id	sid	tid	token	lemma	pos
american_scientific_journal-4515	1	1	257	257	NUM
american_scientific_journal-4515	1	2	american	american	ADJ
american_scientific_journal-4515	1	3	scientific	scientific	ADJ
american_scientific_journal-4515	1	4	research	research	NOUN
american_scientific_journal-4515	1	5	journal	journal	NOUN
american_scientific_journal-4515	1	6	for	for	ADP
american_scientific_journal-4515	1	7	engineering	engineering	NOUN
american_scientific_journal-4515	1	8	,	,	PUNCT
american_scientific_journal-4515	1	9	technology	technology	NOUN
american_scientific_journal-4515	1	10	,	,	PUNCT
american_scientific_journal-4515	1	11	and	and	CCONJ
american_scientific_journal-4515	1	12	sciences	science	NOUN
american_scientific_journal-4515	1	13	(	(	PUNCT
american_scientific_journal-4515	1	14	asrjets	asrjet	NOUN
american_scientific_journal-4515	1	15	)	)	PUNCT
american_scientific_journal-4515	1	16	issn	issn	PROPN
american_scientific_journal-4515	1	17	(	(	PUNCT
american_scientific_journal-4515	1	18	print	print	NOUN
american_scientific_journal-4515	1	19	)	)	PUNCT
american_scientific_journal-4515	1	20	2313	2313	NUM
american_scientific_journal-4515	1	21	-	-	SYM
american_scientific_journal-4515	1	22	4410	4410	NUM
american_scientific_journal-4515	1	23	,	,	PUNCT
american_scientific_journal-4515	1	24	issn	issn	PROPN
american_scientific_journal-4515	1	25	(	(	PUNCT
american_scientific_journal-4515	1	26	online	online	ADJ
american_scientific_journal-4515	1	27	)	)	PUNCT
american_scientific_journal-4515	1	28	2313	2313	NUM
american_scientific_journal-4515	1	29	-	-	SYM
american_scientific_journal-4515	1	30	4402	4402	NUM
american_scientific_journal-4515	1	31	©	©	PROPN
american_scientific_journal-4515	1	32	global	global	ADJ
american_scientific_journal-4515	1	33	society	society	NOUN
american_scientific_journal-4515	1	34	of	of	ADP
american_scientific_journal-4515	1	35	scientific	scientific	ADJ
american_scientific_journal-4515	1	36	research	research	NOUN
american_scientific_journal-4515	1	37	and	and	CCONJ
american_scientific_journal-4515	1	38	researchers	researcher	NOUN
american_scientific_journal-4515	1	39	http://asrjetsjournal.org/	http://asrjetsjournal.org/	NOUN
american_scientific_journal-4515	1	40	path	path	NOUN
american_scientific_journal-4515	1	41	planning	planning	NOUN
american_scientific_journal-4515	1	42	algorithm	algorithm	NOUN
american_scientific_journal-4515	1	43	using	use	VERB
american_scientific_journal-4515	1	44	d	d	PROPN
american_scientific_journal-4515	1	45	*	*	PUNCT
american_scientific_journal-4515	1	46	heuristic	heuristic	ADJ
american_scientific_journal-4515	1	47	method	method	NOUN
american_scientific_journal-4515	1	48	based	base	VERB
american_scientific_journal-4515	1	49	on	on	ADP
american_scientific_journal-4515	1	50	pso	pso	NOUN
american_scientific_journal-4515	1	51	in	in	ADP
american_scientific_journal-4515	1	52	dynamic	dynamic	ADJ
american_scientific_journal-4515	1	53	environment	environment	NOUN
american_scientific_journal-4515	1	54	firas	firas	PROPN
american_scientific_journal-4515	1	55	a.	a.	PROPN
american_scientific_journal-4515	1	56	raheema	raheema	PROPN
american_scientific_journal-4515	1	57	*	*	PROPN
american_scientific_journal-4515	1	58	,	,	PUNCT
american_scientific_journal-4515	1	59	umniah	umniah	PROPN
american_scientific_journal-4515	1	60	i.	i.	PROPN
american_scientific_journal-4515	1	61	hameedb	hameedb	PROPN
american_scientific_journal-4515	1	62	aassistant	aassistant	PROPN
american_scientific_journal-4515	1	63	prof	prof	PROPN
american_scientific_journal-4515	1	64	.	.	PUNCT
american_scientific_journal-4515	2	1	dr	dr	PROPN
american_scientific_journal-4515	2	2	.	.	PROPN
american_scientific_journal-4515	2	3	,	,	PUNCT
american_scientific_journal-4515	2	4	university	university	NOUN
american_scientific_journal-4515	2	5	of	of	ADP
american_scientific_journal-4515	2	6	technology	technology	NOUN
american_scientific_journal-4515	2	7	,	,	PUNCT
american_scientific_journal-4515	2	8	baghdad	baghdad	PROPN
american_scientific_journal-4515	2	9	,	,	PUNCT
american_scientific_journal-4515	2	10	iraq	iraq	PROPN
american_scientific_journal-4515	2	11	bengineer	bengineer	NOUN
american_scientific_journal-4515	2	12	,	,	PUNCT
american_scientific_journal-4515	2	13	university	university	NOUN
american_scientific_journal-4515	2	14	of	of	ADP
american_scientific_journal-4515	2	15	technology	technology	NOUN
american_scientific_journal-4515	2	16	,	,	PUNCT
american_scientific_journal-4515	2	17	baghdad	baghdad	PROPN
american_scientific_journal-4515	2	18	,	,	PUNCT
american_scientific_journal-4515	2	19	iraq	iraq	PROPN
american_scientific_journal-4515	2	20	aemail	aemail	NOUN
american_scientific_journal-4515	2	21	:	:	PUNCT
american_scientific_journal-4515	2	22	60124@uotechnology.edu.iq	60124@uotechnology.edu.iq	NUM
american_scientific_journal-4515	2	23	bemail	bemail	NOUN
american_scientific_journal-4515	2	24	:	:	PUNCT
american_scientific_journal-4515	2	25	61126@uotechnology.edu.iq	61126@uotechnology.edu.iq	NUM
american_scientific_journal-4515	2	26	abstract	abstract	NOUN
american_scientific_journal-4515	2	27	this	this	DET
american_scientific_journal-4515	2	28	paper	paper	NOUN
american_scientific_journal-4515	2	29	is	be	AUX
american_scientific_journal-4515	2	30	devoted	devote	VERB
american_scientific_journal-4515	2	31	to	to	PART
american_scientific_journal-4515	2	32	find	find	VERB
american_scientific_journal-4515	2	33	a	a	DET
american_scientific_journal-4515	2	34	short	short	ADJ
american_scientific_journal-4515	2	35	and	and	CCONJ
american_scientific_journal-4515	2	36	safe	safe	ADJ
american_scientific_journal-4515	2	37	path	path	NOUN
american_scientific_journal-4515	2	38	for	for	ADP
american_scientific_journal-4515	2	39	robot	robot	NOUN
american_scientific_journal-4515	2	40	in	in	ADP
american_scientific_journal-4515	2	41	environment	environment	NOUN
american_scientific_journal-4515	2	42	with	with	ADP
american_scientific_journal-4515	2	43	moving	move	VERB
american_scientific_journal-4515	2	44	obstacles	obstacle	NOUN
american_scientific_journal-4515	2	45	such	such	ADJ
american_scientific_journal-4515	2	46	as	as	ADP
american_scientific_journal-4515	2	47	different	different	ADJ
american_scientific_journal-4515	2	48	objects	object	NOUN
american_scientific_journal-4515	2	49	,	,	PUNCT
american_scientific_journal-4515	2	50	humans	human	NOUN
american_scientific_journal-4515	2	51	,	,	PUNCT
american_scientific_journal-4515	2	52	animals	animal	NOUN
american_scientific_journal-4515	2	53	or	or	CCONJ
american_scientific_journal-4515	2	54	other	other	ADJ
american_scientific_journal-4515	2	55	robots	robot	NOUN
american_scientific_journal-4515	2	56	.	.	PUNCT
american_scientific_journal-4515	3	1	a	a	DET
american_scientific_journal-4515	3	2	mixing	mix	VERB
american_scientific_journal-4515	3	3	approach	approach	NOUN
american_scientific_journal-4515	3	4	of	of	ADP
american_scientific_journal-4515	3	5	robot	robot	NOUN
american_scientific_journal-4515	3	6	path	path	NOUN
american_scientific_journal-4515	3	7	planning	planning	NOUN
american_scientific_journal-4515	3	8	using	use	VERB
american_scientific_journal-4515	3	9	the	the	DET
american_scientific_journal-4515	3	10	heuristic	heuristic	ADJ
american_scientific_journal-4515	3	11	method	method	NOUN
american_scientific_journal-4515	3	12	d	d	X
american_scientific_journal-4515	3	13	star	star	NOUN
american_scientific_journal-4515	3	14	(	(	PUNCT
american_scientific_journal-4515	3	15	d	d	NOUN
american_scientific_journal-4515	3	16	*	*	NOUN
american_scientific_journal-4515	3	17	)	)	PUNCT
american_scientific_journal-4515	3	18	algorithm	algorithm	NOUN
american_scientific_journal-4515	3	19	based	base	VERB
american_scientific_journal-4515	3	20	on	on	ADP
american_scientific_journal-4515	3	21	optimization	optimization	NOUN
american_scientific_journal-4515	3	22	technique	technique	NOUN
american_scientific_journal-4515	3	23	is	be	AUX
american_scientific_journal-4515	3	24	used	use	VERB
american_scientific_journal-4515	3	25	.	.	PUNCT
american_scientific_journal-4515	4	1	the	the	DET
american_scientific_journal-4515	4	2	heuristic	heuristic	ADJ
american_scientific_journal-4515	4	3	d	d	NOUN
american_scientific_journal-4515	4	4	*	*	PUNCT
american_scientific_journal-4515	4	5	method	method	NOUN
american_scientific_journal-4515	4	6	is	be	AUX
american_scientific_journal-4515	4	7	chosen	choose	VERB
american_scientific_journal-4515	4	8	for	for	ADP
american_scientific_journal-4515	4	9	finding	find	VERB
american_scientific_journal-4515	4	10	the	the	DET
american_scientific_journal-4515	4	11	shortest	short	ADJ
american_scientific_journal-4515	4	12	path	path	NOUN
american_scientific_journal-4515	4	13	.	.	PUNCT
american_scientific_journal-4515	5	1	furthermore	furthermore	ADV
american_scientific_journal-4515	5	2	,	,	PUNCT
american_scientific_journal-4515	5	3	to	to	PART
american_scientific_journal-4515	5	4	insure	insure	VERB
american_scientific_journal-4515	5	5	the	the	DET
american_scientific_journal-4515	5	6	path	path	NOUN
american_scientific_journal-4515	5	7	length	length	NOUN
american_scientific_journal-4515	5	8	optimality	optimality	NOUN
american_scientific_journal-4515	5	9	and	and	CCONJ
american_scientific_journal-4515	5	10	for	for	ADP
american_scientific_journal-4515	5	11	enhancing	enhance	VERB
american_scientific_journal-4515	5	12	the	the	DET
american_scientific_journal-4515	5	13	final	final	ADJ
american_scientific_journal-4515	5	14	path	path	NOUN
american_scientific_journal-4515	5	15	,	,	PUNCT
american_scientific_journal-4515	5	16	it	it	PRON
american_scientific_journal-4515	5	17	has	have	AUX
american_scientific_journal-4515	5	18	been	be	AUX
american_scientific_journal-4515	5	19	utilized	utilize	VERB
american_scientific_journal-4515	5	20	the	the	DET
american_scientific_journal-4515	5	21	particle	particle	NOUN
american_scientific_journal-4515	5	22	swarm	swarm	NOUN
american_scientific_journal-4515	5	23	optimization	optimization	NOUN
american_scientific_journal-4515	5	24	(	(	PUNCT
american_scientific_journal-4515	5	25	pso	pso	NOUN
american_scientific_journal-4515	5	26	)	)	PUNCT
american_scientific_journal-4515	5	27	technique	technique	NOUN
american_scientific_journal-4515	5	28	.	.	PUNCT
american_scientific_journal-4515	6	1	this	this	DET
american_scientific_journal-4515	6	2	paper	paper	NOUN
american_scientific_journal-4515	6	3	focuses	focus	VERB
american_scientific_journal-4515	6	4	on	on	ADP
american_scientific_journal-4515	6	5	computational	computational	ADJ
american_scientific_journal-4515	6	6	part	part	NOUN
american_scientific_journal-4515	6	7	of	of	ADP
american_scientific_journal-4515	6	8	motion	motion	NOUN
american_scientific_journal-4515	6	9	planning	planning	NOUN
american_scientific_journal-4515	6	10	in	in	ADP
american_scientific_journal-4515	6	11	completely	completely	ADV
american_scientific_journal-4515	6	12	changing	change	VERB
american_scientific_journal-4515	6	13	dynamic	dynamic	ADJ
american_scientific_journal-4515	6	14	environment	environment	NOUN
american_scientific_journal-4515	6	15	at	at	ADP
american_scientific_journal-4515	6	16	every	every	DET
american_scientific_journal-4515	6	17	motion	motion	NOUN
american_scientific_journal-4515	6	18	sample	sample	NOUN
american_scientific_journal-4515	6	19	domains	domain	NOUN
american_scientific_journal-4515	6	20	.	.	PUNCT
american_scientific_journal-4515	7	1	simulation	simulation	NOUN
american_scientific_journal-4515	7	2	results	result	NOUN
american_scientific_journal-4515	7	3	are	be	AUX
american_scientific_journal-4515	7	4	given	give	VERB
american_scientific_journal-4515	7	5	to	to	PART
american_scientific_journal-4515	7	6	show	show	VERB
american_scientific_journal-4515	7	7	the	the	DET
american_scientific_journal-4515	7	8	effectiveness	effectiveness	NOUN
american_scientific_journal-4515	7	9	of	of	ADP
american_scientific_journal-4515	7	10	the	the	DET
american_scientific_journal-4515	7	11	proposed	propose	VERB
american_scientific_journal-4515	7	12	method	method	NOUN
american_scientific_journal-4515	7	13	.	.	PUNCT
american_scientific_journal-4515	8	1	keywords	keyword	NOUN
american_scientific_journal-4515	8	2	:	:	PUNCT
american_scientific_journal-4515	9	1	d	d	X
american_scientific_journal-4515	9	2	*	*	PUNCT
american_scientific_journal-4515	9	3	algorithm	algorithm	NOUN
american_scientific_journal-4515	9	4	;	;	PUNCT
american_scientific_journal-4515	9	5	particle	particle	NOUN
american_scientific_journal-4515	9	6	swarm	swarm	NOUN
american_scientific_journal-4515	9	7	optimization	optimization	NOUN
american_scientific_journal-4515	9	8	(	(	PUNCT
american_scientific_journal-4515	9	9	pso	pso	NOUN
american_scientific_journal-4515	9	10	)	)	PUNCT
american_scientific_journal-4515	9	11	;	;	PUNCT
american_scientific_journal-4515	9	12	path	path	NOUN
american_scientific_journal-4515	9	13	planning	planning	NOUN
american_scientific_journal-4515	9	14	;	;	PUNCT
american_scientific_journal-4515	9	15	known	know	VERB
american_scientific_journal-4515	9	16	dynamic	dynamic	ADJ
american_scientific_journal-4515	9	17	environment	environment	NOUN
american_scientific_journal-4515	9	18	.	.	PUNCT
american_scientific_journal-4515	10	1	1	1	X
american_scientific_journal-4515	10	2	.	.	X
american_scientific_journal-4515	10	3	introduction	introduction	NOUN
american_scientific_journal-4515	10	4	the	the	DET
american_scientific_journal-4515	10	5	words	word	NOUN
american_scientific_journal-4515	10	6	“	"	PUNCT
american_scientific_journal-4515	10	7	path	path	NOUN
american_scientific_journal-4515	10	8	planning	planning	NOUN
american_scientific_journal-4515	10	9	”	"	PUNCT
american_scientific_journal-4515	10	10	in	in	ADP
american_scientific_journal-4515	10	11	robotics	robotic	NOUN
american_scientific_journal-4515	10	12	where	where	SCONJ
american_scientific_journal-4515	10	13	the	the	DET
american_scientific_journal-4515	10	14	process	process	NOUN
american_scientific_journal-4515	10	15	is	be	AUX
american_scientific_journal-4515	10	16	totally	totally	ADV
american_scientific_journal-4515	10	17	or	or	CCONJ
american_scientific_journal-4515	10	18	sub	sub	VERB
american_scientific_journal-4515	10	19	automated	automate	VERB
american_scientific_journal-4515	10	20	.	.	PUNCT
american_scientific_journal-4515	11	1	it	it	PRON
american_scientific_journal-4515	11	2	is	be	AUX
american_scientific_journal-4515	11	3	used	use	VERB
american_scientific_journal-4515	11	4	to	to	PART
american_scientific_journal-4515	11	5	refer	refer	VERB
american_scientific_journal-4515	11	6	to	to	ADP
american_scientific_journal-4515	11	7	this	this	DET
american_scientific_journal-4515	11	8	type	type	NOUN
american_scientific_journal-4515	11	9	of	of	ADP
american_scientific_journal-4515	11	10	computational	computational	ADJ
american_scientific_journal-4515	11	11	process	process	NOUN
american_scientific_journal-4515	11	12	for	for	ADP
american_scientific_journal-4515	11	13	moving	move	VERB
american_scientific_journal-4515	11	14	an	an	DET
american_scientific_journal-4515	11	15	object	object	NOUN
american_scientific_journal-4515	11	16	from	from	ADP
american_scientific_journal-4515	11	17	one	one	NUM
american_scientific_journal-4515	11	18	place	place	NOUN
american_scientific_journal-4515	11	19	to	to	ADP
american_scientific_journal-4515	11	20	another	another	PRON
american_scientific_journal-4515	11	21	with	with	ADP
american_scientific_journal-4515	11	22	respect	respect	NOUN
american_scientific_journal-4515	11	23	to	to	ADP
american_scientific_journal-4515	11	24	obstacles	obstacle	NOUN
american_scientific_journal-4515	11	25	.	.	PUNCT
american_scientific_journal-4515	12	1	in	in	ADP
american_scientific_journal-4515	12	2	other	other	ADJ
american_scientific_journal-4515	12	3	word	word	NOUN
american_scientific_journal-4515	12	4	it	it	PRON
american_scientific_journal-4515	12	5	is	be	AUX
american_scientific_journal-4515	12	6	searching	search	VERB
american_scientific_journal-4515	12	7	for	for	ADP
american_scientific_journal-4515	12	8	initial	initial	ADJ
american_scientific_journal-4515	12	9	feasible	feasible	ADJ
american_scientific_journal-4515	12	10	path	path	NOUN
american_scientific_journal-4515	12	11	and	and	CCONJ
american_scientific_journal-4515	12	12	this	this	PRON
american_scientific_journal-4515	12	13	is	be	AUX
american_scientific_journal-4515	12	14	the	the	DET
american_scientific_journal-4515	12	15	first	first	ADJ
american_scientific_journal-4515	12	16	step	step	NOUN
american_scientific_journal-4515	12	17	in	in	ADP
american_scientific_journal-4515	12	18	the	the	DET
american_scientific_journal-4515	12	19	planning	planning	NOUN
american_scientific_journal-4515	12	20	process	process	NOUN
american_scientific_journal-4515	12	21	for	for	ADP
american_scientific_journal-4515	12	22	the	the	DET
american_scientific_journal-4515	12	23	robot	robot	NOUN
american_scientific_journal-4515	12	24	path.the	path.the	DET
american_scientific_journal-4515	12	25	path	path	NOUN
american_scientific_journal-4515	12	26	planning	planning	NOUN
american_scientific_journal-4515	12	27	problem	problem	NOUN
american_scientific_journal-4515	12	28	is	be	AUX
american_scientific_journal-4515	12	29	that	that	PRON
american_scientific_journal-4515	12	30	of	of	ADP
american_scientific_journal-4515	12	31	finding	find	VERB
american_scientific_journal-4515	12	32	a	a	DET
american_scientific_journal-4515	12	33	path	path	NOUN
american_scientific_journal-4515	12	34	for	for	ADP
american_scientific_journal-4515	12	35	a	a	DET
american_scientific_journal-4515	12	36	robot	robot	NOUN
american_scientific_journal-4515	12	37	that	that	PRON
american_scientific_journal-4515	12	38	must	must	AUX
american_scientific_journal-4515	12	39	move	move	VERB
american_scientific_journal-4515	12	40	from	from	ADP
american_scientific_journal-4515	12	41	initial	initial	ADJ
american_scientific_journal-4515	12	42	point	point	NOUN
american_scientific_journal-4515	12	43	,	,	PUNCT
american_scientific_journal-4515	12	44	which	which	PRON
american_scientific_journal-4515	12	45	is	be	AUX
american_scientific_journal-4515	12	46	given	give	VERB
american_scientific_journal-4515	12	47	as	as	ADP
american_scientific_journal-4515	12	48	the	the	DET
american_scientific_journal-4515	12	49	start	start	NOUN
american_scientific_journal-4515	12	50	position	position	NOUN
american_scientific_journal-4515	12	51	to	to	ADP
american_scientific_journal-4515	12	52	the	the	DET
american_scientific_journal-4515	12	53	goal	goal	NOUN
american_scientific_journal-4515	12	54	point	point	NOUN
american_scientific_journal-4515	12	55	which	which	PRON
american_scientific_journal-4515	12	56	is	be	AUX
american_scientific_journal-4515	12	57	given	give	VERB
american_scientific_journal-4515	12	58	as	as	ADP
american_scientific_journal-4515	12	59	the	the	DET
american_scientific_journal-4515	12	60	destination	destination	NOUN
american_scientific_journal-4515	12	61	position	position	NOUN
american_scientific_journal-4515	12	62	,	,	PUNCT
american_scientific_journal-4515	12	63	in	in	ADP
american_scientific_journal-4515	12	64	an	an	DET
american_scientific_journal-4515	12	65	environment	environment	NOUN
american_scientific_journal-4515	12	66	that	that	PRON
american_scientific_journal-4515	12	67	contains	contain	VERB
american_scientific_journal-4515	12	68	a	a	DET
american_scientific_journal-4515	12	69	fully	fully	ADV
american_scientific_journal-4515	12	70	defined	define	VERB
american_scientific_journal-4515	12	71	set	set	NOUN
american_scientific_journal-4515	12	72	of	of	ADP
american_scientific_journal-4515	12	73	obstacles	obstacle	NOUN
american_scientific_journal-4515	12	74	.	.	PUNCT
american_scientific_journal-4515	13	1	therefore	therefore	ADV
american_scientific_journal-4515	13	2	,	,	PUNCT
american_scientific_journal-4515	13	3	the	the	DET
american_scientific_journal-4515	13	4	robot	robot	NOUN
american_scientific_journal-4515	13	5	does	do	AUX
american_scientific_journal-4515	13	6	not	not	PART
american_scientific_journal-4515	13	7	collide	collide	VERB
american_scientific_journal-4515	13	8	with	with	ADP
american_scientific_journal-4515	13	9	any	any	PRON
american_scientific_journal-4515	13	10	of	of	ADP
american_scientific_journal-4515	13	11	the	the	DET
american_scientific_journal-4515	13	12	obstacles	obstacle	NOUN
american_scientific_journal-4515	13	13	[	[	X
american_scientific_journal-4515	13	14	1	1	NUM
american_scientific_journal-4515	13	15	-	-	SYM
american_scientific_journal-4515	13	16	4	4	NUM
american_scientific_journal-4515	13	17	]	]	PUNCT
american_scientific_journal-4515	13	18	.	.	PUNCT
american_scientific_journal-4515	14	1	generally	generally	ADV
american_scientific_journal-4515	14	2	,	,	PUNCT
american_scientific_journal-4515	14	3	obstacles	obstacle	NOUN
american_scientific_journal-4515	14	4	can	can	AUX
american_scientific_journal-4515	14	5	not	not	PART
american_scientific_journal-4515	14	6	always	always	ADV
american_scientific_journal-4515	14	7	be	be	AUX
american_scientific_journal-4515	14	8	static	static	ADJ
american_scientific_journal-4515	14	9	.	.	PUNCT
american_scientific_journal-4515	15	1	when	when	SCONJ
american_scientific_journal-4515	15	2	the	the	DET
american_scientific_journal-4515	15	3	object	object	NOUN
american_scientific_journal-4515	15	4	stays	stay	VERB
american_scientific_journal-4515	15	5	motionless	motionless	ADJ
american_scientific_journal-4515	15	6	in	in	ADP
american_scientific_journal-4515	15	7	the	the	DET
american_scientific_journal-4515	15	8	environment	environment	NOUN
american_scientific_journal-4515	15	9	,	,	PUNCT
american_scientific_journal-4515	15	10	it	it	PRON
american_scientific_journal-4515	15	11	calls	call	VERB
american_scientific_journal-4515	15	12	static	static	ADJ
american_scientific_journal-4515	15	13	,	,	PUNCT
american_scientific_journal-4515	15	14	i.e.	i.e.	X
american_scientific_journal-4515	15	15	,	,	PUNCT
american_scientific_journal-4515	15	16	fixed	fix	VERB
american_scientific_journal-4515	15	17	constantly	constantly	ADV
american_scientific_journal-4515	15	18	at	at	ADP
american_scientific_journal-4515	15	19	a	a	DET
american_scientific_journal-4515	15	20	location	location	NOUN
american_scientific_journal-4515	15	21	,	,	PUNCT
american_scientific_journal-4515	15	22	but	but	CCONJ
american_scientific_journal-4515	15	23	when	when	SCONJ
american_scientific_journal-4515	15	24	the	the	DET
american_scientific_journal-4515	15	25	object	object	NOUN
american_scientific_journal-4515	15	26	changes	change	VERB
american_scientific_journal-4515	15	27	its	its	PRON
american_scientific_journal-4515	15	28	location	location	NOUN
american_scientific_journal-4515	15	29	over	over	ADP
american_scientific_journal-4515	15	30	time	time	NOUN
american_scientific_journal-4515	15	31	,	,	PUNCT
american_scientific_journal-4515	15	32	it	it	PRON
american_scientific_journal-4515	15	33	calls	call	VERB
american_scientific_journal-4515	15	34	dynamic	dynamic	ADJ
american_scientific_journal-4515	15	35	.	.	PUNCT
american_scientific_journal-4515	16	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-4515	17	1	*	*	PUNCT
american_scientific_journal-4515	17	2	corresponding	correspond	VERB
american_scientific_journal-4515	17	3	author	author	NOUN
american_scientific_journal-4515	17	4	.	.	PUNCT
american_scientific_journal-4515	18	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-4515	18	2	american	american	PROPN
american_scientific_journal-4515	18	3	scientific	scientific	PROPN
american_scientific_journal-4515	18	4	research	research	NOUN
american_scientific_journal-4515	18	5	journal	journal	NOUN
american_scientific_journal-4515	18	6	for	for	ADP
american_scientific_journal-4515	18	7	engineering	engineering	NOUN
american_scientific_journal-4515	18	8	,	,	PUNCT
american_scientific_journal-4515	18	9	technology	technology	NOUN
american_scientific_journal-4515	18	10	,	,	PUNCT
american_scientific_journal-4515	18	11	and	and	CCONJ
american_scientific_journal-4515	18	12	sciences	science	NOUN
american_scientific_journal-4515	18	13	(	(	PUNCT
american_scientific_journal-4515	18	14	asrjets	asrjet	NOUN
american_scientific_journal-4515	18	15	)	)	PUNCT
american_scientific_journal-4515	18	16	(	(	PUNCT
american_scientific_journal-4515	18	17	2018	2018	NUM
american_scientific_journal-4515	18	18	)	)	PUNCT
american_scientific_journal-4515	18	19	volume	volume	NOUN
american_scientific_journal-4515	18	20	49	49	NUM
american_scientific_journal-4515	18	21	,	,	PUNCT
american_scientific_journal-4515	18	22	no	no	DET
american_scientific_journal-4515	18	23	1	1	NUM
american_scientific_journal-4515	18	24	,	,	PUNCT
american_scientific_journal-4515	18	25	pp	pp	ADV
american_scientific_journal-4515	18	26	257	257	NUM
american_scientific_journal-4515	18	27	-	-	SYM
american_scientific_journal-4515	18	28	271	271	NUM
american_scientific_journal-4515	18	29	258	258	NUM
american_scientific_journal-4515	18	30	dynamic	dynamic	ADJ
american_scientific_journal-4515	18	31	environment	environment	NOUN
american_scientific_journal-4515	18	32	represents	represent	VERB
american_scientific_journal-4515	18	33	a	a	DET
american_scientific_journal-4515	18	34	revolution	revolution	NOUN
american_scientific_journal-4515	18	35	and	and	CCONJ
american_scientific_journal-4515	18	36	important	important	ADJ
american_scientific_journal-4515	18	37	side	side	NOUN
american_scientific_journal-4515	18	38	in	in	ADP
american_scientific_journal-4515	18	39	modern	modern	ADJ
american_scientific_journal-4515	18	40	automation	automation	NOUN
american_scientific_journal-4515	18	41	,	,	PUNCT
american_scientific_journal-4515	18	42	it	it	PRON
american_scientific_journal-4515	18	43	redound	redound	VERB
american_scientific_journal-4515	18	44	in	in	ADP
american_scientific_journal-4515	18	45	many	many	ADJ
american_scientific_journal-4515	18	46	important	important	ADJ
american_scientific_journal-4515	18	47	diverse	diverse	ADJ
american_scientific_journal-4515	18	48	applications	application	NOUN
american_scientific_journal-4515	18	49	like	like	ADP
american_scientific_journal-4515	18	50	,	,	PUNCT
american_scientific_journal-4515	18	51	air	air	NOUN
american_scientific_journal-4515	18	52	and	and	CCONJ
american_scientific_journal-4515	18	53	sea	sea	NOUN
american_scientific_journal-4515	18	54	traffic	traffic	NOUN
american_scientific_journal-4515	18	55	control	control	NOUN
american_scientific_journal-4515	18	56	negotiating	negotiating	NOUN
american_scientific_journal-4515	18	57	,	,	PUNCT
american_scientific_journal-4515	18	58	freeway	freeway	NOUN
american_scientific_journal-4515	18	59	traffic	traffic	NOUN
american_scientific_journal-4515	18	60	,	,	PUNCT
american_scientific_journal-4515	18	61	intelligent	intelligent	ADJ
american_scientific_journal-4515	18	62	vehicles	vehicle	NOUN
american_scientific_journal-4515	18	63	,	,	PUNCT
american_scientific_journal-4515	18	64	automated	automate	VERB
american_scientific_journal-4515	18	65	assembly	assembly	NOUN
american_scientific_journal-4515	18	66	and	and	CCONJ
american_scientific_journal-4515	18	67	automated	automate	VERB
american_scientific_journal-4515	18	68	wheel	wheel	NOUN
american_scientific_journal-4515	18	69	chairs	chair	NOUN
american_scientific_journal-4515	18	70	.	.	PUNCT
american_scientific_journal-4515	19	1	because	because	SCONJ
american_scientific_journal-4515	19	2	of	of	ADP
american_scientific_journal-4515	19	3	existence	existence	NOUN
american_scientific_journal-4515	19	4	the	the	DET
american_scientific_journal-4515	19	5	moving	move	VERB
american_scientific_journal-4515	19	6	objects	object	NOUN
american_scientific_journal-4515	19	7	,	,	PUNCT
american_scientific_journal-4515	19	8	the	the	DET
american_scientific_journal-4515	19	9	robot	robot	NOUN
american_scientific_journal-4515	19	10	needs	need	VERB
american_scientific_journal-4515	19	11	to	to	PART
american_scientific_journal-4515	19	12	make	make	VERB
american_scientific_journal-4515	19	13	decision	decision	NOUN
american_scientific_journal-4515	19	14	quickly	quickly	ADV
american_scientific_journal-4515	19	15	for	for	ADP
american_scientific_journal-4515	19	16	avoiding	avoid	VERB
american_scientific_journal-4515	19	17	possibility	possibility	NOUN
american_scientific_journal-4515	19	18	collisions	collision	NOUN
american_scientific_journal-4515	19	19	.	.	PUNCT
american_scientific_journal-4515	20	1	this	this	PRON
american_scientific_journal-4515	20	2	represents	represent	VERB
american_scientific_journal-4515	20	3	the	the	DET
american_scientific_journal-4515	20	4	mutual	mutual	ADJ
american_scientific_journal-4515	20	5	part	part	NOUN
american_scientific_journal-4515	20	6	among	among	ADP
american_scientific_journal-4515	20	7	these	these	DET
american_scientific_journal-4515	20	8	applications	application	NOUN
american_scientific_journal-4515	20	9	.	.	PUNCT
american_scientific_journal-4515	21	1	the	the	DET
american_scientific_journal-4515	21	2	ability	ability	NOUN
american_scientific_journal-4515	21	3	to	to	PART
american_scientific_journal-4515	21	4	deal	deal	VERB
american_scientific_journal-4515	21	5	with	with	ADP
american_scientific_journal-4515	21	6	moving	move	VERB
american_scientific_journal-4515	21	7	objects	object	NOUN
american_scientific_journal-4515	21	8	is	be	AUX
american_scientific_journal-4515	21	9	needful	needful	ADJ
american_scientific_journal-4515	21	10	for	for	ADP
american_scientific_journal-4515	21	11	the	the	DET
american_scientific_journal-4515	21	12	navigation	navigation	NOUN
american_scientific_journal-4515	21	13	of	of	ADP
american_scientific_journal-4515	21	14	any	any	DET
american_scientific_journal-4515	21	15	factual	factual	ADJ
american_scientific_journal-4515	21	16	robot	robot	NOUN
american_scientific_journal-4515	21	17	.	.	PUNCT
american_scientific_journal-4515	22	1	the	the	DET
american_scientific_journal-4515	22	2	range	range	NOUN
american_scientific_journal-4515	22	3	of	of	ADP
american_scientific_journal-4515	22	4	applications	application	NOUN
american_scientific_journal-4515	22	5	of	of	ADP
american_scientific_journal-4515	22	6	intelligent	intelligent	ADJ
american_scientific_journal-4515	22	7	robots	robot	NOUN
american_scientific_journal-4515	22	8	could	could	AUX
american_scientific_journal-4515	22	9	be	be	AUX
american_scientific_journal-4515	22	10	widely	widely	ADV
american_scientific_journal-4515	22	11	increased	increase	VERB
american_scientific_journal-4515	22	12	since	since	SCONJ
american_scientific_journal-4515	22	13	it	it	PRON
american_scientific_journal-4515	22	14	’s	’	VERB
american_scientific_journal-4515	22	15	able	able	ADJ
american_scientific_journal-4515	22	16	to	to	PART
american_scientific_journal-4515	22	17	handle	handle	VERB
american_scientific_journal-4515	22	18	moving	move	VERB
american_scientific_journal-4515	22	19	objects	object	NOUN
american_scientific_journal-4515	22	20	[	[	X
american_scientific_journal-4515	22	21	57	57	NUM
american_scientific_journal-4515	22	22	]	]	PUNCT
american_scientific_journal-4515	22	23	.	.	PUNCT
american_scientific_journal-4515	23	1	there	there	PRON
american_scientific_journal-4515	23	2	are	be	VERB
american_scientific_journal-4515	23	3	three	three	NUM
american_scientific_journal-4515	23	4	types	type	NOUN
american_scientific_journal-4515	23	5	of	of	ADP
american_scientific_journal-4515	23	6	dynamic	dynamic	ADJ
american_scientific_journal-4515	23	7	environment	environment	NOUN
american_scientific_journal-4515	23	8	,	,	PUNCT
american_scientific_journal-4515	23	9	where	where	SCONJ
american_scientific_journal-4515	23	10	all	all	DET
american_scientific_journal-4515	23	11	information	information	NOUN
american_scientific_journal-4515	23	12	is	be	AUX
american_scientific_journal-4515	23	13	regarding	regard	VERB
american_scientific_journal-4515	23	14	to	to	ADP
american_scientific_journal-4515	23	15	the	the	DET
american_scientific_journal-4515	23	16	obstacles	obstacle	NOUN
american_scientific_journal-4515	23	17	,	,	PUNCT
american_scientific_journal-4515	23	18	i.e.	i.e.	X
american_scientific_journal-4515	23	19	,	,	PUNCT
american_scientific_journal-4515	23	20	motions	motion	NOUN
american_scientific_journal-4515	23	21	,	,	PUNCT
american_scientific_journal-4515	23	22	sizes	size	NOUN
american_scientific_journal-4515	23	23	,	,	PUNCT
american_scientific_journal-4515	23	24	shapes	shape	NOUN
american_scientific_journal-4515	23	25	,	,	PUNCT
american_scientific_journal-4515	23	26	locations	location	NOUN
american_scientific_journal-4515	23	27	,	,	PUNCT
american_scientific_journal-4515	23	28	etc	etc	X
american_scientific_journal-4515	23	29	.	.	X
american_scientific_journal-4515	23	30	,	,	PUNCT
american_scientific_journal-4515	23	31	is	be	AUX
american_scientific_journal-4515	23	32	completely	completely	ADV
american_scientific_journal-4515	23	33	known	know	VERB
american_scientific_journal-4515	23	34	,	,	PUNCT
american_scientific_journal-4515	23	35	the	the	DET
american_scientific_journal-4515	23	36	obstacle	obstacle	NOUN
american_scientific_journal-4515	23	37	is	be	AUX
american_scientific_journal-4515	23	38	said	say	VERB
american_scientific_journal-4515	23	39	to	to	PART
american_scientific_journal-4515	23	40	be	be	AUX
american_scientific_journal-4515	23	41	in	in	ADP
american_scientific_journal-4515	23	42	a	a	DET
american_scientific_journal-4515	23	43	known	know	VERB
american_scientific_journal-4515	23	44	dynamic	dynamic	ADJ
american_scientific_journal-4515	23	45	environment	environment	NOUN
american_scientific_journal-4515	23	46	.	.	PUNCT
american_scientific_journal-4515	24	1	as	as	ADP
american_scientific_journal-4515	24	2	example	example	NOUN
american_scientific_journal-4515	24	3	for	for	ADP
american_scientific_journal-4515	24	4	known	known	ADJ
american_scientific_journal-4515	24	5	environment	environment	NOUN
american_scientific_journal-4515	24	6	the	the	DET
american_scientific_journal-4515	24	7	automated	automate	VERB
american_scientific_journal-4515	24	8	production	production	NOUN
american_scientific_journal-4515	24	9	line	line	NOUN
american_scientific_journal-4515	24	10	.	.	PUNCT
