id	sid	tid	token	lemma	pos
american_scientific_journal-7083	1	1	161	161	NUM
american_scientific_journal-7083	1	2	american	american	ADJ
american_scientific_journal-7083	1	3	academic	academic	ADJ
american_scientific_journal-7083	1	4	scientific	scientific	ADJ
american_scientific_journal-7083	1	5	research	research	NOUN
american_scientific_journal-7083	1	6	journal	journal	NOUN
american_scientific_journal-7083	1	7	for	for	ADP
american_scientific_journal-7083	1	8	engineering	engineering	NOUN
american_scientific_journal-7083	1	9	,	,	PUNCT
american_scientific_journal-7083	1	10	technology	technology	NOUN
american_scientific_journal-7083	1	11	,	,	PUNCT
american_scientific_journal-7083	1	12	and	and	CCONJ
american_scientific_journal-7083	1	13	sciences	sciences	PROPN
american_scientific_journal-7083	1	14	issn	issn	PROPN
american_scientific_journal-7083	1	15	(	(	PUNCT
american_scientific_journal-7083	1	16	print	print	NOUN
american_scientific_journal-7083	1	17	)	)	PUNCT
american_scientific_journal-7083	1	18	2313	2313	NUM
american_scientific_journal-7083	1	19	-	-	SYM
american_scientific_journal-7083	1	20	4410	4410	NUM
american_scientific_journal-7083	1	21	,	,	PUNCT
american_scientific_journal-7083	1	22	issn	issn	PROPN
american_scientific_journal-7083	1	23	(	(	PUNCT
american_scientific_journal-7083	1	24	online	online	ADJ
american_scientific_journal-7083	1	25	)	)	PUNCT
american_scientific_journal-7083	1	26	2313	2313	NUM
american_scientific_journal-7083	1	27	-	-	SYM
american_scientific_journal-7083	1	28	4402	4402	NUM
american_scientific_journal-7083	1	29	http://asrjetsjournal.org/	http://asrjetsjournal.org/	NOUN
american_scientific_journal-7083	1	30	survey	survey	NOUN
american_scientific_journal-7083	1	31	on	on	ADP
american_scientific_journal-7083	1	32	path	path	NOUN
american_scientific_journal-7083	1	33	planning	planning	NOUN
american_scientific_journal-7083	1	34	of	of	ADP
american_scientific_journal-7083	1	35	mobile	mobile	ADJ
american_scientific_journal-7083	1	36	robot	robot	NOUN
american_scientific_journal-7083	1	37	with	with	ADP
american_scientific_journal-7083	1	38	multi	multi	ADJ
american_scientific_journal-7083	1	39	algorithms	algorithms	PROPN
american_scientific_journal-7083	1	40	ali	ali	PROPN
american_scientific_journal-7083	1	41	h.	h.	PROPN
american_scientific_journal-7083	1	42	al	al	PROPN
american_scientific_journal-7083	1	43	-	-	PUNCT
american_scientific_journal-7083	1	44	beaty	beaty	PROPN
american_scientific_journal-7083	1	45	a	a	PROPN
american_scientific_journal-7083	1	46	*	*	PROPN
american_scientific_journal-7083	1	47	,	,	PUNCT
american_scientific_journal-7083	1	48	nemir	nemir	PROPN
american_scientific_journal-7083	1	49	al	al	PROPN
american_scientific_journal-7083	1	50	-	-	PUNCT
american_scientific_journal-7083	1	51	azzawi	azzawi	PROPN
american_scientific_journal-7083	1	52	b	b	PROPN
american_scientific_journal-7083	1	53	,	,	PUNCT
american_scientific_journal-7083	1	54	ahmed	ahmed	PROPN
american_scientific_journal-7083	1	55	r.j	r.j	PROPN
american_scientific_journal-7083	1	56	.	.	PROPN
american_scientific_journal-7083	1	57	almusawi	almusawi	PROPN
american_scientific_journal-7083	2	1	c	c	PROPN
american_scientific_journal-7083	2	2	a	a	PRON
american_scientific_journal-7083	2	3	,	,	PUNCT
american_scientific_journal-7083	2	4	b	b	NOUN
american_scientific_journal-7083	2	5	,	,	PUNCT
american_scientific_journal-7083	2	6	c	c	PROPN
american_scientific_journal-7083	2	7	university	university	PROPN
american_scientific_journal-7083	2	8	of	of	ADP
american_scientific_journal-7083	2	9	baghdad	baghdad	PROPN
american_scientific_journal-7083	2	10	/al	/al	PROPN
american_scientific_journal-7083	2	11	-	-	PUNCT
american_scientific_journal-7083	2	12	khwarizmi	khwarizmi	PROPN
american_scientific_journal-7083	2	13	college	college	NOUN
american_scientific_journal-7083	2	14	of	of	ADP
american_scientific_journal-7083	2	15	engineering	engineering	PROPN
american_scientific_journal-7083	2	16	,	,	PUNCT
american_scientific_journal-7083	2	17	baghdad	baghdad	PROPN
american_scientific_journal-7083	2	18	,	,	PUNCT
american_scientific_journal-7083	2	19	iraq	iraq	PROPN
american_scientific_journal-7083	2	20	a	a	DET
american_scientific_journal-7083	2	21	email	email	NOUN
american_scientific_journal-7083	2	22	:	:	PUNCT
american_scientific_journal-7083	3	1	alialbeatymeca@gmail.com	alialbeatymeca@gmail.com	X
american_scientific_journal-7083	3	2	b	b	X
american_scientific_journal-7083	3	3	email	email	NOUN
american_scientific_journal-7083	3	4	:	:	PUNCT
american_scientific_journal-7083	3	5	dr.nemir@kecbu.uobaghdad.edu.iq	dr.nemir@kecbu.uobaghdad.edu.iq	ADJ
american_scientific_journal-7083	3	6	c	c	PROPN
american_scientific_journal-7083	3	7	email	email	NOUN
american_scientific_journal-7083	3	8	:	:	PUNCT
american_scientific_journal-7083	3	9	ahmedalmusawi@kecbu.uobaghada.edu.iq	ahmedalmusawi@kecbu.uobaghada.edu.iq	NOUN
american_scientific_journal-7083	3	10	abstract	abstract	ADJ
american_scientific_journal-7083	3	11	sensible	sensible	ADJ
american_scientific_journal-7083	3	12	practical	practical	ADJ
american_scientific_journal-7083	3	13	environment	environment	NOUN
american_scientific_journal-7083	3	14	for	for	ADP
american_scientific_journal-7083	3	15	path	path	NOUN
american_scientific_journal-7083	3	16	and	and	CCONJ
american_scientific_journal-7083	3	17	continuous	continuous	ADJ
american_scientific_journal-7083	3	18	motion	motion	NOUN
american_scientific_journal-7083	3	19	preparation	preparation	NOUN
american_scientific_journal-7083	3	20	problems	problem	NOUN
american_scientific_journal-7083	3	21	usually	usually	ADV
american_scientific_journal-7083	3	22	involves	involve	VERB
american_scientific_journal-7083	3	23	various	various	ADJ
american_scientific_journal-7083	3	24	operational	operational	ADJ
american_scientific_journal-7083	3	25	areas	area	NOUN
american_scientific_journal-7083	3	26	coupled	couple	VERB
american_scientific_journal-7083	3	27	with	with	ADP
american_scientific_journal-7083	3	28	indoor	indoor	ADJ
american_scientific_journal-7083	3	29	usage	usage	NOUN
american_scientific_journal-7083	3	30	comprising	comprising	NOUN
american_scientific_journal-7083	3	31	of	of	ADP
american_scientific_journal-7083	3	32	multiple	multiple	ADJ
american_scientific_journal-7083	3	33	apartments	apartment	NOUN
american_scientific_journal-7083	3	34	,	,	PUNCT
american_scientific_journal-7083	3	35	corridors	corridor	NOUN
american_scientific_journal-7083	3	36	,	,	PUNCT
american_scientific_journal-7083	3	37	a	a	DET
american_scientific_journal-7083	3	38	few	few	ADJ
american_scientific_journal-7083	3	39	doors	door	NOUN
american_scientific_journal-7083	3	40	and	and	CCONJ
american_scientific_journal-7083	3	41	several	several	ADJ
american_scientific_journal-7083	3	42	static	static	ADJ
american_scientific_journal-7083	3	43	and	and	CCONJ
american_scientific_journal-7083	3	44	active	active	ADJ
american_scientific_journal-7083	3	45	obstacles	obstacle	NOUN
american_scientific_journal-7083	3	46	in	in	ADP
american_scientific_journal-7083	3	47	between	between	ADP
american_scientific_journal-7083	3	48	.	.	PUNCT
american_scientific_journal-7083	4	1	the	the	DET
american_scientific_journal-7083	4	2	disintegration	disintegration	NOUN
american_scientific_journal-7083	4	3	of	of	ADP
american_scientific_journal-7083	4	4	this	this	DET
american_scientific_journal-7083	4	5	system	system	NOUN
american_scientific_journal-7083	4	6	into	into	ADP
american_scientific_journal-7083	4	7	limited	limited	ADJ
american_scientific_journal-7083	4	8	areas	area	NOUN
american_scientific_journal-7083	4	9	or	or	CCONJ
american_scientific_journal-7083	4	10	regions	region	NOUN
american_scientific_journal-7083	4	11	indicates	indicate	VERB
american_scientific_journal-7083	4	12	an	an	DET
american_scientific_journal-7083	4	13	effect	effect	NOUN
american_scientific_journal-7083	4	14	on	on	ADP
american_scientific_journal-7083	4	15	the	the	DET
american_scientific_journal-7083	4	16	fun	fun	ADJ
american_scientific_journal-7083	4	17	preparation	preparation	NOUN
american_scientific_journal-7083	4	18	of	of	ADP
american_scientific_journal-7083	4	19	appropriate	appropriate	ADJ
american_scientific_journal-7083	4	20	pathways	pathway	NOUN
american_scientific_journal-7083	4	21	in	in	ADP
american_scientific_journal-7083	4	22	a	a	DET
american_scientific_journal-7083	4	23	complex	complex	ADJ
american_scientific_journal-7083	4	24	setting	setting	NOUN
american_scientific_journal-7083	4	25	.	.	PUNCT
american_scientific_journal-7083	5	1	many	many	ADJ
american_scientific_journal-7083	5	2	algorithms	algorithm	NOUN
american_scientific_journal-7083	5	3	are	be	AUX
american_scientific_journal-7083	5	4	designed	design	VERB
american_scientific_journal-7083	5	5	to	to	PART
american_scientific_journal-7083	5	6	solve	solve	VERB
american_scientific_journal-7083	5	7	problems	problem	NOUN
american_scientific_journal-7083	5	8	with	with	ADP
american_scientific_journal-7083	5	9	narrow	narrow	ADJ
american_scientific_journal-7083	5	10	passages	passage	NOUN
american_scientific_journal-7083	5	11	and	and	CCONJ
american_scientific_journal-7083	5	12	with	with	ADP
american_scientific_journal-7083	5	13	optimal	optimal	ADJ
american_scientific_journal-7083	5	14	solution	solution	NOUN
american_scientific_journal-7083	5	15	for	for	ADP
american_scientific_journal-7083	5	16	more	more	ADJ
american_scientific_journal-7083	5	17	than	than	ADP
american_scientific_journal-7083	5	18	one	one	NUM
american_scientific_journal-7083	5	19	field	field	NOUN
american_scientific_journal-7083	5	20	.	.	PUNCT
american_scientific_journal-7083	6	1	independent	independent	ADJ
american_scientific_journal-7083	6	2	mobile	mobile	ADJ
american_scientific_journal-7083	6	3	robot	robot	NOUN
american_scientific_journal-7083	6	4	gadget	gadget	NOUN
american_scientific_journal-7083	6	5	would	would	AUX
american_scientific_journal-7083	6	6	have	have	AUX
american_scientific_journal-7083	6	7	felt	feel	VERB
american_scientific_journal-7083	6	8	the	the	DET
american_scientific_journal-7083	6	9	stability	stability	NOUN
american_scientific_journal-7083	6	10	of	of	ADP
american_scientific_journal-7083	6	11	its	its	PRON
american_scientific_journal-7083	6	12	abilities	ability	NOUN
american_scientific_journal-7083	6	13	,	,	PUNCT
american_scientific_journal-7083	6	14	the	the	DET
american_scientific_journal-7083	6	15	steadfastness	steadfastness	NOUN
american_scientific_journal-7083	6	16	and	and	CCONJ
american_scientific_journal-7083	6	17	the	the	DET
american_scientific_journal-7083	6	18	question	question	NOUN
american_scientific_journal-7083	6	19	of	of	ADP
american_scientific_journal-7083	6	20	resilience	resilience	NOUN
american_scientific_journal-7083	6	21	with	with	ADP
american_scientific_journal-7083	6	22	the	the	DET
american_scientific_journal-7083	6	23	project	project	NOUN
american_scientific_journal-7083	6	24	and	and	CCONJ
american_scientific_journal-7083	6	25	the	the	DET
american_scientific_journal-7083	6	26	implementation	implementation	NOUN
american_scientific_journal-7083	6	27	of	of	ADP
american_scientific_journal-7083	6	28	an	an	DET
american_scientific_journal-7083	6	29	innovative	innovative	NOUN
american_scientific_journal-7083	6	30	as	as	ADV
american_scientific_journal-7083	6	31	well	well	ADV
american_scientific_journal-7083	6	32	as	as	ADP
american_scientific_journal-7083	6	33	an	an	DET
american_scientific_journal-7083	6	34	efficient	efficient	ADJ
american_scientific_journal-7083	6	35	plan	plan	NOUN
american_scientific_journal-7083	6	36	with	with	ADP
american_scientific_journal-7083	6	37	the	the	DET
american_scientific_journal-7083	6	38	best	good	ADJ
american_scientific_journal-7083	6	39	approach	approach	NOUN
american_scientific_journal-7083	6	40	.	.	PUNCT
american_scientific_journal-7083	7	1	navigation	navigation	NOUN
american_scientific_journal-7083	7	2	algorithms	algorithm	NOUN
american_scientific_journal-7083	7	3	reaching	reach	VERB
american_scientific_journal-7083	7	4	a	a	DET
american_scientific_journal-7083	7	5	certain	certain	ADJ
american_scientific_journal-7083	7	6	sophistication	sophistication	NOUN
american_scientific_journal-7083	7	7	in	in	ADP
american_scientific_journal-7083	7	8	the	the	DET
american_scientific_journal-7083	7	9	field	field	NOUN
american_scientific_journal-7083	7	10	of	of	ADP
american_scientific_journal-7083	7	11	autonomous	autonomous	ADJ
american_scientific_journal-7083	7	12	mobile	mobile	ADJ
american_scientific_journal-7083	7	13	robot	robot	NOUN
american_scientific_journal-7083	7	14	,	,	PUNCT
american_scientific_journal-7083	7	15	which	which	PRON
american_scientific_journal-7083	7	16	ensures	ensure	VERB
american_scientific_journal-7083	7	17	that	that	SCONJ
american_scientific_journal-7083	7	18	most	most	ADJ
american_scientific_journal-7083	7	19	work	work	NOUN
american_scientific_journal-7083	7	20	now	now	ADV
american_scientific_journal-7083	7	21	focuses	focus	VERB
american_scientific_journal-7083	7	22	on	on	ADP
american_scientific_journal-7083	7	23	more	more	ADJ
american_scientific_journal-7083	7	24	specialized	specialized	ADJ
american_scientific_journal-7083	7	25	activities	activity	NOUN
american_scientific_journal-7083	7	26	such	such	ADJ
american_scientific_journal-7083	7	27	as	as	ADP
american_scientific_journal-7083	7	28	efficient	efficient	ADJ
american_scientific_journal-7083	7	29	route	route	NOUN
american_scientific_journal-7083	7	30	planning	planning	NOUN
american_scientific_journal-7083	7	31	and	and	CCONJ
american_scientific_journal-7083	7	32	navigation	navigation	NOUN
american_scientific_journal-7083	7	33	across	across	ADP
american_scientific_journal-7083	7	34	complex	complex	ADJ
american_scientific_journal-7083	7	35	environments	environment	NOUN
american_scientific_journal-7083	7	36	.	.	PUNCT
american_scientific_journal-7083	8	1	adaptive	adaptive	ADJ
american_scientific_journal-7083	8	2	way	way	NOUN
american_scientific_journal-7083	8	3	to	to	PART
american_scientific_journal-7083	8	4	prepare	prepare	VERB
american_scientific_journal-7083	8	5	and	and	CCONJ
american_scientific_journal-7083	8	6	maneuver	maneuver	VERB
american_scientific_journal-7083	8	7	needs	need	NOUN
american_scientific_journal-7083	8	8	to	to	PART
american_scientific_journal-7083	8	9	establish	establish	VERB
american_scientific_journal-7083	8	10	learning	learning	NOUN
american_scientific_journal-7083	8	11	thresholds	threshold	NOUN
american_scientific_journal-7083	8	12	,	,	PUNCT
american_scientific_journal-7083	8	13	legislation	legislation	NOUN
american_scientific_journal-7083	8	14	to	to	PART
american_scientific_journal-7083	8	15	identify	identify	VERB
american_scientific_journal-7083	8	16	areas	area	NOUN
american_scientific_journal-7083	8	17	and	and	CCONJ
american_scientific_journal-7083	8	18	to	to	PART
american_scientific_journal-7083	8	19	specify	specify	VERB
american_scientific_journal-7083	8	20	planned	planned	ADJ
american_scientific_journal-7083	8	21	requirements	requirement	NOUN
american_scientific_journal-7083	8	22	of	of	ADP
american_scientific_journal-7083	8	23	the	the	DET
american_scientific_journal-7083	8	24	library	library	NOUN
american_scientific_journal-7083	8	25	.	.	PUNCT
american_scientific_journal-7083	9	1	the	the	DET
american_scientific_journal-7083	9	2	aim	aim	NOUN
american_scientific_journal-7083	9	3	of	of	ADP
american_scientific_journal-7083	9	4	this	this	DET
american_scientific_journal-7083	9	5	survey	survey	NOUN
american_scientific_journal-7083	9	6	is	be	AUX
american_scientific_journal-7083	9	7	studying	study	VERB
american_scientific_journal-7083	9	8	many	many	ADJ
american_scientific_journal-7083	9	9	algorithms	algorithm	NOUN
american_scientific_journal-7083	9	10	to	to	PART
american_scientific_journal-7083	9	11	view	view	VERB
american_scientific_journal-7083	9	12	the	the	DET
american_scientific_journal-7083	9	13	advantage	advantage	NOUN
american_scientific_journal-7083	9	14	and	and	CCONJ
american_scientific_journal-7083	9	15	disadvantage	disadvantage	NOUN
american_scientific_journal-7083	9	16	for	for	ADP
american_scientific_journal-7083	9	17	each	each	DET
american_scientific_journal-7083	9	18	method	method	NOUN
american_scientific_journal-7083	9	19	then	then	ADV
american_scientific_journal-7083	9	20	can	can	AUX
american_scientific_journal-7083	9	21	use	use	VERB
american_scientific_journal-7083	9	22	optimal	optimal	ADJ
american_scientific_journal-7083	9	23	method	method	NOUN
american_scientific_journal-7083	9	24	depended	depend	VERB
american_scientific_journal-7083	9	25	on	on	ADP
american_scientific_journal-7083	9	26	this	this	DET
american_scientific_journal-7083	9	27	study	study	NOUN
american_scientific_journal-7083	9	28	.	.	PUNCT
american_scientific_journal-7083	10	1	keywords	keyword	NOUN
american_scientific_journal-7083	10	2	:	:	PUNCT
american_scientific_journal-7083	10	3	mobile	mobile	ADJ
american_scientific_journal-7083	10	4	robot	robot	NOUN
american_scientific_journal-7083	10	5	;	;	PUNCT
american_scientific_journal-7083	10	6	path	path	NOUN
american_scientific_journal-7083	10	7	planning	planning	NOUN
american_scientific_journal-7083	10	8	;	;	PUNCT
american_scientific_journal-7083	10	9	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	10	10	logic	logic	NOUN
american_scientific_journal-7083	10	11	;	;	PUNCT
american_scientific_journal-7083	10	12	generic	generic	ADJ
american_scientific_journal-7083	10	13	algorithm	algorithm	NOUN
american_scientific_journal-7083	10	14	;	;	PUNCT
american_scientific_journal-7083	10	15	ant	ant	ADJ
american_scientific_journal-7083	10	16	colony	colony	NOUN
american_scientific_journal-7083	10	17	algorithm	algorithm	NOUN
american_scientific_journal-7083	10	18	;	;	PUNCT
american_scientific_journal-7083	10	19	a*algorithm	a*algorithm	PROPN
american_scientific_journal-7083	10	20	.	.	PUNCT
american_scientific_journal-7083	11	1	1	1	X
american_scientific_journal-7083	11	2	.	.	X
american_scientific_journal-7083	11	3	introduction	introduction	NOUN
american_scientific_journal-7083	11	4	the	the	DET
american_scientific_journal-7083	11	5	path	path	NOUN
american_scientific_journal-7083	11	6	planning	planning	NOUN
american_scientific_journal-7083	11	7	of	of	ADP
american_scientific_journal-7083	11	8	intelligent	intelligent	ADJ
american_scientific_journal-7083	11	9	mobile	mobile	ADJ
american_scientific_journal-7083	11	10	robot	robot	NOUN
american_scientific_journal-7083	11	11	is	be	AUX
american_scientific_journal-7083	11	12	one	one	NUM
american_scientific_journal-7083	11	13	of	of	ADP
american_scientific_journal-7083	11	14	the	the	DET
american_scientific_journal-7083	11	15	most	most	ADV
american_scientific_journal-7083	11	16	essential	essential	ADJ
american_scientific_journal-7083	11	17	robotic	robotic	ADJ
american_scientific_journal-7083	11	18	studies	study	NOUN
american_scientific_journal-7083	11	19	areas	area	NOUN
american_scientific_journal-7083	11	20	.	.	PUNCT
american_scientific_journal-7083	12	1	in	in	ADP
american_scientific_journal-7083	12	2	this	this	DET
american_scientific_journal-7083	12	3	article	article	NOUN
american_scientific_journal-7083	12	4	the	the	DET
american_scientific_journal-7083	12	5	technique	technique	NOUN
american_scientific_journal-7083	12	6	of	of	ADP
american_scientific_journal-7083	12	7	path	path	NOUN
american_scientific_journal-7083	12	8	planning	planning	NOUN
american_scientific_journal-7083	12	9	is	be	AUX
american_scientific_journal-7083	12	10	classified	classify	VERB
american_scientific_journal-7083	12	11	into	into	ADP
american_scientific_journal-7083	12	12	four	four	NUM
american_scientific_journal-7083	12	13	categories	category	NOUN
american_scientific_journal-7083	12	14	.	.	PUNCT
american_scientific_journal-7083	13	1	template	template	NOUN
american_scientific_journal-7083	13	2	based	base	VERB
american_scientific_journal-7083	13	3	,	,	PUNCT
american_scientific_journal-7083	13	4	artificial	artificial	ADJ
american_scientific_journal-7083	13	5	capacity	capacity	NOUN
american_scientific_journal-7083	13	6	discipline	discipline	NOUN
american_scientific_journal-7083	13	7	based	base	VERB
american_scientific_journal-7083	13	8	,	,	PUNCT
american_scientific_journal-7083	13	9	map	map	VERB
american_scientific_journal-7083	13	10	building	building	NOUN
american_scientific_journal-7083	13	11	primarily	primarily	ADV
american_scientific_journal-7083	13	12	based	base	VERB
american_scientific_journal-7083	13	13	and	and	CCONJ
american_scientific_journal-7083	13	14	artificial	artificial	ADJ
american_scientific_journal-7083	13	15	smart	smart	ADJ
american_scientific_journal-7083	13	16	totally	totally	ADV
american_scientific_journal-7083	13	17	based	base	VERB
american_scientific_journal-7083	13	18	strategies	strategy	NOUN
american_scientific_journal-7083	13	19	.	.	PUNCT
american_scientific_journal-7083	14	1	first	first	ADV
american_scientific_journal-7083	14	2	,	,	PUNCT
american_scientific_journal-7083	14	3	the	the	DET
american_scientific_journal-7083	14	4	primary	primary	ADJ
american_scientific_journal-7083	14	5	theories	theory	NOUN
american_scientific_journal-7083	14	6	of	of	ADP
american_scientific_journal-7083	14	7	the	the	DET
american_scientific_journal-7083	14	8	direction	direction	NOUN
american_scientific_journal-7083	14	9	making	make	VERB
american_scientific_journal-7083	14	10	plans	plan	NOUN
american_scientific_journal-7083	14	11	methods	method	NOUN
american_scientific_journal-7083	14	12	are	be	AUX
american_scientific_journal-7083	14	13	added	add	VERB
american_scientific_journal-7083	14	14	in	in	ADP
american_scientific_journal-7083	14	15	short	short	ADJ
american_scientific_journal-7083	14	16	.	.	PUNCT
american_scientific_journal-7083	15	1	then	then	ADV
american_scientific_journal-7083	15	2	,	,	PUNCT
american_scientific_journal-7083	15	3	the	the	DET
american_scientific_journal-7083	15	4	advantages	advantage	NOUN
american_scientific_journal-7083	15	5	and	and	CCONJ
american_scientific_journal-7083	15	6	obstacles	obstacle	NOUN
american_scientific_journal-7083	15	7	of	of	ADP
american_scientific_journal-7083	15	8	the	the	DET
american_scientific_journal-7083	15	9	methods	method	NOUN
american_scientific_journal-7083	15	10	are	be	AUX
american_scientific_journal-7083	15	11	pointed	point	VERB
american_scientific_journal-7083	15	12	out	out	ADP
american_scientific_journal-7083	15	13	.	.	PUNCT
american_scientific_journal-7083	16	1	finally	finally	ADV
american_scientific_journal-7083	16	2	,	,	PUNCT
american_scientific_journal-7083	16	3	the	the	DET
american_scientific_journal-7083	16	4	technology	technology	NOUN
american_scientific_journal-7083	16	5	developments	development	NOUN
american_scientific_journal-7083	16	6	of	of	ADP
american_scientific_journal-7083	16	7	sensible	sensible	ADJ
american_scientific_journal-7083	16	8	mobile	mobile	ADJ
american_scientific_journal-7083	16	9	robot	robot	NOUN
american_scientific_journal-7083	16	10	direction	direction	NOUN
american_scientific_journal-7083	16	11	making	make	VERB
american_scientific_journal-7083	16	12	plans	plan	NOUN
american_scientific_journal-7083	16	13	are	be	AUX
american_scientific_journal-7083	16	14	given	give	VERB
american_scientific_journal-7083	16	15	.	.	PUNCT
american_scientific_journal-7083	17	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-7083	18	1	*	*	PUNCT
american_scientific_journal-7083	18	2	corresponding	correspond	VERB
american_scientific_journal-7083	18	3	author	author	NOUN
american_scientific_journal-7083	18	4	.	.	PUNCT
american_scientific_journal-7083	19	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-7083	19	2	american	american	PROPN
american_scientific_journal-7083	19	3	academic	academic	PROPN
american_scientific_journal-7083	19	4	scientific	scientific	ADJ
american_scientific_journal-7083	19	5	research	research	NOUN
american_scientific_journal-7083	19	6	journal	journal	NOUN
american_scientific_journal-7083	19	7	for	for	ADP
american_scientific_journal-7083	19	8	engineering	engineering	NOUN
american_scientific_journal-7083	19	9	,	,	PUNCT
american_scientific_journal-7083	19	10	technology	technology	NOUN
american_scientific_journal-7083	19	11	,	,	PUNCT
american_scientific_journal-7083	19	12	and	and	CCONJ
american_scientific_journal-7083	19	13	sciences	science	NOUN
american_scientific_journal-7083	19	14	(	(	PUNCT
american_scientific_journal-7083	19	15	asrjets	asrjet	NOUN
american_scientific_journal-7083	19	16	)	)	PUNCT
american_scientific_journal-7083	19	17	(	(	PUNCT
american_scientific_journal-7083	19	18	2022)volume90	2022)volume90	NUM
american_scientific_journal-7083	19	19	,	,	PUNCT
american_scientific_journal-7083	19	20	no1	no1	NOUN
american_scientific_journal-7083	19	21	,	,	PUNCT
american_scientific_journal-7083	19	22	pp161	pp161	PROPN
american_scientific_journal-7083	19	23	-	-	PUNCT
american_scientific_journal-7083	19	24	174	174	NUM
american_scientific_journal-7083	19	25	162	162	NUM
american_scientific_journal-7083	19	26	2	2	NUM
american_scientific_journal-7083	19	27	.	.	PUNCT
american_scientific_journal-7083	19	28	types	type	NOUN
american_scientific_journal-7083	19	29	of	of	ADP
american_scientific_journal-7083	19	30	algorithms	algorithms	NOUN
american_scientific_journal-7083	19	31	2.1	2.1	NUM
american_scientific_journal-7083	19	32	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	19	33	logic	logic	NOUN
american_scientific_journal-7083	19	34	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	19	35	common	common	ADJ
american_scientific_journal-7083	19	36	sense	sense	NOUN
american_scientific_journal-7083	19	37	manage	manage	NOUN
american_scientific_journal-7083	19	38	is	be	AUX
american_scientific_journal-7083	19	39	described	describe	VERB
american_scientific_journal-7083	19	40	by	by	ADP
american_scientific_journal-7083	19	41	the	the	DET
american_scientific_journal-7083	19	42	utilization	utilization	NOUN
american_scientific_journal-7083	19	43	of	of	ADP
american_scientific_journal-7083	19	44	etymological	etymological	ADJ
american_scientific_journal-7083	19	45	rules	rule	NOUN
american_scientific_journal-7083	19	46	to	to	PART
american_scientific_journal-7083	19	47	control	control	VERB
american_scientific_journal-7083	19	48	and	and	CCONJ
american_scientific_journal-7083	19	49	execute	execute	VERB
american_scientific_journal-7083	19	50	human	human	ADJ
american_scientific_journal-7083	19	51	skill	skill	NOUN
american_scientific_journal-7083	19	52	in	in	ADP
american_scientific_journal-7083	19	53	control	control	NOUN
american_scientific_journal-7083	19	54	machine	machine	NOUN
american_scientific_journal-7083	19	55	with	with	ADP
american_scientific_journal-7083	19	56	the	the	DET
american_scientific_journal-7083	19	57	intention	intention	NOUN
american_scientific_journal-7083	19	58	to	to	PART
american_scientific_journal-7083	19	59	manage	manage	VERB
american_scientific_journal-7083	19	60	the	the	DET
american_scientific_journal-7083	19	61	uncertainty	uncertainty	NOUN
american_scientific_journal-7083	19	62	present	present	ADJ
american_scientific_journal-7083	19	63	inside	inside	ADP
american_scientific_journal-7083	19	64	the	the	DET
american_scientific_journal-7083	19	65	surroundings	surrounding	NOUN
american_scientific_journal-7083	19	66	.	.	PUNCT
american_scientific_journal-7083	20	1	the	the	DET
american_scientific_journal-7083	20	2	authors	author	NOUN
american_scientific_journal-7083	20	3	in	in	ADP
american_scientific_journal-7083	20	4	[	[	X
american_scientific_journal-7083	20	5	1	1	NUM
american_scientific_journal-7083	20	6	]	]	X
american_scientific_journal-7083	20	7	advanced	advanced	ADJ
american_scientific_journal-7083	20	8	conduct	conduct	NOUN
american_scientific_journal-7083	20	9	-	-	PUNCT
american_scientific_journal-7083	20	10	based	base	VERB
american_scientific_journal-7083	20	11	management	management	NOUN
american_scientific_journal-7083	20	12	system	system	NOUN
american_scientific_journal-7083	20	13	under	under	ADP
american_scientific_journal-7083	20	14	which	which	PRON
american_scientific_journal-7083	20	15	the	the	DET
american_scientific_journal-7083	20	16	basic	basic	ADJ
american_scientific_journal-7083	20	17	activity	activity	NOUN
american_scientific_journal-7083	20	18	of	of	ADP
american_scientific_journal-7083	20	19	every	every	DET
american_scientific_journal-7083	20	20	community	community	NOUN
american_scientific_journal-7083	20	21	navigation	navigation	NOUN
american_scientific_journal-7083	20	22	enterprise	enterprise	NOUN
american_scientific_journal-7083	20	23	is	be	AUX
american_scientific_journal-7083	20	24	analyzed	analyze	VERB
american_scientific_journal-7083	20	25	.	.	PUNCT
american_scientific_journal-7083	21	1	he	he	PRON
american_scientific_journal-7083	21	2	often	often	ADV
american_scientific_journal-7083	21	3	used	use	VERB
american_scientific_journal-7083	21	4	a	a	DET
american_scientific_journal-7083	21	5	combination	combination	NOUN
american_scientific_journal-7083	21	6	of	of	ADP
american_scientific_journal-7083	21	7	blurred	blurred	ADJ
american_scientific_journal-7083	21	8	laws	law	NOUN
american_scientific_journal-7083	21	9	and	and	CCONJ
american_scientific_journal-7083	21	10	stereo	stereo	NOUN
american_scientific_journal-7083	21	11	vision	vision	NOUN
american_scientific_journal-7083	21	12	system	system	NOUN
american_scientific_journal-7083	21	13	to	to	PART
american_scientific_journal-7083	21	14	wear	wear	VERB
american_scientific_journal-7083	21	15	loose	loose	ADJ
american_scientific_journal-7083	21	16	navigation	navigation	NOUN
american_scientific_journal-7083	21	17	risks	risk	NOUN
american_scientific_journal-7083	21	18	.	.	PUNCT
american_scientific_journal-7083	22	1	the	the	DET
american_scientific_journal-7083	22	2	authors	author	NOUN
american_scientific_journal-7083	22	3	in	in	ADP
american_scientific_journal-7083	22	4	[	[	X
american_scientific_journal-7083	22	5	2	2	NUM
american_scientific_journal-7083	22	6	]	]	PUNCT
american_scientific_journal-7083	22	7	not	not	PART
american_scientific_journal-7083	22	8	that	that	DET
american_scientific_journal-7083	22	9	new	new	ADJ
american_scientific_journal-7083	22	10	technique	technique	NOUN
american_scientific_journal-7083	22	11	,	,	PUNCT
american_scientific_journal-7083	22	12	minimum	minimum	ADJ
american_scientific_journal-7083	22	13	chance	chance	NOUN
american_scientific_journal-7083	22	14	technique	technique	NOUN
american_scientific_journal-7083	22	15	,	,	PUNCT
american_scientific_journal-7083	22	16	to	to	PART
american_scientific_journal-7083	22	17	deal	deal	VERB
american_scientific_journal-7083	22	18	with	with	ADP
american_scientific_journal-7083	22	19	the	the	DET
american_scientific_journal-7083	22	20	nearby	nearby	ADJ
american_scientific_journal-7083	22	21	course	course	NOUN
american_scientific_journal-7083	22	22	planning	plan	VERB
american_scientific_journal-7083	22	23	to	to	PART
american_scientific_journal-7083	22	24	break	break	VERB
american_scientific_journal-7083	22	25	out	out	ADP
american_scientific_journal-7083	22	26	from	from	ADP
american_scientific_journal-7083	22	27	local	local	ADJ
american_scientific_journal-7083	22	28	minimum	minimum	NOUN
american_scientific_journal-7083	22	29	for	for	ADP
american_scientific_journal-7083	22	30	the	the	DET
american_scientific_journal-7083	22	31	duration	duration	NOUN
american_scientific_journal-7083	22	32	of	of	ADP
american_scientific_journal-7083	22	33	purpose	purpose	NOUN
american_scientific_journal-7083	22	34	-	-	PUNCT
american_scientific_journal-7083	22	35	orientated	orientate	VERB
american_scientific_journal-7083	22	36	robotic	robotic	ADJ
american_scientific_journal-7083	22	37	navigation	navigation	NOUN
american_scientific_journal-7083	22	38	in	in	ADP
american_scientific_journal-7083	22	39	unknown	unknown	ADJ
american_scientific_journal-7083	22	40	environments	environment	NOUN
american_scientific_journal-7083	22	41	.	.	PUNCT
american_scientific_journal-7083	23	1	scientifically	scientifically	ADV
american_scientific_journal-7083	23	2	this	this	DET
american_scientific_journal-7083	23	3	method	method	NOUN
american_scientific_journal-7083	23	4	is	be	AUX
american_scientific_journal-7083	23	5	designed	design	VERB
american_scientific_journal-7083	23	6	to	to	PART
american_scientific_journal-7083	23	7	maintain	maintain	VERB
american_scientific_journal-7083	23	8	global	global	ADJ
american_scientific_journal-7083	23	9	continuity	continuity	NOUN
american_scientific_journal-7083	23	10	even	even	ADV
american_scientific_journal-7083	23	11	in	in	ADP
american_scientific_journal-7083	23	12	long	long	ADJ
american_scientific_journal-7083	23	13	-	-	PUNCT
american_scientific_journal-7083	23	14	wall	wall	NOUN
american_scientific_journal-7083	23	15	,	,	PUNCT
american_scientific_journal-7083	23	16	unstructured	unstructured	ADJ
american_scientific_journal-7083	23	17	,	,	PUNCT
american_scientific_journal-7083	23	18	cluttered	cluttered	ADJ
american_scientific_journal-7083	23	19	,	,	PUNCT
american_scientific_journal-7083	23	20	labyrinthine	labyrinthine	ADJ
american_scientific_journal-7083	23	21	,	,	PUNCT
american_scientific_journal-7083	23	22	and	and	CCONJ
american_scientific_journal-7083	23	23	updated	update	VERB
american_scientific_journal-7083	23	24	settings	setting	NOUN
american_scientific_journal-7083	23	25	.	.	PUNCT
american_scientific_journal-7083	24	1	theoretically	theoretically	ADV
american_scientific_journal-7083	24	2	,	,	PUNCT
american_scientific_journal-7083	24	3	the	the	DET
american_scientific_journal-7083	24	4	lowest	low	ADJ
american_scientific_journal-7083	24	5	risk	risk	NOUN
american_scientific_journal-7083	24	6	strategy	strategy	NOUN
american_scientific_journal-7083	24	7	is	be	AUX
american_scientific_journal-7083	24	8	known	know	VERB
american_scientific_journal-7083	24	9	to	to	PART
american_scientific_journal-7083	24	10	ensure	ensure	VERB
american_scientific_journal-7083	24	11	consistency	consistency	NOUN
american_scientific_journal-7083	24	12	even	even	ADV
american_scientific_journal-7083	24	13	in	in	ADP
american_scientific_journal-7083	24	14	long	long	ADJ
american_scientific_journal-7083	24	15	walls	wall	NOUN
american_scientific_journal-7083	24	16	,	,	PUNCT
american_scientific_journal-7083	24	17	large	large	ADJ
american_scientific_journal-7083	24	18	concave	concave	NOUN
american_scientific_journal-7083	24	19	,	,	PUNCT
american_scientific_journal-7083	24	20	recurrent	recurrent	ADJ
american_scientific_journal-7083	24	21	u	u	NOUN
american_scientific_journal-7083	24	22	-	-	NOUN
american_scientific_journal-7083	24	23	forms	form	NOUN
american_scientific_journal-7083	24	24	,	,	PUNCT
american_scientific_journal-7083	24	25	unstructured	unstructured	ADJ
american_scientific_journal-7083	24	26	,	,	PUNCT
american_scientific_journal-7083	24	27	cluttered	cluttered	ADJ
american_scientific_journal-7083	24	28	,	,	PUNCT
american_scientific_journal-7083	24	29	labyrinthine	labyrinthine	ADJ
american_scientific_journal-7083	24	30	and	and	CCONJ
american_scientific_journal-7083	24	31	changed	change	VERB
american_scientific_journal-7083	24	32	environments	environment	NOUN
american_scientific_journal-7083	24	33	.	.	PUNCT
american_scientific_journal-7083	25	1	the	the	DET
american_scientific_journal-7083	25	2	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	25	3	good	good	ADJ
american_scientific_journal-7083	25	4	decision	decision	NOUN
american_scientific_journal-7083	25	5	system	system	NOUN
american_scientific_journal-7083	25	6	outperforms	outperform	VERB
american_scientific_journal-7083	25	7	theoretical	theoretical	ADJ
american_scientific_journal-7083	25	8	methods	method	NOUN
american_scientific_journal-7083	25	9	of	of	ADP
american_scientific_journal-7083	25	10	identification	identification	NOUN
american_scientific_journal-7083	25	11	and	and	CCONJ
american_scientific_journal-7083	25	12	departure	departure	NOUN
american_scientific_journal-7083	25	13	of	of	ADP
american_scientific_journal-7083	25	14	norms	norm	NOUN
american_scientific_journal-7083	25	15	accompanied	accompany	VERB
american_scientific_journal-7083	25	16	by	by	ADP
american_scientific_journal-7083	25	17	other	other	ADJ
american_scientific_journal-7083	25	18	approaches	approach	NOUN
american_scientific_journal-7083	25	19	.	.	PUNCT
american_scientific_journal-7083	26	1	the	the	DET
american_scientific_journal-7083	26	2	authors	author	NOUN
american_scientific_journal-7083	26	3	in	in	ADP
american_scientific_journal-7083	26	4	[	[	X
american_scientific_journal-7083	26	5	3	3	NUM
american_scientific_journal-7083	26	6	]	]	PUNCT
american_scientific_journal-7083	26	7	proposed	propose	VERB
american_scientific_journal-7083	26	8	to	to	PART
american_scientific_journal-7083	26	9	use	use	VERB
american_scientific_journal-7083	26	10	the	the	DET
american_scientific_journal-7083	26	11	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	26	12	control	control	NOUN
american_scientific_journal-7083	26	13	algorithm	algorithm	NOUN
american_scientific_journal-7083	26	14	to	to	PART
american_scientific_journal-7083	26	15	minimizes	minimize	VERB
american_scientific_journal-7083	26	16	the	the	DET
american_scientific_journal-7083	26	17	iterative	iterative	NOUN
american_scientific_journal-7083	26	18	learning	learning	NOUN
american_scientific_journal-7083	26	19	error	error	NOUN
american_scientific_journal-7083	26	20	of	of	ADP
american_scientific_journal-7083	26	21	the	the	DET
american_scientific_journal-7083	26	22	ant	ant	ADJ
american_scientific_journal-7083	26	23	colony	colony	NOUN
american_scientific_journal-7083	26	24	optimization	optimization	NOUN
american_scientific_journal-7083	26	25	(	(	PUNCT
american_scientific_journal-7083	26	26	aco	aco	PROPN
american_scientific_journal-7083	26	27	)	)	PUNCT
american_scientific_journal-7083	26	28	algorithm	algorithm	NOUN
american_scientific_journal-7083	26	29	.	.	PUNCT
american_scientific_journal-7083	27	1	the	the	DET
american_scientific_journal-7083	27	2	major	major	ADJ
american_scientific_journal-7083	27	3	purpose	purpose	NOUN
american_scientific_journal-7083	27	4	of	of	ADP
american_scientific_journal-7083	27	5	this	this	DET
american_scientific_journal-7083	27	6	algorithm	algorithm	NOUN
american_scientific_journal-7083	27	7	to	to	PART
american_scientific_journal-7083	27	8	find	find	VERB
american_scientific_journal-7083	27	9	the	the	DET
american_scientific_journal-7083	27	10	easy	easy	ADJ
american_scientific_journal-7083	27	11	and	and	CCONJ
american_scientific_journal-7083	27	12	shorter	short	ADJ
american_scientific_journal-7083	27	13	path	path	NOUN
american_scientific_journal-7083	27	14	of	of	ADP
american_scientific_journal-7083	27	15	mobile	mobile	NOUN
american_scientific_journal-7083	27	16	robot	robot	NOUN
american_scientific_journal-7083	27	17	.	.	PUNCT
american_scientific_journal-7083	28	1	used	use	VERB
american_scientific_journal-7083	28	2	ultrasonic	ultrasonic	ADJ
american_scientific_journal-7083	28	3	sensors	sensor	NOUN
american_scientific_journal-7083	28	4	to	to	PART
american_scientific_journal-7083	28	5	detects	detect	VERB
american_scientific_journal-7083	28	6	any	any	DET
american_scientific_journal-7083	28	7	obstacles	obstacle	NOUN
american_scientific_journal-7083	28	8	in	in	ADP
american_scientific_journal-7083	28	9	the	the	DET
american_scientific_journal-7083	28	10	way	way	NOUN
american_scientific_journal-7083	28	11	of	of	ADP
american_scientific_journal-7083	28	12	mobile	mobile	ADJ
american_scientific_journal-7083	28	13	robot	robot	NOUN
american_scientific_journal-7083	28	14	.	.	PUNCT
american_scientific_journal-7083	29	1	in	in	ADP
american_scientific_journal-7083	29	2	the	the	DET
american_scientific_journal-7083	29	3	experimental	experimental	ADJ
american_scientific_journal-7083	29	4	work	work	NOUN
american_scientific_journal-7083	29	5	used	use	VERB
american_scientific_journal-7083	29	6	two	two	NUM
american_scientific_journal-7083	29	7	environments	environment	NOUN
american_scientific_journal-7083	29	8	of	of	ADP
american_scientific_journal-7083	29	9	mobile	mobile	ADJ
american_scientific_journal-7083	29	10	robot	robot	NOUN
american_scientific_journal-7083	29	11	.	.	PUNCT
american_scientific_journal-7083	30	1	the	the	DET
american_scientific_journal-7083	30	2	first	first	ADJ
american_scientific_journal-7083	30	3	environment	environment	NOUN
american_scientific_journal-7083	30	4	was	be	AUX
american_scientific_journal-7083	30	5	without	without	ADP
american_scientific_journal-7083	30	6	obstacles	obstacle	NOUN
american_scientific_journal-7083	30	7	and	and	CCONJ
american_scientific_journal-7083	30	8	shorter	short	ADJ
american_scientific_journal-7083	30	9	path	path	NOUN
american_scientific_journal-7083	30	10	planning	planning	NOUN
american_scientific_journal-7083	30	11	.	.	PUNCT
american_scientific_journal-7083	31	1	the	the	DET
american_scientific_journal-7083	31	2	second	second	ADJ
american_scientific_journal-7083	31	3	environment	environment	NOUN
american_scientific_journal-7083	31	4	with	with	ADP
american_scientific_journal-7083	31	5	obstacles	obstacle	NOUN
american_scientific_journal-7083	31	6	and	and	CCONJ
american_scientific_journal-7083	31	7	shorter	short	ADJ
american_scientific_journal-7083	31	8	.	.	PUNCT
american_scientific_journal-7083	32	1	this	this	DET
american_scientific_journal-7083	32	2	article	article	NOUN
american_scientific_journal-7083	32	3	ming‐feng	ming‐feng	PROPN
american_scientific_journal-7083	32	4	cheng	cheng	PROPN
american_scientific_journal-7083	32	5	compares	compare	VERB
american_scientific_journal-7083	32	6	test	test	NOUN
american_scientific_journal-7083	32	7	in	in	ADP
american_scientific_journal-7083	32	8	a	a	DET
american_scientific_journal-7083	32	9	z	z	NOUN
american_scientific_journal-7083	32	10	-	-	PUNCT
american_scientific_journal-7083	32	11	shaped	shape	VERB
american_scientific_journal-7083	32	12	environment	environment	NOUN
american_scientific_journal-7083	32	13	map	map	NOUN
american_scientific_journal-7083	32	14	and	and	CCONJ
american_scientific_journal-7083	32	15	in	in	ADP
american_scientific_journal-7083	32	16	complicated	complicated	ADJ
american_scientific_journal-7083	32	17	environment	environment	NOUN
american_scientific_journal-7083	32	18	map	map	NOUN
american_scientific_journal-7083	32	19	.	.	PUNCT
american_scientific_journal-7083	33	1	the	the	DET
american_scientific_journal-7083	33	2	authors	author	NOUN
american_scientific_journal-7083	33	3	in	in	ADP
american_scientific_journal-7083	33	4	[	[	X
american_scientific_journal-7083	33	5	4	4	NUM
american_scientific_journal-7083	33	6	]	]	PUNCT
american_scientific_journal-7083	33	7	proposed	propose	VERB
american_scientific_journal-7083	33	8	a	a	DET
american_scientific_journal-7083	33	9	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	33	10	logic	logic	NOUN
american_scientific_journal-7083	33	11	and	and	CCONJ
american_scientific_journal-7083	33	12	filter	filter	NOUN
american_scientific_journal-7083	33	13	smoothing	smooth	VERB
american_scientific_journal-7083	33	14	primarily	primarily	ADV
american_scientific_journal-7083	33	15	based	base	VERB
american_scientific_journal-7083	33	16	on	on	ADP
american_scientific_journal-7083	33	17	the	the	DET
american_scientific_journal-7083	33	18	information	information	NOUN
american_scientific_journal-7083	33	19	from	from	ADP
american_scientific_journal-7083	33	20	the	the	DET
american_scientific_journal-7083	33	21	laser	laser	NOUN
american_scientific_journal-7083	33	22	test	test	NOUN
american_scientific_journal-7083	33	23	sensor	sensor	NOUN
american_scientific_journal-7083	33	24	.	.	PUNCT
american_scientific_journal-7083	34	1	the	the	DET
american_scientific_journal-7083	34	2	path	path	NOUN
american_scientific_journal-7083	34	3	making	make	VERB
american_scientific_journal-7083	34	4	plans	plan	NOUN
american_scientific_journal-7083	34	5	and	and	CCONJ
american_scientific_journal-7083	34	6	selfsufficient	selfsufficient	NOUN
american_scientific_journal-7083	34	7	impediment	impediment	PROPN
american_scientific_journal-7083	34	8	avoidance	avoidance	NOUN
american_scientific_journal-7083	34	9	primarily	primarily	ADV
american_scientific_journal-7083	34	10	based	base	VERB
american_scientific_journal-7083	34	11	in	in	ADP
american_scientific_journal-7083	34	12	this	this	DET
american_scientific_journal-7083	34	13	set	set	NOUN
american_scientific_journal-7083	34	14	of	of	ADP
american_scientific_journal-7083	34	15	rules	rule	NOUN
american_scientific_journal-7083	34	16	is	be	AUX
american_scientific_journal-7083	34	17	emphasized	emphasize	VERB
american_scientific_journal-7083	34	18	due	due	ADP
american_scientific_journal-7083	34	19	to	to	ADP
american_scientific_journal-7083	34	20	the	the	DET
american_scientific_journal-7083	34	21	fact	fact	NOUN
american_scientific_journal-7083	34	22	it	it	PRON
american_scientific_journal-7083	34	23	can	can	AUX
american_scientific_journal-7083	34	24	routinely	routinely	ADV
american_scientific_journal-7083	34	25	find	find	VERB
american_scientific_journal-7083	34	26	the	the	DET
american_scientific_journal-7083	34	27	first	first	ADJ
american_scientific_journal-7083	34	28	-	-	PUNCT
american_scientific_journal-7083	34	29	class	class	NOUN
american_scientific_journal-7083	34	30	course	course	NOUN
american_scientific_journal-7083	34	31	in	in	ADP
american_scientific_journal-7083	34	32	line	line	NOUN
american_scientific_journal-7083	34	33	with	with	ADP
american_scientific_journal-7083	34	34	the	the	DET
american_scientific_journal-7083	34	35	size	size	NOUN
american_scientific_journal-7083	34	36	and	and	CCONJ
american_scientific_journal-7083	34	37	position	position	NOUN
american_scientific_journal-7083	34	38	of	of	ADP
american_scientific_journal-7083	34	39	gaps	gap	NOUN
american_scientific_journal-7083	34	40	among	among	ADP
american_scientific_journal-7083	34	41	the	the	DET
american_scientific_journal-7083	34	42	barriers	barrier	NOUN
american_scientific_journal-7083	34	43	inside	inside	ADP
american_scientific_journal-7083	34	44	the	the	DET
american_scientific_journal-7083	34	45	dynamic	dynamic	ADJ
