id	sid	tid	token	lemma	pos
american_scientific_journal-3482	1	1	316	316	NUM
american_scientific_journal-3482	1	2	american	american	ADJ
american_scientific_journal-3482	1	3	scientific	scientific	ADJ
american_scientific_journal-3482	1	4	research	research	NOUN
american_scientific_journal-3482	1	5	journal	journal	NOUN
american_scientific_journal-3482	1	6	for	for	ADP
american_scientific_journal-3482	1	7	engineering	engineering	NOUN
american_scientific_journal-3482	1	8	,	,	PUNCT
american_scientific_journal-3482	1	9	technology	technology	NOUN
american_scientific_journal-3482	1	10	,	,	PUNCT
american_scientific_journal-3482	1	11	and	and	CCONJ
american_scientific_journal-3482	1	12	sciences	science	NOUN
american_scientific_journal-3482	1	13	(	(	PUNCT
american_scientific_journal-3482	1	14	asrjets	asrjet	NOUN
american_scientific_journal-3482	1	15	)	)	PUNCT
american_scientific_journal-3482	1	16	issn	issn	PROPN
american_scientific_journal-3482	1	17	(	(	PUNCT
american_scientific_journal-3482	1	18	print	print	NOUN
american_scientific_journal-3482	1	19	)	)	PUNCT
american_scientific_journal-3482	1	20	2313	2313	NUM
american_scientific_journal-3482	1	21	-	-	SYM
american_scientific_journal-3482	1	22	4410	4410	NUM
american_scientific_journal-3482	1	23	,	,	PUNCT
american_scientific_journal-3482	1	24	issn	issn	PROPN
american_scientific_journal-3482	1	25	(	(	PUNCT
american_scientific_journal-3482	1	26	online	online	ADJ
american_scientific_journal-3482	1	27	)	)	PUNCT
american_scientific_journal-3482	1	28	2313	2313	NUM
american_scientific_journal-3482	1	29	-	-	SYM
american_scientific_journal-3482	1	30	4402	4402	NUM
american_scientific_journal-3482	1	31	©	©	PROPN
american_scientific_journal-3482	1	32	global	global	ADJ
american_scientific_journal-3482	1	33	society	society	NOUN
american_scientific_journal-3482	1	34	of	of	ADP
american_scientific_journal-3482	1	35	scientific	scientific	ADJ
american_scientific_journal-3482	1	36	research	research	NOUN
american_scientific_journal-3482	1	37	and	and	CCONJ
american_scientific_journal-3482	1	38	researchers	researcher	NOUN
american_scientific_journal-3482	1	39	http://asrjetsjournal.org/	http://asrjetsjournal.org/	NOUN
american_scientific_journal-3482	1	40	development	development	NOUN
american_scientific_journal-3482	1	41	of	of	ADP
american_scientific_journal-3482	1	42	modified	modify	VERB
american_scientific_journal-3482	1	43	path	path	NOUN
american_scientific_journal-3482	1	44	planning	planning	NOUN
american_scientific_journal-3482	1	45	algorithm	algorithm	NOUN
american_scientific_journal-3482	1	46	using	use	VERB
american_scientific_journal-3482	1	47	artificial	artificial	ADJ
american_scientific_journal-3482	1	48	potential	potential	ADJ
american_scientific_journal-3482	1	49	field	field	NOUN
american_scientific_journal-3482	1	50	(	(	PUNCT
american_scientific_journal-3482	1	51	apf	apf	PROPN
american_scientific_journal-3482	1	52	)	)	PUNCT
american_scientific_journal-3482	1	53	based	base	VERB
american_scientific_journal-3482	1	54	on	on	ADP
american_scientific_journal-3482	1	55	pso	pso	NOUN
american_scientific_journal-3482	1	56	for	for	ADP
american_scientific_journal-3482	1	57	factors	factor	NOUN
american_scientific_journal-3482	1	58	optimization	optimization	NOUN
american_scientific_journal-3482	1	59	assistant	assistant	NOUN
american_scientific_journal-3482	1	60	prof	prof	NOUN
american_scientific_journal-3482	1	61	.	.	PUNCT
american_scientific_journal-3482	2	1	dr	dr	PROPN
american_scientific_journal-3482	2	2	.	.	PROPN
american_scientific_journal-3482	2	3	firas	firas	PROPN
american_scientific_journal-3482	2	4	a.	a.	PROPN
american_scientific_journal-3482	2	5	raheema	raheema	PROPN
american_scientific_journal-3482	2	6	*	*	PROPN
american_scientific_journal-3482	2	7	,	,	PUNCT
american_scientific_journal-3482	2	8	mustafa	mustafa	PROPN
american_scientific_journal-3482	2	9	m.badrb	m.badrb	PROPN
american_scientific_journal-3482	2	10	aassistant	aassistant	PROPN
american_scientific_journal-3482	2	11	prof	prof	PROPN
american_scientific_journal-3482	2	12	.	.	PUNCT
american_scientific_journal-3482	3	1	dr	dr	PROPN
american_scientific_journal-3482	3	2	.	.	PROPN
american_scientific_journal-3482	3	3	,	,	PUNCT
american_scientific_journal-3482	3	4	university	university	NOUN
american_scientific_journal-3482	3	5	of	of	ADP
american_scientific_journal-3482	3	6	technology	technology	NOUN
american_scientific_journal-3482	3	7	,	,	PUNCT
american_scientific_journal-3482	3	8	baghdad	baghdad	PROPN
american_scientific_journal-3482	3	9	,	,	PUNCT
american_scientific_journal-3482	3	10	iraq	iraq	PROPN
american_scientific_journal-3482	3	11	bengineer	bengineer	NOUN
american_scientific_journal-3482	3	12	,	,	PUNCT
american_scientific_journal-3482	3	13	university	university	NOUN
american_scientific_journal-3482	3	14	of	of	ADP
american_scientific_journal-3482	3	15	technology	technology	NOUN
american_scientific_journal-3482	3	16	,	,	PUNCT
american_scientific_journal-3482	3	17	baghdad	baghdad	PROPN
american_scientific_journal-3482	3	18	,	,	PUNCT
american_scientific_journal-3482	3	19	iraq	iraq	PROPN
american_scientific_journal-3482	3	20	aemail	aemail	NOUN
american_scientific_journal-3482	3	21	:	:	PUNCT
american_scientific_journal-3482	3	22	60124@uotechnology.edu.iq	60124@uotechnology.edu.iq	NUM
american_scientific_journal-3482	3	23	bemail	bemail	NOUN
american_scientific_journal-3482	3	24	:	:	PUNCT
american_scientific_journal-3482	4	1	mustafa.control.eng@gmail.com	mustafa.control.eng@gmail.com	X
american_scientific_journal-3482	4	2	abstract	abstract	ADJ
american_scientific_journal-3482	4	3	solving	solve	VERB
american_scientific_journal-3482	4	4	the	the	DET
american_scientific_journal-3482	4	5	path	path	NOUN
american_scientific_journal-3482	4	6	planning	planning	NOUN
american_scientific_journal-3482	4	7	problem	problem	NOUN
american_scientific_journal-3482	4	8	considered	consider	VERB
american_scientific_journal-3482	4	9	as	as	ADP
american_scientific_journal-3482	4	10	one	one	NUM
american_scientific_journal-3482	4	11	of	of	ADP
american_scientific_journal-3482	4	12	the	the	DET
american_scientific_journal-3482	4	13	most	most	ADV
american_scientific_journal-3482	4	14	important	important	ADJ
american_scientific_journal-3482	4	15	aspects	aspect	NOUN
american_scientific_journal-3482	4	16	in	in	ADP
american_scientific_journal-3482	4	17	the	the	DET
american_scientific_journal-3482	4	18	navigation	navigation	NOUN
american_scientific_journal-3482	4	19	of	of	ADP
american_scientific_journal-3482	4	20	the	the	DET
american_scientific_journal-3482	4	21	robot	robot	NOUN
american_scientific_journal-3482	4	22	,	,	PUNCT
american_scientific_journal-3482	4	23	which	which	PRON
american_scientific_journal-3482	4	24	should	should	AUX
american_scientific_journal-3482	4	25	involve	involve	VERB
american_scientific_journal-3482	4	26	with	with	ADP
american_scientific_journal-3482	4	27	any	any	DET
american_scientific_journal-3482	4	28	optimization	optimization	NOUN
american_scientific_journal-3482	4	29	method	method	NOUN
american_scientific_journal-3482	4	30	to	to	PART
american_scientific_journal-3482	4	31	get	get	VERB
american_scientific_journal-3482	4	32	the	the	DET
american_scientific_journal-3482	4	33	best	good	ADJ
american_scientific_journal-3482	4	34	path	path	NOUN
american_scientific_journal-3482	4	35	.	.	PUNCT
american_scientific_journal-3482	5	1	this	this	DET
american_scientific_journal-3482	5	2	paper	paper	NOUN
american_scientific_journal-3482	5	3	presents	present	VERB
american_scientific_journal-3482	5	4	a	a	DET
american_scientific_journal-3482	5	5	mixing	mix	VERB
american_scientific_journal-3482	5	6	approach	approach	NOUN
american_scientific_journal-3482	5	7	of	of	ADP
american_scientific_journal-3482	5	8	modified	modify	VERB
american_scientific_journal-3482	5	9	robot	robot	NOUN
american_scientific_journal-3482	5	10	path	path	NOUN
american_scientific_journal-3482	5	11	planning	planning	NOUN
american_scientific_journal-3482	5	12	,	,	PUNCT
american_scientific_journal-3482	5	13	by	by	ADP
american_scientific_journal-3482	5	14	applying	apply	VERB
american_scientific_journal-3482	5	15	first	first	ADJ
american_scientific_journal-3482	5	16	particle	particle	NOUN
american_scientific_journal-3482	5	17	swarm	swarm	NOUN
american_scientific_journal-3482	5	18	optimization	optimization	NOUN
american_scientific_journal-3482	5	19	(	(	PUNCT
american_scientific_journal-3482	5	20	pso	pso	NOUN
american_scientific_journal-3482	5	21	)	)	PUNCT
american_scientific_journal-3482	5	22	to	to	PART
american_scientific_journal-3482	5	23	find	find	VERB
american_scientific_journal-3482	5	24	the	the	DET
american_scientific_journal-3482	5	25	best	good	ADJ
american_scientific_journal-3482	5	26	values	value	NOUN
american_scientific_journal-3482	5	27	of	of	ADP
american_scientific_journal-3482	5	28	artificial	artificial	ADJ
american_scientific_journal-3482	5	29	potential	potential	ADJ
american_scientific_journal-3482	5	30	field	field	NOUN
american_scientific_journal-3482	5	31	(	(	PUNCT
american_scientific_journal-3482	5	32	apf	apf	PROPN
american_scientific_journal-3482	5	33	)	)	PUNCT
american_scientific_journal-3482	5	34	factors	factor	NOUN
american_scientific_journal-3482	5	35	in	in	ADP
american_scientific_journal-3482	5	36	order	order	NOUN
american_scientific_journal-3482	5	37	to	to	PART
american_scientific_journal-3482	5	38	make	make	VERB
american_scientific_journal-3482	5	39	an	an	DET
american_scientific_journal-3482	5	40	iteratively	iteratively	ADJ
american_scientific_journal-3482	5	41	enhancement	enhancement	NOUN
american_scientific_journal-3482	5	42	till	till	SCONJ
american_scientific_journal-3482	5	43	reaching	reach	VERB
american_scientific_journal-3482	5	44	the	the	DET
american_scientific_journal-3482	5	45	shortest	short	ADJ
american_scientific_journal-3482	5	46	path	path	NOUN
american_scientific_journal-3482	5	47	.	.	PUNCT
american_scientific_journal-3482	6	1	this	this	DET
american_scientific_journal-3482	6	2	path	path	NOUN
american_scientific_journal-3482	6	3	will	will	AUX
american_scientific_journal-3482	6	4	be	be	AUX
american_scientific_journal-3482	6	5	smoothed	smooth	VERB
american_scientific_journal-3482	6	6	by	by	ADP
american_scientific_journal-3482	6	7	spline	spline	NOUN
american_scientific_journal-3482	6	8	equation	equation	NOUN
american_scientific_journal-3482	6	9	.	.	PUNCT
american_scientific_journal-3482	7	1	the	the	DET
american_scientific_journal-3482	7	2	result	result	NOUN
american_scientific_journal-3482	7	3	clearly	clearly	ADV
american_scientific_journal-3482	7	4	shows	show	VERB
american_scientific_journal-3482	7	5	the	the	DET
american_scientific_journal-3482	7	6	high	high	ADJ
american_scientific_journal-3482	7	7	performance	performance	NOUN
american_scientific_journal-3482	7	8	and	and	CCONJ
american_scientific_journal-3482	7	9	strength	strength	NOUN
american_scientific_journal-3482	7	10	of	of	ADP
american_scientific_journal-3482	7	11	this	this	DET
american_scientific_journal-3482	7	12	mixed	mixed	ADJ
american_scientific_journal-3482	7	13	approach	approach	NOUN
american_scientific_journal-3482	7	14	between	between	ADP
american_scientific_journal-3482	7	15	the	the	DET
american_scientific_journal-3482	7	16	pso	pso	NOUN
american_scientific_journal-3482	7	17	method	method	NOUN
american_scientific_journal-3482	7	18	and	and	CCONJ
american_scientific_journal-3482	7	19	apf	apf	PROPN
american_scientific_journal-3482	7	20	.	.	PUNCT
american_scientific_journal-3482	8	1	keywords	keyword	NOUN
american_scientific_journal-3482	8	2	:	:	PUNCT
american_scientific_journal-3482	8	3	artificial	artificial	ADJ
american_scientific_journal-3482	8	4	potential	potential	ADJ
american_scientific_journal-3482	8	5	field	field	NOUN
american_scientific_journal-3482	8	6	;	;	PUNCT
american_scientific_journal-3482	8	7	particle	particle	NOUN
american_scientific_journal-3482	8	8	swarm	swarm	NOUN
american_scientific_journal-3482	8	9	optimization	optimization	NOUN
american_scientific_journal-3482	8	10	(	(	PUNCT
american_scientific_journal-3482	8	11	pso	pso	NOUN
american_scientific_journal-3482	8	12	)	)	PUNCT
american_scientific_journal-3482	8	13	;	;	PUNCT
american_scientific_journal-3482	8	14	path	path	NOUN
american_scientific_journal-3482	8	15	planning	planning	NOUN
american_scientific_journal-3482	8	16	.	.	PUNCT
american_scientific_journal-3482	9	1	1	1	X
american_scientific_journal-3482	9	2	.	.	X
american_scientific_journal-3482	9	3	introduction	introduction	NOUN
american_scientific_journal-3482	9	4	motion	motion	NOUN
american_scientific_journal-3482	9	5	planning	planning	NOUN
american_scientific_journal-3482	9	6	is	be	AUX
american_scientific_journal-3482	9	7	an	an	DET
american_scientific_journal-3482	9	8	important	important	ADJ
american_scientific_journal-3482	9	9	affair	affair	NOUN
american_scientific_journal-3482	9	10	in	in	ADP
american_scientific_journal-3482	9	11	robotics	robotic	NOUN
american_scientific_journal-3482	9	12	.	.	PUNCT
american_scientific_journal-3482	10	1	in	in	ADP
american_scientific_journal-3482	10	2	an	an	DET
american_scientific_journal-3482	10	3	environment	environment	NOUN
american_scientific_journal-3482	10	4	which	which	PRON
american_scientific_journal-3482	10	5	filled	fill	VERB
american_scientific_journal-3482	10	6	by	by	ADP
american_scientific_journal-3482	10	7	obstacles	obstacle	NOUN
american_scientific_journal-3482	10	8	,	,	PUNCT
american_scientific_journal-3482	10	9	the	the	DET
american_scientific_journal-3482	10	10	purpose	purpose	NOUN
american_scientific_journal-3482	10	11	of	of	ADP
american_scientific_journal-3482	10	12	path	path	NOUN
american_scientific_journal-3482	10	13	planning	planning	NOUN
american_scientific_journal-3482	10	14	is	be	AUX
american_scientific_journal-3482	10	15	to	to	PART
american_scientific_journal-3482	10	16	find	find	VERB
american_scientific_journal-3482	10	17	an	an	DET
american_scientific_journal-3482	10	18	acceptable	acceptable	ADJ
american_scientific_journal-3482	10	19	collision	collision	NOUN
american_scientific_journal-3482	10	20	-	-	PUNCT
american_scientific_journal-3482	10	21	free	free	ADJ
american_scientific_journal-3482	10	22	path	path	NOUN
american_scientific_journal-3482	10	23	to	to	PART
american_scientific_journal-3482	10	24	ensure	ensure	VERB
american_scientific_journal-3482	10	25	the	the	DET
american_scientific_journal-3482	10	26	movement	movement	NOUN
american_scientific_journal-3482	10	27	of	of	ADP
american_scientific_journal-3482	10	28	the	the	DET
american_scientific_journal-3482	10	29	robot	robot	NOUN
american_scientific_journal-3482	10	30	from	from	ADP
american_scientific_journal-3482	10	31	the	the	DET
american_scientific_journal-3482	10	32	initial	initial	ADJ
american_scientific_journal-3482	10	33	point	point	NOUN
american_scientific_journal-3482	10	34	to	to	ADP
american_scientific_journal-3482	10	35	the	the	DET
american_scientific_journal-3482	10	36	final	final	ADJ
american_scientific_journal-3482	10	37	destination	destination	NOUN
american_scientific_journal-3482	10	38	.	.	PUNCT
american_scientific_journal-3482	11	1	also	also	ADV
american_scientific_journal-3482	11	2	is	be	AUX
american_scientific_journal-3482	11	3	to	to	PART
american_scientific_journal-3482	11	4	locate	locate	VERB
american_scientific_journal-3482	11	5	a	a	DET
american_scientific_journal-3482	11	6	set	set	NOUN
american_scientific_journal-3482	11	7	of	of	ADP
american_scientific_journal-3482	11	8	points	point	NOUN
american_scientific_journal-3482	11	9	for	for	SCONJ
american_scientific_journal-3482	11	10	the	the	DET
american_scientific_journal-3482	11	11	robot	robot	NOUN
american_scientific_journal-3482	11	12	to	to	PART
american_scientific_journal-3482	11	13	go	go	VERB
american_scientific_journal-3482	11	14	away	away	ADV
american_scientific_journal-3482	11	15	from	from	ADP
american_scientific_journal-3482	11	16	the	the	DET
american_scientific_journal-3482	11	17	obstacles	obstacle	NOUN
american_scientific_journal-3482	11	18	and	and	CCONJ
american_scientific_journal-3482	11	19	prevent	prevent	VERB
american_scientific_journal-3482	11	20	it	it	PRON
american_scientific_journal-3482	11	21	from	from	ADP
american_scientific_journal-3482	11	22	any	any	DET
american_scientific_journal-3482	11	23	possible	possible	ADJ
american_scientific_journal-3482	11	24	collisions	collision	NOUN
american_scientific_journal-3482	11	25	till	till	AUX
american_scientific_journal-3482	11	26	reach	reach	VERB
american_scientific_journal-3482	11	27	the	the	DET
american_scientific_journal-3482	11	28	goal	goal	NOUN
american_scientific_journal-3482	11	29	.	.	PUNCT
american_scientific_journal-3482	12	1	the	the	DET
american_scientific_journal-3482	12	2	previous	previous	ADJ
american_scientific_journal-3482	12	3	algorithms	algorithms	NOUN
american_scientific_journal-3482	12	4	deal	deal	VERB
american_scientific_journal-3482	12	5	with	with	ADP
american_scientific_journal-3482	12	6	path	path	NOUN
american_scientific_journal-3482	12	7	planning	planning	NOUN
american_scientific_journal-3482	12	8	problems	problem	NOUN
american_scientific_journal-3482	12	9	of	of	ADP
american_scientific_journal-3482	12	10	robots	robot	NOUN
american_scientific_journal-3482	12	11	by	by	ADP
american_scientific_journal-3482	12	12	the	the	DET
american_scientific_journal-3482	12	13	navigation	navigation	NOUN
american_scientific_journal-3482	12	14	in	in	ADP
american_scientific_journal-3482	12	15	a	a	DET
american_scientific_journal-3482	12	16	totally	totally	ADV
american_scientific_journal-3482	12	17	known	know	VERB
american_scientific_journal-3482	12	18	environment	environment	NOUN
american_scientific_journal-3482	12	19	filled	fill	VERB
american_scientific_journal-3482	12	20	with	with	ADP
american_scientific_journal-3482	12	21	static	static	ADJ
american_scientific_journal-3482	12	22	obstacles	obstacle	NOUN
american_scientific_journal-3482	12	23	[	[	X
american_scientific_journal-3482	12	24	1	1	NUM
american_scientific_journal-3482	12	25	-	-	SYM
american_scientific_journal-3482	12	26	7	7	NUM
american_scientific_journal-3482	12	27	]	]	PUNCT
american_scientific_journal-3482	12	28	.	.	PUNCT
american_scientific_journal-3482	13	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-3482	14	1	*	*	PUNCT
american_scientific_journal-3482	14	2	corresponding	correspond	VERB
american_scientific_journal-3482	14	3	author	author	NOUN
american_scientific_journal-3482	14	4	.	.	PUNCT
american_scientific_journal-3482	15	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-3482	15	2	american	american	PROPN
american_scientific_journal-3482	15	3	scientific	scientific	PROPN
american_scientific_journal-3482	15	4	research	research	NOUN
american_scientific_journal-3482	15	5	journal	journal	NOUN
american_scientific_journal-3482	15	6	for	for	ADP
american_scientific_journal-3482	15	7	engineering	engineering	NOUN
american_scientific_journal-3482	15	8	,	,	PUNCT
american_scientific_journal-3482	15	9	technology	technology	NOUN
american_scientific_journal-3482	15	10	,	,	PUNCT
american_scientific_journal-3482	15	11	and	and	CCONJ
american_scientific_journal-3482	15	12	sciences	science	NOUN
american_scientific_journal-3482	15	13	(	(	PUNCT
american_scientific_journal-3482	15	14	asrjets	asrjet	NOUN
american_scientific_journal-3482	15	15	)	)	PUNCT
american_scientific_journal-3482	15	16	(	(	PUNCT
american_scientific_journal-3482	15	17	2017	2017	NUM
american_scientific_journal-3482	15	18	)	)	PUNCT
american_scientific_journal-3482	15	19	volume	volume	NOUN
american_scientific_journal-3482	15	20	37	37	NUM
american_scientific_journal-3482	15	21	,	,	PUNCT
american_scientific_journal-3482	15	22	no	no	DET
american_scientific_journal-3482	15	23	1	1	NUM
american_scientific_journal-3482	15	24	,	,	PUNCT
american_scientific_journal-3482	15	25	pp	pp	ADV
american_scientific_journal-3482	15	26	316	316	NUM
american_scientific_journal-3482	15	27	-	-	SYM
american_scientific_journal-3482	15	28	328	328	NUM
american_scientific_journal-3482	15	29	317	317	NUM
american_scientific_journal-3482	15	30	the	the	DET
american_scientific_journal-3482	15	31	artificial	artificial	ADJ
american_scientific_journal-3482	15	32	potential	potential	ADJ
american_scientific_journal-3482	15	33	field	field	NOUN
american_scientific_journal-3482	15	34	(	(	PUNCT
american_scientific_journal-3482	15	35	apf	apf	NOUN
american_scientific_journal-3482	15	36	)	)	PUNCT
american_scientific_journal-3482	15	37	technique	technique	NOUN
american_scientific_journal-3482	15	38	is	be	AUX
american_scientific_journal-3482	15	39	commonly	commonly	ADV
american_scientific_journal-3482	15	40	applied	apply	VERB
american_scientific_journal-3482	15	41	for	for	ADP
american_scientific_journal-3482	15	42	path	path	NOUN
american_scientific_journal-3482	15	43	planning	planning	NOUN
american_scientific_journal-3482	15	44	to	to	ADP
american_scientific_journal-3482	15	45	many	many	ADJ
american_scientific_journal-3482	15	46	types	type	NOUN
american_scientific_journal-3482	15	47	of	of	ADP
american_scientific_journal-3482	15	48	robots	robot	NOUN
american_scientific_journal-3482	15	49	.	.	PUNCT
american_scientific_journal-3482	16	1	in	in	ADP
american_scientific_journal-3482	16	2	the	the	DET
american_scientific_journal-3482	16	3	apf	apf	PROPN
american_scientific_journal-3482	16	4	theory	theory	NOUN
american_scientific_journal-3482	16	5	,	,	PUNCT
american_scientific_journal-3482	16	6	the	the	DET
american_scientific_journal-3482	16	7	field	field	NOUN
american_scientific_journal-3482	16	8	of	of	ADP
american_scientific_journal-3482	16	9	forces	force	NOUN
american_scientific_journal-3482	16	10	affect	affect	VERB
american_scientific_journal-3482	16	11	on	on	ADP
american_scientific_journal-3482	16	12	the	the	DET
american_scientific_journal-3482	16	13	robot	robot	NOUN
american_scientific_journal-3482	16	14	.	.	PUNCT
american_scientific_journal-3482	17	1	the	the	DET
american_scientific_journal-3482	17	2	total	total	ADJ
american_scientific_journal-3482	17	3	force	force	NOUN
american_scientific_journal-3482	17	4	came	come	VERB
american_scientific_journal-3482	17	5	by	by	ADP
american_scientific_journal-3482	17	6	combination	combination	NOUN
american_scientific_journal-3482	17	7	of	of	ADP
american_scientific_journal-3482	17	8	to	to	ADP
american_scientific_journal-3482	17	9	two	two	NUM
american_scientific_journal-3482	17	10	types	type	NOUN
american_scientific_journal-3482	17	11	of	of	ADP
american_scientific_journal-3482	17	12	forces	force	NOUN
american_scientific_journal-3482	17	13	:	:	PUNCT
american_scientific_journal-3482	17	14	first	first	ADJ
american_scientific_journal-3482	17	15	type	type	NOUN
american_scientific_journal-3482	17	16	is	be	AUX
american_scientific_journal-3482	17	17	the	the	DET
american_scientific_journal-3482	17	18	field	field	NOUN
american_scientific_journal-3482	17	19	of	of	ADP
american_scientific_journal-3482	17	20	attractive	attractive	ADJ
american_scientific_journal-3482	17	21	force	force	NOUN
american_scientific_journal-3482	17	22	and	and	CCONJ
american_scientific_journal-3482	17	23	second	second	ADJ
american_scientific_journal-3482	17	24	type	type	NOUN
american_scientific_journal-3482	17	25	is	be	AUX
american_scientific_journal-3482	17	26	the	the	DET
american_scientific_journal-3482	17	27	repulsive	repulsive	ADJ
american_scientific_journal-3482	17	28	field	field	NOUN
american_scientific_journal-3482	17	29	force	force	NOUN
american_scientific_journal-3482	17	30	.	.	PUNCT
american_scientific_journal-3482	18	1	in	in	ADP
american_scientific_journal-3482	18	2	this	this	DET
american_scientific_journal-3482	18	3	method	method	NOUN
american_scientific_journal-3482	18	4	,	,	PUNCT
american_scientific_journal-3482	18	5	each	each	DET
american_scientific_journal-3482	18	6	obstacle	obstacle	NOUN
american_scientific_journal-3482	18	7	can	can	AUX
american_scientific_journal-3482	18	8	create	create	VERB
american_scientific_journal-3482	18	9	a	a	DET
american_scientific_journal-3482	18	10	repulsive	repulsive	ADJ
american_scientific_journal-3482	18	11	force	force	NOUN
american_scientific_journal-3482	18	12	to	to	ADP
american_scientific_journal-3482	18	13	the	the	DET
american_scientific_journal-3482	18	14	robot	robot	NOUN
american_scientific_journal-3482	18	15	which	which	PRON
american_scientific_journal-3482	18	16	its	its	PRON
american_scientific_journal-3482	18	17	magnitude	magnitude	NOUN
american_scientific_journal-3482	18	18	is	be	AUX
american_scientific_journal-3482	18	19	proportional	proportional	ADJ
american_scientific_journal-3482	18	20	inversely	inversely	ADV
american_scientific_journal-3482	18	21	to	to	ADP
american_scientific_journal-3482	18	22	the	the	DET
american_scientific_journal-3482	18	23	distance	distance	NOUN
american_scientific_journal-3482	18	24	measured	measure	VERB
american_scientific_journal-3482	18	25	from	from	ADP
american_scientific_journal-3482	18	26	the	the	DET
american_scientific_journal-3482	18	27	robot	robot	NOUN
american_scientific_journal-3482	18	28	to	to	ADP
american_scientific_journal-3482	18	29	the	the	DET
american_scientific_journal-3482	18	30	obstacles	obstacle	NOUN
american_scientific_journal-3482	18	31	.	.	PUNCT
american_scientific_journal-3482	19	1	if	if	SCONJ
american_scientific_journal-3482	19	2	the	the	DET
american_scientific_journal-3482	19	3	distance	distance	NOUN
american_scientific_journal-3482	19	4	greater	great	ADJ
american_scientific_journal-3482	19	5	than	than	ADP
american_scientific_journal-3482	19	6	the	the	DET
american_scientific_journal-3482	19	7	influence	influence	NOUN
american_scientific_journal-3482	19	8	area	area	NOUN
american_scientific_journal-3482	19	9	the	the	DET
american_scientific_journal-3482	19	10	force	force	NOUN
american_scientific_journal-3482	19	11	will	will	AUX
american_scientific_journal-3482	19	12	not	not	PART
american_scientific_journal-3482	19	13	affect	affect	VERB
american_scientific_journal-3482	19	14	the	the	DET
american_scientific_journal-3482	19	15	robot	robot	NOUN
american_scientific_journal-3482	19	16	otherwise	otherwise	ADV
american_scientific_journal-3482	19	17	if	if	SCONJ
american_scientific_journal-3482	19	18	the	the	DET
american_scientific_journal-3482	19	19	robot	robot	NOUN
american_scientific_journal-3482	19	20	in	in	ADP
american_scientific_journal-3482	19	21	this	this	DET
american_scientific_journal-3482	19	22	area	area	NOUN
american_scientific_journal-3482	19	23	,	,	PUNCT
american_scientific_journal-3482	19	24	then	then	ADV
american_scientific_journal-3482	19	25	it	it	PRON
american_scientific_journal-3482	19	26	will	will	AUX
american_scientific_journal-3482	19	27	be	be	AUX
american_scientific_journal-3482	19	28	repelled	repel	VERB
american_scientific_journal-3482	19	29	.	.	PUNCT
american_scientific_journal-3482	20	1	the	the	DET
american_scientific_journal-3482	20	2	direction	direction	NOUN
american_scientific_journal-3482	20	3	of	of	ADP
american_scientific_journal-3482	20	4	all	all	DET
american_scientific_journal-3482	20	5	obstacles	obstacle	NOUN
american_scientific_journal-3482	20	6	forces	force	NOUN
american_scientific_journal-3482	20	7	is	be	AUX
american_scientific_journal-3482	20	8	pointing	point	VERB
american_scientific_journal-3482	20	9	away	away	ADV
american_scientific_journal-3482	20	10	from	from	ADP
american_scientific_journal-3482	20	11	the	the	DET
american_scientific_journal-3482	20	12	robot	robot	NOUN
american_scientific_journal-3482	20	13	.	.	PUNCT
american_scientific_journal-3482	21	1	in	in	ADP
american_scientific_journal-3482	21	2	the	the	DET
american_scientific_journal-3482	21	3	same	same	ADJ
american_scientific_journal-3482	21	4	time	time	NOUN
american_scientific_journal-3482	21	5	the	the	DET
american_scientific_journal-3482	21	6	target	target	NOUN
american_scientific_journal-3482	21	7	point	point	NOUN
american_scientific_journal-3482	21	8	has	have	VERB
american_scientific_journal-3482	21	9	attractive	attractive	ADJ
american_scientific_journal-3482	21	10	force	force	NOUN
american_scientific_journal-3482	21	11	that	that	PRON
american_scientific_journal-3482	21	12	has	have	VERB
american_scientific_journal-3482	21	13	an	an	DET
american_scientific_journal-3482	21	14	effect	effect	NOUN
american_scientific_journal-3482	21	15	in	in	ADP
american_scientific_journal-3482	21	16	all	all	DET
american_scientific_journal-3482	21	17	the	the	DET
american_scientific_journal-3482	21	18	environment	environment	NOUN
american_scientific_journal-3482	21	19	to	to	PART
american_scientific_journal-3482	21	20	attract	attract	VERB
american_scientific_journal-3482	21	21	the	the	DET
american_scientific_journal-3482	21	22	robot	robot	NOUN
american_scientific_journal-3482	21	23	to	to	ADP
american_scientific_journal-3482	21	24	the	the	DET
american_scientific_journal-3482	21	25	goal	goal	NOUN
american_scientific_journal-3482	21	26	.	.	PUNCT
american_scientific_journal-3482	22	1	the	the	DET
american_scientific_journal-3482	22	2	summation	summation	NOUN
american_scientific_journal-3482	22	3	of	of	ADP
american_scientific_journal-3482	22	4	these	these	DET
american_scientific_journal-3482	22	5	two	two	NUM
american_scientific_journal-3482	22	6	force	force	NOUN
american_scientific_journal-3482	22	7	components	component	NOUN
american_scientific_journal-3482	22	8	will	will	AUX
american_scientific_journal-3482	22	9	create	create	VERB
american_scientific_journal-3482	22	10	a	a	DET
american_scientific_journal-3482	22	11	field	field	NOUN
american_scientific_journal-3482	22	12	with	with	ADP
american_scientific_journal-3482	22	13	whole	whole	ADJ
american_scientific_journal-3482	22	14	magnitude	magnitude	NOUN
american_scientific_journal-3482	22	15	and	and	CCONJ
