id	sid	tid	token	lemma	pos
american_scientific_journal-3835	1	1	6	6	NUM
american_scientific_journal-3835	1	2	american	american	ADJ
american_scientific_journal-3835	1	3	scientific	scientific	ADJ
american_scientific_journal-3835	1	4	research	research	NOUN
american_scientific_journal-3835	1	5	journal	journal	NOUN
american_scientific_journal-3835	1	6	for	for	ADP
american_scientific_journal-3835	1	7	engineering	engineering	NOUN
american_scientific_journal-3835	1	8	,	,	PUNCT
american_scientific_journal-3835	1	9	technology	technology	NOUN
american_scientific_journal-3835	1	10	,	,	PUNCT
american_scientific_journal-3835	1	11	and	and	CCONJ
american_scientific_journal-3835	1	12	sciences	science	NOUN
american_scientific_journal-3835	1	13	(	(	PUNCT
american_scientific_journal-3835	1	14	asrjets	asrjet	NOUN
american_scientific_journal-3835	1	15	)	)	PUNCT
american_scientific_journal-3835	1	16	issn	issn	PROPN
american_scientific_journal-3835	1	17	(	(	PUNCT
american_scientific_journal-3835	1	18	print	print	NOUN
american_scientific_journal-3835	1	19	)	)	PUNCT
american_scientific_journal-3835	1	20	2313	2313	NUM
american_scientific_journal-3835	1	21	-	-	SYM
american_scientific_journal-3835	1	22	4410	4410	NUM
american_scientific_journal-3835	1	23	,	,	PUNCT
american_scientific_journal-3835	1	24	issn	issn	PROPN
american_scientific_journal-3835	1	25	(	(	PUNCT
american_scientific_journal-3835	1	26	online	online	ADJ
american_scientific_journal-3835	1	27	)	)	PUNCT
american_scientific_journal-3835	1	28	2313	2313	NUM
american_scientific_journal-3835	1	29	-	-	SYM
american_scientific_journal-3835	1	30	4402	4402	NUM
american_scientific_journal-3835	1	31	©	©	PROPN
american_scientific_journal-3835	1	32	global	global	ADJ
american_scientific_journal-3835	1	33	society	society	NOUN
american_scientific_journal-3835	1	34	of	of	ADP
american_scientific_journal-3835	1	35	scientific	scientific	ADJ
american_scientific_journal-3835	1	36	research	research	NOUN
american_scientific_journal-3835	1	37	and	and	CCONJ
american_scientific_journal-3835	1	38	researchers	researcher	NOUN
american_scientific_journal-3835	1	39	http://asrjetsjournal.org/	http://asrjetsjournal.org/	VERB
american_scientific_journal-3835	1	40	optimal	optimal	ADJ
american_scientific_journal-3835	1	41	path	path	NOUN
american_scientific_journal-3835	1	42	planning	planning	NOUN
american_scientific_journal-3835	1	43	obstacle	obstacle	NOUN
american_scientific_journal-3835	1	44	avoidance	avoidance	NOUN
american_scientific_journal-3835	1	45	of	of	ADP
american_scientific_journal-3835	1	46	robot	robot	NOUN
american_scientific_journal-3835	1	47	manipulator	manipulator	NOUN
american_scientific_journal-3835	1	48	system	system	NOUN
american_scientific_journal-3835	1	49	using	use	VERB
american_scientific_journal-3835	1	50	bézier	bézier	NOUN
american_scientific_journal-3835	1	51	curve	curve	PROPN
american_scientific_journal-3835	1	52	arif	arif	PROPN
american_scientific_journal-3835	1	53	a.	a.	PROPN
american_scientific_journal-3835	1	54	al	al	PROPN
american_scientific_journal-3835	1	55	-	-	PUNCT
american_scientific_journal-3835	1	56	qassara	qassara	NOUN
american_scientific_journal-3835	1	57	*	*	NOUN
american_scientific_journal-3835	1	58	,	,	PUNCT
american_scientific_journal-3835	1	59	ali	ali	PROPN
american_scientific_journal-3835	1	60	n.	n.	PROPN
american_scientific_journal-3835	1	61	abdulnabib	abdulnabib	PROPN
american_scientific_journal-3835	1	62	a	a	PRON
american_scientific_journal-3835	1	63	,	,	PUNCT
american_scientific_journal-3835	1	64	buniversity	buniversity	NOUN
american_scientific_journal-3835	1	65	of	of	ADP
american_scientific_journal-3835	1	66	technology	technology	NOUN
american_scientific_journal-3835	1	67	,	,	PUNCT
american_scientific_journal-3835	1	68	control	control	NOUN
american_scientific_journal-3835	1	69	and	and	CCONJ
american_scientific_journal-3835	1	70	systems	system	NOUN
american_scientific_journal-3835	1	71	engineering	engineering	NOUN
american_scientific_journal-3835	1	72	department	department	NOUN
american_scientific_journal-3835	1	73	aemail	aemail	NOUN
american_scientific_journal-3835	1	74	:	:	PUNCT
american_scientific_journal-3835	1	75	arifqassar@yahoo.com	arifqassar@yahoo.com	X
american_scientific_journal-3835	1	76	bemail	bemail	NOUN
american_scientific_journal-3835	1	77	:	:	PUNCT
american_scientific_journal-3835	1	78	alinajem18@yahoo.com	alinajem18@yahoo.com	X
american_scientific_journal-3835	1	79	abstract	abstract	ADJ
american_scientific_journal-3835	1	80	one	one	NUM
american_scientific_journal-3835	1	81	of	of	ADP
american_scientific_journal-3835	1	82	the	the	DET
american_scientific_journal-3835	1	83	problem	problem	NOUN
american_scientific_journal-3835	1	84	that	that	PRON
american_scientific_journal-3835	1	85	faced	face	VERB
american_scientific_journal-3835	1	86	by	by	ADP
american_scientific_journal-3835	1	87	engineers	engineer	NOUN
american_scientific_journal-3835	1	88	in	in	ADP
american_scientific_journal-3835	1	89	most	most	ADJ
american_scientific_journal-3835	1	90	automated	automate	VERB
american_scientific_journal-3835	1	91	factories	factory	NOUN
american_scientific_journal-3835	1	92	that	that	PRON
american_scientific_journal-3835	1	93	require	require	VERB
american_scientific_journal-3835	1	94	the	the	DET
american_scientific_journal-3835	1	95	need	need	NOUN
american_scientific_journal-3835	1	96	to	to	PART
american_scientific_journal-3835	1	97	move	move	VERB
american_scientific_journal-3835	1	98	things	thing	NOUN
american_scientific_journal-3835	1	99	from	from	ADP
american_scientific_journal-3835	1	100	one	one	NUM
american_scientific_journal-3835	1	101	place	place	NOUN
american_scientific_journal-3835	1	102	to	to	ADP
american_scientific_journal-3835	1	103	another	another	PRON
american_scientific_journal-3835	1	104	in	in	ADP
american_scientific_journal-3835	1	105	an	an	DET
american_scientific_journal-3835	1	106	automated	automate	VERB
american_scientific_journal-3835	1	107	space	space	NOUN
american_scientific_journal-3835	1	108	with	with	ADP
american_scientific_journal-3835	1	109	obstacles	obstacle	NOUN
american_scientific_journal-3835	1	110	on	on	ADP
american_scientific_journal-3835	1	111	its	its	PRON
american_scientific_journal-3835	1	112	way	way	NOUN
american_scientific_journal-3835	1	113	the	the	DET
american_scientific_journal-3835	1	114	shortest	short	ADJ
american_scientific_journal-3835	1	115	route	route	NOUN
american_scientific_journal-3835	1	116	and	and	CCONJ
american_scientific_journal-3835	1	117	the	the	DET
american_scientific_journal-3835	1	118	least	least	ADJ
american_scientific_journal-3835	1	119	time	time	NOUN
american_scientific_journal-3835	1	120	it	it	PRON
american_scientific_journal-3835	1	121	takes	take	VERB
american_scientific_journal-3835	1	122	to	to	PART
american_scientific_journal-3835	1	123	reach	reach	VERB
american_scientific_journal-3835	1	124	the	the	DET
american_scientific_journal-3835	1	125	goal	goal	NOUN
american_scientific_journal-3835	1	126	.	.	PUNCT
american_scientific_journal-3835	2	1	this	this	DET
american_scientific_journal-3835	2	2	paper	paper	NOUN
american_scientific_journal-3835	2	3	presents	present	VERB
american_scientific_journal-3835	2	4	an	an	DET
american_scientific_journal-3835	2	5	optimal	optimal	ADJ
american_scientific_journal-3835	2	6	path	path	NOUN
american_scientific_journal-3835	2	7	planning	planning	NOUN
american_scientific_journal-3835	2	8	of	of	ADP
american_scientific_journal-3835	2	9	5dof	5dof	PROPN
american_scientific_journal-3835	2	10	lab	lab	NOUN
american_scientific_journal-3835	2	11	-	-	PUNCT
american_scientific_journal-3835	2	12	volt	volt	NOUN
american_scientific_journal-3835	2	13	5250	5250	NUM
american_scientific_journal-3835	2	14	robot	robot	NOUN
american_scientific_journal-3835	2	15	manipulator	manipulator	NOUN
american_scientific_journal-3835	2	16	joints	joint	NOUN
american_scientific_journal-3835	2	17	and	and	CCONJ
american_scientific_journal-3835	2	18	gripper	gripper	NOUN
american_scientific_journal-3835	2	19	to	to	PART
american_scientific_journal-3835	2	20	move	move	VERB
american_scientific_journal-3835	2	21	from	from	ADP
american_scientific_journal-3835	2	22	the	the	DET
american_scientific_journal-3835	2	23	given	give	VERB
american_scientific_journal-3835	2	24	start	start	NOUN
american_scientific_journal-3835	2	25	point	point	NOUN
american_scientific_journal-3835	2	26	to	to	ADP
american_scientific_journal-3835	2	27	the	the	DET
american_scientific_journal-3835	2	28	desired	desire	VERB
american_scientific_journal-3835	2	29	goal	goal	NOUN
american_scientific_journal-3835	2	30	point	point	NOUN
american_scientific_journal-3835	2	31	without	without	ADP
american_scientific_journal-3835	2	32	any	any	DET
american_scientific_journal-3835	2	33	collision	collision	NOUN
american_scientific_journal-3835	2	34	with	with	ADP
american_scientific_journal-3835	2	35	the	the	DET
american_scientific_journal-3835	2	36	obstacles	obstacle	NOUN
american_scientific_journal-3835	2	37	whose	whose	DET
american_scientific_journal-3835	2	38	boundaries	boundary	NOUN
american_scientific_journal-3835	2	39	are	be	AUX
american_scientific_journal-3835	2	40	enveloped	envelop	VERB
american_scientific_journal-3835	2	41	by	by	ADP
american_scientific_journal-3835	2	42	a	a	DET
american_scientific_journal-3835	2	43	spherical	spherical	ADJ
american_scientific_journal-3835	2	44	shape	shape	NOUN
american_scientific_journal-3835	2	45	,	,	PUNCT
american_scientific_journal-3835	2	46	the	the	DET
american_scientific_journal-3835	2	47	size	size	NOUN
american_scientific_journal-3835	2	48	and	and	CCONJ
american_scientific_journal-3835	2	49	the	the	DET
american_scientific_journal-3835	2	50	height	height	NOUN
american_scientific_journal-3835	2	51	of	of	ADP
american_scientific_journal-3835	2	52	the	the	DET
american_scientific_journal-3835	2	53	obstacle	obstacle	NOUN
american_scientific_journal-3835	2	54	is	be	AUX
american_scientific_journal-3835	2	55	taken	take	VERB
american_scientific_journal-3835	2	56	into	into	ADP
american_scientific_journal-3835	2	57	account	account	NOUN
american_scientific_journal-3835	2	58	.	.	PUNCT
american_scientific_journal-3835	3	1	the	the	DET
american_scientific_journal-3835	3	2	path	path	NOUN
american_scientific_journal-3835	3	3	planning	planning	NOUN
american_scientific_journal-3835	3	4	approach	approach	NOUN
american_scientific_journal-3835	3	5	presented	present	VERB
american_scientific_journal-3835	3	6	is	be	AUX
american_scientific_journal-3835	3	7	suggested	suggest	VERB
american_scientific_journal-3835	3	8	in	in	ADP
american_scientific_journal-3835	3	9	the	the	DET
american_scientific_journal-3835	3	10	robot	robot	NOUN
american_scientific_journal-3835	3	11	joint	joint	ADJ
american_scientific_journal-3835	3	12	space	space	NOUN
american_scientific_journal-3835	3	13	by	by	ADP
american_scientific_journal-3835	3	14	using	use	VERB
american_scientific_journal-3835	3	15	bézier	bézier	NOUN
american_scientific_journal-3835	3	16	curve	curve	NOUN
american_scientific_journal-3835	3	17	technique	technique	NOUN
american_scientific_journal-3835	3	18	.	.	PUNCT
american_scientific_journal-3835	4	1	the	the	DET
american_scientific_journal-3835	4	2	particle	particle	NOUN
american_scientific_journal-3835	4	3	swarm	swarm	NOUN
american_scientific_journal-3835	4	4	optimization	optimization	NOUN
american_scientific_journal-3835	4	5	pso	pso	NOUN
american_scientific_journal-3835	4	6	method	method	NOUN
american_scientific_journal-3835	4	7	is	be	AUX
american_scientific_journal-3835	4	8	used	use	VERB
american_scientific_journal-3835	4	9	to	to	PART
american_scientific_journal-3835	4	10	get	get	VERB
american_scientific_journal-3835	4	11	the	the	DET
american_scientific_journal-3835	4	12	optimal	optimal	ADJ
american_scientific_journal-3835	4	13	path	path	NOUN
american_scientific_journal-3835	4	14	with	with	ADP
american_scientific_journal-3835	4	15	the	the	DET
american_scientific_journal-3835	4	16	shortest	short	ADJ
american_scientific_journal-3835	4	17	distance	distance	NOUN
american_scientific_journal-3835	4	18	and	and	CCONJ
american_scientific_journal-3835	4	19	the	the	DET
american_scientific_journal-3835	4	20	least	least	ADJ
american_scientific_journal-3835	4	21	time	time	NOUN
american_scientific_journal-3835	4	22	to	to	PART
american_scientific_journal-3835	4	23	move	move	VERB
american_scientific_journal-3835	4	24	the	the	DET
american_scientific_journal-3835	4	25	end	end	NOUN
american_scientific_journal-3835	4	26	-	-	PUNCT
american_scientific_journal-3835	4	27	effector	effector	NOUN
american_scientific_journal-3835	4	28	from	from	ADP
american_scientific_journal-3835	4	29	the	the	DET
american_scientific_journal-3835	4	30	initial	initial	ADJ
american_scientific_journal-3835	4	31	point	point	NOUN
american_scientific_journal-3835	4	32	to	to	ADP
american_scientific_journal-3835	4	33	the	the	DET
american_scientific_journal-3835	4	34	final	final	ADJ
american_scientific_journal-3835	4	35	point	point	NOUN
american_scientific_journal-3835	4	36	without	without	ADP
american_scientific_journal-3835	4	37	hitting	hit	VERB
american_scientific_journal-3835	4	38	any	any	DET
american_scientific_journal-3835	4	39	obstacles	obstacle	NOUN
american_scientific_journal-3835	4	40	which	which	PRON
american_scientific_journal-3835	4	41	exist	exist	VERB
american_scientific_journal-3835	4	42	in	in	ADP
american_scientific_journal-3835	4	43	the	the	DET
american_scientific_journal-3835	4	44	robot	robot	NOUN
american_scientific_journal-3835	4	45	environment	environment	NOUN
american_scientific_journal-3835	4	46	.	.	PUNCT
american_scientific_journal-3835	5	1	this	this	DET
american_scientific_journal-3835	5	2	work	work	NOUN
american_scientific_journal-3835	5	3	is	be	AUX
american_scientific_journal-3835	5	4	not	not	PART
american_scientific_journal-3835	5	5	limited	limit	VERB
american_scientific_journal-3835	5	6	to	to	ADP
american_scientific_journal-3835	5	7	theoretical	theoretical	ADJ
american_scientific_journal-3835	5	8	studies	study	NOUN
american_scientific_journal-3835	5	9	or	or	CCONJ
american_scientific_journal-3835	5	10	simulations	simulation	NOUN
american_scientific_journal-3835	5	11	,	,	PUNCT
american_scientific_journal-3835	5	12	but	but	CCONJ
american_scientific_journal-3835	5	13	several	several	ADJ
american_scientific_journal-3835	5	14	experiments	experiment	NOUN
american_scientific_journal-3835	5	15	cases	case	NOUN
american_scientific_journal-3835	5	16	were	be	AUX
american_scientific_journal-3835	5	17	tested	test	VERB
american_scientific_journal-3835	5	18	in	in	ADP
american_scientific_journal-3835	5	19	different	different	ADJ
american_scientific_journal-3835	5	20	situations	situation	NOUN
american_scientific_journal-3835	5	21	in	in	ADP
american_scientific_journal-3835	5	22	a	a	DET
american_scientific_journal-3835	5	23	static	static	ADJ
american_scientific_journal-3835	5	24	environment	environment	NOUN
american_scientific_journal-3835	5	25	known	know	VERB
american_scientific_journal-3835	5	26	to	to	PART
american_scientific_journal-3835	5	27	test	test	VERB
american_scientific_journal-3835	5	28	the	the	DET
american_scientific_journal-3835	5	29	robot	robot	NOUN
american_scientific_journal-3835	5	30	's	's	PART
american_scientific_journal-3835	5	31	arm	arm	NOUN
american_scientific_journal-3835	5	32	's	's	PART
american_scientific_journal-3835	5	33	ability	ability	NOUN
american_scientific_journal-3835	5	34	to	to	PART
american_scientific_journal-3835	5	35	reach	reach	VERB
american_scientific_journal-3835	5	36	the	the	DET
american_scientific_journal-3835	5	37	desired	desire	VERB
american_scientific_journal-3835	5	38	target	target	NOUN
american_scientific_journal-3835	5	39	without	without	ADP
american_scientific_journal-3835	5	40	hitting	hit	VERB
american_scientific_journal-3835	5	41	any	any	DET
american_scientific_journal-3835	5	42	obstacles	obstacle	NOUN
american_scientific_journal-3835	5	43	with	with	ADP
american_scientific_journal-3835	5	44	the	the	DET
american_scientific_journal-3835	5	45	shortest	short	ADJ
american_scientific_journal-3835	5	46	distance	distance	NOUN
american_scientific_journal-3835	5	47	and	and	CCONJ
american_scientific_journal-3835	5	48	least	least	ADJ
american_scientific_journal-3835	5	49	time	time	NOUN
american_scientific_journal-3835	5	50	.	.	PUNCT
american_scientific_journal-3835	6	1	keywords	keyword	NOUN
american_scientific_journal-3835	6	2	:	:	PUNCT
american_scientific_journal-3835	6	3	path	path	NOUN
american_scientific_journal-3835	6	4	planning	planning	NOUN
american_scientific_journal-3835	6	5	;	;	PUNCT
american_scientific_journal-3835	6	6	obstacle	obstacle	NOUN
american_scientific_journal-3835	6	7	avoidance	avoidance	NOUN
american_scientific_journal-3835	6	8	;	;	PUNCT
american_scientific_journal-3835	6	9	bézier	bézier	NOUN
american_scientific_journal-3835	6	10	curve	curve	NOUN
american_scientific_journal-3835	6	11	;	;	PUNCT
american_scientific_journal-3835	6	12	particle	particle	NOUN
american_scientific_journal-3835	6	13	swarm	swarm	NOUN
american_scientific_journal-3835	6	14	optimization	optimization	NOUN
american_scientific_journal-3835	6	15	.	.	PUNCT
american_scientific_journal-3835	7	1	1	1	X
american_scientific_journal-3835	7	2	.	.	X
american_scientific_journal-3835	7	3	introduction	introduction	NOUN
american_scientific_journal-3835	7	4	a	a	DET
american_scientific_journal-3835	7	5	robot	robot	NOUN
american_scientific_journal-3835	7	6	is	be	AUX
american_scientific_journal-3835	7	7	a	a	DET
american_scientific_journal-3835	7	8	designed	design	VERB
american_scientific_journal-3835	7	9	to	to	ADP
american_scientific_journal-3835	7	10	performance	performance	NOUN
american_scientific_journal-3835	7	11	of	of	ADP
american_scientific_journal-3835	7	12	a	a	DET
american_scientific_journal-3835	7	13	variety	variety	NOUN
american_scientific_journal-3835	7	14	of	of	ADP
american_scientific_journal-3835	7	15	tasks	task	NOUN
american_scientific_journal-3835	7	16	by	by	ADP
american_scientific_journal-3835	7	17	reprogrammable	reprogrammable	ADJ
american_scientific_journal-3835	7	18	multifunctional	multifunctional	ADJ
american_scientific_journal-3835	7	19	process	process	NOUN
american_scientific_journal-3835	7	20	to	to	ADP
american_scientific_journal-3835	7	21	movement	movement	NOUN
american_scientific_journal-3835	7	22	parts	part	NOUN
american_scientific_journal-3835	7	23	,	,	PUNCT
american_scientific_journal-3835	7	24	tools	tool	NOUN
american_scientific_journal-3835	7	25	,	,	PUNCT
american_scientific_journal-3835	7	26	material	material	NOUN
american_scientific_journal-3835	7	27	,	,	PUNCT
american_scientific_journal-3835	7	28	or	or	CCONJ
american_scientific_journal-3835	7	29	specific	specific	ADJ
american_scientific_journal-3835	7	30	devices	device	NOUN
american_scientific_journal-3835	7	31	through	through	ADP
american_scientific_journal-3835	7	32	variable	variable	ADJ
american_scientific_journal-3835	7	33	programmed	program	VERB
american_scientific_journal-3835	7	34	motions	motion	NOUN
american_scientific_journal-3835	8	1	[	[	X
american_scientific_journal-3835	8	2	1	1	NUM
american_scientific_journal-3835	8	3	]	]	PUNCT
american_scientific_journal-3835	8	4	.	.	PUNCT
american_scientific_journal-3835	9	1	these	these	DET
american_scientific_journal-3835	9	2	days	day	NOUN
american_scientific_journal-3835	9	3	most	most	ADJ
american_scientific_journal-3835	9	4	factories	factory	NOUN
american_scientific_journal-3835	9	5	automated	automate	VERB
american_scientific_journal-3835	9	6	manufacturing	manufacturing	NOUN
american_scientific_journal-3835	9	7	and	and	CCONJ
american_scientific_journal-3835	9	8	productions	production	NOUN
american_scientific_journal-3835	9	9	,	,	PUNCT
american_scientific_journal-3835	9	10	are	be	AUX
american_scientific_journal-3835	9	11	implemented	implement	VERB
american_scientific_journal-3835	9	12	by	by	ADP
american_scientific_journal-3835	9	13	specific	specific	ADJ
american_scientific_journal-3835	9	14	machines	machine	NOUN
american_scientific_journal-3835	9	15	designed	design	VERB
american_scientific_journal-3835	9	16	to	to	PART
american_scientific_journal-3835	9	17	perform	perform	VERB
american_scientific_journal-3835	9	18	duties	duty	NOUN
american_scientific_journal-3835	9	19	automatic	automatic	ADJ
american_scientific_journal-3835	9	20	in	in	ADP
american_scientific_journal-3835	9	21	a	a	DET
american_scientific_journal-3835	9	22	manufacturing	manufacturing	NOUN
american_scientific_journal-3835	9	23	and	and	CCONJ
american_scientific_journal-3835	9	24	production	production	NOUN
american_scientific_journal-3835	9	25	process	process	NOUN
american_scientific_journal-3835	9	26	.	.	PUNCT
american_scientific_journal-3835	10	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-3835	11	1	*	*	PUNCT
american_scientific_journal-3835	11	2	corresponding	correspond	VERB
american_scientific_journal-3835	11	3	author	author	NOUN
american_scientific_journal-3835	11	4	.	.	PUNCT
american_scientific_journal-3835	12	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-3835	12	2	american	american	PROPN
american_scientific_journal-3835	12	3	scientific	scientific	PROPN
american_scientific_journal-3835	12	4	research	research	NOUN
american_scientific_journal-3835	12	5	journal	journal	NOUN
american_scientific_journal-3835	12	6	for	for	ADP
american_scientific_journal-3835	12	7	engineering	engineering	NOUN
american_scientific_journal-3835	12	8	,	,	PUNCT
american_scientific_journal-3835	12	9	technology	technology	NOUN
american_scientific_journal-3835	12	10	,	,	PUNCT
american_scientific_journal-3835	12	11	and	and	CCONJ
american_scientific_journal-3835	12	12	sciences	science	NOUN
american_scientific_journal-3835	12	13	(	(	PUNCT
american_scientific_journal-3835	12	14	asrjets	asrjet	NOUN
american_scientific_journal-3835	12	15	)	)	PUNCT
american_scientific_journal-3835	12	16	(	(	PUNCT
american_scientific_journal-3835	12	17	2018	2018	NUM
american_scientific_journal-3835	12	18	)	)	PUNCT
american_scientific_journal-3835	12	19	volume	volume	NOUN
american_scientific_journal-3835	12	20	40	40	NUM
american_scientific_journal-3835	12	21	,	,	PUNCT
american_scientific_journal-3835	12	22	no	no	DET
american_scientific_journal-3835	12	23	01	01	NUM
american_scientific_journal-3835	12	24	,	,	PUNCT
american_scientific_journal-3835	12	25	pp	pp	ADP
american_scientific_journal-3835	12	26	6	6	NUM
american_scientific_journal-3835	12	27	-17	-17	SYM
american_scientific_journal-3835	12	28	7	7	NUM
american_scientific_journal-3835	12	29	the	the	DET
american_scientific_journal-3835	12	30	stiffness	stiffness	NOUN
american_scientific_journal-3835	12	31	and	and	CCONJ
american_scientific_journal-3835	12	32	the	the	DET
american_scientific_journal-3835	12	33	usually	usually	ADV
american_scientific_journal-3835	12	34	high	high	ADJ
american_scientific_journal-3835	12	35	cost	cost	NOUN
american_scientific_journal-3835	12	36	of	of	ADP
american_scientific_journal-3835	12	37	these	these	DET
american_scientific_journal-3835	12	38	machines	machine	NOUN
american_scientific_journal-3835	12	39	,	,	PUNCT
american_scientific_journal-3835	12	40	frequently	frequently	ADV
american_scientific_journal-3835	12	41	recognized	recognize	VERB
american_scientific_journal-3835	12	42	to	to	ADP
american_scientific_journal-3835	12	43	tough	tough	ADJ
american_scientific_journal-3835	12	44	mechanization	mechanization	NOUN
american_scientific_journal-3835	12	45	systems	system	NOUN
american_scientific_journal-3835	12	46	,	,	PUNCT
american_scientific_journal-3835	12	47	have	have	AUX
american_scientific_journal-3835	12	48	led	lead	VERB
american_scientific_journal-3835	12	49	to	to	ADP
american_scientific_journal-3835	12	50	a	a	DET
american_scientific_journal-3835	12	51	broad	broad	ADV
american_scientific_journal-3835	12	52	-	-	PUNCT
american_scientific_journal-3835	12	53	based	base	VERB
american_scientific_journal-3835	12	54	interest	interest	NOUN
american_scientific_journal-3835	12	55	in	in	ADP
american_scientific_journal-3835	12	56	the	the	DET
american_scientific_journal-3835	12	57	use	use	NOUN
american_scientific_journal-3835	12	58	of	of	ADP
american_scientific_journal-3835	12	59	robots	robot	NOUN
american_scientific_journal-3835	12	60	able	able	ADJ
american_scientific_journal-3835	12	61	to	to	PART
american_scientific_journal-3835	12	62	performing	perform	VERB
american_scientific_journal-3835	12	63	a	a	DET
american_scientific_journal-3835	12	64	variety	variety	NOUN
american_scientific_journal-3835	12	65	of	of	ADP
american_scientific_journal-3835	12	66	manufacturing	manufacturing	NOUN
american_scientific_journal-3835	12	67	functions	function	NOUN
american_scientific_journal-3835	12	68	in	in	ADP
american_scientific_journal-3835	12	69	a	a	DET
american_scientific_journal-3835	12	70	greater	great	ADJ
american_scientific_journal-3835	12	71	flexible	flexible	ADJ
american_scientific_journal-3835	12	72	operating	operating	NOUN
american_scientific_journal-3835	12	73	environment	environment	NOUN
american_scientific_journal-3835	12	74	.	.	PUNCT
american_scientific_journal-3835	13	1	the	the	DET
american_scientific_journal-3835	13	2	arm	arm	NOUN
american_scientific_journal-3835	13	3	of	of	ADP
american_scientific_journal-3835	13	4	the	the	DET
american_scientific_journal-3835	13	5	robotic	robotic	NOUN
american_scientific_journal-3835	13	6	is	be	AUX
american_scientific_journal-3835	13	7	the	the	DET
american_scientific_journal-3835	13	8	most	most	ADV
american_scientific_journal-3835	13	9	utilized	utilize	VERB
american_scientific_journal-3835	13	10	part	part	NOUN
american_scientific_journal-3835	13	11	generally	generally	ADV
american_scientific_journal-3835	13	12	.	.	PUNCT
american_scientific_journal-3835	14	1	in	in	ADP
american_scientific_journal-3835	14	2	addition	addition	NOUN
american_scientific_journal-3835	14	3	,	,	PUNCT
american_scientific_journal-3835	14	4	it	it	PRON
american_scientific_journal-3835	14	5	is	be	AUX
american_scientific_journal-3835	14	6	used	use	VERB
american_scientific_journal-3835	14	7	in	in	ADP
american_scientific_journal-3835	14	8	many	many	ADJ
american_scientific_journal-3835	14	9	applications	application	NOUN
american_scientific_journal-3835	14	10	in	in	ADP
american_scientific_journal-3835	14	11	manufacturing	manufacturing	NOUN
american_scientific_journal-3835	14	12	and	and	CCONJ
american_scientific_journal-3835	14	13	production	production	NOUN
american_scientific_journal-3835	14	14	.	.	PUNCT
american_scientific_journal-3835	15	1	for	for	ADP
american_scientific_journal-3835	15	2	instance	instance	NOUN
american_scientific_journal-3835	15	3	,	,	PUNCT
american_scientific_journal-3835	15	4	welding	welding	NOUN
american_scientific_journal-3835	15	5	manipulators	manipulator	NOUN
american_scientific_journal-3835	15	6	are	be	AUX
american_scientific_journal-3835	15	7	use	use	NOUN
american_scientific_journal-3835	15	8	as	as	ADP
american_scientific_journal-3835	15	9	spot	spot	NOUN
american_scientific_journal-3835	15	10	-	-	PUNCT
american_scientific_journal-3835	15	11	welding	welding	NOUN
american_scientific_journal-3835	15	12	robots	robot	NOUN
american_scientific_journal-3835	15	13	in	in	ADP
american_scientific_journal-3835	15	14	manufacturing	manufacture	VERB
american_scientific_journal-3835	15	15	automobile	automobile	NOUN
american_scientific_journal-3835	15	16	,	,	PUNCT
american_scientific_journal-3835	15	17	spray	spray	VERB
american_scientific_journal-3835	15	18	nozzles	nozzle	NOUN
american_scientific_journal-3835	15	19	and	and	CCONJ
american_scientific_journal-3835	15	20	paint	paint	NOUN
american_scientific_journal-3835	15	21	with	with	ADP
american_scientific_journal-3835	15	22	a	a	DET
american_scientific_journal-3835	15	23	need	need	NOUN
american_scientific_journal-3835	15	24	for	for	ADP
american_scientific_journal-3835	15	25	improved	improved	ADJ
american_scientific_journal-3835	15	26	production	production	NOUN
american_scientific_journal-3835	15	27	to	to	PART
american_scientific_journal-3835	15	28	give	give	VERB
american_scientific_journal-3835	15	29	us	we	PRON
american_scientific_journal-3835	15	30	products	product	NOUN
american_scientific_journal-3835	15	31	of	of	ADP
american_scientific_journal-3835	15	32	uniform	uniform	ADJ
american_scientific_journal-3835	15	33	satisfactory	satisfactory	NOUN
american_scientific_journal-3835	15	34	,	,	PUNCT
american_scientific_journal-3835	15	35	therefore	therefore	ADV
american_scientific_journal-3835	15	36	factories	factory	NOUN
american_scientific_journal-3835	15	37	are	be	AUX
american_scientific_journal-3835	15	38	turning	turn	VERB
american_scientific_journal-3835	15	39	towards	towards	ADP
american_scientific_journal-3835	15	40	computer	computer	NOUN
american_scientific_journal-3835	15	41	-	-	PUNCT
american_scientific_journal-3835	15	42	based	base	VERB
american_scientific_journal-3835	15	43	automation	automation	NOUN
american_scientific_journal-3835	15	44	[	[	X
american_scientific_journal-3835	15	45	2	2	NUM
american_scientific_journal-3835	15	46	]	]	PUNCT
american_scientific_journal-3835	15	47	.	.	PUNCT
american_scientific_journal-3835	16	1	robotic	robotic	ADJ
american_scientific_journal-3835	16	2	arm	arm	NOUN
american_scientific_journal-3835	16	3	manipulator	manipulator	NOUN
american_scientific_journal-3835	16	4	is	be	AUX
american_scientific_journal-3835	16	5	one	one	NUM
american_scientific_journal-3835	16	6	of	of	ADP
american_scientific_journal-3835	16	7	the	the	DET
american_scientific_journal-3835	16	8	motivating	motivating	NOUN
american_scientific_journal-3835	16	9	disciplines	discipline	NOUN
american_scientific_journal-3835	16	10	in	in	ADP
american_scientific_journal-3835	16	11	business	business	NOUN
american_scientific_journal-3835	16	12	and	and	CCONJ
american_scientific_journal-3835	16	13	academic	academic	ADJ
american_scientific_journal-3835	16	14	applications	application	NOUN
american_scientific_journal-3835	16	15	,	,	PUNCT
american_scientific_journal-3835	16	16	and	and	CCONJ
american_scientific_journal-3835	16	17	an	an	DET
american_scientific_journal-3835	16	18	essential	essential	ADJ
american_scientific_journal-3835	16	19	branch	branch	NOUN
american_scientific_journal-3835	16	20	to	to	PART
american_scientific_journal-3835	16	21	control	control	VERB
american_scientific_journal-3835	16	22	sciences	science	NOUN
american_scientific_journal-3835	16	23	because	because	SCONJ
american_scientific_journal-3835	16	24	of	of	ADP
american_scientific_journal-3835	16	25	its	its	PRON
american_scientific_journal-3835	16	26	intelligent	intelligent	ADJ
american_scientific_journal-3835	16	27	aspects	aspect	NOUN
american_scientific_journal-3835	16	28	,	,	PUNCT
american_scientific_journal-3835	16	29	nonlinear	nonlinear	ADJ
american_scientific_journal-3835	16	30	characteristics	characteristic	NOUN
american_scientific_journal-3835	16	31	,	,	PUNCT
american_scientific_journal-3835	16	32	and	and	CCONJ
american_scientific_journal-3835	16	33	its	its	PRON
american_scientific_journal-3835	16	34	actual	actual	ADJ
american_scientific_journal-3835	16	35	time	time	NOUN