american_scientific_journal-4515	25	1	partially	partially	ADV
american_scientific_journal-4515	25	2	known	know	VERB
american_scientific_journal-4515	25	3	dynamic	dynamic	ADJ
american_scientific_journal-4515	25	4	environment	environment	NOUN
american_scientific_journal-4515	25	5	is	be	AUX
american_scientific_journal-4515	25	6	the	the	DET
american_scientific_journal-4515	25	7	second	second	ADJ
american_scientific_journal-4515	25	8	type	type	NOUN
american_scientific_journal-4515	25	9	when	when	SCONJ
american_scientific_journal-4515	25	10	not	not	PART
american_scientific_journal-4515	25	11	the	the	DET
american_scientific_journal-4515	25	12	all	all	DET
american_scientific_journal-4515	25	13	information	information	NOUN
american_scientific_journal-4515	25	14	about	about	ADP
american_scientific_journal-4515	25	15	the	the	DET
american_scientific_journal-4515	25	16	obstacle	obstacle	NOUN
american_scientific_journal-4515	25	17	are	be	AUX
american_scientific_journal-4515	25	18	exist	exist	VERB
american_scientific_journal-4515	25	19	at	at	ADP
american_scientific_journal-4515	25	20	the	the	DET
american_scientific_journal-4515	25	21	planning	planning	NOUN
american_scientific_journal-4515	25	22	time	time	NOUN
american_scientific_journal-4515	25	23	.	.	PUNCT
american_scientific_journal-4515	26	1	in	in	ADP
american_scientific_journal-4515	26	2	this	this	DET
american_scientific_journal-4515	26	3	state	state	NOUN
american_scientific_journal-4515	26	4	,	,	PUNCT
american_scientific_journal-4515	26	5	it	it	PRON
american_scientific_journal-4515	26	6	needs	need	VERB
american_scientific_journal-4515	26	7	to	to	PART
american_scientific_journal-4515	26	8	calculate	calculate	VERB
american_scientific_journal-4515	26	9	the	the	DET
american_scientific_journal-4515	26	10	robot	robot	NOUN
american_scientific_journal-4515	26	11	motion	motion	NOUN
american_scientific_journal-4515	26	12	with	with	ADP
american_scientific_journal-4515	26	13	according	accord	VERB
american_scientific_journal-4515	26	14	to	to	ADP
american_scientific_journal-4515	26	15	insufficient	insufficient	ADJ
american_scientific_journal-4515	26	16	information	information	NOUN
american_scientific_journal-4515	26	17	about	about	ADP
american_scientific_journal-4515	26	18	the	the	DET
american_scientific_journal-4515	26	19	environment	environment	NOUN
american_scientific_journal-4515	26	20	.	.	PUNCT
american_scientific_journal-4515	27	1	it	it	PRON
american_scientific_journal-4515	27	2	is	be	AUX
american_scientific_journal-4515	27	3	important	important	ADJ
american_scientific_journal-4515	27	4	to	to	PART
american_scientific_journal-4515	27	5	know	know	VERB
american_scientific_journal-4515	27	6	when	when	SCONJ
american_scientific_journal-4515	27	7	the	the	DET
american_scientific_journal-4515	27	8	robot	robot	NOUN
american_scientific_journal-4515	27	9	's	's	PART
american_scientific_journal-4515	27	10	mission	mission	NOUN
american_scientific_journal-4515	27	11	is	be	AUX
american_scientific_journal-4515	27	12	to	to	PART
american_scientific_journal-4515	27	13	complete	complete	VERB
american_scientific_journal-4515	27	14	a	a	DET
american_scientific_journal-4515	27	15	map	map	NOUN
american_scientific_journal-4515	27	16	of	of	ADP
american_scientific_journal-4515	27	17	the	the	DET
american_scientific_journal-4515	27	18	environment	environment	NOUN
american_scientific_journal-4515	27	19	by	by	ADP
american_scientific_journal-4515	27	20	scanning	scan	VERB
american_scientific_journal-4515	27	21	the	the	DET
american_scientific_journal-4515	27	22	area	area	NOUN
american_scientific_journal-4515	27	23	or	or	CCONJ
american_scientific_journal-4515	27	24	to	to	PART
american_scientific_journal-4515	27	25	scan	scan	VERB
american_scientific_journal-4515	27	26	a	a	DET
american_scientific_journal-4515	27	27	certain	certain	ADJ
american_scientific_journal-4515	27	28	area	area	NOUN
american_scientific_journal-4515	27	29	to	to	PART
american_scientific_journal-4515	27	30	make	make	VERB
american_scientific_journal-4515	27	31	sure	sure	ADJ
american_scientific_journal-4515	27	32	if	if	SCONJ
american_scientific_journal-4515	27	33	there	there	PRON
american_scientific_journal-4515	27	34	is	be	VERB
american_scientific_journal-4515	27	35	a	a	DET
american_scientific_journal-4515	27	36	new	new	ADJ
american_scientific_journal-4515	27	37	object	object	NOUN
american_scientific_journal-4515	27	38	is	be	AUX
american_scientific_journal-4515	27	39	found	find	VERB
american_scientific_journal-4515	27	40	in	in	ADP
american_scientific_journal-4515	27	41	the	the	DET
american_scientific_journal-4515	27	42	area	area	NOUN
american_scientific_journal-4515	27	43	.	.	PUNCT
american_scientific_journal-4515	28	1	finally	finally	ADV
american_scientific_journal-4515	28	2	when	when	SCONJ
american_scientific_journal-4515	28	3	there	there	PRON
american_scientific_journal-4515	28	4	is	be	VERB
american_scientific_journal-4515	28	5	nothing	nothing	PRON
american_scientific_journal-4515	28	6	to	to	PART
american_scientific_journal-4515	28	7	know	know	VERB
american_scientific_journal-4515	28	8	about	about	ADP
american_scientific_journal-4515	28	9	the	the	DET
american_scientific_journal-4515	28	10	obstacle	obstacle	NOUN
american_scientific_journal-4515	28	11	it	it	PRON
american_scientific_journal-4515	28	12	’s	’s	AUX
american_scientific_journal-4515	28	13	called	call	VERB
american_scientific_journal-4515	28	14	the	the	DET
american_scientific_journal-4515	28	15	totally	totally	ADV
american_scientific_journal-4515	28	16	unknown	unknown	ADJ
american_scientific_journal-4515	28	17	dynamic	dynamic	ADJ
american_scientific_journal-4515	28	18	environment	environment	NOUN
american_scientific_journal-4515	28	19	and	and	CCONJ
american_scientific_journal-4515	28	20	this	this	PRON
american_scientific_journal-4515	28	21	need	need	VERB
american_scientific_journal-4515	28	22	intelligent	intelligent	ADJ
american_scientific_journal-4515	28	23	ways	way	NOUN
american_scientific_journal-4515	28	24	to	to	PART
american_scientific_journal-4515	28	25	be	be	AUX
american_scientific_journal-4515	28	26	used	use	VERB
american_scientific_journal-4515	28	27	.	.	PUNCT
american_scientific_journal-4515	29	1	as	as	ADP
american_scientific_journal-4515	29	2	example	example	NOUN
american_scientific_journal-4515	29	3	for	for	ADP
american_scientific_journal-4515	29	4	unknown	unknown	ADJ
american_scientific_journal-4515	29	5	and	and	CCONJ
american_scientific_journal-4515	29	6	partially	partially	ADV
american_scientific_journal-4515	29	7	known	know	VERB
american_scientific_journal-4515	29	8	environment	environment	NOUN
american_scientific_journal-4515	29	9	the	the	DET
american_scientific_journal-4515	29	10	other	other	ADJ
american_scientific_journal-4515	29	11	robots	robot	NOUN
american_scientific_journal-4515	29	12	and	and	CCONJ
american_scientific_journal-4515	29	13	humans	human	NOUN
american_scientific_journal-4515	29	14	in	in	ADP
american_scientific_journal-4515	29	15	workspace	workspace	NOUN
american_scientific_journal-4515	29	16	[	[	X
american_scientific_journal-4515	29	17	7	7	NUM
american_scientific_journal-4515	29	18	]	]	PUNCT
american_scientific_journal-4515	29	19	.	.	PUNCT
american_scientific_journal-4515	30	1	to	to	PART
american_scientific_journal-4515	30	2	overcome	overcome	VERB
american_scientific_journal-4515	30	3	the	the	DET
american_scientific_journal-4515	30	4	dynamic	dynamic	ADJ
american_scientific_journal-4515	30	5	environment	environment	NOUN
american_scientific_journal-4515	30	6	challenges	challenge	NOUN
american_scientific_journal-4515	30	7	,	,	PUNCT
american_scientific_journal-4515	30	8	many	many	ADJ
american_scientific_journal-4515	30	9	path	path	NOUN
american_scientific_journal-4515	30	10	planning	planning	NOUN
american_scientific_journal-4515	30	11	algorithms	algorithm	NOUN
american_scientific_journal-4515	30	12	have	have	AUX
american_scientific_journal-4515	30	13	been	be	AUX
american_scientific_journal-4515	30	14	used	use	VERB
american_scientific_journal-4515	30	15	in	in	ADP
american_scientific_journal-4515	30	16	the	the	DET
american_scientific_journal-4515	30	17	literature	literature	NOUN
american_scientific_journal-4515	30	18	.	.	PUNCT
american_scientific_journal-4515	31	1	here	here	ADV
american_scientific_journal-4515	31	2	we	we	PRON
american_scientific_journal-4515	31	3	started	start	VERB
american_scientific_journal-4515	31	4	with	with	ADP
american_scientific_journal-4515	31	5	anthony	anthony	PROPN
american_scientific_journal-4515	31	6	stentz	stentz	PROPN
american_scientific_journal-4515	31	7	[	[	X
american_scientific_journal-4515	31	8	8	8	X
american_scientific_journal-4515	31	9	]	]	PUNCT
american_scientific_journal-4515	31	10	whom	whom	PRON
american_scientific_journal-4515	31	11	used	use	VERB
american_scientific_journal-4515	31	12	the	the	DET
american_scientific_journal-4515	31	13	d	d	PROPN
american_scientific_journal-4515	31	14	*	*	PROPN
american_scientific_journal-4515	31	15	algorithm	algorithm	NOUN
american_scientific_journal-4515	31	16	which	which	PRON
american_scientific_journal-4515	31	17	is	be	AUX
american_scientific_journal-4515	31	18	represented	represent	VERB
american_scientific_journal-4515	31	19	the	the	DET
american_scientific_journal-4515	31	20	dynamic	dynamic	ADJ
american_scientific_journal-4515	31	21	a	a	NOUN
american_scientific_journal-4515	31	22	*	*	PUNCT
american_scientific_journal-4515	31	23	,	,	PUNCT
american_scientific_journal-4515	31	24	it	it	PRON
american_scientific_journal-4515	31	25	aims	aim	VERB
american_scientific_journal-4515	31	26	to	to	PART
american_scientific_journal-4515	31	27	create	create	VERB
american_scientific_journal-4515	31	28	a	a	DET
american_scientific_journal-4515	31	29	short	short	ADJ
american_scientific_journal-4515	31	30	path	path	NOUN
american_scientific_journal-4515	31	31	in	in	ADP
american_scientific_journal-4515	31	32	real	real	ADJ
american_scientific_journal-4515	31	33	-	-	PUNCT
american_scientific_journal-4515	31	34	time	time	NOUN
american_scientific_journal-4515	31	35	by	by	ADP
american_scientific_journal-4515	31	36	incrementally	incrementally	ADV
american_scientific_journal-4515	31	37	reforming	reform	VERB
american_scientific_journal-4515	31	38	paths	path	NOUN
american_scientific_journal-4515	31	39	for	for	ADP
american_scientific_journal-4515	31	40	the	the	DET
american_scientific_journal-4515	31	41	robot	robot	NOUN
american_scientific_journal-4515	31	42	’s	’s	PART
american_scientific_journal-4515	31	43	state	state	NOUN
american_scientific_journal-4515	31	44	as	as	SCONJ
american_scientific_journal-4515	31	45	a	a	DET
american_scientific_journal-4515	31	46	new	new	ADJ
american_scientific_journal-4515	31	47	information	information	NOUN
american_scientific_journal-4515	31	48	is	be	AUX
american_scientific_journal-4515	31	49	found	find	VERB
american_scientific_journal-4515	31	50	.	.	PUNCT
american_scientific_journal-4515	32	1	the	the	DET
american_scientific_journal-4515	32	2	d	d	PROPN
american_scientific_journal-4515	32	3	*	*	PUNCT
american_scientific_journal-4515	32	4	extension	extension	NOUN
american_scientific_journal-4515	32	5	which	which	PRON
american_scientific_journal-4515	32	6	concentrate	concentrate	VERB
american_scientific_journal-4515	32	7	the	the	DET
american_scientific_journal-4515	32	8	repairs	repair	NOUN
american_scientific_journal-4515	32	9	of	of	ADP
american_scientific_journal-4515	32	10	significantly	significantly	ADJ
american_scientific_journal-4515	32	11	reduction	reduction	NOUN
american_scientific_journal-4515	32	12	the	the	DET
american_scientific_journal-4515	32	13	whole	whole	ADJ
american_scientific_journal-4515	32	14	time	time	NOUN
american_scientific_journal-4515	32	15	required	require	VERB
american_scientific_journal-4515	32	16	to	to	ADP
american_scientific_journal-4515	32	17	subsequent	subsequent	ADJ
american_scientific_journal-4515	32	18	and	and	CCONJ
american_scientific_journal-4515	32	19	calculate	calculate	VERB
american_scientific_journal-4515	32	20	the	the	DET
american_scientific_journal-4515	32	21	initial	initial	ADJ
american_scientific_journal-4515	32	22	path	path	NOUN
american_scientific_journal-4515	32	23	re	re	ADJ
american_scientific_journal-4515	32	24	-	-	NOUN
american_scientific_journal-4515	32	25	planning	planning	ADJ
american_scientific_journal-4515	32	26	operations	operation	NOUN
american_scientific_journal-4515	32	27	which	which	PRON
american_scientific_journal-4515	32	28	this	this	DET
american_scientific_journal-4515	32	29	paper	paper	NOUN
american_scientific_journal-4515	32	30	aims	aim	VERB
american_scientific_journal-4515	32	31	to	to	PART
american_scientific_journal-4515	32	32	.	.	PUNCT
american_scientific_journal-4515	32	33	followed	follow	VERB
american_scientific_journal-4515	32	34	by	by	ADP
american_scientific_journal-4515	32	35	enric	enric	PROPN
american_scientific_journal-4515	32	36	cervera	cervera	PROPN
american_scientific_journal-4515	32	37	i	i	PRON
american_scientific_journal-4515	32	38	mateu	mateu	VERB
american_scientific_journal-4515	33	1	[	[	X
american_scientific_journal-4515	33	2	9	9	NUM
american_scientific_journal-4515	33	3	]	]	PUNCT
american_scientific_journal-4515	33	4	who	who	PRON
american_scientific_journal-4515	33	5	suggested	suggest	VERB
american_scientific_journal-4515	33	6	using	use	VERB
american_scientific_journal-4515	33	7	robot	robot	NOUN
american_scientific_journal-4515	33	8	programming	programming	NOUN
american_scientific_journal-4515	33	9	architecture	architecture	NOUN
american_scientific_journal-4515	33	10	to	to	PART
american_scientific_journal-4515	33	11	learn	learn	VERB
american_scientific_journal-4515	33	12	fine	fine	ADJ
american_scientific_journal-4515	33	13	motion	motion	NOUN
american_scientific_journal-4515	33	14	tasks	task	NOUN
american_scientific_journal-4515	33	15	such	such	ADJ
american_scientific_journal-4515	33	16	as	as	ADP
american_scientific_journal-4515	33	17	autonomous	autonomous	ADJ
american_scientific_journal-4515	33	18	process	process	NOUN
american_scientific_journal-4515	33	19	of	of	ADP
american_scientific_journal-4515	33	20	experience	experience	NOUN
american_scientific_journal-4515	33	21	repetition	repetition	NOUN
american_scientific_journal-4515	33	22	could	could	AUX
american_scientific_journal-4515	33	23	carry	carry	VERB
american_scientific_journal-4515	33	24	out	out	ADP
american_scientific_journal-4515	33	25	the	the	DET
american_scientific_journal-4515	33	26	goal	goal	NOUN
american_scientific_journal-4515	33	27	in	in	ADP
american_scientific_journal-4515	33	28	minimized	minimized	ADJ
american_scientific_journal-4515	33	29	steps	step	NOUN
american_scientific_journal-4515	33	30	.	.	PUNCT
american_scientific_journal-4515	34	1	this	this	PRON
american_scientific_journal-4515	34	2	involves	involve	VERB
american_scientific_journal-4515	34	3	uncertainty	uncertainty	NOUN
american_scientific_journal-4515	34	4	in	in	ADP
american_scientific_journal-4515	34	5	location	location	NOUN
american_scientific_journal-4515	34	6	,	,	PUNCT
american_scientific_journal-4515	34	7	and	and	CCONJ
american_scientific_journal-4515	34	8	the	the	DET
american_scientific_journal-4515	34	9	robot	robot	NOUN
american_scientific_journal-4515	34	10	will	will	AUX
american_scientific_journal-4515	34	11	be	be	AUX
american_scientific_journal-4515	34	12	guided	guide	VERB
american_scientific_journal-4515	34	13	with	with	ADP
american_scientific_journal-4515	34	14	sensory	sensory	ADJ
american_scientific_journal-4515	34	15	information	information	NOUN
american_scientific_journal-4515	34	16	by	by	ADP
american_scientific_journal-4515	34	17	using	use	VERB
american_scientific_journal-4515	34	18	force	force	NOUN
american_scientific_journal-4515	34	19	sensor	sensor	NOUN
american_scientific_journal-4515	34	20	but	but	CCONJ
american_scientific_journal-4515	34	21	this	this	DET
american_scientific_journal-4515	34	22	work	work	NOUN
american_scientific_journal-4515	34	23	involves	involve	VERB
american_scientific_journal-4515	34	24	uncertainty	uncertainty	NOUN
american_scientific_journal-4515	34	25	in	in	ADP
american_scientific_journal-4515	34	26	location	location	NOUN
american_scientific_journal-4515	34	27	.	.	PUNCT
american_scientific_journal-4515	35	1	many	many	ADJ
american_scientific_journal-4515	35	2	other	other	ADJ
american_scientific_journal-4515	35	3	path	path	NOUN
american_scientific_journal-4515	35	4	planning	planning	NOUN
american_scientific_journal-4515	35	5	algorithms	algorithm	NOUN
american_scientific_journal-4515	35	6	were	be	AUX
american_scientific_journal-4515	35	7	applied	apply	VERB
american_scientific_journal-4515	35	8	for	for	ADP
american_scientific_journal-4515	35	9	solving	solve	VERB
american_scientific_journal-4515	35	10	dynamic	dynamic	ADJ
american_scientific_journal-4515	35	11	environment	environment	NOUN
american_scientific_journal-4515	35	12	problems	problem	NOUN
american_scientific_journal-4515	35	13	such	such	ADJ
american_scientific_journal-4515	35	14	as	as	ADP
american_scientific_journal-4515	35	15	deriving	derive	VERB
american_scientific_journal-4515	35	16	the	the	DET
american_scientific_journal-4515	35	17	non	non	ADJ
american_scientific_journal-4515	35	18	-	-	ADJ
american_scientific_journal-4515	35	19	linear	linear	ADJ
american_scientific_journal-4515	35	20	v	v	NOUN
american_scientific_journal-4515	35	21	-	-	PUNCT
american_scientific_journal-4515	35	22	obstacle	obstacle	NOUN
american_scientific_journal-4515	35	23	for	for	ADP
american_scientific_journal-4515	35	24	general	general	ADJ
american_scientific_journal-4515	35	25	planar	planar	ADJ
american_scientific_journal-4515	35	26	obstacles	obstacle	NOUN
american_scientific_journal-4515	35	27	to	to	PART
american_scientific_journal-4515	35	28	be	be	AUX
american_scientific_journal-4515	35	29	useful	useful	ADJ
american_scientific_journal-4515	35	30	in	in	ADP
american_scientific_journal-4515	35	31	analytic	analytic	ADJ
american_scientific_journal-4515	35	32	expressions	expression	NOUN
american_scientific_journal-4515	35	33	.	.	PUNCT
american_scientific_journal-4515	36	1	considering	consider	VERB
american_scientific_journal-4515	36	2	obstacles	obstacle	NOUN
american_scientific_journal-4515	36	3	moving	move	VERB
american_scientific_journal-4515	36	4	on	on	ADP
american_scientific_journal-4515	36	5	arbitrarily	arbitrarily	ADV
american_scientific_journal-4515	36	6	trajectories	trajectory	NOUN
american_scientific_journal-4515	36	7	is	be	AUX
american_scientific_journal-4515	36	8	represents	represent	VERB
american_scientific_journal-4515	36	9	the	the	DET
american_scientific_journal-4515	36	10	concept	concept	NOUN
american_scientific_journal-4515	36	11	of	of	ADP
american_scientific_journal-4515	36	12	counting	count	VERB
american_scientific_journal-4515	36	13	velocity	velocity	NOUN
american_scientific_journal-4515	36	14	obstacles	obstacle	NOUN
american_scientific_journal-4515	36	15	.	.	PUNCT
american_scientific_journal-4515	37	1	the	the	DET
american_scientific_journal-4515	37	2	nonlinear	nonlinear	ADJ
american_scientific_journal-4515	37	3	vobstacle	vobstacle	NOUN
american_scientific_journal-4515	37	4	has	have	AUX
american_scientific_journal-4515	37	5	been	be	AUX
american_scientific_journal-4515	37	6	consisted	consist	VERB
american_scientific_journal-4515	37	7	of	of	ADP
american_scientific_journal-4515	37	8	a	a	DET
american_scientific_journal-4515	37	9	deformed	deform	VERB
american_scientific_journal-4515	37	10	cone	cone	NOUN
american_scientific_journal-4515	37	11	i.e.	i.e.	X
american_scientific_journal-4515	37	12	a	a	DET
american_scientific_journal-4515	37	13	time	time	NOUN
american_scientific_journal-4515	37	14	-	-	PUNCT
american_scientific_journal-4515	37	15	scaled	scale	VERB
american_scientific_journal-4515	37	16	map	map	NOUN
american_scientific_journal-4515	37	17	of	of	ADP
american_scientific_journal-4515	37	18	the	the	DET
american_scientific_journal-4515	37	19	obstacles	obstacle	NOUN
american_scientific_journal-4515	37	20	that	that	PRON
american_scientific_journal-4515	37	21	extend	extend	VERB
american_scientific_journal-4515	37	22	along	along	ADP
american_scientific_journal-4515	37	23	their	their	PRON
american_scientific_journal-4515	37	24	trajectories	trajectory	NOUN
american_scientific_journal-4515	37	25	.	.	PUNCT
american_scientific_journal-4515	38	1	avoiding	avoid	VERB
american_scientific_journal-4515	38	2	the	the	DET
american_scientific_journal-4515	38	3	obstacle	obstacle	NOUN
american_scientific_journal-4515	38	4	during	during	ADP
american_scientific_journal-4515	38	5	the	the	DET
american_scientific_journal-4515	38	6	time	time	NOUN
american_scientific_journal-4515	38	7	interval	interval	NOUN
american_scientific_journal-4515	38	8	for	for	ADP
american_scientific_journal-4515	38	9	which	which	PRON
american_scientific_journal-4515	38	10	the	the	DET
american_scientific_journal-4515	38	11	v	v	NOUN
american_scientific_journal-4515	38	12	-	-	PUNCT
american_scientific_journal-4515	38	13	obstacle	obstacle	NOUN
american_scientific_journal-4515	38	14	has	have	AUX
american_scientific_journal-4515	38	15	been	be	AUX
american_scientific_journal-4515	38	16	generated	generate	VERB
american_scientific_journal-4515	38	17	could	could	AUX
american_scientific_journal-4515	38	18	be	be	AUX
american_scientific_journal-4515	38	19	achieved	achieve	VERB
american_scientific_journal-4515	38	20	by	by	ADP
american_scientific_journal-4515	38	21	selecting	select	VERB
american_scientific_journal-4515	38	22	a	a	DET
american_scientific_journal-4515	38	23	single	single	ADJ
american_scientific_journal-4515	38	24	velocity	velocity	NOUN
american_scientific_journal-4515	38	25	vector	vector	NOUN
american_scientific_journal-4515	38	26	outside	outside	ADP
american_scientific_journal-4515	38	27	the	the	DET
american_scientific_journal-4515	38	28	nonlinear	nonlinear	ADJ
american_scientific_journal-4515	38	29	v	v	NOUN
american_scientific_journal-4515	38	30	-	-	PUNCT
american_scientific_journal-4515	38	31	obstacle	obstacle	NOUN
american_scientific_journal-4515	38	32	.	.	PUNCT
american_scientific_journal-4515	39	1	this	this	DET
american_scientific_journal-4515	39	2	method	method	NOUN
american_scientific_journal-4515	39	3	works	work	VERB
american_scientific_journal-4515	39	4	accurate	accurate	ADJ
american_scientific_journal-4515	39	5	only	only	ADV
american_scientific_journal-4515	39	6	with	with	ADP
american_scientific_journal-4515	39	7	mobile	mobile	ADJ
american_scientific_journal-4515	39	8	robot	robot	NOUN
american_scientific_journal-4515	39	9	[	[	X
american_scientific_journal-4515	39	10	10	10	NUM
american_scientific_journal-4515	39	11	]	]	PUNCT
american_scientific_journal-4515	39	12	.	.	PUNCT
american_scientific_journal-4515	40	1	as	as	ADV
american_scientific_journal-4515	40	2	well	well	ADV
american_scientific_journal-4515	40	3	as	as	ADP
american_scientific_journal-4515	40	4	this	this	PRON
american_scientific_journal-4515	40	5	,	,	PUNCT
american_scientific_journal-4515	40	6	finding	find	VERB
american_scientific_journal-4515	40	7	out	out	ADP
american_scientific_journal-4515	40	8	a	a	DET
american_scientific_journal-4515	40	9	reasonable	reasonable	ADJ
american_scientific_journal-4515	40	10	relation	relation	NOUN
american_scientific_journal-4515	40	11	among	among	ADP
american_scientific_journal-4515	40	12	parameters	parameter	NOUN
american_scientific_journal-4515	40	13	that	that	PRON
american_scientific_journal-4515	40	14	used	use	VERB
american_scientific_journal-4515	40	15	in	in	ADP
american_scientific_journal-4515	40	16	the	the	DET
american_scientific_journal-4515	40	17	path	path	NOUN
american_scientific_journal-4515	40	18	planning	planning	NOUN
american_scientific_journal-4515	40	19	strategies	strategy	NOUN
american_scientific_journal-4515	40	20	in	in	ADP
american_scientific_journal-4515	40	21	a	a	DET
american_scientific_journal-4515	40	22	platform	platform	NOUN
american_scientific_journal-4515	40	23	,	,	PUNCT
american_scientific_journal-4515	40	24	where	where	SCONJ
american_scientific_journal-4515	40	25	a	a	DET
american_scientific_journal-4515	40	26	robot	robot	NOUN
american_scientific_journal-4515	40	27	will	will	AUX
american_scientific_journal-4515	40	28	be	be	AUX
american_scientific_journal-4515	40	29	able	able	ADJ
american_scientific_journal-4515	40	30	to	to	PART
american_scientific_journal-4515	40	31	move	move	VERB
american_scientific_journal-4515	40	32	freely	freely	ADV
american_scientific_journal-4515	40	33	from	from	ADP
american_scientific_journal-4515	40	34	the	the	DET
american_scientific_journal-4515	40	35	start	start	NOUN
american_scientific_journal-4515	40	36	location	location	NOUN
american_scientific_journal-4515	40	37	in	in	ADP
american_scientific_journal-4515	40	38	a	a	DET
american_scientific_journal-4515	40	39	dynamic	dynamic	ADJ
american_scientific_journal-4515	40	40	environment	environment	NOUN
american_scientific_journal-4515	40	41	with	with	ADP
american_scientific_journal-4515	40	42	map	map	NOUN
american_scientific_journal-4515	40	43	and	and	CCONJ
american_scientific_journal-4515	40	44	make	make	VERB
american_scientific_journal-4515	40	45	an	an	DET
american_scientific_journal-4515	40	46	optimal	optimal	ADJ
american_scientific_journal-4515	40	47	path	path	NOUN
american_scientific_journal-4515	40	48	to	to	ADP
american_scientific_journal-4515	40	49	a	a	DET
american_scientific_journal-4515	40	50	set	set	VERB
american_scientific_journal-4515	40	51	target	target	NOUN
american_scientific_journal-4515	40	52	location	location	NOUN
american_scientific_journal-4515	40	53	without	without	ADP
american_scientific_journal-4515	40	54	collision	collision	NOUN
american_scientific_journal-4515	40	55	with	with	ADP
american_scientific_journal-4515	40	56	the	the	DET
american_scientific_journal-4515	40	57	static	static	ADJ
american_scientific_journal-4515	40	58	and	and	CCONJ
american_scientific_journal-4515	40	59	moving	move	VERB
american_scientific_journal-4515	40	60	objects	object	NOUN
american_scientific_journal-4515	40	61	.	.	PUNCT
american_scientific_journal-4515	41	1	researchers	researcher	NOUN
american_scientific_journal-4515	41	2	used	use	VERB
american_scientific_journal-4515	41	3	a	a	DET
american_scientific_journal-4515	41	4	new	new	ADJ
american_scientific_journal-4515	41	5	optimal	optimal	ADJ
american_scientific_journal-4515	41	6	type	type	NOUN
american_scientific_journal-4515	41	7	algorithm	algorithm	NOUN
american_scientific_journal-4515	41	8	of	of	ADP
american_scientific_journal-4515	41	9	rapidly	rapidly	ADV
american_scientific_journal-4515	41	10	-	-	PUNCT
american_scientific_journal-4515	41	11	exploring	explore	VERB
american_scientific_journal-4515	41	12	random	random	ADJ
american_scientific_journal-4515	41	13	tree	tree	NOUN
american_scientific_journal-4515	41	14	rrt	rrt	NOUN
american_scientific_journal-4515	41	15	algorithm	algorithm	NOUN
american_scientific_journal-4515	41	16	,	,	PUNCT
american_scientific_journal-4515	41	17	named	name	VERB
american_scientific_journal-4515	41	18	rrt	rrt	NOUN
american_scientific_journal-4515	41	19	*	*	NOUN
american_scientific_journal-4515	41	20	.	.	PUNCT
american_scientific_journal-4515	42	1	the	the	DET
american_scientific_journal-4515	42	2	mechanism	mechanism	NOUN
american_scientific_journal-4515	42	3	of	of	ADP
american_scientific_journal-4515	42	4	this	this	DET
american_scientific_journal-4515	42	5	strategy	strategy	NOUN
american_scientific_journal-4515	42	6	is	be	AUX
american_scientific_journal-4515	42	7	based	base	VERB
american_scientific_journal-4515	42	8	on	on	ADP
american_scientific_journal-4515	42	9	incremental	incremental	ADJ
american_scientific_journal-4515	42	10	sampling	sampling	NOUN
american_scientific_journal-4515	42	11	that	that	PRON
american_scientific_journal-4515	42	12	covers	cover	VERB
american_scientific_journal-4515	42	13	the	the	DET
american_scientific_journal-4515	42	14	all	all	DET
american_scientific_journal-4515	42	15	space	space	NOUN
american_scientific_journal-4515	42	16	and	and	CCONJ
american_scientific_journal-4515	42	17	will	will	AUX
american_scientific_journal-4515	42	18	act	act	VERB
american_scientific_journal-4515	42	19	quickly	quickly	ADV
american_scientific_journal-4515	42	20	.	.	PUNCT
american_scientific_journal-4515	43	1	it	it	PRON
american_scientific_journal-4515	43	2	can	can	AUX
american_scientific_journal-4515	43	3	be	be	AUX
american_scientific_journal-4515	43	4	used	use	VERB
american_scientific_journal-4515	43	5	in	in	ADP
american_scientific_journal-4515	43	6	more	more	ADJ
american_scientific_journal-4515	43	7	than	than	ADP
american_scientific_journal-4515	43	8	single	single	ADJ
american_scientific_journal-4515	43	9	dimension	dimension	NOUN
american_scientific_journal-4515	43	10	environments	environment	NOUN
american_scientific_journal-4515	43	11	and	and	CCONJ
american_scientific_journal-4515	43	12	will	will	AUX
american_scientific_journal-4515	43	13	be	be	AUX
american_scientific_journal-4515	43	14	computationally	computationally	ADV
american_scientific_journal-4515	43	15	efficient	efficient	ADJ
american_scientific_journal-4515	43	16	but	but	CCONJ
american_scientific_journal-4515	43	17	they	they	PRON
american_scientific_journal-4515	43	18	have	have	AUX
american_scientific_journal-4515	43	19	found	find	VERB
american_scientific_journal-4515	43	20	that	that	SCONJ
american_scientific_journal-4515	43	21	a	a	DET
american_scientific_journal-4515	43	22	high	high	ADJ
american_scientific_journal-4515	43	23	number	number	NOUN
american_scientific_journal-4515	43	24	of	of	ADP
american_scientific_journal-4515	43	25	sampling	sampling	NOUN
american_scientific_journal-4515	43	26	does	do	AUX
american_scientific_journal-4515	43	27	n’t	not	PART
american_scientific_journal-4515	43	28	give	give	VERB
american_scientific_journal-4515	43	29	the	the	DET
american_scientific_journal-4515	43	30	best	good	ADJ
american_scientific_journal-4515	43	31	solution	solution	NOUN
american_scientific_journal-4515	43	32	in	in	ADP
american_scientific_journal-4515	43	33	addition	addition	NOUN
american_scientific_journal-4515	43	34	to	to	ADP
american_scientific_journal-4515	43	35	the	the	DET
american_scientific_journal-4515	43	36	higher	high	ADJ
american_scientific_journal-4515	43	37	computational	computational	ADJ
american_scientific_journal-4515	43	38	time	time	NOUN
american_scientific_journal-4515	43	39	that	that	PRON
american_scientific_journal-4515	43	40	was	be	AUX
american_scientific_journal-4515	43	41	required	require	VERB
american_scientific_journal-4515	43	42	for	for	ADP
american_scientific_journal-4515	43	43	finding	find	VERB
american_scientific_journal-4515	43	44	the	the	DET
american_scientific_journal-4515	43	45	path	path	NOUN
american_scientific_journal-4515	44	1	[	[	X
american_scientific_journal-4515	44	2	11	11	NUM
american_scientific_journal-4515	44	3	]	]	PUNCT
american_scientific_journal-4515	44	4	.	.	PUNCT
american_scientific_journal-4515	45	1	american	american	PROPN
american_scientific_journal-4515	45	2	scientific	scientific	ADJ
american_scientific_journal-4515	45	3	research	research	PROPN
american_scientific_journal-4515	45	4	journal	journal	NOUN
american_scientific_journal-4515	45	5	for	for	ADP
american_scientific_journal-4515	45	6	engineering	engineering	NOUN
american_scientific_journal-4515	45	7	,	,	PUNCT
american_scientific_journal-4515	45	8	technology	technology	NOUN
american_scientific_journal-4515	45	9	,	,	PUNCT
american_scientific_journal-4515	45	10	and	and	CCONJ
american_scientific_journal-4515	45	11	sciences	science	NOUN
american_scientific_journal-4515	45	12	(	(	PUNCT
american_scientific_journal-4515	45	13	asrjets	asrjet	NOUN
american_scientific_journal-4515	45	14	)	)	PUNCT
american_scientific_journal-4515	45	15	(	(	PUNCT
american_scientific_journal-4515	45	16	2018	2018	NUM
american_scientific_journal-4515	45	17	)	)	PUNCT
american_scientific_journal-4515	45	18	volume	volume	NOUN
american_scientific_journal-4515	45	19	49	49	NUM
american_scientific_journal-4515	45	20	,	,	PUNCT
american_scientific_journal-4515	45	21	no	no	DET
american_scientific_journal-4515	45	22	1	1	NUM
american_scientific_journal-4515	45	23	,	,	PUNCT
american_scientific_journal-4515	45	24	pp	pp	ADV
american_scientific_journal-4515	45	25	257	257	NUM
american_scientific_journal-4515	45	26	-	-	SYM
american_scientific_journal-4515	45	27	271	271	NUM
american_scientific_journal-4515	45	28	259	259	NUM
american_scientific_journal-4515	45	29	from	from	ADP
american_scientific_journal-4515	45	30	a	a	DET
american_scientific_journal-4515	45	31	point	point	NOUN
american_scientific_journal-4515	45	32	of	of	ADP
american_scientific_journal-4515	45	33	view	view	NOUN
american_scientific_journal-4515	45	34	,	,	PUNCT
american_scientific_journal-4515	45	35	algorithm	algorithm	NOUN
american_scientific_journal-4515	45	36	for	for	ADP
american_scientific_journal-4515	45	37	specify	specify	VERB
american_scientific_journal-4515	45	38	cartesian	cartesian	ADJ
american_scientific_journal-4515	45	39	constraints	constraint	NOUN
american_scientific_journal-4515	45	40	in	in	ADP
american_scientific_journal-4515	45	41	a	a	DET
american_scientific_journal-4515	45	42	single	single	ADJ
american_scientific_journal-4515	45	43	and	and	CCONJ
american_scientific_journal-4515	45	44	dual	dual	ADJ
american_scientific_journal-4515	45	45	arm	arm	NOUN
american_scientific_journal-4515	45	46	operation	operation	NOUN
american_scientific_journal-4515	45	47	is	be	AUX
american_scientific_journal-4515	45	48	proposed	propose	VERB
american_scientific_journal-4515	45	49	and	and	CCONJ
american_scientific_journal-4515	45	50	became	become	VERB
american_scientific_journal-4515	45	51	a	a	DET
american_scientific_journal-4515	45	52	library	library	NOUN
american_scientific_journal-4515	45	53	for	for	ADP
american_scientific_journal-4515	45	54	solving	solve	VERB
american_scientific_journal-4515	45	55	manipulator	manipulator	NOUN