american_scientific_journal-3482	22	16	direction	direction	NOUN
american_scientific_journal-3482	22	17	in	in	ADP
american_scientific_journal-3482	22	18	which	which	PRON
american_scientific_journal-3482	22	19	the	the	DET
american_scientific_journal-3482	22	20	robot	robot	NOUN
american_scientific_journal-3482	22	21	moves	move	VERB
american_scientific_journal-3482	22	22	to	to	ADP
american_scientific_journal-3482	22	23	the	the	DET
american_scientific_journal-3482	22	24	goal	goal	NOUN
american_scientific_journal-3482	22	25	with	with	ADP
american_scientific_journal-3482	22	26	avoiding	avoid	VERB
american_scientific_journal-3482	22	27	any	any	DET
american_scientific_journal-3482	22	28	possible	possible	ADJ
american_scientific_journal-3482	22	29	collision”[8	collision”[8	NOUN
american_scientific_journal-3482	22	30	]	]	X
american_scientific_journal-3482	22	31	.	.	PUNCT
american_scientific_journal-3482	23	1	the	the	DET
american_scientific_journal-3482	23	2	potential	potential	ADJ
american_scientific_journal-3482	23	3	function	function	NOUN
american_scientific_journal-3482	23	4	used	use	VERB
american_scientific_journal-3482	23	5	in	in	ADP
american_scientific_journal-3482	23	6	this	this	DET
american_scientific_journal-3482	23	7	method	method	NOUN
american_scientific_journal-3482	23	8	has	have	VERB
american_scientific_journal-3482	23	9	two	two	NUM
american_scientific_journal-3482	23	10	values	value	NOUN
american_scientific_journal-3482	23	11	,	,	PUNCT
american_scientific_journal-3482	23	12	a	a	DET
american_scientific_journal-3482	23	13	minimum	minimum	NOUN
american_scientific_journal-3482	23	14	value	value	NOUN
american_scientific_journal-3482	23	15	,	,	PUNCT
american_scientific_journal-3482	23	16	when	when	SCONJ
american_scientific_journal-3482	23	17	the	the	DET
american_scientific_journal-3482	23	18	robot	robot	NOUN
american_scientific_journal-3482	23	19	is	be	AUX
american_scientific_journal-3482	23	20	very	very	ADV
american_scientific_journal-3482	23	21	near	near	ADV
american_scientific_journal-3482	23	22	or	or	CCONJ
american_scientific_journal-3482	23	23	at	at	ADP
american_scientific_journal-3482	23	24	the	the	DET
american_scientific_journal-3482	23	25	final	final	ADJ
american_scientific_journal-3482	23	26	destination	destination	NOUN
american_scientific_journal-3482	23	27	and	and	CCONJ
american_scientific_journal-3482	23	28	a	a	DET
american_scientific_journal-3482	23	29	highest	high	ADJ
american_scientific_journal-3482	23	30	value	value	NOUN
american_scientific_journal-3482	23	31	on	on	ADP
american_scientific_journal-3482	23	32	each	each	DET
american_scientific_journal-3482	23	33	obstacle	obstacle	NOUN
american_scientific_journal-3482	23	34	.	.	PUNCT
american_scientific_journal-3482	24	1	the	the	DET
american_scientific_journal-3482	24	2	function	function	NOUN
american_scientific_journal-3482	24	3	tends	tend	VERB
american_scientific_journal-3482	24	4	down	down	ADP
american_scientific_journal-3482	24	5	and	and	CCONJ
american_scientific_journal-3482	24	6	converges	converge	VERB
american_scientific_journal-3482	24	7	the	the	DET
american_scientific_journal-3482	24	8	robot	robot	NOUN
american_scientific_journal-3482	24	9	to	to	ADP
american_scientific_journal-3482	24	10	the	the	DET
american_scientific_journal-3482	24	11	final	final	ADJ
american_scientific_journal-3482	24	12	destination	destination	NOUN
american_scientific_journal-3482	25	1	[	[	X
american_scientific_journal-3482	25	2	9	9	NUM
american_scientific_journal-3482	25	3	]	]	PUNCT
american_scientific_journal-3482	25	4	.	.	PUNCT
american_scientific_journal-3482	26	1	khatib	khatib	PROPN
american_scientific_journal-3482	26	2	’s	’s	PART
american_scientific_journal-3482	26	3	who	who	PRON
american_scientific_journal-3482	26	4	gave	give	VERB
american_scientific_journal-3482	26	5	the	the	DET
american_scientific_journal-3482	26	6	basic	basic	ADJ
american_scientific_journal-3482	26	7	definition	definition	NOUN
american_scientific_journal-3482	26	8	of	of	ADP
american_scientific_journal-3482	26	9	the	the	DET
american_scientific_journal-3482	26	10	method	method	NOUN
american_scientific_journal-3482	26	11	in	in	ADP
american_scientific_journal-3482	26	12	the	the	DET
american_scientific_journal-3482	26	13	configuration	configuration	NOUN
american_scientific_journal-3482	26	14	space	space	NOUN
american_scientific_journal-3482	26	15	where	where	SCONJ
american_scientific_journal-3482	26	16	the	the	DET
american_scientific_journal-3482	26	17	minimum	minimum	ADJ
american_scientific_journal-3482	26	18	forces	force	NOUN
american_scientific_journal-3482	26	19	at	at	ADP
american_scientific_journal-3482	26	20	the	the	DET
american_scientific_journal-3482	26	21	target	target	NOUN
american_scientific_journal-3482	26	22	point	point	NOUN
american_scientific_journal-3482	26	23	but	but	CCONJ
american_scientific_journal-3482	26	24	the	the	DET
american_scientific_journal-3482	26	25	highest	high	ADJ
american_scientific_journal-3482	26	26	on	on	ADP
american_scientific_journal-3482	26	27	the	the	DET
american_scientific_journal-3482	26	28	obstacles	obstacle	NOUN
american_scientific_journal-3482	26	29	so	so	SCONJ
american_scientific_journal-3482	26	30	the	the	DET
american_scientific_journal-3482	26	31	whole	whole	ADJ
american_scientific_journal-3482	26	32	environment	environment	NOUN
american_scientific_journal-3482	26	33	will	will	AUX
american_scientific_journal-3482	26	34	represent	represent	VERB
american_scientific_journal-3482	26	35	as	as	ADP
american_scientific_journal-3482	26	36	valleys	valley	NOUN
american_scientific_journal-3482	26	37	which	which	PRON
american_scientific_journal-3482	26	38	are	be	AUX
american_scientific_journal-3482	26	39	the	the	DET
american_scientific_journal-3482	26	40	goals	goal	NOUN
american_scientific_journal-3482	26	41	and	and	CCONJ
american_scientific_journal-3482	26	42	hills	hill	NOUN
american_scientific_journal-3482	26	43	which	which	PRON
american_scientific_journal-3482	26	44	are	be	AUX
american_scientific_journal-3482	26	45	obstacles	obstacle	NOUN
american_scientific_journal-3482	26	46	.	.	PUNCT
american_scientific_journal-3482	27	1	the	the	DET
american_scientific_journal-3482	27	2	goal	goal	NOUN
american_scientific_journal-3482	27	3	point	point	NOUN
american_scientific_journal-3482	27	4	in	in	ADP
american_scientific_journal-3482	27	5	the	the	DET
american_scientific_journal-3482	27	6	potential	potential	ADJ
american_scientific_journal-3482	27	7	field	field	NOUN
american_scientific_journal-3482	27	8	is	be	AUX
american_scientific_journal-3482	27	9	attract	attract	VERB
american_scientific_journal-3482	27	10	the	the	DET
american_scientific_journal-3482	27	11	robot	robot	NOUN
american_scientific_journal-3482	27	12	while	while	SCONJ
american_scientific_journal-3482	27	13	it	it	PRON
american_scientific_journal-3482	27	14	is	be	AUX
american_scientific_journal-3482	27	15	repelling	repel	VERB
american_scientific_journal-3482	27	16	by	by	ADP
american_scientific_journal-3482	27	17	obstacles	obstacle	NOUN
american_scientific_journal-3482	27	18	in	in	ADP
american_scientific_journal-3482	27	19	the	the	DET
american_scientific_journal-3482	27	20	environment	environment	NOUN
american_scientific_journal-3482	27	21	.	.	PUNCT
american_scientific_journal-3482	28	1	the	the	DET
american_scientific_journal-3482	28	2	gradient	gradient	NOUN
american_scientific_journal-3482	28	3	has	have	AUX
american_scientific_journal-3482	28	4	followed	follow	VERB
american_scientific_journal-3482	28	5	by	by	ADP
american_scientific_journal-3482	28	6	the	the	DET
american_scientific_journal-3482	28	7	robot	robot	NOUN
american_scientific_journal-3482	28	8	till	till	SCONJ
american_scientific_journal-3482	28	9	reaching	reach	VERB
american_scientific_journal-3482	28	10	the	the	DET
american_scientific_journal-3482	28	11	target	target	NOUN
american_scientific_journal-3482	28	12	point	point	NOUN
american_scientific_journal-3482	28	13	and	and	CCONJ
american_scientific_journal-3482	28	14	in	in	ADP
american_scientific_journal-3482	28	15	the	the	DET
american_scientific_journal-3482	28	16	same	same	ADJ
american_scientific_journal-3482	28	17	time	time	NOUN
american_scientific_journal-3482	28	18	avoid	avoid	VERB
american_scientific_journal-3482	28	19	any	any	DET
american_scientific_journal-3482	28	20	possible	possible	ADJ
american_scientific_journal-3482	28	21	collisions	collision	NOUN
american_scientific_journal-3482	28	22	with	with	ADP
american_scientific_journal-3482	28	23	the	the	DET
american_scientific_journal-3482	28	24	obstacles	obstacle	NOUN
american_scientific_journal-3482	28	25	[	[	X
american_scientific_journal-3482	28	26	10	10	NUM
american_scientific_journal-3482	28	27	]	]	PUNCT
american_scientific_journal-3482	28	28	.	.	PUNCT
american_scientific_journal-3482	29	1	a	a	DET
american_scientific_journal-3482	29	2	navigation	navigation	NOUN
american_scientific_journal-3482	29	3	method	method	NOUN
american_scientific_journal-3482	29	4	was	be	AUX
american_scientific_journal-3482	29	5	proposed	propose	VERB
american_scientific_journal-3482	29	6	to	to	PART
american_scientific_journal-3482	29	7	find	find	VERB
american_scientific_journal-3482	29	8	suitable	suitable	ADJ
american_scientific_journal-3482	29	9	path	path	NOUN
american_scientific_journal-3482	29	10	.	.	PUNCT
american_scientific_journal-3482	30	1	the	the	DET
american_scientific_journal-3482	30	2	main	main	ADJ
american_scientific_journal-3482	30	3	idea	idea	NOUN
american_scientific_journal-3482	30	4	behind	behind	ADP
american_scientific_journal-3482	30	5	this	this	DET
american_scientific_journal-3482	30	6	method	method	NOUN
american_scientific_journal-3482	30	7	is	be	AUX
american_scientific_journal-3482	30	8	to	to	PART
american_scientific_journal-3482	30	9	combine	combine	VERB
american_scientific_journal-3482	30	10	the	the	DET
american_scientific_journal-3482	30	11	virtual	virtual	ADJ
american_scientific_journal-3482	30	12	obstacle	obstacle	NOUN
american_scientific_journal-3482	30	13	with	with	ADP
american_scientific_journal-3482	30	14	potential	potential	ADJ
american_scientific_journal-3482	30	15	field	field	NOUN
american_scientific_journal-3482	30	16	to	to	PART
american_scientific_journal-3482	30	17	make	make	VERB
american_scientific_journal-3482	30	18	the	the	DET
american_scientific_journal-3482	30	19	cylindrical	cylindrical	ADJ
american_scientific_journal-3482	30	20	mobile	mobile	PROPN
american_scientific_journal-3482	30	21	robot	robot	NOUN
american_scientific_journal-3482	30	22	movement	movement	NOUN
american_scientific_journal-3482	30	23	flexible	flexible	ADJ
american_scientific_journal-3482	30	24	in	in	ADP
american_scientific_journal-3482	30	25	totally	totally	ADV
american_scientific_journal-3482	30	26	unknown	unknown	ADJ
american_scientific_journal-3482	30	27	environments	environment	NOUN
american_scientific_journal-3482	30	28	.	.	PUNCT
american_scientific_journal-3482	31	1	the	the	DET
american_scientific_journal-3482	31	2	simulation	simulation	NOUN
american_scientific_journal-3482	31	3	results	result	NOUN
american_scientific_journal-3482	31	4	of	of	ADP
american_scientific_journal-3482	31	5	the	the	DET
american_scientific_journal-3482	31	6	experiments	experiment	NOUN
american_scientific_journal-3482	31	7	show	show	VERB
american_scientific_journal-3482	31	8	acceptable	acceptable	ADJ
american_scientific_journal-3482	31	9	performance	performance	NOUN
american_scientific_journal-3482	31	10	and	and	CCONJ
american_scientific_journal-3482	31	11	ability	ability	NOUN
american_scientific_journal-3482	31	12	to	to	PART
american_scientific_journal-3482	31	13	find	find	VERB
american_scientific_journal-3482	31	14	suitable	suitable	ADJ
american_scientific_journal-3482	31	15	solve	solve	NOUN
american_scientific_journal-3482	31	16	to	to	ADP
american_scientific_journal-3482	31	17	the	the	DET
american_scientific_journal-3482	31	18	commonly	commonly	ADJ
american_scientific_journal-3482	31	19	problem	problem	NOUN
american_scientific_journal-3482	31	20	in	in	ADP
american_scientific_journal-3482	31	21	artificial	artificial	ADJ
american_scientific_journal-3482	31	22	potential	potential	ADJ
american_scientific_journal-3482	31	23	field	field	NOUN
american_scientific_journal-3482	31	24	theory	theory	NOUN
american_scientific_journal-3482	31	25	,	,	PUNCT
american_scientific_journal-3482	31	26	especially	especially	ADV
american_scientific_journal-3482	31	27	the	the	DET
american_scientific_journal-3482	31	28	local	local	ADJ
american_scientific_journal-3482	31	29	minima	minima	PROPN
american_scientific_journal-3482	31	30	problem	problem	NOUN
american_scientific_journal-3482	31	31	.	.	PUNCT
american_scientific_journal-3482	32	1	in	in	ADP
american_scientific_journal-3482	32	2	the	the	DET
american_scientific_journal-3482	32	3	function	function	NOUN
american_scientific_journal-3482	32	4	of	of	ADP
american_scientific_journal-3482	32	5	the	the	DET
american_scientific_journal-3482	32	6	classic	classic	ADJ
american_scientific_journal-3482	32	7	artificial	artificial	ADJ
american_scientific_journal-3482	32	8	potential	potential	ADJ
american_scientific_journal-3482	32	9	field	field	NOUN
american_scientific_journal-3482	32	10	approach	approach	NOUN
american_scientific_journal-3482	32	11	,	,	PUNCT
american_scientific_journal-3482	32	12	there	there	PRON
american_scientific_journal-3482	32	13	is	be	VERB
american_scientific_journal-3482	32	14	no	no	DET
american_scientific_journal-3482	32	15	optimization	optimization	NOUN
american_scientific_journal-3482	32	16	method	method	NOUN
american_scientific_journal-3482	32	17	was	be	AUX
american_scientific_journal-3482	32	18	deal	deal	NOUN
american_scientific_journal-3482	32	19	with	with	ADP
american_scientific_journal-3482	32	20	[	[	X
american_scientific_journal-3482	32	21	11	11	NUM
american_scientific_journal-3482	32	22	]	]	PUNCT
american_scientific_journal-3482	32	23	.	.	PUNCT
american_scientific_journal-3482	33	1	an	an	DET
american_scientific_journal-3482	33	2	evolutionary	evolutionary	ADJ
american_scientific_journal-3482	33	3	artificial	artificial	ADJ
american_scientific_journal-3482	33	4	potential	potential	ADJ
american_scientific_journal-3482	33	5	field	field	NOUN
american_scientific_journal-3482	33	6	(	(	PUNCT
american_scientific_journal-3482	33	7	eapf	eapf	NOUN
american_scientific_journal-3482	33	8	)	)	PUNCT
american_scientific_journal-3482	33	9	for	for	ADP
american_scientific_journal-3482	33	10	path	path	NOUN
american_scientific_journal-3482	33	11	planning	planning	NOUN
american_scientific_journal-3482	33	12	introduced	introduce	VERB
american_scientific_journal-3482	33	13	.	.	PUNCT
american_scientific_journal-3482	34	1	the	the	DET
american_scientific_journal-3482	34	2	artificial	artificial	ADJ
american_scientific_journal-3482	34	3	potential	potential	ADJ
american_scientific_journal-3482	34	4	field	field	NOUN
american_scientific_journal-3482	34	5	theory	theory	NOUN
american_scientific_journal-3482	34	6	in	in	ADP
american_scientific_journal-3482	34	7	this	this	DET
american_scientific_journal-3482	34	8	method	method	NOUN
american_scientific_journal-3482	34	9	was	be	AUX
american_scientific_journal-3482	34	10	combined	combine	VERB
american_scientific_journal-3482	34	11	with	with	ADP
american_scientific_journal-3482	34	12	the	the	DET
american_scientific_journal-3482	34	13	genetic	genetic	ADJ
american_scientific_journal-3482	34	14	algorithm	algorithm	NOUN
american_scientific_journal-3482	34	15	,	,	PUNCT
american_scientific_journal-3482	34	16	to	to	PART
american_scientific_journal-3482	34	17	reach	reach	VERB
american_scientific_journal-3482	34	18	the	the	DET
american_scientific_journal-3482	34	19	best	good	ADJ
american_scientific_journal-3482	34	20	potential	potential	ADJ
american_scientific_journal-3482	34	21	field	field	NOUN
american_scientific_journal-3482	34	22	functions	function	NOUN
american_scientific_journal-3482	34	23	.	.	PUNCT
american_scientific_journal-3482	35	1	this	this	DET
american_scientific_journal-3482	35	2	proposed	propose	VERB
american_scientific_journal-3482	35	3	approach	approach	NOUN
american_scientific_journal-3482	35	4	had	have	VERB
american_scientific_journal-3482	35	5	the	the	DET
american_scientific_journal-3482	35	6	ability	ability	NOUN
american_scientific_journal-3482	35	7	of	of	ADP
american_scientific_journal-3482	35	8	pointing	point	VERB
american_scientific_journal-3482	35	9	the	the	DET
american_scientific_journal-3482	35	10	robots	robot	NOUN
american_scientific_journal-3482	35	11	that	that	PRON
american_scientific_journal-3482	35	12	deal	deal	VERB
american_scientific_journal-3482	35	13	with	with	ADP
american_scientific_journal-3482	35	14	dynamic	dynamic	ADJ
american_scientific_journal-3482	35	15	obstacles	obstacle	NOUN
american_scientific_journal-3482	35	16	.	.	PUNCT
american_scientific_journal-3482	36	1	the	the	DET
american_scientific_journal-3482	36	2	functions	function	NOUN
american_scientific_journal-3482	36	3	of	of	ADP
american_scientific_journal-3482	36	4	potential	potential	ADJ
american_scientific_journal-3482	36	5	field	field	NOUN
american_scientific_journal-3482	36	6	for	for	ADP
american_scientific_journal-3482	36	7	obstacles	obstacle	NOUN
american_scientific_journal-3482	36	8	and	and	CCONJ
american_scientific_journal-3482	36	9	target	target	NOUN
american_scientific_journal-3482	36	10	are	be	AUX
american_scientific_journal-3482	36	11	also	also	ADV
american_scientific_journal-3482	36	12	known	know	VERB
american_scientific_journal-3482	36	13	which	which	PRON
american_scientific_journal-3482	36	14	contain	contain	VERB
american_scientific_journal-3482	36	15	a	a	DET
american_scientific_journal-3482	36	16	changeable	changeable	ADJ
american_scientific_journal-3482	36	17	factors	factor	NOUN
american_scientific_journal-3482	36	18	.	.	PUNCT
american_scientific_journal-3482	37	1	the	the	DET
american_scientific_journal-3482	37	2	performance	performance	NOUN
american_scientific_journal-3482	37	3	strength	strength	NOUN
american_scientific_journal-3482	37	4	of	of	ADP
american_scientific_journal-3482	37	5	this	this	DET
american_scientific_journal-3482	37	6	methodology	methodology	NOUN
american_scientific_journal-3482	37	7	is	be	AUX
american_scientific_journal-3482	37	8	clear	clear	ADJ
american_scientific_journal-3482	37	9	after	after	ADP
american_scientific_journal-3482	37	10	taking	take	VERB
american_scientific_journal-3482	37	11	in	in	ADP
american_scientific_journal-3482	37	12	consideration	consideration	NOUN
american_scientific_journal-3482	37	13	the	the	DET
american_scientific_journal-3482	37	14	dynamic	dynamic	ADJ
american_scientific_journal-3482	37	15	obstacles	obstacle	NOUN
american_scientific_journal-3482	37	16	and	and	CCONJ
american_scientific_journal-3482	37	17	dynamic	dynamic	ADJ
american_scientific_journal-3482	37	18	goal	goal	NOUN
american_scientific_journal-3482	37	19	[	[	X
american_scientific_journal-3482	37	20	12	12	NUM
american_scientific_journal-3482	37	21	]	]	PUNCT
american_scientific_journal-3482	37	22	.	.	PUNCT
american_scientific_journal-3482	38	1	2	2	X
american_scientific_journal-3482	38	2	.	.	X
american_scientific_journal-3482	38	3	artificial	artificial	ADJ
american_scientific_journal-3482	38	4	potential	potential	ADJ
american_scientific_journal-3482	38	5	field	field	NOUN
american_scientific_journal-3482	38	6	theory	theory	NOUN
american_scientific_journal-3482	38	7	in	in	ADP
american_scientific_journal-3482	38	8	case	case	NOUN
american_scientific_journal-3482	38	9	of	of	ADP
american_scientific_journal-3482	38	10	mass	mass	ADJ
american_scientific_journal-3482	38	11	point	point	NOUN
american_scientific_journal-3482	38	12	let	let	VERB
american_scientific_journal-3482	38	13	q	q	NOUN
american_scientific_journal-3482	38	14	referred	refer	VERB
american_scientific_journal-3482	38	15	to	to	ADP
american_scientific_journal-3482	38	16	the	the	DET
american_scientific_journal-3482	38	17	robot	robot	NOUN
american_scientific_journal-3482	38	18	position	position	NOUN
american_scientific_journal-3482	38	19	to	to	PART
american_scientific_journal-3482	38	20	move	move	VERB
american_scientific_journal-3482	38	21	in	in	ADP
american_scientific_journal-3482	38	22	a	a	DET
american_scientific_journal-3482	38	23	environment	environment	NOUN
american_scientific_journal-3482	38	24	with	with	ADP
american_scientific_journal-3482	38	25	two	two	NUM
american_scientific_journal-3482	38	26	-	-	PUNCT
american_scientific_journal-3482	38	27	dimension	dimension	NOUN
american_scientific_journal-3482	38	28	.	.	PUNCT
american_scientific_journal-3482	39	1	the	the	DET
american_scientific_journal-3482	39	2	robot	robot	NOUN
american_scientific_journal-3482	39	3	current	current	ADJ
american_scientific_journal-3482	39	4	position	position	NOUN
american_scientific_journal-3482	39	5	represented	represent	VERB
american_scientific_journal-3482	39	6	by	by	ADP
american_scientific_journal-3482	39	7	q=[x	q=[x	PROPN
american_scientific_journal-3482	39	8	y	y	PROPN
american_scientific_journal-3482	39	9	]	]	PUNCT
american_scientific_journal-3482	39	10	while	while	SCONJ
american_scientific_journal-3482	39	11	the	the	DET
american_scientific_journal-3482	39	12	position	position	NOUN
american_scientific_journal-3482	39	13	coordinate	coordinate	NOUN
american_scientific_journal-3482	39	14	of	of	ADP
american_scientific_journal-3482	39	15	obstacle	obstacle	NOUN
american_scientific_journal-3482	39	16	denoted	denote	VERB
american_scientific_journal-3482	39	17	by	by	ADP
american_scientific_journal-3482	39	18	𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	PROPN
american_scientific_journal-3482	39	19	=(	=(	NOUN
american_scientific_journal-3482	39	20	𝑥𝑥𝑜𝑜𝑜𝑜𝑜𝑜,𝑦𝑦𝑜𝑜𝑜𝑜𝑜𝑜	𝑥𝑥𝑜𝑜𝑜𝑜𝑜𝑜,𝑦𝑦𝑜𝑜𝑜𝑜𝑜𝑜	NOUN
american_scientific_journal-3482	39	21	)	)	PUNCT
american_scientific_journal-3482	39	22	,	,	PUNCT
american_scientific_journal-3482	39	23	and	and	CCONJ
american_scientific_journal-3482	39	24	the	the	DET
american_scientific_journal-3482	39	25	goal	goal	NOUN
american_scientific_journal-3482	39	26	position	position	NOUN
american_scientific_journal-3482	39	27	is	be	AUX
american_scientific_journal-3482	39	28	𝑞𝑞𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	𝑞𝑞𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	ADJ
american_scientific_journal-3482	39	29	=(	=(	PROPN
american_scientific_journal-3482	39	30	𝑥𝑥𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	𝑥𝑥𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	NOUN
american_scientific_journal-3482	39	31	,	,	PUNCT
american_scientific_journal-3482	39	32	𝑦𝑦𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	𝑦𝑦𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	ADV
american_scientific_journal-3482	39	33	)	)	PUNCT
american_scientific_journal-3482	39	34	,	,	PUNCT
american_scientific_journal-3482	39	35	2.1	2.1	NUM
american_scientific_journal-3482	39	36	attractive	attractive	ADJ
american_scientific_journal-3482	39	37	surface	surface	NOUN
american_scientific_journal-3482	39	38	of	of	ADP
american_scientific_journal-3482	39	39	potential	potential	ADJ
american_scientific_journal-3482	39	40	field	field	NOUN
american_scientific_journal-3482	39	41	the	the	DET
american_scientific_journal-3482	39	42	parabolic	parabolic	ADJ
american_scientific_journal-3482	39	43	form	form	NOUN
american_scientific_journal-3482	39	44	is	be	AUX
american_scientific_journal-3482	39	45	the	the	DET
american_scientific_journal-3482	39	46	very	very	ADV
american_scientific_journal-3482	39	47	commonly	commonly	ADJ
american_scientific_journal-3482	39	48	style	style	NOUN
american_scientific_journal-3482	39	49	of	of	ADP
american_scientific_journal-3482	39	50	potential	potential	ADJ
american_scientific_journal-3482	39	51	field	field	NOUN
american_scientific_journal-3482	39	52	function	function	NOUN
american_scientific_journal-3482	39	53	.	.	PUNCT
american_scientific_journal-3482	40	1	the	the	DET
american_scientific_journal-3482	40	2	attractive	attractive	ADJ
american_scientific_journal-3482	40	3	potential	potential	NOUN
american_scientific_journal-3482	40	4	that	that	PRON
american_scientific_journal-3482	40	5	grows	grow	VERB
american_scientific_journal-3482	40	6	up	up	ADP
american_scientific_journal-3482	40	7	quadratic	quadratic	ADJ
american_scientific_journal-3482	40	8	way	way	NOUN
american_scientific_journal-3482	40	9	proportional	proportional	ADJ
american_scientific_journal-3482	40	10	with	with	ADP
american_scientific_journal-3482	40	11	the	the	DET
american_scientific_journal-3482	40	12	distance	distance	NOUN
american_scientific_journal-3482	40	13	to	to	ADP
american_scientific_journal-3482	40	14	the	the	DET
american_scientific_journal-3482	40	15	goal	goal	NOUN
american_scientific_journal-3482	40	16	shown	show	VERB
american_scientific_journal-3482	40	17	in	in	ADP
american_scientific_journal-3482	40	18	(	(	PUNCT
american_scientific_journal-3482	40	19	figure	figure	NOUN
american_scientific_journal-3482	40	20	2	2	NUM
american_scientific_journal-3482	40	21	)	)	PUNCT
american_scientific_journal-3482	40	22	.	.	PUNCT
american_scientific_journal-3482	41	1	american	american	PROPN
american_scientific_journal-3482	41	2	scientific	scientific	ADJ
american_scientific_journal-3482	41	3	research	research	PROPN
american_scientific_journal-3482	41	4	journal	journal	NOUN
american_scientific_journal-3482	41	5	for	for	ADP
american_scientific_journal-3482	41	6	engineering	engineering	NOUN
american_scientific_journal-3482	41	7	,	,	PUNCT
american_scientific_journal-3482	41	8	technology	technology	NOUN
american_scientific_journal-3482	41	9	,	,	PUNCT
american_scientific_journal-3482	41	10	and	and	CCONJ
american_scientific_journal-3482	41	11	sciences	science	NOUN
american_scientific_journal-3482	41	12	(	(	PUNCT
american_scientific_journal-3482	41	13	asrjets	asrjet	NOUN
american_scientific_journal-3482	41	14	)	)	PUNCT
american_scientific_journal-3482	41	15	(	(	PUNCT
american_scientific_journal-3482	41	16	2017	2017	NUM
american_scientific_journal-3482	41	17	)	)	PUNCT
american_scientific_journal-3482	41	18	volume	volume	NOUN
american_scientific_journal-3482	41	19	37	37	NUM
american_scientific_journal-3482	41	20	,	,	PUNCT
american_scientific_journal-3482	41	21	no	no	DET
american_scientific_journal-3482	41	22	1	1	NUM
american_scientific_journal-3482	41	23	,	,	PUNCT
american_scientific_journal-3482	41	24	pp	pp	ADV
american_scientific_journal-3482	41	25	316	316	NUM
american_scientific_journal-3482	41	26	-	-	SYM
american_scientific_journal-3482	41	27	328	328	NUM
american_scientific_journal-3482	41	28	318	318	NUM
american_scientific_journal-3482	41	29	figure	figure	NOUN
american_scientific_journal-3482	41	30	1	1	NUM
american_scientific_journal-3482	41	31	:	:	PUNCT
american_scientific_journal-3482	41	32	attractive	attractive	ADJ
american_scientific_journal-3482	41	33	surface	surface	NOUN
american_scientific_journal-3482	41	34	𝑈𝑈𝑔𝑔𝑎𝑎𝑎𝑎(𝑞𝑞	𝑈𝑈𝑔𝑔𝑎𝑎𝑎𝑎(𝑞𝑞	NOUN
american_scientific_journal-3482	41	35	)	)	PUNCT
american_scientific_journal-3482	41	36	=	=	SYM
american_scientific_journal-3482	41	37	1	1	NUM
american_scientific_journal-3482	41	38	2	2	NUM
american_scientific_journal-3482	41	39	𝐾𝐾𝑔𝑔	𝐾𝐾𝑔𝑔	PROPN
american_scientific_journal-3482	41	40	𝑑𝑑2	𝑑𝑑2	PROPN
american_scientific_journal-3482	41	41	(	(	PUNCT
american_scientific_journal-3482	41	42	𝑞𝑞	𝑞𝑞	PROPN
american_scientific_journal-3482	41	43	,	,	PUNCT
american_scientific_journal-3482	41	44	𝑞𝑞𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	𝑞𝑞𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	PROPN
american_scientific_journal-3482	41	45	)	)	PUNCT
american_scientific_journal-3482	41	46	(	(	PUNCT
american_scientific_journal-3482	41	47	1	1	X
american_scientific_journal-3482	41	48	)	)	PUNCT
american_scientific_journal-3482	41	49	where	where	SCONJ
american_scientific_journal-3482	41	50	𝐾𝐾𝑔𝑔	𝐾𝐾𝑔𝑔	PROPN
american_scientific_journal-3482	41	51	is	be	AUX
american_scientific_journal-3482	41	52	the	the	DET
american_scientific_journal-3482	41	53	relative	relative	ADJ
american_scientific_journal-3482	41	54	factor	factor	NOUN
american_scientific_journal-3482	41	55	of	of	ADP
american_scientific_journal-3482	41	56	the	the	DET
american_scientific_journal-3482	41	57	attractive	attractive	ADJ
american_scientific_journal-3482	41	58	potential	potential	ADJ
american_scientific_journal-3482	41	59	surface	surface	NOUN
american_scientific_journal-3482	41	60	,	,	PUNCT
american_scientific_journal-3482	41	61	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-3482	41	62	(	(	PUNCT
american_scientific_journal-3482	41	63	𝑞𝑞	𝑞𝑞	PROPN
american_scientific_journal-3482	41	64	,	,	PUNCT
american_scientific_journal-3482	41	65	𝑞𝑞𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	𝑞𝑞𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	PROPN
american_scientific_journal-3482	41	66	)	)	PUNCT
american_scientific_journal-3482	41	67	is	be	AUX
american_scientific_journal-3482	41	68	the	the	DET
american_scientific_journal-3482	41	69	euclidean	euclidean	ADJ
american_scientific_journal-3482	41	70	distance	distance	NOUN
american_scientific_journal-3482	41	71	from	from	ADP
american_scientific_journal-3482	41	72	the	the	DET
american_scientific_journal-3482	41	73	robot	robot	NOUN
american_scientific_journal-3482	41	74	to	to	ADP
american_scientific_journal-3482	41	75	the	the	DET
american_scientific_journal-3482	41	76	desired	desire	VERB
american_scientific_journal-3482	41	77	point	point	NOUN
american_scientific_journal-3482	41	78	(	(	PUNCT
american_scientific_journal-3482	41	79	goal	goal	NOUN
american_scientific_journal-3482	41	80	)	)	PUNCT
american_scientific_journal-3482	41	81	𝑞𝑞𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	𝑞𝑞𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	ADV
