id	sid	tid	token	lemma	pos
american_scientific_journal-7989	1	1	1	1	NUM
american_scientific_journal-7989	1	2	american	american	ADJ
american_scientific_journal-7989	1	3	academic	academic	ADJ
american_scientific_journal-7989	1	4	scientific	scientific	ADJ
american_scientific_journal-7989	1	5	research	research	NOUN
american_scientific_journal-7989	1	6	journal	journal	NOUN
american_scientific_journal-7989	1	7	for	for	ADP
american_scientific_journal-7989	1	8	engineering	engineering	NOUN
american_scientific_journal-7989	1	9	,	,	PUNCT
american_scientific_journal-7989	1	10	technology	technology	NOUN
american_scientific_journal-7989	1	11	,	,	PUNCT
american_scientific_journal-7989	1	12	and	and	CCONJ
american_scientific_journal-7989	1	13	sciences	sciences	PROPN
american_scientific_journal-7989	1	14	issn	issn	PROPN
american_scientific_journal-7989	1	15	(	(	PUNCT
american_scientific_journal-7989	1	16	print	print	NOUN
american_scientific_journal-7989	1	17	)	)	PUNCT
american_scientific_journal-7989	1	18	2313	2313	NUM
american_scientific_journal-7989	1	19	-	-	SYM
american_scientific_journal-7989	1	20	4410	4410	NUM
american_scientific_journal-7989	1	21	,	,	PUNCT
american_scientific_journal-7989	1	22	issn	issn	PROPN
american_scientific_journal-7989	1	23	(	(	PUNCT
american_scientific_journal-7989	1	24	online	online	ADJ
american_scientific_journal-7989	1	25	)	)	PUNCT
american_scientific_journal-7989	1	26	2313	2313	NUM
american_scientific_journal-7989	1	27	-	-	SYM
american_scientific_journal-7989	1	28	4402	4402	NUM
american_scientific_journal-7989	1	29	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-7989	1	30	autonomous	autonomous	ADJ
american_scientific_journal-7989	1	31	mobile	mobile	PROPN
american_scientific_journal-7989	1	32	robot	robot	NOUN
american_scientific_journal-7989	1	33	motion	motion	NOUN
american_scientific_journal-7989	1	34	control	control	NOUN
american_scientific_journal-7989	1	35	for	for	ADP
american_scientific_journal-7989	1	36	hospital	hospital	NOUN
american_scientific_journal-7989	1	37	disinfection	disinfection	NOUN
american_scientific_journal-7989	1	38	qassim	qassim	NOUN
american_scientific_journal-7989	1	39	haichel	haichel	VERB
american_scientific_journal-7989	1	40	a	a	PROPN
american_scientific_journal-7989	1	41	*	*	PROPN
american_scientific_journal-7989	1	42	,	,	PUNCT
american_scientific_journal-7989	1	43	ahmed	ahmed	PROPN
american_scientific_journal-7989	1	44	rahman	rahman	PROPN
american_scientific_journal-7989	1	45	b	b	PROPN
american_scientific_journal-7989	1	46	a	a	DET
american_scientific_journal-7989	1	47	researcher	researcher	NOUN
american_scientific_journal-7989	1	48	,	,	PUNCT
american_scientific_journal-7989	1	49	baghdad	baghdad	PROPN
american_scientific_journal-7989	1	50	university	university	PROPN
american_scientific_journal-7989	1	51	,	,	PUNCT
american_scientific_journal-7989	1	52	alkhwarizmi	alkhwarizmi	NOUN
american_scientific_journal-7989	1	53	college	college	NOUN
american_scientific_journal-7989	1	54	of	of	ADP
american_scientific_journal-7989	1	55	engineering	engineering	PROPN
american_scientific_journal-7989	1	56	,	,	PUNCT
american_scientific_journal-7989	1	57	iraq	iraq	PROPN
american_scientific_journal-7989	1	58	b	b	PROPN
american_scientific_journal-7989	1	59	assistant	assistant	NOUN
american_scientific_journal-7989	1	60	professor	professor	NOUN
american_scientific_journal-7989	1	61	.	.	PUNCT
american_scientific_journal-7989	2	1	ahmed	ahmed	PROPN
american_scientific_journal-7989	2	2	rahman	rahman	PROPN
american_scientific_journal-7989	2	3	,	,	PUNCT
american_scientific_journal-7989	2	4	baghdad	baghdad	PROPN
american_scientific_journal-7989	2	5	university	university	PROPN
american_scientific_journal-7989	2	6	,	,	PUNCT
american_scientific_journal-7989	2	7	alkhwarizmi	alkhwarizmi	NOUN
american_scientific_journal-7989	2	8	college	college	NOUN
american_scientific_journal-7989	2	9	of	of	ADP
american_scientific_journal-7989	2	10	engineering	engineering	PROPN
american_scientific_journal-7989	2	11	,	,	PUNCT
american_scientific_journal-7989	2	12	iraq	iraq	PROPN
american_scientific_journal-7989	2	13	a	a	DET
american_scientific_journal-7989	2	14	email	email	NOUN
american_scientific_journal-7989	2	15	:	:	PUNCT
american_scientific_journal-7989	2	16	qassim.haichel@gmail.com	qassim.haichel@gmail.com	X
american_scientific_journal-7989	2	17	b	b	X
american_scientific_journal-7989	2	18	email	email	NOUN
american_scientific_journal-7989	2	19	:	:	PUNCT
american_scientific_journal-7989	2	20	ahmedalmusawi@kecbu.uobaghdad.edu.iq	ahmedalmusawi@kecbu.uobaghdad.edu.iq	ADJ
american_scientific_journal-7989	2	21	abstract	abstract	NOUN
american_scientific_journal-7989	2	22	as	as	SCONJ
american_scientific_journal-7989	2	23	our	our	PRON
american_scientific_journal-7989	2	24	society	society	NOUN
american_scientific_journal-7989	2	25	develops	develop	VERB
american_scientific_journal-7989	2	26	,	,	PUNCT
american_scientific_journal-7989	2	27	robotic	robotic	ADJ
american_scientific_journal-7989	2	28	systems	system	NOUN
american_scientific_journal-7989	2	29	become	become	VERB
american_scientific_journal-7989	2	30	indispensable	indispensable	ADJ
american_scientific_journal-7989	2	31	.	.	PUNCT
american_scientific_journal-7989	3	1	in	in	ADP
american_scientific_journal-7989	3	2	producing	produce	VERB
american_scientific_journal-7989	3	3	automation	automation	NOUN
american_scientific_journal-7989	3	4	can	can	AUX
american_scientific_journal-7989	3	5	be	be	AUX
american_scientific_journal-7989	3	6	used	use	VERB
american_scientific_journal-7989	3	7	for	for	ADP
american_scientific_journal-7989	3	8	scanning	scan	VERB
american_scientific_journal-7989	3	9	the	the	DET
american_scientific_journal-7989	3	10	impure	impure	NOUN
american_scientific_journal-7989	3	11	areas	area	NOUN
american_scientific_journal-7989	3	12	in	in	ADP
american_scientific_journal-7989	3	13	hospital	hospital	NOUN
american_scientific_journal-7989	3	14	.	.	PUNCT
american_scientific_journal-7989	4	1	in	in	ADP
american_scientific_journal-7989	4	2	this	this	DET
american_scientific_journal-7989	4	3	article	article	NOUN
american_scientific_journal-7989	4	4	matlab	matlab	PROPN
american_scientific_journal-7989	4	5	's	's	PART
american_scientific_journal-7989	4	6	"	"	PUNCT
american_scientific_journal-7989	4	7	robotics	robotic	NOUN
american_scientific_journal-7989	4	8	system	system	NOUN
american_scientific_journal-7989	4	9	toolbox	toolbox	NOUN
american_scientific_journal-7989	4	10	,	,	PUNCT
american_scientific_journal-7989	4	11	"	"	PUNCT
american_scientific_journal-7989	4	12	to	to	PART
american_scientific_journal-7989	4	13	simulate	simulate	VERB
american_scientific_journal-7989	4	14	robot	robot	NOUN
american_scientific_journal-7989	4	15	navigation	navigation	NOUN
american_scientific_journal-7989	4	16	.	.	PUNCT
american_scientific_journal-7989	5	1	this	this	DET
american_scientific_journal-7989	5	2	essay	essay	NOUN
american_scientific_journal-7989	5	3	attempts	attempt	VERB
american_scientific_journal-7989	5	4	to	to	PART
american_scientific_journal-7989	5	5	demonstrate	demonstrate	VERB
american_scientific_journal-7989	5	6	the	the	DET
american_scientific_journal-7989	5	7	efficacy	efficacy	NOUN
american_scientific_journal-7989	5	8	of	of	ADP
american_scientific_journal-7989	5	9	two	two	NUM
american_scientific_journal-7989	5	10	path	path	NOUN
american_scientific_journal-7989	5	11	planning	planning	NOUN
american_scientific_journal-7989	5	12	techniques	technique	NOUN
american_scientific_journal-7989	5	13	:	:	PUNCT
american_scientific_journal-7989	5	14	pure	pure	ADJ
american_scientific_journal-7989	5	15	-	-	PUNCT
american_scientific_journal-7989	5	16	pursuit	pursuit	NOUN
american_scientific_journal-7989	5	17	and	and	CCONJ
american_scientific_journal-7989	5	18	the	the	DET
american_scientific_journal-7989	5	19	probabilistic	probabilistic	ADJ
american_scientific_journal-7989	5	20	roadmap	roadmap	NOUN
american_scientific_journal-7989	5	21	(	(	PUNCT
american_scientific_journal-7989	5	22	prm	prm	PROPN
american_scientific_journal-7989	5	23	)	)	PUNCT
american_scientific_journal-7989	5	24	.	.	PUNCT
american_scientific_journal-7989	6	1	to	to	PART
american_scientific_journal-7989	6	2	compare	compare	VERB
american_scientific_journal-7989	6	3	the	the	DET
american_scientific_journal-7989	6	4	performances	performance	NOUN
american_scientific_journal-7989	6	5	of	of	ADP
american_scientific_journal-7989	6	6	four	four	NUM
american_scientific_journal-7989	6	7	maps	map	NOUN
american_scientific_journal-7989	6	8	,	,	PUNCT
american_scientific_journal-7989	6	9	whose	whose	DET
american_scientific_journal-7989	6	10	difficulty	difficulty	NOUN
american_scientific_journal-7989	6	11	was	be	AUX
american_scientific_journal-7989	6	12	gradually	gradually	ADV
american_scientific_journal-7989	6	13	increased	increase	VERB
american_scientific_journal-7989	6	14	.	.	PUNCT
american_scientific_journal-7989	7	1	for	for	ADP
american_scientific_journal-7989	7	2	prm	prm	PROPN
american_scientific_journal-7989	7	3	,	,	PUNCT
american_scientific_journal-7989	7	4	the	the	DET
american_scientific_journal-7989	7	5	number	number	NOUN
american_scientific_journal-7989	7	6	of	of	ADP
american_scientific_journal-7989	7	7	nodes	node	NOUN
american_scientific_journal-7989	7	8	was	be	AUX
american_scientific_journal-7989	7	9	first	first	ADV
american_scientific_journal-7989	7	10	set	set	VERB
american_scientific_journal-7989	7	11	after	after	SCONJ
american_scientific_journal-7989	7	12	the	the	DET
american_scientific_journal-7989	7	13	map	map	NOUN
american_scientific_journal-7989	7	14	had	have	AUX
american_scientific_journal-7989	7	15	been	be	AUX
american_scientific_journal-7989	7	16	loaded	load	VERB
american_scientific_journal-7989	7	17	.	.	PUNCT
american_scientific_journal-7989	8	1	initial	initial	ADJ
american_scientific_journal-7989	8	2	and	and	CCONJ
american_scientific_journal-7989	8	3	final	final	ADJ
american_scientific_journal-7989	8	4	positions	position	NOUN
american_scientific_journal-7989	8	5	were	be	AUX
american_scientific_journal-7989	8	6	then	then	ADV
american_scientific_journal-7989	8	7	established	establish	VERB
american_scientific_journal-7989	8	8	.	.	PUNCT
american_scientific_journal-7989	9	1	following	follow	VERB
american_scientific_journal-7989	9	2	that	that	PRON
american_scientific_journal-7989	9	3	,	,	PUNCT
american_scientific_journal-7989	9	4	the	the	DET
american_scientific_journal-7989	9	5	program	program	NOUN
american_scientific_journal-7989	9	6	built	build	VERB
american_scientific_journal-7989	9	7	a	a	DET
american_scientific_journal-7989	9	8	possible	possible	ADJ
american_scientific_journal-7989	9	9	network	network	NOUN
american_scientific_journal-7989	9	10	of	of	ADP
american_scientific_journal-7989	9	11	links	link	NOUN
american_scientific_journal-7989	9	12	between	between	ADP
american_scientific_journal-7989	9	13	the	the	DET
american_scientific_journal-7989	9	14	nodes	node	NOUN
american_scientific_journal-7989	9	15	at	at	ADP
american_scientific_journal-7989	9	16	the	the	DET
american_scientific_journal-7989	9	17	start	start	NOUN
american_scientific_journal-7989	9	18	and	and	CCONJ
american_scientific_journal-7989	9	19	goal	goal	NOUN
american_scientific_journal-7989	9	20	locations	location	NOUN
american_scientific_journal-7989	9	21	.	.	PUNCT
american_scientific_journal-7989	10	1	finally	finally	ADV
american_scientific_journal-7989	10	2	,	,	PUNCT
american_scientific_journal-7989	10	3	the	the	DET
american_scientific_journal-7989	10	4	algorithm	algorithm	NOUN
american_scientific_journal-7989	10	5	analyzed	analyze	VERB
american_scientific_journal-7989	10	6	this	this	DET
american_scientific_journal-7989	10	7	network	network	NOUN
american_scientific_journal-7989	10	8	of	of	ADP
american_scientific_journal-7989	10	9	connected	connect	VERB
american_scientific_journal-7989	10	10	nodes	node	NOUN
american_scientific_journal-7989	10	11	to	to	PART
american_scientific_journal-7989	10	12	return	return	VERB
american_scientific_journal-7989	10	13	a	a	DET
american_scientific_journal-7989	10	14	collisionfree	collisionfree	ADJ
american_scientific_journal-7989	10	15	path	path	NOUN
american_scientific_journal-7989	10	16	.	.	PUNCT
american_scientific_journal-7989	11	1	in	in	ADP
american_scientific_journal-7989	11	2	pure	pure	ADJ
american_scientific_journal-7989	11	3	-	-	PUNCT
american_scientific_journal-7989	11	4	pursuit	pursuit	NOUN
american_scientific_journal-7989	11	5	,	,	PUNCT
american_scientific_journal-7989	11	6	the	the	DET
american_scientific_journal-7989	11	7	algorithm	algorithm	NOUN
american_scientific_journal-7989	11	8	's	's	PART
american_scientific_journal-7989	11	9	main	main	ADJ
american_scientific_journal-7989	11	10	goal	goal	NOUN
american_scientific_journal-7989	11	11	is	be	AUX
american_scientific_journal-7989	11	12	to	to	PART
american_scientific_journal-7989	11	13	select	select	VERB
american_scientific_journal-7989	11	14	a	a	DET
american_scientific_journal-7989	11	15	suitable	suitable	ADJ
american_scientific_journal-7989	11	16	look	look	NOUN
american_scientific_journal-7989	11	17	-	-	PUNCT
american_scientific_journal-7989	11	18	ahead	ahead	NOUN
american_scientific_journal-7989	11	19	distance	distance	NOUN
american_scientific_journal-7989	11	20	.	.	PUNCT
american_scientific_journal-7989	12	1	in	in	ADP
american_scientific_journal-7989	12	2	its	its	PRON
american_scientific_journal-7989	12	3	most	most	ADV
american_scientific_journal-7989	12	4	basic	basic	ADJ
american_scientific_journal-7989	12	5	form	form	NOUN
american_scientific_journal-7989	12	6	,	,	PUNCT
american_scientific_journal-7989	12	7	the	the	DET
american_scientific_journal-7989	12	8	pure	pure	ADJ
american_scientific_journal-7989	12	9	pursuit	pursuit	NOUN
american_scientific_journal-7989	12	10	algorithm	algorithm	NOUN
american_scientific_journal-7989	12	11	examines	examine	VERB
american_scientific_journal-7989	12	12	the	the	DET
american_scientific_journal-7989	12	13	difference	difference	NOUN
american_scientific_journal-7989	12	14	in	in	ADP
american_scientific_journal-7989	12	15	heading	head	VERB
american_scientific_journal-7989	12	16	between	between	ADP
american_scientific_journal-7989	12	17	the	the	DET
american_scientific_journal-7989	12	18	current	current	ADJ
american_scientific_journal-7989	12	19	vehicle	vehicle	NOUN
american_scientific_journal-7989	12	20	and	and	CCONJ
american_scientific_journal-7989	12	21	the	the	DET
american_scientific_journal-7989	12	22	objective	objective	ADJ
american_scientific_journal-7989	12	23	point	point	NOUN
american_scientific_journal-7989	12	24	along	along	ADP
american_scientific_journal-7989	12	25	the	the	DET
american_scientific_journal-7989	12	26	course	course	NOUN
american_scientific_journal-7989	12	27	.	.	PUNCT
american_scientific_journal-7989	13	1	it	it	PRON
american_scientific_journal-7989	13	2	is	be	AUX
american_scientific_journal-7989	13	3	a	a	DET
american_scientific_journal-7989	13	4	proportional	proportional	ADJ
american_scientific_journal-7989	13	5	controller	controller	NOUN
american_scientific_journal-7989	13	6	.	.	PUNCT
american_scientific_journal-7989	14	1	the	the	DET
american_scientific_journal-7989	14	2	effectiveness	effectiveness	NOUN
american_scientific_journal-7989	14	3	of	of	ADP
american_scientific_journal-7989	14	4	the	the	DET
american_scientific_journal-7989	14	5	pure	pure	ADJ
american_scientific_journal-7989	14	6	pursuit	pursuit	NOUN
american_scientific_journal-7989	14	7	algorithm	algorithm	NOUN
american_scientific_journal-7989	14	8	implementations	implementation	NOUN
american_scientific_journal-7989	14	9	was	be	AUX
american_scientific_journal-7989	14	10	tested	test	VERB
american_scientific_journal-7989	14	11	in	in	ADP
american_scientific_journal-7989	14	12	a	a	DET
american_scientific_journal-7989	14	13	variety	variety	NOUN
american_scientific_journal-7989	14	14	of	of	ADP
american_scientific_journal-7989	14	15	situations	situation	NOUN
american_scientific_journal-7989	14	16	.	.	PUNCT
american_scientific_journal-7989	15	1	the	the	DET
american_scientific_journal-7989	15	2	algorithm	algorithm	NOUN
american_scientific_journal-7989	15	3	used	use	VERB
american_scientific_journal-7989	15	4	in	in	ADP
american_scientific_journal-7989	15	5	all	all	PRON
american_scientific_journal-7989	15	6	of	of	ADP
american_scientific_journal-7989	15	7	the	the	DET
american_scientific_journal-7989	15	8	tests	test	NOUN
american_scientific_journal-7989	15	9	followed	follow	VERB
american_scientific_journal-7989	15	10	a	a	DET
american_scientific_journal-7989	15	11	straight	straight	ADJ
