-953	276	28	eng	eng	PROPN
alkej-953	276	29	.	.	PROPN
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alkej-953	276	31	.	.	PUNCT
alkej-953	277	1	j.	j.	PROPN
alkej-953	277	2	,	,	PUNCT
alkej-953	277	3	vol	vol	NOUN
alkej-953	277	4	.	.	PROPN
alkej-953	277	5	31	31	NUM
alkej-953	277	6	,	,	PUNCT
alkej-953	277	7	no	no	INTJ
alkej-953	277	8	.	.	PUNCT
alkej-953	278	1	1a	1a	NOUN
alkej-953	278	2	,	,	PUNCT
alkej-953	278	3	pp	pp	ADP
alkej-953	278	4	.	.	PUNCT
alkej-953	279	1	26–41	26–41	NUM
alkej-953	279	2	,	,	PUNCT
alkej-953	279	3	2013	2013	NUM
alkej-953	279	4	.	.	PUNCT
alkej-953	280	1	[	[	X
alkej-953	280	2	13	13	NUM
alkej-953	280	3	]	]	PUNCT
alkej-953	280	4	e.	e.	PROPN
alkej-953	280	5	s.	s.	PROPN
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alkej-953	280	8	p.	p.	PROPN
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alkej-953	280	10	,	,	PUNCT
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alkej-953	280	12	k.	k.	PROPN
alkej-953	280	13	c.	c.	PROPN
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alkej-953	280	16	“	"	PUNCT
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alkej-953	280	19	optimal	optimal	ADJ
alkej-953	280	20	path	path	NOUN
alkej-953	280	21	planning	planning	NOUN
alkej-953	280	22	of	of	ADP
alkej-953	280	23	a	a	DET
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alkej-953	280	25	robot	robot	NOUN
alkej-953	280	26	using	use	VERB
alkej-953	280	27	improved	improved	ADJ
alkej-953	280	28	q	q	ADJ
alkej-953	280	29	-	-	PUNCT
alkej-953	280	30	learning	learning	NOUN
alkej-953	280	31	,	,	PUNCT
alkej-953	280	32	”	"	PUNCT
alkej-953	280	33	rob	rob	PROPN
alkej-953	280	34	.	.	PUNCT
alkej-953	281	1	auton	auton	PROPN
alkej-953	281	2	.	.	PUNCT
alkej-953	282	1	syst	syst	PROPN
alkej-953	282	2	.	.	PUNCT
alkej-953	282	3	,	,	PUNCT
alkej-953	282	4	vol	vol	NOUN
alkej-953	282	5	.	.	PROPN
alkej-953	282	6	115	115	NUM
alkej-953	282	7	,	,	PUNCT
alkej-953	282	8	pp	pp	ADJ
alkej-953	282	9	.	.	PUNCT
alkej-953	283	1	143–161	143–161	NUM
alkej-953	283	2	,	,	PUNCT
alkej-953	283	3	2019	2019	NUM
alkej-953	283	4	.	.	PUNCT
alkej-953	284	1	[	[	X
alkej-953	284	2	14	14	NUM
alkej-953	284	3	]	]	X
alkej-953	284	4	d.	d.	PROPN
alkej-953	284	5	karaboga	karaboga	PROPN
alkej-953	284	6	and	and	CCONJ
alkej-953	284	7	b.	b.	PROPN
alkej-953	284	8	gorkemli	gorkemli	PROPN
alkej-953	284	9	,	,	PUNCT
alkej-953	284	10	“	"	PUNCT
alkej-953	284	11	solving	solve	VERB
alkej-953	284	12	traveling	travel	VERB