american_scientific_journal-3482	41	82	.	.	PUNCT
american_scientific_journal-3482	42	1	the	the	DET
american_scientific_journal-3482	42	2	attractive	attractive	ADJ
american_scientific_journal-3482	42	3	force	force	NOUN
american_scientific_journal-3482	42	4	is	be	AUX
american_scientific_journal-3482	42	5	measured	measure	VERB
american_scientific_journal-3482	42	6	as	as	ADP
american_scientific_journal-3482	42	7	the	the	DET
american_scientific_journal-3482	42	8	negative	negative	ADJ
american_scientific_journal-3482	42	9	gradient	gradient	NOUN
american_scientific_journal-3482	42	10	of	of	ADP
american_scientific_journal-3482	42	11	the	the	DET
american_scientific_journal-3482	42	12	attractive	attractive	ADJ
american_scientific_journal-3482	42	13	potential	potential	ADJ
american_scientific_journal-3482	42	14	field	field	NOUN
american_scientific_journal-3482	42	15	:	:	PUNCT
american_scientific_journal-3482	42	16	𝐹𝐹𝑔𝑔𝑎𝑎𝑎𝑎(𝑞𝑞	𝐹𝐹𝑔𝑔𝑎𝑎𝑎𝑎(𝑞𝑞	PROPN
american_scientific_journal-3482	42	17	)	)	PUNCT
american_scientific_journal-3482	42	18	=	=	SYM
american_scientific_journal-3482	43	1	−𝛻𝛻𝑈𝑈𝑔𝑔𝑎𝑎𝑎𝑎(𝑞𝑞	−𝛻𝛻𝑈𝑈𝑔𝑔𝑎𝑎𝑎𝑎(𝑞𝑞	PROPN
american_scientific_journal-3482	43	2	)	)	PUNCT
american_scientific_journal-3482	43	3	=	=	SYM
american_scientific_journal-3482	44	1	−	−	PROPN
american_scientific_journal-3482	44	2	𝐾𝐾𝑔𝑔	𝐾𝐾𝑔𝑔	PROPN
american_scientific_journal-3482	44	3	𝑑𝑑(𝑞𝑞	𝑑𝑑(𝑞𝑞	PROPN
american_scientific_journal-3482	44	4	,	,	PUNCT
american_scientific_journal-3482	44	5	𝑞𝑞𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	𝑞𝑞𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	NOUN
american_scientific_journal-3482	44	6	)	)	PUNCT
american_scientific_journal-3482	44	7	(	(	PUNCT
american_scientific_journal-3482	44	8	2	2	X
american_scientific_journal-3482	44	9	)	)	PUNCT
american_scientific_journal-3482	44	10	2.2	2.2	NUM
american_scientific_journal-3482	44	11	repulsive	repulsive	ADJ
american_scientific_journal-3482	44	12	potential	potential	ADJ
american_scientific_journal-3482	44	13	field	field	NOUN
american_scientific_journal-3482	44	14	the	the	DET
american_scientific_journal-3482	44	15	repulsive	repulsive	ADJ
american_scientific_journal-3482	44	16	force	force	NOUN
american_scientific_journal-3482	44	17	has	have	VERB
american_scientific_journal-3482	44	18	a	a	DET
american_scientific_journal-3482	44	19	relative	relative	ADJ
american_scientific_journal-3482	44	20	relationship	relationship	NOUN
american_scientific_journal-3482	44	21	between	between	ADP
american_scientific_journal-3482	44	22	the	the	DET
american_scientific_journal-3482	44	23	distances	distance	NOUN
american_scientific_journal-3482	44	24	of	of	ADP
american_scientific_journal-3482	44	25	the	the	DET
american_scientific_journal-3482	44	26	obstacles	obstacle	NOUN
american_scientific_journal-3482	44	27	to	to	ADP
american_scientific_journal-3482	44	28	the	the	DET
american_scientific_journal-3482	44	29	position	position	NOUN
american_scientific_journal-3482	44	30	of	of	ADP
american_scientific_journal-3482	44	31	robot	robot	NOUN
american_scientific_journal-3482	44	32	.	.	PUNCT
american_scientific_journal-3482	45	1	the	the	DET
american_scientific_journal-3482	45	2	repulsive	repulsive	ADJ
american_scientific_journal-3482	45	3	potential	potential	ADJ
american_scientific_journal-3482	45	4	surface	surface	NOUN
american_scientific_journal-3482	45	5	was	be	AUX
american_scientific_journal-3482	45	6	introduced	introduce	VERB
american_scientific_journal-3482	45	7	by	by	ADP
american_scientific_journal-3482	45	8	the	the	DET
american_scientific_journal-3482	45	9	repulsive	repulsive	ADJ
american_scientific_journal-3482	45	10	forces	force	NOUN
american_scientific_journal-3482	45	11	of	of	ADP
american_scientific_journal-3482	45	12	all	all	DET
american_scientific_journal-3482	45	13	the	the	DET
american_scientific_journal-3482	45	14	obstacles	obstacle	NOUN
american_scientific_journal-3482	45	15	.	.	PUNCT
american_scientific_journal-3482	46	1	the	the	DET
american_scientific_journal-3482	46	2	equations	equation	NOUN
american_scientific_journal-3482	46	3	(	(	PUNCT
american_scientific_journal-3482	46	4	3	3	NUM
american_scientific_journal-3482	46	5	-	-	SYM
american_scientific_journal-3482	46	6	4	4	NUM
american_scientific_journal-3482	46	7	)	)	PUNCT
american_scientific_journal-3482	46	8	represent	represent	VERB
american_scientific_journal-3482	46	9	the	the	DET
american_scientific_journal-3482	46	10	repulsive	repulsive	ADJ
american_scientific_journal-3482	46	11	potential	potential	ADJ
american_scientific_journal-3482	46	12	function	function	NOUN
american_scientific_journal-3482	46	13	and	and	CCONJ
american_scientific_journal-3482	46	14	figure	figure	NOUN
american_scientific_journal-3482	46	15	(	(	PUNCT
american_scientific_journal-3482	46	16	2	2	NUM
american_scientific_journal-3482	46	17	)	)	PUNCT
american_scientific_journal-3482	46	18	shows	show	VERB
american_scientific_journal-3482	46	19	the	the	DET
american_scientific_journal-3482	46	20	repulsive	repulsive	ADJ
american_scientific_journal-3482	46	21	surface	surface	NOUN
american_scientific_journal-3482	46	22	.	.	PUNCT
american_scientific_journal-3482	47	1	𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒(𝑞𝑞	𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒(𝑞𝑞	PROPN
american_scientific_journal-3482	47	2	)	)	PUNCT
american_scientific_journal-3482	47	3	=	=	SYM
american_scientific_journal-3482	47	4	∑𝑖𝑖	∑𝑖𝑖	PUNCT
american_scientific_journal-3482	47	5	𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒𝑖𝑖(𝑞𝑞	𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒𝑖𝑖(𝑞𝑞	PROPN
american_scientific_journal-3482	47	6	)	)	PUNCT
american_scientific_journal-3482	47	7	(	(	PUNCT
american_scientific_journal-3482	47	8	3	3	X
american_scientific_journal-3482	47	9	)	)	PUNCT
american_scientific_journal-3482	47	10	where	where	SCONJ
american_scientific_journal-3482	47	11	𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒𝑖𝑖(𝑞𝑞	𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒𝑖𝑖(𝑞𝑞	NOUN
american_scientific_journal-3482	47	12	)	)	PUNCT
american_scientific_journal-3482	47	13	referred	refer	VERB
american_scientific_journal-3482	47	14	to	to	ADP
american_scientific_journal-3482	47	15	the	the	DET
american_scientific_journal-3482	47	16	repulsive	repulsive	ADJ
american_scientific_journal-3482	47	17	potential	potential	ADJ
american_scientific_journal-3482	47	18	field	field	NOUN
american_scientific_journal-3482	47	19	created	create	VERB
american_scientific_journal-3482	47	20	by	by	ADP
american_scientific_journal-3482	47	21	obstacle	obstacle	NOUN
american_scientific_journal-3482	47	22	i	i	PRON
american_scientific_journal-3482	47	23	,	,	PUNCT
american_scientific_journal-3482	47	24	where	where	SCONJ
american_scientific_journal-3482	47	25	i	i	PRON
american_scientific_journal-3482	47	26	is	be	AUX
american_scientific_journal-3482	47	27	number	number	NOUN
american_scientific_journal-3482	47	28	of	of	ADP
american_scientific_journal-3482	47	29	obstacles	obstacle	NOUN
american_scientific_journal-3482	47	30	.	.	PUNCT
american_scientific_journal-3482	48	1	figure	figure	NOUN
american_scientific_journal-3482	48	2	2	2	NUM
american_scientific_journal-3482	48	3	:	:	PUNCT
american_scientific_journal-3482	48	4	repulsive	repulsive	ADJ
american_scientific_journal-3482	48	5	surface	surface	NOUN
american_scientific_journal-3482	48	6	american	american	ADJ
american_scientific_journal-3482	48	7	scientific	scientific	ADJ
american_scientific_journal-3482	48	8	research	research	NOUN
american_scientific_journal-3482	48	9	journal	journal	NOUN
american_scientific_journal-3482	48	10	for	for	ADP
american_scientific_journal-3482	48	11	engineering	engineering	NOUN
american_scientific_journal-3482	48	12	,	,	PUNCT
american_scientific_journal-3482	48	13	technology	technology	NOUN
american_scientific_journal-3482	48	14	,	,	PUNCT
american_scientific_journal-3482	48	15	and	and	CCONJ
american_scientific_journal-3482	48	16	sciences	science	NOUN
american_scientific_journal-3482	48	17	(	(	PUNCT
american_scientific_journal-3482	48	18	asrjets	asrjet	NOUN
american_scientific_journal-3482	48	19	)	)	PUNCT
american_scientific_journal-3482	48	20	(	(	PUNCT
american_scientific_journal-3482	48	21	2017	2017	NUM
american_scientific_journal-3482	48	22	)	)	PUNCT
american_scientific_journal-3482	48	23	volume	volume	NOUN
american_scientific_journal-3482	48	24	37	37	NUM
american_scientific_journal-3482	48	25	,	,	PUNCT
american_scientific_journal-3482	48	26	no	no	DET
american_scientific_journal-3482	48	27	1	1	NUM
american_scientific_journal-3482	48	28	,	,	PUNCT
american_scientific_journal-3482	48	29	pp	pp	ADV
american_scientific_journal-3482	48	30	316	316	NUM
american_scientific_journal-3482	48	31	-	-	SYM
american_scientific_journal-3482	48	32	328	328	NUM
american_scientific_journal-3482	48	33	319	319	NUM
american_scientific_journal-3482	48	34	𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒(𝑞𝑞	𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒(𝑞𝑞	NOUN
american_scientific_journal-3482	48	35	)	)	PUNCT
american_scientific_journal-3482	48	36	=	=	PRON
american_scientific_journal-3482	48	37	{	{	PUNCT
american_scientific_journal-3482	48	38	0	0	NUM
american_scientific_journal-3482	48	39	𝑖𝑖𝑖𝑖	𝑖𝑖𝑖𝑖	NOUN
american_scientific_journal-3482	48	40	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-3482	48	41	(	(	PUNCT
american_scientific_journal-3482	48	42	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	PRON
american_scientific_journal-3482	48	43	)	)	PUNCT
american_scientific_journal-3482	48	44	>	>	X
american_scientific_journal-3482	48	45	𝑑𝑑0	𝑑𝑑0	NOUN
american_scientific_journal-3482	48	46	1	1	NUM
american_scientific_journal-3482	48	47	2	2	NUM
american_scientific_journal-3482	48	48	𝐾𝐾𝑟𝑟𝑟𝑟𝑟𝑟	𝐾𝐾𝑟𝑟𝑟𝑟𝑟𝑟	PROPN
american_scientific_journal-3482	48	49	�	�	PROPN
american_scientific_journal-3482	48	50	1	1	NUM
american_scientific_journal-3482	48	51	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-3482	48	52	�	�	PROPN
american_scientific_journal-3482	48	53	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	SYM
american_scientific_journal-3482	48	54	�	�	PROPN
american_scientific_journal-3482	48	55	−	−	PROPN
american_scientific_journal-3482	48	56	1𝑑𝑑0	1𝑑𝑑0	NUM
american_scientific_journal-3482	48	57	�	�	PROPN
american_scientific_journal-3482	48	58	2	2	NUM
american_scientific_journal-3482	48	59	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-3482	48	60	�	�	PROPN
american_scientific_journal-3482	48	61	𝑞𝑞,𝑞𝑞𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	𝑞𝑞,𝑞𝑞𝑔𝑔𝑜𝑜𝑔𝑔𝑔𝑔	PROPN
american_scientific_journal-3482	48	62	�	�	PROPN
american_scientific_journal-3482	48	63	𝑛𝑛	𝑛𝑛	VERB
american_scientific_journal-3482	48	64	𝑖𝑖𝑖𝑖	𝑖𝑖𝑖𝑖	ADV
american_scientific_journal-3482	48	65	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-3482	48	66	(	(	PUNCT
american_scientific_journal-3482	48	67	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	PRON
american_scientific_journal-3482	48	68	)	)	PUNCT
american_scientific_journal-3482	48	69	<	<	X
american_scientific_journal-3482	48	70	𝑑𝑑0	𝑑𝑑0	X
american_scientific_journal-3482	48	71	(	(	PUNCT
american_scientific_journal-3482	48	72	4	4	NUM
american_scientific_journal-3482	48	73	)	)	PUNCT
american_scientific_journal-3482	48	74	where	where	SCONJ
american_scientific_journal-3482	48	75	q	q	NOUN
american_scientific_journal-3482	48	76	is	be	AUX
american_scientific_journal-3482	48	77	the	the	DET
american_scientific_journal-3482	48	78	robot	robot	NOUN
american_scientific_journal-3482	48	79	current	current	ADJ
american_scientific_journal-3482	48	80	position	position	NOUN
american_scientific_journal-3482	48	81	,	,	PUNCT
american_scientific_journal-3482	49	1	n	n	X
american_scientific_journal-3482	49	2	is	be	AUX
american_scientific_journal-3482	49	3	a	a	DET
american_scientific_journal-3482	49	4	real	real	ADJ
american_scientific_journal-3482	49	5	integer	integer	NOUN
american_scientific_journal-3482	49	6	number	number	NOUN
american_scientific_journal-3482	49	7	,	,	PUNCT
american_scientific_journal-3482	49	8	the	the	DET
american_scientific_journal-3482	49	9	position	position	NOUN
american_scientific_journal-3482	49	10	of	of	ADP
american_scientific_journal-3482	49	11	obstacle	obstacle	NOUN
american_scientific_journal-3482	49	12	is	be	AUX
american_scientific_journal-3482	49	13	𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	ADJ
american_scientific_journal-3482	49	14	and	and	CCONJ
american_scientific_journal-3482	49	15	𝑑𝑑0	𝑑𝑑0	NOUN
american_scientific_journal-3482	49	16	is	be	AUX
american_scientific_journal-3482	49	17	the	the	DET
american_scientific_journal-3482	49	18	positive	positive	ADJ
american_scientific_journal-3482	49	19	number	number	NOUN
american_scientific_journal-3482	49	20	referred	refer	VERB
american_scientific_journal-3482	49	21	to	to	ADP
american_scientific_journal-3482	49	22	the	the	DET
american_scientific_journal-3482	49	23	distance	distance	NOUN
american_scientific_journal-3482	49	24	of	of	ADP
american_scientific_journal-3482	49	25	effective	effective	ADJ
american_scientific_journal-3482	49	26	obstacle	obstacle	NOUN
american_scientific_journal-3482	49	27	,	,	PUNCT
american_scientific_journal-3482	49	28	the	the	DET
american_scientific_journal-3482	49	29	distance	distance	NOUN
american_scientific_journal-3482	49	30	between	between	ADP
american_scientific_journal-3482	49	31	the	the	DET
american_scientific_journal-3482	49	32	robot	robot	NOUN
american_scientific_journal-3482	49	33	and	and	CCONJ
american_scientific_journal-3482	49	34	the	the	DET
american_scientific_journal-3482	49	35	obstacles	obstacle	NOUN
american_scientific_journal-3482	49	36	is	be	AUX
american_scientific_journal-3482	49	37	𝑑𝑑	𝑑𝑑	VERB
american_scientific_journal-3482	49	38	(	(	PUNCT
american_scientific_journal-3482	49	39	𝑞𝑞	𝑞𝑞	PROPN
american_scientific_journal-3482	49	40	,	,	PUNCT
american_scientific_journal-3482	49	41	𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	PROPN
american_scientific_journal-3482	49	42	)	)	PUNCT
american_scientific_journal-3482	49	43	and	and	CCONJ
american_scientific_journal-3482	49	44	the	the	DET
american_scientific_journal-3482	49	45	factor	factor	NOUN
american_scientific_journal-3482	49	46	of	of	ADP
american_scientific_journal-3482	49	47	the	the	DET
american_scientific_journal-3482	49	48	repulsive	repulsive	ADJ
american_scientific_journal-3482	49	49	potential	potential	ADJ
american_scientific_journal-3482	49	50	surface	surface	NOUN
american_scientific_journal-3482	49	51	is	be	AUX
american_scientific_journal-3482	49	52	𝐾𝐾𝑟𝑟𝑒𝑒𝑒𝑒	𝐾𝐾𝑟𝑟𝑒𝑒𝑒𝑒	PROPN
american_scientific_journal-3482	49	53	which	which	PRON
american_scientific_journal-3482	49	54	is	be	AUX
american_scientific_journal-3482	49	55	an	an	DET
american_scientific_journal-3482	49	56	adaptable	adaptable	ADJ
american_scientific_journal-3482	49	57	constant	constant	NOUN
american_scientific_journal-3482	49	58	.	.	PUNCT
american_scientific_journal-3482	50	1	the	the	DET
american_scientific_journal-3482	50	2	total	total	ADJ
american_scientific_journal-3482	50	3	repulsive	repulsive	ADJ
american_scientific_journal-3482	50	4	force	force	NOUN
american_scientific_journal-3482	50	5	is	be	AUX
american_scientific_journal-3482	50	6	negative	negative	ADJ
american_scientific_journal-3482	50	7	slope	slope	NOUN
american_scientific_journal-3482	50	8	as	as	SCONJ
american_scientific_journal-3482	50	9	shown	show	VERB
american_scientific_journal-3482	50	10	in	in	ADP
american_scientific_journal-3482	50	11	equation	equation	NOUN
american_scientific_journal-3482	50	12	(	(	PUNCT
american_scientific_journal-3482	50	13	5	5	NUM
american_scientific_journal-3482	50	14	)	)	PUNCT
american_scientific_journal-3482	51	1	[	[	X
american_scientific_journal-3482	51	2	13	13	NUM
american_scientific_journal-3482	51	3	]	]	SYM
american_scientific_journal-3482	51	4	:	:	PUNCT
american_scientific_journal-3482	51	5	𝐹𝐹𝑟𝑟𝑒𝑒𝑒𝑒(𝑞𝑞	𝐹𝐹𝑟𝑟𝑒𝑒𝑒𝑒(𝑞𝑞	ADJ
american_scientific_journal-3482	51	6	)	)	PUNCT
american_scientific_journal-3482	51	7	=	=	PUNCT
american_scientific_journal-3482	51	8	−𝛻𝛻𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒(𝑞𝑞	−𝛻𝛻𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒(𝑞𝑞	X
american_scientific_journal-3482	51	9	)	)	PUNCT
american_scientific_journal-3482	51	10	=	=	SYM
american_scientific_journal-3482	51	11	{	{	PUNCT
american_scientific_journal-3482	51	12	0	0	NUM
american_scientific_journal-3482	51	13	𝑖𝑖𝑖𝑖	𝑖𝑖𝑖𝑖	NOUN
american_scientific_journal-3482	51	14	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-3482	51	15	(	(	PUNCT
american_scientific_journal-3482	51	16	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	PRON
american_scientific_journal-3482	51	17	)	)	PUNCT
american_scientific_journal-3482	51	18	>	>	X
american_scientific_journal-3482	51	19	𝑑𝑑0	𝑑𝑑0	PROPN
american_scientific_journal-3482	52	1	𝐾𝐾𝑟𝑟𝑟𝑟𝑟𝑟	𝐾𝐾𝑟𝑟𝑟𝑟𝑟𝑟	PROPN
american_scientific_journal-3482	52	2	�	�	PROPN
american_scientific_journal-3482	52	3	1	1	NUM
american_scientific_journal-3482	52	4	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-3482	52	5	�	�	PROPN
american_scientific_journal-3482	52	6	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	SYM
american_scientific_journal-3482	52	7	�	�	PROPN
american_scientific_journal-3482	52	8	−	−	PROPN
american_scientific_journal-3482	52	9	1𝑑𝑑0	1𝑑𝑑0	NUM
american_scientific_journal-3482	52	10	�	�	PROPN
american_scientific_journal-3482	52	11	�	�	PROPN
american_scientific_journal-3482	52	12	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	PROPN
american_scientific_journal-3482	52	13	�	�	PROPN
american_scientific_journal-3482	52	14	𝑑𝑑3	𝑑𝑑3	PROPN
american_scientific_journal-3482	52	15	�	�	PROPN
american_scientific_journal-3482	52	16	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	SYM
american_scientific_journal-3482	52	17	�	�	PROPN
american_scientific_journal-3482	52	18	𝑖𝑖𝑖𝑖	𝑖𝑖𝑖𝑖	ADV
american_scientific_journal-3482	52	19	𝑑𝑑	𝑑𝑑	PROPN
american_scientific_journal-3482	52	20	(	(	PUNCT
american_scientific_journal-3482	52	21	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	𝑞𝑞,𝑞𝑞𝑜𝑜𝑜𝑜𝑜𝑜	PRON
american_scientific_journal-3482	52	22	)	)	PUNCT
american_scientific_journal-3482	52	23	<	<	X
american_scientific_journal-3482	52	24	𝑑𝑑0	𝑑𝑑0	X
american_scientific_journal-3482	52	25	(	(	PUNCT
american_scientific_journal-3482	52	26	5	5	NUM
american_scientific_journal-3482	52	27	)	)	PUNCT
american_scientific_journal-3482	52	28	the	the	DET
american_scientific_journal-3482	52	29	combination	combination	NOUN
american_scientific_journal-3482	52	30	of	of	ADP
american_scientific_journal-3482	52	31	the	the	DET
american_scientific_journal-3482	52	32	two	two	NUM
american_scientific_journal-3482	52	33	surfaces	surface	NOUN
american_scientific_journal-3482	52	34	of	of	ADP
american_scientific_journal-3482	52	35	attractive	attractive	ADJ
american_scientific_journal-3482	52	36	potential	potential	ADJ
american_scientific_journal-3482	52	37	𝑈𝑈𝑔𝑔𝑎𝑎𝑎𝑎	𝑈𝑈𝑔𝑔𝑎𝑎𝑎𝑎	PROPN
american_scientific_journal-3482	52	38	and	and	CCONJ
american_scientific_journal-3482	52	39	a	a	DET
american_scientific_journal-3482	52	40	repulsive	repulsive	ADJ
american_scientific_journal-3482	52	41	potential	potential	ADJ
american_scientific_journal-3482	52	42	𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒	𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒	NOUN
american_scientific_journal-3482	52	43	result	result	VERB
american_scientific_journal-3482	52	44	the	the	DET
american_scientific_journal-3482	52	45	total	total	ADJ
american_scientific_journal-3482	52	46	potential	potential	ADJ
american_scientific_journal-3482	52	47	field	field	NOUN
american_scientific_journal-3482	52	48	.	.	PUNCT
american_scientific_journal-3482	53	1	which	which	PRON
american_scientific_journal-3482	53	2	is	be	AUX
american_scientific_journal-3482	53	3	represented	represent	VERB
american_scientific_journal-3482	53	4	by	by	ADP
american_scientific_journal-3482	53	5	the	the	DET
american_scientific_journal-3482	53	6	equation	equation	NOUN
american_scientific_journal-3482	53	7	(	(	PUNCT
american_scientific_journal-3482	53	8	6	6	NUM
american_scientific_journal-3482	53	9	)	)	PUNCT
american_scientific_journal-3482	53	10	.	.	PUNCT
american_scientific_journal-3482	54	1	𝑈𝑈(𝑞𝑞	𝑈𝑈(𝑞𝑞	PROPN
american_scientific_journal-3482	54	2	)	)	PUNCT
american_scientific_journal-3482	55	1	=	=	SYM
american_scientific_journal-3482	55	2	𝑈𝑈𝑔𝑔𝑎𝑎𝑎𝑎(𝑞𝑞)+𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒(q	𝑈𝑈𝑔𝑔𝑎𝑎𝑎𝑎(𝑞𝑞)+𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒(q	X
american_scientific_journal-3482	55	3	)	)	PUNCT
american_scientific_journal-3482	55	4	(	(	PUNCT
american_scientific_journal-3482	55	5	6	6	X
american_scientific_journal-3482	55	6	)	)	PUNCT
american_scientific_journal-3482	55	7	all	all	DET
american_scientific_journal-3482	55	8	forces	force	NOUN
american_scientific_journal-3482	55	9	that	that	PRON
american_scientific_journal-3482	55	10	applied	apply	VERB
american_scientific_journal-3482	55	11	to	to	ADP
american_scientific_journal-3482	55	12	the	the	DET
american_scientific_journal-3482	55	13	robot	robot	NOUN
american_scientific_journal-3482	55	14	is	be	AUX
american_scientific_journal-3482	55	15	came	come	VERB
american_scientific_journal-3482	55	16	by	by	ADP
american_scientific_journal-3482	55	17	the	the	DET
american_scientific_journal-3482	55	18	negative	negative	ADJ
american_scientific_journal-3482	55	19	gradient	gradient	NOUN
american_scientific_journal-3482	55	20	and	and	CCONJ
american_scientific_journal-3482	55	21	use	use	VERB
american_scientific_journal-3482	55	22	the	the	DET
american_scientific_journal-3482	55	23	steepest	steep	ADJ
american_scientific_journal-3482	55	24	descent	descent	NOUN
american_scientific_journal-3482	55	25	method	method	NOUN
american_scientific_journal-3482	55	26	to	to	PART
american_scientific_journal-3482	55	27	lead	lead	VERB
american_scientific_journal-3482	55	28	the	the	DET
american_scientific_journal-3482	55	29	robot	robot	NOUN
american_scientific_journal-3482	55	30	direction	direction	NOUN
american_scientific_journal-3482	55	31	to	to	ADP
american_scientific_journal-3482	55	32	final	final	ADJ
american_scientific_journal-3482	55	33	destination	destination	NOUN
american_scientific_journal-3482	55	34	.	.	PUNCT
american_scientific_journal-3482	56	1	𝐹𝐹(𝑞𝑞	𝐹𝐹(𝑞𝑞	PROPN
american_scientific_journal-3482	56	2	)	)	PUNCT
american_scientific_journal-3482	57	1	=	=	SYM
american_scientific_journal-3482	57	2	−𝛻𝛻𝑈𝑈(𝑞𝑞	−𝛻𝛻𝑈𝑈(𝑞𝑞	PROPN
american_scientific_journal-3482	57	3	)	)	PUNCT
american_scientific_journal-3482	57	4	=	=	SYM
american_scientific_journal-3482	57	5	−𝛻𝛻𝑈𝑈𝑔𝑔𝑎𝑎𝑎𝑎(𝑞𝑞	−𝛻𝛻𝑈𝑈𝑔𝑔𝑎𝑎𝑎𝑎(𝑞𝑞	PROPN
american_scientific_journal-3482	57	6	)	)	PUNCT
american_scientific_journal-3482	57	7	−	−	ADP
american_scientific_journal-3482	58	1	𝛻𝛻𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒	𝛻𝛻𝑈𝑈𝑟𝑟𝑒𝑒𝑒𝑒	NUM
american_scientific_journal-3482	58	2	(	(	PUNCT
american_scientific_journal-3482	58	3	7	7	NUM
american_scientific_journal-3482	58	4	)	)	PUNCT
american_scientific_journal-3482	58	5	where	where	SCONJ
american_scientific_journal-3482	58	6	the	the	DET
american_scientific_journal-3482	58	7	gradient	gradient	ADJ
american_scientific_journal-3482	58	8	vector	vector	NOUN
american_scientific_journal-3482	58	9	of	of	ADP
american_scientific_journal-3482	58	10	u	u	NOUN
american_scientific_journal-3482	58	11	is	be	AUX
american_scientific_journal-3482	58	12	∆u	∆u	PROPN
american_scientific_journal-3482	58	13	,	,	PUNCT
american_scientific_journal-3482	58	14	the	the	DET
american_scientific_journal-3482	58	15	influence	influence	NOUN
american_scientific_journal-3482	58	16	force	force	NOUN
american_scientific_journal-3482	58	17	that	that	PRON
american_scientific_journal-3482	58	18	act	act	VERB
american_scientific_journal-3482	58	19	on	on	ADP
american_scientific_journal-3482	58	20	the	the	DET
american_scientific_journal-3482	58	21	robot	robot	NOUN
american_scientific_journal-3482	58	22	is	be	AUX
american_scientific_journal-3482	58	23	expressed	express	VERB
american_scientific_journal-3482	58	24	as	as	ADP
american_scientific_journal-3482	58	25	the	the	DET
american_scientific_journal-3482	58	26	summation	summation	NOUN
american_scientific_journal-3482	58	27	of	of	ADP
american_scientific_journal-3482	58	28	two	two	NUM
american_scientific_journal-3482	58	29	components	component	NOUN
american_scientific_journal-3482	58	30	first	first	ADJ
american_scientific_journal-3482	58	31	one	one	NUM
american_scientific_journal-3482	58	32	is	be	AUX
american_scientific_journal-3482	58	33	the	the	DET
american_scientific_journal-3482	58	34	attractive	attractive	ADJ
american_scientific_journal-3482	58	35	vector	vector	NOUN
american_scientific_journal-3482	58	36	and	and	CCONJ
american_scientific_journal-3482	58	37	the	the	DET
american_scientific_journal-3482	58	38	second	second	ADJ
american_scientific_journal-3482	58	39	is	be	AUX
american_scientific_journal-3482	58	40	the	the	DET
american_scientific_journal-3482	58	41	repulsive	repulsive	ADJ
american_scientific_journal-3482	58	42	vectors	vector	NOUN
american_scientific_journal-3482	58	43	force	force	NOUN
american_scientific_journal-3482	58	44	,	,	PUNCT
american_scientific_journal-3482	58	45	𝐹𝐹𝑔𝑔𝑎𝑎𝑎𝑎	𝐹𝐹𝑔𝑔𝑎𝑎𝑎𝑎	PROPN
american_scientific_journal-3482	58	46	and	and	CCONJ
american_scientific_journal-3482	58	47	𝐹𝐹𝑟𝑟𝑒𝑒𝑒𝑒	𝐹𝐹𝑟𝑟𝑒𝑒𝑒𝑒	PROPN
american_scientific_journal-3482	58	48	,	,	PUNCT
american_scientific_journal-3482	58	49	respectively	respectively	ADV
american_scientific_journal-3482	58	50	.	.	PUNCT
american_scientific_journal-3482	59	1	[	[	X
american_scientific_journal-3482	59	2	14	14	NUM
american_scientific_journal-3482	59	3	]	]	X
american_scientific_journal-3482	59	4	f(q)=	f(q)=	X
american_scientific_journal-3482	59	5	𝐹𝐹𝑔𝑔𝑎𝑎𝑎𝑎(q	𝐹𝐹𝑔𝑔𝑎𝑎𝑎𝑎(q	NOUN
american_scientific_journal-3482	59	6	)	)	PUNCT
american_scientific_journal-3482	59	7	+	+	SYM
american_scientific_journal-3482	59	8	𝐹𝐹𝑟𝑟𝑒𝑒𝑒𝑒(q	𝐹𝐹𝑟𝑟𝑒𝑒𝑒𝑒(q	ADJ
american_scientific_journal-3482	59	9	)	)	PUNCT
american_scientific_journal-3482	59	10	(	(	PUNCT
american_scientific_journal-3482	59	11	8)	8)	NUM
american_scientific_journal-3482	59	12	3	3	NUM
american_scientific_journal-3482	59	13	.	.	PUNCT
american_scientific_journal-3482	59	14	particle	particle	NOUN
american_scientific_journal-3482	59	15	swarm	swarm	NOUN
american_scientific_journal-3482	59	16	optimization	optimization	NOUN
american_scientific_journal-3482	59	17	method	method	NOUN
american_scientific_journal-3482	59	18	(	(	PUNCT
american_scientific_journal-3482	59	19	pso	pso	NOUN
american_scientific_journal-3482	59	20	)	)	PUNCT
american_scientific_journal-3482	59	21	the	the	DET
american_scientific_journal-3482	59	22	basic	basic	ADJ
american_scientific_journal-3482	59	23	ideas	idea	NOUN
american_scientific_journal-3482	59	24	of	of	ADP
american_scientific_journal-3482	59	25	particle	particle	NOUN
american_scientific_journal-3482	59	26	swarms	swarm	NOUN
american_scientific_journal-3482	59	27	,	,	PUNCT
american_scientific_journal-3482	59	28	was	be	AUX
american_scientific_journal-3482	59	29	to	to	PART
american_scientific_journal-3482	59	30	find	find	VERB
american_scientific_journal-3482	59	31	computational	computational	ADJ
american_scientific_journal-3482	59	32	intelligence	intelligence	NOUN
american_scientific_journal-3482	59	33	by	by	ADP
american_scientific_journal-3482	59	34	employing	employ	VERB
american_scientific_journal-3482	59	35	simple	simple	ADJ
american_scientific_journal-3482	59	36	analogues	analogue	NOUN
american_scientific_journal-3482	59	37	of	of	ADP
american_scientific_journal-3482	59	38	social	social	ADJ
american_scientific_journal-3482	59	39	interaction	interaction	NOUN
american_scientific_journal-3482	59	40	,	,	PUNCT
american_scientific_journal-3482	59	41	rather	rather	ADV
american_scientific_journal-3482	59	42	than	than	ADP
american_scientific_journal-3482	59	43	purely	purely	ADV
american_scientific_journal-3482	59	44	individual	individual	ADJ
american_scientific_journal-3482	59	45	cognitive	cognitive	ADJ
american_scientific_journal-3482	59	46	abilities	ability	NOUN
american_scientific_journal-3482	59	47	.	.	PUNCT
american_scientific_journal-3482	60	1	searching	search	VERB
american_scientific_journal-3482	60	2	for	for	ADP
american_scientific_journal-3482	60	3	corn	corn	NOUN
american_scientific_journal-3482	60	4	by	by	ADP
american_scientific_journal-3482	60	5	bird	bird	NOUN
american_scientific_journal-3482	60	6	swarm	swarm	NOUN
american_scientific_journal-3482	60	7	were	be	AUX
american_scientific_journal-3482	60	8	the	the	DET
american_scientific_journal-3482	60	9	first	first	ADJ
american_scientific_journal-3482	60	10	samples	sample	NOUN
american_scientific_journal-3482	60	11	of	of	ADP
american_scientific_journal-3482	60	12	their	their	PRON
american_scientific_journal-3482	60	13	simulation	simulation	NOUN
american_scientific_journal-3482	60	14	.	.	PUNCT
american_scientific_journal-3482	61	1	the	the	DET
american_scientific_journal-3482	61	2	method	method	NOUN
american_scientific_journal-3482	61	3	after	after	SCONJ
american_scientific_journal-3482	61	4	5	5	NUM
american_scientific_journal-3482	61	5	years	year	NOUN
american_scientific_journal-3482	61	6	was	be	AUX
american_scientific_journal-3482	61	7	developed	develop	VERB
american_scientific_journal-3482	61	8	till	till	AUX
american_scientific_journal-3482	61	9	become	become	VERB
american_scientific_journal-3482	61	10	more	more	ADV
american_scientific_journal-3482	61	11	powerful	powerful	ADJ
american_scientific_journal-3482	61	12	.	.	PUNCT
american_scientific_journal-3482	62	1	the	the	DET
american_scientific_journal-3482	62	2	number	number	NOUN
american_scientific_journal-3482	62	3	of	of	ADP