american_scientific_journal-7083	34	46	environment	environment	NOUN
american_scientific_journal-7083	34	47	.	.	PUNCT
american_scientific_journal-7083	35	1	table	table	NOUN
american_scientific_journal-7083	35	2	1	1	NUM
american_scientific_journal-7083	35	3	:	:	PUNCT
american_scientific_journal-7083	35	4	relationship	relationship	NOUN
american_scientific_journal-7083	35	5	between	between	ADP
american_scientific_journal-7083	35	6	destination	destination	NOUN
american_scientific_journal-7083	35	7	angle	angle	NOUN
american_scientific_journal-7083	35	8	and	and	CCONJ
american_scientific_journal-7083	35	9	turing	ture	VERB
american_scientific_journal-7083	35	10	direction	direction	NOUN
american_scientific_journal-7083	35	11	destination	destination	NOUN
american_scientific_journal-7083	35	12	angle	angle	NOUN
american_scientific_journal-7083	35	13	turning	turn	VERB
american_scientific_journal-7083	35	14	direction	direction	NOUN
american_scientific_journal-7083	35	15	340	340	NUM
american_scientific_journal-7083	35	16	°	°	NOUN
american_scientific_journal-7083	35	17	~	~	PUNCT
american_scientific_journal-7083	35	18	20	20	NUM
american_scientific_journal-7083	35	19	°	°	NOUN
american_scientific_journal-7083	35	20	while	while	SCONJ
american_scientific_journal-7083	35	21	stop	stop	VERB
american_scientific_journal-7083	35	22	_	_	PRON
american_scientific_journal-7083	35	23	forward	forward	ADV
american_scientific_journal-7083	35	24	=	=	SYM
american_scientific_journal-7083	35	25	0	0	NUM
american_scientific_journal-7083	36	1	forward	forward	ADV
american_scientific_journal-7083	36	2	20	20	NUM
american_scientific_journal-7083	36	3	°	°	NOUN
american_scientific_journal-7083	36	4	~	~	PUNCT
american_scientific_journal-7083	36	5	160	160	NUM
american_scientific_journal-7083	36	6	°	°	NOUN
american_scientific_journal-7083	36	7	right	right	ADJ
american_scientific_journal-7083	36	8	160	160	NUM
american_scientific_journal-7083	36	9	°	°	NOUN
american_scientific_journal-7083	37	1	~	~	PUNCT
american_scientific_journal-7083	38	1	200	200	NUM
american_scientific_journal-7083	38	2	°	°	NOUN
american_scientific_journal-7083	38	3	while	while	SCONJ
american_scientific_journal-7083	38	4	stop	stop	VERB
american_scientific_journal-7083	38	5	_	_	NOUN
american_scientific_journal-7083	38	6	backward	backward	ADJ
american_scientific_journal-7083	38	7	=	=	SYM
american_scientific_journal-7083	38	8	0	0	NUM
american_scientific_journal-7083	38	9	backward	backward	ADJ
american_scientific_journal-7083	38	10	200	200	NUM
american_scientific_journal-7083	38	11	°	°	NOUN
american_scientific_journal-7083	39	1	~	~	PUNCT
american_scientific_journal-7083	39	2	340	340	NUM
american_scientific_journal-7083	39	3	°	°	NOUN
american_scientific_journal-7083	39	4	left	leave	VERB
american_scientific_journal-7083	39	5	american	american	ADJ
american_scientific_journal-7083	39	6	academic	academic	ADJ
american_scientific_journal-7083	39	7	scientific	scientific	ADJ
american_scientific_journal-7083	39	8	research	research	NOUN
american_scientific_journal-7083	39	9	journal	journal	NOUN
american_scientific_journal-7083	39	10	for	for	ADP
american_scientific_journal-7083	39	11	engineering	engineering	NOUN
american_scientific_journal-7083	39	12	,	,	PUNCT
american_scientific_journal-7083	39	13	technology	technology	NOUN
american_scientific_journal-7083	39	14	,	,	PUNCT
american_scientific_journal-7083	39	15	and	and	CCONJ
american_scientific_journal-7083	39	16	sciences	science	NOUN
american_scientific_journal-7083	39	17	(	(	PUNCT
american_scientific_journal-7083	39	18	asrjets	asrjet	NOUN
american_scientific_journal-7083	39	19	)	)	PUNCT
american_scientific_journal-7083	39	20	(	(	PUNCT
american_scientific_journal-7083	39	21	2022)volume90	2022)volume90	NUM
american_scientific_journal-7083	39	22	,	,	PUNCT
american_scientific_journal-7083	39	23	no1	no1	NOUN
american_scientific_journal-7083	39	24	,	,	PUNCT
american_scientific_journal-7083	39	25	pp161	pp161	PROPN
american_scientific_journal-7083	39	26	-	-	SYM
american_scientific_journal-7083	39	27	174	174	NUM
american_scientific_journal-7083	39	28	163	163	NUM
american_scientific_journal-7083	39	29	the	the	DET
american_scientific_journal-7083	39	30	authors	author	NOUN
american_scientific_journal-7083	39	31	in	in	ADP
american_scientific_journal-7083	39	32	[	[	X
american_scientific_journal-7083	39	33	5	5	NUM
american_scientific_journal-7083	39	34	]	]	PUNCT
american_scientific_journal-7083	39	35	proposed	propose	VERB
american_scientific_journal-7083	39	36	strategy	strategy	NOUN
american_scientific_journal-7083	39	37	,	,	PUNCT
american_scientific_journal-7083	39	38	it	it	PRON
american_scientific_journal-7083	39	39	considers	consider	VERB
american_scientific_journal-7083	39	40	data	datum	NOUN
american_scientific_journal-7083	39	41	from	from	ADP
american_scientific_journal-7083	39	42	sensors	sensor	NOUN
american_scientific_journal-7083	39	43	mounted	mount	VERB
american_scientific_journal-7083	39	44	on	on	ADP
american_scientific_journal-7083	39	45	the	the	DET
american_scientific_journal-7083	39	46	device	device	NOUN
american_scientific_journal-7083	39	47	,	,	PUNCT
american_scientific_journal-7083	39	48	consisting	consist	VERB
american_scientific_journal-7083	39	49	of	of	ADP
american_scientific_journal-7083	39	50	the	the	DET
american_scientific_journal-7083	39	51	space	space	NOUN
american_scientific_journal-7083	39	52	from	from	ADP
american_scientific_journal-7083	39	53	the	the	DET
american_scientific_journal-7083	39	54	closest	close	ADJ
american_scientific_journal-7083	39	55	impediment	impediment	NOUN
american_scientific_journal-7083	39	56	to	to	ADP
american_scientific_journal-7083	39	57	the	the	DET
american_scientific_journal-7083	39	58	south	south	NOUN
american_scientific_journal-7083	39	59	,	,	PUNCT
american_scientific_journal-7083	39	60	front	front	NOUN
american_scientific_journal-7083	39	61	and	and	CCONJ
american_scientific_journal-7083	39	62	right	right	ADV
american_scientific_journal-7083	39	63	next	next	ADV
american_scientific_journal-7083	39	64	to	to	ADP
american_scientific_journal-7083	39	65	the	the	DET
american_scientific_journal-7083	39	66	details	detail	NOUN
american_scientific_journal-7083	39	67	from	from	ADP
american_scientific_journal-7083	39	68	the	the	DET
american_scientific_journal-7083	39	69	angular	angular	ADJ
american_scientific_journal-7083	39	70	version	version	NOUN
american_scientific_journal-7083	39	71	of	of	ADP
american_scientific_journal-7083	39	72	the	the	DET
american_scientific_journal-7083	39	73	target	target	NOUN
american_scientific_journal-7083	39	74	.	.	PUNCT
american_scientific_journal-7083	40	1	the	the	DET
american_scientific_journal-7083	40	2	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	40	3	rules	rule	NOUN
american_scientific_journal-7083	40	4	are	be	AUX
american_scientific_journal-7083	40	5	used	use	VERB
american_scientific_journal-7083	40	6	to	to	PART
american_scientific_journal-7083	40	7	manipulate	manipulate	VERB
american_scientific_journal-7083	40	8	the	the	DET
american_scientific_journal-7083	40	9	robotic	robotic	NOUN
american_scientific_journal-7083	40	10	's	's	PART
american_scientific_journal-7083	40	11	rate	rate	NOUN
american_scientific_journal-7083	40	12	of	of	ADP
american_scientific_journal-7083	40	13	left	left	ADJ
american_scientific_journal-7083	40	14	and	and	CCONJ
american_scientific_journal-7083	40	15	right	right	ADJ
american_scientific_journal-7083	40	16	wheels	wheel	NOUN
american_scientific_journal-7083	40	17	.	.	PUNCT
american_scientific_journal-7083	41	1	a	a	DET
american_scientific_journal-7083	41	2	defuzzification	defuzzification	NOUN
american_scientific_journal-7083	41	3	technique	technique	NOUN
american_scientific_journal-7083	41	4	is	be	AUX
american_scientific_journal-7083	41	5	applied	apply	VERB
american_scientific_journal-7083	41	6	to	to	ADP
american_scientific_journal-7083	41	7	the	the	DET
american_scientific_journal-7083	41	8	right	right	NOUN
american_scientific_journal-7083	41	9	and	and	CCONJ
american_scientific_journal-7083	41	10	left	leave	VERB
american_scientific_journal-7083	41	11	wheels	wheel	NOUN
american_scientific_journal-7083	41	12	and	and	CCONJ
american_scientific_journal-7083	41	13	tests	test	NOUN
american_scientific_journal-7083	41	14	are	be	AUX
american_scientific_journal-7083	41	15	matched	match	VERB
american_scientific_journal-7083	41	16	with	with	ADP
american_scientific_journal-7083	41	17	the	the	DET
american_scientific_journal-7083	41	18	defuzzified	defuzzifie	VERB
american_scientific_journal-7083	41	19	values	value	NOUN
american_scientific_journal-7083	41	20	produced	produce	VERB
american_scientific_journal-7083	41	21	from	from	ADP
american_scientific_journal-7083	41	22	the	the	DET
american_scientific_journal-7083	41	23	sugeno	sugeno	NOUN
american_scientific_journal-7083	41	24	weighted	weight	VERB
american_scientific_journal-7083	41	25	average	average	ADJ
american_scientific_journal-7083	41	26	process	process	NOUN
american_scientific_journal-7083	41	27	.	.	PUNCT
american_scientific_journal-7083	42	1	the	the	DET
american_scientific_journal-7083	42	2	second	second	ADJ
american_scientific_journal-7083	42	3	method	method	NOUN
american_scientific_journal-7083	42	4	disregards	disregard	VERB
american_scientific_journal-7083	42	5	the	the	DET
american_scientific_journal-7083	42	6	4	4	NUM
american_scientific_journal-7083	42	7	inputs	input	NOUN
american_scientific_journal-7083	42	8	and	and	CCONJ
american_scientific_journal-7083	42	9	follows	follow	VERB
american_scientific_journal-7083	42	10	the	the	DET
american_scientific_journal-7083	42	11	same	same	ADJ
american_scientific_journal-7083	42	12	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	42	13	approach	approach	NOUN
american_scientific_journal-7083	42	14	.	.	PUNCT
american_scientific_journal-7083	43	1	a	a	DET
american_scientific_journal-7083	43	2	combination	combination	NOUN
american_scientific_journal-7083	43	3	between	between	ADP
american_scientific_journal-7083	43	4	the	the	DET
american_scientific_journal-7083	43	5	two	two	NUM
american_scientific_journal-7083	43	6	methods	method	NOUN
american_scientific_journal-7083	43	7	indicates	indicate	VERB
american_scientific_journal-7083	43	8	the	the	DET
american_scientific_journal-7083	43	9	better	well	ADJ
american_scientific_journal-7083	43	10	approach	approach	NOUN
american_scientific_journal-7083	43	11	is	be	AUX
american_scientific_journal-7083	43	12	the	the	DET
american_scientific_journal-7083	43	13	main	main	ADJ
american_scientific_journal-7083	43	14	one	one	NUM
american_scientific_journal-7083	43	15	.	.	PUNCT
american_scientific_journal-7083	44	1	finally	finally	ADV
american_scientific_journal-7083	44	2	,	,	PUNCT
american_scientific_journal-7083	44	3	route	route	NOUN
american_scientific_journal-7083	44	4	making	make	VERB
american_scientific_journal-7083	44	5	plans	plan	VERB
american_scientific_journal-7083	44	6	the	the	DET
american_scientific_journal-7083	44	7	usage	usage	NOUN
american_scientific_journal-7083	44	8	of	of	ADP
american_scientific_journal-7083	44	9	sugeno	sugeno	NOUN
american_scientific_journal-7083	44	10	-	-	PUNCT
american_scientific_journal-7083	44	11	primarily	primarily	ADV
american_scientific_journal-7083	44	12	based	base	VERB
american_scientific_journal-7083	44	13	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	44	14	common	common	ADJ
american_scientific_journal-7083	44	15	-	-	PUNCT
american_scientific_journal-7083	44	16	sense	sense	NOUN
american_scientific_journal-7083	44	17	controller	controller	NOUN
american_scientific_journal-7083	44	18	has	have	AUX
american_scientific_journal-7083	44	19	applied	apply	VERB
american_scientific_journal-7083	44	20	in	in	ADP
american_scientific_journal-7083	44	21	create	create	NOUN
american_scientific_journal-7083	44	22	mobile	mobile	ADJ
american_scientific_journal-7083	44	23	robot	robot	NOUN
american_scientific_journal-7083	44	24	via	via	ADP
american_scientific_journal-7083	44	25	interfacing	interface	VERB
american_scientific_journal-7083	44	26	with	with	ADP
american_scientific_journal-7083	44	27	arduino	arduino	NOUN
american_scientific_journal-7083	44	28	uno	uno	PROPN
american_scientific_journal-7083	44	29	.	.	PUNCT
american_scientific_journal-7083	45	1	the	the	DET
american_scientific_journal-7083	45	2	authors	author	NOUN
american_scientific_journal-7083	45	3	in	in	ADP
american_scientific_journal-7083	45	4	[	[	X
american_scientific_journal-7083	45	5	6	6	NUM
american_scientific_journal-7083	45	6	]	]	PUNCT
american_scientific_journal-7083	45	7	this	this	DET
american_scientific_journal-7083	45	8	article	article	NOUN
american_scientific_journal-7083	45	9	explores	explore	VERB
american_scientific_journal-7083	45	10	the	the	DET
american_scientific_journal-7083	45	11	usage	usage	NOUN
american_scientific_journal-7083	45	12	of	of	ADP
american_scientific_journal-7083	45	13	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	45	14	artificial	artificial	ADJ
american_scientific_journal-7083	45	15	potential	potential	NOUN
american_scientific_journal-7083	45	16	(	(	PUNCT
american_scientific_journal-7083	45	17	fap	fap	NOUN
american_scientific_journal-7083	45	18	)	)	PUNCT
american_scientific_journal-7083	45	19	method	method	NOUN
american_scientific_journal-7083	45	20	in	in	ADP
american_scientific_journal-7083	45	21	two	two	NUM
american_scientific_journal-7083	45	22	separate	separate	ADJ
american_scientific_journal-7083	45	23	strategies	strategy	NOUN
american_scientific_journal-7083	45	24	for	for	ADP
american_scientific_journal-7083	45	25	the	the	DET
american_scientific_journal-7083	45	26	path	path	NOUN
american_scientific_journal-7083	45	27	preparation	preparation	NOUN
american_scientific_journal-7083	45	28	of	of	ADP
american_scientific_journal-7083	45	29	a	a	DET
american_scientific_journal-7083	45	30	humanoid	humanoid	NOUN
american_scientific_journal-7083	45	31	robotic	robotic	NOUN
american_scientific_journal-7083	45	32	in	in	ADP
american_scientific_journal-7083	45	33	an	an	DET
american_scientific_journal-7083	45	34	uncertain	uncertain	ADJ
american_scientific_journal-7083	45	35	setting	setting	NOUN
american_scientific_journal-7083	45	36	.	.	PUNCT
american_scientific_journal-7083	46	1	in	in	ADP
american_scientific_journal-7083	46	2	the	the	DET
american_scientific_journal-7083	46	3	first	first	ADJ
american_scientific_journal-7083	46	4	method	method	NOUN
american_scientific_journal-7083	46	5	,	,	PUNCT
american_scientific_journal-7083	46	6	the	the	DET
american_scientific_journal-7083	46	7	path	path	NOUN
american_scientific_journal-7083	46	8	of	of	ADP
american_scientific_journal-7083	46	9	the	the	DET
american_scientific_journal-7083	46	10	robot	robot	NOUN
american_scientific_journal-7083	46	11	transition	transition	NOUN
american_scientific_journal-7083	46	12	is	be	AUX
american_scientific_journal-7083	46	13	obtained	obtain	VERB
american_scientific_journal-7083	46	14	from	from	ADP
american_scientific_journal-7083	46	15	a	a	DET
american_scientific_journal-7083	46	16	fuzzified	fuzzified	ADJ
american_scientific_journal-7083	46	17	discipline	discipline	NOUN
american_scientific_journal-7083	46	18	of	of	ADP
american_scientific_journal-7083	46	19	synthetic	synthetic	ADJ
american_scientific_journal-7083	46	20	skill	skill	NOUN
american_scientific_journal-7083	46	21	,	,	PUNCT
american_scientific_journal-7083	46	22	whereas	whereas	SCONJ
american_scientific_journal-7083	46	23	in	in	ADP
american_scientific_journal-7083	46	24	the	the	DET
american_scientific_journal-7083	46	25	second	second	ADJ
american_scientific_journal-7083	46	26	the	the	DET
american_scientific_journal-7083	46	27	route	route	NOUN
american_scientific_journal-7083	46	28	of	of	ADP
american_scientific_journal-7083	46	29	the	the	DET
american_scientific_journal-7083	46	30	robotic	robotic	NOUN
american_scientific_journal-7083	46	31	is	be	AUX
american_scientific_journal-7083	46	32	extracted	extract	VERB
american_scientific_journal-7083	46	33	from	from	ADP
american_scientific_journal-7083	46	34	those	those	DET
american_scientific_journal-7083	46	35	linguistic	linguistic	ADJ
american_scientific_journal-7083	46	36	laws	law	NOUN
american_scientific_journal-7083	46	37	that	that	PRON
american_scientific_journal-7083	46	38	may	may	AUX
american_scientific_journal-7083	46	39	be	be	AUX
american_scientific_journal-7083	46	40	stimulated	stimulate	VERB
american_scientific_journal-7083	46	41	from	from	ADP
american_scientific_journal-7083	46	42	the	the	DET
american_scientific_journal-7083	46	43	field	field	NOUN
american_scientific_journal-7083	46	44	of	of	ADP
american_scientific_journal-7083	46	45	synthetic	synthetic	ADJ
american_scientific_journal-7083	46	46	skill	skill	NOUN
american_scientific_journal-7083	46	47	.	.	PUNCT
american_scientific_journal-7083	47	1	such	such	ADJ
american_scientific_journal-7083	47	2	two	two	NUM
american_scientific_journal-7083	47	3	brought	bring	VERB
american_scientific_journal-7083	47	4	trajectory	trajectory	NOUN
american_scientific_journal-7083	47	5	model	model	NOUN
american_scientific_journal-7083	47	6	techniques	technique	NOUN
american_scientific_journal-7083	47	7	are	be	AUX
american_scientific_journal-7083	47	8	established	establish	VERB
american_scientific_journal-7083	47	9	as	as	ADP
american_scientific_journal-7083	47	10	certain	certain	ADJ
american_scientific_journal-7083	47	11	software	software	NOUN
american_scientific_journal-7083	47	12	and	and	CCONJ
american_scientific_journal-7083	47	13	hardware	hardware	NOUN
american_scientific_journal-7083	47	14	are	be	AUX
american_scientific_journal-7083	47	15	present	present	ADJ
american_scientific_journal-7083	47	16	in	in	ADP
american_scientific_journal-7083	47	17	the	the	DET
american_scientific_journal-7083	47	18	loop	loop	NOUN
american_scientific_journal-7083	47	19	simulations	simulation	NOUN
american_scientific_journal-7083	47	20	and	and	CCONJ
american_scientific_journal-7083	47	21	the	the	DET
american_scientific_journal-7083	47	22	experimental	experimental	ADJ
american_scientific_journal-7083	47	23	results	result	NOUN
american_scientific_journal-7083	47	24	demonstrate	demonstrate	VERB
american_scientific_journal-7083	47	25	the	the	DET
american_scientific_journal-7083	47	26	supremacy	supremacy	NOUN
american_scientific_journal-7083	47	27	of	of	ADP
american_scientific_journal-7083	47	28	the	the	DET
american_scientific_journal-7083	47	29	proposed	propose	VERB
american_scientific_journal-7083	47	30	processes	process	NOUN
american_scientific_journal-7083	47	31	in	in	ADP
american_scientific_journal-7083	47	32	the	the	DET
american_scientific_journal-7083	47	33	real	real	ADJ
american_scientific_journal-7083	47	34	-	-	PUNCT
american_scientific_journal-7083	47	35	time	time	NOUN
american_scientific_journal-7083	47	36	trajectory	trajectory	NOUN
american_scientific_journal-7083	47	37	of	of	ADP
american_scientific_journal-7083	47	38	humanoid	humanoid	NOUN
american_scientific_journal-7083	47	39	robot	robot	NOUN
american_scientific_journal-7083	47	40	causing	cause	VERB
american_scientific_journal-7083	47	41	plans	plan	NOUN
american_scientific_journal-7083	47	42	trouble	trouble	NOUN
american_scientific_journal-7083	47	43	.	.	PUNCT
american_scientific_journal-7083	48	1	the	the	DET
american_scientific_journal-7083	48	2	authors	author	NOUN
american_scientific_journal-7083	48	3	in	in	ADP
american_scientific_journal-7083	48	4	[	[	X
american_scientific_journal-7083	48	5	7	7	NUM
american_scientific_journal-7083	48	6	]	]	PUNCT
american_scientific_journal-7083	48	7	introduces	introduce	NOUN
american_scientific_journal-7083	48	8	a	a	DET
american_scientific_journal-7083	48	9	single	single	ADJ
american_scientific_journal-7083	48	10	-	-	PUNCT
american_scientific_journal-7083	48	11	tone	tone	NOUN
american_scientific_journal-7083	48	12	type-1	type-1	NUM
american_scientific_journal-7083	48	13	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	48	14	logic	logic	NOUN
american_scientific_journal-7083	48	15	system	system	NOUN
american_scientific_journal-7083	48	16	(	(	PUNCT
american_scientific_journal-7083	48	17	t1	t1	NOUN
american_scientific_journal-7083	48	18	-	-	PUNCT
american_scientific_journal-7083	48	19	sfls	sfls	ADJ
american_scientific_journal-7083	48	20	)	)	PUNCT
american_scientific_journal-7083	48	21	controller	controller	NOUN
american_scientific_journal-7083	48	22	and	and	CCONJ
american_scientific_journal-7083	48	23	a	a	DET
american_scientific_journal-7083	48	24	combination	combination	NOUN
american_scientific_journal-7083	48	25	of	of	ADP
american_scientific_journal-7083	48	26	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	48	27	-	-	PUNCT
american_scientific_journal-7083	48	28	wdo	wdo	NOUN
american_scientific_journal-7083	48	29	for	for	ADP
american_scientific_journal-7083	48	30	autonomous	autonomous	ADJ
american_scientific_journal-7083	48	31	mobile	mobile	PROPN
american_scientific_journal-7083	48	32	robot	robot	NOUN
american_scientific_journal-7083	48	33	navigation	navigation	NOUN
american_scientific_journal-7083	48	34	and	and	CCONJ
american_scientific_journal-7083	48	35	collision	collision	NOUN
american_scientific_journal-7083	48	36	avoidance	avoidance	NOUN
american_scientific_journal-7083	48	37	in	in	ADP
american_scientific_journal-7083	48	38	an	an	DET
american_scientific_journal-7083	48	39	undefined	undefined	ADJ
american_scientific_journal-7083	48	40	static	static	ADJ
american_scientific_journal-7083	48	41	and	and	CCONJ
american_scientific_journal-7083	48	42	dynamic	dynamic	ADJ
american_scientific_journal-7083	48	43	environment	environment	NOUN
american_scientific_journal-7083	48	44	.	.	PUNCT
american_scientific_journal-7083	49	1	the	the	DET
american_scientific_journal-7083	49	2	wdo	wdo	PROPN
american_scientific_journal-7083	49	3	algorithm	algorithm	NOUN
american_scientific_journal-7083	49	4	optimizes	optimize	VERB
american_scientific_journal-7083	49	5	and	and	CCONJ
american_scientific_journal-7083	49	6	sets	set	VERB
american_scientific_journal-7083	49	7	the	the	DET
american_scientific_journal-7083	49	8	feature	feature	NOUN
american_scientific_journal-7083	49	9	parameters	parameter	NOUN
american_scientific_journal-7083	49	10	of	of	ADP
american_scientific_journal-7083	49	11	the	the	DET
american_scientific_journal-7083	49	12	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	49	13	device	device	NOUN
american_scientific_journal-7083	49	14	input	input	NOUN
american_scientific_journal-7083	49	15	/	/	SYM
american_scientific_journal-7083	49	16	output	output	NOUN
american_scientific_journal-7083	49	17	club	club	NOUN
american_scientific_journal-7083	49	18	.	.	PUNCT
american_scientific_journal-7083	50	1	the	the	DET
american_scientific_journal-7083	50	2	wdo	wdo	PROPN
american_scientific_journal-7083	50	3	algorithm	algorithm	NOUN
american_scientific_journal-7083	50	4	operates	operate	VERB
american_scientific_journal-7083	50	5	primarily	primarily	ADV
american_scientific_journal-7083	50	6	based	base	VERB
american_scientific_journal-7083	50	7	on	on	ADP
american_scientific_journal-7083	50	8	the	the	DET
american_scientific_journal-7083	50	9	atmospheric	atmospheric	ADJ
american_scientific_journal-7083	50	10	passage	passage	NOUN
american_scientific_journal-7083	50	11	of	of	ADP
american_scientific_journal-7083	50	12	infinitesimal	infinitesimal	ADJ
american_scientific_journal-7083	50	13	tiny	tiny	ADJ
american_scientific_journal-7083	50	14	air	air	NOUN
american_scientific_journal-7083	50	15	parcels	parcel	NOUN
american_scientific_journal-7083	50	16	moving	move	VERB
american_scientific_journal-7083	50	17	through	through	ADP
american_scientific_journal-7083	50	18	an	an	DET
american_scientific_journal-7083	50	19	n	n	ADV
american_scientific_journal-7083	50	20	-	-	PUNCT
american_scientific_journal-7083	50	21	dimensional	dimensional	ADJ
american_scientific_journal-7083	50	22	field	field	NOUN
american_scientific_journal-7083	50	23	.	.	PUNCT
american_scientific_journal-7083	51	1	using	use	VERB
american_scientific_journal-7083	51	2	khepera	khepera	NOUN
american_scientific_journal-7083	51	3	-	-	PUNCT
american_scientific_journal-7083	51	4	iii	iii	PROPN
american_scientific_journal-7083	51	5	mobile	mobile	NOUN
american_scientific_journal-7083	51	6	robot	robot	NOUN
american_scientific_journal-7083	51	7	,	,	PUNCT
american_scientific_journal-7083	51	8	the	the	DET
american_scientific_journal-7083	51	9	efficiency	efficiency	NOUN
american_scientific_journal-7083	51	10	of	of	ADP
american_scientific_journal-7083	51	11	this	this	DET
american_scientific_journal-7083	51	12	proposed	propose	VERB
american_scientific_journal-7083	51	13	methodology	methodology	NOUN
american_scientific_journal-7083	51	14	was	be	AUX
american_scientific_journal-7083	51	15	measured	measure	VERB
american_scientific_journal-7083	51	16	via	via	ADP
american_scientific_journal-7083	51	17	several	several	ADJ
american_scientific_journal-7083	51	18	computer	computer	NOUN
american_scientific_journal-7083	51	19	simulations	simulation	NOUN
american_scientific_journal-7083	51	20	and	and	CCONJ
american_scientific_journal-7083	51	21	real	real	ADJ
american_scientific_journal-7083	51	22	-	-	PUNCT
american_scientific_journal-7083	51	23	time	time	NOUN
american_scientific_journal-7083	51	24	experiments	experiment	NOUN
american_scientific_journal-7083	51	25	.	.	PUNCT
american_scientific_journal-7083	52	1	as	as	SCONJ
american_scientific_journal-7083	52	2	compared	compare	VERB
american_scientific_journal-7083	52	3	to	to	ADP
american_scientific_journal-7083	52	4	the	the	DET
american_scientific_journal-7083	52	5	t1	t1	NOUN
american_scientific_journal-7083	52	6	-	-	PUNCT
american_scientific_journal-7083	52	7	sfls	sfls	ADJ
american_scientific_journal-7083	52	8	controller	controller	NOUN
american_scientific_journal-7083	52	9	the	the	DET
american_scientific_journal-7083	52	10	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	52	11	-	-	PUNCT
american_scientific_journal-7083	52	12	wdo	wdo	NOUN
american_scientific_journal-7083	52	13	set	set	NOUN
american_scientific_journal-7083	52	14	of	of	ADP
american_scientific_journal-7083	52	15	rules	rule	NOUN
american_scientific_journal-7083	52	16	is	be	AUX
american_scientific_journal-7083	52	17	observed	observe	VERB
american_scientific_journal-7083	52	18	right	right	ADJ
american_scientific_journal-7083	52	19	agreement	agreement	NOUN
american_scientific_journal-7083	52	20	for	for	ADP
american_scientific_journal-7083	52	21	mobile	mobile	NOUN
american_scientific_journal-7083	52	22	robot	robot	NOUN
american_scientific_journal-7083	52	23	navigation	navigation	NOUN
american_scientific_journal-7083	52	24	.	.	PUNCT
american_scientific_journal-7083	53	1	simulation	simulation	NOUN
american_scientific_journal-7083	53	2	and	and	CCONJ
american_scientific_journal-7083	53	3	experimental	experimental	ADJ
american_scientific_journal-7083	53	4	effects	effect	NOUN
american_scientific_journal-7083	53	5	demonstrate	demonstrate	VERB
american_scientific_journal-7083	53	6	the	the	DET
american_scientific_journal-7083	53	7	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	53	8	wdo	wdo	NOUN
american_scientific_journal-7083	53	9	controller	controller	NOUN
american_scientific_journal-7083	53	10	offer	offer	VERB
american_scientific_journal-7083	53	11	higher	high	ADJ
american_scientific_journal-7083	53	12	performance	performance	NOUN
american_scientific_journal-7083	53	13	compared	compare	VERB
american_scientific_journal-7083	53	14	to	to	ADP
american_scientific_journal-7083	53	15	the	the	DET
american_scientific_journal-7083	53	16	t1	t1	NOUN
american_scientific_journal-7083	53	17	-	-	PUNCT
american_scientific_journal-7083	53	18	sfls	sfls	ADJ
american_scientific_journal-7083	53	19	controller	controller	NOUN
american_scientific_journal-7083	53	20	.	.	PUNCT
american_scientific_journal-7083	54	1	figure	figure	VERB
american_scientific_journal-7083	54	2	1	1	NUM
american_scientific_journal-7083	54	3	:	:	PUNCT
american_scientific_journal-7083	54	4	the	the	DET
american_scientific_journal-7083	54	5	structure	structure	NOUN
american_scientific_journal-7083	54	6	of	of	ADP
american_scientific_journal-7083	54	7	a	a	DET
american_scientific_journal-7083	54	8	t1	t1	NOUN
american_scientific_journal-7083	54	9	-	-	PUNCT
american_scientific_journal-7083	54	10	sfls	sfls	ADJ
american_scientific_journal-7083	54	11	controller	controller	NOUN
american_scientific_journal-7083	54	12	for	for	ADP
american_scientific_journal-7083	54	13	mobile	mobile	NOUN
american_scientific_journal-7083	54	14	robot	robot	NOUN
american_scientific_journal-7083	54	15	navigation	navigation	NOUN
american_scientific_journal-7083	54	16	the	the	DET
american_scientific_journal-7083	54	17	authors	author	NOUN
american_scientific_journal-7083	54	18	in	in	ADP
american_scientific_journal-7083	54	19	[	[	X
american_scientific_journal-7083	54	20	8	8	NUM
american_scientific_journal-7083	54	21	]	]	PUNCT
american_scientific_journal-7083	54	22	suggested	suggest	VERB
american_scientific_journal-7083	54	23	the	the	DET
american_scientific_journal-7083	54	24	controller	controller	NOUN
american_scientific_journal-7083	54	25	is	be	AUX
american_scientific_journal-7083	54	26	liable	liable	ADJ
american_scientific_journal-7083	54	27	for	for	ADP
american_scientific_journal-7083	54	28	stopping	stop	VERB
american_scientific_journal-7083	54	29	mobile	mobile	ADJ
american_scientific_journal-7083	54	30	robots	robot	NOUN
american_scientific_journal-7083	54	31	as	as	ADV
american_scientific_journal-7083	54	32	well	well	ADV
american_scientific_journal-7083	54	33	as	as	ADP
american_scientific_journal-7083	54	34	touring	tour	VERB
american_scientific_journal-7083	54	35	across	across	ADP
american_scientific_journal-7083	54	36	a	a	DET
american_scientific_journal-7083	54	37	chart	chart	NOUN
american_scientific_journal-7083	54	38	from	from	ADP
american_scientific_journal-7083	54	39	the	the	DET
american_scientific_journal-7083	54	40	starting	starting	NOUN
american_scientific_journal-7083	54	41	point	point	NOUN
american_scientific_journal-7083	54	42	to	to	ADP
american_scientific_journal-7083	54	43	the	the	DET
american_scientific_journal-7083	54	44	goal	goal	NOUN
american_scientific_journal-7083	54	45	location	location	NOUN
american_scientific_journal-7083	54	46	.	.	PUNCT
american_scientific_journal-7083	55	1	the	the	DET
american_scientific_journal-7083	55	2	flc	flc	PROPN
american_scientific_journal-7083	55	3	is	be	AUX
american_scientific_journal-7083	55	4	built	build	VERB
american_scientific_journal-7083	55	5	as	as	ADP
american_scientific_journal-7083	55	6	an	an	DET
american_scientific_journal-7083	55	7	essentially	essentially	ADV
american_scientific_journal-7083	55	8	intelligent	intelligent	ADJ
american_scientific_journal-7083	55	9	system	system	NOUN
american_scientific_journal-7083	55	10	(	(	PUNCT
american_scientific_journal-7083	55	11	ia)-based	ia)-base	VERB
american_scientific_journal-7083	55	12	subprogram	subprogram	NOUN
american_scientific_journal-7083	55	13	.	.	PUNCT
american_scientific_journal-7083	56	1	the	the	DET
american_scientific_journal-7083	56	2	device	device	NOUN
american_scientific_journal-7083	56	3	system	system	NOUN
american_scientific_journal-7083	56	4	utilizes	utilize	VERB
american_scientific_journal-7083	56	5	the	the	DET
american_scientific_journal-7083	56	6	superior	superior	ADJ
american_scientific_journal-7083	56	7	application	application	NOUN
american_scientific_journal-7083	56	8	robots	robot	NOUN
american_scientific_journal-7083	56	9	interface	interface	NOUN
american_scientific_journal-7083	56	10	(	(	PUNCT
american_scientific_journal-7083	56	11	aria	aria	PROPN
american_scientific_journal-7083	56	12	)	)	PUNCT
american_scientific_journal-7083	56	13	,	,	PUNCT
american_scientific_journal-7083	56	14	configured	configure	VERB
american_scientific_journal-7083	56	15	miles	mile	NOUN
american_scientific_journal-7083	56	16	with	with	ADP
american_scientific_journal-7083	56	17	a	a	DET
american_scientific_journal-7083	56	18	c++	c++	NOUN
american_scientific_journal-7083	56	19	kit	kit	NOUN
american_scientific_journal-7083	56	20	(	(	PUNCT
american_scientific_journal-7083	56	21	visible	visible	ADJ
american_scientific_journal-7083	56	22	c++.net	c++.net	NOUN
american_scientific_journal-7083	56	23	)	)	PUNCT
american_scientific_journal-7083	56	24	,	,	PUNCT
american_scientific_journal-7083	56	25	and	and	CCONJ
american_scientific_journal-7083	56	26	networking	network	VERB
american_scientific_journal-7083	56	27	device	device	NOUN
american_scientific_journal-7083	56	28	is	be	AUX
american_scientific_journal-7083	56	29	used	use	VERB
american_scientific_journal-7083	56	30	to	to	PART
american_scientific_journal-7083	56	31	set	set	VERB
american_scientific_journal-7083	56	32	up	up	ADP
american_scientific_journal-7083	56	33	wireless	wireless	ADJ
american_scientific_journal-7083	56	34	tcp	tcp	X
american_scientific_journal-7083	56	35	/	/	SYM
american_scientific_journal-7083	56	36	ip	ip	NOUN
american_scientific_journal-7083	56	37	ethernet	ethernet	NOUN
american_scientific_journal-7083	56	38	-	-	PUNCT
american_scientific_journal-7083	56	39	to	to	ADP
american_scientific_journal-7083	56	40	-	-	PUNCT
american_scientific_journal-7083	56	41	serial	serial	ADJ
american_scientific_journal-7083	56	42	communication	communication	NOUN
american_scientific_journal-7083	56	43	between	between	ADP
american_scientific_journal-7083	56	44	robot	robot	NOUN
american_scientific_journal-7083	56	45	and	and	CCONJ
american_scientific_journal-7083	56	46	computer	computer	NOUN
american_scientific_journal-7083	56	47	.	.	PUNCT
american_scientific_journal-7083	57	1	the	the	DET
american_scientific_journal-7083	57	2	outcomes	outcome	NOUN
american_scientific_journal-7083	57	3	display	display	VERB
american_scientific_journal-7083	57	4	that	that	SCONJ
american_scientific_journal-7083	57	5	the	the	DET
american_scientific_journal-7083	57	6	developed	develop	VERB
american_scientific_journal-7083	57	7	cellular	cellular	ADJ
american_scientific_journal-7083	57	8	robotic	robotic	NOUN
american_scientific_journal-7083	57	9	travels	travel	VERB
american_scientific_journal-7083	57	10	american	american	ADJ
american_scientific_journal-7083	57	11	academic	academic	ADJ
american_scientific_journal-7083	57	12	scientific	scientific	ADJ
american_scientific_journal-7083	57	13	research	research	NOUN
american_scientific_journal-7083	57	14	journal	journal	NOUN
american_scientific_journal-7083	57	15	for	for	ADP
american_scientific_journal-7083	57	16	engineering	engineering	NOUN
american_scientific_journal-7083	57	17	,	,	PUNCT
american_scientific_journal-7083	57	18	technology	technology	NOUN
american_scientific_journal-7083	57	19	,	,	PUNCT
american_scientific_journal-7083	57	20	and	and	CCONJ
american_scientific_journal-7083	57	21	sciences	science	NOUN
american_scientific_journal-7083	57	22	(	(	PUNCT
american_scientific_journal-7083	57	23	asrjets	asrjet	NOUN
american_scientific_journal-7083	57	24	)	)	PUNCT
american_scientific_journal-7083	57	25	(	(	PUNCT
american_scientific_journal-7083	57	26	2022)volume90	2022)volume90	NUM
american_scientific_journal-7083	57	27	,	,	PUNCT
american_scientific_journal-7083	57	28	no1	no1	NOUN
american_scientific_journal-7083	57	29	,	,	PUNCT
american_scientific_journal-7083	57	30	pp161	pp161	PROPN
american_scientific_journal-7083	57	31	-	-	PUNCT
american_scientific_journal-7083	57	32	174	174	NUM
american_scientific_journal-7083	57	33	164	164	NUM
american_scientific_journal-7083	57	34	efficiently	efficiently	ADV
american_scientific_journal-7083	57	35	from	from	ADP
american_scientific_journal-7083	57	36	one	one	NUM
american_scientific_journal-7083	57	37	region	region	NOUN
american_scientific_journal-7083	57	38	to	to	ADP
american_scientific_journal-7083	57	39	another	another	PRON
american_scientific_journal-7083	57	40	and	and	CCONJ
american_scientific_journal-7083	57	41	reaches	reach	VERB
american_scientific_journal-7083	57	42	its	its	PRON
american_scientific_journal-7083	57	43	goal	goal	NOUN
american_scientific_journal-7083	57	44	after	after	ADP
american_scientific_journal-7083	57	45	fending	fend	VERB
american_scientific_journal-7083	57	46	off	off	ADP
american_scientific_journal-7083	57	47	all	all	DET
american_scientific_journal-7083	57	48	limitations	limitation	NOUN
american_scientific_journal-7083	57	49	which	which	PRON
american_scientific_journal-7083	57	50	are	be	AUX
american_scientific_journal-7083	57	51	positioned	position	VERB
american_scientific_journal-7083	57	52	in	in	ADP
american_scientific_journal-7083	57	53	its	its	PRON
american_scientific_journal-7083	57	54	way	way	NOUN
american_scientific_journal-7083	57	55	.	.	PUNCT
american_scientific_journal-7083	58	1	2.2	2.2	NUM
american_scientific_journal-7083	58	2	genetic	genetic	ADJ
american_scientific_journal-7083	58	3	algorithm	algorithm	NOUN
american_scientific_journal-7083	58	4	(	(	PUNCT
american_scientific_journal-7083	58	5	ga	ga	NOUN
american_scientific_journal-7083	58	6	)	)	PUNCT
american_scientific_journal-7083	58	7	genetic	genetic	ADJ
american_scientific_journal-7083	58	8	set	set	NOUN
american_scientific_journal-7083	58	9	of	of	ADP
american_scientific_journal-7083	58	10	rules	rule	NOUN
american_scientific_journal-7083	58	11	are	be	AUX
american_scientific_journal-7083	58	12	very	very	ADV
american_scientific_journal-7083	58	13	famous	famous	ADJ
american_scientific_journal-7083	58	14	meta	meta	ADJ
american_scientific_journal-7083	58	15	-	-	PUNCT
american_scientific_journal-7083	58	16	heuristic	heuristic	ADJ
american_scientific_journal-7083	58	17	strategies	strategy	NOUN
american_scientific_journal-7083	58	18	for	for	ADP
american_scientific_journal-7083	58	19	producing	produce	VERB
american_scientific_journal-7083	58	20	optimized	optimize	VERB
american_scientific_journal-7083	58	21	result	result	NOUN
american_scientific_journal-7083	58	22	.	.	PUNCT
american_scientific_journal-7083	59	1	through	through	ADP
american_scientific_journal-7083	59	2	this	this	DET
american_scientific_journal-7083	59	3	method	method	NOUN
american_scientific_journal-7083	59	4	,	,	PUNCT
american_scientific_journal-7083	59	5	the	the	DET
american_scientific_journal-7083	59	6	candidate	candidate	NOUN
american_scientific_journal-7083	59	7	answer	answer	NOUN
american_scientific_journal-7083	59	8	population	population	NOUN
american_scientific_journal-7083	59	9	is	be	AUX
american_scientific_journal-7083	59	10	advanced	advanced	ADJ
american_scientific_journal-7083	59	11	to	to	PART
american_scientific_journal-7083	59	12	aim	aim	VERB
american_scientific_journal-7083	59	13	better	well	ADV
american_scientific_journal-7083	59	14	based	base	VERB
american_scientific_journal-7083	59	15	on	on	ADP
american_scientific_journal-7083	59	16	herbal	herbal	ADJ
american_scientific_journal-7083	59	17	collection	collection	NOUN
american_scientific_journal-7083	59	18	.	.	PUNCT
american_scientific_journal-7083	60	1	in	in	ADP
american_scientific_journal-7083	60	2	ga	ga	PROPN
american_scientific_journal-7083	60	3	,	,	PUNCT
american_scientific_journal-7083	60	4	a	a	DET
american_scientific_journal-7083	60	5	preliminary	preliminary	ADJ
american_scientific_journal-7083	60	6	population	population	NOUN
american_scientific_journal-7083	60	7	collection	collection	NOUN
american_scientific_journal-7083	60	8	is	be	AUX
american_scientific_journal-7083	60	9	created	create	VERB
american_scientific_journal-7083	60	10	randomly	randomly	ADV
american_scientific_journal-7083	60	11	,	,	PUNCT
american_scientific_journal-7083	60	12	after	after	ADP
american_scientific_journal-7083	60	13	which	which	PRON
american_scientific_journal-7083	60	14	the	the	DET
american_scientific_journal-7083	60	15	fitness	fitness	NOUN
american_scientific_journal-7083	60	16	price	price	NOUN
american_scientific_journal-7083	60	17	of	of	ADP
american_scientific_journal-7083	60	18	each	each	DET
american_scientific_journal-7083	60	19	solution	solution	NOUN
american_scientific_journal-7083	60	20	is	be	AUX
american_scientific_journal-7083	60	21	determined	determine	VERB
american_scientific_journal-7083	60	22	by	by	ADP
american_scientific_journal-7083	60	23	applying	apply	VERB
american_scientific_journal-7083	60	24	the	the	DET
american_scientific_journal-7083	60	25	objective	objective	ADJ
american_scientific_journal-7083	60	26	feature	feature	NOUN
american_scientific_journal-7083	60	27	of	of	ADP
american_scientific_journal-7083	60	28	the	the	DET
american_scientific_journal-7083	60	29	problem	problem	NOUN
american_scientific_journal-7083	60	30	.	.	PUNCT
american_scientific_journal-7083	61	1	then	then	ADV
american_scientific_journal-7083	61	2	the	the	DET
american_scientific_journal-7083	61	3	broader	broad	ADJ
american_scientific_journal-7083	61	4	suit	suit	NOUN
american_scientific_journal-7083	61	5	response	response	NOUN
american_scientific_journal-7083	61	6	is	be	AUX
american_scientific_journal-7083	61	7	determined	determine	VERB
american_scientific_journal-7083	61	8	,	,	PUNCT
american_scientific_journal-7083	61	9	and	and	CCONJ
american_scientific_journal-7083	61	10	genetic	genetic	ADJ
american_scientific_journal-7083	61	11	process	process	NOUN
american_scientific_journal-7083	61	12	replication	replication	NOUN
american_scientific_journal-7083	61	13	and	and	CCONJ
american_scientific_journal-7083	61	14	fusion	fusion	NOUN
american_scientific_journal-7083	61	15	is	be	AUX
american_scientific_journal-7083	61	16	added	add	VERB
american_scientific_journal-7083	61	17	to	to	ADP
american_scientific_journal-7083	61	18	them	they	PRON
american_scientific_journal-7083	61	19	in	in	ADP
american_scientific_journal-7083	61	20	order	order	NOUN
american_scientific_journal-7083	61	21	to	to	PART
american_scientific_journal-7083	61	22	build	build	VERB
american_scientific_journal-7083	61	23	a	a	DET
american_scientific_journal-7083	61	24	brand	brand	NOUN
american_scientific_journal-7083	61	25	-	-	PUNCT
american_scientific_journal-7083	61	26	new	new	ADJ
american_scientific_journal-7083	61	27	community	community	NOUN
american_scientific_journal-7083	61	28	of	of	ADP
american_scientific_journal-7083	61	29	further	further	ADJ
american_scientific_journal-7083	61	30	suit	suit	NOUN
american_scientific_journal-7083	61	31	applicants	applicant	NOUN
american_scientific_journal-7083	61	32	.	.	PUNCT
american_scientific_journal-7083	62	1	this	this	DET
american_scientific_journal-7083	62	2	process	process	NOUN
american_scientific_journal-7083	62	3	is	be	AUX
american_scientific_journal-7083	62	4	replicated	replicate	VERB
american_scientific_journal-7083	62	5	before	before	SCONJ
american_scientific_journal-7083	62	6	the	the	DET
american_scientific_journal-7083	62	7	largest	large	ADJ
american_scientific_journal-7083	62	8	generation	generation	NOUN
american_scientific_journal-7083	62	9	range	range	NOUN
american_scientific_journal-7083	62	10	is	be	AUX
american_scientific_journal-7083	62	11	met	meet	VERB
american_scientific_journal-7083	62	12	or	or	CCONJ
american_scientific_journal-7083	62	13	significant	significant	ADJ
american_scientific_journal-7083	62	14	exercise	exercise	NOUN
american_scientific_journal-7083	62	15	costs	cost	NOUN
american_scientific_journal-7083	62	16	are	be	AUX
american_scientific_journal-7083	62	17	achieved	achieve	VERB
american_scientific_journal-7083	62	18	.	.	PUNCT
american_scientific_journal-7083	63	1	this	this	DET
american_scientific_journal-7083	63	2	approach	approach	NOUN
american_scientific_journal-7083	63	3	is	be	AUX
american_scientific_journal-7083	63	4	pursued	pursue	VERB
american_scientific_journal-7083	63	5	by	by	ADP
american_scientific_journal-7083	63	6	numerous	numerous	ADJ
american_scientific_journal-7083	63	7	researchers	researcher	NOUN
american_scientific_journal-7083	63	8	to	to	PART
american_scientific_journal-7083	63	9	produce	produce	VERB
american_scientific_journal-7083	63	10	and	and	CCONJ
american_scientific_journal-7083	63	11	test	test	VERB
american_scientific_journal-7083	63	12	perfectly	perfectly	ADV
american_scientific_journal-7083	63	13	tailored	tailor	VERB
american_scientific_journal-7083	63	14	effects	effect	NOUN
american_scientific_journal-7083	63	15	for	for	ADP
american_scientific_journal-7083	63	16	specific	specific	ADJ
american_scientific_journal-7083	63	17	usage	usage	NOUN
american_scientific_journal-7083	63	18	.	.	PUNCT
american_scientific_journal-7083	64	1	the	the	DET
american_scientific_journal-7083	64	2	flc	flc	PROPN
american_scientific_journal-7083	64	3	is	be	AUX
american_scientific_journal-7083	64	4	constructed	construct	VERB
american_scientific_journal-7083	64	5	as	as	ADP
american_scientific_journal-7083	64	6	a	a	DET
american_scientific_journal-7083	64	7	sub	sub	NOUN
american_scientific_journal-7083	64	8	-	-	NOUN
american_scientific_journal-7083	64	9	program	program	NOUN
american_scientific_journal-7083	64	10	based	base	VERB
american_scientific_journal-7083	64	11	basically	basically	ADV
american_scientific_journal-7083	64	12	on	on	ADP
american_scientific_journal-7083	64	13	an	an	DET
american_scientific_journal-7083	64	14	intelligent	intelligent	ADJ
american_scientific_journal-7083	64	15	machine	machine	NOUN
american_scientific_journal-7083	64	16	(	(	PUNCT
american_scientific_journal-7083	64	17	ia	ia	PROPN
american_scientific_journal-7083	64	18	)	)	PUNCT
american_scientific_journal-7083	64	19	.	.	PUNCT
american_scientific_journal-7083	65	1	the	the	DET
american_scientific_journal-7083	65	2	controller	controller	NOUN
american_scientific_journal-7083	65	3	[	[	X
american_scientific_journal-7083	65	4	9	9	NUM
american_scientific_journal-7083	65	5	]	]	PUNCT
american_scientific_journal-7083	65	6	noted	note	VERB
american_scientific_journal-7083	65	7	that	that	SCONJ
american_scientific_journal-7083	65	8	a	a	DET
american_scientific_journal-7083	65	9	dynamic	dynamic	ADJ
american_scientific_journal-7083	65	10	direction	direction	NOUN
american_scientific_journal-7083	65	11	making	make	VERB
american_scientific_journal-7083	65	12	plans	plan	NOUN