american_scientific_journal-7989	15	12	path	path	NOUN
american_scientific_journal-7989	15	13	between	between	ADP
american_scientific_journal-7989	15	14	high	high	ADJ
american_scientific_journal-7989	15	15	level	level	NOUN
american_scientific_journal-7989	15	16	waypoints	waypoint	NOUN
american_scientific_journal-7989	15	17	.	.	PUNCT
american_scientific_journal-7989	16	1	it	it	PRON
american_scientific_journal-7989	16	2	's	be	AUX
american_scientific_journal-7989	16	3	necessary	necessary	ADJ
american_scientific_journal-7989	16	4	to	to	PART
american_scientific_journal-7989	16	5	keep	keep	VERB
american_scientific_journal-7989	16	6	in	in	ADP
american_scientific_journal-7989	16	7	mind	mind	NOUN
american_scientific_journal-7989	16	8	that	that	SCONJ
american_scientific_journal-7989	16	9	prm	prm	PROPN
american_scientific_journal-7989	16	10	path	path	PROPN
american_scientific_journal-7989	16	11	position	position	NOUN
american_scientific_journal-7989	16	12	was	be	AUX
american_scientific_journal-7989	16	13	the	the	DET
american_scientific_journal-7989	16	14	only	only	ADJ
american_scientific_journal-7989	16	15	navigation	navigation	NOUN
american_scientific_journal-7989	16	16	sensor	sensor	NOUN
american_scientific_journal-7989	16	17	employed	employ	VERB
american_scientific_journal-7989	16	18	in	in	ADP
american_scientific_journal-7989	16	19	these	these	DET
american_scientific_journal-7989	16	20	studies	study	NOUN
american_scientific_journal-7989	16	21	when	when	SCONJ
american_scientific_journal-7989	16	22	analyzing	analyze	VERB
american_scientific_journal-7989	16	23	their	their	PRON
american_scientific_journal-7989	16	24	results	result	NOUN
american_scientific_journal-7989	16	25	.	.	PUNCT
american_scientific_journal-7989	17	1	keywords	keyword	NOUN
american_scientific_journal-7989	17	2	:	:	PUNCT
american_scientific_journal-7989	17	3	mobile	mobile	ADJ
american_scientific_journal-7989	17	4	robot	robot	NOUN
american_scientific_journal-7989	17	5	;	;	PUNCT
american_scientific_journal-7989	17	6	probabilistic	probabilistic	ADJ
american_scientific_journal-7989	17	7	roadmap	roadmap	NOUN
american_scientific_journal-7989	17	8	(	(	PUNCT
american_scientific_journal-7989	17	9	prm	prm	PROPN
american_scientific_journal-7989	17	10	)	)	PUNCT
american_scientific_journal-7989	17	11	;	;	PUNCT
american_scientific_journal-7989	17	12	pure	pure	ADJ
american_scientific_journal-7989	17	13	pursuit	pursuit	NOUN
american_scientific_journal-7989	17	14	;	;	PUNCT
american_scientific_journal-7989	17	15	kinematic	kinematic	ADJ
american_scientific_journal-7989	17	16	model	model	NOUN
american_scientific_journal-7989	17	17	.	.	PUNCT
american_scientific_journal-7989	18	1	1	1	X
american_scientific_journal-7989	18	2	.	.	X
american_scientific_journal-7989	18	3	introduction	introduction	NOUN
american_scientific_journal-7989	18	4	robotic	robotic	ADJ
american_scientific_journal-7989	18	5	system	system	NOUN
american_scientific_journal-7989	18	6	becomes	become	VERB
american_scientific_journal-7989	18	7	a	a	DET
american_scientific_journal-7989	18	8	necessary	necessary	ADJ
american_scientific_journal-7989	18	9	part	part	NOUN
american_scientific_journal-7989	18	10	of	of	ADP
american_scientific_journal-7989	18	11	our	our	PRON
american_scientific_journal-7989	18	12	society	society	NOUN
american_scientific_journal-7989	18	13	.	.	PUNCT
american_scientific_journal-7989	19	1	in	in	ADP
american_scientific_journal-7989	19	2	producing	produce	VERB
american_scientific_journal-7989	19	3	automaton	automaton	NOUN
american_scientific_journal-7989	19	4	have	have	AUX
american_scientific_journal-7989	19	5	utterly	utterly	ADV
american_scientific_journal-7989	19	6	modified	modify	VERB
american_scientific_journal-7989	19	7	the	the	DET
american_scientific_journal-7989	19	8	approach	approach	NOUN
american_scientific_journal-7989	19	9	merchandise	merchandise	NOUN
american_scientific_journal-7989	19	10	are	be	AUX
american_scientific_journal-7989	19	11	created	create	VERB
american_scientific_journal-7989	19	12	and	and	CCONJ
american_scientific_journal-7989	19	13	reduced	reduce	VERB
american_scientific_journal-7989	19	14	the	the	DET
american_scientific_journal-7989	19	15	cost	cost	NOUN
american_scientific_journal-7989	19	16	of	of	ADP
american_scientific_journal-7989	19	17	production	production	NOUN
american_scientific_journal-7989	19	18	,	,	PUNCT
american_scientific_journal-7989	19	19	can	can	AUX
american_scientific_journal-7989	19	20	also	also	ADV
american_scientific_journal-7989	19	21	be	be	AUX
american_scientific_journal-7989	19	22	used	use	VERB
american_scientific_journal-7989	19	23	for	for	ADP
american_scientific_journal-7989	19	24	scanning	scan	VERB
american_scientific_journal-7989	19	25	the	the	DET
american_scientific_journal-7989	19	26	impure	impure	NOUN
american_scientific_journal-7989	19	27	areas	area	NOUN
american_scientific_journal-7989	19	28	with	with	ADP
american_scientific_journal-7989	19	29	radiation	radiation	NOUN
american_scientific_journal-7989	19	30	or	or	CCONJ
american_scientific_journal-7989	19	31	venomous	venomous	ADJ
american_scientific_journal-7989	19	32	materials	material	NOUN
american_scientific_journal-7989	19	33	,	,	PUNCT
american_scientific_journal-7989	19	34	however	however	ADV
american_scientific_journal-7989	19	35	this	this	PRON
american_scientific_journal-7989	19	36	is	be	AUX
american_scientific_journal-7989	19	37	often	often	ADV
american_scientific_journal-7989	19	38	not	not	PART
american_scientific_journal-7989	19	39	the	the	DET
american_scientific_journal-7989	19	40	top	top	NOUN
american_scientific_journal-7989	19	41	of	of	ADP
american_scientific_journal-7989	19	42	robotic	robotic	ADJ
american_scientific_journal-7989	19	43	technology	technology	NOUN
american_scientific_journal-7989	19	44	for	for	ADP
american_scientific_journal-7989	19	45	several	several	ADJ
american_scientific_journal-7989	19	46	reasons	reason	NOUN
american_scientific_journal-7989	19	47	like	like	ADP
american_scientific_journal-7989	19	48	human	human	ADJ
american_scientific_journal-7989	19	49	safety	safety	NOUN
american_scientific_journal-7989	19	50	or	or	CCONJ
american_scientific_journal-7989	19	51	economics[1	economics[1	NOUN
american_scientific_journal-7989	19	52	]	]	PUNCT
american_scientific_journal-7989	19	53	.	.	PUNCT
american_scientific_journal-7989	20	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-7989	21	1	*	*	PUNCT
american_scientific_journal-7989	21	2	corresponding	correspond	VERB
american_scientific_journal-7989	21	3	author	author	NOUN
american_scientific_journal-7989	21	4	.	.	PUNCT
american_scientific_journal-7989	22	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-7989	22	2	american	american	PROPN
american_scientific_journal-7989	22	3	academic	academic	PROPN
american_scientific_journal-7989	22	4	scientific	scientific	ADJ
american_scientific_journal-7989	22	5	research	research	NOUN
american_scientific_journal-7989	22	6	journal	journal	NOUN
american_scientific_journal-7989	22	7	for	for	ADP
american_scientific_journal-7989	22	8	engineering	engineering	NOUN
american_scientific_journal-7989	22	9	,	,	PUNCT
american_scientific_journal-7989	22	10	technology	technology	NOUN
american_scientific_journal-7989	22	11	,	,	PUNCT
american_scientific_journal-7989	22	12	and	and	CCONJ
american_scientific_journal-7989	22	13	sciences	science	NOUN
american_scientific_journal-7989	22	14	(	(	PUNCT
american_scientific_journal-7989	22	15	asrjets	asrjet	NOUN
american_scientific_journal-7989	22	16	)	)	PUNCT
american_scientific_journal-7989	22	17	(	(	PUNCT
american_scientific_journal-7989	22	18	2022	2022	NUM
american_scientific_journal-7989	22	19	)	)	PUNCT
american_scientific_journal-7989	22	20	volume	volume	NOUN
american_scientific_journal-7989	22	21	90	90	NUM
american_scientific_journal-7989	22	22	,	,	PUNCT
american_scientific_journal-7989	22	23	no	no	DET
american_scientific_journal-7989	22	24	1	1	NUM
american_scientific_journal-7989	22	25	,	,	PUNCT
american_scientific_journal-7989	22	26	pp	pp	ADV
american_scientific_journal-7989	22	27	1	1	NUM
american_scientific_journal-7989	22	28	-	-	SYM
american_scientific_journal-7989	22	29	12	12	NUM
american_scientific_journal-7989	22	30	2	2	NUM
american_scientific_journal-7989	22	31	it	it	PRON
american_scientific_journal-7989	22	32	is	be	AUX
american_scientific_journal-7989	22	33	fascinating	fascinating	ADJ
american_scientific_journal-7989	22	34	to	to	PART
american_scientific_journal-7989	22	35	possess	possess	VERB
american_scientific_journal-7989	22	36	robot	robot	NOUN
american_scientific_journal-7989	22	37	ability	ability	NOUN
american_scientific_journal-7989	22	38	to	to	PART
american_scientific_journal-7989	22	39	finish	finish	VERB
american_scientific_journal-7989	22	40	advanced	advanced	ADJ
american_scientific_journal-7989	22	41	tasks	task	NOUN
american_scientific_journal-7989	22	42	with	with	ADP
american_scientific_journal-7989	22	43	lowest	low	ADJ
american_scientific_journal-7989	22	44	or	or	CCONJ
american_scientific_journal-7989	22	45	human	human	ADJ
american_scientific_journal-7989	22	46	intervention	intervention	NOUN
american_scientific_journal-7989	22	47	;	;	PUNCT
american_scientific_journal-7989	22	48	however	however	ADV
american_scientific_journal-7989	22	49	,	,	PUNCT
american_scientific_journal-7989	22	50	this	this	PRON
american_scientific_journal-7989	22	51	is	be	AUX
american_scientific_journal-7989	22	52	often	often	ADV
american_scientific_journal-7989	22	53	still	still	ADV
american_scientific_journal-7989	22	54	far	far	ADV
american_scientific_journal-7989	22	55	away	away	ADV
american_scientific_journal-7989	22	56	from	from	ADP
american_scientific_journal-7989	22	57	being	be	AUX
american_scientific_journal-7989	22	58	accomplished.moving	accomplished.move	VERB
american_scientific_journal-7989	22	59	an	an	DET
american_scientific_journal-7989	22	60	automaton	automaton	NOUN
american_scientific_journal-7989	22	61	may	may	AUX
american_scientific_journal-7989	22	62	be	be	AUX
american_scientific_journal-7989	22	63	a	a	DET
american_scientific_journal-7989	22	64	complex	complex	ADJ
american_scientific_journal-7989	22	65	operation	operation	NOUN
american_scientific_journal-7989	22	66	that	that	PRON
american_scientific_journal-7989	22	67	needs	need	VERB
american_scientific_journal-7989	22	68	plenty	plenty	NOUN
american_scientific_journal-7989	22	69	of	of	ADP
american_scientific_journal-7989	22	70	information	information	NOUN
american_scientific_journal-7989	22	71	regarding	regard	VERB
american_scientific_journal-7989	22	72	the	the	DET
american_scientific_journal-7989	22	73	environment	environment	NOUN
american_scientific_journal-7989	22	74	;	;	PUNCT
american_scientific_journal-7989	22	75	this	this	DET
american_scientific_journal-7989	22	76	information	information	NOUN
american_scientific_journal-7989	22	77	should	should	AUX
american_scientific_journal-7989	22	78	be	be	AUX
american_scientific_journal-7989	22	79	analyzed	analyze	VERB
american_scientific_journal-7989	22	80	and	and	CCONJ
american_scientific_journal-7989	22	81	taken	take	VERB
american_scientific_journal-7989	22	82	to	to	PART
american_scientific_journal-7989	22	83	conduct	conduct	VERB
american_scientific_journal-7989	22	84	the	the	DET
american_scientific_journal-7989	22	85	required	required	ADJ
american_scientific_journal-7989	22	86	task	task	NOUN
american_scientific_journal-7989	22	87	.	.	PUNCT
american_scientific_journal-7989	23	1	in	in	ADP
american_scientific_journal-7989	23	2	most	most	ADJ
american_scientific_journal-7989	23	3	cases	case	NOUN
american_scientific_journal-7989	23	4	,	,	PUNCT
american_scientific_journal-7989	23	5	the	the	DET
american_scientific_journal-7989	23	6	goal	goal	NOUN
american_scientific_journal-7989	23	7	is	be	AUX
american_scientific_journal-7989	23	8	to	to	PART
american_scientific_journal-7989	23	9	soundly	soundly	ADV
american_scientific_journal-7989	23	10	move	move	VERB
american_scientific_journal-7989	23	11	the	the	DET
american_scientific_journal-7989	23	12	robot	robot	NOUN
american_scientific_journal-7989	23	13	to	to	ADP
american_scientific_journal-7989	23	14	a	a	DET
american_scientific_journal-7989	23	15	target	target	NOUN
american_scientific_journal-7989	23	16	position	position	NOUN
american_scientific_journal-7989	23	17	to	to	PART
american_scientific_journal-7989	23	18	perform	perform	VERB
american_scientific_journal-7989	23	19	associate	associate	ADJ
american_scientific_journal-7989	23	20	action	action	NOUN
american_scientific_journal-7989	23	21	;	;	PUNCT
american_scientific_journal-7989	23	22	the	the	DET
american_scientific_journal-7989	23	23	action	action	NOUN
american_scientific_journal-7989	23	24	of	of	ADP
american_scientific_journal-7989	23	25	safe	safe	ADJ
american_scientific_journal-7989	23	26	travels	travel	NOUN
american_scientific_journal-7989	23	27	in	in	ADP
american_scientific_journal-7989	23	28	steps	step	NOUN
american_scientific_journal-7989	23	29	is	be	AUX
american_scientific_journal-7989	23	30	termed	term	VERB
american_scientific_journal-7989	23	31	navigation	navigation	NOUN
american_scientific_journal-7989	23	32	.	.	PUNCT
american_scientific_journal-7989	24	1	the	the	DET
american_scientific_journal-7989	24	2	various	various	ADJ
american_scientific_journal-7989	24	3	parameters	parameter	NOUN
american_scientific_journal-7989	24	4	make	make	VERB
american_scientific_journal-7989	24	5	the	the	DET
american_scientific_journal-7989	24	6	algorithm	algorithm	NOUN
american_scientific_journal-7989	24	7	are	be	AUX
american_scientific_journal-7989	24	8	effective	effective	ADJ
american_scientific_journal-7989	24	9	;	;	PUNCT
american_scientific_journal-7989	24	10	attaining	attain	VERB
american_scientific_journal-7989	24	11	an	an	DET
american_scientific_journal-7989	24	12	aim	aim	NOUN
american_scientific_journal-7989	24	13	position	position	NOUN
american_scientific_journal-7989	24	14	and	and	CCONJ
american_scientific_journal-7989	24	15	heading	head	VERB
american_scientific_journal-7989	24	16	off	off	ADP
american_scientific_journal-7989	24	17	nearby	nearby	ADV
american_scientific_journal-7989	24	18	obstacles[2].the	obstacles[2].the	DET
american_scientific_journal-7989	24	19	creation	creation	NOUN
american_scientific_journal-7989	24	20	of	of	ADP
american_scientific_journal-7989	24	21	autonomous	autonomous	ADJ
american_scientific_journal-7989	24	22	systems	system	NOUN
american_scientific_journal-7989	24	23	that	that	PRON
american_scientific_journal-7989	24	24	are	be	AUX
american_scientific_journal-7989	24	25	capable	capable	ADJ
american_scientific_journal-7989	24	26	of	of	ADP
american_scientific_journal-7989	24	27	interacting	interact	VERB
american_scientific_journal-7989	24	28	with	with	ADP
american_scientific_journal-7989	24	29	real	real	ADJ
american_scientific_journal-7989	24	30	settings	setting	NOUN
american_scientific_journal-7989	24	31	without	without	ADP
american_scientific_journal-7989	24	32	the	the	DET
american_scientific_journal-7989	24	33	aid	aid	NOUN
american_scientific_journal-7989	24	34	of	of	ADP
american_scientific_journal-7989	24	35	a	a	DET
american_scientific_journal-7989	24	36	human	human	ADJ
american_scientific_journal-7989	24	37	operator	operator	NOUN
american_scientific_journal-7989	24	38	is	be	AUX
american_scientific_journal-7989	24	39	one	one	NUM
american_scientific_journal-7989	24	40	of	of	ADP
american_scientific_journal-7989	24	41	the	the	DET
american_scientific_journal-7989	24	42	main	main	ADJ
american_scientific_journal-7989	24	43	goals	goal	NOUN
american_scientific_journal-7989	24	44	of	of	ADP
american_scientific_journal-7989	24	45	mobile	mobile	ADJ
american_scientific_journal-7989	24	46	artificial	artificial	ADJ
american_scientific_journal-7989	24	47	intelligence[3	intelligence[3	PROPN
american_scientific_journal-7989	24	48	]	]	PUNCT
american_scientific_journal-7989	24	49	.	.	PUNCT
american_scientific_journal-7989	25	1	there	there	PRON
american_scientific_journal-7989	25	2	are	be	VERB
american_scientific_journal-7989	25	3	many	many	ADJ
american_scientific_journal-7989	25	4	difficulties	difficulty	NOUN
american_scientific_journal-7989	25	5	in	in	ADP
american_scientific_journal-7989	25	6	achieving	achieve	VERB
american_scientific_journal-7989	25	7	this	this	DET
american_scientific_journal-7989	25	8	goal	goal	NOUN
american_scientific_journal-7989	25	9	.	.	PUNCT
american_scientific_journal-7989	26	1	this	this	PRON
american_scientific_journal-7989	26	2	is	be	AUX
american_scientific_journal-7989	26	3	primarily	primarily	ADV
american_scientific_journal-7989	26	4	due	due	ADJ
american_scientific_journal-7989	26	5	to	to	ADP