american_scientific_journal-3482	62	4	particles	particle	NOUN
american_scientific_journal-3482	62	5	was	be	AUX
american_scientific_journal-3482	62	6	added	add	VERB
american_scientific_journal-3482	62	7	to	to	ADP
american_scientific_journal-3482	62	8	the	the	DET
american_scientific_journal-3482	62	9	research	research	NOUN
american_scientific_journal-3482	62	10	space	space	NOUN
american_scientific_journal-3482	62	11	to	to	ADP
american_scientific_journal-3482	62	12	some	some	DET
american_scientific_journal-3482	62	13	cases	case	NOUN
american_scientific_journal-3482	62	14	and	and	CCONJ
american_scientific_journal-3482	62	15	each	each	DET
american_scientific_journal-3482	62	16	one	one	NOUN
american_scientific_journal-3482	62	17	solves	solve	VERB
american_scientific_journal-3482	62	18	the	the	DET
american_scientific_journal-3482	62	19	problem	problem	NOUN
american_scientific_journal-3482	62	20	function	function	NOUN
american_scientific_journal-3482	62	21	at	at	ADP
american_scientific_journal-3482	62	22	own	own	ADJ
american_scientific_journal-3482	62	23	current	current	ADJ
american_scientific_journal-3482	62	24	location	location	NOUN
american_scientific_journal-3482	62	25	.	.	PUNCT
american_scientific_journal-3482	63	1	the	the	DET
american_scientific_journal-3482	63	2	movement	movement	NOUN
american_scientific_journal-3482	63	3	of	of	ADP
american_scientific_journal-3482	63	4	each	each	DET
american_scientific_journal-3482	63	5	particle	particle	NOUN
american_scientific_journal-3482	63	6	should	should	AUX
american_scientific_journal-3482	63	7	measure	measure	VERB
american_scientific_journal-3482	63	8	its	its	PRON
american_scientific_journal-3482	63	9	position	position	NOUN
american_scientific_journal-3482	63	10	in	in	ADP
american_scientific_journal-3482	63	11	the	the	DET
american_scientific_journal-3482	63	12	search	search	NOUN
american_scientific_journal-3482	63	13	field	field	NOUN
american_scientific_journal-3482	63	14	,	,	PUNCT
american_scientific_journal-3482	63	15	this	this	PRON
american_scientific_journal-3482	63	16	done	do	VERB
american_scientific_journal-3482	63	17	by	by	ADP
american_scientific_journal-3482	63	18	summation	summation	NOUN
american_scientific_journal-3482	63	19	of	of	ADP
american_scientific_journal-3482	63	20	some	some	DET
american_scientific_journal-3482	63	21	information	information	NOUN
american_scientific_journal-3482	63	22	of	of	ADP
american_scientific_journal-3482	63	23	the	the	DET
american_scientific_journal-3482	63	24	previous	previous	ADJ
american_scientific_journal-3482	63	25	position	position	NOUN
american_scientific_journal-3482	63	26	and	and	CCONJ
american_scientific_journal-3482	63	27	new	new	ADJ
american_scientific_journal-3482	63	28	position	position	NOUN
american_scientific_journal-3482	63	29	which	which	PRON
american_scientific_journal-3482	63	30	may	may	AUX
american_scientific_journal-3482	63	31	considered	consider	VERB
american_scientific_journal-3482	63	32	as	as	ADP
american_scientific_journal-3482	63	33	the	the	DET
american_scientific_journal-3482	63	34	best	good	ADJ
american_scientific_journal-3482	63	35	locations	location	NOUN
american_scientific_journal-3482	63	36	with	with	ADP
american_scientific_journal-3482	63	37	one	one	NUM
american_scientific_journal-3482	63	38	or	or	CCONJ
american_scientific_journal-3482	63	39	more	more	ADJ
american_scientific_journal-3482	63	40	members	member	NOUN
american_scientific_journal-3482	63	41	of	of	ADP
american_scientific_journal-3482	63	42	the	the	DET
american_scientific_journal-3482	63	43	flocks	flock	NOUN
american_scientific_journal-3482	63	44	.	.	PUNCT
american_scientific_journal-3482	64	1	and	and	CCONJ
american_scientific_journal-3482	64	2	with	with	ADP
american_scientific_journal-3482	64	3	some	some	DET
american_scientific_journal-3482	64	4	random	random	ADJ
american_scientific_journal-3482	64	5	perturbations	perturbation	NOUN
american_scientific_journal-3482	64	6	.	.	PUNCT
american_scientific_journal-3482	65	1	after	after	SCONJ
american_scientific_journal-3482	65	2	the	the	DET
american_scientific_journal-3482	65	3	total	total	ADJ
american_scientific_journal-3482	65	4	particles	particle	NOUN
american_scientific_journal-3482	65	5	have	have	AUX
american_scientific_journal-3482	65	6	been	be	AUX
american_scientific_journal-3482	65	7	gone	go	VERB
american_scientific_journal-3482	65	8	,	,	PUNCT
american_scientific_journal-3482	65	9	the	the	DET
american_scientific_journal-3482	65	10	next	next	ADJ
american_scientific_journal-3482	65	11	iteration	iteration	NOUN
american_scientific_journal-3482	65	12	will	will	AUX
american_scientific_journal-3482	65	13	take	take	VERB
american_scientific_journal-3482	65	14	a	a	DET
american_scientific_journal-3482	65	15	place	place	NOUN
american_scientific_journal-3482	65	16	.	.	PUNCT
american_scientific_journal-3482	66	1	at	at	ADP
american_scientific_journal-3482	66	2	the	the	DET
american_scientific_journal-3482	66	3	end	end	NOUN
american_scientific_journal-3482	66	4	flock	flock	NOUN
american_scientific_journal-3482	66	5	totally	totally	ADV
american_scientific_journal-3482	66	6	,	,	PUNCT
american_scientific_journal-3482	66	7	like	like	ADP
american_scientific_journal-3482	66	8	a	a	DET
american_scientific_journal-3482	66	9	swarm	swarm	NOUN
american_scientific_journal-3482	66	10	of	of	ADP
american_scientific_journal-3482	66	11	birds	bird	NOUN
american_scientific_journal-3482	66	12	collectively	collectively	ADV
american_scientific_journal-3482	66	13	foraging	forage	VERB
american_scientific_journal-3482	66	14	for	for	ADP
american_scientific_journal-3482	66	15	food	food	NOUN
american_scientific_journal-3482	66	16	,	,	PUNCT
american_scientific_journal-3482	66	17	it	it	PRON
american_scientific_journal-3482	66	18	should	should	AUX
american_scientific_journal-3482	66	19	search	search	VERB
american_scientific_journal-3482	66	20	near	near	ADP
american_scientific_journal-3482	66	21	the	the	DET
american_scientific_journal-3482	66	22	optimal	optimal	ADJ
american_scientific_journal-3482	66	23	place	place	NOUN
american_scientific_journal-3482	66	24	which	which	PRON
american_scientific_journal-3482	66	25	represent	represent	VERB
american_scientific_journal-3482	66	26	the	the	DET
american_scientific_journal-3482	66	27	fitness	fitness	NOUN
american_scientific_journal-3482	66	28	function	function	NOUN
american_scientific_journal-3482	66	29	[	[	X
american_scientific_journal-3482	66	30	15	15	NUM
american_scientific_journal-3482	66	31	]	]	PUNCT
american_scientific_journal-3482	66	32	.	.	PUNCT
american_scientific_journal-3482	67	1	pso	pso	NOUN
american_scientific_journal-3482	67	2	play	play	VERB
american_scientific_journal-3482	67	3	important	important	ADJ
american_scientific_journal-3482	67	4	role	role	NOUN
american_scientific_journal-3482	67	5	in	in	ADP
american_scientific_journal-3482	67	6	path	path	NOUN
american_scientific_journal-3482	67	7	planning	planning	NOUN
american_scientific_journal-3482	67	8	research	research	NOUN
american_scientific_journal-3482	67	9	.	.	PUNCT
american_scientific_journal-3482	68	1	a	a	DET
american_scientific_journal-3482	68	2	multirobot	multirobot	NOUN
american_scientific_journal-3482	68	3	cooperation	cooperation	NOUN
american_scientific_journal-3482	68	4	was	be	AUX
american_scientific_journal-3482	68	5	proposed	propose	VERB
american_scientific_journal-3482	68	6	to	to	PART
american_scientific_journal-3482	68	7	find	find	VERB
american_scientific_journal-3482	68	8	the	the	DET
american_scientific_journal-3482	68	9	performance	performance	NOUN
american_scientific_journal-3482	68	10	for	for	ADP
american_scientific_journal-3482	68	11	some	some	DET
american_scientific_journal-3482	68	12	hard	hard	ADJ
american_scientific_journal-3482	68	13	tasks	task	NOUN
american_scientific_journal-3482	68	14	can	can	AUX
american_scientific_journal-3482	68	15	be	be	AUX
american_scientific_journal-3482	68	16	developed	develop	VERB
american_scientific_journal-3482	68	17	by	by	ADP
american_scientific_journal-3482	68	18	the	the	DET
american_scientific_journal-3482	68	19	collaboration	collaboration	NOUN
american_scientific_journal-3482	68	20	between	between	ADP
american_scientific_journal-3482	68	21	the	the	DET
american_scientific_journal-3482	68	22	robots	robot	NOUN
american_scientific_journal-3482	68	23	in	in	ADP
american_scientific_journal-3482	68	24	totally	totally	ADV
american_scientific_journal-3482	68	25	unknown	unknown	ADJ
american_scientific_journal-3482	68	26	environment	environment	NOUN
american_scientific_journal-3482	68	27	.	.	PUNCT
american_scientific_journal-3482	69	1	a	a	DET
american_scientific_journal-3482	69	2	group	group	NOUN
american_scientific_journal-3482	69	3	of	of	ADP
american_scientific_journal-3482	69	4	robots	robot	NOUN
american_scientific_journal-3482	69	5	search	search	VERB
american_scientific_journal-3482	69	6	cooperatively	cooperatively	ADV
american_scientific_journal-3482	69	7	to	to	ADP
american_scientific_journal-3482	69	8	american	american	ADJ
american_scientific_journal-3482	69	9	scientific	scientific	ADJ
american_scientific_journal-3482	69	10	research	research	NOUN
american_scientific_journal-3482	69	11	journal	journal	NOUN
american_scientific_journal-3482	69	12	for	for	ADP
american_scientific_journal-3482	69	13	engineering	engineering	NOUN
american_scientific_journal-3482	69	14	,	,	PUNCT
american_scientific_journal-3482	69	15	technology	technology	NOUN
american_scientific_journal-3482	69	16	,	,	PUNCT
american_scientific_journal-3482	69	17	and	and	CCONJ
american_scientific_journal-3482	69	18	sciences	science	NOUN
american_scientific_journal-3482	69	19	(	(	PUNCT
american_scientific_journal-3482	69	20	asrjets	asrjet	NOUN
american_scientific_journal-3482	69	21	)	)	PUNCT
american_scientific_journal-3482	69	22	(	(	PUNCT
american_scientific_journal-3482	69	23	2017	2017	NUM
american_scientific_journal-3482	69	24	)	)	PUNCT
american_scientific_journal-3482	69	25	volume	volume	NOUN
american_scientific_journal-3482	69	26	37	37	NUM
american_scientific_journal-3482	69	27	,	,	PUNCT
american_scientific_journal-3482	69	28	no	no	DET
american_scientific_journal-3482	69	29	1	1	NUM
american_scientific_journal-3482	69	30	,	,	PUNCT
american_scientific_journal-3482	69	31	pp	pp	ADV
american_scientific_journal-3482	69	32	316	316	NUM
american_scientific_journal-3482	69	33	-	-	SYM
american_scientific_journal-3482	69	34	328	328	NUM
american_scientific_journal-3482	69	35	320	320	NUM
american_scientific_journal-3482	69	36	reach	reach	VERB
american_scientific_journal-3482	69	37	the	the	DET
american_scientific_journal-3482	69	38	goal	goal	NOUN
american_scientific_journal-3482	69	39	points	point	NOUN
american_scientific_journal-3482	69	40	.	.	PUNCT
american_scientific_journal-3482	70	1	the	the	DET
american_scientific_journal-3482	70	2	pso	pso	PROPN
american_scientific_journal-3482	70	3	fitness	fitness	NOUN
american_scientific_journal-3482	70	4	function	function	NOUN
american_scientific_journal-3482	70	5	is	be	AUX
american_scientific_journal-3482	70	6	the	the	DET
american_scientific_journal-3482	70	7	potential	potential	ADJ
american_scientific_journal-3482	70	8	function	function	NOUN
american_scientific_journal-3482	70	9	,	,	PUNCT
american_scientific_journal-3482	70	10	in	in	ADP
american_scientific_journal-3482	70	11	this	this	DET
american_scientific_journal-3482	70	12	research	research	NOUN
american_scientific_journal-3482	70	13	employs	employ	VERB
american_scientific_journal-3482	70	14	the	the	DET
american_scientific_journal-3482	70	15	pso	pso	NOUN
american_scientific_journal-3482	70	16	method	method	NOUN
american_scientific_journal-3482	70	17	to	to	PART
american_scientific_journal-3482	70	18	discover	discover	VERB
american_scientific_journal-3482	70	19	the	the	DET
american_scientific_journal-3482	70	20	unknown	unknown	ADJ
american_scientific_journal-3482	70	21	area	area	NOUN
american_scientific_journal-3482	70	22	,	,	PUNCT
american_scientific_journal-3482	70	23	but	but	CCONJ
american_scientific_journal-3482	70	24	even	even	ADV
american_scientific_journal-3482	70	25	the	the	DET
american_scientific_journal-3482	70	26	appropriate	appropriate	ADJ
american_scientific_journal-3482	70	27	cooperation	cooperation	NOUN
american_scientific_journal-3482	70	28	not	not	PART
american_scientific_journal-3482	70	29	lead	lead	VERB
american_scientific_journal-3482	70	30	the	the	DET
american_scientific_journal-3482	70	31	robots	robot	NOUN
american_scientific_journal-3482	70	32	to	to	PART
american_scientific_journal-3482	70	33	find	find	VERB
american_scientific_journal-3482	70	34	the	the	DET
american_scientific_journal-3482	70	35	optimal	optimal	ADJ
american_scientific_journal-3482	70	36	path	path	NOUN
american_scientific_journal-3482	71	1	[	[	X
american_scientific_journal-3482	71	2	16	16	NUM
american_scientific_journal-3482	71	3	]	]	PUNCT
american_scientific_journal-3482	71	4	,	,	PUNCT
american_scientific_journal-3482	71	5	rainer	rainer	NOUN
american_scientific_journal-3482	71	6	palm	palm	NOUN
american_scientific_journal-3482	71	7	presence	presence	NOUN
american_scientific_journal-3482	71	8	the	the	DET
american_scientific_journal-3482	71	9	safe	safe	ADJ
american_scientific_journal-3482	71	10	navigation	navigation	NOUN
american_scientific_journal-3482	71	11	of	of	ADP
american_scientific_journal-3482	71	12	multiple	multiple	ADJ
american_scientific_journal-3482	71	13	non	non	ADJ
american_scientific_journal-3482	71	14	-	-	ADJ
american_scientific_journal-3482	71	15	holonomic	holonomic	ADJ
american_scientific_journal-3482	71	16	mobile	mobile	ADJ
american_scientific_journal-3482	71	17	robots	robot	NOUN
american_scientific_journal-3482	71	18	in	in	ADP
american_scientific_journal-3482	71	19	shared	share	VERB
american_scientific_journal-3482	71	20	areas	area	NOUN
american_scientific_journal-3482	71	21	.	.	PUNCT
american_scientific_journal-3482	72	1	artificial	artificial	ADJ
american_scientific_journal-3482	72	2	potential	potential	ADJ
american_scientific_journal-3482	72	3	fields	field	NOUN
american_scientific_journal-3482	72	4	used	use	VERB
american_scientific_journal-3482	72	5	to	to	PART
american_scientific_journal-3482	72	6	avoid	avoid	VERB
american_scientific_journal-3482	72	7	obstacle	obstacle	NOUN
american_scientific_journal-3482	72	8	for	for	ADP
american_scientific_journal-3482	72	9	mobile	mobile	NOUN
american_scientific_journal-3482	72	10	robots	robot	NOUN
american_scientific_journal-3482	72	11	.	.	PUNCT
american_scientific_journal-3482	73	1	and	and	CCONJ
american_scientific_journal-3482	73	2	the	the	DET
american_scientific_journal-3482	73	3	attitude	attitude	NOUN
american_scientific_journal-3482	73	4	of	of	ADP
american_scientific_journal-3482	73	5	mobile	mobile	ADJ
american_scientific_journal-3482	73	6	robots	robot	NOUN
american_scientific_journal-3482	73	7	is	be	AUX
american_scientific_journal-3482	73	8	optimized	optimize	VERB
american_scientific_journal-3482	73	9	by	by	ADP
american_scientific_journal-3482	73	10	particle	particle	NOUN
american_scientific_journal-3482	73	11	swarm	swarm	NOUN
american_scientific_journal-3482	73	12	optimization	optimization	NOUN
american_scientific_journal-3482	73	13	(	(	PUNCT
american_scientific_journal-3482	73	14	pso).[17	pso).[17	PROPN
american_scientific_journal-3482	73	15	]	]	PUNCT
american_scientific_journal-3482	73	16	4	4	NUM
american_scientific_journal-3482	73	17	.	.	PUNCT
american_scientific_journal-3482	73	18	proposed	propose	VERB
american_scientific_journal-3482	73	19	method	method	NOUN
american_scientific_journal-3482	73	20	:	:	PUNCT
american_scientific_journal-3482	73	21	apf	apf	PROPN
american_scientific_journal-3482	73	22	factors	factor	VERB
american_scientific_journal-3482	73	23	optimization	optimization	NOUN
american_scientific_journal-3482	73	24	based	base	VERB
american_scientific_journal-3482	73	25	on	on	ADP
american_scientific_journal-3482	73	26	pso	pso	NOUN
american_scientific_journal-3482	73	27	the	the	DET
american_scientific_journal-3482	73	28	first	first	ADJ
american_scientific_journal-3482	73	29	modification	modification	NOUN
american_scientific_journal-3482	73	30	is	be	AUX
american_scientific_journal-3482	73	31	on	on	ADP
american_scientific_journal-3482	73	32	the	the	DET
american_scientific_journal-3482	73	33	force	force	NOUN
american_scientific_journal-3482	73	34	and	and	CCONJ
american_scientific_journal-3482	73	35	its	its	PRON
american_scientific_journal-3482	73	36	directions	direction	NOUN
american_scientific_journal-3482	73	37	,	,	PUNCT
american_scientific_journal-3482	73	38	in	in	ADP
american_scientific_journal-3482	73	39	the	the	DET
american_scientific_journal-3482	73	40	normal	normal	ADJ
american_scientific_journal-3482	73	41	artificial	artificial	ADJ
american_scientific_journal-3482	73	42	potential	potential	ADJ
american_scientific_journal-3482	73	43	field	field	NOUN
american_scientific_journal-3482	73	44	the	the	DET
american_scientific_journal-3482	73	45	environment	environment	NOUN
american_scientific_journal-3482	73	46	will	will	AUX
american_scientific_journal-3482	73	47	be	be	AUX
american_scientific_journal-3482	73	48	grid	grid	VERB
american_scientific_journal-3482	73	49	of	of	ADP
american_scientific_journal-3482	73	50	points	point	NOUN
american_scientific_journal-3482	73	51	,	,	PUNCT
american_scientific_journal-3482	73	52	every	every	DET
american_scientific_journal-3482	73	53	point	point	NOUN
american_scientific_journal-3482	73	54	in	in	ADP
american_scientific_journal-3482	73	55	this	this	DET
american_scientific_journal-3482	73	56	grid	grid	NOUN
american_scientific_journal-3482	73	57	has	have	VERB
american_scientific_journal-3482	73	58	force	force	NOUN
american_scientific_journal-3482	73	59	that	that	PRON
american_scientific_journal-3482	73	60	came	come	VERB
american_scientific_journal-3482	73	61	from	from	ADP
american_scientific_journal-3482	73	62	two	two	NUM
american_scientific_journal-3482	73	63	sources	source	NOUN
american_scientific_journal-3482	73	64	the	the	DET
american_scientific_journal-3482	73	65	attractive	attractive	ADJ
american_scientific_journal-3482	73	66	force	force	NOUN
american_scientific_journal-3482	73	67	from	from	ADP
american_scientific_journal-3482	73	68	the	the	DET
american_scientific_journal-3482	73	69	target	target	NOUN
american_scientific_journal-3482	73	70	point	point	NOUN
american_scientific_journal-3482	73	71	and	and	CCONJ
american_scientific_journal-3482	73	72	repulsive	repulsive	ADJ
american_scientific_journal-3482	73	73	force	force	NOUN
american_scientific_journal-3482	73	74	from	from	ADP
american_scientific_journal-3482	73	75	the	the	DET
american_scientific_journal-3482	73	76	obstacle	obstacle	NOUN
american_scientific_journal-3482	73	77	(	(	PUNCT
american_scientific_journal-3482	73	78	if	if	SCONJ
american_scientific_journal-3482	73	79	the	the	DET
american_scientific_journal-3482	73	80	points	point	NOUN
american_scientific_journal-3482	73	81	in	in	ADP
american_scientific_journal-3482	73	82	the	the	DET
american_scientific_journal-3482	73	83	range	range	NOUN
american_scientific_journal-3482	73	84	of	of	ADP
american_scientific_journal-3482	73	85	the	the	DET
american_scientific_journal-3482	73	86	influence	influence	NOUN
american_scientific_journal-3482	73	87	)	)	PUNCT
american_scientific_journal-3482	73	88	,	,	PUNCT
american_scientific_journal-3482	73	89	and	and	CCONJ
american_scientific_journal-3482	73	90	every	every	DET
american_scientific_journal-3482	73	91	point	point	NOUN
american_scientific_journal-3482	73	92	has	have	VERB
american_scientific_journal-3482	73	93	two	two	NUM
american_scientific_journal-3482	73	94	type	type	NOUN
american_scientific_journal-3482	73	95	of	of	ADP
american_scientific_journal-3482	73	96	force	force	NOUN
american_scientific_journal-3482	73	97	one	one	NUM
american_scientific_journal-3482	73	98	towards	towards	ADP
american_scientific_journal-3482	73	99	x	x	PUNCT
american_scientific_journal-3482	73	100	axis	axis	NOUN
american_scientific_journal-3482	73	101	and	and	CCONJ
american_scientific_journal-3482	73	102	the	the	DET
american_scientific_journal-3482	73	103	other	other	ADJ
american_scientific_journal-3482	73	104	towards	towards	ADP
american_scientific_journal-3482	73	105	y	y	PROPN
american_scientific_journal-3482	73	106	axis	axis	NOUN
american_scientific_journal-3482	73	107	,	,	PUNCT
american_scientific_journal-3482	73	108	some	some	PRON
american_scientific_journal-3482	73	109	of	of	ADP
american_scientific_journal-3482	73	110	researcher	researcher	NOUN
american_scientific_journal-3482	73	111	play	play	VERB
american_scientific_journal-3482	73	112	with	with	ADP
american_scientific_journal-3482	73	113	these	these	DET
american_scientific_journal-3482	73	114	forces	force	NOUN
american_scientific_journal-3482	73	115	to	to	PART
american_scientific_journal-3482	73	116	inforce	inforce	VERB
american_scientific_journal-3482	73	117	the	the	DET
american_scientific_journal-3482	73	118	robot	robot	NOUN
american_scientific_journal-3482	73	119	to	to	PART
american_scientific_journal-3482	73	120	find	find	VERB
american_scientific_journal-3482	73	121	one	one	NUM
american_scientific_journal-3482	73	122	lonely	lonely	ADJ
american_scientific_journal-3482	73	123	path	path	NOUN
american_scientific_journal-3482	73	124	with	with	ADP
american_scientific_journal-3482	73	125	this	this	DET
american_scientific_journal-3482	73	126	equations	equation	NOUN
american_scientific_journal-3482	73	127	:	:	PUNCT
american_scientific_journal-3482	73	128	𝐹𝐹𝑥𝑥_𝑎𝑎𝑜𝑜𝑎𝑎𝑔𝑔𝑔𝑔	𝐹𝐹𝑥𝑥_𝑎𝑎𝑜𝑜𝑎𝑎𝑔𝑔𝑔𝑔	ADJ
american_scientific_journal-3482	73	129	=	=	SYM
american_scientific_journal-3482	73	130	𝐹𝐹𝑥𝑥_𝑔𝑔𝑎𝑎𝑎𝑎	𝐹𝐹𝑥𝑥_𝑔𝑔𝑎𝑎𝑎𝑎	NOUN
american_scientific_journal-3482	73	131	+	+	CCONJ
american_scientific_journal-3482	73	132	𝐹𝐹𝑥𝑥_𝑟𝑟𝑒𝑒𝑒𝑒	𝐹𝐹𝑥𝑥_𝑟𝑟𝑒𝑒𝑒𝑒	NOUN
american_scientific_journal-3482	73	133	+	+	X
american_scientific_journal-3482	73	134	𝐹𝐹𝑦𝑦_𝑟𝑟𝑒𝑒𝑒𝑒	𝐹𝐹𝑦𝑦_𝑟𝑟𝑒𝑒𝑒𝑒	ADJ
american_scientific_journal-3482	73	135	(	(	PUNCT
american_scientific_journal-3482	73	136	9	9	NUM
american_scientific_journal-3482	73	137	)	)	PUNCT
american_scientific_journal-3482	73	138	𝐹𝐹𝑦𝑦_𝑎𝑎𝑜𝑜𝑎𝑎𝑔𝑔𝑔𝑔	𝐹𝐹𝑦𝑦_𝑎𝑎𝑜𝑜𝑎𝑎𝑔𝑔𝑔𝑔	NOUN
american_scientific_journal-3482	73	139	=	=	NOUN
american_scientific_journal-3482	73	140	𝐹𝐹𝑦𝑦_𝑔𝑔𝑎𝑎𝑎𝑎	𝐹𝐹𝑦𝑦_𝑔𝑔𝑎𝑎𝑎𝑎	NOUN
american_scientific_journal-3482	73	141	+	+	CCONJ
american_scientific_journal-3482	73	142	𝐹𝐹𝑦𝑦_𝑟𝑟𝑒𝑒𝑒𝑒	𝐹𝐹𝑦𝑦_𝑟𝑟𝑒𝑒𝑒𝑒	ADJ
american_scientific_journal-3482	73	143	𝐹𝐹𝑥𝑥_𝑟𝑟𝑒𝑒𝑒𝑒	𝐹𝐹𝑥𝑥_𝑟𝑟𝑒𝑒𝑒𝑒	NOUN
american_scientific_journal-3482	73	144	(	(	PUNCT
american_scientific_journal-3482	73	145	10	10	NUM
american_scientific_journal-3482	73	146	)	)	PUNCT
american_scientific_journal-3482	73	147	𝐹𝐹𝑥𝑥_𝑎𝑎𝑜𝑜𝑎𝑎𝑔𝑔𝑔𝑔	𝐹𝐹𝑥𝑥_𝑎𝑎𝑜𝑜𝑎𝑎𝑔𝑔𝑔𝑔	NOUN
american_scientific_journal-3482	73	148	=	=	SYM
american_scientific_journal-3482	73	149	𝐹𝐹𝑥𝑥_𝑔𝑔𝑎𝑎𝑎𝑎	𝐹𝐹𝑥𝑥_𝑔𝑔𝑎𝑎𝑎𝑎	NOUN
american_scientific_journal-3482	73	150	+	+	CCONJ
american_scientific_journal-3482	73	151	𝐹𝐹𝑥𝑥_𝑟𝑟𝑒𝑒𝑒𝑒	𝐹𝐹𝑥𝑥_𝑟𝑟𝑒𝑒𝑒𝑒	VERB
american_scientific_journal-3482	73	152	𝐹𝐹𝑦𝑦_𝑟𝑟𝑒𝑒𝑒𝑒	𝐹𝐹𝑦𝑦_𝑟𝑟𝑒𝑒𝑒𝑒	ADJ
american_scientific_journal-3482	73	153	(	(	PUNCT
american_scientific_journal-3482	73	154	11	11	NUM
american_scientific_journal-3482	73	155	)	)	PUNCT
american_scientific_journal-3482	73	156	𝐹𝐹𝑦𝑦_𝑎𝑎𝑜𝑜𝑎𝑎𝑔𝑔𝑔𝑔	𝐹𝐹𝑦𝑦_𝑎𝑎𝑜𝑜𝑎𝑎𝑔𝑔𝑔𝑔	NOUN
american_scientific_journal-3482	74	1	=	=	NOUN
american_scientific_journal-3482	74	2	𝐹𝐹𝑦𝑦_𝑔𝑔𝑎𝑎𝑎𝑎	𝐹𝐹𝑦𝑦_𝑔𝑔𝑎𝑎𝑎𝑎	NOUN
american_scientific_journal-3482	74	3	+	+	CCONJ
american_scientific_journal-3482	74	4	𝐹𝐹𝑦𝑦_𝑟𝑟𝑒𝑒𝑒𝑒	𝐹𝐹𝑦𝑦_𝑟𝑟𝑒𝑒𝑒𝑒	ADJ
american_scientific_journal-3482	74	5	+	+	NUM
american_scientific_journal-3482	74	6	𝐹𝐹𝑥𝑥_𝑟𝑟𝑒𝑒𝑒𝑒	𝐹𝐹𝑥𝑥_𝑟𝑟𝑒𝑒𝑒𝑒	NOUN
american_scientific_journal-3482	74	7	(	(	PUNCT
american_scientific_journal-3482	74	8	12	12	NUM
american_scientific_journal-3482	74	9	)	)	PUNCT
american_scientific_journal-3482	74	10	the	the	DET
american_scientific_journal-3482	74	11	equations	equation	NOUN
american_scientific_journal-3482	74	12	(	(	PUNCT
american_scientific_journal-3482	74	13	9,10	9,10	NUM
american_scientific_journal-3482	74	14	)	)	PUNCT
american_scientific_journal-3482	74	15	result	result	NOUN
american_scientific_journal-3482	74	16	(	(	PUNCT
american_scientific_journal-3482	74	17	figure	figure	NOUN
american_scientific_journal-3482	74	18	3	3	NUM
american_scientific_journal-3482	74	19	)	)	PUNCT
american_scientific_journal-3482	74	20	and	and	CCONJ
american_scientific_journal-3482	74	21	equations	equation	NOUN
american_scientific_journal-3482	74	22	(	(	PUNCT
american_scientific_journal-3482	74	23	11,12	11,12	NUM
american_scientific_journal-3482	74	24	)	)	PUNCT
american_scientific_journal-3482	74	25	result	result	NOUN
american_scientific_journal-3482	74	26	(	(	PUNCT
american_scientific_journal-3482	74	27	figure	figure	NOUN
american_scientific_journal-3482	74	28	4	4	NUM
american_scientific_journal-3482	74	29	)	)	PUNCT
american_scientific_journal-3482	74	30	which	which	PRON
american_scientific_journal-3482	74	31	shows	show	VERB
american_scientific_journal-3482	74	32	that	that	SCONJ
american_scientific_journal-3482	74	33	the	the	DET
american_scientific_journal-3482	74	34	forces	force	NOUN
american_scientific_journal-3482	74	35	in	in	ADP
american_scientific_journal-3482	74	36	one	one	NUM
american_scientific_journal-3482	74	37	direction	direction	NOUN
american_scientific_journal-3482	74	38	around	around	ADP
american_scientific_journal-3482	74	39	the	the	DET
american_scientific_journal-3482	74	40	obstacle	obstacle	NOUN
american_scientific_journal-3482	74	41	as	as	SCONJ
american_scientific_journal-3482	74	42	shown	show	VERB
american_scientific_journal-3482	74	43	:	:	PUNCT
american_scientific_journal-3482	74	44	figure	figure	VERB
american_scientific_journal-3482	74	45	3	3	NUM
american_scientific_journal-3482	74	46	figure	figure	NOUN
american_scientific_journal-3482	74	47	4	4	NUM
american_scientific_journal-3482	74	48	in	in	ADP
american_scientific_journal-3482	74	49	this	this	DET
american_scientific_journal-3482	74	50	work	work	NOUN
american_scientific_journal-3482	74	51	proposed	propose	VERB
american_scientific_journal-3482	74	52	to	to	PART
american_scientific_journal-3482	74	53	remove	remove	VERB
american_scientific_journal-3482	74	54	the	the	DET
american_scientific_journal-3482	74	55	third	third	ADJ
american_scientific_journal-3482	74	56	term	term	NOUN
american_scientific_journal-3482	74	57	in	in	ADP
american_scientific_journal-3482	74	58	equations	equation	NOUN
american_scientific_journal-3482	74	59	(	(	PUNCT
american_scientific_journal-3482	74	60	9	9	NUM
american_scientific_journal-3482	74	61	-	-	SYM
american_scientific_journal-3482	74	62	12	12	NUM
american_scientific_journal-3482	74	63	)	)	PUNCT
american_scientific_journal-3482	74	64	and	and	CCONJ
american_scientific_journal-3482	74	65	add	add	VERB
american_scientific_journal-3482	74	66	a	a	DET
american_scientific_journal-3482	74	67	term	term	NOUN
american_scientific_journal-3482	74	68	which	which	PRON
american_scientific_journal-3482	74	69	found	find	VERB
american_scientific_journal-3482	74	70	by	by	ADP
american_scientific_journal-3482	74	71	try	try	NOUN
american_scientific_journal-3482	74	72	and	and	CCONJ
american_scientific_journal-3482	74	73	error	error	NOUN
american_scientific_journal-3482	74	74	american	american	ADJ
american_scientific_journal-3482	74	75	scientific	scientific	ADJ
american_scientific_journal-3482	74	76	research	research	NOUN
american_scientific_journal-3482	74	77	journal	journal	NOUN
american_scientific_journal-3482	74	78	for	for	ADP
american_scientific_journal-3482	74	79	engineering	engineering	NOUN
american_scientific_journal-3482	74	80	,	,	PUNCT
american_scientific_journal-3482	74	81	technology	technology	NOUN
american_scientific_journal-3482	74	82	,	,	PUNCT
american_scientific_journal-3482	74	83	and	and	CCONJ
american_scientific_journal-3482	74	84	sciences	science	NOUN
american_scientific_journal-3482	74	85	(	(	PUNCT
american_scientific_journal-3482	74	86	asrjets	asrjet	NOUN
american_scientific_journal-3482	74	87	)	)	PUNCT
american_scientific_journal-3482	74	88	(	(	PUNCT
american_scientific_journal-3482	74	89	2017	2017	NUM
american_scientific_journal-3482	74	90	)	)	PUNCT
american_scientific_journal-3482	74	91	volume	volume	NOUN
american_scientific_journal-3482	74	92	37	37	NUM
american_scientific_journal-3482	74	93	,	,	PUNCT
american_scientific_journal-3482	74	94	no	no	DET
american_scientific_journal-3482	74	95	1	1	NUM
american_scientific_journal-3482	74	96	,	,	PUNCT
american_scientific_journal-3482	74	97	pp	pp	ADV
american_scientific_journal-3482	74	98	316	316	NUM
american_scientific_journal-3482	74	99	-	-	SYM
american_scientific_journal-3482	74	100	328	328	NUM
american_scientific_journal-3482	74	101	321	321	NUM
american_scientific_journal-3482	75	1	and	and	CCONJ
american_scientific_journal-3482	75	2	it	it	PRON
american_scientific_journal-3482	75	3	is	be	AUX
american_scientific_journal-3482	75	4	suitable	suitable	ADJ
american_scientific_journal-3482	75	5	to	to	ADP
american_scientific_journal-3482	75	6	these	these	DET
american_scientific_journal-3482	75	7	cases	case	NOUN
american_scientific_journal-3482	75	8	,	,	PUNCT
american_scientific_journal-3482	75	9	the	the	DET
american_scientific_journal-3482	75	10	term	term	NOUN
american_scientific_journal-3482	75	11	was	be	AUX
american_scientific_journal-3482	75	12	added	add	VERB
american_scientific_journal-3482	75	13	to	to	ADP
american_scientific_journal-3482	75	14	each	each	DET
american_scientific_journal-3482	75	15	equation	equation	NOUN
american_scientific_journal-3482	75	16	to	to	PART
american_scientific_journal-3482	75	17	make	make	VERB
american_scientific_journal-3482	75	18	the	the	DET
american_scientific_journal-3482	75	19	total	total	ADJ
american_scientific_journal-3482	75	20	force	force	NOUN
american_scientific_journal-3482	75	21	in	in	ADP