american_scientific_journal-3835	16	36	implementation	implementation	NOUN
american_scientific_journal-3835	16	37	.	.	PUNCT
american_scientific_journal-3835	17	1	it	it	PRON
american_scientific_journal-3835	17	2	became	become	VERB
american_scientific_journal-3835	17	3	evolved	evolved	ADJ
american_scientific_journal-3835	17	4	to	to	PART
american_scientific_journal-3835	17	5	enhance	enhance	VERB
american_scientific_journal-3835	17	6	human	human	PROPN
american_scientific_journal-3835	17	7	’s	’s	PART
american_scientific_journal-3835	17	8	work	work	NOUN
american_scientific_journal-3835	17	9	which	which	PRON
american_scientific_journal-3835	17	10	includes	include	VERB
american_scientific_journal-3835	17	11	in	in	ADP
american_scientific_journal-3835	17	12	the	the	DET
american_scientific_journal-3835	17	13	production	production	NOUN
american_scientific_journal-3835	17	14	of	of	ADP
american_scientific_journal-3835	17	15	heavy	heavy	ADJ
american_scientific_journal-3835	17	16	materials	material	NOUN
american_scientific_journal-3835	17	17	,	,	PUNCT
american_scientific_journal-3835	17	18	and	and	CCONJ
american_scientific_journal-3835	17	19	unpredictable	unpredictable	ADJ
american_scientific_journal-3835	17	20	environments	environment	NOUN
american_scientific_journal-3835	17	21	.	.	PUNCT
american_scientific_journal-3835	18	1	regardless	regardless	ADV
american_scientific_journal-3835	18	2	of	of	ADP
american_scientific_journal-3835	18	3	the	the	DET
american_scientific_journal-3835	18	4	type	type	NOUN
american_scientific_journal-3835	18	5	of	of	ADP
american_scientific_journal-3835	18	6	task	task	NOUN
american_scientific_journal-3835	18	7	robot	robot	NOUN
american_scientific_journal-3835	18	8	manipulator	manipulator	NOUN
american_scientific_journal-3835	18	9	can	can	AUX
american_scientific_journal-3835	18	10	be	be	AUX
american_scientific_journal-3835	18	11	provided	provide	VERB
american_scientific_journal-3835	18	12	with	with	ADP
american_scientific_journal-3835	18	13	,	,	PUNCT
american_scientific_journal-3835	18	14	robot	robot	NOUN
american_scientific_journal-3835	18	15	overall	overall	ADJ
american_scientific_journal-3835	18	16	performance	performance	NOUN
american_scientific_journal-3835	18	17	measures	measure	VERB
american_scientific_journal-3835	18	18	the	the	DET
american_scientific_journal-3835	18	19	high	high	ADJ
american_scientific_journal-3835	18	20	best	good	ADJ
american_scientific_journal-3835	18	21	and	and	CCONJ
american_scientific_journal-3835	18	22	massive	massive	ADJ
american_scientific_journal-3835	18	23	amount	amount	NOUN
american_scientific_journal-3835	18	24	of	of	ADP
american_scientific_journal-3835	18	25	labor	labor	NOUN
american_scientific_journal-3835	18	26	that	that	SCONJ
american_scientific_journal-3835	18	27	the	the	DET
american_scientific_journal-3835	18	28	robotic	robotic	NOUN
american_scientific_journal-3835	18	29	can	can	AUX
american_scientific_journal-3835	18	30	do	do	VERB
american_scientific_journal-3835	18	31	in	in	ADP
american_scientific_journal-3835	18	32	the	the	DET
american_scientific_journal-3835	18	33	desired	desire	VERB
american_scientific_journal-3835	18	34	time	time	NOUN
american_scientific_journal-3835	18	35	and	and	CCONJ
american_scientific_journal-3835	18	36	vicinity	vicinity	NOUN
american_scientific_journal-3835	18	37	.	.	PUNCT
american_scientific_journal-3835	19	1	robot	robot	NOUN
american_scientific_journal-3835	19	2	manipulator	manipulator	NOUN
american_scientific_journal-3835	19	3	has	have	VERB
american_scientific_journal-3835	19	4	immeasurable	immeasurable	ADJ
american_scientific_journal-3835	19	5	responsibilities	responsibility	NOUN
american_scientific_journal-3835	19	6	,	,	PUNCT
american_scientific_journal-3835	19	7	so	so	SCONJ
american_scientific_journal-3835	19	8	it	it	PRON
american_scientific_journal-3835	19	9	's	be	AUX
american_scientific_journal-3835	19	10	far	far	ADV
american_scientific_journal-3835	19	11	designed	design	VERB
american_scientific_journal-3835	19	12	to	to	PART
american_scientific_journal-3835	19	13	be	be	AUX
american_scientific_journal-3835	19	14	flexible	flexible	ADJ
american_scientific_journal-3835	19	15	in	in	ADP
american_scientific_journal-3835	19	16	general	general	ADJ
american_scientific_journal-3835	19	17	motions	motion	NOUN
american_scientific_journal-3835	19	18	to	to	PART
american_scientific_journal-3835	19	19	transport	transport	VERB
american_scientific_journal-3835	19	20	things	thing	NOUN
american_scientific_journal-3835	19	21	from	from	ADP
american_scientific_journal-3835	19	22	one	one	NUM
american_scientific_journal-3835	19	23	position	position	NOUN
american_scientific_journal-3835	19	24	to	to	ADP
american_scientific_journal-3835	19	25	another	another	PRON
american_scientific_journal-3835	19	26	with	with	ADP
american_scientific_journal-3835	19	27	easy	easy	ADJ
american_scientific_journal-3835	19	28	movement	movement	NOUN
american_scientific_journal-3835	19	29	to	to	PART
american_scientific_journal-3835	19	30	keep	keep	VERB
american_scientific_journal-3835	19	31	away	away	ADV
american_scientific_journal-3835	19	32	from	from	ADP
american_scientific_journal-3835	19	33	sharp	sharp	ADJ
american_scientific_journal-3835	19	34	jolt	jolt	NOUN
american_scientific_journal-3835	19	35	inside	inside	ADP
american_scientific_journal-3835	19	36	the	the	DET
american_scientific_journal-3835	19	37	robotic	robotic	ADJ
american_scientific_journal-3835	19	38	arm	arm	NOUN
american_scientific_journal-3835	19	39	,	,	PUNCT
american_scientific_journal-3835	19	40	those	those	DET
american_scientific_journal-3835	19	41	jolts	jolt	NOUN
american_scientific_journal-3835	19	42	may	may	AUX
american_scientific_journal-3835	19	43	harm	harm	VERB
american_scientific_journal-3835	19	44	the	the	DET
american_scientific_journal-3835	19	45	arm	arm	NOUN
american_scientific_journal-3835	20	1	[	[	X
american_scientific_journal-3835	20	2	3	3	NUM
american_scientific_journal-3835	20	3	]	]	PUNCT
american_scientific_journal-3835	20	4	.	.	PUNCT
american_scientific_journal-3835	21	1	number	number	NOUN
american_scientific_journal-3835	21	2	of	of	ADP
american_scientific_journal-3835	21	3	studies	study	NOUN
american_scientific_journal-3835	21	4	has	have	AUX
american_scientific_journal-3835	21	5	been	be	AUX
american_scientific_journal-3835	21	6	conducted	conduct	VERB
american_scientific_journal-3835	21	7	about	about	ADP
american_scientific_journal-3835	21	8	optimal	optimal	ADJ
american_scientific_journal-3835	21	9	path	path	NOUN
american_scientific_journal-3835	21	10	planning	planning	NOUN
american_scientific_journal-3835	21	11	obstacle	obstacle	NOUN
american_scientific_journal-3835	21	12	avoidance	avoidance	NOUN
american_scientific_journal-3835	21	13	techniques	technique	NOUN
american_scientific_journal-3835	21	14	.	.	PUNCT
american_scientific_journal-3835	22	1	lars	lars	PROPN
american_scientific_journal-3835	22	2	and	and	CCONJ
american_scientific_journal-3835	22	3	brian	brian	PROPN
american_scientific_journal-3835	22	4	in	in	ADP
american_scientific_journal-3835	22	5	2006	2006	NUM
american_scientific_journal-3835	22	6	,	,	PUNCT
american_scientific_journal-3835	22	7	proposed	propose	VERB
american_scientific_journal-3835	22	8	a	a	DET
american_scientific_journal-3835	22	9	new	new	ADJ
american_scientific_journal-3835	22	10	,	,	PUNCT
american_scientific_journal-3835	22	11	complete	complete	ADJ
american_scientific_journal-3835	22	12	algorithm	algorithm	NOUN
american_scientific_journal-3835	22	13	for	for	ADP
american_scientific_journal-3835	22	14	manipulator	manipulator	NOUN
american_scientific_journal-3835	22	15	path	path	NOUN
american_scientific_journal-3835	22	16	planning	planning	NOUN
american_scientific_journal-3835	22	17	with	with	ADP
american_scientific_journal-3835	22	18	obstacles	obstacle	NOUN
american_scientific_journal-3835	22	19	.	.	PUNCT
american_scientific_journal-3835	23	1	by	by	ADP
american_scientific_journal-3835	23	2	posing	pose	VERB
american_scientific_journal-3835	23	3	the	the	DET
american_scientific_journal-3835	23	4	problem	problem	NOUN
american_scientific_journal-3835	23	5	as	as	ADP
american_scientific_journal-3835	23	6	a	a	DET
american_scientific_journal-3835	23	7	disjunctive	disjunctive	ADJ
american_scientific_journal-3835	23	8	program	program	NOUN
american_scientific_journal-3835	23	9	,	,	PUNCT
american_scientific_journal-3835	23	10	existing	exist	VERB
american_scientific_journal-3835	23	11	constrained	constrain	VERB
american_scientific_journal-3835	23	12	optimization	optimization	NOUN
american_scientific_journal-3835	23	13	methods	method	NOUN
american_scientific_journal-3835	23	14	were	be	AUX
american_scientific_journal-3835	23	15	used	use	VERB
american_scientific_journal-3835	23	16	to	to	PART
american_scientific_journal-3835	23	17	generate	generate	VERB
american_scientific_journal-3835	23	18	optimal	optimal	ADJ
american_scientific_journal-3835	23	19	trajectories	trajectory	NOUN
american_scientific_journal-3835	23	20	[	[	X
american_scientific_journal-3835	23	21	4	4	NUM
american_scientific_journal-3835	23	22	]	]	PUNCT
american_scientific_journal-3835	23	23	.	.	PUNCT
american_scientific_journal-3835	24	1	the	the	DET
american_scientific_journal-3835	24	2	optimum	optimum	ADJ
american_scientific_journal-3835	24	3	collision	collision	NOUN
american_scientific_journal-3835	24	4	-	-	PUNCT
american_scientific_journal-3835	24	5	free	free	ADJ
american_scientific_journal-3835	24	6	path	path	NOUN
american_scientific_journal-3835	24	7	planning	planning	NOUN
american_scientific_journal-3835	24	8	of	of	ADP
american_scientific_journal-3835	24	9	a	a	DET
american_scientific_journal-3835	24	10	6	6	NUM
american_scientific_journal-3835	24	11	-	-	PUNCT
american_scientific_journal-3835	24	12	dof	dof	NOUN
american_scientific_journal-3835	24	13	robot	robot	NOUN
american_scientific_journal-3835	24	14	manipulator	manipulator	NOUN
american_scientific_journal-3835	24	15	using	use	VERB
american_scientific_journal-3835	24	16	multiple	multiple	ADJ
american_scientific_journal-3835	24	17	optimization	optimization	NOUN
american_scientific_journal-3835	24	18	criteria	criterion	NOUN
american_scientific_journal-3835	24	19	was	be	AUX
american_scientific_journal-3835	24	20	developed	develop	VERB
american_scientific_journal-3835	24	21	by	by	ADP
american_scientific_journal-3835	24	22	mitsi	mitsi	NOUN
american_scientific_journal-3835	24	23	and	and	CCONJ
american_scientific_journal-3835	24	24	his	his	PRON
american_scientific_journal-3835	24	25	colleagues	colleague	NOUN
american_scientific_journal-3835	24	26	in	in	ADP
american_scientific_journal-3835	24	27	2014	2014	NUM
american_scientific_journal-3835	24	28	the	the	DET
american_scientific_journal-3835	24	29	optimum	optimum	ADJ
american_scientific_journal-3835	24	30	collision	collision	NOUN
american_scientific_journal-3835	24	31	free	free	ADJ
american_scientific_journal-3835	24	32	path	path	NOUN
american_scientific_journal-3835	24	33	planning	planning	NOUN
american_scientific_journal-3835	24	34	was	be	AUX
american_scientific_journal-3835	24	35	solved	solve	VERB
american_scientific_journal-3835	24	36	by	by	ADP
american_scientific_journal-3835	24	37	a	a	DET
american_scientific_journal-3835	24	38	hybrid	hybrid	ADJ
american_scientific_journal-3835	24	39	method	method	NOUN
american_scientific_journal-3835	24	40	that	that	PRON
american_scientific_journal-3835	24	41	combines	combine	VERB
american_scientific_journal-3835	24	42	a	a	DET
american_scientific_journal-3835	24	43	genetic	genetic	ADJ
american_scientific_journal-3835	24	44	algorithm(ga	algorithm(ga	NOUN
american_scientific_journal-3835	24	45	)	)	PUNCT
american_scientific_journal-3835	24	46	,	,	PUNCT
american_scientific_journal-3835	24	47	a	a	DET
american_scientific_journal-3835	24	48	quasi	quasi	NOUN
american_scientific_journal-3835	24	49	-	-	ADJ
american_scientific_journal-3835	24	50	newton	newton	PROPN
american_scientific_journal-3835	24	51	algorithm	algorithm	NOUN
american_scientific_journal-3835	24	52	and	and	CCONJ
american_scientific_journal-3835	24	53	a	a	DET
american_scientific_journal-3835	24	54	constraints	constraint	NOUN
american_scientific_journal-3835	24	55	handling	handle	VERB
american_scientific_journal-3835	24	56	method	method	NOUN
american_scientific_journal-3835	24	57	,	,	PUNCT
american_scientific_journal-3835	24	58	using	use	VERB
american_scientific_journal-3835	24	59	a	a	DET
american_scientific_journal-3835	24	60	various	various	ADJ
american_scientific_journal-3835	24	61	constraints	constraint	NOUN
american_scientific_journal-3835	24	62	and	and	CCONJ
american_scientific_journal-3835	24	63	multi	multi	ADJ
american_scientific_journal-3835	24	64	-	-	ADJ
american_scientific_journal-3835	24	65	objective	objective	ADJ
american_scientific_journal-3835	24	66	function	function	NOUN
american_scientific_journal-3835	24	67	[	[	PUNCT
american_scientific_journal-3835	24	68	5].the	5].the	DET
american_scientific_journal-3835	24	69	optimal	optimal	ADJ
american_scientific_journal-3835	24	70	path	path	NOUN
american_scientific_journal-3835	24	71	planning	planning	NOUN
american_scientific_journal-3835	24	72	of	of	ADP
american_scientific_journal-3835	24	73	a	a	DET
american_scientific_journal-3835	24	74	robot	robot	NOUN
american_scientific_journal-3835	24	75	manipulator	manipulator	NOUN
american_scientific_journal-3835	24	76	,	,	PUNCT
american_scientific_journal-3835	24	77	which	which	PRON
american_scientific_journal-3835	24	78	was	be	AUX
american_scientific_journal-3835	24	79	used	use	VERB
american_scientific_journal-3835	24	80	in	in	ADP
american_scientific_journal-3835	24	81	a	a	DET
american_scientific_journal-3835	24	82	surgery	surgery	NOUN
american_scientific_journal-3835	24	83	,	,	PUNCT
american_scientific_journal-3835	24	84	was	be	AUX
american_scientific_journal-3835	24	85	obtained	obtain	VERB
american_scientific_journal-3835	24	86	by	by	ADP
american_scientific_journal-3835	24	87	muhammad	muhammad	PROPN
american_scientific_journal-3835	24	88	and	and	CCONJ
american_scientific_journal-3835	24	89	his	his	PRON
american_scientific_journal-3835	24	90	colleagues	colleague	NOUN
american_scientific_journal-3835	24	91	in	in	ADP
american_scientific_journal-3835	24	92	2015	2015	NUM
american_scientific_journal-3835	24	93	,	,	PUNCT
american_scientific_journal-3835	24	94	who	who	PRON
american_scientific_journal-3835	24	95	used	use	VERB
american_scientific_journal-3835	24	96	genetic	genetic	ADJ
american_scientific_journal-3835	24	97	algorithm	algorithm	NOUN
american_scientific_journal-3835	24	98	(	(	PUNCT
american_scientific_journal-3835	24	99	ga	ga	NOUN
american_scientific_journal-3835	24	100	)	)	PUNCT
american_scientific_journal-3835	24	101	to	to	PART
american_scientific_journal-3835	24	102	solve	solve	VERB
american_scientific_journal-3835	24	103	the	the	DET
american_scientific_journal-3835	24	104	optimal	optimal	ADJ
american_scientific_journal-3835	24	105	path	path	NOUN
american_scientific_journal-3835	24	106	planning	planning	NOUN
american_scientific_journal-3835	24	107	problem	problem	NOUN
american_scientific_journal-3835	24	108	in	in	ADP
american_scientific_journal-3835	24	109	environment	environment	NOUN
american_scientific_journal-3835	24	110	with	with	ADP
american_scientific_journal-3835	24	111	variable	variable	ADJ
american_scientific_journal-3835	24	112	number	number	NOUN
american_scientific_journal-3835	24	113	of	of	ADP
american_scientific_journal-3835	24	114	generations	generation	NOUN
american_scientific_journal-3835	24	115	.	.	PUNCT
american_scientific_journal-3835	25	1	genetic	genetic	ADJ
american_scientific_journal-3835	25	2	algorithm	algorithm	NOUN
american_scientific_journal-3835	25	3	(	(	PUNCT
american_scientific_journal-3835	25	4	ga	ga	NOUN
american_scientific_journal-3835	25	5	)	)	PUNCT
american_scientific_journal-3835	25	6	has	have	AUX
american_scientific_journal-3835	25	7	determined	determine	VERB
american_scientific_journal-3835	25	8	the	the	DET
american_scientific_journal-3835	25	9	way	way	NOUN
american_scientific_journal-3835	25	10	point	point	NOUN
american_scientific_journal-3835	25	11	accurately	accurately	ADV
american_scientific_journal-3835	25	12	.	.	PUNCT
american_scientific_journal-3835	26	1	it	it	PRON
american_scientific_journal-3835	26	2	can	can	AUX
american_scientific_journal-3835	26	3	help	help	VERB
american_scientific_journal-3835	26	4	to	to	PART
american_scientific_journal-3835	26	5	choose	choose	VERB
american_scientific_journal-3835	26	6	the	the	DET
american_scientific_journal-3835	26	7	close	close	ADJ
american_scientific_journal-3835	26	8	points	point	NOUN
american_scientific_journal-3835	26	9	or	or	CCONJ
american_scientific_journal-3835	26	10	the	the	DET
american_scientific_journal-3835	26	11	optimal	optimal	ADJ
american_scientific_journal-3835	26	12	points	point	NOUN
american_scientific_journal-3835	26	13	and	and	CCONJ
american_scientific_journal-3835	26	14	ignore	ignore	VERB
american_scientific_journal-3835	26	15	unworkable	unworkable	ADJ
american_scientific_journal-3835	26	16	points	point	NOUN
american_scientific_journal-3835	27	1	[	[	X
american_scientific_journal-3835	27	2	6	6	NUM
american_scientific_journal-3835	27	3	]	]	PUNCT
american_scientific_journal-3835	27	4	.	.	PUNCT
american_scientific_journal-3835	28	1	andre	andre	PROPN
american_scientific_journal-3835	28	2	and	and	CCONJ
american_scientific_journal-3835	28	3	his	his	PRON
american_scientific_journal-3835	28	4	colleagues	colleague	NOUN
american_scientific_journal-3835	28	5	in	in	ADP
american_scientific_journal-3835	28	6	2016	2016	NUM
american_scientific_journal-3835	28	7	,	,	PUNCT
american_scientific_journal-3835	28	8	presented	present	VERB
american_scientific_journal-3835	28	9	a	a	DET
american_scientific_journal-3835	28	10	decision	decision	NOUN
american_scientific_journal-3835	28	11	algorithm	algorithm	NOUN
american_scientific_journal-3835	28	12	that	that	PRON
american_scientific_journal-3835	28	13	can	can	AUX
american_scientific_journal-3835	28	14	be	be	AUX
american_scientific_journal-3835	28	15	online	online	ADV
american_scientific_journal-3835	28	16	implemented	implement	VERB
american_scientific_journal-3835	28	17	and	and	CCONJ
american_scientific_journal-3835	28	18	is	be	AUX
american_scientific_journal-3835	28	19	able	able	ADJ
american_scientific_journal-3835	28	20	to	to	PART
american_scientific_journal-3835	28	21	find	find	VERB
american_scientific_journal-3835	28	22	an	an	DET
american_scientific_journal-3835	28	23	optimal	optimal	ADJ
american_scientific_journal-3835	28	24	minimum	minimum	ADJ
american_scientific_journal-3835	28	25	time	time	NOUN
american_scientific_journal-3835	28	26	law	law	NOUN
american_scientific_journal-3835	28	27	along	along	ADP
american_scientific_journal-3835	28	28	the	the	DET
american_scientific_journal-3835	28	29	path	path	NOUN
american_scientific_journal-3835	28	30	.	.	PUNCT
american_scientific_journal-3835	29	1	this	this	DET
american_scientific_journal-3835	29	2	law	law	NOUN
american_scientific_journal-3835	29	3	minimizes	minimize	VERB
american_scientific_journal-3835	29	4	the	the	DET
american_scientific_journal-3835	29	5	time	time	NOUN
american_scientific_journal-3835	29	6	required	require	VERB
american_scientific_journal-3835	29	7	to	to	PART
american_scientific_journal-3835	29	8	complete	complete	VERB
american_scientific_journal-3835	29	9	the	the	DET
american_scientific_journal-3835	29	10	path	path	NOUN
american_scientific_journal-3835	29	11	and	and	CCONJ
american_scientific_journal-3835	29	12	at	at	ADP
american_scientific_journal-3835	29	13	the	the	DET
american_scientific_journal-3835	29	14	same	same	ADJ
american_scientific_journal-3835	29	15	time	time	NOUN
american_scientific_journal-3835	29	16	is	be	AUX
american_scientific_journal-3835	29	17	consistent	consistent	ADJ
american_scientific_journal-3835	29	18	with	with	ADP
american_scientific_journal-3835	29	19	constraints	constraint	NOUN
american_scientific_journal-3835	29	20	,	,	PUNCT
american_scientific_journal-3835	29	21	both	both	CCONJ
american_scientific_journal-3835	29	22	at	at	ADP
american_scientific_journal-3835	29	23	kinematic	kinematic	ADJ
american_scientific_journal-3835	29	24	and	and	CCONJ
american_scientific_journal-3835	29	25	dynamic	dynamic	ADJ
american_scientific_journal-3835	29	26	levels	level	NOUN
american_scientific_journal-3835	29	27	[	[	X
american_scientific_journal-3835	29	28	7	7	NUM
american_scientific_journal-3835	29	29	]	]	PUNCT
american_scientific_journal-3835	29	30	.	.	PUNCT
american_scientific_journal-3835	30	1	amr	amr	PROPN
american_scientific_journal-3835	30	2	and	and	CCONJ
american_scientific_journal-3835	30	3	his	his	PRON
american_scientific_journal-3835	30	4	colleagues	colleague	NOUN
american_scientific_journal-3835	30	5	in	in	ADP
american_scientific_journal-3835	30	6	2017	2017	NUM
american_scientific_journal-3835	30	7	,	,	PUNCT
american_scientific_journal-3835	30	8	presented	present	VERB
american_scientific_journal-3835	30	9	a	a	DET
american_scientific_journal-3835	30	10	motion	motion	NOUN
american_scientific_journal-3835	30	11	planning	planning	NOUN
american_scientific_journal-3835	30	12	algorithm	algorithm	NOUN
american_scientific_journal-3835	30	13	for	for	ADP
american_scientific_journal-3835	30	14	generating	generate	VERB
american_scientific_journal-3835	30	15	optimal	optimal	ADJ
american_scientific_journal-3835	30	16	collision	collision	NOUN
american_scientific_journal-3835	30	17	-	-	PUNCT
american_scientific_journal-3835	30	18	free	free	ADJ
american_scientific_journal-3835	30	19	paths	path	NOUN
american_scientific_journal-3835	30	20	for	for	ADP
american_scientific_journal-3835	30	21	robotic	robotic	ADJ
american_scientific_journal-3835	30	22	vehicle	vehicle	NOUN
american_scientific_journal-3835	30	23	with	with	ADP
american_scientific_journal-3835	30	24	two	two	NUM
american_scientific_journal-3835	30	25	trailers	trailer	NOUN
american_scientific_journal-3835	30	26	moving	move	VERB
american_scientific_journal-3835	30	27	autonomously	autonomously	ADV
american_scientific_journal-3835	30	28	.	.	PUNCT
american_scientific_journal-3835	31	1	the	the	DET
american_scientific_journal-3835	31	2	suggested	suggest	VERB
american_scientific_journal-3835	31	3	algorithm	algorithm	NOUN
american_scientific_journal-3835	31	4	is	be	AUX
american_scientific_journal-3835	31	5	depend	depend	VERB
american_scientific_journal-3835	31	6	on	on	ADP
american_scientific_journal-3835	31	7	a	a	DET
american_scientific_journal-3835	31	8	combination	combination	NOUN
american_scientific_journal-3835	31	9	between	between	ADP
american_scientific_journal-3835	31	10	two	two	NUM
american_scientific_journal-3835	31	11	approaches	approach	VERB
american_scientific_journal-3835	31	12	artificial	artificial	ADJ
american_scientific_journal-3835	31	13	potential	potential	ADJ
american_scientific_journal-3835	31	14	field	field	NOUN
american_scientific_journal-3835	31	15	method	method	NOUN
american_scientific_journal-3835	31	16	and	and	CCONJ
american_scientific_journal-3835	31	17	optimal	optimal	ADJ
american_scientific_journal-3835	31	18	control	control	NOUN
american_scientific_journal-3835	31	19	theory	theory	NOUN
american_scientific_journal-3835	31	20	[	[	X
american_scientific_journal-3835	31	21	8	8	NUM
american_scientific_journal-3835	31	22	]	]	SYM
american_scientific_journal-3835	31	23	.	.	PUNCT
american_scientific_journal-3835	32	1	2	2	X
american_scientific_journal-3835	32	2	.	.	X
american_scientific_journal-3835	32	3	path	path	NOUN
american_scientific_journal-3835	32	4	planning	planning	NOUN
american_scientific_journal-3835	32	5	with	with	ADP
american_scientific_journal-3835	32	6	obstacles	obstacle	NOUN
american_scientific_journal-3835	32	7	avoidance	avoidance	NOUN
american_scientific_journal-3835	32	8	based	base	VERB
american_scientific_journal-3835	32	9	on	on	ADP
american_scientific_journal-3835	32	10	bezier	bezier	PROPN
american_scientific_journal-3835	32	11	curve	curve	NOUN
american_scientific_journal-3835	32	12	generated	generate	VERB
american_scientific_journal-3835	32	13	path	path	NOUN
american_scientific_journal-3835	32	14	planning	planning	NOUN
american_scientific_journal-3835	32	15	of	of	ADP
american_scientific_journal-3835	32	16	obstacles	obstacle	NOUN
american_scientific_journal-3835	32	17	by	by	ADP
american_scientific_journal-3835	32	18	using	use	VERB
american_scientific_journal-3835	32	19	a	a	DET
american_scientific_journal-3835	32	20	bézier	bézier	NOUN
american_scientific_journal-3835	32	21	curve	curve	NOUN
american_scientific_journal-3835	32	22	technique	technique	NOUN
american_scientific_journal-3835	32	23	,	,	PUNCT
american_scientific_journal-3835	32	24	where	where	SCONJ
american_scientific_journal-3835	32	25	control	control	NOUN
american_scientific_journal-3835	32	26	points	point	NOUN
american_scientific_journal-3835	32	27	of	of	ADP
american_scientific_journal-3835	32	28	bézier	bézier	NOUN
american_scientific_journal-3835	32	29	curve	curve	NOUN
american_scientific_journal-3835	32	30	have	have	AUX
american_scientific_journal-3835	32	31	been	be	AUX
american_scientific_journal-3835	32	32	suggested	suggest	VERB
american_scientific_journal-3835	32	33	to	to	PART
american_scientific_journal-3835	32	34	generate	generate	VERB
american_scientific_journal-3835	32	35	feasible	feasible	ADJ
american_scientific_journal-3835	32	36	path	path	NOUN
american_scientific_journal-3835	32	37	while	while	SCONJ
american_scientific_journal-3835	32	38	the	the	DET
american_scientific_journal-3835	32	39	generated	generate	VERB
american_scientific_journal-3835	32	40	bézier	bézier	NOUN
american_scientific_journal-3835	32	41	curve	curve	NOUN
american_scientific_journal-3835	32	42	can	can	AUX
american_scientific_journal-3835	32	43	be	be	AUX
american_scientific_journal-3835	32	44	divided	divide	VERB
american_scientific_journal-3835	32	45	into	into	ADP
american_scientific_journal-3835	32	46	intermediate	intermediate	ADJ
american_scientific_journal-3835	32	47	points	point	NOUN
american_scientific_journal-3835	32	48	to	to	PART
american_scientific_journal-3835	32	49	guide	guide	VERB
american_scientific_journal-3835	32	50	the	the	DET
american_scientific_journal-3835	32	51	robot	robot	NOUN
american_scientific_journal-3835	32	52	arm	arm	NOUN
american_scientific_journal-3835	32	53	to	to	PART
american_scientific_journal-3835	32	54	move	move	VERB
american_scientific_journal-3835	32	55	from	from	ADP
american_scientific_journal-3835	32	56	start	start	NOUN
american_scientific_journal-3835	32	57	position	position	NOUN
american_scientific_journal-3835	32	58	to	to	ADP
american_scientific_journal-3835	32	59	goal	goal	NOUN
american_scientific_journal-3835	32	60	position	position	NOUN
american_scientific_journal-3835	32	61	.	.	PUNCT
american_scientific_journal-3835	33	1	a	a	DET
american_scientific_journal-3835	33	2	bézier	bézier	NOUN
american_scientific_journal-3835	33	3	curve	curve	NOUN
american_scientific_journal-3835	33	4	is	be	AUX
american_scientific_journal-3835	33	5	defined	define	VERB
american_scientific_journal-3835	33	6	by	by	ADP
american_scientific_journal-3835	33	7	a	a	DET
american_scientific_journal-3835	33	8	series	series	NOUN
american_scientific_journal-3835	33	9	of	of	ADP
american_scientific_journal-3835	33	10	two	two	NUM
american_scientific_journal-3835	33	11	or	or	CCONJ
american_scientific_journal-3835	33	12	more	more	ADJ
american_scientific_journal-3835	33	13	control	control	NOUN
american_scientific_journal-3835	33	14	points	point	NOUN
american_scientific_journal-3835	33	15	which	which	PRON
american_scientific_journal-3835	33	16	are	be	AUX
american_scientific_journal-3835	33	17	known	know	VERB
american_scientific_journal-3835	33	18	as	as	ADP
american_scientific_journal-3835	33	19	control	control	NOUN
american_scientific_journal-3835	33	20	polygon	polygon	PROPN
american_scientific_journal-3835	33	21	.	.	PUNCT
american_scientific_journal-3835	34	1	linear	linear	ADJ
american_scientific_journal-3835	34	2	sections	section	NOUN
american_scientific_journal-3835	34	3	are	be	AUX
american_scientific_journal-3835	34	4	connecting	connect	VERB
american_scientific_journal-3835	34	5	the	the	DET
american_scientific_journal-3835	34	6	ordered	order	VERB
american_scientific_journal-3835	34	7	series	series	NOUN
american_scientific_journal-3835	34	8	of	of	ADP
american_scientific_journal-3835	34	9	control	control	NOUN
american_scientific_journal-3835	34	10	points	point	NOUN
american_scientific_journal-3835	34	11	from	from	ADP
american_scientific_journal-3835	34	12	the	the	DET
american_scientific_journal-3835	34	13	control	control	NOUN
american_scientific_journal-3835	34	14	polygon	polygon	NOUN
american_scientific_journal-3835	34	15	[	[	X
american_scientific_journal-3835	34	16	9	9	NUM
american_scientific_journal-3835	34	17	]	]	PUNCT
american_scientific_journal-3835	34	18	.	.	PUNCT
american_scientific_journal-3835	35	1	the	the	DET
american_scientific_journal-3835	35	2	degree	degree	NOUN
american_scientific_journal-3835	35	3	,	,	PUNCT
american_scientific_journal-3835	35	4	n	n	CCONJ
american_scientific_journal-3835	35	5	,	,	PUNCT
american_scientific_journal-3835	35	6	of	of	ADP
american_scientific_journal-3835	35	7	a	a	DET
american_scientific_journal-3835	35	8	bézier	bézier	NOUN
american_scientific_journal-3835	35	9	curve	curve	NOUN
american_scientific_journal-3835	35	10	is	be	AUX
american_scientific_journal-3835	35	11	:	:	PUNCT
american_scientific_journal-3835	35	12	𝑛𝑛	𝑛𝑛	NOUN
american_scientific_journal-3835	35	13	=	=	PUNCT
american_scientific_journal-3835	35	14	𝑚𝑚	𝑚𝑚	ADP
american_scientific_journal-3835	35	15	−	−	NUM
american_scientific_journal-3835	35	16	1	1	NUM
american_scientific_journal-3835	35	17	(	(	PUNCT
american_scientific_journal-3835	35	18	1	1	NUM
american_scientific_journal-3835	35	19	)	)	PUNCT
american_scientific_journal-3835	35	20	american	american	ADJ
american_scientific_journal-3835	35	21	scientific	scientific	ADJ
american_scientific_journal-3835	35	22	research	research	NOUN
american_scientific_journal-3835	35	23	journal	journal	NOUN
american_scientific_journal-3835	35	24	for	for	ADP
american_scientific_journal-3835	35	25	engineering	engineering	NOUN
american_scientific_journal-3835	35	26	,	,	PUNCT
american_scientific_journal-3835	35	27	technology	technology	NOUN
american_scientific_journal-3835	35	28	,	,	PUNCT
american_scientific_journal-3835	35	29	and	and	CCONJ
american_scientific_journal-3835	35	30	sciences	science	NOUN
american_scientific_journal-3835	35	31	(	(	PUNCT
american_scientific_journal-3835	35	32	asrjets	asrjet	NOUN
american_scientific_journal-3835	35	33	)	)	PUNCT
american_scientific_journal-3835	35	34	(	(	PUNCT
american_scientific_journal-3835	35	35	2018	2018	NUM
american_scientific_journal-3835	35	36	)	)	PUNCT
american_scientific_journal-3835	35	37	volume	volume	NOUN
american_scientific_journal-3835	35	38	40	40	NUM
american_scientific_journal-3835	35	39	,	,	PUNCT
american_scientific_journal-3835	35	40	no	no	DET
american_scientific_journal-3835	35	41	01	01	NUM
american_scientific_journal-3835	35	42	,	,	PUNCT