american_scientific_journal-4515	45	56	motion	motion	NOUN
american_scientific_journal-4515	45	57	planning	planning	NOUN
american_scientific_journal-4515	45	58	problems	problem	NOUN
american_scientific_journal-4515	45	59	that	that	PRON
american_scientific_journal-4515	45	60	has	have	AUX
american_scientific_journal-4515	45	61	been	be	AUX
american_scientific_journal-4515	45	62	developed	develop	VERB
american_scientific_journal-4515	45	63	.	.	PUNCT
american_scientific_journal-4515	46	1	the	the	DET
american_scientific_journal-4515	46	2	main	main	ADJ
american_scientific_journal-4515	46	3	algorithm	algorithm	NOUN
american_scientific_journal-4515	46	4	is	be	AUX
american_scientific_journal-4515	46	5	based	base	VERB
american_scientific_journal-4515	46	6	on	on	ADP
american_scientific_journal-4515	46	7	rrt	rrt	NOUN
american_scientific_journal-4515	46	8	.	.	PUNCT
american_scientific_journal-4515	47	1	one	one	NUM
american_scientific_journal-4515	47	2	parameter	parameter	NOUN
american_scientific_journal-4515	47	3	is	be	AUX
american_scientific_journal-4515	47	4	used	use	VERB
american_scientific_journal-4515	47	5	to	to	PART
american_scientific_journal-4515	47	6	be	be	AUX
american_scientific_journal-4515	47	7	the	the	DET
american_scientific_journal-4515	47	8	common	common	ADJ
american_scientific_journal-4515	47	9	in	in	ADP
american_scientific_journal-4515	47	10	all	all	DET
american_scientific_journal-4515	47	11	rrt	rrt	NOUN
american_scientific_journal-4515	47	12	based	base	VERB
american_scientific_journal-4515	47	13	on	on	ADP
american_scientific_journal-4515	47	14	planers	planer	NOUN
american_scientific_journal-4515	47	15	is	be	AUX
american_scientific_journal-4515	47	16	the	the	DET
american_scientific_journal-4515	47	17	range	range	NOUN
american_scientific_journal-4515	47	18	.	.	PUNCT
american_scientific_journal-4515	48	1	the	the	DET
american_scientific_journal-4515	48	2	range	range	NOUN
american_scientific_journal-4515	48	3	represents	represent	VERB
american_scientific_journal-4515	48	4	a	a	DET
american_scientific_journal-4515	48	5	threshold	threshold	NOUN
american_scientific_journal-4515	48	6	for	for	ADP
american_scientific_journal-4515	48	7	the	the	DET
american_scientific_journal-4515	48	8	samples	sample	NOUN
american_scientific_journal-4515	48	9	drawn	draw	VERB
american_scientific_journal-4515	48	10	newly	newly	ADV
american_scientific_journal-4515	48	11	and	and	CCONJ
american_scientific_journal-4515	48	12	their	their	PRON
american_scientific_journal-4515	48	13	small	small	ADJ
american_scientific_journal-4515	48	14	distance	distance	NOUN
american_scientific_journal-4515	48	15	values	value	NOUN
american_scientific_journal-4515	48	16	after	after	SCONJ
american_scientific_journal-4515	48	17	that	that	SCONJ
american_scientific_journal-4515	48	18	those	those	PRON
american_scientific_journal-4515	48	19	will	will	AUX
american_scientific_journal-4515	48	20	add	add	VERB
american_scientific_journal-4515	48	21	to	to	ADP
american_scientific_journal-4515	48	22	the	the	DET
american_scientific_journal-4515	48	23	tree	tree	NOUN
american_scientific_journal-4515	48	24	.	.	PUNCT
american_scientific_journal-4515	49	1	range	range	NOUN
american_scientific_journal-4515	49	2	value	value	NOUN
american_scientific_journal-4515	49	3	will	will	AUX
american_scientific_journal-4515	49	4	be	be	AUX
american_scientific_journal-4515	49	5	affective	affective	ADJ
american_scientific_journal-4515	49	6	on	on	ADP
american_scientific_journal-4515	49	7	the	the	DET
american_scientific_journal-4515	49	8	planning	planning	NOUN
american_scientific_journal-4515	49	9	time	time	NOUN
american_scientific_journal-4515	49	10	which	which	PRON
american_scientific_journal-4515	49	11	means	mean	VERB
american_scientific_journal-4515	49	12	that	that	SCONJ
american_scientific_journal-4515	49	13	it	it	PRON
american_scientific_journal-4515	49	14	should	should	AUX
american_scientific_journal-4515	49	15	be	be	AUX
american_scientific_journal-4515	49	16	selected	select	VERB
american_scientific_journal-4515	49	17	carefully	carefully	ADV
american_scientific_journal-4515	49	18	since	since	SCONJ
american_scientific_journal-4515	49	19	the	the	DET
american_scientific_journal-4515	49	20	higher	high	ADJ
american_scientific_journal-4515	49	21	values	value	NOUN
american_scientific_journal-4515	49	22	causing	cause	VERB
american_scientific_journal-4515	49	23	short	short	ADJ
american_scientific_journal-4515	49	24	time	time	NOUN
american_scientific_journal-4515	49	25	planning	planning	NOUN
american_scientific_journal-4515	49	26	which	which	PRON
american_scientific_journal-4515	49	27	is	be	AUX
american_scientific_journal-4515	49	28	advantage	advantage	NOUN
american_scientific_journal-4515	49	29	but	but	CCONJ
american_scientific_journal-4515	49	30	as	as	ADP
american_scientific_journal-4515	49	31	a	a	DET
american_scientific_journal-4515	49	32	result	result	NOUN
american_scientific_journal-4515	49	33	it	it	PRON
american_scientific_journal-4515	49	34	also	also	ADV
american_scientific_journal-4515	49	35	cause	cause	VERB
american_scientific_journal-4515	49	36	a	a	DET
american_scientific_journal-4515	49	37	tensive	tensive	ADJ
american_scientific_journal-4515	49	38	motions	motion	NOUN
american_scientific_journal-4515	49	39	and	and	CCONJ
american_scientific_journal-4515	49	40	the	the	DET
american_scientific_journal-4515	49	41	smaller	small	ADJ
american_scientific_journal-4515	49	42	values	value	NOUN
american_scientific_journal-4515	49	43	give	give	VERB
american_scientific_journal-4515	49	44	a	a	DET
american_scientific_journal-4515	49	45	long	long	ADJ
american_scientific_journal-4515	49	46	time	time	NOUN
american_scientific_journal-4515	49	47	planning	planning	NOUN
american_scientific_journal-4515	49	48	and	and	CCONJ
american_scientific_journal-4515	49	49	it	it	PRON
american_scientific_journal-4515	49	50	composed	compose	VERB
american_scientific_journal-4515	49	51	more	more	ADJ
american_scientific_journal-4515	49	52	points	point	NOUN
american_scientific_journal-4515	49	53	in	in	ADP
american_scientific_journal-4515	49	54	the	the	DET
american_scientific_journal-4515	49	55	tree	tree	NOUN
american_scientific_journal-4515	49	56	.	.	PUNCT
american_scientific_journal-4515	50	1	also	also	ADV
american_scientific_journal-4515	50	2	more	more	ADJ
american_scientific_journal-4515	50	3	checking	checking	NOUN
american_scientific_journal-4515	50	4	will	will	AUX
american_scientific_journal-4515	50	5	be	be	AUX
american_scientific_journal-4515	50	6	needed	need	VERB
american_scientific_journal-4515	50	7	for	for	ADP
american_scientific_journal-4515	50	8	the	the	DET
american_scientific_journal-4515	50	9	collision	collision	NOUN
american_scientific_journal-4515	50	10	that	that	PRON
american_scientific_journal-4515	50	11	may	may	AUX
american_scientific_journal-4515	50	12	be	be	AUX
american_scientific_journal-4515	50	13	occur	occur	ADJ
american_scientific_journal-4515	50	14	in	in	ADP
american_scientific_journal-4515	50	15	the	the	DET
american_scientific_journal-4515	50	16	space	space	NOUN
american_scientific_journal-4515	50	17	,	,	PUNCT
american_scientific_journal-4515	50	18	therefore	therefore	ADV
american_scientific_journal-4515	50	19	it	it	PRON
american_scientific_journal-4515	50	20	needs	need	VERB
american_scientific_journal-4515	50	21	extra	extra	ADJ
american_scientific_journal-4515	50	22	collision	collision	NOUN
american_scientific_journal-4515	50	23	checking	check	VERB
american_scientific_journal-4515	50	24	[	[	X
american_scientific_journal-4515	50	25	12	12	NUM
american_scientific_journal-4515	50	26	]	]	PUNCT
american_scientific_journal-4515	50	27	.	.	PUNCT
american_scientific_journal-4515	51	1	most	most	ADJ
american_scientific_journal-4515	51	2	of	of	ADP
american_scientific_journal-4515	51	3	the	the	DET
american_scientific_journal-4515	51	4	existing	exist	VERB
american_scientific_journal-4515	51	5	literature	literature	NOUN
american_scientific_journal-4515	51	6	in	in	ADP
american_scientific_journal-4515	51	7	dynamic	dynamic	ADJ
american_scientific_journal-4515	51	8	environment	environment	NOUN
american_scientific_journal-4515	51	9	considers	consider	VERB
american_scientific_journal-4515	51	10	only	only	ADV
american_scientific_journal-4515	51	11	the	the	DET
american_scientific_journal-4515	51	12	traditional	traditional	ADJ
american_scientific_journal-4515	51	13	path	path	NOUN
american_scientific_journal-4515	51	14	planning	planning	NOUN
american_scientific_journal-4515	51	15	algorithms	algorithm	NOUN
american_scientific_journal-4515	51	16	and	and	CCONJ
american_scientific_journal-4515	51	17	there	there	PRON
american_scientific_journal-4515	51	18	are	be	VERB
american_scientific_journal-4515	51	19	only	only	ADV
american_scientific_journal-4515	51	20	a	a	DET
american_scientific_journal-4515	51	21	few	few	ADJ
american_scientific_journal-4515	51	22	studies	study	NOUN
american_scientific_journal-4515	51	23	that	that	PRON
american_scientific_journal-4515	51	24	consider	consider	VERB
american_scientific_journal-4515	51	25	the	the	DET
american_scientific_journal-4515	51	26	heuristic	heuristic	ADJ
american_scientific_journal-4515	51	27	algorithms	algorithm	NOUN
american_scientific_journal-4515	51	28	like	like	ADP
american_scientific_journal-4515	51	29	anirudh	anirudh	VERB
american_scientific_journal-4515	51	30	vemula	vemula	NOUN
american_scientific_journal-4515	52	1	[	[	X
american_scientific_journal-4515	52	2	13	13	NUM
american_scientific_journal-4515	52	3	]	]	PUNCT
american_scientific_journal-4515	52	4	whom	whom	PRON
american_scientific_journal-4515	52	5	uses	use	VERB
american_scientific_journal-4515	52	6	a	a	DET
american_scientific_journal-4515	52	7	heuristic	heuristic	ADJ
american_scientific_journal-4515	52	8	based	base	VERB
american_scientific_journal-4515	52	9	graph	graph	NOUN
american_scientific_journal-4515	52	10	search	search	NOUN
american_scientific_journal-4515	52	11	planning	planning	NOUN
american_scientific_journal-4515	52	12	algorithm	algorithm	NOUN
american_scientific_journal-4515	52	13	that	that	PRON
american_scientific_journal-4515	52	14	uses	use	VERB
american_scientific_journal-4515	52	15	adaptive	adaptive	ADJ
american_scientific_journal-4515	52	16	dimensionality	dimensionality	NOUN
american_scientific_journal-4515	52	17	consider	consider	VERB
american_scientific_journal-4515	52	18	time	time	NOUN
american_scientific_journal-4515	52	19	dimension	dimension	NOUN
american_scientific_journal-4515	52	20	corresponding	correspond	VERB
american_scientific_journal-4515	52	21	to	to	ADP
american_scientific_journal-4515	52	22	region	region	NOUN
american_scientific_journal-4515	52	23	where	where	SCONJ
american_scientific_journal-4515	52	24	potential	potential	ADJ
american_scientific_journal-4515	52	25	dynamic	dynamic	ADJ
american_scientific_journal-4515	52	26	obstacle	obstacle	NOUN
american_scientific_journal-4515	52	27	collisions	collision	NOUN
american_scientific_journal-4515	52	28	can	can	AUX
american_scientific_journal-4515	52	29	occur	occur	VERB
american_scientific_journal-4515	52	30	.	.	PUNCT
american_scientific_journal-4515	53	1	this	this	DET
american_scientific_journal-4515	53	2	reduction	reduction	NOUN
american_scientific_journal-4515	53	3	in	in	ADP
american_scientific_journal-4515	53	4	search	search	NOUN
american_scientific_journal-4515	53	5	space	space	NOUN
american_scientific_journal-4515	53	6	supply	supply	NOUN
american_scientific_journal-4515	53	7	the	the	DET
american_scientific_journal-4515	53	8	approach	approach	NOUN
american_scientific_journal-4515	53	9	in	in	ADP
american_scientific_journal-4515	53	10	great	great	ADJ
american_scientific_journal-4515	53	11	speed	speed	NOUN
american_scientific_journal-4515	53	12	-	-	PUNCT
american_scientific_journal-4515	53	13	ups	up	NOUN
american_scientific_journal-4515	53	14	in	in	ADP
american_scientific_journal-4515	53	15	planning	planning	NOUN
american_scientific_journal-4515	53	16	time	time	NOUN
american_scientific_journal-4515	53	17	over	over	ADP
american_scientific_journal-4515	53	18	traditional	traditional	ADJ
american_scientific_journal-4515	53	19	approaches	approach	NOUN
american_scientific_journal-4515	53	20	such	such	ADJ
american_scientific_journal-4515	53	21	as	as	ADP
american_scientific_journal-4515	53	22	heuristic	heuristic	NOUN
american_scientific_journal-4515	53	23	-	-	PUNCT
american_scientific_journal-4515	53	24	based	base	VERB
american_scientific_journal-4515	53	25	a	a	NOUN
american_scientific_journal-4515	53	26	*	*	PROPN
american_scientific_journal-4515	53	27	,	,	PUNCT
american_scientific_journal-4515	53	28	will	will	AUX
american_scientific_journal-4515	53	29	act	act	VERB
american_scientific_journal-4515	53	30	without	without	ADP
american_scientific_journal-4515	53	31	losing	lose	VERB
american_scientific_journal-4515	53	32	safety	safety	NOUN
american_scientific_journal-4515	53	33	,	,	PUNCT
american_scientific_journal-4515	53	34	dynamic	dynamic	ADJ
american_scientific_journal-4515	53	35	feasibility	feasibility	NOUN
american_scientific_journal-4515	53	36	and	and	CCONJ
american_scientific_journal-4515	53	37	bounded	bound	VERB
american_scientific_journal-4515	53	38	sub	sub	NOUN
american_scientific_journal-4515	53	39	-	-	NOUN
american_scientific_journal-4515	53	40	optimality	optimality	NOUN
american_scientific_journal-4515	53	41	of	of	ADP
american_scientific_journal-4515	53	42	the	the	DET
american_scientific_journal-4515	53	43	solution	solution	NOUN
american_scientific_journal-4515	53	44	this	this	DET
american_scientific_journal-4515	53	45	approach	approach	NOUN
american_scientific_journal-4515	53	46	can	can	AUX
american_scientific_journal-4515	53	47	only	only	ADV
american_scientific_journal-4515	53	48	model	model	VERB
american_scientific_journal-4515	53	49	simple	simple	ADJ
american_scientific_journal-4515	53	50	interactions	interaction	NOUN
american_scientific_journal-4515	53	51	and	and	CCONJ
american_scientific_journal-4515	53	52	fail	fail	VERB
american_scientific_journal-4515	53	53	to	to	PART
american_scientific_journal-4515	53	54	generalize	generalize	VERB
american_scientific_journal-4515	53	55	for	for	ADP
american_scientific_journal-4515	53	56	complex	complex	ADJ
american_scientific_journal-4515	53	57	crowded	crowded	ADJ
american_scientific_journal-4515	53	58	settings	setting	NOUN
american_scientific_journal-4515	53	59	.	.	PUNCT
american_scientific_journal-4515	54	1	inspired	inspire	VERB
american_scientific_journal-4515	54	2	by	by	ADP
american_scientific_journal-4515	54	3	the	the	DET
american_scientific_journal-4515	54	4	above	above	ADJ
american_scientific_journal-4515	54	5	discussion	discussion	NOUN
american_scientific_journal-4515	54	6	,	,	PUNCT
american_scientific_journal-4515	54	7	the	the	DET
american_scientific_journal-4515	54	8	contribution	contribution	NOUN
american_scientific_journal-4515	54	9	of	of	ADP
american_scientific_journal-4515	54	10	the	the	DET
american_scientific_journal-4515	54	11	proposed	propose	VERB
american_scientific_journal-4515	54	12	method	method	NOUN
american_scientific_journal-4515	54	13	in	in	ADP
american_scientific_journal-4515	54	14	this	this	DET
american_scientific_journal-4515	54	15	paper	paper	NOUN
american_scientific_journal-4515	54	16	is	be	AUX
american_scientific_journal-4515	54	17	represented	represent	VERB
american_scientific_journal-4515	54	18	by	by	ADP
american_scientific_journal-4515	54	19	finding	find	VERB
american_scientific_journal-4515	54	20	path	path	NOUN
american_scientific_journal-4515	54	21	solution	solution	NOUN
american_scientific_journal-4515	54	22	utilizing	utilize	VERB
american_scientific_journal-4515	54	23	the	the	DET
american_scientific_journal-4515	54	24	heuristic	heuristic	ADJ
american_scientific_journal-4515	54	25	d	d	NOUN
american_scientific_journal-4515	54	26	*	*	NOUN
american_scientific_journal-4515	54	27	algorithm	algorithm	NOUN
american_scientific_journal-4515	54	28	based	base	VERB
american_scientific_journal-4515	54	29	on	on	ADP
american_scientific_journal-4515	54	30	the	the	DET
american_scientific_journal-4515	54	31	pso	pso	NOUN
american_scientific_journal-4515	54	32	optimization	optimization	NOUN
american_scientific_journal-4515	54	33	technique	technique	NOUN
american_scientific_journal-4515	54	34	in	in	ADP
american_scientific_journal-4515	54	35	known	know	VERB
american_scientific_journal-4515	54	36	dynamic	dynamic	ADJ
american_scientific_journal-4515	54	37	environment	environment	NOUN
american_scientific_journal-4515	54	38	.	.	PUNCT
american_scientific_journal-4515	55	1	this	this	DET
american_scientific_journal-4515	55	2	work	work	NOUN
american_scientific_journal-4515	55	3	can	can	AUX
american_scientific_journal-4515	55	4	solve	solve	VERB
american_scientific_journal-4515	55	5	the	the	DET
american_scientific_journal-4515	55	6	problem	problem	NOUN
american_scientific_journal-4515	55	7	of	of	ADP
american_scientific_journal-4515	55	8	finding	find	VERB
american_scientific_journal-4515	55	9	an	an	DET
american_scientific_journal-4515	55	10	optimal	optimal	ADJ
american_scientific_journal-4515	55	11	path	path	NOUN
american_scientific_journal-4515	55	12	in	in	ADP
american_scientific_journal-4515	55	13	dangerous	dangerous	ADJ
american_scientific_journal-4515	55	14	,	,	PUNCT
american_scientific_journal-4515	55	15	harsh	harsh	ADJ
american_scientific_journal-4515	55	16	,	,	PUNCT
american_scientific_journal-4515	55	17	toxic	toxic	ADJ
american_scientific_journal-4515	55	18	environments	environment	NOUN
american_scientific_journal-4515	55	19	and	and	CCONJ
american_scientific_journal-4515	55	20	inaccessible	inaccessible	ADJ
american_scientific_journal-4515	55	21	areas	area	NOUN
american_scientific_journal-4515	55	22	.	.	PUNCT
american_scientific_journal-4515	56	1	2	2	X
american_scientific_journal-4515	56	2	.	.	X
american_scientific_journal-4515	56	3	the	the	DET
american_scientific_journal-4515	56	4	d	d	PROPN
american_scientific_journal-4515	56	5	*	*	PROPN
american_scientific_journal-4515	56	6	theory	theory	NOUN
american_scientific_journal-4515	56	7	the	the	DET
american_scientific_journal-4515	56	8	d	d	PROPN
american_scientific_journal-4515	56	9	*	*	X
american_scientific_journal-4515	56	10	algorithm	algorithm	NOUN
american_scientific_journal-4515	56	11	,	,	PUNCT
american_scientific_journal-4515	56	12	dynamic	dynamic	ADJ
american_scientific_journal-4515	56	13	a	a	PRON
american_scientific_journal-4515	56	14	*	*	PUNCT
american_scientific_journal-4515	56	15	,	,	PUNCT
american_scientific_journal-4515	56	16	is	be	AUX
american_scientific_journal-4515	56	17	an	an	DET
american_scientific_journal-4515	56	18	algorithm	algorithm	NOUN
american_scientific_journal-4515	56	19	that	that	PRON
american_scientific_journal-4515	56	20	is	be	AUX
american_scientific_journal-4515	56	21	generate	generate	VERB
american_scientific_journal-4515	56	22	short	short	ADJ
american_scientific_journal-4515	56	23	path	path	NOUN
american_scientific_journal-4515	56	24	in	in	ADP
american_scientific_journal-4515	56	25	real	real	ADJ
american_scientific_journal-4515	56	26	-	-	PUNCT
american_scientific_journal-4515	56	27	time	time	NOUN
american_scientific_journal-4515	56	28	by	by	ADP
american_scientific_journal-4515	56	29	a	a	DET
american_scientific_journal-4515	56	30	graph	graph	NOUN
american_scientific_journal-4515	56	31	with	with	ADP
american_scientific_journal-4515	56	32	update	update	NOUN
american_scientific_journal-4515	56	33	or	or	CCONJ
american_scientific_journal-4515	56	34	change	change	VERB
american_scientific_journal-4515	56	35	arc	arc	NOUN
american_scientific_journal-4515	56	36	costs	cost	NOUN
american_scientific_journal-4515	56	37	.	.	PUNCT
american_scientific_journal-4515	57	1	the	the	DET
american_scientific_journal-4515	57	2	utility	utility	NOUN
american_scientific_journal-4515	57	3	of	of	ADP
american_scientific_journal-4515	57	4	d	d	PROPN
american_scientific_journal-4515	57	5	*	*	PROPN
american_scientific_journal-4515	57	6	is	be	AUX
american_scientific_journal-4515	57	7	that	that	SCONJ
american_scientific_journal-4515	57	8	the	the	DET
american_scientific_journal-4515	57	9	most	most	ADJ
american_scientific_journal-4515	57	10	of	of	ADP
american_scientific_journal-4515	57	11	arc	arc	NOUN
american_scientific_journal-4515	57	12	cost	cost	NOUN
american_scientific_journal-4515	57	13	corrections	correction	NOUN
american_scientific_journal-4515	57	14	occurs	occur	VERB
american_scientific_journal-4515	57	15	in	in	ADP
american_scientific_journal-4515	57	16	the	the	DET
american_scientific_journal-4515	57	17	robot	robot	NOUN
american_scientific_journal-4515	57	18	’s	’s	PART
american_scientific_journal-4515	57	19	neighborhood	neighborhood	NOUN
american_scientific_journal-4515	57	20	.	.	PUNCT
american_scientific_journal-4515	58	1	from	from	ADP
american_scientific_journal-4515	58	2	this	this	DET
american_scientific_journal-4515	58	3	corrections	correction	NOUN
american_scientific_journal-4515	58	4	,	,	PUNCT
american_scientific_journal-4515	58	5	the	the	DET
american_scientific_journal-4515	58	6	only	only	ADJ
american_scientific_journal-4515	58	7	part	part	NOUN
american_scientific_journal-4515	58	8	of	of	ADP
american_scientific_journal-4515	58	9	the	the	DET
american_scientific_journal-4515	58	10	path	path	NOUN
american_scientific_journal-4515	58	11	is	be	AUX
american_scientific_journal-4515	58	12	going	go	VERB
american_scientific_journal-4515	58	13	to	to	PART
american_scientific_journal-4515	58	14	out	out	ADP
american_scientific_journal-4515	58	15	to	to	ADP
american_scientific_journal-4515	58	16	the	the	DET
american_scientific_journal-4515	58	17	robot	robot	NOUN
american_scientific_journal-4515	58	18	’s	’s	PART
american_scientific_journal-4515	58	19	current	current	ADJ
american_scientific_journal-4515	58	20	location	location	NOUN
american_scientific_journal-4515	58	21	is	be	AUX
american_scientific_journal-4515	58	22	need	need	NOUN
american_scientific_journal-4515	58	23	for	for	ADP
american_scientific_journal-4515	58	24	replanting	replant	VERB
american_scientific_journal-4515	58	25	.	.	PUNCT
american_scientific_journal-4515	59	1	the	the	DET
american_scientific_journal-4515	59	2	partial	partial	ADJ
american_scientific_journal-4515	59	3	optimal	optimal	ADJ
american_scientific_journal-4515	59	4	cost	cost	NOUN
american_scientific_journal-4515	59	5	map	map	NOUN
american_scientific_journal-4515	59	6	are	be	AUX
american_scientific_journal-4515	59	7	keep	keep	VERB
american_scientific_journal-4515	59	8	limited	limited	ADJ
american_scientific_journal-4515	59	9	for	for	ADP
american_scientific_journal-4515	59	10	the	the	DET
american_scientific_journal-4515	59	11	locations	location	NOUN
american_scientific_journal-4515	59	12	that	that	PRON
american_scientific_journal-4515	59	13	the	the	DET
american_scientific_journal-4515	59	14	robot	robot	NOUN
american_scientific_journal-4515	59	15	may	may	AUX
american_scientific_journal-4515	59	16	use	use	VERB
american_scientific_journal-4515	59	17	.	.	PUNCT
american_scientific_journal-4515	60	1	furthermore	furthermore	ADV
american_scientific_journal-4515	60	2	,	,	PUNCT
american_scientific_journal-4515	60	3	the	the	DET
american_scientific_journal-4515	60	4	states	state	NOUN
american_scientific_journal-4515	60	5	that	that	PRON
american_scientific_journal-4515	60	6	is	be	AUX
american_scientific_journal-4515	60	7	probable	probable	ADJ
american_scientific_journal-4515	60	8	to	to	PART
american_scientific_journal-4515	60	9	produce	produce	VERB
american_scientific_journal-4515	60	10	a	a	DET
american_scientific_journal-4515	60	11	new	new	ADJ
american_scientific_journal-4515	60	12	optimal	optimal	ADJ
american_scientific_journal-4515	60	13	path	path	NOUN
american_scientific_journal-4515	60	14	is	be	AUX
american_scientific_journal-4515	60	15	used	use	VERB
american_scientific_journal-4515	60	16	to	to	PART
american_scientific_journal-4515	60	17	reform	reform	NOUN
american_scientific_journal-4515	60	18	of	of	ADP
american_scientific_journal-4515	60	19	the	the	DET
american_scientific_journal-4515	60	20	map	map	NOUN
american_scientific_journal-4515	60	21	’s	’s	PART
american_scientific_journal-4515	60	22	cost	cost	NOUN
american_scientific_journal-4515	60	23	which	which	PRON
american_scientific_journal-4515	60	24	will	will	AUX
american_scientific_journal-4515	60	25	be	be	AUX
american_scientific_journal-4515	60	26	limited	limit	VERB
american_scientific_journal-4515	60	27	and	and	CCONJ
american_scientific_journal-4515	60	28	re	re	NOUN
american_scientific_journal-4515	60	29	-	-	NOUN
american_scientific_journal-4515	60	30	entrant	entrant	NOUN
american_scientific_journal-4515	60	31	partially	partially	ADV
american_scientific_journal-4515	60	32	.	.	PUNCT
american_scientific_journal-4515	61	1	d	d	PUNCT
american_scientific_journal-4515	61	2	*	*	PUNCT
american_scientific_journal-4515	61	3	sets	set	VERB
american_scientific_journal-4515	61	4	the	the	DET
american_scientific_journal-4515	61	5	conditions	condition	NOUN
american_scientific_journal-4515	61	6	for	for	ADP
american_scientific_journal-4515	61	7	determining	determine	VERB
american_scientific_journal-4515	61	8	when	when	SCONJ
american_scientific_journal-4515	61	9	repair	repair	NOUN
american_scientific_journal-4515	61	10	will	will	AUX
american_scientific_journal-4515	61	11	be	be	AUX
american_scientific_journal-4515	61	12	stood	stand	VERB
american_scientific_journal-4515	61	13	,	,	PUNCT
american_scientific_journal-4515	61	14	because	because	SCONJ
american_scientific_journal-4515	61	15	of	of	ADP
american_scientific_journal-4515	61	16	finding	find	VERB
american_scientific_journal-4515	61	17	a	a	DET
american_scientific_journal-4515	61	18	new	new	ADJ
american_scientific_journal-4515	61	19	path	path	NOUN
american_scientific_journal-4515	61	20	or	or	CCONJ
american_scientific_journal-4515	61	21	the	the	DET
american_scientific_journal-4515	61	22	previous	previous	ADJ
american_scientific_journal-4515	61	23	path	path	NOUN
american_scientific_journal-4515	61	24	has	have	AUX
american_scientific_journal-4515	61	25	been	be	AUX
american_scientific_journal-4515	61	26	found	find	VERB
american_scientific_journal-4515	61	27	is	be	AUX
american_scientific_journal-4515	61	28	still	still	ADV
american_scientific_journal-4515	61	29	optimal	optimal	ADJ
american_scientific_journal-4515	61	30	.	.	PUNCT
american_scientific_journal-4515	62	1	so	so	ADV
american_scientific_journal-4515	62	2	,	,	PUNCT
american_scientific_journal-4515	62	3	the	the	DET
american_scientific_journal-4515	62	4	d	d	PROPN
american_scientific_journal-4515	62	5	*	*	NOUN
american_scientific_journal-4515	62	6	strategy	strategy	NOUN
american_scientific_journal-4515	62	7	is	be	AUX
american_scientific_journal-4515	62	8	used	use	VERB
american_scientific_journal-4515	62	9	to	to	PART
american_scientific_journal-4515	62	10	say	say	VERB
american_scientific_journal-4515	62	11	that	that	SCONJ
american_scientific_journal-4515	62	12	it	it	PRON
american_scientific_journal-4515	62	13	is	be	AUX
american_scientific_journal-4515	62	14	very	very	ADV
american_scientific_journal-4515	62	15	memory	memory	NOUN
american_scientific_journal-4515	62	16	active	active	ADJ
american_scientific_journal-4515	62	17	,	,	PUNCT
american_scientific_journal-4515	62	18	works	work	VERB
american_scientific_journal-4515	62	19	in	in	ADP
american_scientific_journal-4515	62	20	unbounded	unbounded	ADJ
american_scientific_journal-4515	62	21	environments	environment	NOUN
american_scientific_journal-4515	62	22	and	and	CCONJ
american_scientific_journal-4515	62	23	computationally	computationally	ADV
american_scientific_journal-4515	62	24	as	as	ADV
american_scientific_journal-4515	62	25	well	well	ADV
american_scientific_journal-4515	62	26	.	.	PUNCT
american_scientific_journal-4515	63	1	the	the	DET
american_scientific_journal-4515	63	2	mechanism	mechanism	NOUN
american_scientific_journal-4515	63	3	of	of	ADP
american_scientific_journal-4515	63	4	the	the	DET
american_scientific_journal-4515	63	5	d	d	PROPN
american_scientific_journal-4515	63	6	*	*	PROPN
american_scientific_journal-4515	63	7	algorithm	algorithm	NOUN
american_scientific_journal-4515	63	8	is	be	AUX
american_scientific_journal-4515	63	9	designed	design	VERB
american_scientific_journal-4515	63	10	repeat	repeat	NOUN
american_scientific_journal-4515	63	11	finding	find	VERB
american_scientific_journal-4515	63	12	optimal	optimal	ADJ
american_scientific_journal-4515	63	13	path	path	NOUN
american_scientific_journal-4515	63	14	to	to	ADP
american_scientific_journal-4515	63	15	the	the	DET
american_scientific_journal-4515	63	16	directed	direct	VERB
american_scientific_journal-4515	63	17	graph	graph	NOUN
american_scientific_journal-4515	63	18	,	,	PUNCT
american_scientific_journal-4515	63	19	which	which	PRON
american_scientific_journal-4515	63	20	means	mean	VERB
american_scientific_journal-4515	63	21	that	that	SCONJ
american_scientific_journal-4515	63	22	the	the	DET
american_scientific_journal-4515	63	23	arc	arc	NOUN
american_scientific_journal-4515	63	24	costs	cost	NOUN
american_scientific_journal-4515	63	25	are	be	AUX
american_scientific_journal-4515	63	26	assorted	assort	VERB
american_scientific_journal-4515	63	27	with	with	ADP
american_scientific_journal-4515	63	28	transference	transference	NOUN
american_scientific_journal-4515	63	29	cost	cost	NOUN
american_scientific_journal-4515	63	30	values	value	NOUN
american_scientific_journal-4515	63	31	that	that	PRON
american_scientific_journal-4515	63	32	could	could	AUX
american_scientific_journal-4515	63	33	be	be	AUX
american_scientific_journal-4515	63	34	ranged	range	VERB
american_scientific_journal-4515	63	35	over	over	ADP
american_scientific_journal-4515	63	36	a	a	DET
american_scientific_journal-4515	63	37	continuation	continuation	NOUN
american_scientific_journal-4515	63	38	.	.	PUNCT
american_scientific_journal-4515	64	1	the	the	DET
american_scientific_journal-4515	64	2	corrections	correction	NOUN
american_scientific_journal-4515	64	3	of	of	ADP
american_scientific_journal-4515	64	4	the	the	DET
american_scientific_journal-4515	64	5	arc	arc	NOUN
american_scientific_journal-4515	64	6	cost	cost	NOUN
american_scientific_journal-4515	64	7	that	that	PRON
american_scientific_journal-4515	64	8	came	come	VERB
american_scientific_journal-4515	64	9	from	from	ADP
american_scientific_journal-4515	64	10	the	the	DET
american_scientific_journal-4515	64	11	sensors	sensor	NOUN
american_scientific_journal-4515	64	12	it	it	PRON
american_scientific_journal-4515	64	13	could	could	AUX
american_scientific_journal-4515	64	14	be	be	AUX
american_scientific_journal-4515	64	15	made	make	VERB
american_scientific_journal-4515	64	16	in	in	ADP
american_scientific_journal-4515	64	17	any	any	DET
american_scientific_journal-4515	64	18	time	time	NOUN
american_scientific_journal-4515	64	19	,	,	PUNCT
american_scientific_journal-4515	64	20	also	also	ADV
american_scientific_journal-4515	64	21	the	the	DET
american_scientific_journal-4515	64	22	estimated	estimate	VERB
american_scientific_journal-4515	64	23	and	and	CCONJ
american_scientific_journal-4515	64	24	measured	measured	ADJ
american_scientific_journal-4515	64	25	arc	arc	NOUN
american_scientific_journal-4515	64	26	costs	cost	NOUN
american_scientific_journal-4515	64	27	that	that	PRON
american_scientific_journal-4515	64	28	known	know	VERB
american_scientific_journal-4515	64	29	is	be	AUX
american_scientific_journal-4515	64	30	comprised	comprise	VERB
american_scientific_journal-4515	64	31	to	to	ADP
american_scientific_journal-4515	64	32	the	the	DET
american_scientific_journal-4515	64	33	environment	environment	NOUN
american_scientific_journal-4515	64	34	map	map	NOUN
american_scientific_journal-4515	64	35	.	.	PUNCT
american_scientific_journal-4515	65	1	this	this	DET
american_scientific_journal-4515	65	2	strategy	strategy	NOUN
american_scientific_journal-4515	65	3	could	could	AUX
american_scientific_journal-4515	65	4	be	be	AUX
american_scientific_journal-4515	65	5	used	use	VERB
american_scientific_journal-4515	65	6	in	in	ADP
american_scientific_journal-4515	65	7	any	any	DET
american_scientific_journal-4515	65	8	planning	planning	NOUN
american_scientific_journal-4515	65	9	representation	representation	NOUN
american_scientific_journal-4515	65	10	,	,	PUNCT
american_scientific_journal-4515	65	11	including	include	VERB
american_scientific_journal-4515	65	12	grid	grid	NOUN
american_scientific_journal-4515	65	13	cell	cell	NOUN
american_scientific_journal-4515	65	14	structures	structure	NOUN
american_scientific_journal-4515	65	15	and	and	CCONJ
american_scientific_journal-4515	65	16	visibility	visibility	NOUN
american_scientific_journal-4515	65	17	graphs	graph	NOUN
american_scientific_journal-4515	65	18	.	.	PUNCT
american_scientific_journal-4515	66	1	[	[	X
american_scientific_journal-4515	66	2	14	14	NUM
american_scientific_journal-4515	66	3	]	]	X
american_scientific_journal-4515	66	4	d	d	X
american_scientific_journal-4515	66	5	*	*	PUNCT
american_scientific_journal-4515	66	6	algorithm	algorithm	NOUN
american_scientific_journal-4515	66	7	is	be	AUX
american_scientific_journal-4515	66	8	the	the	DET
american_scientific_journal-4515	66	9	dynamic	dynamic	ADJ
american_scientific_journal-4515	66	10	a	a	PRON
american_scientific_journal-4515	66	11	*	*	PUNCT
american_scientific_journal-4515	66	12	american	american	ADJ
american_scientific_journal-4515	66	13	scientific	scientific	ADJ
american_scientific_journal-4515	66	14	research	research	NOUN
american_scientific_journal-4515	66	15	journal	journal	NOUN
american_scientific_journal-4515	66	16	for	for	ADP
american_scientific_journal-4515	66	17	engineering	engineering	NOUN
american_scientific_journal-4515	66	18	,	,	PUNCT
american_scientific_journal-4515	66	19	technology	technology	NOUN
american_scientific_journal-4515	66	20	,	,	PUNCT
american_scientific_journal-4515	66	21	and	and	CCONJ
american_scientific_journal-4515	66	22	sciences	science	NOUN