american_scientific_journal-3482	75	22	x	x	PROPN
american_scientific_journal-3482	75	23	,	,	PUNCT
american_scientific_journal-3482	75	24	y	y	PROPN
american_scientific_journal-3482	75	25	axis	axis	NOUN
american_scientific_journal-3482	75	26	goes	go	VERB
american_scientific_journal-3482	75	27	towards	towards	ADP
american_scientific_journal-3482	75	28	goal	goal	NOUN
american_scientific_journal-3482	75	29	and	and	CCONJ
american_scientific_journal-3482	75	30	in	in	ADP
american_scientific_journal-3482	75	31	the	the	DET
american_scientific_journal-3482	75	32	same	same	ADJ
american_scientific_journal-3482	75	33	time	time	NOUN
american_scientific_journal-3482	75	34	insure	insure	VERB
american_scientific_journal-3482	75	35	the	the	DET
american_scientific_journal-3482	75	36	path	path	NOUN
american_scientific_journal-3482	75	37	will	will	AUX
american_scientific_journal-3482	75	38	be	be	AUX
american_scientific_journal-3482	75	39	free	free	ADJ
american_scientific_journal-3482	75	40	collision	collision	NOUN
american_scientific_journal-3482	75	41	as	as	SCONJ
american_scientific_journal-3482	75	42	shown	show	VERB
american_scientific_journal-3482	75	43	in	in	ADP
american_scientific_journal-3482	75	44	equations	equation	NOUN
american_scientific_journal-3482	75	45	(	(	PUNCT
american_scientific_journal-3482	75	46	13,14	13,14	NUM
american_scientific_journal-3482	75	47	)	)	PUNCT
american_scientific_journal-3482	75	48	and	and	CCONJ
american_scientific_journal-3482	75	49	figure	figure	NOUN
american_scientific_journal-3482	75	50	(	(	PUNCT
american_scientific_journal-3482	75	51	5	5	NUM
american_scientific_journal-3482	75	52	)	)	PUNCT
american_scientific_journal-3482	75	53	𝐹𝐹𝑥𝑥_𝑎𝑎𝑜𝑜𝑎𝑎𝑔𝑔𝑔𝑔	𝐹𝐹𝑥𝑥_𝑎𝑎𝑜𝑜𝑎𝑎𝑔𝑔𝑔𝑔	NOUN
american_scientific_journal-3482	76	1	=	=	SYM
american_scientific_journal-3482	76	2	𝐹𝐹𝑥𝑥_𝑔𝑔𝑎𝑎𝑎𝑎	𝐹𝐹𝑥𝑥_𝑔𝑔𝑎𝑎𝑎𝑎	NOUN
american_scientific_journal-3482	76	3	+	+	CCONJ
american_scientific_journal-3482	76	4	𝐹𝐹𝑥𝑥_𝑟𝑟𝑒𝑒𝑒𝑒	𝐹𝐹𝑥𝑥_𝑟𝑟𝑒𝑒𝑒𝑒	NOUN
american_scientific_journal-3482	76	5	0.75	0.75	NUM
american_scientific_journal-3482	76	6	(	(	PUNCT
american_scientific_journal-3482	76	7	13	13	NUM
american_scientific_journal-3482	76	8	)	)	PUNCT
american_scientific_journal-3482	76	9	𝐹𝐹𝑦𝑦_𝑎𝑎𝑜𝑜𝑎𝑎𝑔𝑔𝑔𝑔	𝐹𝐹𝑦𝑦_𝑎𝑎𝑜𝑜𝑎𝑎𝑔𝑔𝑔𝑔	NOUN
american_scientific_journal-3482	77	1	=	=	NOUN
american_scientific_journal-3482	77	2	𝐹𝐹𝑦𝑦_𝑔𝑔𝑎𝑎𝑎𝑎	𝐹𝐹𝑦𝑦_𝑔𝑔𝑎𝑎𝑎𝑎	NOUN
american_scientific_journal-3482	77	3	+	+	CCONJ
american_scientific_journal-3482	77	4	𝐹𝐹𝑦𝑦_𝑟𝑟𝑒𝑒𝑒𝑒	𝐹𝐹𝑦𝑦_𝑟𝑟𝑒𝑒𝑒𝑒	ADJ
american_scientific_journal-3482	77	5	+	+	NUM
american_scientific_journal-3482	77	6	0.5	0.5	NUM
american_scientific_journal-3482	77	7	(	(	PUNCT
american_scientific_journal-3482	77	8	14	14	NUM
american_scientific_journal-3482	77	9	)	)	PUNCT
american_scientific_journal-3482	77	10	figure	figure	NOUN
american_scientific_journal-3482	77	11	5	5	NUM
american_scientific_journal-3482	77	12	the	the	DET
american_scientific_journal-3482	77	13	second	second	ADJ
american_scientific_journal-3482	77	14	modification	modification	NOUN
american_scientific_journal-3482	77	15	on	on	ADP
american_scientific_journal-3482	77	16	the	the	DET
american_scientific_journal-3482	77	17	factors	factor	NOUN
american_scientific_journal-3482	77	18	of	of	ADP
american_scientific_journal-3482	77	19	apf	apf	PROPN
american_scientific_journal-3482	77	20	,	,	PUNCT
american_scientific_journal-3482	77	21	the	the	DET
american_scientific_journal-3482	77	22	attractive	attractive	ADJ
american_scientific_journal-3482	77	23	and	and	CCONJ
american_scientific_journal-3482	77	24	repulsive	repulsive	ADJ
american_scientific_journal-3482	77	25	factors	factor	NOUN
american_scientific_journal-3482	77	26	(	(	PUNCT
american_scientific_journal-3482	77	27	𝐾𝐾𝑔𝑔,𝐾𝐾𝑟𝑟	𝐾𝐾𝑔𝑔,𝐾𝐾𝑟𝑟	PROPN
american_scientific_journal-3482	77	28	)	)	PUNCT
american_scientific_journal-3482	77	29	play	play	VERB
american_scientific_journal-3482	77	30	an	an	DET
american_scientific_journal-3482	77	31	important	important	ADJ
american_scientific_journal-3482	77	32	role	role	NOUN
american_scientific_journal-3482	77	33	in	in	ADP
american_scientific_journal-3482	77	34	the	the	DET
american_scientific_journal-3482	77	35	proposed	propose	VERB
american_scientific_journal-3482	77	36	potential	potential	ADJ
american_scientific_journal-3482	77	37	field	field	NOUN
american_scientific_journal-3482	77	38	method	method	NOUN
american_scientific_journal-3482	77	39	.	.	PUNCT
american_scientific_journal-3482	78	1	if	if	SCONJ
american_scientific_journal-3482	78	2	the	the	DET
american_scientific_journal-3482	78	3	attractive	attractive	ADJ
american_scientific_journal-3482	78	4	value	value	NOUN
american_scientific_journal-3482	78	5	is	be	AUX
american_scientific_journal-3482	78	6	very	very	ADV
american_scientific_journal-3482	78	7	large	large	ADJ
american_scientific_journal-3482	78	8	,	,	PUNCT
american_scientific_journal-3482	78	9	then	then	ADV
american_scientific_journal-3482	78	10	only	only	ADV
american_scientific_journal-3482	78	11	the	the	DET
american_scientific_journal-3482	78	12	effectiveness	effectiveness	NOUN
american_scientific_journal-3482	78	13	of	of	ADP
american_scientific_journal-3482	78	14	the	the	DET
american_scientific_journal-3482	78	15	attractive	attractive	ADJ
american_scientific_journal-3482	78	16	force	force	NOUN
american_scientific_journal-3482	78	17	will	will	AUX
american_scientific_journal-3482	78	18	take	take	VERB
american_scientific_journal-3482	78	19	in	in	ADP
american_scientific_journal-3482	78	20	account	account	NOUN
american_scientific_journal-3482	78	21	.	.	PUNCT
american_scientific_journal-3482	79	1	on	on	ADP
american_scientific_journal-3482	79	2	the	the	DET
american_scientific_journal-3482	79	3	other	other	ADJ
american_scientific_journal-3482	79	4	hand	hand	NOUN
american_scientific_journal-3482	79	5	,	,	PUNCT
american_scientific_journal-3482	79	6	if	if	SCONJ
american_scientific_journal-3482	79	7	its	its	PRON
american_scientific_journal-3482	79	8	value	value	NOUN
american_scientific_journal-3482	79	9	is	be	AUX
american_scientific_journal-3482	79	10	small	small	ADJ
american_scientific_journal-3482	79	11	,	,	PUNCT
american_scientific_journal-3482	79	12	then	then	ADV
american_scientific_journal-3482	79	13	the	the	DET
american_scientific_journal-3482	79	14	attractive	attractive	ADJ
american_scientific_journal-3482	79	15	force	force	NOUN
american_scientific_journal-3482	79	16	will	will	AUX
american_scientific_journal-3482	79	17	be	be	AUX
american_scientific_journal-3482	79	18	ignored	ignore	VERB
american_scientific_journal-3482	79	19	.	.	PUNCT
american_scientific_journal-3482	80	1	however	however	ADV
american_scientific_journal-3482	80	2	,	,	PUNCT
american_scientific_journal-3482	80	3	there	there	PRON
american_scientific_journal-3482	80	4	is	be	VERB
american_scientific_journal-3482	80	5	no	no	DET
american_scientific_journal-3482	80	6	methodical	methodical	ADJ
american_scientific_journal-3482	80	7	technique	technique	NOUN
american_scientific_journal-3482	80	8	to	to	PART
american_scientific_journal-3482	80	9	determine	determine	VERB
american_scientific_journal-3482	80	10	it	it	PRON
american_scientific_journal-3482	80	11	.	.	PUNCT
american_scientific_journal-3482	81	1	therefore	therefore	ADV
american_scientific_journal-3482	81	2	,	,	PUNCT
american_scientific_journal-3482	81	3	the	the	DET
american_scientific_journal-3482	81	4	pso	pso	NOUN
american_scientific_journal-3482	81	5	is	be	AUX
american_scientific_journal-3482	81	6	used	use	VERB
american_scientific_journal-3482	81	7	to	to	PART
american_scientific_journal-3482	81	8	serve	serve	VERB
american_scientific_journal-3482	81	9	for	for	ADP
american_scientific_journal-3482	81	10	this	this	DET
american_scientific_journal-3482	81	11	purpose	purpose	NOUN
american_scientific_journal-3482	81	12	,	,	PUNCT
american_scientific_journal-3482	81	13	the	the	DET
american_scientific_journal-3482	81	14	repulsive	repulsive	ADJ
american_scientific_journal-3482	81	15	factor	factor	NOUN
american_scientific_journal-3482	81	16	has	have	VERB
american_scientific_journal-3482	81	17	an	an	DET
american_scientific_journal-3482	81	18	effect	effect	NOUN
american_scientific_journal-3482	81	19	in	in	ADP
american_scientific_journal-3482	81	20	specific	specific	ADJ
american_scientific_journal-3482	81	21	area	area	NOUN
american_scientific_journal-3482	81	22	,	,	PUNCT
american_scientific_journal-3482	81	23	which	which	PRON
american_scientific_journal-3482	81	24	is	be	AUX
american_scientific_journal-3482	81	25	,	,	PUNCT
american_scientific_journal-3482	81	26	represent	represent	VERB
american_scientific_journal-3482	81	27	the	the	DET
american_scientific_journal-3482	81	28	influence	influence	NOUN
american_scientific_journal-3482	81	29	around	around	ADP
american_scientific_journal-3482	81	30	the	the	DET
american_scientific_journal-3482	81	31	obstacle	obstacle	NOUN
american_scientific_journal-3482	81	32	so	so	SCONJ
american_scientific_journal-3482	81	33	it	it	PRON
american_scientific_journal-3482	81	34	is	be	AUX
american_scientific_journal-3482	81	35	important	important	ADJ
american_scientific_journal-3482	81	36	to	to	PART
american_scientific_journal-3482	81	37	be	be	AUX
american_scientific_journal-3482	81	38	optimized	optimize	VERB
american_scientific_journal-3482	81	39	,	,	PUNCT
american_scientific_journal-3482	81	40	the	the	DET
american_scientific_journal-3482	81	41	mathematical	mathematical	ADJ
american_scientific_journal-3482	81	42	expression	expression	NOUN
american_scientific_journal-3482	81	43	of	of	ADP
american_scientific_journal-3482	81	44	pso	pso	NOUN
american_scientific_journal-3482	81	45	is	be	AUX
american_scientific_journal-3482	81	46	as	as	ADP
american_scientific_journal-3482	81	47	the	the	DET
american_scientific_journal-3482	81	48	follow	follow	NOUN
american_scientific_journal-3482	81	49	:	:	PUNCT
american_scientific_journal-3482	81	50	lets	lets	AUX
american_scientific_journal-3482	81	51	suppose	suppose	VERB
american_scientific_journal-3482	81	52	s	s	PRON
american_scientific_journal-3482	81	53	represent	represent	VERB
american_scientific_journal-3482	81	54	the	the	DET
american_scientific_journal-3482	81	55	search	search	NOUN
american_scientific_journal-3482	81	56	domain	domain	NOUN
american_scientific_journal-3482	81	57	,	,	PUNCT
american_scientific_journal-3482	81	58	n	n	CCONJ
american_scientific_journal-3482	81	59	referred	refer	VERB
american_scientific_journal-3482	81	60	to	to	ADP
american_scientific_journal-3482	81	61	the	the	DET
american_scientific_journal-3482	81	62	particle	particle	NOUN
american_scientific_journal-3482	81	63	number	number	NOUN
american_scientific_journal-3482	81	64	,	,	PUNCT
american_scientific_journal-3482	81	65	the	the	DET
american_scientific_journal-3482	81	66	position	position	NOUN
american_scientific_journal-3482	81	67	of	of	ADP
american_scientific_journal-3482	81	68	all	all	DET
american_scientific_journal-3482	81	69	particles	particle	NOUN
american_scientific_journal-3482	81	70	represented	represent	VERB
american_scientific_journal-3482	81	71	by	by	ADP
american_scientific_journal-3482	81	72	this	this	DET
american_scientific_journal-3482	81	73	vector	vector	NOUN
american_scientific_journal-3482	81	74	𝑋𝑋𝑖𝑖=	𝑋𝑋𝑖𝑖=	PROPN
american_scientific_journal-3482	81	75	(	(	PUNCT
american_scientific_journal-3482	81	76	𝑥𝑥𝑖𝑖1	𝑥𝑥𝑖𝑖1	PROPN
american_scientific_journal-3482	81	77	,	,	PUNCT
american_scientific_journal-3482	81	78	𝑥𝑥𝑖𝑖2	𝑥𝑥𝑖𝑖2	NOUN
american_scientific_journal-3482	81	79	,	,	PUNCT
american_scientific_journal-3482	81	80	.	.	PUNCT
american_scientific_journal-3482	81	81	.	.	PUNCT
american_scientific_journal-3482	81	82	.	.	PUNCT
american_scientific_journal-3482	82	1	𝑥𝑥𝑖𝑖𝑖𝑖	𝑥𝑥𝑖𝑖𝑖𝑖	NOUN
american_scientific_journal-3482	82	2	)	)	PUNCT
american_scientific_journal-3482	82	3	,	,	PUNCT
american_scientific_journal-3482	82	4	the	the	DET
american_scientific_journal-3482	82	5	global	global	ADJ
american_scientific_journal-3482	82	6	best	good	ADJ
american_scientific_journal-3482	82	7	position	position	NOUN
american_scientific_journal-3482	82	8	till	till	SCONJ
american_scientific_journal-3482	82	9	now	now	ADV
american_scientific_journal-3482	82	10	is	be	AUX
american_scientific_journal-3482	82	11	𝑃𝑃𝑖𝑖=	𝑃𝑃𝑖𝑖=	PROPN
american_scientific_journal-3482	82	12	(	(	PUNCT
american_scientific_journal-3482	82	13	𝑝𝑝𝑖𝑖1	𝑝𝑝𝑖𝑖1	PROPN
american_scientific_journal-3482	82	14	,	,	PUNCT
american_scientific_journal-3482	82	15	𝑝𝑝𝑖𝑖2	𝑝𝑝𝑖𝑖2	PROPN
american_scientific_journal-3482	82	16	,	,	PUNCT
american_scientific_journal-3482	82	17	.	.	PUNCT
american_scientific_journal-3482	82	18	.	.	PUNCT
american_scientific_journal-3482	82	19	.	.	PUNCT
american_scientific_journal-3482	83	1	𝑝𝑝𝑖𝑖𝑖𝑖	𝑝𝑝𝑖𝑖𝑖𝑖	PROPN
american_scientific_journal-3482	83	2	)	)	PUNCT
american_scientific_journal-3482	83	3	,	,	PUNCT
american_scientific_journal-3482	83	4	the	the	DET
american_scientific_journal-3482	83	5	best	good	ADJ
american_scientific_journal-3482	83	6	position	position	NOUN
american_scientific_journal-3482	83	7	in	in	ADP
american_scientific_journal-3482	83	8	the	the	DET
american_scientific_journal-3482	83	9	all	all	DET
american_scientific_journal-3482	83	10	flock	flock	NOUN
american_scientific_journal-3482	83	11	’s	’s	PART
american_scientific_journal-3482	83	12	represent	represent	NOUN
american_scientific_journal-3482	83	13	as	as	ADP
american_scientific_journal-3482	83	14	𝑃𝑃𝑔𝑔=	𝑃𝑃𝑔𝑔=	PROPN
american_scientific_journal-3482	83	15	(	(	PUNCT
american_scientific_journal-3482	83	16	𝑝𝑝𝑔𝑔1	𝑝𝑝𝑔𝑔1	PROPN
american_scientific_journal-3482	83	17	,	,	PUNCT
american_scientific_journal-3482	83	18	𝑝𝑝𝑔𝑔2	𝑝𝑝𝑔𝑔2	NOUN
american_scientific_journal-3482	83	19	,	,	PUNCT
american_scientific_journal-3482	83	20	.	.	PUNCT
american_scientific_journal-3482	83	21	.	.	PUNCT
american_scientific_journal-3482	83	22	.	.	PUNCT
american_scientific_journal-3482	84	1	𝑝𝑝𝑔𝑔𝑖𝑖	𝑝𝑝𝑔𝑔𝑖𝑖	PROPN
american_scientific_journal-3482	84	2	)	)	PUNCT
american_scientific_journal-3482	84	3	,	,	PUNCT
american_scientific_journal-3482	84	4	the	the	DET
american_scientific_journal-3482	84	5	rate	rate	NOUN
american_scientific_journal-3482	84	6	of	of	ADP
american_scientific_journal-3482	84	7	changing	change	VERB
american_scientific_journal-3482	84	8	the	the	DET
american_scientific_journal-3482	84	9	position	position	NOUN
american_scientific_journal-3482	84	10	by	by	ADP
american_scientific_journal-3482	84	11	𝑖𝑖𝑎𝑎ℎ	𝑖𝑖𝑎𝑎ℎ	ADJ
american_scientific_journal-3482	84	12	particle	particle	NOUN
american_scientific_journal-3482	84	13	is	be	AUX
american_scientific_journal-3482	84	14	the	the	DET
american_scientific_journal-3482	84	15	vector	vector	NOUN
american_scientific_journal-3482	84	16	𝑉𝑉𝑖𝑖=	𝑉𝑉𝑖𝑖=	PROPN
american_scientific_journal-3482	84	17	(	(	PUNCT
american_scientific_journal-3482	84	18	𝑣𝑣𝑖𝑖1	𝑣𝑣𝑖𝑖1	PROPN
american_scientific_journal-3482	84	19	,	,	PUNCT
american_scientific_journal-3482	84	20	𝑣𝑣𝑖𝑖2	𝑣𝑣𝑖𝑖2	PROPN
american_scientific_journal-3482	84	21	,	,	PUNCT
american_scientific_journal-3482	84	22	.	.	PUNCT
american_scientific_journal-3482	84	23	.	.	PUNCT
american_scientific_journal-3482	84	24	.	.	PUNCT
american_scientific_journal-3482	85	1	𝑣𝑣𝑖𝑖𝑖𝑖	𝑣𝑣𝑖𝑖𝑖𝑖	PROPN
american_scientific_journal-3482	85	2	)	)	PUNCT
american_scientific_journal-3482	85	3	.	.	PUNCT
american_scientific_journal-3482	86	1	the	the	DET
american_scientific_journal-3482	86	2	particles	particle	NOUN
american_scientific_journal-3482	86	3	update	update	VERB
american_scientific_journal-3482	86	4	their	their	PRON
american_scientific_journal-3482	86	5	positions	position	NOUN
american_scientific_journal-3482	86	6	according	accord	VERB
american_scientific_journal-3482	86	7	to	to	ADP
american_scientific_journal-3482	86	8	the	the	DET
american_scientific_journal-3482	86	9	equation	equation	NOUN
american_scientific_journal-3482	86	10	(	(	PUNCT
american_scientific_journal-3482	86	11	1516	1516	NUM
american_scientific_journal-3482	86	12	)	)	PUNCT
american_scientific_journal-3482	87	1	[	[	X
american_scientific_journal-3482	87	2	18	18	NUM
american_scientific_journal-3482	87	3	]	]	X
american_scientific_journal-3482	87	4	:	:	PUNCT
american_scientific_journal-3482	87	5	“	"	PUNCT
american_scientific_journal-3482	87	6	𝑣𝑣𝑖𝑖𝑑𝑑(k+1)=w	𝑣𝑣𝑖𝑖𝑑𝑑(k+1)=w	PRON
american_scientific_journal-3482	87	7	×	×	NOUN
american_scientific_journal-3482	87	8	𝑣𝑣𝑖𝑖𝑑𝑑(k	𝑣𝑣𝑖𝑖𝑑𝑑(k	PROPN
american_scientific_journal-3482	87	9	)	)	PUNCT
american_scientific_journal-3482	87	10	+	+	CCONJ
american_scientific_journal-3482	87	11	𝑐𝑐1×	𝑐𝑐1×	ADJ
american_scientific_journal-3482	87	12	rand	rand	NOUN
american_scientific_journal-3482	87	13	(	(	PUNCT
american_scientific_journal-3482	87	14	)	)	PUNCT
american_scientific_journal-3482	87	15	×	×	NOUN
american_scientific_journal-3482	87	16	(	(	PUNCT
american_scientific_journal-3482	87	17	𝑃𝑃𝑖𝑖𝑑𝑑(k	𝑃𝑃𝑖𝑖𝑑𝑑(k	PROPN
american_scientific_journal-3482	87	18	)	)	PUNCT
american_scientific_journal-3482	87	19	𝑥𝑥𝑖𝑖𝑑𝑑(k	𝑥𝑥𝑖𝑖𝑑𝑑(k	NOUN
american_scientific_journal-3482	87	20	)	)	PUNCT
american_scientific_journal-3482	87	21	)	)	PUNCT
american_scientific_journal-3482	88	1	+	+	CCONJ
american_scientific_journal-3482	88	2	𝑐𝑐2	𝑐𝑐2	PROPN
american_scientific_journal-3482	88	3	×	×	PROPN
american_scientific_journal-3482	88	4	rand	rand	NOUN
american_scientific_journal-3482	88	5	(	(	PUNCT
american_scientific_journal-3482	88	6	)	)	PUNCT
american_scientific_journal-3482	88	7	×	×	NOUN
american_scientific_journal-3482	88	8	(	(	PUNCT
american_scientific_journal-3482	88	9	𝑃𝑃𝑔𝑔𝑑𝑑(k	𝑃𝑃𝑔𝑔𝑑𝑑(k	PROPN
american_scientific_journal-3482	88	10	)	)	PUNCT
american_scientific_journal-3482	88	11	𝑥𝑥𝑖𝑖𝑑𝑑(k	𝑥𝑥𝑖𝑖𝑑𝑑(k	NOUN
american_scientific_journal-3482	88	12	)	)	PUNCT
american_scientific_journal-3482	88	13	)	)	PUNCT
american_scientific_journal-3482	88	14	(	(	PUNCT
american_scientific_journal-3482	88	15	15	15	X
american_scientific_journal-3482	88	16	)	)	PUNCT
american_scientific_journal-3482	88	17	american	american	ADJ
american_scientific_journal-3482	88	18	scientific	scientific	ADJ
american_scientific_journal-3482	88	19	research	research	NOUN
american_scientific_journal-3482	88	20	journal	journal	NOUN
american_scientific_journal-3482	88	21	for	for	ADP
american_scientific_journal-3482	88	22	engineering	engineering	NOUN
american_scientific_journal-3482	88	23	,	,	PUNCT
american_scientific_journal-3482	88	24	technology	technology	NOUN
american_scientific_journal-3482	88	25	,	,	PUNCT
american_scientific_journal-3482	88	26	and	and	CCONJ
american_scientific_journal-3482	88	27	sciences	science	NOUN
american_scientific_journal-3482	88	28	(	(	PUNCT
american_scientific_journal-3482	88	29	asrjets	asrjet	NOUN
american_scientific_journal-3482	88	30	)	)	PUNCT
american_scientific_journal-3482	88	31	(	(	PUNCT
american_scientific_journal-3482	88	32	2017	2017	NUM
american_scientific_journal-3482	88	33	)	)	PUNCT
american_scientific_journal-3482	88	34	volume	volume	NOUN
american_scientific_journal-3482	88	35	37	37	NUM
american_scientific_journal-3482	88	36	,	,	PUNCT
american_scientific_journal-3482	88	37	no	no	DET
american_scientific_journal-3482	88	38	1	1	NUM
american_scientific_journal-3482	88	39	,	,	PUNCT
american_scientific_journal-3482	88	40	pp	pp	ADV
american_scientific_journal-3482	88	41	316	316	NUM
american_scientific_journal-3482	88	42	-	-	SYM
american_scientific_journal-3482	88	43	328	328	NUM
american_scientific_journal-3482	88	44	322	322	NUM
american_scientific_journal-3482	88	45	𝑥𝑥𝑖𝑖𝑑𝑑(k+1)=	𝑥𝑥𝑖𝑖𝑑𝑑(k+1)=	NOUN
american_scientific_journal-3482	88	46	𝑥𝑥𝑖𝑖𝑑𝑑(k	𝑥𝑥𝑖𝑖𝑑𝑑(k	NOUN
american_scientific_journal-3482	88	47	)	)	PUNCT
american_scientific_journal-3482	88	48	+	+	NOUN
american_scientific_journal-3482	88	49	𝑣𝑣𝑖𝑖𝑑𝑑(k+1	𝑣𝑣𝑖𝑖𝑑𝑑(k+1	ADJ
american_scientific_journal-3482	88	50	)	)	PUNCT
american_scientific_journal-3482	88	51	(	(	PUNCT
american_scientific_journal-3482	88	52	16	16	NUM
american_scientific_journal-3482	88	53	)	)	PUNCT
american_scientific_journal-3482	88	54	where	where	SCONJ
american_scientific_journal-3482	88	55	c1	c1	PROPN
american_scientific_journal-3482	88	56	,	,	PUNCT
american_scientific_journal-3482	88	57	c2	c2	PROPN
american_scientific_journal-3482	88	58	are	be	AUX
american_scientific_journal-3482	88	59	positive	positive	ADJ
american_scientific_journal-3482	88	60	constant	constant	ADJ
american_scientific_journal-3482	88	61	factors	factor	NOUN
american_scientific_journal-3482	88	62	called	call	VERB
american_scientific_journal-3482	88	63	acceleration	acceleration	PROPN
american_scientific_journal-3482	88	64	factores	factores	PROPN
american_scientific_journal-3482	88	65	and	and	CCONJ
american_scientific_journal-3482	88	66	w	w	PROPN
american_scientific_journal-3482	88	67	is	be	AUX
american_scientific_journal-3482	88	68	called	call	VERB
american_scientific_journal-3482	88	69	the	the	DET
american_scientific_journal-3482	88	70	inertia	inertia	NOUN
american_scientific_journal-3482	88	71	weight	weight	NOUN
american_scientific_journal-3482	88	72	which	which	PRON
american_scientific_journal-3482	88	73	represent	represent	VERB
american_scientific_journal-3482	88	74	the	the	DET
american_scientific_journal-3482	88	75	value	value	NOUN
american_scientific_journal-3482	88	76	given	give	VERB
american_scientific_journal-3482	88	77	according	accord	VERB
american_scientific_journal-3482	88	78	to	to	ADP
american_scientific_journal-3482	88	79	the	the	DET
american_scientific_journal-3482	88	80	equation	equation	NOUN
american_scientific_journal-3482	88	81	(	(	PUNCT
american_scientific_journal-3482	88	82	11	11	NUM
american_scientific_journal-3482	88	83	):	):	PUNCT
american_scientific_journal-3482	88	84	w	w	PROPN
american_scientific_journal-3482	88	85	≤	≤	ADV
american_scientific_journal-3482	88	86	1	1	NUM
american_scientific_journal-3482	88	87	(	(	PUNCT
american_scientific_journal-3482	88	88	17	17	NUM
american_scientific_journal-3482	88	89	)	)	PUNCT
american_scientific_journal-3482	88	90	the	the	DET
american_scientific_journal-3482	88	91	cost	cost	NOUN
american_scientific_journal-3482	88	92	function	function	NOUN
american_scientific_journal-3482	88	93	of	of	ADP
american_scientific_journal-3482	88	94	pso	pso	NOUN
american_scientific_journal-3482	88	95	algorithm	algorithm	NOUN
american_scientific_journal-3482	88	96	is	be	AUX
american_scientific_journal-3482	88	97	the	the	DET
american_scientific_journal-3482	88	98	path	path	NOUN
american_scientific_journal-3482	88	99	length	length	NOUN
american_scientific_journal-3482	88	100	and	and	CCONJ
american_scientific_journal-3482	88	101	defined	define	VERB
american_scientific_journal-3482	88	102	as	as	ADP
american_scientific_journal-3482	88	103	:	:	PUNCT
american_scientific_journal-3482	88	104	l=	l=	ADJ
american_scientific_journal-3482	88	105	∑𝑖𝑖(	∑𝑖𝑖(	PROPN
american_scientific_journal-3482	88	106	�	�	PROPN
american_scientific_journal-3482	88	107	𝑝𝑝𝑓𝑓𝑒𝑒𝑔𝑔𝑎𝑎ℎ𝑥𝑥(𝑖𝑖+1	𝑝𝑝𝑓𝑓𝑒𝑒𝑔𝑔𝑎𝑎ℎ𝑥𝑥(𝑖𝑖+1	PART
american_scientific_journal-3482	88	108	)	)	PUNCT
american_scientific_journal-3482	88	109	−	−	PROPN
american_scientific_journal-3482	88	110	𝑝𝑝𝑓𝑓𝑒𝑒𝑔𝑔𝑎𝑎ℎ𝑥𝑥(𝑖𝑖	𝑝𝑝𝑓𝑓𝑒𝑒𝑔𝑔𝑎𝑎ℎ𝑥𝑥(𝑖𝑖	PROPN
american_scientific_journal-3482	88	111	)	)	PUNCT
american_scientific_journal-3482	88	112	�	�	PROPN
american_scientific_journal-3482	88	113	+	+	CCONJ
american_scientific_journal-3482	88	114	�	�	PROPN
american_scientific_journal-3482	88	115	𝑝𝑝𝑓𝑓𝑒𝑒𝑔𝑔𝑎𝑎ℎ𝑦𝑦(𝑖𝑖+1	𝑝𝑝𝑓𝑓𝑒𝑒𝑔𝑔𝑎𝑎ℎ𝑦𝑦(𝑖𝑖+1	PROPN
american_scientific_journal-3482	88	116	)	)	PUNCT
american_scientific_journal-3482	88	117	−	−	ADP
american_scientific_journal-3482	88	118	𝑝𝑝𝑓𝑓𝑒𝑒𝑔𝑔𝑎𝑎ℎ𝑦𝑦(𝑖𝑖)	𝑝𝑝𝑓𝑓𝑒𝑒𝑔𝑔𝑎𝑎ℎ𝑦𝑦(𝑖𝑖)	NOUN
american_scientific_journal-3482	88	119	�	�	PROPN
american_scientific_journal-3482	88	120	)0.5	)0.5	PUNCT
american_scientific_journal-3482	88	121	(	(	PUNCT
american_scientific_journal-3482	88	122	18	18	NUM
american_scientific_journal-3482	88	123	)	)	PUNCT
american_scientific_journal-3482	88	124	where	where	SCONJ
american_scientific_journal-3482	88	125	(	(	PUNCT
american_scientific_journal-3482	88	126	𝑝𝑝𝑓𝑓𝑒𝑒𝑔𝑔𝑎𝑎ℎ	𝑝𝑝𝑓𝑓𝑒𝑒𝑔𝑔𝑎𝑎ℎ	PROPN
american_scientific_journal-3482	88	127	𝑥𝑥	𝑥𝑥	ADP
american_scientific_journal-3482	88	128	,	,	PUNCT
american_scientific_journal-3482	88	129	𝑝𝑝𝑓𝑓𝑒𝑒𝑔𝑔𝑎𝑎ℎ	𝑝𝑝𝑓𝑓𝑒𝑒𝑔𝑔𝑎𝑎ℎ	PROPN
american_scientific_journal-3482	88	130	𝑦𝑦	𝑦𝑦	PROPN
american_scientific_journal-3482	88	131	)	)	PUNCT
american_scientific_journal-3482	88	132	is	be	AUX
american_scientific_journal-3482	88	133	the	the	DET
american_scientific_journal-3482	88	134	x	x	PROPN
american_scientific_journal-3482	88	135	,	,	PUNCT
american_scientific_journal-3482	88	136	y	y	PROPN
american_scientific_journal-3482	88	137	axis	axis	NOUN
american_scientific_journal-3482	88	138	coordinate	coordinate	NOUN
american_scientific_journal-3482	88	139	of	of	ADP
american_scientific_journal-3482	88	140	the	the	DET
american_scientific_journal-3482	88	141	path	path	NOUN
american_scientific_journal-3482	88	142	.	.	PUNCT
american_scientific_journal-3482	89	1	the	the	DET
american_scientific_journal-3482	89	2	details	detail	NOUN
american_scientific_journal-3482	89	3	of	of	ADP
american_scientific_journal-3482	89	4	the	the	DET
american_scientific_journal-3482	89	5	determination	determination	NOUN
american_scientific_journal-3482	89	6	of	of	ADP
american_scientific_journal-3482	89	7	the	the	DET
american_scientific_journal-3482	89	8	attractive	attractive	ADJ
american_scientific_journal-3482	89	9	and	and	CCONJ
american_scientific_journal-3482	89	10	repulsive	repulsive	ADJ
american_scientific_journal-3482	89	11	factors	factor	NOUN
american_scientific_journal-3482	89	12	can	can	AUX
american_scientific_journal-3482	89	13	be	be	AUX
american_scientific_journal-3482	89	14	summarized	summarize	VERB
american_scientific_journal-3482	89	15	as	as	SCONJ
american_scientific_journal-3482	89	16	follows	follow	VERB
american_scientific_journal-3482	89	17	1define	1define	PROPN
american_scientific_journal-3482	89	18	pso	pso	NOUN
american_scientific_journal-3482	89	19	parameters	parameter	NOUN
american_scientific_journal-3482	89	20	,	,	PUNCT
american_scientific_journal-3482	89	21	apf	apf	PROPN
american_scientific_journal-3482	89	22	factors(𝐾𝐾𝑔𝑔	factors(𝐾𝐾𝑔𝑔	PROPN
american_scientific_journal-3482	89	23	,	,	PUNCT
american_scientific_journal-3482	89	24	𝐾𝐾𝑟𝑟𝑒𝑒𝑒𝑒	𝐾𝐾𝑟𝑟𝑒𝑒𝑒𝑒	PROPN
american_scientific_journal-3482	89	25	)	)	PUNCT
american_scientific_journal-3482	89	26	and	and	CCONJ
american_scientific_journal-3482	89	27	their	their	PRON
american_scientific_journal-3482	89	28	ranges	range	NOUN
american_scientific_journal-3482	89	29	.	.	PUNCT
american_scientific_journal-3482	90	1	2generate	2generate	NUM
american_scientific_journal-3482	90	2	randomly	randomly	ADJ
american_scientific_journal-3482	90	3	factors	factor	NOUN
american_scientific_journal-3482	90	4	within	within	ADP
american_scientific_journal-3482	90	5	the	the	DET
american_scientific_journal-3482	90	6	proposed	propose	VERB
american_scientific_journal-3482	90	7	ranges	range	NOUN
american_scientific_journal-3482	90	8	.	.	PUNCT
american_scientific_journal-3482	91	1	3apply	3apply	NUM
american_scientific_journal-3482	91	2	apf	apf	PROPN
american_scientific_journal-3482	91	3	algorithm	algorithm	NOUN
american_scientific_journal-3482	91	4	based	base	VERB
american_scientific_journal-3482	91	5	on	on	ADP
american_scientific_journal-3482	91	6	randomly	randomly	ADV
american_scientific_journal-3482	91	7	generated	generate	VERB
american_scientific_journal-3482	91	8	factors	factor	NOUN
american_scientific_journal-3482	91	9	as	as	ADV
american_scientific_journal-3482	91	10	soon	soon	ADV
american_scientific_journal-3482	91	11	as	as	SCONJ
american_scientific_journal-3482	91	12	apf	apf	PROPN
american_scientific_journal-3482	91	13	construct	construct	VERB
american_scientific_journal-3482	91	14	and	and	CCONJ
american_scientific_journal-3482	91	15	find	find	VERB
american_scientific_journal-3482	91	16	possible	possible	ADJ
american_scientific_journal-3482	91	17	path	path	NOUN
american_scientific_journal-3482	91	18	with	with	ADP
american_scientific_journal-3482	91	19	the	the	DET
american_scientific_journal-3482	91	20	cost	cost	NOUN
american_scientific_journal-3482	91	21	function	function	NOUN
american_scientific_journal-3482	91	22	calculation	calculation	NOUN
american_scientific_journal-3482	91	23	.	.	PUNCT
american_scientific_journal-3482	92	1	4update	4update	NOUN
american_scientific_journal-3482	92	2	the	the	DET
american_scientific_journal-3482	92	3	local	local	ADJ
american_scientific_journal-3482	92	4	and	and	CCONJ
american_scientific_journal-3482	92	5	best	good	ADJ
american_scientific_journal-3482	92	6	global	global	ADJ
american_scientific_journal-3482	92	7	factors	factor	NOUN
american_scientific_journal-3482	92	8	of	of	ADP
american_scientific_journal-3482	92	9	pso	pso	NOUN
american_scientific_journal-3482	92	10	algorithm	algorithm	NOUN
american_scientific_journal-3482	92	11	according	accord	VERB
american_scientific_journal-3482	92	12	to	to	ADP
american_scientific_journal-3482	92	13	acceptable	acceptable	ADJ
american_scientific_journal-3482	92	14	path	path	NOUN
american_scientific_journal-3482	92	15	.	.	PUNCT
american_scientific_journal-3482	93	1	5repeat	5repeat	NUM
american_scientific_journal-3482	93	2	steps	step	NOUN
american_scientific_journal-3482	93	3	2	2	NUM
american_scientific_journal-3482	93	4	,	,	PUNCT
american_scientific_journal-3482	93	5	3	3	NUM
american_scientific_journal-3482	93	6	,	,	PUNCT
american_scientific_journal-3482	93	7	4	4	NUM
american_scientific_journal-3482	93	8	for	for	ADP
american_scientific_journal-3482	93	9	the	the	DET
american_scientific_journal-3482	93	10	selected	select	VERB
american_scientific_journal-3482	93	11	number	number	NOUN
american_scientific_journal-3482	93	12	of	of	ADP
american_scientific_journal-3482	93	13	particles	particle	NOUN
american_scientific_journal-3482	93	14	.	.	PUNCT
american_scientific_journal-3482	94	1	6update	6update	NUM