american_scientific_journal-3835	35	43	pp	pp	ADP
american_scientific_journal-3835	35	44	6	6	NUM
american_scientific_journal-3835	35	45	-17	-17	SYM
american_scientific_journal-3835	35	46	8	8	NUM
american_scientific_journal-3835	35	47	where	where	SCONJ
american_scientific_journal-3835	35	48	𝑚𝑚	𝑚𝑚	ADP
american_scientific_journal-3835	35	49	is	be	AUX
american_scientific_journal-3835	35	50	the	the	DET
american_scientific_journal-3835	35	51	number	number	NOUN
american_scientific_journal-3835	35	52	of	of	ADP
american_scientific_journal-3835	35	53	control	control	NOUN
american_scientific_journal-3835	35	54	points	point	NOUN
american_scientific_journal-3835	35	55	.	.	PUNCT
american_scientific_journal-3835	36	1	thus	thus	ADV
american_scientific_journal-3835	36	2	,	,	PUNCT
american_scientific_journal-3835	36	3	a	a	DET
american_scientific_journal-3835	36	4	bézier	bézier	NOUN
american_scientific_journal-3835	36	5	curve	curve	NOUN
american_scientific_journal-3835	36	6	with	with	ADP
american_scientific_journal-3835	36	7	two	two	NUM
american_scientific_journal-3835	36	8	control	control	NOUN
american_scientific_journal-3835	36	9	points	point	NOUN
american_scientific_journal-3835	36	10	is	be	AUX
american_scientific_journal-3835	36	11	of	of	ADP
american_scientific_journal-3835	36	12	first	first	ADJ
american_scientific_journal-3835	36	13	degree	degree	NOUN
american_scientific_journal-3835	36	14	,	,	PUNCT
american_scientific_journal-3835	36	15	a	a	DET
american_scientific_journal-3835	36	16	bézier	bézier	NOUN
american_scientific_journal-3835	36	17	curve	curve	NOUN
american_scientific_journal-3835	36	18	with	with	ADP
american_scientific_journal-3835	36	19	three	three	NUM
american_scientific_journal-3835	36	20	control	control	NOUN
american_scientific_journal-3835	36	21	points	point	NOUN
american_scientific_journal-3835	36	22	is	be	AUX
american_scientific_journal-3835	36	23	of	of	ADP
american_scientific_journal-3835	36	24	second	second	ADJ
american_scientific_journal-3835	36	25	degree	degree	NOUN
american_scientific_journal-3835	36	26	and	and	CCONJ
american_scientific_journal-3835	36	27	so	so	ADV
american_scientific_journal-3835	36	28	on	on	ADV
american_scientific_journal-3835	36	29	.	.	PUNCT
american_scientific_journal-3835	37	1	examples	example	NOUN
american_scientific_journal-3835	37	2	of	of	ADP
american_scientific_journal-3835	37	3	bezier	bezier	NOUN
american_scientific_journal-3835	37	4	curves	curve	NOUN
american_scientific_journal-3835	37	5	are	be	AUX
american_scientific_journal-3835	37	6	shown	show	VERB
american_scientific_journal-3835	37	7	in	in	ADP
american_scientific_journal-3835	37	8	fig	fig	NOUN
american_scientific_journal-3835	37	9	.	.	PUNCT
american_scientific_journal-3835	38	1	(	(	PUNCT
american_scientific_journal-3835	38	2	1	1	NUM
american_scientific_journal-3835	38	3	)	)	PUNCT
american_scientific_journal-3835	38	4	.	.	PUNCT
american_scientific_journal-3835	39	1	the	the	DET
american_scientific_journal-3835	39	2	control	control	NOUN
american_scientific_journal-3835	39	3	polygon	polygon	PROPN
american_scientific_journal-3835	39	4	is	be	AUX
american_scientific_journal-3835	39	5	shown	show	VERB
american_scientific_journal-3835	39	6	as	as	ADP
american_scientific_journal-3835	39	7	lines	line	NOUN
american_scientific_journal-3835	39	8	connecting	connect	VERB
american_scientific_journal-3835	39	9	the	the	DET
american_scientific_journal-3835	39	10	control	control	NOUN
american_scientific_journal-3835	39	11	points	point	NOUN
american_scientific_journal-3835	39	12	.	.	PUNCT
american_scientific_journal-3835	40	1	by	by	ADP
american_scientific_journal-3835	40	2	changing	change	VERB
american_scientific_journal-3835	40	3	or	or	CCONJ
american_scientific_journal-3835	40	4	moving	move	VERB
american_scientific_journal-3835	40	5	theses	theses	ADP
american_scientific_journal-3835	40	6	control	control	NOUN
american_scientific_journal-3835	40	7	points	point	NOUN
american_scientific_journal-3835	40	8	,	,	PUNCT
american_scientific_journal-3835	40	9	the	the	DET
american_scientific_journal-3835	40	10	shape	shape	NOUN
american_scientific_journal-3835	40	11	of	of	ADP
american_scientific_journal-3835	40	12	the	the	DET
american_scientific_journal-3835	40	13	curve	curve	NOUN
american_scientific_journal-3835	40	14	is	be	AUX
american_scientific_journal-3835	40	15	globally	globally	ADV
american_scientific_journal-3835	40	16	changed	change	VERB
american_scientific_journal-3835	40	17	in	in	ADP
american_scientific_journal-3835	40	18	a	a	DET
american_scientific_journal-3835	40	19	mathematically	mathematically	ADV
american_scientific_journal-3835	40	20	manner	manner	NOUN
american_scientific_journal-3835	40	21	[	[	X
american_scientific_journal-3835	40	22	10	10	NUM
american_scientific_journal-3835	40	23	]	]	PUNCT
american_scientific_journal-3835	40	24	.	.	PUNCT
american_scientific_journal-3835	41	1	figure	figure	NOUN
american_scientific_journal-3835	41	2	1	1	NUM
american_scientific_journal-3835	41	3	:	:	PUNCT
american_scientific_journal-3835	41	4	examples	example	NOUN
american_scientific_journal-3835	41	5	of	of	ADP
american_scientific_journal-3835	41	6	bezier	bezi	ADJ
american_scientific_journal-3835	41	7	curve	curve	NOUN
american_scientific_journal-3835	41	8	in	in	ADP
american_scientific_journal-3835	41	9	this	this	DET
american_scientific_journal-3835	41	10	paper	paper	NOUN
american_scientific_journal-3835	41	11	the	the	DET
american_scientific_journal-3835	41	12	property	property	NOUN
american_scientific_journal-3835	41	13	of	of	ADP
american_scientific_journal-3835	41	14	the	the	DET
american_scientific_journal-3835	41	15	bézier	bézier	NOUN
american_scientific_journal-3835	41	16	curve	curve	NOUN
american_scientific_journal-3835	41	17	has	have	AUX
american_scientific_journal-3835	41	18	been	be	AUX
american_scientific_journal-3835	41	19	used	use	VERB
american_scientific_journal-3835	41	20	to	to	PART
american_scientific_journal-3835	41	21	plan	plan	VERB
american_scientific_journal-3835	41	22	collision	collision	VERB
american_scientific_journal-3835	41	23	free	free	ADJ
american_scientific_journal-3835	41	24	path	path	NOUN
american_scientific_journal-3835	41	25	planning	planning	NOUN
american_scientific_journal-3835	41	26	that	that	PRON
american_scientific_journal-3835	41	27	is	be	AUX
american_scientific_journal-3835	41	28	the	the	DET
american_scientific_journal-3835	41	29	curve	curve	NOUN
american_scientific_journal-3835	41	30	which	which	PRON
american_scientific_journal-3835	41	31	passes	pass	VERB
american_scientific_journal-3835	41	32	only	only	ADV
american_scientific_journal-3835	41	33	through	through	ADP
american_scientific_journal-3835	41	34	the	the	DET
american_scientific_journal-3835	41	35	start	start	NOUN
american_scientific_journal-3835	41	36	point	point	NOUN
american_scientific_journal-3835	41	37	and	and	CCONJ
american_scientific_journal-3835	41	38	the	the	DET
american_scientific_journal-3835	41	39	goal	goal	NOUN
american_scientific_journal-3835	41	40	point	point	NOUN
american_scientific_journal-3835	41	41	of	of	ADP
american_scientific_journal-3835	41	42	control	control	NOUN
american_scientific_journal-3835	41	43	points	point	NOUN
american_scientific_journal-3835	41	44	and	and	CCONJ
american_scientific_journal-3835	41	45	does	do	AUX
american_scientific_journal-3835	41	46	not	not	PART
american_scientific_journal-3835	41	47	pass	pass	VERB
american_scientific_journal-3835	41	48	through	through	ADP
american_scientific_journal-3835	41	49	the	the	DET
american_scientific_journal-3835	41	50	other	other	ADJ
american_scientific_journal-3835	41	51	control	control	NOUN
american_scientific_journal-3835	41	52	points	point	NOUN
american_scientific_journal-3835	41	53	.	.	PUNCT
american_scientific_journal-3835	42	1	by	by	ADP
american_scientific_journal-3835	42	2	considering	consider	VERB
american_scientific_journal-3835	42	3	the	the	DET
american_scientific_journal-3835	42	4	start	start	NOUN
american_scientific_journal-3835	42	5	and	and	CCONJ
american_scientific_journal-3835	42	6	the	the	DET
american_scientific_journal-3835	42	7	goal	goal	NOUN
american_scientific_journal-3835	42	8	control	control	NOUN
american_scientific_journal-3835	42	9	points	point	VERB
american_scientific_journal-3835	42	10	as	as	ADP
american_scientific_journal-3835	42	11	the	the	DET
american_scientific_journal-3835	42	12	initial	initial	NOUN
american_scientific_journal-3835	42	13	and	and	CCONJ
american_scientific_journal-3835	42	14	the	the	DET
american_scientific_journal-3835	42	15	final	final	ADJ
american_scientific_journal-3835	42	16	positions	position	NOUN
american_scientific_journal-3835	42	17	,	,	PUNCT
american_scientific_journal-3835	42	18	respectively	respectively	ADV
american_scientific_journal-3835	42	19	,	,	PUNCT
american_scientific_journal-3835	42	20	of	of	ADP
american_scientific_journal-3835	42	21	the	the	DET
american_scientific_journal-3835	42	22	robot	robot	NOUN
american_scientific_journal-3835	42	23	path	path	NOUN
american_scientific_journal-3835	42	24	while	while	SCONJ
american_scientific_journal-3835	42	25	the	the	DET
american_scientific_journal-3835	42	26	control	control	NOUN
american_scientific_journal-3835	42	27	points	point	NOUN
american_scientific_journal-3835	42	28	are	be	AUX
american_scientific_journal-3835	42	29	considered	consider	VERB
american_scientific_journal-3835	42	30	as	as	ADP
american_scientific_journal-3835	42	31	obstacles	obstacle	NOUN
american_scientific_journal-3835	42	32	.	.	PUNCT
american_scientific_journal-3835	43	1	a	a	DET
american_scientific_journal-3835	43	2	sequence	sequence	NOUN
american_scientific_journal-3835	43	3	of	of	ADP
american_scientific_journal-3835	43	4	joint	joint	ADJ
american_scientific_journal-3835	43	5	angles	angle	NOUN
american_scientific_journal-3835	43	6	along	along	ADP
american_scientific_journal-3835	43	7	the	the	DET
american_scientific_journal-3835	43	8	path	path	NOUN
american_scientific_journal-3835	43	9	must	must	AUX
american_scientific_journal-3835	43	10	be	be	AUX
american_scientific_journal-3835	43	11	determined	determine	VERB
american_scientific_journal-3835	43	12	in	in	ADP
american_scientific_journal-3835	43	13	order	order	NOUN
american_scientific_journal-3835	43	14	to	to	PART
american_scientific_journal-3835	43	15	move	move	VERB
american_scientific_journal-3835	43	16	the	the	DET
american_scientific_journal-3835	43	17	robot	robot	NOUN
american_scientific_journal-3835	43	18	arm	arm	NOUN
american_scientific_journal-3835	43	19	from	from	ADP
american_scientific_journal-3835	43	20	start	start	NOUN
american_scientific_journal-3835	43	21	to	to	ADP
american_scientific_journal-3835	43	22	goal	goal	NOUN
american_scientific_journal-3835	43	23	points	point	NOUN
american_scientific_journal-3835	43	24	with	with	ADP
american_scientific_journal-3835	43	25	exist	exist	ADJ
american_scientific_journal-3835	43	26	obstacles	obstacle	NOUN
american_scientific_journal-3835	43	27	of	of	ADP
american_scientific_journal-3835	43	28	the	the	DET
american_scientific_journal-3835	43	29	robot	robot	NOUN
american_scientific_journal-3835	43	30	environment	environment	NOUN
american_scientific_journal-3835	43	31	[	[	X
american_scientific_journal-3835	43	32	11	11	NUM
american_scientific_journal-3835	43	33	]	]	PUNCT
american_scientific_journal-3835	43	34	.	.	PUNCT
american_scientific_journal-3835	44	1	3	3	X
american_scientific_journal-3835	44	2	.	.	X
american_scientific_journal-3835	44	3	mathematical	mathematical	ADJ
american_scientific_journal-3835	44	4	formulation	formulation	NOUN
american_scientific_journal-3835	44	5	of	of	ADP
american_scientific_journal-3835	44	6	bezier	bezier	NOUN
american_scientific_journal-3835	44	7	curve	curve	NOUN
american_scientific_journal-3835	44	8	the	the	DET
american_scientific_journal-3835	44	9	following	follow	VERB
american_scientific_journal-3835	44	10	definition	definition	NOUN
american_scientific_journal-3835	44	11	,	,	PUNCT
american_scientific_journal-3835	44	12	of	of	ADP
american_scientific_journal-3835	44	13	the	the	DET
american_scientific_journal-3835	44	14	typical	typical	ADJ
american_scientific_journal-3835	44	15	bézier	bézier	NOUN
american_scientific_journal-3835	44	16	space	space	NOUN
american_scientific_journal-3835	44	17	curve	curve	NOUN
american_scientific_journal-3835	44	18	as	as	ADP
american_scientific_journal-3835	44	19	an	an	DET
american_scientific_journal-3835	44	20	example	example	NOUN
american_scientific_journal-3835	44	21	is	be	AUX
american_scientific_journal-3835	44	22	given	give	VERB
american_scientific_journal-3835	44	23	:	:	PUNCT
american_scientific_journal-3835	44	24	p(t	p(t	NOUN
american_scientific_journal-3835	44	25	)	)	PUNCT
american_scientific_journal-3835	44	26	=	=	PUNCT
american_scientific_journal-3835	44	27	∑	∑	PUNCT
american_scientific_journal-3835	45	1	𝑃𝑃𝑖𝑖𝑛𝑛	𝑃𝑃𝑖𝑖𝑛𝑛	PROPN
american_scientific_journal-3835	45	2	𝑖𝑖=0	𝑖𝑖=0	PROPN
american_scientific_journal-3835	45	3	𝐵𝐵𝑖𝑖,𝑛𝑛	𝐵𝐵𝑖𝑖,𝑛𝑛	X
american_scientific_journal-3835	45	4	(	(	PUNCT
american_scientific_journal-3835	45	5	t	t	NOUN
american_scientific_journal-3835	45	6	)	)	PUNCT
american_scientific_journal-3835	45	7	0	0	NUM
american_scientific_journal-3835	46	1	≤	≤	NUM
american_scientific_journal-3835	46	2	t	t	NOUN
american_scientific_journal-3835	46	3	≤	≤	NUM
american_scientific_journal-3835	46	4	1	1	NUM
american_scientific_journal-3835	46	5	(	(	PUNCT
american_scientific_journal-3835	46	6	2	2	NUM
american_scientific_journal-3835	46	7	)	)	PUNCT
american_scientific_journal-3835	46	8	where	where	SCONJ
american_scientific_journal-3835	46	9	𝐵𝐵𝑖𝑖,𝑛𝑛	𝐵𝐵𝑖𝑖,𝑛𝑛	VERB
american_scientific_journal-3835	46	10	is	be	AUX
american_scientific_journal-3835	46	11	a	a	DET
american_scientific_journal-3835	46	12	bernstein	bernstein	PROPN
american_scientific_journal-3835	46	13	polynomial	polynomial	PROPN
american_scientific_journal-3835	46	14	and	and	CCONJ
american_scientific_journal-3835	46	15	𝑃𝑃𝑖𝑖	𝑃𝑃𝑖𝑖	PROPN
american_scientific_journal-3835	46	16	stands	stand	VERB
american_scientific_journal-3835	46	17	for	for	ADP
american_scientific_journal-3835	46	18	the	the	DET
american_scientific_journal-3835	46	19	𝑖𝑖𝑡𝑡ℎ	𝑖𝑖𝑡𝑡ℎ	PROPN
american_scientific_journal-3835	46	20	vector	vector	NOUN
american_scientific_journal-3835	46	21	of	of	ADP
american_scientific_journal-3835	46	22	the	the	DET
american_scientific_journal-3835	46	23	control	control	NOUN
american_scientific_journal-3835	46	24	point	point	NOUN
american_scientific_journal-3835	46	25	,	,	PUNCT
american_scientific_journal-3835	46	26	the	the	DET
american_scientific_journal-3835	46	27	bernstein	bernstein	PROPN
american_scientific_journal-3835	46	28	polynomials	polynomials	PROPN
american_scientific_journal-3835	46	29	,	,	PUNCT
american_scientific_journal-3835	46	30	which	which	PRON
american_scientific_journal-3835	46	31	are	be	AUX
american_scientific_journal-3835	46	32	the	the	DET
american_scientific_journal-3835	46	33	basis	basis	NOUN
american_scientific_journal-3835	46	34	functions	function	NOUN
american_scientific_journal-3835	46	35	in	in	ADP
american_scientific_journal-3835	46	36	the	the	DET
american_scientific_journal-3835	46	37	bézier	bézier	NOUN
american_scientific_journal-3835	46	38	curve	curve	NOUN
american_scientific_journal-3835	46	39	expression	expression	NOUN
american_scientific_journal-3835	46	40	,	,	PUNCT
american_scientific_journal-3835	46	41	are	be	AUX
american_scientific_journal-3835	46	42	defined	define	VERB
american_scientific_journal-3835	46	43	as	as	ADP
american_scientific_journal-3835	46	44	:	:	PUNCT
american_scientific_journal-3835	46	45	𝐵𝐵𝑖𝑖,𝑛𝑛	𝐵𝐵𝑖𝑖,𝑛𝑛	NUM
american_scientific_journal-3835	46	46	(	(	PUNCT
american_scientific_journal-3835	46	47	t	t	NOUN
american_scientific_journal-3835	46	48	)	)	PUNCT
american_scientific_journal-3835	46	49	=	=	PUNCT
american_scientific_journal-3835	46	50	�	�	PROPN
american_scientific_journal-3835	46	51	𝑛𝑛𝑖𝑖	𝑛𝑛𝑖𝑖	PROPN
american_scientific_journal-3835	46	52	�	�	PROPN
american_scientific_journal-3835	46	53	𝑡𝑡	𝑡𝑡	NOUN
american_scientific_journal-3835	46	54	𝑖𝑖	𝑖𝑖	X
american_scientific_journal-3835	46	55	(	(	PUNCT
american_scientific_journal-3835	46	56	1	1	NUM
american_scientific_journal-3835	46	57	−	−	PROPN
american_scientific_journal-3835	46	58	𝑡𝑡)𝑛𝑛−𝑖𝑖	𝑡𝑡)𝑛𝑛−𝑖𝑖	NOUN
american_scientific_journal-3835	46	59	,	,	PUNCT
american_scientific_journal-3835	46	60	𝑖𝑖	𝑖𝑖	NOUN
american_scientific_journal-3835	46	61	=	=	PUNCT
american_scientific_journal-3835	46	62	0,1,2	0,1,2	NUM
american_scientific_journal-3835	46	63	…	…	PUNCT
american_scientific_journal-3835	46	64	…	…	PUNCT
american_scientific_journal-3835	46	65	.	.	PUNCT
american_scientific_journal-3835	47	1	,	,	PUNCT
american_scientific_journal-3835	47	2	𝑛𝑛	𝑛𝑛	NOUN
american_scientific_journal-3835	47	3	(	(	PUNCT
american_scientific_journal-3835	47	4	3	3	NUM
american_scientific_journal-3835	47	5	)	)	PUNCT
american_scientific_journal-3835	47	6	where	where	SCONJ
american_scientific_journal-3835	47	7	,	,	PUNCT
american_scientific_journal-3835	47	8	�	�	PROPN
american_scientific_journal-3835	47	9	𝑛𝑛𝑖𝑖	𝑛𝑛𝑖𝑖	PROPN
american_scientific_journal-3835	47	10	�	�	PROPN
american_scientific_journal-3835	47	11	=	=	SYM
american_scientific_journal-3835	47	12	𝑛𝑛	𝑛𝑛	NOUN
american_scientific_journal-3835	47	13	!	!	PUNCT
american_scientific_journal-3835	47	14	𝑖𝑖!(𝑛𝑛−𝑖𝑖	𝑖𝑖!(𝑛𝑛−𝑖𝑖	PROPN
american_scientific_journal-3835	47	15	)	)	PUNCT
american_scientific_journal-3835	47	16	!	!	PUNCT
american_scientific_journal-3835	48	1	(	(	PUNCT
american_scientific_journal-3835	48	2	4	4	X
american_scientific_journal-3835	48	3	)	)	PUNCT
american_scientific_journal-3835	48	4	the	the	DET
american_scientific_journal-3835	48	5	following	follow	VERB
american_scientific_journal-3835	48	6	conventions	convention	NOUN
american_scientific_journal-3835	48	7	apply	apply	VERB
american_scientific_journal-3835	48	8	if	if	SCONJ
american_scientific_journal-3835	48	9	i	i	PRON
american_scientific_journal-3835	48	10	and	and	CCONJ
american_scientific_journal-3835	48	11	t	t	PROPN
american_scientific_journal-3835	48	12	equal	equal	ADJ
american_scientific_journal-3835	48	13	zero	zero	NUM
american_scientific_journal-3835	48	14	,	,	PUNCT
american_scientific_journal-3835	48	15	then	then	ADV
american_scientific_journal-3835	48	16	𝑡𝑡𝑖𝑖	𝑡𝑡𝑖𝑖	ADV
american_scientific_journal-3835	48	17	=	=	SYM
american_scientific_journal-3835	48	18	1	1	NUM
american_scientific_journal-3835	48	19	and	and	CCONJ
american_scientific_journal-3835	48	20	0	0	NUM
american_scientific_journal-3835	48	21	!	!	PUNCT
american_scientific_journal-3835	49	1	=	=	SYM
american_scientific_journal-3835	49	2	1	1	NUM
american_scientific_journal-3835	49	3	if	if	SCONJ
american_scientific_journal-3835	49	4	there	there	PRON
american_scientific_journal-3835	49	5	are	be	VERB
american_scientific_journal-3835	49	6	(	(	PUNCT
american_scientific_journal-3835	49	7	n+1	n+1	NOUN
american_scientific_journal-3835	49	8	)	)	PUNCT
american_scientific_journal-3835	49	9	vertices	vertex	NOUN
american_scientific_journal-3835	49	10	,	,	PUNCT
american_scientific_journal-3835	49	11	then	then	ADV
american_scientific_journal-3835	49	12	the	the	DET
american_scientific_journal-3835	49	13	function	function	NOUN
american_scientific_journal-3835	49	14	𝐵𝐵𝑖𝑖,𝑛𝑛	𝐵𝐵𝑖𝑖,𝑛𝑛	VERB
american_scientific_journal-3835	49	15	(	(	PUNCT
american_scientific_journal-3835	49	16	t	t	NOUN
american_scientific_journal-3835	49	17	)	)	PUNCT
american_scientific_journal-3835	49	18	yields	yield	VERB
american_scientific_journal-3835	49	19	a	a	DET
american_scientific_journal-3835	49	20	𝑛𝑛𝑡𝑡ℎ	𝑛𝑛𝑡𝑡ℎ	NOUN
american_scientific_journal-3835	49	21	degree	degree	NOUN
american_scientific_journal-3835	49	22	polynomial	polynomial	ADJ
american_scientific_journal-3835	49	23	.	.	PUNCT
american_scientific_journal-3835	50	1	most	most	ADJ
american_scientific_journal-3835	50	2	of	of	ADP
american_scientific_journal-3835	50	3	engineering	engineering	NOUN
american_scientific_journal-3835	50	4	applications	application	NOUN
american_scientific_journal-3835	50	5	can	can	AUX
american_scientific_journal-3835	50	6	be	be	AUX
american_scientific_journal-3835	50	7	covered	cover	VERB
american_scientific_journal-3835	50	8	by	by	ADP
american_scientific_journal-3835	50	9	a	a	DET
american_scientific_journal-3835	50	10	third	third	ADJ
american_scientific_journal-3835	50	11	american	american	ADJ
american_scientific_journal-3835	50	12	scientific	scientific	ADJ
american_scientific_journal-3835	50	13	research	research	NOUN
american_scientific_journal-3835	50	14	journal	journal	NOUN
american_scientific_journal-3835	50	15	for	for	ADP
american_scientific_journal-3835	50	16	engineering	engineering	NOUN
american_scientific_journal-3835	50	17	,	,	PUNCT
american_scientific_journal-3835	50	18	technology	technology	NOUN
american_scientific_journal-3835	50	19	,	,	PUNCT
american_scientific_journal-3835	50	20	and	and	CCONJ
american_scientific_journal-3835	50	21	sciences	science	NOUN
american_scientific_journal-3835	50	22	(	(	PUNCT
american_scientific_journal-3835	50	23	asrjets	asrjet	NOUN
american_scientific_journal-3835	50	24	)	)	PUNCT
american_scientific_journal-3835	50	25	(	(	PUNCT
american_scientific_journal-3835	50	26	2018	2018	NUM
american_scientific_journal-3835	50	27	)	)	PUNCT
american_scientific_journal-3835	50	28	volume	volume	NOUN
american_scientific_journal-3835	50	29	40	40	NUM
american_scientific_journal-3835	50	30	,	,	PUNCT
american_scientific_journal-3835	50	31	no	no	DET
american_scientific_journal-3835	50	32	01	01	NUM
american_scientific_journal-3835	50	33	,	,	PUNCT
american_scientific_journal-3835	50	34	pp	pp	ADP
american_scientific_journal-3835	50	35	6	6	NUM
american_scientific_journal-3835	50	36	-17	-17	SYM
american_scientific_journal-3835	50	37	9	9	NUM
american_scientific_journal-3835	50	38	degree	degree	NOUN
american_scientific_journal-3835	50	39	formula	formula	NOUN
american_scientific_journal-3835	50	40	when	when	SCONJ
american_scientific_journal-3835	50	41	n=3	n=3	NOUN
american_scientific_journal-3835	50	42	,	,	PUNCT
american_scientific_journal-3835	50	43	for	for	ADP
american_scientific_journal-3835	50	44	four	four	NUM
american_scientific_journal-3835	50	45	control	control	NOUN
american_scientific_journal-3835	50	46	points	point	NOUN
american_scientific_journal-3835	50	47	,	,	PUNCT
american_scientific_journal-3835	50	48	the	the	DET
american_scientific_journal-3835	50	49	basis	basis	NOUN
american_scientific_journal-3835	50	50	function	function	NOUN
american_scientific_journal-3835	50	51	are	be	AUX
american_scientific_journal-3835	50	52	given	give	VERB
american_scientific_journal-3835	50	53	by	by	ADP
american_scientific_journal-3835	50	54	:	:	PUNCT
american_scientific_journal-3835	50	55	𝐵𝐵0,3	𝐵𝐵0,3	PROPN
american_scientific_journal-3835	50	56	=	=	PUNCT
american_scientific_journal-3835	50	57	(	(	PUNCT
american_scientific_journal-3835	50	58	1	1	NUM
american_scientific_journal-3835	50	59	−	−	PROPN
american_scientific_journal-3835	50	60	𝑡𝑡)3	𝑡𝑡)3	PROPN
american_scientific_journal-3835	50	61	(	(	PUNCT
american_scientific_journal-3835	50	62	5	5	NUM
american_scientific_journal-3835	50	63	)	)	PUNCT
american_scientific_journal-3835	50	64	𝐵𝐵1,3	𝐵𝐵1,3	NOUN
american_scientific_journal-3835	50	65	=	=	PUNCT
american_scientific_journal-3835	51	1	3𝑡𝑡(1	3𝑡𝑡(1	NUM
american_scientific_journal-3835	51	2	−	−	PROPN
american_scientific_journal-3835	51	3	𝑡𝑡)2	𝑡𝑡)2	PROPN
american_scientific_journal-3835	51	4	(	(	PUNCT
american_scientific_journal-3835	51	5	6	6	NUM
american_scientific_journal-3835	51	6	)	)	PUNCT
american_scientific_journal-3835	51	7	𝐵𝐵2,3	𝐵𝐵2,3	NOUN
american_scientific_journal-3835	51	8	=	=	SYM
american_scientific_journal-3835	51	9	3𝑡𝑡2(1	3𝑡𝑡2(1	NUM
american_scientific_journal-3835	51	10	−	−	NOUN
american_scientific_journal-3835	51	11	𝑡𝑡	𝑡𝑡	PROPN
american_scientific_journal-3835	51	12	)	)	PUNCT
american_scientific_journal-3835	51	13	(	(	PUNCT
american_scientific_journal-3835	51	14	7	7	X
american_scientific_journal-3835	51	15	)	)	PUNCT
american_scientific_journal-3835	51	16	𝐵𝐵3,3	𝐵𝐵3,3	NOUN
american_scientific_journal-3835	51	17	=	=	SYM
american_scientific_journal-3835	51	18	𝑡𝑡3	𝑡𝑡3	PROPN
american_scientific_journal-3835	51	19	(	(	PUNCT
american_scientific_journal-3835	51	20	8)	8)	NUM
american_scientific_journal-3835	51	21	so	so	SCONJ
american_scientific_journal-3835	51	22	that	that	PRON
american_scientific_journal-3835	51	23	:	:	PUNCT
american_scientific_journal-3835	51	24	p(t	p(t	NOUN
american_scientific_journal-3835	51	25	)	)	PUNCT
american_scientific_journal-3835	51	26	=	=	PUNCT
american_scientific_journal-3835	51	27	(	(	PUNCT
american_scientific_journal-3835	51	28	1	1	NUM
american_scientific_journal-3835	51	29	−	−	NOUN
american_scientific_journal-3835	51	30	𝑡𝑡)3𝑃𝑃0	𝑡𝑡)3𝑃𝑃0	PUNCT
american_scientific_journal-3835	51	31	+	+	PROPN
american_scientific_journal-3835	51	32	3𝑡𝑡(1	3𝑡𝑡(1	NUM
american_scientific_journal-3835	51	33	−	−	PROPN
american_scientific_journal-3835	51	34	𝑡𝑡)2𝑃𝑃1	𝑡𝑡)2𝑃𝑃1	PUNCT
american_scientific_journal-3835	52	1	+	+	NUM
american_scientific_journal-3835	52	2	3t2(1	3t2(1	NUM
american_scientific_journal-3835	53	1	−	−	PROPN
american_scientific_journal-3835	53	2	𝑡𝑡)𝑃𝑃2	𝑡𝑡)𝑃𝑃2	PROPN
american_scientific_journal-3835	53	3	+	+	CCONJ
american_scientific_journal-3835	53	4	t3𝑃𝑃3	t3𝑃𝑃3	NUM
american_scientific_journal-3835	53	5	(	(	PUNCT
american_scientific_journal-3835	53	6	9	9	NUM
american_scientific_journal-3835	53	7	)	)	PUNCT
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american_scientific_journal-3835	53	10	,	,	PUNCT
american_scientific_journal-3835	53	11	cubic	cubic	ADJ
american_scientific_journal-3835	53	12	bézier	bézier	NOUN
american_scientific_journal-3835	53	13	curve	curve	NOUN
american_scientific_journal-3835	53	14	,	,	PUNCT
american_scientific_journal-3835	53	15	in	in	ADP
american_scientific_journal-3835	53	16	equ	equ	PROPN
american_scientific_journal-3835	53	17	.	.	PROPN
american_scientific_journal-3835	53	18	9	9	NUM
american_scientific_journal-3835	53	19	is	be	AUX
american_scientific_journal-3835	53	20	written	write	VERB
american_scientific_journal-3835	53	21	in	in	ADP
american_scientific_journal-3835	53	22	a	a	DET
american_scientific_journal-3835	53	23	matrix	matrix	NOUN
american_scientific_journal-3835	53	24	form	form	NOUN
american_scientific_journal-3835	53	25	as	as	SCONJ
american_scientific_journal-3835	53	26	given	give	VERB
american_scientific_journal-3835	53	27	:	:	PUNCT
american_scientific_journal-3835	53	28	p(t	p(t	NOUN
american_scientific_journal-3835	53	29	)	)	PUNCT
american_scientific_journal-3835	53	30	=	=	PUNCT
american_scientific_journal-3835	54	1	[	[	X
american_scientific_journal-3835	54	2	(	(	PUNCT
american_scientific_journal-3835	54	3	1	1	NUM
american_scientific_journal-3835	54	4	−	−	NOUN
american_scientific_journal-3835	54	5	3𝑡𝑡	3𝑡𝑡	NOUN
american_scientific_journal-3835	54	6	+	+	CCONJ
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american_scientific_journal-3835	54	8	−	−	NOUN
american_scientific_journal-3835	54	9	t3)(3𝑡𝑡	t3)(3𝑡𝑡	NUM
american_scientific_journal-3835	54	10	−	−	NUM
american_scientific_journal-3835	54	11	6t2	6t2	NUM
american_scientific_journal-3835	54	12	+	+	CCONJ
american_scientific_journal-3835	54	13	3t3)(3t2	3t3)(3t2	NUM
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american_scientific_journal-3835	54	25	2	2	NUM
american_scientific_journal-3835	54	26	3	3	NUM
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american_scientific_journal-3835	54	30	p	p	PROPN
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american_scientific_journal-3835	54	35	⎥	⎥	PROPN
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american_scientific_journal-3835	55	4	𝑡𝑡	𝑡𝑡	PROPN
american_scientific_journal-3835	55	5	1	1	NUM
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american_scientific_journal-3835	60	3	⎥	⎥	PROPN
american_scientific_journal-3835	60	4	⎥	⎥	PROPN
american_scientific_journal-3835	60	5	⎥	⎥	PROPN
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american_scientific_journal-3835	60	7	⎤	⎤	VERB
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american_scientific_journal-3835	60	16	2	2	NUM
american_scientific_journal-3835	60	17	3	3	NUM
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american_scientific_journal-3835	60	25	⎥	⎥	PROPN
american_scientific_journal-3835	60	26	⎥	⎥	PROPN
american_scientific_journal-3835	60	27	⎤	⎤	PROPN
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american_scientific_journal-3835	60	29	11	11	NUM
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american_scientific_journal-3835	60	44	a	a	DET
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american_scientific_journal-3835	60	46	swarm	swarm	NOUN
american_scientific_journal-3835	60	47	optimization	optimization	NOUN
american_scientific_journal-3835	60	48	pso	pso	NOUN
american_scientific_journal-3835	60	49	and	and	CCONJ
american_scientific_journal-3835	60	50	it	it	PRON
american_scientific_journal-3835	60	51	is	be	AUX
american_scientific_journal-3835	60	52	a	a	DET
american_scientific_journal-3835	60	53	new	new	ADJ
american_scientific_journal-3835	60	54	idea	idea	NOUN
american_scientific_journal-3835	60	55	which	which	PRON
american_scientific_journal-3835	60	56	widely	widely	ADV
american_scientific_journal-3835	60	57	falls	fall	VERB
american_scientific_journal-3835	60	58	below	below	ADP
american_scientific_journal-3835	60	59	evolutionary	evolutionary	ADJ
american_scientific_journal-3835	60	60	computation	computation	NOUN
american_scientific_journal-3835	60	61	techniques	technique	NOUN
american_scientific_journal-3835	60	62	.	.	PUNCT
american_scientific_journal-3835	61	1	social	social	ADJ
american_scientific_journal-3835	61	2	behavior	behavior	NOUN
american_scientific_journal-3835	61	3	of	of	ADP
american_scientific_journal-3835	61	4	organisms	organism	NOUN
american_scientific_journal-3835	61	5	including	include	VERB
american_scientific_journal-3835	61	6	bird	bird	NOUN
american_scientific_journal-3835	61	7	flocking	flocking	NOUN
american_scientific_journal-3835	61	8	and	and	CCONJ
american_scientific_journal-3835	61	9	fish	fish	NOUN
american_scientific_journal-3835	61	10	schooling	schooling	NOUN
american_scientific_journal-3835	61	11	motivates	motivate	VERB
american_scientific_journal-3835	61	12	researchers	researcher	NOUN
american_scientific_journal-3835	61	13	to	to	PART
american_scientific_journal-3835	61	14	look	look	VERB
american_scientific_journal-3835	61	15	at	at	ADP
american_scientific_journal-3835	61	16	the	the	DET
american_scientific_journal-3835	61	17	effect	effect	NOUN
american_scientific_journal-3835	61	18	of	of	ADP
american_scientific_journal-3835	61	19	collaboration	collaboration	NOUN
american_scientific_journal-3835	61	20	of	of	ADP
american_scientific_journal-3835	61	21	species	specie	NOUN
american_scientific_journal-3835	61	22	when	when	SCONJ
american_scientific_journal-3835	61	23	attaining	attain	VERB
american_scientific_journal-3835	61	24	their	their	PRON
american_scientific_journal-3835	61	25	desires	desire	NOUN
american_scientific_journal-3835	61	26	as	as	ADP
american_scientific_journal-3835	61	27	a	a	DET