american_scientific_journal-7083	65	13	technique	technique	NOUN
american_scientific_journal-7083	65	14	primarily	primarily	ADV
american_scientific_journal-7083	65	15	based	base	VERB
american_scientific_journal-7083	65	16	on	on	ADP
american_scientific_journal-7083	65	17	genetic	genetic	ADJ
american_scientific_journal-7083	65	18	set	set	NOUN
american_scientific_journal-7083	65	19	of	of	ADP
american_scientific_journal-7083	65	20	rules	rule	NOUN
american_scientific_journal-7083	65	21	for	for	ADP
american_scientific_journal-7083	65	22	cell	cell	NOUN
american_scientific_journal-7083	65	23	robotic	robotic	NOUN
american_scientific_journal-7083	65	24	under	under	ADP
american_scientific_journal-7083	65	25	unknown	unknown	ADJ
american_scientific_journal-7083	65	26	surroundings	surrounding	NOUN
american_scientific_journal-7083	65	27	.	.	PUNCT
american_scientific_journal-7083	66	1	the	the	DET
american_scientific_journal-7083	66	2	actual	actual	ADJ
american_scientific_journal-7083	66	3	coding	coding	NOUN
american_scientific_journal-7083	66	4	,	,	PUNCT
american_scientific_journal-7083	66	5	exercise	exercise	NOUN
american_scientific_journal-7083	66	6	characteristics	characteristic	NOUN
american_scientific_journal-7083	66	7	and	and	CCONJ
american_scientific_journal-7083	66	8	genetic	genetic	ADJ
american_scientific_journal-7083	66	9	operators	operator	NOUN
american_scientific_journal-7083	66	10	are	be	AUX
american_scientific_journal-7083	66	11	built	build	VERB
american_scientific_journal-7083	66	12	to	to	PART
american_scientific_journal-7083	66	13	improve	improve	VERB
american_scientific_journal-7083	66	14	algorithm	algorithm	NOUN
american_scientific_journal-7083	66	15	convergence	convergence	NOUN
american_scientific_journal-7083	66	16	and	and	CCONJ
american_scientific_journal-7083	66	17	operational	operational	ADJ
american_scientific_journal-7083	66	18	accuracy	accuracy	NOUN
american_scientific_journal-7083	66	19	.	.	PUNCT
american_scientific_journal-7083	67	1	under	under	ADP
american_scientific_journal-7083	67	2	uncertain	uncertain	ADJ
american_scientific_journal-7083	67	3	chaotic	chaotic	ADJ
american_scientific_journal-7083	67	4	conditions	condition	NOUN
american_scientific_journal-7083	67	5	,	,	PUNCT
american_scientific_journal-7083	67	6	the	the	DET
american_scientific_journal-7083	67	7	genetic	genetic	ADJ
american_scientific_journal-7083	67	8	collection	collection	NOUN
american_scientific_journal-7083	67	9	of	of	ADP
american_scientific_journal-7083	67	10	rules	rule	NOUN
american_scientific_journal-7083	67	11	used	use	VERB
american_scientific_journal-7083	67	12	on	on	ADP
american_scientific_journal-7083	67	13	this	this	DET
american_scientific_journal-7083	67	14	paper	paper	NOUN
american_scientific_journal-7083	67	15	will	will	AUX
american_scientific_journal-7083	67	16	yield	yield	VERB
american_scientific_journal-7083	67	17	exciting	exciting	ADJ
american_scientific_journal-7083	67	18	route	route	NOUN
american_scientific_journal-7083	67	19	planning	plan	VERB
american_scientific_journal-7083	67	20	outcomes	outcome	NOUN
american_scientific_journal-7083	67	21	.	.	PUNCT
american_scientific_journal-7083	68	1	the	the	DET
american_scientific_journal-7083	68	2	simulation	simulation	NOUN
american_scientific_journal-7083	68	3	findings	finding	NOUN
american_scientific_journal-7083	68	4	show	show	VERB
american_scientific_journal-7083	68	5	that	that	SCONJ
american_scientific_journal-7083	68	6	the	the	DET
american_scientific_journal-7083	68	7	genetic	genetic	ADJ
american_scientific_journal-7083	68	8	collection	collection	NOUN
american_scientific_journal-7083	68	9	of	of	ADP
american_scientific_journal-7083	68	10	laws	law	NOUN
american_scientific_journal-7083	68	11	is	be	AUX
american_scientific_journal-7083	68	12	robustly	robustly	ADV
american_scientific_journal-7083	68	13	adaptable	adaptable	ADJ
american_scientific_journal-7083	68	14	to	to	ADP
american_scientific_journal-7083	68	15	complex	complex	ADJ
american_scientific_journal-7083	68	16	and	and	CCONJ
american_scientific_journal-7083	68	17	uncertain	uncertain	ADJ
american_scientific_journal-7083	68	18	conditions	condition	NOUN
american_scientific_journal-7083	68	19	.	.	PUNCT
american_scientific_journal-7083	69	1	the	the	DET
american_scientific_journal-7083	69	2	genetic	genetic	ADJ
american_scientific_journal-7083	69	3	collection	collection	NOUN
american_scientific_journal-7083	69	4	of	of	ADP
american_scientific_journal-7083	69	5	rules	rule	NOUN
american_scientific_journal-7083	69	6	typically	typically	ADV
american_scientific_journal-7083	69	7	begins	begin	VERB
american_scientific_journal-7083	69	8	without	without	ADP
american_scientific_journal-7083	69	9	capturing	capture	VERB
american_scientific_journal-7083	69	10	the	the	DET
american_scientific_journal-7083	69	11	true	true	ADJ
american_scientific_journal-7083	69	12	answer	answer	NOUN
american_scientific_journal-7083	69	13	as	as	ADV
american_scientific_journal-7083	69	14	well	well	ADV
american_scientific_journal-7083	69	15	as	as	ADP
american_scientific_journal-7083	69	16	depending	depend	VERB
american_scientific_journal-7083	69	17	solely	solely	ADV
american_scientific_journal-7083	69	18	on	on	ADP
american_scientific_journal-7083	69	19	answers	answer	NOUN
american_scientific_journal-7083	69	20	from	from	ADP
american_scientific_journal-7083	69	21	its	its	PRON
american_scientific_journal-7083	69	22	environment	environment	NOUN
american_scientific_journal-7083	69	23	and	and	CCONJ
american_scientific_journal-7083	69	24	the	the	DET
american_scientific_journal-7083	69	25	operators	operator	NOUN
american_scientific_journal-7083	69	26	of	of	ADP
american_scientific_journal-7083	69	27	evolution	evolution	NOUN
american_scientific_journal-7083	69	28	i.e.	i.e.	X
american_scientific_journal-7083	69	29	mutation	mutation	NOUN
american_scientific_journal-7083	69	30	replication	replication	NOUN
american_scientific_journal-7083	69	31	and	and	CCONJ
american_scientific_journal-7083	69	32	fusion	fusion	NOUN
american_scientific_journal-7083	69	33	in	in	ADP
american_scientific_journal-7083	69	34	order	order	NOUN
american_scientific_journal-7083	69	35	to	to	PART
american_scientific_journal-7083	69	36	produce	produce	VERB
american_scientific_journal-7083	69	37	solution	solution	NOUN
american_scientific_journal-7083	69	38	of	of	ADP
american_scientific_journal-7083	69	39	first	first	ADJ
american_scientific_journal-7083	69	40	quality	quality	NOUN
american_scientific_journal-7083	69	41	.	.	PUNCT
american_scientific_journal-7083	70	1	consequently	consequently	ADV
american_scientific_journal-7083	70	2	,	,	PUNCT
american_scientific_journal-7083	70	3	by	by	ADP
american_scientific_journal-7083	70	4	adding	add	VERB
american_scientific_journal-7083	70	5	multiple	multiple	ADJ
american_scientific_journal-7083	70	6	individual	individual	ADJ
american_scientific_journal-7083	70	7	variables	variable	NOUN
american_scientific_journal-7083	70	8	and	and	CCONJ
american_scientific_journal-7083	70	9	concurrently	concurrently	ADV
american_scientific_journal-7083	70	10	looking	look	VERB
american_scientific_journal-7083	70	11	at	at	ADP
american_scientific_journal-7083	70	12	them	they	PRON
american_scientific_journal-7083	70	13	,	,	PUNCT
american_scientific_journal-7083	70	14	the	the	DET
american_scientific_journal-7083	70	15	collection	collection	NOUN
american_scientific_journal-7083	70	16	of	of	ADP
american_scientific_journal-7083	70	17	rules	rule	NOUN
american_scientific_journal-7083	70	18	converges	converge	VERB
american_scientific_journal-7083	70	19	into	into	ADP
american_scientific_journal-7083	70	20	suboptimal	suboptimal	ADJ
american_scientific_journal-7083	70	21	responses	response	NOUN
american_scientific_journal-7083	70	22	by	by	ADP
american_scientific_journal-7083	70	23	holding	hold	VERB
american_scientific_journal-7083	70	24	local	local	ADJ
american_scientific_journal-7083	70	25	minimums	minimum	NOUN
american_scientific_journal-7083	70	26	off	off	ADP
american_scientific_journal-7083	70	27	.	.	PUNCT
american_scientific_journal-7083	71	1	genetic	genetic	ADJ
american_scientific_journal-7083	71	2	discovery	discovery	NOUN
american_scientific_journal-7083	71	3	collection	collection	NOUN
american_scientific_journal-7083	71	4	of	of	ADP
american_scientific_journal-7083	71	5	rules	rule	NOUN
american_scientific_journal-7083	71	6	is	be	AUX
american_scientific_journal-7083	71	7	used	use	VERB
american_scientific_journal-7083	71	8	to	to	PART
american_scientific_journal-7083	71	9	create	create	VERB
american_scientific_journal-7083	71	10	through	through	ADP
american_scientific_journal-7083	71	11	points	point	NOUN
american_scientific_journal-7083	71	12	via	via	ADP
american_scientific_journal-7083	71	13	the	the	DET
american_scientific_journal-7083	71	14	vision	vision	NOUN
american_scientific_journal-7083	71	15	device	device	NOUN
american_scientific_journal-7083	71	16	after	after	SCONJ
american_scientific_journal-7083	71	17	the	the	DET
american_scientific_journal-7083	71	18	gadgets	gadget	NOUN
american_scientific_journal-7083	71	19	are	be	AUX
american_scientific_journal-7083	71	20	discovered	discover	VERB
american_scientific_journal-7083	71	21	.	.	PUNCT
american_scientific_journal-7083	72	1	the	the	DET
american_scientific_journal-7083	72	2	fitness	fitness	NOUN
american_scientific_journal-7083	72	3	fee	fee	NOUN
american_scientific_journal-7083	72	4	for	for	ADP
american_scientific_journal-7083	72	5	the	the	DET
american_scientific_journal-7083	72	6	tracks	track	NOUN
american_scientific_journal-7083	72	7	created	create	VERB
american_scientific_journal-7083	72	8	is	be	AUX
american_scientific_journal-7083	72	9	measured	measure	VERB
american_scientific_journal-7083	72	10	in	in	ADP
american_scientific_journal-7083	72	11	terms	term	NOUN
american_scientific_journal-7083	72	12	of	of	ADP
american_scientific_journal-7083	72	13	security	security	NOUN
american_scientific_journal-7083	72	14	from	from	ADP
american_scientific_journal-7083	72	15	the	the	DET
american_scientific_journal-7083	72	16	obstructing	obstruct	VERB
american_scientific_journal-7083	72	17	dynamic	dynamic	ADJ
american_scientific_journal-7083	72	18	impediment	impediment	NOUN
american_scientific_journal-7083	72	19	and	and	CCONJ
american_scientific_journal-7083	72	20	room	room	VERB
american_scientific_journal-7083	72	21	to	to	ADP
american_scientific_journal-7083	72	22	the	the	DET
american_scientific_journal-7083	72	23	position	position	NOUN
american_scientific_journal-7083	72	24	of	of	ADP
american_scientific_journal-7083	72	25	the	the	DET
american_scientific_journal-7083	72	26	target	target	NOUN
american_scientific_journal-7083	72	27	.	.	PUNCT
american_scientific_journal-7083	73	1	genetic	genetic	ADJ
american_scientific_journal-7083	73	2	algorithm	algorithm	NOUN
american_scientific_journal-7083	73	3	used	use	VERB
american_scientific_journal-7083	73	4	drastically	drastically	ADV
american_scientific_journal-7083	73	5	in	in	ADP
american_scientific_journal-7083	73	6	pathway	pathway	NOUN
american_scientific_journal-7083	73	7	planning	planning	NOUN
american_scientific_journal-7083	73	8	applications	application	NOUN
american_scientific_journal-7083	73	9	.	.	PUNCT
american_scientific_journal-7083	74	1	genetic	genetic	ADJ
american_scientific_journal-7083	74	2	rule	rule	NOUN
american_scientific_journal-7083	74	3	collection	collection	NOUN
american_scientific_journal-7083	74	4	uses	use	VERB
american_scientific_journal-7083	74	5	near	near	ADV
american_scientific_journal-7083	74	6	-	-	PUNCT
american_scientific_journal-7083	74	7	reminiscence	reminiscence	NOUN
american_scientific_journal-7083	74	8	for	for	ADP
american_scientific_journal-7083	74	9	complex	complex	ADJ
american_scientific_journal-7083	74	10	zone	zone	NOUN
american_scientific_journal-7083	74	11	chromosomes	chromosome	NOUN
american_scientific_journal-7083	74	12	.	.	PUNCT
american_scientific_journal-7083	75	1	the	the	DET
american_scientific_journal-7083	75	2	method	method	NOUN
american_scientific_journal-7083	75	3	suffers	suffer	VERB
american_scientific_journal-7083	75	4	from	from	ADP
american_scientific_journal-7083	75	5	a	a	DET
american_scientific_journal-7083	75	6	big	big	ADJ
american_scientific_journal-7083	75	7	quantity	quantity	NOUN
american_scientific_journal-7083	75	8	of	of	ADP
american_scientific_journal-7083	75	9	computation	computation	NOUN
american_scientific_journal-7083	75	10	.	.	PUNCT
american_scientific_journal-7083	76	1	the	the	DET
american_scientific_journal-7083	76	2	main	main	ADJ
american_scientific_journal-7083	76	3	deficiency	deficiency	NOUN
american_scientific_journal-7083	76	4	of	of	ADP
american_scientific_journal-7083	76	5	the	the	DET
american_scientific_journal-7083	76	6	genetic	genetic	ADJ
american_scientific_journal-7083	76	7	algorithm	algorithm	NOUN
american_scientific_journal-7083	76	8	methodology	methodology	NOUN
american_scientific_journal-7083	76	9	in	in	ADP
american_scientific_journal-7083	76	10	the	the	DET
american_scientific_journal-7083	76	11	area	area	NOUN
american_scientific_journal-7083	76	12	of	of	ADP
american_scientific_journal-7083	76	13	preparation	preparation	NOUN
american_scientific_journal-7083	76	14	is	be	AUX
american_scientific_journal-7083	76	15	that	that	SCONJ
american_scientific_journal-7083	76	16	in	in	ADP
american_scientific_journal-7083	76	17	complex	complex	ADJ
american_scientific_journal-7083	76	18	settings	setting	NOUN
american_scientific_journal-7083	76	19	it	it	PRON
american_scientific_journal-7083	76	20	is	be	AUX
american_scientific_journal-7083	76	21	not	not	PART
american_scientific_journal-7083	76	22	feasible	feasible	ADJ
american_scientific_journal-7083	76	23	.	.	PUNCT
american_scientific_journal-7083	77	1	because	because	SCONJ
american_scientific_journal-7083	77	2	it	it	PRON
american_scientific_journal-7083	77	3	operates	operate	VERB
american_scientific_journal-7083	77	4	on	on	ADP
american_scientific_journal-7083	77	5	a	a	DET
american_scientific_journal-7083	77	6	grid	grid	NOUN
american_scientific_journal-7083	77	7	map	map	NOUN
american_scientific_journal-7083	77	8	or	or	CCONJ
american_scientific_journal-7083	77	9	uses	use	VERB
american_scientific_journal-7083	77	10	a	a	DET
american_scientific_journal-7083	77	11	set	set	ADJ
american_scientific_journal-7083	77	12	decision	decision	NOUN
american_scientific_journal-7083	77	13	in	in	ADP
american_scientific_journal-7083	77	14	the	the	DET
american_scientific_journal-7083	77	15	vicinity	vicinity	NOUN
american_scientific_journal-7083	77	16	of	of	ADP
american_scientific_journal-7083	77	17	the	the	DET
american_scientific_journal-7083	77	18	search	search	NOUN
american_scientific_journal-7083	77	19	,	,	PUNCT
american_scientific_journal-7083	77	20	it	it	PRON
american_scientific_journal-7083	77	21	also	also	ADV
american_scientific_journal-7083	77	22	does	do	AUX
american_scientific_journal-7083	77	23	not	not	PART
american_scientific_journal-7083	77	24	control	control	VERB
american_scientific_journal-7083	77	25	the	the	DET
american_scientific_journal-7083	77	26	variety	variety	NOUN
american_scientific_journal-7083	77	27	of	of	ADP
american_scientific_journal-7083	77	28	populations	population	NOUN
american_scientific_journal-7083	77	29	which	which	PRON
american_scientific_journal-7083	77	30	cause	cause	VERB
american_scientific_journal-7083	77	31	early	early	ADJ
american_scientific_journal-7083	77	32	convergence	convergence	NOUN
american_scientific_journal-7083	77	33	.	.	PUNCT
american_scientific_journal-7083	78	1	the	the	DET
american_scientific_journal-7083	78	2	most	most	ADV
american_scientific_journal-7083	78	3	important	important	ADJ
american_scientific_journal-7083	78	4	drawback	drawback	NOUN
american_scientific_journal-7083	78	5	of	of	ADP
american_scientific_journal-7083	78	6	the	the	DET
american_scientific_journal-7083	78	7	hereditary	hereditary	ADJ
american_scientific_journal-7083	78	8	system	system	NOUN
american_scientific_journal-7083	78	9	of	of	ADP
american_scientific_journal-7083	78	10	laws	law	NOUN
american_scientific_journal-7083	78	11	is	be	AUX
american_scientific_journal-7083	78	12	attributed	attribute	VERB
american_scientific_journal-7083	78	13	to	to	ADP
american_scientific_journal-7083	78	14	weakly	weakly	ADJ
american_scientific_journal-7083	78	15	understood	understand	VERB
american_scientific_journal-7083	78	16	performance	performance	NOUN
american_scientific_journal-7083	78	17	capacities	capacity	NOUN
american_scientific_journal-7083	78	18	that	that	PRON
american_scientific_journal-7083	78	19	produce	produce	VERB
american_scientific_journal-7083	78	20	the	the	DET
american_scientific_journal-7083	78	21	poorest	poor	ADJ
american_scientific_journal-7083	78	22	sets	set	NOUN
american_scientific_journal-7083	78	23	of	of	ADP
american_scientific_journal-7083	78	24	chromosomes	chromosome	NOUN
american_scientific_journal-7083	78	25	,	,	PUNCT
american_scientific_journal-7083	78	26	rather	rather	ADV
american_scientific_journal-7083	78	27	than	than	ADP
american_scientific_journal-7083	78	28	merely	merely	ADV
american_scientific_journal-7083	78	29	the	the	DET
american_scientific_journal-7083	78	30	idea	idea	NOUN
american_scientific_journal-7083	78	31	that	that	SCONJ
american_scientific_journal-7083	78	32	the	the	DET
american_scientific_journal-7083	78	33	correct	correct	ADJ
american_scientific_journal-7083	78	34	chromosome	chromosome	NOUN
american_scientific_journal-7083	78	35	sets	set	NOUN
american_scientific_journal-7083	78	36	can	can	AUX
american_scientific_journal-7083	78	37	not	not	PART
american_scientific_journal-7083	78	38	cover	cover	VERB
american_scientific_journal-7083	78	39	away	away	ADV
american_scientific_journal-7083	78	40	those	those	DET
american_scientific_journal-7083	78	41	issues	issue	NOUN
american_scientific_journal-7083	78	42	of	of	ADP
american_scientific_journal-7083	78	43	optimization	optimization	NOUN
american_scientific_journal-7083	78	44	.	.	PUNCT
american_scientific_journal-7083	79	1	the	the	DET
american_scientific_journal-7083	79	2	authors	author	NOUN
american_scientific_journal-7083	79	3	in	in	ADP
american_scientific_journal-7083	79	4	[	[	X
american_scientific_journal-7083	79	5	10	10	NUM
american_scientific_journal-7083	79	6	]	]	PUNCT
american_scientific_journal-7083	79	7	proposed	propose	VERB
american_scientific_journal-7083	79	8	a	a	DET
american_scientific_journal-7083	79	9	genetic	genetic	ADJ
american_scientific_journal-7083	79	10	set	set	NOUN
american_scientific_journal-7083	79	11	of	of	ADP
american_scientific_journal-7083	79	12	rules	rule	NOUN
american_scientific_journal-7083	79	13	carried	carry	VERB
american_scientific_journal-7083	79	14	out	out	ADP
american_scientific_journal-7083	79	15	to	to	PART
american_scientific_journal-7083	79	16	single	single	ADJ
american_scientific_journal-7083	79	17	point	point	NOUN
american_scientific_journal-7083	79	18	as	as	SCONJ
american_scientific_journal-7083	79	19	opposed	oppose	VERB
american_scientific_journal-7083	79	20	to	to	PART
american_scientific_journal-7083	79	21	entire	entire	ADJ
american_scientific_journal-7083	79	22	workspace	workspace	NOUN
american_scientific_journal-7083	79	23	.	.	PUNCT
american_scientific_journal-7083	80	1	the	the	DET
american_scientific_journal-7083	80	2	authors	author	NOUN
american_scientific_journal-7083	80	3	in	in	ADP
american_scientific_journal-7083	80	4	[	[	X
american_scientific_journal-7083	80	5	11	11	NUM
american_scientific_journal-7083	80	6	]	]	PUNCT
american_scientific_journal-7083	80	7	proposed	propose	VERB
american_scientific_journal-7083	80	8	an	an	DET
american_scientific_journal-7083	80	9	evolutionary	evolutionary	ADJ
american_scientific_journal-7083	80	10	method	method	NOUN
american_scientific_journal-7083	80	11	for	for	ADP
american_scientific_journal-7083	80	12	a	a	DET
american_scientific_journal-7083	80	13	cell	cell	NOUN
american_scientific_journal-7083	80	14	robot	robot	NOUN
american_scientific_journal-7083	80	15	's	's	PART
american_scientific_journal-7083	80	16	route	route	NOUN
american_scientific_journal-7083	80	17	planning	planning	NOUN
american_scientific_journal-7083	80	18	problem	problem	NOUN
american_scientific_journal-7083	80	19	in	in	ADP
american_scientific_journal-7083	80	20	the	the	DET
american_scientific_journal-7083	80	21	surroundings	surrounding	NOUN
american_scientific_journal-7083	80	22	,	,	PUNCT
american_scientific_journal-7083	80	23	which	which	PRON
american_scientific_journal-7083	80	24	can	can	AUX
american_scientific_journal-7083	80	25	also	also	ADV
american_scientific_journal-7083	80	26	integrate	integrate	VERB
american_scientific_journal-7083	80	27	a	a	DET
american_scientific_journal-7083	80	28	variety	variety	NOUN
american_scientific_journal-7083	80	29	of	of	ADP
american_scientific_journal-7083	80	30	unexplained	unexplained	ADJ
american_scientific_journal-7083	80	31	polygonal	polygonal	ADJ
american_scientific_journal-7083	80	32	barriers	barrier	NOUN
american_scientific_journal-7083	80	33	.	.	PUNCT
american_scientific_journal-7083	81	1	the	the	DET
american_scientific_journal-7083	81	2	authors	author	NOUN
american_scientific_journal-7083	81	3	in	in	ADP
american_scientific_journal-7083	81	4	[	[	X
american_scientific_journal-7083	81	5	12	12	NUM
american_scientific_journal-7083	81	6	]	]	PUNCT
american_scientific_journal-7083	81	7	proposed	propose	VERB
american_scientific_journal-7083	81	8	for	for	ADP
american_scientific_journal-7083	81	9	using	use	VERB
american_scientific_journal-7083	81	10	genetic	genetic	ADJ
american_scientific_journal-7083	81	11	algorithm	algorithm	NOUN
american_scientific_journal-7083	81	12	with	with	ADP
american_scientific_journal-7083	81	13	controllable	controllable	ADJ
american_scientific_journal-7083	81	14	mobile	mobile	ADJ
american_scientific_journal-7083	81	15	robot	robot	NOUN
american_scientific_journal-7083	81	16	to	to	ADP
american_scientific_journal-7083	81	17	optimal	optimal	ADJ
american_scientific_journal-7083	81	18	path	path	NOUN
american_scientific_journal-7083	81	19	between	between	ADP
american_scientific_journal-7083	81	20	two	two	NUM
american_scientific_journal-7083	81	21	points	point	NOUN
american_scientific_journal-7083	81	22	in	in	ADP
american_scientific_journal-7083	81	23	a	a	DET
american_scientific_journal-7083	81	24	grid	grid	NOUN
american_scientific_journal-7083	81	25	surrounding	surrounding	NOUN
american_scientific_journal-7083	81	26	.	.	PUNCT
american_scientific_journal-7083	82	1	also	also	ADV
american_scientific_journal-7083	82	2	,	,	PUNCT
american_scientific_journal-7083	82	3	mobile	mobile	ADJ
american_scientific_journal-7083	82	4	robot	robot	NOUN
american_scientific_journal-7083	82	5	finds	find	VERB
american_scientific_journal-7083	82	6	optimal	optimal	ADJ
american_scientific_journal-7083	82	7	path	path	NOUN
american_scientific_journal-7083	82	8	and	and	CCONJ
american_scientific_journal-7083	82	9	reduce	reduce	VERB
american_scientific_journal-7083	82	10	the	the	DET
american_scientific_journal-7083	82	11	number	number	NOUN
american_scientific_journal-7083	82	12	of	of	ADP
american_scientific_journal-7083	82	13	steps	step	NOUN
american_scientific_journal-7083	82	14	between	between	ADP
american_scientific_journal-7083	82	15	the	the	DET
american_scientific_journal-7083	82	16	start	start	NOUN
american_scientific_journal-7083	82	17	point	point	NOUN
american_scientific_journal-7083	82	18	and	and	CCONJ
american_scientific_journal-7083	82	19	end	end	NOUN
american_scientific_journal-7083	82	20	point	point	NOUN
american_scientific_journal-7083	82	21	.	.	PUNCT
american_scientific_journal-7083	83	1	gas	gas	NOUN
american_scientific_journal-7083	83	2	can	can	AUX
american_scientific_journal-7083	83	3	triumph	triumph	VERB
american_scientific_journal-7083	83	4	over	over	ADP
american_scientific_journal-7083	83	5	many	many	ADJ
american_scientific_journal-7083	83	6	problems	problem	NOUN
american_scientific_journal-7083	83	7	encountered	encounter	VERB
american_scientific_journal-7083	83	8	by	by	ADP
american_scientific_journal-7083	83	9	using	use	VERB
american_scientific_journal-7083	83	10	traditional	traditional	ADJ
american_scientific_journal-7083	83	11	seek	seek	VERB
american_scientific_journal-7083	83	12	techniques	technique	NOUN
american_scientific_journal-7083	83	13	along	along	ADP
american_scientific_journal-7083	83	14	with	with	ADP
american_scientific_journal-7083	83	15	the	the	DET
american_scientific_journal-7083	83	16	gradient	gradient	NOUN
american_scientific_journal-7083	83	17	based	base	VERB
american_scientific_journal-7083	83	18	strategies	strategy	NOUN
american_scientific_journal-7083	83	19	.	.	PUNCT
american_scientific_journal-7083	84	1	they	they	PRON
american_scientific_journal-7083	84	2	explored	explore	VERB
american_scientific_journal-7083	84	3	the	the	DET
american_scientific_journal-7083	84	4	overall	overall	ADJ
american_scientific_journal-7083	84	5	performance	performance	NOUN
american_scientific_journal-7083	84	6	of	of	ADP
american_scientific_journal-7083	84	7	the	the	DET
american_scientific_journal-7083	84	8	evolutionary	evolutionary	ADJ
american_scientific_journal-7083	84	9	device	device	NOUN
american_scientific_journal-7083	84	10	with	with	ADP
american_scientific_journal-7083	84	11	varies	vary	VERB
american_scientific_journal-7083	84	12	population	population	NOUN
american_scientific_journal-7083	84	13	size	size	NOUN
american_scientific_journal-7083	84	14	.	.	PUNCT
american_scientific_journal-7083	85	1	they	they	PRON
american_scientific_journal-7083	85	2	also	also	ADV
american_scientific_journal-7083	85	3	,	,	PUNCT
american_scientific_journal-7083	85	4	proposed	propose	VERB
american_scientific_journal-7083	85	5	a	a	DET
american_scientific_journal-7083	85	6	simplified	simplified	ADJ
american_scientific_journal-7083	85	7	fitness	fitness	NOUN
american_scientific_journal-7083	85	8	characteristic	characteristic	NOUN
american_scientific_journal-7083	85	9	.	.	PUNCT
american_scientific_journal-7083	86	1	american	american	ADJ
american_scientific_journal-7083	86	2	academic	academic	ADJ
american_scientific_journal-7083	86	3	scientific	scientific	ADJ
american_scientific_journal-7083	86	4	research	research	NOUN
american_scientific_journal-7083	86	5	journal	journal	NOUN
american_scientific_journal-7083	86	6	for	for	ADP
american_scientific_journal-7083	86	7	engineering	engineering	NOUN
american_scientific_journal-7083	86	8	,	,	PUNCT
american_scientific_journal-7083	86	9	technology	technology	NOUN
american_scientific_journal-7083	86	10	,	,	PUNCT
american_scientific_journal-7083	86	11	and	and	CCONJ
american_scientific_journal-7083	86	12	sciences	science	NOUN
american_scientific_journal-7083	86	13	(	(	PUNCT
american_scientific_journal-7083	86	14	asrjets	asrjet	NOUN
american_scientific_journal-7083	86	15	)	)	PUNCT
american_scientific_journal-7083	86	16	(	(	PUNCT
american_scientific_journal-7083	86	17	2022)volume90	2022)volume90	NUM
american_scientific_journal-7083	86	18	,	,	PUNCT
american_scientific_journal-7083	86	19	no1	no1	NOUN
american_scientific_journal-7083	86	20	,	,	PUNCT
american_scientific_journal-7083	86	21	pp161	pp161	PROPN
american_scientific_journal-7083	86	22	-	-	SYM
american_scientific_journal-7083	86	23	174	174	NUM
american_scientific_journal-7083	86	24	165	165	NUM
american_scientific_journal-7083	86	25	figure	figure	NOUN
american_scientific_journal-7083	86	26	2	2	NUM
american_scientific_journal-7083	86	27	:	:	PUNCT
american_scientific_journal-7083	86	28	convergence	convergence	NOUN
american_scientific_journal-7083	86	29	process	process	NOUN
american_scientific_journal-7083	86	30	for	for	ADP
american_scientific_journal-7083	86	31	gas	gas	NOUN
american_scientific_journal-7083	86	32	with	with	ADP
american_scientific_journal-7083	86	33	a	a	DET
american_scientific_journal-7083	86	34	100×100	100×100	NUM
american_scientific_journal-7083	86	35	grid	grid	NOUN
american_scientific_journal-7083	86	36	with	with	ADP
american_scientific_journal-7083	86	37	obstacle	obstacle	NOUN
american_scientific_journal-7083	86	38	free	free	ADJ
american_scientific_journal-7083	86	39	environment	environment	NOUN
american_scientific_journal-7083	86	40	the	the	DET
american_scientific_journal-7083	86	41	authors	author	NOUN
american_scientific_journal-7083	86	42	in	in	ADP
american_scientific_journal-7083	86	43	[	[	X
american_scientific_journal-7083	86	44	13	13	NUM
american_scientific_journal-7083	86	45	]	]	PUNCT
american_scientific_journal-7083	86	46	proposed	propose	VERB
american_scientific_journal-7083	86	47	a	a	DET
american_scientific_journal-7083	86	48	specific	specific	ADJ
american_scientific_journal-7083	86	49	type	type	NOUN
american_scientific_journal-7083	86	50	of	of	ADP
american_scientific_journal-7083	86	51	technique	technique	NOUN
american_scientific_journal-7083	86	52	for	for	ADP
american_scientific_journal-7083	86	53	dynamic	dynamic	ADJ
american_scientific_journal-7083	86	54	movement	movement	NOUN
american_scientific_journal-7083	86	55	preparation	preparation	NOUN
american_scientific_journal-7083	86	56	problems	problem	NOUN
american_scientific_journal-7083	86	57	of	of	ADP
american_scientific_journal-7083	86	58	mobile	mobile	ADJ
american_scientific_journal-7083	86	59	robots	robot	NOUN
american_scientific_journal-7083	86	60	in	in	ADP
american_scientific_journal-7083	86	61	unpredictable	unpredictable	ADJ
american_scientific_journal-7083	86	62	complex	complex	ADJ
american_scientific_journal-7083	86	63	environments	environment	NOUN
american_scientific_journal-7083	86	64	focused	focus	VERB
american_scientific_journal-7083	86	65	primarily	primarily	ADV
american_scientific_journal-7083	86	66	on	on	ADP
american_scientific_journal-7083	86	67	control	control	NOUN
american_scientific_journal-7083	86	68	dynamics	dynamic	NOUN
american_scientific_journal-7083	86	69	.	.	PUNCT
american_scientific_journal-7083	87	1	the	the	DET
american_scientific_journal-7083	87	2	imaginative	imaginative	ADJ
american_scientific_journal-7083	87	3	behavior	behavior	NOUN
american_scientific_journal-7083	87	4	of	of	ADP
american_scientific_journal-7083	87	5	a	a	DET
american_scientific_journal-7083	87	6	mobile	mobile	ADJ
american_scientific_journal-7083	87	7	robot	robot	NOUN
american_scientific_journal-7083	87	8	in	in	ADP
american_scientific_journal-7083	87	9	motion	motion	NOUN
american_scientific_journal-7083	87	10	preparation	preparation	NOUN
american_scientific_journal-7083	87	11	acts	act	VERB
american_scientific_journal-7083	87	12	as	as	ADP
american_scientific_journal-7083	87	13	a	a	DET
american_scientific_journal-7083	87	14	complex	complex	ADJ
american_scientific_journal-7083	87	15	interplay	interplay	NOUN
american_scientific_journal-7083	87	16	process	process	NOUN
american_scientific_journal-7083	87	17	between	between	ADP
american_scientific_journal-7083	87	18	the	the	DET
american_scientific_journal-7083	87	19	machine	machine	NOUN
american_scientific_journal-7083	87	20	and	and	CCONJ
american_scientific_journal-7083	87	21	its	its	PRON
american_scientific_journal-7083	87	22	adjacent	adjacent	ADJ
american_scientific_journal-7083	87	23	environments	environment	NOUN
american_scientific_journal-7083	87	24	,	,	PUNCT
american_scientific_journal-7083	87	25	and	and	CCONJ
american_scientific_journal-7083	87	26	it	it	PRON
american_scientific_journal-7083	87	27	's	be	AUX
american_scientific_journal-7083	87	28	miles	mile	NOUN
american_scientific_journal-7083	87	29	designed	design	VERB
american_scientific_journal-7083	87	30	and	and	CCONJ
american_scientific_journal-7083	87	31	controlled	control	VERB
american_scientific_journal-7083	87	32	for	for	ADP
american_scientific_journal-7083	87	33	travel	travel	NOUN
american_scientific_journal-7083	87	34	planning	planning	NOUN
american_scientific_journal-7083	87	35	purposes	purpose	NOUN
american_scientific_journal-7083	87	36	.	.	PUNCT
american_scientific_journal-7083	88	1	it	it	PRON
american_scientific_journal-7083	88	2	is	be	AUX
american_scientific_journal-7083	88	3	recommended	recommend	VERB
american_scientific_journal-7083	88	4	that	that	SCONJ
american_scientific_journal-7083	88	5	superior	superior	ADJ
american_scientific_journal-7083	88	6	genetic	genetic	ADJ
american_scientific_journal-7083	88	7	algorithm	algorithm	NOUN
american_scientific_journal-7083	88	8	operators	operator	NOUN
american_scientific_journal-7083	88	9	be	be	AUX
american_scientific_journal-7083	88	10	used	use	VERB
american_scientific_journal-7083	88	11	to	to	PART
american_scientific_journal-7083	88	12	decorate	decorate	VERB
american_scientific_journal-7083	88	13	the	the	DET
american_scientific_journal-7083	88	14	charge	charge	NOUN
american_scientific_journal-7083	88	15	of	of	ADP
american_scientific_journal-7083	88	16	divergence	divergence	NOUN
american_scientific_journal-7083	88	17	and	and	CCONJ
american_scientific_journal-7083	88	18	that	that	SCONJ
american_scientific_journal-7083	88	19	pathways	pathway	NOUN
american_scientific_journal-7083	88	20	be	be	AUX
american_scientific_journal-7083	88	21	finished	finish	VERB
american_scientific_journal-7083	88	22	with	with	ADP
american_scientific_journal-7083	88	23	affordable	affordable	ADJ
american_scientific_journal-7083	88	24	time	time	NOUN
american_scientific_journal-7083	88	25	.	.	PUNCT
american_scientific_journal-7083	89	1	the	the	DET
american_scientific_journal-7083	89	2	authors	author	NOUN
american_scientific_journal-7083	89	3	in	in	ADP
american_scientific_journal-7083	89	4	[	[	X
american_scientific_journal-7083	89	5	14	14	NUM
american_scientific_journal-7083	89	6	]	]	PUNCT
american_scientific_journal-7083	89	7	proposed	propose	VERB
american_scientific_journal-7083	89	8	show	show	VERB
american_scientific_journal-7083	89	9	the	the	DET
american_scientific_journal-7083	89	10	usefulness	usefulness	NOUN
american_scientific_journal-7083	89	11	of	of	ADP
american_scientific_journal-7083	89	12	strategies	strategy	NOUN
american_scientific_journal-7083	89	13	in	in	ADP
american_scientific_journal-7083	89	14	the	the	DET
american_scientific_journal-7083	89	15	preparation	preparation	NOUN
american_scientific_journal-7083	89	16	of	of	ADP
american_scientific_journal-7083	89	17	routes	route	NOUN
american_scientific_journal-7083	89	18	,	,	PUNCT
american_scientific_journal-7083	89	19	in	in	ADP
american_scientific_journal-7083	89	20	particular	particular	ADJ
american_scientific_journal-7083	89	21	probabilistic	probabilistic	ADJ
american_scientific_journal-7083	89	22	roadmap	roadmap	NOUN
american_scientific_journal-7083	89	23	(	(	PUNCT
american_scientific_journal-7083	89	24	prm	prm	PROPN
american_scientific_journal-7083	89	25	)	)	PUNCT
american_scientific_journal-7083	89	26	and	and	CCONJ
american_scientific_journal-7083	89	27	genetic	genetic	ADJ
american_scientific_journal-7083	89	28	algorithm	algorithm	NOUN
american_scientific_journal-7083	89	29	(	(	PUNCT
american_scientific_journal-7083	89	30	ga	ga	PROPN
american_scientific_journal-7083	89	31	)	)	PUNCT
american_scientific_journal-7083	89	32	.	.	PUNCT
american_scientific_journal-7083	90	1	two	two	NUM
american_scientific_journal-7083	90	2	maps	map	NOUN
american_scientific_journal-7083	90	3	were	be	AUX
american_scientific_journal-7083	90	4	used	use	VERB
american_scientific_journal-7083	90	5	,	,	PUNCT
american_scientific_journal-7083	90	6	one	one	NUM
american_scientific_journal-7083	90	7	easy	easy	ADJ
american_scientific_journal-7083	90	8	and	and	CCONJ
american_scientific_journal-7083	90	9	one	one	NUM
american_scientific_journal-7083	90	10	complex	complex	NOUN
american_scientific_journal-7083	90	11	,	,	PUNCT
american_scientific_journal-7083	90	12	to	to	PART
american_scientific_journal-7083	90	13	analyze	analyze	VERB
american_scientific_journal-7083	90	14	their	their	PRON
american_scientific_journal-7083	90	15	performances	performance	NOUN
american_scientific_journal-7083	90	16	.	.	PUNCT
american_scientific_journal-7083	91	1	in	in	ADP
american_scientific_journal-7083	91	2	prm	prm	PROPN
american_scientific_journal-7083	91	3	,	,	PUNCT
american_scientific_journal-7083	91	4	a	a	DET
american_scientific_journal-7083	91	5	map	map	NOUN
american_scientific_journal-7083	91	6	was	be	AUX
american_scientific_journal-7083	91	7	initially	initially	ADV
american_scientific_journal-7083	91	8	loaded	load	VERB
american_scientific_journal-7083	91	9	and	and	CCONJ
american_scientific_journal-7083	91	10	followed	follow	VERB
american_scientific_journal-7083	91	11	the	the	DET
american_scientific_journal-7083	91	12	quantity	quantity	NOUN
american_scientific_journal-7083	91	13	of	of	ADP
american_scientific_journal-7083	91	14	identifying	identify	VERB
american_scientific_journal-7083	91	15	nodes	node	NOUN
american_scientific_journal-7083	91	16	then	then	ADV
american_scientific_journal-7083	91	17	,	,	PUNCT
american_scientific_journal-7083	91	18	preliminary	preliminary	ADJ
american_scientific_journal-7083	91	19	and	and	CCONJ
american_scientific_journal-7083	91	20	final	final	ADJ
american_scientific_journal-7083	91	21	positions	position	NOUN
american_scientific_journal-7083	91	22	had	have	AUX
american_scientific_journal-7083	91	23	been	be	AUX
american_scientific_journal-7083	91	24	defined	define	VERB
american_scientific_journal-7083	91	25	.	.	PUNCT
american_scientific_journal-7083	92	1	then	then	ADV
american_scientific_journal-7083	92	2	the	the	DET
american_scientific_journal-7083	92	3	algorithm	algorithm	NOUN
american_scientific_journal-7083	92	4	created	create	VERB
american_scientific_journal-7083	92	5	a	a	DET
american_scientific_journal-7083	92	6	group	group	NOUN
american_scientific_journal-7083	92	7	of	of	ADP
american_scientific_journal-7083	92	8	potential	potential	ADJ
american_scientific_journal-7083	92	9	node	node	NOUN
american_scientific_journal-7083	92	10	relations	relation	NOUN
american_scientific_journal-7083	92	11	between	between	ADP
american_scientific_journal-7083	92	12	the	the	DET
american_scientific_journal-7083	92	13	preliminary	preliminary	ADJ
american_scientific_journal-7083	92	14	and	and	CCONJ
american_scientific_journal-7083	92	15	the	the	DET
american_scientific_journal-7083	92	16	final	final	ADJ
american_scientific_journal-7083	92	17	positions	position	NOUN
american_scientific_journal-7083	92	18	.	.	PUNCT
american_scientific_journal-7083	93	1	the	the	DET
american_scientific_journal-7083	93	2	algorithm	algorithm	NOUN
american_scientific_journal-7083	93	3	finally	finally	ADV
american_scientific_journal-7083	93	4	checked	check	VERB
american_scientific_journal-7083	93	5	this	this	DET
american_scientific_journal-7083	93	6	network	network	NOUN
american_scientific_journal-7083	93	7	of	of	ADP
american_scientific_journal-7083	93	8	connected	connect	VERB
american_scientific_journal-7083	93	9	nodes	node	NOUN
american_scientific_journal-7083	93	10	to	to	PART
american_scientific_journal-7083	93	11	go	go	VERB
american_scientific_journal-7083	93	12	back	back	ADV
american_scientific_journal-7083	93	13	to	to	ADP
american_scientific_journal-7083	93	14	a	a	DET
american_scientific_journal-7083	93	15	collision	collision	NOUN
american_scientific_journal-7083	93	16	-	-	PUNCT
american_scientific_journal-7083	93	17	free	free	ADJ
american_scientific_journal-7083	93	18	path	path	NOUN
american_scientific_journal-7083	93	19	.	.	PUNCT
american_scientific_journal-7083	94	1	in	in	ADP
american_scientific_journal-7083	94	2	ga	ga	PROPN
american_scientific_journal-7083	94	3	,	,	PUNCT
american_scientific_journal-7083	94	4	by	by	ADP
american_scientific_journal-7083	94	5	selecting	select	VERB
american_scientific_journal-7083	94	6	the	the	DET
american_scientific_journal-7083	94	7	ga	ga	PROPN
american_scientific_journal-7083	94	8	parameters	parameter	NOUN
american_scientific_journal-7083	94	9	,	,	PUNCT
american_scientific_journal-7083	94	10	a	a	DET
american_scientific_journal-7083	94	11	map	map	NOUN
american_scientific_journal-7083	94	12	changed	change	VERB
american_scientific_journal-7083	94	13	into	into	ADP
american_scientific_journal-7083	94	14	observed	observe	VERB
american_scientific_journal-7083	94	15	initially	initially	ADV
american_scientific_journal-7083	94	16	loaded	load	VERB
american_scientific_journal-7083	94	17	as	as	ADV
american_scientific_journal-7083	94	18	well	well	ADV
american_scientific_journal-7083	94	19	.	.	PUNCT
american_scientific_journal-7083	95	1	these	these	DET
american_scientific_journal-7083	95	2	ga	ga	PROPN
american_scientific_journal-7083	95	3	parameters	parameter	NOUN
american_scientific_journal-7083	95	4	have	have	AUX
american_scientific_journal-7083	95	5	been	be	AUX
american_scientific_journal-7083	95	6	investigated	investigate	VERB
american_scientific_journal-7083	95	7	as	as	ADP
american_scientific_journal-7083	95	8	to	to	ADP
american_scientific_journal-7083	95	9	which	which	DET
american_scientific_journal-7083	95	10	set	set	NOUN
american_scientific_journal-7083	95	11	of	of	ADP
american_scientific_journal-7083	95	12	values	value	NOUN
american_scientific_journal-7083	95	13	will	will	AUX
american_scientific_journal-7083	95	14	shape	shape	VERB
american_scientific_journal-7083	95	15	the	the	DET
american_scientific_journal-7083	95	16	problem	problem	NOUN
american_scientific_journal-7083	95	17	.	.	PUNCT
american_scientific_journal-7083	96	1	then	then	ADV
american_scientific_journal-7083	96	2	,	,	PUNCT
american_scientific_journal-7083	96	3	there	there	PRON
american_scientific_journal-7083	96	4	were	be	VERB
american_scientific_journal-7083	96	5	specified	specify	VERB
american_scientific_journal-7083	96	6	preliminary	preliminary	ADJ
american_scientific_journal-7083	96	7	and	and	CCONJ
american_scientific_journal-7083	96	8	final	final	ADJ
american_scientific_journal-7083	96	9	places	place	NOUN
american_scientific_journal-7083	96	10	.	.	PUNCT
american_scientific_journal-7083	97	1	the	the	DET
american_scientific_journal-7083	97	2	related	relate	VERB
american_scientific_journal-7083	97	3	price	price	NOUN
american_scientific_journal-7083	97	4	included	include	VERB
american_scientific_journal-7083	97	5	the	the	DET
american_scientific_journal-7083	97	6	distance	distance	NOUN
american_scientific_journal-7083	97	7	or	or	CCONJ
american_scientific_journal-7083	97	8	number	number	NOUN
american_scientific_journal-7083	97	9	of	of	ADP
american_scientific_journal-7083	97	10	segments	segment	NOUN
american_scientific_journal-7083	97	11	for	for	ADP
american_scientific_journal-7083	97	12	each	each	PRON
american_scientific_journal-7083	97	13	of	of	ADP
american_scientific_journal-7083	97	14	the	the	DET
american_scientific_journal-7083	97	15	directions	direction	NOUN
american_scientific_journal-7083	97	16	created	create	VERB
american_scientific_journal-7083	97	17	.	.	PUNCT
american_scientific_journal-7083	98	1	penalties	penalty	NOUN
american_scientific_journal-7083	98	2	had	have	AUX
american_scientific_journal-7083	98	3	been	be	AUX
american_scientific_journal-7083	98	4	brought	bring	VERB
american_scientific_journal-7083	98	5	every	every	DET
american_scientific_journal-7083	98	6	time	time	NOUN
american_scientific_journal-7083	98	7	the	the	DET
american_scientific_journal-7083	98	8	generated	generate	VERB
american_scientific_journal-7083	98	9	path	path	NOUN
american_scientific_journal-7083	98	10	involved	involve	VERB
american_scientific_journal-7083	98	11	an	an	DET
american_scientific_journal-7083	98	12	obstacle	obstacle	NOUN
american_scientific_journal-7083	98	13	.	.	PUNCT
american_scientific_journal-7083	99	1	as	as	ADP
american_scientific_journal-7083	99	2	a	a	DET
american_scientific_journal-7083	99	3	consequence	consequence	NOUN
american_scientific_journal-7083	99	4	,	,	PUNCT
american_scientific_journal-7083	99	5	ga	ga	PROPN
american_scientific_journal-7083	99	6	creates	create	VERB
american_scientific_journal-7083	99	7	cleaner	clean	ADJ
american_scientific_journal-7083	99	8	pathways	pathway	NOUN
american_scientific_journal-7083	99	9	that	that	PRON
american_scientific_journal-7083	99	10	add	add	VERB
american_scientific_journal-7083	99	11	to	to	ADP
american_scientific_journal-7083	99	12	the	the	DET
american_scientific_journal-7083	99	13	ease	ease	NOUN
american_scientific_journal-7083	99	14	of	of	ADP
american_scientific_journal-7083	99	15	mobile	mobile	ADJ
american_scientific_journal-7083	99	16	robots	robot	NOUN
american_scientific_journal-7083	99	17	'	'	PART
american_scientific_journal-7083	99	18	navigation	navigation	NOUN
american_scientific_journal-7083	99	19	,	,	PUNCT
american_scientific_journal-7083	99	20	but	but	CCONJ
american_scientific_journal-7083	99	21	absorbs	absorb	VERB
american_scientific_journal-7083	99	22	extra	extra	ADJ
american_scientific_journal-7083	99	23	computing	computing	NOUN
american_scientific_journal-7083	99	24	time	time	NOUN
american_scientific_journal-7083	99	25	,	,	PUNCT
american_scientific_journal-7083	99	26	rendering	render	VERB
american_scientific_journal-7083	99	27	it	it	PRON
american_scientific_journal-7083	99	28	impossible	impossible	ADJ
american_scientific_journal-7083	99	29	to	to	PART
american_scientific_journal-7083	99	30	incorporate	incorporate	VERB
american_scientific_journal-7083	99	31	real	real	ADJ
american_scientific_journal-7083	99	32	-	-	PUNCT
american_scientific_journal-7083	99	33	time	time	NOUN
american_scientific_journal-7083	99	34	navigation	navigation	NOUN
american_scientific_journal-7083	99	35	.	.	PUNCT
american_scientific_journal-7083	100	1	the	the	DET
american_scientific_journal-7083	100	2	authors	author	NOUN
american_scientific_journal-7083	100	3	in	in	ADP
american_scientific_journal-7083	100	4	[	[	X
american_scientific_journal-7083	100	5	15	15	NUM
american_scientific_journal-7083	100	6	]	]	PUNCT
american_scientific_journal-7083	100	7	proposed	propose	VERB
american_scientific_journal-7083	100	8	affords	afford	VERB
american_scientific_journal-7083	100	9	a	a	DET
american_scientific_journal-7083	100	10	brand	brand	NOUN
american_scientific_journal-7083	100	11	new	new	ADJ