american_scientific_journal-3482	94	2	the	the	DET
american_scientific_journal-3482	94	3	velocity	velocity	NOUN
american_scientific_journal-3482	94	4	and	and	CCONJ
american_scientific_journal-3482	94	5	position	position	NOUN
american_scientific_journal-3482	94	6	equations	equation	NOUN
american_scientific_journal-3482	94	7	for	for	ADP
american_scientific_journal-3482	94	8	the	the	DET
american_scientific_journal-3482	94	9	next	next	ADJ
american_scientific_journal-3482	94	10	factors	factor	NOUN
american_scientific_journal-3482	94	11	of	of	ADP
american_scientific_journal-3482	94	12	apf	apf	PROPN
american_scientific_journal-3482	94	13	𝑣𝑣𝑖𝑖(k+1	𝑣𝑣𝑖𝑖(k+1	NOUN
american_scientific_journal-3482	94	14	)	)	PUNCT
american_scientific_journal-3482	94	15	=	=	PUNCT
american_scientific_journal-3482	95	1	w	w	PROPN
american_scientific_journal-3482	95	2	×	×	NOUN
american_scientific_journal-3482	95	3	𝑣𝑣𝑖𝑖(k	𝑣𝑣𝑖𝑖(k	NOUN
american_scientific_journal-3482	95	4	)	)	PUNCT
american_scientific_journal-3482	95	5	+	+	CCONJ
american_scientific_journal-3482	95	6	𝑐𝑐1×	𝑐𝑐1×	ADJ
american_scientific_journal-3482	95	7	rand	rand	NOUN
american_scientific_journal-3482	95	8	(	(	PUNCT
american_scientific_journal-3482	95	9	)	)	PUNCT
american_scientific_journal-3482	95	10	×	×	NOUN
american_scientific_journal-3482	95	11	(	(	PUNCT
american_scientific_journal-3482	95	12	𝑃𝑃𝑖𝑖𝑔𝑔𝑎𝑎𝑎𝑎(k	𝑃𝑃𝑖𝑖𝑔𝑔𝑎𝑎𝑎𝑎(k	NOUN
american_scientific_journal-3482	95	13	)	)	PUNCT
american_scientific_journal-3482	95	14	𝑥𝑥𝑖𝑖𝑔𝑔𝑎𝑎𝑎𝑎(k	𝑥𝑥𝑖𝑖𝑔𝑔𝑎𝑎𝑎𝑎(k	NOUN
american_scientific_journal-3482	95	15	)	)	PUNCT
american_scientific_journal-3482	95	16	)	)	PUNCT
american_scientific_journal-3482	96	1	+	+	CCONJ
american_scientific_journal-3482	96	2	𝑐𝑐2	𝑐𝑐2	PROPN
american_scientific_journal-3482	96	3	×	×	PROPN
american_scientific_journal-3482	96	4	rand	rand	NOUN
american_scientific_journal-3482	96	5	(	(	PUNCT
american_scientific_journal-3482	96	6	)	)	PUNCT
american_scientific_journal-3482	96	7	×	×	NOUN
american_scientific_journal-3482	96	8	(	(	PUNCT
american_scientific_journal-3482	96	9	𝑃𝑃𝑔𝑔𝑔𝑔𝑎𝑎𝑎𝑎(k	𝑃𝑃𝑔𝑔𝑔𝑔𝑎𝑎𝑎𝑎(k	PROPN
american_scientific_journal-3482	96	10	)	)	PUNCT
american_scientific_journal-3482	96	11	𝑥𝑥𝑖𝑖𝑔𝑔𝑎𝑎𝑎𝑎𝑖𝑖(k	𝑥𝑥𝑖𝑖𝑔𝑔𝑎𝑎𝑎𝑎𝑖𝑖(k	NOUN
american_scientific_journal-3482	96	12	)	)	PUNCT
american_scientific_journal-3482	96	13	)	)	PUNCT
american_scientific_journal-3482	96	14	(	(	PUNCT
american_scientific_journal-3482	96	15	19	19	NUM
american_scientific_journal-3482	96	16	)	)	PUNCT
american_scientific_journal-3482	96	17	𝑥𝑥𝑖𝑖(k+1	𝑥𝑥𝑖𝑖(k+1	ADJ
american_scientific_journal-3482	96	18	)	)	PUNCT
american_scientific_journal-3482	96	19	=	=	SYM
american_scientific_journal-3482	96	20	𝑥𝑥𝑖𝑖(k	𝑥𝑥𝑖𝑖(k	NOUN
american_scientific_journal-3482	96	21	)	)	PUNCT
american_scientific_journal-3482	96	22	+	+	X
american_scientific_journal-3482	96	23	𝑣𝑣𝑖𝑖(k+1	𝑣𝑣𝑖𝑖(k+1	X
american_scientific_journal-3482	96	24	)	)	PUNCT
american_scientific_journal-3482	96	25	(	(	PUNCT
american_scientific_journal-3482	96	26	20	20	NUM
american_scientific_journal-3482	96	27	)	)	PUNCT
american_scientific_journal-3482	96	28	𝑣𝑣𝑖𝑖(k+1	𝑣𝑣𝑖𝑖(k+1	ADJ
american_scientific_journal-3482	96	29	)	)	PUNCT
american_scientific_journal-3482	96	30	=	=	PUNCT
american_scientific_journal-3482	97	1	w	w	PROPN
american_scientific_journal-3482	97	2	×	×	NOUN
american_scientific_journal-3482	97	3	𝑣𝑣𝑖𝑖(k	𝑣𝑣𝑖𝑖(k	NOUN
american_scientific_journal-3482	97	4	)	)	PUNCT
american_scientific_journal-3482	97	5	+	+	CCONJ
american_scientific_journal-3482	97	6	𝑐𝑐1×	𝑐𝑐1×	ADJ
american_scientific_journal-3482	97	7	rand	rand	NOUN
american_scientific_journal-3482	97	8	(	(	PUNCT
american_scientific_journal-3482	97	9	)	)	PUNCT
american_scientific_journal-3482	97	10	×	×	NOUN
american_scientific_journal-3482	97	11	(	(	PUNCT
american_scientific_journal-3482	97	12	𝑃𝑃𝑖𝑖𝑟𝑟𝑒𝑒𝑒𝑒(k	𝑃𝑃𝑖𝑖𝑟𝑟𝑒𝑒𝑒𝑒(k	NOUN
american_scientific_journal-3482	97	13	)	)	PUNCT
american_scientific_journal-3482	97	14	𝑥𝑥𝑖𝑖𝑟𝑟𝑒𝑒𝑒𝑒(k	𝑥𝑥𝑖𝑖𝑟𝑟𝑒𝑒𝑒𝑒(k	ADP
american_scientific_journal-3482	97	15	)	)	PUNCT
american_scientific_journal-3482	97	16	)	)	PUNCT
american_scientific_journal-3482	98	1	+	+	CCONJ
american_scientific_journal-3482	98	2	𝑐𝑐2	𝑐𝑐2	PROPN
american_scientific_journal-3482	98	3	×	×	PROPN
american_scientific_journal-3482	98	4	rand	rand	NOUN
american_scientific_journal-3482	98	5	(	(	PUNCT
american_scientific_journal-3482	98	6	)	)	PUNCT
american_scientific_journal-3482	98	7	×	×	NOUN
american_scientific_journal-3482	98	8	(	(	PUNCT
american_scientific_journal-3482	98	9	𝑃𝑃𝑔𝑔𝑟𝑟𝑒𝑒𝑒𝑒(k	𝑃𝑃𝑔𝑔𝑟𝑟𝑒𝑒𝑒𝑒(k	ADV
american_scientific_journal-3482	98	10	)	)	PUNCT
american_scientific_journal-3482	98	11	𝑥𝑥𝑖𝑖𝑟𝑟𝑒𝑒𝑒𝑒𝑖𝑖(k	𝑥𝑥𝑖𝑖𝑟𝑟𝑒𝑒𝑒𝑒𝑖𝑖(k	NOUN
american_scientific_journal-3482	98	12	)	)	PUNCT
american_scientific_journal-3482	98	13	)	)	PUNCT
american_scientific_journal-3482	98	14	(	(	PUNCT
american_scientific_journal-3482	98	15	21	21	NUM
american_scientific_journal-3482	98	16	)	)	PUNCT
american_scientific_journal-3482	98	17	𝑥𝑥𝑖𝑖(k+1	𝑥𝑥𝑖𝑖(k+1	ADJ
american_scientific_journal-3482	98	18	)	)	PUNCT
american_scientific_journal-3482	98	19	=	=	SYM
american_scientific_journal-3482	98	20	𝑥𝑥𝑖𝑖(k	𝑥𝑥𝑖𝑖(k	NOUN
american_scientific_journal-3482	98	21	)	)	PUNCT
american_scientific_journal-3482	98	22	+	+	X
american_scientific_journal-3482	98	23	𝑣𝑣𝑖𝑖(k+1	𝑣𝑣𝑖𝑖(k+1	X
american_scientific_journal-3482	98	24	)	)	PUNCT
american_scientific_journal-3482	98	25	(	(	PUNCT
american_scientific_journal-3482	98	26	22	22	NUM
american_scientific_journal-3482	98	27	)	)	PUNCT
american_scientific_journal-3482	98	28	where	where	SCONJ
american_scientific_journal-3482	98	29	the	the	DET
american_scientific_journal-3482	98	30	𝑃𝑃𝑖𝑖𝑔𝑔is	𝑃𝑃𝑖𝑖𝑔𝑔is	PROPN
american_scientific_journal-3482	98	31	the	the	DET
american_scientific_journal-3482	98	32	best	good	ADJ
american_scientific_journal-3482	98	33	position	position	NOUN
american_scientific_journal-3482	98	34	for	for	ADP
american_scientific_journal-3482	98	35	the	the	DET
american_scientific_journal-3482	98	36	𝑖𝑖𝑎𝑎ℎ	𝑖𝑖𝑎𝑎ℎ	ADJ
american_scientific_journal-3482	98	37	particle	particle	NOUN
american_scientific_journal-3482	98	38	for	for	ADP
american_scientific_journal-3482	98	39	the	the	DET
american_scientific_journal-3482	98	40	attractive	attractive	ADJ
american_scientific_journal-3482	98	41	factors	factor	NOUN
american_scientific_journal-3482	98	42	,	,	PUNCT
american_scientific_journal-3482	98	43	𝑥𝑥𝑖𝑖𝑔𝑔	𝑥𝑥𝑖𝑖𝑔𝑔	NOUN
american_scientific_journal-3482	98	44	is	be	AUX
american_scientific_journal-3482	98	45	the	the	DET
american_scientific_journal-3482	98	46	current	current	ADJ
american_scientific_journal-3482	98	47	position	position	NOUN
american_scientific_journal-3482	98	48	,	,	PUNCT
american_scientific_journal-3482	98	49	𝑥𝑥𝑖𝑖𝑔𝑔𝑖𝑖is	𝑥𝑥𝑖𝑖𝑔𝑔𝑖𝑖i	VERB
american_scientific_journal-3482	98	50	the	the	DET
american_scientific_journal-3482	98	51	local	local	ADJ
american_scientific_journal-3482	98	52	best	good	ADJ
american_scientific_journal-3482	98	53	position	position	NOUN
american_scientific_journal-3482	98	54	and	and	CCONJ
american_scientific_journal-3482	98	55	the	the	DET
american_scientific_journal-3482	98	56	letters	letter	NOUN
american_scientific_journal-3482	98	57	(	(	PUNCT
american_scientific_journal-3482	98	58	att	att	PROPN
american_scientific_journal-3482	98	59	)	)	PUNCT
american_scientific_journal-3482	98	60	refer	refer	VERB
american_scientific_journal-3482	98	61	to	to	ADP
american_scientific_journal-3482	98	62	attractive	attractive	ADJ
american_scientific_journal-3482	98	63	factors	factor	NOUN
american_scientific_journal-3482	98	64	,	,	PUNCT
american_scientific_journal-3482	98	65	it	it	PRON
american_scientific_journal-3482	98	66	is	be	AUX
american_scientific_journal-3482	98	67	the	the	DET
american_scientific_journal-3482	98	68	similar	similar	ADJ
american_scientific_journal-3482	98	69	definition	definition	NOUN
american_scientific_journal-3482	98	70	to	to	ADP
american_scientific_journal-3482	98	71	the	the	DET
american_scientific_journal-3482	98	72	equations	equation	NOUN
american_scientific_journal-3482	98	73	(	(	PUNCT
american_scientific_journal-3482	98	74	21	21	NUM
american_scientific_journal-3482	98	75	-	-	SYM
american_scientific_journal-3482	98	76	22	22	NUM
american_scientific_journal-3482	98	77	)	)	PUNCT
american_scientific_journal-3482	98	78	where	where	SCONJ
american_scientific_journal-3482	98	79	the	the	DET
american_scientific_journal-3482	98	80	letters	letter	NOUN
american_scientific_journal-3482	98	81	(	(	PUNCT
american_scientific_journal-3482	98	82	rep	rep	NOUN
american_scientific_journal-3482	98	83	)	)	PUNCT
american_scientific_journal-3482	98	84	refer	refer	VERB
american_scientific_journal-3482	98	85	to	to	ADP
american_scientific_journal-3482	98	86	repulsive	repulsive	ADJ
american_scientific_journal-3482	98	87	factor	factor	NOUN
american_scientific_journal-3482	98	88	.	.	PUNCT
american_scientific_journal-3482	99	1	7apply	7apply	PROPN
american_scientific_journal-3482	99	2	apf	apf	PROPN
american_scientific_journal-3482	99	3	based	base	VERB
american_scientific_journal-3482	99	4	on	on	ADP
american_scientific_journal-3482	99	5	the	the	DET
american_scientific_journal-3482	99	6	updated	update	VERB
american_scientific_journal-3482	99	7	values	value	NOUN
american_scientific_journal-3482	99	8	of	of	ADP
american_scientific_journal-3482	99	9	the	the	DET
american_scientific_journal-3482	99	10	attractive	attractive	ADJ
american_scientific_journal-3482	99	11	and	and	CCONJ
american_scientific_journal-3482	99	12	repulsive	repulsive	ADJ
american_scientific_journal-3482	99	13	factors	factor	NOUN
american_scientific_journal-3482	99	14	and	and	CCONJ
american_scientific_journal-3482	99	15	calculate	calculate	VERB
american_scientific_journal-3482	99	16	the	the	DET
american_scientific_journal-3482	99	17	cost	cost	NOUN
american_scientific_journal-3482	99	18	function	function	NOUN
american_scientific_journal-3482	99	19	.	.	PUNCT
american_scientific_journal-3482	100	1	8update	8update	NUM
american_scientific_journal-3482	100	2	the	the	DET
american_scientific_journal-3482	100	3	local	local	ADJ
american_scientific_journal-3482	100	4	and	and	CCONJ
american_scientific_journal-3482	100	5	global	global	ADJ
american_scientific_journal-3482	100	6	values	value	NOUN
american_scientific_journal-3482	100	7	to	to	PART
american_scientific_journal-3482	100	8	find	find	VERB
american_scientific_journal-3482	100	9	the	the	DET
american_scientific_journal-3482	100	10	best	good	ADJ
american_scientific_journal-3482	100	11	global	global	ADJ
american_scientific_journal-3482	100	12	value	value	NOUN
american_scientific_journal-3482	100	13	for	for	ADP
american_scientific_journal-3482	100	14	the	the	DET
american_scientific_journal-3482	100	15	factors	factor	NOUN
american_scientific_journal-3482	100	16	.	.	PUNCT
american_scientific_journal-3482	101	1	9repeat	9repeat	NUM
american_scientific_journal-3482	101	2	the	the	DET
american_scientific_journal-3482	101	3	steps	step	NOUN
american_scientific_journal-3482	101	4	6	6	NUM
american_scientific_journal-3482	101	5	,	,	PUNCT
american_scientific_journal-3482	101	6	7	7	NUM
american_scientific_journal-3482	101	7	,	,	PUNCT
american_scientific_journal-3482	101	8	8	8	NUM
american_scientific_journal-3482	101	9	for	for	ADP
american_scientific_journal-3482	101	10	the	the	DET
american_scientific_journal-3482	101	11	updated	update	VERB
american_scientific_journal-3482	101	12	factors	factor	NOUN
american_scientific_journal-3482	101	13	according	accord	VERB
american_scientific_journal-3482	101	14	to	to	ADP
american_scientific_journal-3482	101	15	number	number	NOUN
american_scientific_journal-3482	101	16	of	of	ADP
american_scientific_journal-3482	101	17	population	population	NOUN
american_scientific_journal-3482	101	18	and	and	CCONJ
american_scientific_journal-3482	101	19	number	number	NOUN
american_scientific_journal-3482	101	20	of	of	ADP
american_scientific_journal-3482	101	21	iterations	iteration	NOUN
american_scientific_journal-3482	101	22	.	.	PUNCT
american_scientific_journal-3482	102	1	10after	10after	PUNCT
american_scientific_journal-3482	102	2	find	find	VERB
american_scientific_journal-3482	102	3	the	the	DET
american_scientific_journal-3482	102	4	global	global	ADJ
american_scientific_journal-3482	102	5	values	value	NOUN
american_scientific_journal-3482	102	6	of	of	ADP
american_scientific_journal-3482	102	7	each	each	DET
american_scientific_journal-3482	102	8	factor	factor	NOUN
american_scientific_journal-3482	102	9	as	as	ADP
american_scientific_journal-3482	102	10	the	the	DET
american_scientific_journal-3482	102	11	best	good	ADJ
american_scientific_journal-3482	102	12	value	value	NOUN
american_scientific_journal-3482	102	13	the	the	DET
american_scientific_journal-3482	102	14	corresponding	corresponding	ADJ
american_scientific_journal-3482	102	15	generated	generate	VERB
american_scientific_journal-3482	102	16	path	path	NOUN
american_scientific_journal-3482	102	17	as	as	ADP
american_scientific_journal-3482	102	18	best	good	ADJ
american_scientific_journal-3482	102	19	constructed	construct	VERB
american_scientific_journal-3482	102	20	path	path	NOUN
american_scientific_journal-3482	102	21	.	.	PUNCT
american_scientific_journal-3482	103	1	american	american	ADJ
american_scientific_journal-3482	103	2	scientific	scientific	ADJ
american_scientific_journal-3482	103	3	research	research	PROPN
american_scientific_journal-3482	103	4	journal	journal	NOUN
american_scientific_journal-3482	103	5	for	for	ADP
american_scientific_journal-3482	103	6	engineering	engineering	NOUN
american_scientific_journal-3482	103	7	,	,	PUNCT
american_scientific_journal-3482	103	8	technology	technology	NOUN
american_scientific_journal-3482	103	9	,	,	PUNCT
american_scientific_journal-3482	103	10	and	and	CCONJ
american_scientific_journal-3482	103	11	sciences	science	NOUN
american_scientific_journal-3482	103	12	(	(	PUNCT
american_scientific_journal-3482	103	13	asrjets	asrjet	NOUN
american_scientific_journal-3482	103	14	)	)	PUNCT
american_scientific_journal-3482	103	15	(	(	PUNCT
american_scientific_journal-3482	103	16	2017	2017	NUM
american_scientific_journal-3482	103	17	)	)	PUNCT
american_scientific_journal-3482	103	18	volume	volume	NOUN
american_scientific_journal-3482	103	19	37	37	NUM
american_scientific_journal-3482	103	20	,	,	PUNCT
american_scientific_journal-3482	103	21	no	no	DET
american_scientific_journal-3482	103	22	1	1	NUM
american_scientific_journal-3482	103	23	,	,	PUNCT
american_scientific_journal-3482	103	24	pp	pp	ADV
american_scientific_journal-3482	103	25	316	316	NUM
american_scientific_journal-3482	103	26	-	-	SYM
american_scientific_journal-3482	103	27	328	328	NUM
american_scientific_journal-3482	103	28	323	323	NUM
american_scientific_journal-3482	103	29	the	the	DET
american_scientific_journal-3482	103	30	flowchart	flowchart	NOUN
american_scientific_journal-3482	103	31	explain	explain	VERB
american_scientific_journal-3482	103	32	the	the	DET
american_scientific_journal-3482	103	33	whole	whole	ADJ
american_scientific_journal-3482	103	34	process	process	NOUN
american_scientific_journal-3482	103	35	:	:	PUNCT
american_scientific_journal-3482	103	36	start	start	VERB
american_scientific_journal-3482	103	37	set	set	VERB
american_scientific_journal-3482	103	38	pso	pso	NOUN
american_scientific_journal-3482	103	39	parameters	parameter	NOUN
american_scientific_journal-3482	103	40	define	define	VERB
american_scientific_journal-3482	103	41	k	k	PROPN
american_scientific_journal-3482	103	42	vectors	vector	NOUN
american_scientific_journal-3482	103	43	range	range	NOUN
american_scientific_journal-3482	103	44	generate	generate	VERB
american_scientific_journal-3482	103	45	within	within	ADP
american_scientific_journal-3482	103	46	k	k	PROPN
american_scientific_journal-3482	103	47	rage	rage	NOUN
american_scientific_journal-3482	103	48	apply	apply	VERB
american_scientific_journal-3482	103	49	apf	apf	PROPN
american_scientific_journal-3482	103	50	for	for	ADP
american_scientific_journal-3482	103	51	constructer	constructer	PROPN
american_scientific_journal-3482	103	52	a	a	DET
american_scientific_journal-3482	103	53	path	path	NOUN
american_scientific_journal-3482	103	54	calculated	calculate	VERB
american_scientific_journal-3482	103	55	cost	cost	NOUN
american_scientific_journal-3482	103	56	function	function	NOUN
american_scientific_journal-3482	103	57	update	update	NOUN
american_scientific_journal-3482	103	58	global	global	ADJ
american_scientific_journal-3482	103	59	and	and	CCONJ
american_scientific_journal-3482	103	60	local	local	ADJ
american_scientific_journal-3482	103	61	values	value	NOUN
american_scientific_journal-3482	103	62	update	update	VERB
american_scientific_journal-3482	103	63	velocity	velocity	NOUN
american_scientific_journal-3482	103	64	and	and	CCONJ
american_scientific_journal-3482	103	65	position	position	NOUN
american_scientific_journal-3482	103	66	equations	equation	NOUN
american_scientific_journal-3482	103	67	for	for	ADP
american_scientific_journal-3482	103	68	k	k	PROPN
american_scientific_journal-3482	103	69	parameters	parameter	NOUN
american_scientific_journal-3482	103	70	apply	apply	VERB
american_scientific_journal-3482	103	71	apf	apf	PROPN
american_scientific_journal-3482	103	72	for	for	ADP
american_scientific_journal-3482	103	73	constructer	constructer	NOUN
american_scientific_journal-3482	103	74	path	path	NOUN
american_scientific_journal-3482	103	75	calculated	calculate	VERB
american_scientific_journal-3482	103	76	cost	cost	NOUN
american_scientific_journal-3482	103	77	function	function	NOUN
american_scientific_journal-3482	103	78	update	update	NOUN
american_scientific_journal-3482	103	79	global	global	ADJ
american_scientific_journal-3482	103	80	and	and	CCONJ
american_scientific_journal-3482	103	81	local	local	ADJ
american_scientific_journal-3482	103	82	max	max	PROPN
american_scientific_journal-3482	103	83	iteration	iteration	NOUN
american_scientific_journal-3482	103	84	number	number	NOUN
american_scientific_journal-3482	103	85	define	define	VERB
american_scientific_journal-3482	103	86	best	good	ADJ
american_scientific_journal-3482	103	87	constructed	construct	VERB
american_scientific_journal-3482	103	88	path	path	NOUN
american_scientific_journal-3482	103	89	end	end	NOUN
american_scientific_journal-3482	104	1	no	no	DET
american_scientific_journal-3482	104	2	yes	yes	INTJ
american_scientific_journal-3482	104	3	number	number	NOUN
american_scientific_journal-3482	104	4	of	of	ADP
american_scientific_journal-3482	104	5	population	population	NOUN
american_scientific_journal-3482	105	1	no	no	INTJ
american_scientific_journal-3482	105	2	yes	yes	INTJ
american_scientific_journal-3482	105	3	figure	figure	VERB
american_scientific_journal-3482	105	4	6	6	NUM
american_scientific_journal-3482	105	5	american	american	ADJ
american_scientific_journal-3482	105	6	scientific	scientific	ADJ
american_scientific_journal-3482	105	7	research	research	NOUN
american_scientific_journal-3482	105	8	journal	journal	NOUN
american_scientific_journal-3482	105	9	for	for	ADP
american_scientific_journal-3482	105	10	engineering	engineering	NOUN
american_scientific_journal-3482	105	11	,	,	PUNCT
american_scientific_journal-3482	105	12	technology	technology	NOUN
american_scientific_journal-3482	105	13	,	,	PUNCT
american_scientific_journal-3482	105	14	and	and	CCONJ
american_scientific_journal-3482	105	15	sciences	science	NOUN
american_scientific_journal-3482	105	16	(	(	PUNCT
american_scientific_journal-3482	105	17	asrjets	asrjet	NOUN
american_scientific_journal-3482	105	18	)	)	PUNCT
american_scientific_journal-3482	105	19	(	(	PUNCT
american_scientific_journal-3482	105	20	2017	2017	NUM
american_scientific_journal-3482	105	21	)	)	PUNCT
american_scientific_journal-3482	105	22	volume	volume	NOUN
american_scientific_journal-3482	105	23	37	37	NUM
american_scientific_journal-3482	105	24	,	,	PUNCT
american_scientific_journal-3482	105	25	no	no	DET
american_scientific_journal-3482	105	26	1	1	NUM
american_scientific_journal-3482	105	27	,	,	PUNCT
american_scientific_journal-3482	105	28	pp	pp	ADV
american_scientific_journal-3482	105	29	316	316	NUM
american_scientific_journal-3482	105	30	-	-	SYM
american_scientific_journal-3482	105	31	328	328	NUM
american_scientific_journal-3482	105	32	324	324	NUM
american_scientific_journal-3482	105	33	the	the	DET
american_scientific_journal-3482	105	34	final	final	ADJ
american_scientific_journal-3482	105	35	path	path	NOUN
american_scientific_journal-3482	105	36	that	that	PRON
american_scientific_journal-3482	105	37	came	come	VERB
american_scientific_journal-3482	105	38	from	from	ADP
american_scientific_journal-3482	105	39	pso	pso	NOUN
american_scientific_journal-3482	105	40	(	(	PUNCT
american_scientific_journal-3482	105	41	global	global	ADJ
american_scientific_journal-3482	105	42	path	path	NOUN
american_scientific_journal-3482	105	43	)	)	PUNCT
american_scientific_journal-3482	105	44	which	which	PRON
american_scientific_journal-3482	105	45	have	have	VERB
american_scientific_journal-3482	105	46	the	the	DET
american_scientific_journal-3482	105	47	shortest	short	ADJ
american_scientific_journal-3482	105	48	length	length	NOUN
american_scientific_journal-3482	105	49	will	will	AUX
american_scientific_journal-3482	105	50	deal	deal	VERB
american_scientific_journal-3482	105	51	with	with	ADP
american_scientific_journal-3482	105	52	spline	spline	NOUN
american_scientific_journal-3482	105	53	equation	equation	NOUN
american_scientific_journal-3482	105	54	,	,	PUNCT
american_scientific_journal-3482	105	55	first	first	ADV
american_scientific_journal-3482	105	56	the	the	DET
american_scientific_journal-3482	105	57	positions	position	NOUN
american_scientific_journal-3482	105	58	of	of	ADP
american_scientific_journal-3482	105	59	via	via	ADP
american_scientific_journal-3482	105	60	points	point	NOUN
american_scientific_journal-3482	105	61	will	will	AUX
american_scientific_journal-3482	105	62	found	find	VERB
american_scientific_journal-3482	105	63	by	by	ADP
american_scientific_journal-3482	105	64	‘	'	PUNCT
american_scientific_journal-3482	105	65	linspace	linspace	NOUN
american_scientific_journal-3482	105	66	’	'	PUNCT
american_scientific_journal-3482	105	67	function	function	NOUN
american_scientific_journal-3482	105	68	they	they	PRON
american_scientific_journal-3482	105	69	will	will	AUX
american_scientific_journal-3482	105	70	be	be	AUX
american_scientific_journal-3482	105	71	(	(	PUNCT
american_scientific_journal-3482	105	72	6	6	NUM
american_scientific_journal-3482	105	73	)	)	PUNCT
american_scientific_journal-3482	105	74	points	point	NOUN
american_scientific_journal-3482	105	75	distributed	distribute	VERB
american_scientific_journal-3482	105	76	along	along	ADP
american_scientific_journal-3482	105	77	the	the	DET
american_scientific_journal-3482	105	78	path	path	NOUN
american_scientific_journal-3482	105	79	,	,	PUNCT
american_scientific_journal-3482	105	80	the	the	DET
american_scientific_journal-3482	105	81	piecewise	piecewise	NOUN
american_scientific_journal-3482	105	82	also	also	ADV
american_scientific_journal-3482	105	83	created	create	VERB
american_scientific_journal-3482	105	84	by	by	ADP
american_scientific_journal-3482	105	85	the	the	DET
american_scientific_journal-3482	105	86	same	same	ADJ
american_scientific_journal-3482	105	87	function	function	NOUN
american_scientific_journal-3482	105	88	and	and	CCONJ
american_scientific_journal-3482	105	89	they	they	PRON
american_scientific_journal-3482	105	90	are	be	AUX
american_scientific_journal-3482	105	91	(	(	PUNCT
american_scientific_journal-3482	105	92	50	50	NUM
american_scientific_journal-3482	105	93	)	)	PUNCT
american_scientific_journal-3482	105	94	,	,	PUNCT
american_scientific_journal-3482	105	95	these	these	PRON
american_scientific_journal-3482	105	96	to	to	ADP
american_scientific_journal-3482	105	97	vectors	vector	NOUN
american_scientific_journal-3482	105	98	and	and	CCONJ
american_scientific_journal-3482	105	99	the	the	DET
american_scientific_journal-3482	105	100	global	global	ADJ
american_scientific_journal-3482	105	101	path	path	NOUN
american_scientific_journal-3482	105	102	are	be	AUX
american_scientific_journal-3482	105	103	the	the	DET
american_scientific_journal-3482	105	104	input	input	NOUN
american_scientific_journal-3482	105	105	of	of	ADP
american_scientific_journal-3482	105	106	spline	spline	NOUN
american_scientific_journal-3482	105	107	to	to	PART
american_scientific_journal-3482	105	108	get	get	VERB
american_scientific_journal-3482	105	109	the	the	DET
american_scientific_journal-3482	105	110	path	path	NOUN
american_scientific_journal-3482	105	111	shown	show	VERB
american_scientific_journal-3482	105	112	in	in	ADP
american_scientific_journal-3482	105	113	figures	figure	NOUN
american_scientific_journal-3482	105	114	(	(	PUNCT
american_scientific_journal-3482	105	115	7,9	7,9	NUM
american_scientific_journal-3482	105	116	)	)	PUNCT
american_scientific_journal-3482	105	117	5	5	NUM
american_scientific_journal-3482	105	118	.	.	X
american_scientific_journal-3482	105	119	simulation	simulation	NOUN
american_scientific_journal-3482	105	120	result	result	VERB
american_scientific_journal-3482	105	121	5.1	5.1	NUM
american_scientific_journal-3482	105	122	the	the	DET
american_scientific_journal-3482	105	123	first	first	ADJ
american_scientific_journal-3482	105	124	proposed	propose	VERB
american_scientific_journal-3482	105	125	environment	environment	NOUN
american_scientific_journal-3482	105	126	figure	figure	NOUN
american_scientific_journal-3482	105	127	(	(	PUNCT
american_scientific_journal-3482	105	128	6	6	NUM
american_scientific_journal-3482	105	129	)	)	PUNCT
american_scientific_journal-3482	105	130	shows	show	VERB
american_scientific_journal-3482	105	131	the	the	DET
american_scientific_journal-3482	105	132	first	first	ADJ
american_scientific_journal-3482	105	133	environment	environment	NOUN
american_scientific_journal-3482	105	134	of	of	ADP
american_scientific_journal-3482	105	135	robot	robot	NOUN
american_scientific_journal-3482	105	136	navigation	navigation	NOUN
american_scientific_journal-3482	105	137	employing	employ	VERB
american_scientific_journal-3482	105	138	“	"	PUNCT
american_scientific_journal-3482	105	139	artificial	artificial	ADJ
american_scientific_journal-3482	105	140	potential	potential	ADJ
american_scientific_journal-3482	105	141	field	field	NOUN
american_scientific_journal-3482	105	142	”	"	PUNCT
american_scientific_journal-3482	105	143	as	as	ADP
american_scientific_journal-3482	105	144	a	a	DET
american_scientific_journal-3482	105	145	path	path	NOUN
american_scientific_journal-3482	105	146	planning	planning	NOUN
american_scientific_journal-3482	105	147	algorithm	algorithm	NOUN
american_scientific_journal-3482	105	148	after	after	ADP
american_scientific_journal-3482	105	149	optimization	optimization	NOUN
american_scientific_journal-3482	105	150	,	,	PUNCT
american_scientific_journal-3482	105	151	and	and	CCONJ
american_scientific_journal-3482	105	152	figure	figure	NOUN
american_scientific_journal-3482	105	153	(	(	PUNCT
american_scientific_journal-3482	105	154	7	7	X
american_scientific_journal-3482	105	155	)	)	PUNCT
american_scientific_journal-3482	105	156	shows	show	VERB
american_scientific_journal-3482	105	157	the	the	DET
american_scientific_journal-3482	105	158	path	path	NOUN
american_scientific_journal-3482	105	159	after	after	ADP
american_scientific_journal-3482	105	160	using	use	VERB
american_scientific_journal-3482	105	161	spline	spline	NOUN
american_scientific_journal-3482	105	162	method	method	NOUN
american_scientific_journal-3482	105	163	,	,	PUNCT
american_scientific_journal-3482	105	164	in	in	ADP
american_scientific_journal-3482	105	165	this	this	DET
american_scientific_journal-3482	105	166	proposed	propose	VERB
american_scientific_journal-3482	105	167	environment	environment	NOUN
american_scientific_journal-3482	105	168	the	the	DET
american_scientific_journal-3482	105	169	robot	robot	NOUN
american_scientific_journal-3482	105	170	goes	go	VERB
american_scientific_journal-3482	105	171	from	from	ADP
american_scientific_journal-3482	105	172	starting	start	VERB
american_scientific_journal-3482	105	173	point	point	NOUN
american_scientific_journal-3482	105	174	(	(	PUNCT
american_scientific_journal-3482	105	175	2,4	2,4	NUM
american_scientific_journal-3482	105	176	)	)	PUNCT
american_scientific_journal-3482	105	177	to	to	ADP
american_scientific_journal-3482	105	178	goal	goal	NOUN
american_scientific_journal-3482	105	179	(	(	PUNCT
american_scientific_journal-3482	105	180	-1	-1	INTJ
american_scientific_journal-3482	105	181	,	,	PUNCT
american_scientific_journal-3482	106	1	-6	-6	PROPN
american_scientific_journal-3482	106	2	)	)	PUNCT
american_scientific_journal-3482	106	3	where	where	SCONJ
american_scientific_journal-3482	106	4	seven	seven	NUM
american_scientific_journal-3482	106	5	stationery	stationery	NOUN
american_scientific_journal-3482	106	6	obstacles	obstacle	NOUN
american_scientific_journal-3482	106	7	in	in	ADP
american_scientific_journal-3482	106	8	the	the	DET
american_scientific_journal-3482	106	9	environment	environment	NOUN
american_scientific_journal-3482	106	10	with	with	ADP
american_scientific_journal-3482	106	11	7	7	NUM
american_scientific_journal-3482	106	12	by	by	ADP
american_scientific_journal-3482	106	13	7	7	NUM
american_scientific_journal-3482	106	14	dimension	dimension	NOUN
american_scientific_journal-3482	106	15	:	:	PUNCT
american_scientific_journal-3482	106	16	figure	figure	NOUN
american_scientific_journal-3482	106	17	7	7	NUM
american_scientific_journal-3482	106	18	figure	figure	NOUN
american_scientific_journal-3482	106	19	7	7	NUM
american_scientific_journal-3482	106	20	american	american	ADJ
american_scientific_journal-3482	106	21	scientific	scientific	ADJ