alkej-953	284	13	salesman	salesman	ADJ
alkej-953	284	14	problem	problem	NOUN
alkej-953	284	15	by	by	ADP
alkej-953	284	16	using	use	VERB
alkej-953	284	17	combinatorial	combinatorial	ADJ
alkej-953	284	18	artificial	artificial	ADJ
alkej-953	284	19	bee	bee	NOUN
alkej-953	284	20	colony	colony	NOUN
alkej-953	284	21	algorithms	algorithm	NOUN
alkej-953	284	22	,	,	PUNCT
alkej-953	284	23	”	"	PUNCT
alkej-953	284	24	int	int	NOUN
alkej-953	284	25	.	.	PUNCT
alkej-953	285	1	j.	j.	PROPN
alkej-953	285	2	artif	artif	PROPN
alkej-953	285	3	.	.	PUNCT
alkej-953	286	1	intell	intell	PROPN
alkej-953	286	2	.	.	PUNCT
alkej-953	287	1	tools	tool	NOUN
alkej-953	287	2	,	,	PUNCT
alkej-953	287	3	vol	vol	NOUN
alkej-953	287	4	.	.	PROPN
alkej-953	287	5	28	28	NUM
alkej-953	287	6	,	,	PUNCT
alkej-953	287	7	no	no	INTJ
alkej-953	287	8	.	.	NOUN
alkej-953	287	9	01	01	NUM
alkej-953	287	10	,	,	PUNCT
alkej-953	287	11	p.	p.	NOUN
alkej-953	287	12	1950004	1950004	NUM
alkej-953	287	13	,	,	PUNCT
alkej-953	287	14	2019	2019	NUM
alkej-953	287	15	.	.	PUNCT
alkej-953	288	1	[	[	X
alkej-953	288	2	15	15	NUM
alkej-953	288	3	]	]	X
alkej-953	288	4	e.	e.	PROPN
alkej-953	288	5	a.	a.	PROPN
alkej-953	288	6	hadi	hadi	PROPN
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alkej-953	288	8	s.	s.	PROPN
alkej-953	288	9	by	by	ADP
alkej-953	288	10	,	,	PUNCT
alkej-953	288	11	“	"	PUNCT
alkej-953	288	12	multi	multi	ADJ
alkej-953	288	13	-	-	ADJ
alkej-953	288	14	objective	objective	ADJ
alkej-953	288	15	decision	decision	NOUN
alkej-953	288	16	maker	maker	NOUN
alkej-953	288	17	for	for	ADP
alkej-953	288	18	single	single	ADJ
alkej-953	288	19	and	and	CCONJ
alkej-953	288	20	multi	multi	ADJ
alkej-953	288	21	-	-	ADJ
alkej-953	288	22	robot	robot	ADJ
alkej-953	288	23	path	path	NOUN
alkej-953	288	24	planning	planning	NOUN
alkej-953	288	25	.	.	PUNCT
alkej-953	288	26	”	"	PUNCT
alkej-953	289	1	m.	m.	PROPN
alkej-953	289	2	sc	sc	PROPN
alkej-953	289	3	.	.	PUNCT
alkej-953	290	1	thesis	thesis	NOUN
alkej-953	290	2	,	,	PUNCT
alkej-953	290	3	control	control	NOUN
alkej-953	290	4	and	and	CCONJ
alkej-953	290	5	system	system	NOUN
alkej-953	290	6	dept	dept	NOUN
alkej-953	290	7	.	.	PROPN
alkej-953	290	8	,	,	PUNCT
alkej-953	290	9	university	university	NOUN
alkej-953	290	10	of	of	ADP
alkej-953	290	11	technology	technology	NOUN
alkej-953	290	12	,	,	PUNCT
alkej-953	290	13	zahraa	zahraa	PROPN
alkej-953	290	14	a.	a.	PROPN
alkej-953	290	15	abdullah	abdullah	PROPN
alkej-953	290	16	al	al	PROPN