american_scientific_journal-7083	100	12	method	method	NOUN
american_scientific_journal-7083	100	13	for	for	ADP
american_scientific_journal-7083	100	14	solving	solve	VERB
american_scientific_journal-7083	100	15	cpp	cpp	NOUN
american_scientific_journal-7083	100	16	.	.	PUNCT
american_scientific_journal-7083	101	1	through	through	ADP
american_scientific_journal-7083	101	2	this	this	DET
american_scientific_journal-7083	101	3	procedure	procedure	NOUN
american_scientific_journal-7083	101	4	,	,	PUNCT
american_scientific_journal-7083	101	5	the	the	DET
american_scientific_journal-7083	101	6	position	position	NOUN
american_scientific_journal-7083	101	7	of	of	ADP
american_scientific_journal-7083	101	8	protection	protection	NOUN
american_scientific_journal-7083	101	9	is	be	AUX
american_scientific_journal-7083	101	10	separated	separate	VERB
american_scientific_journal-7083	101	11	into	into	ADP
american_scientific_journal-7083	101	12	tiny	tiny	ADJ
american_scientific_journal-7083	101	13	squares	square	NOUN
american_scientific_journal-7083	101	14	where	where	SCONJ
american_scientific_journal-7083	101	15	the	the	DET
american_scientific_journal-7083	101	16	diagonal	diagonal	ADJ
american_scientific_journal-7083	101	17	squares	square	NOUN
american_scientific_journal-7083	101	18	are	be	AUX
american_scientific_journal-7083	101	19	the	the	DET
american_scientific_journal-7083	101	20	robotic	robotic	ADJ
american_scientific_journal-7083	101	21	tool	tool	NOUN
american_scientific_journal-7083	101	22	scale	scale	NOUN
american_scientific_journal-7083	101	23	.	.	PUNCT
american_scientific_journal-7083	102	1	there	there	PRON
american_scientific_journal-7083	102	2	are	be	VERB
american_scientific_journal-7083	102	3	four	four	NUM
american_scientific_journal-7083	102	4	important	important	ADJ
american_scientific_journal-7083	102	5	movements	movement	NOUN
american_scientific_journal-7083	102	6	described	describe	VERB
american_scientific_journal-7083	102	7	in	in	ADP
american_scientific_journal-7083	102	8	a	a	DET
american_scientific_journal-7083	102	9	square	square	NOUN
american_scientific_journal-7083	102	10	,	,	PUNCT
american_scientific_journal-7083	102	11	which	which	PRON
american_scientific_journal-7083	102	12	can	can	AUX
american_scientific_journal-7083	102	13	be	be	AUX
american_scientific_journal-7083	102	14	forward	forward	ADV
american_scientific_journal-7083	102	15	,	,	PUNCT
american_scientific_journal-7083	102	16	left	left	ADJ
american_scientific_journal-7083	102	17	flip	flip	NOUN
american_scientific_journal-7083	102	18	,	,	PUNCT
american_scientific_journal-7083	102	19	right	right	ADJ
american_scientific_journal-7083	102	20	turn	turn	NOUN
american_scientific_journal-7083	102	21	and	and	CCONJ
american_scientific_journal-7083	102	22	u	u	NOUN
american_scientific_journal-7083	102	23	-	-	NOUN
american_scientific_journal-7083	102	24	flip	flip	ADJ
american_scientific_journal-7083	102	25	.	.	PUNCT
american_scientific_journal-7083	103	1	a	a	DET
american_scientific_journal-7083	103	2	price	price	NOUN
american_scientific_journal-7083	103	3	method	method	NOUN
american_scientific_journal-7083	103	4	is	be	AUX
american_scientific_journal-7083	103	5	used	use	VERB
american_scientific_journal-7083	103	6	in	in	ADP
american_scientific_journal-7083	103	7	which	which	PRON
american_scientific_journal-7083	103	8	a	a	DET
american_scientific_journal-7083	103	9	fixed	fix	VERB
american_scientific_journal-7083	103	10	rate	rate	NOUN
american_scientific_journal-7083	103	11	is	be	AUX
american_scientific_journal-7083	103	12	used	use	VERB
american_scientific_journal-7083	103	13	for	for	ADP
american_scientific_journal-7083	103	14	any	any	DET
american_scientific_journal-7083	103	15	fundamental	fundamental	ADJ
american_scientific_journal-7083	103	16	motion	motion	NOUN
american_scientific_journal-7083	103	17	in	in	ADP
american_scientific_journal-7083	103	18	a	a	DET
american_scientific_journal-7083	103	19	square	square	NOUN
american_scientific_journal-7083	103	20	and	and	CCONJ
american_scientific_journal-7083	103	21	prices	price	NOUN
american_scientific_journal-7083	103	22	are	be	AUX
american_scientific_journal-7083	103	23	added	add	VERB
american_scientific_journal-7083	103	24	up	up	ADP
american_scientific_journal-7083	103	25	for	for	ADP
american_scientific_journal-7083	103	26	all	all	DET
american_scientific_journal-7083	103	27	motions	motion	NOUN
american_scientific_journal-7083	103	28	in	in	ADP
american_scientific_journal-7083	103	29	order	order	NOUN
american_scientific_journal-7083	103	30	to	to	PART
american_scientific_journal-7083	103	31	get	get	VERB
american_scientific_journal-7083	103	32	an	an	DET
american_scientific_journal-7083	103	33	average	average	ADJ
american_scientific_journal-7083	103	34	cost	cost	NOUN
american_scientific_journal-7083	103	35	for	for	ADP
american_scientific_journal-7083	103	36	a	a	DET
american_scientific_journal-7083	103	37	path	path	NOUN
american_scientific_journal-7083	103	38	.	.	PUNCT
american_scientific_journal-7083	104	1	this	this	DET
american_scientific_journal-7083	104	2	feature	feature	NOUN
american_scientific_journal-7083	104	3	american	american	PROPN
american_scientific_journal-7083	104	4	academic	academic	ADJ
american_scientific_journal-7083	104	5	scientific	scientific	ADJ
american_scientific_journal-7083	104	6	research	research	NOUN
american_scientific_journal-7083	104	7	journal	journal	NOUN
american_scientific_journal-7083	104	8	for	for	ADP
american_scientific_journal-7083	104	9	engineering	engineering	NOUN
american_scientific_journal-7083	104	10	,	,	PUNCT
american_scientific_journal-7083	104	11	technology	technology	NOUN
american_scientific_journal-7083	104	12	,	,	PUNCT
american_scientific_journal-7083	104	13	and	and	CCONJ
american_scientific_journal-7083	104	14	sciences	science	NOUN
american_scientific_journal-7083	104	15	(	(	PUNCT
american_scientific_journal-7083	104	16	asrjets	asrjet	NOUN
american_scientific_journal-7083	104	17	)	)	PUNCT
american_scientific_journal-7083	104	18	(	(	PUNCT
american_scientific_journal-7083	104	19	2022)volume90	2022)volume90	NUM
american_scientific_journal-7083	104	20	,	,	PUNCT
american_scientific_journal-7083	104	21	no1	no1	NOUN
american_scientific_journal-7083	104	22	,	,	PUNCT
american_scientific_journal-7083	104	23	pp161	pp161	PROPN
american_scientific_journal-7083	104	24	-	-	SYM
american_scientific_journal-7083	104	25	174	174	NUM
american_scientific_journal-7083	104	26	166	166	NUM
american_scientific_journal-7083	104	27	makes	make	VERB
american_scientific_journal-7083	104	28	it	it	PRON
american_scientific_journal-7083	104	29	possible	possible	ADJ
american_scientific_journal-7083	104	30	to	to	PART
american_scientific_journal-7083	104	31	find	find	VERB
american_scientific_journal-7083	104	32	the	the	DET
american_scientific_journal-7083	104	33	best	good	ADJ
american_scientific_journal-7083	104	34	path	path	NOUN
american_scientific_journal-7083	104	35	between	between	ADP
american_scientific_journal-7083	104	36	trails	trail	NOUN
american_scientific_journal-7083	104	37	with	with	ADP
american_scientific_journal-7083	104	38	the	the	DET
american_scientific_journal-7083	104	39	same	same	ADJ
american_scientific_journal-7083	104	40	repeated	repeat	VERB
american_scientific_journal-7083	104	41	visits	visit	NOUN
american_scientific_journal-7083	104	42	in	in	ADP
american_scientific_journal-7083	104	43	addition	addition	NOUN
american_scientific_journal-7083	104	44	,	,	PUNCT
american_scientific_journal-7083	104	45	genetic	genetic	ADJ
american_scientific_journal-7083	104	46	algorithm	algorithm	NOUN
american_scientific_journal-7083	104	47	(	(	PUNCT
american_scientific_journal-7083	104	48	ga	ga	NOUN
american_scientific_journal-7083	104	49	)	)	PUNCT
american_scientific_journal-7083	104	50	is	be	AUX
american_scientific_journal-7083	104	51	used	use	VERB
american_scientific_journal-7083	104	52	to	to	PART
american_scientific_journal-7083	104	53	evaluate	evaluate	VERB
american_scientific_journal-7083	104	54	the	the	DET
american_scientific_journal-7083	104	55	optimal	optimal	ADJ
american_scientific_journal-7083	104	56	path	path	NOUN
american_scientific_journal-7083	104	57	to	to	PART
american_scientific_journal-7083	104	58	cover	cover	VERB
american_scientific_journal-7083	104	59	an	an	DET
american_scientific_journal-7083	104	60	region	region	NOUN
american_scientific_journal-7083	104	61	.	.	PUNCT
american_scientific_journal-7083	105	1	by	by	ADP
american_scientific_journal-7083	105	2	convergence	convergence	NOUN
american_scientific_journal-7083	105	3	,	,	PUNCT
american_scientific_journal-7083	105	4	discovery	discovery	NOUN
american_scientific_journal-7083	105	5	and	and	CCONJ
american_scientific_journal-7083	105	6	evolution	evolution	NOUN
american_scientific_journal-7083	105	7	,	,	PUNCT
american_scientific_journal-7083	105	8	ga	ga	PROPN
american_scientific_journal-7083	105	9	strengthens	strengthen	VERB
american_scientific_journal-7083	105	10	existing	exist	VERB
american_scientific_journal-7083	105	11	pathways	pathway	NOUN
american_scientific_journal-7083	105	12	culminating	culminate	VERB
american_scientific_journal-7083	105	13	in	in	ADP
american_scientific_journal-7083	105	14	virtually	virtually	ADV
american_scientific_journal-7083	105	15	the	the	DET
american_scientific_journal-7083	105	16	most	most	ADV
american_scientific_journal-7083	105	17	effective	effective	ADJ
american_scientific_journal-7083	105	18	alternatives	alternative	NOUN
american_scientific_journal-7083	105	19	to	to	ADP
american_scientific_journal-7083	105	20	the	the	DET
american_scientific_journal-7083	105	21	gold	gold	NOUN
american_scientific_journal-7083	105	22	standard	standard	NOUN
american_scientific_journal-7083	105	23	.	.	PUNCT
american_scientific_journal-7083	106	1	the	the	DET
american_scientific_journal-7083	106	2	authors	author	NOUN
american_scientific_journal-7083	106	3	in	in	ADP
american_scientific_journal-7083	106	4	[	[	X
american_scientific_journal-7083	106	5	16	16	NUM
american_scientific_journal-7083	106	6	]	]	PUNCT
american_scientific_journal-7083	106	7	proposed	propose	VERB
american_scientific_journal-7083	106	8	the	the	DET
american_scientific_journal-7083	106	9	smooth	smooth	ADJ
american_scientific_journal-7083	106	10	course	course	NOUN
american_scientific_journal-7083	106	11	making	make	VERB
american_scientific_journal-7083	106	12	plans	plan	NOUN
american_scientific_journal-7083	106	13	trouble	trouble	NOUN
american_scientific_journal-7083	106	14	is	be	AUX
american_scientific_journal-7083	106	15	taken	take	VERB
american_scientific_journal-7083	106	16	into	into	ADP
american_scientific_journal-7083	106	17	consideration	consideration	NOUN
american_scientific_journal-7083	106	18	for	for	ADP
american_scientific_journal-7083	106	19	a	a	DET
american_scientific_journal-7083	106	20	mobile	mobile	ADJ
american_scientific_journal-7083	106	21	robot	robot	NOUN
american_scientific_journal-7083	106	22	primarily	primarily	ADV
american_scientific_journal-7083	106	23	based	base	VERB
american_scientific_journal-7083	106	24	at	at	ADP
american_scientific_journal-7083	106	25	the	the	DET
american_scientific_journal-7083	106	26	genetic	genetic	ADJ
american_scientific_journal-7083	106	27	set	set	NOUN
american_scientific_journal-7083	106	28	of	of	ADP
american_scientific_journal-7083	106	29	rules	rule	NOUN
american_scientific_journal-7083	106	30	and	and	CCONJ
american_scientific_journal-7083	106	31	the	the	DET
american_scientific_journal-7083	106	32	bezier	bezier	NOUN
american_scientific_journal-7083	106	33	curve	curve	NOUN
american_scientific_journal-7083	106	34	.	.	PUNCT
american_scientific_journal-7083	107	1	the	the	DET
american_scientific_journal-7083	107	2	workspace	workspace	NOUN
american_scientific_journal-7083	107	3	of	of	ADP
american_scientific_journal-7083	107	4	a	a	DET
american_scientific_journal-7083	107	5	cell	cell	NOUN
american_scientific_journal-7083	107	6	robotic	robotic	NOUN
american_scientific_journal-7083	107	7	is	be	AUX
american_scientific_journal-7083	107	8	represented	represent	VERB
american_scientific_journal-7083	107	9	by	by	ADP
american_scientific_journal-7083	107	10	way	way	NOUN
american_scientific_journal-7083	107	11	of	of	ADP
american_scientific_journal-7083	107	12	a	a	DET
american_scientific_journal-7083	107	13	brand	brand	NOUN
american_scientific_journal-7083	107	14	-	-	PUNCT
american_scientific_journal-7083	107	15	new	new	ADJ
american_scientific_journal-7083	107	16	grid	grid	NOUN
american_scientific_journal-7083	107	17	-	-	PUNCT
american_scientific_journal-7083	107	18	based	base	VERB
american_scientific_journal-7083	107	19	illustration	illustration	NOUN
american_scientific_journal-7083	107	20	(	(	PUNCT
american_scientific_journal-7083	107	21	2n	2n	NUM
american_scientific_journal-7083	107	22	×	×	PROPN
american_scientific_journal-7083	107	23	2n	2n	NUM
american_scientific_journal-7083	107	24	grids	grid	NOUN
american_scientific_journal-7083	107	25	)	)	PUNCT
american_scientific_journal-7083	107	26	that	that	PRON
american_scientific_journal-7083	107	27	allows	allow	VERB
american_scientific_journal-7083	107	28	the	the	DET
american_scientific_journal-7083	107	29	operations	operation	NOUN
american_scientific_journal-7083	107	30	of	of	ADP
american_scientific_journal-7083	107	31	the	the	DET
american_scientific_journal-7083	107	32	followed	follow	VERB
american_scientific_journal-7083	107	33	genetic	genetic	ADJ
american_scientific_journal-7083	107	34	set	set	NOUN
american_scientific_journal-7083	107	35	of	of	ADP
american_scientific_journal-7083	107	36	rules	rule	NOUN
american_scientific_journal-7083	107	37	.	.	PUNCT
american_scientific_journal-7083	108	1	the	the	DET
american_scientific_journal-7083	108	2	chromosome	chromosome	NOUN
american_scientific_journal-7083	108	3	of	of	ADP
american_scientific_journal-7083	108	4	the	the	DET
american_scientific_journal-7083	108	5	genetic	genetic	ADJ
american_scientific_journal-7083	108	6	set	set	NOUN
american_scientific_journal-7083	108	7	of	of	ADP
american_scientific_journal-7083	108	8	rules	rule	NOUN
american_scientific_journal-7083	108	9	is	be	AUX
american_scientific_journal-7083	108	10	composed	compose	VERB
american_scientific_journal-7083	108	11	of	of	ADP
american_scientific_journal-7083	108	12	a	a	DET
american_scientific_journal-7083	108	13	chain	chain	NOUN
american_scientific_journal-7083	108	14	of	of	ADP
american_scientific_journal-7083	108	15	binary	binary	ADJ
american_scientific_journal-7083	108	16	numbered	number	VERB
american_scientific_journal-7083	108	17	grids	grid	NOUN
american_scientific_journal-7083	108	18	(	(	PUNCT
american_scientific_journal-7083	108	19	i.e.	i.e.	X
american_scientific_journal-7083	108	20	,	,	PUNCT
american_scientific_journal-7083	108	21	control	control	NOUN
american_scientific_journal-7083	108	22	factors	factor	NOUN
american_scientific_journal-7083	108	23	of	of	ADP
american_scientific_journal-7083	108	24	the	the	DET
american_scientific_journal-7083	108	25	bezier	bezier	NOUN
american_scientific_journal-7083	108	26	curve	curve	NOUN
american_scientific_journal-7083	108	27	)	)	PUNCT
american_scientific_journal-7083	108	28	.	.	PUNCT
american_scientific_journal-7083	109	1	ordinary	ordinary	ADJ
american_scientific_journal-7083	109	2	genetic	genetic	ADJ
american_scientific_journal-7083	109	3	operators	operator	NOUN
american_scientific_journal-7083	109	4	which	which	PRON
american_scientific_journal-7083	109	5	include	include	VERB
american_scientific_journal-7083	109	6	crossover	crossover	NOUN
american_scientific_journal-7083	109	7	and	and	CCONJ
american_scientific_journal-7083	109	8	mutation	mutation	NOUN
american_scientific_journal-7083	109	9	are	be	AUX
american_scientific_journal-7083	109	10	used	use	VERB
american_scientific_journal-7083	109	11	to	to	PART
american_scientific_journal-7083	109	12	look	look	VERB
american_scientific_journal-7083	109	13	the	the	DET
american_scientific_journal-7083	109	14	most	most	ADV
american_scientific_journal-7083	109	15	efficient	efficient	ADJ
american_scientific_journal-7083	109	16	chromosome	chromosome	NOUN
american_scientific_journal-7083	109	17	wherein	wherein	SCONJ
american_scientific_journal-7083	109	18	the	the	DET
american_scientific_journal-7083	109	19	optimization	optimization	NOUN
american_scientific_journal-7083	109	20	criterion	criterion	NOUN
american_scientific_journal-7083	109	21	is	be	AUX
american_scientific_journal-7083	109	22	the	the	DET
american_scientific_journal-7083	109	23	duration	duration	NOUN
american_scientific_journal-7083	109	24	of	of	ADP
american_scientific_journal-7083	109	25	a	a	DET
american_scientific_journal-7083	109	26	piecewise	piecewise	NOUN
american_scientific_journal-7083	109	27	collision	collision	NOUN
american_scientific_journal-7083	109	28	-	-	PUNCT
american_scientific_journal-7083	109	29	free	free	ADJ
american_scientific_journal-7083	109	30	bezier	bezier	NOUN
american_scientific_journal-7083	109	31	curve	curve	NOUN
american_scientific_journal-7083	109	32	course	course	NOUN
american_scientific_journal-7083	109	33	determined	determine	VERB
american_scientific_journal-7083	109	34	by	by	ADP
american_scientific_journal-7083	109	35	means	mean	NOUN
american_scientific_journal-7083	109	36	of	of	ADP
american_scientific_journal-7083	109	37	the	the	DET
american_scientific_journal-7083	109	38	control	control	NOUN
american_scientific_journal-7083	109	39	points	point	NOUN
american_scientific_journal-7083	109	40	.	.	PUNCT
american_scientific_journal-7083	110	1	a	a	DET
american_scientific_journal-7083	110	2	numerical	numerical	ADJ
american_scientific_journal-7083	110	3	test	test	NOUN
american_scientific_journal-7083	110	4	is	be	AUX
american_scientific_journal-7083	110	5	given	give	VERB
american_scientific_journal-7083	110	6	to	to	PART
american_scientific_journal-7083	110	7	illustrate	illustrate	VERB
american_scientific_journal-7083	110	8	the	the	DET
american_scientific_journal-7083	110	9	effectiveness	effectiveness	NOUN
american_scientific_journal-7083	110	10	of	of	ADP
american_scientific_journal-7083	110	11	the	the	DET
american_scientific_journal-7083	110	12	proposed	propose	VERB
american_scientific_journal-7083	110	13	easy	easy	ADJ
american_scientific_journal-7083	110	14	course	course	NOUN
american_scientific_journal-7083	110	15	making	make	VERB
american_scientific_journal-7083	110	16	plans	plan	NOUN
american_scientific_journal-7083	110	17	technique	technique	NOUN
american_scientific_journal-7083	110	18	for	for	ADP
american_scientific_journal-7083	110	19	a	a	DET
american_scientific_journal-7083	110	20	mobile	mobile	ADJ
american_scientific_journal-7083	110	21	robot	robot	NOUN
american_scientific_journal-7083	110	22	.	.	PUNCT
american_scientific_journal-7083	111	1	the	the	DET
american_scientific_journal-7083	111	2	authors	author	NOUN
american_scientific_journal-7083	111	3	in	in	ADP
american_scientific_journal-7083	111	4	,	,	PUNCT
american_scientific_journal-7083	111	5	[	[	X
american_scientific_journal-7083	111	6	17	17	NUM
american_scientific_journal-7083	111	7	]	]	PUNCT
american_scientific_journal-7083	111	8	a	a	DET
american_scientific_journal-7083	111	9	series	series	NOUN
american_scientific_journal-7083	111	10	of	of	ADP
american_scientific_journal-7083	111	11	new	new	ADJ
american_scientific_journal-7083	111	12	concepts	concept	NOUN
american_scientific_journal-7083	111	13	and	and	CCONJ
american_scientific_journal-7083	111	14	specialized	specialized	ADJ
american_scientific_journal-7083	111	15	genetic	genetic	ADJ
american_scientific_journal-7083	111	16	operators	operator	NOUN
american_scientific_journal-7083	111	17	of	of	ADP
american_scientific_journal-7083	111	18	a	a	DET
american_scientific_journal-7083	111	19	genetic	genetic	ADJ
american_scientific_journal-7083	111	20	algorithm	algorithm	NOUN
american_scientific_journal-7083	111	21	(	(	PUNCT
american_scientific_journal-7083	111	22	ga	ga	PROPN
american_scientific_journal-7083	111	23	)	)	PUNCT
american_scientific_journal-7083	111	24	was	be	AUX
american_scientific_journal-7083	111	25	suggested	suggest	VERB
american_scientific_journal-7083	111	26	and	and	CCONJ
american_scientific_journal-7083	111	27	introduced	introduce	VERB
american_scientific_journal-7083	111	28	to	to	PART
american_scientific_journal-7083	111	29	explain	explain	VERB
american_scientific_journal-7083	111	30	the	the	DET
american_scientific_journal-7083	111	31	problem	problem	NOUN
american_scientific_journal-7083	111	32	of	of	ADP
american_scientific_journal-7083	111	33	course	course	NOUN
american_scientific_journal-7083	111	34	preparation	preparation	NOUN
american_scientific_journal-7083	111	35	for	for	ADP
american_scientific_journal-7083	111	36	mobile	mobile	NOUN
american_scientific_journal-7083	111	37	robot	robot	NOUN
american_scientific_journal-7083	111	38	(	(	PUNCT
american_scientific_journal-7083	111	39	mr	mr	PROPN
american_scientific_journal-7083	111	40	)	)	PUNCT
american_scientific_journal-7083	111	41	in	in	ADP
american_scientific_journal-7083	111	42	complex	complex	ADJ
american_scientific_journal-7083	111	43	environments	environment	NOUN
american_scientific_journal-7083	111	44	.	.	PUNCT
american_scientific_journal-7083	112	1	the	the	DET
american_scientific_journal-7083	112	2	method	method	NOUN
american_scientific_journal-7083	112	3	suggested	suggest	VERB
american_scientific_journal-7083	112	4	has	have	VERB
american_scientific_journal-7083	112	5	two	two	NUM
american_scientific_journal-7083	112	6	superiorities	superiority	NOUN
american_scientific_journal-7083	112	7	:	:	PUNCT
american_scientific_journal-7083	112	8	fast	fast	ADJ
american_scientific_journal-7083	112	9	progress	progress	NOUN
american_scientific_journal-7083	112	10	towards	towards	ADP
american_scientific_journal-7083	112	11	the	the	DET
american_scientific_journal-7083	112	12	environment	environment	NOUN
american_scientific_journal-7083	112	13	superior	superior	ADJ
american_scientific_journal-7083	112	14	and	and	CCONJ
american_scientific_journal-7083	112	15	the	the	DET
american_scientific_journal-7083	112	16	viability	viability	NOUN
american_scientific_journal-7083	112	17	of	of	ADP
american_scientific_journal-7083	112	18	all	all	DET
american_scientific_journal-7083	112	19	responses	response	NOUN
american_scientific_journal-7083	112	20	in	in	ADP
american_scientific_journal-7083	112	21	the	the	DET
american_scientific_journal-7083	112	22	community	community	NOUN
american_scientific_journal-7083	112	23	.	.	PUNCT
american_scientific_journal-7083	113	1	roadmaking	roadmake	VERB
american_scientific_journal-7083	113	2	proposals	proposal	NOUN
american_scientific_journal-7083	113	3	aim	aim	VERB
american_scientific_journal-7083	113	4	at	at	ADP
american_scientific_journal-7083	113	5	offering	offer	VERB
american_scientific_journal-7083	113	6	a	a	DET
american_scientific_journal-7083	113	7	high	high	ADJ
american_scientific_journal-7083	113	8	-	-	PUNCT
american_scientific_journal-7083	113	9	quality	quality	NOUN
american_scientific_journal-7083	113	10	path	path	NOUN
american_scientific_journal-7083	113	11	from	from	ADP
american_scientific_journal-7083	113	12	a	a	DET
american_scientific_journal-7083	113	13	starting	starting	NOUN
american_scientific_journal-7083	113	14	area	area	NOUN
american_scientific_journal-7083	113	15	to	to	ADP
american_scientific_journal-7083	113	16	a	a	DET
american_scientific_journal-7083	113	17	destination	destination	NOUN
american_scientific_journal-7083	113	18	region	region	NOUN
american_scientific_journal-7083	113	19	,	,	PUNCT
american_scientific_journal-7083	113	20	avoiding	avoid	VERB
american_scientific_journal-7083	113	21	crashes	crash	NOUN
american_scientific_journal-7083	113	22	or	or	CCONJ
american_scientific_journal-7083	113	23	so	so	ADV
american_scientific_journal-7083	113	24	-	-	PUNCT
american_scientific_journal-7083	113	25	called	call	VERB
american_scientific_journal-7083	113	26	preventing	prevent	VERB
american_scientific_journal-7083	113	27	obstacles	obstacle	NOUN
american_scientific_journal-7083	113	28	.	.	PUNCT
american_scientific_journal-7083	114	1	the	the	DET
american_scientific_journal-7083	114	2	primary	primary	ADJ
american_scientific_journal-7083	114	3	thoughts	thought	NOUN
american_scientific_journal-7083	114	4	on	on	ADP
american_scientific_journal-7083	114	5	xiaolei	xiaolei	PROPN
american_scientific_journal-7083	114	6	zhang1	zhang1	PROPN
american_scientific_journal-7083	114	7	,	,	PUNCT
american_scientific_journal-7083	114	8	yan	yan	PROPN
american_scientific_journal-7083	114	9	zhao1	zhao1	PROPN
american_scientific_journal-7083	114	10	*	*	PUNCT
american_scientific_journal-7083	114	11	,	,	PUNCT
american_scientific_journal-7083	114	12	nianmao	nianmao	ADJ
american_scientific_journal-7083	114	13	deng2	deng2	NOUN
american_scientific_journal-7083	114	14	and	and	CCONJ
american_scientific_journal-7083	114	15	kai'articles	kai'article	NOUN
american_scientific_journal-7083	114	16	are	be	AUX
american_scientific_journal-7083	114	17	visible	visible	ADJ
american_scientific_journal-7083	114	18	space	space	NOUN
american_scientific_journal-7083	114	19	,	,	PUNCT
american_scientific_journal-7083	114	20	matrix	matrix	NOUN
american_scientific_journal-7083	114	21	coding	coding	NOUN
american_scientific_journal-7083	114	22	and	and	CCONJ
american_scientific_journal-7083	114	23	new	new	ADJ
american_scientific_journal-7083	114	24	mutation	mutation	NOUN
american_scientific_journal-7083	114	25	operators	operator	NOUN
american_scientific_journal-7083	114	26	.	.	PUNCT
american_scientific_journal-7083	115	1	a	a	DET
american_scientific_journal-7083	115	2	viable	viable	ADJ
american_scientific_journal-7083	115	3	path	path	NOUN
american_scientific_journal-7083	115	4	may	may	AUX
american_scientific_journal-7083	115	5	be	be	AUX
american_scientific_journal-7083	115	6	acquired	acquire	VERB
american_scientific_journal-7083	115	7	unexpectedly	unexpectedly	ADV
american_scientific_journal-7083	115	8	based	base	VERB
american_scientific_journal-7083	115	9	on	on	ADP
american_scientific_journal-7083	115	10	seen	see	VERB
american_scientific_journal-7083	115	11	area	area	NOUN
american_scientific_journal-7083	115	12	.	.	PUNCT
american_scientific_journal-7083	116	1	infeasible	infeasible	ADJ
american_scientific_journal-7083	116	2	paths	path	NOUN
american_scientific_journal-7083	116	3	can	can	AUX
american_scientific_journal-7083	116	4	be	be	AUX
american_scientific_journal-7083	116	5	changed	change	VERB
american_scientific_journal-7083	116	6	easily	easily	ADV
american_scientific_journal-7083	116	7	and	and	CCONJ
american_scientific_journal-7083	116	8	with	with	ADP
american_scientific_journal-7083	116	9	an	an	DET
american_scientific_journal-7083	116	10	incredible	incredible	ADJ
american_scientific_journal-7083	116	11	degree	degree	NOUN
american_scientific_journal-7083	116	12	of	of	ADP
american_scientific_journal-7083	116	13	productivity	productivity	NOUN
american_scientific_journal-7083	116	14	after	after	ADP
american_scientific_journal-7083	116	15	genetic	genetic	ADJ
american_scientific_journal-7083	116	16	operations	operation	NOUN
american_scientific_journal-7083	116	17	with	with	ADP
american_scientific_journal-7083	116	18	the	the	DET
american_scientific_journal-7083	116	19	aid	aid	NOUN
american_scientific_journal-7083	116	20	of	of	ADP
american_scientific_journal-7083	116	21	utilizing	utilize	VERB
american_scientific_journal-7083	116	22	seen	see	VERB
american_scientific_journal-7083	116	23	space	space	NOUN
american_scientific_journal-7083	116	24	.	.	PUNCT
american_scientific_journal-7083	117	1	through	through	ADP
american_scientific_journal-7083	117	2	the	the	DET
american_scientific_journal-7083	117	3	use	use	NOUN
american_scientific_journal-7083	117	4	of	of	ADP
american_scientific_journal-7083	117	5	new	new	ADJ
american_scientific_journal-7083	117	6	mutation	mutation	NOUN
american_scientific_journal-7083	117	7	operators	operator	NOUN
american_scientific_journal-7083	117	8	,	,	PUNCT
american_scientific_journal-7083	117	9	the	the	DET
american_scientific_journal-7083	117	10	approach	approach	NOUN
american_scientific_journal-7083	117	11	may	may	AUX
american_scientific_journal-7083	117	12	additionally	additionally	ADV
american_scientific_journal-7083	117	13	rapidly	rapidly	ADV
american_scientific_journal-7083	117	14	converge	converge	VERB
american_scientific_journal-7083	117	15	closer	close	ADV
american_scientific_journal-7083	117	16	to	to	ADP
american_scientific_journal-7083	117	17	an	an	DET
american_scientific_journal-7083	117	18	international	international	ADJ
american_scientific_journal-7083	117	19	ideal	ideal	ADJ
american_scientific_journal-7083	117	20	solution	solution	NOUN
american_scientific_journal-7083	117	21	with	with	ADP
american_scientific_journal-7083	117	22	better	well	ADJ
american_scientific_journal-7083	117	23	possibility	possibility	NOUN
american_scientific_journal-7083	117	24	than	than	ADP
american_scientific_journal-7083	117	25	different	different	ADJ
american_scientific_journal-7083	117	26	strategies	strategy	NOUN
american_scientific_journal-7083	117	27	,	,	PUNCT
american_scientific_journal-7083	117	28	not	not	PART
american_scientific_journal-7083	117	29	handiest	handy	ADJ
american_scientific_journal-7083	117	30	in	in	ADP
american_scientific_journal-7083	117	31	static	static	ADJ
american_scientific_journal-7083	117	32	environments	environment	NOUN
american_scientific_journal-7083	117	33	however	however	ADV
american_scientific_journal-7083	117	34	additionally	additionally	ADV
american_scientific_journal-7083	117	35	in	in	ADP
american_scientific_journal-7083	117	36	dynamic	dynamic	ADJ
american_scientific_journal-7083	117	37	environments	environment	NOUN
american_scientific_journal-7083	117	38	.	.	PUNCT
american_scientific_journal-7083	118	1	2.3	2.3	NUM
american_scientific_journal-7083	118	2	ant	ant	ADJ
american_scientific_journal-7083	118	3	colony	colony	NOUN
american_scientific_journal-7083	118	4	algorithm	algorithm	NOUN
american_scientific_journal-7083	118	5	the	the	DET
american_scientific_journal-7083	118	6	ant	ant	ADJ
american_scientific_journal-7083	118	7	colony	colony	NOUN
american_scientific_journal-7083	118	8	optimization	optimization	NOUN
american_scientific_journal-7083	118	9	algorithm	algorithm	NOUN
american_scientific_journal-7083	118	10	(	(	PUNCT
american_scientific_journal-7083	118	11	aco	aco	PROPN
american_scientific_journal-7083	118	12	)	)	PUNCT
american_scientific_journal-7083	118	13	is	be	AUX
american_scientific_journal-7083	118	14	a	a	DET
american_scientific_journal-7083	118	15	probabilistic	probabilistic	ADJ
american_scientific_journal-7083	118	16	tool	tool	NOUN
american_scientific_journal-7083	118	17	for	for	ADP
american_scientific_journal-7083	118	18	solving	solve	VERB
american_scientific_journal-7083	118	19	numerical	numerical	ADJ
american_scientific_journal-7083	118	20	issues	issue	NOUN
american_scientific_journal-7083	118	21	in	in	ADP
american_scientific_journal-7083	118	22	computer	computer	NOUN
american_scientific_journal-7083	118	23	science	science	NOUN
american_scientific_journal-7083	118	24	and	and	CCONJ
american_scientific_journal-7083	118	25	organizational	organizational	ADJ
american_scientific_journal-7083	118	26	analysis	analysis	NOUN
american_scientific_journal-7083	118	27	that	that	PRON
american_scientific_journal-7083	118	28	can	can	AUX
american_scientific_journal-7083	118	29	be	be	AUX
american_scientific_journal-7083	118	30	reduced	reduce	VERB
american_scientific_journal-7083	118	31	to	to	ADP
american_scientific_journal-7083	118	32	finding	find	VERB
american_scientific_journal-7083	118	33	good	good	ADJ
american_scientific_journal-7083	118	34	paths	path	NOUN
american_scientific_journal-7083	118	35	through	through	ADP
american_scientific_journal-7083	118	36	graphs	graph	NOUN
american_scientific_journal-7083	118	37	.	.	PUNCT
american_scientific_journal-7083	119	1	artificial	artificial	ADJ
american_scientific_journal-7083	119	2	ants	ant	NOUN
american_scientific_journal-7083	119	3	are	be	AUX
american_scientific_journal-7083	119	4	multi	multi	ADJ
american_scientific_journal-7083	119	5	-	-	ADJ
american_scientific_journal-7083	119	6	agent	agent	ADJ
american_scientific_journal-7083	119	7	tactics	tactic	NOUN
american_scientific_journal-7083	119	8	that	that	PRON
american_scientific_journal-7083	119	9	are	be	AUX
american_scientific_journal-7083	119	10	inspired	inspire	VERB
american_scientific_journal-7083	119	11	by	by	ADP
american_scientific_journal-7083	119	12	the	the	DET
american_scientific_journal-7083	119	13	behavior	behavior	NOUN
american_scientific_journal-7083	119	14	of	of	ADP
american_scientific_journal-7083	119	15	actual	actual	ADJ
american_scientific_journal-7083	119	16	ants	ant	NOUN
american_scientific_journal-7083	119	17	.	.	PUNCT
american_scientific_journal-7083	120	1	the	the	DET
american_scientific_journal-7083	120	2	contact	contact	NOUN
american_scientific_journal-7083	120	3	of	of	ADP
american_scientific_journal-7083	120	4	biological	biological	ADJ
american_scientific_journal-7083	120	5	ants	ant	NOUN
american_scientific_journal-7083	120	6	based	base	VERB
american_scientific_journal-7083	120	7	on	on	ADP
american_scientific_journal-7083	120	8	pheromones	pheromone	NOUN
american_scientific_journal-7083	120	9	is	be	AUX
american_scientific_journal-7083	120	10	also	also	ADV
american_scientific_journal-7083	120	11	the	the	DET
american_scientific_journal-7083	120	12	key	key	ADJ
american_scientific_journal-7083	120	13	model	model	NOUN
american_scientific_journal-7083	120	14	used	use	VERB
american_scientific_journal-7083	120	15	.	.	PUNCT
american_scientific_journal-7083	121	1	for	for	ADP
american_scientific_journal-7083	121	2	various	various	ADJ
american_scientific_journal-7083	121	3	optimization	optimization	NOUN
american_scientific_journal-7083	121	4	tasks	task	NOUN
american_scientific_journal-7083	121	5	requiring	require	VERB
american_scientific_journal-7083	121	6	some	some	DET
american_scientific_journal-7083	121	7	kind	kind	NOUN
american_scientific_journal-7083	121	8	of	of	ADP
american_scientific_journal-7083	121	9	database	database	NOUN
american_scientific_journal-7083	121	10	,	,	PUNCT
american_scientific_journal-7083	121	11	such	such	ADJ
american_scientific_journal-7083	121	12	as	as	ADP
american_scientific_journal-7083	121	13	vehicle	vehicle	NOUN
american_scientific_journal-7083	121	14	routing	routing	NOUN
american_scientific_journal-7083	121	15	and	and	CCONJ
american_scientific_journal-7083	121	16	internet	internet	NOUN
american_scientific_journal-7083	121	17	routing	routing	NOUN
american_scientific_journal-7083	121	18	,	,	PUNCT
american_scientific_journal-7083	121	19	combinations	combination	NOUN
american_scientific_journal-7083	121	20	of	of	ADP
american_scientific_journal-7083	121	21	artificial	artificial	ADJ
american_scientific_journal-7083	121	22	ants	ant	NOUN
american_scientific_journal-7083	121	23	and	and	CCONJ
american_scientific_journal-7083	121	24	local	local	ADJ
american_scientific_journal-7083	121	25	search	search	NOUN
american_scientific_journal-7083	121	26	algorithms	algorithm	NOUN
american_scientific_journal-7083	121	27	have	have	AUX
american_scientific_journal-7083	121	28	become	become	VERB
american_scientific_journal-7083	121	29	a	a	DET
american_scientific_journal-7083	121	30	tool	tool	NOUN
american_scientific_journal-7083	121	31	of	of	ADP
american_scientific_journal-7083	121	32	choice	choice	NOUN
american_scientific_journal-7083	121	33	.	.	PUNCT
american_scientific_journal-7083	122	1	the	the	DET
american_scientific_journal-7083	122	2	authors	author	NOUN
american_scientific_journal-7083	122	3	in	in	ADP
american_scientific_journal-7083	122	4	[	[	X
american_scientific_journal-7083	122	5	18	18	NUM
american_scientific_journal-7083	122	6	]	]	PUNCT
american_scientific_journal-7083	122	7	in	in	ADP
american_scientific_journal-7083	122	8	order	order	NOUN
american_scientific_journal-7083	122	9	to	to	PART
american_scientific_journal-7083	122	10	overcome	overcome	VERB
american_scientific_journal-7083	122	11	the	the	DET
american_scientific_journal-7083	122	12	convergence	convergence	NOUN
american_scientific_journal-7083	122	13	rate	rate	NOUN
american_scientific_journal-7083	122	14	problems	problem	NOUN
american_scientific_journal-7083	122	15	in	in	ADP
american_scientific_journal-7083	122	16	the	the	DET
american_scientific_journal-7083	122	17	ant	ant	ADJ
american_scientific_journal-7083	122	18	colony	colony	NOUN
american_scientific_journal-7083	122	19	algorithm	algorithm	NOUN
american_scientific_journal-7083	122	20	,	,	PUNCT
american_scientific_journal-7083	122	21	a	a	DET
american_scientific_journal-7083	122	22	stepped	step	VERB
american_scientific_journal-7083	122	23	-	-	PUNCT
american_scientific_journal-7083	122	24	forward	forward	ADV
american_scientific_journal-7083	122	25	ant	ant	ADJ
american_scientific_journal-7083	122	26	colony	colony	NOUN
american_scientific_journal-7083	122	27	optimization	optimization	NOUN
american_scientific_journal-7083	122	28	algorithm	algorithm	NOUN
american_scientific_journal-7083	122	29	is	be	AUX
american_scientific_journal-7083	122	30	suggested	suggest	VERB
american_scientific_journal-7083	122	31	for	for	ADP
american_scientific_journal-7083	122	32	the	the	DET
american_scientific_journal-7083	122	33	route	route	NOUN
american_scientific_journal-7083	122	34	planning	planning	NOUN
american_scientific_journal-7083	122	35	of	of	ADP
american_scientific_journal-7083	122	36	mobile	mobile	ADJ
american_scientific_journal-7083	122	37	robots	robot	NOUN
american_scientific_journal-7083	122	38	inside	inside	ADP
american_scientific_journal-7083	122	39	the	the	DET
american_scientific_journal-7083	122	40	area	area	NOUN
american_scientific_journal-7083	122	41	demonstrating	demonstrate	VERB
american_scientific_journal-7083	122	42	the	the	DET
american_scientific_journal-7083	122	43	usage	usage	NOUN
american_scientific_journal-7083	122	44	of	of	ADP
american_scientific_journal-7083	122	45	the	the	DET
american_scientific_journal-7083	122	46	grid	grid	NOUN
american_scientific_journal-7083	122	47	technique	technique	NOUN
american_scientific_journal-7083	122	48	.	.	PUNCT
american_scientific_journal-7083	123	1	pheromone	pheromone	NOUN
american_scientific_journal-7083	123	2	diffusion	diffusion	NOUN
american_scientific_journal-7083	123	3	and	and	CCONJ
american_scientific_journal-7083	123	4	spatial	spatial	ADJ
american_scientific_journal-7083	123	5	neighborhood	neighborhood	NOUN
american_scientific_journal-7083	123	6	optimization	optimization	NOUN
american_scientific_journal-7083	123	7	was	be	AUX
american_scientific_journal-7083	123	8	combined	combine	VERB
american_scientific_journal-7083	123	9	in	in	ADP
american_scientific_journal-7083	123	10	the	the	DET
american_scientific_journal-7083	123	11	scanning	scanning	NOUN
american_scientific_journal-7083	123	12	technique	technique	NOUN
american_scientific_journal-7083	123	13	for	for	ADP
american_scientific_journal-7083	123	14	the	the	DET
american_scientific_journal-7083	123	15	regional	regional	ADJ
american_scientific_journal-7083	123	16	norm	norm	NOUN
american_scientific_journal-7083	123	17	pathway	pathway	NOUN
american_scientific_journal-7083	123	18	.	.	PUNCT
american_scientific_journal-7083	124	1	during	during	ADP
american_scientific_journal-7083	124	2	the	the	DET
american_scientific_journal-7083	124	3	ant	ant	ADJ
american_scientific_journal-7083	124	4	-	-	PUNCT
american_scientific_journal-7083	124	5	looking	look	VERB
american_scientific_journal-7083	124	6	phase	phase	NOUN
american_scientific_journal-7083	124	7	,	,	PUNCT
american_scientific_journal-7083	124	8	the	the	DET
american_scientific_journal-7083	124	9	current	current	ADJ
american_scientific_journal-7083	124	10	way	way	NOUN
american_scientific_journal-7083	124	11	pheromone	pheromone	NOUN
american_scientific_journal-7083	124	12	diffuses	diffuse	VERB
american_scientific_journal-7083	124	13	in	in	ADP
american_scientific_journal-7083	124	14	the	the	DET
american_scientific_journal-7083	124	15	route	route	NOUN
american_scientific_journal-7083	124	16	of	of	ADP
american_scientific_journal-7083	124	17	the	the	DET
american_scientific_journal-7083	124	18	skill	skill	NOUN
american_scientific_journal-7083	124	19	subject	subject	NOUN
american_scientific_journal-7083	124	20	power	power	NOUN
american_scientific_journal-7083	124	21	,	,	PUNCT
american_scientific_journal-7083	124	22	so	so	SCONJ
american_scientific_journal-7083	124	23	that	that	SCONJ
american_scientific_journal-7083	124	24	ants	ant	NOUN
american_scientific_journal-7083	124	25	begin	begin	VERB
american_scientific_journal-7083	124	26	to	to	PART
american_scientific_journal-7083	124	27	search	search	VERB
american_scientific_journal-7083	124	28	for	for	ADP
american_scientific_journal-7083	124	29	a	a	DET
american_scientific_journal-7083	124	30	higher	high	ADJ
american_scientific_journal-7083	124	31	fitness	fitness	NOUN
american_scientific_journal-7083	124	32	subspace	subspace	NOUN
american_scientific_journal-7083	124	33	and	and	CCONJ
american_scientific_journal-7083	124	34	the	the	DET
american_scientific_journal-7083	124	35	hunting	hunt	VERB
american_scientific_journal-7083	124	36	region	region	NOUN
american_scientific_journal-7083	124	37	of	of	ADP
american_scientific_journal-7083	124	38	the	the	DET
american_scientific_journal-7083	124	39	test	test	NOUN
american_scientific_journal-7083	124	40	pattern	pattern	NOUN
american_scientific_journal-7083	124	41	is	be	AUX
american_scientific_journal-7083	124	42	smaller	small	ADJ
american_scientific_journal-7083	124	43	.	.	PUNCT
american_scientific_journal-7083	125	1	using	use	VERB
american_scientific_journal-7083	125	2	the	the	DET
american_scientific_journal-7083	125	3	geometric	geometric	ADJ
american_scientific_journal-7083	125	4	method	method	NOUN
american_scientific_journal-7083	125	5	,	,	PUNCT
american_scientific_journal-7083	125	6	the	the	DET
american_scientific_journal-7083	125	7	direction	direction	NOUN
american_scientific_journal-7083	125	8	that	that	PRON
american_scientific_journal-7083	125	9	is	be	AUX
american_scientific_journal-7083	125	10	first	first	ADV
american_scientific_journal-7083	125	11	designed	design	VERB
american_scientific_journal-7083	125	12	for	for	ADP
american_scientific_journal-7083	125	13	the	the	DET
american_scientific_journal-7083	125	14	application	application	NOUN
american_scientific_journal-7083	125	15	of	of	ADP
american_scientific_journal-7083	125	16	the	the	DET
american_scientific_journal-7083	125	17	rules	rule	NOUN
american_scientific_journal-7083	125	18	collection	collection	NOUN
american_scientific_journal-7083	125	19	of	of	ADP
american_scientific_journal-7083	125	20	ant	ant	ADJ
american_scientific_journal-7083	125	21	colony	colony	NOUN
american_scientific_journal-7083	125	22	.	.	PUNCT
american_scientific_journal-7083	126	1	the	the	DET
american_scientific_journal-7083	126	2	first	first	ADJ
american_scientific_journal-7083	126	3	optimal	optimal	ADJ
american_scientific_journal-7083	126	4	route	route	NOUN
american_scientific_journal-7083	126	5	pheromones	pheromone	NOUN
american_scientific_journal-7083	126	6	and	and	CCONJ
american_scientific_journal-7083	126	7	the	the	DET
american_scientific_journal-7083	126	8	second	second	ADJ
american_scientific_journal-7083	126	9	optimal	optimal	ADJ
american_scientific_journal-7083	126	10	route	route	NOUN
american_scientific_journal-7083	126	11	are	be	AUX
american_scientific_journal-7083	126	12	both	both	PRON
american_scientific_journal-7083	126	13	modified	modify	VERB
american_scientific_journal-7083	126	14	at	at	ADP
american_scientific_journal-7083	126	15	the	the	DET
american_scientific_journal-7083	126	16	same	same	ADJ
american_scientific_journal-7083	126	17	time	time	NOUN
american_scientific_journal-7083	126	18	.	.	PUNCT
american_scientific_journal-7083	127	1	the	the	DET
american_scientific_journal-7083	127	2	simulation	simulation	NOUN
american_scientific_journal-7083	127	3	results	result	NOUN
american_scientific_journal-7083	127	4	indicate	indicate	VERB
american_scientific_journal-7083	127	5	that	that	SCONJ
american_scientific_journal-7083	127	6	the	the	DET
american_scientific_journal-7083	127	7	advanced	advanced	ADJ
american_scientific_journal-7083	127	8	series	series	NOUN
american_scientific_journal-7083	127	9	of	of	ADP
american_scientific_journal-7083	127	10	rules	rule	NOUN
american_scientific_journal-7083	127	11	for	for	ADP
american_scientific_journal-7083	127	12	the	the	DET
american_scientific_journal-7083	127	13	optimization	optimization	NOUN
american_scientific_journal-7083	127	14	of	of	ADP
american_scientific_journal-7083	127	15	ant	ant	ADJ
american_scientific_journal-7083	127	16	colony	colony	NOUN
american_scientific_journal-7083	127	17	was	be	AUX
american_scientific_journal-7083	127	18	especially	especially	ADV
american_scientific_journal-7083	127	19	successful	successful	ADJ
american_scientific_journal-7083	127	20	.	.	PUNCT
american_scientific_journal-7083	128	1	the	the	DET
american_scientific_journal-7083	128	2	authors	author	NOUN
american_scientific_journal-7083	128	3	in	in	ADP
american_scientific_journal-7083	128	4	[	[	X
american_scientific_journal-7083	128	5	19	19	NUM
american_scientific_journal-7083	128	6	]	]	PUNCT
american_scientific_journal-7083	128	7	averting	avert	VERB
american_scientific_journal-7083	128	8	collision	collision	NOUN
american_scientific_journal-7083	128	9	with	with	ADP
american_scientific_journal-7083	128	10	barriers	barrier	NOUN
american_scientific_journal-7083	128	11	is	be	AUX
american_scientific_journal-7083	128	12	a	a	DET
american_scientific_journal-7083	128	13	field	field	NOUN
american_scientific_journal-7083	128	14	of	of	ADP
american_scientific_journal-7083	128	15	contemporary	contemporary	ADJ
american_scientific_journal-7083	128	16	capacity	capacity	NOUN
american_scientific_journal-7083	128	17	studies	study	NOUN