american_scientific_journal-3835	61	28	group	group	NOUN
american_scientific_journal-3835	61	29	.	.	PUNCT
american_scientific_journal-3835	62	1	years	year	NOUN
american_scientific_journal-3835	62	2	of	of	ADP
american_scientific_journal-3835	62	3	examine	examine	NOUN
american_scientific_journal-3835	62	4	at	at	ADP
american_scientific_journal-3835	62	5	the	the	DET
american_scientific_journal-3835	62	6	dynamics	dynamic	NOUN
american_scientific_journal-3835	62	7	of	of	ADP
american_scientific_journal-3835	62	8	chook	chook	NOUN
american_scientific_journal-3835	62	9	flocking	flocking	NOUN
american_scientific_journal-3835	62	10	resulted	result	VERB
american_scientific_journal-3835	62	11	within	within	ADP
american_scientific_journal-3835	62	12	the	the	DET
american_scientific_journal-3835	62	13	opportunities	opportunity	NOUN
american_scientific_journal-3835	62	14	of	of	ADP
american_scientific_journal-3835	62	15	making	make	VERB
american_scientific_journal-3835	62	16	use	use	NOUN
american_scientific_journal-3835	62	17	of	of	ADP
american_scientific_journal-3835	62	18	this	this	DET
american_scientific_journal-3835	62	19	conduct	conduct	NOUN
american_scientific_journal-3835	62	20	as	as	ADP
american_scientific_journal-3835	62	21	an	an	DET
american_scientific_journal-3835	62	22	optimization	optimization	NOUN
american_scientific_journal-3835	62	23	device	device	NOUN
american_scientific_journal-3835	62	24	.	.	PUNCT
american_scientific_journal-3835	63	1	in	in	ADP
american_scientific_journal-3835	63	2	a	a	DET
american_scientific_journal-3835	63	3	pso	pso	NOUN
american_scientific_journal-3835	63	4	system	system	NOUN
american_scientific_journal-3835	63	5	,	,	PUNCT
american_scientific_journal-3835	63	6	a	a	DET
american_scientific_journal-3835	63	7	trouble	trouble	NOUN
american_scientific_journal-3835	63	8	space	space	NOUN
american_scientific_journal-3835	63	9	is	be	AUX
american_scientific_journal-3835	63	10	initialized	initialize	VERB
american_scientific_journal-3835	63	11	with	with	ADP
american_scientific_journal-3835	63	12	a	a	DET
american_scientific_journal-3835	63	13	population	population	NOUN
american_scientific_journal-3835	63	14	of	of	ADP
american_scientific_journal-3835	63	15	random	random	ADJ
american_scientific_journal-3835	63	16	solutions	solution	NOUN
american_scientific_journal-3835	63	17	and	and	CCONJ
american_scientific_journal-3835	63	18	more	more	ADJ
american_scientific_journal-3835	63	19	than	than	ADP
american_scientific_journal-3835	63	20	one	one	NUM
american_scientific_journal-3835	63	21	candidate	candidate	NOUN
american_scientific_journal-3835	63	22	solutions	solution	NOUN
american_scientific_journal-3835	63	23	coexist	coexist	VERB
american_scientific_journal-3835	63	24	and	and	CCONJ
american_scientific_journal-3835	63	25	collaborate	collaborate	VERB
american_scientific_journal-3835	63	26	concurrently	concurrently	ADV
american_scientific_journal-3835	63	27	.	.	PUNCT
american_scientific_journal-3835	64	1	every	every	DET
american_scientific_journal-3835	64	2	solution	solution	NOUN
american_scientific_journal-3835	64	3	candidate	candidate	NOUN
american_scientific_journal-3835	64	4	,	,	PUNCT
american_scientific_journal-3835	64	5	referred	refer	VERB
american_scientific_journal-3835	64	6	to	to	ADP
american_scientific_journal-3835	64	7	as	as	ADP
american_scientific_journal-3835	64	8	a	a	DET
american_scientific_journal-3835	64	9	"	"	PUNCT
american_scientific_journal-3835	64	10	particle	particle	NOUN
american_scientific_journal-3835	64	11	"	"	PUNCT
american_scientific_journal-3835	64	12	,	,	PUNCT
american_scientific_journal-3835	64	13	flies	fly	VERB
american_scientific_journal-3835	64	14	within	within	ADP
american_scientific_journal-3835	64	15	the	the	DET
american_scientific_journal-3835	64	16	problem	problem	NOUN
american_scientific_journal-3835	64	17	space	space	NOUN
american_scientific_journal-3835	64	18	(	(	PUNCT
american_scientific_journal-3835	64	19	much	much	ADV
american_scientific_journal-3835	64	20	like	like	ADP
american_scientific_journal-3835	64	21	the	the	DET
american_scientific_journal-3835	64	22	search	search	NOUN
american_scientific_journal-3835	64	23	system	system	NOUN
american_scientific_journal-3835	64	24	for	for	ADP
american_scientific_journal-3835	64	25	meals	meal	NOUN
american_scientific_journal-3835	64	26	of	of	ADP
american_scientific_journal-3835	64	27	a	a	DET
american_scientific_journal-3835	64	28	fowl	fowl	NOUN
american_scientific_journal-3835	64	29	swarm	swarm	NOUN
american_scientific_journal-3835	64	30	)	)	PUNCT
american_scientific_journal-3835	64	31	looking	look	VERB
american_scientific_journal-3835	64	32	for	for	ADP
american_scientific_journal-3835	64	33	the	the	DET
american_scientific_journal-3835	64	34	most	most	ADV
american_scientific_journal-3835	64	35	optimal	optimal	ADJ
american_scientific_journal-3835	64	36	position	position	NOUN
american_scientific_journal-3835	64	37	to	to	ADP
american_scientific_journal-3835	64	38	land	land	NOUN
american_scientific_journal-3835	64	39	.	.	PUNCT
american_scientific_journal-3835	65	1	a	a	DET
american_scientific_journal-3835	65	2	particle	particle	NOUN
american_scientific_journal-3835	65	3	,	,	PUNCT
american_scientific_journal-3835	65	4	as	as	SCONJ
american_scientific_journal-3835	65	5	time	time	NOUN
american_scientific_journal-3835	65	6	passes	pass	VERB
american_scientific_journal-3835	65	7	through	through	ADV
american_scientific_journal-3835	65	8	,	,	PUNCT
american_scientific_journal-3835	65	9	adjusts	adjust	VERB
american_scientific_journal-3835	65	10	its	its	PRON
american_scientific_journal-3835	65	11	position	position	NOUN
american_scientific_journal-3835	65	12	in	in	ADP
american_scientific_journal-3835	65	13	line	line	NOUN
american_scientific_journal-3835	65	14	with	with	ADP
american_scientific_journal-3835	65	15	its	its	PRON
american_scientific_journal-3835	65	16	very	very	ADV
american_scientific_journal-3835	65	17	own	own	ADJ
american_scientific_journal-3835	65	18	"	"	PUNCT
american_scientific_journal-3835	65	19	experience	experience	NOUN
american_scientific_journal-3835	65	20	"	"	PUNCT
american_scientific_journal-3835	65	21	,	,	PUNCT
american_scientific_journal-3835	65	22	as	as	ADV
american_scientific_journal-3835	65	23	well	well	ADV
american_scientific_journal-3835	65	24	as	as	ADP
american_scientific_journal-3835	65	25	according	accord	VERB
american_scientific_journal-3835	65	26	to	to	ADP
american_scientific_journal-3835	65	27	the	the	DET
american_scientific_journal-3835	65	28	experience	experience	NOUN
american_scientific_journal-3835	65	29	of	of	ADP
american_scientific_journal-3835	65	30	nearby	nearby	ADJ
american_scientific_journal-3835	65	31	american	american	ADJ
american_scientific_journal-3835	65	32	scientific	scientific	ADJ
american_scientific_journal-3835	65	33	research	research	NOUN
american_scientific_journal-3835	65	34	journal	journal	NOUN
american_scientific_journal-3835	65	35	for	for	ADP
american_scientific_journal-3835	65	36	engineering	engineering	NOUN
american_scientific_journal-3835	65	37	,	,	PUNCT
american_scientific_journal-3835	65	38	technology	technology	NOUN
american_scientific_journal-3835	65	39	,	,	PUNCT
american_scientific_journal-3835	65	40	and	and	CCONJ
american_scientific_journal-3835	65	41	sciences	science	NOUN
american_scientific_journal-3835	65	42	(	(	PUNCT
american_scientific_journal-3835	65	43	asrjets	asrjet	NOUN
american_scientific_journal-3835	65	44	)	)	PUNCT
american_scientific_journal-3835	65	45	(	(	PUNCT
american_scientific_journal-3835	65	46	2018	2018	NUM
american_scientific_journal-3835	65	47	)	)	PUNCT
american_scientific_journal-3835	65	48	volume	volume	NOUN
american_scientific_journal-3835	65	49	40	40	NUM
american_scientific_journal-3835	65	50	,	,	PUNCT
american_scientific_journal-3835	65	51	no	no	DET
american_scientific_journal-3835	65	52	01	01	NUM
american_scientific_journal-3835	65	53	,	,	PUNCT
american_scientific_journal-3835	65	54	pp	pp	ADP
american_scientific_journal-3835	65	55	6	6	NUM
american_scientific_journal-3835	65	56	-17	-17	SYM
american_scientific_journal-3835	65	57	10	10	NUM
american_scientific_journal-3835	65	58	particles	particle	NOUN
american_scientific_journal-3835	65	59	[	[	X
american_scientific_journal-3835	65	60	12	12	NUM
american_scientific_journal-3835	65	61	]	]	PUNCT
american_scientific_journal-3835	65	62	.	.	PUNCT
american_scientific_journal-3835	66	1	5	5	X
american_scientific_journal-3835	66	2	.	.	X
american_scientific_journal-3835	66	3	simulation	simulation	NOUN
american_scientific_journal-3835	66	4	cases	case	NOUN
american_scientific_journal-3835	66	5	of	of	ADP
american_scientific_journal-3835	66	6	optimal	optimal	ADJ
american_scientific_journal-3835	66	7	path	path	NOUN
american_scientific_journal-3835	66	8	planning	planning	NOUN
american_scientific_journal-3835	66	9	with	with	ADP
american_scientific_journal-3835	66	10	obstacles	obstacle	NOUN
american_scientific_journal-3835	66	11	avoidance	avoidance	NOUN
american_scientific_journal-3835	66	12	the	the	DET
american_scientific_journal-3835	66	13	optimal	optimal	ADJ
american_scientific_journal-3835	66	14	path	path	NOUN
american_scientific_journal-3835	66	15	planning	planning	NOUN
american_scientific_journal-3835	66	16	was	be	AUX
american_scientific_journal-3835	66	17	carried	carry	VERB
american_scientific_journal-3835	66	18	out	out	ADP
american_scientific_journal-3835	66	19	by	by	ADP
american_scientific_journal-3835	66	20	relying	rely	VERB
american_scientific_journal-3835	66	21	on	on	ADP
american_scientific_journal-3835	66	22	bézier	bézier	ADJ
american_scientific_journal-3835	66	23	technique	technique	NOUN
american_scientific_journal-3835	66	24	method	method	NOUN
american_scientific_journal-3835	66	25	and	and	CCONJ
american_scientific_journal-3835	66	26	it	it	PRON
american_scientific_journal-3835	66	27	is	be	AUX
american_scientific_journal-3835	66	28	illustrated	illustrate	VERB
american_scientific_journal-3835	66	29	in	in	ADP
american_scientific_journal-3835	66	30	the	the	DET
american_scientific_journal-3835	66	31	following	follow	VERB
american_scientific_journal-3835	66	32	steps	step	NOUN
american_scientific_journal-3835	66	33	:	:	PUNCT
american_scientific_journal-3835	66	34	these	these	DET
american_scientific_journal-3835	66	35	steps	step	NOUN
american_scientific_journal-3835	66	36	are	be	AUX
american_scientific_journal-3835	66	37	used	use	VERB
american_scientific_journal-3835	66	38	to	to	PART
american_scientific_journal-3835	66	39	generate	generate	VERB
american_scientific_journal-3835	66	40	the	the	DET
american_scientific_journal-3835	66	41	path	path	NOUN
american_scientific_journal-3835	66	42	planning	planning	NOUN
american_scientific_journal-3835	66	43	depending	depend	VERB
american_scientific_journal-3835	66	44	on	on	ADP
american_scientific_journal-3835	66	45	bézier	bézier	ADJ
american_scientific_journal-3835	66	46	curve	curve	NOUN
american_scientific_journal-3835	66	47	technique	technique	NOUN
american_scientific_journal-3835	66	48	.	.	PUNCT
american_scientific_journal-3835	67	1	bézier	bézier	PROPN
american_scientific_journal-3835	67	2	chose	choose	VERB
american_scientific_journal-3835	67	3	a	a	DET
american_scientific_journal-3835	67	4	family	family	NOUN
american_scientific_journal-3835	67	5	of	of	ADP
american_scientific_journal-3835	67	6	functions	function	NOUN
american_scientific_journal-3835	67	7	called	call	VERB
american_scientific_journal-3835	67	8	bernstein	bernstein	PROPN
american_scientific_journal-3835	67	9	polynomials	polynomials	PROPN
american_scientific_journal-3835	67	10	.	.	PUNCT
american_scientific_journal-3835	68	1	step	step	VERB
american_scientific_journal-3835	68	2	one	one	NUM
american_scientific_journal-3835	68	3	:	:	PUNCT
american_scientific_journal-3835	68	4	input	input	NOUN
american_scientific_journal-3835	68	5	cartesian	cartesian	ADJ
american_scientific_journal-3835	68	6	coordinates	coordinate	NOUN
american_scientific_journal-3835	68	7	of	of	ADP
american_scientific_journal-3835	68	8	start	start	NOUN
american_scientific_journal-3835	68	9	point	point	NOUN
american_scientific_journal-3835	68	10	,	,	PUNCT
american_scientific_journal-3835	68	11	goal	goal	NOUN
american_scientific_journal-3835	68	12	point	point	NOUN
american_scientific_journal-3835	68	13	and	and	CCONJ
american_scientific_journal-3835	68	14	obstacles	obstacle	NOUN
american_scientific_journal-3835	68	15	.	.	PUNCT
american_scientific_journal-3835	69	1	step	step	NOUN
american_scientific_journal-3835	69	2	two	two	NUM
american_scientific_journal-3835	69	3	:	:	PUNCT
american_scientific_journal-3835	69	4	apply	apply	VERB
american_scientific_journal-3835	69	5	bézier	bézier	NOUN
american_scientific_journal-3835	69	6	curve	curve	NOUN
american_scientific_journal-3835	69	7	technique	technique	NOUN
american_scientific_journal-3835	69	8	in	in	ADP
american_scientific_journal-3835	69	9	equ	equ	PROPN
american_scientific_journal-3835	69	10	.	.	PROPN
american_scientific_journal-3835	70	1	2	2	NUM
american_scientific_journal-3835	70	2	.	.	X
american_scientific_journal-3835	70	3	step	step	NOUN
american_scientific_journal-3835	70	4	three	three	NUM
american_scientific_journal-3835	70	5	:	:	PUNCT
american_scientific_journal-3835	70	6	partition	partition	NOUN
american_scientific_journal-3835	70	7	the	the	DET
american_scientific_journal-3835	70	8	generated	generate	VERB
american_scientific_journal-3835	70	9	curve	curve	NOUN
american_scientific_journal-3835	70	10	into	into	ADP
american_scientific_journal-3835	70	11	sufficient	sufficient	ADJ
american_scientific_journal-3835	70	12	intermediate	intermediate	ADJ
american_scientific_journal-3835	70	13	points	point	NOUN
american_scientific_journal-3835	70	14	.	.	PUNCT
american_scientific_journal-3835	71	1	step	step	NOUN
american_scientific_journal-3835	71	2	four	four	NUM
american_scientific_journal-3835	71	3	:	:	PUNCT
american_scientific_journal-3835	71	4	convert	convert	VERB
american_scientific_journal-3835	71	5	the	the	DET
american_scientific_journal-3835	71	6	cartesian	cartesian	ADJ
american_scientific_journal-3835	71	7	space	space	NOUN
american_scientific_journal-3835	71	8	of	of	ADP
american_scientific_journal-3835	71	9	each	each	DET
american_scientific_journal-3835	71	10	generated	generate	VERB
american_scientific_journal-3835	71	11	intermediate	intermediate	ADJ
american_scientific_journal-3835	71	12	point	point	NOUN
american_scientific_journal-3835	71	13	into	into	ADP
american_scientific_journal-3835	71	14	joint	joint	ADJ
american_scientific_journal-3835	71	15	space	space	NOUN
american_scientific_journal-3835	71	16	by	by	ADP
american_scientific_journal-3835	71	17	applying	apply	VERB
american_scientific_journal-3835	71	18	the	the	DET
american_scientific_journal-3835	71	19	inverse	inverse	NOUN
american_scientific_journal-3835	71	20	kinematic	kinematic	NOUN
american_scientific_journal-3835	71	21	solution	solution	NOUN
american_scientific_journal-3835	71	22	.	.	PUNCT
american_scientific_journal-3835	72	1	step	step	NOUN
american_scientific_journal-3835	72	2	five	five	NUM
american_scientific_journal-3835	72	3	:	:	PUNCT
american_scientific_journal-3835	72	4	move	move	VERB
american_scientific_journal-3835	72	5	the	the	DET
american_scientific_journal-3835	72	6	robot	robot	NOUN
american_scientific_journal-3835	72	7	arm	arm	VERB
american_scientific_journal-3835	72	8	through	through	ADP
american_scientific_journal-3835	72	9	the	the	DET
american_scientific_journal-3835	72	10	generated	generate	VERB
american_scientific_journal-3835	72	11	joints	joint	NOUN
american_scientific_journal-3835	72	12	spaces	space	NOUN
american_scientific_journal-3835	72	13	from	from	ADP
american_scientific_journal-3835	72	14	the	the	DET
american_scientific_journal-3835	72	15	start	start	NOUN
american_scientific_journal-3835	72	16	point	point	NOUN
american_scientific_journal-3835	72	17	toward	toward	ADP
american_scientific_journal-3835	72	18	the	the	DET
american_scientific_journal-3835	72	19	goal	goal	NOUN
american_scientific_journal-3835	72	20	point	point	NOUN
american_scientific_journal-3835	72	21	.	.	PUNCT
american_scientific_journal-3835	73	1	step	step	NOUN
american_scientific_journal-3835	73	2	six	six	NUM
american_scientific_journal-3835	73	3	:	:	PUNCT
american_scientific_journal-3835	73	4	used	use	VERB
american_scientific_journal-3835	73	5	the	the	DET
american_scientific_journal-3835	73	6	pso	pso	NOUN
american_scientific_journal-3835	73	7	matlab	matlab	PROPN
american_scientific_journal-3835	73	8	program	program	NOUN
american_scientific_journal-3835	73	9	with	with	ADP
american_scientific_journal-3835	73	10	suitable	suitable	ADJ
american_scientific_journal-3835	73	11	parameters	parameter	NOUN
american_scientific_journal-3835	73	12	to	to	PART
american_scientific_journal-3835	73	13	get	get	VERB
american_scientific_journal-3835	73	14	the	the	DET
american_scientific_journal-3835	73	15	best	good	ADJ
american_scientific_journal-3835	73	16	feasible	feasible	ADJ
american_scientific_journal-3835	73	17	path	path	NOUN
american_scientific_journal-3835	73	18	of	of	ADP
american_scientific_journal-3835	73	19	obstacles	obstacle	NOUN
american_scientific_journal-3835	73	20	avoidance	avoidance	NOUN
american_scientific_journal-3835	73	21	while	while	SCONJ
american_scientific_journal-3835	73	22	the	the	DET
american_scientific_journal-3835	73	23	robot	robot	NOUN
american_scientific_journal-3835	73	24	manipulator	manipulator	NOUN
american_scientific_journal-3835	73	25	moves	move	VERB
american_scientific_journal-3835	73	26	from	from	ADP
american_scientific_journal-3835	73	27	the	the	DET
american_scientific_journal-3835	73	28	start	start	NOUN
american_scientific_journal-3835	73	29	to	to	ADP
american_scientific_journal-3835	73	30	the	the	DET
american_scientific_journal-3835	73	31	goal	goal	NOUN
american_scientific_journal-3835	73	32	positions	position	NOUN
american_scientific_journal-3835	73	33	.	.	PUNCT
american_scientific_journal-3835	74	1	for	for	ADP
american_scientific_journal-3835	74	2	all	all	DET
american_scientific_journal-3835	74	3	figures	figure	NOUN
american_scientific_journal-3835	74	4	in	in	ADP
american_scientific_journal-3835	74	5	all	all	DET
american_scientific_journal-3835	74	6	cases	case	NOUN
american_scientific_journal-3835	74	7	,	,	PUNCT
american_scientific_journal-3835	74	8	the	the	DET
american_scientific_journal-3835	74	9	square	square	ADJ
american_scientific_journal-3835	74	10	markers	marker	NOUN
american_scientific_journal-3835	74	11	with	with	ADP
american_scientific_journal-3835	74	12	yellow	yellow	ADJ
american_scientific_journal-3835	74	13	and	and	CCONJ
american_scientific_journal-3835	74	14	green	green	ADJ
american_scientific_journal-3835	74	15	colors	color	NOUN
american_scientific_journal-3835	74	16	represent	represent	VERB
american_scientific_journal-3835	74	17	the	the	DET
american_scientific_journal-3835	74	18	start	start	NOUN
american_scientific_journal-3835	74	19	and	and	CCONJ
american_scientific_journal-3835	74	20	the	the	DET
american_scientific_journal-3835	74	21	goal	goal	NOUN
american_scientific_journal-3835	74	22	points	point	NOUN
american_scientific_journal-3835	74	23	,	,	PUNCT
american_scientific_journal-3835	74	24	respectively	respectively	ADV
american_scientific_journal-3835	74	25	and	and	CCONJ
american_scientific_journal-3835	74	26	the	the	DET
american_scientific_journal-3835	74	27	other	other	ADJ
american_scientific_journal-3835	74	28	circle	circle	NOUN
american_scientific_journal-3835	74	29	marker	marker	NOUN
american_scientific_journal-3835	74	30	with	with	ADP
american_scientific_journal-3835	74	31	blue	blue	ADJ
american_scientific_journal-3835	74	32	color	color	NOUN
american_scientific_journal-3835	74	33	represents	represent	VERB
american_scientific_journal-3835	74	34	the	the	DET
american_scientific_journal-3835	74	35	obstacles	obstacle	NOUN
american_scientific_journal-3835	74	36	,	,	PUNCT
american_scientific_journal-3835	74	37	by	by	ADP
american_scientific_journal-3835	74	38	using	use	VERB
american_scientific_journal-3835	74	39	matlab	matlab	PROPN
american_scientific_journal-3835	74	40	software	software	NOUN
american_scientific_journal-3835	74	41	program	program	NOUN
american_scientific_journal-3835	74	42	.	.	PUNCT
american_scientific_journal-3835	75	1	5.1	5.1	NUM
american_scientific_journal-3835	75	2	path	path	NOUN
american_scientific_journal-3835	75	3	planning	planning	NOUN
american_scientific_journal-3835	75	4	with	with	ADP
american_scientific_journal-3835	75	5	obstacles	obstacle	NOUN
american_scientific_journal-3835	75	6	avoidance	avoidance	NOUN
american_scientific_journal-3835	75	7	:	:	PUNCT
american_scientific_journal-3835	75	8	case	case	NOUN
american_scientific_journal-3835	75	9	one	one	NUM
american_scientific_journal-3835	75	10	according	accord	VERB
american_scientific_journal-3835	75	11	to	to	ADP
american_scientific_journal-3835	75	12	the	the	DET
american_scientific_journal-3835	75	13	mathematical	mathematical	ADJ
american_scientific_journal-3835	75	14	formulae	formulae	NOUN
american_scientific_journal-3835	75	15	of	of	ADP
american_scientific_journal-3835	75	16	bézier	bézier	NOUN
american_scientific_journal-3835	75	17	curve	curve	NOUN
american_scientific_journal-3835	75	18	and	and	CCONJ
american_scientific_journal-3835	75	19	the	the	DET
american_scientific_journal-3835	75	20	mathematical	mathematical	ADJ
american_scientific_journal-3835	75	21	representation	representation	NOUN
american_scientific_journal-3835	75	22	of	of	ADP
american_scientific_journal-3835	75	23	pso	pso	NOUN
american_scientific_journal-3835	75	24	,	,	PUNCT
american_scientific_journal-3835	75	25	there	there	PRON
american_scientific_journal-3835	75	26	are	be	VERB
american_scientific_journal-3835	75	27	three	three	NUM
american_scientific_journal-3835	75	28	obstacles	obstacle	NOUN
american_scientific_journal-3835	75	29	in	in	ADP
american_scientific_journal-3835	75	30	this	this	DET
american_scientific_journal-3835	75	31	case	case	NOUN
american_scientific_journal-3835	75	32	,	,	PUNCT
american_scientific_journal-3835	75	33	five	five	NUM
american_scientific_journal-3835	75	34	nodes	node	NOUN
american_scientific_journal-3835	75	35	[	[	X
american_scientific_journal-3835	75	36	start	start	NOUN
american_scientific_journal-3835	75	37	,	,	PUNCT
american_scientific_journal-3835	75	38	obstacles	obstacle	NOUN
american_scientific_journal-3835	75	39	,	,	PUNCT
american_scientific_journal-3835	75	40	and	and	CCONJ
american_scientific_journal-3835	75	41	goal	goal	NOUN
american_scientific_journal-3835	75	42	]	]	PUNCT
american_scientific_journal-3835	75	43	with	with	ADP
american_scientific_journal-3835	75	44	coordinates	coordinate	NOUN
american_scientific_journal-3835	75	45	as	as	SCONJ
american_scientific_journal-3835	75	46	shown	show	VERB
american_scientific_journal-3835	75	47	in	in	ADP
american_scientific_journal-3835	75	48	the	the	DET
american_scientific_journal-3835	75	49	table	table	NOUN
american_scientific_journal-3835	75	50	1	1	NUM
american_scientific_journal-3835	75	51	.	.	NOUN
american_scientific_journal-3835	75	52	which	which	PRON
american_scientific_journal-3835	75	53	have	have	AUX
american_scientific_journal-3835	75	54	been	be	AUX
american_scientific_journal-3835	75	55	modeled	model	VERB
american_scientific_journal-3835	75	56	to	to	PART
american_scientific_journal-3835	75	57	generate	generate	VERB
american_scientific_journal-3835	75	58	4𝑡𝑡ℎorder	4𝑡𝑡ℎorder	NUM
american_scientific_journal-3835	75	59	bezier	bezier	NOUN
american_scientific_journal-3835	75	60	curve	curve	NOUN
american_scientific_journal-3835	75	61	.	.	PUNCT
american_scientific_journal-3835	76	1	the	the	DET
american_scientific_journal-3835	76	2	pso	pso	NOUN
american_scientific_journal-3835	76	3	parameters	parameter	NOUN
american_scientific_journal-3835	76	4	are	be	AUX
american_scientific_journal-3835	76	5	set	set	VERB
american_scientific_journal-3835	76	6	as	as	ADP
american_scientific_journal-3835	76	7	:	:	PUNCT
american_scientific_journal-3835	76	8	population	population	NOUN
american_scientific_journal-3835	76	9	size	size	NOUN
american_scientific_journal-3835	76	10	=	=	SYM
american_scientific_journal-3835	76	11	150	150	NUM
american_scientific_journal-3835	76	12	,	,	PUNCT
american_scientific_journal-3835	76	13	𝐶𝐶1	𝐶𝐶1	PROPN
american_scientific_journal-3835	76	14	,	,	PUNCT
american_scientific_journal-3835	76	15	𝐶𝐶2	𝐶𝐶2	PROPN
american_scientific_journal-3835	76	16	=	=	NOUN
american_scientific_journal-3835	76	17	1.5	1.5	NUM
american_scientific_journal-3835	76	18	,	,	PUNCT
american_scientific_journal-3835	76	19	𝑤𝑤	𝑤𝑤	NOUN
american_scientific_journal-3835	76	20	=	=	SYM
american_scientific_journal-3835	76	21	1	1	NUM
american_scientific_journal-3835	76	22	and	and	CCONJ
american_scientific_journal-3835	76	23	the	the	DET
american_scientific_journal-3835	76	24	number	number	NOUN
american_scientific_journal-3835	76	25	of	of	ADP
american_scientific_journal-3835	76	26	iterations	iteration	NOUN
american_scientific_journal-3835	76	27	is	be	AUX
american_scientific_journal-3835	76	28	selected	select	VERB
american_scientific_journal-3835	76	29	to	to	PART
american_scientific_journal-3835	76	30	be	be	AUX
american_scientific_journal-3835	76	31	200	200	NUM
american_scientific_journal-3835	76	32	.	.	PUNCT
american_scientific_journal-3835	77	1	it	it	PRON
american_scientific_journal-3835	77	2	was	be	AUX
american_scientific_journal-3835	77	3	found	find	VERB
american_scientific_journal-3835	77	4	from	from	ADP
american_scientific_journal-3835	77	5	many	many	ADJ
american_scientific_journal-3835	77	6	simulations	simulation	NOUN
american_scientific_journal-3835	77	7	that	that	SCONJ
american_scientific_journal-3835	77	8	the	the	DET
american_scientific_journal-3835	77	9	above	above	ADJ
american_scientific_journal-3835	77	10	settings	setting	NOUN
american_scientific_journal-3835	77	11	for	for	ADP
american_scientific_journal-3835	77	12	the	the	DET
american_scientific_journal-3835	77	13	pso	pso	NOUN
american_scientific_journal-3835	77	14	parameters	parameter	NOUN
american_scientific_journal-3835	77	15	were	be	AUX
american_scientific_journal-3835	77	16	adequate	adequate	ADJ
american_scientific_journal-3835	77	17	.	.	PUNCT
american_scientific_journal-3835	78	1	in	in	ADP
american_scientific_journal-3835	78	2	particular	particular	ADJ
american_scientific_journal-3835	78	3	,	,	PUNCT
american_scientific_journal-3835	78	4	when	when	SCONJ
american_scientific_journal-3835	78	5	the	the	DET
american_scientific_journal-3835	78	6	number	number	NOUN
american_scientific_journal-3835	78	7	of	of	ADP
american_scientific_journal-3835	78	8	iterations	iteration	NOUN
american_scientific_journal-3835	78	9	was	be	AUX
american_scientific_journal-3835	78	10	set	set	VERB
american_scientific_journal-3835	78	11	to	to	ADP
american_scientific_journal-3835	78	12	200	200	NUM
american_scientific_journal-3835	78	13	,	,	PUNCT
american_scientific_journal-3835	78	14	the	the	DET
american_scientific_journal-3835	78	15	best	good	ADJ
american_scientific_journal-3835	78	16	optimal	optimal	ADJ
american_scientific_journal-3835	78	17	cost	cost	NOUN
american_scientific_journal-3835	78	18	function	function	NOUN
american_scientific_journal-3835	78	19	,	,	PUNCT
american_scientific_journal-3835	78	20	was	be	AUX
american_scientific_journal-3835	78	21	obtained	obtain	VERB
american_scientific_journal-3835	78	22	and	and	CCONJ
american_scientific_journal-3835	78	23	any	any	DET
american_scientific_journal-3835	78	24	increasing	increase	VERB
american_scientific_journal-3835	78	25	in	in	ADP
american_scientific_journal-3835	78	26	the	the	DET
american_scientific_journal-3835	78	27	number	number	NOUN
american_scientific_journal-3835	78	28	of	of	ADP
american_scientific_journal-3835	78	29	iterations	iteration	NOUN
american_scientific_journal-3835	78	30	did	do	AUX
american_scientific_journal-3835	78	31	not	not	PART
american_scientific_journal-3835	78	32	improve	improve	VERB
american_scientific_journal-3835	78	33	the	the	DET
american_scientific_journal-3835	78	34	convergence	convergence	NOUN
american_scientific_journal-3835	78	35	of	of	ADP
american_scientific_journal-3835	78	36	the	the	DET
american_scientific_journal-3835	78	37	algorithm	algorithm	NOUN
american_scientific_journal-3835	78	38	significantly	significantly	ADV
american_scientific_journal-3835	78	39	.	.	PUNCT
american_scientific_journal-3835	79	1	the	the	DET
american_scientific_journal-3835	79	2	difference	difference	NOUN
american_scientific_journal-3835	79	3	between	between	ADP
american_scientific_journal-3835	79	4	the	the	DET
american_scientific_journal-3835	79	5	two	two	NUM
american_scientific_journal-3835	79	6	paths	path	NOUN
american_scientific_journal-3835	79	7	without	without	ADP
american_scientific_journal-3835	79	8	and	and	CCONJ
american_scientific_journal-3835	79	9	with	with	ADP
american_scientific_journal-3835	79	10	applying	apply	VERB
american_scientific_journal-3835	79	11	pso	pso	NOUN
american_scientific_journal-3835	79	12	in	in	ADP
american_scientific_journal-3835	79	13	2d	2d	NUM
american_scientific_journal-3835	79	14	environment	environment	NOUN
american_scientific_journal-3835	79	15	is	be	AUX
american_scientific_journal-3835	79	16	illustrated	illustrate	VERB
american_scientific_journal-3835	79	17	in	in	ADP
american_scientific_journal-3835	79	18	fig	fig	NOUN
american_scientific_journal-3835	79	19	.	.	PUNCT
american_scientific_journal-3835	80	1	(	(	PUNCT
american_scientific_journal-3835	80	2	2	2	NUM
american_scientific_journal-3835	80	3	)	)	PUNCT
american_scientific_journal-3835	80	4	.	.	PUNCT
american_scientific_journal-3835	81	1	american	american	PROPN
american_scientific_journal-3835	81	2	scientific	scientific	ADJ
american_scientific_journal-3835	81	3	research	research	PROPN
american_scientific_journal-3835	81	4	journal	journal	NOUN
american_scientific_journal-3835	81	5	for	for	ADP
american_scientific_journal-3835	81	6	engineering	engineering	NOUN
american_scientific_journal-3835	81	7	,	,	PUNCT
american_scientific_journal-3835	81	8	technology	technology	NOUN
american_scientific_journal-3835	81	9	,	,	PUNCT
american_scientific_journal-3835	81	10	and	and	CCONJ
american_scientific_journal-3835	81	11	sciences	science	NOUN
american_scientific_journal-3835	81	12	(	(	PUNCT
american_scientific_journal-3835	81	13	asrjets	asrjet	NOUN
american_scientific_journal-3835	81	14	)	)	PUNCT
american_scientific_journal-3835	81	15	(	(	PUNCT
american_scientific_journal-3835	81	16	2018	2018	NUM
american_scientific_journal-3835	81	17	)	)	PUNCT
american_scientific_journal-3835	81	18	volume	volume	NOUN
american_scientific_journal-3835	81	19	40	40	NUM
american_scientific_journal-3835	81	20	,	,	PUNCT
american_scientific_journal-3835	81	21	no	no	DET
american_scientific_journal-3835	81	22	01	01	NUM
american_scientific_journal-3835	81	23	,	,	PUNCT
american_scientific_journal-3835	81	24	pp	pp	ADP
american_scientific_journal-3835	81	25	6	6	NUM
american_scientific_journal-3835	81	26	-17	-17	SYM
american_scientific_journal-3835	81	27	11	11	NUM
american_scientific_journal-3835	81	28	table	table	NOUN