alkej-953	290	17	-	-	PUNCT
alkej-953	290	18	khwarizmi	khwarizmi	PROPN
alkej-953	290	19	engineering	engineering	NOUN
alkej-953	290	20	journal	journal	PROPN
alkej-953	290	21	,	,	PUNCT
alkej-953	290	22	vol	vol	NOUN
alkej-953	290	23	.	.	PROPN
alkej-953	290	24	21	21	NUM
alkej-953	290	25	,	,	PUNCT
alkej-953	290	26	no.2	no.2	PROPN
alkej-953	290	27	,	,	PUNCT
alkej-953	290	28	pp	pp	ADJ
alkej-953	290	29	.	.	PUNCT
alkej-953	291	1	42	42	NUM
alkej-953	291	2	-	-	SYM
alkej-953	291	3	52	52	NUM
alkej-953	291	4	(	(	PUNCT
alkej-953	291	5	2025	2025	NUM
alkej-953	291	6	)	)	PUNCT
alkej-953	291	7	51	51	NUM
alkej-953	291	8	baghdad	baghdad	PROPN
alkej-953	291	9	-	-	PUNCT
alkej-953	291	10	iraq	iraq	PROPN
alkej-953	291	11	,	,	PUNCT
alkej-953	291	12	2018	2018	NUM
alkej-953	291	13	.	.	PUNCT
alkej-953	292	1	[	[	X
alkej-953	292	2	16	16	NUM
alkej-953	292	3	]	]	X
alkej-953	292	4	b.	b.	PROPN
alkej-953	292	5	m.	m.	PROPN
alkej-953	292	6	abed	abe	VERB
alkej-953	292	7	and	and	CCONJ
alkej-953	292	8	w.	w.	PROPN
alkej-953	292	9	m.	m.	PROPN
alkej-953	292	10	jasim	jasim	PROPN
alkej-953	292	11	,	,	PUNCT
alkej-953	292	12	“	"	PUNCT
alkej-953	292	13	hybrid	hybrid	ADJ
alkej-953	292	14	approach	approach	NOUN
alkej-953	292	15	for	for	ADP
alkej-953	292	16	multi	multi	ADJ
alkej-953	292	17	-	-	ADJ
alkej-953	292	18	objective	objective	ADJ
alkej-953	292	19	optimization	optimization	NOUN
alkej-953	292	20	path	path	NOUN
alkej-953	292	21	planning	planning	NOUN
alkej-953	292	22	with	with	ADP
alkej-953	292	23	moving	move	VERB
alkej-953	292	24	target	target	NOUN
alkej-953	292	25	,	,	PUNCT
alkej-953	292	26	”	"	PUNCT
alkej-953	292	27	indones	indone	NOUN
alkej-953	292	28	.	.	PUNCT
alkej-953	293	1	j.	j.	PROPN
alkej-953	293	2	electr	electr	PROPN
alkej-953	293	3	.	.	PUNCT
alkej-953	294	1	eng	eng	PROPN
alkej-953	294	2	.	.	PUNCT
alkej-953	295	1	comput	comput	PROPN
alkej-953	295	2	.	.	PUNCT
alkej-953	296	1	sci	sci	PROPN
alkej-953	296	2	.	.	PROPN
alkej-953	296	3	,	,	PUNCT
alkej-953	296	4	vol	vol	NOUN
alkej-953	296	5	.	.	PROPN
alkej-953	296	6	29	29	NUM
alkej-953	296	7	,	,	PUNCT
alkej-953	296	8	no	no	INTJ
alkej-953	296	9	.	.	NOUN
alkej-953	296	10	1	1	NUM
alkej-953	296	11	,	,	PUNCT
alkej-953	296	12	pp	pp	ADJ
alkej-953	296	13	.	.	PUNCT
alkej-953	297	1	348–357	348–357	NUM
alkej-953	297	2	,	,	PUNCT
alkej-953	297	3	2023	2023	NUM
alkej-953	297	4	.	.	PUNCT
alkej-953	298	1	[	[	X
alkej-953	298	2	17	17	NUM
alkej-953	298	3	]	]	X
alkej-953	298	4	d.	d.	PROPN