american_scientific_journal-7083	128	18	to	to	PART
american_scientific_journal-7083	128	19	discover	discover	VERB
american_scientific_journal-7083	128	20	consistency	consistency	NOUN
american_scientific_journal-7083	128	21	feasible	feasible	ADJ
american_scientific_journal-7083	128	22	route	route	NOUN
american_scientific_journal-7083	128	23	from	from	ADP
american_scientific_journal-7083	128	24	start	start	NOUN
american_scientific_journal-7083	128	25	to	to	ADP
american_scientific_journal-7083	128	26	finish	finish	NOUN
american_scientific_journal-7083	128	27	,	,	PUNCT
american_scientific_journal-7083	128	28	which	which	PRON
american_scientific_journal-7083	128	29	decreases	decrease	VERB
american_scientific_journal-7083	128	30	time	time	NOUN
american_scientific_journal-7083	128	31	and	and	CCONJ
american_scientific_journal-7083	128	32	distance	distance	NOUN
american_scientific_journal-7083	128	33	,	,	PUNCT
american_scientific_journal-7083	128	34	in	in	ADP
american_scientific_journal-7083	128	35	a	a	DET
american_scientific_journal-7083	128	36	given	give	VERB
american_scientific_journal-7083	128	37	setting	setting	NOUN
american_scientific_journal-7083	128	38	.	.	PUNCT
american_scientific_journal-7083	129	1	this	this	DET
american_scientific_journal-7083	129	2	article	article	NOUN
american_scientific_journal-7083	129	3	american	american	PROPN
american_scientific_journal-7083	129	4	academic	academic	PROPN
american_scientific_journal-7083	129	5	scientific	scientific	ADJ
american_scientific_journal-7083	129	6	research	research	NOUN
american_scientific_journal-7083	129	7	journal	journal	NOUN
american_scientific_journal-7083	129	8	for	for	ADP
american_scientific_journal-7083	129	9	engineering	engineering	NOUN
american_scientific_journal-7083	129	10	,	,	PUNCT
american_scientific_journal-7083	129	11	technology	technology	NOUN
american_scientific_journal-7083	129	12	,	,	PUNCT
american_scientific_journal-7083	129	13	and	and	CCONJ
american_scientific_journal-7083	129	14	sciences	science	NOUN
american_scientific_journal-7083	129	15	(	(	PUNCT
american_scientific_journal-7083	129	16	asrjets	asrjet	NOUN
american_scientific_journal-7083	129	17	)	)	PUNCT
american_scientific_journal-7083	129	18	(	(	PUNCT
american_scientific_journal-7083	129	19	2022)volume90	2022)volume90	NUM
american_scientific_journal-7083	129	20	,	,	PUNCT
american_scientific_journal-7083	129	21	no1	no1	NOUN
american_scientific_journal-7083	129	22	,	,	PUNCT
american_scientific_journal-7083	129	23	pp161	pp161	PROPN
american_scientific_journal-7083	129	24	-	-	SYM
american_scientific_journal-7083	129	25	174	174	NUM
american_scientific_journal-7083	129	26	167	167	NUM
american_scientific_journal-7083	129	27	provides	provide	VERB
american_scientific_journal-7083	129	28	saco	saco	PROPN
american_scientific_journal-7083	129	29	and	and	CCONJ
american_scientific_journal-7083	129	30	aco	aco	PROPN
american_scientific_journal-7083	129	31	-	-	PUNCT
american_scientific_journal-7083	129	32	mh	mh	PROPN
american_scientific_journal-7083	129	33	algorithms	algorithm	NOUN
american_scientific_journal-7083	129	34	to	to	PART
american_scientific_journal-7083	129	35	solve	solve	VERB
american_scientific_journal-7083	129	36	the	the	DET
american_scientific_journal-7083	129	37	issue	issue	NOUN
american_scientific_journal-7083	129	38	of	of	ADP
american_scientific_journal-7083	129	39	mobile	mobile	ADJ
american_scientific_journal-7083	129	40	robotic	robotic	ADJ
american_scientific_journal-7083	129	41	route	route	NOUN
american_scientific_journal-7083	129	42	making	make	VERB
american_scientific_journal-7083	129	43	plans	plan	NOUN
american_scientific_journal-7083	129	44	to	to	PART
american_scientific_journal-7083	129	45	enter	enter	VERB
american_scientific_journal-7083	129	46	the	the	DET
american_scientific_journal-7083	129	47	end	end	NOUN
american_scientific_journal-7083	129	48	station	station	NOUN
american_scientific_journal-7083	129	49	without	without	ADP
american_scientific_journal-7083	129	50	collision	collision	NOUN
american_scientific_journal-7083	129	51	from	from	ADP
american_scientific_journal-7083	129	52	the	the	DET
american_scientific_journal-7083	129	53	first	first	ADJ
american_scientific_journal-7083	129	54	stop	stop	NOUN
american_scientific_journal-7083	129	55	.	.	PUNCT
american_scientific_journal-7083	130	1	the	the	DET
american_scientific_journal-7083	130	2	saco	saco	PROPN
american_scientific_journal-7083	130	3	and	and	CCONJ
american_scientific_journal-7083	130	4	aco	aco	PROPN
american_scientific_journal-7083	130	5	-	-	PUNCT
american_scientific_journal-7083	130	6	mh	mh	PROPN
american_scientific_journal-7083	130	7	algorithms	algorithm	NOUN
american_scientific_journal-7083	130	8	have	have	VERB
american_scientific_journal-7083	130	9	the	the	DET
american_scientific_journal-7083	130	10	largest	large	ADJ
american_scientific_journal-7083	130	11	collisionfree	collisionfree	ADJ
american_scientific_journal-7083	130	12	route	route	NOUN
american_scientific_journal-7083	130	13	.	.	PUNCT
american_scientific_journal-7083	131	1	the	the	DET
american_scientific_journal-7083	131	2	mobile	mobile	PROPN
american_scientific_journal-7083	131	3	robot	robot	NOUN
american_scientific_journal-7083	131	4	environment	environment	NOUN
american_scientific_journal-7083	131	5	is	be	AUX
american_scientific_journal-7083	131	6	managed	manage	VERB
american_scientific_journal-7083	131	7	as	as	ADP
american_scientific_journal-7083	131	8	a	a	DET
american_scientific_journal-7083	131	9	grid	grid	NOUN
american_scientific_journal-7083	131	10	-	-	PUNCT
american_scientific_journal-7083	131	11	based	base	VERB
american_scientific_journal-7083	131	12	environment	environment	NOUN
american_scientific_journal-7083	131	13	in	in	ADP
american_scientific_journal-7083	131	14	which	which	PRON
american_scientific_journal-7083	131	15	each	each	DET
american_scientific_journal-7083	131	16	grid	grid	NOUN
american_scientific_journal-7083	131	17	can	can	AUX
american_scientific_journal-7083	131	18	be	be	AUX
american_scientific_journal-7083	131	19	represented	represent	VERB
american_scientific_journal-7083	131	20	by	by	ADP
american_scientific_journal-7083	131	21	a	a	DET
american_scientific_journal-7083	131	22	pair	pair	NOUN
american_scientific_journal-7083	131	23	of	of	ADP
american_scientific_journal-7083	131	24	ordered	order	VERB
american_scientific_journal-7083	131	25	row	row	NOUN
american_scientific_journal-7083	131	26	varieties	variety	NOUN
american_scientific_journal-7083	131	27	and	and	CCONJ
american_scientific_journal-7083	131	28	column	column	NOUN
american_scientific_journal-7083	131	29	varieties	variety	NOUN
american_scientific_journal-7083	131	30	.	.	PUNCT
american_scientific_journal-7083	132	1	the	the	DET
american_scientific_journal-7083	132	2	tests	test	NOUN
american_scientific_journal-7083	132	3	of	of	ADP
american_scientific_journal-7083	132	4	aco	aco	PROPN
american_scientific_journal-7083	132	5	-	-	PUNCT
american_scientific_journal-7083	132	6	mh	mh	PROPN
american_scientific_journal-7083	132	7	indicate	indicate	VERB
american_scientific_journal-7083	132	8	higher	high	ADJ
american_scientific_journal-7083	132	9	convergence	convergence	NOUN
american_scientific_journal-7083	132	10	velocity	velocity	NOUN
american_scientific_journal-7083	132	11	and	and	CCONJ
american_scientific_journal-7083	132	12	numerical	numerical	ADJ
american_scientific_journal-7083	132	13	time	time	NOUN
american_scientific_journal-7083	132	14	reduction	reduction	NOUN
american_scientific_journal-7083	132	15	than	than	ADP
american_scientific_journal-7083	132	16	those	those	PRON
american_scientific_journal-7083	132	17	of	of	ADP
american_scientific_journal-7083	132	18	saco	saco	PROPN
american_scientific_journal-7083	132	19	via	via	ADP
american_scientific_journal-7083	132	20	several	several	ADJ
american_scientific_journal-7083	132	21	matlab	matlab	PROPN
american_scientific_journal-7083	132	22	experiments	experiment	NOUN
american_scientific_journal-7083	132	23	.	.	PUNCT
american_scientific_journal-7083	133	1	figure	figure	VERB
american_scientific_journal-7083	133	2	3	3	NUM
american_scientific_journal-7083	133	3	:	:	PUNCT
american_scientific_journal-7083	133	4	flowchart	flowchart	NOUN
american_scientific_journal-7083	133	5	ant	ant	ADJ
american_scientific_journal-7083	133	6	colony	colony	NOUN
american_scientific_journal-7083	133	7	optimization	optimization	NOUN
american_scientific_journal-7083	133	8	algorithm	algorithm	NOUN
american_scientific_journal-7083	133	9	the	the	DET
american_scientific_journal-7083	133	10	authors	author	NOUN
american_scientific_journal-7083	133	11	in	in	ADP
american_scientific_journal-7083	133	12	[	[	X
american_scientific_journal-7083	133	13	20	20	NUM
american_scientific_journal-7083	133	14	]	]	PUNCT
american_scientific_journal-7083	133	15	worked	work	VERB
american_scientific_journal-7083	133	16	together	together	ADV
american_scientific_journal-7083	133	17	to	to	PART
american_scientific_journal-7083	133	18	sort	sort	VERB
american_scientific_journal-7083	133	19	out	out	ADP
american_scientific_journal-7083	133	20	the	the	DET
american_scientific_journal-7083	133	21	problem	problem	NOUN
american_scientific_journal-7083	133	22	of	of	ADP
american_scientific_journal-7083	133	23	robot	robot	NOUN
american_scientific_journal-7083	133	24	path	path	PROPN
american_scientific_journal-7083	133	25	planning	planning	PROPN
american_scientific_journal-7083	133	26	(	(	PUNCT
american_scientific_journal-7083	133	27	rpp	rpp	PROPN
american_scientific_journal-7083	133	28	)	)	PUNCT
american_scientific_journal-7083	133	29	.	.	PUNCT
american_scientific_journal-7083	134	1	they	they	PRON
american_scientific_journal-7083	134	2	suggested	suggest	VERB
american_scientific_journal-7083	134	3	a	a	DET
american_scientific_journal-7083	134	4	clear	clear	ADJ
american_scientific_journal-7083	134	5	description	description	NOUN
american_scientific_journal-7083	134	6	of	of	ADP
american_scientific_journal-7083	134	7	the	the	DET
american_scientific_journal-7083	134	8	heuristic	heuristic	ADJ
american_scientific_journal-7083	134	9	and	and	CCONJ
american_scientific_journal-7083	134	10	visibility	visibility	NOUN
american_scientific_journal-7083	134	11	equations	equation	NOUN
american_scientific_journal-7083	134	12	of	of	ADP
american_scientific_journal-7083	134	13	the	the	DET
american_scientific_journal-7083	134	14	kingdom	kingdom	NOUN
american_scientific_journal-7083	134	15	transfer	transfer	NOUN
american_scientific_journal-7083	134	16	regulations	regulation	NOUN
american_scientific_journal-7083	134	17	.	.	PUNCT
american_scientific_journal-7083	135	1	in	in	ADP
american_scientific_journal-7083	135	2	a	a	DET
american_scientific_journal-7083	135	3	regional	regional	ADJ
american_scientific_journal-7083	135	4	static	static	ADJ
american_scientific_journal-7083	135	5	map	map	NOUN
american_scientific_journal-7083	135	6	with	with	ADP
american_scientific_journal-7083	135	7	feasible	feasible	ADJ
american_scientific_journal-7083	135	8	free	free	ADJ
american_scientific_journal-7083	135	9	region	region	NOUN
american_scientific_journal-7083	135	10	nodes	node	NOUN
american_scientific_journal-7083	135	11	,	,	PUNCT
american_scientific_journal-7083	135	12	the	the	DET
american_scientific_journal-7083	135	13	suggested	suggest	VERB
american_scientific_journal-7083	135	14	algorithm	algorithm	NOUN
american_scientific_journal-7083	135	15	is	be	AUX
american_scientific_journal-7083	135	16	implemented	implement	VERB
american_scientific_journal-7083	135	17	.	.	PUNCT
american_scientific_journal-7083	136	1	the	the	DET
american_scientific_journal-7083	136	2	authors	author	NOUN
american_scientific_journal-7083	136	3	in	in	ADP
american_scientific_journal-7083	136	4	[	[	X
american_scientific_journal-7083	136	5	21	21	NUM
american_scientific_journal-7083	136	6	]	]	PUNCT
american_scientific_journal-7083	136	7	the	the	DET
american_scientific_journal-7083	136	8	object	object	NOUN
american_scientific_journal-7083	136	9	provides	provide	VERB
american_scientific_journal-7083	136	10	the	the	DET
american_scientific_journal-7083	136	11	usage	usage	NOUN
american_scientific_journal-7083	136	12	of	of	ADP
american_scientific_journal-7083	136	13	the	the	DET
american_scientific_journal-7083	136	14	rules	rule	NOUN
american_scientific_journal-7083	136	15	set	set	VERB
american_scientific_journal-7083	136	16	of	of	ADP
american_scientific_journal-7083	136	17	ant	ant	ADJ
american_scientific_journal-7083	136	18	colony	colony	NOUN
american_scientific_journal-7083	136	19	for	for	ADP
american_scientific_journal-7083	136	20	the	the	DET
american_scientific_journal-7083	136	21	course	course	NOUN
american_scientific_journal-7083	136	22	planning	planning	NOUN
american_scientific_journal-7083	136	23	of	of	ADP
american_scientific_journal-7083	136	24	cell	cell	NOUN
american_scientific_journal-7083	136	25	robots	robot	NOUN
american_scientific_journal-7083	136	26	.	.	PUNCT
american_scientific_journal-7083	137	1	it	it	PRON
american_scientific_journal-7083	137	2	solves	solve	VERB
american_scientific_journal-7083	137	3	the	the	DET
american_scientific_journal-7083	137	4	goal	goal	NOUN
american_scientific_journal-7083	137	5	quest	quest	NOUN
american_scientific_journal-7083	137	6	for	for	ADP
american_scientific_journal-7083	137	7	the	the	DET
american_scientific_journal-7083	137	8	ability	ability	NOUN
american_scientific_journal-7083	137	9	to	to	PART
american_scientific_journal-7083	137	10	refine	refine	VERB
american_scientific_journal-7083	137	11	the	the	DET
american_scientific_journal-7083	137	12	ant	ant	ADJ
american_scientific_journal-7083	137	13	colony	colony	NOUN
american_scientific_journal-7083	137	14	algorithm	algorithm	NOUN
american_scientific_journal-7083	137	15	and	and	CCONJ
american_scientific_journal-7083	137	16	manipulates	manipulate	VERB
american_scientific_journal-7083	137	17	the	the	DET
american_scientific_journal-7083	137	18	cellular	cellular	ADJ
american_scientific_journal-7083	137	19	robot	robot	NOUN
american_scientific_journal-7083	137	20	change	change	NOUN
american_scientific_journal-7083	137	21	from	from	ADP
american_scientific_journal-7083	137	22	the	the	DET
american_scientific_journal-7083	137	23	start	start	NOUN
american_scientific_journal-7083	137	24	location	location	NOUN
american_scientific_journal-7083	137	25	(	(	PUNCT
american_scientific_journal-7083	137	26	nest	nest	NOUN
american_scientific_journal-7083	137	27	)	)	PUNCT
american_scientific_journal-7083	137	28	in	in	ADP
american_scientific_journal-7083	137	29	the	the	DET
american_scientific_journal-7083	137	30	collision	collision	NOUN
american_scientific_journal-7083	137	31	-	-	PUNCT
american_scientific_journal-7083	137	32	free	free	ADJ
american_scientific_journal-7083	137	33	region	region	NOUN
american_scientific_journal-7083	137	34	to	to	ADP
american_scientific_journal-7083	137	35	the	the	DET
american_scientific_journal-7083	137	36	target	target	NOUN
american_scientific_journal-7083	137	37	task	task	NOUN
american_scientific_journal-7083	137	38	(	(	PUNCT
american_scientific_journal-7083	137	39	meals	meal	NOUN
american_scientific_journal-7083	137	40	)	)	PUNCT
american_scientific_journal-7083	137	41	.	.	PUNCT
american_scientific_journal-7083	138	1	4	4	NUM
american_scientific_journal-7083	138	2	variety	variety	NOUN
american_scientific_journal-7083	138	3	type	type	NOUN
american_scientific_journal-7083	138	4	limitations	limitation	NOUN
american_scientific_journal-7083	138	5	have	have	AUX
american_scientific_journal-7083	138	6	been	be	AUX
american_scientific_journal-7083	138	7	applied	apply	VERB
american_scientific_journal-7083	138	8	to	to	PART
american_scientific_journal-7083	138	9	program	program	VERB
american_scientific_journal-7083	138	10	the	the	DET
american_scientific_journal-7083	138	11	motion	motion	NOUN
american_scientific_journal-7083	138	12	path	path	NOUN
american_scientific_journal-7083	138	13	using	use	VERB
american_scientific_journal-7083	138	14	a	a	DET
american_scientific_journal-7083	138	15	collection	collection	NOUN
american_scientific_journal-7083	138	16	of	of	ADP
american_scientific_journal-7083	138	17	rules	rule	NOUN
american_scientific_journal-7083	138	18	for	for	ADP
american_scientific_journal-7083	138	19	ant	ant	ADJ
american_scientific_journal-7083	138	20	colony	colony	NOUN
american_scientific_journal-7083	138	21	and	and	CCONJ
american_scientific_journal-7083	138	22	try	try	VERB
american_scientific_journal-7083	138	23	the	the	DET
american_scientific_journal-7083	138	24	optimization	optimization	NOUN
american_scientific_journal-7083	138	25	route	route	NOUN
american_scientific_journal-7083	138	26	of	of	ADP
american_scientific_journal-7083	138	27	the	the	DET
american_scientific_journal-7083	138	28	cellular	cellular	ADJ
american_scientific_journal-7083	138	29	robot	robot	NOUN
american_scientific_journal-7083	138	30	transfer	transfer	NOUN
american_scientific_journal-7083	138	31	to	to	ADP
american_scientific_journal-7083	138	32	the	the	DET
american_scientific_journal-7083	138	33	target	target	NOUN
american_scientific_journal-7083	138	34	position	position	NOUN
american_scientific_journal-7083	138	35	.	.	PUNCT
american_scientific_journal-7083	139	1	in	in	ADP
american_scientific_journal-7083	139	2	destiny	destiny	NOUN
american_scientific_journal-7083	139	3	,	,	PUNCT
american_scientific_journal-7083	139	4	we	we	PRON
american_scientific_journal-7083	139	5	need	need	VERB
american_scientific_journal-7083	139	6	to	to	PART
american_scientific_journal-7083	139	7	extend	extend	VERB
american_scientific_journal-7083	139	8	the	the	DET
american_scientific_journal-7083	139	9	algorithm	algorithm	NOUN
american_scientific_journal-7083	139	10	of	of	ADP
american_scientific_journal-7083	139	11	ant	ant	ADJ
american_scientific_journal-7083	139	12	colony	colony	NOUN
american_scientific_journal-7083	139	13	to	to	PART
american_scientific_journal-7083	139	14	be	be	AUX
american_scientific_journal-7083	139	15	american	american	ADJ
american_scientific_journal-7083	139	16	academic	academic	ADJ
american_scientific_journal-7083	139	17	scientific	scientific	ADJ
american_scientific_journal-7083	139	18	research	research	NOUN
american_scientific_journal-7083	139	19	journal	journal	NOUN
american_scientific_journal-7083	139	20	for	for	ADP
american_scientific_journal-7083	139	21	engineering	engineering	NOUN
american_scientific_journal-7083	139	22	,	,	PUNCT
american_scientific_journal-7083	139	23	technology	technology	NOUN
american_scientific_journal-7083	139	24	,	,	PUNCT
american_scientific_journal-7083	139	25	and	and	CCONJ
american_scientific_journal-7083	139	26	sciences	science	NOUN
american_scientific_journal-7083	139	27	(	(	PUNCT
american_scientific_journal-7083	139	28	asrjets	asrjet	NOUN
american_scientific_journal-7083	139	29	)	)	PUNCT
american_scientific_journal-7083	139	30	(	(	PUNCT
american_scientific_journal-7083	139	31	2022)volume90	2022)volume90	NUM
american_scientific_journal-7083	139	32	,	,	PUNCT
american_scientific_journal-7083	139	33	no1	no1	NOUN
american_scientific_journal-7083	139	34	,	,	PUNCT
american_scientific_journal-7083	139	35	pp161	pp161	PROPN
american_scientific_journal-7083	139	36	-	-	SYM
american_scientific_journal-7083	139	37	174	174	NUM
american_scientific_journal-7083	139	38	168	168	NUM
american_scientific_journal-7083	139	39	executed	execute	VERB
american_scientific_journal-7083	139	40	in	in	ADP
american_scientific_journal-7083	139	41	the	the	DET
american_scientific_journal-7083	139	42	multi	multi	ADJ
american_scientific_journal-7083	139	43	-	-	ADJ
american_scientific_journal-7083	139	44	robot	robot	ADJ
american_scientific_journal-7083	139	45	method	method	NOUN
american_scientific_journal-7083	139	46	and	and	CCONJ
american_scientific_journal-7083	139	47	try	try	VERB
american_scientific_journal-7083	139	48	the	the	DET
american_scientific_journal-7083	139	49	path	path	NOUN
american_scientific_journal-7083	139	50	of	of	ADP
american_scientific_journal-7083	139	51	motion	motion	NOUN
american_scientific_journal-7083	139	52	optimization	optimization	NOUN
american_scientific_journal-7083	139	53	in	in	ADP
american_scientific_journal-7083	139	54	the	the	DET
american_scientific_journal-7083	139	55	collision	collision	NOUN
american_scientific_journal-7083	139	56	-	-	PUNCT
american_scientific_journal-7083	139	57	free	free	ADJ
american_scientific_journal-7083	139	58	region	region	NOUN
american_scientific_journal-7083	139	59	.	.	PUNCT
american_scientific_journal-7083	140	1	2.4	2.4	NUM
american_scientific_journal-7083	140	2	a	a	DET
american_scientific_journal-7083	140	3	star(a	star(a	PROPN
american_scientific_journal-7083	140	4	*	*	NOUN
american_scientific_journal-7083	140	5	)	)	PUNCT
american_scientific_journal-7083	140	6	algorithm	algorithm	NOUN
american_scientific_journal-7083	140	7	a	a	NOUN
american_scientific_journal-7083	140	8	-	-	PUNCT
american_scientific_journal-7083	140	9	star	star	NOUN
american_scientific_journal-7083	140	10	is	be	AUX
american_scientific_journal-7083	140	11	a	a	DET
american_scientific_journal-7083	140	12	graph	graph	NOUN
american_scientific_journal-7083	140	13	traversal	traversal	NOUN
american_scientific_journal-7083	140	14	and	and	CCONJ
american_scientific_journal-7083	140	15	path	path	NOUN
american_scientific_journal-7083	140	16	searching	search	VERB
american_scientific_journal-7083	140	17	algorithm	algorithm	NOUN
american_scientific_journal-7083	140	18	that	that	PRON
american_scientific_journal-7083	140	19	is	be	AUX
american_scientific_journal-7083	140	20	mostly	mostly	ADV
american_scientific_journal-7083	140	21	used	use	VERB
american_scientific_journal-7083	140	22	because	because	SCONJ
american_scientific_journal-7083	140	23	of	of	ADP
american_scientific_journal-7083	140	24	its	its	PRON
american_scientific_journal-7083	140	25	completeness	completeness	NOUN
american_scientific_journal-7083	140	26	,	,	PUNCT
american_scientific_journal-7083	140	27	optimality	optimality	NOUN
american_scientific_journal-7083	140	28	and	and	CCONJ
american_scientific_journal-7083	140	29	maximal	maximal	ADJ
american_scientific_journal-7083	140	30	performance	performance	NOUN
american_scientific_journal-7083	140	31	in	in	ADP
american_scientific_journal-7083	140	32	many	many	ADJ
american_scientific_journal-7083	140	33	computer	computer	NOUN
american_scientific_journal-7083	140	34	sciences	science	NOUN
american_scientific_journal-7083	140	35	fields	field	NOUN
american_scientific_journal-7083	140	36	.	.	PUNCT
american_scientific_journal-7083	141	1	its	its	PRON
american_scientific_journal-7083	141	2	spatial	spatial	ADJ
american_scientific_journal-7083	141	3	complexity	complexity	NOUN
american_scientific_journal-7083	141	4	is	be	AUX
american_scientific_journal-7083	141	5	one	one	NUM
american_scientific_journal-7083	141	6	big	big	ADJ
american_scientific_journal-7083	141	7	functional	functional	ADJ
american_scientific_journal-7083	141	8	downside	downside	NOUN
american_scientific_journal-7083	141	9	,	,	PUNCT
american_scientific_journal-7083	141	10	as	as	SCONJ
american_scientific_journal-7083	141	11	it	it	PRON
american_scientific_journal-7083	141	12	stores	store	VERB
american_scientific_journal-7083	141	13	all	all	DET
american_scientific_journal-7083	141	14	created	create	VERB
american_scientific_journal-7083	141	15	nodes	node	NOUN
american_scientific_journal-7083	141	16	in	in	ADP
american_scientific_journal-7083	141	17	memory	memory	NOUN
american_scientific_journal-7083	141	18	.	.	PUNCT
american_scientific_journal-7083	142	1	therefore	therefore	ADV
american_scientific_journal-7083	142	2	,	,	PUNCT
american_scientific_journal-7083	142	3	algorithms	algorithm	NOUN
american_scientific_journal-7083	142	4	that	that	PRON
american_scientific_journal-7083	142	5	can	can	AUX
american_scientific_journal-7083	142	6	pre	pre	VERB
american_scientific_journal-7083	142	7	-	-	VERB
american_scientific_journal-7083	142	8	process	process	VERB
american_scientific_journal-7083	142	9	the	the	DET
american_scientific_journal-7083	142	10	graph	graph	NOUN
american_scientific_journal-7083	142	11	to	to	PART
american_scientific_journal-7083	142	12	produce	produce	VERB
american_scientific_journal-7083	142	13	improved	improved	ADJ
american_scientific_journal-7083	142	14	efficiency	efficiency	NOUN
american_scientific_journal-7083	142	15	,	,	PUNCT
american_scientific_journal-7083	142	16	as	as	ADV
american_scientific_journal-7083	142	17	well	well	ADV
american_scientific_journal-7083	142	18	as	as	ADP
american_scientific_journal-7083	142	19	memory	memory	NOUN
american_scientific_journal-7083	142	20	-	-	PUNCT
american_scientific_journal-7083	142	21	bounded	bound	VERB
american_scientific_journal-7083	142	22	methods	method	NOUN
american_scientific_journal-7083	142	23	,	,	PUNCT
american_scientific_journal-7083	142	24	are	be	AUX
american_scientific_journal-7083	142	25	normally	normally	ADV
american_scientific_journal-7083	142	26	outperformed	outperform	VERB
american_scientific_journal-7083	142	27	in	in	ADP
american_scientific_journal-7083	142	28	realistic	realistic	ADJ
american_scientific_journal-7083	142	29	travel	travel	NOUN
american_scientific_journal-7083	142	30	-	-	PUNCT
american_scientific_journal-7083	142	31	routing	route	VERB
american_scientific_journal-7083	142	32	systems	system	NOUN
american_scientific_journal-7083	142	33	;	;	PUNCT
american_scientific_journal-7083	142	34	however	however	ADV
american_scientific_journal-7083	142	35	,	,	PUNCT
american_scientific_journal-7083	142	36	a	a	PRON
american_scientific_journal-7083	142	37	*	*	PUNCT
american_scientific_journal-7083	142	38	is	be	AUX
american_scientific_journal-7083	142	39	in	in	ADP
american_scientific_journal-7083	142	40	many	many	ADJ
american_scientific_journal-7083	142	41	instances	instance	NOUN
american_scientific_journal-7083	142	42	still	still	ADV
american_scientific_journal-7083	142	43	the	the	DET
american_scientific_journal-7083	142	44	best	good	ADJ
american_scientific_journal-7083	142	45	solution	solution	NOUN
american_scientific_journal-7083	142	46	.	.	PUNCT
american_scientific_journal-7083	143	1	the	the	DET
american_scientific_journal-7083	143	2	authors	author	NOUN
american_scientific_journal-7083	143	3	in	in	ADP
american_scientific_journal-7083	143	4	[	[	X
american_scientific_journal-7083	143	5	22	22	NUM
american_scientific_journal-7083	143	6	]	]	PUNCT
american_scientific_journal-7083	143	7	improved	improve	VERB
american_scientific_journal-7083	143	8	a	a	DET
american_scientific_journal-7083	143	9	*	*	PUNCT
american_scientific_journal-7083	143	10	collection	collection	NOUN
american_scientific_journal-7083	143	11	of	of	ADP
american_scientific_journal-7083	143	12	rules	rule	NOUN
american_scientific_journal-7083	143	13	has	have	AUX
american_scientific_journal-7083	143	14	been	be	AUX
american_scientific_journal-7083	143	15	evaluated	evaluate	VERB
american_scientific_journal-7083	143	16	and	and	CCONJ
american_scientific_journal-7083	143	17	applied	apply	VERB
american_scientific_journal-7083	143	18	on	on	ADP
american_scientific_journal-7083	143	19	this	this	DET
american_scientific_journal-7083	143	20	paper	paper	NOUN
american_scientific_journal-7083	143	21	,	,	PUNCT
american_scientific_journal-7083	143	22	and	and	CCONJ
american_scientific_journal-7083	143	23	the	the	DET
american_scientific_journal-7083	143	24	traditional	traditional	ADJ
american_scientific_journal-7083	143	25	a	a	DET
american_scientific_journal-7083	143	26	*	*	PUNCT
american_scientific_journal-7083	143	27	set	set	NOUN
american_scientific_journal-7083	143	28	of	of	ADP
american_scientific_journal-7083	143	29	rules	rule	NOUN
american_scientific_journal-7083	143	30	has	have	AUX
american_scientific_journal-7083	143	31	been	be	AUX
american_scientific_journal-7083	143	32	updated	update	VERB
american_scientific_journal-7083	143	33	by	by	ADP
american_scientific_journal-7083	143	34	means	mean	NOUN
american_scientific_journal-7083	143	35	of	of	ADP
american_scientific_journal-7083	143	36	weighted	weight	VERB
american_scientific_journal-7083	143	37	assessment	assessment	NOUN
american_scientific_journal-7083	143	38	characteristic	characteristic	ADJ
american_scientific_journal-7083	143	39	analysis	analysis	NOUN
american_scientific_journal-7083	143	40	,	,	PUNCT
american_scientific_journal-7083	143	41	which	which	PRON
american_scientific_journal-7083	143	42	has	have	AUX
american_scientific_journal-7083	143	43	reduced	reduce	VERB
american_scientific_journal-7083	143	44	the	the	DET
american_scientific_journal-7083	143	45	presence	presence	NOUN
american_scientific_journal-7083	143	46	measures	measure	NOUN
american_scientific_journal-7083	143	47	from	from	ADP
american_scientific_journal-7083	143	48	200	200	NUM
american_scientific_journal-7083	143	49	to	to	PART
american_scientific_journal-7083	143	50	80	80	NUM
american_scientific_journal-7083	143	51	and	and	CCONJ
american_scientific_journal-7083	143	52	the	the	DET
american_scientific_journal-7083	143	53	quest	quest	NOUN
american_scientific_journal-7083	143	54	period	period	NOUN
american_scientific_journal-7083	143	55	from	from	ADP
american_scientific_journal-7083	143	56	4,359s	4,359s	PRON
american_scientific_journal-7083	143	57	to	to	ADP
american_scientific_journal-7083	143	58	2,823s	2,823s	NUM
american_scientific_journal-7083	143	59	inside	inside	ADP
american_scientific_journal-7083	143	60	the	the	DET
american_scientific_journal-7083	143	61	feasible	feasible	ADJ
american_scientific_journal-7083	143	62	route	route	NOUN
american_scientific_journal-7083	143	63	planning	planning	NOUN
american_scientific_journal-7083	143	64	.	.	PUNCT
american_scientific_journal-7083	144	1	the	the	DET
american_scientific_journal-7083	144	2	synthetic	synthetic	ADJ
american_scientific_journal-7083	144	3	search	search	NOUN
american_scientific_journal-7083	144	4	marker	marker	NOUN
american_scientific_journal-7083	144	5	,	,	PUNCT
american_scientific_journal-7083	144	6	which	which	PRON
american_scientific_journal-7083	144	7	could	could	AUX
american_scientific_journal-7083	144	8	effectively	effectively	ADV
american_scientific_journal-7083	144	9	and	and	CCONJ
american_scientific_journal-7083	144	10	quickly	quickly	ADV
american_scientific_journal-7083	144	11	get	get	VERB
american_scientific_journal-7083	144	12	away	away	ADV
american_scientific_journal-7083	144	13	from	from	ADP
american_scientific_journal-7083	144	14	the	the	DET
american_scientific_journal-7083	144	15	barrier	barrier	NOUN
american_scientific_journal-7083	144	16	trap	trap	NOUN
american_scientific_journal-7083	144	17	,	,	PUNCT
american_scientific_journal-7083	144	18	is	be	AUX
american_scientific_journal-7083	144	19	also	also	ADV
american_scientific_journal-7083	144	20	delivered	deliver	VERB
american_scientific_journal-7083	144	21	to	to	PART
american_scientific_journal-7083	144	22	keep	keep	VERB
american_scientific_journal-7083	144	23	away	away	ADV
american_scientific_journal-7083	144	24	from	from	ADP
american_scientific_journal-7083	144	25	looking	look	VERB
american_scientific_journal-7083	144	26	over	over	ADV
american_scientific_journal-7083	144	27	and	and	CCONJ
american_scientific_journal-7083	144	28	over	over	ADV
american_scientific_journal-7083	144	29	at	at	ADP
american_scientific_journal-7083	144	30	the	the	DET
american_scientific_journal-7083	144	31	invalid	invalid	ADJ
american_scientific_journal-7083	144	32	vicinity	vicinity	NOUN
american_scientific_journal-7083	144	33	,	,	PUNCT
american_scientific_journal-7083	144	34	making	make	VERB
american_scientific_journal-7083	144	35	the	the	DET
american_scientific_journal-7083	144	36	algorithm	algorithm	NOUN
american_scientific_journal-7083	144	37	extra	extra	ADV
american_scientific_journal-7083	144	38	powerful	powerful	ADJ
american_scientific_journal-7083	144	39	and	and	CCONJ
american_scientific_journal-7083	144	40	correct	correct	ADJ
american_scientific_journal-7083	144	41	in	in	ADP
american_scientific_journal-7083	144	42	finding	find	VERB
american_scientific_journal-7083	144	43	the	the	DET
american_scientific_journal-7083	144	44	feasible	feasible	ADJ
american_scientific_journal-7083	144	45	course	course	NOUN
american_scientific_journal-7083	144	46	in	in	ADP
american_scientific_journal-7083	144	47	unknown	unknown	ADJ
american_scientific_journal-7083	144	48	environments	environment	NOUN
american_scientific_journal-7083	144	49	.	.	PUNCT
american_scientific_journal-7083	145	1	figure	figure	VERB
american_scientific_journal-7083	145	2	4	4	NUM
american_scientific_journal-7083	145	3	:	:	PUNCT
american_scientific_journal-7083	145	4	the	the	DET
american_scientific_journal-7083	145	5	searing	searing	ADJ
american_scientific_journal-7083	145	6	results	result	NOUN
american_scientific_journal-7083	145	7	of	of	ADP
american_scientific_journal-7083	145	8	the	the	DET
american_scientific_journal-7083	145	9	optimal	optimal	ADJ
american_scientific_journal-7083	145	10	path	path	NOUN
american_scientific_journal-7083	145	11	applying	apply	VERB
american_scientific_journal-7083	145	12	a	a	DET
american_scientific_journal-7083	145	13	*	*	ADJ
american_scientific_journal-7083	145	14	algorithm	algorithm	NOUN
american_scientific_journal-7083	145	15	the	the	DET
american_scientific_journal-7083	145	16	authors	author	NOUN
american_scientific_journal-7083	145	17	in	in	ADP
american_scientific_journal-7083	145	18	[	[	X
american_scientific_journal-7083	145	19	23	23	NUM
american_scientific_journal-7083	145	20	]	]	PUNCT
american_scientific_journal-7083	145	21	a	a	DET
american_scientific_journal-7083	145	22	green	green	ADJ
american_scientific_journal-7083	145	23	and	and	CCONJ
american_scientific_journal-7083	145	24	low	low	ADJ
american_scientific_journal-7083	145	25	cost	cost	NOUN
american_scientific_journal-7083	145	26	robotic	robotic	ADJ
american_scientific_journal-7083	145	27	apf	apf	PROPN
american_scientific_journal-7083	145	28	cell	cell	NOUN
american_scientific_journal-7083	145	29	is	be	AUX
american_scientific_journal-7083	145	30	proposed	propose	VERB
american_scientific_journal-7083	145	31	and	and	CCONJ
american_scientific_journal-7083	145	32	built	build	VERB
american_scientific_journal-7083	145	33	with	with	ADP
american_scientific_journal-7083	145	34	obstacles	obstacle	NOUN
american_scientific_journal-7083	145	35	and	and	CCONJ
american_scientific_journal-7083	145	36	avoidance	avoidance	NOUN
american_scientific_journal-7083	145	37	of	of	ADP
american_scientific_journal-7083	145	38	collisions	collision	NOUN
american_scientific_journal-7083	145	39	.	.	PUNCT
american_scientific_journal-7083	146	1	a	a	DET
american_scientific_journal-7083	146	2	window	window	NOUN
american_scientific_journal-7083	146	3	based	base	VERB
american_scientific_journal-7083	146	4	ipm	ipm	ADJ
american_scientific_journal-7083	146	5	gui	gui	NOUN
american_scientific_journal-7083	146	6	is	be	AUX
american_scientific_journal-7083	146	7	developed	develop	VERB
american_scientific_journal-7083	146	8	that	that	PRON
american_scientific_journal-7083	146	9	serves	serve	VERB
american_scientific_journal-7083	146	10	as	as	ADP
american_scientific_journal-7083	146	11	a	a	DET
american_scientific_journal-7083	146	12	course	course	NOUN
american_scientific_journal-7083	146	13	simulation	simulation	NOUN
american_scientific_journal-7083	146	14	platform	platform	NOUN
american_scientific_journal-7083	146	15	and	and	CCONJ
american_scientific_journal-7083	146	16	apf	apf	PROPN
american_scientific_journal-7083	146	17	robotic	robotic	ADJ
american_scientific_journal-7083	146	18	course	course	NOUN
american_scientific_journal-7083	146	19	downloader	downloader	NOUN
american_scientific_journal-7083	146	20	.	.	PUNCT
american_scientific_journal-7083	147	1	measurement	measurement	NOUN
american_scientific_journal-7083	147	2	of	of	ADP
american_scientific_journal-7083	147	3	displacement	displacement	NOUN
american_scientific_journal-7083	147	4	blunders	blunder	NOUN
american_scientific_journal-7083	147	5	was	be	AUX
american_scientific_journal-7083	147	6	conducted	conduct	VERB
american_scientific_journal-7083	147	7	in	in	ADP
american_scientific_journal-7083	147	8	the	the	DET
american_scientific_journal-7083	147	9	virtual	virtual	ADJ
american_scientific_journal-7083	147	10	route	route	NOUN
american_scientific_journal-7083	147	11	and	and	CCONJ
american_scientific_journal-7083	147	12	the	the	DET
american_scientific_journal-7083	147	13	actual	actual	ADJ
american_scientific_journal-7083	147	14	test	test	NOUN
american_scientific_journal-7083	147	15	course	course	NOUN
american_scientific_journal-7083	147	16	.	.	PUNCT
american_scientific_journal-7083	148	1	the	the	DET
american_scientific_journal-7083	148	2	authors	author	NOUN
american_scientific_journal-7083	148	3	in	in	ADP
american_scientific_journal-7083	148	4	[	[	X
american_scientific_journal-7083	148	5	24	24	NUM
american_scientific_journal-7083	148	6	]	]	PUNCT
american_scientific_journal-7083	148	7	article	article	NOUN
american_scientific_journal-7083	148	8	,	,	PUNCT
american_scientific_journal-7083	148	9	a	a	DET
american_scientific_journal-7083	148	10	hybrid	hybrid	ADJ
american_scientific_journal-7083	148	11	methodology	methodology	NOUN
american_scientific_journal-7083	148	12	focused	focus	VERB
american_scientific_journal-7083	148	13	entirely	entirely	ADV
american_scientific_journal-7083	148	14	on	on	ADP
american_scientific_journal-7083	148	15	a	a	DET
american_scientific_journal-7083	148	16	*	*	PUNCT
american_scientific_journal-7083	148	17	algorithm	algorithm	NOUN
american_scientific_journal-7083	148	18	and	and	CCONJ
american_scientific_journal-7083	148	19	a	a	DET
american_scientific_journal-7083	148	20	genetic	genetic	ADJ
american_scientific_journal-7083	148	21	collection	collection	NOUN
american_scientific_journal-7083	148	22	of	of	ADP
american_scientific_journal-7083	148	23	rules	rule	NOUN
american_scientific_journal-7083	148	24	in	in	ADP
american_scientific_journal-7083	148	25	the	the	DET
american_scientific_journal-7083	148	26	grid	grid	NOUN
american_scientific_journal-7083	148	27	map	map	NOUN
american_scientific_journal-7083	148	28	is	be	AUX
american_scientific_journal-7083	148	29	suggested	suggest	VERB
american_scientific_journal-7083	148	30	to	to	PART
american_scientific_journal-7083	148	31	address	address	VERB
american_scientific_journal-7083	148	32	the	the	DET
american_scientific_journal-7083	148	33	first	first	ADJ
american_scientific_journal-7083	148	34	route	route	NOUN
american_scientific_journal-7083	148	35	of	of	ADP
american_scientific_journal-7083	148	36	mobile	mobile	NOUN
american_scientific_journal-7083	148	37	robot	robot	NOUN
american_scientific_journal-7083	148	38	planning	planning	NOUN
american_scientific_journal-7083	148	39	.	.	PUNCT
american_scientific_journal-7083	149	1	a	a	DET
american_scientific_journal-7083	149	2	*	*	PUNCT
american_scientific_journal-7083	149	3	algorithm	algorithm	NOUN
american_scientific_journal-7083	149	4	is	be	AUX
american_scientific_journal-7083	149	5	used	use	VERB
american_scientific_journal-7083	149	6	to	to	PART
american_scientific_journal-7083	149	7	rapidly	rapidly	ADV
american_scientific_journal-7083	149	8	find	find	VERB
american_scientific_journal-7083	149	9	a	a	DET
american_scientific_journal-7083	149	10	restricted	restricted	ADJ
american_scientific_journal-7083	149	11	shortest	short	ADJ
american_scientific_journal-7083	149	12	path	path	NOUN
american_scientific_journal-7083	149	13	and	and	CCONJ
american_scientific_journal-7083	149	14	the	the	DET
american_scientific_journal-7083	149	15	global	global	ADJ
american_scientific_journal-7083	149	16	gold	gold	PROPN
american_scientific_journal-7083	149	17	standard	standard	PROPN
american_scientific_journal-7083	149	18	route	route	NOUN
american_scientific_journal-7083	149	19	is	be	AUX
american_scientific_journal-7083	149	20	obtained	obtain	VERB
american_scientific_journal-7083	149	21	using	use	VERB
american_scientific_journal-7083	149	22	genetic	genetic	ADJ
american_scientific_journal-7083	149	23	rules	rule	NOUN
american_scientific_journal-7083	149	24	to	to	PART
american_scientific_journal-7083	149	25	refine	refine	VERB
american_scientific_journal-7083	149	26	the	the	DET
american_scientific_journal-7083	149	27	course	course	NOUN
american_scientific_journal-7083	149	28	.	.	PUNCT
american_scientific_journal-7083	150	1	the	the	DET
american_scientific_journal-7083	150	2	strategy	strategy	NOUN
american_scientific_journal-7083	150	3	makes	make	VERB
american_scientific_journal-7083	150	4	the	the	DET
american_scientific_journal-7083	150	5	path	path	NOUN
american_scientific_journal-7083	150	6	node	node	NOUN
american_scientific_journal-7083	150	7	not	not	PART
american_scientific_journal-7083	150	8	limited	limit	VERB
american_scientific_journal-7083	150	9	to	to	ADP
american_scientific_journal-7083	150	10	the	the	DET
american_scientific_journal-7083	150	11	grid	grid	NOUN
american_scientific_journal-7083	150	12	core	core	NOUN
american_scientific_journal-7083	150	13	,	,	PUNCT
american_scientific_journal-7083	150	14	and	and	CCONJ
american_scientific_journal-7083	150	15	no	no	ADV
american_scientific_journal-7083	150	16	longer	long	ADV
american_scientific_journal-7083	150	17	has	have	VERB
american_scientific_journal-7083	150	18	to	to	PART
american_scientific_journal-7083	150	19	select	select	VERB
american_scientific_journal-7083	150	20	how	how	SCONJ
american_scientific_journal-7083	150	21	the	the	DET
american_scientific_journal-7083	150	22	road	road	NOUN
american_scientific_journal-7083	150	23	intersects	intersect	VERB
american_scientific_journal-7083	150	24	with	with	ADP
american_scientific_journal-7083	150	25	the	the	DET
american_scientific_journal-7083	150	26	impediment	impediment	NOUN
american_scientific_journal-7083	150	27	.	.	PUNCT
american_scientific_journal-7083	151	1	the	the	DET
american_scientific_journal-7083	151	2	strategy	strategy	NOUN
american_scientific_journal-7083	151	3	does	do	AUX
american_scientific_journal-7083	151	4	not	not	PART
american_scientific_journal-7083	151	5	limit	limit	VERB
american_scientific_journal-7083	151	6	the	the	DET
american_scientific_journal-7083	151	7	path	path	NOUN
american_scientific_journal-7083	151	8	node	node	NOUN
american_scientific_journal-7083	151	9	to	to	ADP
american_scientific_journal-7083	151	10	the	the	DET
american_scientific_journal-7083	151	11	middle	middle	NOUN
american_scientific_journal-7083	151	12	of	of	ADP
american_scientific_journal-7083	151	13	the	the	DET
american_scientific_journal-7083	151	14	grid	grid	NOUN
american_scientific_journal-7083	151	15	and	and	CCONJ
american_scientific_journal-7083	151	16	does	do	AUX
american_scientific_journal-7083	151	17	not	not	PART
american_scientific_journal-7083	151	18	need	need	VERB
american_scientific_journal-7083	151	19	to	to	PART
american_scientific_journal-7083	151	20	select	select	VERB
american_scientific_journal-7083	151	21	now	now	ADV
american_scientific_journal-7083	151	22	if	if	SCONJ
american_scientific_journal-7083	151	23	the	the	DET
american_scientific_journal-7083	151	24	direction	direction	NOUN
american_scientific_journal-7083	151	25	intersects	intersect	VERB
american_scientific_journal-7083	151	26	with	with	ADP
american_scientific_journal-7083	151	27	the	the	DET
american_scientific_journal-7083	151	28	impediment	impediment	NOUN
american_scientific_journal-7083	151	29	.	.	PUNCT
american_scientific_journal-7083	152	1	simulation	simulation	NOUN
american_scientific_journal-7083	152	2	tests	test	NOUN
american_scientific_journal-7083	152	3	indicate	indicate	VERB
american_scientific_journal-7083	152	4	that	that	SCONJ
american_scientific_journal-7083	152	5	the	the	DET
american_scientific_journal-7083	152	6	american	american	ADJ
american_scientific_journal-7083	152	7	academic	academic	ADJ
american_scientific_journal-7083	152	8	scientific	scientific	ADJ
american_scientific_journal-7083	152	9	research	research	NOUN
american_scientific_journal-7083	152	10	journal	journal	NOUN
american_scientific_journal-7083	152	11	for	for	ADP
american_scientific_journal-7083	152	12	engineering	engineering	NOUN
american_scientific_journal-7083	152	13	,	,	PUNCT
american_scientific_journal-7083	152	14	technology	technology	NOUN
american_scientific_journal-7083	152	15	,	,	PUNCT
american_scientific_journal-7083	152	16	and	and	CCONJ
american_scientific_journal-7083	152	17	sciences	science	NOUN
american_scientific_journal-7083	152	18	(	(	PUNCT
american_scientific_journal-7083	152	19	asrjets	asrjet	NOUN
american_scientific_journal-7083	152	20	)	)	PUNCT
american_scientific_journal-7083	152	21	(	(	PUNCT
american_scientific_journal-7083	152	22	2022)volume90	2022)volume90	NUM
american_scientific_journal-7083	152	23	,	,	PUNCT
american_scientific_journal-7083	152	24	no1	no1	NOUN
american_scientific_journal-7083	152	25	,	,	PUNCT
american_scientific_journal-7083	152	26	pp161	pp161	PROPN
american_scientific_journal-7083	152	27	-	-	SYM
american_scientific_journal-7083	152	28	174	174	NUM
american_scientific_journal-7083	152	29	169	169	NUM
american_scientific_journal-7083	152	30	proposed	propose	VERB
american_scientific_journal-7083	152	31	approach	approach	NOUN
american_scientific_journal-7083	152	32	can	can	AUX
american_scientific_journal-7083	152	33	not	not	PART
american_scientific_journal-7083	152	34	only	only	ADV
american_scientific_journal-7083	152	35	increase	increase	VERB
american_scientific_journal-7083	152	36	the	the	DET
american_scientific_journal-7083	152	37	hunting	hunting	NOUN
american_scientific_journal-7083	152	38	speed	speed	NOUN
american_scientific_journal-7083	152	39	and	and	CCONJ
american_scientific_journal-7083	152	40	excellent	excellent	ADJ
american_scientific_journal-7083	152	41	quest	quest	NOUN
american_scientific_journal-7083	152	42	but	but	CCONJ
american_scientific_journal-7083	152	43	can	can	AUX
american_scientific_journal-7083	152	44	also	also	ADV
american_scientific_journal-7083	152	45	be	be	AUX