american_scientific_journal-3835	81	29	1	1	NUM
american_scientific_journal-3835	81	30	:	:	PUNCT
american_scientific_journal-3835	81	31	coordinates	coordinate	NOUN
american_scientific_journal-3835	81	32	of	of	ADP
american_scientific_journal-3835	81	33	five	five	NUM
american_scientific_journal-3835	81	34	control	control	NOUN
american_scientific_journal-3835	81	35	points	point	NOUN
american_scientific_journal-3835	81	36	obs	obs	PROPN
american_scientific_journal-3835	81	37	.	.	PUNCT
american_scientific_journal-3835	82	1	p3	p3	PROPN
american_scientific_journal-3835	82	2	obs	obs	PROPN
american_scientific_journal-3835	82	3	.	.	PUNCT
american_scientific_journal-3835	83	1	p2	p2	PROPN
american_scientific_journal-3835	83	2	obs	obs	PROPN
american_scientific_journal-3835	83	3	.	.	PUNCT
american_scientific_journal-3835	84	1	p1	p1	PROPN
american_scientific_journal-3835	84	2	start	start	VERB
american_scientific_journal-3835	84	3	p0	p0	NOUN
american_scientific_journal-3835	84	4	position	position	NOUN
american_scientific_journal-3835	84	5	coordinate	coordinate	VERB
american_scientific_journal-3835	84	6	54.521	54.521	NUM
american_scientific_journal-3835	84	7	50.56	50.56	NUM
american_scientific_journal-3835	84	8	35.039	35.039	NUM
american_scientific_journal-3835	84	9	38.17	38.17	NUM
american_scientific_journal-3835	84	10	22.26	22.26	NUM
american_scientific_journal-3835	84	11	x	x	NOUN
american_scientific_journal-3835	84	12	-	-	NOUN
american_scientific_journal-3835	84	13	coordinate	coordinate	ADJ
american_scientific_journal-3835	84	14	cm	cm	NOUN
american_scientific_journal-3835	84	15	20.685	20.685	NUM
american_scientific_journal-3835	84	16	6.353	6.353	NUM
american_scientific_journal-3835	84	17	-8.045	-8.045	NOUN
american_scientific_journal-3835	84	18	-23.75	-23.75	PROPN
american_scientific_journal-3835	84	19	-32.88	-32.88	PROPN
american_scientific_journal-3835	84	20	y	y	NOUN
american_scientific_journal-3835	84	21	-	-	PUNCT
american_scientific_journal-3835	84	22	coordinate	coordinate	NOUN
american_scientific_journal-3835	84	23	cm	cm	NOUN
american_scientific_journal-3835	84	24	15.028	15.028	NUM
american_scientific_journal-3835	84	25	20.248	20.248	NUM
american_scientific_journal-3835	84	26	23.017	23.017	NUM
american_scientific_journal-3835	84	27	27.15	27.15	NUM
american_scientific_journal-3835	84	28	25.56	25.56	NUM
american_scientific_journal-3835	84	29	z	z	NUM
american_scientific_journal-3835	84	30	-	-	PUNCT
american_scientific_journal-3835	84	31	coordinate	coordinate	NOUN
american_scientific_journal-3835	84	32	cm	cm	NOUN
american_scientific_journal-3835	84	33	figure	figure	NOUN
american_scientific_journal-3835	84	34	2	2	NUM
american_scientific_journal-3835	84	35	:	:	PUNCT
american_scientific_journal-3835	84	36	difference	difference	NOUN
american_scientific_journal-3835	84	37	between	between	ADP
american_scientific_journal-3835	84	38	the	the	DET
american_scientific_journal-3835	84	39	two	two	NUM
american_scientific_journal-3835	84	40	paths	path	NOUN
american_scientific_journal-3835	84	41	of	of	ADP
american_scientific_journal-3835	84	42	obstacles	obstacle	NOUN
american_scientific_journal-3835	84	43	avoidance	avoidance	NOUN
american_scientific_journal-3835	84	44	without	without	ADP
american_scientific_journal-3835	84	45	and	and	CCONJ
american_scientific_journal-3835	84	46	with	with	ADP
american_scientific_journal-3835	84	47	applying	apply	VERB
american_scientific_journal-3835	84	48	pso	pso	NOUN
american_scientific_journal-3835	84	49	case	case	NOUN
american_scientific_journal-3835	84	50	1	1	NUM
american_scientific_journal-3835	84	51	the	the	DET
american_scientific_journal-3835	84	52	total	total	ADJ
american_scientific_journal-3835	84	53	distance	distance	NOUN
american_scientific_journal-3835	84	54	of	of	ADP
american_scientific_journal-3835	84	55	the	the	DET
american_scientific_journal-3835	84	56	generated	generate	VERB
american_scientific_journal-3835	84	57	curve	curve	NOUN
american_scientific_journal-3835	84	58	in	in	ADP
american_scientific_journal-3835	84	59	3d	3d	PROPN
american_scientific_journal-3835	84	60	environment	environment	NOUN
american_scientific_journal-3835	84	61	without	without	ADP
american_scientific_journal-3835	84	62	applying	apply	VERB
american_scientific_journal-3835	84	63	pso	pso	NOUN
american_scientific_journal-3835	84	64	is	be	AUX
american_scientific_journal-3835	84	65	64.5115	64.5115	NUM
american_scientific_journal-3835	84	66	cm	cm	NOUN
american_scientific_journal-3835	84	67	and	and	CCONJ
american_scientific_journal-3835	84	68	the	the	DET
american_scientific_journal-3835	84	69	time	time	NOUN
american_scientific_journal-3835	84	70	taken	take	VERB
american_scientific_journal-3835	84	71	is	be	AUX
american_scientific_journal-3835	84	72	8.601	8.601	NUM
american_scientific_journal-3835	84	73	sec	sec	PROPN
american_scientific_journal-3835	84	74	.	.	PUNCT
american_scientific_journal-3835	85	1	and	and	CCONJ
american_scientific_journal-3835	85	2	the	the	DET
american_scientific_journal-3835	85	3	total	total	ADJ
american_scientific_journal-3835	85	4	distance	distance	NOUN
american_scientific_journal-3835	85	5	of	of	ADP
american_scientific_journal-3835	85	6	the	the	DET
american_scientific_journal-3835	85	7	generated	generate	VERB
american_scientific_journal-3835	85	8	curve	curve	NOUN
american_scientific_journal-3835	85	9	in	in	ADP
american_scientific_journal-3835	85	10	the	the	DET
american_scientific_journal-3835	85	11	same	same	ADJ
american_scientific_journal-3835	85	12	environment	environment	NOUN
american_scientific_journal-3835	85	13	with	with	ADP
american_scientific_journal-3835	85	14	applying	apply	VERB
american_scientific_journal-3835	85	15	pso	pso	NOUN
american_scientific_journal-3835	85	16	is	be	AUX
american_scientific_journal-3835	85	17	63.499	63.499	NUM
american_scientific_journal-3835	85	18	cm	cm	NOUN
american_scientific_journal-3835	85	19	and	and	CCONJ
american_scientific_journal-3835	85	20	the	the	DET
american_scientific_journal-3835	85	21	time	time	NOUN
american_scientific_journal-3835	85	22	taken	take	VERB
american_scientific_journal-3835	85	23	is	be	AUX
american_scientific_journal-3835	85	24	8.466	8.466	NUM
american_scientific_journal-3835	85	25	sec	sec	PROPN
american_scientific_journal-3835	85	26	.	.	PROPN
american_scientific_journal-3835	86	1	5.2	5.2	NUM
american_scientific_journal-3835	86	2	path	path	NOUN
american_scientific_journal-3835	86	3	planning	planning	NOUN
american_scientific_journal-3835	86	4	with	with	ADP
american_scientific_journal-3835	86	5	obstacles	obstacle	NOUN
american_scientific_journal-3835	86	6	avoidance	avoidance	NOUN
american_scientific_journal-3835	86	7	:	:	PUNCT
american_scientific_journal-3835	86	8	case	case	NOUN
american_scientific_journal-3835	86	9	two	two	NUM
american_scientific_journal-3835	86	10	in	in	ADP
american_scientific_journal-3835	86	11	the	the	DET
american_scientific_journal-3835	86	12	second	second	ADJ
american_scientific_journal-3835	86	13	case	case	NOUN
american_scientific_journal-3835	86	14	,	,	PUNCT
american_scientific_journal-3835	86	15	five	five	NUM
american_scientific_journal-3835	86	16	obstacles	obstacle	NOUN
american_scientific_journal-3835	86	17	including	include	VERB
american_scientific_journal-3835	86	18	seven	seven	NUM
american_scientific_journal-3835	86	19	nodes	node	NOUN
american_scientific_journal-3835	86	20	[	[	X
american_scientific_journal-3835	86	21	start	start	NOUN
american_scientific_journal-3835	86	22	,	,	PUNCT
american_scientific_journal-3835	86	23	obstacles	obstacle	NOUN
american_scientific_journal-3835	86	24	and	and	CCONJ
american_scientific_journal-3835	86	25	goal	goal	NOUN
american_scientific_journal-3835	86	26	]	]	PUNCT
american_scientific_journal-3835	86	27	with	with	ADP
american_scientific_journal-3835	86	28	coordinates	coordinate	NOUN
american_scientific_journal-3835	86	29	as	as	SCONJ
american_scientific_journal-3835	86	30	shown	show	VERB
american_scientific_journal-3835	86	31	in	in	ADP
american_scientific_journal-3835	86	32	the	the	DET
american_scientific_journal-3835	86	33	table	table	NOUN
american_scientific_journal-3835	86	34	2	2	NUM
american_scientific_journal-3835	86	35	.	.	PUNCT
american_scientific_journal-3835	86	36	have	have	AUX
american_scientific_journal-3835	86	37	been	be	AUX
american_scientific_journal-3835	86	38	modeled	model	VERB
american_scientific_journal-3835	86	39	to	to	PART
american_scientific_journal-3835	86	40	generate	generate	VERB
american_scientific_journal-3835	86	41	a	a	DET
american_scientific_journal-3835	86	42	6𝑡𝑡ℎ	6𝑡𝑡ℎ	PROPN
american_scientific_journal-3835	86	43	order	order	NOUN
american_scientific_journal-3835	86	44	bézier	bézier	NOUN
american_scientific_journal-3835	86	45	curve	curve	NOUN
american_scientific_journal-3835	86	46	and	and	CCONJ
american_scientific_journal-3835	86	47	the	the	DET
american_scientific_journal-3835	86	48	pso	pso	NOUN
american_scientific_journal-3835	86	49	parameters	parameter	NOUN
american_scientific_journal-3835	86	50	are	be	AUX
american_scientific_journal-3835	86	51	set	set	VERB
american_scientific_journal-3835	86	52	as	as	ADP
american_scientific_journal-3835	86	53	:	:	PUNCT
american_scientific_journal-3835	86	54	population	population	NOUN
american_scientific_journal-3835	86	55	size	size	NOUN
american_scientific_journal-3835	86	56	=	=	SYM
american_scientific_journal-3835	86	57	150	150	NUM
american_scientific_journal-3835	86	58	,	,	PUNCT
american_scientific_journal-3835	86	59	𝐶𝐶1	𝐶𝐶1	PROPN
american_scientific_journal-3835	86	60	,	,	PUNCT
american_scientific_journal-3835	86	61	𝐶𝐶2	𝐶𝐶2	PROPN
american_scientific_journal-3835	86	62	=	=	NOUN
american_scientific_journal-3835	86	63	1.5	1.5	NUM
american_scientific_journal-3835	86	64	,	,	PUNCT
american_scientific_journal-3835	86	65	𝑤𝑤	𝑤𝑤	NOUN
american_scientific_journal-3835	86	66	=	=	SYM
american_scientific_journal-3835	86	67	1	1	NUM
american_scientific_journal-3835	86	68	and	and	CCONJ
american_scientific_journal-3835	86	69	the	the	DET
american_scientific_journal-3835	86	70	number	number	NOUN
american_scientific_journal-3835	86	71	of	of	ADP
american_scientific_journal-3835	86	72	iterations	iteration	NOUN
american_scientific_journal-3835	86	73	is	be	AUX
american_scientific_journal-3835	86	74	selected	select	VERB
american_scientific_journal-3835	86	75	to	to	PART
american_scientific_journal-3835	86	76	be	be	AUX
american_scientific_journal-3835	86	77	200	200	NUM
american_scientific_journal-3835	86	78	which	which	PRON
american_scientific_journal-3835	86	79	was	be	AUX
american_scientific_journal-3835	86	80	very	very	ADV
american_scientific_journal-3835	86	81	adequate	adequate	ADJ
american_scientific_journal-3835	86	82	in	in	ADP
american_scientific_journal-3835	86	83	obtaining	obtain	VERB
american_scientific_journal-3835	86	84	the	the	DET
american_scientific_journal-3835	86	85	best	good	ADJ
american_scientific_journal-3835	86	86	cost	cost	NOUN
american_scientific_journal-3835	86	87	function	function	NOUN
american_scientific_journal-3835	86	88	.	.	PUNCT
american_scientific_journal-3835	87	1	the	the	DET
american_scientific_journal-3835	87	2	convergence	convergence	NOUN
american_scientific_journal-3835	87	3	of	of	ADP
american_scientific_journal-3835	87	4	the	the	DET
american_scientific_journal-3835	87	5	pso	pso	NOUN
american_scientific_journal-3835	87	6	algorithm	algorithm	NOUN
american_scientific_journal-3835	87	7	was	be	AUX
american_scientific_journal-3835	87	8	not	not	PART
american_scientific_journal-3835	87	9	improved	improve	VERB
american_scientific_journal-3835	87	10	when	when	SCONJ
american_scientific_journal-3835	87	11	the	the	DET
american_scientific_journal-3835	87	12	number	number	NOUN
american_scientific_journal-3835	87	13	of	of	ADP
american_scientific_journal-3835	87	14	iterations	iteration	NOUN
american_scientific_journal-3835	87	15	was	be	AUX
american_scientific_journal-3835	87	16	increased	increase	VERB
american_scientific_journal-3835	87	17	.	.	PUNCT
american_scientific_journal-3835	88	1	the	the	DET
american_scientific_journal-3835	88	2	results	result	NOUN
american_scientific_journal-3835	88	3	are	be	AUX
american_scientific_journal-3835	88	4	illustrated	illustrate	VERB
american_scientific_journal-3835	88	5	in	in	ADP
american_scientific_journal-3835	88	6	fig	fig	NOUN
american_scientific_journal-3835	88	7	.	.	PUNCT
american_scientific_journal-3835	89	1	(	(	PUNCT
american_scientific_journal-3835	89	2	3	3	NUM
american_scientific_journal-3835	89	3	)	)	PUNCT
american_scientific_journal-3835	89	4	.	.	PUNCT
american_scientific_journal-3835	90	1	10	10	NUM
american_scientific_journal-3835	90	2	20	20	NUM
american_scientific_journal-3835	90	3	30	30	NUM
american_scientific_journal-3835	90	4	40	40	NUM
american_scientific_journal-3835	90	5	50	50	NUM
american_scientific_journal-3835	90	6	60	60	NUM
american_scientific_journal-3835	90	7	-40	-40	NUM
american_scientific_journal-3835	90	8	-30	-30	NUM
american_scientific_journal-3835	90	9	-20	-20	NUM
american_scientific_journal-3835	90	10	-10	-10	SYM
american_scientific_journal-3835	90	11	0	0	NUM
american_scientific_journal-3835	90	12	10	10	NUM
american_scientific_journal-3835	90	13	20	20	NUM
american_scientific_journal-3835	90	14	30	30	NUM
american_scientific_journal-3835	90	15	y	y	NOUN
american_scientific_journal-3835	90	16	-	-	PUNCT
american_scientific_journal-3835	90	17	axis	axis	NOUN
american_scientific_journal-3835	90	18	xax	xax	PROPN
american_scientific_journal-3835	90	19	is	be	AUX
american_scientific_journal-3835	90	20	without	without	ADP
american_scientific_journal-3835	90	21	pso	pso	NOUN
american_scientific_journal-3835	90	22	with	with	ADP
american_scientific_journal-3835	90	23	pso	pso	NOUN
american_scientific_journal-3835	90	24	robot	robot	NOUN
american_scientific_journal-3835	90	25	body	body	NOUN
american_scientific_journal-3835	90	26	american	american	PROPN
american_scientific_journal-3835	90	27	scientific	scientific	ADJ
american_scientific_journal-3835	90	28	research	research	NOUN
american_scientific_journal-3835	90	29	journal	journal	NOUN
american_scientific_journal-3835	90	30	for	for	ADP
american_scientific_journal-3835	90	31	engineering	engineering	NOUN
american_scientific_journal-3835	90	32	,	,	PUNCT
american_scientific_journal-3835	90	33	technology	technology	NOUN
american_scientific_journal-3835	90	34	,	,	PUNCT
american_scientific_journal-3835	90	35	and	and	CCONJ
american_scientific_journal-3835	90	36	sciences	science	NOUN
american_scientific_journal-3835	90	37	(	(	PUNCT
american_scientific_journal-3835	90	38	asrjets	asrjet	NOUN
american_scientific_journal-3835	90	39	)	)	PUNCT
american_scientific_journal-3835	90	40	(	(	PUNCT
american_scientific_journal-3835	90	41	2018	2018	NUM
american_scientific_journal-3835	90	42	)	)	PUNCT
american_scientific_journal-3835	90	43	volume	volume	NOUN
american_scientific_journal-3835	90	44	40	40	NUM
american_scientific_journal-3835	90	45	,	,	PUNCT
american_scientific_journal-3835	90	46	no	no	DET
american_scientific_journal-3835	90	47	01	01	NUM
american_scientific_journal-3835	90	48	,	,	PUNCT
american_scientific_journal-3835	90	49	pp	pp	ADP
american_scientific_journal-3835	90	50	6	6	NUM
american_scientific_journal-3835	90	51	-17	-17	SYM
american_scientific_journal-3835	90	52	12	12	NUM
american_scientific_journal-3835	90	53	table	table	NOUN
american_scientific_journal-3835	90	54	2	2	NUM
american_scientific_journal-3835	90	55	:	:	PUNCT
american_scientific_journal-3835	90	56	coordinates	coordinate	NOUN
american_scientific_journal-3835	90	57	of	of	ADP
american_scientific_journal-3835	90	58	seven	seven	NUM
american_scientific_journal-3835	90	59	control	control	NOUN
american_scientific_journal-3835	90	60	points	point	NOUN
american_scientific_journal-3835	90	61	figure	figure	NOUN
american_scientific_journal-3835	90	62	3	3	NUM
american_scientific_journal-3835	90	63	:	:	PUNCT
american_scientific_journal-3835	90	64	difference	difference	NOUN
american_scientific_journal-3835	90	65	between	between	ADP
american_scientific_journal-3835	90	66	two	two	NUM
american_scientific_journal-3835	90	67	paths	path	NOUN
american_scientific_journal-3835	90	68	of	of	ADP
american_scientific_journal-3835	90	69	obstacles	obstacle	NOUN
american_scientific_journal-3835	90	70	avoidance	avoidance	NOUN
american_scientific_journal-3835	90	71	without	without	ADP
american_scientific_journal-3835	90	72	and	and	CCONJ
american_scientific_journal-3835	90	73	with	with	ADP
american_scientific_journal-3835	90	74	applying	apply	VERB
american_scientific_journal-3835	90	75	pso	pso	NOUN
american_scientific_journal-3835	90	76	case	case	NOUN
american_scientific_journal-3835	90	77	2	2	NUM
american_scientific_journal-3835	90	78	the	the	DET
american_scientific_journal-3835	90	79	total	total	ADJ
american_scientific_journal-3835	90	80	distance	distance	NOUN
american_scientific_journal-3835	90	81	of	of	ADP
american_scientific_journal-3835	90	82	the	the	DET
american_scientific_journal-3835	90	83	generated	generate	VERB
american_scientific_journal-3835	90	84	curve	curve	NOUN
american_scientific_journal-3835	90	85	from	from	ADP
american_scientific_journal-3835	90	86	start	start	NOUN
american_scientific_journal-3835	90	87	to	to	ADP
american_scientific_journal-3835	90	88	goal	goal	NOUN
american_scientific_journal-3835	90	89	points	point	NOUN
american_scientific_journal-3835	90	90	without	without	ADP
american_scientific_journal-3835	90	91	applying	apply	VERB
american_scientific_journal-3835	90	92	pso	pso	NOUN
american_scientific_journal-3835	90	93	is	be	AUX
american_scientific_journal-3835	90	94	53.109	53.109	NUM
american_scientific_journal-3835	90	95	cm	cm	NOUN
american_scientific_journal-3835	90	96	and	and	CCONJ
american_scientific_journal-3835	90	97	the	the	DET
american_scientific_journal-3835	90	98	time	time	NOUN
american_scientific_journal-3835	90	99	taken	take	VERB
american_scientific_journal-3835	90	100	at	at	ADP
american_scientific_journal-3835	90	101	the	the	DET
american_scientific_journal-3835	90	102	same	same	ADJ
american_scientific_journal-3835	90	103	environment	environment	NOUN
american_scientific_journal-3835	90	104	is	be	AUX
american_scientific_journal-3835	90	105	7.081	7.081	NUM
american_scientific_journal-3835	90	106	sec	sec	PROPN
american_scientific_journal-3835	90	107	,	,	PUNCT
american_scientific_journal-3835	90	108	and	and	CCONJ
american_scientific_journal-3835	90	109	with	with	ADP
american_scientific_journal-3835	90	110	applying	apply	VERB
american_scientific_journal-3835	90	111	pso	pso	NOUN
american_scientific_journal-3835	90	112	is	be	AUX
american_scientific_journal-3835	90	113	49.773	49.773	NUM
american_scientific_journal-3835	90	114	cm	cm	NOUN
american_scientific_journal-3835	90	115	,	,	PUNCT
american_scientific_journal-3835	90	116	and	and	CCONJ
american_scientific_journal-3835	90	117	the	the	DET
american_scientific_journal-3835	90	118	total	total	ADJ
american_scientific_journal-3835	90	119	time	time	NOUN
american_scientific_journal-3835	90	120	taken	take	VERB
american_scientific_journal-3835	90	121	is	be	AUX
american_scientific_journal-3835	90	122	6.636	6.636	NUM
american_scientific_journal-3835	90	123	sec	sec	NOUN
american_scientific_journal-3835	90	124	.	.	PROPN
american_scientific_journal-3835	90	125	6	6	NUM
american_scientific_journal-3835	90	126	.	.	X
american_scientific_journal-3835	90	127	comparison	comparison	NOUN
american_scientific_journal-3835	90	128	and	and	CCONJ
american_scientific_journal-3835	90	129	discussion	discussion	NOUN
american_scientific_journal-3835	90	130	simulation	simulation	NOUN
american_scientific_journal-3835	90	131	cases	case	NOUN
american_scientific_journal-3835	90	132	in	in	ADP
american_scientific_journal-3835	90	133	the	the	DET
american_scientific_journal-3835	90	134	previous	previous	ADJ
american_scientific_journal-3835	90	135	subsections	subsection	NOUN
american_scientific_journal-3835	90	136	(	(	PUNCT
american_scientific_journal-3835	90	137	5.1	5.1	NUM
american_scientific_journal-3835	90	138	)	)	PUNCT
american_scientific_journal-3835	90	139	and	and	CCONJ
american_scientific_journal-3835	90	140	(	(	PUNCT
american_scientific_journal-3835	90	141	5.2	5.2	NUM
american_scientific_journal-3835	90	142	)	)	PUNCT
american_scientific_journal-3835	90	143	the	the	DET
american_scientific_journal-3835	90	144	bézier	bézier	NOUN
american_scientific_journal-3835	90	145	curve	curve	NOUN
american_scientific_journal-3835	90	146	was	be	AUX
american_scientific_journal-3835	90	147	used	use	VERB
american_scientific_journal-3835	90	148	to	to	PART
american_scientific_journal-3835	90	149	generate	generate	VERB
american_scientific_journal-3835	90	150	the	the	DET
american_scientific_journal-3835	90	151	path	path	NOUN
american_scientific_journal-3835	90	152	planning	planning	NOUN
american_scientific_journal-3835	90	153	with	with	ADP
american_scientific_journal-3835	90	154	obstacles	obstacle	NOUN
american_scientific_journal-3835	90	155	avoidance	avoidance	NOUN
american_scientific_journal-3835	90	156	,	,	PUNCT
american_scientific_journal-3835	90	157	then	then	ADV
american_scientific_journal-3835	90	158	the	the	DET
american_scientific_journal-3835	90	159	pso	pso	NOUN
american_scientific_journal-3835	90	160	was	be	AUX
american_scientific_journal-3835	90	161	utilized	utilize	VERB
american_scientific_journal-3835	90	162	to	to	PART
american_scientific_journal-3835	90	163	get	get	VERB
american_scientific_journal-3835	90	164	the	the	DET
american_scientific_journal-3835	90	165	best	good	ADJ
american_scientific_journal-3835	90	166	cost	cost	NOUN
american_scientific_journal-3835	90	167	function	function	NOUN
american_scientific_journal-3835	90	168	with	with	ADP
american_scientific_journal-3835	90	169	minimum	minimum	ADJ
american_scientific_journal-3835	90	170	time	time	NOUN
american_scientific_journal-3835	90	171	and	and	CCONJ
american_scientific_journal-3835	90	172	minimum	minimum	NOUN
american_scientific_journal-3835	90	173	distance	distance	NOUN
american_scientific_journal-3835	90	174	from	from	ADP
american_scientific_journal-3835	90	175	the	the	DET
american_scientific_journal-3835	90	176	start	start	NOUN
american_scientific_journal-3835	90	177	to	to	ADP
american_scientific_journal-3835	90	178	the	the	DET
american_scientific_journal-3835	90	179	goal	goal	NOUN
american_scientific_journal-3835	90	180	points	point	NOUN
american_scientific_journal-3835	90	181	.	.	PUNCT
american_scientific_journal-3835	91	1	table	table	NOUN
american_scientific_journal-3835	91	2	3	3	NUM
american_scientific_journal-3835	91	3	.	.	PUNCT
american_scientific_journal-3835	91	4	shows	show	VERB
american_scientific_journal-3835	91	5	the	the	DET
american_scientific_journal-3835	91	6	comparison	comparison	NOUN
american_scientific_journal-3835	91	7	between	between	ADP
american_scientific_journal-3835	91	8	path	path	NOUN
american_scientific_journal-3835	91	9	planning	planning	NOUN
american_scientific_journal-3835	91	10	with	with	ADP
american_scientific_journal-3835	91	11	the	the	DET
american_scientific_journal-3835	91	12	10	10	NUM
american_scientific_journal-3835	91	13	20	20	NUM
american_scientific_journal-3835	91	14	30	30	NUM
american_scientific_journal-3835	91	15	40	40	NUM
american_scientific_journal-3835	91	16	50	50	NUM
american_scientific_journal-3835	91	17	60	60	NUM
american_scientific_journal-3835	91	18	-40	-40	NUM
american_scientific_journal-3835	91	19	-30	-30	NUM
american_scientific_journal-3835	91	20	-20	-20	NUM
american_scientific_journal-3835	91	21	-10	-10	SYM
american_scientific_journal-3835	92	1	0	0	NUM
american_scientific_journal-3835	92	2	10	10	NUM
american_scientific_journal-3835	92	3	20	20	NUM
american_scientific_journal-3835	92	4	30	30	NUM
american_scientific_journal-3835	92	5	y	y	NOUN
american_scientific_journal-3835	92	6	-	-	PUNCT
american_scientific_journal-3835	92	7	axis	axis	NOUN
american_scientific_journal-3835	92	8	xax	xax	PROPN
american_scientific_journal-3835	92	9	is	be	AUX
american_scientific_journal-3835	92	10	without	without	ADP
american_scientific_journal-3835	92	11	pso	pso	NOUN
american_scientific_journal-3835	92	12	with	with	ADP
american_scientific_journal-3835	92	13	pso	pso	NOUN
american_scientific_journal-3835	92	14	robot	robot	NOUN
american_scientific_journal-3835	92	15	body	body	NOUN
american_scientific_journal-3835	92	16	goal	goal	NOUN
american_scientific_journal-3835	92	17	p6	p6	PROPN
american_scientific_journal-3835	92	18	obs	obs	PROPN
american_scientific_journal-3835	92	19	.	.	PUNCT
american_scientific_journal-3835	93	1	p5	p5	PROPN
american_scientific_journal-3835	93	2	obs	obs	PROPN
american_scientific_journal-3835	93	3	.	.	PUNCT
american_scientific_journal-3835	94	1	p4	p4	ADJ
american_scientific_journal-3835	94	2	obs	obs	PROPN
american_scientific_journal-3835	94	3	.	.	PUNCT
american_scientific_journal-3835	95	1	p3	p3	PROPN
american_scientific_journal-3835	95	2	obs	obs	PROPN
american_scientific_journal-3835	95	3	.	.	PUNCT
american_scientific_journal-3835	96	1	p2	p2	PROPN
american_scientific_journal-3835	96	2	obs	obs	PROPN
american_scientific_journal-3835	96	3	.	.	PUNCT
american_scientific_journal-3835	97	1	p1	p1	PROPN
american_scientific_journal-3835	97	2	start	start	VERB
american_scientific_journal-3835	97	3	p0	p0	NOUN
american_scientific_journal-3835	97	4	position	position	NOUN
american_scientific_journal-3835	97	5	coordinate	coordinate	VERB
american_scientific_journal-3835	97	6	21.62	21.62	NUM
american_scientific_journal-3835	97	7	33.17	33.17	NUM
american_scientific_journal-3835	97	8	23.463	23.463	NUM
american_scientific_journal-3835	97	9	35.066	35.066	NUM
american_scientific_journal-3835	97	10	24.813	24.813	NUM
american_scientific_journal-3835	97	11	38.955	38.955	NUM
american_scientific_journal-3835	97	12	45.087	45.087	NUM
american_scientific_journal-3835	97	13	xcoordinate	xcoordinate	NOUN
american_scientific_journal-3835	97	14	cm	cm	PROPN
american_scientific_journal-3835	97	15	-27.067	-27.067	PROPN
american_scientific_journal-3835	97	16	-22.671	-22.671	PROPN
american_scientific_journal-3835	97	17	-13.492	-13.492	PUNCT
american_scientific_journal-3835	97	18	-7.685	-7.685	PUNCT
american_scientific_journal-3835	97	19	0.629	0.629	NUM
american_scientific_journal-3835	97	20	6.63	6.63	NUM
american_scientific_journal-3835	97	21	16.498	16.498	NUM
american_scientific_journal-3835	97	22	ycoordinate	ycoordinate	NOUN
american_scientific_journal-3835	97	23	cm	cm	NOUN
american_scientific_journal-3835	97	24	20.614	20.614	NUM
american_scientific_journal-3835	97	25	33.756	33.756	NUM
american_scientific_journal-3835	97	26	19.815	19.815	NUM
american_scientific_journal-3835	97	27	28.305	28.305	NUM
american_scientific_journal-3835	97	28	27.242	27.242	NUM
american_scientific_journal-3835	97	29	22.956	22.956	NUM
american_scientific_journal-3835	97	30	25.399	25.399	NUM
american_scientific_journal-3835	97	31	zcoordinate	zcoordinate	NOUN
american_scientific_journal-3835	97	32	cm	cm	PROPN
american_scientific_journal-3835	97	33	american	american	PROPN
american_scientific_journal-3835	97	34	scientific	scientific	ADJ
american_scientific_journal-3835	97	35	research	research	NOUN
american_scientific_journal-3835	97	36	journal	journal	NOUN
american_scientific_journal-3835	97	37	for	for	ADP
american_scientific_journal-3835	97	38	engineering	engineering	NOUN
american_scientific_journal-3835	97	39	,	,	PUNCT
american_scientific_journal-3835	97	40	technology	technology	NOUN
american_scientific_journal-3835	97	41	,	,	PUNCT
american_scientific_journal-3835	97	42	and	and	CCONJ
american_scientific_journal-3835	97	43	sciences	science	NOUN
american_scientific_journal-3835	97	44	(	(	PUNCT
american_scientific_journal-3835	97	45	asrjets	asrjet	NOUN
american_scientific_journal-3835	97	46	)	)	PUNCT
american_scientific_journal-3835	97	47	(	(	PUNCT
american_scientific_journal-3835	97	48	2018	2018	NUM
american_scientific_journal-3835	97	49	)	)	PUNCT
american_scientific_journal-3835	97	50	volume	volume	NOUN
american_scientific_journal-3835	97	51	40	40	NUM
american_scientific_journal-3835	97	52	,	,	PUNCT
american_scientific_journal-3835	97	53	no	no	DET
american_scientific_journal-3835	97	54	01	01	NUM
american_scientific_journal-3835	97	55	,	,	PUNCT
american_scientific_journal-3835	97	56	pp	pp	ADP
american_scientific_journal-3835	97	57	6	6	NUM
american_scientific_journal-3835	97	58	-17	-17	SYM
american_scientific_journal-3835	97	59	13	13	NUM
american_scientific_journal-3835	97	60	obstacle	obstacle	NOUN
american_scientific_journal-3835	97	61	avoidance	avoidance	NOUN
american_scientific_journal-3835	97	62	without	without	ADP
american_scientific_journal-3835	97	63	and	and	CCONJ
american_scientific_journal-3835	97	64	with	with	ADP
american_scientific_journal-3835	97	65	applying	apply	VERB
american_scientific_journal-3835	97	66	pso	pso	NOUN
american_scientific_journal-3835	97	67	.	.	PUNCT
american_scientific_journal-3835	97	68	table	table	NOUN
american_scientific_journal-3835	97	69	3	3	NUM
american_scientific_journal-3835	97	70	:	:	PUNCT
american_scientific_journal-3835	97	71	shows	show	VERB
american_scientific_journal-3835	97	72	the	the	DET
american_scientific_journal-3835	97	73	comparison	comparison	NOUN
american_scientific_journal-3835	97	74	of	of	ADP
american_scientific_journal-3835	97	75	three	three	NUM
american_scientific_journal-3835	97	76	simulation	simulation	NOUN
american_scientific_journal-3835	97	77	cases	case	NOUN
american_scientific_journal-3835	97	78	total	total	ADJ
american_scientific_journal-3835	97	79	distance	distance	NOUN
american_scientific_journal-3835	97	80	(	(	PUNCT
american_scientific_journal-3835	97	81	cm	cm	NOUN
american_scientific_journal-3835	97	82	)	)	PUNCT
american_scientific_journal-3835	97	83	total	total	ADJ
american_scientific_journal-3835	97	84	time	time	NOUN
american_scientific_journal-3835	97	85	taken	take	VERB
american_scientific_journal-3835	97	86	(	(	PUNCT
american_scientific_journal-3835	97	87	sec	sec	PROPN
american_scientific_journal-3835	97	88	)	)	PUNCT
american_scientific_journal-3835	97	89	simulation	simulation	NOUN
american_scientific_journal-3835	97	90	cases	case	VERB
american_scientific_journal-3835	97	91	path	path	NOUN
american_scientific_journal-3835	97	92	planning	planning	NOUN
american_scientific_journal-3835	97	93	with	with	ADP
american_scientific_journal-3835	97	94	applying	apply	VERB
american_scientific_journal-3835	97	95	pso	pso	NOUN
american_scientific_journal-3835	97	96	path	path	NOUN
american_scientific_journal-3835	97	97	planning	planning	NOUN
american_scientific_journal-3835	97	98	without	without	ADP
american_scientific_journal-3835	97	99	applying	apply	VERB
american_scientific_journal-3835	97	100	pso	pso	NOUN
american_scientific_journal-3835	97	101	path	path	NOUN
american_scientific_journal-3835	97	102	planning	planning	NOUN
american_scientific_journal-3835	97	103	with	with	ADP
american_scientific_journal-3835	97	104	applying	apply	VERB
american_scientific_journal-3835	97	105	pso	pso	NOUN
american_scientific_journal-3835	97	106	path	path	NOUN
american_scientific_journal-3835	97	107	planning	planning	NOUN