alkej-953	298	5	karaboga	karaboga	PROPN
alkej-953	298	6	,	,	PUNCT
alkej-953	298	7	“	"	PUNCT
alkej-953	298	8	an	an	DET
alkej-953	298	9	idea	idea	NOUN
alkej-953	298	10	based	base	VERB
alkej-953	298	11	on	on	ADP
alkej-953	298	12	honey	honey	PROPN
alkej-953	298	13	bee	bee	PROPN
alkej-953	298	14	swarm	swarm	NOUN
alkej-953	298	15	for	for	ADP
alkej-953	298	16	numerical	numerical	ADJ
alkej-953	298	17	optimization	optimization	NOUN
alkej-953	298	18	,	,	PUNCT
alkej-953	298	19	”	"	PUNCT
alkej-953	298	20	2005	2005	NUM
alkej-953	298	21	.	.	PUNCT
alkej-953	299	1	[	[	X
alkej-953	299	2	18	18	NUM
alkej-953	299	3	]	]	X
alkej-953	299	4	n.	n.	PROPN
alkej-953	299	5	h.	h.	PROPN
alkej-953	299	6	abbas	abbas	PROPN
alkej-953	299	7	and	and	CCONJ
alkej-953	299	8	f.	f.	PROPN
alkej-953	299	9	m.	m.	PROPN
alkej-953	299	10	ali	ali	PROPN
alkej-953	299	11	,	,	PUNCT
alkej-953	299	12	“	"	PUNCT
alkej-953	299	13	path	path	NOUN
alkej-953	299	14	planning	planning	NOUN
alkej-953	299	15	of	of	ADP
alkej-953	299	16	an	an	DET
alkej-953	299	17	autonomous	autonomous	ADJ
alkej-953	299	18	mobile	mobile	NOUN
alkej-953	299	19	robot	robot	NOUN
alkej-953	299	20	using	use	VERB
alkej-953	299	21	directed	direct	VERB
alkej-953	299	22	artificial	artificial	ADJ
alkej-953	299	23	bee	bee	NOUN
alkej-953	299	24	colony	colony	NOUN
alkej-953	299	25	algorithm	algorithm	NOUN
alkej-953	299	26	,	,	PUNCT
alkej-953	299	27	”	"	PUNCT
alkej-953	299	28	int	int	NOUN
alkej-953	299	29	.	.	PUNCT
alkej-953	300	1	j.	j.	PROPN
alkej-953	300	2	comput	comput	PROPN
alkej-953	300	3	.	.	PUNCT
alkej-953	301	1	appl	appl	PROPN
alkej-953	301	2	.	.	PROPN
alkej-953	301	3	,	,	PUNCT
alkej-953	301	4	vol	vol	NOUN
alkej-953	301	5	.	.	PROPN
alkej-953	302	1	96	96	NUM
alkej-953	302	2	,	,	PUNCT
alkej-953	302	3	no	no	INTJ
alkej-953	302	4	.	.	NOUN
alkej-953	302	5	11	11	NUM
alkej-953	302	6	,	,	PUNCT
alkej-953	302	7	pp	pp	ADJ
alkej-953	302	8	.	.	PUNCT
alkej-953	303	1	11–16	11–16	NUM
alkej-953	303	2	,	,	PUNCT
alkej-953	303	3	2014	2014	NUM
alkej-953	303	4	.	.	PUNCT
alkej-953	304	1	[	[	X
alkej-953	304	2	19	19	NUM
alkej-953	304	3	]	]	X
alkej-953	304	4	d.	d.	PROPN
alkej-953	304	5	karaboga	karaboga	PROPN
alkej-953	304	6	and	and	CCONJ
alkej-953	304	7	b.	b.	PROPN
alkej-953	304	8	akay	akay	PROPN
alkej-953	304	9	,	,	PUNCT
alkej-953	304	10	“	"	PUNCT
alkej-953	304	11	a	a	DET
alkej-953	304	12	comparative	comparative	ADJ
alkej-953	304	13	study	study	NOUN
alkej-953	304	14	of	of	ADP
alkej-953	304	15	artificial	artificial	ADJ