american_scientific_journal-7083	152	46	used	use	VERB
american_scientific_journal-7083	152	47	in	in	ADP
american_scientific_journal-7083	152	48	exceptional	exceptional	ADJ
american_scientific_journal-7083	152	49	environments	environment	NOUN
american_scientific_journal-7083	152	50	.	.	PUNCT
american_scientific_journal-7083	153	1	the	the	DET
american_scientific_journal-7083	153	2	authors	author	NOUN
american_scientific_journal-7083	153	3	in	in	ADP
american_scientific_journal-7083	153	4	[	[	X
american_scientific_journal-7083	153	5	25	25	NUM
american_scientific_journal-7083	153	6	]	]	PUNCT
american_scientific_journal-7083	153	7	suggested	suggest	VERB
american_scientific_journal-7083	153	8	an	an	DET
american_scientific_journal-7083	153	9	internet	internet	NOUN
american_scientific_journal-7083	153	10	route	route	NOUN
american_scientific_journal-7083	153	11	through	through	ADP
american_scientific_journal-7083	153	12	which	which	PRON
american_scientific_journal-7083	153	13	mobile	mobile	NOUN
american_scientific_journal-7083	153	14	robot	robot	NOUN
american_scientific_journal-7083	153	15	aims	aim	VERB
american_scientific_journal-7083	153	16	to	to	PART
american_scientific_journal-7083	153	17	use	use	VERB
american_scientific_journal-7083	153	18	updated	update	VERB
american_scientific_journal-7083	153	19	real	real	ADJ
american_scientific_journal-7083	153	20	time	time	NOUN
american_scientific_journal-7083	153	21	a	a	DET
american_scientific_journal-7083	153	22	*	*	PUNCT
american_scientific_journal-7083	153	23	series	series	NOUN
american_scientific_journal-7083	153	24	of	of	ADP
american_scientific_journal-7083	153	25	laws	law	NOUN
american_scientific_journal-7083	153	26	through	through	ADP
american_scientific_journal-7083	153	27	grid	grid	NOUN
american_scientific_journal-7083	153	28	-	-	PUNCT
american_scientific_journal-7083	153	29	map	map	NOUN
american_scientific_journal-7083	153	30	surroundings	surrounding	NOUN
american_scientific_journal-7083	153	31	.	.	PUNCT
american_scientific_journal-7083	154	1	this	this	DET
american_scientific_journal-7083	154	2	series	series	NOUN
american_scientific_journal-7083	154	3	of	of	ADP
american_scientific_journal-7083	154	4	rules	rule	NOUN
american_scientific_journal-7083	154	5	has	have	AUX
american_scientific_journal-7083	154	6	been	be	AUX
american_scientific_journal-7083	154	7	applied	apply	VERB
american_scientific_journal-7083	154	8	in	in	ADP
american_scientific_journal-7083	154	9	virtual	virtual	ADJ
american_scientific_journal-7083	154	10	and	and	CCONJ
american_scientific_journal-7083	154	11	khepera	khepera	NOUN
american_scientific_journal-7083	154	12	-	-	PUNCT
american_scientific_journal-7083	154	13	ii	ii	NOUN
american_scientific_journal-7083	154	14	environments	environment	NOUN
american_scientific_journal-7083	154	15	and	and	CCONJ
american_scientific_journal-7083	154	16	determines	determine	VERB
american_scientific_journal-7083	154	17	the	the	DET
american_scientific_journal-7083	154	18	optimal	optimal	ADJ
american_scientific_journal-7083	154	19	path	path	NOUN
american_scientific_journal-7083	154	20	from	from	ADP
american_scientific_journal-7083	154	21	a	a	DET
american_scientific_journal-7083	154	22	pre	pre	ADJ
american_scientific_journal-7083	154	23	-	-	ADJ
american_scientific_journal-7083	154	24	defined	define	VERB
american_scientific_journal-7083	154	25	location	location	NOUN
american_scientific_journal-7083	154	26	to	to	ADP
american_scientific_journal-7083	154	27	a	a	DET
american_scientific_journal-7083	154	28	predefined	predefine	VERB
american_scientific_journal-7083	154	29	goal	goal	NOUN
american_scientific_journal-7083	154	30	point	point	NOUN
american_scientific_journal-7083	154	31	by	by	ADP
american_scientific_journal-7083	154	32	holding	hold	VERB
american_scientific_journal-7083	154	33	obstacles	obstacle	NOUN
american_scientific_journal-7083	154	34	off	off	ADP
american_scientific_journal-7083	154	35	in	in	ADP
american_scientific_journal-7083	154	36	its	its	PRON
american_scientific_journal-7083	154	37	path	path	NOUN
american_scientific_journal-7083	154	38	trajectory	trajectory	NOUN
american_scientific_journal-7083	154	39	.	.	PUNCT
american_scientific_journal-7083	155	1	the	the	DET
american_scientific_journal-7083	155	2	course	course	NOUN
american_scientific_journal-7083	155	3	searching	searching	NOUN
american_scientific_journal-7083	155	4	method	method	NOUN
american_scientific_journal-7083	155	5	is	be	AUX
american_scientific_journal-7083	155	6	formulated	formulate	VERB
american_scientific_journal-7083	155	7	of	of	ADP
american_scientific_journal-7083	155	8	quadrant	quadrant	ADJ
american_scientific_journal-7083	155	9	definition	definition	NOUN
american_scientific_journal-7083	155	10	in	in	ADP
american_scientific_journal-7083	155	11	a	a	DET
american_scientific_journal-7083	155	12	grid	grid	NOUN
american_scientific_journal-7083	155	13	map	map	NOUN
american_scientific_journal-7083	155	14	and	and	CCONJ
american_scientific_journal-7083	155	15	cluttered	cluttered	ADJ
american_scientific_journal-7083	155	16	world	world	NOUN
american_scientific_journal-7083	155	17	of	of	ADP
american_scientific_journal-7083	155	18	static	static	ADJ
american_scientific_journal-7083	155	19	and	and	CCONJ
american_scientific_journal-7083	155	20	fluid	fluid	ADJ
american_scientific_journal-7083	155	21	limitations	limitation	NOUN
american_scientific_journal-7083	155	22	.	.	PUNCT
american_scientific_journal-7083	156	1	usage	usage	NOUN
american_scientific_journal-7083	156	2	of	of	ADP
american_scientific_journal-7083	156	3	this	this	DET
american_scientific_journal-7083	156	4	algorithm	algorithm	NOUN
american_scientific_journal-7083	156	5	is	be	AUX
american_scientific_journal-7083	156	6	calculated	calculate	VERB
american_scientific_journal-7083	156	7	by	by	ADP
american_scientific_journal-7083	156	8	optimizing	optimize	VERB
american_scientific_journal-7083	156	9	the	the	DET
american_scientific_journal-7083	156	10	path	path	NOUN
american_scientific_journal-7083	156	11	since	since	SCONJ
american_scientific_journal-7083	156	12	the	the	DET
american_scientific_journal-7083	156	13	aim	aim	NOUN
american_scientific_journal-7083	156	14	is	be	AUX
american_scientific_journal-7083	156	15	present	present	ADJ
american_scientific_journal-7083	156	16	in	in	ADP
american_scientific_journal-7083	156	17	each	each	PRON
american_scientific_journal-7083	156	18	of	of	ADP
american_scientific_journal-7083	156	19	the	the	DET
american_scientific_journal-7083	156	20	four	four	NUM
american_scientific_journal-7083	156	21	quadrants	quadrant	NOUN
american_scientific_journal-7083	156	22	and	and	CCONJ
american_scientific_journal-7083	156	23	restricts	restrict	VERB
american_scientific_journal-7083	156	24	the	the	DET
american_scientific_journal-7083	156	25	robotic	robotic	ADJ
american_scientific_journal-7083	156	26	movement	movement	NOUN
american_scientific_journal-7083	156	27	to	to	ADP
american_scientific_journal-7083	156	28	the	the	DET
american_scientific_journal-7083	156	29	right	right	ADJ
american_scientific_journal-7083	156	30	quadrant	quadrant	NOUN
american_scientific_journal-7083	156	31	.	.	PUNCT
american_scientific_journal-7083	157	1	robot	robot	NOUN
american_scientific_journal-7083	157	2	can	can	AUX
american_scientific_journal-7083	157	3	plot	plot	VERB
american_scientific_journal-7083	157	4	the	the	DET
american_scientific_journal-7083	157	5	most	most	ADV
american_scientific_journal-7083	157	6	favorable	favorable	ADJ
american_scientific_journal-7083	157	7	path	path	NOUN
american_scientific_journal-7083	157	8	in	in	ADP
american_scientific_journal-7083	157	9	its	its	PRON
american_scientific_journal-7083	157	10	way	way	NOUN
american_scientific_journal-7083	157	11	through	through	ADP
american_scientific_journal-7083	157	12	fending	fend	VERB
american_scientific_journal-7083	157	13	off	off	ADP
american_scientific_journal-7083	157	14	obstructions	obstruction	NOUN
american_scientific_journal-7083	157	15	and	and	CCONJ
american_scientific_journal-7083	157	16	reducing	reduce	VERB
american_scientific_journal-7083	157	17	time	time	NOUN
american_scientific_journal-7083	157	18	,	,	PUNCT
american_scientific_journal-7083	157	19	money	money	NOUN
american_scientific_journal-7083	157	20	,	,	PUNCT
american_scientific_journal-7083	157	21	and	and	CCONJ
american_scientific_journal-7083	157	22	distance	distance	NOUN
american_scientific_journal-7083	157	23	as	as	ADP
american_scientific_journal-7083	157	24	the	the	DET
american_scientific_journal-7083	157	25	charge	charge	NOUN
american_scientific_journal-7083	157	26	,	,	PUNCT
american_scientific_journal-7083	157	27	but	but	CCONJ
american_scientific_journal-7083	157	28	the	the	DET
american_scientific_journal-7083	157	29	original	original	ADJ
american_scientific_journal-7083	157	30	a	a	DET
american_scientific_journal-7083	157	31	*	*	ADJ
american_scientific_journal-7083	157	32	series	series	NOUN
american_scientific_journal-7083	157	33	of	of	ADP
american_scientific_journal-7083	157	34	rules	rule	NOUN
american_scientific_journal-7083	157	35	no	no	ADV
american_scientific_journal-7083	157	36	longer	long	ADV
american_scientific_journal-7083	157	37	consider	consider	VERB
american_scientific_journal-7083	157	38	the	the	DET
american_scientific_journal-7083	157	39	shortest	short	ADJ
american_scientific_journal-7083	157	40	route	route	NOUN
american_scientific_journal-7083	157	41	configured	configure	VERB
american_scientific_journal-7083	157	42	.	.	PUNCT
american_scientific_journal-7083	158	1	table	table	NOUN
american_scientific_journal-7083	158	2	2	2	NUM
american_scientific_journal-7083	158	3	:	:	PUNCT
american_scientific_journal-7083	158	4	an	an	DET
american_scientific_journal-7083	158	5	advantage	advantage	NOUN
american_scientific_journal-7083	158	6	and	and	CCONJ
american_scientific_journal-7083	158	7	disadvantage	disadvantage	NOUN
american_scientific_journal-7083	158	8	for	for	ADP
american_scientific_journal-7083	158	9	algorithms	algorithms	NOUN
american_scientific_journal-7083	158	10	algorithms	algorithm	NOUN
american_scientific_journal-7083	158	11	advantage	advantage	NOUN
american_scientific_journal-7083	158	12	disadvantage	disadvantage	NOUN
american_scientific_journal-7083	158	13	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	158	14	logic	logic	NOUN
american_scientific_journal-7083	158	15	simplification	simplification	NOUN
american_scientific_journal-7083	158	16	and	and	CCONJ
american_scientific_journal-7083	158	17	versatility	versatility	NOUN
american_scientific_journal-7083	158	18	,	,	PUNCT
american_scientific_journal-7083	158	19	problems	problem	NOUN
american_scientific_journal-7083	158	20	can	can	AUX
american_scientific_journal-7083	158	21	be	be	AUX
american_scientific_journal-7083	158	22	treated	treat	VERB
american_scientific_journal-7083	158	23	with	with	ADP
american_scientific_journal-7083	158	24	incorrect	incorrect	ADJ
american_scientific_journal-7083	158	25	and	and	CCONJ
american_scientific_journal-7083	158	26	imperfect	imperfect	ADJ
american_scientific_journal-7083	158	27	data	datum	NOUN
american_scientific_journal-7083	158	28	,	,	PUNCT
american_scientific_journal-7083	158	29	and	and	CCONJ
american_scientific_journal-7083	158	30	cheaper	cheap	ADJ
american_scientific_journal-7083	158	31	to	to	PART
american_scientific_journal-7083	158	32	expand	expand	VERB
american_scientific_journal-7083	158	33	.	.	PUNCT
american_scientific_journal-7083	159	1	it	it	PRON
american_scientific_journal-7083	159	2	is	be	AUX
american_scientific_journal-7083	159	3	easy	easy	ADJ
american_scientific_journal-7083	159	4	and	and	CCONJ
american_scientific_journal-7083	159	5	justifiable	justifiable	ADJ
american_scientific_journal-7083	159	6	to	to	PART
american_scientific_journal-7083	159	7	organize	organize	VERB
american_scientific_journal-7083	159	8	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	159	9	logic	logic	NOUN
american_scientific_journal-7083	159	10	structures	structure	NOUN
american_scientific_journal-7083	159	11	.	.	PUNCT
american_scientific_journal-7083	160	1	genetic	genetic	ADJ
american_scientific_journal-7083	160	2	(	(	PUNCT
american_scientific_journal-7083	160	3	ga	ga	NOUN
american_scientific_journal-7083	160	4	)	)	PUNCT
american_scientific_journal-7083	160	5	there	there	PRON
american_scientific_journal-7083	160	6	are	be	VERB
american_scientific_journal-7083	160	7	many	many	ADJ
american_scientific_journal-7083	160	8	local	local	ADJ
american_scientific_journal-7083	160	9	optimists	optimist	NOUN
american_scientific_journal-7083	160	10	,	,	PUNCT
american_scientific_journal-7083	160	11	it	it	PRON
american_scientific_journal-7083	160	12	is	be	AUX
american_scientific_journal-7083	160	13	very	very	ADV
american_scientific_journal-7083	160	14	high	high	ADJ
american_scientific_journal-7083	160	15	for	for	ADP
american_scientific_journal-7083	160	16	the	the	DET
american_scientific_journal-7083	160	17	number	number	NOUN
american_scientific_journal-7083	160	18	of	of	ADP
american_scientific_journal-7083	160	19	parameters	parameter	NOUN
american_scientific_journal-7083	160	20	.	.	PUNCT
american_scientific_journal-7083	161	1	ga	ga	PROPN
american_scientific_journal-7083	161	2	is	be	AUX
american_scientific_journal-7083	161	3	costly	costly	ADJ
american_scientific_journal-7083	161	4	in	in	ADP
american_scientific_journal-7083	161	5	terms	term	NOUN
american_scientific_journal-7083	161	6	of	of	ADP
american_scientific_journal-7083	161	7	computing	computing	NOUN
american_scientific_journal-7083	161	8	,	,	PUNCT
american_scientific_journal-7083	161	9	i.e.	i.e.	X
american_scientific_journal-7083	161	10	,	,	PUNCT
american_scientific_journal-7083	161	11	time	time	NOUN
american_scientific_journal-7083	161	12	consuming	consuming	NOUN
american_scientific_journal-7083	161	13	.	.	PUNCT
american_scientific_journal-7083	162	1	ant	ant	ADJ
american_scientific_journal-7083	162	2	colony	colony	NOUN
american_scientific_journal-7083	162	3	a	a	DET
american_scientific_journal-7083	162	4	star	star	NOUN
american_scientific_journal-7083	162	5	(	(	PUNCT
american_scientific_journal-7083	162	6	a	a	DET
american_scientific_journal-7083	162	7	*	*	X
american_scientific_journal-7083	162	8	)	)	PUNCT
american_scientific_journal-7083	162	9	can	can	AUX
american_scientific_journal-7083	162	10	scan	scan	VERB
american_scientific_journal-7083	162	11	simultaneously	simultaneously	ADV
american_scientific_journal-7083	162	12	amongst	amongst	ADP
american_scientific_journal-7083	162	13	a	a	DET
american_scientific_journal-7083	162	14	population	population	NOUN
american_scientific_journal-7083	162	15	,	,	PUNCT
american_scientific_journal-7083	162	16	and	and	CCONJ
american_scientific_journal-7083	162	17	successful	successful	ADJ
american_scientific_journal-7083	162	18	solutions	solution	NOUN
american_scientific_journal-7083	162	19	can	can	AUX
american_scientific_journal-7083	162	20	be	be	AUX
american_scientific_journal-7083	162	21	found	find	VERB
american_scientific_journal-7083	162	22	easily	easily	ADV
american_scientific_journal-7083	162	23	.	.	PUNCT
american_scientific_journal-7083	163	1	it	it	PRON
american_scientific_journal-7083	163	2	is	be	AUX
american_scientific_journal-7083	163	3	optimum	optimum	ADJ
american_scientific_journal-7083	163	4	and	and	CCONJ
american_scientific_journal-7083	163	5	complete	complete	ADJ
american_scientific_journal-7083	163	6	,	,	PUNCT
american_scientific_journal-7083	163	7	it	it	PRON
american_scientific_journal-7083	163	8	is	be	AUX
american_scientific_journal-7083	163	9	perfectly	perfectly	ADV
american_scientific_journal-7083	163	10	efficient	efficient	ADJ
american_scientific_journal-7083	163	11	,	,	PUNCT
american_scientific_journal-7083	163	12	and	and	CCONJ
american_scientific_journal-7083	163	13	using	use	VERB
american_scientific_journal-7083	163	14	to	to	PART
american_scientific_journal-7083	163	15	overcome	overcome	VERB
american_scientific_journal-7083	163	16	incredibly	incredibly	ADV
american_scientific_journal-7083	163	17	difficult	difficult	ADJ
american_scientific_journal-7083	163	18	problems	problem	NOUN
american_scientific_journal-7083	163	19	.	.	PUNCT
american_scientific_journal-7083	164	1	have	have	VERB
american_scientific_journal-7083	164	2	a	a	DET
american_scientific_journal-7083	164	3	demanding	demand	VERB
american_scientific_journal-7083	164	4	theoretical	theoretical	ADJ
american_scientific_journal-7083	164	5	examination	examination	NOUN
american_scientific_journal-7083	164	6	,	,	PUNCT
american_scientific_journal-7083	164	7	and	and	CCONJ
american_scientific_journal-7083	164	8	the	the	DET
american_scientific_journal-7083	164	9	time	time	NOUN
american_scientific_journal-7083	164	10	for	for	ADP
american_scientific_journal-7083	164	11	convergence	convergence	NOUN
american_scientific_journal-7083	164	12	is	be	AUX
american_scientific_journal-7083	164	13	unknown	unknown	ADJ
american_scientific_journal-7083	164	14	.	.	PUNCT
american_scientific_journal-7083	165	1	it	it	PRON
american_scientific_journal-7083	165	2	has	have	VERB
american_scientific_journal-7083	165	3	difficulty	difficulty	NOUN
american_scientific_journal-7083	165	4	with	with	ADP
american_scientific_journal-7083	165	5	ambiguity	ambiguity	NOUN
american_scientific_journal-7083	165	6	3	3	NUM
american_scientific_journal-7083	165	7	.	.	PUNCT
american_scientific_journal-7083	165	8	analysis	analysis	NOUN
american_scientific_journal-7083	165	9	methods	method	NOUN
american_scientific_journal-7083	165	10	of	of	ADP
american_scientific_journal-7083	165	11	algorithms	algorithm	NOUN
american_scientific_journal-7083	165	12	3.1	3.1	NUM
american_scientific_journal-7083	165	13	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	165	14	logic	logic	NOUN
american_scientific_journal-7083	165	15	the	the	DET
american_scientific_journal-7083	165	16	authors	author	NOUN
american_scientific_journal-7083	165	17	in	in	ADP
american_scientific_journal-7083	165	18	[	[	X
american_scientific_journal-7083	165	19	1	1	NUM
american_scientific_journal-7083	165	20	]	]	PUNCT
american_scientific_journal-7083	165	21	noted	note	VERB
american_scientific_journal-7083	165	22	that	that	SCONJ
american_scientific_journal-7083	165	23			NOUN
american_scientific_journal-7083	165	24	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	165	25	control	control	PROPN
american_scientific_journal-7083	165	26	american	american	PROPN
american_scientific_journal-7083	165	27	academic	academic	ADJ
american_scientific_journal-7083	165	28	scientific	scientific	ADJ
american_scientific_journal-7083	165	29	research	research	NOUN
american_scientific_journal-7083	165	30	journal	journal	NOUN
american_scientific_journal-7083	165	31	for	for	ADP
american_scientific_journal-7083	165	32	engineering	engineering	NOUN
american_scientific_journal-7083	165	33	,	,	PUNCT
american_scientific_journal-7083	165	34	technology	technology	NOUN
american_scientific_journal-7083	165	35	,	,	PUNCT
american_scientific_journal-7083	165	36	and	and	CCONJ
american_scientific_journal-7083	165	37	sciences	science	NOUN
american_scientific_journal-7083	165	38	(	(	PUNCT
american_scientific_journal-7083	165	39	asrjets	asrjet	NOUN
american_scientific_journal-7083	165	40	)	)	PUNCT
american_scientific_journal-7083	165	41	(	(	PUNCT
american_scientific_journal-7083	165	42	2022)volume90	2022)volume90	NUM
american_scientific_journal-7083	165	43	,	,	PUNCT
american_scientific_journal-7083	165	44	no1	no1	NOUN
american_scientific_journal-7083	165	45	,	,	PUNCT
american_scientific_journal-7083	165	46	pp161	pp161	PROPN
american_scientific_journal-7083	165	47	-	-	PROPN
american_scientific_journal-7083	165	48	174	174	NUM
american_scientific_journal-7083	165	49	170	170	NUM
american_scientific_journal-7083	165	50	the	the	DET
american_scientific_journal-7083	165	51	robot	robot	NOUN
american_scientific_journal-7083	165	52	's	's	PART
american_scientific_journal-7083	165	53	behavior	behavior	NOUN
american_scientific_journal-7083	165	54	is	be	AUX
american_scientific_journal-7083	165	55	based	base	VERB
american_scientific_journal-7083	165	56	on	on	ADP
american_scientific_journal-7083	165	57	the	the	DET
american_scientific_journal-7083	165	58	venture	venture	NOUN
american_scientific_journal-7083	165	59	to	to	PART
american_scientific_journal-7083	165	60	be	be	AUX
american_scientific_journal-7083	165	61	realized	realize	VERB
american_scientific_journal-7083	165	62	.	.	PUNCT
american_scientific_journal-7083	166	1	in	in	ADP
american_scientific_journal-7083	166	2	this	this	DET
american_scientific_journal-7083	166	3	picture	picture	NOUN
american_scientific_journal-7083	166	4	,	,	PUNCT
american_scientific_journal-7083	166	5	they	they	PRON
american_scientific_journal-7083	166	6	would	would	AUX
american_scientific_journal-7083	166	7	decide	decide	VERB
american_scientific_journal-7083	166	8	to	to	PART
american_scientific_journal-7083	166	9	enforce	enforce	VERB
american_scientific_journal-7083	166	10	all	all	DET
american_scientific_journal-7083	166	11	the	the	DET
american_scientific_journal-7083	166	12	habits	habit	NOUN
american_scientific_journal-7083	166	13	besides	besides	ADV
american_scientific_journal-7083	166	14	.	.	PUNCT
american_scientific_journal-7083	167	1	they	they	PRON
american_scientific_journal-7083	167	2	will	will	AUX
american_scientific_journal-7083	167	3	detail	detail	VERB
american_scientific_journal-7083	167	4	our	our	PRON
american_scientific_journal-7083	167	5	technique	technique	NOUN
american_scientific_journal-7083	167	6	for	for	ADP
american_scientific_journal-7083	167	7	the	the	DET
american_scientific_journal-7083	167	8	bushy	bushy	ADJ
american_scientific_journal-7083	167	9	rule	rule	NOUN
american_scientific_journal-7083	167	10	base	base	NOUN
american_scientific_journal-7083	167	11	modular	modular	ADJ
american_scientific_journal-7083	167	12	employer	employer	NOUN
american_scientific_journal-7083	167	13	for	for	ADP
american_scientific_journal-7083	167	14	each	each	DET
american_scientific_journal-7083	167	15	coursefollowing	coursefollowe	VERB
american_scientific_journal-7083	167	16	and	and	CCONJ
american_scientific_journal-7083	167	17	purpose	purpose	NOUN
american_scientific_journal-7083	167	18	of	of	ADP
american_scientific_journal-7083	167	19	conducting	conduct	VERB
american_scientific_journal-7083	167	20	behavior	behavior	NOUN
american_scientific_journal-7083	167	21	and	and	CCONJ
american_scientific_journal-7083	167	22	preventing	prevent	VERB
american_scientific_journal-7083	167	23	behavior	behavior	NOUN
american_scientific_journal-7083	167	24			NOUN
american_scientific_journal-7083	167	25	path	path	NOUN
american_scientific_journal-7083	167	26	following	follow	VERB
american_scientific_journal-7083	167	27	behavior	behavior	NOUN
american_scientific_journal-7083	167	28	path	path	NOUN
american_scientific_journal-7083	167	29	of	of	ADP
american_scientific_journal-7083	167	30	behavior	behavior	NOUN
american_scientific_journal-7083	167	31	is	be	AUX
american_scientific_journal-7083	167	32	used	use	VERB
american_scientific_journal-7083	167	33	to	to	PART
american_scientific_journal-7083	167	34	guide	guide	VERB
american_scientific_journal-7083	167	35	the	the	DET
american_scientific_journal-7083	167	36	robot	robot	NOUN
american_scientific_journal-7083	167	37	opposite	opposite	ADP
american_scientific_journal-7083	167	38	the	the	DET
american_scientific_journal-7083	167	39	desired	desire	VERB
american_scientific_journal-7083	167	40	deliberate	deliberate	ADJ
american_scientific_journal-7083	167	41	direction	direction	NOUN
american_scientific_journal-7083	167	42	.	.	PUNCT
american_scientific_journal-7083	168	1	they	they	PRON
american_scientific_journal-7083	168	2	use	use	VERB
american_scientific_journal-7083	168	3	the	the	DET
american_scientific_journal-7083	168	4	concept	concept	NOUN
american_scientific_journal-7083	168	5	that	that	PRON
american_scientific_journal-7083	168	6	includes	include	VERB
american_scientific_journal-7083	168	7	lowering	lower	VERB
american_scientific_journal-7083	168	8	the	the	DET
american_scientific_journal-7083	168	9	orientation	orientation	NOUN
american_scientific_journal-7083	168	10	errors	error	NOUN
american_scientific_journal-7083	168	11	α	α	NOUN
american_scientific_journal-7083	168	12	,	,	PUNCT
american_scientific_journal-7083	168	13	which	which	PRON
american_scientific_journal-7083	168	14	is	be	AUX
american_scientific_journal-7083	168	15	the	the	DET
american_scientific_journal-7083	168	16	discrepancy	discrepancy	NOUN
american_scientific_journal-7083	168	17	between	between	ADP
american_scientific_journal-7083	168	18	the	the	DET
american_scientific_journal-7083	168	19	target	target	NOUN
american_scientific_journal-7083	168	20	heading	head	VERB
american_scientific_journal-7083	168	21	and	and	CCONJ
american_scientific_journal-7083	168	22	the	the	DET
american_scientific_journal-7083	168	23	actual	actual	ADJ
american_scientific_journal-7083	168	24	heading	heading	NOUN
american_scientific_journal-7083	168	25	.	.	PUNCT
american_scientific_journal-7083	169	1	likewise	likewise	ADV
american_scientific_journal-7083	169	2	,	,	PUNCT
american_scientific_journal-7083	169	3	they	they	PRON
american_scientific_journal-7083	169	4	aim	aim	VERB
american_scientific_journal-7083	169	5	to	to	PART
american_scientific_journal-7083	169	6	reduce	reduce	VERB
american_scientific_journal-7083	169	7	the	the	DET
american_scientific_journal-7083	169	8	gap	gap	NOUN
american_scientific_journal-7083	169	9	errors	error	NOUN
american_scientific_journal-7083	169	10	d	d	PROPN
american_scientific_journal-7083	169	11	of	of	ADP
american_scientific_journal-7083	169	12	the	the	DET
american_scientific_journal-7083	169	13	real	real	ADJ
american_scientific_journal-7083	169	14	robot	robot	NOUN
american_scientific_journal-7083	169	15	role	role	NOUN
american_scientific_journal-7083	169	16	with	with	ADP
american_scientific_journal-7083	169	17	admire	admire	NOUN
american_scientific_journal-7083	169	18	on	on	ADP
american_scientific_journal-7083	169	19	the	the	DET
american_scientific_journal-7083	169	20	road	road	NOUN
american_scientific_journal-7083	169	21	(	(	PUNCT
american_scientific_journal-7083	169	22	δ	δ	NOUN
american_scientific_journal-7083	169	23	)	)	PUNCT
american_scientific_journal-7083	169	24	as	as	SCONJ
american_scientific_journal-7083	169	25	shown	show	VERB
american_scientific_journal-7083	169	26	in	in	ADP
american_scientific_journal-7083	169	27	part	part	NOUN
american_scientific_journal-7083	169	28	2	2	NUM
american_scientific_journal-7083	169	29	,	,	PUNCT
american_scientific_journal-7083	169	30	such	such	ADJ
american_scientific_journal-7083	169	31	as	as	ADP
american_scientific_journal-7083	169	32	:	:	PUNCT
american_scientific_journal-7083	169	33	d	d	X
american_scientific_journal-7083	169	34	=	=	SYM
american_scientific_journal-7083	169	35	√(xt	√(xt	PROPN
american_scientific_journal-7083	169	36	−	−	PROPN
american_scientific_journal-7083	169	37	xr)2	xr)2	PROPN
american_scientific_journal-7083	170	1	+	+	CCONJ
american_scientific_journal-7083	170	2	(	(	PUNCT
american_scientific_journal-7083	170	3	yt	yt	X
american_scientific_journal-7083	170	4	−	−	PROPN
american_scientific_journal-7083	170	5	yr)2	yr)2	NOUN
american_scientific_journal-7083	170	6	(	(	PUNCT
american_scientific_journal-7083	170	7	1	1	NUM
american_scientific_journal-7083	170	8	)	)	PUNCT
american_scientific_journal-7083	170	9	α	α	NOUN
american_scientific_journal-7083	170	10	=	=	SYM
american_scientific_journal-7083	170	11	φ	φ	PROPN
american_scientific_journal-7083	170	12	−	−	PROPN
american_scientific_journal-7083	170	13	atan	atan	PROPN
american_scientific_journal-7083	170	14	2((yt	2((yt	NUM
american_scientific_journal-7083	170	15	−	−	NOUN
american_scientific_journal-7083	170	16	yr	yr	NOUN
american_scientific_journal-7083	170	17	)	)	PUNCT
american_scientific_journal-7083	170	18	.	.	PUNCT
american_scientific_journal-7083	171	1	(	(	PUNCT
american_scientific_journal-7083	171	2	xt	xt	NUM
american_scientific_journal-7083	171	3	−	−	PROPN
american_scientific_journal-7083	171	4	xr	xr	PROPN
american_scientific_journal-7083	171	5	)	)	PUNCT
american_scientific_journal-7083	171	6	)	)	PUNCT
american_scientific_journal-7083	171	7	(	(	PUNCT
american_scientific_journal-7083	171	8	2	2	X
american_scientific_journal-7083	171	9	)	)	PUNCT
american_scientific_journal-7083	171	10	3.2	3.2	NUM
american_scientific_journal-7083	171	11	genetic	genetic	ADJ
american_scientific_journal-7083	171	12	algorithm	algorithm	NOUN
american_scientific_journal-7083	171	13	(	(	PUNCT
american_scientific_journal-7083	171	14	ga	ga	PROPN
american_scientific_journal-7083	171	15	)	)	PUNCT
american_scientific_journal-7083	171	16	the	the	DET
american_scientific_journal-7083	171	17	authors	author	NOUN
american_scientific_journal-7083	171	18	in	in	ADP
american_scientific_journal-7083	171	19	[	[	X
american_scientific_journal-7083	171	20	13	13	NUM
american_scientific_journal-7083	171	21	]	]	PUNCT
american_scientific_journal-7083	171	22	noted	note	VERB
american_scientific_journal-7083	171	23	that	that	SCONJ
american_scientific_journal-7083	171	24	here	here	ADV
american_scientific_journal-7083	171	25	15	15	NUM
american_scientific_journal-7083	171	26	individual	individual	ADJ
american_scientific_journal-7083	171	27	tasks	task	NOUN
american_scientific_journal-7083	171	28	are	be	AUX
american_scientific_journal-7083	171	29	considered	consider	VERB
american_scientific_journal-7083	171	30	to	to	PART
american_scientific_journal-7083	171	31	execute	execute	VERB
american_scientific_journal-7083	171	32	with	with	ADP
american_scientific_journal-7083	171	33	single	single	ADJ
american_scientific_journal-7083	171	34	and	and	CCONJ
american_scientific_journal-7083	171	35	a	a	DET
american_scientific_journal-7083	171	36	couple	couple	NOUN
american_scientific_journal-7083	171	37	of	of	ADP
american_scientific_journal-7083	171	38	robotics	robotic	NOUN
american_scientific_journal-7083	171	39	in	in	ADP
american_scientific_journal-7083	171	40	which	which	PRON
american_scientific_journal-7083	171	41	each	each	DET
american_scientific_journal-7083	171	42	robotic	robotic	NOUN
american_scientific_journal-7083	171	43	is	be	AUX
american_scientific_journal-7083	171	44	allocated	allocate	VERB
american_scientific_journal-7083	171	45	independently	independently	ADV
american_scientific_journal-7083	171	46	to	to	ADP
american_scientific_journal-7083	171	47	a	a	DET
american_scientific_journal-7083	171	48	totally	totally	ADV
american_scientific_journal-7083	171	49	specific	specific	ADJ
american_scientific_journal-7083	171	50	collection	collection	NOUN
american_scientific_journal-7083	171	51	of	of	ADP
american_scientific_journal-7083	171	52	responsibilities	responsibility	NOUN
american_scientific_journal-7083	171	53	and	and	CCONJ
american_scientific_journal-7083	171	54	completes	complete	VERB
american_scientific_journal-7083	171	55	the	the	DET
american_scientific_journal-7083	171	56	route	route	NOUN
american_scientific_journal-7083	171	57	by	by	ADP
american_scientific_journal-7083	171	58	returning	return	VERB
american_scientific_journal-7083	171	59	from	from	ADP
american_scientific_journal-7083	171	60	the	the	DET
american_scientific_journal-7083	171	61	same	same	ADJ
american_scientific_journal-7083	171	62	point	point	NOUN
american_scientific_journal-7083	171	63	to	to	ADP
american_scientific_journal-7083	171	64	the	the	DET
american_scientific_journal-7083	171	65	mission	mission	NOUN
american_scientific_journal-7083	171	66	began	begin	VERB
american_scientific_journal-7083	171	67	.	.	PUNCT
american_scientific_journal-7083	172	1	here	here	ADV
american_scientific_journal-7083	172	2	,	,	PUNCT
american_scientific_journal-7083	172	3	the	the	DET
american_scientific_journal-7083	172	4	following	follow	VERB
american_scientific_journal-7083	172	5	are	be	AUX
american_scientific_journal-7083	172	6	a	a	DET
american_scientific_journal-7083	172	7	few	few	ADJ
american_scientific_journal-7083	172	8	modeling	modeling	NOUN
american_scientific_journal-7083	172	9	studies	study	NOUN
american_scientific_journal-7083	172	10	with	with	ADP
american_scientific_journal-7083	172	11	15	15	NUM
american_scientific_journal-7083	172	12	responsibilities	responsibility	NOUN
american_scientific_journal-7083	172	13	and	and	CCONJ
american_scientific_journal-7083	172	14	four	four	NUM
american_scientific_journal-7083	172	15	separate	separate	ADJ
american_scientific_journal-7083	172	16	instances	instance	NOUN
american_scientific_journal-7083	172	17	:	:	PUNCT
american_scientific_journal-7083	172	18			PRON
american_scientific_journal-7083	172	19	single	single	ADJ
american_scientific_journal-7083	172	20	robot	robot	NOUN
american_scientific_journal-7083	172	21	with	with	ADP
american_scientific_journal-7083	172	22	15	15	NUM
american_scientific_journal-7083	172	23	tasks	task	NOUN
american_scientific_journal-7083	172	24	(	(	PUNCT
american_scientific_journal-7083	172	25	case	case	NOUN
american_scientific_journal-7083	172	26	-	-	PUNCT
american_scientific_journal-7083	172	27	i	i	NOUN
american_scientific_journal-7083	172	28	)	)	PUNCT
american_scientific_journal-7083	172	29			NOUN
american_scientific_journal-7083	172	30	four	four	NUM
american_scientific_journal-7083	172	31	robots	robot	NOUN
american_scientific_journal-7083	172	32	with	with	ADP
american_scientific_journal-7083	172	33	15	15	NUM
american_scientific_journal-7083	172	34	independent	independent	ADJ
american_scientific_journal-7083	172	35	tasks	task	NOUN
american_scientific_journal-7083	172	36	(	(	PUNCT
american_scientific_journal-7083	172	37	case	case	NOUN
american_scientific_journal-7083	172	38	-	-	PUNCT
american_scientific_journal-7083	172	39	ii	ii	NOUN
american_scientific_journal-7083	172	40	)	)	PUNCT
american_scientific_journal-7083	172	41			NOUN
american_scientific_journal-7083	172	42	four	four	NUM
american_scientific_journal-7083	172	43	robots	robot	NOUN
american_scientific_journal-7083	172	44	with	with	ADP
american_scientific_journal-7083	172	45	15	15	NUM
american_scientific_journal-7083	172	46	tasks	task	NOUN
american_scientific_journal-7083	172	47	with	with	ADP
american_scientific_journal-7083	172	48	constrained	constrain	VERB
american_scientific_journal-7083	172	49	(	(	PUNCT
american_scientific_journal-7083	172	50	case	case	NOUN
american_scientific_journal-7083	172	51	-	-	PUNCT
american_scientific_journal-7083	172	52	iii	iii	NOUN
american_scientific_journal-7083	172	53	)	)	PUNCT
american_scientific_journal-7083	172	54			NOUN
american_scientific_journal-7083	172	55	four	four	NUM
american_scientific_journal-7083	172	56	robots	robot	NOUN
american_scientific_journal-7083	172	57	with	with	ADP
american_scientific_journal-7083	172	58	15	15	NUM
american_scientific_journal-7083	172	59	tasks	task	NOUN
american_scientific_journal-7083	172	60	with	with	ADP
american_scientific_journal-7083	172	61	initial	initial	ADJ
american_scientific_journal-7083	172	62	and	and	CCONJ
american_scientific_journal-7083	172	63	destination	destination	NOUN
american_scientific_journal-7083	172	64	(	(	PUNCT
american_scientific_journal-7083	172	65	case	case	NOUN
american_scientific_journal-7083	172	66	-	-	PUNCT
american_scientific_journal-7083	172	67	iv	iv	NUM
american_scientific_journal-7083	172	68	)	)	PUNCT
american_scientific_journal-7083	172	69	3.3	3.3	NUM
american_scientific_journal-7083	172	70	ant	ant	ADJ
american_scientific_journal-7083	172	71	colony	colony	NOUN
american_scientific_journal-7083	172	72	algorithm	algorithm	PROPN
american_scientific_journal-7083	172	73	r.	r.	PROPN
american_scientific_journal-7083	172	74	rashid	rashid	PROPN
american_scientific_journal-7083	172	75	,	,	PUNCT
american_scientific_journal-7083	172	76	perumal	perumal	NOUN
american_scientific_journal-7083	172	77	,	,	PUNCT
american_scientific_journal-7083	172	78	n.	n.	NOUN
american_scientific_journal-7083	172	79	,	,	PUNCT
american_scientific_journal-7083	172	80	elamvazuthi	elamvazuthi	PROPN
american_scientific_journal-7083	172	81	,	,	PUNCT
american_scientific_journal-7083	172	82	i.	i.	NOUN
american_scientific_journal-7083	172	83	,	,	PUNCT
american_scientific_journal-7083	172	84	tageldeen	tageldeen	NOUN
american_scientific_journal-7083	172	85	,	,	PUNCT
american_scientific_journal-7083	172	86	m.	m.	NOUN
american_scientific_journal-7083	172	87	k.	k.	PROPN
american_scientific_journal-7083	172	88	,	,	PUNCT
american_scientific_journal-7083	172	89	khan	khan	PROPN
american_scientific_journal-7083	172	90	,	,	PUNCT
american_scientific_journal-7083	172	91	m.	m.	PROPN
american_scientific_journal-7083	172	92	k.	k.	PROPN
american_scientific_journal-7083	172	93	a.	a.	PROPN
american_scientific_journal-7083	172	94	a.	a.	PROPN
american_scientific_journal-7083	172	95	,	,	PUNCT
american_scientific_journal-7083	172	96	&	&	CCONJ
american_scientific_journal-7083	172	97	parasuraman	parasuraman	PROPN
american_scientific_journal-7083	172	98	,	,	PUNCT
american_scientific_journal-7083	172	99	s	s	AUX
american_scientific_journal-7083	172	100	,	,	PUNCT
american_scientific_journal-7083	172	101	[	[	X
american_scientific_journal-7083	172	102	19	19	NUM
american_scientific_journal-7083	172	103	]	]	PUNCT
american_scientific_journal-7083	172	104	when	when	SCONJ
american_scientific_journal-7083	172	105	ant	ant	ADJ
american_scientific_journal-7083	172	106	k	k	PROPN
american_scientific_journal-7083	172	107	can	can	AUX
american_scientific_journal-7083	172	108	select	select	VERB
american_scientific_journal-7083	172	109	the	the	DET
american_scientific_journal-7083	172	110	next	next	ADJ
american_scientific_journal-7083	172	111	jth	jth	PROPN
american_scientific_journal-7083	172	112	grid	grid	NOUN
american_scientific_journal-7083	172	113	point	point	NOUN
american_scientific_journal-7083	172	114	at	at	ADP
american_scientific_journal-7083	172	115	the	the	DET
american_scientific_journal-7083	172	116	ith	ith	PROPN
american_scientific_journal-7083	172	117	grid	grid	NOUN
american_scientific_journal-7083	172	118	point	point	NOUN
american_scientific_journal-7083	172	119	(	(	PUNCT
american_scientific_journal-7083	172	120	x	x	NOUN
american_scientific_journal-7083	172	121	,	,	PUNCT
american_scientific_journal-7083	172	122	y	y	PROPN
american_scientific_journal-7083	172	123	)	)	PUNCT
american_scientific_journal-7083	172	124	,	,	PUNCT
american_scientific_journal-7083	172	125	by	by	ADP
american_scientific_journal-7083	172	126	selecting	select	VERB
american_scientific_journal-7083	172	127	one	one	NUM
american_scientific_journal-7083	172	128	of	of	ADP
american_scientific_journal-7083	172	129	its	its	PRON
american_scientific_journal-7083	172	130	8	8	NUM
american_scientific_journal-7083	172	131	neighboring	neighboring	NOUN
american_scientific_journal-7083	172	132	locations	location	NOUN
american_scientific_journal-7083	172	133	:	:	PUNCT
american_scientific_journal-7083	173	1	[	[	X
american_scientific_journal-7083	173	2	(	(	PUNCT
american_scientific_journal-7083	173	3	x-1	x-1	NOUN
american_scientific_journal-7083	173	4	,	,	PUNCT
american_scientific_journal-7083	173	5	y+1	y+1	NUM
american_scientific_journal-7083	173	6	)	)	PUNCT
american_scientific_journal-7083	173	7	,	,	PUNCT
american_scientific_journal-7083	173	8	(	(	PUNCT
american_scientific_journal-7083	173	9	x	x	X
american_scientific_journal-7083	173	10	,	,	PUNCT
american_scientific_journal-7083	173	11	y+1	y+1	NUM
american_scientific_journal-7083	173	12	)	)	PUNCT
american_scientific_journal-7083	173	13	,	,	PUNCT
american_scientific_journal-7083	173	14	(	(	PUNCT
american_scientific_journal-7083	173	15	x+1	x+1	PROPN
american_scientific_journal-7083	173	16	,	,	PUNCT
american_scientific_journal-7083	173	17	y+1	y+1	NUM
american_scientific_journal-7083	173	18	)	)	PUNCT
american_scientific_journal-7083	173	19	,	,	PUNCT
american_scientific_journal-7083	173	20	(	(	PUNCT
american_scientific_journal-7083	173	21	x-1	x-1	PROPN
american_scientific_journal-7083	173	22	,	,	PUNCT
american_scientific_journal-7083	173	23	y	y	NOUN
american_scientific_journal-7083	173	24	)	)	PUNCT
american_scientific_journal-7083	173	25	,	,	PUNCT
american_scientific_journal-7083	173	26	(	(	PUNCT
american_scientific_journal-7083	173	27	x	x	X
american_scientific_journal-7083	173	28	,	,	PUNCT
american_scientific_journal-7083	173	29	y	y	PROPN
american_scientific_journal-7083	173	30	)	)	PUNCT
american_scientific_journal-7083	173	31	,	,	PUNCT
american_scientific_journal-7083	173	32	(	(	PUNCT
american_scientific_journal-7083	173	33	x+1	x+1	PROPN
american_scientific_journal-7083	173	34	,	,	PUNCT
american_scientific_journal-7083	173	35	y	y	PROPN
american_scientific_journal-7083	173	36	)	)	PUNCT
american_scientific_journal-7083	173	37	,	,	PUNCT
american_scientific_journal-7083	173	38	(	(	PUNCT
american_scientific_journal-7083	173	39	x-1	x-1	NOUN
american_scientific_journal-7083	173	40	,	,	PUNCT
american_scientific_journal-7083	173	41	y1	y1	PROPN
american_scientific_journal-7083	173	42	)	)	PUNCT
american_scientific_journal-7083	173	43	,	,	PUNCT
american_scientific_journal-7083	173	44	(	(	PUNCT
american_scientific_journal-7083	173	45	x	x	NOUN
american_scientific_journal-7083	173	46	,	,	PUNCT
american_scientific_journal-7083	173	47	y-1	y-1	PROPN
american_scientific_journal-7083	173	48	)	)	PUNCT
american_scientific_journal-7083	173	49	and	and	CCONJ
american_scientific_journal-7083	173	50	(	(	PUNCT
american_scientific_journal-7083	173	51	x+1	x+1	PROPN
american_scientific_journal-7083	173	52	,	,	PUNCT
american_scientific_journal-7083	173	53	y-1	y-1	PROPN
american_scientific_journal-7083	173	54	)	)	PUNCT
american_scientific_journal-7083	173	55	]	]	PUNCT
american_scientific_journal-7083	173	56	.	.	PUNCT
american_scientific_journal-7083	174	1	use	use	VERB
american_scientific_journal-7083	174	2	these	these	DET
american_scientific_journal-7083	174	3	equations	equation	NOUN
american_scientific_journal-7083	174	4	to	to	PART
american_scientific_journal-7083	174	5	solve	solve	VERB
american_scientific_journal-7083	174	6	obstacles	obstacle	NOUN
american_scientific_journal-7083	174	7	problem	problem	NOUN
american_scientific_journal-7083	174	8	american	american	PROPN
american_scientific_journal-7083	174	9	academic	academic	ADJ
american_scientific_journal-7083	174	10	scientific	scientific	ADJ
american_scientific_journal-7083	174	11	research	research	NOUN
american_scientific_journal-7083	174	12	journal	journal	NOUN
american_scientific_journal-7083	174	13	for	for	ADP
american_scientific_journal-7083	174	14	engineering	engineering	NOUN
american_scientific_journal-7083	174	15	,	,	PUNCT
american_scientific_journal-7083	174	16	technology	technology	NOUN
american_scientific_journal-7083	174	17	,	,	PUNCT
american_scientific_journal-7083	174	18	and	and	CCONJ
american_scientific_journal-7083	174	19	sciences	science	NOUN
american_scientific_journal-7083	174	20	(	(	PUNCT
american_scientific_journal-7083	174	21	asrjets	asrjet	NOUN
american_scientific_journal-7083	174	22	)	)	PUNCT
american_scientific_journal-7083	174	23	(	(	PUNCT
american_scientific_journal-7083	174	24	2022)volume90	2022)volume90	NUM
american_scientific_journal-7083	174	25	,	,	PUNCT
american_scientific_journal-7083	174	26	no1	no1	NOUN
american_scientific_journal-7083	174	27	,	,	PUNCT
american_scientific_journal-7083	174	28	pp161	pp161	PROPN
american_scientific_journal-7083	174	29	-	-	PROPN
american_scientific_journal-7083	174	30	174	174	NUM
american_scientific_journal-7083	174	31	171	171	NUM
american_scientific_journal-7083	174	32	τⅈj(t	τⅈj(t	PROPN
american_scientific_journal-7083	174	33	+	+	CCONJ
american_scientific_journal-7083	174	34	1	1	X
american_scientific_journal-7083	174	35	)	)	PUNCT
american_scientific_journal-7083	174	36	=	=	NOUN
american_scientific_journal-7083	174	37	(	(	PUNCT
american_scientific_journal-7083	174	38	1	1	NUM
american_scientific_journal-7083	174	39	−	−	PROPN
american_scientific_journal-7083	174	40	ρ	ρ	PROPN
american_scientific_journal-7083	174	41	)	)	PUNCT
american_scientific_journal-7083	174	42	⋅	⋅	PROPN
american_scientific_journal-7083	174	43	τij(t	τij(t	NUM
american_scientific_journal-7083	174	44	)	)	PUNCT
american_scientific_journal-7083	174	45	+	+	CCONJ
american_scientific_journal-7083	174	46	∑	∑	PROPN
american_scientific_journal-7083	174	47	δ	δ	PROPN
american_scientific_journal-7083	174	48	μ	μ	NOUN
american_scientific_journal-7083	174	49	k=1	k=1	X
american_scientific_journal-7083	174	50	τi	τi	VERB
american_scientific_journal-7083	174	51	⋅	⋅	PROPN
american_scientific_journal-7083	174	52	j	j	PROPN
american_scientific_journal-7083	174	53	(	(	PUNCT
american_scientific_journal-7083	174	54	3	3	NUM
american_scientific_journal-7083	174	55	)	)	PUNCT
american_scientific_journal-7083	174	56	δτij	δτij	NOUN
american_scientific_journal-7083	174	57	k	k	NOUN
american_scientific_journal-7083	175	1	=	=	SYM
american_scientific_journal-7083	175	2	1	1	NUM
american_scientific_journal-7083	175	3	∕	∕	NOUN
american_scientific_journal-7083	175	4	lk	lk	NOUN
american_scientific_journal-7083	175	5	(	(	PUNCT
american_scientific_journal-7083	175	6	4	4	NUM
american_scientific_journal-7083	175	7	)	)	PUNCT
american_scientific_journal-7083	175	8	3.4	3.4	NUM
american_scientific_journal-7083	175	9	a*algorithm	a*algorithm	X
american_scientific_journal-7083	176	1	the	the	DET
american_scientific_journal-7083	176	2	authors	author	NOUN
american_scientific_journal-7083	176	3	in	in	ADP
american_scientific_journal-7083	176	4	[	[	X
american_scientific_journal-7083	176	5	25	25	NUM
american_scientific_journal-7083	176	6	]	]	PUNCT
american_scientific_journal-7083	176	7	noted	note	VERB
american_scientific_journal-7083	176	8	that	that	SCONJ
american_scientific_journal-7083	176	9	presents	present	VERB
american_scientific_journal-7083	176	10	grid	grid	NOUN
american_scientific_journal-7083	176	11	surroundings	surrounding	NOUN
american_scientific_journal-7083	176	12	with	with	ADP
american_scientific_journal-7083	176	13	a	a	DET
american_scientific_journal-7083	176	14	given	give	VERB