american_scientific_journal-3482	106	22	research	research	NOUN
american_scientific_journal-3482	106	23	journal	journal	NOUN
american_scientific_journal-3482	106	24	for	for	ADP
american_scientific_journal-3482	106	25	engineering	engineering	NOUN
american_scientific_journal-3482	106	26	,	,	PUNCT
american_scientific_journal-3482	106	27	technology	technology	NOUN
american_scientific_journal-3482	106	28	,	,	PUNCT
american_scientific_journal-3482	106	29	and	and	CCONJ
american_scientific_journal-3482	106	30	sciences	science	NOUN
american_scientific_journal-3482	106	31	(	(	PUNCT
american_scientific_journal-3482	106	32	asrjets	asrjet	NOUN
american_scientific_journal-3482	106	33	)	)	PUNCT
american_scientific_journal-3482	106	34	(	(	PUNCT
american_scientific_journal-3482	106	35	2017	2017	NUM
american_scientific_journal-3482	106	36	)	)	PUNCT
american_scientific_journal-3482	106	37	volume	volume	NOUN
american_scientific_journal-3482	106	38	37	37	NUM
american_scientific_journal-3482	106	39	,	,	PUNCT
american_scientific_journal-3482	106	40	no	no	DET
american_scientific_journal-3482	106	41	1	1	NUM
american_scientific_journal-3482	106	42	,	,	PUNCT
american_scientific_journal-3482	106	43	pp	pp	ADV
american_scientific_journal-3482	106	44	316	316	NUM
american_scientific_journal-3482	106	45	-	-	SYM
american_scientific_journal-3482	106	46	328	328	NUM
american_scientific_journal-3482	106	47	325	325	NUM
american_scientific_journal-3482	106	48	5.2	5.2	NUM
american_scientific_journal-3482	107	1	the	the	DET
american_scientific_journal-3482	107	2	second	second	ADJ
american_scientific_journal-3482	107	3	environment	environment	NOUN
american_scientific_journal-3482	107	4	figure	figure	NOUN
american_scientific_journal-3482	107	5	(	(	PUNCT
american_scientific_journal-3482	107	6	8)	8)	NUM
american_scientific_journal-3482	107	7	represent	represent	VERB
american_scientific_journal-3482	107	8	the	the	DET
american_scientific_journal-3482	107	9	normal	normal	ADJ
american_scientific_journal-3482	107	10	path	path	NOUN
american_scientific_journal-3482	107	11	of	of	ADP
american_scientific_journal-3482	107	12	artificial	artificial	ADJ
american_scientific_journal-3482	107	13	potential	potential	ADJ
american_scientific_journal-3482	107	14	field	field	NOUN
american_scientific_journal-3482	107	15	but	but	CCONJ
american_scientific_journal-3482	107	16	figure	figure	NOUN
american_scientific_journal-3482	107	17	(	(	PUNCT
american_scientific_journal-3482	107	18	9	9	NUM
american_scientific_journal-3482	107	19	)	)	PUNCT
american_scientific_journal-3482	107	20	is	be	AUX
american_scientific_journal-3482	107	21	the	the	DET
american_scientific_journal-3482	107	22	smoothed	smoothed	ADJ
american_scientific_journal-3482	107	23	path	path	NOUN
american_scientific_journal-3482	107	24	by	by	ADP
american_scientific_journal-3482	107	25	spline	spline	NOUN
american_scientific_journal-3482	107	26	method	method	NOUN
american_scientific_journal-3482	107	27	,	,	PUNCT
american_scientific_journal-3482	107	28	this	this	DET
american_scientific_journal-3482	107	29	environment	environment	NOUN
american_scientific_journal-3482	107	30	include	include	VERB
american_scientific_journal-3482	107	31	seven	seven	NUM
american_scientific_journal-3482	107	32	static	static	ADJ
american_scientific_journal-3482	107	33	obstacles	obstacle	NOUN
american_scientific_journal-3482	107	34	,	,	PUNCT
american_scientific_journal-3482	107	35	the	the	DET
american_scientific_journal-3482	107	36	start	start	NOUN
american_scientific_journal-3482	107	37	point	point	NOUN
american_scientific_journal-3482	107	38	at	at	ADP
american_scientific_journal-3482	107	39	(	(	PUNCT
american_scientific_journal-3482	107	40	-6,6	-6,6	INTJ
american_scientific_journal-3482	107	41	)	)	PUNCT
american_scientific_journal-3482	107	42	and	and	CCONJ
american_scientific_journal-3482	107	43	goal	goal	NOUN
american_scientific_journal-3482	107	44	point	point	NOUN
american_scientific_journal-3482	107	45	is	be	AUX
american_scientific_journal-3482	107	46	(	(	PUNCT
american_scientific_journal-3482	107	47	6,-6	6,-6	NUM
american_scientific_journal-3482	107	48	)	)	PUNCT
american_scientific_journal-3482	107	49	,	,	PUNCT
american_scientific_journal-3482	107	50	the	the	DET
american_scientific_journal-3482	107	51	dimension	dimension	NOUN
american_scientific_journal-3482	107	52	is	be	AUX
american_scientific_journal-3482	107	53	7	7	NUM
american_scientific_journal-3482	107	54	by	by	ADP
american_scientific_journal-3482	107	55	7	7	NUM
american_scientific_journal-3482	107	56	figure	figure	NOUN
american_scientific_journal-3482	107	57	8	8	NUM
american_scientific_journal-3482	107	58	figure	figure	NOUN
american_scientific_journal-3482	107	59	9	9	NUM
american_scientific_journal-3482	107	60	american	american	ADJ
american_scientific_journal-3482	107	61	scientific	scientific	ADJ
american_scientific_journal-3482	107	62	research	research	NOUN
american_scientific_journal-3482	107	63	journal	journal	NOUN
american_scientific_journal-3482	107	64	for	for	ADP
american_scientific_journal-3482	107	65	engineering	engineering	NOUN
american_scientific_journal-3482	107	66	,	,	PUNCT
american_scientific_journal-3482	107	67	technology	technology	NOUN
american_scientific_journal-3482	107	68	,	,	PUNCT
american_scientific_journal-3482	107	69	and	and	CCONJ
american_scientific_journal-3482	107	70	sciences	science	NOUN
american_scientific_journal-3482	107	71	(	(	PUNCT
american_scientific_journal-3482	107	72	asrjets	asrjet	NOUN
american_scientific_journal-3482	107	73	)	)	PUNCT
american_scientific_journal-3482	107	74	(	(	PUNCT
american_scientific_journal-3482	107	75	2017	2017	NUM
american_scientific_journal-3482	107	76	)	)	PUNCT
american_scientific_journal-3482	107	77	volume	volume	NOUN
american_scientific_journal-3482	107	78	37	37	NUM
american_scientific_journal-3482	107	79	,	,	PUNCT
american_scientific_journal-3482	107	80	no	no	DET
american_scientific_journal-3482	107	81	1	1	NUM
american_scientific_journal-3482	107	82	,	,	PUNCT
american_scientific_journal-3482	107	83	pp	pp	ADV
american_scientific_journal-3482	107	84	316	316	NUM
american_scientific_journal-3482	107	85	-	-	SYM
american_scientific_journal-3482	107	86	328	328	NUM
american_scientific_journal-3482	107	87	326	326	NUM
american_scientific_journal-3482	107	88	table	table	NOUN
american_scientific_journal-3482	107	89	(	(	PUNCT
american_scientific_journal-3482	107	90	1	1	X
american_scientific_journal-3482	107	91	)	)	PUNCT
american_scientific_journal-3482	107	92	explain	explain	VERB
american_scientific_journal-3482	107	93	the	the	DET
american_scientific_journal-3482	107	94	results	result	NOUN
american_scientific_journal-3482	107	95	of	of	ADP
american_scientific_journal-3482	107	96	two	two	NUM
american_scientific_journal-3482	107	97	environments	environment	NOUN
american_scientific_journal-3482	107	98	in	in	ADP
american_scientific_journal-3482	107	99	three	three	NUM
american_scientific_journal-3482	107	100	cases	case	NOUN
american_scientific_journal-3482	107	101	table	table	NOUN
american_scientific_journal-3482	107	102	1	1	NUM
american_scientific_journal-3482	107	103	environment	environment	NOUN
american_scientific_journal-3482	107	104	1	1	NUM
american_scientific_journal-3482	107	105	2	2	NUM
american_scientific_journal-3482	107	106	path	path	NOUN
american_scientific_journal-3482	107	107	length	length	NOUN
american_scientific_journal-3482	107	108	of	of	ADP
american_scientific_journal-3482	107	109	apf(m	apf(m	NOUN
american_scientific_journal-3482	107	110	)	)	PUNCT
american_scientific_journal-3482	107	111	15.9458	15.9458	NUM
american_scientific_journal-3482	107	112	23.4030	23.4030	NUM
american_scientific_journal-3482	107	113	path	path	NOUN
american_scientific_journal-3482	107	114	length	length	NOUN
american_scientific_journal-3482	107	115	after	after	ADP
american_scientific_journal-3482	107	116	optimization(m	optimization(m	NUM
american_scientific_journal-3482	107	117	)	)	PUNCT
american_scientific_journal-3482	107	118	14.2544	14.2544	NUM
american_scientific_journal-3482	107	119	22.4598	22.4598	NUM
american_scientific_journal-3482	107	120	path	path	NOUN
american_scientific_journal-3482	107	121	length	length	NOUN
american_scientific_journal-3482	107	122	after	after	ADP
american_scientific_journal-3482	107	123	optimization	optimization	NOUN
american_scientific_journal-3482	107	124	and	and	CCONJ
american_scientific_journal-3482	107	125	spline(m	spline(m	ADJ
american_scientific_journal-3482	107	126	)	)	PUNCT
american_scientific_journal-3482	107	127	11.6636	11.6636	NUM
american_scientific_journal-3482	107	128	20.0215	20.0215	NUM
american_scientific_journal-3482	107	129	suitable	suitable	ADJ
american_scientific_journal-3482	107	130	range	range	NOUN
american_scientific_journal-3482	107	131	of	of	ADP
american_scientific_journal-3482	107	132	attractive	attractive	ADJ
american_scientific_journal-3482	107	133	factor	factor	NOUN
american_scientific_journal-3482	107	134	(	(	PUNCT
american_scientific_journal-3482	107	135	600	600	NUM
american_scientific_journal-3482	107	136	-	-	SYM
american_scientific_journal-3482	107	137	1100	1100	NUM
american_scientific_journal-3482	107	138	)	)	PUNCT
american_scientific_journal-3482	107	139	(	(	PUNCT
american_scientific_journal-3482	107	140	1000	1000	NUM
american_scientific_journal-3482	107	141	-	-	SYM
american_scientific_journal-3482	107	142	4000	4000	NUM
american_scientific_journal-3482	107	143	)	)	PUNCT
american_scientific_journal-3482	107	144	suitable	suitable	ADJ
american_scientific_journal-3482	107	145	range	range	NOUN
american_scientific_journal-3482	107	146	of	of	ADP
american_scientific_journal-3482	107	147	repulsive	repulsive	ADJ
american_scientific_journal-3482	107	148	factor	factor	NOUN
american_scientific_journal-3482	107	149	(	(	PUNCT
american_scientific_journal-3482	107	150	5	5	NUM
american_scientific_journal-3482	107	151	–	–	SYM
american_scientific_journal-3482	107	152	20	20	NUM
american_scientific_journal-3482	107	153	)	)	PUNCT
american_scientific_journal-3482	107	154	(	(	PUNCT
american_scientific_journal-3482	107	155	20	20	NUM
american_scientific_journal-3482	107	156	-	-	SYM
american_scientific_journal-3482	107	157	40	40	NUM
american_scientific_journal-3482	107	158	)	)	PUNCT
american_scientific_journal-3482	107	159	number	number	NOUN
american_scientific_journal-3482	107	160	of	of	ADP
american_scientific_journal-3482	107	161	populations	population	NOUN
american_scientific_journal-3482	107	162	60	60	NUM
american_scientific_journal-3482	107	163	60	60	NUM
american_scientific_journal-3482	107	164	number	number	NOUN
american_scientific_journal-3482	107	165	of	of	ADP
american_scientific_journal-3482	107	166	iterations	iteration	NOUN
american_scientific_journal-3482	107	167	500	500	NUM
american_scientific_journal-3482	107	168	500	500	NUM
american_scientific_journal-3482	107	169	6	6	NUM
american_scientific_journal-3482	107	170	.	.	PUNCT
american_scientific_journal-3482	108	1	conclusion	conclusion	NOUN
american_scientific_journal-3482	108	2	this	this	DET
american_scientific_journal-3482	108	3	paper	paper	NOUN
american_scientific_journal-3482	108	4	presents	present	VERB
american_scientific_journal-3482	108	5	an	an	DET
american_scientific_journal-3482	108	6	approach	approach	NOUN
american_scientific_journal-3482	108	7	of	of	ADP
american_scientific_journal-3482	108	8	modified	modify	VERB
american_scientific_journal-3482	108	9	path	path	NOUN
american_scientific_journal-3482	108	10	planning	planning	NOUN
american_scientific_journal-3482	108	11	using	use	VERB
american_scientific_journal-3482	108	12	apf	apf	PROPN
american_scientific_journal-3482	108	13	and	and	CCONJ
american_scientific_journal-3482	108	14	pso	pso	NOUN
american_scientific_journal-3482	108	15	.	.	PUNCT
american_scientific_journal-3482	109	1	first	first	ADV
american_scientific_journal-3482	109	2	by	by	ADP
american_scientific_journal-3482	109	3	applying	apply	VERB
american_scientific_journal-3482	109	4	particle	particle	NOUN
american_scientific_journal-3482	109	5	swarm	swarm	NOUN
american_scientific_journal-3482	109	6	optimization	optimization	NOUN
american_scientific_journal-3482	109	7	method	method	NOUN
american_scientific_journal-3482	109	8	(	(	PUNCT
american_scientific_journal-3482	109	9	pso	pso	NOUN
american_scientific_journal-3482	109	10	)	)	PUNCT
american_scientific_journal-3482	109	11	to	to	PART
american_scientific_journal-3482	109	12	find	find	VERB
american_scientific_journal-3482	109	13	best	good	ADJ
american_scientific_journal-3482	109	14	values	value	NOUN
american_scientific_journal-3482	109	15	of	of	ADP
american_scientific_journal-3482	109	16	the	the	DET
american_scientific_journal-3482	109	17	artificial	artificial	ADJ
american_scientific_journal-3482	109	18	potential	potential	ADJ
american_scientific_journal-3482	109	19	field	field	NOUN
american_scientific_journal-3482	109	20	factors	factor	NOUN
american_scientific_journal-3482	109	21	after	after	ADP
american_scientific_journal-3482	109	22	each	each	DET
american_scientific_journal-3482	109	23	iteration	iteration	NOUN
american_scientific_journal-3482	109	24	of	of	ADP
american_scientific_journal-3482	109	25	pso	pso	NOUN
american_scientific_journal-3482	109	26	the	the	DET
american_scientific_journal-3482	109	27	apf	apf	PROPN
american_scientific_journal-3482	109	28	applied	apply	VERB
american_scientific_journal-3482	109	29	till	till	SCONJ
american_scientific_journal-3482	109	30	reach	reach	VERB
american_scientific_journal-3482	109	31	the	the	DET
american_scientific_journal-3482	109	32	shortest	short	ADJ
american_scientific_journal-3482	109	33	path	path	NOUN
american_scientific_journal-3482	109	34	,	,	PUNCT
american_scientific_journal-3482	109	35	this	this	DET
american_scientific_journal-3482	109	36	path	path	NOUN
american_scientific_journal-3482	109	37	will	will	AUX
american_scientific_journal-3482	109	38	be	be	AUX
american_scientific_journal-3482	109	39	smoothed	smooth	VERB
american_scientific_journal-3482	109	40	by	by	ADP
american_scientific_journal-3482	109	41	spline	spline	NOUN
american_scientific_journal-3482	109	42	equation	equation	NOUN
american_scientific_journal-3482	109	43	.	.	PUNCT
american_scientific_journal-3482	110	1	the	the	DET
american_scientific_journal-3482	110	2	result	result	NOUN
american_scientific_journal-3482	110	3	clearly	clearly	ADV
american_scientific_journal-3482	110	4	proves	prove	VERB
american_scientific_journal-3482	110	5	the	the	DET
american_scientific_journal-3482	110	6	advantage	advantage	NOUN
american_scientific_journal-3482	110	7	of	of	ADP
american_scientific_journal-3482	110	8	using	use	VERB
american_scientific_journal-3482	110	9	the	the	DET
american_scientific_journal-3482	110	10	mixed	mixed	ADJ
american_scientific_journal-3482	110	11	approach	approach	NOUN
american_scientific_journal-3482	110	12	which	which	PRON
american_scientific_journal-3482	110	13	is	be	AUX
american_scientific_journal-3482	110	14	apf	apf	PROPN
american_scientific_journal-3482	110	15	based	base	VERB
american_scientific_journal-3482	110	16	on	on	ADP
american_scientific_journal-3482	110	17	pso	pso	NOUN
american_scientific_journal-3482	110	18	for	for	ADP
american_scientific_journal-3482	110	19	factors	factor	NOUN
american_scientific_journal-3482	110	20	optimization	optimization	NOUN
american_scientific_journal-3482	110	21	.	.	PUNCT
american_scientific_journal-3482	111	1	the	the	DET
american_scientific_journal-3482	111	2	length	length	NOUN
american_scientific_journal-3482	111	3	of	of	ADP
american_scientific_journal-3482	111	4	the	the	DET
american_scientific_journal-3482	111	5	generated	generate	VERB
american_scientific_journal-3482	111	6	path	path	NOUN
american_scientific_journal-3482	111	7	after	after	SCONJ
american_scientific_journal-3482	111	8	optimization	optimization	NOUN
american_scientific_journal-3482	111	9	processes	process	NOUN
american_scientific_journal-3482	111	10	was	be	AUX
american_scientific_journal-3482	111	11	best	good	ADJ
american_scientific_journal-3482	111	12	and	and	CCONJ
american_scientific_journal-3482	111	13	shortest	short	ADJ
american_scientific_journal-3482	111	14	path	path	NOUN
american_scientific_journal-3482	111	15	which	which	DET
american_scientific_journal-3482	111	16	traditional	traditional	ADJ
american_scientific_journal-3482	111	17	apf	apf	PROPN
american_scientific_journal-3482	111	18	method	method	NOUN
american_scientific_journal-3482	111	19	could	could	AUX
american_scientific_journal-3482	111	20	not	not	PART
american_scientific_journal-3482	111	21	find	find	VERB
american_scientific_journal-3482	111	22	such	such	DET
american_scientific_journal-3482	111	23	a	a	DET
american_scientific_journal-3482	111	24	path	path	NOUN
american_scientific_journal-3482	111	25	.	.	PUNCT
american_scientific_journal-3482	112	1	references	reference	NOUN
american_scientific_journal-3482	112	2	[	[	X
american_scientific_journal-3482	112	3	1	1	NUM
american_scientific_journal-3482	112	4	]	]	PUNCT
american_scientific_journal-3482	112	5	shahab	shahab	PROPN
american_scientific_journal-3482	112	6	sheikh	sheikh	PROPN
american_scientific_journal-3482	112	7	-	-	PUNCT
american_scientific_journal-3482	112	8	bahaei	bahaei	PROPN
american_scientific_journal-3482	112	9	,	,	PUNCT
american_scientific_journal-3482	112	10	''	''	PUNCT
american_scientific_journal-3482	112	11	discrete	discrete	ADJ
american_scientific_journal-3482	112	12	event	event	NOUN
american_scientific_journal-3482	112	13	modeling	model	VERB
american_scientific_journal-3482	112	14	simulation	simulation	NOUN
american_scientific_journal-3482	112	15	and	and	CCONJ
american_scientific_journal-3482	112	16	control	control	NOUN
american_scientific_journal-3482	112	17	with	with	ADP
american_scientific_journal-3482	112	18	application	application	NOUN
american_scientific_journal-3482	112	19	to	to	ADP
american_scientific_journal-3482	112	20	sensor	sensor	NOUN
american_scientific_journal-3482	112	21	based	base	VERB
american_scientific_journal-3482	112	22	intelligent	intelligent	ADJ
american_scientific_journal-3482	112	23	mobile	mobile	ADJ
american_scientific_journal-3482	112	24	robotics	robotic	NOUN
american_scientific_journal-3482	112	25	''	''	PUNCT
american_scientific_journal-3482	112	26	,	,	PUNCT
american_scientific_journal-3482	112	27	m.sc	m.sc	PROPN
american_scientific_journal-3482	112	28	.	.	PUNCT
american_scientific_journal-3482	113	1	thesis	thesis	NOUN
american_scientific_journal-3482	113	2	,	,	PUNCT
american_scientific_journal-3482	113	3	electrical	electrical	ADJ
american_scientific_journal-3482	113	4	engineering	engineering	NOUN
american_scientific_journal-3482	113	5	,	,	PUNCT
american_scientific_journal-3482	113	6	the	the	DET
american_scientific_journal-3482	113	7	university	university	NOUN
american_scientific_journal-3482	113	8	of	of	ADP
american_scientific_journal-3482	113	9	new	new	PROPN
american_scientific_journal-3482	113	10	mexico	mexico	PROPN
american_scientific_journal-3482	113	11	,	,	PUNCT
american_scientific_journal-3482	113	12	december	december	PROPN
american_scientific_journal-3482	113	13	,	,	PUNCT
american_scientific_journal-3482	113	14	2003	2003	NUM
american_scientific_journal-3482	113	15	.	.	PUNCT
american_scientific_journal-3482	114	1	[	[	X
american_scientific_journal-3482	114	2	2	2	NUM
american_scientific_journal-3482	114	3	]	]	PUNCT
american_scientific_journal-3482	114	4	conte	conte	NOUN
american_scientific_journal-3482	114	5	g	g	PROPN
american_scientific_journal-3482	114	6	,	,	PUNCT
american_scientific_journal-3482	114	7	longhi	longhi	PROPN
american_scientific_journal-3482	114	8	s	s	PROPN
american_scientific_journal-3482	114	9	,	,	PUNCT
american_scientific_journal-3482	114	10	zulli	zulli	PROPN
american_scientific_journal-3482	114	11	r	r	NOUN
american_scientific_journal-3482	114	12	,	,	PUNCT
american_scientific_journal-3482	114	13	“	"	PUNCT
american_scientific_journal-3482	114	14	robot	robot	NOUN
american_scientific_journal-3482	114	15	motion	motion	NOUN
american_scientific_journal-3482	114	16	planning	planning	NOUN
american_scientific_journal-3482	114	17	for	for	ADP
american_scientific_journal-3482	114	18	unicycle	unicycle	NOUN
american_scientific_journal-3482	114	19	and	and	CCONJ
american_scientific_journal-3482	114	20	car	car	NOUN
american_scientific_journal-3482	114	21	-	-	PUNCT
american_scientific_journal-3482	114	22	like	like	ADJ
american_scientific_journal-3482	114	23	robot	robot	NOUN
american_scientific_journal-3482	114	24	”	"	PUNCT
american_scientific_journal-3482	114	25	,	,	PUNCT
american_scientific_journal-3482	114	26	.	.	PUNCT
american_scientific_journal-3482	115	1	international	international	ADJ
american_scientific_journal-3482	115	2	journal	journal	PROPN
american_scientific_journal-3482	115	3	of	of	ADP
american_scientific_journal-3482	115	4	systems	system	NOUN
american_scientific_journal-3482	115	5	science	science	NOUN
american_scientific_journal-3482	115	6	27	27	NUM
american_scientific_journal-3482	115	7	:	:	PUNCT
american_scientific_journal-3482	115	8	791–798	791–798	NUM
american_scientific_journal-3482	115	9	,	,	PUNCT
american_scientific_journal-3482	115	10	(	(	PUNCT
american_scientific_journal-3482	115	11	1996	1996	NUM
american_scientific_journal-3482	115	12	)	)	PUNCT
american_scientific_journal-3482	116	1	[	[	X
american_scientific_journal-3482	116	2	3	3	X
american_scientific_journal-3482	116	3	]	]	X
american_scientific_journal-3482	116	4	ge	ge	PROPN
american_scientific_journal-3482	116	5	ss	ss	PROPN
american_scientific_journal-3482	116	6	,	,	PUNCT
american_scientific_journal-3482	116	7	cui	cui	PROPN
american_scientific_journal-3482	116	8	yj	yj	PROPN
american_scientific_journal-3482	116	9	,	,	PUNCT
american_scientific_journal-3482	116	10	“	"	PUNCT
american_scientific_journal-3482	116	11	new	new	ADJ
american_scientific_journal-3482	116	12	potential	potential	ADJ
american_scientific_journal-3482	116	13	function	function	NOUN
american_scientific_journal-3482	116	14	for	for	ADP
american_scientific_journal-3482	116	15	mobile	mobile	ADJ
american_scientific_journal-3482	116	16	robot	robot	NOUN
american_scientific_journal-3482	116	17	path	path	NOUN
american_scientific_journal-3482	116	18	planning	planning	NOUN
american_scientific_journal-3482	116	19	”	"	PUNCT
american_scientific_journal-3482	116	20	.	.	PUNCT
american_scientific_journal-3482	117	1	ieee	ieee	PROPN
american_scientific_journal-3482	117	2	trans	trans	PROPN
american_scientific_journal-3482	117	3	.	.	PUNCT
american_scientific_journal-3482	118	1	on	on	ADP
american_scientific_journal-3482	118	2	robotics	robotic	NOUN
american_scientific_journal-3482	118	3	and	and	CCONJ
american_scientific_journal-3482	118	4	automation	automation	NOUN
american_scientific_journal-3482	118	5	16(5):615–620	16(5):615–620	PROPN
american_scientific_journal-3482	118	6	(	(	PUNCT
american_scientific_journal-3482	118	7	2000	2000	NUM
american_scientific_journal-3482	118	8	)	)	PUNCT
american_scientific_journal-3482	118	9	.	.	PUNCT
american_scientific_journal-3482	119	1	american	american	PROPN
american_scientific_journal-3482	119	2	scientific	scientific	ADJ
american_scientific_journal-3482	119	3	research	research	PROPN
american_scientific_journal-3482	119	4	journal	journal	NOUN
american_scientific_journal-3482	119	5	for	for	ADP
american_scientific_journal-3482	119	6	engineering	engineering	NOUN
american_scientific_journal-3482	119	7	,	,	PUNCT
american_scientific_journal-3482	119	8	technology	technology	NOUN
american_scientific_journal-3482	119	9	,	,	PUNCT
american_scientific_journal-3482	119	10	and	and	CCONJ
american_scientific_journal-3482	119	11	sciences	science	NOUN
american_scientific_journal-3482	119	12	(	(	PUNCT
american_scientific_journal-3482	119	13	asrjets	asrjet	NOUN
american_scientific_journal-3482	119	14	)	)	PUNCT
american_scientific_journal-3482	119	15	(	(	PUNCT
american_scientific_journal-3482	119	16	2017	2017	NUM
american_scientific_journal-3482	119	17	)	)	PUNCT
american_scientific_journal-3482	119	18	volume	volume	NOUN
american_scientific_journal-3482	119	19	37	37	NUM
american_scientific_journal-3482	119	20	,	,	PUNCT
american_scientific_journal-3482	119	21	no	no	DET
american_scientific_journal-3482	119	22	1	1	NUM
american_scientific_journal-3482	119	23	,	,	PUNCT
american_scientific_journal-3482	119	24	pp	pp	ADV
american_scientific_journal-3482	119	25	316	316	NUM
american_scientific_journal-3482	119	26	-	-	SYM
american_scientific_journal-3482	119	27	328	328	NUM
american_scientific_journal-3482	119	28	327	327	NUM
american_scientific_journal-3482	119	29	[	[	X
american_scientific_journal-3482	119	30	4	4	NUM
american_scientific_journal-3482	119	31	]	]	X
american_scientific_journal-3482	119	32	tsourveloudis	tsourveloudis	PROPN
american_scientific_journal-3482	119	33	nc	nc	PROPN
american_scientific_journal-3482	119	34	,	,	PUNCT
american_scientific_journal-3482	119	35	valavanis	valavanis	PROPN
american_scientific_journal-3482	119	36	kp	kp	PROPN
american_scientific_journal-3482	119	37	,	,	PUNCT
american_scientific_journal-3482	119	38	hebert	hebert	PROPN
american_scientific_journal-3482	119	39	t	t	PROPN
american_scientific_journal-3482	119	40	.”autonomous	.”autonomous	PROPN
american_scientific_journal-3482	119	41	vehicle	vehicle	NOUN
american_scientific_journal-3482	119	42	navigation	navigation	NOUN
american_scientific_journal-3482	119	43	utilizing	utilize	VERB
american_scientific_journal-3482	119	44	electrostatic	electrostatic	ADJ
american_scientific_journal-3482	119	45	potential	potential	ADJ
american_scientific_journal-3482	119	46	fields	field	NOUN
american_scientific_journal-3482	119	47	and	and	CCONJ
american_scientific_journal-3482	119	48	fuzzy	fuzzy	ADJ
american_scientific_journal-3482	119	49	logic	logic	NOUN
american_scientific_journal-3482	119	50	”	"	PUNCT
american_scientific_journal-3482	119	51	.	.	PUNCT
american_scientific_journal-3482	120	1	ieee	ieee	PROPN
american_scientific_journal-3482	120	2	trans	trans	PROPN
american_scientific_journal-3482	120	3	.	.	PUNCT
american_scientific_journal-3482	121	1	on	on	ADP
american_scientific_journal-3482	121	2	robotics	robotic	NOUN
american_scientific_journal-3482	121	3	and	and	CCONJ
american_scientific_journal-3482	121	4	automation	automation	NOUN
american_scientific_journal-3482	121	5	17(4):490	17(4):490	NUM
american_scientific_journal-3482	121	6	–	–	PUNCT
american_scientific_journal-3482	121	7	497	497	NUM
american_scientific_journal-3482	121	8	,	,	PUNCT
american_scientific_journal-3482	121	9	(	(	PUNCT
american_scientific_journal-3482	121	10	2001	2001	NUM
american_scientific_journal-3482	121	11	)	)	PUNCT
american_scientific_journal-3482	121	12	.	.	PUNCT
american_scientific_journal-3482	122	1	[	[	X
american_scientific_journal-3482	122	2	5	5	X
american_scientific_journal-3482	122	3	]	]	PUNCT
american_scientific_journal-3482	122	4	song	song	NOUN
american_scientific_journal-3482	122	5	p	p	X
american_scientific_journal-3482	122	6	,	,	PUNCT
american_scientific_journal-3482	122	7	kumar	kumar	PROPN
american_scientific_journal-3482	122	8	v	v	PROPN
american_scientific_journal-3482	122	9	,	,	PUNCT
american_scientific_journal-3482	122	10	a	a	DET
american_scientific_journal-3482	122	11	potential	potential	ADJ
american_scientific_journal-3482	122	12	field	field	NOUN
american_scientific_journal-3482	122	13	based	base	VERB
american_scientific_journal-3482	122	14	approach	approach	NOUN
american_scientific_journal-3482	122	15	to	to	ADP
american_scientific_journal-3482	122	16	multi	multi	ADJ
american_scientific_journal-3482	122	17	-	-	ADJ
american_scientific_journal-3482	122	18	robot	robot	ADJ
american_scientific_journal-3482	122	19	manipulation	manipulation	NOUN
american_scientific_journal-3482	122	20	.	.	PUNCT
american_scientific_journal-3482	123	1	proceedings	proceeding	NOUN
american_scientific_journal-3482	123	2	of	of	ADP
american_scientific_journal-3482	123	3	the	the	DET
american_scientific_journal-3482	123	4	ieee	ieee	NOUN
american_scientific_journal-3482	123	5	international	international	PROPN
american_scientific_journal-3482	123	6	conference	conference	NOUN
american_scientific_journal-3482	123	7	on	on	ADP
american_scientific_journal-3482	123	8	robotics	robotic	NOUN
american_scientific_journal-3482	123	9	and	and	CCONJ
american_scientific_journal-3482	123	10	automation	automation	NOUN
american_scientific_journal-3482	123	11	2:1217–1222,(2002	2:1217–1222,(2002	NUM
american_scientific_journal-3482	123	12	)	)	PUNCT
american_scientific_journal-3482	123	13	.	.	PUNCT
american_scientific_journal-3482	124	1	[	[	X
american_scientific_journal-3482	124	2	6	6	NUM
american_scientific_journal-3482	124	3	]	]	PUNCT
american_scientific_journal-3482	124	4	ahmed	ahmed	PROPN
american_scientific_journal-3482	124	5	t.	t.	PROPN
american_scientific_journal-3482	124	6	sadiq	sadiq	PROPN
american_scientific_journal-3482	124	7	,	,	PUNCT
american_scientific_journal-3482	124	8	firas	firas	PROPN
american_scientific_journal-3482	124	9	a.	a.	PROPN
american_scientific_journal-3482	124	10	raheem	raheem	PROPN
american_scientific_journal-3482	124	11	,	,	PUNCT
american_scientific_journal-3482	124	12	noor	noor	PROPN
american_scientific_journal-3482	124	13	alhuda	alhuda	PROPN
american_scientific_journal-3482	124	14	f.	f.	PROPN
american_scientific_journal-3482	124	15	abbas	abbas	PROPN
american_scientific_journal-3482	124	16	,	,	PUNCT
american_scientific_journal-3482	124	17	“	"	PUNCT
american_scientific_journal-3482	124	18	optimal	optimal	ADJ
american_scientific_journal-3482	124	19	trajectory	trajectory	NOUN
american_scientific_journal-3482	124	20	planning	planning	NOUN
american_scientific_journal-3482	124	21	of	of	ADP