alkej-953	304	16	bee	bee	NOUN
alkej-953	304	17	colony	colony	NOUN
alkej-953	304	18	algorithm	algorithm	NOUN
alkej-953	304	19	,	,	PUNCT
alkej-953	304	20	”	"	PUNCT
alkej-953	304	21	appl	appl	NOUN
alkej-953	304	22	.	.	PROPN
alkej-953	304	23	math	math	NOUN
alkej-953	304	24	.	.	PUNCT
alkej-953	305	1	comput	comput	NOUN
alkej-953	305	2	.	.	PUNCT
alkej-953	305	3	,	,	PUNCT
alkej-953	305	4	vol	vol	NOUN
alkej-953	305	5	.	.	PROPN
alkej-953	306	1	214	214	NUM
alkej-953	306	2	,	,	PUNCT
alkej-953	306	3	no	no	INTJ
alkej-953	306	4	.	.	NOUN
alkej-953	306	5	1	1	NUM
alkej-953	306	6	,	,	PUNCT
alkej-953	306	7	pp	pp	ADJ
alkej-953	306	8	.	.	PUNCT
alkej-953	307	1	108–132	108–132	NUM
alkej-953	307	2	,	,	PUNCT
alkej-953	307	3	2009	2009	NUM
alkej-953	307	4	.	.	PUNCT
alkej-953	308	1	[	[	X
alkej-953	308	2	20	20	NUM
alkej-953	308	3	]	]	PUNCT
alkej-953	308	4	l.	l.	PROPN
alkej-953	308	5	sun	sun	PROPN
alkej-953	308	6	,	,	PUNCT
alkej-953	308	7	b.	b.	PROPN
alkej-953	308	8	feng	feng	PROPN
alkej-953	308	9	,	,	PUNCT
alkej-953	308	10	t.	t.	PROPN
alkej-953	308	11	chen	chen	PROPN
alkej-953	308	12	,	,	PUNCT
alkej-953	308	13	d.	d.	PROPN
alkej-953	308	14	zhao	zhao	PROPN
alkej-953	308	15	,	,	PUNCT
alkej-953	308	16	and	and	CCONJ
alkej-953	308	17	y.	y.	PROPN
alkej-953	308	18	xin	xin	PROPN
alkej-953	308	19	,	,	PUNCT
alkej-953	308	20	“	"	PUNCT
alkej-953	308	21	equalized	equalize	VERB
alkej-953	308	22	grey	grey	ADJ
alkej-953	308	23	wolf	wolf	PROPN
alkej-953	308	24	optimizer	optimizer	NOUN
alkej-953	308	25	with	with	ADP
alkej-953	308	26	refraction	refraction	NOUN
alkej-953	308	27	opposite	opposite	ADJ
alkej-953	308	28	learning	learning	NOUN
alkej-953	308	29	,	,	PUNCT
alkej-953	308	30	”	"	PUNCT
alkej-953	308	31	comput	comput	NOUN
alkej-953	308	32	.	.	PUNCT
alkej-953	309	1	intell	intell	PROPN
alkej-953	309	2	.	.	PUNCT
alkej-953	310	1	neurosci	neurosci	PROPN
alkej-953	310	2	.	.	PUNCT
alkej-953	310	3	,	,	PUNCT
alkej-953	310	4	vol	vol	NOUN
alkej-953	310	5	.	.	NOUN
alkej-953	310	6	2022	2022	NUM
alkej-953	310	7	,	,	PUNCT
alkej-953	310	8	2022	2022	NUM
alkej-953	310	9	.	.	PUNCT
alkej-953	311	1	[	[	X
alkej-953	311	2	21	21	NUM
alkej-953	311	3	]	]	X
alkej-953	311	4	j.	j.	PROPN
alkej-953	311	5	li	li	PROPN
alkej-953	311	6	and	and	CCONJ
alkej-953	311	7	f.	f.	PROPN
alkej-953	311	8	yang	yang	PROPN
alkej-953	311	9	,	,	PUNCT
alkej-953	311	10	“	"	PUNCT
alkej-953	311	11	task	task	NOUN
alkej-953	311	12	assignment	assignment	NOUN
alkej-953	311	13	strategy	strategy	NOUN