american_scientific_journal-4515	66	23	(	(	PUNCT
american_scientific_journal-4515	66	24	asrjets	asrjet	NOUN
american_scientific_journal-4515	66	25	)	)	PUNCT
american_scientific_journal-4515	66	26	(	(	PUNCT
american_scientific_journal-4515	66	27	2018	2018	NUM
american_scientific_journal-4515	66	28	)	)	PUNCT
american_scientific_journal-4515	66	29	volume	volume	NOUN
american_scientific_journal-4515	66	30	49	49	NUM
american_scientific_journal-4515	66	31	,	,	PUNCT
american_scientific_journal-4515	66	32	no	no	DET
american_scientific_journal-4515	66	33	1	1	NUM
american_scientific_journal-4515	66	34	,	,	PUNCT
american_scientific_journal-4515	66	35	pp	pp	ADV
american_scientific_journal-4515	66	36	257	257	NUM
american_scientific_journal-4515	66	37	-	-	SYM
american_scientific_journal-4515	66	38	271	271	NUM
american_scientific_journal-4515	66	39	260	260	NUM
american_scientific_journal-4515	66	40	a	a	DET
american_scientific_journal-4515	66	41	*	*	PUNCT
american_scientific_journal-4515	66	42	algorithm	algorithm	NOUN
american_scientific_journal-4515	66	43	equation	equation	NOUN
american_scientific_journal-4515	66	44	:	:	PUNCT
american_scientific_journal-4515	66	45	f(n	f(n	PROPN
american_scientific_journal-4515	66	46	)	)	PUNCT
american_scientific_journal-4515	67	1	=	=	PUNCT
american_scientific_journal-4515	67	2	g(n	g(n	PROPN
american_scientific_journal-4515	67	3	)	)	PUNCT
american_scientific_journal-4515	68	1	+	+	CCONJ
american_scientific_journal-4515	69	1	h(n	h(n	PROPN
american_scientific_journal-4515	69	2	)	)	PUNCT
american_scientific_journal-4515	70	1	d	d	X
american_scientific_journal-4515	70	2	*	*	PUNCT
american_scientific_journal-4515	70	3	algorithm	algorithm	NOUN
american_scientific_journal-4515	70	4	equation	equation	NOUN
american_scientific_journal-4515	70	5	:	:	PUNCT
american_scientific_journal-4515	70	6	f(n	f(n	PROPN
american_scientific_journal-4515	70	7	)	)	PUNCT
american_scientific_journal-4515	71	1	=	=	SYM
american_scientific_journal-4515	71	2	h(n	h(n	X
american_scientific_journal-4515	71	3	)	)	PUNCT
american_scientific_journal-4515	71	4	it	it	PRON
american_scientific_journal-4515	71	5	could	could	AUX
american_scientific_journal-4515	71	6	be	be	AUX
american_scientific_journal-4515	71	7	propagated	propagate	VERB
american_scientific_journal-4515	71	8	cost	cost	NOUN
american_scientific_journal-4515	71	9	changes	change	NOUN
american_scientific_journal-4515	71	10	to	to	ADP
american_scientific_journal-4515	71	11	its	its	PRON
american_scientific_journal-4515	71	12	neighbors	neighbor	NOUN
american_scientific_journal-4515	71	13	as	as	SCONJ
american_scientific_journal-4515	71	14	shown	show	VERB
american_scientific_journal-4515	71	15	in	in	ADP
american_scientific_journal-4515	71	16	figure	figure	NOUN
american_scientific_journal-4515	71	17	(	(	PUNCT
american_scientific_journal-4515	71	18	1	1	NUM
american_scientific_journal-4515	71	19	)	)	PUNCT
american_scientific_journal-4515	71	20	.	.	PUNCT
american_scientific_journal-4515	72	1	n(x1,x2)=1	n(x1,x2)=1	PROPN
american_scientific_journal-4515	72	2	n(x1,x3)=1.414	n(x1,x3)=1.414	PROPN
american_scientific_journal-4515	72	3	n(x1,x4)=100000	n(x1,x4)=100000	ADJ
american_scientific_journal-4515	72	4	,	,	PUNCT
american_scientific_journal-4515	72	5	if	if	SCONJ
american_scientific_journal-4515	72	6	x4	x4	PROPN
american_scientific_journal-4515	72	7	has	have	VERB
american_scientific_journal-4515	72	8	an	an	DET
american_scientific_journal-4515	72	9	obstacle	obstacle	NOUN
american_scientific_journal-4515	72	10	and	and	CCONJ
american_scientific_journal-4515	72	11	x1	x1	PROPN
american_scientific_journal-4515	72	12	is	be	AUX
american_scientific_journal-4515	72	13	a	a	DET
american_scientific_journal-4515	72	14	free	free	ADJ
american_scientific_journal-4515	72	15	cell	cell	NOUN
american_scientific_journal-4515	72	16	.	.	PUNCT
american_scientific_journal-4515	73	1	n(x1,x5)=100000.4	n(x1,x5)=100000.4	NUM
american_scientific_journal-4515	73	2	,	,	PUNCT
american_scientific_journal-4515	73	3	if	if	SCONJ
american_scientific_journal-4515	73	4	x5	x5	PROPN
american_scientific_journal-4515	73	5	has	have	VERB
american_scientific_journal-4515	73	6	an	an	DET
american_scientific_journal-4515	73	7	obstacle	obstacle	NOUN
american_scientific_journal-4515	73	8	and	and	CCONJ
american_scientific_journal-4515	73	9	x1	x1	PROPN
american_scientific_journal-4515	73	10	is	be	AUX
american_scientific_journal-4515	73	11	a	a	DET
american_scientific_journal-4515	73	12	free	free	ADJ
american_scientific_journal-4515	73	13	cell	cell	NOUN
american_scientific_journal-4515	73	14	the	the	DET
american_scientific_journal-4515	73	15	arc	arc	NOUN
american_scientific_journal-4515	73	16	cost	cost	NOUN
american_scientific_journal-4515	73	17	of	of	ADP
american_scientific_journal-4515	73	18	the	the	DET
american_scientific_journal-4515	73	19	initial	initial	ADJ
american_scientific_journal-4515	73	20	node	node	NOUN
american_scientific_journal-4515	73	21	=	=	SYM
american_scientific_journal-4515	73	22	(	(	PUNCT
american_scientific_journal-4515	73	23	0.0	0.0	NUM
american_scientific_journal-4515	73	24	)	)	PUNCT
american_scientific_journal-4515	73	25	where	where	SCONJ
american_scientific_journal-4515	73	26	the	the	DET
american_scientific_journal-4515	73	27	arc	arc	NOUN
american_scientific_journal-4515	73	28	cost	cost	NOUN
american_scientific_journal-4515	73	29	of	of	ADP
american_scientific_journal-4515	73	30	vertical	vertical	ADJ
american_scientific_journal-4515	73	31	and	and	CCONJ
american_scientific_journal-4515	73	32	horizontal	horizontal	ADJ
american_scientific_journal-4515	73	33	nodes	node	NOUN
american_scientific_journal-4515	73	34	are	be	AUX
american_scientific_journal-4515	73	35	calculated	calculate	VERB
american_scientific_journal-4515	73	36	as	as	ADP
american_scientific_journal-4515	73	37	:	:	PUNCT
american_scientific_journal-4515	73	38	from	from	ADP
american_scientific_journal-4515	73	39	x1	x1	PROPN
american_scientific_journal-4515	73	40	to	to	ADP
american_scientific_journal-4515	73	41	x2	x2	PROPN
american_scientific_journal-4515	73	42	=	=	SYM
american_scientific_journal-4515	73	43	�	�	PROPN
american_scientific_journal-4515	73	44	(	(	PUNCT
american_scientific_journal-4515	73	45	𝟎𝟎	𝟎𝟎	NUM
american_scientific_journal-4515	73	46	−	−	NUM
american_scientific_journal-4515	73	47	𝟎𝟎)𝟐𝟐	𝟎𝟎)𝟐𝟐	NUM
american_scientific_journal-4515	73	48	+	+	CCONJ
american_scientific_journal-4515	73	49	(	(	PUNCT
american_scientific_journal-4515	73	50	𝟎𝟎	𝟎𝟎	NUM
american_scientific_journal-4515	73	51	−	−	NUM
american_scientific_journal-4515	73	52	𝟏𝟏)𝟐𝟐	𝟏𝟏)𝟐𝟐	PUNCT
american_scientific_journal-4515	73	53	=	=	SYM
american_scientific_journal-4515	73	54	1	1	NUM
american_scientific_journal-4515	73	55	from	from	ADP
american_scientific_journal-4515	73	56	x1	x1	PROPN
american_scientific_journal-4515	73	57	to	to	ADP
american_scientific_journal-4515	73	58	x4	x4	PROPN
american_scientific_journal-4515	73	59	=	=	SYM
american_scientific_journal-4515	73	60	�	�	PROPN
american_scientific_journal-4515	73	61	(	(	PUNCT
american_scientific_journal-4515	73	62	𝟎𝟎	𝟎𝟎	NUM
american_scientific_journal-4515	73	63	−	−	NUM
american_scientific_journal-4515	73	64	𝟏𝟏)𝟐𝟐	𝟏𝟏)𝟐𝟐	NUM
american_scientific_journal-4515	73	65	+	+	CCONJ
american_scientific_journal-4515	73	66	(	(	PUNCT
american_scientific_journal-4515	73	67	𝟎𝟎	𝟎𝟎	NUM
american_scientific_journal-4515	73	68	−	−	NUM
american_scientific_journal-4515	73	69	𝟎𝟎)𝟐𝟐	𝟎𝟎)𝟐𝟐	NUM
american_scientific_journal-4515	73	70	=	=	SYM
american_scientific_journal-4515	73	71	1	1	NUM
american_scientific_journal-4515	73	72	but	but	CCONJ
american_scientific_journal-4515	73	73	the	the	DET
american_scientific_journal-4515	73	74	arc	arc	NOUN
american_scientific_journal-4515	73	75	cost	cost	NOUN
american_scientific_journal-4515	73	76	of	of	ADP
american_scientific_journal-4515	73	77	diagonal	diagonal	ADJ
american_scientific_journal-4515	73	78	nodes	node	NOUN
american_scientific_journal-4515	73	79	can	can	AUX
american_scientific_journal-4515	73	80	be	be	AUX
american_scientific_journal-4515	73	81	calculated	calculate	VERB
american_scientific_journal-4515	73	82	as	as	ADP
american_scientific_journal-4515	73	83	:	:	PUNCT
american_scientific_journal-4515	73	84	from	from	ADP
american_scientific_journal-4515	73	85	x1	x1	PROPN
american_scientific_journal-4515	73	86	to	to	ADP
american_scientific_journal-4515	73	87	x3	x3	PROPN
american_scientific_journal-4515	73	88	=	=	SYM
american_scientific_journal-4515	73	89	�	�	PROPN
american_scientific_journal-4515	73	90	(	(	PUNCT
american_scientific_journal-4515	73	91	𝟎𝟎	𝟎𝟎	NUM
american_scientific_journal-4515	73	92	−	−	NUM
american_scientific_journal-4515	73	93	𝟏𝟏)𝟐𝟐	𝟏𝟏)𝟐𝟐	NUM
american_scientific_journal-4515	73	94	+	+	CCONJ
american_scientific_journal-4515	73	95	(	(	PUNCT
american_scientific_journal-4515	73	96	𝟎𝟎	𝟎𝟎	NUM
american_scientific_journal-4515	73	97	−	−	NUM
american_scientific_journal-4515	73	98	𝟏𝟏)𝟐𝟐	𝟏𝟏)𝟐𝟐	X
american_scientific_journal-4515	73	99	=	=	PUNCT
american_scientific_journal-4515	73	100	√𝟐𝟐	√𝟐𝟐	PROPN
american_scientific_journal-4515	73	101	=	=	PUNCT
american_scientific_journal-4515	73	102	1.414	1.414	NUM
american_scientific_journal-4515	73	103	and	and	CCONJ
american_scientific_journal-4515	73	104	so	so	ADV
american_scientific_journal-4515	73	105	on	on	ADV
american_scientific_journal-4515	73	106	.	.	PUNCT
american_scientific_journal-4515	74	1	figure	figure	NOUN
american_scientific_journal-4515	74	2	1	1	NUM
american_scientific_journal-4515	74	3	:	:	PUNCT
american_scientific_journal-4515	74	4	node	node	ADJ
american_scientific_journal-4515	74	5	expansion	expansion	NOUN
american_scientific_journal-4515	74	6	x9	x9	NOUN
american_scientific_journal-4515	75	1	x2	x2	PROPN
american_scientific_journal-4515	76	1	x3	x3	PROPN
american_scientific_journal-4515	76	2	x8	x8	PROPN
american_scientific_journal-4515	76	3	x1	x1	PROPN
american_scientific_journal-4515	76	4	x4	x4	PROPN
american_scientific_journal-4515	77	1	x7	x7	NOUN
american_scientific_journal-4515	77	2	x6	x6	PROPN
american_scientific_journal-4515	77	3	x5	x5	PROPN
american_scientific_journal-4515	77	4	american	american	ADJ
american_scientific_journal-4515	77	5	scientific	scientific	ADJ
american_scientific_journal-4515	77	6	research	research	NOUN
american_scientific_journal-4515	77	7	journal	journal	NOUN
american_scientific_journal-4515	77	8	for	for	ADP
american_scientific_journal-4515	77	9	engineering	engineering	NOUN
american_scientific_journal-4515	77	10	,	,	PUNCT
american_scientific_journal-4515	77	11	technology	technology	NOUN
american_scientific_journal-4515	77	12	,	,	PUNCT
american_scientific_journal-4515	77	13	and	and	CCONJ
american_scientific_journal-4515	77	14	sciences	science	NOUN
american_scientific_journal-4515	77	15	(	(	PUNCT
american_scientific_journal-4515	77	16	asrjets	asrjet	NOUN
american_scientific_journal-4515	77	17	)	)	PUNCT
american_scientific_journal-4515	77	18	(	(	PUNCT
american_scientific_journal-4515	77	19	2018	2018	NUM
american_scientific_journal-4515	77	20	)	)	PUNCT
american_scientific_journal-4515	77	21	volume	volume	NOUN
american_scientific_journal-4515	77	22	49	49	NUM
american_scientific_journal-4515	77	23	,	,	PUNCT
american_scientific_journal-4515	77	24	no	no	DET
american_scientific_journal-4515	77	25	1	1	NUM
american_scientific_journal-4515	77	26	,	,	PUNCT
american_scientific_journal-4515	77	27	pp	pp	ADV
american_scientific_journal-4515	77	28	257	257	NUM
american_scientific_journal-4515	77	29	-	-	SYM
american_scientific_journal-4515	77	30	271	271	NUM
american_scientific_journal-4515	77	31	261	261	NUM
american_scientific_journal-4515	77	32	figure	figure	NOUN
american_scientific_journal-4515	77	33	2	2	NUM
american_scientific_journal-4515	77	34	:	:	PUNCT
american_scientific_journal-4515	77	35	calculation	calculation	NOUN
american_scientific_journal-4515	77	36	of	of	ADP
american_scientific_journal-4515	77	37	node	node	ADJ
american_scientific_journal-4515	77	38	expansion	expansion	NOUN
american_scientific_journal-4515	77	39	3	3	X
american_scientific_journal-4515	77	40	.	.	PUNCT
american_scientific_journal-4515	77	41	particle	particle	NOUN
american_scientific_journal-4515	77	42	swarm	swarm	NOUN
american_scientific_journal-4515	77	43	optimization	optimization	NOUN
american_scientific_journal-4515	77	44	technique	technique	NOUN
american_scientific_journal-4515	77	45	theory	theory	NOUN
american_scientific_journal-4515	77	46	(	(	PUNCT
american_scientific_journal-4515	77	47	pso	pso	NOUN
american_scientific_journal-4515	77	48	)	)	PUNCT
american_scientific_journal-4515	77	49	pso	pso	NOUN
american_scientific_journal-4515	77	50	is	be	AUX
american_scientific_journal-4515	77	51	a	a	DET
american_scientific_journal-4515	77	52	laborious	laborious	ADJ
american_scientific_journal-4515	77	53	stochastic	stochastic	ADJ
american_scientific_journal-4515	77	54	optimization	optimization	NOUN
american_scientific_journal-4515	77	55	technique	technique	NOUN
american_scientific_journal-4515	77	56	,	,	PUNCT
american_scientific_journal-4515	77	57	it	it	PRON
american_scientific_journal-4515	77	58	depends	depend	VERB
american_scientific_journal-4515	77	59	on	on	ADP
american_scientific_journal-4515	77	60	the	the	DET
american_scientific_journal-4515	77	61	intelligence	intelligence	NOUN
american_scientific_journal-4515	77	62	and	and	CCONJ
american_scientific_journal-4515	77	63	movement	movement	NOUN
american_scientific_journal-4515	77	64	of	of	ADP
american_scientific_journal-4515	77	65	birds	bird	NOUN
american_scientific_journal-4515	77	66	swarms	swarm	NOUN
american_scientific_journal-4515	77	67	.	.	PUNCT
american_scientific_journal-4515	78	1	inspired	inspire	VERB
american_scientific_journal-4515	78	2	by	by	ADP
american_scientific_journal-4515	78	3	the	the	DET
american_scientific_journal-4515	78	4	behavior	behavior	NOUN
american_scientific_journal-4515	78	5	of	of	ADP
american_scientific_journal-4515	78	6	nature	nature	NOUN
american_scientific_journal-4515	78	7	social	social	ADJ
american_scientific_journal-4515	78	8	and	and	CCONJ
american_scientific_journal-4515	78	9	dynamic	dynamic	ADJ
american_scientific_journal-4515	78	10	motions	motion	NOUN
american_scientific_journal-4515	78	11	with	with	ADP
american_scientific_journal-4515	78	12	communications	communication	NOUN
american_scientific_journal-4515	78	13	of	of	ADP
american_scientific_journal-4515	78	14	fish	fish	NOUN
american_scientific_journal-4515	78	15	schooling	schooling	NOUN
american_scientific_journal-4515	78	16	,	,	PUNCT
american_scientific_journal-4515	78	17	insects	insect	NOUN
american_scientific_journal-4515	78	18	or	or	CCONJ
american_scientific_journal-4515	78	19	birds	bird	NOUN
american_scientific_journal-4515	78	20	flocking	flock	VERB
american_scientific_journal-4515	78	21	.	.	PUNCT
american_scientific_journal-4515	79	1	a	a	DET
american_scientific_journal-4515	79	2	number	number	NOUN
american_scientific_journal-4515	79	3	of	of	ADP
american_scientific_journal-4515	79	4	basic	basic	ADJ
american_scientific_journal-4515	79	5	variations	variation	NOUN
american_scientific_journal-4515	79	6	have	have	AUX
american_scientific_journal-4515	79	7	been	be	AUX
american_scientific_journal-4515	79	8	developed	develop	VERB
american_scientific_journal-4515	79	9	due	due	ADJ
american_scientific_journal-4515	79	10	to	to	PART
american_scientific_journal-4515	79	11	improve	improve	VERB
american_scientific_journal-4515	79	12	speed	speed	NOUN
american_scientific_journal-4515	79	13	of	of	ADP
american_scientific_journal-4515	79	14	convergence	convergence	NOUN
american_scientific_journal-4515	79	15	and	and	CCONJ
american_scientific_journal-4515	79	16	quality	quality	NOUN
american_scientific_journal-4515	79	17	of	of	ADP
american_scientific_journal-4515	79	18	solution	solution	NOUN
american_scientific_journal-4515	79	19	found	find	VERB
american_scientific_journal-4515	79	20	by	by	ADP
american_scientific_journal-4515	79	21	the	the	DET
american_scientific_journal-4515	79	22	pso	pso	NOUN
american_scientific_journal-4515	80	1	[	[	X
american_scientific_journal-4515	80	2	15	15	NUM
american_scientific_journal-4515	80	3	]	]	PUNCT
american_scientific_journal-4515	80	4	.	.	PUNCT
american_scientific_journal-4515	81	1	the	the	DET
american_scientific_journal-4515	81	2	principle	principle	NOUN
american_scientific_journal-4515	81	3	of	of	ADP
american_scientific_journal-4515	81	4	pso	pso	NOUN
american_scientific_journal-4515	81	5	technique	technique	NOUN
american_scientific_journal-4515	81	6	depends	depend	VERB
american_scientific_journal-4515	81	7	on	on	ADP
american_scientific_journal-4515	81	8	generated	generate	VERB
american_scientific_journal-4515	81	9	specified	specify	VERB
american_scientific_journal-4515	81	10	number	number	NOUN
american_scientific_journal-4515	81	11	of	of	ADP
american_scientific_journal-4515	81	12	particles	particle	NOUN
american_scientific_journal-4515	81	13	in	in	ADP
american_scientific_journal-4515	81	14	random	random	ADJ
american_scientific_journal-4515	81	15	positions	position	NOUN
american_scientific_journal-4515	81	16	in	in	ADP
american_scientific_journal-4515	81	17	the	the	DET
american_scientific_journal-4515	81	18	specified	specified	ADJ
american_scientific_journal-4515	81	19	workspace	workspace	NOUN
american_scientific_journal-4515	81	20	,	,	PUNCT
american_scientific_journal-4515	81	21	also	also	ADV
american_scientific_journal-4515	81	22	the	the	DET
american_scientific_journal-4515	81	23	velocity	velocity	NOUN
american_scientific_journal-4515	81	24	of	of	ADP
american_scientific_journal-4515	81	25	those	those	DET
american_scientific_journal-4515	81	26	particles	particle	NOUN
american_scientific_journal-4515	81	27	is	be	AUX
american_scientific_journal-4515	81	28	nominated	nominate	VERB
american_scientific_journal-4515	81	29	randomly	randomly	ADV
american_scientific_journal-4515	81	30	,	,	PUNCT
american_scientific_journal-4515	81	31	each	each	DET
american_scientific_journal-4515	81	32	particle	particle	NOUN
american_scientific_journal-4515	81	33	has	have	VERB
american_scientific_journal-4515	81	34	a	a	DET
american_scientific_journal-4515	81	35	memory	memory	NOUN
american_scientific_journal-4515	81	36	that	that	PRON
american_scientific_journal-4515	81	37	stores	store	VERB
american_scientific_journal-4515	81	38	all	all	DET
american_scientific_journal-4515	81	39	the	the	DET
american_scientific_journal-4515	81	40	best	good	ADJ
american_scientific_journal-4515	81	41	position	position	NOUN
american_scientific_journal-4515	81	42	have	have	AUX
american_scientific_journal-4515	81	43	been	be	AUX
american_scientific_journal-4515	81	44	visited	visit	VERB
american_scientific_journal-4515	81	45	before	before	ADV
american_scientific_journal-4515	81	46	,	,	PUNCT
american_scientific_journal-4515	81	47	in	in	ADP
american_scientific_journal-4515	81	48	addition	addition	NOUN
american_scientific_journal-4515	81	49	to	to	ADP
american_scientific_journal-4515	81	50	the	the	DET
american_scientific_journal-4515	81	51	fitness	fitness	NOUN
american_scientific_journal-4515	81	52	in	in	ADP
american_scientific_journal-4515	81	53	that	that	DET
american_scientific_journal-4515	81	54	position	position	NOUN
american_scientific_journal-4515	81	55	which	which	PRON
american_scientific_journal-4515	81	56	has	have	AUX
american_scientific_journal-4515	81	57	been	be	AUX
american_scientific_journal-4515	81	58	improved	improve	VERB
american_scientific_journal-4515	81	59	over	over	ADP
american_scientific_journal-4515	81	60	time	time	NOUN
american_scientific_journal-4515	81	61	[	[	X
american_scientific_journal-4515	81	62	16	16	NUM
american_scientific_journal-4515	81	63	]	]	PUNCT
american_scientific_journal-4515	81	64	.	.	PUNCT
american_scientific_journal-4515	82	1	in	in	ADP
american_scientific_journal-4515	82	2	each	each	DET
american_scientific_journal-4515	82	3	iteration	iteration	NOUN
american_scientific_journal-4515	82	4	of	of	ADP
american_scientific_journal-4515	82	5	pso	pso	NOUN
american_scientific_journal-4515	82	6	technique	technique	NOUN
american_scientific_journal-4515	82	7	,	,	PUNCT
american_scientific_journal-4515	82	8	the	the	DET
american_scientific_journal-4515	82	9	𝑝𝑝𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	𝑝𝑝𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	ADJ
american_scientific_journal-4515	82	10	and	and	CCONJ
american_scientific_journal-4515	82	11	𝑣𝑣𝑣𝑣𝑣𝑣𝑖𝑖,𝑖𝑖𝑡𝑡	𝑣𝑣𝑣𝑣𝑣𝑣𝑖𝑖,𝑖𝑖𝑡𝑡	NOUN
american_scientific_journal-4515	82	12	vectors	vector	NOUN
american_scientific_journal-4515	82	13	of	of	ADP
american_scientific_journal-4515	82	14	particle	particle	NOUN
american_scientific_journal-4515	82	15	i	i	PRON
american_scientific_journal-4515	82	16	is	be	AUX
american_scientific_journal-4515	82	17	modified	modify	VERB
american_scientific_journal-4515	82	18	in	in	ADP
american_scientific_journal-4515	82	19	each	each	DET
american_scientific_journal-4515	82	20	dimension	dimension	NOUN
american_scientific_journal-4515	82	21	j	j	PROPN
american_scientific_journal-4515	82	22	in	in	ADP
american_scientific_journal-4515	82	23	order	order	NOUN
american_scientific_journal-4515	82	24	to	to	PART
american_scientific_journal-4515	82	25	lead	lead	VERB
american_scientific_journal-4515	82	26	the	the	DET
american_scientific_journal-4515	82	27	particle	particle	NOUN
american_scientific_journal-4515	82	28	i	i	PRON
american_scientific_journal-4515	82	29	toward	toward	ADP
american_scientific_journal-4515	82	30	either	either	CCONJ
american_scientific_journal-4515	82	31	the	the	DET
american_scientific_journal-4515	82	32	personal	personal	ADJ
american_scientific_journal-4515	82	33	best	good	ADJ
american_scientific_journal-4515	82	34	vector	vector	NOUN
american_scientific_journal-4515	82	35	(	(	PUNCT
american_scientific_journal-4515	82	36	𝑝𝑝𝑝𝑝𝑣𝑣𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	𝑝𝑝𝑝𝑝𝑣𝑣𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	ADJ
american_scientific_journal-4515	82	37	)	)	PUNCT
american_scientific_journal-4515	82	38	or	or	CCONJ
american_scientific_journal-4515	82	39	the	the	DET
american_scientific_journal-4515	82	40	swarm	swarm	NOUN
american_scientific_journal-4515	82	41	’s	’s	PART
american_scientific_journal-4515	82	42	best	good	ADJ
american_scientific_journal-4515	82	43	vector	vector	NOUN
american_scientific_journal-4515	82	44	(	(	PUNCT
american_scientific_journal-4515	82	45	𝑔𝑔𝑝𝑝𝑣𝑣𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	𝑔𝑔𝑝𝑝𝑣𝑣𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	ADJ
american_scientific_journal-4515	82	46	)	)	PUNCT
american_scientific_journal-4515	82	47	𝑣𝑣𝑣𝑣𝑣𝑣𝑖𝑖	𝑣𝑣𝑣𝑣𝑣𝑣𝑖𝑖	NOUN
american_scientific_journal-4515	82	48	,	,	PUNCT
american_scientific_journal-4515	82	49	𝑖𝑖𝑡𝑡+1	𝑖𝑖𝑡𝑡+1	NOUN
american_scientific_journal-4515	82	50	=	=	SYM
american_scientific_journal-4515	82	51	𝑤𝑤	𝑤𝑤	ADP
american_scientific_journal-4515	82	52	×	×	PROPN
american_scientific_journal-4515	82	53	𝑣𝑣𝑣𝑣𝑣𝑣𝑖𝑖,𝑖𝑖𝑡𝑡	𝑣𝑣𝑣𝑣𝑣𝑣𝑖𝑖,𝑖𝑖𝑡𝑡	NOUN
american_scientific_journal-4515	82	54	+	+	X
american_scientific_journal-4515	83	1	𝑐𝑐1	𝑐𝑐1	PROPN
american_scientific_journal-4515	83	2	×	×	PROPN
american_scientific_journal-4515	84	1	𝑟𝑟1,𝑖𝑖	𝑟𝑟1,𝑖𝑖	ADP
american_scientific_journal-4515	84	2	×	×	PROPN
american_scientific_journal-4515	84	3	�	�	PROPN
american_scientific_journal-4515	84	4	𝑝𝑝𝑝𝑝𝑣𝑣𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	𝑝𝑝𝑝𝑝𝑣𝑣𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	NOUN
american_scientific_journal-4515	84	5	−	−	PROPN
american_scientific_journal-4515	84	6	𝑝𝑝𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	𝑝𝑝𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	X
american_scientific_journal-4515	84	7	�	�	PROPN
american_scientific_journal-4515	84	8	+	+	CCONJ
american_scientific_journal-4515	84	9	𝑐𝑐2	𝑐𝑐2	PROPN
american_scientific_journal-4515	84	10	×	×	PROPN
american_scientific_journal-4515	84	11	𝑟𝑟2,𝑖𝑖	𝑟𝑟2,𝑖𝑖	ADP
american_scientific_journal-4515	84	12	×	×	PROPN
american_scientific_journal-4515	84	13	�	�	NOUN
american_scientific_journal-4515	84	14	𝑔𝑔𝑝𝑝𝑣𝑣𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	𝑔𝑔𝑝𝑝𝑣𝑣𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	VERB
american_scientific_journal-4515	84	15	−	−	PROPN
american_scientific_journal-4515	84	16	𝑝𝑝𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	𝑝𝑝𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖	PROPN
american_scientific_journal-4515	84	17	�	�	PROPN
american_scientific_journal-4515	84	18	the	the	DET
american_scientific_journal-4515	84	19	position	position	NOUN
american_scientific_journal-4515	84	20	of	of	ADP
american_scientific_journal-4515	84	21	each	each	DET
american_scientific_journal-4515	84	22	particle	particle	NOUN
american_scientific_journal-4515	84	23	(	(	PUNCT
american_scientific_journal-4515	84	24	bird	bird	NOUN
american_scientific_journal-4515	84	25	)	)	PUNCT
american_scientific_journal-4515	84	26	is	be	AUX
american_scientific_journal-4515	84	27	updated	update	VERB
american_scientific_journal-4515	84	28	by	by	ADP
american_scientific_journal-4515	84	29	using	use	VERB
american_scientific_journal-4515	84	30	the	the	DET
american_scientific_journal-4515	84	31	new	new	ADJ
american_scientific_journal-4515	84	32	velocity	velocity	NOUN
american_scientific_journal-4515	84	33	for	for	ADP
american_scientific_journal-4515	84	34	that	that	DET
american_scientific_journal-4515	84	35	particle	particle	NOUN
american_scientific_journal-4515	84	36	,	,	PUNCT
american_scientific_journal-4515	84	37	according	accord	VERB
american_scientific_journal-4515	84	38	to	to	ADP
american_scientific_journal-4515	84	39	equation	equation	NOUN
american_scientific_journal-4515	84	40	below	below	ADV
american_scientific_journal-4515	84	41	:	:	PUNCT
american_scientific_journal-4515	84	42	𝑝𝑝𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖𝑡𝑡+1	𝑝𝑝𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖𝑡𝑡+1	NOUN
american_scientific_journal-4515	84	43	=	=	SYM
american_scientific_journal-4515	84	44	𝑝𝑝𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖𝑡𝑡	𝑝𝑝𝑝𝑝𝑝𝑝𝑖𝑖𝑖𝑖𝑡𝑡	NOUN
american_scientific_journal-4515	84	45	+	+	CCONJ
american_scientific_journal-4515	84	46	𝑣𝑣𝑣𝑣𝑣𝑣𝑖𝑖𝑖𝑖𝑡𝑡+1	𝑣𝑣𝑣𝑣𝑣𝑣𝑖𝑖𝑖𝑖𝑡𝑡+1	NOUN
american_scientific_journal-4515	84	47	where	where	SCONJ
american_scientific_journal-4515	84	48	𝑐𝑐1	𝑐𝑐1	PROPN
american_scientific_journal-4515	84	49	and	and	CCONJ
american_scientific_journal-4515	84	50	𝑐𝑐2	𝑐𝑐2	PROPN
american_scientific_journal-4515	84	51	are	be	AUX
american_scientific_journal-4515	84	52	the	the	DET
american_scientific_journal-4515	84	53	cognitive	cognitive	ADJ
american_scientific_journal-4515	84	54	coefficients	coefficient	NOUN
american_scientific_journal-4515	84	55	(	(	PUNCT
american_scientific_journal-4515	84	56	𝑐𝑐1+𝑐𝑐2<=4	𝑐𝑐1+𝑐𝑐2<=4	PROPN
american_scientific_journal-4515	84	57	)	)	PUNCT
american_scientific_journal-4515	84	58	,	,	PUNCT
american_scientific_journal-4515	84	59	and	and	CCONJ
american_scientific_journal-4515	84	60	𝑟𝑟1,𝑖𝑖	𝑟𝑟1,𝑖𝑖	PUNCT
american_scientific_journal-4515	84	61	and	and	CCONJ
american_scientific_journal-4515	84	62	𝑟𝑟2,𝑖𝑖	𝑟𝑟2,𝑖𝑖	NOUN
american_scientific_journal-4515	84	63	are	be	AUX
american_scientific_journal-4515	84	64	random	random	ADJ
american_scientific_journal-4515	84	65	real	real	ADJ
american_scientific_journal-4515	84	66	numbers	number	NOUN
american_scientific_journal-4515	84	67	between	between	ADP
american_scientific_journal-4515	84	68	[	[	X
american_scientific_journal-4515	84	69	0	0	NUM
american_scientific_journal-4515	84	70	,	,	PUNCT
american_scientific_journal-4515	84	71	1	1	NUM
american_scientific_journal-4515	84	72	]	]	PUNCT
american_scientific_journal-4515	84	73	,	,	PUNCT
american_scientific_journal-4515	84	74	the	the	DET
american_scientific_journal-4515	84	75	inertia	inertia	NOUN
american_scientific_journal-4515	84	76	weight	weight	NOUN
american_scientific_journal-4515	84	77	𝑤𝑤	𝑤𝑤	NOUN
american_scientific_journal-4515	84	78	controls	control	VERB
american_scientific_journal-4515	84	79	the	the	DET
american_scientific_journal-4515	84	80	particle	particle	NOUN
american_scientific_journal-4515	84	81	momentum	momentum	NOUN
american_scientific_journal-4515	85	1	[	[	X
american_scientific_journal-4515	85	2	17	17	NUM
american_scientific_journal-4515	85	3	-	-	SYM
american_scientific_journal-4515	85	4	18	18	NUM
american_scientific_journal-4515	85	5	]	]	PUNCT
american_scientific_journal-4515	85	6	.	.	PUNCT
american_scientific_journal-4515	86	1	the	the	DET
american_scientific_journal-4515	86	2	value	value	NOUN
american_scientific_journal-4515	86	3	of	of	ADP
american_scientific_journal-4515	86	4	𝑣𝑣𝑣𝑣𝑣𝑣𝑖𝑖𝑖𝑖	𝑣𝑣𝑣𝑣𝑣𝑣𝑖𝑖𝑖𝑖	NOUN
american_scientific_journal-4515	86	5	is	be	AUX
american_scientific_journal-4515	86	6	clamped	clamp	VERB
american_scientific_journal-4515	86	7	to	to	ADP
american_scientific_journal-4515	86	8	the	the	DET
american_scientific_journal-4515	86	9	range	range	NOUN
american_scientific_journal-4515	86	10	[	[	X
american_scientific_journal-4515	86	11	-𝑣𝑣𝑣𝑣𝑣𝑣𝑚𝑚𝑚𝑚𝑚𝑚	-𝑣𝑣𝑣𝑣𝑣𝑣𝑚𝑚𝑚𝑚𝑚𝑚	NOUN
american_scientific_journal-4515	86	12	,	,	PUNCT
american_scientific_journal-4515	86	13	𝑣𝑣𝑣𝑣𝑣𝑣𝑚𝑚𝑚𝑚𝑚𝑚	𝑣𝑣𝑣𝑣𝑣𝑣𝑚𝑚𝑚𝑚𝑚𝑚	NOUN
american_scientific_journal-4515	86	14	]	]	PUNCT
american_scientific_journal-4515	86	15	to	to	PART
american_scientific_journal-4515	86	16	reduce	reduce	VERB
american_scientific_journal-4515	86	17	the	the	DET
american_scientific_journal-4515	86	18	probability	probability	NOUN
american_scientific_journal-4515	86	19	of	of	ADP
american_scientific_journal-4515	86	20	leaving	leave	VERB
american_scientific_journal-4515	86	21	the	the	DET
american_scientific_journal-4515	86	22	search	search	NOUN
american_scientific_journal-4515	86	23	space	space	NOUN
american_scientific_journal-4515	86	24	by	by	ADP
american_scientific_journal-4515	86	25	the	the	DET
american_scientific_journal-4515	86	26	particle	particle	NOUN
american_scientific_journal-4515	86	27	.	.	PUNCT
american_scientific_journal-4515	87	1	if	if	SCONJ
american_scientific_journal-4515	87	2	the	the	DET
american_scientific_journal-4515	87	3	search	search	NOUN
american_scientific_journal-4515	87	4	space	space	NOUN
american_scientific_journal-4515	87	5	is	be	AUX
american_scientific_journal-4515	87	6	defined	define	VERB
american_scientific_journal-4515	87	7	by	by	ADP
american_scientific_journal-4515	87	8	the	the	DET
american_scientific_journal-4515	87	9	bounds	bound	NOUN
american_scientific_journal-4515	88	1	[	[	X
american_scientific_journal-4515	88	2	-𝑝𝑝𝑝𝑝𝑝𝑝𝑚𝑚𝑚𝑚𝑚𝑚	-𝑝𝑝𝑝𝑝𝑝𝑝𝑚𝑚𝑚𝑚𝑚𝑚	ADJ
american_scientific_journal-4515	88	3	,	,	PUNCT
american_scientific_journal-4515	88	4	𝑝𝑝𝑝𝑝𝑝𝑝𝑚𝑚𝑚𝑚𝑚𝑚	𝑝𝑝𝑝𝑝𝑝𝑝𝑚𝑚𝑚𝑚𝑚𝑚	VERB
american_scientific_journal-4515	88	5	]	]	PUNCT
american_scientific_journal-4515	88	6	,	,	PUNCT
american_scientific_journal-4515	88	7	then	then	ADV
american_scientific_journal-4515	88	8	the	the	DET
american_scientific_journal-4515	88	9	value	value	NOUN
american_scientific_journal-4515	88	10	of	of	ADP
american_scientific_journal-4515	88	11	𝑣𝑣𝑣𝑣𝑣𝑣𝑚𝑚𝑚𝑚𝑚𝑚	𝑣𝑣𝑣𝑣𝑣𝑣𝑚𝑚𝑚𝑚𝑚𝑚	NOUN
american_scientific_journal-4515	88	12	is	be	AUX
american_scientific_journal-4515	88	13	typically	typically	ADV
american_scientific_journal-4515	88	14	set	set	VERB
american_scientific_journal-4515	88	15	so	so	SCONJ
american_scientific_journal-4515	88	16	that	that	SCONJ
american_scientific_journal-4515	88	17	𝑣𝑣𝑣𝑣𝑣𝑣𝑚𝑚𝑚𝑚𝑚𝑚	𝑣𝑣𝑣𝑣𝑣𝑣𝑚𝑚𝑚𝑚𝑚𝑚	NOUN
american_scientific_journal-4515	88	18	=	=	SYM
american_scientific_journal-4515	88	19	𝑘𝑘	𝑘𝑘	PROPN
american_scientific_journal-4515	88	20	∗	∗	NOUN
american_scientific_journal-4515	88	21	𝑝𝑝𝑝𝑝𝑝𝑝𝑚𝑚𝑚𝑚𝑚𝑚	𝑝𝑝𝑝𝑝𝑝𝑝𝑚𝑚𝑚𝑚𝑚𝑚	VERB
american_scientific_journal-4515	88	22	,	,	PUNCT
american_scientific_journal-4515	88	23	1	1	NUM
american_scientific_journal-4515	88	24	1	1	NUM
american_scientific_journal-4515	88	25	1.4	1.4	NUM
american_scientific_journal-4515	88	26	american	american	ADJ
american_scientific_journal-4515	88	27	scientific	scientific	ADJ
american_scientific_journal-4515	88	28	research	research	NOUN
american_scientific_journal-4515	88	29	journal	journal	NOUN
american_scientific_journal-4515	88	30	for	for	ADP
american_scientific_journal-4515	88	31	engineering	engineering	NOUN
american_scientific_journal-4515	88	32	,	,	PUNCT
american_scientific_journal-4515	88	33	technology	technology	NOUN
american_scientific_journal-4515	88	34	,	,	PUNCT
american_scientific_journal-4515	88	35	and	and	CCONJ
american_scientific_journal-4515	88	36	sciences	science	NOUN
american_scientific_journal-4515	88	37	(	(	PUNCT
american_scientific_journal-4515	88	38	asrjets	asrjet	NOUN
american_scientific_journal-4515	88	39	)	)	PUNCT
american_scientific_journal-4515	88	40	(	(	PUNCT
american_scientific_journal-4515	88	41	2018	2018	NUM
american_scientific_journal-4515	88	42	)	)	PUNCT
american_scientific_journal-4515	88	43	volume	volume	NOUN
american_scientific_journal-4515	88	44	49	49	NUM
american_scientific_journal-4515	88	45	,	,	PUNCT
american_scientific_journal-4515	88	46	no	no	DET
american_scientific_journal-4515	88	47	1	1	NUM
american_scientific_journal-4515	88	48	,	,	PUNCT
american_scientific_journal-4515	88	49	pp	pp	ADV
american_scientific_journal-4515	88	50	257	257	NUM
american_scientific_journal-4515	88	51	-	-	SYM
american_scientific_journal-4515	88	52	271	271	NUM
american_scientific_journal-4515	88	53	262	262	NUM
american_scientific_journal-4515	88	54	where	where	SCONJ
american_scientific_journal-4515	88	55	0.1	0.1	NUM
american_scientific_journal-4515	88	56	≤	≤	NOUN
american_scientific_journal-4515	88	57	𝑘𝑘	𝑘𝑘	NOUN
american_scientific_journal-4515	88	58	≤	≤	ADJ
american_scientific_journal-4515	88	59	1.0	1.0	NUM
american_scientific_journal-4515	88	60	.	.	PUNCT
american_scientific_journal-4515	89	1	a	a	DET
american_scientific_journal-4515	89	2	large	large	ADJ
american_scientific_journal-4515	89	3	inertia	inertia	NOUN
american_scientific_journal-4515	89	4	weight	weight	NOUN
american_scientific_journal-4515	89	5	(	(	PUNCT
american_scientific_journal-4515	89	6	w	w	NOUN
american_scientific_journal-4515	89	7	)	)	PUNCT