american_scientific_journal-7989	26	6	the	the	DET
american_scientific_journal-7989	26	7	fact	fact	NOUN
american_scientific_journal-7989	26	8	that	that	SCONJ
american_scientific_journal-7989	26	9	real	real	ADJ
american_scientific_journal-7989	26	10	environments	environment	NOUN
american_scientific_journal-7989	26	11	are	be	AUX
american_scientific_journal-7989	26	12	typically	typically	ADV
american_scientific_journal-7989	26	13	uncertain	uncertain	ADJ
american_scientific_journal-7989	26	14	,	,	PUNCT
american_scientific_journal-7989	26	15	unknown	unknown	ADJ
american_scientific_journal-7989	26	16	,	,	PUNCT
american_scientific_journal-7989	26	17	and	and	CCONJ
american_scientific_journal-7989	26	18	dynamic	dynamic	ADJ
american_scientific_journal-7989	26	19	;	;	PUNCT
american_scientific_journal-7989	26	20	as	as	ADP
american_scientific_journal-7989	26	21	a	a	DET
american_scientific_journal-7989	26	22	result	result	NOUN
american_scientific_journal-7989	26	23	,	,	PUNCT
american_scientific_journal-7989	26	24	the	the	DET
american_scientific_journal-7989	26	25	knowledge	knowledge	NOUN
american_scientific_journal-7989	26	26	that	that	PRON
american_scientific_journal-7989	26	27	is	be	AUX
american_scientific_journal-7989	26	28	already	already	ADV
american_scientific_journal-7989	26	29	known	know	VERB
american_scientific_journal-7989	26	30	about	about	ADP
american_scientific_journal-7989	26	31	these	these	DET
american_scientific_journal-7989	26	32	environments	environment	NOUN
american_scientific_journal-7989	26	33	may	may	AUX
american_scientific_journal-7989	26	34	be	be	AUX
american_scientific_journal-7989	26	35	absent	absent	ADJ
american_scientific_journal-7989	26	36	,	,	PUNCT
american_scientific_journal-7989	26	37	incomplete	incomplete	ADJ
american_scientific_journal-7989	26	38	,	,	PUNCT
american_scientific_journal-7989	26	39	uncertain	uncertain	ADJ
american_scientific_journal-7989	26	40	,	,	PUNCT
american_scientific_journal-7989	26	41	or	or	CCONJ
american_scientific_journal-7989	26	42	imprecise	imprecise	ADV
american_scientific_journal-7989	26	43	.	.	PUNCT
american_scientific_journal-7989	27	1	in	in	ADP
american_scientific_journal-7989	27	2	addition	addition	NOUN
american_scientific_journal-7989	27	3	,	,	PUNCT
american_scientific_journal-7989	27	4	these	these	DET
american_scientific_journal-7989	27	5	environments	environment	NOUN
american_scientific_journal-7989	27	6	may	may	AUX
american_scientific_journal-7989	27	7	change	change	VERB
american_scientific_journal-7989	27	8	over	over	ADP
american_scientific_journal-7989	27	9	time	time	NOUN
american_scientific_journal-7989	27	10	,	,	PUNCT
american_scientific_journal-7989	27	11	becoming	become	VERB
american_scientific_journal-7989	27	12	more	more	ADV
american_scientific_journal-7989	27	13	complex	complex	ADJ
american_scientific_journal-7989	27	14	and	and	CCONJ
american_scientific_journal-7989	27	15	unpredictable	unpredictable	ADJ
american_scientific_journal-7989	27	16	[	[	X
american_scientific_journal-7989	27	17	1].the	1].the	DET
american_scientific_journal-7989	27	18	current	current	ADJ
american_scientific_journal-7989	27	19	challenges	challenge	NOUN
american_scientific_journal-7989	27	20	within	within	ADP
american_scientific_journal-7989	27	21	the	the	DET
american_scientific_journal-7989	27	22	developments	development	NOUN
american_scientific_journal-7989	27	23	of	of	ADP
american_scientific_journal-7989	27	24	automaton	automaton	NOUN
american_scientific_journal-7989	27	25	management	management	NOUN
american_scientific_journal-7989	27	26	systems	system	NOUN
american_scientific_journal-7989	27	27	are	be	AUX
american_scientific_journal-7989	27	28	creating	create	VERB
american_scientific_journal-7989	27	29	them	they	PRON
american_scientific_journal-7989	27	30	capable	capable	ADJ
american_scientific_journal-7989	27	31	of	of	ADP
american_scientific_journal-7989	27	32	intelligent	intelligent	ADJ
american_scientific_journal-7989	27	33	and	and	CCONJ
american_scientific_journal-7989	27	34	appropriate	appropriate	ADJ
american_scientific_journal-7989	27	35	responses	response	NOUN
american_scientific_journal-7989	27	36	to	to	ADP
american_scientific_journal-7989	27	37	ever	ever	ADV
american_scientific_journal-7989	27	38	-	-	PUNCT
american_scientific_journal-7989	27	39	changing	change	VERB
american_scientific_journal-7989	27	40	environments	environment	NOUN
american_scientific_journal-7989	27	41	.	.	PUNCT
american_scientific_journal-7989	28	1	learning	learning	NOUN
american_scientific_journal-7989	28	2	and	and	CCONJ
american_scientific_journal-7989	28	3	adaptation	adaptation	NOUN
american_scientific_journal-7989	28	4	methods	method	NOUN
american_scientific_journal-7989	28	5	,	,	PUNCT
american_scientific_journal-7989	28	6	moreover	moreover	ADV
american_scientific_journal-7989	28	7	as	as	SCONJ
american_scientific_journal-7989	28	8	decision	decision	NOUN
american_scientific_journal-7989	28	9	-	-	PUNCT
american_scientific_journal-7989	28	10	making	make	VERB
american_scientific_journal-7989	28	11	techniques	technique	NOUN
american_scientific_journal-7989	28	12	facilitate	facilitate	ADJ
american_scientific_journal-7989	28	13	to	to	PART
american_scientific_journal-7989	28	14	realize	realize	VERB
american_scientific_journal-7989	28	15	these	these	DET
american_scientific_journal-7989	28	16	objectives	objective	NOUN
american_scientific_journal-7989	28	17	.	.	PUNCT
american_scientific_journal-7989	29	1	nevertheless	nevertheless	ADV
american_scientific_journal-7989	29	2	,	,	PUNCT
american_scientific_journal-7989	29	3	it	it	PRON
american_scientific_journal-7989	29	4	is	be	AUX
american_scientific_journal-7989	29	5	technologically	technologically	ADV
american_scientific_journal-7989	29	6	difficult	difficult	ADJ
american_scientific_journal-7989	29	7	and	and	CCONJ
american_scientific_journal-7989	29	8	probably	probably	ADV
american_scientific_journal-7989	29	9	dangerous	dangerous	ADJ
american_scientific_journal-7989	29	10	to	to	PART
american_scientific_journal-7989	29	11	create	create	VERB
american_scientific_journal-7989	29	12	complicated	complicated	ADJ
american_scientific_journal-7989	29	13	systems	system	NOUN
american_scientific_journal-7989	29	14	that	that	PRON
american_scientific_journal-7989	29	15	are	be	AUX
american_scientific_journal-7989	29	16	self	self	NOUN
american_scientific_journal-7989	29	17	-	-	PUNCT
american_scientific_journal-7989	29	18	controlled	control	VERB
american_scientific_journal-7989	29	19	,	,	PUNCT
american_scientific_journal-7989	29	20	since	since	SCONJ
american_scientific_journal-7989	29	21	the	the	DET
american_scientific_journal-7989	29	22	system	system	NOUN
american_scientific_journal-7989	29	23	can	can	AUX
american_scientific_journal-7989	29	24	fail	fail	VERB
american_scientific_journal-7989	29	25	if	if	SCONJ
american_scientific_journal-7989	29	26	the	the	DET
american_scientific_journal-7989	29	27	system	system	NOUN
american_scientific_journal-7989	29	28	does	do	AUX
american_scientific_journal-7989	29	29	not	not	PART
american_scientific_journal-7989	29	30	work	work	VERB
american_scientific_journal-7989	29	31	.	.	PUNCT
american_scientific_journal-7989	30	1	with	with	ADP
american_scientific_journal-7989	30	2	decentralized	decentralized	ADJ
american_scientific_journal-7989	30	3	control	control	NOUN
american_scientific_journal-7989	30	4	,	,	PUNCT
american_scientific_journal-7989	30	5	it	it	PRON
american_scientific_journal-7989	30	6	is	be	AUX
american_scientific_journal-7989	30	7	attainable	attainable	ADJ
american_scientific_journal-7989	30	8	for	for	SCONJ
american_scientific_journal-7989	30	9	the	the	DET
american_scientific_journal-7989	30	10	system	system	NOUN
american_scientific_journal-7989	30	11	to	to	PART
american_scientific_journal-7989	30	12	continue	continue	VERB
american_scientific_journal-7989	30	13	working	work	VERB
american_scientific_journal-7989	30	14	even	even	ADV
american_scientific_journal-7989	30	15	once	once	ADV
american_scientific_journal-7989	30	16	a	a	DET
american_scientific_journal-7989	30	17	part	part	NOUN
american_scientific_journal-7989	30	18	of	of	ADP
american_scientific_journal-7989	30	19	it	it	PRON
american_scientific_journal-7989	30	20	fails	fail	VERB
american_scientific_journal-7989	30	21	.	.	PUNCT
american_scientific_journal-7989	31	1	although	although	SCONJ
american_scientific_journal-7989	31	2	centralized	centralized	ADJ
american_scientific_journal-7989	31	3	control	control	NOUN
american_scientific_journal-7989	31	4	allows	allow	VERB
american_scientific_journal-7989	31	5	multiple	multiple	ADJ
american_scientific_journal-7989	31	6	goals	goal	NOUN
american_scientific_journal-7989	31	7	and	and	CCONJ
american_scientific_journal-7989	31	8	constraints	constraint	NOUN
american_scientific_journal-7989	31	9	to	to	PART
american_scientific_journal-7989	31	10	be	be	AUX
american_scientific_journal-7989	31	11	coordinated	coordinate	VERB
american_scientific_journal-7989	31	12	in	in	ADP
american_scientific_journal-7989	31	13	a	a	DET
american_scientific_journal-7989	31	14	coherent	coherent	ADJ
american_scientific_journal-7989	31	15	manner	manner	NOUN
american_scientific_journal-7989	31	16	,	,	PUNCT
american_scientific_journal-7989	31	17	decentralization	decentralization	NOUN
american_scientific_journal-7989	31	18	provides	provide	VERB
american_scientific_journal-7989	31	19	flexibility	flexibility	NOUN
american_scientific_journal-7989	31	20	and	and	CCONJ
american_scientific_journal-7989	31	21	robustness	robustness	NOUN
american_scientific_journal-7989	31	22	[	[	X
american_scientific_journal-7989	31	23	4	4	NUM
american_scientific_journal-7989	31	24	]	]	PUNCT
american_scientific_journal-7989	31	25	.	.	PUNCT
american_scientific_journal-7989	32	1	figure	figure	NOUN
american_scientific_journal-7989	32	2	1	1	NUM
american_scientific_journal-7989	32	3	:	:	PUNCT
american_scientific_journal-7989	32	4	pioneer	pioneer	NOUN
american_scientific_journal-7989	32	5	3	3	PROPN
american_scientific_journal-7989	32	6	-	-	NUM
american_scientific_journal-7989	32	7	dx	dx	PROPN
american_scientific_journal-7989	33	1	[	[	X
american_scientific_journal-7989	33	2	5	5	NUM
american_scientific_journal-7989	33	3	]	]	X
american_scientific_journal-7989	33	4	kuma	kuma	NOUN
american_scientific_journal-7989	33	5	and	and	CCONJ
american_scientific_journal-7989	33	6	his	his	PRON
american_scientific_journal-7989	33	7	colleagues	colleague	NOUN
american_scientific_journal-7989	34	1	[	[	X
american_scientific_journal-7989	34	2	6	6	NUM
american_scientific_journal-7989	34	3	]	]	PUNCT
american_scientific_journal-7989	34	4	present	present	VERB
american_scientific_journal-7989	34	5	the	the	DET
american_scientific_journal-7989	34	6	implementation	implementation	NOUN
american_scientific_journal-7989	34	7	of	of	ADP
american_scientific_journal-7989	34	8	the	the	DET
american_scientific_journal-7989	34	9	pure	pure	ADJ
american_scientific_journal-7989	34	10	pursuit	pursuit	NOUN
american_scientific_journal-7989	34	11	algorithm	algorithm	NOUN
american_scientific_journal-7989	34	12	employing	employ	VERB
american_scientific_journal-7989	34	13	probabilistic	probabilistic	ADJ
american_scientific_journal-7989	34	14	roadmaps	roadmap	NOUN
american_scientific_journal-7989	34	15	-prmfor	-prmfor	PROPN
american_scientific_journal-7989	34	16	robot	robot	NOUN
american_scientific_journal-7989	34	17	navigation	navigation	NOUN
american_scientific_journal-7989	34	18	.	.	PUNCT
american_scientific_journal-7989	35	1	the	the	DET
american_scientific_journal-7989	35	2	surroundings	surrounding	NOUN
american_scientific_journal-7989	35	3	of	of	ADP
american_scientific_journal-7989	35	4	the	the	DET
american_scientific_journal-7989	35	5	robot	robot	NOUN
american_scientific_journal-7989	35	6	are	be	AUX
american_scientific_journal-7989	35	7	visualized	visualize	VERB
american_scientific_journal-7989	35	8	using	use	VERB
american_scientific_journal-7989	35	9	an	an	DET
american_scientific_journal-7989	35	10	occupancy	occupancy	NOUN
american_scientific_journal-7989	35	11	grid	grid	NOUN
american_scientific_journal-7989	35	12	.	.	PUNCT
american_scientific_journal-7989	36	1	the	the	DET
american_scientific_journal-7989	36	2	occupancy	occupancy	NOUN
american_scientific_journal-7989	36	3	grid	grid	NOUN
american_scientific_journal-7989	36	4	map	map	NOUN
american_scientific_journal-7989	36	5	contains	contain	VERB
american_scientific_journal-7989	36	6	the	the	DET
american_scientific_journal-7989	36	7	prm	prm	PROPN
american_scientific_journal-7989	36	8	.	.	PUNCT
american_scientific_journal-7989	37	1	probabilistic	probabilistic	ADJ
american_scientific_journal-7989	37	2	roadmaps	roadmap	NOUN
american_scientific_journal-7989	37	3	are	be	AUX
american_scientific_journal-7989	37	4	used	use	VERB
american_scientific_journal-7989	37	5	to	to	PART
american_scientific_journal-7989	37	6	determine	determine	VERB
american_scientific_journal-7989	37	7	the	the	DET
american_scientific_journal-7989	37	8	preferred	preferred	ADJ
american_scientific_journal-7989	37	9	route	route	NOUN
american_scientific_journal-7989	37	10	for	for	ADP
american_scientific_journal-7989	37	11	robot	robot	NOUN
american_scientific_journal-7989	37	12	navigation	navigation	NOUN
american_scientific_journal-7989	37	13	from	from	ADP
american_scientific_journal-7989	37	14	the	the	DET
american_scientific_journal-7989	37	15	starting	starting	NOUN
american_scientific_journal-7989	37	16	point	point	NOUN
american_scientific_journal-7989	37	17	to	to	ADP
american_scientific_journal-7989	37	18	the	the	DET
american_scientific_journal-7989	37	19	destination	destination	NOUN
american_scientific_journal-7989	37	20	.	.	PUNCT
american_scientific_journal-7989	38	1	the	the	DET
american_scientific_journal-7989	38	2	gazebo	gazebo	PROPN
american_scientific_journal-7989	38	3	simulator	simulator	NOUN
american_scientific_journal-7989	38	4	is	be	AUX
american_scientific_journal-7989	38	5	used	use	VERB
american_scientific_journal-7989	38	6	for	for	ADP
american_scientific_journal-7989	38	7	experimental	experimental	ADJ
american_scientific_journal-7989	38	8	work	work	NOUN
american_scientific_journal-7989	38	9	with	with	ADP
american_scientific_journal-7989	38	10	a	a	DET
american_scientific_journal-7989	38	11	turtlebot	turtlebot	ADJ
american_scientific_journal-7989	38	12	robot	robot	NOUN
american_scientific_journal-7989	38	13	simulation	simulation	NOUN
american_scientific_journal-7989	38	14	.	.	PUNCT
american_scientific_journal-7989	39	1	the	the	DET
american_scientific_journal-7989	39	2	matlab	matlab	PROPN
american_scientific_journal-7989	39	3	programming	programming	NOUN
american_scientific_journal-7989	39	4	language	language	NOUN
american_scientific_journal-7989	39	5	is	be	AUX
american_scientific_journal-7989	39	6	used	use	VERB
american_scientific_journal-7989	39	7	for	for	ADP
american_scientific_journal-7989	39	8	programming	programming	NOUN
american_scientific_journal-7989	39	9	.	.	PUNCT
american_scientific_journal-7989	40	1	the	the	DET
american_scientific_journal-7989	40	2	"	"	PUNCT
american_scientific_journal-7989	40	3	robotic	robotic	ADJ
american_scientific_journal-7989	40	4	system	system	NOUN
american_scientific_journal-7989	40	5	toolbox	toolbox	NOUN
american_scientific_journal-7989	40	6	"	"	PUNCT
american_scientific_journal-7989	40	7	in	in	ADP
american_scientific_journal-7989	40	8	matlab	matlab	PROPN
american_scientific_journal-7989	40	9	is	be	AUX
american_scientific_journal-7989	40	10	also	also	ADV
american_scientific_journal-7989	40	11	used	use	VERB
american_scientific_journal-7989	40	12	to	to	PART
american_scientific_journal-7989	40	13	program	program	VERB
american_scientific_journal-7989	40	14	the	the	DET
american_scientific_journal-7989	40	15	robot	robot	NOUN
american_scientific_journal-7989	40	16	's	's	PART
american_scientific_journal-7989	40	17	navigation	navigation	NOUN
american_scientific_journal-7989	40	18	system	system	NOUN
american_scientific_journal-7989	40	19	.	.	PUNCT
american_scientific_journal-7989	41	1	the	the	DET
american_scientific_journal-7989	41	2	effectiveness	effectiveness	NOUN
american_scientific_journal-7989	41	3	of	of	ADP
american_scientific_journal-7989	41	4	two	two	NUM
american_scientific_journal-7989	41	5	path	path	NOUN
american_scientific_journal-7989	41	6	-	-	PUNCT
american_scientific_journal-7989	41	7	planning	planning	NOUN
american_scientific_journal-7989	41	8	methods	method	NOUN
american_scientific_journal-7989	41	9	,	,	PUNCT
american_scientific_journal-7989	41	10	the	the	DET
american_scientific_journal-7989	41	11	prm	prm	PROPN