american_scientific_journal-3835	97	108	without	without	ADP
american_scientific_journal-3835	97	109	applying	apply	VERB
american_scientific_journal-3835	97	110	pso	pso	NOUN
american_scientific_journal-3835	97	111	63.499	63.499	NUM
american_scientific_journal-3835	97	112	64.511	64.511	NUM
american_scientific_journal-3835	97	113	8.466	8.466	NUM
american_scientific_journal-3835	97	114	8.601	8.601	NUM
american_scientific_journal-3835	97	115	case	case	NOUN
american_scientific_journal-3835	97	116	one	one	NUM
american_scientific_journal-3835	97	117	49.773	49.773	NUM
american_scientific_journal-3835	97	118	53.109	53.109	NUM
american_scientific_journal-3835	97	119	6.636	6.636	NUM
american_scientific_journal-3835	97	120	7.081	7.081	NUM
american_scientific_journal-3835	97	121	case	case	NOUN
american_scientific_journal-3835	97	122	two	two	NUM
american_scientific_journal-3835	97	123	7	7	NUM
american_scientific_journal-3835	97	124	.	.	PUNCT
american_scientific_journal-3835	97	125	experimental	experimental	ADJ
american_scientific_journal-3835	97	126	setup	setup	NOUN
american_scientific_journal-3835	97	127	:	:	PUNCT
american_scientific_journal-3835	97	128	case	case	NOUN
american_scientific_journal-3835	97	129	one	one	NUM
american_scientific_journal-3835	97	130	the	the	DET
american_scientific_journal-3835	97	131	task	task	NOUN
american_scientific_journal-3835	97	132	is	be	AUX
american_scientific_journal-3835	97	133	to	to	PART
american_scientific_journal-3835	97	134	find	find	VERB
american_scientific_journal-3835	97	135	an	an	DET
american_scientific_journal-3835	97	136	optimal	optimal	ADJ
american_scientific_journal-3835	97	137	feasible	feasible	ADJ
american_scientific_journal-3835	97	138	path	path	NOUN
american_scientific_journal-3835	97	139	planning	planning	NOUN
american_scientific_journal-3835	97	140	based	base	VERB
american_scientific_journal-3835	97	141	on	on	ADP
american_scientific_journal-3835	97	142	the	the	DET
american_scientific_journal-3835	97	143	bézier	bézier	NOUN
american_scientific_journal-3835	97	144	curve	curve	NOUN
american_scientific_journal-3835	97	145	method	method	NOUN
american_scientific_journal-3835	97	146	for	for	ADP
american_scientific_journal-3835	97	147	the	the	DET
american_scientific_journal-3835	97	148	end	end	NOUN
american_scientific_journal-3835	97	149	–	–	PUNCT
american_scientific_journal-3835	97	150	effecter	effecter	NOUN
american_scientific_journal-3835	97	151	of	of	ADP
american_scientific_journal-3835	97	152	the	the	DET
american_scientific_journal-3835	97	153	robot	robot	NOUN
american_scientific_journal-3835	97	154	manipulator	manipulator	NOUN
american_scientific_journal-3835	97	155	system	system	NOUN
american_scientific_journal-3835	97	156	.	.	PUNCT
american_scientific_journal-3835	98	1	to	to	PART
american_scientific_journal-3835	98	2	achieve	achieve	VERB
american_scientific_journal-3835	98	3	this	this	DET
american_scientific_journal-3835	98	4	task	task	NOUN
american_scientific_journal-3835	98	5	,	,	PUNCT
american_scientific_journal-3835	98	6	the	the	DET
american_scientific_journal-3835	98	7	bézier	bézier	NOUN
american_scientific_journal-3835	98	8	curve	curve	NOUN
american_scientific_journal-3835	98	9	was	be	AUX
american_scientific_journal-3835	98	10	used	use	VERB
american_scientific_journal-3835	98	11	to	to	PART
american_scientific_journal-3835	98	12	generate	generate	VERB
american_scientific_journal-3835	98	13	a	a	DET
american_scientific_journal-3835	98	14	suitable	suitable	ADJ
american_scientific_journal-3835	98	15	curve	curve	NOUN
american_scientific_journal-3835	98	16	with	with	ADP
american_scientific_journal-3835	98	17	a	a	DET
american_scientific_journal-3835	98	18	specific	specific	ADJ
american_scientific_journal-3835	98	19	time	time	NOUN
american_scientific_journal-3835	98	20	and	and	CCONJ
american_scientific_journal-3835	98	21	distance	distance	NOUN
american_scientific_journal-3835	98	22	and	and	CCONJ
american_scientific_journal-3835	98	23	to	to	ADP
american_scientific_journal-3835	98	24	the	the	DET
american_scientific_journal-3835	98	25	get	get	VERB
american_scientific_journal-3835	98	26	best	good	ADJ
american_scientific_journal-3835	98	27	path	path	NOUN
american_scientific_journal-3835	98	28	planning	planning	NOUN
american_scientific_journal-3835	98	29	with	with	ADP
american_scientific_journal-3835	98	30	obstacle	obstacle	NOUN
american_scientific_journal-3835	98	31	avoidance	avoidance	NOUN
american_scientific_journal-3835	98	32	to	to	PART
american_scientific_journal-3835	98	33	move	move	VERB
american_scientific_journal-3835	98	34	the	the	DET
american_scientific_journal-3835	98	35	end	end	NOUN
american_scientific_journal-3835	98	36	-	-	PUNCT
american_scientific_journal-3835	98	37	effector	effector	NOUN
american_scientific_journal-3835	98	38	of	of	ADP
american_scientific_journal-3835	98	39	robot	robot	NOUN
american_scientific_journal-3835	98	40	manipulator	manipulator	NOUN
american_scientific_journal-3835	98	41	from	from	ADP
american_scientific_journal-3835	98	42	the	the	DET
american_scientific_journal-3835	98	43	start	start	NOUN
american_scientific_journal-3835	98	44	to	to	ADP
american_scientific_journal-3835	98	45	the	the	DET
american_scientific_journal-3835	98	46	goal	goal	NOUN
american_scientific_journal-3835	98	47	points	point	VERB
american_scientific_journal-3835	98	48	via	via	ADP
american_scientific_journal-3835	98	49	using	use	VERB
american_scientific_journal-3835	98	50	the	the	DET
american_scientific_journal-3835	98	51	pso	pso	NOUN
american_scientific_journal-3835	98	52	approach	approach	NOUN
american_scientific_journal-3835	98	53	.	.	PUNCT
american_scientific_journal-3835	99	1	in	in	ADP
american_scientific_journal-3835	99	2	this	this	DET
american_scientific_journal-3835	99	3	real	real	ADJ
american_scientific_journal-3835	99	4	environment	environment	NOUN
american_scientific_journal-3835	99	5	with	with	ADP
american_scientific_journal-3835	99	6	three	three	NUM
american_scientific_journal-3835	99	7	obstacles	obstacle	NOUN
american_scientific_journal-3835	99	8	five	five	NUM
american_scientific_journal-3835	99	9	nodes	node	NOUN
american_scientific_journal-3835	99	10	[	[	X
american_scientific_journal-3835	99	11	start	start	NOUN
american_scientific_journal-3835	99	12	,	,	PUNCT
american_scientific_journal-3835	99	13	obstacles	obstacle	NOUN
american_scientific_journal-3835	99	14	and	and	CCONJ
american_scientific_journal-3835	99	15	goal	goal	NOUN
american_scientific_journal-3835	99	16	]	]	PUNCT
american_scientific_journal-3835	99	17	have	have	AUX
american_scientific_journal-3835	99	18	been	be	AUX
american_scientific_journal-3835	99	19	generated	generate	VERB
american_scientific_journal-3835	99	20	by	by	ADP
american_scientific_journal-3835	99	21	using	use	VERB
american_scientific_journal-3835	99	22	matlab	matlab	PROPN
american_scientific_journal-3835	99	23	software	software	NOUN
american_scientific_journal-3835	99	24	program	program	NOUN
american_scientific_journal-3835	99	25	.	.	PUNCT
american_scientific_journal-3835	100	1	from	from	ADP
american_scientific_journal-3835	100	2	using	use	VERB
american_scientific_journal-3835	100	3	the	the	DET
american_scientific_journal-3835	100	4	robocim	robocim	PROPN
american_scientific_journal-3835	100	5	5250	5250	NUM
american_scientific_journal-3835	100	6	software	software	NOUN
american_scientific_journal-3835	100	7	program	program	NOUN
american_scientific_journal-3835	100	8	,	,	PUNCT
american_scientific_journal-3835	100	9	the	the	DET
american_scientific_journal-3835	100	10	coordinates	coordinate	NOUN
american_scientific_journal-3835	100	11	of	of	ADP
american_scientific_journal-3835	100	12	the	the	DET
american_scientific_journal-3835	100	13	five	five	NUM
american_scientific_journal-3835	100	14	nodes	node	NOUN
american_scientific_journal-3835	100	15	are	be	AUX
american_scientific_journal-3835	100	16	illustrated	illustrate	VERB
american_scientific_journal-3835	100	17	in	in	ADP
american_scientific_journal-3835	100	18	table	table	NOUN
american_scientific_journal-3835	100	19	1.the	1.the	DET
american_scientific_journal-3835	100	20	start	start	NOUN
american_scientific_journal-3835	100	21	and	and	CCONJ
american_scientific_journal-3835	100	22	goal	goal	NOUN
american_scientific_journal-3835	100	23	points	point	NOUN
american_scientific_journal-3835	100	24	in	in	ADP
american_scientific_journal-3835	100	25	matlab	matlab	PROPN
american_scientific_journal-3835	100	26	for	for	ADP
american_scientific_journal-3835	100	27	all	all	DET
american_scientific_journal-3835	100	28	cases	case	NOUN
american_scientific_journal-3835	100	29	will	will	AUX
american_scientific_journal-3835	100	30	be	be	AUX
american_scientific_journal-3835	100	31	in	in	ADP
american_scientific_journal-3835	100	32	a	a	DET
american_scientific_journal-3835	100	33	cubic	cubic	ADJ
american_scientific_journal-3835	100	34	shape	shape	NOUN
american_scientific_journal-3835	100	35	with	with	ADP
american_scientific_journal-3835	100	36	a	a	DET
american_scientific_journal-3835	100	37	yellow	yellow	ADJ
american_scientific_journal-3835	100	38	and	and	CCONJ
american_scientific_journal-3835	100	39	green	green	ADJ
american_scientific_journal-3835	100	40	colors	color	NOUN
american_scientific_journal-3835	100	41	,	,	PUNCT
american_scientific_journal-3835	100	42	respectively	respectively	ADV
american_scientific_journal-3835	100	43	,	,	PUNCT
american_scientific_journal-3835	100	44	and	and	CCONJ
american_scientific_journal-3835	100	45	in	in	ADP
american_scientific_journal-3835	100	46	the	the	DET
american_scientific_journal-3835	100	47	real	real	ADJ
american_scientific_journal-3835	100	48	environment	environment	NOUN
american_scientific_journal-3835	100	49	,	,	PUNCT
american_scientific_journal-3835	100	50	the	the	DET
american_scientific_journal-3835	100	51	start	start	NOUN
american_scientific_journal-3835	100	52	and	and	CCONJ
american_scientific_journal-3835	100	53	goal	goal	NOUN
american_scientific_journal-3835	100	54	points	point	NOUN
american_scientific_journal-3835	100	55	in	in	ADP
american_scientific_journal-3835	100	56	all	all	DET
american_scientific_journal-3835	100	57	cases	case	NOUN
american_scientific_journal-3835	100	58	will	will	AUX
american_scientific_journal-3835	100	59	be	be	AUX
american_scientific_journal-3835	100	60	of	of	ADP
american_scientific_journal-3835	100	61	a	a	DET
american_scientific_journal-3835	100	62	cubic	cubic	ADJ
american_scientific_journal-3835	100	63	shape	shape	NOUN
american_scientific_journal-3835	100	64	having	have	VERB
american_scientific_journal-3835	100	65	dimension	dimension	NOUN
american_scientific_journal-3835	100	66	as	as	ADP
american_scientific_journal-3835	100	67	:	:	PUNCT
american_scientific_journal-3835	100	68	length	length	NOUN
american_scientific_journal-3835	100	69	=	=	PUNCT
american_scientific_journal-3835	100	70	width	width	PROPN
american_scientific_journal-3835	100	71	=	=	PROPN
american_scientific_journal-3835	100	72	height=2	height=2	NOUN
american_scientific_journal-3835	100	73	cm	cm	NOUN
american_scientific_journal-3835	100	74	and	and	CCONJ
american_scientific_journal-3835	100	75	the	the	DET
american_scientific_journal-3835	100	76	three	three	NUM
american_scientific_journal-3835	100	77	obstacles	obstacle	NOUN
american_scientific_journal-3835	100	78	in	in	ADP
american_scientific_journal-3835	100	79	this	this	DET
american_scientific_journal-3835	100	80	real	real	ADJ
american_scientific_journal-3835	100	81	case	case	NOUN
american_scientific_journal-3835	100	82	will	will	AUX
american_scientific_journal-3835	100	83	be	be	AUX
american_scientific_journal-3835	100	84	of	of	ADP
american_scientific_journal-3835	100	85	spherical	spherical	ADJ
american_scientific_journal-3835	100	86	shapes	shape	NOUN
american_scientific_journal-3835	100	87	having	have	VERB
american_scientific_journal-3835	100	88	diameters	diameter	NOUN
american_scientific_journal-3835	100	89	of	of	ADP
american_scientific_journal-3835	100	90	:	:	PUNCT
american_scientific_journal-3835	100	91	d1=6.5	d1=6.5	PROPN
american_scientific_journal-3835	100	92	cm	cm	PROPN
american_scientific_journal-3835	100	93	,	,	PUNCT
american_scientific_journal-3835	100	94	d2=5.5	d2=5.5	PROPN
american_scientific_journal-3835	100	95	cm	cm	NUM
american_scientific_journal-3835	100	96	,	,	PUNCT
american_scientific_journal-3835	100	97	d3=4	d3=4	PROPN
american_scientific_journal-3835	100	98	cm	cm	NUM
american_scientific_journal-3835	100	99	by	by	ADP
american_scientific_journal-3835	100	100	applying	apply	VERB
american_scientific_journal-3835	100	101	the	the	DET
american_scientific_journal-3835	100	102	robocim	robocim	PROPN
american_scientific_journal-3835	100	103	program	program	PROPN
american_scientific_journal-3835	100	104	software	software	NOUN
american_scientific_journal-3835	100	105	theta	theta	NOUN
american_scientific_journal-3835	100	106	of	of	ADP
american_scientific_journal-3835	100	107	all	all	DET
american_scientific_journal-3835	100	108	intermediate	intermediate	ADJ
american_scientific_journal-3835	100	109	points	point	NOUN
american_scientific_journal-3835	100	110	along	along	ADP
american_scientific_journal-3835	100	111	the	the	DET
american_scientific_journal-3835	100	112	curve	curve	NOUN
american_scientific_journal-3835	100	113	can	can	AUX
american_scientific_journal-3835	100	114	be	be	AUX
american_scientific_journal-3835	100	115	obtained	obtain	VERB
american_scientific_journal-3835	100	116	then	then	ADV
american_scientific_journal-3835	100	117	the	the	DET
american_scientific_journal-3835	100	118	forward	forward	ADJ
american_scientific_journal-3835	100	119	kinematic	kinematic	NOUN
american_scientific_journal-3835	100	120	is	be	AUX
american_scientific_journal-3835	100	121	applied	apply	VERB
american_scientific_journal-3835	100	122	to	to	PART
american_scientific_journal-3835	100	123	get	get	VERB
american_scientific_journal-3835	100	124	positions	position	NOUN
american_scientific_journal-3835	100	125	of	of	ADP
american_scientific_journal-3835	100	126	these	these	DET
american_scientific_journal-3835	100	127	theta	theta	NOUN
american_scientific_journal-3835	100	128	and	and	CCONJ
american_scientific_journal-3835	100	129	from	from	ADP
american_scientific_journal-3835	100	130	the	the	DET
american_scientific_journal-3835	100	131	positions	position	NOUN
american_scientific_journal-3835	100	132	the	the	DET
american_scientific_journal-3835	100	133	actual	actual	ADJ
american_scientific_journal-3835	100	134	curves	curve	NOUN
american_scientific_journal-3835	100	135	can	can	AUX
american_scientific_journal-3835	100	136	be	be	AUX
american_scientific_journal-3835	100	137	plotted	plot	VERB
american_scientific_journal-3835	100	138	,	,	PUNCT
american_scientific_journal-3835	100	139	as	as	SCONJ
american_scientific_journal-3835	100	140	illustrated	illustrate	VERB
american_scientific_journal-3835	100	141	in	in	ADP
american_scientific_journal-3835	100	142	fig	fig	NOUN
american_scientific_journal-3835	100	143	.	.	PUNCT
american_scientific_journal-3835	101	1	(	(	PUNCT
american_scientific_journal-3835	101	2	4	4	NUM
american_scientific_journal-3835	101	3	)	)	PUNCT
american_scientific_journal-3835	101	4	.	.	PUNCT
american_scientific_journal-3835	102	1	figure	figure	VERB
american_scientific_journal-3835	102	2	4	4	NUM
american_scientific_journal-3835	102	3	:	:	SYM
american_scientific_journal-3835	102	4	two	two	NUM
american_scientific_journal-3835	102	5	path	path	NOUN
american_scientific_journal-3835	102	6	planning	planning	NOUN
american_scientific_journal-3835	102	7	of	of	ADP
american_scientific_journal-3835	102	8	obstacles	obstacle	NOUN
american_scientific_journal-3835	102	9	avoidance	avoidance	NOUN
american_scientific_journal-3835	102	10	without	without	ADP
american_scientific_journal-3835	102	11	and	and	CCONJ
american_scientific_journal-3835	102	12	with	with	ADP
american_scientific_journal-3835	102	13	applying	apply	VERB
american_scientific_journal-3835	102	14	pso	pso	NOUN
american_scientific_journal-3835	102	15	case	case	NOUN
american_scientific_journal-3835	102	16	1	1	NUM
american_scientific_journal-3835	102	17	10	10	NUM
american_scientific_journal-3835	102	18	20	20	NUM
american_scientific_journal-3835	102	19	30	30	NUM
american_scientific_journal-3835	102	20	40	40	NUM
american_scientific_journal-3835	102	21	50	50	NUM
american_scientific_journal-3835	102	22	60	60	NUM
american_scientific_journal-3835	102	23	-40	-40	NUM
american_scientific_journal-3835	102	24	-30	-30	NUM
american_scientific_journal-3835	102	25	-20	-20	NUM
american_scientific_journal-3835	102	26	-10	-10	SYM
american_scientific_journal-3835	102	27	0	0	NUM
american_scientific_journal-3835	102	28	10	10	NUM
american_scientific_journal-3835	102	29	20	20	NUM
american_scientific_journal-3835	102	30	30	30	NUM
american_scientific_journal-3835	102	31	y	y	NOUN
american_scientific_journal-3835	102	32	-	-	PUNCT
american_scientific_journal-3835	102	33	axis	axis	NOUN
american_scientific_journal-3835	102	34	xax	xax	PROPN
american_scientific_journal-3835	102	35	is	be	AUX
american_scientific_journal-3835	102	36	without	without	ADP
american_scientific_journal-3835	102	37	pso	pso	NOUN
american_scientific_journal-3835	102	38	with	with	ADP
american_scientific_journal-3835	102	39	pso	pso	NOUN
american_scientific_journal-3835	102	40	robot	robot	NOUN
american_scientific_journal-3835	102	41	body	body	NOUN
american_scientific_journal-3835	102	42	american	american	PROPN
american_scientific_journal-3835	102	43	scientific	scientific	ADJ
american_scientific_journal-3835	102	44	research	research	NOUN
american_scientific_journal-3835	102	45	journal	journal	NOUN
american_scientific_journal-3835	102	46	for	for	ADP
american_scientific_journal-3835	102	47	engineering	engineering	NOUN
american_scientific_journal-3835	102	48	,	,	PUNCT
american_scientific_journal-3835	102	49	technology	technology	NOUN
american_scientific_journal-3835	102	50	,	,	PUNCT
american_scientific_journal-3835	102	51	and	and	CCONJ
american_scientific_journal-3835	102	52	sciences	science	NOUN
american_scientific_journal-3835	102	53	(	(	PUNCT
american_scientific_journal-3835	102	54	asrjets	asrjet	NOUN
american_scientific_journal-3835	102	55	)	)	PUNCT
american_scientific_journal-3835	102	56	(	(	PUNCT
american_scientific_journal-3835	102	57	2018	2018	NUM
american_scientific_journal-3835	102	58	)	)	PUNCT
american_scientific_journal-3835	102	59	volume	volume	NOUN
american_scientific_journal-3835	102	60	40	40	NUM
american_scientific_journal-3835	102	61	,	,	PUNCT
american_scientific_journal-3835	102	62	no	no	DET
american_scientific_journal-3835	102	63	01	01	NUM
american_scientific_journal-3835	102	64	,	,	PUNCT
american_scientific_journal-3835	102	65	pp	pp	ADP
american_scientific_journal-3835	103	1	6	6	NUM
american_scientific_journal-3835	103	2	-17	-17	SYM
american_scientific_journal-3835	103	3	14	14	NUM
american_scientific_journal-3835	103	4	the	the	DET
american_scientific_journal-3835	103	5	total	total	ADJ
american_scientific_journal-3835	103	6	distance	distance	NOUN
american_scientific_journal-3835	103	7	of	of	ADP
american_scientific_journal-3835	103	8	the	the	DET
american_scientific_journal-3835	103	9	generated	generate	VERB
american_scientific_journal-3835	103	10	curve	curve	NOUN
american_scientific_journal-3835	103	11	in	in	ADP
american_scientific_journal-3835	103	12	this	this	DET
american_scientific_journal-3835	103	13	case	case	NOUN
american_scientific_journal-3835	103	14	from	from	ADP
american_scientific_journal-3835	103	15	the	the	DET
american_scientific_journal-3835	103	16	matlab	matlab	PROPN
american_scientific_journal-3835	103	17	program	program	NOUN
american_scientific_journal-3835	103	18	without	without	ADP
american_scientific_journal-3835	103	19	applying	apply	VERB
american_scientific_journal-3835	103	20	pso	pso	NOUN
american_scientific_journal-3835	103	21	from	from	ADP
american_scientific_journal-3835	103	22	start	start	NOUN
american_scientific_journal-3835	103	23	to	to	ADP
american_scientific_journal-3835	103	24	goal	goal	NOUN
american_scientific_journal-3835	103	25	points	point	NOUN
american_scientific_journal-3835	103	26	is	be	AUX
american_scientific_journal-3835	103	27	67.21	67.21	NUM
american_scientific_journal-3835	103	28	cm	cm	NOUN
american_scientific_journal-3835	103	29	,	,	PUNCT
american_scientific_journal-3835	103	30	the	the	DET
american_scientific_journal-3835	103	31	time	time	NOUN
american_scientific_journal-3835	103	32	taken	take	VERB
american_scientific_journal-3835	103	33	at	at	ADP
american_scientific_journal-3835	103	34	the	the	DET
american_scientific_journal-3835	103	35	same	same	ADJ
american_scientific_journal-3835	103	36	environment	environment	NOUN
american_scientific_journal-3835	103	37	is	be	AUX
american_scientific_journal-3835	103	38	8.961	8.961	NUM
american_scientific_journal-3835	103	39	sec	sec	PROPN
american_scientific_journal-3835	103	40	.	.	PUNCT
american_scientific_journal-3835	104	1	and	and	CCONJ
american_scientific_journal-3835	104	2	with	with	ADP
american_scientific_journal-3835	104	3	applying	apply	VERB
american_scientific_journal-3835	104	4	pso	pso	NOUN
american_scientific_journal-3835	104	5	algorithm	algorithm	NOUN
american_scientific_journal-3835	104	6	the	the	DET
american_scientific_journal-3835	104	7	total	total	ADJ
american_scientific_journal-3835	104	8	distance	distance	NOUN
american_scientific_journal-3835	104	9	of	of	ADP
american_scientific_journal-3835	104	10	the	the	DET
american_scientific_journal-3835	104	11	generated	generate	VERB
american_scientific_journal-3835	104	12	curve	curve	NOUN
american_scientific_journal-3835	104	13	is	be	AUX
american_scientific_journal-3835	104	14	64.104	64.104	NUM
american_scientific_journal-3835	104	15	cm	cm	NUM
american_scientific_journal-3835	104	16	,	,	PUNCT
american_scientific_journal-3835	104	17	and	and	CCONJ
american_scientific_journal-3835	104	18	the	the	DET
american_scientific_journal-3835	104	19	total	total	ADJ
american_scientific_journal-3835	104	20	time	time	NOUN
american_scientific_journal-3835	104	21	taken	take	VERB
american_scientific_journal-3835	104	22	is	be	AUX
american_scientific_journal-3835	104	23	8.547	8.547	NUM
american_scientific_journal-3835	104	24	sec	sec	PROPN
american_scientific_journal-3835	104	25	.	.	PUNCT
american_scientific_journal-3835	104	26	fig	fig	PROPN
american_scientific_journal-3835	104	27	.	.	PUNCT
american_scientific_journal-3835	105	1	(	(	PUNCT
american_scientific_journal-3835	105	2	5	5	X
american_scientific_journal-3835	105	3	)	)	PUNCT
american_scientific_journal-3835	105	4	shows	show	VERB
american_scientific_journal-3835	105	5	the	the	DET
american_scientific_journal-3835	105	6	path	path	NOUN
american_scientific_journal-3835	105	7	planning	planning	NOUN
american_scientific_journal-3835	105	8	physical	physical	ADJ
american_scientific_journal-3835	105	9	steps	step	NOUN
american_scientific_journal-3835	105	10	progress	progress	NOUN
american_scientific_journal-3835	105	11	for	for	ADP
american_scientific_journal-3835	105	12	three	three	NUM
american_scientific_journal-3835	105	13	obstacles	obstacle	NOUN
american_scientific_journal-3835	105	14	based	base	VERB
american_scientific_journal-3835	105	15	on	on	ADP
american_scientific_journal-3835	105	16	bezier	bezi	ADJ
american_scientific_journal-3835	105	17	curve	curve	NOUN
american_scientific_journal-3835	105	18	using	use	VERB
american_scientific_journal-3835	105	19	the	the	DET
american_scientific_journal-3835	105	20	servo	servo	NOUN
american_scientific_journal-3835	105	21	5dof	5dof	PROPN
american_scientific_journal-3835	105	22	robot	robot	NOUN
american_scientific_journal-3835	105	23	manipulator	manipulator	NOUN
american_scientific_journal-3835	105	24	lab	lab	NOUN
american_scientific_journal-3835	105	25	-	-	PUNCT
american_scientific_journal-3835	105	26	volt	volt	NOUN
american_scientific_journal-3835	105	27	5250	5250	NUM
american_scientific_journal-3835	105	28	system	system	NOUN
american_scientific_journal-3835	105	29	.	.	PUNCT
american_scientific_journal-3835	106	1	figure	figure	NOUN
american_scientific_journal-3835	106	2	5	5	NUM
american_scientific_journal-3835	106	3	:	:	PUNCT
american_scientific_journal-3835	106	4	physical	physical	ADJ
american_scientific_journal-3835	106	5	steps	step	NOUN
american_scientific_journal-3835	106	6	case	case	NOUN
american_scientific_journal-3835	106	7	1	1	NUM
american_scientific_journal-3835	106	8	of	of	ADP
american_scientific_journal-3835	106	9	three	three	NUM
american_scientific_journal-3835	106	10	obstacle	obstacle	NOUN
american_scientific_journal-3835	106	11	avoidance	avoidance	NOUN
american_scientific_journal-3835	106	12	path	path	NOUN
american_scientific_journal-3835	106	13	planning	planning	NOUN
american_scientific_journal-3835	106	14	in	in	ADP
american_scientific_journal-3835	106	15	the	the	DET
american_scientific_journal-3835	106	16	real	real	ADJ
american_scientific_journal-3835	106	17	environment	environment	NOUN
american_scientific_journal-3835	106	18	8	8	NUM
american_scientific_journal-3835	106	19	.	.	PUNCT
american_scientific_journal-3835	107	1	experimental	experimental	ADJ
american_scientific_journal-3835	107	2	setup	setup	NOUN
american_scientific_journal-3835	107	3	:	:	PUNCT
american_scientific_journal-3835	107	4	case	case	NOUN
american_scientific_journal-3835	107	5	two	two	NUM
american_scientific_journal-3835	107	6	in	in	ADP
american_scientific_journal-3835	107	7	this	this	DET
american_scientific_journal-3835	107	8	case	case	NOUN
american_scientific_journal-3835	107	9	,	,	PUNCT
american_scientific_journal-3835	107	10	a	a	DET
american_scientific_journal-3835	107	11	real	real	ADJ
american_scientific_journal-3835	107	12	environment	environment	NOUN
american_scientific_journal-3835	107	13	five	five	NUM
american_scientific_journal-3835	107	14	obstacles	obstacle	NOUN
american_scientific_journal-3835	107	15	environment	environment	NOUN
american_scientific_journal-3835	107	16	,	,	PUNCT
american_scientific_journal-3835	107	17	seven	seven	NUM
american_scientific_journal-3835	107	18	nodes	node	NOUN
american_scientific_journal-3835	107	19	[	[	X
american_scientific_journal-3835	107	20	start	start	NOUN
american_scientific_journal-3835	107	21	,	,	PUNCT
american_scientific_journal-3835	107	22	obstacles	obstacle	NOUN
american_scientific_journal-3835	107	23	and	and	CCONJ
american_scientific_journal-3835	107	24	goal	goal	NOUN
american_scientific_journal-3835	107	25	]	]	PUNCT
american_scientific_journal-3835	107	26	have	have	AUX
american_scientific_journal-3835	107	27	been	be	AUX
american_scientific_journal-3835	107	28	generated	generate	VERB
american_scientific_journal-3835	107	29	and	and	CCONJ
american_scientific_journal-3835	107	30	the	the	DET
american_scientific_journal-3835	107	31	coordinates	coordinate	NOUN
american_scientific_journal-3835	107	32	of	of	ADP
american_scientific_journal-3835	107	33	the	the	DET
american_scientific_journal-3835	107	34	seven	seven	NUM
american_scientific_journal-3835	107	35	nodes	node	NOUN
american_scientific_journal-3835	107	36	are	be	AUX
american_scientific_journal-3835	107	37	illustrated	illustrate	VERB
american_scientific_journal-3835	107	38	in	in	ADP
american_scientific_journal-3835	107	39	table	table	NOUN
american_scientific_journal-3835	107	40	2	2	NUM
american_scientific_journal-3835	107	41	.	.	PUNCT
american_scientific_journal-3835	108	1	the	the	DET
american_scientific_journal-3835	108	2	five	five	NUM
american_scientific_journal-3835	108	3	obstacles	obstacle	NOUN
american_scientific_journal-3835	108	4	will	will	AUX
american_scientific_journal-3835	108	5	be	be	AUX
american_scientific_journal-3835	108	6	in	in	ADP
american_scientific_journal-3835	108	7	spherical	spherical	ADJ
american_scientific_journal-3835	108	8	shape	shape	NOUN
american_scientific_journal-3835	108	9	having	have	VERB
american_scientific_journal-3835	108	10	diameters	diameter	NOUN
american_scientific_journal-3835	108	11	of	of	ADP
american_scientific_journal-3835	108	12	:	:	PUNCT
american_scientific_journal-3835	108	13	d1=3.5	d1=3.5	PROPN
american_scientific_journal-3835	108	14	cm	cm	PROPN
american_scientific_journal-3835	108	15	,	,	PUNCT
american_scientific_journal-3835	108	16	d2=5.5	d2=5.5	PROPN
american_scientific_journal-3835	108	17	cm	cm	NOUN
american_scientific_journal-3835	108	18	,	,	PUNCT
american_scientific_journal-3835	108	19	d3=3	d3=3	PROPN
american_scientific_journal-3835	108	20	cm	cm	NOUN
american_scientific_journal-3835	108	21	,	,	PUNCT
american_scientific_journal-3835	108	22	d4=6	d4=6	PROPN
american_scientific_journal-3835	108	23	cm	cm	NOUN
american_scientific_journal-3835	108	24	,	,	PUNCT
american_scientific_journal-3835	108	25	d5=4.7	d5=4.7	PROPN
american_scientific_journal-3835	108	26	cm	cm	NOUN
american_scientific_journal-3835	108	27	american	american	PROPN
american_scientific_journal-3835	108	28	scientific	scientific	ADJ
american_scientific_journal-3835	108	29	research	research	NOUN
american_scientific_journal-3835	108	30	journal	journal	NOUN
american_scientific_journal-3835	108	31	for	for	ADP
american_scientific_journal-3835	108	32	engineering	engineering	NOUN
american_scientific_journal-3835	108	33	,	,	PUNCT
american_scientific_journal-3835	108	34	technology	technology	NOUN
american_scientific_journal-3835	108	35	,	,	PUNCT
american_scientific_journal-3835	108	36	and	and	CCONJ
american_scientific_journal-3835	108	37	sciences	science	NOUN
american_scientific_journal-3835	108	38	(	(	PUNCT
american_scientific_journal-3835	108	39	asrjets	asrjet	NOUN
american_scientific_journal-3835	108	40	)	)	PUNCT
american_scientific_journal-3835	108	41	(	(	PUNCT
american_scientific_journal-3835	108	42	2018	2018	NUM
american_scientific_journal-3835	108	43	)	)	PUNCT
american_scientific_journal-3835	108	44	volume	volume	NOUN
american_scientific_journal-3835	108	45	40	40	NUM
american_scientific_journal-3835	108	46	,	,	PUNCT
american_scientific_journal-3835	108	47	no	no	DET
american_scientific_journal-3835	108	48	01	01	NUM
american_scientific_journal-3835	108	49	,	,	PUNCT
american_scientific_journal-3835	108	50	pp	pp	ADP
american_scientific_journal-3835	108	51	6	6	NUM
american_scientific_journal-3835	108	52	-17	-17	SYM
american_scientific_journal-3835	108	53	15	15	NUM
american_scientific_journal-3835	108	54	fig	fig	NOUN
american_scientific_journal-3835	108	55	.	.	PUNCT
american_scientific_journal-3835	109	1	(	(	PUNCT
american_scientific_journal-3835	109	2	6	6	X
american_scientific_journal-3835	109	3	)	)	PUNCT
american_scientific_journal-3835	109	4	show	show	VERB
american_scientific_journal-3835	109	5	the	the	DET
american_scientific_journal-3835	109	6	actual	actual	ADJ
american_scientific_journal-3835	109	7	curves	curve	NOUN
american_scientific_journal-3835	109	8	that	that	PRON
american_scientific_journal-3835	109	9	are	be	AUX
american_scientific_journal-3835	109	10	generated	generate	VERB
american_scientific_journal-3835	109	11	from	from	ADP
american_scientific_journal-3835	109	12	applying	apply	VERB
american_scientific_journal-3835	109	13	the	the	DET
american_scientific_journal-3835	109	14	robocim	robocim	NOUN