american_scientific_journal-4515	89	8	eases	ease	VERB
american_scientific_journal-4515	89	9	the	the	DET
american_scientific_journal-4515	89	10	local	local	ADJ
american_scientific_journal-4515	89	11	when	when	SCONJ
american_scientific_journal-4515	89	12	its	its	PRON
american_scientific_journal-4515	89	13	value	value	NOUN
american_scientific_journal-4515	89	14	is	be	AUX
american_scientific_journal-4515	89	15	large	large	ADJ
american_scientific_journal-4515	89	16	and	and	CCONJ
american_scientific_journal-4515	89	17	eases	ease	VERB
american_scientific_journal-4515	89	18	the	the	DET
american_scientific_journal-4515	89	19	global	global	ADJ
american_scientific_journal-4515	89	20	search	search	NOUN
american_scientific_journal-4515	89	21	when	when	SCONJ
american_scientific_journal-4515	89	22	its	its	PRON
american_scientific_journal-4515	89	23	value	value	NOUN
american_scientific_journal-4515	89	24	is	be	AUX
american_scientific_journal-4515	89	25	small	small	ADJ
american_scientific_journal-4515	89	26	.	.	PUNCT
american_scientific_journal-4515	90	1	to	to	PART
american_scientific_journal-4515	90	2	summarized	summarize	VERB
american_scientific_journal-4515	90	3	pso	pso	NOUN
american_scientific_journal-4515	90	4	technique	technique	NOUN
american_scientific_journal-4515	90	5	in	in	ADP
american_scientific_journal-4515	90	6	steps	step	NOUN
american_scientific_journal-4515	90	7	it	it	PRON
american_scientific_journal-4515	90	8	can	can	AUX
american_scientific_journal-4515	90	9	be	be	AUX
american_scientific_journal-4515	90	10	consist	consist	VERB
american_scientific_journal-4515	90	11	of	of	ADP
american_scientific_journal-4515	90	12	just	just	ADV
american_scientific_journal-4515	90	13	three	three	NUM
american_scientific_journal-4515	90	14	steps	step	NOUN
american_scientific_journal-4515	90	15	:	:	PUNCT
american_scientific_journal-4515	90	16	1	1	X
american_scientific_journal-4515	90	17	.	.	X
american_scientific_journal-4515	90	18	calculate	calculate	NOUN
american_scientific_journal-4515	90	19	fitness	fitness	NOUN
american_scientific_journal-4515	90	20	for	for	ADP
american_scientific_journal-4515	90	21	all	all	DET
american_scientific_journal-4515	90	22	particles	particle	NOUN
american_scientific_journal-4515	90	23	.	.	PUNCT
american_scientific_journal-4515	91	1	2	2	X
american_scientific_journal-4515	91	2	.	.	X
american_scientific_journal-4515	91	3	update	update	VERB
american_scientific_journal-4515	91	4	local	local	ADJ
american_scientific_journal-4515	91	5	and	and	CCONJ
american_scientific_journal-4515	91	6	global	global	ADJ
american_scientific_journal-4515	91	7	bests	best	NOUN
american_scientific_journal-4515	91	8	.	.	PUNCT
american_scientific_journal-4515	92	1	3	3	X
american_scientific_journal-4515	92	2	.	.	X
american_scientific_journal-4515	92	3	update	update	NOUN
american_scientific_journal-4515	92	4	velocity	velocity	NOUN
american_scientific_journal-4515	92	5	and	and	CCONJ
american_scientific_journal-4515	92	6	position	position	NOUN
american_scientific_journal-4515	92	7	for	for	ADP
american_scientific_journal-4515	92	8	all	all	DET
american_scientific_journal-4515	92	9	particles	particle	NOUN
american_scientific_journal-4515	92	10	.	.	PUNCT
american_scientific_journal-4515	93	1	[	[	X
american_scientific_journal-4515	93	2	19	19	NUM
american_scientific_journal-4515	93	3	-	-	SYM
american_scientific_journal-4515	93	4	20	20	NUM
american_scientific_journal-4515	93	5	]	]	SYM
american_scientific_journal-4515	93	6	5	5	NUM
american_scientific_journal-4515	93	7	.	.	PUNCT
american_scientific_journal-4515	93	8	proposed	propose	VERB
american_scientific_journal-4515	93	9	method	method	NOUN
american_scientific_journal-4515	93	10	:	:	PUNCT
american_scientific_journal-4515	93	11	d	d	X
american_scientific_journal-4515	93	12	*	*	PUNCT
american_scientific_journal-4515	93	13	algorithm	algorithm	NOUN
american_scientific_journal-4515	93	14	based	base	VERB
american_scientific_journal-4515	93	15	on	on	ADP
american_scientific_journal-4515	93	16	pso	pso	NOUN
american_scientific_journal-4515	93	17	the	the	DET
american_scientific_journal-4515	93	18	path	path	NOUN
american_scientific_journal-4515	93	19	planning	planning	NOUN
american_scientific_journal-4515	93	20	algorithm	algorithm	NOUN
american_scientific_journal-4515	93	21	which	which	PRON
american_scientific_journal-4515	93	22	has	have	AUX
american_scientific_journal-4515	93	23	been	be	AUX
american_scientific_journal-4515	93	24	used	use	VERB
american_scientific_journal-4515	93	25	,	,	PUNCT
american_scientific_journal-4515	93	26	is	be	AUX
american_scientific_journal-4515	93	27	the	the	DET
american_scientific_journal-4515	93	28	heuristic	heuristic	ADJ
american_scientific_journal-4515	93	29	d	d	NOUN
american_scientific_journal-4515	93	30	*	*	NOUN
american_scientific_journal-4515	93	31	algorithm	algorithm	NOUN
american_scientific_journal-4515	93	32	that	that	PRON
american_scientific_journal-4515	93	33	depends	depend	VERB
american_scientific_journal-4515	93	34	expansion	expansion	NOUN
american_scientific_journal-4515	93	35	nodes	node	NOUN
american_scientific_journal-4515	93	36	,	,	PUNCT
american_scientific_journal-4515	93	37	in	in	ADP
american_scientific_journal-4515	93	38	an	an	DET
american_scientific_journal-4515	93	39	environment	environment	NOUN
american_scientific_journal-4515	93	40	with	with	ADP
american_scientific_journal-4515	93	41	moving	move	VERB
american_scientific_journal-4515	93	42	objects	object	NOUN
american_scientific_journal-4515	93	43	.	.	PUNCT
american_scientific_journal-4515	94	1	constructing	construct	VERB
american_scientific_journal-4515	94	2	the	the	DET
american_scientific_journal-4515	94	3	environment	environment	NOUN
american_scientific_journal-4515	94	4	includes	include	VERB
american_scientific_journal-4515	94	5	putting	put	VERB
american_scientific_journal-4515	94	6	the	the	DET
american_scientific_journal-4515	94	7	map	map	NOUN
american_scientific_journal-4515	94	8	limitation	limitation	NOUN
american_scientific_journal-4515	94	9	,	,	PUNCT
american_scientific_journal-4515	94	10	start	start	VERB
american_scientific_journal-4515	94	11	and	and	CCONJ
american_scientific_journal-4515	94	12	target	target	VERB
american_scientific_journal-4515	94	13	locations	location	NOUN
american_scientific_journal-4515	94	14	and	and	CCONJ
american_scientific_journal-4515	94	15	the	the	DET
american_scientific_journal-4515	94	16	obstacles	obstacle	NOUN
american_scientific_journal-4515	94	17	locations	location	NOUN
american_scientific_journal-4515	94	18	and	and	CCONJ
american_scientific_journal-4515	94	19	dimensions	dimension	NOUN
american_scientific_journal-4515	94	20	.	.	PUNCT
american_scientific_journal-4515	95	1	after	after	ADP
american_scientific_journal-4515	95	2	constructing	construct	VERB
american_scientific_journal-4515	95	3	the	the	DET
american_scientific_journal-4515	95	4	environment	environment	NOUN
american_scientific_journal-4515	95	5	,	,	PUNCT
american_scientific_journal-4515	95	6	the	the	DET
american_scientific_journal-4515	95	7	algorithm	algorithm	NOUN
american_scientific_journal-4515	95	8	will	will	AUX
american_scientific_journal-4515	95	9	start	start	VERB
american_scientific_journal-4515	95	10	its	its	PRON
american_scientific_journal-4515	95	11	work	work	NOUN
american_scientific_journal-4515	95	12	.	.	PUNCT
american_scientific_journal-4515	96	1	the	the	DET
american_scientific_journal-4515	96	2	robot	robot	NOUN
american_scientific_journal-4515	96	3	firstly	firstly	ADV
american_scientific_journal-4515	96	4	stands	stand	VERB
american_scientific_journal-4515	96	5	on	on	ADP
american_scientific_journal-4515	96	6	the	the	DET
american_scientific_journal-4515	96	7	target	target	NOUN
american_scientific_journal-4515	96	8	node	node	NOUN
american_scientific_journal-4515	96	9	and	and	CCONJ
american_scientific_journal-4515	96	10	start	start	VERB
american_scientific_journal-4515	96	11	the	the	DET
american_scientific_journal-4515	96	12	initial	initial	ADJ
american_scientific_journal-4515	96	13	expand	expand	NOUN
american_scientific_journal-4515	96	14	to	to	ADP
american_scientific_journal-4515	96	15	its	its	PRON
american_scientific_journal-4515	96	16	8	8	NUM
american_scientific_journal-4515	96	17	-	-	PUNCT
american_scientific_journal-4515	96	18	connected	connect	VERB
american_scientific_journal-4515	96	19	neighbor	neighbor	NOUN
american_scientific_journal-4515	96	20	.	.	PUNCT
american_scientific_journal-4515	97	1	each	each	DET
american_scientific_journal-4515	97	2	node	node	NOUN
american_scientific_journal-4515	97	3	will	will	AUX
american_scientific_journal-4515	97	4	have	have	VERB
american_scientific_journal-4515	97	5	an	an	DET
american_scientific_journal-4515	97	6	initial	initial	ADJ
american_scientific_journal-4515	97	7	cost	cost	NOUN
american_scientific_journal-4515	97	8	function	function	NOUN
american_scientific_journal-4515	97	9	where	where	SCONJ
american_scientific_journal-4515	97	10	the	the	DET
american_scientific_journal-4515	97	11	robot	robot	NOUN
american_scientific_journal-4515	97	12	will	will	AUX
american_scientific_journal-4515	97	13	choose	choose	VERB
american_scientific_journal-4515	97	14	the	the	DET
american_scientific_journal-4515	97	15	least	least	ADJ
american_scientific_journal-4515	97	16	cost	cost	NOUN
american_scientific_journal-4515	97	17	function	function	NOUN
american_scientific_journal-4515	97	18	node	node	NOUN
american_scientific_journal-4515	97	19	to	to	PART
american_scientific_journal-4515	97	20	move	move	VERB
american_scientific_journal-4515	97	21	on	on	ADV
american_scientific_journal-4515	97	22	and	and	CCONJ
american_scientific_journal-4515	97	23	put	put	VERB
american_scientific_journal-4515	97	24	it	it	PRON
american_scientific_journal-4515	97	25	in	in	ADP
american_scientific_journal-4515	97	26	the	the	DET
american_scientific_journal-4515	97	27	closed	closed	ADJ
american_scientific_journal-4515	97	28	list	list	NOUN
american_scientific_journal-4515	97	29	while	while	SCONJ
american_scientific_journal-4515	97	30	the	the	DET
american_scientific_journal-4515	97	31	other	other	ADJ
american_scientific_journal-4515	97	32	nodes	node	NOUN
american_scientific_journal-4515	97	33	will	will	AUX
american_scientific_journal-4515	97	34	go	go	VERB
american_scientific_journal-4515	97	35	to	to	ADP
american_scientific_journal-4515	97	36	the	the	DET
american_scientific_journal-4515	97	37	open	open	ADJ
american_scientific_journal-4515	97	38	list	list	NOUN
american_scientific_journal-4515	97	39	.	.	PUNCT
american_scientific_journal-4515	98	1	taking	take	VERB
american_scientific_journal-4515	98	2	into	into	ADP
american_scientific_journal-4515	98	3	consideration	consideration	NOUN
american_scientific_journal-4515	98	4	the	the	DET
american_scientific_journal-4515	98	5	obstacles	obstacle	NOUN
american_scientific_journal-4515	98	6	having	have	VERB
american_scientific_journal-4515	98	7	a	a	DET
american_scientific_journal-4515	98	8	huge	huge	ADJ
american_scientific_journal-4515	98	9	cost	cost	NOUN
american_scientific_journal-4515	98	10	function	function	NOUN
american_scientific_journal-4515	98	11	and	and	CCONJ
american_scientific_journal-4515	98	12	sorting	sort	VERB
american_scientific_journal-4515	98	13	in	in	ADP
american_scientific_journal-4515	98	14	the	the	DET
american_scientific_journal-4515	98	15	closed	closed	ADJ
american_scientific_journal-4515	98	16	list	list	NOUN
american_scientific_journal-4515	98	17	from	from	ADP
american_scientific_journal-4515	98	18	the	the	DET
american_scientific_journal-4515	98	19	beginning	beginning	NOUN
american_scientific_journal-4515	98	20	and	and	CCONJ
american_scientific_journal-4515	98	21	the	the	DET
american_scientific_journal-4515	98	22	process	process	NOUN
american_scientific_journal-4515	98	23	is	be	AUX
american_scientific_journal-4515	98	24	completed	complete	VERB
american_scientific_journal-4515	98	25	like	like	ADP
american_scientific_journal-4515	98	26	that	that	PRON
american_scientific_journal-4515	98	27	until	until	ADP
american_scientific_journal-4515	98	28	reaching	reach	VERB
american_scientific_journal-4515	98	29	the	the	DET
american_scientific_journal-4515	98	30	start	start	NOUN
american_scientific_journal-4515	98	31	node	node	NOUN
american_scientific_journal-4515	98	32	.	.	PUNCT
american_scientific_journal-4515	99	1	when	when	SCONJ
american_scientific_journal-4515	99	2	the	the	DET
american_scientific_journal-4515	99	3	search	search	NOUN
american_scientific_journal-4515	99	4	is	be	AUX
american_scientific_journal-4515	99	5	completed	complete	VERB
american_scientific_journal-4515	99	6	the	the	DET
american_scientific_journal-4515	99	7	robot	robot	NOUN
american_scientific_journal-4515	99	8	will	will	AUX
american_scientific_journal-4515	99	9	move	move	VERB
american_scientific_journal-4515	99	10	from	from	ADP
american_scientific_journal-4515	99	11	the	the	DET
american_scientific_journal-4515	99	12	start	start	NOUN
american_scientific_journal-4515	99	13	on	on	ADP
american_scientific_journal-4515	99	14	the	the	DET
american_scientific_journal-4515	99	15	nodes	node	NOUN
american_scientific_journal-4515	99	16	that	that	PRON
american_scientific_journal-4515	99	17	have	have	AUX
american_scientific_journal-4515	99	18	been	be	AUX
american_scientific_journal-4515	99	19	saved	save	VERB
american_scientific_journal-4515	99	20	in	in	ADP
american_scientific_journal-4515	99	21	the	the	DET
american_scientific_journal-4515	99	22	closed	closed	ADJ
american_scientific_journal-4515	99	23	list	list	NOUN
american_scientific_journal-4515	99	24	to	to	ADP
american_scientific_journal-4515	99	25	the	the	DET
american_scientific_journal-4515	99	26	target	target	NOUN
american_scientific_journal-4515	99	27	node	node	NOUN
american_scientific_journal-4515	99	28	(	(	PUNCT
american_scientific_journal-4515	99	29	therefore	therefore	ADV
american_scientific_journal-4515	99	30	it	it	PRON
american_scientific_journal-4515	99	31	is	be	AUX
american_scientific_journal-4515	99	32	called	call	VERB
american_scientific_journal-4515	99	33	backward	backward	ADV
american_scientific_journal-4515	99	34	searching	searching	NOUN
american_scientific_journal-4515	99	35	method	method	NOUN
american_scientific_journal-4515	99	36	)	)	PUNCT
american_scientific_journal-4515	99	37	avoiding	avoid	VERB
american_scientific_journal-4515	99	38	the	the	DET
american_scientific_journal-4515	99	39	obstacles	obstacle	NOUN
american_scientific_journal-4515	99	40	nodes	node	NOUN
american_scientific_journal-4515	99	41	,	,	PUNCT
american_scientific_journal-4515	99	42	the	the	DET
american_scientific_journal-4515	99	43	current	current	ADJ
american_scientific_journal-4515	99	44	node	node	NOUN
american_scientific_journal-4515	99	45	,	,	PUNCT
american_scientific_journal-4515	99	46	and	and	CCONJ
american_scientific_journal-4515	99	47	the	the	DET
american_scientific_journal-4515	99	48	next	next	ADJ
american_scientific_journal-4515	99	49	step	step	NOUN
american_scientific_journal-4515	99	50	movement	movement	NOUN
american_scientific_journal-4515	99	51	node	node	PROPN
american_scientific_journal-4515	99	52	.	.	PUNCT
american_scientific_journal-4515	100	1	the	the	DET
american_scientific_journal-4515	100	2	velocity	velocity	NOUN
american_scientific_journal-4515	100	3	of	of	ADP
american_scientific_journal-4515	100	4	the	the	DET
american_scientific_journal-4515	100	5	moving	move	VERB
american_scientific_journal-4515	100	6	obstacle	obstacle	NOUN
american_scientific_journal-4515	100	7	is	be	AUX
american_scientific_journal-4515	100	8	constant	constant	ADJ
american_scientific_journal-4515	100	9	and	and	CCONJ
american_scientific_journal-4515	100	10	the	the	DET
american_scientific_journal-4515	100	11	velocity	velocity	NOUN
american_scientific_journal-4515	100	12	of	of	ADP
american_scientific_journal-4515	100	13	the	the	DET
american_scientific_journal-4515	100	14	mass	mass	NOUN
american_scientific_journal-4515	100	15	point	point	NOUN
american_scientific_journal-4515	100	16	is	be	AUX
american_scientific_journal-4515	100	17	changing	change	VERB
american_scientific_journal-4515	100	18	over	over	ADP
american_scientific_journal-4515	100	19	time	time	NOUN
american_scientific_journal-4515	100	20	(	(	PUNCT
american_scientific_journal-4515	100	21	ms	ms	PROPN
american_scientific_journal-4515	100	22	×	×	PROPN
american_scientific_journal-4515	100	23	𝑇𝑇𝑠𝑠	𝑇𝑇𝑠𝑠	PROPN
american_scientific_journal-4515	100	24	)	)	PUNCT
american_scientific_journal-4515	100	25	and	and	CCONJ
american_scientific_journal-4515	100	26	it	it	PRON
american_scientific_journal-4515	100	27	is	be	AUX
american_scientific_journal-4515	100	28	calculated	calculate	VERB
american_scientific_journal-4515	100	29	by	by	ADP
american_scientific_journal-4515	100	30	:	:	PUNCT
american_scientific_journal-4515	100	31	𝑣𝑣𝑚𝑚(𝑝𝑝	𝑣𝑣𝑚𝑚(𝑝𝑝	NOUN
american_scientific_journal-4515	100	32	)	)	PUNCT
american_scientific_journal-4515	101	1	=	=	NOUN
american_scientific_journal-4515	101	2	δ𝑚𝑚	δ𝑚𝑚	NOUN
american_scientific_journal-4515	101	3	(	(	PUNCT
american_scientific_journal-4515	101	4	𝑡𝑡	𝑡𝑡	ADJ
american_scientific_journal-4515	101	5	)	)	PUNCT
american_scientific_journal-4515	101	6	ms×𝑇𝑇𝑠𝑠	ms×𝑇𝑇𝑠𝑠	NOUN
american_scientific_journal-4515	101	7	𝑣𝑣𝑦𝑦(𝑝𝑝	𝑣𝑣𝑦𝑦(𝑝𝑝	NOUN
american_scientific_journal-4515	101	8	)	)	PUNCT
american_scientific_journal-4515	101	9	=	=	SYM
american_scientific_journal-4515	101	10	δ𝑦𝑦(𝑡𝑡	δ𝑦𝑦(𝑡𝑡	NOUN
american_scientific_journal-4515	101	11	)	)	PUNCT
american_scientific_journal-4515	102	1	ms×𝑇𝑇𝑠𝑠	ms×𝑇𝑇𝑠𝑠	PROPN
american_scientific_journal-4515	102	2	where	where	SCONJ
american_scientific_journal-4515	102	3	δ𝑥𝑥	δ𝑥𝑥	PROPN
american_scientific_journal-4515	102	4	represents	represent	VERB
american_scientific_journal-4515	102	5	the	the	DET
american_scientific_journal-4515	102	6	change	change	NOUN
american_scientific_journal-4515	102	7	of	of	ADP
american_scientific_journal-4515	102	8	distance	distance	NOUN
american_scientific_journal-4515	102	9	in	in	ADP
american_scientific_journal-4515	102	10	x	x	NOUN
american_scientific_journal-4515	102	11	-	-	ADJ
american_scientific_journal-4515	102	12	axis	axis	ADJ
american_scientific_journal-4515	102	13	,	,	PUNCT
american_scientific_journal-4515	102	14	δ𝑦𝑦	δ𝑦𝑦	NOUN
american_scientific_journal-4515	102	15	represents	represent	VERB
american_scientific_journal-4515	102	16	the	the	DET
american_scientific_journal-4515	102	17	change	change	NOUN
american_scientific_journal-4515	102	18	of	of	ADP
american_scientific_journal-4515	102	19	distance	distance	NOUN
american_scientific_journal-4515	102	20	in	in	ADP
american_scientific_journal-4515	102	21	y	y	NOUN
american_scientific_journal-4515	102	22	-	-	PUNCT
american_scientific_journal-4515	102	23	axis	axis	NOUN
american_scientific_journal-4515	102	24	,	,	PUNCT
american_scientific_journal-4515	102	25	ms	ms	PROPN
american_scientific_journal-4515	102	26	represents	represent	VERB
american_scientific_journal-4515	102	27	the	the	DET
american_scientific_journal-4515	102	28	motion	motion	NOUN
american_scientific_journal-4515	102	29	sample	sample	NOUN
american_scientific_journal-4515	102	30	and	and	CCONJ
american_scientific_journal-4515	102	31	𝑇𝑇𝑠𝑠	𝑇𝑇𝑠𝑠	PROPN
american_scientific_journal-4515	102	32	represents	represent	VERB
american_scientific_journal-4515	102	33	the	the	DET
american_scientific_journal-4515	102	34	sample	sample	NOUN
american_scientific_journal-4515	102	35	time	time	NOUN
american_scientific_journal-4515	102	36	which	which	PRON
american_scientific_journal-4515	102	37	assumed	assume	VERB
american_scientific_journal-4515	102	38	to	to	PART
american_scientific_journal-4515	102	39	be	be	AUX
american_scientific_journal-4515	102	40	0.01	0.01	NUM
american_scientific_journal-4515	102	41	sec	sec	PROPN
american_scientific_journal-4515	102	42	.	.	PUNCT
american_scientific_journal-4515	103	1	after	after	ADP
american_scientific_journal-4515	103	2	finding	find	VERB
american_scientific_journal-4515	103	3	the	the	DET
american_scientific_journal-4515	103	4	d	d	NOUN
american_scientific_journal-4515	103	5	*	*	NOUN
american_scientific_journal-4515	103	6	path	path	NOUN
american_scientific_journal-4515	103	7	,	,	PUNCT
american_scientific_journal-4515	103	8	the	the	DET
american_scientific_journal-4515	103	9	pso	pso	NOUN
american_scientific_journal-4515	103	10	optimization	optimization	NOUN
american_scientific_journal-4515	103	11	technique	technique	NOUN
american_scientific_journal-4515	103	12	is	be	AUX
american_scientific_journal-4515	103	13	used	use	VERB
american_scientific_journal-4515	103	14	for	for	ADP
american_scientific_journal-4515	103	15	enhancing	enhance	VERB
american_scientific_journal-4515	103	16	the	the	DET
american_scientific_journal-4515	103	17	path	path	NOUN
american_scientific_journal-4515	103	18	,	,	PUNCT
american_scientific_journal-4515	103	19	removing	remove	VERB
american_scientific_journal-4515	103	20	sharp	sharp	ADJ
american_scientific_journal-4515	103	21	edges	edge	NOUN
american_scientific_journal-4515	103	22	and	and	CCONJ
american_scientific_journal-4515	103	23	making	make	VERB
american_scientific_journal-4515	103	24	it	it	PRON
american_scientific_journal-4515	103	25	the	the	DET
american_scientific_journal-4515	103	26	shortest	short	ADJ
american_scientific_journal-4515	103	27	because	because	SCONJ
american_scientific_journal-4515	103	28	the	the	DET
american_scientific_journal-4515	103	29	d	d	PROPN
american_scientific_journal-4515	103	30	*	*	NOUN
american_scientific_journal-4515	103	31	path	path	NOUN
american_scientific_journal-4515	103	32	has	have	VERB
american_scientific_journal-4515	103	33	stairs	stair	NOUN
american_scientific_journal-4515	103	34	shape	shape	NOUN
american_scientific_journal-4515	103	35	sometimes	sometimes	ADV
american_scientific_journal-4515	103	36	.	.	PUNCT
american_scientific_journal-4515	104	1	the	the	DET
american_scientific_journal-4515	104	2	proposed	propose	VERB
american_scientific_journal-4515	104	3	planning	planning	NOUN
american_scientific_journal-4515	104	4	for	for	ADP
american_scientific_journal-4515	104	5	the	the	DET
american_scientific_journal-4515	104	6	mass	mass	ADJ
american_scientific_journal-4515	104	7	point	point	NOUN
american_scientific_journal-4515	104	8	in	in	ADP
american_scientific_journal-4515	104	9	dynamic	dynamic	ADJ
american_scientific_journal-4515	104	10	environment	environment	NOUN
american_scientific_journal-4515	104	11	is	be	AUX
american_scientific_journal-4515	104	12	shown	show	VERB
american_scientific_journal-4515	104	13	in	in	ADP
american_scientific_journal-4515	104	14	figurers	figurer	NOUN
american_scientific_journal-4515	104	15	(	(	PUNCT
american_scientific_journal-4515	104	16	3	3	NUM
american_scientific_journal-4515	104	17	)	)	PUNCT
american_scientific_journal-4515	104	18	.	.	PUNCT
american_scientific_journal-4515	105	1	the	the	DET
american_scientific_journal-4515	105	2	first	first	ADJ
american_scientific_journal-4515	105	3	step	step	NOUN
american_scientific_journal-4515	105	4	to	to	PART
american_scientific_journal-4515	105	5	operate	operate	VERB
american_scientific_journal-4515	105	6	the	the	DET
american_scientific_journal-4515	105	7	pso	pso	NOUN
american_scientific_journal-4515	105	8	,	,	PUNCT
american_scientific_journal-4515	105	9	is	be	AUX
american_scientific_journal-4515	105	10	to	to	PART
american_scientific_journal-4515	105	11	set	set	VERB
american_scientific_journal-4515	105	12	the	the	DET
american_scientific_journal-4515	105	13	parameters	parameter	NOUN
american_scientific_journal-4515	105	14	of	of	ADP
american_scientific_journal-4515	105	15	pso	pso	NOUN
american_scientific_journal-4515	105	16	(	(	PUNCT
american_scientific_journal-4515	105	17	𝑐𝑐1=1	𝑐𝑐1=1	ADJ
american_scientific_journal-4515	105	18	,	,	PUNCT
american_scientific_journal-4515	105	19	𝑐𝑐2=3	𝑐𝑐2=3	NOUN
american_scientific_journal-4515	105	20	,	,	PUNCT
american_scientific_journal-4515	105	21	w=1	w=1	PROPN
american_scientific_journal-4515	105	22	)	)	PUNCT
american_scientific_journal-4515	105	23	which	which	PRON
american_scientific_journal-4515	105	24	are	be	AUX
american_scientific_journal-4515	105	25	found	find	VERB
american_scientific_journal-4515	105	26	by	by	ADP
american_scientific_journal-4515	105	27	a	a	DET
american_scientific_journal-4515	105	28	trial	trial	NOUN
american_scientific_journal-4515	105	29	and	and	CCONJ
american_scientific_journal-4515	105	30	error	error	NOUN
american_scientific_journal-4515	105	31	technique	technique	NOUN
american_scientific_journal-4515	105	32	to	to	PART
american_scientific_journal-4515	105	33	reach	reach	VERB
american_scientific_journal-4515	105	34	the	the	DET
american_scientific_journal-4515	105	35	best	good	ADJ
american_scientific_journal-4515	105	36	results	result	NOUN
american_scientific_journal-4515	105	37	.	.	PUNCT
american_scientific_journal-4515	106	1	now	now	ADV
american_scientific_journal-4515	106	2	,	,	PUNCT
american_scientific_journal-4515	106	3	the	the	DET
american_scientific_journal-4515	106	4	d	d	PROPN
american_scientific_journal-4515	106	5	*	*	PROPN
american_scientific_journal-4515	106	6	path	path	NOUN
american_scientific_journal-4515	106	7	enters	enter	VERB
american_scientific_journal-4515	106	8	the	the	DET
american_scientific_journal-4515	106	9	pso	pso	NOUN
american_scientific_journal-4515	106	10	work	work	NOUN
american_scientific_journal-4515	106	11	,	,	PUNCT
american_scientific_journal-4515	106	12	which	which	PRON
american_scientific_journal-4515	106	13	will	will	AUX
american_scientific_journal-4515	106	14	represent	represent	VERB
american_scientific_journal-4515	106	15	the	the	DET
american_scientific_journal-4515	106	16	d	d	PROPN
american_scientific_journal-4515	106	17	*	*	PUNCT
american_scientific_journal-4515	106	18	path	path	NOUN
american_scientific_journal-4515	106	19	as	as	ADP
american_scientific_journal-4515	106	20	the	the	DET
american_scientific_journal-4515	106	21	search	search	NOUN
american_scientific_journal-4515	106	22	space	space	NOUN
american_scientific_journal-4515	106	23	and	and	CCONJ
american_scientific_journal-4515	106	24	choose	choose	VERB
american_scientific_journal-4515	106	25	the	the	DET
american_scientific_journal-4515	106	26	optimal	optimal	ADJ
american_scientific_journal-4515	106	27	points	point	NOUN
american_scientific_journal-4515	106	28	from	from	ADP
american_scientific_journal-4515	106	29	it	it	PRON
american_scientific_journal-4515	106	30	,	,	PUNCT
american_scientific_journal-4515	106	31	taking	take	VERB
american_scientific_journal-4515	106	32	into	into	ADP
american_scientific_journal-4515	106	33	account	account	NOUN
american_scientific_journal-4515	106	34	the	the	DET
american_scientific_journal-4515	106	35	general	general	ADJ
american_scientific_journal-4515	106	36	shape	shape	NOUN
american_scientific_journal-4515	106	37	for	for	ADP
american_scientific_journal-4515	106	38	the	the	DET
american_scientific_journal-4515	106	39	d	d	PROPN
american_scientific_journal-4515	106	40	*	*	NOUN
american_scientific_journal-4515	106	41	path	path	NOUN
american_scientific_journal-4515	106	42	and	and	CCONJ
american_scientific_journal-4515	106	43	without	without	ADP
american_scientific_journal-4515	106	44	distorting	distort	VERB
american_scientific_journal-4515	106	45	the	the	DET
american_scientific_journal-4515	106	46	original	original	ADJ
american_scientific_journal-4515	106	47	form	form	NOUN
american_scientific_journal-4515	106	48	.	.	PUNCT
american_scientific_journal-4515	107	1	after	after	ADP
american_scientific_journal-4515	107	2	american	american	PROPN
american_scientific_journal-4515	107	3	scientific	scientific	PROPN
american_scientific_journal-4515	107	4	research	research	PROPN
american_scientific_journal-4515	107	5	journal	journal	NOUN
american_scientific_journal-4515	107	6	for	for	ADP
american_scientific_journal-4515	107	7	engineering	engineering	NOUN
american_scientific_journal-4515	107	8	,	,	PUNCT
american_scientific_journal-4515	107	9	technology	technology	NOUN
american_scientific_journal-4515	107	10	,	,	PUNCT
american_scientific_journal-4515	107	11	and	and	CCONJ
american_scientific_journal-4515	107	12	sciences	science	NOUN
american_scientific_journal-4515	107	13	(	(	PUNCT
american_scientific_journal-4515	107	14	asrjets	asrjet	NOUN
american_scientific_journal-4515	107	15	)	)	PUNCT
american_scientific_journal-4515	107	16	(	(	PUNCT
american_scientific_journal-4515	107	17	2018	2018	NUM
american_scientific_journal-4515	107	18	)	)	PUNCT
american_scientific_journal-4515	107	19	volume	volume	NOUN
american_scientific_journal-4515	107	20	49	49	NUM
american_scientific_journal-4515	107	21	,	,	PUNCT
american_scientific_journal-4515	107	22	no	no	DET
american_scientific_journal-4515	107	23	1	1	NUM
american_scientific_journal-4515	107	24	,	,	PUNCT
american_scientific_journal-4515	107	25	pp	pp	ADV
american_scientific_journal-4515	107	26	257	257	NUM
american_scientific_journal-4515	107	27	-	-	SYM
american_scientific_journal-4515	107	28	271	271	NUM
american_scientific_journal-4515	107	29	263	263	NUM
american_scientific_journal-4515	107	30	determining	determine	VERB
american_scientific_journal-4515	107	31	the	the	DET
american_scientific_journal-4515	107	32	pso	pso	NOUN
american_scientific_journal-4515	107	33	search	search	NOUN
american_scientific_journal-4515	107	34	space	space	NOUN
american_scientific_journal-4515	107	35	which	which	PRON
american_scientific_journal-4515	107	36	is	be	AUX
american_scientific_journal-4515	107	37	the	the	DET
american_scientific_journal-4515	107	38	d	d	PROPN
american_scientific_journal-4515	107	39	*	*	PROPN
american_scientific_journal-4515	107	40	path	path	NOUN
american_scientific_journal-4515	107	41	matrix	matrix	NOUN
american_scientific_journal-4515	107	42	,	,	PUNCT
american_scientific_journal-4515	107	43	the	the	DET
american_scientific_journal-4515	107	44	search	search	NOUN
american_scientific_journal-4515	107	45	process	process	NOUN
american_scientific_journal-4515	107	46	begins	begin	VERB
american_scientific_journal-4515	107	47	with	with	ADP
american_scientific_journal-4515	107	48	defining	define	VERB
american_scientific_journal-4515	107	49	the	the	DET
american_scientific_journal-4515	107	50	number	number	NOUN
american_scientific_journal-4515	107	51	of	of	ADP
american_scientific_journal-4515	107	52	via	via	ADP
american_scientific_journal-4515	107	53	points	point	NOUN
american_scientific_journal-4515	107	54	(	(	PUNCT
american_scientific_journal-4515	107	55	birds	bird	NOUN
american_scientific_journal-4515	107	56	number	number	NOUN
american_scientific_journal-4515	107	57	)	)	PUNCT
american_scientific_journal-4515	107	58	that	that	PRON
american_scientific_journal-4515	107	59	search	search	VERB
american_scientific_journal-4515	107	60	for	for	ADP
american_scientific_journal-4515	107	61	the	the	DET
american_scientific_journal-4515	107	62	new	new	ADJ
american_scientific_journal-4515	107	63	points	point	NOUN
american_scientific_journal-4515	107	64	according	accord	VERB
american_scientific_journal-4515	107	65	to	to	ADP
american_scientific_journal-4515	107	66	the	the	DET
american_scientific_journal-4515	107	67	search	search	NOUN
american_scientific_journal-4515	107	68	space	space	NOUN
american_scientific_journal-4515	107	69	dimension	dimension	NOUN
american_scientific_journal-4515	107	70	and	and	CCONJ
american_scientific_journal-4515	107	71	the	the	DET
american_scientific_journal-4515	107	72	pso	pso	NOUN
american_scientific_journal-4515	107	73	parameters	parameter	NOUN
american_scientific_journal-4515	107	74	.	.	PUNCT
american_scientific_journal-4515	108	1	these	these	PRON
american_scientific_journal-4515	108	2	via	via	ADP
american_scientific_journal-4515	108	3	points	point	NOUN
american_scientific_journal-4515	108	4	are	be	AUX
american_scientific_journal-4515	108	5	chosen	choose	VERB
american_scientific_journal-4515	108	6	randomly	randomly	ADV
american_scientific_journal-4515	108	7	from	from	ADP
american_scientific_journal-4515	108	8	the	the	DET
american_scientific_journal-4515	108	9	search	search	NOUN
american_scientific_journal-4515	108	10	area	area	NOUN
american_scientific_journal-4515	108	11	(	(	PUNCT
american_scientific_journal-4515	108	12	d	d	NOUN
american_scientific_journal-4515	108	13	*	*	NOUN
american_scientific_journal-4515	108	14	path	path	NOUN
american_scientific_journal-4515	108	15	)	)	PUNCT
american_scientific_journal-4515	108	16	and	and	CCONJ
american_scientific_journal-4515	108	17	will	will	AUX
american_scientific_journal-4515	108	18	represent	represent	VERB
american_scientific_journal-4515	108	19	the	the	DET
american_scientific_journal-4515	108	20	position	position	NOUN
american_scientific_journal-4515	108	21	parameters	parameter	NOUN
american_scientific_journal-4515	108	22	in	in	ADP
american_scientific_journal-4515	108	23	the	the	DET
american_scientific_journal-4515	108	24	pso	pso	NOUN
american_scientific_journal-4515	108	25	equation	equation	NOUN
american_scientific_journal-4515	108	26	.	.	PUNCT
american_scientific_journal-4515	109	1	the	the	DET
american_scientific_journal-4515	109	2	cubic	cubic	ADJ
american_scientific_journal-4515	109	3	spline	spline	NOUN
american_scientific_journal-4515	109	4	interpolation	interpolation	NOUN
american_scientific_journal-4515	109	5	equation	equation	NOUN
american_scientific_journal-4515	109	6	has	have	AUX
american_scientific_journal-4515	109	7	been	be	AUX
american_scientific_journal-4515	109	8	used	use	VERB
american_scientific_journal-4515	109	9	to	to	PART
american_scientific_journal-4515	109	10	connect	connect	VERB
american_scientific_journal-4515	109	11	the	the	DET
american_scientific_journal-4515	109	12	best	well	ADV
american_scientific_journal-4515	109	13	chosen	choose	VERB
american_scientific_journal-4515	109	14	points	point	NOUN
american_scientific_journal-4515	109	15	from	from	ADP
american_scientific_journal-4515	109	16	the	the	DET
american_scientific_journal-4515	109	17	pso	pso	NOUN
american_scientific_journal-4515	109	18	optimization	optimization	NOUN