american_scientific_journal-7989	41	12	and	and	CCONJ
american_scientific_journal-7989	41	13	the	the	DET
american_scientific_journal-7989	41	14	genetic	genetic	ADJ
american_scientific_journal-7989	41	15	algorithm	algorithm	NOUN
american_scientific_journal-7989	41	16	(	(	PUNCT
american_scientific_journal-7989	41	17	ga	ga	PROPN
american_scientific_journal-7989	41	18	)	)	PUNCT
american_scientific_journal-7989	41	19	,	,	PUNCT
american_scientific_journal-7989	41	20	is	be	AUX
american_scientific_journal-7989	41	21	examined	examine	VERB
american_scientific_journal-7989	41	22	in	in	ADP
american_scientific_journal-7989	41	23	a	a	DET
american_scientific_journal-7989	41	24	study	study	NOUN
american_scientific_journal-7989	41	25	by	by	ADP
american_scientific_journal-7989	41	26	martin	martin	PROPN
american_scientific_journal-7989	41	27	c.	c.	PROPN
american_scientific_journal-7989	41	28	and	and	CCONJ
american_scientific_journal-7989	41	29	his	his	PRON
american_scientific_journal-7989	41	30	colleagues	colleague	NOUN
american_scientific_journal-7989	41	31	[	[	X
american_scientific_journal-7989	41	32	7	7	NUM
american_scientific_journal-7989	41	33	]	]	PUNCT
american_scientific_journal-7989	41	34	.	.	PUNCT
american_scientific_journal-7989	42	1	to	to	PART
american_scientific_journal-7989	42	2	evaluate	evaluate	VERB
american_scientific_journal-7989	42	3	how	how	SCONJ
american_scientific_journal-7989	42	4	well	well	ADV
american_scientific_journal-7989	42	5	a	a	DET
american_scientific_journal-7989	42	6	simple	simple	ADJ
american_scientific_journal-7989	42	7	map	map	NOUN
american_scientific_journal-7989	42	8	and	and	CCONJ
american_scientific_journal-7989	42	9	a	a	DET
american_scientific_journal-7989	42	10	complicated	complicated	ADJ
american_scientific_journal-7989	42	11	map	map	NOUN
american_scientific_journal-7989	42	12	perform	perform	NOUN
american_scientific_journal-7989	42	13	in	in	ADP
american_scientific_journal-7989	42	14	comparison	comparison	NOUN
american_scientific_journal-7989	42	15	to	to	ADP
american_scientific_journal-7989	42	16	one	one	NUM
american_scientific_journal-7989	42	17	another	another	DET
american_scientific_journal-7989	42	18	.	.	PUNCT
american_scientific_journal-7989	43	1	in	in	ADP
american_scientific_journal-7989	43	2	the	the	DET
american_scientific_journal-7989	43	3	prm	prm	PROPN
american_scientific_journal-7989	43	4	,	,	PUNCT
american_scientific_journal-7989	43	5	the	the	DET
american_scientific_journal-7989	43	6	number	number	NOUN
american_scientific_journal-7989	43	7	of	of	ADP
american_scientific_journal-7989	43	8	nodes	node	NOUN
american_scientific_journal-7989	43	9	was	be	AUX
american_scientific_journal-7989	43	10	first	first	ADV
american_scientific_journal-7989	43	11	given	give	VERB
american_scientific_journal-7989	43	12	after	after	SCONJ
american_scientific_journal-7989	43	13	the	the	DET
american_scientific_journal-7989	43	14	map	map	NOUN
american_scientific_journal-7989	43	15	had	have	AUX
american_scientific_journal-7989	43	16	been	be	AUX
american_scientific_journal-7989	43	17	loaded	load	VERB
american_scientific_journal-7989	43	18	.	.	PUNCT
american_scientific_journal-7989	44	1	the	the	DET
american_scientific_journal-7989	44	2	initial	initial	ADJ
american_scientific_journal-7989	44	3	and	and	CCONJ
american_scientific_journal-7989	44	4	final	final	ADJ
american_scientific_journal-7989	44	5	positions	position	NOUN
american_scientific_journal-7989	44	6	were	be	AUX
american_scientific_journal-7989	44	7	then	then	ADV
american_scientific_journal-7989	44	8	determined	determine	VERB
american_scientific_journal-7989	44	9	.	.	PUNCT
american_scientific_journal-7989	45	1	in	in	ADP
american_scientific_journal-7989	45	2	order	order	NOUN
american_scientific_journal-7989	45	3	to	to	PART
american_scientific_journal-7989	45	4	connect	connect	VERB
american_scientific_journal-7989	45	5	the	the	DET
american_scientific_journal-7989	45	6	starting	starting	NOUN
american_scientific_journal-7989	45	7	point	point	NOUN
american_scientific_journal-7989	45	8	and	and	CCONJ
american_scientific_journal-7989	45	9	the	the	DET
american_scientific_journal-7989	45	10	final	final	ADJ
american_scientific_journal-7989	45	11	position	position	NOUN
american_scientific_journal-7989	45	12	,	,	PUNCT
american_scientific_journal-7989	45	13	the	the	DET
american_scientific_journal-7989	45	14	program	program	NOUN
american_scientific_journal-7989	45	15	then	then	ADV
american_scientific_journal-7989	45	16	built	build	VERB
american_scientific_journal-7989	45	17	a	a	DET
american_scientific_journal-7989	45	18	network	network	NOUN
american_scientific_journal-7989	45	19	of	of	ADP
american_scientific_journal-7989	45	20	probable	probable	ADJ
american_scientific_journal-7989	45	21	node	node	NOUN
american_scientific_journal-7989	45	22	connections	connection	NOUN
american_scientific_journal-7989	45	23	.	.	PUNCT
american_scientific_journal-7989	46	1	to	to	PART
american_scientific_journal-7989	46	2	find	find	VERB
american_scientific_journal-7989	46	3	a	a	DET
american_scientific_journal-7989	46	4	collision	collision	NOUN
american_scientific_journal-7989	46	5	-	-	PUNCT
american_scientific_journal-7989	46	6	free	free	ADJ
american_scientific_journal-7989	46	7	path	path	NOUN
american_scientific_journal-7989	46	8	,	,	PUNCT
american_scientific_journal-7989	46	9	the	the	DET
american_scientific_journal-7989	46	10	program	program	NOUN
american_scientific_journal-7989	46	11	then	then	ADV
american_scientific_journal-7989	46	12	american	american	PROPN
american_scientific_journal-7989	46	13	academic	academic	ADJ
american_scientific_journal-7989	46	14	scientific	scientific	ADJ
american_scientific_journal-7989	46	15	research	research	NOUN
american_scientific_journal-7989	46	16	journal	journal	NOUN
american_scientific_journal-7989	46	17	for	for	ADP
american_scientific_journal-7989	46	18	engineering	engineering	NOUN
american_scientific_journal-7989	46	19	,	,	PUNCT
american_scientific_journal-7989	46	20	technology	technology	NOUN
american_scientific_journal-7989	46	21	,	,	PUNCT
american_scientific_journal-7989	46	22	and	and	CCONJ
american_scientific_journal-7989	46	23	sciences	science	NOUN
american_scientific_journal-7989	46	24	(	(	PUNCT
american_scientific_journal-7989	46	25	asrjets	asrjet	NOUN
american_scientific_journal-7989	46	26	)	)	PUNCT
american_scientific_journal-7989	46	27	(	(	PUNCT
american_scientific_journal-7989	46	28	2022	2022	NUM
american_scientific_journal-7989	46	29	)	)	PUNCT
american_scientific_journal-7989	46	30	volume	volume	NOUN
american_scientific_journal-7989	46	31	90	90	NUM
american_scientific_journal-7989	46	32	,	,	PUNCT
american_scientific_journal-7989	46	33	no	no	DET
american_scientific_journal-7989	46	34	1	1	NUM
american_scientific_journal-7989	46	35	,	,	PUNCT
american_scientific_journal-7989	46	36	pp	pp	ADV
american_scientific_journal-7989	46	37	1	1	NUM
american_scientific_journal-7989	46	38	-	-	SYM
american_scientific_journal-7989	46	39	12	12	NUM
american_scientific_journal-7989	46	40	3	3	NUM
american_scientific_journal-7989	46	41	searched	search	VERB
american_scientific_journal-7989	46	42	across	across	ADP
american_scientific_journal-7989	46	43	this	this	DET
american_scientific_journal-7989	46	44	network	network	NOUN
american_scientific_journal-7989	46	45	of	of	ADP
american_scientific_journal-7989	46	46	connected	connected	ADJ
american_scientific_journal-7989	46	47	nodes	node	NOUN
american_scientific_journal-7989	46	48	.	.	PUNCT
american_scientific_journal-7989	47	1	first	first	ADV
american_scientific_journal-7989	47	2	,	,	PUNCT
american_scientific_journal-7989	47	3	a	a	DET
american_scientific_journal-7989	47	4	map	map	NOUN
american_scientific_journal-7989	47	5	was	be	AUX
american_scientific_journal-7989	47	6	loaded	load	VERB
american_scientific_journal-7989	47	7	into	into	ADP
american_scientific_journal-7989	47	8	ga	ga	PROPN
american_scientific_journal-7989	47	9	,	,	PUNCT
american_scientific_journal-7989	47	10	after	after	ADP
american_scientific_journal-7989	47	11	which	which	PRON
american_scientific_journal-7989	47	12	the	the	DET
american_scientific_journal-7989	47	13	ga	ga	PROPN
american_scientific_journal-7989	47	14	settings	setting	NOUN
american_scientific_journal-7989	47	15	were	be	AUX
american_scientific_journal-7989	47	16	selected	select	VERB
american_scientific_journal-7989	47	17	.	.	PUNCT
american_scientific_journal-7989	48	1	it	it	PRON
american_scientific_journal-7989	48	2	was	be	AUX
american_scientific_journal-7989	48	3	examined	examine	VERB
american_scientific_journal-7989	48	4	to	to	PART
american_scientific_journal-7989	48	5	see	see	VERB
american_scientific_journal-7989	48	6	which	which	DET
american_scientific_journal-7989	48	7	combination	combination	NOUN
american_scientific_journal-7989	48	8	of	of	ADP
american_scientific_journal-7989	48	9	values	value	NOUN
american_scientific_journal-7989	48	10	for	for	ADP
american_scientific_journal-7989	48	11	these	these	DET
american_scientific_journal-7989	48	12	ga	ga	PROPN
american_scientific_journal-7989	48	13	parameters	parameter	NOUN
american_scientific_journal-7989	48	14	would	would	AUX
american_scientific_journal-7989	48	15	best	well	ADV
american_scientific_journal-7989	48	16	address	address	VERB
american_scientific_journal-7989	48	17	the	the	DET
american_scientific_journal-7989	48	18	problem	problem	NOUN
american_scientific_journal-7989	48	19	.	.	PUNCT
american_scientific_journal-7989	49	1	the	the	DET
american_scientific_journal-7989	49	2	beginning	beginning	NOUN
american_scientific_journal-7989	49	3	and	and	CCONJ
american_scientific_journal-7989	49	4	ultimate	ultimate	ADJ
american_scientific_journal-7989	49	5	placements	placement	NOUN
american_scientific_journal-7989	49	6	were	be	AUX
american_scientific_journal-7989	49	7	then	then	ADV
american_scientific_journal-7989	49	8	defined	define	VERB
american_scientific_journal-7989	49	9	.	.	PUNCT
american_scientific_journal-7989	50	1	the	the	DET
american_scientific_journal-7989	50	2	length	length	NOUN
american_scientific_journal-7989	50	3	or	or	CCONJ
american_scientific_journal-7989	50	4	total	total	ADJ
american_scientific_journal-7989	50	5	number	number	NOUN
american_scientific_journal-7989	50	6	of	of	ADP
american_scientific_journal-7989	50	7	segments	segment	NOUN
american_scientific_journal-7989	50	8	was	be	AUX
american_scientific_journal-7989	50	9	the	the	DET
american_scientific_journal-7989	50	10	related	relate	VERB
american_scientific_journal-7989	50	11	cost	cost	NOUN
american_scientific_journal-7989	50	12	for	for	ADP
american_scientific_journal-7989	50	13	each	each	DET
american_scientific_journal-7989	50	14	path	path	NOUN
american_scientific_journal-7989	50	15	that	that	PRON
american_scientific_journal-7989	50	16	was	be	AUX
american_scientific_journal-7989	50	17	created	create	VERB
american_scientific_journal-7989	50	18	.	.	PUNCT
american_scientific_journal-7989	51	1	penalties	penalty	NOUN
american_scientific_journal-7989	51	2	were	be	AUX
american_scientific_journal-7989	51	3	imposed	impose	VERB
american_scientific_journal-7989	51	4	each	each	DET
american_scientific_journal-7989	51	5	time	time	NOUN
american_scientific_journal-7989	51	6	an	an	DET
american_scientific_journal-7989	51	7	obstruction	obstruction	NOUN
american_scientific_journal-7989	51	8	appeared	appear	VERB
american_scientific_journal-7989	51	9	on	on	ADP
american_scientific_journal-7989	51	10	the	the	DET
american_scientific_journal-7989	51	11	path	path	NOUN
american_scientific_journal-7989	51	12	that	that	PRON
american_scientific_journal-7989	51	13	was	be	AUX
american_scientific_journal-7989	51	14	generated	generate	VERB
american_scientific_journal-7989	51	15	.	.	PUNCT
american_scientific_journal-7989	52	1	results	result	NOUN
american_scientific_journal-7989	52	2	show	show	VERB
american_scientific_journal-7989	52	3	that	that	SCONJ
american_scientific_journal-7989	52	4	both	both	DET
american_scientific_journal-7989	52	5	strategies	strategy	NOUN
american_scientific_journal-7989	52	6	moved	move	VERB
american_scientific_journal-7989	52	7	in	in	ADP
american_scientific_journal-7989	52	8	a	a	DET
american_scientific_journal-7989	52	9	collision	collision	NOUN
american_scientific_journal-7989	52	10	free	free	ADJ
american_scientific_journal-7989	52	11	path	path	NOUN
american_scientific_journal-7989	52	12	within	within	ADP
american_scientific_journal-7989	52	13	the	the	DET
american_scientific_journal-7989	52	14	given	give	VERB
american_scientific_journal-7989	52	15	environment	environment	NOUN
american_scientific_journal-7989	52	16	or	or	CCONJ
american_scientific_journal-7989	52	17	map	map	VERB
american_scientific_journal-7989	52	18	from	from	ADP
american_scientific_journal-7989	52	19	their	their	PRON
american_scientific_journal-7989	52	20	starting	starting	NOUN
american_scientific_journal-7989	52	21	point	point	NOUN
american_scientific_journal-7989	52	22	to	to	ADP
american_scientific_journal-7989	52	23	their	their	PRON
american_scientific_journal-7989	52	24	final	final	ADJ
american_scientific_journal-7989	52	25	position	position	NOUN
american_scientific_journal-7989	52	26	.	.	PUNCT
american_scientific_journal-7989	53	1	however	however	ADV
american_scientific_journal-7989	53	2	,	,	PUNCT
american_scientific_journal-7989	53	3	it	it	PRON
american_scientific_journal-7989	53	4	was	be	AUX
american_scientific_journal-7989	53	5	discovered	discover	VERB
american_scientific_journal-7989	53	6	that	that	SCONJ
american_scientific_journal-7989	53	7	each	each	DET
american_scientific_journal-7989	53	8	strategy	strategy	NOUN
american_scientific_journal-7989	53	9	had	have	VERB
american_scientific_journal-7989	53	10	both	both	DET
american_scientific_journal-7989	53	11	advantages	advantage	NOUN
american_scientific_journal-7989	53	12	and	and	CCONJ
american_scientific_journal-7989	53	13	disadvantages	disadvantage	NOUN
american_scientific_journal-7989	53	14	.	.	PUNCT
american_scientific_journal-7989	54	1	while	while	SCONJ
american_scientific_journal-7989	54	2	-gaoffers	-gaoffer	NOUN
american_scientific_journal-7989	54	3	smoother	smooth	ADJ
american_scientific_journal-7989	54	4	routes	route	NOUN
american_scientific_journal-7989	54	5	that	that	PRON
american_scientific_journal-7989	54	6	make	make	VERB
american_scientific_journal-7989	54	7	it	it	PRON
american_scientific_journal-7989	54	8	simpler	simple	ADJ
american_scientific_journal-7989	54	9	for	for	SCONJ
american_scientific_journal-7989	54	10	mobile	mobile	ADJ
american_scientific_journal-7989	54	11	robots	robot	NOUN
american_scientific_journal-7989	54	12	to	to	PART
american_scientific_journal-7989	54	13	travel	travel	VERB
american_scientific_journal-7989	54	14	,	,	PUNCT
american_scientific_journal-7989	54	15	it	it	PRON
american_scientific_journal-7989	54	16	takes	take	VERB
american_scientific_journal-7989	54	17	more	more	ADJ
american_scientific_journal-7989	54	18	time	time	NOUN
american_scientific_journal-7989	54	19	to	to	PART
american_scientific_journal-7989	54	20	analyze	analyze	VERB
american_scientific_journal-7989	54	21	information	information	NOUN
american_scientific_journal-7989	54	22	,	,	PUNCT
american_scientific_journal-7989	54	23	making	make	VERB
american_scientific_journal-7989	54	24	it	it	PRON
american_scientific_journal-7989	54	25	difficult	difficult	ADJ
american_scientific_journal-7989	54	26	to	to	PART
american_scientific_journal-7989	54	27	use	use	VERB
american_scientific_journal-7989	54	28	in	in	ADP
american_scientific_journal-7989	54	29	real	real	ADJ
american_scientific_journal-7989	54	30	-	-	PUNCT
american_scientific_journal-7989	54	31	time	time	NOUN
american_scientific_journal-7989	54	32	navigation	navigation	NOUN
american_scientific_journal-7989	54	33	.	.	PUNCT
american_scientific_journal-7989	55	1	to	to	PART
american_scientific_journal-7989	55	2	present	present	VERB
american_scientific_journal-7989	55	3	the	the	DET
american_scientific_journal-7989	55	4	probable	probable	ADJ
american_scientific_journal-7989	55	5	path	path	NOUN
american_scientific_journal-7989	55	6	in	in	ADP
american_scientific_journal-7989	55	7	a	a	DET
american_scientific_journal-7989	55	8	noticeably	noticeably	ADV
american_scientific_journal-7989	55	9	shorter	short	ADJ
american_scientific_journal-7989	55	10	amount	amount	NOUN
american_scientific_journal-7989	55	11	of	of	ADP
american_scientific_journal-7989	55	12	time	time	NOUN
american_scientific_journal-7989	55	13	,	,	PUNCT
american_scientific_journal-7989	55	14	prm	prm	PROPN
american_scientific_journal-7989	55	15	forgoes	forgo	VERB
american_scientific_journal-7989	55	16	navigational	navigational	ADJ