alkej-953	311	14	for	for	ADP
alkej-953	311	15	multi	multi	ADJ
alkej-953	311	16	-	-	NOUN
alkej-953	311	17	robot	robot	NOUN
alkej-953	311	18	based	base	VERB
alkej-953	311	19	on	on	ADP
alkej-953	311	20	improved	improved	ADJ
alkej-953	311	21	grey	grey	ADJ
alkej-953	311	22	wolf	wolf	PROPN
alkej-953	311	23	optimizer	optimizer	NOUN
alkej-953	311	24	,	,	PUNCT
alkej-953	311	25	”	"	PUNCT
alkej-953	311	26	j.	j.	PROPN
alkej-953	311	27	ambient	ambient	PROPN
alkej-953	311	28	intell	intell	PROPN
alkej-953	311	29	.	.	PUNCT
alkej-953	312	1	humaniz	humaniz	VERB
alkej-953	312	2	.	.	PUNCT
alkej-953	313	1	comput	comput	NOUN
alkej-953	313	2	.	.	PUNCT
alkej-953	313	3	,	,	PUNCT
alkej-953	313	4	vol	vol	NOUN
alkej-953	313	5	.	.	PROPN
alkej-953	314	1	11	11	NUM
alkej-953	314	2	,	,	PUNCT
alkej-953	314	3	no	no	INTJ
alkej-953	314	4	.	.	NOUN
alkej-953	314	5	12	12	NUM
alkej-953	314	6	,	,	PUNCT
alkej-953	314	7	pp	pp	ADJ
alkej-953	314	8	.	.	PUNCT
alkej-953	315	1	6319–6335	6319–6335	NUM
alkej-953	315	2	,	,	PUNCT
alkej-953	315	3	2020	2020	NUM
alkej-953	315	4	.	.	PUNCT
alkej-953	316	1	(	(	PUNCT
alkej-953	316	2	2025	2025	NUM
alkej-953	316	3	)	)	PUNCT
alkej-953	316	4	42	42	NUM
alkej-953	316	5	-	-	SYM
alkej-953	316	6	52	52	NUM
alkej-953	316	7	،	،	NOUN
alkej-953	316	8	صفحة	صفحة	PROPN
alkej-953	316	9	2	2	NUM
alkej-953	316	10	،	،	NOUN
alkej-953	316	11	العدد21مجلة	العدد21مجلة	PROPN
alkej-953	316	12	الخوارزمي	الخوارزمي	PROPN
alkej-953	316	13	الهندسية	الهندسية	PROPN
alkej-953	316	14	المجلدزهراء	المجلدزهراء	PROPN
alkej-953	316	15	عبد	عبد	VERB
alkej-953	316	16	52	52	NUM
alkej-953	316	17	تخطيط	تخطيط	ADJ
alkej-953	316	18	المسار	المسار	PROPN
alkej-953	316	19	المستقل	المستقل	PROPN
alkej-953	316	20	وتجنب	وتجنب	PROPN
alkej-953	316	21	العوائق	العوائق	PROPN
alkej-953	316	22	للروبوت	للروبوت	PROPN
alkej-953	316	23	المتحرك	المتحرك	NOUN
alkej-953	316	24	ذو	ذو	PRON
alkej-953	316	25	العجالت	العجالت	ADJ
alkej-953	316	26	باستخدام	باستخدام	PROPN
alkej-953	316	27	تحسين	تحسين	NOUN
alkej-953	316	28	الذئب	الذئب	VERB
alkej-953	316	29	الرمادي	الرمادي	NOUN
alkej-953	316	30	2نبيل	2نبيل	NUM
alkej-953	316	31	حسن	حسن	NOUN
alkej-953	316	32	هادي	هادي	NOUN
alkej-953	316	33	،	،	NOUN
alkej-953	316	34	*	*	PUNCT
alkej-953	317	1	1زهراء	1زهراء	NUM
alkej-953	317	2	عبد	عبد	ADJ
alkej-953	317	3	1	1	NUM
alkej-953	317	4	،	،	NOUN
alkej-953	317	5	بغداد	بغداد	PROPN
alkej-953	317	6	،	،	PROPN
alkej-953	317	7	العراق	العراق	PROPN
alkej-953	317	8	بغداد	بغداد	PROPN