american_scientific_journal-7083	176	15	boundary	boundary	NOUN
american_scientific_journal-7083	176	16	and	and	CCONJ
american_scientific_journal-7083	176	17	the	the	DET
american_scientific_journal-7083	176	18	robot	robot	NOUN
american_scientific_journal-7083	176	19	's	's	PART
american_scientific_journal-7083	176	20	deliberate	deliberate	ADJ
american_scientific_journal-7083	176	21	path	path	NOUN
american_scientific_journal-7083	176	22	trajectory	trajectory	NOUN
american_scientific_journal-7083	176	23	is	be	AUX
american_scientific_journal-7083	176	24	seen	see	VERB
american_scientific_journal-7083	176	25	within	within	ADP
american_scientific_journal-7083	176	26	the	the	DET
american_scientific_journal-7083	176	27	arrow	arrow	NOUN
american_scientific_journal-7083	176	28	mark	mark	NOUN
american_scientific_journal-7083	176	29	form	form	NOUN
american_scientific_journal-7083	176	30	.	.	PUNCT
american_scientific_journal-7083	177	1	here	here	ADV
american_scientific_journal-7083	177	2	,	,	PUNCT
american_scientific_journal-7083	177	3	in	in	ADP
american_scientific_journal-7083	177	4	a	a	DET
american_scientific_journal-7083	177	5	single	single	ADJ
american_scientific_journal-7083	177	6	new	new	ADJ
american_scientific_journal-7083	177	7	version	version	NOUN
american_scientific_journal-7083	177	8	,	,	PUNCT
american_scientific_journal-7083	177	9	the	the	DET
american_scientific_journal-7083	177	10	robot	robot	NOUN
american_scientific_journal-7083	177	11	traverses	traverse	VERB
american_scientific_journal-7083	177	12	one	one	NUM
american_scientific_journal-7083	177	13	of	of	ADP
american_scientific_journal-7083	177	14	the	the	DET
american_scientific_journal-7083	177	15	neighborhood	neighborhood	NOUN
american_scientific_journal-7083	177	16	grid	grid	NOUN
american_scientific_journal-7083	177	17	variables	variable	NOUN
american_scientific_journal-7083	177	18	,	,	PUNCT
american_scientific_journal-7083	177	19	but	but	CCONJ
american_scientific_journal-7083	177	20	can	can	AUX
american_scientific_journal-7083	177	21	not	not	PART
american_scientific_journal-7083	177	22	move	move	VERB
american_scientific_journal-7083	177	23	diagonally	diagonally	ADV
american_scientific_journal-7083	177	24	to	to	ADP
american_scientific_journal-7083	177	25	the	the	DET
american_scientific_journal-7083	177	26	nearest	near	ADJ
american_scientific_journal-7083	177	27	row	row	NOUN
american_scientific_journal-7083	177	28	.	.	PUNCT
american_scientific_journal-7083	178	1	a	a	DET
american_scientific_journal-7083	178	2	robot	robot	NOUN
american_scientific_journal-7083	178	3	is	be	AUX
american_scientific_journal-7083	178	4	represented	represent	VERB
american_scientific_journal-7083	178	5	by	by	ADP
american_scientific_journal-7083	178	6	the	the	DET
american_scientific_journal-7083	178	7	theoretical	theoretical	ADJ
american_scientific_journal-7083	178	8	motion	motion	NOUN
american_scientific_journal-7083	178	9	plan	plan	NOUN
american_scientific_journal-7083	178	10	of	of	ADP
american_scientific_journal-7083	178	11	a	a	DET
american_scientific_journal-7083	178	12	robot	robot	NOUN
american_scientific_journal-7083	178	13	in	in	ADP
american_scientific_journal-7083	178	14	grip	grip	NOUN
american_scientific_journal-7083	178	15	map	map	NOUN
american_scientific_journal-7083	178	16	and	and	CCONJ
american_scientific_journal-7083	178	17	circle	circle	NOUN
american_scientific_journal-7083	178	18	.	.	PUNCT
american_scientific_journal-7083	179	1	the	the	DET
american_scientific_journal-7083	179	2	subsequent	subsequent	ADJ
american_scientific_journal-7083	179	3	equation	equation	NOUN
american_scientific_journal-7083	179	4	is	be	AUX
american_scientific_journal-7083	179	5	used	use	VERB
american_scientific_journal-7083	179	6	to	to	PART
american_scientific_journal-7083	179	7	find	find	VERB
american_scientific_journal-7083	179	8	the	the	DET
american_scientific_journal-7083	179	9	placement	placement	NOUN
american_scientific_journal-7083	179	10	of	of	ADP
american_scientific_journal-7083	179	11	the	the	DET
american_scientific_journal-7083	179	12	aim	aim	NOUN
american_scientific_journal-7083	179	13	wherein	wherein	SCONJ
american_scientific_journal-7083	179	14	quadrant	quadrant	NOUN
american_scientific_journal-7083	180	1	it	it	PRON
american_scientific_journal-7083	180	2	's	be	AUX
american_scientific_journal-7083	180	3	miles	mile	NOUN
american_scientific_journal-7083	180	4	present	present	ADJ
american_scientific_journal-7083	180	5	.	.	PUNCT
american_scientific_journal-7083	181	1	let	let	VERB
american_scientific_journal-7083	181	2	us	we	PRON
american_scientific_journal-7083	181	3	consider	consider	VERB
american_scientific_journal-7083	181	4	the	the	DET
american_scientific_journal-7083	181	5	coordinate	coordinate	NOUN
american_scientific_journal-7083	181	6	point	point	NOUN
american_scientific_journal-7083	181	7	of	of	ADP
american_scientific_journal-7083	181	8	the	the	DET
american_scientific_journal-7083	181	9	goal	goal	NOUN
american_scientific_journal-7083	181	10	is	be	AUX
american_scientific_journal-7083	181	11	(	(	PUNCT
american_scientific_journal-7083	181	12	x_g	x_g	X
american_scientific_journal-7083	181	13	.	.	PUNCT
american_scientific_journal-7083	182	1	y_g	y_g	NUM
american_scientific_journal-7083	182	2	)	)	PUNCT
american_scientific_journal-7083	182	3	the	the	DET
american_scientific_journal-7083	182	4	initial	initial	ADJ
american_scientific_journal-7083	182	5	coordinate	coordinate	NOUN
american_scientific_journal-7083	182	6	point	point	NOUN
american_scientific_journal-7083	182	7	of	of	ADP
american_scientific_journal-7083	182	8	the	the	DET
american_scientific_journal-7083	182	9	robot	robot	NOUN
american_scientific_journal-7083	182	10	is	be	AUX
american_scientific_journal-7083	182	11	(	(	PUNCT
american_scientific_journal-7083	182	12	x_c	x_c	PROPN
american_scientific_journal-7083	182	13	.	.	PUNCT
american_scientific_journal-7083	182	14	y_c	y_c	NOUN
american_scientific_journal-7083	182	15	)	)	PUNCT
american_scientific_journal-7083	182	16	.	.	PUNCT
american_scientific_journal-7083	183	1	the	the	DET
american_scientific_journal-7083	183	2	robot	robot	NOUN
american_scientific_journal-7083	183	3	determines	determine	VERB
american_scientific_journal-7083	183	4	the	the	DET
american_scientific_journal-7083	183	5	goal	goal	NOUN
american_scientific_journal-7083	183	6	quadrant	quadrant	NOUN
american_scientific_journal-7083	183	7	by	by	ADP
american_scientific_journal-7083	183	8	eliminating	eliminate	VERB
american_scientific_journal-7083	183	9	the	the	DET
american_scientific_journal-7083	183	10	target	target	NOUN
american_scientific_journal-7083	183	11	coordinate	coordinate	NOUN
american_scientific_journal-7083	183	12	element	element	NOUN
american_scientific_journal-7083	183	13	and	and	CCONJ
american_scientific_journal-7083	183	14	the	the	DET
american_scientific_journal-7083	183	15	robot	robot	NOUN
american_scientific_journal-7083	183	16	's	's	PART
american_scientific_journal-7083	183	17	initial	initial	ADJ
american_scientific_journal-7083	183	18	coordinate	coordinate	NOUN
american_scientific_journal-7083	183	19	point	point	NOUN
american_scientific_journal-7083	183	20	.	.	PUNCT
american_scientific_journal-7083	184	1	let	let	VERB
american_scientific_journal-7083	184	2	(	(	PUNCT
american_scientific_journal-7083	184	3	cx	cx	NOUN
american_scientific_journal-7083	184	4	,	,	PUNCT
american_scientific_journal-7083	184	5	cy	cy	AUX
american_scientific_journal-7083	184	6	)	)	PUNCT
american_scientific_journal-7083	184	7	be	be	AUX
american_scientific_journal-7083	184	8	the	the	DET
american_scientific_journal-7083	184	9	difference	difference	NOUN
american_scientific_journal-7083	184	10	value	value	NOUN
american_scientific_journal-7083	184	11	of	of	ADP
american_scientific_journal-7083	184	12	(	(	PUNCT
american_scientific_journal-7083	184	13	x_g	x_g	X
american_scientific_journal-7083	184	14	.	.	PUNCT
american_scientific_journal-7083	184	15	y_g	y_g	NUM
american_scientific_journal-7083	184	16	)	)	PUNCT
american_scientific_journal-7083	184	17	and	and	CCONJ
american_scientific_journal-7083	184	18	(	(	PUNCT
american_scientific_journal-7083	184	19	x_c	x_c	PROPN
american_scientific_journal-7083	184	20	.	.	PUNCT
american_scientific_journal-7083	184	21	y_c	y_c	NOUN
american_scientific_journal-7083	184	22	)	)	PUNCT
american_scientific_journal-7083	184	23	.	.	PUNCT
american_scientific_journal-7083	185	1	now	now	ADV
american_scientific_journal-7083	185	2	if	if	SCONJ
american_scientific_journal-7083	185	3	,	,	PUNCT
american_scientific_journal-7083	185	4	𝐟(𝐧	𝐟(𝐧	NOUN
american_scientific_journal-7083	185	5	)	)	PUNCT
american_scientific_journal-7083	185	6	=	=	SYM
american_scientific_journal-7083	185	7	g(n	g(n	PROPN
american_scientific_journal-7083	185	8	)	)	PUNCT
american_scientific_journal-7083	185	9	+	+	PUNCT
american_scientific_journal-7083	186	1	r(n	r(n	PROPN
american_scientific_journal-7083	186	2	)	)	PUNCT
american_scientific_journal-7083	187	1	+	+	CCONJ
american_scientific_journal-7083	187	2	h(n	h(n	PROPN
american_scientific_journal-7083	187	3	)	)	PUNCT
american_scientific_journal-7083	188	1	+	+	CCONJ
american_scientific_journal-7083	188	2	s(n	s(n	NOUN
american_scientific_journal-7083	188	3	)	)	PUNCT
american_scientific_journal-7083	188	4	(	(	PUNCT
american_scientific_journal-7083	188	5	5	5	X
american_scientific_journal-7083	188	6	)	)	PUNCT
american_scientific_journal-7083	188	7	h(n	h(n	PROPN
american_scientific_journal-7083	188	8	)	)	PUNCT
american_scientific_journal-7083	188	9	=	=	PUNCT
american_scientific_journal-7083	188	10	√(xi	√(xi	ADJ
american_scientific_journal-7083	188	11	−	−	PROPN
american_scientific_journal-7083	188	12	xg	xg	NOUN
american_scientific_journal-7083	188	13	)	)	PUNCT
american_scientific_journal-7083	188	14	2	2	NUM
american_scientific_journal-7083	189	1	+	+	CCONJ
american_scientific_journal-7083	189	2	(	(	PUNCT
american_scientific_journal-7083	189	3	yi	yi	PROPN
american_scientific_journal-7083	189	4	−	−	PROPN
american_scientific_journal-7083	189	5	yg	yg	PROPN
american_scientific_journal-7083	189	6	)	)	PUNCT
american_scientific_journal-7083	189	7	2	2	NUM
american_scientific_journal-7083	189	8	(	(	PUNCT
american_scientific_journal-7083	189	9	6	6	NUM
american_scientific_journal-7083	189	10	)	)	SYM
american_scientific_journal-7083	189	11	4	4	NUM
american_scientific_journal-7083	189	12	.	.	PUNCT
american_scientific_journal-7083	190	1	experiments	experiment	NOUN
american_scientific_journal-7083	190	2	and	and	CCONJ
american_scientific_journal-7083	190	3	results	result	NOUN
american_scientific_journal-7083	190	4	used	use	VERB
american_scientific_journal-7083	190	5	a	a	DET
american_scientific_journal-7083	190	6	star	star	NOUN
american_scientific_journal-7083	190	7	algorithm	algorithm	NOUN
american_scientific_journal-7083	190	8	in	in	ADP
american_scientific_journal-7083	190	9	this	this	DET
american_scientific_journal-7083	190	10	article	article	NOUN
american_scientific_journal-7083	190	11	to	to	PART
american_scientific_journal-7083	190	12	solve	solve	VERB
american_scientific_journal-7083	190	13	problems	problem	NOUN
american_scientific_journal-7083	190	14	with	with	ADP
american_scientific_journal-7083	190	15	path	path	NOUN
american_scientific_journal-7083	190	16	planning	planning	NOUN
american_scientific_journal-7083	190	17	in	in	ADP
american_scientific_journal-7083	190	18	mobile	mobile	NOUN
american_scientific_journal-7083	190	19	robots	robot	NOUN
american_scientific_journal-7083	190	20	.	.	PUNCT
american_scientific_journal-7083	191	1	may	may	AUX
american_scientific_journal-7083	191	2	find	find	VERB
american_scientific_journal-7083	191	3	the	the	DET
american_scientific_journal-7083	191	4	best	good	ADJ
american_scientific_journal-7083	191	5	solution	solution	NOUN
american_scientific_journal-7083	191	6	for	for	ADP
american_scientific_journal-7083	191	7	track	track	NOUN
american_scientific_journal-7083	191	8	preparation	preparation	NOUN
american_scientific_journal-7083	191	9	by	by	ADP
american_scientific_journal-7083	191	10	using	use	VERB
american_scientific_journal-7083	191	11	below	below	ADP
american_scientific_journal-7083	191	12	equation	equation	NOUN
american_scientific_journal-7083	191	13	.	.	PUNCT
american_scientific_journal-7083	192	1	let	let	VERB
american_scientific_journal-7083	192	2	us	we	PRON
american_scientific_journal-7083	192	3	assume	assume	VERB
american_scientific_journal-7083	192	4	the	the	DET
american_scientific_journal-7083	192	5	goal	goal	NOUN
american_scientific_journal-7083	192	6	point	point	NOUN
american_scientific_journal-7083	192	7	is	be	AUX
american_scientific_journal-7083	192	8	(	(	PUNCT
american_scientific_journal-7083	192	9	x_1.y_1	x_1.y_1	NOUN
american_scientific_journal-7083	192	10	)	)	PUNCT
american_scientific_journal-7083	192	11	and	and	CCONJ
american_scientific_journal-7083	192	12	start	start	VERB
american_scientific_journal-7083	192	13	point	point	NOUN
american_scientific_journal-7083	192	14	is	be	AUX
american_scientific_journal-7083	192	15	(	(	PUNCT
american_scientific_journal-7083	192	16	x_2.y_2	x_2.y_2	PROPN
american_scientific_journal-7083	192	17	)	)	PUNCT
american_scientific_journal-7083	192	18	.	.	PUNCT
american_scientific_journal-7083	193	1	let	let	VERB
american_scientific_journal-7083	193	2	(	(	PUNCT
american_scientific_journal-7083	193	3	c1	c1	NOUN
american_scientific_journal-7083	193	4	,	,	PUNCT
american_scientific_journal-7083	193	5	c2	c2	PROPN
american_scientific_journal-7083	193	6	)	)	PUNCT
american_scientific_journal-7083	193	7	is	be	AUX
american_scientific_journal-7083	193	8	the	the	DET
american_scientific_journal-7083	193	9	different	different	ADJ
american_scientific_journal-7083	193	10	value	value	NOUN
american_scientific_journal-7083	193	11	between	between	ADP
american_scientific_journal-7083	193	12	the	the	DET
american_scientific_journal-7083	193	13	start	start	NOUN
american_scientific_journal-7083	193	14	point	point	NOUN
american_scientific_journal-7083	193	15	and	and	CCONJ
american_scientific_journal-7083	193	16	goal	goal	NOUN
american_scientific_journal-7083	193	17	point	point	NOUN
american_scientific_journal-7083	193	18	.	.	PUNCT
american_scientific_journal-7083	194	1	𝐟(𝐧	𝐟(𝐧	NOUN
american_scientific_journal-7083	194	2	)	)	PUNCT
american_scientific_journal-7083	194	3	=	=	SYM
american_scientific_journal-7083	194	4	𝐠(𝐧	𝐠(𝐧	PROPN
american_scientific_journal-7083	194	5	)	)	PUNCT
american_scientific_journal-7083	195	1	+	+	ADJ
american_scientific_journal-7083	195	2	𝐫(𝐧	𝐫(𝐧	NOUN
american_scientific_journal-7083	195	3	)	)	PUNCT
american_scientific_journal-7083	195	4	+	+	NUM
american_scientific_journal-7083	195	5	𝐡(𝐧	𝐡(𝐧	NOUN
american_scientific_journal-7083	195	6	)	)	PUNCT
american_scientific_journal-7083	195	7	+	+	NUM
american_scientific_journal-7083	195	8	𝐒(𝐧	𝐒(𝐧	X
american_scientific_journal-7083	195	9	)	)	PUNCT
american_scientific_journal-7083	195	10	(	(	PUNCT
american_scientific_journal-7083	195	11	𝟕)[𝟐𝟒	𝟕)[𝟐𝟒	X
american_scientific_journal-7083	195	12	]	]	PUNCT
american_scientific_journal-7083	195	13	𝐡(𝐧	𝐡(𝐧	NOUN
american_scientific_journal-7083	195	14	)	)	PUNCT
american_scientific_journal-7083	195	15	=	=	SYM
american_scientific_journal-7083	195	16	√(𝐱𝟐	√(𝐱𝟐	PROPN
american_scientific_journal-7083	195	17	−	−	NUM
american_scientific_journal-7083	195	18	𝐱𝟏)𝟐	𝐱𝟏)𝟐	PROPN
american_scientific_journal-7083	196	1	+	+	CCONJ
american_scientific_journal-7083	196	2	(	(	PUNCT
american_scientific_journal-7083	196	3	𝐲𝟐	𝐲𝟐	NOUN
american_scientific_journal-7083	196	4	−	−	PROPN
american_scientific_journal-7083	196	5	𝐲𝟏)𝟐	𝐲𝟏)𝟐	PROPN
american_scientific_journal-7083	196	6	(	(	PUNCT
american_scientific_journal-7083	196	7	𝟖)[𝟐𝟒	𝟖)[𝟐𝟒	X
american_scientific_journal-7083	196	8	]	]	PUNCT
american_scientific_journal-7083	196	9	where	where	SCONJ
american_scientific_journal-7083	196	10	g(n	g(n	PROPN
american_scientific_journal-7083	196	11	)	)	PUNCT
american_scientific_journal-7083	196	12	the	the	DET
american_scientific_journal-7083	196	13	generation	generation	NOUN
american_scientific_journal-7083	196	14	costs	cost	VERB
american_scientific_journal-7083	196	15	the	the	DET
american_scientific_journal-7083	196	16	not	not	PART
american_scientific_journal-7083	196	17	turn	turn	NOUN
american_scientific_journal-7083	196	18	required	require	VERB
american_scientific_journal-7083	196	19	for	for	SCONJ
american_scientific_journal-7083	196	20	the	the	DET
american_scientific_journal-7083	196	21	robot	robot	NOUN
american_scientific_journal-7083	196	22	to	to	PART
american_scientific_journal-7083	196	23	rotate	rotate	VERB
american_scientific_journal-7083	196	24	from	from	ADP
american_scientific_journal-7083	196	25	the	the	DET
american_scientific_journal-7083	196	26	current	current	ADJ
american_scientific_journal-7083	196	27	position	position	NOUN
american_scientific_journal-7083	196	28	to	to	ADP
american_scientific_journal-7083	196	29	the	the	DET
american_scientific_journal-7083	196	30	next	next	ADJ
american_scientific_journal-7083	196	31	position	position	NOUN
american_scientific_journal-7083	196	32	in	in	ADP
american_scientific_journal-7083	196	33	the	the	DET
american_scientific_journal-7083	196	34	direction	direction	NOUN
american_scientific_journal-7083	196	35	of	of	ADP
american_scientific_journal-7083	196	36	motion	motion	NOUN
american_scientific_journal-7083	196	37	,	,	PUNCT
american_scientific_journal-7083	196	38	r(n	r(n	PROPN
american_scientific_journal-7083	196	39	)	)	PUNCT
american_scientific_journal-7083	196	40	the	the	DET
american_scientific_journal-7083	196	41	estimated	estimate	VERB
american_scientific_journal-7083	196	42	cost	cost	NOUN
american_scientific_journal-7083	196	43	of	of	ADP
american_scientific_journal-7083	196	44	movement	movement	NOUN
american_scientific_journal-7083	196	45	from	from	ADP
american_scientific_journal-7083	196	46	the	the	DET
american_scientific_journal-7083	196	47	robot	robot	NOUN
american_scientific_journal-7083	196	48	's	's	PART
american_scientific_journal-7083	196	49	starting	starting	NOUN
american_scientific_journal-7083	196	50	point	point	NOUN
american_scientific_journal-7083	196	51	to	to	ADP
american_scientific_journal-7083	196	52	the	the	DET
american_scientific_journal-7083	196	53	target	target	NOUN
american_scientific_journal-7083	196	54	point	point	NOUN
american_scientific_journal-7083	196	55	,	,	PUNCT
american_scientific_journal-7083	196	56	h(n	h(n	PROPN
american_scientific_journal-7083	196	57	)	)	PUNCT
american_scientific_journal-7083	196	58	the	the	DET
american_scientific_journal-7083	196	59	direction	direction	NOUN
american_scientific_journal-7083	196	60	in	in	ADP
american_scientific_journal-7083	196	61	which	which	PRON
american_scientific_journal-7083	196	62	the	the	DET
american_scientific_journal-7083	196	63	mobile	mobile	ADJ
american_scientific_journal-7083	196	64	robot	robot	NOUN
american_scientific_journal-7083	196	65	moves	move	VERB
american_scientific_journal-7083	196	66	around	around	ADP
american_scientific_journal-7083	196	67	the	the	DET
american_scientific_journal-7083	196	68	obstacle	obstacle	NOUN
american_scientific_journal-7083	196	69	s(n	s(n	PROPN
american_scientific_journal-7083	196	70	)	)	PUNCT
american_scientific_journal-7083	196	71	after	after	ADP
american_scientific_journal-7083	196	72	using	use	VERB
american_scientific_journal-7083	196	73	the	the	DET
american_scientific_journal-7083	196	74	above	above	ADJ
american_scientific_journal-7083	196	75	equations	equation	NOUN
american_scientific_journal-7083	196	76	.	.	PUNCT
american_scientific_journal-7083	197	1	a	a	DET
american_scientific_journal-7083	197	2	star	star	NOUN
american_scientific_journal-7083	197	3	algorithm	algorithm	NOUN
american_scientific_journal-7083	197	4	is	be	AUX
american_scientific_journal-7083	197	5	used	use	VERB
american_scientific_journal-7083	197	6	to	to	PART
american_scientific_journal-7083	197	7	apply	apply	VERB
american_scientific_journal-7083	197	8	path	path	NOUN
american_scientific_journal-7083	197	9	planning	planning	NOUN
american_scientific_journal-7083	197	10	for	for	ADP
american_scientific_journal-7083	197	11	mobile	mobile	ADJ
american_scientific_journal-7083	197	12	robot	robot	NOUN
american_scientific_journal-7083	197	13	in	in	ADP
american_scientific_journal-7083	197	14	environment	environment	NOUN
american_scientific_journal-7083	197	15	that	that	PRON
american_scientific_journal-7083	197	16	has	have	VERB
american_scientific_journal-7083	197	17	three	three	NUM
american_scientific_journal-7083	197	18	walls	wall	NOUN
american_scientific_journal-7083	197	19	and	and	CCONJ
american_scientific_journal-7083	197	20	two	two	NUM
american_scientific_journal-7083	197	21	obstacles	obstacle	NOUN
american_scientific_journal-7083	197	22	as	as	SCONJ
american_scientific_journal-7083	197	23	shown	show	VERB
american_scientific_journal-7083	197	24	in	in	ADP
american_scientific_journal-7083	197	25	the	the	DET
american_scientific_journal-7083	197	26	figure	figure	NOUN
american_scientific_journal-7083	197	27	5	5	NUM
american_scientific_journal-7083	197	28	.	.	PUNCT
american_scientific_journal-7083	198	1	american	american	ADJ
american_scientific_journal-7083	198	2	academic	academic	ADJ
american_scientific_journal-7083	198	3	scientific	scientific	ADJ
american_scientific_journal-7083	198	4	research	research	NOUN
american_scientific_journal-7083	198	5	journal	journal	NOUN
american_scientific_journal-7083	198	6	for	for	ADP
american_scientific_journal-7083	198	7	engineering	engineering	NOUN
american_scientific_journal-7083	198	8	,	,	PUNCT
american_scientific_journal-7083	198	9	technology	technology	NOUN
american_scientific_journal-7083	198	10	,	,	PUNCT
american_scientific_journal-7083	198	11	and	and	CCONJ
american_scientific_journal-7083	198	12	sciences	science	NOUN
american_scientific_journal-7083	198	13	(	(	PUNCT
american_scientific_journal-7083	198	14	asrjets	asrjet	NOUN
american_scientific_journal-7083	198	15	)	)	PUNCT
american_scientific_journal-7083	198	16	(	(	PUNCT
american_scientific_journal-7083	198	17	2022)volume90	2022)volume90	NUM
american_scientific_journal-7083	198	18	,	,	PUNCT
american_scientific_journal-7083	198	19	no1	no1	NOUN
american_scientific_journal-7083	198	20	,	,	PUNCT
american_scientific_journal-7083	198	21	pp161	pp161	PROPN
american_scientific_journal-7083	198	22	-	-	SYM
american_scientific_journal-7083	198	23	174	174	NUM
american_scientific_journal-7083	198	24	172	172	NUM
american_scientific_journal-7083	198	25	figure	figure	NOUN
american_scientific_journal-7083	198	26	5	5	NUM
american_scientific_journal-7083	198	27	5	5	NUM
american_scientific_journal-7083	198	28	.	.	PUNCT
american_scientific_journal-7083	199	1	conclusions	conclusion	NOUN
american_scientific_journal-7083	199	2	this	this	DET
american_scientific_journal-7083	199	3	article	article	NOUN
american_scientific_journal-7083	199	4	complicated	complicate	VERB
american_scientific_journal-7083	199	5	evaluation	evaluation	NOUN
american_scientific_journal-7083	199	6	of	of	ADP
american_scientific_journal-7083	199	7	the	the	DET
american_scientific_journal-7083	199	8	approaches	approach	NOUN
american_scientific_journal-7083	199	9	used	use	VERB
american_scientific_journal-7083	199	10	in	in	ADP
american_scientific_journal-7083	199	11	the	the	DET
american_scientific_journal-7083	199	12	preparation	preparation	NOUN
american_scientific_journal-7083	199	13	of	of	ADP
american_scientific_journal-7083	199	14	mobile	mobile	ADJ
american_scientific_journal-7083	199	15	robot	robot	NOUN
american_scientific_journal-7083	199	16	courses	course	NOUN
american_scientific_journal-7083	199	17	and	and	CCONJ
american_scientific_journal-7083	199	18	shortest	short	ADJ
american_scientific_journal-7083	199	19	course	course	NOUN
american_scientific_journal-7083	199	20	navigation	navigation	NOUN
american_scientific_journal-7083	199	21	problems	problem	NOUN
american_scientific_journal-7083	199	22	this	this	DET
american_scientific_journal-7083	199	23	review	review	NOUN
american_scientific_journal-7083	199	24	described	describe	VERB
american_scientific_journal-7083	199	25	various	various	ADJ
american_scientific_journal-7083	199	26	methods	method	NOUN
american_scientific_journal-7083	199	27	and	and	CCONJ
american_scientific_journal-7083	199	28	explains	explain	VERB
american_scientific_journal-7083	199	29	their	their	PRON
american_scientific_journal-7083	199	30	advantages	advantage	NOUN
american_scientific_journal-7083	199	31	and	and	CCONJ
american_scientific_journal-7083	199	32	drawbacks	drawback	NOUN
american_scientific_journal-7083	199	33	.	.	PUNCT
american_scientific_journal-7083	200	1	there	there	PRON
american_scientific_journal-7083	200	2	are	be	VERB
american_scientific_journal-7083	200	3	a	a	DET
american_scientific_journal-7083	200	4	few	few	ADJ
american_scientific_journal-7083	200	5	traditional	traditional	ADJ
american_scientific_journal-7083	200	6	approaches	approach	NOUN
american_scientific_journal-7083	200	7	inside	inside	ADP
american_scientific_journal-7083	200	8	the	the	DET
american_scientific_journal-7083	200	9	actual	actual	ADJ
american_scientific_journal-7083	200	10	global	global	ADJ
american_scientific_journal-7083	200	11	implementation	implementation	NOUN
american_scientific_journal-7083	200	12	that	that	PRON
american_scientific_journal-7083	200	13	might	might	AUX
american_scientific_journal-7083	200	14	not	not	PART
american_scientific_journal-7083	200	15	be	be	AUX
american_scientific_journal-7083	200	16	continuous	continuous	ADJ
american_scientific_journal-7083	200	17	,	,	PUNCT
american_scientific_journal-7083	200	18	because	because	SCONJ
american_scientific_journal-7083	200	19	they	they	PRON
american_scientific_journal-7083	200	20	are	be	AUX
american_scientific_journal-7083	200	21	unable	unable	ADJ
american_scientific_journal-7083	200	22	to	to	PART
american_scientific_journal-7083	200	23	deal	deal	VERB
american_scientific_journal-7083	200	24	with	with	ADP
american_scientific_journal-7083	200	25	the	the	DET
american_scientific_journal-7083	200	26	volatile	volatile	ADJ
american_scientific_journal-7083	200	27	complex	complex	NOUN
american_scientific_journal-7083	200	28	and	and	CCONJ
american_scientific_journal-7083	200	29	unsure	unsure	ADJ
american_scientific_journal-7083	200	30	surroundings	surrounding	NOUN
american_scientific_journal-7083	200	31	of	of	ADP
american_scientific_journal-7083	200	32	live	live	ADJ
american_scientific_journal-7083	200	33	-	-	PUNCT
american_scientific_journal-7083	200	34	global	global	ADJ
american_scientific_journal-7083	200	35	.	.	PUNCT
american_scientific_journal-7083	201	1	classical	classical	ADJ
american_scientific_journal-7083	201	2	methods	method	NOUN
american_scientific_journal-7083	201	3	required	require	VERB
american_scientific_journal-7083	201	4	massive	massive	ADJ
american_scientific_journal-7083	201	5	computation	computation	NOUN
american_scientific_journal-7083	201	6	and	and	CCONJ
american_scientific_journal-7083	201	7	reminiscence	reminiscence	NOUN
american_scientific_journal-7083	201	8	,	,	PUNCT
american_scientific_journal-7083	201	9	while	while	SCONJ
american_scientific_journal-7083	201	10	heuristic	heuristic	ADJ
american_scientific_journal-7083	201	11	techniques	technique	NOUN
american_scientific_journal-7083	201	12	with	with	ADP
american_scientific_journal-7083	201	13	certain	certain	ADJ
american_scientific_journal-7083	201	14	adjustments	adjustment	NOUN
american_scientific_journal-7083	201	15	can	can	AUX
american_scientific_journal-7083	201	16	overcome	overcome	VERB
american_scientific_journal-7083	201	17	the	the	DET
american_scientific_journal-7083	201	18	actual	actual	ADJ
american_scientific_journal-7083	201	19	global	global	ADJ
american_scientific_journal-7083	201	20	problem	problem	NOUN
american_scientific_journal-7083	201	21	.	.	PUNCT
american_scientific_journal-7083	202	1	the	the	DET
american_scientific_journal-7083	202	2	mobile	mobile	ADJ
american_scientific_journal-7083	202	3	robot	robot	NOUN
american_scientific_journal-7083	202	4	track	track	NOUN
american_scientific_journal-7083	202	5	creating	create	VERB
american_scientific_journal-7083	202	6	strategies	strategy	NOUN
american_scientific_journal-7083	202	7	totally	totally	ADV
american_scientific_journal-7083	202	8	dependent	dependent	ADJ
american_scientific_journal-7083	202	9	on	on	ADP
american_scientific_journal-7083	202	10	predefined	predefine	VERB
american_scientific_journal-7083	202	11	mapping	mapping	NOUN
american_scientific_journal-7083	202	12	is	be	AUX
american_scientific_journal-7083	202	13	more	more	ADV
american_scientific_journal-7083	202	14	complicated	complicated	ADJ
american_scientific_journal-7083	202	15	due	due	ADP
american_scientific_journal-7083	202	16	to	to	ADP
american_scientific_journal-7083	202	17	the	the	DET
american_scientific_journal-7083	202	18	intermittent	intermittent	ADJ
american_scientific_journal-7083	202	19	noise	noise	NOUN
american_scientific_journal-7083	202	20	and	and	CCONJ
american_scientific_journal-7083	202	21	complex	complex	ADJ
american_scientific_journal-7083	202	22	design	design	NOUN
american_scientific_journal-7083	202	23	of	of	ADP
american_scientific_journal-7083	202	24	actual	actual	ADJ
american_scientific_journal-7083	202	25	international	international	ADJ
american_scientific_journal-7083	202	26	utility	utility	NOUN
american_scientific_journal-7083	202	27	.	.	PUNCT
american_scientific_journal-7083	203	1	heuristic	heuristic	ADJ
american_scientific_journal-7083	203	2	approaches	approach	VERB
american_scientific_journal-7083	203	3	genetic	genetic	ADJ
american_scientific_journal-7083	203	4	algorithms	algorithm	NOUN
american_scientific_journal-7083	203	5	,	,	PUNCT
american_scientific_journal-7083	203	6	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	203	7	logic	logic	NOUN
american_scientific_journal-7083	203	8	,	,	PUNCT
american_scientific_journal-7083	203	9	ant	ant	ADJ
american_scientific_journal-7083	203	10	colony	colony	NOUN
american_scientific_journal-7083	203	11	optimization	optimization	NOUN
american_scientific_journal-7083	203	12	and	and	CCONJ
american_scientific_journal-7083	203	13	a	a	DET
american_scientific_journal-7083	203	14	star	star	NOUN
american_scientific_journal-7083	203	15	algorithms	algorithms	NOUN
american_scientific_journal-7083	203	16	for	for	ADP
american_scientific_journal-7083	203	17	a	a	DET
american_scientific_journal-7083	203	18	mobile	mobile	ADJ
american_scientific_journal-7083	203	19	robot	robot	NOUN
american_scientific_journal-7083	203	20	navigation	navigation	NOUN
american_scientific_journal-7083	203	21	.	.	PUNCT
american_scientific_journal-7083	204	1	as	as	ADP
american_scientific_journal-7083	204	2	a	a	DET
american_scientific_journal-7083	204	3	result	result	NOUN
american_scientific_journal-7083	204	4	,	,	PUNCT
american_scientific_journal-7083	204	5	the	the	DET
american_scientific_journal-7083	204	6	autonomous	autonomous	ADJ
american_scientific_journal-7083	204	7	cell	cell	NOUN
american_scientific_journal-7083	204	8	robots	robot	NOUN
american_scientific_journal-7083	204	9	will	will	AUX
american_scientific_journal-7083	204	10	heuristically	heuristically	ADV
american_scientific_journal-7083	204	11	reach	reach	VERB
american_scientific_journal-7083	204	12	the	the	DET
american_scientific_journal-7083	204	13	side	side	NOUN
american_scientific_journal-7083	204	14	with	with	ADP
american_scientific_journal-7083	204	15	all	all	DET
american_scientific_journal-7083	204	16	sorts	sort	NOUN
american_scientific_journal-7083	204	17	with	with	ADP
american_scientific_journal-7083	204	18	constraints	constraint	NOUN
american_scientific_journal-7083	204	19	without	without	ADP
american_scientific_journal-7083	204	20	colliding	collide	VERB
american_scientific_journal-7083	204	21	with	with	ADP
american_scientific_journal-7083	204	22	them	they	PRON
american_scientific_journal-7083	204	23	,	,	PUNCT
american_scientific_journal-7083	204	24	competently	competently	ADV
american_scientific_journal-7083	204	25	.	.	PUNCT
american_scientific_journal-7083	205	1	such	such	ADJ
american_scientific_journal-7083	205	2	approaches	approach	NOUN
american_scientific_journal-7083	205	3	provide	provide	VERB
american_scientific_journal-7083	205	4	an	an	DET
american_scientific_journal-7083	205	5	integrated	integrate	VERB
american_scientific_journal-7083	205	6	solution	solution	NOUN
american_scientific_journal-7083	205	7	to	to	ADP
american_scientific_journal-7083	205	8	challenging	challenge	VERB
american_scientific_journal-7083	205	9	problems	problem	NOUN
american_scientific_journal-7083	205	10	.	.	PUNCT
american_scientific_journal-7083	206	1	we	we	PRON
american_scientific_journal-7083	206	2	have	have	AUX
american_scientific_journal-7083	206	3	been	be	AUX
american_scientific_journal-7083	206	4	used	use	VERB
american_scientific_journal-7083	206	5	a	a	DET
american_scientific_journal-7083	206	6	star	star	NOUN
american_scientific_journal-7083	206	7	algorithm	algorithm	NOUN
american_scientific_journal-7083	206	8	in	in	ADP
american_scientific_journal-7083	206	9	this	this	DET
american_scientific_journal-7083	206	10	current	current	ADJ
american_scientific_journal-7083	206	11	work	work	NOUN
american_scientific_journal-7083	206	12	and	and	CCONJ
american_scientific_journal-7083	206	13	found	find	VERB
american_scientific_journal-7083	206	14	that	that	SCONJ
american_scientific_journal-7083	206	15	the	the	DET
american_scientific_journal-7083	206	16	results	result	NOUN
american_scientific_journal-7083	206	17	from	from	ADP
american_scientific_journal-7083	206	18	this	this	DET
american_scientific_journal-7083	206	19	algorithm	algorithm	NOUN
american_scientific_journal-7083	206	20	is	be	AUX
american_scientific_journal-7083	206	21	better	well	ADJ
american_scientific_journal-7083	206	22	than	than	ADP
american_scientific_journal-7083	206	23	from	from	ADP
american_scientific_journal-7083	206	24	other	other	ADJ
american_scientific_journal-7083	206	25	algorithms	algorithm	NOUN
american_scientific_journal-7083	206	26	in	in	ADP
american_scientific_journal-7083	206	27	terms	term	NOUN
american_scientific_journal-7083	206	28	of	of	ADP
american_scientific_journal-7083	206	29	speed	speed	NOUN
american_scientific_journal-7083	206	30	in	in	ADP
american_scientific_journal-7083	206	31	performance	performance	NOUN
american_scientific_journal-7083	206	32	and	and	CCONJ
american_scientific_journal-7083	206	33	quality	quality	NOUN
american_scientific_journal-7083	206	34	.	.	PUNCT
american_scientific_journal-7083	207	1	references	reference	NOUN
american_scientific_journal-7083	207	2	[	[	X
american_scientific_journal-7083	207	3	1	1	NUM
american_scientific_journal-7083	207	4	]	]	PUNCT
american_scientific_journal-7083	207	5	f.	f.	PROPN
american_scientific_journal-7083	207	6	abdessemed	abdesseme	VERB
american_scientific_journal-7083	207	7	et	et	PROPN
american_scientific_journal-7083	207	8	al	al	PROPN
american_scientific_journal-7083	207	9	.	.	PROPN
american_scientific_journal-7083	207	10	,	,	PUNCT
american_scientific_journal-7083	207	11	“	"	PUNCT
american_scientific_journal-7083	207	12	a	a	DET
american_scientific_journal-7083	207	13	hierarchical	hierarchical	ADJ
american_scientific_journal-7083	207	14	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	207	15	control	control	NOUN
american_scientific_journal-7083	207	16	design	design	NOUN
american_scientific_journal-7083	207	17	for	for	ADP
american_scientific_journal-7083	207	18	indoor	indoor	ADJ
american_scientific_journal-7083	207	19	mobile	mobile	ADJ
american_scientific_journal-7083	207	20	robot	robot	NOUN
american_scientific_journal-7083	207	21	,	,	PUNCT
american_scientific_journal-7083	207	22	”	"	PUNCT
american_scientific_journal-7083	207	23	int	int	NOUN
american_scientific_journal-7083	207	24	.	.	PUNCT
american_scientific_journal-7083	208	1	j.	j.	PROPN
american_scientific_journal-7083	208	2	adv	adv	PROPN
american_scientific_journal-7083	208	3	.	.	PUNCT
american_scientific_journal-7083	208	4	robot	robot	PROPN
american_scientific_journal-7083	208	5	.	.	PUNCT
american_scientific_journal-7083	209	1	syst	syst	PROPN
american_scientific_journal-7083	209	2	.	.	PUNCT
american_scientific_journal-7083	209	3	,	,	PUNCT
american_scientific_journal-7083	209	4	vol	vol	NOUN
american_scientific_journal-7083	209	5	.	.	PROPN
american_scientific_journal-7083	210	1	11	11	NUM
american_scientific_journal-7083	210	2	,	,	PUNCT
american_scientific_journal-7083	210	3	no	no	INTJ
american_scientific_journal-7083	210	4	.	.	NOUN
american_scientific_journal-7083	210	5	1	1	NUM
american_scientific_journal-7083	210	6	,	,	PUNCT
american_scientific_journal-7083	210	7	2014	2014	NUM
american_scientific_journal-7083	210	8	,	,	PUNCT
american_scientific_journal-7083	210	9	doi	doi	NOUN
american_scientific_journal-7083	210	10	:	:	PUNCT
american_scientific_journal-7083	210	11	10.5772/57434	10.5772/57434	NUM
american_scientific_journal-7083	210	12	.	.	PUNCT
american_scientific_journal-7083	211	1	[	[	X
american_scientific_journal-7083	211	2	2	2	NUM
american_scientific_journal-7083	211	3	]	]	PUNCT
american_scientific_journal-7083	211	4	m.	m.	NOUN
american_scientific_journal-7083	211	5	wang	wang	PROPN
american_scientific_journal-7083	211	6	and	and	CCONJ
american_scientific_journal-7083	211	7	j.	j.	PROPN
american_scientific_journal-7083	211	8	n.	n.	PROPN
american_scientific_journal-7083	211	9	k.	k.	PROPN
american_scientific_journal-7083	211	10	liu	liu	PROPN
american_scientific_journal-7083	211	11	,	,	PUNCT
american_scientific_journal-7083	211	12	“	"	PUNCT
american_scientific_journal-7083	211	13	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	211	14	logic	logic	NOUN
american_scientific_journal-7083	211	15	based	base	VERB
american_scientific_journal-7083	211	16	robot	robot	NOUN
american_scientific_journal-7083	211	17	path	path	NOUN
american_scientific_journal-7083	211	18	planning	planning	NOUN
american_scientific_journal-7083	211	19	in	in	ADP
american_scientific_journal-7083	211	20	unknown	unknown	ADJ
american_scientific_journal-7083	211	21	environment	environment	NOUN
american_scientific_journal-7083	211	22	,	,	PUNCT
american_scientific_journal-7083	211	23	”	"	PUNCT
american_scientific_journal-7083	211	24	2005	2005	NUM
american_scientific_journal-7083	211	25	int	int	NOUN
american_scientific_journal-7083	211	26	.	.	PUNCT
american_scientific_journal-7083	211	27	conf	conf	NOUN
american_scientific_journal-7083	211	28	.	.	PUNCT
american_scientific_journal-7083	212	1	mach	mach	PROPN
american_scientific_journal-7083	212	2	.	.	PUNCT
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american_scientific_journal-7083	213	2	.	.	PUNCT
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american_scientific_journal-7083	214	2	.	.	PUNCT
american_scientific_journal-7083	215	1	icmlc	icmlc	NOUN
american_scientific_journal-7083	215	2	2005	2005	NUM
american_scientific_journal-7083	215	3	,	,	PUNCT
american_scientific_journal-7083	215	4	vol	vol	NOUN
american_scientific_journal-7083	215	5	.	.	PROPN
american_scientific_journal-7083	215	6	1	1	NUM
american_scientific_journal-7083	215	7	,	,	PUNCT
american_scientific_journal-7083	215	8	no	no	INTJ
american_scientific_journal-7083	215	9	.	.	PUNCT
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american_scientific_journal-7083	216	2	,	,	PUNCT
american_scientific_journal-7083	216	3	pp	pp	ADP
american_scientific_journal-7083	216	4	.	.	PUNCT
american_scientific_journal-7083	217	1	813–818	813–818	NUM
american_scientific_journal-7083	217	2	,	,	PUNCT
american_scientific_journal-7083	217	3	2005	2005	NUM
american_scientific_journal-7083	217	4	,	,	PUNCT
american_scientific_journal-7083	217	5	doi	doi	NOUN
american_scientific_journal-7083	217	6	:	:	PUNCT
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american_scientific_journal-7083	217	8	/	/	SYM
american_scientific_journal-7083	217	9	icmlc.2005.1527055	icmlc.2005.1527055	NOUN
american_scientific_journal-7083	217	10	.	.	PUNCT
american_scientific_journal-7083	218	1	[	[	X
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american_scientific_journal-7083	218	3	]	]	X
american_scientific_journal-7083	218	4	c.	c.	PROPN
american_scientific_journal-7083	218	5	t.	t.	PROPN
american_scientific_journal-7083	218	6	yen	yen	PROPN
american_scientific_journal-7083	218	7	and	and	CCONJ
american_scientific_journal-7083	218	8	m.	m.	PROPN
american_scientific_journal-7083	218	9	f.	f.	PROPN
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american_scientific_journal-7083	218	11	,	,	PUNCT
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american_scientific_journal-7083	218	13	a	a	DET
american_scientific_journal-7083	218	14	study	study	NOUN
american_scientific_journal-7083	218	15	of	of	ADP
american_scientific_journal-7083	218	16	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	218	17	control	control	NOUN
american_scientific_journal-7083	218	18	with	with	ADP
american_scientific_journal-7083	218	19	ant	ant	ADJ
american_scientific_journal-7083	218	20	colony	colony	NOUN
american_scientific_journal-7083	218	21	algorithm	algorithm	NOUN
american_scientific_journal-7083	218	22	used	use	VERB
american_scientific_journal-7083	218	23	in	in	ADP
american_scientific_journal-7083	218	24	mobile	mobile	ADJ
american_scientific_journal-7083	218	25	robot	robot	NOUN
american_scientific_journal-7083	218	26	american	american	PROPN
american_scientific_journal-7083	218	27	academic	academic	PROPN
american_scientific_journal-7083	218	28	scientific	scientific	ADJ
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american_scientific_journal-7083	218	31	for	for	ADP
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american_scientific_journal-7083	218	33	,	,	PUNCT
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american_scientific_journal-7083	218	35	,	,	PUNCT
american_scientific_journal-7083	218	36	and	and	CCONJ
american_scientific_journal-7083	218	37	sciences	science	NOUN
american_scientific_journal-7083	218	38	(	(	PUNCT
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american_scientific_journal-7083	218	43	,	,	PUNCT
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american_scientific_journal-7083	218	50	for	for	ADP
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american_scientific_journal-7083	218	53	planning	planning	NOUN
american_scientific_journal-7083	218	54	and	and	CCONJ
american_scientific_journal-7083	218	55	obstacle	obstacle	NOUN
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american_scientific_journal-7083	218	57	,	,	PUNCT
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american_scientific_journal-7083	219	2	.	.	PROPN
american_scientific_journal-7083	219	3	,	,	PUNCT
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american_scientific_journal-7083	219	5	.	.	PROPN
american_scientific_journal-7083	220	1	24	24	NUM
american_scientific_journal-7083	220	2	,	,	PUNCT
american_scientific_journal-7083	220	3	no	no	INTJ
american_scientific_journal-7083	220	4	.	.	NOUN
american_scientific_journal-7083	220	5	1	1	NUM
american_scientific_journal-7083	220	6	,	,	PUNCT
american_scientific_journal-7083	220	7	pp	pp	ADJ
american_scientific_journal-7083	220	8	.	.	PUNCT
american_scientific_journal-7083	221	1	125–135	125–135	NUM
american_scientific_journal-7083	221	2	,	,	PUNCT
american_scientific_journal-7083	221	3	2018	2018	NUM
american_scientific_journal-7083	221	4	,	,	PUNCT
american_scientific_journal-7083	221	5	doi	doi	NOUN
american_scientific_journal-7083	221	6	:	:	PUNCT
american_scientific_journal-7083	221	7	10.1007	10.1007	NUM
american_scientific_journal-7083	221	8	/	/	SYM
american_scientific_journal-7083	221	9	s00542	s00542	NOUN
american_scientific_journal-7083	221	10	-	-	PUNCT
american_scientific_journal-7083	221	11	016	016	NUM
american_scientific_journal-7083	221	12	-	-	PUNCT
american_scientific_journal-7083	221	13	3192	3192	NUM
american_scientific_journal-7083	221	14	-	-	SYM
american_scientific_journal-7083	221	15	9	9	NUM
american_scientific_journal-7083	221	16	.	.	PUNCT
american_scientific_journal-7083	222	1	[	[	X
american_scientific_journal-7083	222	2	4	4	X
american_scientific_journal-7083	222	3	]	]	X
american_scientific_journal-7083	222	4	y.	y.	PROPN
american_scientific_journal-7083	222	5	yan	yan	PROPN
american_scientific_journal-7083	222	6	,	,	PUNCT
american_scientific_journal-7083	222	7	&	&	CCONJ
american_scientific_journal-7083	222	8	li	li	PROPN
american_scientific_journal-7083	222	9	,	,	PUNCT
american_scientific_journal-7083	222	10	y	y	PROPN
american_scientific_journal-7083	222	11	,	,	PUNCT
american_scientific_journal-7083	222	12	"	"	PUNCT
american_scientific_journal-7083	222	13	mobile	mobile	ADJ
american_scientific_journal-7083	222	14	robot	robot	NOUN
american_scientific_journal-7083	222	15	autonomous	autonomous	PROPN
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american_scientific_journal-7083	222	18	based	base	VERB
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american_scientific_journal-7083	222	20	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	222	21	logic	logic	NOUN
american_scientific_journal-7083	222	22	and	and	CCONJ
american_scientific_journal-7083	222	23	filter	filter	NOUN
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american_scientific_journal-7083	222	28	,	,	PUNCT
american_scientific_journal-7083	222	29	"	"	PUNCT
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american_scientific_journal-7083	222	31	congress	congress	PROPN
american_scientific_journal-7083	222	32	on	on	ADP
american_scientific_journal-7083	222	33	intelligent	intelligent	ADJ
american_scientific_journal-7083	222	34	control	control	NOUN
american_scientific_journal-7083	222	35	and	and	CCONJ
american_scientific_journal-7083	222	36	automation	automation	NOUN
american_scientific_journal-7083	222	37	(	(	PUNCT
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american_scientific_journal-7083	222	39	)	)	PUNCT