american_scientific_journal-7989	55	17	smoothness	smoothness	NOUN
american_scientific_journal-7989	55	18	;	;	PUNCT
american_scientific_journal-7989	55	19	yet	yet	CCONJ
american_scientific_journal-7989	55	20	,	,	PUNCT
american_scientific_journal-7989	55	21	this	this	PRON
american_scientific_journal-7989	55	22	makes	make	VERB
american_scientific_journal-7989	55	23	it	it	PRON
american_scientific_journal-7989	55	24	effective	effective	ADJ
american_scientific_journal-7989	55	25	in	in	ADP
american_scientific_journal-7989	55	26	more	more	ADJ
american_scientific_journal-7989	55	27	reactive	reactive	ADJ
american_scientific_journal-7989	55	28	settings	setting	NOUN
american_scientific_journal-7989	55	29	.	.	PUNCT
american_scientific_journal-7989	56	1	discussing	discuss	VERB
american_scientific_journal-7989	56	2	the	the	DET
american_scientific_journal-7989	56	3	advantages	advantage	NOUN
american_scientific_journal-7989	56	4	and	and	CCONJ
american_scientific_journal-7989	56	5	disadvantages	disadvantage	NOUN
american_scientific_journal-7989	56	6	of	of	ADP
american_scientific_journal-7989	56	7	the	the	DET
american_scientific_journal-7989	56	8	two	two	NUM
american_scientific_journal-7989	56	9	methods	method	NOUN
american_scientific_journal-7989	56	10	demonstrates	demonstrate	VERB
american_scientific_journal-7989	56	11	how	how	SCONJ
american_scientific_journal-7989	56	12	critical	critical	ADJ
american_scientific_journal-7989	56	13	it	it	PRON
american_scientific_journal-7989	56	14	is	be	AUX
american_scientific_journal-7989	56	15	to	to	PART
american_scientific_journal-7989	56	16	select	select	VERB
american_scientific_journal-7989	56	17	the	the	DET
american_scientific_journal-7989	56	18	ideal	ideal	ADJ
american_scientific_journal-7989	56	19	path	path	NOUN
american_scientific_journal-7989	56	20	planning	planning	NOUN
american_scientific_journal-7989	56	21	algorithm	algorithm	NOUN
american_scientific_journal-7989	56	22	for	for	ADP
american_scientific_journal-7989	56	23	the	the	DET
american_scientific_journal-7989	56	24	application	application	NOUN
american_scientific_journal-7989	56	25	at	at	ADP
american_scientific_journal-7989	56	26	hand.the	hand.the	DET
american_scientific_journal-7989	56	27	paper	paper	NOUN
american_scientific_journal-7989	56	28	by	by	ADP
american_scientific_journal-7989	56	29	samuel	samuel	PROPN
american_scientific_journal-7989	56	30	and	and	CCONJ
american_scientific_journal-7989	56	31	his	his	PRON
american_scientific_journal-7989	56	32	colleagues	colleague	NOUN
american_scientific_journal-7989	57	1	[	[	X
american_scientific_journal-7989	57	2	8	8	NUM
american_scientific_journal-7989	57	3	]	]	PUNCT
american_scientific_journal-7989	57	4	gives	give	VERB
american_scientific_journal-7989	57	5	a	a	DET
american_scientific_journal-7989	57	6	quick	quick	ADJ
american_scientific_journal-7989	57	7	summary	summary	NOUN
american_scientific_journal-7989	57	8	of	of	ADP
american_scientific_journal-7989	57	9	a	a	DET
american_scientific_journal-7989	57	10	few	few	ADJ
american_scientific_journal-7989	57	11	common	common	ADJ
american_scientific_journal-7989	57	12	path	path	NOUN
american_scientific_journal-7989	57	13	tracking	tracking	NOUN
american_scientific_journal-7989	57	14	techniques	technique	NOUN
american_scientific_journal-7989	57	15	used	use	VERB
american_scientific_journal-7989	57	16	in	in	ADP
american_scientific_journal-7989	57	17	the	the	DET
american_scientific_journal-7989	57	18	development	development	NOUN
american_scientific_journal-7989	57	19	of	of	ADP
american_scientific_journal-7989	57	20	autonomous	autonomous	ADJ
american_scientific_journal-7989	57	21	vehicles	vehicle	NOUN
american_scientific_journal-7989	57	22	.	.	PUNCT
american_scientific_journal-7989	58	1	a	a	DET
american_scientific_journal-7989	58	2	thorough	thorough	ADJ
american_scientific_journal-7989	58	3	comparison	comparison	NOUN
american_scientific_journal-7989	58	4	was	be	AUX
american_scientific_journal-7989	58	5	carried	carry	VERB
american_scientific_journal-7989	58	6	out	out	ADP
american_scientific_journal-7989	58	7	between	between	ADP
american_scientific_journal-7989	58	8	these	these	DET
american_scientific_journal-7989	58	9	geometric	geometric	ADJ
american_scientific_journal-7989	58	10	techniques	technique	NOUN
american_scientific_journal-7989	58	11	,	,	PUNCT
american_scientific_journal-7989	58	12	including	include	VERB
american_scientific_journal-7989	58	13	pure	pure	ADJ
american_scientific_journal-7989	58	14	-	-	PUNCT
american_scientific_journal-7989	58	15	pursuit	pursuit	NOUN
american_scientific_journal-7989	58	16	techniques	technique	NOUN
american_scientific_journal-7989	58	17	,	,	PUNCT
american_scientific_journal-7989	58	18	vector	vector	NOUN
american_scientific_journal-7989	58	19	pursuit	pursuit	NOUN
american_scientific_journal-7989	58	20	techniques	technique	NOUN
american_scientific_journal-7989	58	21	,	,	PUNCT
american_scientific_journal-7989	58	22	and	and	CCONJ
american_scientific_journal-7989	58	23	cf	cf	NOUN
american_scientific_journal-7989	58	24	-	-	PUNCT
american_scientific_journal-7989	58	25	pursuit	pursuit	NOUN
american_scientific_journal-7989	58	26	techniques	technique	NOUN
american_scientific_journal-7989	58	27	,	,	PUNCT
american_scientific_journal-7989	58	28	all	all	PRON
american_scientific_journal-7989	58	29	of	of	ADP
american_scientific_journal-7989	58	30	which	which	PRON
american_scientific_journal-7989	58	31	are	be	AUX
american_scientific_journal-7989	58	32	based	base	VERB
american_scientific_journal-7989	58	33	on	on	ADP
american_scientific_journal-7989	58	34	pure	pure	ADJ
american_scientific_journal-7989	58	35	-	-	PUNCT
american_scientific_journal-7989	58	36	pursuit	pursuit	NOUN
american_scientific_journal-7989	58	37	techniques	technique	NOUN
american_scientific_journal-7989	58	38	.	.	PUNCT
american_scientific_journal-7989	59	1	this	this	DET
american_scientific_journal-7989	59	2	review	review	NOUN
american_scientific_journal-7989	59	3	article	article	NOUN
american_scientific_journal-7989	59	4	also	also	ADV
american_scientific_journal-7989	59	5	emphasizes	emphasize	VERB
american_scientific_journal-7989	59	6	subjects	subject	NOUN
american_scientific_journal-7989	59	7	on	on	ADP
american_scientific_journal-7989	59	8	which	which	PRON
american_scientific_journal-7989	59	9	little	little	ADJ
american_scientific_journal-7989	59	10	research	research	NOUN
american_scientific_journal-7989	59	11	has	have	AUX
american_scientific_journal-7989	59	12	been	be	AUX
american_scientific_journal-7989	59	13	done	do	VERB
american_scientific_journal-7989	59	14	.	.	PUNCT
american_scientific_journal-7989	60	1	regions	region	NOUN
american_scientific_journal-7989	60	2	include	include	VERB
american_scientific_journal-7989	60	3	tracking	track	VERB
american_scientific_journal-7989	60	4	a	a	DET
american_scientific_journal-7989	60	5	mobile	mobile	ADJ
american_scientific_journal-7989	60	6	robot	robot	NOUN
american_scientific_journal-7989	60	7	's	's	PART
american_scientific_journal-7989	60	8	implicit	implicit	ADJ
american_scientific_journal-7989	60	9	component	component	NOUN
american_scientific_journal-7989	60	10	and	and	CCONJ
american_scientific_journal-7989	60	11	recommending	recommend	VERB
american_scientific_journal-7989	60	12	a	a	DET
american_scientific_journal-7989	60	13	field	field	NOUN
american_scientific_journal-7989	60	14	for	for	ADP
american_scientific_journal-7989	60	15	feature	feature	NOUN
american_scientific_journal-7989	60	16	research	research	NOUN
american_scientific_journal-7989	60	17	,	,	PUNCT
american_scientific_journal-7989	60	18	like	like	ADP
american_scientific_journal-7989	60	19	tracking	track	VERB
american_scientific_journal-7989	60	20	a	a	DET
american_scientific_journal-7989	60	21	non	non	ADJ
american_scientific_journal-7989	60	22	-	-	ADJ
american_scientific_journal-7989	60	23	holonomic	holonomic	ADJ
american_scientific_journal-7989	60	24	mobile	mobile	ADJ
american_scientific_journal-7989	60	25	robot	robot	NOUN
american_scientific_journal-7989	60	26	's	's	PART
american_scientific_journal-7989	60	27	implicit	implicit	ADJ
american_scientific_journal-7989	60	28	and	and	CCONJ
american_scientific_journal-7989	60	29	explicit	explicit	ADJ
american_scientific_journal-7989	60	30	path	path	NOUN
american_scientific_journal-7989	60	31	.	.	PUNCT
american_scientific_journal-7989	61	1	2	2	X
american_scientific_journal-7989	61	2	.	.	X
american_scientific_journal-7989	61	3	kinematic	kinematic	ADJ
american_scientific_journal-7989	61	4	model	model	NOUN
american_scientific_journal-7989	61	5	of	of	ADP
american_scientific_journal-7989	61	6	the	the	DET
american_scientific_journal-7989	61	7	differential	differential	ADJ
american_scientific_journal-7989	61	8	drive	drive	NOUN
american_scientific_journal-7989	61	9	wheeled	wheel	VERB
american_scientific_journal-7989	61	10	mobile	mobile	ADJ
american_scientific_journal-7989	61	11	robot	robot	NOUN
american_scientific_journal-7989	61	12	two	two	NUM
american_scientific_journal-7989	61	13	independently	independently	ADV
american_scientific_journal-7989	61	14	driven	drive	VERB
american_scientific_journal-7989	61	15	wheels	wheel	NOUN
american_scientific_journal-7989	61	16	on	on	ADP
american_scientific_journal-7989	61	17	this	this	DET
american_scientific_journal-7989	61	18	vehicle	vehicle	NOUN
american_scientific_journal-7989	61	19	show	show	NOUN
american_scientific_journal-7989	61	20	in	in	ADP
american_scientific_journal-7989	61	21	figure	figure	NOUN
american_scientific_journal-7989	61	22	(	(	PUNCT
american_scientific_journal-7989	61	23	2	2	X
american_scientific_journal-7989	61	24	)	)	PUNCT
american_scientific_journal-7989	61	25	allow	allow	VERB
american_scientific_journal-7989	61	26	it	it	PRON
american_scientific_journal-7989	61	27	to	to	PART
american_scientific_journal-7989	61	28	independently	independently	ADV
american_scientific_journal-7989	61	29	manage	manage	VERB
american_scientific_journal-7989	61	30	its	its	PRON
american_scientific_journal-7989	61	31	forward	forward	ADJ
american_scientific_journal-7989	61	32	and	and	CCONJ
american_scientific_journal-7989	61	33	angular	angular	ADJ
american_scientific_journal-7989	61	34	velocities	velocity	NOUN
american_scientific_journal-7989	61	35	.	.	PUNCT
american_scientific_journal-7989	62	1	figure	figure	VERB
american_scientific_journal-7989	62	2	2	2	NUM
american_scientific_journal-7989	62	3	:	:	PUNCT
american_scientific_journal-7989	62	4	vehicle[9	vehicle[9	NUM
american_scientific_journal-7989	62	5	]	]	X
american_scientific_journal-7989	62	6	left	leave	VERB
american_scientific_journal-7989	62	7	and	and	CCONJ
american_scientific_journal-7989	62	8	right	right	ADJ
american_scientific_journal-7989	62	9	wheel	wheel	NOUN
american_scientific_journal-7989	62	10	speeds	speed	NOUN
american_scientific_journal-7989	62	11	𝜔𝐿	𝜔𝐿	PROPN
american_scientific_journal-7989	62	12	and	and	CCONJ
american_scientific_journal-7989	62	13	𝜔	𝜔	ADP
american_scientific_journal-7989	62	14	𝑅	𝑅	PROPN
american_scientific_journal-7989	62	15	,	,	PUNCT
american_scientific_journal-7989	62	16	in	in	ADP
american_scientific_journal-7989	62	17	rad	rad	PROPN
american_scientific_journal-7989	62	18	/	/	SYM
american_scientific_journal-7989	62	19	s	s	PART
american_scientific_journal-7989	62	20	linear	linear	ADJ
american_scientific_journal-7989	62	21	velocity	velocity	NOUN
american_scientific_journal-7989	62	22	v	v	NOUN
american_scientific_journal-7989	62	23	,	,	PUNCT
american_scientific_journal-7989	62	24	in	in	ADP
american_scientific_journal-7989	62	25	m	m	PROPN
american_scientific_journal-7989	62	26	/	/	SYM
american_scientific_journal-7989	62	27	s	s	PART
american_scientific_journal-7989	62	28	american	american	ADJ
american_scientific_journal-7989	62	29	academic	academic	ADJ
american_scientific_journal-7989	62	30	scientific	scientific	ADJ
american_scientific_journal-7989	62	31	research	research	NOUN
american_scientific_journal-7989	62	32	journal	journal	NOUN
american_scientific_journal-7989	62	33	for	for	ADP
american_scientific_journal-7989	62	34	engineering	engineering	NOUN
american_scientific_journal-7989	62	35	,	,	PUNCT
american_scientific_journal-7989	62	36	technology	technology	NOUN
american_scientific_journal-7989	62	37	,	,	PUNCT
american_scientific_journal-7989	62	38	and	and	CCONJ
american_scientific_journal-7989	62	39	sciences	science	NOUN
american_scientific_journal-7989	62	40	(	(	PUNCT
american_scientific_journal-7989	62	41	asrjets	asrjet	NOUN
american_scientific_journal-7989	62	42	)	)	PUNCT
american_scientific_journal-7989	62	43	(	(	PUNCT
american_scientific_journal-7989	62	44	2022	2022	NUM
american_scientific_journal-7989	62	45	)	)	PUNCT
american_scientific_journal-7989	62	46	volume	volume	NOUN
american_scientific_journal-7989	62	47	90	90	NUM
american_scientific_journal-7989	62	48	,	,	PUNCT
american_scientific_journal-7989	62	49	no	no	DET
american_scientific_journal-7989	62	50	1	1	NUM
american_scientific_journal-7989	62	51	,	,	PUNCT
american_scientific_journal-7989	62	52	pp	pp	ADV
american_scientific_journal-7989	62	53	1	1	NUM
american_scientific_journal-7989	62	54	-	-	SYM
american_scientific_journal-7989	62	55	12	12	NUM
american_scientific_journal-7989	62	56	4	4	NUM
american_scientific_journal-7989	62	57	angular	angular	ADJ
american_scientific_journal-7989	62	58	velocity	velocity	NOUN
american_scientific_journal-7989	62	59	ω	ω	PROPN
american_scientific_journal-7989	62	60	,	,	PUNCT
american_scientific_journal-7989	62	61	in	in	ADP
american_scientific_journal-7989	62	62	rad	rad	PROPN
american_scientific_journal-7989	62	63	/	/	SYM
american_scientific_journal-7989	62	64	s	s	PART
american_scientific_journal-7989	62	65	forward	forward	ADJ
american_scientific_journal-7989	62	66	kinematics	kinematic	NOUN
american_scientific_journal-7989	62	67	𝑣	𝑣	ADP
american_scientific_journal-7989	62	68	=	=	SYM
american_scientific_journal-7989	62	69	𝑅	𝑅	PROPN
american_scientific_journal-7989	62	70	2	2	NUM
american_scientific_journal-7989	62	71	(	(	PUNCT
american_scientific_journal-7989	62	72	𝜔	𝜔	PROPN
american_scientific_journal-7989	62	73	𝑅	𝑅	NOUN
american_scientific_journal-7989	62	74	+	+	NOUN
american_scientific_journal-7989	62	75	𝜔	𝜔	PROPN
american_scientific_journal-7989	62	76	𝐿	𝐿	PROPN
american_scientific_journal-7989	62	77	)	)	PUNCT
american_scientific_journal-7989	62	78	,	,	PUNCT
american_scientific_journal-7989	62	79	𝜔	𝜔	PROPN
american_scientific_journal-7989	62	80	=	=	SYM
american_scientific_journal-7989	62	81	𝑅	𝑅	PROPN
american_scientific_journal-7989	62	82	2	2	NUM
american_scientific_journal-7989	62	83	(	(	PUNCT
american_scientific_journal-7989	62	84	𝜔	𝜔	PROPN
american_scientific_journal-7989	62	85	𝑅	𝑅	PROPN
american_scientific_journal-7989	62	86	−	−	NOUN
american_scientific_journal-7989	62	87	𝜔	𝜔	PROPN
american_scientific_journal-7989	62	88	𝐿	𝐿	PROPN
american_scientific_journal-7989	62	89	)	)	PUNCT
american_scientific_journal-7989	62	90	inverse	inverse	NOUN
american_scientific_journal-7989	62	91	kinematics	kinematic	NOUN
american_scientific_journal-7989	62	92	𝜔𝐿	𝜔𝐿	NOUN
american_scientific_journal-7989	63	1	=	=	SYM
american_scientific_journal-7989	63	2	1	1	NUM
american_scientific_journal-7989	63	3	𝑅	𝑅	PROPN
american_scientific_journal-7989	63	4	(	(	PUNCT
american_scientific_journal-7989	63	5	𝑣	𝑣	PART
american_scientific_journal-7989	63	6	−	−	NOUN
american_scientific_journal-7989	63	7	𝜔	𝜔	PART
american_scientific_journal-7989	63	8	𝐿	𝐿	PROPN
american_scientific_journal-7989	63	9	2	2	NUM
american_scientific_journal-7989	63	10	)	)	PUNCT
american_scientific_journal-7989	63	11	,	,	PUNCT
american_scientific_journal-7989	63	12	𝜔𝑅	𝜔𝑅	X
american_scientific_journal-7989	63	13	=	=	PUNCT
american_scientific_journal-7989	63	14	1	1	NUM
american_scientific_journal-7989	63	15	𝑅	𝑅	PROPN
american_scientific_journal-7989	63	16	(	(	PUNCT
american_scientific_journal-7989	63	17	𝑣	𝑣	PART
american_scientific_journal-7989	63	18	+	+	NOUN
american_scientific_journal-7989	63	19	𝜔	𝜔	PART
american_scientific_journal-7989	63	20	𝐿	𝐿	PROPN
american_scientific_journal-7989	63	21	2	2	NUM
american_scientific_journal-7989	63	22	)	)	PUNCT
american_scientific_journal-7989	63	23	by	by	ADP
american_scientific_journal-7989	63	24	matlab	matlab	PROPN
american_scientific_journal-7989	63	25	usage	usage	NOUN
american_scientific_journal-7989	63	26	:	:	PUNCT
american_scientific_journal-7989	63	27	create	create	VERB
american_scientific_journal-7989	63	28	a	a	DET
american_scientific_journal-7989	63	29	differential	differential	ADJ
american_scientific_journal-7989	63	30	drive	drive	NOUN