american_scientific_journal-3835	109	15	program	program	NOUN
american_scientific_journal-3835	109	16	which	which	PRON
american_scientific_journal-3835	109	17	can	can	AUX
american_scientific_journal-3835	109	18	get	get	VERB
american_scientific_journal-3835	109	19	theta	theta	NOUN
american_scientific_journal-3835	109	20	of	of	ADP
american_scientific_journal-3835	109	21	all	all	DET
american_scientific_journal-3835	109	22	intermediate	intermediate	ADJ
american_scientific_journal-3835	109	23	points	point	NOUN
american_scientific_journal-3835	109	24	along	along	ADP
american_scientific_journal-3835	109	25	the	the	DET
american_scientific_journal-3835	109	26	curve	curve	NOUN
american_scientific_journal-3835	109	27	then	then	ADV
american_scientific_journal-3835	109	28	applying	apply	VERB
american_scientific_journal-3835	109	29	the	the	DET
american_scientific_journal-3835	109	30	forward	forward	NOUN
american_scientific_journal-3835	109	31	kinematic	kinematic	NOUN
american_scientific_journal-3835	109	32	to	to	PART
american_scientific_journal-3835	109	33	get	get	VERB
american_scientific_journal-3835	109	34	the	the	DET
american_scientific_journal-3835	109	35	positions	position	NOUN
american_scientific_journal-3835	109	36	of	of	ADP
american_scientific_journal-3835	109	37	these	these	DET
american_scientific_journal-3835	109	38	theta	theta	NOUN
american_scientific_journal-3835	109	39	and	and	CCONJ
american_scientific_journal-3835	109	40	from	from	ADP
american_scientific_journal-3835	109	41	the	the	DET
american_scientific_journal-3835	109	42	positions	position	NOUN
american_scientific_journal-3835	109	43	actual	actual	ADJ
american_scientific_journal-3835	109	44	curves	curve	NOUN
american_scientific_journal-3835	109	45	can	can	AUX
american_scientific_journal-3835	109	46	be	be	AUX
american_scientific_journal-3835	109	47	obtained	obtain	VERB
american_scientific_journal-3835	109	48	.	.	PUNCT
american_scientific_journal-3835	110	1	figure	figure	VERB
american_scientific_journal-3835	110	2	6	6	NUM
american_scientific_journal-3835	110	3	:	:	SYM
american_scientific_journal-3835	110	4	two	two	NUM
american_scientific_journal-3835	110	5	path	path	NOUN
american_scientific_journal-3835	110	6	planning	planning	NOUN
american_scientific_journal-3835	110	7	of	of	ADP
american_scientific_journal-3835	110	8	obstacles	obstacle	NOUN
american_scientific_journal-3835	110	9	avoidance	avoidance	NOUN
american_scientific_journal-3835	110	10	without	without	ADP
american_scientific_journal-3835	110	11	and	and	CCONJ
american_scientific_journal-3835	110	12	with	with	ADP
american_scientific_journal-3835	110	13	applying	apply	VERB
american_scientific_journal-3835	110	14	pso	pso	NOUN
american_scientific_journal-3835	110	15	case	case	NOUN
american_scientific_journal-3835	110	16	2	2	NUM
american_scientific_journal-3835	110	17	the	the	DET
american_scientific_journal-3835	110	18	total	total	ADJ
american_scientific_journal-3835	110	19	distance	distance	NOUN
american_scientific_journal-3835	110	20	of	of	ADP
american_scientific_journal-3835	110	21	the	the	DET
american_scientific_journal-3835	110	22	generated	generate	VERB
american_scientific_journal-3835	110	23	curve	curve	NOUN
american_scientific_journal-3835	110	24	in	in	ADP
american_scientific_journal-3835	110	25	this	this	DET
american_scientific_journal-3835	110	26	case	case	NOUN
american_scientific_journal-3835	110	27	without	without	ADP
american_scientific_journal-3835	110	28	applying	apply	VERB
american_scientific_journal-3835	110	29	pso	pso	NOUN
american_scientific_journal-3835	110	30	from	from	ADP
american_scientific_journal-3835	110	31	start	start	NOUN
american_scientific_journal-3835	110	32	to	to	ADP
american_scientific_journal-3835	110	33	goal	goal	NOUN
american_scientific_journal-3835	110	34	points	point	NOUN
american_scientific_journal-3835	110	35	is	be	AUX
american_scientific_journal-3835	110	36	55.481	55.481	NUM
american_scientific_journal-3835	110	37	cm	cm	NOUN
american_scientific_journal-3835	110	38	,	,	PUNCT
american_scientific_journal-3835	110	39	the	the	DET
american_scientific_journal-3835	110	40	time	time	NOUN
american_scientific_journal-3835	110	41	taken	take	VERB
american_scientific_journal-3835	110	42	at	at	ADP
american_scientific_journal-3835	110	43	the	the	DET
american_scientific_journal-3835	110	44	same	same	ADJ
american_scientific_journal-3835	110	45	environment	environment	NOUN
american_scientific_journal-3835	110	46	is	be	AUX
american_scientific_journal-3835	110	47	7.397	7.397	NUM
american_scientific_journal-3835	110	48	sec	sec	PROPN
american_scientific_journal-3835	110	49	.	.	PUNCT
american_scientific_journal-3835	111	1	and	and	CCONJ
american_scientific_journal-3835	111	2	with	with	ADP
american_scientific_journal-3835	111	3	apply	apply	ADJ
american_scientific_journal-3835	111	4	pso	pso	NOUN
american_scientific_journal-3835	111	5	algorithm	algorithm	NOUN
american_scientific_journal-3835	111	6	the	the	DET
american_scientific_journal-3835	111	7	total	total	ADJ
american_scientific_journal-3835	111	8	distance	distance	NOUN
american_scientific_journal-3835	111	9	of	of	ADP
american_scientific_journal-3835	111	10	generate	generate	NOUN
american_scientific_journal-3835	111	11	curve	curve	NOUN
american_scientific_journal-3835	111	12	is	be	AUX
american_scientific_journal-3835	111	13	51.365	51.365	NUM
american_scientific_journal-3835	111	14	cm	cm	NOUN
american_scientific_journal-3835	111	15	,	,	PUNCT
american_scientific_journal-3835	111	16	and	and	CCONJ
american_scientific_journal-3835	111	17	the	the	DET
american_scientific_journal-3835	111	18	total	total	ADJ
american_scientific_journal-3835	111	19	time	time	NOUN
american_scientific_journal-3835	111	20	taken	take	VERB
american_scientific_journal-3835	111	21	is	be	AUX
american_scientific_journal-3835	111	22	6.848	6.848	NUM
american_scientific_journal-3835	111	23	sec	sec	PROPN
american_scientific_journal-3835	111	24	.	.	PUNCT
american_scientific_journal-3835	112	1	the	the	DET
american_scientific_journal-3835	112	2	physical	physical	ADJ
american_scientific_journal-3835	112	3	steps	step	NOUN
american_scientific_journal-3835	112	4	of	of	ADP
american_scientific_journal-3835	112	5	the	the	DET
american_scientific_journal-3835	112	6	path	path	NOUN
american_scientific_journal-3835	112	7	planning	planning	NOUN
american_scientific_journal-3835	112	8	progress	progress	NOUN
american_scientific_journal-3835	112	9	for	for	ADP
american_scientific_journal-3835	112	10	five	five	NUM
american_scientific_journal-3835	112	11	obstacles	obstacle	NOUN
american_scientific_journal-3835	112	12	avoidance	avoidance	NOUN
american_scientific_journal-3835	112	13	based	base	VERB
american_scientific_journal-3835	112	14	on	on	ADP
american_scientific_journal-3835	112	15	bezier	bezi	ADJ
american_scientific_journal-3835	112	16	curve	curve	NOUN
american_scientific_journal-3835	112	17	are	be	AUX
american_scientific_journal-3835	112	18	illustrated	illustrate	VERB
american_scientific_journal-3835	112	19	in	in	ADP
american_scientific_journal-3835	112	20	fig	fig	NOUN
american_scientific_journal-3835	112	21	.	.	PUNCT
american_scientific_journal-3835	113	1	(	(	PUNCT
american_scientific_journal-3835	113	2	7	7	NUM
american_scientific_journal-3835	113	3	)	)	PUNCT
american_scientific_journal-3835	113	4	.	.	PUNCT
american_scientific_journal-3835	114	1	figure	figure	VERB
american_scientific_journal-3835	114	2	7	7	NUM
american_scientific_journal-3835	114	3	:	:	PUNCT
american_scientific_journal-3835	114	4	physical	physical	ADJ
american_scientific_journal-3835	114	5	steps	step	NOUN
american_scientific_journal-3835	114	6	case	case	NOUN
american_scientific_journal-3835	114	7	2	2	NUM
american_scientific_journal-3835	114	8	of	of	ADP
american_scientific_journal-3835	114	9	five	five	NUM
american_scientific_journal-3835	114	10	obstacle	obstacle	NOUN
american_scientific_journal-3835	114	11	avoidance	avoidance	NOUN
american_scientific_journal-3835	114	12	path	path	NOUN
american_scientific_journal-3835	114	13	planning	planning	NOUN
american_scientific_journal-3835	114	14	in	in	ADP
american_scientific_journal-3835	114	15	real	real	ADJ
american_scientific_journal-3835	114	16	environment	environment	NOUN
american_scientific_journal-3835	114	17	9	9	NUM
american_scientific_journal-3835	114	18	.	.	PUNCT
american_scientific_journal-3835	114	19	comparison	comparison	NOUN
american_scientific_journal-3835	114	20	and	and	CCONJ
american_scientific_journal-3835	114	21	discussion	discussion	NOUN
american_scientific_journal-3835	114	22	experimental	experimental	ADJ
american_scientific_journal-3835	114	23	cases	case	NOUN
american_scientific_journal-3835	114	24	in	in	ADP
american_scientific_journal-3835	114	25	the	the	DET
american_scientific_journal-3835	114	26	previous	previous	ADJ
american_scientific_journal-3835	114	27	subsections	subsection	NOUN
american_scientific_journal-3835	114	28	(	(	PUNCT
american_scientific_journal-3835	114	29	7	7	NUM
american_scientific_journal-3835	114	30	)	)	PUNCT
american_scientific_journal-3835	114	31	and	and	CCONJ
american_scientific_journal-3835	114	32	(	(	PUNCT
american_scientific_journal-3835	114	33	8)	8)	NUM
american_scientific_journal-3835	114	34	the	the	DET
american_scientific_journal-3835	114	35	bézier	bézier	NOUN
american_scientific_journal-3835	114	36	curve	curve	NOUN
american_scientific_journal-3835	114	37	was	be	AUX
american_scientific_journal-3835	114	38	used	use	VERB
american_scientific_journal-3835	114	39	to	to	PART
american_scientific_journal-3835	114	40	generate	generate	VERB
american_scientific_journal-3835	114	41	the	the	DET
american_scientific_journal-3835	114	42	path	path	NOUN
american_scientific_journal-3835	114	43	planning	planning	NOUN
american_scientific_journal-3835	114	44	with	with	ADP
american_scientific_journal-3835	114	45	obstacles	obstacle	NOUN
american_scientific_journal-3835	114	46	10	10	NUM
american_scientific_journal-3835	114	47	20	20	NUM
american_scientific_journal-3835	114	48	30	30	NUM
american_scientific_journal-3835	114	49	40	40	NUM
american_scientific_journal-3835	114	50	50	50	NUM
american_scientific_journal-3835	114	51	60	60	NUM
american_scientific_journal-3835	114	52	-40	-40	NUM
american_scientific_journal-3835	114	53	-30	-30	NUM
american_scientific_journal-3835	114	54	-20	-20	NUM
american_scientific_journal-3835	114	55	-10	-10	SYM
american_scientific_journal-3835	114	56	0	0	NUM
american_scientific_journal-3835	114	57	10	10	NUM
american_scientific_journal-3835	114	58	20	20	NUM
american_scientific_journal-3835	114	59	30	30	NUM
american_scientific_journal-3835	114	60	y	y	NOUN
american_scientific_journal-3835	114	61	-	-	PUNCT
american_scientific_journal-3835	114	62	axis	axis	NOUN
american_scientific_journal-3835	114	63	x	x	NOUN
american_scientific_journal-3835	114	64	-	-	PUNCT
american_scientific_journal-3835	114	65	a	a	DET
american_scientific_journal-3835	114	66	xis	xis	PROPN
american_scientific_journal-3835	114	67	without	without	ADP
american_scientific_journal-3835	114	68	pso	pso	NOUN
american_scientific_journal-3835	114	69	with	with	ADP
american_scientific_journal-3835	114	70	pso	pso	NOUN
american_scientific_journal-3835	114	71	robot	robot	NOUN
american_scientific_journal-3835	114	72	body	body	NOUN
american_scientific_journal-3835	114	73	american	american	PROPN
american_scientific_journal-3835	114	74	scientific	scientific	ADJ
american_scientific_journal-3835	114	75	research	research	NOUN
american_scientific_journal-3835	114	76	journal	journal	NOUN
american_scientific_journal-3835	114	77	for	for	ADP
american_scientific_journal-3835	114	78	engineering	engineering	NOUN
american_scientific_journal-3835	114	79	,	,	PUNCT
american_scientific_journal-3835	114	80	technology	technology	NOUN
american_scientific_journal-3835	114	81	,	,	PUNCT
american_scientific_journal-3835	114	82	and	and	CCONJ
american_scientific_journal-3835	114	83	sciences	science	NOUN
american_scientific_journal-3835	114	84	(	(	PUNCT
american_scientific_journal-3835	114	85	asrjets	asrjet	NOUN
american_scientific_journal-3835	114	86	)	)	PUNCT
american_scientific_journal-3835	114	87	(	(	PUNCT
american_scientific_journal-3835	114	88	2018	2018	NUM
american_scientific_journal-3835	114	89	)	)	PUNCT
american_scientific_journal-3835	114	90	volume	volume	NOUN
american_scientific_journal-3835	114	91	40	40	NUM
american_scientific_journal-3835	114	92	,	,	PUNCT
american_scientific_journal-3835	114	93	no	no	DET
american_scientific_journal-3835	114	94	01	01	NUM
american_scientific_journal-3835	114	95	,	,	PUNCT
american_scientific_journal-3835	114	96	pp	pp	ADP
american_scientific_journal-3835	114	97	6	6	NUM
american_scientific_journal-3835	114	98	-17	-17	SYM
american_scientific_journal-3835	114	99	16	16	NUM
american_scientific_journal-3835	114	100	avoidance	avoidance	NOUN
american_scientific_journal-3835	114	101	,	,	PUNCT
american_scientific_journal-3835	114	102	then	then	ADV
american_scientific_journal-3835	114	103	the	the	DET
american_scientific_journal-3835	114	104	pso	pso	NOUN
american_scientific_journal-3835	114	105	was	be	AUX
american_scientific_journal-3835	114	106	utilized	utilize	VERB
american_scientific_journal-3835	114	107	to	to	PART
american_scientific_journal-3835	114	108	get	get	VERB
american_scientific_journal-3835	114	109	the	the	DET
american_scientific_journal-3835	114	110	best	good	ADJ
american_scientific_journal-3835	114	111	cost	cost	NOUN
american_scientific_journal-3835	114	112	function	function	NOUN
american_scientific_journal-3835	114	113	with	with	ADP
american_scientific_journal-3835	114	114	minimum	minimum	ADJ
american_scientific_journal-3835	114	115	time	time	NOUN
american_scientific_journal-3835	114	116	and	and	CCONJ
american_scientific_journal-3835	114	117	minimum	minimum	NOUN
american_scientific_journal-3835	114	118	distance	distance	NOUN
american_scientific_journal-3835	114	119	from	from	ADP
american_scientific_journal-3835	114	120	the	the	DET
american_scientific_journal-3835	114	121	start	start	NOUN
american_scientific_journal-3835	114	122	to	to	ADP
american_scientific_journal-3835	114	123	the	the	DET
american_scientific_journal-3835	114	124	goal	goal	NOUN
american_scientific_journal-3835	114	125	points	point	NOUN
american_scientific_journal-3835	114	126	.	.	PUNCT
american_scientific_journal-3835	115	1	table	table	NOUN
american_scientific_journal-3835	115	2	4	4	NUM
american_scientific_journal-3835	115	3	.	.	PUNCT
american_scientific_journal-3835	115	4	shows	show	VERB
american_scientific_journal-3835	115	5	the	the	DET
american_scientific_journal-3835	115	6	comparison	comparison	NOUN
american_scientific_journal-3835	115	7	between	between	ADP
american_scientific_journal-3835	115	8	path	path	NOUN
american_scientific_journal-3835	115	9	planning	planning	NOUN
american_scientific_journal-3835	115	10	with	with	ADP
american_scientific_journal-3835	115	11	the	the	DET
american_scientific_journal-3835	115	12	obstacle	obstacle	NOUN
american_scientific_journal-3835	115	13	avoidance	avoidance	NOUN
american_scientific_journal-3835	115	14	without	without	ADP
american_scientific_journal-3835	115	15	and	and	CCONJ
american_scientific_journal-3835	115	16	with	with	ADP
american_scientific_journal-3835	115	17	applying	apply	VERB
american_scientific_journal-3835	115	18	pso	pso	NOUN
american_scientific_journal-3835	115	19	.	.	PUNCT
american_scientific_journal-3835	115	20	table	table	NOUN
american_scientific_journal-3835	115	21	4	4	NUM
american_scientific_journal-3835	115	22	:	:	PUNCT
american_scientific_journal-3835	115	23	shows	show	VERB
american_scientific_journal-3835	115	24	the	the	DET
american_scientific_journal-3835	115	25	comparison	comparison	NOUN
american_scientific_journal-3835	115	26	of	of	ADP
american_scientific_journal-3835	115	27	three	three	NUM
american_scientific_journal-3835	115	28	experimental	experimental	ADJ
american_scientific_journal-3835	115	29	cases	case	NOUN
american_scientific_journal-3835	115	30	total	total	ADJ
american_scientific_journal-3835	115	31	distance	distance	NOUN
american_scientific_journal-3835	115	32	(	(	PUNCT
american_scientific_journal-3835	115	33	cm	cm	NOUN
american_scientific_journal-3835	115	34	)	)	PUNCT
american_scientific_journal-3835	115	35	total	total	ADJ
american_scientific_journal-3835	115	36	time	time	NOUN
american_scientific_journal-3835	115	37	taken	take	VERB
american_scientific_journal-3835	115	38	(	(	PUNCT
american_scientific_journal-3835	115	39	sec	sec	PROPN
american_scientific_journal-3835	115	40	)	)	PUNCT
american_scientific_journal-3835	115	41	experimental	experimental	ADJ
american_scientific_journal-3835	115	42	cases	case	NOUN
american_scientific_journal-3835	115	43	path	path	NOUN
american_scientific_journal-3835	115	44	planning	planning	NOUN
american_scientific_journal-3835	115	45	with	with	ADP
american_scientific_journal-3835	115	46	applying	apply	VERB
american_scientific_journal-3835	115	47	pso	pso	NOUN
american_scientific_journal-3835	115	48	path	path	NOUN
american_scientific_journal-3835	115	49	planning	planning	NOUN
american_scientific_journal-3835	115	50	without	without	ADP
american_scientific_journal-3835	115	51	applying	apply	VERB
american_scientific_journal-3835	115	52	pso	pso	NOUN
american_scientific_journal-3835	115	53	path	path	NOUN
american_scientific_journal-3835	115	54	planning	planning	NOUN
american_scientific_journal-3835	115	55	with	with	ADP
american_scientific_journal-3835	115	56	applying	apply	VERB
american_scientific_journal-3835	115	57	pso	pso	NOUN
american_scientific_journal-3835	115	58	path	path	NOUN
american_scientific_journal-3835	115	59	planning	planning	NOUN
american_scientific_journal-3835	115	60	without	without	ADP
american_scientific_journal-3835	115	61	applying	apply	VERB
american_scientific_journal-3835	115	62	pso	pso	NOUN
american_scientific_journal-3835	115	63	64.104	64.104	NUM
american_scientific_journal-3835	115	64	67.21	67.21	NUM
american_scientific_journal-3835	115	65	8.547	8.547	NUM
american_scientific_journal-3835	115	66	8.961	8.961	NUM
american_scientific_journal-3835	115	67	case	case	NOUN
american_scientific_journal-3835	115	68	one	one	NUM
american_scientific_journal-3835	115	69	51.365	51.365	NUM
american_scientific_journal-3835	115	70	55.482	55.482	NUM
american_scientific_journal-3835	115	71	6.848	6.848	NUM
american_scientific_journal-3835	115	72	7.397	7.397	NUM
american_scientific_journal-3835	115	73	case	case	NOUN
american_scientific_journal-3835	115	74	two	two	NUM
american_scientific_journal-3835	115	75	10	10	NUM
american_scientific_journal-3835	115	76	.	.	PUNCT
american_scientific_journal-3835	116	1	conclusions	conclusion	NOUN
american_scientific_journal-3835	116	2	in	in	ADP
american_scientific_journal-3835	116	3	this	this	DET
american_scientific_journal-3835	116	4	paper	paper	NOUN
american_scientific_journal-3835	116	5	,	,	PUNCT
american_scientific_journal-3835	116	6	it	it	PRON
american_scientific_journal-3835	116	7	can	can	AUX
american_scientific_journal-3835	116	8	be	be	AUX
american_scientific_journal-3835	116	9	calculate	calculate	VERB
american_scientific_journal-3835	116	10	that	that	SCONJ
american_scientific_journal-3835	116	11	:	:	PUNCT
american_scientific_journal-3835	116	12	the	the	DET
american_scientific_journal-3835	116	13	generation	generation	NOUN
american_scientific_journal-3835	116	14	of	of	ADP
american_scientific_journal-3835	116	15	path	path	NOUN
american_scientific_journal-3835	116	16	planning	planning	NOUN
american_scientific_journal-3835	116	17	by	by	ADP
american_scientific_journal-3835	116	18	using	use	VERB
american_scientific_journal-3835	116	19	bézier	bézier	NOUN
american_scientific_journal-3835	116	20	curve	curve	NOUN
american_scientific_journal-3835	116	21	should	should	AUX
american_scientific_journal-3835	116	22	partition	partition	VERB
american_scientific_journal-3835	116	23	the	the	DET
american_scientific_journal-3835	116	24	curve	curve	NOUN
american_scientific_journal-3835	116	25	to	to	ADP
american_scientific_journal-3835	116	26	enough	enough	ADJ
american_scientific_journal-3835	116	27	segments	segment	NOUN
american_scientific_journal-3835	116	28	to	to	PART
american_scientific_journal-3835	116	29	generate	generate	VERB
american_scientific_journal-3835	116	30	intermediate	intermediate	ADJ
american_scientific_journal-3835	116	31	node	node	NOUN
american_scientific_journal-3835	116	32	which	which	PRON
american_scientific_journal-3835	116	33	the	the	DET
american_scientific_journal-3835	116	34	arm	arm	NOUN
american_scientific_journal-3835	116	35	should	should	AUX
american_scientific_journal-3835	116	36	follow	follow	VERB
american_scientific_journal-3835	116	37	by	by	ADP
american_scientific_journal-3835	116	38	a	a	DET
american_scientific_journal-3835	116	39	sequence	sequence	NOUN
american_scientific_journal-3835	116	40	of	of	ADP
american_scientific_journal-3835	116	41	joint	joint	ADJ
american_scientific_journal-3835	116	42	angles	angle	NOUN
american_scientific_journal-3835	116	43	to	to	PART
american_scientific_journal-3835	116	44	reach	reach	VERB
american_scientific_journal-3835	116	45	the	the	DET
american_scientific_journal-3835	116	46	goal	goal	NOUN
american_scientific_journal-3835	116	47	.	.	PUNCT
american_scientific_journal-3835	117	1	by	by	ADP
american_scientific_journal-3835	117	2	testing	test	VERB
american_scientific_journal-3835	117	3	the	the	DET
american_scientific_journal-3835	117	4	adopted	adopt	VERB
american_scientific_journal-3835	117	5	procedure	procedure	NOUN
american_scientific_journal-3835	117	6	for	for	ADP
american_scientific_journal-3835	117	7	each	each	DET
american_scientific_journal-3835	117	8	case	case	NOUN
american_scientific_journal-3835	117	9	,	,	PUNCT
american_scientific_journal-3835	117	10	it	it	PRON
american_scientific_journal-3835	117	11	has	have	AUX
american_scientific_journal-3835	117	12	been	be	AUX
american_scientific_journal-3835	117	13	found	find	VERB
american_scientific_journal-3835	117	14	that	that	SCONJ
american_scientific_journal-3835	117	15	each	each	DET
american_scientific_journal-3835	117	16	case	case	NOUN
american_scientific_journal-3835	117	17	take	take	VERB
american_scientific_journal-3835	117	18	specific	specific	ADJ
american_scientific_journal-3835	117	19	time	time	NOUN
american_scientific_journal-3835	117	20	and	and	CCONJ
american_scientific_journal-3835	117	21	distance	distance	NOUN
american_scientific_journal-3835	117	22	.	.	PUNCT
american_scientific_journal-3835	118	1	the	the	DET
american_scientific_journal-3835	118	2	proposed	propose	VERB
american_scientific_journal-3835	118	3	algorithm	algorithm	NOUN
american_scientific_journal-3835	118	4	for	for	ADP
american_scientific_journal-3835	118	5	optimal	optimal	ADJ
american_scientific_journal-3835	118	6	path	path	NOUN
american_scientific_journal-3835	118	7	planning	planning	NOUN
american_scientific_journal-3835	118	8	collision	collision	NOUN
american_scientific_journal-3835	118	9	free	free	ADJ
american_scientific_journal-3835	118	10	by	by	ADP
american_scientific_journal-3835	118	11	using	use	VERB
american_scientific_journal-3835	118	12	bézier	bézier	NOUN
american_scientific_journal-3835	118	13	technique	technique	NOUN
american_scientific_journal-3835	118	14	for	for	ADP
american_scientific_journal-3835	118	15	geometric	geometric	ADJ
american_scientific_journal-3835	118	16	path	path	NOUN
american_scientific_journal-3835	118	17	planning	planning	NOUN
american_scientific_journal-3835	118	18	is	be	AUX
american_scientific_journal-3835	118	19	appropriate	appropriate	ADJ
american_scientific_journal-3835	118	20	for	for	ADP
american_scientific_journal-3835	118	21	robots	robot	NOUN
american_scientific_journal-3835	118	22	with	with	ADP
american_scientific_journal-3835	118	23	a	a	DET
american_scientific_journal-3835	118	24	well	well	ADV
american_scientific_journal-3835	118	25	-	-	PUNCT
american_scientific_journal-3835	118	26	known	know	VERB
american_scientific_journal-3835	118	27	workspace	workspace	NOUN
american_scientific_journal-3835	118	28	environment	environment	NOUN
american_scientific_journal-3835	118	29	then	then	ADV
american_scientific_journal-3835	118	30	the	the	DET
american_scientific_journal-3835	118	31	pso	pso	NOUN
american_scientific_journal-3835	118	32	is	be	AUX
american_scientific_journal-3835	118	33	applied	apply	VERB
american_scientific_journal-3835	118	34	algorithm	algorithm	NOUN
american_scientific_journal-3835	118	35	and	and	CCONJ
american_scientific_journal-3835	118	36	this	this	DET
american_scientific_journal-3835	118	37	adopted	adopt	VERB
american_scientific_journal-3835	118	38	algorithm	algorithm	NOUN
american_scientific_journal-3835	118	39	to	to	PART
american_scientific_journal-3835	118	40	find	find	VERB
american_scientific_journal-3835	118	41	collision	collision	NOUN
american_scientific_journal-3835	118	42	free	free	ADJ
american_scientific_journal-3835	118	43	path	path	NOUN
american_scientific_journal-3835	118	44	compared	compare	VERB
american_scientific_journal-3835	118	45	to	to	ADP
american_scientific_journal-3835	118	46	other	other	ADJ
american_scientific_journal-3835	118	47	path	path	NOUN
american_scientific_journal-3835	118	48	planning	planning	NOUN
american_scientific_journal-3835	118	49	algorithms	algorithm	NOUN
american_scientific_journal-3835	118	50	by	by	ADP
american_scientific_journal-3835	118	51	utilizing	utilize	VERB
american_scientific_journal-3835	118	52	the	the	DET
american_scientific_journal-3835	118	53	output	output	NOUN
american_scientific_journal-3835	118	54	of	of	ADP
american_scientific_journal-3835	118	55	the	the	DET
american_scientific_journal-3835	118	56	intermediate	intermediate	ADJ
american_scientific_journal-3835	118	57	points	point	NOUN
american_scientific_journal-3835	118	58	of	of	ADP
american_scientific_journal-3835	118	59	bézier	bézier	NOUN
american_scientific_journal-3835	118	60	curve	curve	NOUN
american_scientific_journal-3835	118	61	.	.	PUNCT
american_scientific_journal-3835	119	1	the	the	DET
american_scientific_journal-3835	119	2	main	main	ADJ
american_scientific_journal-3835	119	3	contribution	contribution	NOUN
american_scientific_journal-3835	119	4	of	of	ADP
american_scientific_journal-3835	119	5	this	this	DET
american_scientific_journal-3835	119	6	algorithm	algorithm	NOUN
american_scientific_journal-3835	119	7	is	be	AUX
american_scientific_journal-3835	119	8	the	the	DET
american_scientific_journal-3835	119	9	decrease	decrease	NOUN
american_scientific_journal-3835	119	10	in	in	ADP
american_scientific_journal-3835	119	11	the	the	DET
american_scientific_journal-3835	119	12	distance	distance	NOUN
american_scientific_journal-3835	119	13	and	and	CCONJ
american_scientific_journal-3835	119	14	time	time	NOUN
american_scientific_journal-3835	119	15	needed	need	VERB
american_scientific_journal-3835	119	16	to	to	PART
american_scientific_journal-3835	119	17	map	map	VERB
american_scientific_journal-3835	119	18	a	a	DET
american_scientific_journal-3835	119	19	collision	collision	NOUN
american_scientific_journal-3835	119	20	free	free	ADJ
american_scientific_journal-3835	119	21	path	path	NOUN
american_scientific_journal-3835	119	22	from	from	ADP
american_scientific_journal-3835	119	23	a	a	DET
american_scientific_journal-3835	119	24	given	give	VERB
american_scientific_journal-3835	119	25	start	start	NOUN
american_scientific_journal-3835	119	26	point	point	NOUN
american_scientific_journal-3835	119	27	to	to	ADP
american_scientific_journal-3835	119	28	final	final	ADJ
american_scientific_journal-3835	119	29	desire	desire	NOUN
american_scientific_journal-3835	119	30	point	point	NOUN
american_scientific_journal-3835	119	31	when	when	SCONJ
american_scientific_journal-3835	119	32	the	the	DET
american_scientific_journal-3835	119	33	sensor	sensor	NOUN
american_scientific_journal-3835	119	34	is	be	AUX
american_scientific_journal-3835	119	35	not	not	PART
american_scientific_journal-3835	119	36	available	available	ADJ
american_scientific_journal-3835	119	37	in	in	ADP
american_scientific_journal-3835	119	38	equipped	equip	VERB
american_scientific_journal-3835	119	39	robots	robot	NOUN
american_scientific_journal-3835	119	40	.	.	PUNCT
american_scientific_journal-3835	120	1	converting	convert	VERB
american_scientific_journal-3835	120	2	all	all	DET
american_scientific_journal-3835	120	3	the	the	DET
american_scientific_journal-3835	120	4	obstacle	obstacle	NOUN
american_scientific_journal-3835	120	5	shapes	shape	VERB
american_scientific_journal-3835	120	6	from	from	ADP
american_scientific_journal-3835	120	7	nodes	node	NOUN
american_scientific_journal-3835	120	8	into	into	ADP
american_scientific_journal-3835	120	9	circle	circle	NOUN
american_scientific_journal-3835	120	10	shape	shape	NOUN
american_scientific_journal-3835	120	11	at	at	ADP
american_scientific_journal-3835	120	12	2d	2d	NUM
american_scientific_journal-3835	120	13	space	space	NOUN
american_scientific_journal-3835	120	14	then	then	ADV
american_scientific_journal-3835	120	15	into	into	ADP
american_scientific_journal-3835	120	16	sphere	sphere	NOUN
american_scientific_journal-3835	120	17	shape	shape	NOUN
american_scientific_journal-3835	120	18	at	at	ADP
american_scientific_journal-3835	120	19	3d	3d	PROPN
american_scientific_journal-3835	120	20	space	space	NOUN
american_scientific_journal-3835	120	21	helps	help	VERB
american_scientific_journal-3835	120	22	to	to	PART
american_scientific_journal-3835	120	23	represent	represent	VERB
american_scientific_journal-3835	120	24	and	and	CCONJ
american_scientific_journal-3835	120	25	take	take	VERB
american_scientific_journal-3835	120	26	into	into	ADP
american_scientific_journal-3835	120	27	consideration	consideration	NOUN
american_scientific_journal-3835	120	28	the	the	DET
american_scientific_journal-3835	120	29	volume	volume	NOUN
american_scientific_journal-3835	120	30	of	of	ADP
american_scientific_journal-3835	120	31	all	all	DET
american_scientific_journal-3835	120	32	the	the	DET
american_scientific_journal-3835	120	33	obstacles	obstacle	NOUN
american_scientific_journal-3835	120	34	.	.	PUNCT
american_scientific_journal-3835	121	1	segmentation	segmentation	NOUN
american_scientific_journal-3835	121	2	of	of	ADP
american_scientific_journal-3835	121	3	bézier	bézier	NOUN
american_scientific_journal-3835	121	4	curve	curve	NOUN
american_scientific_journal-3835	121	5	into	into	ADP
american_scientific_journal-3835	121	6	two	two	NUM
american_scientific_journal-3835	121	7	or	or	CCONJ
american_scientific_journal-3835	121	8	several	several	ADJ
american_scientific_journal-3835	121	9	segments	segment	NOUN
american_scientific_journal-3835	121	10	gave	give	VERB
american_scientific_journal-3835	121	11	the	the	DET
american_scientific_journal-3835	121	12	path	path	NOUN
american_scientific_journal-3835	121	13	more	more	ADJ
american_scientific_journal-3835	121	14	flexibility	flexibility	NOUN
american_scientific_journal-3835	121	15	by	by	ADP
american_scientific_journal-3835	121	16	controlling	control	VERB
american_scientific_journal-3835	121	17	each	each	DET
american_scientific_journal-3835	121	18	segment	segment	NOUN