american_scientific_journal-4515	109	19	technique	technique	NOUN
american_scientific_journal-4515	109	20	to	to	PART
american_scientific_journal-4515	109	21	generate	generate	VERB
american_scientific_journal-4515	109	22	corresponding	corresponding	ADJ
american_scientific_journal-4515	109	23	smoothed	smooth	VERB
american_scientific_journal-4515	109	24	path	path	NOUN
american_scientific_journal-4515	109	25	.	.	PUNCT
american_scientific_journal-4515	110	1	the	the	DET
american_scientific_journal-4515	110	2	cost	cost	NOUN
american_scientific_journal-4515	110	3	function	function	NOUN
american_scientific_journal-4515	110	4	of	of	ADP
american_scientific_journal-4515	110	5	pso	pso	NOUN
american_scientific_journal-4515	110	6	which	which	PRON
american_scientific_journal-4515	110	7	is	be	AUX
american_scientific_journal-4515	110	8	the	the	DET
american_scientific_journal-4515	110	9	path	path	NOUN
american_scientific_journal-4515	110	10	length	length	NOUN
american_scientific_journal-4515	110	11	is	be	AUX
american_scientific_journal-4515	110	12	computed	compute	VERB
american_scientific_journal-4515	110	13	.	.	PUNCT
american_scientific_journal-4515	111	1	then	then	ADV
american_scientific_journal-4515	111	2	the	the	DET
american_scientific_journal-4515	111	3	elementary	elementary	ADJ
american_scientific_journal-4515	111	4	velocity	velocity	NOUN
american_scientific_journal-4515	111	5	is	be	AUX
american_scientific_journal-4515	111	6	set	set	VERB
american_scientific_journal-4515	111	7	,	,	PUNCT
american_scientific_journal-4515	111	8	and	and	CCONJ
american_scientific_journal-4515	111	9	updating	update	VERB
american_scientific_journal-4515	111	10	the	the	DET
american_scientific_journal-4515	111	11	local	local	ADJ
american_scientific_journal-4515	111	12	and	and	CCONJ
american_scientific_journal-4515	111	13	global	global	ADJ
american_scientific_journal-4515	111	14	parameters	parameter	NOUN
american_scientific_journal-4515	111	15	is	be	AUX
american_scientific_journal-4515	111	16	the	the	DET
american_scientific_journal-4515	111	17	next	next	ADJ
american_scientific_journal-4515	111	18	step	step	NOUN
american_scientific_journal-4515	111	19	.	.	PUNCT
american_scientific_journal-4515	112	1	the	the	DET
american_scientific_journal-4515	112	2	procedure	procedure	NOUN
american_scientific_journal-4515	112	3	is	be	AUX
american_scientific_journal-4515	112	4	reiterated	reiterate	VERB
american_scientific_journal-4515	112	5	until	until	SCONJ
american_scientific_journal-4515	112	6	the	the	DET
american_scientific_journal-4515	112	7	given	give	VERB
american_scientific_journal-4515	112	8	points	point	NOUN
american_scientific_journal-4515	112	9	that	that	PRON
american_scientific_journal-4515	112	10	are	be	AUX
american_scientific_journal-4515	112	11	looked	look	VERB
american_scientific_journal-4515	112	12	over	over	ADP
american_scientific_journal-4515	112	13	the	the	DET
american_scientific_journal-4515	112	14	path	path	NOUN
american_scientific_journal-4515	112	15	are	be	AUX
american_scientific_journal-4515	112	16	finished	finish	VERB
american_scientific_journal-4515	112	17	.	.	PUNCT
american_scientific_journal-4515	113	1	the	the	DET
american_scientific_journal-4515	113	2	next	next	ADJ
american_scientific_journal-4515	113	3	step	step	NOUN
american_scientific_journal-4515	113	4	is	be	AUX
american_scientific_journal-4515	113	5	updating	update	VERB
american_scientific_journal-4515	113	6	the	the	DET
american_scientific_journal-4515	113	7	velocity	velocity	NOUN
american_scientific_journal-4515	113	8	and	and	CCONJ
american_scientific_journal-4515	113	9	position	position	NOUN
american_scientific_journal-4515	113	10	equations	equation	NOUN
american_scientific_journal-4515	113	11	,	,	PUNCT
american_scientific_journal-4515	113	12	for	for	ADP
american_scientific_journal-4515	113	13	converging	converge	VERB
american_scientific_journal-4515	113	14	the	the	PRON
american_scientific_journal-4515	113	15	via	via	ADP
american_scientific_journal-4515	113	16	points	point	NOUN
american_scientific_journal-4515	113	17	into	into	ADP
american_scientific_journal-4515	113	18	the	the	DET
american_scientific_journal-4515	113	19	best	good	ADJ
american_scientific_journal-4515	113	20	cost	cost	NOUN
american_scientific_journal-4515	113	21	,	,	PUNCT
american_scientific_journal-4515	113	22	and	and	CCONJ
american_scientific_journal-4515	113	23	also	also	ADV
american_scientific_journal-4515	113	24	updating	update	VERB
american_scientific_journal-4515	113	25	the	the	DET
american_scientific_journal-4515	113	26	local	local	ADJ
american_scientific_journal-4515	113	27	and	and	CCONJ
american_scientific_journal-4515	113	28	global	global	ADJ
american_scientific_journal-4515	113	29	parameters	parameter	NOUN
american_scientific_journal-4515	113	30	,	,	PUNCT
american_scientific_journal-4515	113	31	the	the	DET
american_scientific_journal-4515	113	32	flowchart	flowchart	NOUN
american_scientific_journal-4515	113	33	in	in	ADP
american_scientific_journal-4515	113	34	figure	figure	NOUN
american_scientific_journal-4515	113	35	(	(	PUNCT
american_scientific_journal-4515	113	36	4	4	NUM
american_scientific_journal-4515	113	37	)	)	PUNCT
american_scientific_journal-4515	113	38	explains	explain	VERB
american_scientific_journal-4515	113	39	the	the	DET
american_scientific_journal-4515	113	40	entire	entire	ADJ
american_scientific_journal-4515	113	41	process	process	NOUN
american_scientific_journal-4515	113	42	.	.	PUNCT
american_scientific_journal-4515	114	1	figure	figure	NOUN
american_scientific_journal-4515	114	2	3	3	NUM
american_scientific_journal-4515	114	3	:	:	PUNCT
american_scientific_journal-4515	114	4	proposed	propose	VERB
american_scientific_journal-4515	114	5	planning	planning	NOUN
american_scientific_journal-4515	114	6	for	for	ADP
american_scientific_journal-4515	114	7	the	the	DET
american_scientific_journal-4515	114	8	mass	mass	ADJ
american_scientific_journal-4515	114	9	point	point	NOUN
american_scientific_journal-4515	114	10	in	in	ADP
american_scientific_journal-4515	114	11	dynamic	dynamic	ADJ
american_scientific_journal-4515	114	12	environment	environment	NOUN
american_scientific_journal-4515	115	1	no	no	INTJ
american_scientific_journal-4515	116	1	yes	yes	INTJ
american_scientific_journal-4515	116	2	no	no	INTJ
american_scientific_journal-4515	117	1	yes	yes	INTJ
american_scientific_journal-4515	117	2	start	start	VERB
american_scientific_journal-4515	117	3	define	define	VERB
american_scientific_journal-4515	117	4	pso	pso	NOUN
american_scientific_journal-4515	117	5	parameter	parameter	NOUN
american_scientific_journal-4515	117	6	and	and	CCONJ
american_scientific_journal-4515	117	7	via	via	ADP
american_scientific_journal-4515	117	8	points	point	NOUN
american_scientific_journal-4515	117	9	number	number	NOUN
american_scientific_journal-4515	117	10	select	select	ADJ
american_scientific_journal-4515	117	11	via	via	ADP
american_scientific_journal-4515	117	12	point	point	NOUN
american_scientific_journal-4515	117	13	randomly	randomly	ADV
american_scientific_journal-4515	117	14	interpolate	interpolate	VERB
american_scientific_journal-4515	117	15	via	via	ADP
american_scientific_journal-4515	117	16	point	point	NOUN
american_scientific_journal-4515	117	17	by	by	ADP
american_scientific_journal-4515	117	18	spline	spline	NOUN
american_scientific_journal-4515	117	19	equation	equation	NOUN
american_scientific_journal-4515	117	20	calculate	calculate	NOUN
american_scientific_journal-4515	117	21	cost	cost	NOUN
american_scientific_journal-4515	117	22	function	function	NOUN
american_scientific_journal-4515	117	23	(	(	PUNCT
american_scientific_journal-4515	117	24	path	path	NOUN
american_scientific_journal-4515	117	25	length	length	NOUN
american_scientific_journal-4515	117	26	)	)	PUNCT
american_scientific_journal-4515	117	27	end	end	VERB
american_scientific_journal-4515	117	28	number	number	NOUN
american_scientific_journal-4515	117	29	of	of	ADP
american_scientific_journal-4515	117	30	population	population	NOUN
american_scientific_journal-4515	117	31	applying	apply	VERB
american_scientific_journal-4515	117	32	d	d	PROPN
american_scientific_journal-4515	117	33	*	*	PUNCT
american_scientific_journal-4515	117	34	update	update	VERB
american_scientific_journal-4515	117	35	the	the	DET
american_scientific_journal-4515	117	36	local	local	ADJ
american_scientific_journal-4515	117	37	and	and	CCONJ
american_scientific_journal-4515	117	38	global	global	ADJ
american_scientific_journal-4515	117	39	values	value	NOUN
american_scientific_journal-4515	117	40	end	end	VERB
american_scientific_journal-4515	117	41	number	number	NOUN
american_scientific_journal-4515	117	42	of	of	ADP
american_scientific_journal-4515	117	43	iterations	iteration	NOUN
american_scientific_journal-4515	117	44	assign	assign	VERB
american_scientific_journal-4515	117	45	the	the	DET
american_scientific_journal-4515	117	46	best	good	ADJ
american_scientific_journal-4515	117	47	path	path	NOUN
american_scientific_journal-4515	117	48	with	with	ADP
american_scientific_journal-4515	117	49	best	good	ADJ
american_scientific_journal-4515	117	50	cost	cost	NOUN
american_scientific_journal-4515	117	51	end	end	NOUN
american_scientific_journal-4515	117	52	figure	figure	NOUN
american_scientific_journal-4515	117	53	4	4	NUM
american_scientific_journal-4515	117	54	:	:	PUNCT
american_scientific_journal-4515	117	55	the	the	DET
american_scientific_journal-4515	117	56	heuristic	heuristic	ADJ
american_scientific_journal-4515	117	57	d	d	X
american_scientific_journal-4515	117	58	*	*	NOUN
american_scientific_journal-4515	117	59	via	via	ADP
american_scientific_journal-4515	117	60	point	point	NOUN
american_scientific_journal-4515	117	61	flowchart	flowchart	NOUN
american_scientific_journal-4515	117	62	for	for	ADP
american_scientific_journal-4515	117	63	known	know	VERB
american_scientific_journal-4515	117	64	obstacle	obstacle	NOUN
american_scientific_journal-4515	117	65	position	position	NOUN
american_scientific_journal-4515	117	66	dynamic	dynamic	ADJ
american_scientific_journal-4515	117	67	environment	environment	NOUN
american_scientific_journal-4515	117	68	task	task	PROPN
american_scientific_journal-4515	117	69	environment	environment	PROPN
american_scientific_journal-4515	117	70	information	information	NOUN
american_scientific_journal-4515	117	71	applying	apply	VERB
american_scientific_journal-4515	117	72	d	d	PROPN
american_scientific_journal-4515	117	73	*	*	PUNCT
american_scientific_journal-4515	117	74	pso	pso	NOUN
american_scientific_journal-4515	117	75	final	final	ADJ
american_scientific_journal-4515	117	76	path	path	NOUN
american_scientific_journal-4515	117	77	american	american	PROPN
american_scientific_journal-4515	117	78	scientific	scientific	ADJ
american_scientific_journal-4515	117	79	research	research	NOUN
american_scientific_journal-4515	117	80	journal	journal	NOUN
american_scientific_journal-4515	117	81	for	for	ADP
american_scientific_journal-4515	117	82	engineering	engineering	NOUN
american_scientific_journal-4515	117	83	,	,	PUNCT
american_scientific_journal-4515	117	84	technology	technology	NOUN
american_scientific_journal-4515	117	85	,	,	PUNCT
american_scientific_journal-4515	117	86	and	and	CCONJ
american_scientific_journal-4515	117	87	sciences	science	NOUN
american_scientific_journal-4515	117	88	(	(	PUNCT
american_scientific_journal-4515	117	89	asrjets	asrjet	NOUN
american_scientific_journal-4515	117	90	)	)	PUNCT
american_scientific_journal-4515	117	91	(	(	PUNCT
american_scientific_journal-4515	117	92	2018	2018	NUM
american_scientific_journal-4515	117	93	)	)	PUNCT
american_scientific_journal-4515	117	94	volume	volume	NOUN
american_scientific_journal-4515	117	95	49	49	NUM
american_scientific_journal-4515	117	96	,	,	PUNCT
american_scientific_journal-4515	117	97	no	no	DET
american_scientific_journal-4515	117	98	1	1	NUM
american_scientific_journal-4515	117	99	,	,	PUNCT
american_scientific_journal-4515	117	100	pp	pp	ADV
american_scientific_journal-4515	117	101	257	257	NUM
american_scientific_journal-4515	117	102	-	-	SYM
american_scientific_journal-4515	117	103	271	271	NUM
american_scientific_journal-4515	117	104	264	264	NUM
american_scientific_journal-4515	117	105	6	6	NUM
american_scientific_journal-4515	117	106	.	.	PUNCT
american_scientific_journal-4515	118	1	simulation	simulation	NOUN
american_scientific_journal-4515	118	2	result	result	VERB
american_scientific_journal-4515	118	3	6.1	6.1	NUM
american_scientific_journal-4515	118	4	first	first	ADJ
american_scientific_journal-4515	118	5	environment	environment	NOUN
american_scientific_journal-4515	118	6	this	this	DET
american_scientific_journal-4515	118	7	environment	environment	NOUN
american_scientific_journal-4515	118	8	represents	represent	VERB
american_scientific_journal-4515	118	9	the	the	DET
american_scientific_journal-4515	118	10	non	non	ADJ
american_scientific_journal-4515	118	11	-	-	ADJ
american_scientific_journal-4515	118	12	interactive	interactive	ADJ
american_scientific_journal-4515	118	13	path	path	NOUN
american_scientific_journal-4515	118	14	solution	solution	NOUN
american_scientific_journal-4515	118	15	among	among	ADP
american_scientific_journal-4515	118	16	the	the	DET
american_scientific_journal-4515	118	17	robot	robot	NOUN
american_scientific_journal-4515	118	18	and	and	CCONJ
american_scientific_journal-4515	118	19	the	the	DET
american_scientific_journal-4515	118	20	moving	move	VERB
american_scientific_journal-4515	118	21	obstacles	obstacle	NOUN
american_scientific_journal-4515	118	22	in	in	ADP
american_scientific_journal-4515	118	23	dynamic	dynamic	ADJ
american_scientific_journal-4515	118	24	environment	environment	NOUN
american_scientific_journal-4515	118	25	to	to	PART
american_scientific_journal-4515	118	26	find	find	VERB
american_scientific_journal-4515	118	27	the	the	DET
american_scientific_journal-4515	118	28	shortest	short	ADJ
american_scientific_journal-4515	118	29	safe	safe	ADJ
american_scientific_journal-4515	118	30	path	path	NOUN
american_scientific_journal-4515	118	31	using	use	VERB
american_scientific_journal-4515	118	32	d	d	PROPN
american_scientific_journal-4515	118	33	*	*	PUNCT
american_scientific_journal-4515	118	34	algorithm	algorithm	NOUN
american_scientific_journal-4515	118	35	based	base	VERB
american_scientific_journal-4515	118	36	on	on	ADP
american_scientific_journal-4515	118	37	pso	pso	NOUN
american_scientific_journal-4515	118	38	.	.	PUNCT
american_scientific_journal-4515	119	1	this	this	DET
american_scientific_journal-4515	119	2	environment	environment	NOUN
american_scientific_journal-4515	119	3	features	feature	VERB
american_scientific_journal-4515	119	4	multi	multi	ADJ
american_scientific_journal-4515	119	5	obstacles	obstacle	NOUN
american_scientific_journal-4515	119	6	with	with	ADP
american_scientific_journal-4515	119	7	different	different	ADJ
american_scientific_journal-4515	119	8	sizes	size	NOUN
american_scientific_journal-4515	119	9	and	and	CCONJ
american_scientific_journal-4515	119	10	different	different	ADJ
american_scientific_journal-4515	119	11	motion	motion	NOUN
american_scientific_journal-4515	119	12	styles	style	NOUN
american_scientific_journal-4515	119	13	.	.	PUNCT
american_scientific_journal-4515	120	1	it	it	PRON
american_scientific_journal-4515	120	2	have	have	VERB
american_scientific_journal-4515	120	3	eight	eight	NUM
american_scientific_journal-4515	120	4	obstacles	obstacle	NOUN
american_scientific_journal-4515	120	5	,	,	PUNCT
american_scientific_journal-4515	120	6	tow	tow	NOUN
american_scientific_journal-4515	120	7	are	be	AUX
american_scientific_journal-4515	120	8	static	static	ADJ
american_scientific_journal-4515	120	9	and	and	CCONJ
american_scientific_journal-4515	120	10	six	six	NUM
american_scientific_journal-4515	120	11	are	be	AUX
american_scientific_journal-4515	120	12	moving	move	VERB
american_scientific_journal-4515	120	13	with	with	ADP
american_scientific_journal-4515	120	14	different	different	ADJ
american_scientific_journal-4515	120	15	motion	motion	NOUN
american_scientific_journal-4515	120	16	behavior	behavior	NOUN
american_scientific_journal-4515	120	17	.	.	PUNCT
american_scientific_journal-4515	121	1	also	also	ADV
american_scientific_journal-4515	121	2	support	support	VERB
american_scientific_journal-4515	121	3	critical	critical	ADJ
american_scientific_journal-4515	121	4	paths	path	NOUN
american_scientific_journal-4515	121	5	only	only	ADV
american_scientific_journal-4515	121	6	few	few	ADJ
american_scientific_journal-4515	121	7	possible	possible	ADJ
american_scientific_journal-4515	121	8	paths	path	NOUN
american_scientific_journal-4515	121	9	could	could	AUX
american_scientific_journal-4515	121	10	be	be	AUX
american_scientific_journal-4515	121	11	found	find	VERB
american_scientific_journal-4515	121	12	which	which	PRON
american_scientific_journal-4515	121	13	choose	choose	VERB
american_scientific_journal-4515	121	14	the	the	DET
american_scientific_journal-4515	121	15	shortest	short	ADJ
american_scientific_journal-4515	121	16	.	.	PUNCT
american_scientific_journal-4515	122	1	figure	figure	NOUN
american_scientific_journal-4515	122	2	(	(	PUNCT
american_scientific_journal-4515	122	3	5	5	NUM
american_scientific_journal-4515	122	4	)	)	PUNCT
american_scientific_journal-4515	122	5	shows	show	VERB
american_scientific_journal-4515	122	6	the	the	DET
american_scientific_journal-4515	122	7	scenario	scenario	NOUN
american_scientific_journal-4515	122	8	of	of	ADP
american_scientific_journal-4515	122	9	dynamic	dynamic	ADJ
american_scientific_journal-4515	122	10	result	result	NOUN
american_scientific_journal-4515	122	11	in	in	ADP
american_scientific_journal-4515	122	12	case	case	NOUN
american_scientific_journal-4515	122	13	of	of	ADP
american_scientific_journal-4515	122	14	d	d	PROPN
american_scientific_journal-4515	122	15	*	*	PUNCT
american_scientific_journal-4515	122	16	path	path	NOUN
american_scientific_journal-4515	122	17	only	only	ADV
american_scientific_journal-4515	122	18	which	which	PRON
american_scientific_journal-4515	122	19	represents	represent	VERB
american_scientific_journal-4515	122	20	motion	motion	NOUN
american_scientific_journal-4515	122	21	steps	step	NOUN
american_scientific_journal-4515	122	22	from	from	ADP
american_scientific_journal-4515	122	23	,	,	PUNCT
american_scientific_journal-4515	122	24	where	where	SCONJ
american_scientific_journal-4515	122	25	the	the	DET
american_scientific_journal-4515	122	26	figure	figure	NOUN
american_scientific_journal-4515	122	27	(	(	PUNCT
american_scientific_journal-4515	122	28	a	a	NOUN
american_scientific_journal-4515	122	29	)	)	PUNCT
american_scientific_journal-4515	122	30	to	to	PART
american_scientific_journal-4515	122	31	figure	figure	VERB
american_scientific_journal-4515	122	32	(	(	PUNCT
american_scientific_journal-4515	122	33	h	h	NOUN
american_scientific_journal-4515	122	34	)	)	PUNCT
american_scientific_journal-4515	122	35	according	accord	VERB
american_scientific_journal-4515	122	36	to	to	ADP
american_scientific_journal-4515	122	37	different	different	ADJ
american_scientific_journal-4515	122	38	motion	motion	NOUN
american_scientific_journal-4515	122	39	sample	sample	NOUN
american_scientific_journal-4515	122	40	from	from	ADP
american_scientific_journal-4515	122	41	initial	initial	ADJ
american_scientific_journal-4515	122	42	state	state	NOUN
american_scientific_journal-4515	122	43	until	until	ADP
american_scientific_journal-4515	122	44	achieving	achieve	VERB
american_scientific_journal-4515	122	45	the	the	DET
american_scientific_journal-4515	122	46	goal	goal	NOUN
american_scientific_journal-4515	122	47	with	with	ADP
american_scientific_journal-4515	122	48	106.5685	106.5685	NUM
american_scientific_journal-4515	122	49	cm	cm	NOUN
american_scientific_journal-4515	122	50	path	path	NOUN
american_scientific_journal-4515	122	51	long	long	ADV
american_scientific_journal-4515	122	52	.	.	PUNCT
american_scientific_journal-4515	123	1	using	use	VERB
american_scientific_journal-4515	123	2	d	d	PROPN
american_scientific_journal-4515	123	3	*	*	VERB
american_scientific_journal-4515	123	4	based	base	VERB
american_scientific_journal-4515	123	5	on	on	ADP
american_scientific_journal-4515	123	6	pso	pso	NOUN
american_scientific_journal-4515	123	7	guarantees	guarantee	VERB
american_scientific_journal-4515	123	8	a	a	DET
american_scientific_journal-4515	123	9	collision	collision	NOUN
american_scientific_journal-4515	123	10	free	free	ADJ
american_scientific_journal-4515	123	11	path	path	NOUN
american_scientific_journal-4515	123	12	as	as	SCONJ
american_scientific_journal-4515	123	13	shown	show	VERB
american_scientific_journal-4515	123	14	in	in	ADP
american_scientific_journal-4515	123	15	figure	figure	NOUN
american_scientific_journal-4515	123	16	(	(	PUNCT
american_scientific_journal-4515	123	17	6.a	6.a	NUM
american_scientific_journal-4515	123	18	)	)	PUNCT
american_scientific_journal-4515	123	19	.	.	PUNCT
american_scientific_journal-4515	124	1	mixing	mix	VERB
american_scientific_journal-4515	124	2	pso	pso	NOUN
american_scientific_journal-4515	124	3	with	with	ADP
american_scientific_journal-4515	124	4	the	the	DET
american_scientific_journal-4515	124	5	d	d	PROPN
american_scientific_journal-4515	124	6	*	*	PROPN
american_scientific_journal-4515	124	7	path	path	NOUN
american_scientific_journal-4515	124	8	enhance	enhance	VERB
american_scientific_journal-4515	124	9	the	the	DET
american_scientific_journal-4515	124	10	last	last	ADJ
american_scientific_journal-4515	124	11	to	to	ADP
american_scientific_journal-4515	124	12	102.6672	102.6672	NUM
american_scientific_journal-4515	124	13	cm	cm	NOUN
american_scientific_journal-4515	124	14	path	path	NOUN
american_scientific_journal-4515	124	15	long	long	ADV
american_scientific_journal-4515	124	16	as	as	SCONJ
american_scientific_journal-4515	124	17	shown	show	VERB
american_scientific_journal-4515	124	18	in	in	ADP
american_scientific_journal-4515	124	19	figure	figure	NOUN
american_scientific_journal-4515	124	20	(	(	PUNCT
american_scientific_journal-4515	124	21	6.b	6.b	NUM
american_scientific_journal-4515	124	22	)	)	PUNCT
american_scientific_journal-4515	124	23	.	.	PUNCT
american_scientific_journal-4515	125	1	the	the	DET
american_scientific_journal-4515	125	2	best	good	ADJ
american_scientific_journal-4515	125	3	coast	coast	NOUN
american_scientific_journal-4515	125	4	after	after	SCONJ
american_scientific_journal-4515	125	5	300	300	NUM
american_scientific_journal-4515	125	6	iteration	iteration	NOUN
american_scientific_journal-4515	125	7	reduce	reduce	VERB
american_scientific_journal-4515	125	8	the	the	DET
american_scientific_journal-4515	125	9	cost	cost	NOUN
american_scientific_journal-4515	125	10	function	function	NOUN
american_scientific_journal-4515	125	11	with	with	ADP
american_scientific_journal-4515	125	12	3.9013	3.9013	NUM
american_scientific_journal-4515	125	13	cm	cm	NOUN
american_scientific_journal-4515	125	14	.	.	PUNCT
american_scientific_journal-4515	126	1	the	the	DET
american_scientific_journal-4515	126	2	figure	figure	NOUN
american_scientific_journal-4515	126	3	(	(	PUNCT
american_scientific_journal-4515	126	4	7	7	X
american_scientific_journal-4515	126	5	)	)	PUNCT
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american_scientific_journal-4515	127	714	start	start	NOUN
american_scientific_journal-4515	127	715	target	target	NOUN
american_scientific_journal-4515	127	716	start	start	NOUN
american_scientific_journal-4515	127	717	target	target	NOUN
american_scientific_journal-4515	127	718	start	start	NOUN
american_scientific_journal-4515	127	719	target	target	NOUN
american_scientific_journal-4515	127	720	start	start	NOUN
american_scientific_journal-4515	127	721	target	target	NOUN
american_scientific_journal-4515	127	722	start	start	NOUN
american_scientific_journal-4515	127	723	target	target	NOUN
american_scientific_journal-4515	127	724	start	start	NOUN
american_scientific_journal-4515	127	725	target	target	NOUN
american_scientific_journal-4515	127	726	start	start	NOUN
american_scientific_journal-4515	127	727	target	target	NOUN
american_scientific_journal-4515	127	728	start	start	NOUN
american_scientific_journal-4515	127	729	target	target	NOUN
american_scientific_journal-4515	127	730	start	start	NOUN
american_scientific_journal-4515	127	731	target	target	NOUN
american_scientific_journal-4515	127	732	start	start	NOUN
american_scientific_journal-4515	127	733	target	target	NOUN
american_scientific_journal-4515	127	734	start	start	NOUN
american_scientific_journal-4515	127	735	target	target	NOUN
american_scientific_journal-4515	127	736	start	start	NOUN
american_scientific_journal-4515	127	737	target	target	NOUN
american_scientific_journal-4515	127	738	start	start	NOUN
american_scientific_journal-4515	127	739	target	target	NOUN
american_scientific_journal-4515	127	740	start	start	NOUN
american_scientific_journal-4515	127	741	target	target	NOUN
american_scientific_journal-4515	127	742	start	start	NOUN
american_scientific_journal-4515	127	743	target	target	NOUN
american_scientific_journal-4515	127	744	figure	figure	NOUN
american_scientific_journal-4515	127	745	5	5	NUM
american_scientific_journal-4515	127	746	:	:	PUNCT
american_scientific_journal-4515	127	747	the	the	DET
american_scientific_journal-4515	127	748	heuristic	heuristic	ADJ
american_scientific_journal-4515	127	749	d	d	NOUN
american_scientific_journal-4515	127	750	*	*	PUNCT
american_scientific_journal-4515	127	751	path	path	NOUN
american_scientific_journal-4515	127	752	planning	planning	NOUN
american_scientific_journal-4515	127	753	for	for	ADP
american_scientific_journal-4515	127	754	the	the	DET
american_scientific_journal-4515	127	755	first	first	ADJ
american_scientific_journal-4515	127	756	environment	environment	NOUN
american_scientific_journal-4515	127	757	figure	figure	NOUN
american_scientific_journal-4515	127	758	6	6	NUM
american_scientific_journal-4515	127	759	:	:	PUNCT
american_scientific_journal-4515	127	760	(	(	PUNCT
american_scientific_journal-4515	127	761	a	a	X
american_scientific_journal-4515	127	762	)	)	PUNCT
american_scientific_journal-4515	127	763	represents	represent	VERB
american_scientific_journal-4515	127	764	d	d	PROPN
american_scientific_journal-4515	127	765	*	*	PUNCT
american_scientific_journal-4515	127	766	path	path	NOUN
american_scientific_journal-4515	127	767	and	and	CCONJ
american_scientific_journal-4515	127	768	pso	pso	NOUN
american_scientific_journal-4515	127	769	path	path	NOUN
american_scientific_journal-4515	127	770	,	,	PUNCT
american_scientific_journal-4515	127	771	(	(	PUNCT
american_scientific_journal-4515	127	772	b	b	X
american_scientific_journal-4515	127	773	)	)	PUNCT
american_scientific_journal-4515	127	774	represents	represent	VERB
american_scientific_journal-4515	127	775	the	the	DET
american_scientific_journal-4515	127	776	best	good	ADJ
american_scientific_journal-4515	127	777	cost	cost	NOUN
american_scientific_journal-4515	127	778	of	of	ADP
american_scientific_journal-4515	127	779	pso	pso	NOUN
american_scientific_journal-4515	127	780	path	path	NOUN
american_scientific_journal-4515	127	781	motion	motion	NOUN
american_scientific_journal-4515	127	782	sample=75	sample=75	PROPN
american_scientific_journal-4515	127	783	motion	motion	NOUN
american_scientific_journal-4515	127	784	sample=59	sample=59	NOUN
american_scientific_journal-4515	127	785	motion	motion	NOUN
american_scientific_journal-4515	127	786	sample=65	sample=65	AUX
american_scientific_journal-4515	127	787	reaching	reach	VERB
american_scientific_journal-4515	127	788	goal	goal	NOUN
american_scientific_journal-4515	127	789	(	(	PUNCT
american_scientific_journal-4515	127	790	e	e	NOUN
american_scientific_journal-4515	127	791	)	)	PUNCT
american_scientific_journal-4515	127	792	(	(	PUNCT
american_scientific_journal-4515	127	793	f	f	X
american_scientific_journal-4515	127	794	)	)	PUNCT
american_scientific_journal-4515	127	795	(	(	PUNCT
american_scientific_journal-4515	127	796	g	g	NOUN
american_scientific_journal-4515	127	797	)	)	PUNCT
american_scientific_journal-4515	127	798	(	(	PUNCT
american_scientific_journal-4515	127	799	h	h	NOUN
american_scientific_journal-4515	127	800	)	)	PUNCT
american_scientific_journal-4515	127	801	(	(	PUNCT
american_scientific_journal-4515	127	802	a	a	X
american_scientific_journal-4515	127	803	)	)	PUNCT
american_scientific_journal-4515	127	804	(	(	PUNCT
american_scientific_journal-4515	127	805	b	b	X
american_scientific_journal-4515	127	806	)	)	PUNCT
american_scientific_journal-4515	127	807	d	d	NOUN
american_scientific_journal-4515	127	808	*	*	PUNCT
american_scientific_journal-4515	127	809	path	path	PROPN
american_scientific_journal-4515	127	810	pso	pso	PROPN
american_scientific_journal-4515	127	811	path	path	NOUN
american_scientific_journal-4515	127	812	x	x	PROPN
american_scientific_journal-4515	127	813	,	,	PUNCT
american_scientific_journal-4515	127	814	cm	cm	NOUN
american_scientific_journal-4515	127	815	x	x	SYM
american_scientific_journal-4515	127	816	,	,	PUNCT
american_scientific_journal-4515	127	817	cm	cm	NOUN
american_scientific_journal-4515	127	818	x	x	SYM
american_scientific_journal-4515	127	819	,	,	PUNCT
american_scientific_journal-4515	127	820	cm	cm	NOUN
american_scientific_journal-4515	127	821	x	x	SYM
american_scientific_journal-4515	127	822	,	,	PUNCT
american_scientific_journal-4515	127	823	cm	cm	NOUN
american_scientific_journal-4515	127	824	x	x	SYM
american_scientific_journal-4515	127	825	,	,	PUNCT
american_scientific_journal-4515	127	826	cm	cm	NOUN
american_scientific_journal-4515	127	827	y	y	PROPN
american_scientific_journal-4515	127	828	,	,	PUNCT
american_scientific_journal-4515	127	829	c	c	PROPN
american_scientific_journal-4515	127	830	m	m	VERB
american_scientific_journal-4515	127	831	y	y	PROPN
american_scientific_journal-4515	127	832	,	,	PUNCT
american_scientific_journal-4515	127	833	c	c	PROPN
american_scientific_journal-4515	127	834	m	m	VERB
american_scientific_journal-4515	127	835	y	y	PROPN
american_scientific_journal-4515	127	836	,	,	PUNCT
american_scientific_journal-4515	127	837	c	c	PROPN
american_scientific_journal-4515	127	838	m	m	VERB
american_scientific_journal-4515	127	839	y	y	PROPN
american_scientific_journal-4515	127	840	,	,	PUNCT
american_scientific_journal-4515	127	841	c	c	PROPN
american_scientific_journal-4515	127	842	m	m	VERB
american_scientific_journal-4515	127	843	y	y	PROPN
american_scientific_journal-4515	127	844	,	,	PUNCT
american_scientific_journal-4515	127	845	c	c	PROPN
american_scientific_journal-4515	127	846	m	m	PROPN
american_scientific_journal-4515	127	847	american	american	ADJ
american_scientific_journal-4515	127	848	scientific	scientific	ADJ
american_scientific_journal-4515	127	849	research	research	NOUN
american_scientific_journal-4515	127	850	journal	journal	NOUN
american_scientific_journal-4515	127	851	for	for	ADP
american_scientific_journal-4515	127	852	engineering	engineering	NOUN
american_scientific_journal-4515	127	853	,	,	PUNCT
american_scientific_journal-4515	127	854	technology	technology	NOUN
american_scientific_journal-4515	127	855	,	,	PUNCT
american_scientific_journal-4515	127	856	and	and	CCONJ
american_scientific_journal-4515	127	857	sciences	science	NOUN
american_scientific_journal-4515	127	858	(	(	PUNCT
american_scientific_journal-4515	127	859	asrjets	asrjet	NOUN
american_scientific_journal-4515	127	860	)	)	PUNCT
american_scientific_journal-4515	127	861	(	(	PUNCT
american_scientific_journal-4515	127	862	2018	2018	NUM
american_scientific_journal-4515	127	863	)	)	PUNCT
american_scientific_journal-4515	127	864	volume	volume	NOUN
american_scientific_journal-4515	127	865	49	49	NUM
american_scientific_journal-4515	127	866	,	,	PUNCT
american_scientific_journal-4515	127	867	no	no	DET
american_scientific_journal-4515	127	868	1	1	NUM
american_scientific_journal-4515	127	869	,	,	PUNCT
american_scientific_journal-4515	127	870	pp	pp	ADV
american_scientific_journal-4515	127	871	257	257	NUM
american_scientific_journal-4515	127	872	-	-	SYM
american_scientific_journal-4515	127	873	271	271	NUM
american_scientific_journal-4515	127	874	266	266	NUM
american_scientific_journal-4515	127	875	figure	figure	NOUN
american_scientific_journal-4515	127	876	7	7	NUM
american_scientific_journal-4515	127	877	:	:	PUNCT
american_scientific_journal-4515	128	1	the	the	DET
american_scientific_journal-4515	128	2	heuristic	heuristic	ADJ
american_scientific_journal-4515	128	3	d	d	X
american_scientific_journal-4515	128	4	*	*	VERB
american_scientific_journal-4515	128	5	based	base	VERB
american_scientific_journal-4515	128	6	on	on	ADP
american_scientific_journal-4515	128	7	pso	pso	PROPN
american_scientific_journal-4515	128	8	final	final	ADJ
american_scientific_journal-4515	128	9	path	path	NOUN
american_scientific_journal-4515	128	10	6.2	6.2	NUM
american_scientific_journal-4515	128	11	second	second	ADJ
american_scientific_journal-4515	128	12	environment	environment	NOUN
american_scientific_journal-4515	128	13	this	this	DET
american_scientific_journal-4515	128	14	environment	environment	NOUN
american_scientific_journal-4515	128	15	represents	represent	VERB
american_scientific_journal-4515	128	16	the	the	DET
american_scientific_journal-4515	128	17	non	non	ADJ
american_scientific_journal-4515	128	18	-	-	ADJ
american_scientific_journal-4515	128	19	interactive	interactive	ADJ
american_scientific_journal-4515	128	20	path	path	NOUN
american_scientific_journal-4515	128	21	solution	solution	NOUN
american_scientific_journal-4515	128	22	among	among	ADP
american_scientific_journal-4515	128	23	the	the	DET
american_scientific_journal-4515	128	24	robot	robot	NOUN
american_scientific_journal-4515	128	25	and	and	CCONJ
american_scientific_journal-4515	128	26	the	the	DET
american_scientific_journal-4515	128	27	moving	move	VERB
american_scientific_journal-4515	128	28	obstacles	obstacle	NOUN
american_scientific_journal-4515	128	29	in	in	ADP