american_scientific_journal-7989	63	31	object	object	NOUN
american_scientific_journal-7989	63	32	r	r	NOUN
american_scientific_journal-7989	63	33	=	=	SYM
american_scientific_journal-7989	63	34	0.1	0.1	NUM
american_scientific_journal-7989	63	35	;	;	PUNCT
american_scientific_journal-7989	63	36	wheel	wheel	NOUN
american_scientific_journal-7989	63	37	radius	radius	NOUN
american_scientific_journal-7989	64	1	[	[	X
american_scientific_journal-7989	64	2	m	m	X
american_scientific_journal-7989	64	3	]	]	X
american_scientific_journal-7989	64	4	l	l	NOUN
american_scientific_journal-7989	64	5	=	=	SYM
american_scientific_journal-7989	64	6	0.5	0.5	NUM
american_scientific_journal-7989	64	7	;	;	PUNCT
american_scientific_journal-7989	64	8	wheelbase	wheelbase	PROPN
american_scientific_journal-7989	64	9	[	[	X
american_scientific_journal-7989	64	10	m	m	X
american_scientific_journal-7989	64	11	]	]	X
american_scientific_journal-7989	64	12	vehicle	vehicle	NOUN
american_scientific_journal-7989	64	13	=	=	SYM
american_scientific_journal-7989	64	14	differentialdrive(r	differentialdrive(r	PROPN
american_scientific_journal-7989	64	15	,	,	PUNCT
american_scientific_journal-7989	64	16	l	l	NOUN
american_scientific_journal-7989	64	17	)	)	PUNCT
american_scientific_journal-7989	64	18	solve	solve	VERB
american_scientific_journal-7989	64	19	forward	forward	ADV
american_scientific_journal-7989	64	20	kinematics	kinematic	NOUN
american_scientific_journal-7989	64	21	𝜔𝐿	𝜔𝐿	NOUN
american_scientific_journal-7989	64	22	=	=	SYM
american_scientific_journal-7989	64	23	1	1	NUM
american_scientific_journal-7989	64	24	;	;	PUNCT
american_scientific_journal-7989	64	25	𝜔𝑅	𝜔𝑅	PROPN
american_scientific_journal-7989	64	26	=	=	SYM
american_scientific_journal-7989	64	27	-0.5	-0.5	PROPN
american_scientific_journal-7989	64	28	;	;	PUNCT
american_scientific_journal-7989	64	29	[	[	X
american_scientific_journal-7989	64	30	𝑣	𝑣	X
american_scientific_journal-7989	64	31	,	,	PUNCT
american_scientific_journal-7989	64	32	𝑤	𝑤	ADP
american_scientific_journal-7989	64	33	]	]	X
american_scientific_journal-7989	64	34	=	=	PUNCT
american_scientific_journal-7989	64	35	forwardkinematics(vehicle	forwardkinematics(vehicle	PROPN
american_scientific_journal-7989	64	36	,	,	PUNCT
american_scientific_journal-7989	64	37	𝜔𝐿	𝜔𝐿	NOUN
american_scientific_journal-7989	64	38	,	,	PUNCT
american_scientific_journal-7989	64	39	𝜔𝑅	𝜔𝑅	NOUN
american_scientific_journal-7989	64	40	)	)	PUNCT
american_scientific_journal-7989	64	41	solve	solve	NOUN
american_scientific_journal-7989	64	42	inverse	inverse	NOUN
american_scientific_journal-7989	64	43	kinematics	kinematic	NOUN
american_scientific_journal-7989	64	44	vref	vref	NOUN
american_scientific_journal-7989	64	45	=	=	NOUN
american_scientific_journal-7989	64	46	0.2	0.2	NUM
american_scientific_journal-7989	64	47	;	;	PUNCT
american_scientific_journal-7989	65	1	wref	wref	NOUN
american_scientific_journal-7989	65	2	=	=	NOUN
american_scientific_journal-7989	65	3	0.5	0.5	NUM
american_scientific_journal-7989	65	4	;	;	PUNCT
american_scientific_journal-7989	65	5	[	[	X
american_scientific_journal-7989	65	6	𝜔𝐿	𝜔𝐿	NOUN
american_scientific_journal-7989	65	7	,	,	PUNCT
american_scientific_journal-7989	65	8	𝜔𝑅	𝜔𝑅	X
american_scientific_journal-7989	65	9	]	]	X
american_scientific_journal-7989	65	10	=	=	SYM
american_scientific_journal-7989	65	11	inversekinematics(vehicle	inversekinematics(vehicle	PROPN
american_scientific_journal-7989	65	12	,	,	PUNCT
american_scientific_journal-7989	65	13	vref	vref	NOUN
american_scientific_journal-7989	65	14	,	,	PUNCT
american_scientific_journal-7989	65	15	wref)[9	wref)[9	NUM
american_scientific_journal-7989	65	16	]	]	PUNCT
american_scientific_journal-7989	65	17	.	.	PUNCT
american_scientific_journal-7989	66	1	3	3	X
american_scientific_journal-7989	66	2	.	.	X
american_scientific_journal-7989	66	3	probabilistic	probabilistic	ADJ
american_scientific_journal-7989	66	4	roadmap	roadmap	NOUN
american_scientific_journal-7989	66	5	based	base	VERB
american_scientific_journal-7989	66	6	on	on	ADP
american_scientific_journal-7989	66	7	free	free	ADJ
american_scientific_journal-7989	66	8	and	and	CCONJ
american_scientific_journal-7989	66	9	occupied	occupied	ADJ
american_scientific_journal-7989	66	10	places	place	NOUN
american_scientific_journal-7989	66	11	,	,	PUNCT
american_scientific_journal-7989	66	12	the	the	DET
american_scientific_journal-7989	66	13	probabilistic	probabilistic	ADJ
american_scientific_journal-7989	66	14	roadmap	roadmap	NOUN
american_scientific_journal-7989	66	15	(	(	PUNCT
american_scientific_journal-7989	66	16	prm	prm	PROPN
american_scientific_journal-7989	66	17	)	)	PUNCT
american_scientific_journal-7989	66	18	gives	give	VERB
american_scientific_journal-7989	66	19	a	a	DET
american_scientific_journal-7989	66	20	network	network	NOUN
american_scientific_journal-7989	66	21	graph	graph	NOUN
american_scientific_journal-7989	66	22	of	of	ADP
american_scientific_journal-7989	66	23	potential	potential	ADJ
american_scientific_journal-7989	66	24	paths	path	NOUN
american_scientific_journal-7989	66	25	in	in	ADP
american_scientific_journal-7989	66	26	a	a	DET
american_scientific_journal-7989	66	27	given	give	VERB
american_scientific_journal-7989	66	28	environment	environment	NOUN
american_scientific_journal-7989	66	29	.	.	PUNCT
american_scientific_journal-7989	67	1	based	base	VERB
american_scientific_journal-7989	67	2	on	on	ADP
american_scientific_journal-7989	67	3	the	the	DET
american_scientific_journal-7989	67	4	parameters	parameter	NOUN
american_scientific_journal-7989	67	5	given	give	VERB
american_scientific_journal-7989	67	6	in	in	ADP
american_scientific_journal-7989	67	7	the	the	DET
american_scientific_journal-7989	67	8	prm	prm	PROPN
american_scientific_journal-7989	67	9	algorithm	algorithm	NOUN
american_scientific_journal-7989	67	10	,	,	PUNCT
american_scientific_journal-7989	67	11	nodes	node	NOUN
american_scientific_journal-7989	67	12	are	be	AUX
american_scientific_journal-7989	67	13	produced	produce	VERB
american_scientific_journal-7989	67	14	and	and	CCONJ
american_scientific_journal-7989	67	15	connections	connection	NOUN
american_scientific_journal-7989	67	16	are	be	AUX
american_scientific_journal-7989	67	17	created	create	VERB
american_scientific_journal-7989	67	18	in	in	ADP
american_scientific_journal-7989	67	19	this	this	DET
american_scientific_journal-7989	67	20	manner	manner	NOUN
american_scientific_journal-7989	68	1	[	[	X
american_scientific_journal-7989	68	2	10	10	NUM
american_scientific_journal-7989	68	3	]	]	PUNCT
american_scientific_journal-7989	68	4	.	.	PUNCT
american_scientific_journal-7989	69	1	the	the	DET
american_scientific_journal-7989	69	2	number	number	NOUN
american_scientific_journal-7989	69	3	of	of	ADP
american_scientific_journal-7989	69	4	nodes	node	NOUN
american_scientific_journal-7989	69	5	used	use	VERB
american_scientific_journal-7989	69	6	influences	influence	NOUN
american_scientific_journal-7989	69	7	the	the	DET
american_scientific_journal-7989	69	8	algorithm	algorithm	NOUN
american_scientific_journal-7989	69	9	's	's	PART
american_scientific_journal-7989	69	10	ability	ability	NOUN
american_scientific_journal-7989	69	11	to	to	PART
american_scientific_journal-7989	69	12	adapt	adapt	VERB
american_scientific_journal-7989	69	13	to	to	ADP
american_scientific_journal-7989	69	14	any	any	DET
american_scientific_journal-7989	69	15	level	level	NOUN
american_scientific_journal-7989	69	16	of	of	ADP
american_scientific_journal-7989	69	17	environmental	environmental	ADJ
american_scientific_journal-7989	69	18	complexity	complexity	NOUN
american_scientific_journal-7989	69	19	and	and	CCONJ
american_scientific_journal-7989	69	20	depends	depend	VERB
american_scientific_journal-7989	69	21	on	on	ADP
american_scientific_journal-7989	69	22	the	the	DET
american_scientific_journal-7989	69	23	particular	particular	ADJ
american_scientific_journal-7989	69	24	challenge	challenge	NOUN
american_scientific_journal-7989	69	25	at	at	ADP
american_scientific_journal-7989	69	26	hand	hand	NOUN
american_scientific_journal-7989	69	27	.	.	PUNCT
american_scientific_journal-7989	70	1	the	the	DET
american_scientific_journal-7989	70	2	method	method	NOUN
american_scientific_journal-7989	70	3	uses	use	VERB
american_scientific_journal-7989	70	4	the	the	DET
american_scientific_journal-7989	70	5	network	network	NOUN
american_scientific_journal-7989	70	6	of	of	ADP
american_scientific_journal-7989	70	7	interconnected	interconnected	ADJ
american_scientific_journal-7989	70	8	nodes	node	NOUN
american_scientific_journal-7989	70	9	to	to	PART
american_scientific_journal-7989	70	10	locate	locate	VERB
american_scientific_journal-7989	70	11	a	a	DET
american_scientific_journal-7989	70	12	path	path	NOUN
american_scientific_journal-7989	70	13	for	for	ADP
american_scientific_journal-7989	70	14	the	the	DET
american_scientific_journal-7989	70	15	mobile	mobile	ADJ
american_scientific_journal-7989	70	16	robot	robot	NOUN
american_scientific_journal-7989	70	17	that	that	PRON
american_scientific_journal-7989	70	18	avoids	avoid	VERB
american_scientific_journal-7989	70	19	collisions	collision	NOUN
american_scientific_journal-7989	70	20	[	[	X
american_scientific_journal-7989	70	21	6,11	6,11	NUM
american_scientific_journal-7989	70	22	]	]	PUNCT
american_scientific_journal-7989	70	23	.	.	PUNCT
american_scientific_journal-7989	71	1	american	american	ADJ
american_scientific_journal-7989	71	2	academic	academic	ADJ
american_scientific_journal-7989	71	3	scientific	scientific	ADJ
american_scientific_journal-7989	71	4	research	research	NOUN
american_scientific_journal-7989	71	5	journal	journal	NOUN
american_scientific_journal-7989	71	6	for	for	ADP
american_scientific_journal-7989	71	7	engineering	engineering	NOUN
american_scientific_journal-7989	71	8	,	,	PUNCT
american_scientific_journal-7989	71	9	technology	technology	NOUN
american_scientific_journal-7989	71	10	,	,	PUNCT
american_scientific_journal-7989	71	11	and	and	CCONJ
american_scientific_journal-7989	71	12	sciences	science	NOUN
american_scientific_journal-7989	71	13	(	(	PUNCT
american_scientific_journal-7989	71	14	asrjets	asrjet	NOUN
american_scientific_journal-7989	71	15	)	)	PUNCT
american_scientific_journal-7989	71	16	(	(	PUNCT
american_scientific_journal-7989	71	17	2022	2022	NUM
american_scientific_journal-7989	71	18	)	)	PUNCT
american_scientific_journal-7989	71	19	volume	volume	NOUN
american_scientific_journal-7989	71	20	90	90	NUM
american_scientific_journal-7989	71	21	,	,	PUNCT
american_scientific_journal-7989	71	22	no	no	DET
american_scientific_journal-7989	71	23	1	1	NUM
american_scientific_journal-7989	71	24	,	,	PUNCT
american_scientific_journal-7989	71	25	pp	pp	ADV
american_scientific_journal-7989	71	26	1	1	NUM
american_scientific_journal-7989	71	27	-	-	SYM
american_scientific_journal-7989	71	28	12	12	NUM
american_scientific_journal-7989	71	29	5	5	NUM
american_scientific_journal-7989	71	30	making	make	VERB
american_scientific_journal-7989	71	31	a	a	DET
american_scientific_journal-7989	71	32	map	map	NOUN
american_scientific_journal-7989	71	33	of	of	ADP
american_scientific_journal-7989	71	34	the	the	DET
american_scientific_journal-7989	71	35	area	area	NOUN
american_scientific_journal-7989	71	36	,	,	PUNCT
american_scientific_journal-7989	71	37	storing	store	VERB
american_scientific_journal-7989	71	38	it	it	PRON
american_scientific_journal-7989	71	39	in	in	ADP
american_scientific_journal-7989	71	40	computer	computer	NOUN
american_scientific_journal-7989	71	41	-	-	PUNCT
american_scientific_journal-7989	71	42	readable	readable	ADJ
american_scientific_journal-7989	71	43	form	form	NOUN
american_scientific_journal-7989	71	44	,	,	PUNCT
american_scientific_journal-7989	71	45	determining	determine	VERB
american_scientific_journal-7989	71	46	a	a	DET
american_scientific_journal-7989	71	47	possible	possible	ADJ
american_scientific_journal-7989	71	48	path	path	NOUN
american_scientific_journal-7989	71	49	from	from	ADP
american_scientific_journal-7989	71	50	point	point	NOUN
american_scientific_journal-7989	71	51	a	a	PRON
american_scientific_journal-7989	71	52	to	to	PART
american_scientific_journal-7989	71	53	point	point	VERB
american_scientific_journal-7989	71	54	b	b	PROPN
american_scientific_journal-7989	71	55	on	on	ADP
american_scientific_journal-7989	71	56	the	the	DET
american_scientific_journal-7989	71	57	recorded	record	VERB
american_scientific_journal-7989	71	58	map	map	NOUN
american_scientific_journal-7989	71	59	,	,	PUNCT
american_scientific_journal-7989	71	60	and	and	CCONJ
american_scientific_journal-7989	71	61	finally	finally	ADV
american_scientific_journal-7989	71	62	moving	move	VERB
american_scientific_journal-7989	71	63	the	the	DET
american_scientific_journal-7989	71	64	robot	robot	NOUN
american_scientific_journal-7989	71	65	along	along	ADP
american_scientific_journal-7989	71	66	the	the	DET
american_scientific_journal-7989	71	67	determined	determined	ADJ
american_scientific_journal-7989	71	68	path	path	NOUN
american_scientific_journal-7989	71	69	are	be	AUX
american_scientific_journal-7989	71	70	the	the	DET
american_scientific_journal-7989	71	71	four	four	NUM
american_scientific_journal-7989	71	72	main	main	ADJ
american_scientific_journal-7989	71	73	processes	process	NOUN
american_scientific_journal-7989	71	74	in	in	ADP
american_scientific_journal-7989	71	75	the	the	DET
american_scientific_journal-7989	71	76	robot	robot	NOUN
american_scientific_journal-7989	71	77	navigation	navigation	NOUN
american_scientific_journal-7989	71	78	process[12	process[12	PROPN
american_scientific_journal-7989	71	79	]	]	X
american_scientific_journal-7989	71	80	.	.	PUNCT
american_scientific_journal-7989	72	1	three	three	NUM
american_scientific_journal-7989	72	2	steps	step	NOUN
american_scientific_journal-7989	72	3	are	be	AUX
american_scientific_journal-7989	72	4	involved	involve	VERB
american_scientific_journal-7989	72	5	in	in	ADP
american_scientific_journal-7989	72	6	the	the	DET
american_scientific_journal-7989	72	7	map	map	NOUN
american_scientific_journal-7989	72	8	-	-	PUNCT
american_scientific_journal-7989	72	9	building	building	NOUN
american_scientific_journal-7989	72	10	process	process	NOUN
american_scientific_journal-7989	72	11	:	:	PUNCT
american_scientific_journal-7989	72	12	choosing	choose	VERB
american_scientific_journal-7989	72	13	the	the	DET
american_scientific_journal-7989	72	14	right	right	ADJ
american_scientific_journal-7989	72	15	two	two	NUM
american_scientific_journal-7989	72	16	-	-	PUNCT
american_scientific_journal-7989	72	17	dimensional	dimensional	ADJ
american_scientific_journal-7989	72	18	coordinates	coordinate	NOUN
american_scientific_journal-7989	72	19	in	in	ADP
american_scientific_journal-7989	72	20	the	the	DET
american_scientific_journal-7989	72	21	environment	environment	NOUN
american_scientific_journal-7989	72	22	world	world	NOUN
american_scientific_journal-7989	72	23	to	to	PART
american_scientific_journal-7989	72	24	cover	cover	VERB
american_scientific_journal-7989	72	25	the	the	DET
american_scientific_journal-7989	72	26	entire	entire	ADJ
american_scientific_journal-7989	72	27	working	working	NOUN
american_scientific_journal-7989	72	28	area	area	NOUN
american_scientific_journal-7989	72	29	,	,	PUNCT
american_scientific_journal-7989	72	30	driving	drive	VERB
american_scientific_journal-7989	72	31	the	the	DET
american_scientific_journal-7989	72	32	robot	robot	NOUN
american_scientific_journal-7989	72	33	in	in	ADP
american_scientific_journal-7989	72	34	the	the	DET
american_scientific_journal-7989	72	35	direction	direction	NOUN
american_scientific_journal-7989	72	36	of	of	ADP
american_scientific_journal-7989	72	37	these	these	DET
american_scientific_journal-7989	72	38	chosen	choose	VERB
american_scientific_journal-7989	72	39	coordinates	coordinate	NOUN
american_scientific_journal-7989	72	40	,	,	PUNCT
american_scientific_journal-7989	72	41	receiving	receive	VERB
american_scientific_journal-7989	72	42	sensor	sensor	NOUN
american_scientific_journal-7989	72	43	readings	reading	NOUN
american_scientific_journal-7989	72	44	,	,	PUNCT
american_scientific_journal-7989	72	45	and	and	CCONJ
american_scientific_journal-7989	72	46	marking	mark	VERB
american_scientific_journal-7989	72	47	the	the	DET
american_scientific_journal-7989	72	48	free	free	ADJ
american_scientific_journal-7989	72	49	and	and	CCONJ
american_scientific_journal-7989	72	50	occupied	occupied	ADJ
american_scientific_journal-7989	72	51	spaces	space	NOUN
american_scientific_journal-7989	72	52	in	in	ADP
american_scientific_journal-7989	72	53	the	the	DET