american_scientific_journal-3835	121	19	on	on	ADP
american_scientific_journal-3835	121	20	the	the	DET
american_scientific_journal-3835	121	21	curve	curve	NOUN
american_scientific_journal-3835	121	22	separately	separately	ADV
american_scientific_journal-3835	121	23	.	.	PUNCT
american_scientific_journal-3835	122	1	by	by	ADP
american_scientific_journal-3835	122	2	testing	test	VERB
american_scientific_journal-3835	122	3	the	the	DET
american_scientific_journal-3835	122	4	adopted	adopt	VERB
american_scientific_journal-3835	122	5	proposed	propose	VERB
american_scientific_journal-3835	122	6	algorithms	algorithm	NOUN
american_scientific_journal-3835	122	7	of	of	ADP
american_scientific_journal-3835	122	8	bézier	bézier	NOUN
american_scientific_journal-3835	122	9	curve	curve	NOUN
american_scientific_journal-3835	122	10	and	and	CCONJ
american_scientific_journal-3835	122	11	pso	pso	NOUN
american_scientific_journal-3835	122	12	with	with	ADP
american_scientific_journal-3835	122	13	several	several	ADJ
american_scientific_journal-3835	122	14	different	different	ADJ
american_scientific_journal-3835	122	15	cases	case	NOUN
american_scientific_journal-3835	122	16	,	,	PUNCT
american_scientific_journal-3835	122	17	it	it	PRON
american_scientific_journal-3835	122	18	was	be	AUX
american_scientific_journal-3835	122	19	found	find	VERB
american_scientific_journal-3835	122	20	that	that	SCONJ
american_scientific_journal-3835	122	21	there	there	PRON
american_scientific_journal-3835	122	22	is	be	VERB
american_scientific_journal-3835	122	23	a	a	DET
american_scientific_journal-3835	122	24	difference	difference	NOUN
american_scientific_journal-3835	122	25	between	between	ADP
american_scientific_journal-3835	122	26	the	the	DET
american_scientific_journal-3835	122	27	cases	case	NOUN
american_scientific_journal-3835	122	28	without	without	ADP
american_scientific_journal-3835	122	29	and	and	CCONJ
american_scientific_journal-3835	122	30	with	with	ADP
american_scientific_journal-3835	122	31	applying	apply	VERB
american_scientific_journal-3835	122	32	the	the	DET
american_scientific_journal-3835	122	33	pso	pso	NOUN
american_scientific_journal-3835	122	34	in	in	ADP
american_scientific_journal-3835	122	35	term	term	NOUN
american_scientific_journal-3835	122	36	of	of	ADP
american_scientific_journal-3835	122	37	achieving	achieve	VERB
american_scientific_journal-3835	122	38	of	of	ADP
american_scientific_journal-3835	122	39	less	less	ADJ
american_scientific_journal-3835	122	40	time	time	NOUN
american_scientific_journal-3835	122	41	and	and	CCONJ
american_scientific_journal-3835	122	42	shorter	short	ADJ
american_scientific_journal-3835	122	43	distance	distance	NOUN
american_scientific_journal-3835	122	44	with	with	ADP
american_scientific_journal-3835	122	45	optimization	optimization	NOUN
american_scientific_journal-3835	122	46	ration	ration	NOUN
american_scientific_journal-3835	122	47	for	for	ADP
american_scientific_journal-3835	122	48	these	these	DET
american_scientific_journal-3835	122	49	cases	case	NOUN
american_scientific_journal-3835	122	50	are	be	AUX
american_scientific_journal-3835	122	51	(	(	PUNCT
american_scientific_journal-3835	122	52	1.569	1.569	NUM
american_scientific_journal-3835	122	53	%	%	NOUN
american_scientific_journal-3835	122	54	and	and	CCONJ
american_scientific_journal-3835	122	55	6.281	6.281	NUM
american_scientific_journal-3835	122	56	%	%	NOUN
american_scientific_journal-3835	122	57	)	)	PUNCT
american_scientific_journal-3835	122	58	respectively	respectively	ADV
american_scientific_journal-3835	122	59	.	.	PUNCT
american_scientific_journal-3835	123	1	american	american	ADJ
american_scientific_journal-3835	123	2	scientific	scientific	ADJ
american_scientific_journal-3835	123	3	research	research	PROPN
american_scientific_journal-3835	123	4	journal	journal	NOUN
american_scientific_journal-3835	123	5	for	for	ADP
american_scientific_journal-3835	123	6	engineering	engineering	NOUN
american_scientific_journal-3835	123	7	,	,	PUNCT
american_scientific_journal-3835	123	8	technology	technology	NOUN
american_scientific_journal-3835	123	9	,	,	PUNCT
american_scientific_journal-3835	123	10	and	and	CCONJ
american_scientific_journal-3835	123	11	sciences	science	NOUN
american_scientific_journal-3835	123	12	(	(	PUNCT
american_scientific_journal-3835	123	13	asrjets	asrjet	NOUN
american_scientific_journal-3835	123	14	)	)	PUNCT
american_scientific_journal-3835	123	15	(	(	PUNCT
american_scientific_journal-3835	123	16	2018	2018	NUM
american_scientific_journal-3835	123	17	)	)	PUNCT
american_scientific_journal-3835	123	18	volume	volume	NOUN
american_scientific_journal-3835	123	19	40	40	NUM
american_scientific_journal-3835	123	20	,	,	PUNCT
american_scientific_journal-3835	123	21	no	no	DET
american_scientific_journal-3835	123	22	01	01	NUM
american_scientific_journal-3835	123	23	,	,	PUNCT
american_scientific_journal-3835	123	24	pp	pp	ADP
american_scientific_journal-3835	123	25	6	6	NUM
american_scientific_journal-3835	123	26	-17	-17	SYM
american_scientific_journal-3835	123	27	17	17	NUM
american_scientific_journal-3835	123	28	references	reference	NOUN
american_scientific_journal-3835	123	29	[	[	X
american_scientific_journal-3835	123	30	1	1	NUM
american_scientific_journal-3835	123	31	]	]	PUNCT
american_scientific_journal-3835	123	32	mark	mark	PROPN
american_scientific_journal-3835	123	33	w.	w.	PROPN
american_scientific_journal-3835	123	34	spong	spong	PROPN
american_scientific_journal-3835	123	35	,	,	PUNCT
american_scientific_journal-3835	123	36	seth	seth	PROPN
american_scientific_journal-3835	123	37	hutchinson	hutchinson	PROPN
american_scientific_journal-3835	123	38	,	,	PUNCT
american_scientific_journal-3835	123	39	and	and	CCONJ
american_scientific_journal-3835	123	40	m.	m.	NOUN
american_scientific_journal-3835	123	41	vidyasagar	vidyasagar	NOUN
american_scientific_journal-3835	123	42	,	,	PUNCT
american_scientific_journal-3835	123	43	"	"	PUNCT
american_scientific_journal-3835	123	44	robot	robot	NOUN
american_scientific_journal-3835	123	45	modeling	modeling	NOUN
american_scientific_journal-3835	123	46	and	and	CCONJ
american_scientific_journal-3835	123	47	control	control	NOUN
american_scientific_journal-3835	123	48	"	"	PUNCT
american_scientific_journal-3835	123	49	,	,	PUNCT
american_scientific_journal-3835	123	50	1st	1st	PROPN
american_scientific_journal-3835	123	51	edition	edition	NOUN
american_scientific_journal-3835	123	52	,	,	PUNCT
american_scientific_journal-3835	123	53	john	john	PROPN
american_scientific_journal-3835	123	54	wiley	wiley	PROPN
american_scientific_journal-3835	123	55	&	&	CCONJ
american_scientific_journal-3835	123	56	sons	son	NOUN
american_scientific_journal-3835	123	57	,	,	PUNCT
american_scientific_journal-3835	123	58	2005	2005	NUM
american_scientific_journal-3835	123	59	.	.	PUNCT
american_scientific_journal-3835	124	1	[	[	X
american_scientific_journal-3835	124	2	2	2	X
american_scientific_journal-3835	124	3	]	]	X
american_scientific_journal-3835	124	4	nof	nof	PROPN
american_scientific_journal-3835	124	5	s	s	PROPN
american_scientific_journal-3835	124	6	,	,	PUNCT
american_scientific_journal-3835	124	7	"	"	PUNCT
american_scientific_journal-3835	124	8	handbook	handbook	NOUN
american_scientific_journal-3835	124	9	of	of	ADP
american_scientific_journal-3835	124	10	industrial	industrial	ADJ
american_scientific_journal-3835	124	11	robotics	robotic	NOUN
american_scientific_journal-3835	124	12	"	"	PUNCT
american_scientific_journal-3835	124	13	,	,	PUNCT
american_scientific_journal-3835	124	14	john	john	PROPN
american_scientific_journal-3835	124	15	wiley	wiley	PROPN
american_scientific_journal-3835	124	16	&	&	CCONJ
american_scientific_journal-3835	124	17	sons	sons	PROPN
american_scientific_journal-3835	124	18	,	,	PUNCT
american_scientific_journal-3835	124	19	inc	inc	PROPN
american_scientific_journal-3835	124	20	,	,	PUNCT
american_scientific_journal-3835	124	21	usa	usa	PROPN
american_scientific_journal-3835	124	22	1999	1999	NUM
american_scientific_journal-3835	124	23	.	.	PUNCT
american_scientific_journal-3835	125	1	[	[	X
american_scientific_journal-3835	125	2	3	3	X
american_scientific_journal-3835	125	3	]	]	X
american_scientific_journal-3835	125	4	j.	j.	PROPN
american_scientific_journal-3835	125	5	angeles	angeles	PROPN
american_scientific_journal-3835	125	6	,	,	PUNCT
american_scientific_journal-3835	125	7	"	"	PUNCT
american_scientific_journal-3835	125	8	fundamentals	fundamental	NOUN
american_scientific_journal-3835	125	9	of	of	ADP
american_scientific_journal-3835	125	10	robotic	robotic	ADJ
american_scientific_journal-3835	125	11	mechanical	mechanical	ADJ
american_scientific_journal-3835	125	12	systems	system	NOUN
american_scientific_journal-3835	125	13	:	:	PUNCT
american_scientific_journal-3835	125	14	theory	theory	NOUN
american_scientific_journal-3835	125	15	,	,	PUNCT
american_scientific_journal-3835	125	16	methods	method	NOUN
american_scientific_journal-3835	125	17	,	,	PUNCT
american_scientific_journal-3835	125	18	and	and	CCONJ
american_scientific_journal-3835	125	19	algorithms	algorithm	NOUN
american_scientific_journal-3835	125	20	"	"	PUNCT
american_scientific_journal-3835	125	21	,	,	PUNCT
american_scientific_journal-3835	125	22	2nd	2nd	PROPN
american_scientific_journal-3835	125	23	edition	edition	NOUN
american_scientific_journal-3835	125	24	,	,	PUNCT
american_scientific_journal-3835	125	25	springer	springer	NOUN
american_scientific_journal-3835	125	26	,	,	PUNCT
american_scientific_journal-3835	125	27	2003	2003	NUM
american_scientific_journal-3835	125	28	.	.	PUNCT
american_scientific_journal-3835	126	1	[	[	X
american_scientific_journal-3835	126	2	4	4	X
american_scientific_journal-3835	126	3	]	]	PUNCT
american_scientific_journal-3835	126	4	l.	l.	PROPN
american_scientific_journal-3835	126	5	blackmore	blackmore	PROPN
american_scientific_journal-3835	126	6	and	and	CCONJ
american_scientific_journal-3835	126	7	b.	b.	PROPN
american_scientific_journal-3835	126	8	williams	williams	PROPN
american_scientific_journal-3835	126	9	,	,	PUNCT
american_scientific_journal-3835	126	10	“	"	PUNCT
american_scientific_journal-3835	126	11	optimal	optimal	ADJ
american_scientific_journal-3835	126	12	manipulator	manipulator	NOUN
american_scientific_journal-3835	126	13	path	path	NOUN
american_scientific_journal-3835	126	14	planning	planning	NOUN
american_scientific_journal-3835	126	15	with	with	ADP
american_scientific_journal-3835	126	16	obstacles	obstacle	NOUN
american_scientific_journal-3835	126	17	using	use	VERB
american_scientific_journal-3835	126	18	disjunctive	disjunctive	ADJ
american_scientific_journal-3835	126	19	programming	programming	NOUN
american_scientific_journal-3835	126	20	,	,	PUNCT
american_scientific_journal-3835	126	21	”	"	PUNCT
american_scientific_journal-3835	126	22	american	american	PROPN
american_scientific_journal-3835	126	23	control	control	PROPN
american_scientific_journal-3835	126	24	conference	conference	PROPN
american_scientific_journal-3835	126	25	,	,	PUNCT
american_scientific_journal-3835	126	26	no	no	INTJ
american_scientific_journal-3835	126	27	.	.	NOUN
american_scientific_journal-3835	126	28	1	1	NUM
american_scientific_journal-3835	126	29	,	,	PUNCT
american_scientific_journal-3835	126	30	pp	pp	ADJ
american_scientific_journal-3835	126	31	.	.	PUNCT
american_scientific_journal-3835	127	1	4–6	4–6	NOUN
american_scientific_journal-3835	127	2	,	,	PUNCT
american_scientific_journal-3835	127	3	2006	2006	NUM
american_scientific_journal-3835	127	4	.	.	PUNCT
american_scientific_journal-3835	128	1	[	[	X
american_scientific_journal-3835	128	2	5	5	X
american_scientific_journal-3835	128	3	]	]	PUNCT
american_scientific_journal-3835	128	4	s.	s.	PROPN
american_scientific_journal-3835	128	5	mitsi	mitsi	PROPN
american_scientific_journal-3835	128	6	,	,	PUNCT
american_scientific_journal-3835	128	7	k.-d	k.-d	PROPN
american_scientific_journal-3835	128	8	.	.	PUNCT
american_scientific_journal-3835	129	1	bouzakis	bouzakis	PROPN
american_scientific_journal-3835	129	2	,	,	PUNCT
american_scientific_journal-3835	129	3	d.	d.	PROPN
american_scientific_journal-3835	129	4	sagris	sagris	PROPN
american_scientific_journal-3835	129	5	,	,	PUNCT
american_scientific_journal-3835	129	6	and	and	CCONJ
american_scientific_journal-3835	129	7	g.	g.	PROPN
american_scientific_journal-3835	129	8	mansour	mansour	PROPN
american_scientific_journal-3835	129	9	,	,	PUNCT
american_scientific_journal-3835	129	10	“	"	PUNCT
american_scientific_journal-3835	129	11	robot	robot	NOUN
american_scientific_journal-3835	129	12	path	path	NOUN
american_scientific_journal-3835	129	13	planning	planning	NOUN
american_scientific_journal-3835	129	14	optimization	optimization	NOUN
american_scientific_journal-3835	129	15	,	,	PUNCT
american_scientific_journal-3835	129	16	free	free	ADJ
american_scientific_journal-3835	129	17	of	of	ADP
american_scientific_journal-3835	129	18	collisions	collision	NOUN
american_scientific_journal-3835	129	19	,	,	PUNCT
american_scientific_journal-3835	129	20	using	use	VERB
american_scientific_journal-3835	129	21	a	a	DET
american_scientific_journal-3835	129	22	hybrid	hybrid	ADJ
american_scientific_journal-3835	129	23	algorithm	algorithm	NOUN
american_scientific_journal-3835	129	24	,	,	PUNCT
american_scientific_journal-3835	129	25	”	"	PUNCT
american_scientific_journal-3835	129	26	no	no	NOUN
american_scientific_journal-3835	129	27	.	.	PUNCT
american_scientific_journal-3835	130	1	october	october	PROPN
american_scientific_journal-3835	130	2	,	,	PUNCT
american_scientific_journal-3835	130	3	pp	pp	PROPN
american_scientific_journal-3835	130	4	.	.	PUNCT
american_scientific_journal-3835	131	1	1–3	1–3	NUM
american_scientific_journal-3835	131	2	,	,	PUNCT
american_scientific_journal-3835	131	3	2008	2008	NUM
american_scientific_journal-3835	131	4	.	.	PUNCT
american_scientific_journal-3835	132	1	[	[	X
american_scientific_journal-3835	132	2	6	6	NUM
american_scientific_journal-3835	132	3	]	]	PUNCT
american_scientific_journal-3835	132	4	z.	z.	PROPN
american_scientific_journal-3835	132	5	d.	d.	PROPN
american_scientific_journal-3835	132	6	hussein	hussein	PROPN
american_scientific_journal-3835	132	7	,	,	PUNCT
american_scientific_journal-3835	132	8	m.	m.	NOUN
american_scientific_journal-3835	132	9	z.	z.	PROPN
american_scientific_journal-3835	132	10	khalifa	khalifa	PROPN
american_scientific_journal-3835	132	11	,	,	PUNCT
american_scientific_journal-3835	132	12	i.	i.	PROPN
american_scientific_journal-3835	132	13	s.	s.	PROPN
american_scientific_journal-3835	132	14	kareem	kareem	PROPN
american_scientific_journal-3835	132	15	,	,	PUNCT
american_scientific_journal-3835	132	16	“	"	PUNCT
american_scientific_journal-3835	132	17	optimize	optimize	VERB
american_scientific_journal-3835	132	18	path	path	NOUN
american_scientific_journal-3835	132	19	planning	planning	NOUN
american_scientific_journal-3835	132	20	for	for	ADP
american_scientific_journal-3835	132	21	medical	medical	ADJ
american_scientific_journal-3835	132	22	robot	robot	NOUN
american_scientific_journal-3835	132	23	in	in	ADP
american_scientific_journal-3835	132	24	iraqi	iraqi	ADJ
american_scientific_journal-3835	132	25	hospitals	hospital	NOUN
american_scientific_journal-3835	132	26	,	,	PUNCT
american_scientific_journal-3835	132	27	”	"	PUNCT
american_scientific_journal-3835	132	28	engineering	engineering	NOUN
american_scientific_journal-3835	132	29	and	and	CCONJ
american_scientific_journal-3835	132	30	technology	technology	NOUN
american_scientific_journal-3835	132	31	journal	journal	NOUN
american_scientific_journal-3835	132	32	,	,	PUNCT
american_scientific_journal-3835	132	33	vol	vol	NOUN
american_scientific_journal-3835	132	34	.	.	PROPN
american_scientific_journal-3835	133	1	33	33	NUM
american_scientific_journal-3835	133	2	,	,	PUNCT
american_scientific_journal-3835	133	3	no	no	INTJ
american_scientific_journal-3835	133	4	.	.	NOUN
american_scientific_journal-3835	133	5	5	5	NUM
american_scientific_journal-3835	133	6	,	,	PUNCT
american_scientific_journal-3835	133	7	pp	pp	ADJ
american_scientific_journal-3835	133	8	.	.	PUNCT
american_scientific_journal-3835	134	1	1009–1022	1009–1022	NOUN
american_scientific_journal-3835	134	2	,	,	PUNCT
american_scientific_journal-3835	134	3	2015	2015	NUM
american_scientific_journal-3835	134	4	.	.	PUNCT
american_scientific_journal-3835	135	1	[	[	X
american_scientific_journal-3835	135	2	7	7	X
american_scientific_journal-3835	135	3	]	]	PUNCT
american_scientific_journal-3835	135	4	a.	a.	NOUN
american_scientific_journal-3835	135	5	casalino	casalino	PROPN
american_scientific_journal-3835	135	6	,	,	PUNCT
american_scientific_journal-3835	135	7	a.	a.	PROPN
american_scientific_journal-3835	135	8	m.	m.	PROPN
american_scientific_journal-3835	135	9	zanchettin	zanchettin	PROPN
american_scientific_journal-3835	135	10	,	,	PUNCT
american_scientific_journal-3835	135	11	and	and	CCONJ
american_scientific_journal-3835	135	12	p.	p.	NOUN
american_scientific_journal-3835	135	13	rocco	rocco	NOUN
american_scientific_journal-3835	135	14	,	,	PUNCT
american_scientific_journal-3835	135	15	“	"	PUNCT
american_scientific_journal-3835	135	16	online	online	ADJ
american_scientific_journal-3835	135	17	planning	planning	NOUN
american_scientific_journal-3835	135	18	of	of	ADP
american_scientific_journal-3835	135	19	optimal	optimal	ADJ
american_scientific_journal-3835	135	20	trajectories	trajectory	NOUN
american_scientific_journal-3835	135	21	on	on	ADP
american_scientific_journal-3835	135	22	assigned	assign	VERB
american_scientific_journal-3835	135	23	paths	path	NOUN
american_scientific_journal-3835	135	24	with	with	ADP
american_scientific_journal-3835	135	25	dynamic	dynamic	ADJ
american_scientific_journal-3835	135	26	constraints	constraint	NOUN
american_scientific_journal-3835	135	27	for	for	ADP
american_scientific_journal-3835	135	28	robot	robot	NOUN
american_scientific_journal-3835	135	29	manipulators	manipulator	NOUN
american_scientific_journal-3835	135	30	,	,	PUNCT
american_scientific_journal-3835	135	31	”	"	PUNCT
american_scientific_journal-3835	135	32	ieee	ieee	NOUN
american_scientific_journal-3835	135	33	international	international	ADJ
american_scientific_journal-3835	135	34	conference	conference	NOUN
american_scientific_journal-3835	135	35	on	on	ADP
american_scientific_journal-3835	135	36	intelligent	intelligent	ADJ
american_scientific_journal-3835	135	37	robots	robot	NOUN
american_scientific_journal-3835	135	38	and	and	CCONJ
american_scientific_journal-3835	135	39	systems	system	NOUN
american_scientific_journal-3835	135	40	(	(	PUNCT
american_scientific_journal-3835	135	41	iros	iro	NOUN
american_scientific_journal-3835	135	42	)	)	PUNCT
american_scientific_journal-3835	135	43	,	,	PUNCT
american_scientific_journal-3835	135	44	vol	vol	NOUN
american_scientific_journal-3835	135	45	.	.	PROPN
american_scientific_journal-3835	135	46	2016	2016	NUM
american_scientific_journal-3835	135	47	–	–	PUNCT
american_scientific_journal-3835	135	48	november	november	PROPN
american_scientific_journal-3835	135	49	,	,	PUNCT
american_scientific_journal-3835	135	50	pp	pp	ADP
american_scientific_journal-3835	135	51	.	.	PUNCT
american_scientific_journal-3835	136	1	979–985	979–985	NUM
american_scientific_journal-3835	136	2	,	,	PUNCT
american_scientific_journal-3835	136	3	2016	2016	NUM
american_scientific_journal-3835	136	4	.	.	PUNCT
american_scientific_journal-3835	137	1	[	[	X
american_scientific_journal-3835	137	2	8	8	NUM
american_scientific_journal-3835	137	3	]	]	PUNCT
american_scientific_journal-3835	137	4	a.	a.	PROPN
american_scientific_journal-3835	137	5	mohamed	mohamed	PROPN
american_scientific_journal-3835	137	6	,	,	PUNCT
american_scientific_journal-3835	137	7	j.	j.	PROPN
american_scientific_journal-3835	137	8	ren	ren	PROPN
american_scientific_journal-3835	137	9	,	,	PUNCT
american_scientific_journal-3835	137	10	h.	h.	PROPN
american_scientific_journal-3835	137	11	lang	lang	PROPN
american_scientific_journal-3835	137	12	,	,	PUNCT
american_scientific_journal-3835	137	13	and	and	CCONJ
american_scientific_journal-3835	137	14	m.	m.	PROPN
american_scientific_journal-3835	137	15	el	el	NOUN
american_scientific_journal-3835	137	16	-	-	NOUN
american_scientific_journal-3835	137	17	gindy	gindy	NOUN
american_scientific_journal-3835	137	18	,	,	PUNCT
american_scientific_journal-3835	137	19	“	"	PUNCT
american_scientific_journal-3835	137	20	optimal	optimal	ADJ
american_scientific_journal-3835	137	21	collision	collision	NOUN
american_scientific_journal-3835	137	22	free	free	ADJ
american_scientific_journal-3835	137	23	path	path	NOUN
american_scientific_journal-3835	137	24	planning	planning	NOUN
american_scientific_journal-3835	137	25	for	for	ADP
american_scientific_journal-3835	137	26	an	an	DET
american_scientific_journal-3835	137	27	autonomous	autonomous	ADJ
american_scientific_journal-3835	137	28	articulated	articulated	ADJ
american_scientific_journal-3835	137	29	vehicle	vehicle	NOUN
american_scientific_journal-3835	137	30	with	with	ADP
american_scientific_journal-3835	137	31	two	two	NUM
american_scientific_journal-3835	137	32	trailers	trailer	NOUN
american_scientific_journal-3835	137	33	,	,	PUNCT
american_scientific_journal-3835	137	34	”	"	PUNCT
american_scientific_journal-3835	137	35	ieee	ieee	PROPN
american_scientific_journal-3835	137	36	international	international	PROPN
american_scientific_journal-3835	137	37	conference	conference	PROPN
american_scientific_journal-3835	137	38	industrial	industrial	ADJ
american_scientific_journal-3835	137	39	technology	technology	NOUN
american_scientific_journal-3835	137	40	,	,	PUNCT
american_scientific_journal-3835	137	41	pp	pp	ADV
american_scientific_journal-3835	137	42	.	.	PUNCT
american_scientific_journal-3835	138	1	860–865	860–865	NUM
american_scientific_journal-3835	138	2	,	,	PUNCT
american_scientific_journal-3835	138	3	2017	2017	NUM
american_scientific_journal-3835	138	4	.	.	PUNCT
american_scientific_journal-3835	139	1	[	[	X
american_scientific_journal-3835	139	2	9	9	X
american_scientific_journal-3835	139	3	]	]	PUNCT
american_scientific_journal-3835	139	4	j.	j.	PROPN
american_scientific_journal-3835	139	5	w.	w.	PROPN
american_scientific_journal-3835	139	6	choi	choi	PROPN
american_scientific_journal-3835	139	7	,	,	PUNCT
american_scientific_journal-3835	139	8	r.	r.	PROPN
american_scientific_journal-3835	139	9	e.	e.	PROPN
american_scientific_journal-3835	139	10	curry	curry	PROPN
american_scientific_journal-3835	139	11	and	and	CCONJ
american_scientific_journal-3835	139	12	g.	g.	PROPN
american_scientific_journal-3835	139	13	h.	h.	PROPN
american_scientific_journal-3835	139	14	elkaim	elkaim	PROPN
american_scientific_journal-3835	139	15	,	,	PUNCT
american_scientific_journal-3835	139	16	"	"	PUNCT
american_scientific_journal-3835	139	17	continuous	continuous	ADJ
american_scientific_journal-3835	139	18	curvatures	curvature	NOUN
american_scientific_journal-3835	139	19	path	path	NOUN
american_scientific_journal-3835	139	20	generation	generation	NOUN
american_scientific_journal-3835	139	21	based	base	VERB
american_scientific_journal-3835	139	22	on	on	ADP
american_scientific_journal-3835	139	23	bezier	bezier	NOUN
american_scientific_journal-3835	139	24	curves	curve	NOUN
american_scientific_journal-3835	139	25	for	for	ADP
american_scientific_journal-3835	139	26	autonomous	autonomous	ADJ
american_scientific_journal-3835	139	27	vehicle	vehicle	NOUN
american_scientific_journal-3835	139	28	"	"	PUNCT
american_scientific_journal-3835	139	29	,	,	PUNCT
american_scientific_journal-3835	139	30	international	international	ADJ
american_scientific_journal-3835	139	31	journal	journal	NOUN
american_scientific_journal-3835	139	32	of	of	ADP
american_scientific_journal-3835	139	33	applied	apply	VERB
american_scientific_journal-3835	139	34	mathematics	mathematic	NOUN
american_scientific_journal-3835	139	35	,	,	PUNCT
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american_scientific_journal-3835	139	37	.40	.40	NUM
american_scientific_journal-3835	139	38	,	,	PUNCT
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american_scientific_journal-3835	139	40	,	,	PUNCT
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american_scientific_journal-3835	139	42	.	.	PUNCT
american_scientific_journal-3835	140	1	91	91	NUM
american_scientific_journal-3835	140	2	–	–	PUNCT
american_scientific_journal-3835	140	3	102	102	NUM
american_scientific_journal-3835	140	4	,	,	PUNCT
american_scientific_journal-3835	140	5	2010	2010	NUM
american_scientific_journal-3835	140	6	.	.	PUNCT
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american_scientific_journal-3835	141	2	10	10	NUM
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american_scientific_journal-3835	141	6	,	,	PUNCT
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american_scientific_journal-3835	141	9	and	and	CCONJ
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american_scientific_journal-3835	141	11	.	.	PROPN
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american_scientific_journal-3835	141	13	,	,	PUNCT
american_scientific_journal-3835	141	14	"	"	PUNCT
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american_scientific_journal-3835	141	16	curve	curve	NOUN
american_scientific_journal-3835	141	17	interpolation	interpolation	NOUN
american_scientific_journal-3835	141	18	constrained	constrain	VERB
american_scientific_journal-3835	141	19	by	by	ADP
american_scientific_journal-3835	141	20	line	line	NOUN
american_scientific_journal-3835	141	21	"	"	PUNCT
american_scientific_journal-3835	141	22	,	,	PUNCT
american_scientific_journal-3835	141	23	applied	apply	VERB
american_scientific_journal-3835	141	24	mathematical	mathematical	ADJ
american_scientific_journal-3835	141	25	science	science	NOUN
american_scientific_journal-3835	141	26	,	,	PUNCT
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american_scientific_journal-3835	141	28	,	,	PUNCT
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american_scientific_journal-3835	141	30	,	,	PUNCT
american_scientific_journal-3835	141	31	and	and	CCONJ
american_scientific_journal-3835	141	32	pp	pp	ADV
american_scientific_journal-3835	141	33	.	.	PUNCT
american_scientific_journal-3835	142	1	1817	1817	NUM
american_scientific_journal-3835	142	2	-	-	SYM
american_scientific_journal-3835	142	3	1832	1832	NUM
american_scientific_journal-3835	142	4	,	,	PUNCT
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american_scientific_journal-3835	142	6	.	.	PUNCT
american_scientific_journal-3835	143	1	[	[	X
american_scientific_journal-3835	143	2	11	11	NUM
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american_scientific_journal-3835	143	4	v.	v.	ADP
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american_scientific_journal-3835	143	6	,	,	PUNCT
american_scientific_journal-3835	143	7	“	"	PUNCT
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american_scientific_journal-3835	143	9	trajectory	trajectory	NOUN
american_scientific_journal-3835	143	10	planning	planning	NOUN
american_scientific_journal-3835	143	11	”	"	PUNCT
american_scientific_journal-3835	143	12	,	,	PUNCT
american_scientific_journal-3835	143	13	czech	czech	PROPN
american_scientific_journal-3835	143	14	technical	technical	PROPN
american_scientific_journal-3835	143	15	university	university	PROPN
american_scientific_journal-3835	143	16	in	in	ADP
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american_scientific_journal-3835	143	18	,	,	PUNCT
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american_scientific_journal-3835	143	20	.	.	PUNCT
american_scientific_journal-3835	144	1	available	available	ADJ
american_scientific_journal-3835	144	2	at	at	ADP
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american_scientific_journal-3835	144	4	.	.	PUNCT
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american_scientific_journal-3835	145	2	12	12	NUM
american_scientific_journal-3835	145	3	]	]	PUNCT
american_scientific_journal-3835	145	4	l.	l.	PROPN
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american_scientific_journal-3835	145	6	,	,	PUNCT
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american_scientific_journal-3835	145	8	liu	liu	PROPN
american_scientific_journal-3835	145	9	,	,	PUNCT
american_scientific_journal-3835	145	10	and	and	CCONJ
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american_scientific_journal-3835	145	13	,	,	PUNCT
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american_scientific_journal-3835	145	15	obstacle	obstacle	NOUN
american_scientific_journal-3835	145	16	-	-	PUNCT
american_scientific_journal-3835	145	17	avoidance	avoidance	NOUN
american_scientific_journal-3835	145	18	path	path	NOUN
american_scientific_journal-3835	145	19	planning	planning	NOUN
american_scientific_journal-3835	145	20	for	for	ADP
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american_scientific_journal-3835	145	22	robots	robot	NOUN
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american_scientific_journal-3835	145	24	particle	particle	NOUN
american_scientific_journal-3835	145	25	swarm	swarm	NOUN
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american_scientific_journal-3835	145	27	,	,	PUNCT
american_scientific_journal-3835	145	28	”	"	PUNCT
american_scientific_journal-3835	145	29	international	international	ADJ
american_scientific_journal-3835	145	30	conference	conference	NOUN
american_scientific_journal-3835	145	31	on	on	ADP
american_scientific_journal-3835	145	32	robotics	robotic	NOUN
american_scientific_journal-3835	145	33	and	and	CCONJ
american_scientific_journal-3835	145	34	biomimetic	biomimetic	ADJ
american_scientific_journal-3835	145	35	,	,	PUNCT
american_scientific_journal-3835	145	36	no	no	INTJ
american_scientific_journal-3835	145	37	.	.	NOUN
american_scientific_journal-3835	145	38	1	1	NUM
american_scientific_journal-3835	145	39	,	,	PUNCT
american_scientific_journal-3835	145	40	2006	2006	NUM
american_scientific_journal-3835	145	41	.	.	PUNCT
american_scientific_journal-3835	146	1	http://cmp.felk.cvut.cz/%7ehlavac	http://cmp.felk.cvut.cz/%7ehlavac	DET
american_scientific_journal-3835	146	2	5.1	5.1	NUM
american_scientific_journal-3835	146	3	path	path	NOUN
american_scientific_journal-3835	146	4	planning	planning	NOUN
american_scientific_journal-3835	146	5	with	with	ADP
american_scientific_journal-3835	146	6	obstacles	obstacle	NOUN
american_scientific_journal-3835	146	7	avoidance	avoidance	NOUN
american_scientific_journal-3835	146	8	:	:	PUNCT
american_scientific_journal-3835	146	9	case	case	NOUN
american_scientific_journal-3835	146	10	one	one	NUM
american_scientific_journal-3835	146	11	5.2	5.2	NUM
american_scientific_journal-3835	146	12	path	path	NOUN
american_scientific_journal-3835	146	13	planning	planning	NOUN
american_scientific_journal-3835	146	14	with	with	ADP
american_scientific_journal-3835	146	15	obstacles	obstacle	NOUN
american_scientific_journal-3835	146	16	avoidance	avoidance	NOUN
american_scientific_journal-3835	146	17	:	:	PUNCT
american_scientific_journal-3835	146	18	case	case	NOUN
american_scientific_journal-3835	146	19	two	two	NUM