american_scientific_journal-4515	128	30	dynamic	dynamic	ADJ
american_scientific_journal-4515	128	31	environment	environment	NOUN
american_scientific_journal-4515	128	32	to	to	PART
american_scientific_journal-4515	128	33	find	find	VERB
american_scientific_journal-4515	128	34	the	the	DET
american_scientific_journal-4515	128	35	shortest	short	ADJ
american_scientific_journal-4515	128	36	safe	safe	ADJ
american_scientific_journal-4515	128	37	path	path	NOUN
american_scientific_journal-4515	128	38	using	use	VERB
american_scientific_journal-4515	128	39	d	d	PROPN
american_scientific_journal-4515	128	40	*	*	PUNCT
american_scientific_journal-4515	128	41	algorithm	algorithm	NOUN
american_scientific_journal-4515	128	42	based	base	VERB
american_scientific_journal-4515	128	43	on	on	ADP
american_scientific_journal-4515	128	44	pso	pso	NOUN
american_scientific_journal-4515	128	45	.	.	PUNCT
american_scientific_journal-4515	129	1	this	this	DET
american_scientific_journal-4515	129	2	environment	environment	NOUN
american_scientific_journal-4515	129	3	features	feature	VERB
american_scientific_journal-4515	129	4	obstacles	obstacle	NOUN
american_scientific_journal-4515	129	5	with	with	ADP
american_scientific_journal-4515	129	6	different	different	ADJ
american_scientific_journal-4515	129	7	sizes	size	NOUN
american_scientific_journal-4515	129	8	and	and	CCONJ
american_scientific_journal-4515	129	9	different	different	ADJ
american_scientific_journal-4515	129	10	motion	motion	NOUN
american_scientific_journal-4515	129	11	styles	style	NOUN
american_scientific_journal-4515	129	12	.	.	PUNCT
american_scientific_journal-4515	130	1	it	it	PRON
american_scientific_journal-4515	130	2	have	have	VERB
american_scientific_journal-4515	130	3	six	six	NUM
american_scientific_journal-4515	130	4	moving	move	VERB
american_scientific_journal-4515	130	5	obstacles	obstacle	NOUN
american_scientific_journal-4515	130	6	with	with	ADP
american_scientific_journal-4515	130	7	different	different	ADJ
american_scientific_journal-4515	130	8	motion	motion	NOUN
american_scientific_journal-4515	130	9	behavior	behavior	NOUN
american_scientific_journal-4515	130	10	.	.	PUNCT
american_scientific_journal-4515	131	1	it	it	PRON
american_scientific_journal-4515	131	2	supports	support	VERB
american_scientific_journal-4515	131	3	safe	safe	ADJ
american_scientific_journal-4515	131	4	short	short	ADJ
american_scientific_journal-4515	131	5	path	path	NOUN
american_scientific_journal-4515	131	6	in	in	ADP
american_scientific_journal-4515	131	7	narrow	narrow	ADJ
american_scientific_journal-4515	131	8	area	area	NOUN
american_scientific_journal-4515	131	9	as	as	SCONJ
american_scientific_journal-4515	131	10	shown	show	VERB
american_scientific_journal-4515	131	11	in	in	ADP
american_scientific_journal-4515	131	12	figure	figure	NOUN
american_scientific_journal-4515	131	13	(	(	PUNCT
american_scientific_journal-4515	131	14	8)	8)	NUM
american_scientific_journal-4515	131	15	where	where	SCONJ
american_scientific_journal-4515	131	16	the	the	DET
american_scientific_journal-4515	131	17	scenario	scenario	NOUN
american_scientific_journal-4515	131	18	of	of	ADP
american_scientific_journal-4515	131	19	dynamic	dynamic	ADJ
american_scientific_journal-4515	131	20	result	result	NOUN
american_scientific_journal-4515	131	21	in	in	ADP
american_scientific_journal-4515	131	22	case	case	NOUN
american_scientific_journal-4515	131	23	of	of	ADP
american_scientific_journal-4515	131	24	d	d	PROPN
american_scientific_journal-4515	131	25	*	*	PUNCT
american_scientific_journal-4515	131	26	path	path	NOUN
american_scientific_journal-4515	131	27	only	only	ADV
american_scientific_journal-4515	131	28	which	which	PRON
american_scientific_journal-4515	131	29	represents	represent	VERB
american_scientific_journal-4515	131	30	motion	motion	NOUN
american_scientific_journal-4515	131	31	steps	step	NOUN
american_scientific_journal-4515	131	32	from	from	ADP
american_scientific_journal-4515	131	33	figure	figure	NOUN
american_scientific_journal-4515	131	34	(	(	PUNCT
american_scientific_journal-4515	131	35	a	a	NOUN
american_scientific_journal-4515	131	36	)	)	PUNCT
american_scientific_journal-4515	131	37	to	to	PART
american_scientific_journal-4515	131	38	figure	figure	VERB
american_scientific_journal-4515	131	39	(	(	PUNCT
american_scientific_journal-4515	131	40	h	h	NOUN
american_scientific_journal-4515	131	41	)	)	PUNCT
american_scientific_journal-4515	131	42	according	accord	VERB
american_scientific_journal-4515	131	43	to	to	ADP
american_scientific_journal-4515	131	44	different	different	ADJ
american_scientific_journal-4515	131	45	motion	motion	NOUN
american_scientific_journal-4515	131	46	samples	sample	NOUN
american_scientific_journal-4515	131	47	from	from	ADP
american_scientific_journal-4515	131	48	initial	initial	ADJ
american_scientific_journal-4515	131	49	state	state	NOUN
american_scientific_journal-4515	131	50	until	until	ADP
american_scientific_journal-4515	131	51	achieving	achieve	VERB
american_scientific_journal-4515	131	52	the	the	DET
american_scientific_journal-4515	131	53	goal	goal	NOUN
american_scientific_journal-4515	131	54	with	with	ADP
american_scientific_journal-4515	131	55	106.5685	106.5685	NUM
american_scientific_journal-4515	131	56	cm	cm	NOUN
american_scientific_journal-4515	131	57	path	path	NOUN
american_scientific_journal-4515	131	58	long	long	ADV
american_scientific_journal-4515	131	59	.	.	PUNCT
american_scientific_journal-4515	132	1	using	use	VERB
american_scientific_journal-4515	132	2	d	d	PROPN
american_scientific_journal-4515	132	3	*	*	VERB
american_scientific_journal-4515	132	4	based	base	VERB
american_scientific_journal-4515	132	5	on	on	ADP
american_scientific_journal-4515	132	6	pso	pso	NOUN
american_scientific_journal-4515	132	7	guarantees	guarantee	VERB
american_scientific_journal-4515	132	8	a	a	DET
american_scientific_journal-4515	132	9	collision	collision	NOUN
american_scientific_journal-4515	132	10	free	free	ADJ
american_scientific_journal-4515	132	11	path	path	NOUN
american_scientific_journal-4515	132	12	as	as	SCONJ
american_scientific_journal-4515	132	13	shown	show	VERB
american_scientific_journal-4515	132	14	in	in	ADP
american_scientific_journal-4515	132	15	figure	figure	NOUN
american_scientific_journal-4515	132	16	(	(	PUNCT
american_scientific_journal-4515	132	17	9.a	9.a	NUM
american_scientific_journal-4515	132	18	)	)	PUNCT
american_scientific_journal-4515	132	19	.	.	PUNCT
american_scientific_journal-4515	133	1	mixing	mix	VERB
american_scientific_journal-4515	133	2	pso	pso	NOUN
american_scientific_journal-4515	133	3	with	with	ADP
american_scientific_journal-4515	133	4	the	the	DET
american_scientific_journal-4515	133	5	d	d	PROPN
american_scientific_journal-4515	133	6	*	*	PROPN
american_scientific_journal-4515	133	7	path	path	NOUN
american_scientific_journal-4515	133	8	enhance	enhance	VERB
american_scientific_journal-4515	133	9	the	the	DET
american_scientific_journal-4515	133	10	last	last	ADJ
american_scientific_journal-4515	133	11	to	to	ADP
american_scientific_journal-4515	133	12	106.6039	106.6039	NUM
american_scientific_journal-4515	133	13	cm	cm	NOUN
american_scientific_journal-4515	133	14	path	path	NOUN
american_scientific_journal-4515	133	15	long	long	ADV
american_scientific_journal-4515	133	16	as	as	SCONJ
american_scientific_journal-4515	133	17	shown	show	VERB
american_scientific_journal-4515	133	18	in	in	ADP
american_scientific_journal-4515	133	19	figure	figure	NOUN
american_scientific_journal-4515	133	20	(	(	PUNCT
american_scientific_journal-4515	133	21	9.b	9.b	NUM
american_scientific_journal-4515	133	22	)	)	PUNCT
american_scientific_journal-4515	133	23	.	.	PUNCT
american_scientific_journal-4515	134	1	the	the	DET
american_scientific_journal-4515	134	2	best	good	ADJ
american_scientific_journal-4515	134	3	coast	coast	NOUN
american_scientific_journal-4515	134	4	after	after	SCONJ
american_scientific_journal-4515	134	5	300	300	NUM
american_scientific_journal-4515	134	6	iteration	iteration	NOUN
american_scientific_journal-4515	134	7	reduce	reduce	VERB
american_scientific_journal-4515	134	8	the	the	DET
american_scientific_journal-4515	134	9	cost	cost	NOUN
american_scientific_journal-4515	134	10	function	function	NOUN
american_scientific_journal-4515	134	11	with	with	ADP
american_scientific_journal-4515	134	12	4.0651	4.0651	NUM
american_scientific_journal-4515	134	13	cm	cm	NOUN
american_scientific_journal-4515	134	14	.	.	PUNCT
american_scientific_journal-4515	135	1	the	the	DET
american_scientific_journal-4515	135	2	figure	figure	NOUN
american_scientific_journal-4515	135	3	(	(	PUNCT
american_scientific_journal-4515	135	4	10	10	NUM
american_scientific_journal-4515	135	5	)	)	PUNCT
american_scientific_journal-4515	135	6	shows	show	VERB
american_scientific_journal-4515	135	7	the	the	DET
american_scientific_journal-4515	135	8	same	same	ADJ
american_scientific_journal-4515	135	9	motion	motion	NOUN
american_scientific_journal-4515	135	10	scenario	scenario	NOUN
american_scientific_journal-4515	135	11	but	but	CCONJ
american_scientific_journal-4515	135	12	in	in	ADP
american_scientific_journal-4515	135	13	pso	pso	NOUN
american_scientific_journal-4515	135	14	case	case	NOUN
american_scientific_journal-4515	135	15	from	from	ADP
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american_scientific_journal-4515	135	25	figure	figure	NOUN
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american_scientific_journal-4515	136	50	scientific	scientific	ADJ
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american_scientific_journal-4515	136	54	engineering	engineering	NOUN
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american_scientific_journal-4515	138	648	target	target	NOUN
american_scientific_journal-4515	138	649	figure	figure	NOUN
american_scientific_journal-4515	138	650	8	8	NUM
american_scientific_journal-4515	138	651	:	:	PUNCT
american_scientific_journal-4515	138	652	the	the	DET
american_scientific_journal-4515	138	653	heuristic	heuristic	ADJ
american_scientific_journal-4515	138	654	d	d	NOUN
american_scientific_journal-4515	138	655	*	*	PUNCT
american_scientific_journal-4515	138	656	path	path	NOUN
american_scientific_journal-4515	138	657	planning	planning	NOUN
american_scientific_journal-4515	138	658	for	for	ADP
american_scientific_journal-4515	138	659	the	the	DET
american_scientific_journal-4515	138	660	second	second	ADJ
american_scientific_journal-4515	138	661	environment	environment	NOUN
american_scientific_journal-4515	138	662	figure	figure	NOUN
american_scientific_journal-4515	138	663	9	9	NUM
american_scientific_journal-4515	138	664	:	:	PUNCT
american_scientific_journal-4515	138	665	(	(	PUNCT
american_scientific_journal-4515	138	666	a	a	X
american_scientific_journal-4515	138	667	)	)	PUNCT
american_scientific_journal-4515	138	668	represents	represent	VERB
american_scientific_journal-4515	138	669	d	d	PROPN
american_scientific_journal-4515	138	670	*	*	PUNCT
american_scientific_journal-4515	138	671	path	path	NOUN
american_scientific_journal-4515	138	672	and	and	CCONJ
american_scientific_journal-4515	138	673	pso	pso	NOUN
american_scientific_journal-4515	138	674	path	path	NOUN
american_scientific_journal-4515	138	675	,	,	PUNCT
american_scientific_journal-4515	138	676	(	(	PUNCT
american_scientific_journal-4515	138	677	b	b	X
american_scientific_journal-4515	138	678	)	)	PUNCT
american_scientific_journal-4515	138	679	represents	represent	VERB
american_scientific_journal-4515	138	680	the	the	DET
american_scientific_journal-4515	138	681	best	good	ADJ
american_scientific_journal-4515	138	682	cost	cost	NOUN
american_scientific_journal-4515	138	683	of	of	ADP
american_scientific_journal-4515	138	684	pso	pso	NOUN
american_scientific_journal-4515	138	685	path	path	NOUN
american_scientific_journal-4515	138	686	table	table	NOUN
american_scientific_journal-4515	138	687	1	1	NUM
american_scientific_journal-4515	138	688	:	:	PUNCT
american_scientific_journal-4515	138	689	environments	environment	NOUN
american_scientific_journal-4515	138	690	information	information	NOUN
american_scientific_journal-4515	138	691	environment	environment	NOUN
american_scientific_journal-4515	138	692	population	population	NOUN
american_scientific_journal-4515	138	693	iteration	iteration	NOUN
american_scientific_journal-4515	138	694	d	d	PROPN
american_scientific_journal-4515	138	695	*	*	PROPN
american_scientific_journal-4515	138	696	path	path	PROPN
american_scientific_journal-4515	138	697	pso	pso	NOUN
american_scientific_journal-4515	138	698	path	path	NOUN
american_scientific_journal-4515	138	699	1	1	NUM
american_scientific_journal-4515	138	700	50	50	NUM
american_scientific_journal-4515	138	701	300	300	NUM
american_scientific_journal-4515	138	702	106.5685	106.5685	NUM
american_scientific_journal-4515	138	703	cm	cm	NOUN
american_scientific_journal-4515	138	704	102.6672	102.6672	NUM
american_scientific_journal-4515	138	705	cm	cm	NOUN
american_scientific_journal-4515	138	706	2	2	NUM
american_scientific_journal-4515	138	707	50	50	NUM
american_scientific_journal-4515	138	708	300	300	NUM
american_scientific_journal-4515	138	709	110.6690	110.6690	NUM
american_scientific_journal-4515	138	710	cm	cm	NOUN
american_scientific_journal-4515	138	711	106.6039	106.6039	NUM
american_scientific_journal-4515	138	712	cm	cm	NOUN
american_scientific_journal-4515	138	713	motion	motion	NOUN
american_scientific_journal-4515	138	714	sample=84	sample=84	NOUN
american_scientific_journal-4515	138	715	reaching	reach	VERB
american_scientific_journal-4515	138	716	goal	goal	NOUN
american_scientific_journal-4515	138	717	(	(	PUNCT
american_scientific_journal-4515	138	718	b	b	NOUN
american_scientific_journal-4515	138	719	)	)	PUNCT
american_scientific_journal-4515	138	720	(	(	PUNCT
american_scientific_journal-4515	138	721	a	a	X
american_scientific_journal-4515	138	722	)	)	PUNCT
american_scientific_journal-4515	138	723	(	(	PUNCT
american_scientific_journal-4515	138	724	g	g	NOUN
american_scientific_journal-4515	138	725	)	)	PUNCT
american_scientific_journal-4515	138	726	(	(	PUNCT
american_scientific_journal-4515	138	727	h	h	NOUN
american_scientific_journal-4515	138	728	)	)	PUNCT
american_scientific_journal-4515	138	729	pso	pso	NOUN
american_scientific_journal-4515	138	730	path	path	NOUN
american_scientific_journal-4515	139	1	d	d	PROPN
american_scientific_journal-4515	139	2	*	*	PUNCT
american_scientific_journal-4515	139	3	path	path	PROPN
american_scientific_journal-4515	139	4	x	x	SYM
american_scientific_journal-4515	139	5	,	,	PUNCT
american_scientific_journal-4515	139	6	cm	cm	NOUN
american_scientific_journal-4515	139	7	x	x	SYM
american_scientific_journal-4515	139	8	,	,	PUNCT
american_scientific_journal-4515	139	9	cm	cm	NOUN
american_scientific_journal-4515	139	10	x	x	SYM
american_scientific_journal-4515	139	11	,	,	PUNCT
american_scientific_journal-4515	139	12	cm	cm	NOUN
american_scientific_journal-4515	139	13	y	y	PROPN
american_scientific_journal-4515	139	14	,	,	PUNCT
american_scientific_journal-4515	139	15	c	c	PROPN
american_scientific_journal-4515	139	16	m	m	VERB
american_scientific_journal-4515	139	17	y	y	PROPN
american_scientific_journal-4515	139	18	,	,	PUNCT
american_scientific_journal-4515	139	19	c	c	PROPN
american_scientific_journal-4515	139	20	m	m	VERB
american_scientific_journal-4515	139	21	y	y	PROPN
american_scientific_journal-4515	139	22	,	,	PUNCT
american_scientific_journal-4515	139	23	c	c	PROPN
american_scientific_journal-4515	139	24	m	m	PROPN
american_scientific_journal-4515	139	25	american	american	ADJ
american_scientific_journal-4515	139	26	scientific	scientific	ADJ
american_scientific_journal-4515	139	27	research	research	NOUN
american_scientific_journal-4515	139	28	journal	journal	NOUN
american_scientific_journal-4515	139	29	for	for	ADP
american_scientific_journal-4515	139	30	engineering	engineering	NOUN
american_scientific_journal-4515	139	31	,	,	PUNCT
american_scientific_journal-4515	139	32	technology	technology	NOUN
american_scientific_journal-4515	139	33	,	,	PUNCT
american_scientific_journal-4515	139	34	and	and	CCONJ
american_scientific_journal-4515	139	35	sciences	science	NOUN
american_scientific_journal-4515	139	36	(	(	PUNCT
american_scientific_journal-4515	139	37	asrjets	asrjet	NOUN
american_scientific_journal-4515	139	38	)	)	PUNCT
american_scientific_journal-4515	139	39	(	(	PUNCT
american_scientific_journal-4515	139	40	2018	2018	NUM
american_scientific_journal-4515	139	41	)	)	PUNCT
american_scientific_journal-4515	139	42	volume	volume	NOUN
american_scientific_journal-4515	139	43	49	49	NUM
american_scientific_journal-4515	139	44	,	,	PUNCT
american_scientific_journal-4515	139	45	no	no	DET
american_scientific_journal-4515	139	46	1	1	NUM
american_scientific_journal-4515	139	47	,	,	PUNCT
american_scientific_journal-4515	139	48	pp	pp	ADV
american_scientific_journal-4515	139	49	257	257	NUM
american_scientific_journal-4515	139	50	-	-	SYM
american_scientific_journal-4515	139	51	271	271	NUM
american_scientific_journal-4515	139	52	269	269	NUM
american_scientific_journal-4515	139	53	figure	figure	NOUN
american_scientific_journal-4515	139	54	10	10	NUM
american_scientific_journal-4515	139	55	:	:	PUNCT
american_scientific_journal-4515	139	56	the	the	DET
american_scientific_journal-4515	139	57	heuristic	heuristic	ADJ
american_scientific_journal-4515	139	58	d	d	X
american_scientific_journal-4515	139	59	*	*	VERB
american_scientific_journal-4515	139	60	based	base	VERB
american_scientific_journal-4515	139	61	on	on	ADP
american_scientific_journal-4515	139	62	pso	pso	PROPN
american_scientific_journal-4515	139	63	final	final	ADJ
american_scientific_journal-4515	139	64	path	path	NOUN
american_scientific_journal-4515	139	65	for	for	ADP
american_scientific_journal-4515	139	66	the	the	DET
american_scientific_journal-4515	139	67	second	second	ADJ
american_scientific_journal-4515	139	68	environment	environment	NOUN
american_scientific_journal-4515	139	69	7	7	NUM
american_scientific_journal-4515	139	70	.	.	PUNCT
american_scientific_journal-4515	139	71	conclusions	conclusion	NOUN
american_scientific_journal-4515	139	72	this	this	DET
american_scientific_journal-4515	139	73	paper	paper	NOUN
american_scientific_journal-4515	139	74	proposed	propose	VERB
american_scientific_journal-4515	139	75	a	a	DET
american_scientific_journal-4515	139	76	methodology	methodology	NOUN
american_scientific_journal-4515	139	77	that	that	PRON
american_scientific_journal-4515	139	78	considers	consider	VERB
american_scientific_journal-4515	139	79	solving	solve	VERB
american_scientific_journal-4515	139	80	the	the	DET
american_scientific_journal-4515	139	81	path	path	NOUN
american_scientific_journal-4515	139	82	planning	planning	NOUN
american_scientific_journal-4515	139	83	problem	problem	NOUN
american_scientific_journal-4515	139	84	in	in	ADP
american_scientific_journal-4515	139	85	known	know	VERB
american_scientific_journal-4515	139	86	position	position	NOUN
american_scientific_journal-4515	139	87	changes	change	VERB
american_scientific_journal-4515	139	88	dynamic	dynamic	ADJ
american_scientific_journal-4515	139	89	environment	environment	NOUN
american_scientific_journal-4515	139	90	utilizing	utilize	VERB
american_scientific_journal-4515	139	91	the	the	DET
american_scientific_journal-4515	139	92	use	use	NOUN
american_scientific_journal-4515	139	93	of	of	ADP
american_scientific_journal-4515	139	94	heuristic	heuristic	ADJ
american_scientific_journal-4515	139	95	d	d	NOUN
american_scientific_journal-4515	139	96	*	*	NOUN
american_scientific_journal-4515	139	97	algorithm	algorithm	NOUN
american_scientific_journal-4515	139	98	for	for	ADP
american_scientific_journal-4515	139	99	finding	find	VERB
american_scientific_journal-4515	139	100	the	the	DET
american_scientific_journal-4515	139	101	best	good	ADJ
american_scientific_journal-4515	139	102	path	path	NOUN
american_scientific_journal-4515	139	103	and	and	CCONJ
american_scientific_journal-4515	139	104	the	the	DET
american_scientific_journal-4515	139	105	use	use	NOUN
american_scientific_journal-4515	139	106	of	of	ADP
american_scientific_journal-4515	139	107	pso	pso	NOUN
american_scientific_journal-4515	139	108	optimization	optimization	NOUN
american_scientific_journal-4515	139	109	technique	technique	NOUN
american_scientific_journal-4515	139	110	for	for	ADP
american_scientific_journal-4515	139	111	getting	get	VERB
american_scientific_journal-4515	139	112	the	the	DET
american_scientific_journal-4515	139	113	final	final	ADJ
american_scientific_journal-4515	139	114	optimal	optimal	ADJ
american_scientific_journal-4515	139	115	path	path	NOUN
american_scientific_journal-4515	139	116	.	.	PUNCT
american_scientific_journal-4515	140	1	at	at	ADP
american_scientific_journal-4515	140	2	first	first	ADV
american_scientific_journal-4515	140	3	,	,	PUNCT
american_scientific_journal-4515	140	4	the	the	DET
american_scientific_journal-4515	140	5	d	d	PROPN
american_scientific_journal-4515	140	6	*	*	PUNCT
american_scientific_journal-4515	140	7	algorithm	algorithm	NOUN
american_scientific_journal-4515	140	8	is	be	AUX
american_scientific_journal-4515	140	9	applied	apply	VERB
american_scientific_journal-4515	140	10	to	to	PART
american_scientific_journal-4515	140	11	find	find	VERB
american_scientific_journal-4515	140	12	the	the	DET
american_scientific_journal-4515	140	13	shortest	short	ADJ
american_scientific_journal-4515	140	14	path	path	NOUN
american_scientific_journal-4515	140	15	then	then	ADV
american_scientific_journal-4515	140	16	the	the	DET
american_scientific_journal-4515	140	17	particle	particle	NOUN
american_scientific_journal-4515	140	18	swarm	swarm	NOUN
american_scientific_journal-4515	140	19	optimization	optimization	NOUN
american_scientific_journal-4515	140	20	method	method	NOUN
american_scientific_journal-4515	140	21	is	be	AUX
american_scientific_journal-4515	140	22	used	use	VERB
american_scientific_journal-4515	140	23	to	to	PART
american_scientific_journal-4515	140	24	enhance	enhance	VERB
american_scientific_journal-4515	140	25	the	the	DET
american_scientific_journal-4515	140	26	final	final	ADJ
american_scientific_journal-4515	140	27	path	path	NOUN
american_scientific_journal-4515	140	28	by	by	ADP
american_scientific_journal-4515	140	29	removing	remove	VERB
american_scientific_journal-4515	140	30	the	the	DET
american_scientific_journal-4515	140	31	sharp	sharp	ADJ
american_scientific_journal-4515	140	32	edges	edge	NOUN
american_scientific_journal-4515	140	33	till	till	SCONJ
american_scientific_journal-4515	140	34	finding	find	VERB
american_scientific_journal-4515	140	35	optimal	optimal	ADJ
american_scientific_journal-4515	140	36	path	path	NOUN
american_scientific_journal-4515	140	37	.	.	PUNCT
american_scientific_journal-4515	141	1	the	the	DET
american_scientific_journal-4515	141	2	result	result	NOUN
american_scientific_journal-4515	141	3	clearly	clearly	ADV
american_scientific_journal-4515	141	4	proves	prove	VERB
american_scientific_journal-4515	141	5	the	the	DET
american_scientific_journal-4515	141	6	advantage	advantage	NOUN
american_scientific_journal-4515	141	7	of	of	ADP
american_scientific_journal-4515	141	8	using	use	VERB
american_scientific_journal-4515	141	9	the	the	DET
american_scientific_journal-4515	141	10	proposed	propose	VERB
american_scientific_journal-4515	141	11	mixed	mixed	ADJ
american_scientific_journal-4515	141	12	approach	approach	NOUN
american_scientific_journal-4515	141	13	.	.	PUNCT
american_scientific_journal-4515	142	1	the	the	DET
american_scientific_journal-4515	142	2	length	length	NOUN
american_scientific_journal-4515	142	3	of	of	ADP
american_scientific_journal-4515	142	4	the	the	DET
american_scientific_journal-4515	142	5	new	new	ADJ
american_scientific_journal-4515	142	6	path	path	NOUN
american_scientific_journal-4515	142	7	produced	produce	VERB
american_scientific_journal-4515	142	8	by	by	ADP
american_scientific_journal-4515	142	9	the	the	DET
american_scientific_journal-4515	142	10	optimization	optimization	NOUN
american_scientific_journal-4515	142	11	technique	technique	NOUN
american_scientific_journal-4515	142	12	was	be	AUX
american_scientific_journal-4515	142	13	smooth	smooth	ADJ
american_scientific_journal-4515	142	14	,	,	PUNCT
american_scientific_journal-4515	142	15	safe	safe	ADJ
american_scientific_journal-4515	142	16	,	,	PUNCT
american_scientific_journal-4515	142	17	optimal	optimal	ADJ
american_scientific_journal-4515	142	18	and	and	CCONJ
american_scientific_journal-4515	142	19	shortest	short	ADJ
american_scientific_journal-4515	142	20	which	which	DET
american_scientific_journal-4515	142	21	traditional	traditional	ADJ
american_scientific_journal-4515	142	22	d	d	NOUN
american_scientific_journal-4515	142	23	*	*	NOUN
american_scientific_journal-4515	142	24	method	method	NOUN
american_scientific_journal-4515	142	25	could	could	AUX
american_scientific_journal-4515	142	26	not	not	PART
american_scientific_journal-4515	142	27	find	find	VERB
american_scientific_journal-4515	142	28	such	such	DET
american_scientific_journal-4515	142	29	a	a	DET
american_scientific_journal-4515	142	30	path	path	NOUN
american_scientific_journal-4515	142	31	.	.	PUNCT
american_scientific_journal-4515	143	1	references	reference	NOUN
american_scientific_journal-4515	143	2	[	[	X
american_scientific_journal-4515	143	3	1	1	NUM
american_scientific_journal-4515	143	4	]	]	PUNCT
american_scientific_journal-4515	143	5	hui	hui	PROPN
american_scientific_journal-4515	143	6	miao	miao	PROPN
american_scientific_journal-4515	143	7	,	,	PUNCT
american_scientific_journal-4515	143	8	“	"	PUNCT
american_scientific_journal-4515	143	9	robot	robot	NOUN
american_scientific_journal-4515	143	10	path	path	NOUN
american_scientific_journal-4515	143	11	planning	planning	NOUN
american_scientific_journal-4515	143	12	in	in	ADP
american_scientific_journal-4515	143	13	dynamic	dynamic	ADJ
american_scientific_journal-4515	143	14	environments	environment	NOUN
american_scientific_journal-4515	143	15	using	use	VERB
american_scientific_journal-4515	143	16	a	a	DET
american_scientific_journal-4515	143	17	simulated	simulate	VERB
american_scientific_journal-4515	143	18	annealing	annealing	NOUN
american_scientific_journal-4515	143	19	based	base	VERB
american_scientific_journal-4515	143	20	motion	motion	NOUN
american_scientific_journal-4515	143	21	sample=14	sample=14	NOUN
american_scientific_journal-4515	143	22	initial	initial	ADJ
american_scientific_journal-4515	143	23	state	state	NOUN
american_scientific_journal-4515	143	24	motion	motion	NOUN
american_scientific_journal-4515	143	25	sample=57	sample=57	NOUN
american_scientific_journal-4515	143	26	reaching	reach	VERB
american_scientific_journal-4515	143	27	goal	goal	NOUN
american_scientific_journal-4515	143	28	(	(	PUNCT
american_scientific_journal-4515	143	29	a	a	NOUN
american_scientific_journal-4515	143	30	)	)	PUNCT
american_scientific_journal-4515	143	31	(	(	PUNCT
american_scientific_journal-4515	143	32	b	b	X
american_scientific_journal-4515	143	33	)	)	PUNCT
american_scientific_journal-4515	143	34	(	(	PUNCT
american_scientific_journal-4515	143	35	c	c	X
american_scientific_journal-4515	143	36	)	)	PUNCT
american_scientific_journal-4515	143	37	(	(	PUNCT
american_scientific_journal-4515	143	38	d	d	X
american_scientific_journal-4515	143	39	)	)	PUNCT
american_scientific_journal-4515	143	40	x	x	NOUN
american_scientific_journal-4515	143	41	,	,	PUNCT
american_scientific_journal-4515	143	42	cm	cm	NOUN
american_scientific_journal-4515	143	43	x	x	SYM
american_scientific_journal-4515	143	44	,	,	PUNCT
american_scientific_journal-4515	143	45	cm	cm	NOUN
american_scientific_journal-4515	143	46	x	x	SYM
american_scientific_journal-4515	143	47	,	,	PUNCT
american_scientific_journal-4515	143	48	cm	cm	NOUN
american_scientific_journal-4515	143	49	x	x	SYM
american_scientific_journal-4515	143	50	,	,	PUNCT
american_scientific_journal-4515	143	51	cm	cm	NOUN
american_scientific_journal-4515	143	52	y	y	PROPN
american_scientific_journal-4515	143	53	,	,	PUNCT
american_scientific_journal-4515	143	54	c	c	PROPN
american_scientific_journal-4515	143	55	m	m	VERB
american_scientific_journal-4515	143	56	y	y	PROPN
american_scientific_journal-4515	143	57	,	,	PUNCT
american_scientific_journal-4515	143	58	c	c	PROPN
american_scientific_journal-4515	143	59	m	m	VERB
american_scientific_journal-4515	143	60	y	y	PROPN
american_scientific_journal-4515	143	61	,	,	PUNCT
american_scientific_journal-4515	143	62	c	c	PROPN
american_scientific_journal-4515	143	63	m	m	VERB
american_scientific_journal-4515	143	64	y	y	PROPN
american_scientific_journal-4515	143	65	,	,	PUNCT
american_scientific_journal-4515	143	66	c	c	PROPN
american_scientific_journal-4515	143	67	m	m	PROPN
american_scientific_journal-4515	143	68	american	american	ADJ
american_scientific_journal-4515	143	69	scientific	scientific	ADJ
american_scientific_journal-4515	143	70	research	research	NOUN
american_scientific_journal-4515	143	71	journal	journal	NOUN
american_scientific_journal-4515	143	72	for	for	ADP
american_scientific_journal-4515	143	73	engineering	engineering	NOUN
american_scientific_journal-4515	143	74	,	,	PUNCT
american_scientific_journal-4515	143	75	technology	technology	NOUN
american_scientific_journal-4515	143	76	,	,	PUNCT
american_scientific_journal-4515	143	77	and	and	CCONJ
american_scientific_journal-4515	143	78	sciences	science	NOUN
american_scientific_journal-4515	143	79	(	(	PUNCT
american_scientific_journal-4515	143	80	asrjets	asrjet	NOUN
american_scientific_journal-4515	143	81	)	)	PUNCT
american_scientific_journal-4515	143	82	(	(	PUNCT
american_scientific_journal-4515	143	83	2018	2018	NUM
american_scientific_journal-4515	143	84	)	)	PUNCT
american_scientific_journal-4515	143	85	volume	volume	NOUN
american_scientific_journal-4515	143	86	49	49	NUM
american_scientific_journal-4515	143	87	,	,	PUNCT
american_scientific_journal-4515	143	88	no	no	DET
american_scientific_journal-4515	143	89	1	1	NUM
american_scientific_journal-4515	143	90	,	,	PUNCT
american_scientific_journal-4515	143	91	pp	pp	ADV
american_scientific_journal-4515	143	92	257	257	NUM
american_scientific_journal-4515	143	93	-	-	SYM
american_scientific_journal-4515	143	94	271	271	NUM
american_scientific_journal-4515	143	95	270	270	NUM
american_scientific_journal-4515	143	96	approach	approach	NOUN
american_scientific_journal-4515	143	97	”	"	PUNCT
american_scientific_journal-4515	143	98	,	,	PUNCT
american_scientific_journal-4515	143	99	faculty	faculty	NOUN
american_scientific_journal-4515	143	100	of	of	ADP
american_scientific_journal-4515	143	101	science	science	NOUN
american_scientific_journal-4515	143	102	and	and	CCONJ
american_scientific_journal-4515	143	103	technology	technology	PROPN
american_scientific_journal-4515	143	104	queensland	queensland	PROPN
american_scientific_journal-4515	143	105	university	university	PROPN
american_scientific_journal-4515	143	106	of	of	ADP
american_scientific_journal-4515	143	107	technology	technology	NOUN
american_scientific_journal-4515	143	108	.	.	PUNCT
american_scientific_journal-4515	144	1	[	[	X
american_scientific_journal-4515	144	2	2	2	X
american_scientific_journal-4515	144	3	]	]	PUNCT
american_scientific_journal-4515	144	4	f.	f.	PROPN
american_scientific_journal-4515	144	5	a.	a.	PROPN
american_scientific_journal-4515	144	6	raheem	raheem	PROPN
american_scientific_journal-4515	144	7	and	and	CCONJ
american_scientific_journal-4515	144	8	asmaa	asmaa	PROPN
american_scientific_journal-4515	144	9	a.	a.	PROPN
american_scientific_journal-4515	144	10	hussain	hussain	PROPN
american_scientific_journal-4515	144	11	,	,	PUNCT
american_scientific_journal-4515	144	12	“	"	PUNCT
american_scientific_journal-4515	144	13	modified	modify	VERB
american_scientific_journal-4515	144	14	c	c	NOUN
american_scientific_journal-4515	144	15	-	-	PUNCT
american_scientific_journal-4515	144	16	space	space	NOUN
american_scientific_journal-4515	144	17	analysis	analysis	NOUN
american_scientific_journal-4515	144	18	and	and	CCONJ
american_scientific_journal-4515	144	19	construction	construction	NOUN
american_scientific_journal-4515	144	20	for	for	ADP
american_scientific_journal-4515	144	21	two	two	NUM
american_scientific_journal-4515	144	22	-	-	PUNCT
american_scientific_journal-4515	144	23	link	link	NOUN
american_scientific_journal-4515	144	24	robot	robot	NOUN
american_scientific_journal-4515	144	25	arm	arm	NOUN
american_scientific_journal-4515	144	26	,	,	PUNCT
american_scientific_journal-4515	144	27	”	"	PUNCT
american_scientific_journal-4515	144	28	no	no	NOUN
american_scientific_journal-4515	144	29	.	.	PUNCT
american_scientific_journal-4515	144	30	december	december	PROPN
american_scientific_journal-4515	144	31	,	,	PUNCT
american_scientific_journal-4515	144	32	2017	2017	NUM
american_scientific_journal-4515	144	33	.	.	PUNCT
american_scientific_journal-4515	145	1	[	[	X
american_scientific_journal-4515	145	2	3	3	X
american_scientific_journal-4515	145	3	]	]	PUNCT
american_scientific_journal-4515	145	4	f.	f.	PROPN
american_scientific_journal-4515	145	5	a.	a.	PROPN
american_scientific_journal-4515	145	6	raheem	raheem	PROPN
american_scientific_journal-4515	145	7	and	and	CCONJ
american_scientific_journal-4515	145	8	asmaa	asmaa	PROPN
american_scientific_journal-4515	145	9	a.	a.	PROPN
american_scientific_journal-4515	145	10	hussain	hussain	PROPN
american_scientific_journal-4515	145	11	,	,	PUNCT
american_scientific_journal-4515	145	12	“	"	PUNCT
american_scientific_journal-4515	145	13	applying	apply	VERB
american_scientific_journal-4515	145	14	a	a	DET
american_scientific_journal-4515	145	15	*	*	PUNCT
american_scientific_journal-4515	145	16	path	path	NOUN
american_scientific_journal-4515	145	17	planning	planning	NOUN
american_scientific_journal-4515	145	18	algorithm	algorithm	NOUN
american_scientific_journal-4515	145	19	based	base	VERB
american_scientific_journal-4515	145	20	on	on	ADP