alkej-953	317	9	جامعة	جامعة	PROPN
alkej-953	317	10	،	،	PROPN
alkej-953	317	11	كليةالهندسة	كليةالهندسة	PROPN
alkej-953	317	12	،	،	PROPN
alkej-953	317	13	الميكانيكية	الميكانيكية	PROPN
alkej-953	317	14	الهندسة	الهندسة	PROPN
alkej-953	317	15	قسم	قسم	PROPN
alkej-953	317	16	،	،	PROPN
alkej-953	317	17	بغداد	بغداد	PROPN
alkej-953	317	18	،	،	PROPN
alkej-953	317	19	العراق	العراق	PROPN
alkej-953	317	20	بغداد	بغداد	PROPN
alkej-953	317	21	جامعة	جامعة	PROPN
alkej-953	317	22	،	،	PROPN
alkej-953	317	23	كليةالهندسة	كليةالهندسة	NOUN
alkej-953	317	24	،	،	NOUN
alkej-953	317	25	الطيران	الطيران	NOUN
alkej-953	317	26	هندسة	هندسة	NOUN
alkej-953	317	27	قسم	قسم	NOUN
alkej-953	317	28	2	2	NUM
alkej-953	317	29	zahraa.abdullah2003d@coeng.uobaghdad.edu.iq	zahraa.abdullah2003d@coeng.uobaghdad.edu.iq	NOUN
alkej-953	317	30	البريد	البريد	NOUN
alkej-953	317	31	االلكتروني	االلكتروني	NOUN
alkej-953	317	32	:	:	PUNCT
alkej-953	317	33	*	*	PUNCT
alkej-953	317	34	المستخلص	المستخلص	ADJ
alkej-953	317	35	تنفيذ	تنفيذ	PROPN
alkej-953	317	36	ومقارنة	ومقارنة	PROPN
alkej-953	317	37	تجنب	تجنب	PROPN
alkej-953	318	1	العوائق	العوائق	PROPN
alkej-953	318	2	لروبوت	لروبوت	PROPN
alkej-953	318	3	متحرك	متحرك	ADJ
alkej-953	318	4	ذاتي	ذاتي	ADJ
alkej-953	318	5	الحركة	الحركة	NOUN
alkej-953	318	6	(	(	PUNCT
alkej-953	318	7	gwo)باستخدام	gwo)باستخدام	PROPN
alkej-953	318	8	خوارزمية	خوارزمية	ADJ
alkej-953	318	9	تحسين	تحسين	NOUN
alkej-953	318	10	الذئب	الذئب	VERB
alkej-953	318	11	الرمادي	الرمادي	NOUN
alkej-953	318	12	(	(	PUNCT
alkej-953	318	13	(	(	PUNCT
alkej-953	318	14	wmrهدفت	wmrهدفت	NOUN
alkej-953	318	15	هذه	هذه	PROPN
alkej-953	318	16	الدراسة	الدراسة	PROPN
alkej-953	318	17	إلى	إلى	NOUN
alkej-953	318	18	أجريت	أجريت	NOUN
alkej-953	318	19	الدراسة	الدراسة	PROPN
alkej-953	318	20	من	من	PROPN
alkej-953	318	21	خالل	خالل	PROPN
alkej-953	318	22	ثالثة	ثالثة	PROPN
alkej-953	318	23	سيناريوهات	سيناريوهات	PROPN
alkej-953	318	24	،	،	PROPN
alkej-953	318	25	تم	تم	PROPN
alkej-953	318	26	تصميم	تصميم	PROPN
alkej-953	318	27	كل	كل	PROPN
alkej-953	318	28	منها	منها	NOUN
alkej-953	318	29	الختبار	الختبار	NOUN
alkej-953	318	30	أداء	أداء	NOUN
alkej-953	318	31	الخوارزمية	الخوارزمية	ADJ
alkej-953	318	32	في	في	X
alkej-953	318	33	ظل	ظل	PROPN
alkej-953	318	34	ظروف	ظروف	NOUN
alkej-953	318	35	.(abc	.(abc	PROPN
alkej-953	318	36	)	)	PUNCT
alkej-953	318	37	وخوارزمية	وخوارزمية	PROPN
alkej-953	318	38	مستعمرة	مستعمرة	NOUN
alkej-953	318	39	النحل	النحل	PROPN
alkej-953	318	40	االصطناعي	االصطناعي	PROPN