american_scientific_journal-3482	124	22	2	2	NUM
american_scientific_journal-3482	124	23	-	-	PUNCT
american_scientific_journal-3482	124	24	d	d	NOUN
american_scientific_journal-3482	124	25	robot	robot	NOUN
american_scientific_journal-3482	124	26	arm	arm	NOUN
american_scientific_journal-3482	124	27	using	use	VERB
american_scientific_journal-3482	124	28	the	the	DET
american_scientific_journal-3482	124	29	integration	integration	NOUN
american_scientific_journal-3482	124	30	of	of	ADP
american_scientific_journal-3482	124	31	pso	pso	NOUN
american_scientific_journal-3482	124	32	based	base	VERB
american_scientific_journal-3482	124	33	on	on	ADP
american_scientific_journal-3482	124	34	d^	d^	NOUN
american_scientific_journal-3482	124	35	*	*	PUNCT
american_scientific_journal-3482	124	36	algorithm	algorithm	PROPN
american_scientific_journal-3482	124	37	and	and	CCONJ
american_scientific_journal-3482	124	38	cubic	cubic	ADJ
american_scientific_journal-3482	124	39	polynomial	polynomial	ADJ
american_scientific_journal-3482	124	40	equation	equation	NOUN
american_scientific_journal-3482	124	41	”	"	PUNCT
american_scientific_journal-3482	124	42	,	,	PUNCT
american_scientific_journal-3482	124	43	the	the	DET
american_scientific_journal-3482	124	44	first	first	ADJ
american_scientific_journal-3482	124	45	international	international	ADJ
american_scientific_journal-3482	124	46	conference	conference	NOUN
american_scientific_journal-3482	124	47	for	for	ADP
american_scientific_journal-3482	124	48	engineering	engineering	NOUN
american_scientific_journal-3482	124	49	research	research	NOUN
american_scientific_journal-3482	124	50	,	,	PUNCT
american_scientific_journal-3482	124	51	middle	middle	PROPN
american_scientific_journal-3482	124	52	technical	technical	PROPN
american_scientific_journal-3482	124	53	university	university	PROPN
american_scientific_journal-3482	124	54	,	,	PUNCT
american_scientific_journal-3482	124	55	baghdad	baghdad	PROPN
american_scientific_journal-3482	124	56	,	,	PUNCT
american_scientific_journal-3482	124	57	iraq	iraq	PROPN
american_scientific_journal-3482	124	58	,	,	PUNCT
american_scientific_journal-3482	124	59	march	march	PROPN
american_scientific_journal-3482	124	60	2017	2017	NUM
american_scientific_journal-3482	124	61	.	.	PUNCT
american_scientific_journal-3482	125	1	[	[	X
american_scientific_journal-3482	125	2	7	7	X
american_scientific_journal-3482	125	3	]	]	X
american_scientific_journal-3482	125	4	firas	firas	PROPN
american_scientific_journal-3482	125	5	a.	a.	PROPN
american_scientific_journal-3482	125	6	raheem	raheem	PROPN
american_scientific_journal-3482	125	7	,	,	PUNCT
american_scientific_journal-3482	125	8	asmaa	asmaa	PROPN
american_scientific_journal-3482	125	9	a.	a.	PROPN
american_scientific_journal-3482	125	10	hussain	hussain	PROPN
american_scientific_journal-3482	125	11	,	,	PUNCT
american_scientific_journal-3482	125	12	”	"	PUNCT
american_scientific_journal-3482	125	13	modified	modify	VERB
american_scientific_journal-3482	125	14	c	c	NOUN
american_scientific_journal-3482	125	15	-	-	PUNCT
american_scientific_journal-3482	125	16	space	space	NOUN
american_scientific_journal-3482	125	17	analysis	analysis	NOUN
american_scientific_journal-3482	125	18	and	and	CCONJ
american_scientific_journal-3482	125	19	construction	construction	NOUN
american_scientific_journal-3482	125	20	for	for	ADP
american_scientific_journal-3482	125	21	two	two	NUM
american_scientific_journal-3482	125	22	-	-	PUNCT
american_scientific_journal-3482	125	23	link	link	NOUN
american_scientific_journal-3482	125	24	robot	robot	NOUN
american_scientific_journal-3482	125	25	arm	arm	NOUN
american_scientific_journal-3482	125	26	”	"	PUNCT
american_scientific_journal-3482	125	27	,	,	PUNCT
american_scientific_journal-3482	125	28	the	the	DET
american_scientific_journal-3482	125	29	first	first	ADJ
american_scientific_journal-3482	125	30	international	international	ADJ
american_scientific_journal-3482	125	31	conference	conference	NOUN
american_scientific_journal-3482	125	32	for	for	ADP
american_scientific_journal-3482	125	33	engineering	engineering	NOUN
american_scientific_journal-3482	125	34	research	research	NOUN
american_scientific_journal-3482	125	35	,	,	PUNCT
american_scientific_journal-3482	125	36	middle	middle	PROPN
american_scientific_journal-3482	125	37	technical	technical	PROPN
american_scientific_journal-3482	125	38	university	university	PROPN
american_scientific_journal-3482	125	39	,	,	PUNCT
american_scientific_journal-3482	125	40	baghdad	baghdad	PROPN
american_scientific_journal-3482	125	41	,	,	PUNCT
american_scientific_journal-3482	125	42	iraq	iraq	PROPN
american_scientific_journal-3482	125	43	,	,	PUNCT
american_scientific_journal-3482	125	44	march	march	PROPN
american_scientific_journal-3482	125	45	2017	2017	NUM
american_scientific_journal-3482	125	46	..	..	PUNCT
american_scientific_journal-3482	126	1	[	[	X
american_scientific_journal-3482	126	2	8	8	NUM
american_scientific_journal-3482	126	3	]	]	X
american_scientific_journal-3482	126	4	hui	hui	PROPN
american_scientific_journal-3482	126	5	miao	miao	PROPN
american_scientific_journal-3482	126	6	,	,	PUNCT
american_scientific_journal-3482	126	7	“	"	PUNCT
american_scientific_journal-3482	126	8	robot	robot	NOUN
american_scientific_journal-3482	126	9	path	path	NOUN
american_scientific_journal-3482	126	10	planning	planning	NOUN
american_scientific_journal-3482	126	11	in	in	ADP
american_scientific_journal-3482	126	12	dynamic	dynamic	ADJ
american_scientific_journal-3482	126	13	environments	environment	NOUN
american_scientific_journal-3482	126	14	using	use	VERB
american_scientific_journal-3482	126	15	a	a	DET
american_scientific_journal-3482	126	16	simulated	simulate	VERB
american_scientific_journal-3482	126	17	annealing	annealing	NOUN
american_scientific_journal-3482	126	18	based	base	VERB
american_scientific_journal-3482	126	19	approach	approach	NOUN
american_scientific_journal-3482	126	20	”	"	PUNCT
american_scientific_journal-3482	126	21	,	,	PUNCT
american_scientific_journal-3482	126	22	m.sc	m.sc	PROPN
american_scientific_journal-3482	126	23	.	.	PUNCT
american_scientific_journal-3482	127	1	thesis	thesis	PROPN
american_scientific_journal-3482	127	2	,	,	PUNCT
american_scientific_journal-3482	127	3	queensland	queensland	PROPN
american_scientific_journal-3482	127	4	university	university	PROPN
american_scientific_journal-3482	127	5	of	of	ADP
american_scientific_journal-3482	127	6	technology	technology	NOUN
american_scientific_journal-3482	127	7	,	,	PUNCT
american_scientific_journal-3482	127	8	march	march	PROPN
american_scientific_journal-3482	127	9	2009	2009	NUM
american_scientific_journal-3482	127	10	.	.	PUNCT
american_scientific_journal-3482	128	1	[	[	X
american_scientific_journal-3482	128	2	9	9	NUM
american_scientific_journal-3482	128	3	]	]	X
american_scientific_journal-3482	128	4	luciano	luciano	PROPN
american_scientific_journal-3482	128	5	c.	c.	PROPN
american_scientific_journal-3482	128	6	a.	a.	PROPN
american_scientific_journal-3482	128	7	pimenta1	pimenta1	PROPN
american_scientific_journal-3482	128	8	,	,	PUNCT
american_scientific_journal-3482	128	9	alexandre	alexandre	PROPN
american_scientific_journal-3482	128	10	r.	r.	PROPN
american_scientific_journal-3482	128	11	fonseca	fonseca	PROPN
american_scientific_journal-3482	128	12	,	,	PUNCT
american_scientific_journal-3482	128	13	and	and	CCONJ
american_scientific_journal-3482	128	14	guilherme	guilherme	PROPN
american_scientific_journal-3482	128	15	a.	a.	PROPN
american_scientific_journal-3482	128	16	s.	s.	PROPN
american_scientific_journal-3482	128	17	pereira	pereira	PROPN
american_scientific_journal-3482	128	18	,	,	PUNCT
american_scientific_journal-3482	128	19	“	"	PUNCT
american_scientific_journal-3482	128	20	on	on	ADP
american_scientific_journal-3482	128	21	computing	compute	VERB
american_scientific_journal-3482	128	22	complex	complex	ADJ
american_scientific_journal-3482	128	23	navigation	navigation	NOUN
american_scientific_journal-3482	128	24	functions	function	NOUN
american_scientific_journal-3482	128	25	”	"	PUNCT
american_scientific_journal-3482	128	26	,	,	PUNCT
american_scientific_journal-3482	128	27	proceedings	proceeding	NOUN
american_scientific_journal-3482	128	28	of	of	ADP
american_scientific_journal-3482	128	29	the	the	DET
american_scientific_journal-3482	128	30	2005	2005	NUM
american_scientific_journal-3482	128	31	ieee	ieee	NOUN
american_scientific_journal-3482	128	32	international	international	ADJ
american_scientific_journal-3482	128	33	conference	conference	NOUN
american_scientific_journal-3482	128	34	on	on	ADP
american_scientific_journal-3482	128	35	robotics	robotic	NOUN
american_scientific_journal-3482	128	36	and	and	CCONJ
american_scientific_journal-3482	128	37	automation	automation	NOUN
american_scientific_journal-3482	128	38	barcelona	barcelona	PROPN
american_scientific_journal-3482	128	39	,	,	PUNCT
american_scientific_journal-3482	128	40	spain	spain	PROPN
american_scientific_journal-3482	128	41	,	,	PUNCT
american_scientific_journal-3482	128	42	april	april	PROPN
american_scientific_journal-3482	128	43	2005	2005	NUM
american_scientific_journal-3482	128	44	[	[	X
american_scientific_journal-3482	128	45	10	10	NUM
american_scientific_journal-3482	128	46	]	]	X
american_scientific_journal-3482	128	47	khatib	khatib	PROPN
american_scientific_journal-3482	128	48	o.	o.	PROPN
american_scientific_journal-3482	128	49	,"real	,"real	PROPN
american_scientific_journal-3482	128	50	-	-	PUNCT
american_scientific_journal-3482	128	51	time	time	NOUN
american_scientific_journal-3482	128	52	obstacle	obstacle	NOUN
american_scientific_journal-3482	128	53	avoidance	avoidance	NOUN
american_scientific_journal-3482	128	54	for	for	ADP
american_scientific_journal-3482	128	55	manipulators	manipulator	NOUN
american_scientific_journal-3482	128	56	and	and	CCONJ
american_scientific_journal-3482	128	57	mobile	mobile	NOUN
american_scientific_journal-3482	128	58	robots	robot	NOUN
american_scientific_journal-3482	128	59	"	"	PUNCT
american_scientific_journal-3482	128	60	,	,	PUNCT
american_scientific_journal-3482	128	61	international	international	ADJ
american_scientific_journal-3482	128	62	journal	journal	NOUN
american_scientific_journal-3482	128	63	of	of	ADP
american_scientific_journal-3482	128	64	robotic	robotic	ADJ
american_scientific_journal-3482	128	65	research	research	NOUN
american_scientific_journal-3482	128	66	,	,	PUNCT
american_scientific_journal-3482	128	67	vol	vol	NOUN
american_scientific_journal-3482	128	68	.	.	PROPN
american_scientific_journal-3482	128	69	5	5	NUM
american_scientific_journal-3482	128	70	,	,	PUNCT
american_scientific_journal-3482	128	71	pp	pp	ADJ
american_scientific_journal-3482	128	72	.	.	PUNCT
american_scientific_journal-3482	129	1	90	90	NUM
american_scientific_journal-3482	129	2	-	-	SYM
american_scientific_journal-3482	129	3	98	98	NUM
american_scientific_journal-3482	129	4	,	,	PUNCT
american_scientific_journal-3482	129	5	1986	1986	NUM
american_scientific_journal-3482	129	6	.	.	PUNCT
american_scientific_journal-3482	130	1	[	[	X
american_scientific_journal-3482	130	2	11	11	NUM
american_scientific_journal-3482	130	3	]	]	X
american_scientific_journal-3482	130	4	liu	liu	PROPN
american_scientific_journal-3482	130	5	chengqing	chengqing	PROPN
american_scientific_journal-3482	130	6	,	,	PUNCT
american_scientific_journal-3482	130	7	marcelo	marcelo	PROPN
american_scientific_journal-3482	130	8	hang	hang	PROPN
american_scientific_journal-3482	130	9	jr	jr	PROPN
american_scientific_journal-3482	130	10	,	,	PUNCT
american_scientific_journal-3482	130	11	hariharan	hariharan	PROPN
american_scientific_journal-3482	130	12	krishnan	krishnan	PROPN
american_scientific_journal-3482	130	13	and	and	CCONJ
american_scientific_journal-3482	130	14	lim	lim	PROPN
american_scientific_journal-3482	130	15	ser	ser	PROPN
american_scientific_journal-3482	130	16	yong	yong	PROPN
american_scientific_journal-3482	130	17	,	,	PUNCT
american_scientific_journal-3482	130	18	“	"	PUNCT
american_scientific_journal-3482	130	19	virtual	virtual	ADJ
american_scientific_journal-3482	130	20	obstacle	obstacle	NOUN
american_scientific_journal-3482	130	21	concept	concept	NOUN
american_scientific_journal-3482	130	22	for	for	ADP
american_scientific_journal-3482	130	23	localminimum	localminimum	ADJ
american_scientific_journal-3482	130	24	-	-	PUNCT
american_scientific_journal-3482	130	25	recovery	recovery	NOUN
american_scientific_journal-3482	130	26	in	in	ADP
american_scientific_journal-3482	130	27	potential	potential	ADJ
american_scientific_journal-3482	130	28	-	-	PUNCT
american_scientific_journal-3482	130	29	field	field	NOUN
american_scientific_journal-3482	130	30	based	base	VERB
american_scientific_journal-3482	130	31	navigation	navigation	NOUN
american_scientific_journal-3482	130	32	”	"	PUNCT
american_scientific_journal-3482	130	33	,	,	PUNCT
american_scientific_journal-3482	130	34	proceedings	proceeding	NOUN
american_scientific_journal-3482	130	35	of	of	ADP
american_scientific_journal-3482	130	36	the	the	DET
american_scientific_journal-3482	130	37	2000	2000	NUM
american_scientific_journal-3482	130	38	ieee	ieee	NOUN
american_scientific_journal-3482	130	39	international	international	ADJ
american_scientific_journal-3482	130	40	conference	conference	NOUN
american_scientific_journal-3482	130	41	on	on	ADP
american_scientific_journal-3482	130	42	robotics	robotic	NOUN
american_scientific_journal-3482	130	43	&	&	CCONJ
american_scientific_journal-3482	130	44	automation	automation	PROPN
american_scientific_journal-3482	130	45	san	san	PROPN
american_scientific_journal-3482	130	46	francisco	francisco	PROPN
american_scientific_journal-3482	130	47	,	,	PUNCT
american_scientific_journal-3482	130	48	ca	can	AUX
american_scientific_journal-3482	130	49	•	•	NUM
american_scientific_journal-3482	130	50	april	april	PROPN
american_scientific_journal-3482	130	51	2000	2000	NUM
american_scientific_journal-3482	131	1	[	[	X
american_scientific_journal-3482	131	2	12	12	NUM
american_scientific_journal-3482	131	3	]	]	PUNCT
american_scientific_journal-3482	131	4	p.	p.	NOUN
american_scientific_journal-3482	131	5	vadakkepat	vadakkepat	PROPN
american_scientific_journal-3482	131	6	,	,	PUNCT
american_scientific_journal-3482	131	7	k.	k.	PROPN
american_scientific_journal-3482	131	8	c.	c.	PROPN
american_scientific_journal-3482	131	9	tan	tan	PROPN
american_scientific_journal-3482	131	10	,	,	PUNCT
american_scientific_journal-3482	131	11	and	and	CCONJ
american_scientific_journal-3482	131	12	w.	w.	PROPN
american_scientific_journal-3482	131	13	ming‐liang	ming‐liang	PROPN
american_scientific_journal-3482	131	14	,	,	PUNCT
american_scientific_journal-3482	131	15	“	"	PUNCT
american_scientific_journal-3482	131	16	evolutionary	evolutionary	ADJ
american_scientific_journal-3482	131	17	artificial	artificial	ADJ
american_scientific_journal-3482	131	18	potential	potential	ADJ
american_scientific_journal-3482	131	19	fields	field	NOUN
american_scientific_journal-3482	131	20	and	and	CCONJ
american_scientific_journal-3482	131	21	their	their	PRON
american_scientific_journal-3482	131	22	application	application	NOUN
american_scientific_journal-3482	131	23	in	in	ADP
american_scientific_journal-3482	131	24	real	real	ADJ
american_scientific_journal-3482	131	25	time	time	NOUN
american_scientific_journal-3482	131	26	robot	robot	NOUN
american_scientific_journal-3482	131	27	path	path	PROPN
american_scientific_journal-3482	131	28	planning	planning	NOUN
american_scientific_journal-3482	131	29	”	"	PUNCT
american_scientific_journal-3482	131	30	,	,	PUNCT
american_scientific_journal-3482	131	31	congress	congress	PROPN
american_scientific_journal-3482	131	32	on	on	ADP
american_scientific_journal-3482	131	33	evolutionary	evolutionary	ADJ
american_scientific_journal-3482	131	34	computation	computation	NOUN
american_scientific_journal-3482	131	35	(	(	PUNCT
american_scientific_journal-3482	131	36	2000	2000	NUM
american_scientific_journal-3482	131	37	)	)	PUNCT
american_scientific_journal-3482	131	38	1256	1256	NUM
american_scientific_journal-3482	131	39	–	–	PUNCT
american_scientific_journal-3482	131	40	263	263	NUM
american_scientific_journal-3482	131	41	.	.	PUNCT
american_scientific_journal-3482	132	1	[	[	X
american_scientific_journal-3482	132	2	13	13	NUM
american_scientific_journal-3482	132	3	]	]	X
american_scientific_journal-3482	132	4	jinchao	jinchao	PROPN
american_scientific_journal-3482	132	5	gue	gue	PROPN
american_scientific_journal-3482	132	6	,	,	PUNCT
american_scientific_journal-3482	132	7	yu	yu	PROPN
american_scientific_journal-3482	132	8	gao	gao	PROPN
american_scientific_journal-3482	132	9	and	and	CCONJ
american_scientific_journal-3482	132	10	guangzhao	guangzhao	PROPN
american_scientific_journal-3482	132	11	cui	cui	NOUN
american_scientific_journal-3482	132	12	,	,	PUNCT
american_scientific_journal-3482	132	13	“	"	PUNCT
american_scientific_journal-3482	132	14	path	path	NOUN
american_scientific_journal-3482	132	15	planning	planning	NOUN
american_scientific_journal-3482	132	16	of	of	ADP
american_scientific_journal-3482	132	17	mobile	mobile	NOUN
american_scientific_journal-3482	132	18	robot	robot	NOUN
american_scientific_journal-3482	132	19	base	base	NOUN
american_scientific_journal-3482	132	20	on	on	ADP
american_scientific_journal-3482	132	21	improved	improved	ADJ
american_scientific_journal-3482	132	22	potential	potential	ADJ
american_scientific_journal-3482	132	23	field	field	NOUN
american_scientific_journal-3482	132	24	”	"	PUNCT
american_scientific_journal-3482	132	25	,	,	PUNCT
american_scientific_journal-3482	132	26	information	information	NOUN
american_scientific_journal-3482	132	27	technology	technology	NOUN
american_scientific_journal-3482	132	28	journal	journal	NOUN
american_scientific_journal-3482	132	29	12(11	12(11	NUM
american_scientific_journal-3482	132	30	)	)	PUNCT
american_scientific_journal-3482	132	31	2013	2013	NUM
american_scientific_journal-3482	133	1	[	[	X
american_scientific_journal-3482	133	2	14	14	NUM
american_scientific_journal-3482	133	3	]	]	PUNCT
american_scientific_journal-3482	133	4	guanghui	guanghui	PROPN
american_scientific_journal-3482	133	5	li	li	PROPN
american_scientific_journal-3482	133	6	,	,	PUNCT
american_scientific_journal-3482	133	7	atsushi	atsushi	PROPN
american_scientific_journal-3482	133	8	yamashita	yamashita	PROPN
american_scientific_journal-3482	133	9	and	and	CCONJ
american_scientific_journal-3482	133	10	hajime	hajime	VERB
american_scientific_journal-3482	133	11	asama	asama	PROPN
american_scientific_journal-3482	133	12	yusuke	yusuke	PROPN
american_scientific_journal-3482	133	13	tamura	tamura	PROPN
american_scientific_journal-3482	133	14	,	,	PUNCT
american_scientific_journal-3482	133	15	“	"	PUNCT
american_scientific_journal-3482	133	16	an	an	DET
american_scientific_journal-3482	133	17	efficient	efficient	ADJ
american_scientific_journal-3482	133	18	improved	improve	VERB
american_scientific_journal-3482	133	19	artificial	artificial	ADJ
american_scientific_journal-3482	133	20	potential	potential	ADJ
american_scientific_journal-3482	133	21	field	field	NOUN
american_scientific_journal-3482	133	22	based	base	VERB
american_scientific_journal-3482	133	23	regression	regression	NOUN
american_scientific_journal-3482	133	24	search	search	NOUN
american_scientific_journal-3482	133	25	method	method	NOUN
american_scientific_journal-3482	133	26	for	for	ADP
american_scientific_journal-3482	133	27	robot	robot	NOUN
american_scientific_journal-3482	133	28	path	path	NOUN
american_scientific_journal-3482	133	29	planning	planning	NOUN
american_scientific_journal-3482	133	30	”	"	PUNCT
american_scientific_journal-3482	133	31	,	,	PUNCT
american_scientific_journal-3482	133	32	proceedings	proceeding	NOUN
american_scientific_journal-3482	133	33	of	of	ADP
american_scientific_journal-3482	133	34	the	the	DET
american_scientific_journal-3482	133	35	2000	2000	NUM
american_scientific_journal-3482	133	36	ieee	ieee	NOUN
american_scientific_journal-3482	133	37	international	international	ADJ
american_scientific_journal-3482	133	38	conference	conference	NOUN
american_scientific_journal-3482	133	39	on	on	ADP
american_scientific_journal-3482	133	40	robotics	robotic	NOUN
american_scientific_journal-3482	133	41	&	&	CCONJ
american_scientific_journal-3482	133	42	automation	automation	PROPN
american_scientific_journal-3482	133	43	san	san	PROPN
american_scientific_journal-3482	133	44	francisco	francisco	PROPN
american_scientific_journal-3482	133	45	,	,	PUNCT
american_scientific_journal-3482	133	46	ca	can	AUX
american_scientific_journal-3482	133	47	•	•	NUM
american_scientific_journal-3482	133	48	april	april	PROPN
american_scientific_journal-3482	133	49	2000	2000	NUM
american_scientific_journal-3482	133	50	american	american	PROPN
american_scientific_journal-3482	133	51	scientific	scientific	ADJ
american_scientific_journal-3482	133	52	research	research	NOUN
american_scientific_journal-3482	133	53	journal	journal	NOUN
american_scientific_journal-3482	133	54	for	for	ADP
american_scientific_journal-3482	133	55	engineering	engineering	NOUN
american_scientific_journal-3482	133	56	,	,	PUNCT
american_scientific_journal-3482	133	57	technology	technology	NOUN
american_scientific_journal-3482	133	58	,	,	PUNCT
american_scientific_journal-3482	133	59	and	and	CCONJ
american_scientific_journal-3482	133	60	sciences	science	NOUN
american_scientific_journal-3482	133	61	(	(	PUNCT
american_scientific_journal-3482	133	62	asrjets	asrjet	NOUN
american_scientific_journal-3482	133	63	)	)	PUNCT
american_scientific_journal-3482	133	64	(	(	PUNCT
american_scientific_journal-3482	133	65	2017	2017	NUM
american_scientific_journal-3482	133	66	)	)	PUNCT
american_scientific_journal-3482	133	67	volume	volume	NOUN
american_scientific_journal-3482	133	68	37	37	NUM
american_scientific_journal-3482	133	69	,	,	PUNCT
american_scientific_journal-3482	133	70	no	no	DET
american_scientific_journal-3482	133	71	1	1	NUM
american_scientific_journal-3482	133	72	,	,	PUNCT
american_scientific_journal-3482	133	73	pp	pp	ADV
american_scientific_journal-3482	133	74	316	316	NUM
american_scientific_journal-3482	133	75	-	-	SYM
american_scientific_journal-3482	133	76	328	328	NUM
american_scientific_journal-3482	133	77	328	328	NUM
american_scientific_journal-3482	134	1	[	[	X
american_scientific_journal-3482	134	2	15	15	NUM
american_scientific_journal-3482	134	3	]	]	X
american_scientific_journal-3482	134	4	riccardo	riccardo	NOUN
american_scientific_journal-3482	134	5	poli	poli	PROPN
american_scientific_journal-3482	134	6	·	·	PUNCT
american_scientific_journal-3482	134	7	james	james	PROPN
american_scientific_journal-3482	134	8	kennedy	kennedy	PROPN
american_scientific_journal-3482	134	9	·	·	PUNCT
american_scientific_journal-3482	134	10	tim	tim	PROPN
american_scientific_journal-3482	134	11	blackwell	blackwell	PROPN
american_scientific_journal-3482	134	12	“	"	PUNCT
american_scientific_journal-3482	134	13	particle	particle	NOUN
american_scientific_journal-3482	134	14	swarm	swarm	NOUN
american_scientific_journal-3482	134	15	optimization	optimization	NOUN
american_scientific_journal-3482	134	16	an	an	DET
american_scientific_journal-3482	134	17	overview	overview	NOUN
american_scientific_journal-3482	134	18	“	"	PUNCT
american_scientific_journal-3482	134	19	springer	springer	NOUN
american_scientific_journal-3482	134	20	science	science	NOUN
american_scientific_journal-3482	134	21	1	1	NUM
american_scientific_journal-3482	134	22	august	august	NOUN
american_scientific_journal-3482	134	23	2007	2007	NUM
american_scientific_journal-3482	134	24	[	[	X
american_scientific_journal-3482	134	25	16	16	NUM
american_scientific_journal-3482	134	26	]	]	X
american_scientific_journal-3482	134	27	yifan	yifan	PROPN
american_scientific_journal-3482	134	28	cai	cai	PROPN
american_scientific_journal-3482	134	29	and	and	CCONJ
american_scientific_journal-3482	134	30	simon	simon	PROPN
american_scientific_journal-3482	134	31	x.	x.	PROPN
american_scientific_journal-3482	134	32	yang	yang	PROPN
american_scientific_journal-3482	134	33	.	.	PUNCT
american_scientific_journal-3482	135	1	“	"	PUNCT
american_scientific_journal-3482	135	2	a	a	DET
american_scientific_journal-3482	135	3	potential	potential	ADJ
american_scientific_journal-3482	135	4	field	field	NOUN
american_scientific_journal-3482	135	5	-	-	PUNCT
american_scientific_journal-3482	135	6	based	base	VERB
american_scientific_journal-3482	135	7	pso	pso	NOUN
american_scientific_journal-3482	135	8	approach	approach	NOUN
american_scientific_journal-3482	135	9	for	for	ADP
american_scientific_journal-3482	135	10	cooperative	cooperative	ADJ
american_scientific_journal-3482	135	11	target	target	NOUN
american_scientific_journal-3482	135	12	searching	searching	NOUN
american_scientific_journal-3482	135	13	of	of	ADP
american_scientific_journal-3482	135	14	multi	multi	ADJ
american_scientific_journal-3482	135	15	-	-	NOUN
american_scientific_journal-3482	135	16	robots	robot	NOUN
american_scientific_journal-3482	135	17	”	"	PUNCT
american_scientific_journal-3482	135	18	in	in	ADP
american_scientific_journal-3482	135	19	the	the	DET
american_scientific_journal-3482	135	20	11th	11th	ADJ
american_scientific_journal-3482	135	21	world	world	NOUN
american_scientific_journal-3482	135	22	congress	congress	PROPN
american_scientific_journal-3482	135	23	on	on	ADP
american_scientific_journal-3482	135	24	intelligent	intelligent	ADJ
american_scientific_journal-3482	135	25	control	control	NOUN
american_scientific_journal-3482	135	26	and	and	CCONJ
american_scientific_journal-3482	135	27	automation	automation	NOUN
american_scientific_journal-3482	135	28	shenyang	shenyang	PROPN
american_scientific_journal-3482	135	29	,	,	PUNCT
american_scientific_journal-3482	135	30	china	china	PROPN
american_scientific_journal-3482	135	31	,	,	PUNCT
american_scientific_journal-3482	135	32	june	june	PROPN
american_scientific_journal-3482	135	33	29	29	NUM
american_scientific_journal-3482	135	34	july	july	PROPN
american_scientific_journal-3482	135	35	4	4	NUM
american_scientific_journal-3482	135	36	2014	2014	NUM
american_scientific_journal-3482	135	37	.	.	PUNCT
american_scientific_journal-3482	136	1	[	[	X
american_scientific_journal-3482	136	2	17	17	NUM
american_scientific_journal-3482	136	3	]	]	PUNCT
american_scientific_journal-3482	136	4	rainer	rainer	NOUN
american_scientific_journal-3482	136	5	palm	palm	NOUN
american_scientific_journal-3482	136	6	and	and	CCONJ
american_scientific_journal-3482	136	7	abdelbaki	abdelbaki	NOUN
american_scientific_journal-3482	136	8	bouguerra	bouguerra	PROPN
american_scientific_journal-3482	136	9	.	.	PUNCT
american_scientific_journal-3482	137	1	“	"	PUNCT
american_scientific_journal-3482	137	2	particle	particle	NOUN
american_scientific_journal-3482	137	3	swarm	swarm	NOUN
american_scientific_journal-3482	137	4	optimization	optimization	NOUN
american_scientific_journal-3482	137	5	of	of	ADP
american_scientific_journal-3482	137	6	potential	potential	ADJ
american_scientific_journal-3482	137	7	fields	field	NOUN
american_scientific_journal-3482	137	8	for	for	ADP
american_scientific_journal-3482	137	9	obstacle	obstacle	NOUN
american_scientific_journal-3482	137	10	avoidance	avoidance	NOUN
american_scientific_journal-3482	137	11	“	"	PUNCT
american_scientific_journal-3482	137	12	in	in	ADP
american_scientific_journal-3482	137	13	conference	conference	NOUN
american_scientific_journal-3482	137	14	of	of	ADP
american_scientific_journal-3482	137	15	orebro	orebro	PROPN
american_scientific_journal-3482	137	16	university	university	PROPN
american_scientific_journal-3482	137	17	se-70182	se-70182	PROPN
american_scientific_journal-3482	137	18	orebro	orebro	PROPN
american_scientific_journal-3482	137	19	,	,	PUNCT
american_scientific_journal-3482	137	20	sweden	sweden	PROPN
american_scientific_journal-3482	137	21	,	,	PUNCT
american_scientific_journal-3482	137	22	september	september	PROPN
american_scientific_journal-3482	137	23	2013	2013	NUM
american_scientific_journal-3482	137	24	.	.	PUNCT
american_scientific_journal-3482	138	1	[	[	X
american_scientific_journal-3482	138	2	18	18	NUM
american_scientific_journal-3482	138	3	]	]	X
american_scientific_journal-3482	138	4	kennedy	kennedy	PROPN
american_scientific_journal-3482	138	5	j	j	PROPN
american_scientific_journal-3482	138	6	,	,	PUNCT
american_scientific_journal-3482	138	7	eberhart	eberhart	NOUN
american_scientific_journal-3482	138	8	r	r	NOUN
american_scientific_journal-3482	138	9	,	,	PUNCT
american_scientific_journal-3482	138	10	“	"	PUNCT
american_scientific_journal-3482	138	11	particle	particle	NOUN
american_scientific_journal-3482	138	12	swarm	swarm	NOUN
american_scientific_journal-3482	138	13	optimization	optimization	NOUN
american_scientific_journal-3482	138	14	”	"	PUNCT
american_scientific_journal-3482	138	15	.	.	PUNCT
american_scientific_journal-3482	139	1	ieee	ieee	PROPN
american_scientific_journal-3482	139	2	international	international	PROPN
american_scientific_journal-3482	139	3	conference	conference	PROPN
american_scientific_journal-3482	139	4	on	on	ADP
american_scientific_journal-3482	139	5	neural	neural	ADJ
american_scientific_journal-3482	139	6	network	network	NOUN
american_scientific_journal-3482	139	7	,	,	PUNCT
american_scientific_journal-3482	139	8	(	(	PUNCT
american_scientific_journal-3482	139	9	1995	1995	NUM
american_scientific_journal-3482	139	10	)	)	PUNCT
american_scientific_journal-3482	139	11	,	,	PUNCT
american_scientific_journal-3482	139	12	pp	pp	PROPN
american_scientific_journal-3482	139	13	.	.	PUNCT
american_scientific_journal-3482	140	1	1942–1948	1942–1948	NUM
american_scientific_journal-3482	140	2	.	.	PUNCT