american_scientific_journal-7989	72	54	world	world	NOUN
american_scientific_journal-7989	72	55	by	by	ADP
american_scientific_journal-7989	72	56	setting	set	VERB
american_scientific_journal-7989	72	57	the	the	DET
american_scientific_journal-7989	72	58	probabilities	probability	NOUN
american_scientific_journal-7989	72	59	of	of	ADP
american_scientific_journal-7989	72	60	occupied	occupy	VERB
american_scientific_journal-7989	72	61	spaces	space	NOUN
american_scientific_journal-7989	72	62	as	as	ADP
american_scientific_journal-7989	72	63	one	one	NUM
american_scientific_journal-7989	72	64	and	and	CCONJ
american_scientific_journal-7989	72	65	the	the	DET
american_scientific_journal-7989	72	66	probabilities	probability	NOUN
american_scientific_journal-7989	72	67	of	of	ADP
american_scientific_journal-7989	72	68	free	free	ADJ
american_scientific_journal-7989	72	69	spaces	space	NOUN
american_scientific_journal-7989	72	70	as	as	ADP
american_scientific_journal-7989	72	71	zero	zero	NUM
american_scientific_journal-7989	72	72	in	in	ADP
american_scientific_journal-7989	72	73	the	the	DET
american_scientific_journal-7989	72	74	occupancy	occupancy	NOUN
american_scientific_journal-7989	72	75	grid	grid	NOUN
american_scientific_journal-7989	72	76	framework	framework	NOUN
american_scientific_journal-7989	72	77	.	.	PUNCT
american_scientific_journal-7989	73	1	this	this	DET
american_scientific_journal-7989	73	2	occupancy	occupancy	NOUN
american_scientific_journal-7989	73	3	grid	grid	NOUN
american_scientific_journal-7989	73	4	is	be	AUX
american_scientific_journal-7989	73	5	easily	easily	ADV
american_scientific_journal-7989	73	6	reusable	reusable	ADJ
american_scientific_journal-7989	73	7	and	and	CCONJ
american_scientific_journal-7989	73	8	may	may	AUX
american_scientific_journal-7989	73	9	be	be	AUX
american_scientific_journal-7989	73	10	directly	directly	ADV
american_scientific_journal-7989	73	11	stored	store	VERB
american_scientific_journal-7989	73	12	and	and	CCONJ
american_scientific_journal-7989	73	13	used	use	VERB
american_scientific_journal-7989	73	14	in	in	ADP
american_scientific_journal-7989	73	15	robot	robot	NOUN
american_scientific_journal-7989	73	16	path	path	NOUN
american_scientific_journal-7989	73	17	planning[7].utilized	planning[7].utilize	VERB
american_scientific_journal-7989	73	18	in	in	ADP
american_scientific_journal-7989	73	19	the	the	DET
american_scientific_journal-7989	73	20	robot	robot	NOUN
american_scientific_journal-7989	73	21	's	's	PART
american_scientific_journal-7989	73	22	navigation	navigation	NOUN
american_scientific_journal-7989	73	23	the	the	DET
american_scientific_journal-7989	73	24	occupancy	occupancy	NOUN
american_scientific_journal-7989	73	25	grid	grid	NOUN
american_scientific_journal-7989	73	26	representation	representation	NOUN
american_scientific_journal-7989	73	27	of	of	ADP
american_scientific_journal-7989	73	28	the	the	DET
american_scientific_journal-7989	73	29	environment	environment	NOUN
american_scientific_journal-7989	73	30	global	global	ADJ
american_scientific_journal-7989	73	31	map	map	NOUN
american_scientific_journal-7989	73	32	.	.	PUNCT
american_scientific_journal-7989	74	1	the	the	DET
american_scientific_journal-7989	74	2	occupancy	occupancy	NOUN
american_scientific_journal-7989	74	3	grid	grid	NOUN
american_scientific_journal-7989	74	4	map	map	NOUN
american_scientific_journal-7989	74	5	is	be	AUX
american_scientific_journal-7989	74	6	computer	computer	NOUN
american_scientific_journal-7989	74	7	readable	readable	ADJ
american_scientific_journal-7989	74	8	,	,	PUNCT
american_scientific_journal-7989	74	9	thus	thus	ADV
american_scientific_journal-7989	74	10	a	a	DET
american_scientific_journal-7989	74	11	computer	computer	NOUN
american_scientific_journal-7989	74	12	program	program	NOUN
american_scientific_journal-7989	74	13	can	can	AUX
american_scientific_journal-7989	74	14	use	use	VERB
american_scientific_journal-7989	74	15	it	it	PRON
american_scientific_journal-7989	74	16	to	to	PART
american_scientific_journal-7989	74	17	find	find	VERB
american_scientific_journal-7989	74	18	a	a	DET
american_scientific_journal-7989	74	19	path	path	NOUN
american_scientific_journal-7989	74	20	free	free	ADJ
american_scientific_journal-7989	74	21	of	of	ADP
american_scientific_journal-7989	74	22	obstacles	obstacle	NOUN
american_scientific_journal-7989	74	23	.	.	PUNCT
american_scientific_journal-7989	75	1	finding	find	VERB
american_scientific_journal-7989	75	2	the	the	DET
american_scientific_journal-7989	75	3	best	good	ADJ
american_scientific_journal-7989	75	4	practical	practical	ADJ
american_scientific_journal-7989	75	5	route	route	NOUN
american_scientific_journal-7989	75	6	from	from	ADP
american_scientific_journal-7989	75	7	the	the	DET
american_scientific_journal-7989	75	8	starting	starting	NOUN
american_scientific_journal-7989	75	9	point	point	NOUN
american_scientific_journal-7989	75	10	to	to	ADP
american_scientific_journal-7989	75	11	the	the	DET
american_scientific_journal-7989	75	12	destination	destination	NOUN
american_scientific_journal-7989	75	13	site	site	NOUN
american_scientific_journal-7989	75	14	is	be	AUX
american_scientific_journal-7989	75	15	the	the	DET
american_scientific_journal-7989	75	16	process	process	NOUN
american_scientific_journal-7989	75	17	of	of	ADP
american_scientific_journal-7989	75	18	path	path	NOUN
american_scientific_journal-7989	75	19	planning	planning	NOUN
american_scientific_journal-7989	75	20	in	in	ADP
american_scientific_journal-7989	75	21	robot	robot	NOUN
american_scientific_journal-7989	75	22	navigation	navigation	NOUN
american_scientific_journal-7989	75	23	.	.	PUNCT
american_scientific_journal-7989	76	1	in	in	ADP
american_scientific_journal-7989	76	2	an	an	DET
american_scientific_journal-7989	76	3	occupancy	occupancy	NOUN
american_scientific_journal-7989	76	4	grid	grid	NOUN
american_scientific_journal-7989	76	5	map	map	NOUN
american_scientific_journal-7989	76	6	,	,	PUNCT
american_scientific_journal-7989	76	7	a	a	DET
american_scientific_journal-7989	76	8	path	path	NOUN
american_scientific_journal-7989	76	9	from	from	ADP
american_scientific_journal-7989	76	10	the	the	DET
american_scientific_journal-7989	76	11	starting	starting	NOUN
american_scientific_journal-7989	76	12	point	point	NOUN
american_scientific_journal-7989	76	13	to	to	ADP
american_scientific_journal-7989	76	14	the	the	DET
american_scientific_journal-7989	76	15	goal	goal	NOUN
american_scientific_journal-7989	76	16	point	point	NOUN
american_scientific_journal-7989	76	17	can	can	AUX
american_scientific_journal-7989	76	18	be	be	AUX
american_scientific_journal-7989	76	19	found	find	VERB
american_scientific_journal-7989	76	20	using	use	VERB
american_scientific_journal-7989	76	21	the	the	DET
american_scientific_journal-7989	76	22	probabilistic	probabilistic	ADJ
american_scientific_journal-7989	76	23	roadmaps	roadmap	NOUN
american_scientific_journal-7989	76	24	(	(	PUNCT
american_scientific_journal-7989	76	25	prm	prm	NOUN
american_scientific_journal-7989	76	26	)	)	PUNCT
american_scientific_journal-7989	76	27	technique	technique	NOUN
american_scientific_journal-7989	76	28	.	.	PUNCT
american_scientific_journal-7989	77	1	in	in	ADP
american_scientific_journal-7989	77	2	the	the	DET
american_scientific_journal-7989	77	3	prm	prm	PROPN
american_scientific_journal-7989	77	4	technique	technique	NOUN
american_scientific_journal-7989	77	5	,	,	PUNCT
american_scientific_journal-7989	77	6	the	the	DET
american_scientific_journal-7989	77	7	specified	specified	ADJ
american_scientific_journal-7989	77	8	number	number	NOUN
american_scientific_journal-7989	77	9	of	of	ADP
american_scientific_journal-7989	77	10	nodes	node	NOUN
american_scientific_journal-7989	77	11	are	be	AUX
american_scientific_journal-7989	77	12	formed	form	VERB
american_scientific_journal-7989	77	13	in	in	ADP
american_scientific_journal-7989	77	14	the	the	DET
american_scientific_journal-7989	77	15	grid	grid	NOUN
american_scientific_journal-7989	77	16	's	's	PART
american_scientific_journal-7989	77	17	open	open	ADJ
american_scientific_journal-7989	77	18	spaces	space	NOUN
american_scientific_journal-7989	77	19	before	before	ADP
american_scientific_journal-7989	77	20	being	be	AUX
american_scientific_journal-7989	77	21	connected	connect	VERB
american_scientific_journal-7989	77	22	to	to	ADP
american_scientific_journal-7989	77	23	one	one	NUM
american_scientific_journal-7989	77	24	another	another	DET
american_scientific_journal-7989	77	25	within	within	ADP
american_scientific_journal-7989	77	26	a	a	DET
american_scientific_journal-7989	77	27	predetermined	predetermine	VERB
american_scientific_journal-7989	77	28	connection	connection	NOUN
american_scientific_journal-7989	77	29	distance	distance	NOUN
american_scientific_journal-7989	77	30	.	.	PUNCT
american_scientific_journal-7989	78	1	additionally	additionally	ADV
american_scientific_journal-7989	78	2	,	,	PUNCT
american_scientific_journal-7989	78	3	one	one	NUM
american_scientific_journal-7989	78	4	path	path	NOUN
american_scientific_journal-7989	78	5	among	among	ADP
american_scientific_journal-7989	78	6	the	the	DET
american_scientific_journal-7989	78	7	potential	potential	ADJ
american_scientific_journal-7989	78	8	connected	connected	ADJ
american_scientific_journal-7989	78	9	paths	path	NOUN
american_scientific_journal-7989	78	10	from	from	ADP
american_scientific_journal-7989	78	11	the	the	DET
american_scientific_journal-7989	78	12	start	start	NOUN
american_scientific_journal-7989	78	13	to	to	ADP
american_scientific_journal-7989	78	14	the	the	DET
american_scientific_journal-7989	78	15	goal	goal	NOUN
american_scientific_journal-7989	78	16	is	be	AUX
american_scientific_journal-7989	78	17	chosen[13	chosen[13	PRON
american_scientific_journal-7989	78	18	]	]	PUNCT
american_scientific_journal-7989	78	19	.	.	PUNCT
american_scientific_journal-7989	79	1	4	4	X
american_scientific_journal-7989	79	2	.	.	X
american_scientific_journal-7989	79	3	the	the	DET
american_scientific_journal-7989	79	4	pure	pure	ADJ
american_scientific_journal-7989	79	5	pursuit	pursuit	NOUN
american_scientific_journal-7989	79	6	path	path	NOUN
american_scientific_journal-7989	79	7	tracker	tracker	PROPN
american_scientific_journal-7989	79	8	a	a	DET
american_scientific_journal-7989	79	9	technique	technique	NOUN
american_scientific_journal-7989	79	10	called	call	VERB
american_scientific_journal-7989	79	11	pure	pure	ADJ
american_scientific_journal-7989	79	12	-	-	PUNCT
american_scientific_journal-7989	79	13	pursuit	pursuit	NOUN
american_scientific_journal-7989	79	14	can	can	AUX
american_scientific_journal-7989	79	15	be	be	AUX
american_scientific_journal-7989	79	16	used	use	VERB
american_scientific_journal-7989	79	17	to	to	PART
american_scientific_journal-7989	79	18	geometrically	geometrically	ADV
american_scientific_journal-7989	79	19	determine	determine	VERB
american_scientific_journal-7989	79	20	the	the	DET
american_scientific_journal-7989	79	21	arc	arc	NOUN
american_scientific_journal-7989	79	22	required	require	VERB
american_scientific_journal-7989	79	23	to	to	PART
american_scientific_journal-7989	79	24	get	get	VERB
american_scientific_journal-7989	79	25	a	a	DET
american_scientific_journal-7989	79	26	vehicle	vehicle	NOUN
american_scientific_journal-7989	79	27	onto	onto	ADP
american_scientific_journal-7989	79	28	a	a	DET
american_scientific_journal-7989	79	29	path	path	NOUN
american_scientific_journal-7989	79	30	.	.	PUNCT
american_scientific_journal-7989	80	1	the	the	DET
american_scientific_journal-7989	80	2	approach	approach	NOUN
american_scientific_journal-7989	80	3	is	be	AUX
american_scientific_journal-7989	80	4	straightforward	straightforward	ADJ
american_scientific_journal-7989	80	5	,	,	PUNCT
american_scientific_journal-7989	80	6	simple	simple	ADJ
american_scientific_journal-7989	80	7	,	,	PUNCT
american_scientific_journal-7989	80	8	and	and	CCONJ
american_scientific_journal-7989	80	9	simple	simple	ADJ
american_scientific_journal-7989	80	10	to	to	AUX
american_scientific_journal-7989	80	11	use	use	VERB
american_scientific_journal-7989	80	12	.	.	PUNCT
american_scientific_journal-7989	81	1	the	the	DET
american_scientific_journal-7989	81	2	algorithm	algorithm	NOUN
american_scientific_journal-7989	81	3	's	's	PART
american_scientific_journal-7989	81	4	main	main	ADJ
american_scientific_journal-7989	81	5	goal	goal	NOUN
american_scientific_journal-7989	81	6	is	be	AUX
american_scientific_journal-7989	81	7	to	to	PART
american_scientific_journal-7989	81	8	select	select	VERB
american_scientific_journal-7989	81	9	an	an	DET
american_scientific_journal-7989	81	10	appropriate	appropriate	ADJ
american_scientific_journal-7989	81	11	look	look	VERB
american_scientific_journal-7989	81	12	-	-	PUNCT
american_scientific_journal-7989	81	13	ahead	ahead	NOUN
american_scientific_journal-7989	81	14	distance	distance	NOUN
american_scientific_journal-7989	81	15	[	[	X
american_scientific_journal-7989	81	16	8	8	NUM
american_scientific_journal-7989	81	17	]	]	PUNCT
american_scientific_journal-7989	81	18	.	.	PUNCT
american_scientific_journal-7989	82	1	it	it	PRON
american_scientific_journal-7989	82	2	is	be	AUX
american_scientific_journal-7989	82	3	comparable	comparable	ADJ
american_scientific_journal-7989	82	4	to	to	ADP
american_scientific_journal-7989	82	5	human	human	ADJ
american_scientific_journal-7989	82	6	driving	driving	NOUN
american_scientific_journal-7989	82	7	in	in	ADP
american_scientific_journal-7989	82	8	that	that	SCONJ
american_scientific_journal-7989	82	9	people	people	NOUN
american_scientific_journal-7989	82	10	set	set	VERB
american_scientific_journal-7989	82	11	a	a	DET
american_scientific_journal-7989	82	12	look	look	VERB
american_scientific_journal-7989	82	13	-	-	PUNCT
american_scientific_journal-7989	82	14	ahead	ahead	NOUN
american_scientific_journal-7989	82	15	distance	distance	NOUN
american_scientific_journal-7989	82	16	for	for	ADP
american_scientific_journal-7989	82	17	their	their	PRON
american_scientific_journal-7989	82	18	vehicles	vehicle	NOUN
american_scientific_journal-7989	82	19	and	and	CCONJ
american_scientific_journal-7989	82	20	then	then	ADV
american_scientific_journal-7989	82	21	steer	steer	VERB
american_scientific_journal-7989	82	22	to	to	PART
american_scientific_journal-7989	82	23	get	get	VERB
american_scientific_journal-7989	82	24	them	they	PRON
american_scientific_journal-7989	82	25	to	to	ADP
american_scientific_journal-7989	82	26	that	that	DET
american_scientific_journal-7989	82	27	location	location	NOUN
american_scientific_journal-7989	82	28	.	.	PUNCT
american_scientific_journal-7989	83	1	path	path	NOUN
american_scientific_journal-7989	83	2	tracking	tracking	NOUN
american_scientific_journal-7989	83	3	has	have	AUX
american_scientific_journal-7989	83	4	seen	see	VERB
american_scientific_journal-7989	83	5	extensive	extensive	ADJ
american_scientific_journal-7989	83	6	application	application	NOUN
american_scientific_journal-7989	83	7	of	of	ADP
american_scientific_journal-7989	83	8	the	the	DET
american_scientific_journal-7989	83	9	pure	pure	ADJ
american_scientific_journal-7989	83	10	pursuit	pursuit	NOUN
american_scientific_journal-7989	83	11	algorithm	algorithm	NOUN
american_scientific_journal-7989	83	12	.	.	PUNCT
american_scientific_journal-7989	84	1	in	in	ADP
american_scientific_journal-7989	84	2	figure	figure	NOUN
american_scientific_journal-7989	84	3	(	(	PUNCT
american_scientific_journal-7989	84	4	3	3	NUM
american_scientific_journal-7989	84	5	)	)	PUNCT
american_scientific_journal-7989	84	6	,	,	PUNCT
american_scientific_journal-7989	84	7	the	the	DET
american_scientific_journal-7989	84	8	algorithm	algorithm	NOUN
american_scientific_journal-7989	84	9	is	be	AUX
american_scientific_journal-7989	84	10	presented	present	VERB
american_scientific_journal-7989	84	11	[	[	X
american_scientific_journal-7989	84	12	14	14	NUM
american_scientific_journal-7989	84	13	]	]	PUNCT
american_scientific_journal-7989	84	14	.	.	PUNCT
american_scientific_journal-7989	85	1	figure	figure	VERB
american_scientific_journal-7989	85	2	3	3	NUM
american_scientific_journal-7989	85	3	:	:	PUNCT
american_scientific_journal-7989	85	4	the	the	DET
american_scientific_journal-7989	85	5	pure	pure	ADJ
american_scientific_journal-7989	85	6	-	-	PUNCT
american_scientific_journal-7989	85	7	pursuit	pursuit	NOUN
american_scientific_journal-7989	85	8	mode	mode	NOUN
american_scientific_journal-7989	85	9	's	's	PART
american_scientific_journal-7989	85	10	geometry	geometry	NOUN
american_scientific_journal-7989	85	11	[	[	X
american_scientific_journal-7989	85	12	15	15	NUM
american_scientific_journal-7989	85	13	]	]	X