alkej-953	318	41	لتحديد	لتحديد	PROPN
alkej-953	318	42	المسار	المسار	PROPN
alkej-953	318	43	األكثر	األكثر	PROPN
alkej-953	318	44	كفاءة	كفاءة	PROPN
alkej-953	318	45	وأقصر	وأقصر	PROPN
alkej-953	318	46	وأكثر	وأكثر	PROPN
alkej-953	319	1	أمانًا	أمانًا	PROPN
alkej-953	319	2	لروبوت	لروبوت	ADV
alkej-953	319	3	gwoمختلفة	gwoمختلفة	PROPN
alkej-953	319	4	،	،	PROPN
alkej-953	319	5	مع	مع	PROPN
alkej-953	319	6	مراعاة	مراعاة	PROPN
alkej-953	319	7	العوائق	العوائق	PROPN
alkej-953	319	8	الدائرية	الدائرية	PROPN
alkej-953	319	9	الثابتة	الثابتة	PROPN
alkej-953	319	10	والمتحركة	والمتحركة	NOUN
alkej-953	319	11	في	في	PROPN
alkej-953	319	12	البيئة	البيئة	PROPN
alkej-953	319	13	المحيطة	المحيطة	PROPN
alkej-953	319	14	.	.	PUNCT
alkej-953	320	1	تم	تم	PROPN
alkej-953	320	2	استخدام	استخدام	PROPN
alkej-953	320	3	خوارزمية	خوارزمية	PROPN
alkej-953	320	4	wmr	wmr	PROPN
alkej-953	320	5	من	من	PROPN
alkej-953	320	6	نقطة	نقطة	PROPN
alkej-953	320	7	البداية	البداية	PROPN
alkej-953	320	8	إلى	إلى	NOUN
alkej-953	320	9	موقع	موقع	NOUN
alkej-953	320	10	الهدف	الهدف	ADJ
alkej-953	320	11	.	.	PUNCT
alkej-953	321	1	أظهرت	أظهرت	PROPN
alkej-953	321	2	النتائج	النتائج	PROPN
alkej-953	321	3	أن	أن	ADP
alkej-953	321	4	خوارزميةgwo	خوارزميةgwo	NOUN
alkej-953	321	5	تفوقت	تفوقت	PROPN
alkej-953	321	6	على	على	PROPN
alkej-953	321	7	خوارزميةabc	خوارزميةabc	PROPN
alkej-953	321	8	مما	مما	DET
alkej-953	321	9	مكن	مكن	PROPN
alkej-953	321	10	،	،	X
alkej-953	321	11	wmr	wmr	PROPN
alkej-953	321	12	من	من	INTJ
alkej-953	321	13	تجنب	تجنب	ADJ
alkej-953	321	14	العوائق	العوائق	ADJ
alkej-953	321	15	بشكل	بشكل	NOUN
alkej-953	321	16	٪	٪	X
alkej-953	321	17	للسيناريوهات	للسيناريوهات	PROPN
alkej-953	321	18	الثالثة	الثالثة	PROPN
alkej-953	321	19	على	على	PROPN
alkej-953	321	20	التوالي.1.97	التوالي.1.97	PROPN
alkej-953	321	21	٪	٪	NOUN
alkej-953	321	22	و	و	NUM
alkej-953	321	23	2.2	2.2	NUM
alkej-953	321	24	٪	٪	NOUN
alkej-953	321	25	و	و	NUM
alkej-953	321	26	1.42	1.42	NUM
alkej-953	321	27	٪	٪	NOUN
alkej-953	321	28	،	،	NOUN
alkej-953	321	29	وبمسافة	وبمسافة	NOUN
alkej-953	321	30	أقصر	أقصر	PROPN
alkej-953	321	31	بنسبة	بنسبة	VERB
alkej-953	321	32	4.6	4.6	NUM
alkej-953	321	33	٪	٪	NOUN
alkej-953	321	34	و	و	PRON
alkej-953	321	35	2.8	2.8	NUM
alkej-953	321	36	٪	٪	NOUN
alkej-953	321	37	و	و	PRON
alkej-953	321	38	11.8أسرع	11.8أسرع	NUM
alkej-953	321	39	بنسبة	بنسبة	X
alkej-953	321	40	mailto:zahraa.abdullah2003d@coeng.uobaghdad.edu.iq	mailto:zahraa.abdullah2003d@coeng.uobaghdad.edu.iq	NOUN