american_scientific_journal-4515	145	21	modified	modify	VERB
american_scientific_journal-4515	145	22	cspace	cspace	NOUN
american_scientific_journal-4515	145	23	analysis”,al	analysis”,al	NOUN
american_scientific_journal-4515	145	24	-	-	PUNCT
american_scientific_journal-4515	145	25	khwarizmi	khwarizmi	NOUN
american_scientific_journal-4515	145	26	engineering	engineering	NOUN
american_scientific_journal-4515	145	27	journal	journal	NOUN
american_scientific_journal-4515	145	28	,	,	PUNCT
american_scientific_journal-4515	145	29	vol	vol	NOUN
american_scientific_journal-4515	145	30	.	.	PROPN
american_scientific_journal-4515	145	31	13	13	NUM
american_scientific_journal-4515	145	32	,	,	PUNCT
american_scientific_journal-4515	145	33	no	no	INTJ
american_scientific_journal-4515	145	34	.	.	NOUN
american_scientific_journal-4515	145	35	4	4	NUM
american_scientific_journal-4515	145	36	,	,	PUNCT
american_scientific_journal-4515	145	37	p.p	p.p	PROPN
american_scientific_journal-4515	145	38	.	.	NOUN
american_scientific_journal-4515	145	39	124136	124136	NUM
american_scientific_journal-4515	145	40	(	(	PUNCT
american_scientific_journal-4515	145	41	2017	2017	NUM
american_scientific_journal-4515	145	42	)	)	PUNCT
american_scientific_journal-4515	145	43	.	.	PUNCT
american_scientific_journal-4515	146	1	[	[	X
american_scientific_journal-4515	146	2	4	4	X
american_scientific_journal-4515	146	3	]	]	PUNCT
american_scientific_journal-4515	146	4	f.	f.	PROPN
american_scientific_journal-4515	146	5	a.	a.	PROPN
american_scientific_journal-4515	146	6	raheem	raheem	PROPN
american_scientific_journal-4515	146	7	and	and	CCONJ
american_scientific_journal-4515	146	8	and	and	CCONJ
american_scientific_journal-4515	146	9	mustafa	mustafa	PROPN
american_scientific_journal-4515	146	10	m.	m.	PROPN
american_scientific_journal-4515	146	11	bader	bader	PROPN
american_scientific_journal-4515	146	12	,	,	PUNCT
american_scientific_journal-4515	146	13	“	"	PUNCT
american_scientific_journal-4515	146	14	development	development	NOUN
american_scientific_journal-4515	146	15	of	of	ADP
american_scientific_journal-4515	146	16	modified	modify	VERB
american_scientific_journal-4515	146	17	path	path	NOUN
american_scientific_journal-4515	146	18	planning	planning	NOUN
american_scientific_journal-4515	146	19	algorithm	algorithm	NOUN
american_scientific_journal-4515	146	20	using	use	VERB
american_scientific_journal-4515	146	21	artificial	artificial	ADJ
american_scientific_journal-4515	146	22	potential	potential	ADJ
american_scientific_journal-4515	146	23	field	field	NOUN
american_scientific_journal-4515	146	24	(	(	PUNCT
american_scientific_journal-4515	146	25	apf	apf	PROPN
american_scientific_journal-4515	146	26	)	)	PUNCT
american_scientific_journal-4515	146	27	based	base	VERB
american_scientific_journal-4515	146	28	on	on	ADP
american_scientific_journal-4515	146	29	pso	pso	NOUN
american_scientific_journal-4515	146	30	for	for	ADP
american_scientific_journal-4515	146	31	factors	factor	NOUN
american_scientific_journal-4515	146	32	optimization	optimization	NOUN
american_scientific_journal-4515	146	33	,	,	PUNCT
american_scientific_journal-4515	146	34	”	"	PUNCT
american_scientific_journal-4515	146	35	no	no	NOUN
american_scientific_journal-4515	146	36	.	.	PUNCT
american_scientific_journal-4515	146	37	december	december	PROPN
american_scientific_journal-4515	146	38	,	,	PUNCT
american_scientific_journal-4515	146	39	2017	2017	NUM
american_scientific_journal-4515	146	40	.	.	PUNCT
american_scientific_journal-4515	147	1	[	[	X
american_scientific_journal-4515	147	2	5	5	NUM
american_scientific_journal-4515	147	3	]	]	PUNCT
american_scientific_journal-4515	147	4	a.	a.	NOUN
american_scientific_journal-4515	147	5	t.	t.	PROPN
american_scientific_journal-4515	147	6	sadiq	sadiq	PROPN
american_scientific_journal-4515	147	7	f.	f.	PROPN
american_scientific_journal-4515	147	8	a.	a.	PROPN
american_scientific_journal-4515	147	9	raheem	raheem	PROPN
american_scientific_journal-4515	147	10	,	,	PUNCT
american_scientific_journal-4515	147	11	and	and	CCONJ
american_scientific_journal-4515	147	12	n.	n.	PROPN
american_scientific_journal-4515	147	13	a.	a.	PROPN
american_scientific_journal-4515	147	14	f.	f.	PROPN
american_scientific_journal-4515	147	15	abbas	abbas	PROPN
american_scientific_journal-4515	147	16	,	,	PUNCT
american_scientific_journal-4515	147	17	“	"	PUNCT
american_scientific_journal-4515	147	18	robot	robot	NOUN
american_scientific_journal-4515	147	19	arm	arm	NOUN
american_scientific_journal-4515	147	20	path	path	NOUN
american_scientific_journal-4515	147	21	planning	planning	NOUN
american_scientific_journal-4515	147	22	using	use	VERB
american_scientific_journal-4515	147	23	modified	modify	VERB
american_scientific_journal-4515	147	24	particle	particle	NOUN
american_scientific_journal-4515	147	25	swarm	swarm	NOUN
american_scientific_journal-4515	147	26	optimization	optimization	NOUN
american_scientific_journal-4515	147	27	based	base	VERB
american_scientific_journal-4515	147	28	on	on	ADP
american_scientific_journal-4515	147	29	d	d	PROPN
american_scientific_journal-4515	147	30	*	*	PUNCT
american_scientific_journal-4515	147	31	algorithm	algorithm	NOUN
american_scientific_journal-4515	147	32	problems	problem	NOUN
american_scientific_journal-4515	147	33	of	of	ADP
american_scientific_journal-4515	147	34	local	local	ADJ
american_scientific_journal-4515	147	35	minimum	minimum	ADJ
american_scientific_journal-4515	147	36	stacking	stacking	NOUN
american_scientific_journal-4515	147	37	and	and	CCONJ
american_scientific_journal-4515	147	38	has	have	AUX
american_scientific_journal-4515	147	39	,	,	PUNCT
american_scientific_journal-4515	147	40	”	"	PUNCT
american_scientific_journal-4515	147	41	vol	vol	NOUN
american_scientific_journal-4515	147	42	.	.	PROPN
american_scientific_journal-4515	147	43	13	13	NUM
american_scientific_journal-4515	147	44	,	,	PUNCT
american_scientific_journal-4515	147	45	no	no	INTJ
american_scientific_journal-4515	147	46	.	.	NOUN
american_scientific_journal-4515	147	47	3	3	NUM
american_scientific_journal-4515	147	48	,	,	PUNCT
american_scientific_journal-4515	147	49	pp	pp	ADJ
american_scientific_journal-4515	147	50	.	.	PUNCT
american_scientific_journal-4515	148	1	27–37	27–37	NUM
american_scientific_journal-4515	148	2	,	,	PUNCT
american_scientific_journal-4515	148	3	2017	2017	NUM
american_scientific_journal-4515	148	4	.	.	PUNCT
american_scientific_journal-4515	149	1	[	[	X
american_scientific_journal-4515	149	2	6	6	NUM
american_scientific_journal-4515	149	3	]	]	PUNCT
american_scientific_journal-4515	149	4	a.	a.	NOUN
american_scientific_journal-4515	149	5	t.	t.	PROPN
american_scientific_journal-4515	149	6	sadiq	sadiq	PROPN
american_scientific_journal-4515	149	7	,	,	PUNCT
american_scientific_journal-4515	149	8	f.	f.	PROPN
american_scientific_journal-4515	149	9	a.	a.	PROPN
american_scientific_journal-4515	149	10	raheem	raheem	PROPN
american_scientific_journal-4515	149	11	,	,	PUNCT
american_scientific_journal-4515	149	12	and	and	CCONJ
american_scientific_journal-4515	149	13	n.	n.	PROPN
american_scientific_journal-4515	149	14	a.	a.	PROPN
american_scientific_journal-4515	149	15	f.	f.	PROPN
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american_scientific_journal-4515	149	17	,	,	PUNCT
american_scientific_journal-4515	149	18	“	"	PUNCT
american_scientific_journal-4515	149	19	optimal	optimal	ADJ
american_scientific_journal-4515	149	20	trajectory	trajectory	NOUN
american_scientific_journal-4515	149	21	planning	planning	NOUN
american_scientific_journal-4515	149	22	of	of	ADP
american_scientific_journal-4515	149	23	2	2	NUM
american_scientific_journal-4515	149	24	-	-	PUNCT
american_scientific_journal-4515	149	25	dof	dof	NOUN
american_scientific_journal-4515	149	26	robot	robot	NOUN
american_scientific_journal-4515	149	27	arm	arm	NOUN
american_scientific_journal-4515	149	28	using	use	VERB
american_scientific_journal-4515	149	29	the	the	DET
american_scientific_journal-4515	149	30	integration	integration	NOUN
american_scientific_journal-4515	149	31	of	of	ADP
american_scientific_journal-4515	149	32	pso	pso	NOUN
american_scientific_journal-4515	149	33	based	base	VERB
american_scientific_journal-4515	149	34	on	on	ADP
american_scientific_journal-4515	149	35	d	d	PROPN
american_scientific_journal-4515	149	36	*	*	PUNCT
american_scientific_journal-4515	149	37	algorithm	algorithm	NOUN
american_scientific_journal-4515	149	38	and	and	CCONJ
american_scientific_journal-4515	149	39	cubic	cubic	ADJ
american_scientific_journal-4515	149	40	polynomial	polynomial	ADJ
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american_scientific_journal-4515	149	42	,	,	PUNCT
american_scientific_journal-4515	149	43	”	"	PUNCT
american_scientific_journal-4515	149	44	first	first	ADJ
american_scientific_journal-4515	149	45	int	int	NOUN
american_scientific_journal-4515	149	46	.	.	PUNCT
american_scientific_journal-4515	150	1	conf	conf	PROPN
american_scientific_journal-4515	150	2	.	.	PUNCT
american_scientific_journal-4515	151	1	eng	eng	PROPN
american_scientific_journal-4515	151	2	.	.	PUNCT
american_scientific_journal-4515	152	1	res	res	PROPN
american_scientific_journal-4515	152	2	.	.	PROPN
american_scientific_journal-4515	152	3	,	,	PUNCT
american_scientific_journal-4515	152	4	no	no	INTJ
american_scientific_journal-4515	152	5	.	.	PUNCT
american_scientific_journal-4515	153	1	march	march	PROPN
american_scientific_journal-4515	153	2	,	,	PUNCT
american_scientific_journal-4515	153	3	pp	pp	ADP
american_scientific_journal-4515	153	4	.	.	PUNCT
american_scientific_journal-4515	154	1	458–467	458–467	NUM
american_scientific_journal-4515	154	2	,	,	PUNCT
american_scientific_journal-4515	154	3	2017	2017	NUM
american_scientific_journal-4515	154	4	.	.	PUNCT
american_scientific_journal-4515	155	1	[	[	X
american_scientific_journal-4515	155	2	7	7	NUM
american_scientific_journal-4515	155	3	]	]	X
american_scientific_journal-4515	155	4	kikuo	kikuo	NOUN
american_scientific_journal-4515	155	5	fujimura	fujimura	PROPN
american_scientific_journal-4515	155	6	,	,	PUNCT
american_scientific_journal-4515	155	7	“	"	PUNCT
american_scientific_journal-4515	155	8	motion	motion	NOUN
american_scientific_journal-4515	155	9	planning	planning	NOUN
american_scientific_journal-4515	155	10	in	in	ADP
american_scientific_journal-4515	155	11	dynamic	dynamic	ADJ
american_scientific_journal-4515	155	12	environments	environment	NOUN
american_scientific_journal-4515	155	13	”	"	PUNCT
american_scientific_journal-4515	155	14	,	,	PUNCT
american_scientific_journal-4515	155	15	springer	springer	NOUN
american_scientific_journal-4515	155	16	-	-	PUNCT
american_scientific_journal-4515	155	17	verlag	verlag	PROPN
american_scientific_journal-4515	155	18	tokyo	tokyo	PROPN
american_scientific_journal-4515	155	19	,	,	PUNCT
american_scientific_journal-4515	155	20	1991	1991	NUM
american_scientific_journal-4515	155	21	.	.	PUNCT
american_scientific_journal-4515	156	1	[	[	X
american_scientific_journal-4515	156	2	8	8	NUM
american_scientific_journal-4515	156	3	]	]	X
american_scientific_journal-4515	156	4	anthony	anthony	PROPN
american_scientific_journal-4515	156	5	stentz	stentz	PROPN
american_scientific_journal-4515	156	6	,	,	PUNCT
american_scientific_journal-4515	156	7	“	"	PUNCT
american_scientific_journal-4515	156	8	the	the	DET
american_scientific_journal-4515	156	9	focused	focused	ADJ
american_scientific_journal-4515	156	10	d	d	PROPN
american_scientific_journal-4515	156	11	*	*	NOUN
american_scientific_journal-4515	156	12	algorithm	algorithm	NOUN
american_scientific_journal-4515	156	13	for	for	ADP
american_scientific_journal-4515	156	14	real	real	ADJ
american_scientific_journal-4515	156	15	-	-	PUNCT
american_scientific_journal-4515	156	16	time	time	NOUN
american_scientific_journal-4515	156	17	replanning	replanning	NOUN
american_scientific_journal-4515	156	18	”	"	PUNCT
american_scientific_journal-4515	156	19	,	,	PUNCT
american_scientific_journal-4515	156	20	robotics	robotic	NOUN
american_scientific_journal-4515	156	21	institute	institute	PROPN
american_scientific_journal-4515	156	22	carnegie	carnegie	PROPN
american_scientific_journal-4515	156	23	mellon	mellon	PROPN
american_scientific_journal-4515	156	24	university	university	PROPN
american_scientific_journal-4515	156	25	pittsburgh	pittsburgh	PROPN
american_scientific_journal-4515	156	26	,	,	PUNCT
american_scientific_journal-4515	156	27	pennsylvania	pennsylvania	PROPN
american_scientific_journal-4515	156	28	15213	15213	NUM
american_scientific_journal-4515	156	29	u.	u.	PROPN
american_scientific_journal-4515	156	30	s.	s.	PROPN
american_scientific_journal-4515	156	31	a.	a.	PROPN
american_scientific_journal-4515	156	32	in	in	ADP
american_scientific_journal-4515	156	33	proceedings	proceeding	NOUN
american_scientific_journal-4515	156	34	of	of	ADP
american_scientific_journal-4515	156	35	the	the	DET
american_scientific_journal-4515	156	36	international	international	ADJ
american_scientific_journal-4515	156	37	joint	joint	ADJ
american_scientific_journal-4515	156	38	conference	conference	NOUN
american_scientific_journal-4515	156	39	on	on	ADP
american_scientific_journal-4515	156	40	artificial	artificial	ADJ
american_scientific_journal-4515	156	41	intelligence	intelligence	NOUN
american_scientific_journal-4515	156	42	,	,	PUNCT
american_scientific_journal-4515	156	43	august	august	PROPN
american_scientific_journal-4515	156	44	1995	1995	NUM
american_scientific_journal-4515	156	45	.	.	PUNCT
american_scientific_journal-4515	157	1	[	[	X
american_scientific_journal-4515	157	2	9	9	NUM
american_scientific_journal-4515	157	3	]	]	PUNCT
american_scientific_journal-4515	157	4	enric	enric	PROPN
american_scientific_journal-4515	157	5	cervera	cervera	PROPN
american_scientific_journal-4515	157	6	i	i	PRON
american_scientific_journal-4515	157	7	mateu	mateu	VERB
american_scientific_journal-4515	157	8	,	,	PUNCT
american_scientific_journal-4515	157	9	“	"	PUNCT
american_scientific_journal-4515	157	10	perception	perception	NOUN
american_scientific_journal-4515	157	11	–	–	PUNCT
american_scientific_journal-4515	157	12	based	base	VERB
american_scientific_journal-4515	157	13	learning	learning	NOUN
american_scientific_journal-4515	157	14	for	for	ADP
american_scientific_journal-4515	157	15	fine	fine	ADJ
american_scientific_journal-4515	157	16	motin	motin	PROPN
american_scientific_journal-4515	157	17	planning	planning	NOUN
american_scientific_journal-4515	157	18	in	in	ADP
american_scientific_journal-4515	157	19	robot	robot	NOUN
american_scientific_journal-4515	157	20	manipulation	manipulation	NOUN
american_scientific_journal-4515	157	21	”	"	PUNCT
american_scientific_journal-4515	157	22	,	,	PUNCT
american_scientific_journal-4515	157	23	1997	1997	NUM
american_scientific_journal-4515	157	24	[	[	X
american_scientific_journal-4515	157	25	10	10	NUM
american_scientific_journal-4515	157	26	]	]	X
american_scientific_journal-4515	157	27	zvi	zvi	PROPN
american_scientific_journal-4515	157	28	shiller	shiller	PROPN
american_scientific_journal-4515	157	29	,	,	PUNCT
american_scientific_journal-4515	157	30	frederic	frederic	PROPN
american_scientific_journal-4515	157	31	large	large	ADJ
american_scientific_journal-4515	157	32	and	and	CCONJ
american_scientific_journal-4515	157	33	sepanta	sepanta	ADJ
american_scientific_journal-4515	157	34	sekhavat	sekhavat	PROPN
american_scientific_journal-4515	157	35	,	,	PUNCT
american_scientific_journal-4515	157	36	“	"	PUNCT
american_scientific_journal-4515	157	37	motion	motion	NOUN
american_scientific_journal-4515	157	38	planning	planning	NOUN
american_scientific_journal-4515	157	39	in	in	ADP
american_scientific_journal-4515	157	40	dynamic	dynamic	ADJ
american_scientific_journal-4515	157	41	environments	environment	NOUN
american_scientific_journal-4515	157	42	:	:	PUNCT
american_scientific_journal-4515	157	43	obstacles	obstacle	NOUN
american_scientific_journal-4515	157	44	moving	move	VERB
american_scientific_journal-4515	157	45	along	along	ADP
american_scientific_journal-4515	157	46	arbitrary	arbitrary	ADJ
american_scientific_journal-4515	157	47	trajectories	trajectory	NOUN
american_scientific_journal-4515	157	48	”	"	PUNCT
american_scientific_journal-4515	157	49	,	,	PUNCT
american_scientific_journal-4515	157	50	mechanical	mechanical	ADJ
american_scientific_journal-4515	157	51	and	and	CCONJ
american_scientific_journal-4515	157	52	aerospace	aerospace	NOUN
american_scientific_journal-4515	157	53	engineering	engineering	NOUN
american_scientific_journal-4515	157	54	,	,	PUNCT
american_scientific_journal-4515	157	55	university	university	PROPN
american_scientific_journal-4515	157	56	of	of	ADP
american_scientific_journal-4515	157	57	california	california	PROPN
american_scientific_journal-4515	157	58	,	,	PUNCT
american_scientific_journal-4515	157	59	proceedings	proceeding	NOUN
american_scientific_journal-4515	157	60	of	of	ADP
american_scientific_journal-4515	157	61	the	the	DET
american_scientific_journal-4515	157	62	2001	2001	NUM
american_scientific_journal-4515	157	63	ieee	ieee	NOUN
american_scientific_journal-4515	157	64	.	.	PUNCT
american_scientific_journal-4515	158	1	[	[	X
american_scientific_journal-4515	158	2	11	11	NUM
american_scientific_journal-4515	158	3	]	]	PUNCT
american_scientific_journal-4515	158	4	roudabe	roudabe	NOUN
american_scientific_journal-4515	158	5	seif	seif	PROPN
american_scientific_journal-4515	158	6	,	,	PUNCT
american_scientific_journal-4515	158	7	mohammadreza	mohammadreza	ADV
american_scientific_journal-4515	158	8	asghari	asghari	ADJ
american_scientific_journal-4515	158	9	and	and	CCONJ
american_scientific_journal-4515	158	10	oskoei	oskoei	ADV
american_scientific_journal-4515	158	11	,	,	PUNCT
american_scientific_journal-4515	158	12	allameh	allameh	NOUN
american_scientific_journal-4515	158	13	tabataba	tabataba	NOUN
american_scientific_journal-4515	158	14	,	,	PUNCT
american_scientific_journal-4515	158	15	“	"	PUNCT
american_scientific_journal-4515	158	16	mobile	mobile	ADJ
american_scientific_journal-4515	158	17	robot	robot	NOUN
american_scientific_journal-4515	158	18	path	path	NOUN
american_scientific_journal-4515	158	19	planning	planning	NOUN
american_scientific_journal-4515	158	20	by	by	ADP
american_scientific_journal-4515	158	21	rrt	rrt	NOUN
american_scientific_journal-4515	158	22	*	*	PUNCT
american_scientific_journal-4515	158	23	in	in	ADP
american_scientific_journal-4515	158	24	dynamic	dynamic	ADJ
american_scientific_journal-4515	158	25	environments	environment	NOUN
american_scientific_journal-4515	158	26	”	"	PUNCT
american_scientific_journal-4515	158	27	,	,	PUNCT
american_scientific_journal-4515	158	28	april	april	PROPN
american_scientific_journal-4515	158	29	2015	2015	NUM
american_scientific_journal-4515	158	30	in	in	ADP
american_scientific_journal-4515	158	31	mecs	mecs	PROPN
american_scientific_journal-4515	158	32	[	[	X
american_scientific_journal-4515	158	33	12	12	NUM
american_scientific_journal-4515	158	34	]	]	PUNCT
american_scientific_journal-4515	158	35	behnam	behnam	NOUN
american_scientific_journal-4515	158	36	asadi	asadi	PROPN
american_scientific_journal-4515	158	37	,	,	PUNCT
american_scientific_journal-4515	158	38	“	"	PUNCT
american_scientific_journal-4515	158	39	single	single	ADJ
american_scientific_journal-4515	158	40	and	and	CCONJ
american_scientific_journal-4515	158	41	dual	dual	ADJ
american_scientific_journal-4515	158	42	arm	arm	NOUN
american_scientific_journal-4515	158	43	manipulator	manipulator	NOUN
american_scientific_journal-4515	158	44	motion	motion	NOUN
american_scientific_journal-4515	158	45	planning	planning	NOUN
american_scientific_journal-4515	158	46	library	library	NOUN
american_scientific_journal-4515	158	47	”	"	PUNCT
american_scientific_journal-4515	158	48	,	,	PUNCT
american_scientific_journal-4515	158	49	2015	2015	NUM
american_scientific_journal-4515	158	50	[	[	X
american_scientific_journal-4515	158	51	13	13	NUM
american_scientific_journal-4515	158	52	]	]	PUNCT
american_scientific_journal-4515	158	53	anirudh	anirudh	VERB
american_scientific_journal-4515	158	54	vemula	vemula	NOUN
american_scientific_journal-4515	158	55	,	,	PUNCT
american_scientific_journal-4515	158	56	“	"	PUNCT
american_scientific_journal-4515	158	57	safe	safe	ADJ
american_scientific_journal-4515	158	58	and	and	CCONJ
american_scientific_journal-4515	158	59	efficient	efficient	ADJ
american_scientific_journal-4515	158	60	navigation	navigation	NOUN
american_scientific_journal-4515	158	61	in	in	ADP
american_scientific_journal-4515	158	62	dynamic	dynamic	ADJ
american_scientific_journal-4515	158	63	environments	environment	NOUN
american_scientific_journal-4515	158	64	,	,	PUNCT
american_scientific_journal-4515	158	65	”	"	PUNCT
american_scientific_journal-4515	158	66	no	no	NOUN
american_scientific_journal-4515	158	67	.	.	PUNCT
american_scientific_journal-4515	159	1	july	july	PROPN
american_scientific_journal-4515	159	2	,	,	PUNCT
american_scientific_journal-4515	159	3	2017	2017	NUM
american_scientific_journal-4515	159	4	[	[	SYM
american_scientific_journal-4515	159	5	14	14	NUM
american_scientific_journal-4515	159	6	]	]	X
american_scientific_journal-4515	159	7	anthony	anthony	PROPN
american_scientific_journal-4515	159	8	stentz	stentz	PROPN
american_scientific_journal-4515	159	9	,	,	PUNCT
american_scientific_journal-4515	159	10	“	"	PUNCT
american_scientific_journal-4515	159	11	the	the	DET
american_scientific_journal-4515	159	12	d	d	PROPN
american_scientific_journal-4515	159	13	*	*	NOUN
american_scientific_journal-4515	159	14	algorithm	algorithm	NOUN
american_scientific_journal-4515	159	15	for	for	ADP
american_scientific_journal-4515	159	16	real	real	ADJ
american_scientific_journal-4515	159	17	-	-	PUNCT
american_scientific_journal-4515	159	18	time	time	NOUN
american_scientific_journal-4515	159	19	planning	planning	NOUN
american_scientific_journal-4515	159	20	of	of	ADP
american_scientific_journal-4515	159	21	optimal	optimal	ADJ
american_scientific_journal-4515	159	22	traverses	traverse	NOUN
american_scientific_journal-4515	159	23	”	"	PUNCT
american_scientific_journal-4515	159	24	,	,	PUNCT
american_scientific_journal-4515	159	25	the	the	DET
american_scientific_journal-4515	159	26	robotics	robotic	NOUN
american_scientific_journal-4515	159	27	institute	institute	PROPN
american_scientific_journal-4515	159	28	carnegie	carnegie	PROPN
american_scientific_journal-4515	159	29	mellon	mellon	PROPN
american_scientific_journal-4515	159	30	university	university	PROPN
american_scientific_journal-4515	159	31	pittsburgh	pittsburgh	PROPN
american_scientific_journal-4515	159	32	,	,	PUNCT
american_scientific_journal-4515	159	33	pennsylvania	pennsylvania	PROPN
american_scientific_journal-4515	159	34	15213	15213	NUM
american_scientific_journal-4515	159	35	september	september	PROPN
american_scientific_journal-4515	159	36	1994	1994	NUM
american_scientific_journal-4515	159	37	.	.	PUNCT
american_scientific_journal-4515	160	1	[	[	X
american_scientific_journal-4515	160	2	15	15	NUM
american_scientific_journal-4515	160	3	]	]	PUNCT
american_scientific_journal-4515	160	4	p.	p.	NOUN
american_scientific_journal-4515	160	5	boonyaritdachochai	boonyaritdachochai	ADJ
american_scientific_journal-4515	160	6	,	,	PUNCT
american_scientific_journal-4515	160	7	et	et	PROPN
american_scientific_journal-4515	160	8	al	al	PROPN
american_scientific_journal-4515	160	9	.	.	PROPN
american_scientific_journal-4515	160	10	,	,	PUNCT
american_scientific_journal-4515	160	11	"	"	PUNCT
american_scientific_journal-4515	160	12	optimal	optimal	ADJ
american_scientific_journal-4515	160	13	congestion	congestion	NOUN
american_scientific_journal-4515	160	14	management	management	NOUN
american_scientific_journal-4515	160	15	in	in	ADP
american_scientific_journal-4515	160	16	an	an	DET
american_scientific_journal-4515	160	17	electricity	electricity	NOUN
american_scientific_journal-4515	160	18	market	market	NOUN
american_scientific_journal-4515	160	19	using	use	VERB
american_scientific_journal-4515	160	20	particle	particle	NOUN
american_scientific_journal-4515	160	21	american	american	PROPN
american_scientific_journal-4515	160	22	scientific	scientific	PROPN
american_scientific_journal-4515	160	23	research	research	NOUN
american_scientific_journal-4515	160	24	journal	journal	NOUN
american_scientific_journal-4515	160	25	for	for	ADP
american_scientific_journal-4515	160	26	engineering	engineering	NOUN
american_scientific_journal-4515	160	27	,	,	PUNCT
american_scientific_journal-4515	160	28	technology	technology	NOUN
american_scientific_journal-4515	160	29	,	,	PUNCT
american_scientific_journal-4515	160	30	and	and	CCONJ
american_scientific_journal-4515	160	31	sciences	science	NOUN
american_scientific_journal-4515	160	32	(	(	PUNCT
american_scientific_journal-4515	160	33	asrjets	asrjet	NOUN
american_scientific_journal-4515	160	34	)	)	PUNCT
american_scientific_journal-4515	160	35	(	(	PUNCT
american_scientific_journal-4515	160	36	2018	2018	NUM
american_scientific_journal-4515	160	37	)	)	PUNCT
american_scientific_journal-4515	160	38	volume	volume	NOUN
american_scientific_journal-4515	160	39	49	49	NUM
american_scientific_journal-4515	160	40	,	,	PUNCT
american_scientific_journal-4515	160	41	no	no	DET
american_scientific_journal-4515	160	42	1	1	NUM
american_scientific_journal-4515	160	43	,	,	PUNCT
american_scientific_journal-4515	160	44	pp	pp	ADV
american_scientific_journal-4515	160	45	257	257	NUM
american_scientific_journal-4515	160	46	-	-	SYM
american_scientific_journal-4515	160	47	271	271	NUM
american_scientific_journal-4515	160	48	271	271	NUM
american_scientific_journal-4515	160	49	swarm	swarm	NOUN
american_scientific_journal-4515	160	50	optimization	optimization	NOUN
american_scientific_journal-4515	160	51	with	with	ADP
american_scientific_journal-4515	160	52	time	time	NOUN
american_scientific_journal-4515	160	53	-	-	PUNCT
american_scientific_journal-4515	160	54	varying	vary	VERB
american_scientific_journal-4515	160	55	acceleration	acceleration	NOUN
american_scientific_journal-4515	160	56	coefficients	coefficient	NOUN
american_scientific_journal-4515	160	57	,	,	PUNCT
american_scientific_journal-4515	160	58	"	"	PUNCT
american_scientific_journal-4515	160	59	computers	computer	NOUN
american_scientific_journal-4515	160	60	&	&	CCONJ
american_scientific_journal-4515	160	61	mathematics	mathematic	NOUN
american_scientific_journal-4515	160	62	with	with	ADP
american_scientific_journal-4515	160	63	applications	application	NOUN
american_scientific_journal-4515	160	64	,	,	PUNCT
american_scientific_journal-4515	160	65	vol	vol	NOUN
american_scientific_journal-4515	160	66	.	.	PUNCT
american_scientific_journal-4515	161	1	in	in	ADP
american_scientific_journal-4515	161	2	press	press	NOUN
american_scientific_journal-4515	161	3	,	,	PUNCT
american_scientific_journal-4515	161	4	corrected	correct	VERB
american_scientific_journal-4515	161	5	proof	proof	NOUN
american_scientific_journal-4515	161	6	,	,	PUNCT
american_scientific_journal-4515	161	7	2010	2010	NUM
american_scientific_journal-4515	161	8	.	.	PUNCT
american_scientific_journal-4515	162	1	[	[	X
american_scientific_journal-4515	162	2	16	16	NUM
american_scientific_journal-4515	162	3	]	]	PUNCT
american_scientific_journal-4515	162	4	riccardo	riccardo	PROPN
american_scientific_journal-4515	162	5	poli	poli	PROPN
american_scientific_journal-4515	162	6	,	,	PUNCT
american_scientific_journal-4515	162	7	james	james	PROPN
american_scientific_journal-4515	162	8	kennedy	kennedy	PROPN
american_scientific_journal-4515	162	9	and	and	CCONJ
american_scientific_journal-4515	162	10	tim	tim	PROPN
american_scientific_journal-4515	162	11	blackwell	blackwell	PROPN
american_scientific_journal-4515	162	12	“	"	PUNCT
american_scientific_journal-4515	162	13	particle	particle	NOUN
american_scientific_journal-4515	162	14	swarm	swarm	NOUN
american_scientific_journal-4515	162	15	optimization	optimization	NOUN
american_scientific_journal-4515	162	16	an	an	DET
american_scientific_journal-4515	162	17	overview	overview	NOUN
american_scientific_journal-4515	162	18	“	"	PUNCT
american_scientific_journal-4515	162	19	springer	springer	NOUN
american_scientific_journal-4515	162	20	science	science	NOUN
american_scientific_journal-4515	162	21	1	1	NUM
american_scientific_journal-4515	162	22	august	august	NOUN
american_scientific_journal-4515	162	23	2007	2007	NUM
american_scientific_journal-4515	162	24	[	[	X
american_scientific_journal-4515	162	25	17	17	NUM
american_scientific_journal-4515	162	26	]	]	X
american_scientific_journal-4515	162	27	enric	enric	PROPN
american_scientific_journal-4515	162	28	cervera	cervera	PROPN
american_scientific_journal-4515	162	29	and	and	CCONJ
american_scientific_journal-4515	162	30	i	i	PRON
american_scientific_journal-4515	162	31	mateu	mateu	NOUN
american_scientific_journal-4515	162	32	,	,	PUNCT
american_scientific_journal-4515	162	33	perception	perception	NOUN
american_scientific_journal-4515	162	34	–	–	PUNCT
american_scientific_journal-4515	162	35	based	base	VERB
american_scientific_journal-4515	162	36	learning	learning	NOUN
american_scientific_journal-4515	162	37	for	for	ADP
american_scientific_journal-4515	162	38	fine	fine	ADJ
american_scientific_journal-4515	162	39	motin	motin	PROPN
american_scientific_journal-4515	162	40	planning	planning	NOUN
american_scientific_journal-4515	162	41	in	in	ADP
american_scientific_journal-4515	162	42	robot	robot	NOUN
american_scientific_journal-4515	162	43	manipulation	manipulation	NOUN
american_scientific_journal-4515	162	44	,	,	PUNCT
american_scientific_journal-4515	162	45	1997	1997	NUM
american_scientific_journal-4515	162	46	.	.	PUNCT
american_scientific_journal-4515	163	1	[	[	X
american_scientific_journal-4515	163	2	18	18	NUM
american_scientific_journal-4515	163	3	]	]	PUNCT
american_scientific_journal-4515	163	4	behnam	behnam	NOUN
american_scientific_journal-4515	163	5	asadi	asadi	PROPN
american_scientific_journal-4515	163	6	,	,	PUNCT
american_scientific_journal-4515	163	7	single	single	ADJ
american_scientific_journal-4515	163	8	and	and	CCONJ
american_scientific_journal-4515	163	9	dual	dual	ADJ
american_scientific_journal-4515	163	10	arm	arm	NOUN
american_scientific_journal-4515	163	11	manipulator	manipulator	NOUN
american_scientific_journal-4515	163	12	motion	motion	NOUN
american_scientific_journal-4515	163	13	planning	planning	NOUN
american_scientific_journal-4515	163	14	library	library	NOUN
american_scientific_journal-4515	163	15	,	,	PUNCT
american_scientific_journal-4515	163	16	2015	2015	NUM
american_scientific_journal-4515	163	17	.	.	PUNCT
american_scientific_journal-4515	164	1	[	[	X
american_scientific_journal-4515	164	2	19	19	NUM
american_scientific_journal-4515	164	3	]	]	X
american_scientific_journal-4515	164	4	james	james	PROPN
american_scientific_journal-4515	164	5	kennedy	kennedy	PROPN
american_scientific_journal-4515	164	6	and	and	CCONJ
american_scientific_journal-4515	164	7	russell	russell	PROPN
american_scientific_journal-4515	164	8	eberhart	eberhart	PROPN
american_scientific_journal-4515	164	9	purdue	purdue	PROPN
american_scientific_journal-4515	164	10	school	school	NOUN
american_scientific_journal-4515	164	11	of	of	ADP
american_scientific_journal-4515	164	12	engineering	engineering	NOUN
american_scientific_journal-4515	164	13	and	and	CCONJ
american_scientific_journal-4515	164	14	technology	technology	NOUN
american_scientific_journal-4515	164	15	(	(	PUNCT
american_scientific_journal-4515	164	16	1995	1995	NUM
american_scientific_journal-4515	164	17	ieee	ieee	NOUN
american_scientific_journal-4515	164	18	)	)	PUNCT
american_scientific_journal-4515	164	19	.	.	PUNCT
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american_scientific_journal-4515	165	2	20	20	NUM
american_scientific_journal-4515	165	3	]	]	PUNCT
american_scientific_journal-4515	165	4	k.	k.	PROPN
american_scientific_journal-4515	165	5	t.	t.	PROPN
american_scientific_journal-4515	165	6	chaturvedi	chaturvedi	PROPN
american_scientific_journal-4515	165	7	,	,	PUNCT
american_scientific_journal-4515	165	8	et	et	PROPN
american_scientific_journal-4515	165	9	al	al	PROPN
american_scientific_journal-4515	165	10	.	.	PROPN
american_scientific_journal-4515	165	11	,	,	PUNCT
american_scientific_journal-4515	165	12	"	"	PUNCT
american_scientific_journal-4515	165	13	particle	particle	NOUN
american_scientific_journal-4515	165	14	swarm	swarm	NOUN
american_scientific_journal-4515	165	15	optimization	optimization	NOUN
american_scientific_journal-4515	165	16	with	with	ADP
american_scientific_journal-4515	165	17	time	time	NOUN
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american_scientific_journal-4515	165	19	acceleration	acceleration	NOUN
american_scientific_journal-4515	165	20	coefficients	coefficient	NOUN
american_scientific_journal-4515	165	21	for	for	ADP
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american_scientific_journal-4515	165	31	journal	journal	NOUN
american_scientific_journal-4515	165	32	of	of	ADP
american_scientific_journal-4515	165	33	electrical	electrical	ADJ
american_scientific_journal-4515	165	34	power	power	NOUN
american_scientific_journal-4515	165	35	&	&	CCONJ
american_scientific_journal-4515	165	36	energy	energy	NOUN
american_scientific_journal-4515	165	37	systems	system	NOUN
american_scientific_journal-4515	165	38	,	,	PUNCT
american_scientific_journal-4515	165	39	vol	vol	NOUN
american_scientific_journal-4515	165	40	.	.	PROPN
american_scientific_journal-4515	165	41	31	31	NUM
american_scientific_journal-4515	165	42	,	,	PUNCT
american_scientific_journal-4515	165	43	pp	pp	ADJ
american_scientific_journal-4515	165	44	.	.	PUNCT
american_scientific_journal-4515	166	1	249	249	NUM
american_scientific_journal-4515	166	2	-	-	SYM
american_scientific_journal-4515	166	3	257	257	NUM
american_scientific_journal-4515	166	4	,	,	PUNCT
american_scientific_journal-4515	166	5	2009	2009	NUM
american_scientific_journal-4515	166	6	.	.	PUNCT