american_scientific_journal-7083	222	40	.	.	PUNCT
american_scientific_journal-7083	223	1	vol	vol	NOUN
american_scientific_journal-7083	223	2	.	.	PROPN
american_scientific_journal-7083	224	1	7	7	NUM
american_scientific_journal-7083	224	2	,	,	PUNCT
american_scientific_journal-7083	224	3	pp	pp	ADJ
american_scientific_journal-7083	224	4	.	.	PUNCT
american_scientific_journal-7083	225	1	1	1	NUM
american_scientific_journal-7083	225	2	-	-	SYM
american_scientific_journal-7083	225	3	6	6	NUM
american_scientific_journal-7083	225	4	,	,	PUNCT
american_scientific_journal-7083	225	5	2016	2016	NUM
american_scientific_journal-7083	225	6	.	.	PUNCT
american_scientific_journal-7083	226	1	[	[	X
american_scientific_journal-7083	226	2	5	5	X
american_scientific_journal-7083	226	3	]	]	X
american_scientific_journal-7083	226	4	d.	d.	PROPN
american_scientific_journal-7083	226	5	davis	davis	PROPN
american_scientific_journal-7083	226	6	,	,	PUNCT
american_scientific_journal-7083	226	7	&	&	CCONJ
american_scientific_journal-7083	226	8	supriya	supriya	PROPN
american_scientific_journal-7083	226	9	,	,	PUNCT
american_scientific_journal-7083	226	10	p	p	X
american_scientific_journal-7083	226	11	,	,	PUNCT
american_scientific_journal-7083	226	12	"	"	PUNCT
american_scientific_journal-7083	226	13	implementation	implementation	NOUN
american_scientific_journal-7083	226	14	of	of	ADP
american_scientific_journal-7083	226	15	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	226	16	-	-	PUNCT
american_scientific_journal-7083	226	17	based	base	VERB
american_scientific_journal-7083	226	18	robotic	robotic	ADJ
american_scientific_journal-7083	226	19	path	path	NOUN
american_scientific_journal-7083	226	20	planning	planning	NOUN
american_scientific_journal-7083	226	21	,	,	PUNCT
american_scientific_journal-7083	226	22	"	"	PUNCT
american_scientific_journal-7083	226	23	proceedings	proceeding	NOUN
american_scientific_journal-7083	226	24	of	of	ADP
american_scientific_journal-7083	226	25	the	the	DET
american_scientific_journal-7083	226	26	second	second	ADJ
american_scientific_journal-7083	226	27	international	international	ADJ
american_scientific_journal-7083	226	28	conference	conference	NOUN
american_scientific_journal-7083	226	29	on	on	ADP
american_scientific_journal-7083	226	30	computer	computer	NOUN
american_scientific_journal-7083	226	31	and	and	CCONJ
american_scientific_journal-7083	226	32	communication	communication	NOUN
american_scientific_journal-7083	226	33	technologies	technology	NOUN
american_scientific_journal-7083	226	34	,	,	PUNCT
american_scientific_journal-7083	226	35	vol	vol	NOUN
american_scientific_journal-7083	226	36	.	.	PROPN
american_scientific_journal-7083	226	37	8	8	NUM
american_scientific_journal-7083	226	38	,	,	PUNCT
american_scientific_journal-7083	226	39	pp	pp	ADJ
american_scientific_journal-7083	226	40	.	.	PUNCT
american_scientific_journal-7083	227	1	1	1	NUM
american_scientific_journal-7083	227	2	-	-	SYM
american_scientific_journal-7083	227	3	9	9	NUM
american_scientific_journal-7083	227	4	,	,	PUNCT
american_scientific_journal-7083	227	5	2015	2015	NUM
american_scientific_journal-7083	227	6	.	.	PUNCT
american_scientific_journal-7083	228	1	[	[	X
american_scientific_journal-7083	228	2	6	6	NUM
american_scientific_journal-7083	228	3	]	]	PUNCT
american_scientific_journal-7083	228	4	m.	m.	NOUN
american_scientific_journal-7083	228	5	fakoor	fakoor	PROPN
american_scientific_journal-7083	228	6	,	,	PUNCT
american_scientific_journal-7083	228	7	a.	a.	NOUN
american_scientific_journal-7083	228	8	kosari	kosari	X
american_scientific_journal-7083	228	9	,	,	PUNCT
american_scientific_journal-7083	228	10	and	and	CCONJ
american_scientific_journal-7083	228	11	m.	m.	NOUN
american_scientific_journal-7083	228	12	jafarzadeh	jafarzadeh	PROPN
american_scientific_journal-7083	228	13	,	,	PUNCT
american_scientific_journal-7083	228	14	“	"	PUNCT
american_scientific_journal-7083	228	15	revision	revision	NOUN
american_scientific_journal-7083	228	16	on	on	ADP
american_scientific_journal-7083	228	17	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	228	18	artificial	artificial	ADJ
american_scientific_journal-7083	228	19	potential	potential	ADJ
american_scientific_journal-7083	228	20	field	field	NOUN
american_scientific_journal-7083	228	21	for	for	ADP
american_scientific_journal-7083	228	22	humanoid	humanoid	NOUN
american_scientific_journal-7083	228	23	robot	robot	NOUN
american_scientific_journal-7083	228	24	path	path	NOUN
american_scientific_journal-7083	228	25	planning	planning	NOUN
american_scientific_journal-7083	228	26	in	in	ADP
american_scientific_journal-7083	228	27	unknown	unknown	ADJ
american_scientific_journal-7083	228	28	environment	environment	NOUN
american_scientific_journal-7083	228	29	,	,	PUNCT
american_scientific_journal-7083	228	30	”	"	PUNCT
american_scientific_journal-7083	228	31	int	int	NOUN
american_scientific_journal-7083	228	32	.	.	PUNCT
american_scientific_journal-7083	229	1	j.	j.	PROPN
american_scientific_journal-7083	229	2	adv	adv	PROPN
american_scientific_journal-7083	229	3	.	.	PUNCT
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american_scientific_journal-7083	230	2	.	.	PUNCT
american_scientific_journal-7083	231	1	syst	syst	PROPN
american_scientific_journal-7083	231	2	.	.	PUNCT
american_scientific_journal-7083	231	3	,	,	PUNCT
american_scientific_journal-7083	231	4	vol	vol	NOUN
american_scientific_journal-7083	231	5	.	.	PROPN
american_scientific_journal-7083	232	1	6	6	NUM
american_scientific_journal-7083	232	2	,	,	PUNCT
american_scientific_journal-7083	232	3	no	no	INTJ
american_scientific_journal-7083	232	4	.	.	NOUN
american_scientific_journal-7083	232	5	4	4	NUM
american_scientific_journal-7083	232	6	,	,	PUNCT
american_scientific_journal-7083	232	7	pp	pp	ADJ
american_scientific_journal-7083	232	8	.	.	PUNCT
american_scientific_journal-7083	233	1	174	174	NUM
american_scientific_journal-7083	233	2	–	–	PUNCT
american_scientific_journal-7083	233	3	183	183	NUM
american_scientific_journal-7083	233	4	,	,	PUNCT
american_scientific_journal-7083	233	5	2015	2015	NUM
american_scientific_journal-7083	233	6	,	,	PUNCT
american_scientific_journal-7083	233	7	doi	doi	NOUN
american_scientific_journal-7083	233	8	:	:	PUNCT
american_scientific_journal-7083	233	9	10.1504	10.1504	NUM
american_scientific_journal-7083	233	10	/	/	SYM
american_scientific_journal-7083	233	11	ijamechs.2015.072707	ijamechs.2015.072707	NOUN
american_scientific_journal-7083	233	12	.	.	PUNCT
american_scientific_journal-7083	234	1	[	[	X
american_scientific_journal-7083	234	2	7	7	NUM
american_scientific_journal-7083	234	3	]	]	PUNCT
american_scientific_journal-7083	234	4	a.	a.	NOUN
american_scientific_journal-7083	234	5	pandey	pandey	PROPN
american_scientific_journal-7083	234	6	and	and	CCONJ
american_scientific_journal-7083	234	7	d.	d.	PROPN
american_scientific_journal-7083	234	8	r.	r.	PROPN
american_scientific_journal-7083	234	9	parhi	parhi	PROPN
american_scientific_journal-7083	234	10	,	,	PUNCT
american_scientific_journal-7083	234	11	“	"	PUNCT
american_scientific_journal-7083	234	12	optimum	optimum	ADJ
american_scientific_journal-7083	234	13	path	path	NOUN
american_scientific_journal-7083	234	14	planning	planning	NOUN
american_scientific_journal-7083	234	15	of	of	ADP
american_scientific_journal-7083	234	16	mobile	mobile	ADJ
american_scientific_journal-7083	234	17	robot	robot	NOUN
american_scientific_journal-7083	234	18	in	in	ADP
american_scientific_journal-7083	234	19	unknown	unknown	ADJ
american_scientific_journal-7083	234	20	static	static	ADJ
american_scientific_journal-7083	234	21	and	and	CCONJ
american_scientific_journal-7083	234	22	dynamic	dynamic	ADJ
american_scientific_journal-7083	234	23	environments	environment	NOUN
american_scientific_journal-7083	234	24	using	use	VERB
american_scientific_journal-7083	234	25	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	234	26	-	-	PUNCT
american_scientific_journal-7083	234	27	wind	wind	NOUN
american_scientific_journal-7083	234	28	driven	drive	VERB
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american_scientific_journal-7083	234	30	algorithm	algorithm	NOUN
american_scientific_journal-7083	234	31	,	,	PUNCT
american_scientific_journal-7083	234	32	”	"	PUNCT
american_scientific_journal-7083	234	33	def	def	ADJ
american_scientific_journal-7083	234	34	.	.	PROPN
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american_scientific_journal-7083	234	36	.	.	PROPN
american_scientific_journal-7083	234	37	,	,	PUNCT
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american_scientific_journal-7083	234	39	.	.	PROPN
american_scientific_journal-7083	234	40	13	13	NUM
american_scientific_journal-7083	234	41	,	,	PUNCT
american_scientific_journal-7083	234	42	no	no	INTJ
american_scientific_journal-7083	234	43	.	.	NOUN
american_scientific_journal-7083	234	44	1	1	NUM
american_scientific_journal-7083	234	45	,	,	PUNCT
american_scientific_journal-7083	234	46	pp	pp	ADJ
american_scientific_journal-7083	234	47	.	.	PUNCT
american_scientific_journal-7083	235	1	47–58	47–58	NOUN
american_scientific_journal-7083	235	2	,	,	PUNCT
american_scientific_journal-7083	235	3	2017	2017	NUM
american_scientific_journal-7083	235	4	,	,	PUNCT
american_scientific_journal-7083	235	5	doi	doi	NOUN
american_scientific_journal-7083	235	6	:	:	PUNCT
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american_scientific_journal-7083	235	8	/	/	SYM
american_scientific_journal-7083	235	9	j.dt.2017.01.001	j.dt.2017.01.001	PROPN
american_scientific_journal-7083	235	10	.	.	PUNCT
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american_scientific_journal-7083	236	2	8	8	NUM
american_scientific_journal-7083	236	3	]	]	X
american_scientific_journal-7083	236	4	n.	n.	PROPN
american_scientific_journal-7083	236	5	k.	k.	PROPN
american_scientific_journal-7083	236	6	a.	a.	PROPN
american_scientific_journal-7083	236	7	al	al	PROPN
american_scientific_journal-7083	236	8	-	-	PUNCT
american_scientific_journal-7083	236	9	sahib	sahib	PROPN
american_scientific_journal-7083	236	10	and	and	CCONJ
american_scientific_journal-7083	236	11	a.	a.	PROPN
american_scientific_journal-7083	236	12	r.	r.	PROPN
american_scientific_journal-7083	236	13	jasim	jasim	PROPN
american_scientific_journal-7083	236	14	,	,	PUNCT
american_scientific_journal-7083	236	15	“	"	PUNCT
american_scientific_journal-7083	236	16	guiding	guide	VERB
american_scientific_journal-7083	236	17	mobile	mobile	ADJ
american_scientific_journal-7083	236	18	robot	robot	NOUN
american_scientific_journal-7083	236	19	by	by	ADP
american_scientific_journal-7083	236	20	applying	apply	VERB
american_scientific_journal-7083	236	21	fuzzy	fuzzy	ADJ
american_scientific_journal-7083	236	22	approach	approach	NOUN
american_scientific_journal-7083	236	23	on	on	ADP
american_scientific_journal-7083	236	24	sonar	sonar	ADJ
american_scientific_journal-7083	236	25	sensors	sensor	NOUN
american_scientific_journal-7083	236	26	,	,	PUNCT
american_scientific_journal-7083	236	27	”	"	PUNCT
american_scientific_journal-7083	236	28	al	al	PROPN
american_scientific_journal-7083	236	29	-	-	PUNCT
american_scientific_journal-7083	236	30	khwarizmi	khwarizmi	PROPN
american_scientific_journal-7083	236	31	eng	eng	PROPN
american_scientific_journal-7083	236	32	.	.	PUNCT
american_scientific_journal-7083	237	1	j.	j.	PROPN
american_scientific_journal-7083	237	2	,	,	PUNCT
american_scientific_journal-7083	237	3	vol	vol	NOUN
american_scientific_journal-7083	237	4	.	.	PROPN
american_scientific_journal-7083	237	5	6	6	NUM
american_scientific_journal-7083	237	6	,	,	PUNCT
american_scientific_journal-7083	237	7	no	no	INTJ
american_scientific_journal-7083	237	8	.	.	NOUN
american_scientific_journal-7083	237	9	3	3	NUM
american_scientific_journal-7083	237	10	,	,	PUNCT
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american_scientific_journal-7083	237	12	.	.	PUNCT
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american_scientific_journal-7083	238	2	,	,	PUNCT
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american_scientific_journal-7083	238	4	.	.	PUNCT
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american_scientific_journal-7083	239	2	9	9	NUM
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american_scientific_journal-7083	239	5	shi	shi	PROPN
american_scientific_journal-7083	239	6	and	and	CCONJ
american_scientific_journal-7083	239	7	y.	y.	PROPN
american_scientific_journal-7083	239	8	cui	cui	PROPN
american_scientific_journal-7083	239	9	,	,	PUNCT
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american_scientific_journal-7083	239	13	planning	planning	NOUN
american_scientific_journal-7083	239	14	for	for	ADP
american_scientific_journal-7083	239	15	mobile	mobile	NOUN
american_scientific_journal-7083	239	16	robot	robot	NOUN
american_scientific_journal-7083	239	17	based	base	VERB
american_scientific_journal-7083	239	18	on	on	ADP
american_scientific_journal-7083	239	19	genetic	genetic	ADJ
american_scientific_journal-7083	239	20	algorithm	algorithm	NOUN
american_scientific_journal-7083	239	21	in	in	ADP
american_scientific_journal-7083	239	22	unknown	unknown	ADJ
american_scientific_journal-7083	239	23	environment	environment	NOUN
american_scientific_journal-7083	239	24	,	,	PUNCT
american_scientific_journal-7083	239	25	”	"	PUNCT
american_scientific_journal-7083	239	26	2010	2010	NUM
american_scientific_journal-7083	239	27	chinese	chinese	PROPN
american_scientific_journal-7083	239	28	control	control	PROPN
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american_scientific_journal-7083	239	30	.	.	PROPN
american_scientific_journal-7083	239	31	conf	conf	PROPN
american_scientific_journal-7083	239	32	.	.	PUNCT
american_scientific_journal-7083	240	1	ccdc	ccdc	PROPN
american_scientific_journal-7083	240	2	2010	2010	NUM
american_scientific_journal-7083	240	3	,	,	PUNCT
american_scientific_journal-7083	240	4	pp	pp	ADV
american_scientific_journal-7083	240	5	.	.	PUNCT
american_scientific_journal-7083	241	1	4325–4329	4325–4329	NUM
american_scientific_journal-7083	241	2	,	,	PUNCT
american_scientific_journal-7083	241	3	2010	2010	NUM
american_scientific_journal-7083	241	4	,	,	PUNCT
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american_scientific_journal-7083	241	6	:	:	PUNCT
american_scientific_journal-7083	241	7	10.1109	10.1109	NUM
american_scientific_journal-7083	241	8	/	/	SYM
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american_scientific_journal-7083	241	10	.	.	PUNCT
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american_scientific_journal-7083	242	4	y.	y.	PROPN
american_scientific_journal-7083	242	5	g.	g.	PROPN
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american_scientific_journal-7083	242	8	,	,	PUNCT
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american_scientific_journal-7083	242	11	,	,	PUNCT
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american_scientific_journal-7083	242	13	robotic	robotic	ADJ
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american_scientific_journal-7083	242	16	using	use	VERB
american_scientific_journal-7083	242	17	genetic	genetic	ADJ
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american_scientific_journal-7083	242	19	in	in	ADP
american_scientific_journal-7083	242	20	dynamic	dynamic	ADJ
american_scientific_journal-7083	242	21	environment‏	environment‏	ADJ
american_scientific_journal-7083	242	22	,	,	PUNCT
american_scientific_journal-7083	242	23	"	"	PUNCT
american_scientific_journal-7083	242	24	international	international	ADJ
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american_scientific_journal-7083	242	26	of	of	ADP
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american_scientific_journal-7083	242	29	,	,	PUNCT
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american_scientific_journal-7083	242	31	.	.	PROPN
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american_scientific_journal-7083	242	34	no	no	DET
american_scientific_journal-7083	242	35	11	11	NUM
american_scientific_journal-7083	242	36	,	,	PUNCT
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american_scientific_journal-7083	242	38	.	.	PUNCT
american_scientific_journal-7083	242	39	2	2	NUM
american_scientific_journal-7083	242	40	-	-	SYM
american_scientific_journal-7083	242	41	7	7	NUM
american_scientific_journal-7083	242	42	,	,	PUNCT
american_scientific_journal-7083	242	43	2014	2014	NUM
american_scientific_journal-7083	242	44	.	.	PUNCT
american_scientific_journal-7083	243	1	[	[	X
american_scientific_journal-7083	243	2	11	11	NUM
american_scientific_journal-7083	243	3	]	]	PUNCT
american_scientific_journal-7083	243	4	h.	h.	PROPN
american_scientific_journal-7083	243	5	s.	s.	PROPN
american_scientific_journal-7083	243	6	lin	lin	PROPN
american_scientific_journal-7083	243	7	,	,	PUNCT
american_scientific_journal-7083	243	8	j.	j.	PROPN
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american_scientific_journal-7083	243	10	,	,	PUNCT
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american_scientific_journal-7083	243	14	,	,	PUNCT
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american_scientific_journal-7083	243	18	for	for	ADP
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american_scientific_journal-7083	243	20	mobile	mobile	ADJ
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american_scientific_journal-7083	243	22	,	,	PUNCT
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american_scientific_journal-7083	243	24	proc	proc	NOUN
american_scientific_journal-7083	243	25	.	.	PUNCT
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american_scientific_journal-7083	243	28	.	.	PUNCT
american_scientific_journal-7083	243	29	conf	conf	PROPN
american_scientific_journal-7083	243	30	.	.	PUNCT
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american_scientific_journal-7083	243	32	.	.	PUNCT
american_scientific_journal-7083	244	1	autom	autom	PROPN
american_scientific_journal-7083	244	2	.	.	PUNCT
american_scientific_journal-7083	245	1	,	,	PUNCT
american_scientific_journal-7083	245	2	no	no	INTJ
american_scientific_journal-7083	245	3	.	.	PUNCT
american_scientific_journal-7083	245	4	pt	pt	PROPN
american_scientific_journal-7083	246	1	3	3	NUM
american_scientific_journal-7083	246	2	,	,	PUNCT
american_scientific_journal-7083	246	3	pp	pp	ADJ
american_scientific_journal-7083	246	4	.	.	PUNCT
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american_scientific_journal-7083	246	6	,	,	PUNCT
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american_scientific_journal-7083	246	8	,	,	PUNCT
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american_scientific_journal-7083	246	10	:	:	PUNCT
american_scientific_journal-7083	246	11	10.1109	10.1109	NUM
american_scientific_journal-7083	246	12	/	/	SYM
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american_scientific_journal-7083	246	14	.	.	PUNCT
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american_scientific_journal-7083	247	2	12	12	NUM
american_scientific_journal-7083	247	3	]	]	PUNCT
american_scientific_journal-7083	247	4	a.	a.	PROPN
american_scientific_journal-7083	247	5	s.	s.	PROPN
american_scientific_journal-7083	247	6	a.	a.	PROPN
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american_scientific_journal-7083	247	8	a.-w	a.-w	PROPN
american_scientific_journal-7083	247	9	.	.	PUNCT
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american_scientific_journal-7083	248	2	al	al	PROPN
american_scientific_journal-7083	248	3	-	-	PUNCT
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american_scientific_journal-7083	248	5	,	,	PUNCT
american_scientific_journal-7083	248	6	"	"	PUNCT
american_scientific_journal-7083	248	7	a	a	DET
american_scientific_journal-7083	248	8	mobile	mobile	ADJ
american_scientific_journal-7083	248	9	robot	robot	NOUN
american_scientific_journal-7083	248	10	path	path	NOUN
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american_scientific_journal-7083	248	12	using	use	VERB
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american_scientific_journal-7083	248	15	in	in	ADP
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american_scientific_journal-7083	248	17	environment	environment	NOUN
american_scientific_journal-7083	248	18	,	,	PUNCT
american_scientific_journal-7083	248	19	"	"	PUNCT
american_scientific_journal-7083	248	20	journal	journal	NOUN
american_scientific_journal-7083	248	21	of	of	ADP
american_scientific_journal-7083	248	22	computer	computer	NOUN
american_scientific_journal-7083	248	23	science	science	NOUN
american_scientific_journal-7083	248	24	,	,	PUNCT
american_scientific_journal-7083	248	25	vol	vol	NOUN
american_scientific_journal-7083	248	26	.	.	PROPN
american_scientific_journal-7083	249	1	6	6	NUM
american_scientific_journal-7083	249	2	,	,	PUNCT
american_scientific_journal-7083	249	3	pp	pp	ADJ
american_scientific_journal-7083	249	4	.	.	PUNCT
american_scientific_journal-7083	250	1	1	1	NUM
american_scientific_journal-7083	250	2	-	-	SYM
american_scientific_journal-7083	250	3	4	4	NUM
american_scientific_journal-7083	250	4	,	,	PUNCT
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american_scientific_journal-7083	250	6	.	.	PUNCT
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american_scientific_journal-7083	251	2	13	13	NUM
american_scientific_journal-7083	251	3	]	]	PUNCT
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american_scientific_journal-7083	251	7	and	and	CCONJ
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american_scientific_journal-7083	251	11	,	,	PUNCT
american_scientific_journal-7083	251	12	“	"	PUNCT
american_scientific_journal-7083	251	13	an	an	DET
american_scientific_journal-7083	251	14	effective	effective	ADJ
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american_scientific_journal-7083	251	16	planning	planning	NOUN
american_scientific_journal-7083	251	17	of	of	ADP
american_scientific_journal-7083	251	18	mobile	mobile	NOUN
american_scientific_journal-7083	251	19	robot	robot	NOUN
american_scientific_journal-7083	251	20	using	use	VERB
american_scientific_journal-7083	251	21	genetic	genetic	ADJ
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american_scientific_journal-7083	251	23	,	,	PUNCT
american_scientific_journal-7083	251	24	”	"	PUNCT
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american_scientific_journal-7083	251	26	.	.	PROPN
american_scientific_journal-7083	251	27	2015	2015	NUM
american_scientific_journal-7083	251	28	ieee	ieee	PROPN
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american_scientific_journal-7083	251	30	.	.	PUNCT
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american_scientific_journal-7083	251	32	.	.	PUNCT
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american_scientific_journal-7083	252	2	.	.	PUNCT
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american_scientific_journal-7083	253	2	.	.	PUNCT
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american_scientific_journal-7083	256	3	.	.	PUNCT
american_scientific_journal-7083	257	1	22	22	NUM
american_scientific_journal-7083	257	2	,	,	PUNCT
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american_scientific_journal-7083	257	4	.	.	PUNCT
american_scientific_journal-7083	258	1	15	15	NUM
american_scientific_journal-7083	258	2	,	,	PUNCT
american_scientific_journal-7083	258	3	2015	2015	NUM
american_scientific_journal-7083	258	4	,	,	PUNCT
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american_scientific_journal-7083	258	6	:	:	PUNCT
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american_scientific_journal-7083	258	8	/	/	SYM
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american_scientific_journal-7083	258	10	.	.	PUNCT
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american_scientific_journal-7083	259	4	r.	r.	PROPN
american_scientific_journal-7083	259	5	m.	m.	PROPN
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american_scientific_journal-7083	259	8	,	,	PUNCT
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american_scientific_journal-7083	259	13	,	,	PUNCT
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american_scientific_journal-7083	259	17	,	,	PUNCT
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american_scientific_journal-7083	259	21	,	,	PUNCT
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american_scientific_journal-7083	259	26	,	,	PUNCT
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american_scientific_journal-7083	259	30	for	for	ADP
american_scientific_journal-7083	259	31	mobile	mobile	ADJ
american_scientific_journal-7083	259	32	robots	robot	NOUN
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american_scientific_journal-7083	260	8	.	.	PUNCT
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american_scientific_journal-7083	260	10	.	.	PUNCT
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american_scientific_journal-7083	261	2	.	.	PUNCT
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american_scientific_journal-7083	262	4	.	.	PUNCT
american_scientific_journal-7083	262	5	,	,	PUNCT
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american_scientific_journal-7083	262	8	.	.	PUNCT
american_scientific_journal-7083	263	1	2018	2018	NUM
american_scientific_journal-7083	263	2	-	-	PUNCT
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american_scientific_journal-7083	263	4	,	,	PUNCT
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american_scientific_journal-7083	263	9	journal	journal	NOUN
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american_scientific_journal-7083	263	17	(	(	PUNCT
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american_scientific_journal-7083	263	22	,	,	PUNCT
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american_scientific_journal-7083	263	24	,	,	PUNCT
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american_scientific_journal-7083	263	26	-	-	PUNCT
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american_scientific_journal-7083	263	28	174	174	NUM
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american_scientific_journal-7083	263	30	.	.	PUNCT
american_scientific_journal-7083	264	1	1–5	1–5	NUM
american_scientific_journal-7083	264	2	,	,	PUNCT
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american_scientific_journal-7083	264	4	,	,	PUNCT
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american_scientific_journal-7083	264	6	:	:	PUNCT
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american_scientific_journal-7083	264	8	/	/	SYM
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american_scientific_journal-7083	264	10	.	.	PUNCT
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american_scientific_journal-7083	265	7	,	,	PUNCT
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american_scientific_journal-7083	265	22	for	for	ADP
american_scientific_journal-7083	265	23	mobile	mobile	ADJ
american_scientific_journal-7083	265	24	robots	robot	NOUN
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american_scientific_journal-7083	265	31	,	,	PUNCT
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american_scientific_journal-7083	266	3	.	.	PUNCT
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american_scientific_journal-7083	269	3	,	,	PUNCT
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american_scientific_journal-7083	269	7	,	,	PUNCT
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american_scientific_journal-7083	270	1	2	2	NUM
american_scientific_journal-7083	270	2	-	-	SYM
american_scientific_journal-7083	270	3	6	6	NUM
american_scientific_journal-7083	270	4	,	,	PUNCT
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american_scientific_journal-7083	270	6	,	,	PUNCT
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american_scientific_journal-7083	270	8	:	:	PUNCT
american_scientific_journal-7083	270	9	10.1109	10.1109	NUM
american_scientific_journal-7083	270	10	/	/	SYM
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american_scientific_journal-7083	270	12	.	.	PUNCT
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american_scientific_journal-7083	271	9	,	,	PUNCT
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american_scientific_journal-7083	271	13	,	,	PUNCT
american_scientific_journal-7083	271	14	“	"	PUNCT
american_scientific_journal-7083	271	15	a	a	DET
american_scientific_journal-7083	271	16	new	new	ADJ
american_scientific_journal-7083	271	17	genetic	genetic	ADJ
american_scientific_journal-7083	271	18	algorithm	algorithm	NOUN
american_scientific_journal-7083	271	19	approach	approach	NOUN
american_scientific_journal-7083	271	20	to	to	ADP
american_scientific_journal-7083	271	21	smooth	smooth	ADJ
american_scientific_journal-7083	271	22	path	path	NOUN
american_scientific_journal-7083	271	23	planning	planning	NOUN
american_scientific_journal-7083	271	24	for	for	ADP
american_scientific_journal-7083	271	25	mobile	mobile	ADJ
american_scientific_journal-7083	271	26	robots	robot	NOUN
american_scientific_journal-7083	271	27	,	,	PUNCT
american_scientific_journal-7083	271	28	”	"	PUNCT
american_scientific_journal-7083	271	29	assem	assem	NOUN
american_scientific_journal-7083	271	30	.	.	PUNCT
american_scientific_journal-7083	272	1	autom	autom	PROPN
american_scientific_journal-7083	272	2	.	.	PUNCT
american_scientific_journal-7083	273	1	,	,	PUNCT
american_scientific_journal-7083	273	2	vol	vol	NOUN
american_scientific_journal-7083	273	3	.	.	PROPN
american_scientific_journal-7083	274	1	12	12	NUM
american_scientific_journal-7083	274	2	,	,	PUNCT
american_scientific_journal-7083	274	3	pp	pp	ADJ
american_scientific_journal-7083	274	4	.	.	PUNCT
american_scientific_journal-7083	275	1	2	2	NUM
american_scientific_journal-7083	275	2	-	-	SYM
american_scientific_journal-7083	275	3	6	6	NUM
american_scientific_journal-7083	275	4	,	,	PUNCT
american_scientific_journal-7083	275	5	2016	2016	NUM
american_scientific_journal-7083	275	6	,	,	PUNCT
american_scientific_journal-7083	275	7	doi	doi	NOUN
american_scientific_journal-7083	275	8	:	:	PUNCT
american_scientific_journal-7083	275	9	10.1108	10.1108	NUM
american_scientific_journal-7083	275	10	/	/	SYM
american_scientific_journal-7083	275	11	aa-11	aa-11	NOUN
american_scientific_journal-7083	275	12	-	-	NOUN
american_scientific_journal-7083	275	13	2015	2015	NUM
american_scientific_journal-7083	275	14	-	-	PUNCT
american_scientific_journal-7083	275	15	094	094	NUM
american_scientific_journal-7083	275	16	.	.	PUNCT
american_scientific_journal-7083	276	1	[	[	X
american_scientific_journal-7083	276	2	17	17	NUM
american_scientific_journal-7083	276	3	]	]	PUNCT
american_scientific_journal-7083	276	4	x.	x.	PROPN
american_scientific_journal-7083	276	5	zhang	zhang	PROPN
american_scientific_journal-7083	276	6	,	,	PUNCT
american_scientific_journal-7083	276	7	y.	y.	PROPN
american_scientific_journal-7083	276	8	zhao	zhao	PROPN
american_scientific_journal-7083	276	9	,	,	PUNCT
american_scientific_journal-7083	276	10	n.	n.	PROPN
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american_scientific_journal-7083	276	12	,	,	PUNCT
american_scientific_journal-7083	276	13	and	and	CCONJ
american_scientific_journal-7083	276	14	k.	k.	PROPN
american_scientific_journal-7083	276	15	guo	guo	PROPN
american_scientific_journal-7083	276	16	,	,	PUNCT
american_scientific_journal-7083	276	17	“	"	PUNCT
american_scientific_journal-7083	276	18	dynamic	dynamic	ADJ
american_scientific_journal-7083	276	19	path	path	NOUN
american_scientific_journal-7083	276	20	planning	planning	NOUN
american_scientific_journal-7083	276	21	algorithm	algorithm	NOUN
american_scientific_journal-7083	276	22	for	for	ADP
american_scientific_journal-7083	276	23	a	a	DET
american_scientific_journal-7083	276	24	mobile	mobile	ADJ
american_scientific_journal-7083	276	25	robot	robot	NOUN
american_scientific_journal-7083	276	26	based	base	VERB
american_scientific_journal-7083	276	27	on	on	ADP
american_scientific_journal-7083	276	28	visible	visible	ADJ
american_scientific_journal-7083	276	29	space	space	NOUN
american_scientific_journal-7083	276	30	and	and	CCONJ
american_scientific_journal-7083	276	31	an	an	DET
american_scientific_journal-7083	276	32	improved	improved	ADJ
american_scientific_journal-7083	276	33	genetic	genetic	ADJ
american_scientific_journal-7083	276	34	algorithm	algorithm	NOUN
american_scientific_journal-7083	276	35	,	,	PUNCT
american_scientific_journal-7083	276	36	”	"	PUNCT
american_scientific_journal-7083	276	37	int	int	NOUN
american_scientific_journal-7083	276	38	.	.	PUNCT
american_scientific_journal-7083	277	1	j.	j.	PROPN
american_scientific_journal-7083	277	2	adv	adv	PROPN
american_scientific_journal-7083	277	3	.	.	PUNCT
american_scientific_journal-7083	277	4	robot	robot	PROPN
american_scientific_journal-7083	277	5	.	.	PUNCT
american_scientific_journal-7083	278	1	syst	syst	PROPN
american_scientific_journal-7083	278	2	.	.	PUNCT
american_scientific_journal-7083	278	3	,	,	PUNCT
american_scientific_journal-7083	278	4	vol	vol	NOUN
american_scientific_journal-7083	278	5	.	.	PROPN
american_scientific_journal-7083	278	6	13	13	NUM
american_scientific_journal-7083	278	7	,	,	PUNCT
american_scientific_journal-7083	278	8	no	no	INTJ
american_scientific_journal-7083	278	9	.	.	NOUN
american_scientific_journal-7083	278	10	3	3	NUM
american_scientific_journal-7083	278	11	,	,	PUNCT
american_scientific_journal-7083	278	12	2016	2016	NUM
american_scientific_journal-7083	278	13	,	,	PUNCT
american_scientific_journal-7083	278	14	doi	doi	NOUN
american_scientific_journal-7083	278	15	:	:	PUNCT
american_scientific_journal-7083	278	16	10.5772/63484	10.5772/63484	NUM
american_scientific_journal-7083	278	17	.	.	PUNCT
american_scientific_journal-7083	279	1	[	[	X
american_scientific_journal-7083	279	2	18	18	NUM
american_scientific_journal-7083	279	3	]	]	PUNCT
american_scientific_journal-7083	279	4	j.	j.	PROPN
american_scientific_journal-7083	279	5	liu	liu	PROPN
american_scientific_journal-7083	279	6	,	,	PUNCT
american_scientific_journal-7083	279	7	j.	j.	PROPN
american_scientific_journal-7083	279	8	yang	yang	PROPN
american_scientific_journal-7083	279	9	,	,	PUNCT
american_scientific_journal-7083	279	10	h.	h.	PROPN
american_scientific_journal-7083	279	11	liu	liu	PROPN
american_scientific_journal-7083	279	12	,	,	PUNCT
american_scientific_journal-7083	279	13	x.	x.	PROPN
american_scientific_journal-7083	279	14	tian	tian	PROPN
american_scientific_journal-7083	279	15	,	,	PUNCT
american_scientific_journal-7083	279	16	and	and	CCONJ
american_scientific_journal-7083	279	17	m.	m.	PROPN
american_scientific_journal-7083	279	18	gao	gao	PROPN
american_scientific_journal-7083	279	19	,	,	PUNCT
american_scientific_journal-7083	279	20	“	"	PUNCT
american_scientific_journal-7083	279	21	an	an	DET
american_scientific_journal-7083	279	22	improved	improved	ADJ
american_scientific_journal-7083	279	23	ant	ant	ADJ
american_scientific_journal-7083	279	24	colony	colony	NOUN
american_scientific_journal-7083	279	25	algorithm	algorithm	NOUN
american_scientific_journal-7083	279	26	for	for	ADP
american_scientific_journal-7083	279	27	robot	robot	NOUN
american_scientific_journal-7083	279	28	path	path	NOUN
american_scientific_journal-7083	279	29	planning	planning	NOUN
american_scientific_journal-7083	279	30	,	,	PUNCT
american_scientific_journal-7083	279	31	”	"	PUNCT
american_scientific_journal-7083	279	32	soft	soft	ADJ
american_scientific_journal-7083	279	33	comput	comput	NOUN
american_scientific_journal-7083	279	34	.	.	PUNCT
american_scientific_journal-7083	280	1	,	,	PUNCT
american_scientific_journal-7083	280	2	vol	vol	NOUN
american_scientific_journal-7083	280	3	.	.	PROPN
american_scientific_journal-7083	281	1	21	21	NUM
american_scientific_journal-7083	281	2	,	,	PUNCT
american_scientific_journal-7083	281	3	no	no	INTJ
american_scientific_journal-7083	281	4	.	.	NOUN
american_scientific_journal-7083	281	5	19	19	NUM
american_scientific_journal-7083	281	6	,	,	PUNCT
american_scientific_journal-7083	281	7	pp	pp	ADJ
american_scientific_journal-7083	281	8	.	.	PUNCT
american_scientific_journal-7083	282	1	2–9	2–9	NUM
american_scientific_journal-7083	282	2	,	,	PUNCT
american_scientific_journal-7083	282	3	2017	2017	NUM
american_scientific_journal-7083	282	4	,	,	PUNCT
american_scientific_journal-7083	282	5	doi	doi	NOUN
american_scientific_journal-7083	282	6	:	:	PUNCT
american_scientific_journal-7083	282	7	10.1007	10.1007	NUM
american_scientific_journal-7083	282	8	/	/	SYM
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american_scientific_journal-7083	282	10	-	-	PUNCT
american_scientific_journal-7083	282	11	016	016	NUM
american_scientific_journal-7083	282	12	-	-	PUNCT
american_scientific_journal-7083	282	13	2161	2161	NUM
american_scientific_journal-7083	282	14	-	-	SYM
american_scientific_journal-7083	282	15	7	7	NUM
american_scientific_journal-7083	282	16	.	.	PUNCT
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american_scientific_journal-7083	283	2	19	19	NUM
american_scientific_journal-7083	283	3	]	]	PUNCT
american_scientific_journal-7083	283	4	k.	k.	PROPN
american_scientific_journal-7083	283	5	akka	akka	PROPN
american_scientific_journal-7083	283	6	and	and	CCONJ
american_scientific_journal-7083	283	7	f.	f.	PROPN
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american_scientific_journal-7083	283	9	,	,	PUNCT
american_scientific_journal-7083	283	10	“	"	PUNCT
american_scientific_journal-7083	283	11	mobile	mobile	ADJ
american_scientific_journal-7083	283	12	robot	robot	NOUN
american_scientific_journal-7083	283	13	path	path	NOUN
american_scientific_journal-7083	283	14	planning	planning	NOUN
american_scientific_journal-7083	283	15	using	use	VERB
american_scientific_journal-7083	283	16	an	an	DET
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american_scientific_journal-7083	283	19	colony	colony	NOUN
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american_scientific_journal-7083	283	21	,	,	PUNCT
american_scientific_journal-7083	283	22	”	"	PUNCT
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american_scientific_journal-7083	283	24	.	.	PUNCT
american_scientific_journal-7083	284	1	j.	j.	PROPN
american_scientific_journal-7083	284	2	adv	adv	PROPN
american_scientific_journal-7083	284	3	.	.	PUNCT
american_scientific_journal-7083	284	4	robot	robot	PROPN
american_scientific_journal-7083	284	5	.	.	PUNCT
american_scientific_journal-7083	285	1	syst	syst	PROPN
american_scientific_journal-7083	285	2	.	.	PUNCT
american_scientific_journal-7083	285	3	,	,	PUNCT
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american_scientific_journal-7083	285	5	.	.	PROPN
american_scientific_journal-7083	285	6	15	15	NUM
american_scientific_journal-7083	285	7	,	,	PUNCT
american_scientific_journal-7083	285	8	no	no	INTJ
american_scientific_journal-7083	285	9	.	.	NOUN
american_scientific_journal-7083	285	10	3	3	NUM
american_scientific_journal-7083	285	11	,	,	PUNCT
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american_scientific_journal-7083	285	13	.	.	PUNCT
american_scientific_journal-7083	286	1	1–6	1–6	NUM
american_scientific_journal-7083	286	2	,	,	PUNCT
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american_scientific_journal-7083	286	4	,	,	PUNCT
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american_scientific_journal-7083	286	6	:	:	PUNCT
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american_scientific_journal-7083	286	8	.	.	PUNCT
american_scientific_journal-7083	287	1	[	[	X
american_scientific_journal-7083	287	2	20	20	NUM
american_scientific_journal-7083	287	3	]	]	X
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american_scientific_journal-7083	287	6	,	,	PUNCT
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american_scientific_journal-7083	287	9	,	,	PUNCT
american_scientific_journal-7083	287	10	n.	n.	PROPN
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american_scientific_journal-7083	287	15	,	,	PUNCT
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american_scientific_journal-7083	287	19	,	,	PUNCT
american_scientific_journal-7083	287	20	“	"	PUNCT
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american_scientific_journal-7083	287	34	,	,	PUNCT
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american_scientific_journal-7083	288	1	j.	j.	PROPN
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american_scientific_journal-7083	288	3	.	.	PUNCT
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american_scientific_journal-7083	289	2	.	.	PUNCT
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american_scientific_journal-7083	290	2	.	.	PROPN
american_scientific_journal-7083	290	3	,	,	PUNCT
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american_scientific_journal-7083	290	5	.	.	PROPN
american_scientific_journal-7083	290	6	5	5	NUM
american_scientific_journal-7083	290	7	,	,	PUNCT
american_scientific_journal-7083	290	8	no	no	INTJ
american_scientific_journal-7083	290	9	.	.	NOUN
american_scientific_journal-7083	290	10	1	1	NUM
american_scientific_journal-7083	290	11	,	,	PUNCT
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american_scientific_journal-7083	290	13	.	.	PUNCT
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american_scientific_journal-7083	291	2	,	,	PUNCT
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american_scientific_journal-7083	291	4	.	.	PUNCT
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american_scientific_journal-7083	292	5	h.	h.	PROPN
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american_scientific_journal-7083	292	7	,	,	PUNCT
american_scientific_journal-7083	292	8	k.	k.	PROPN
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american_scientific_journal-7083	292	11	,	,	PUNCT
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american_scientific_journal-7083	292	15	,	,	PUNCT
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american_scientific_journal-7083	292	20	,	,	PUNCT
american_scientific_journal-7083	292	21	“	"	PUNCT
american_scientific_journal-7083	292	22	ant	ant	ADJ
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american_scientific_journal-7083	292	26	mobile	mobile	ADJ
american_scientific_journal-7083	292	27	robot	robot	NOUN
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american_scientific_journal-7083	292	30	,	,	PUNCT
american_scientific_journal-7083	292	31	”	"	PUNCT
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american_scientific_journal-7083	292	35	int	int	PROPN
american_scientific_journal-7083	292	36	.	.	PUNCT
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american_scientific_journal-7083	294	2	.	.	PUNCT
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american_scientific_journal-7083	296	3	,	,	PUNCT
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american_scientific_journal-7083	296	7	,	,	PUNCT
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american_scientific_journal-7083	296	9	.	.	PUNCT
american_scientific_journal-7083	297	1	3	3	NUM
american_scientific_journal-7083	297	2	-	-	SYM
american_scientific_journal-7083	297	3	4	4	NUM
american_scientific_journal-7083	297	4	,	,	PUNCT
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american_scientific_journal-7083	297	6	,	,	PUNCT
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american_scientific_journal-7083	297	8	:	:	PUNCT
american_scientific_journal-7083	297	9	10.1109	10.1109	NUM
american_scientific_journal-7083	297	10	/	/	SYM
american_scientific_journal-7083	297	11	icgec.2010.59	icgec.2010.59	VERB
american_scientific_journal-7083	297	12	.	.	PUNCT
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american_scientific_journal-7083	298	6	,	,	PUNCT
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american_scientific_journal-7083	298	9	,	,	PUNCT
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american_scientific_journal-7083	298	12	,	,	PUNCT
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american_scientific_journal-7083	298	22	,	,	PUNCT
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american_scientific_journal-7083	300	4	.	.	PUNCT
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american_scientific_journal-7083	303	4	.	.	PUNCT
american_scientific_journal-7083	304	1	2	2	NUM
american_scientific_journal-7083	304	2	-	-	SYM
american_scientific_journal-7083	304	3	5	5	NUM
american_scientific_journal-7083	304	4	,	,	PUNCT
american_scientific_journal-7083	304	5	2010	2010	NUM
american_scientific_journal-7083	304	6	,	,	PUNCT
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american_scientific_journal-7083	304	8	:	:	PUNCT
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american_scientific_journal-7083	304	10	/	/	SYM
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american_scientific_journal-7083	304	12	.	.	PUNCT
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american_scientific_journal-7083	305	2	23	23	NUM
american_scientific_journal-7083	305	3	]	]	PUNCT
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american_scientific_journal-7083	305	7	,	,	PUNCT
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american_scientific_journal-7083	305	11	,	,	PUNCT
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american_scientific_journal-7083	307	2	,	,	PUNCT
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american_scientific_journal-7083	307	4	.	.	PUNCT
american_scientific_journal-7083	308	1	3	3	NUM
american_scientific_journal-7083	308	2	-	-	SYM
american_scientific_journal-7083	308	3	7	7	NUM
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american_scientific_journal-7083	315	2	-	-	SYM
american_scientific_journal-7083	315	3	5	5	NUM
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american_scientific_journal-7083	315	6	,	,	PUNCT
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american_scientific_journal-7083	315	8	:	:	PUNCT
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american_scientific_journal-7083	319	2	-	-	SYM
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