american_scientific_journal-7989	85	14	the	the	DET
american_scientific_journal-7989	85	15	coordinate	coordinate	NOUN
american_scientific_journal-7989	85	16	system	system	NOUN
american_scientific_journal-7989	85	17	of	of	ADP
american_scientific_journal-7989	85	18	the	the	DET
american_scientific_journal-7989	85	19	machine	machine	NOUN
american_scientific_journal-7989	85	20	is	be	AUX
american_scientific_journal-7989	85	21	built	build	VERB
american_scientific_journal-7989	85	22	using	use	VERB
american_scientific_journal-7989	85	23	the	the	DET
american_scientific_journal-7989	85	24	x	x	ADJ
american_scientific_journal-7989	85	25	and	and	CCONJ
american_scientific_journal-7989	85	26	y	y	PROPN
american_scientific_journal-7989	85	27	axes	axis	NOUN
american_scientific_journal-7989	85	28	.	.	PUNCT
american_scientific_journal-7989	86	1	the	the	DET
american_scientific_journal-7989	86	2	machine	machine	NOUN
american_scientific_journal-7989	86	3	is	be	AUX
american_scientific_journal-7989	86	4	some	some	DET
american_scientific_journal-7989	86	5	distance	distance	NOUN
american_scientific_journal-7989	86	6	away	away	ADV
american_scientific_journal-7989	86	7	from	from	ADP
american_scientific_journal-7989	86	8	the	the	DET
american_scientific_journal-7989	86	9	point	point	NOUN
american_scientific_journal-7989	86	10	(	(	PUNCT
american_scientific_journal-7989	86	11	x	x	NOUN
american_scientific_journal-7989	86	12	,	,	PUNCT
american_scientific_journal-7989	86	13	y	y	PROPN
american_scientific_journal-7989	86	14	)	)	PUNCT
american_scientific_journal-7989	86	15	.	.	PUNCT
american_scientific_journal-7989	87	1	the	the	DET
american_scientific_journal-7989	87	2	l	l	NOUN
american_scientific_journal-7989	87	3	represents	represent	VERB
american_scientific_journal-7989	87	4	the	the	DET
american_scientific_journal-7989	87	5	arc	arc	NOUN
american_scientific_journal-7989	87	6	's	's	PART
american_scientific_journal-7989	87	7	cord	cord	NOUN
american_scientific_journal-7989	87	8	's	's	PART
american_scientific_journal-7989	87	9	length	length	NOUN
american_scientific_journal-7989	87	10	.	.	PUNCT
american_scientific_journal-7989	88	1	american	american	ADJ
american_scientific_journal-7989	88	2	academic	academic	ADJ
american_scientific_journal-7989	88	3	scientific	scientific	ADJ
american_scientific_journal-7989	88	4	research	research	NOUN
american_scientific_journal-7989	88	5	journal	journal	NOUN
american_scientific_journal-7989	88	6	for	for	ADP
american_scientific_journal-7989	88	7	engineering	engineering	NOUN
american_scientific_journal-7989	88	8	,	,	PUNCT
american_scientific_journal-7989	88	9	technology	technology	NOUN
american_scientific_journal-7989	88	10	,	,	PUNCT
american_scientific_journal-7989	88	11	and	and	CCONJ
american_scientific_journal-7989	88	12	sciences	science	NOUN
american_scientific_journal-7989	88	13	(	(	PUNCT
american_scientific_journal-7989	88	14	asrjets	asrjet	NOUN
american_scientific_journal-7989	88	15	)	)	PUNCT
american_scientific_journal-7989	88	16	(	(	PUNCT
american_scientific_journal-7989	88	17	2022	2022	NUM
american_scientific_journal-7989	88	18	)	)	PUNCT
american_scientific_journal-7989	88	19	volume	volume	NOUN
american_scientific_journal-7989	88	20	90	90	NUM
american_scientific_journal-7989	88	21	,	,	PUNCT
american_scientific_journal-7989	88	22	no	no	DET
american_scientific_journal-7989	88	23	1	1	NUM
american_scientific_journal-7989	88	24	,	,	PUNCT
american_scientific_journal-7989	88	25	pp	pp	ADV
american_scientific_journal-7989	88	26	1	1	NUM
american_scientific_journal-7989	88	27	-	-	SYM
american_scientific_journal-7989	88	28	12	12	NUM
american_scientific_journal-7989	88	29	6	6	NUM
american_scientific_journal-7989	88	30	linking	link	VERB
american_scientific_journal-7989	88	31	the	the	DET
american_scientific_journal-7989	88	32	point	point	NOUN
american_scientific_journal-7989	88	33	and	and	CCONJ
american_scientific_journal-7989	88	34	the	the	DET
american_scientific_journal-7989	88	35	source	source	NOUN
american_scientific_journal-7989	88	36	(	(	PUNCT
american_scientific_journal-7989	88	37	x	x	NOUN
american_scientific_journal-7989	88	38	,	,	PUNCT
american_scientific_journal-7989	88	39	y	y	PROPN
american_scientific_journal-7989	88	40	)	)	PUNCT
american_scientific_journal-7989	88	41	.	.	PUNCT
american_scientific_journal-7989	89	1	the	the	DET
american_scientific_journal-7989	89	2	arc	arc	NOUN
american_scientific_journal-7989	89	3	's	's	PART
american_scientific_journal-7989	89	4	curvature	curvature	NOUN
american_scientific_journal-7989	89	5	's	's	PART
american_scientific_journal-7989	89	6	radius	radius	NOUN
american_scientific_journal-7989	89	7	is	be	AUX
american_scientific_journal-7989	89	8	r.	r.	NOUN
american_scientific_journal-7989	89	9	the	the	DET
american_scientific_journal-7989	89	10	following	follow	VERB
american_scientific_journal-7989	89	11	is	be	AUX
american_scientific_journal-7989	89	12	the	the	DET
american_scientific_journal-7989	89	13	relationship	relationship	NOUN
american_scientific_journal-7989	89	14	between	between	ADP
american_scientific_journal-7989	89	15	x	x	NOUN
american_scientific_journal-7989	89	16	,	,	PUNCT
american_scientific_journal-7989	89	17	l	l	NOUN
american_scientific_journal-7989	89	18	,	,	PUNCT
american_scientific_journal-7989	89	19	and	and	CCONJ
american_scientific_journal-7989	89	20	r	r	X
american_scientific_journal-7989	90	1	[	[	X
american_scientific_journal-7989	90	2	16	16	NUM
american_scientific_journal-7989	90	3	]	]	X
american_scientific_journal-7989	90	4	:	:	PUNCT
american_scientific_journal-7989	90	5	by	by	ADP
american_scientific_journal-7989	90	6	choosing	choose	VERB
american_scientific_journal-7989	90	7	a	a	DET
american_scientific_journal-7989	90	8	look	look	VERB
american_scientific_journal-7989	90	9	-	-	PUNCT
american_scientific_journal-7989	90	10	ahead	ahead	NOUN
american_scientific_journal-7989	90	11	distance	distance	NOUN
american_scientific_journal-7989	90	12	and	and	CCONJ
american_scientific_journal-7989	90	13	calculating	calculate	VERB
american_scientific_journal-7989	90	14	the	the	DET
american_scientific_journal-7989	90	15	path	path	NOUN
american_scientific_journal-7989	90	16	error	error	NOUN
american_scientific_journal-7989	90	17	x	x	NOUN
american_scientific_journal-7989	90	18	,	,	PUNCT
american_scientific_journal-7989	90	19	the	the	DET
american_scientific_journal-7989	90	20	radius	radius	NOUN
american_scientific_journal-7989	90	21	of	of	ADP
american_scientific_journal-7989	90	22	the	the	DET
american_scientific_journal-7989	90	23	curvature	curvature	NOUN
american_scientific_journal-7989	90	24	required	require	VERB
american_scientific_journal-7989	90	25	to	to	PART
american_scientific_journal-7989	90	26	get	get	VERB
american_scientific_journal-7989	90	27	the	the	DET
american_scientific_journal-7989	90	28	machine	machine	NOUN
american_scientific_journal-7989	90	29	on	on	ADP
american_scientific_journal-7989	90	30	the	the	DET
american_scientific_journal-7989	90	31	required	require	VERB
american_scientific_journal-7989	90	32	path	path	NOUN
american_scientific_journal-7989	90	33	can	can	AUX
american_scientific_journal-7989	90	34	be	be	AUX
american_scientific_journal-7989	90	35	calculated[14].the	calculated[14].the	DET
american_scientific_journal-7989	90	36	curvature	curvature	NOUN
american_scientific_journal-7989	90	37	of	of	ADP
american_scientific_journal-7989	90	38	an	an	DET
american_scientific_journal-7989	90	39	arc	arc	NOUN
american_scientific_journal-7989	90	40	is	be	AUX
american_scientific_journal-7989	90	41	given	give	VERB
american_scientific_journal-7989	90	42	as	as	ADP
american_scientific_journal-7989	90	43	γ	γ	X
american_scientific_journal-7989	90	44	=	=	SYM
american_scientific_journal-7989	90	45	1	1	NUM
american_scientific_journal-7989	90	46	𝑟	𝑟	NOUN
american_scientific_journal-7989	90	47	so	so	SCONJ
american_scientific_journal-7989	90	48	we	we	PRON
american_scientific_journal-7989	90	49	can	can	AUX
american_scientific_journal-7989	90	50	rewrite	rewrite	VERB
american_scientific_journal-7989	90	51	equation	equation	NOUN
american_scientific_journal-7989	90	52	5	5	NUM
american_scientific_journal-7989	90	53	as	as	ADP
american_scientific_journal-7989	90	54	:	:	PUNCT
american_scientific_journal-7989	91	1	γ	γ	X
american_scientific_journal-7989	91	2	=	=	SYM
american_scientific_journal-7989	91	3	2𝑥	2𝑥	PROPN
american_scientific_journal-7989	91	4	𝑙2	𝑙2	PROPN
american_scientific_journal-7989	92	1	[	[	X
american_scientific_journal-7989	92	2	17](6	17](6	NUM
american_scientific_journal-7989	92	3	)	)	PUNCT
american_scientific_journal-7989	92	4	figure	figure	NOUN
american_scientific_journal-7989	92	5	4	4	NUM
american_scientific_journal-7989	92	6	:	:	PUNCT
american_scientific_journal-7989	92	7	block	block	NOUN
american_scientific_journal-7989	92	8	diagram	diagram	NOUN
american_scientific_journal-7989	92	9	of	of	ADP
american_scientific_journal-7989	92	10	the	the	DET
american_scientific_journal-7989	92	11	pure	pure	ADJ
american_scientific_journal-7989	92	12	-	-	PUNCT
american_scientific_journal-7989	92	13	pursuit	pursuit	NOUN
american_scientific_journal-7989	92	14	path	path	NOUN
american_scientific_journal-7989	92	15	tracker[18	tracker[18	NUM
american_scientific_journal-7989	92	16	]	]	PUNCT
american_scientific_journal-7989	92	17	the	the	DET
american_scientific_journal-7989	92	18	pure	pure	ADJ
american_scientific_journal-7989	92	19	pursuit	pursuit	NOUN
american_scientific_journal-7989	92	20	algorithm	algorithm	NOUN
american_scientific_journal-7989	92	21	,	,	PUNCT
american_scientific_journal-7989	92	22	in	in	ADP
american_scientific_journal-7989	92	23	its	its	PRON
american_scientific_journal-7989	92	24	simplest	simple	ADJ
american_scientific_journal-7989	92	25	form	form	NOUN
american_scientific_journal-7989	92	26	,	,	PUNCT
american_scientific_journal-7989	92	27	is	be	AUX
american_scientific_journal-7989	92	28	a	a	DET
american_scientific_journal-7989	92	29	proportional	proportional	ADJ
american_scientific_journal-7989	92	30	controller	controller	NOUN
american_scientific_journal-7989	92	31	that	that	PRON
american_scientific_journal-7989	92	32	compares	compare	VERB
american_scientific_journal-7989	92	33	the	the	DET
american_scientific_journal-7989	92	34	heading	heading	NOUN
american_scientific_journal-7989	92	35	of	of	ADP
american_scientific_journal-7989	92	36	the	the	DET
american_scientific_journal-7989	92	37	current	current	ADJ
american_scientific_journal-7989	92	38	vehicle	vehicle	NOUN
american_scientific_journal-7989	92	39	to	to	ADP
american_scientific_journal-7989	92	40	the	the	DET
american_scientific_journal-7989	92	41	heading	heading	NOUN
american_scientific_journal-7989	92	42	along	along	ADP
american_scientific_journal-7989	92	43	the	the	DET
american_scientific_journal-7989	92	44	way	way	NOUN
american_scientific_journal-7989	92	45	to	to	ADP
american_scientific_journal-7989	92	46	the	the	DET
american_scientific_journal-7989	92	47	destination	destination	NOUN
american_scientific_journal-7989	92	48	location	location	NOUN
american_scientific_journal-7989	92	49	.	.	PUNCT
american_scientific_journal-7989	93	1	american	american	ADJ
american_scientific_journal-7989	93	2	academic	academic	ADJ
american_scientific_journal-7989	93	3	scientific	scientific	ADJ
american_scientific_journal-7989	93	4	research	research	NOUN
american_scientific_journal-7989	93	5	journal	journal	NOUN
american_scientific_journal-7989	93	6	for	for	ADP
american_scientific_journal-7989	93	7	engineering	engineering	NOUN
american_scientific_journal-7989	93	8	,	,	PUNCT
american_scientific_journal-7989	93	9	technology	technology	NOUN
american_scientific_journal-7989	93	10	,	,	PUNCT
american_scientific_journal-7989	93	11	and	and	CCONJ
american_scientific_journal-7989	93	12	sciences	science	NOUN
american_scientific_journal-7989	93	13	(	(	PUNCT
american_scientific_journal-7989	93	14	asrjets	asrjet	NOUN
american_scientific_journal-7989	93	15	)	)	PUNCT
american_scientific_journal-7989	93	16	(	(	PUNCT
american_scientific_journal-7989	93	17	2022	2022	NUM
american_scientific_journal-7989	93	18	)	)	PUNCT
american_scientific_journal-7989	93	19	volume	volume	NOUN
american_scientific_journal-7989	93	20	90	90	NUM
american_scientific_journal-7989	93	21	,	,	PUNCT
american_scientific_journal-7989	93	22	no	no	DET
american_scientific_journal-7989	93	23	1	1	NUM
american_scientific_journal-7989	93	24	,	,	PUNCT
american_scientific_journal-7989	93	25	pp	pp	ADV
american_scientific_journal-7989	93	26	1	1	NUM
american_scientific_journal-7989	93	27	-	-	SYM
american_scientific_journal-7989	93	28	12	12	NUM
american_scientific_journal-7989	93	29	7	7	NUM
american_scientific_journal-7989	93	30	figure	figure	NOUN
american_scientific_journal-7989	93	31	5	5	NUM
american_scientific_journal-7989	93	32	:	:	PUNCT
american_scientific_journal-7989	93	33	with	with	ADP
american_scientific_journal-7989	93	34	a	a	DET
american_scientific_journal-7989	93	35	longer	long	ADJ
american_scientific_journal-7989	93	36	lookahead	lookahead	NOUN
american_scientific_journal-7989	93	37	distance	distance	NOUN
american_scientific_journal-7989	93	38	,	,	PUNCT
american_scientific_journal-7989	93	39	there	there	PRON
american_scientific_journal-7989	93	40	is	be	VERB
american_scientific_journal-7989	93	41	less	less	ADJ
american_scientific_journal-7989	93	42	overshoot	overshoot	NOUN
american_scientific_journal-7989	93	43	when	when	SCONJ
american_scientific_journal-7989	93	44	reentering	reentere	VERB
american_scientific_journal-7989	93	45	the	the	DET
american_scientific_journal-7989	93	46	path	path	NOUN
american_scientific_journal-7989	93	47	following	follow	VERB
american_scientific_journal-7989	93	48	a	a	DET
american_scientific_journal-7989	93	49	substantial	substantial	ADJ
american_scientific_journal-7989	93	50	separation	separation	NOUN
american_scientific_journal-7989	93	51	[	[	X
american_scientific_journal-7989	93	52	17	17	NUM
american_scientific_journal-7989	93	53	]	]	PUNCT
american_scientific_journal-7989	93	54	this	this	PRON
american_scientific_journal-7989	93	55	is	be	AUX
american_scientific_journal-7989	93	56	demonstrated	demonstrate	VERB
american_scientific_journal-7989	93	57	by	by	ADP
american_scientific_journal-7989	93	58	using	use	VERB
american_scientific_journal-7989	93	59	a	a	DET
american_scientific_journal-7989	93	60	different	different	ADJ
american_scientific_journal-7989	93	61	technique	technique	NOUN
american_scientific_journal-7989	93	62	to	to	PART
american_scientific_journal-7989	93	63	display	display	VERB
american_scientific_journal-7989	93	64	the	the	DET
american_scientific_journal-7989	93	65	curvature	curvature	NOUN
american_scientific_journal-7989	93	66	formula	formula	NOUN
american_scientific_journal-7989	93	67	.	.	PUNCT
american_scientific_journal-7989	94	1	from	from	ADP
american_scientific_journal-7989	94	2	figure3	figure3	PROPN
american_scientific_journal-7989	94	3	,	,	PUNCT
american_scientific_journal-7989	94	4	we	we	PRON
american_scientific_journal-7989	94	5	see	see	VERB
american_scientific_journal-7989	94	6	that	that	SCONJ
american_scientific_journal-7989	94	7	sin(θerr	sin(θerr	NOUN
american_scientific_journal-7989	94	8	)	)	PUNCT
american_scientific_journal-7989	94	9	=	=	SYM
american_scientific_journal-7989	95	1	𝑥	𝑥	PROPN
american_scientific_journal-7989	95	2	𝑙	𝑙	NOUN
american_scientific_journal-7989	95	3	,	,	PUNCT
american_scientific_journal-7989	95	4	so	so	ADV
american_scientific_journal-7989	95	5	for	for	ADP
american_scientific_journal-7989	95	6	small	small	ADJ
american_scientific_journal-7989	95	7	heading	heading	ADJ
american_scientific_journal-7989	95	8	errors	error	NOUN
american_scientific_journal-7989	95	9	θerr	θerr	VERB
american_scientific_journal-7989	95	10	≈	≈	PROPN
american_scientific_journal-7989	95	11	𝑥	𝑥	PROPN
american_scientific_journal-7989	95	12	𝑙	𝑙	X
american_scientific_journal-7989	95	13	.	.	PUNCT
american_scientific_journal-7989	96	1	substituting	substitute	VERB
american_scientific_journal-7989	96	2	this	this	PRON
american_scientific_journal-7989	96	3	into	into	ADP
american_scientific_journal-7989	96	4	equation	equation	NOUN
american_scientific_journal-7989	96	5	6	6	NUM
american_scientific_journal-7989	96	6	,	,	PUNCT
american_scientific_journal-7989	96	7	we	we	PRON
american_scientific_journal-7989	96	8	get	get	VERB
american_scientific_journal-7989	96	9	:	:	PUNCT
american_scientific_journal-7989	96	10	γ	γ	X
american_scientific_journal-7989	96	11	=	=	SYM
american_scientific_journal-7989	96	12	2θerr	2θerr	NUM
american_scientific_journal-7989	96	13	𝑙	𝑙	NOUN
american_scientific_journal-7989	97	1	[	[	X
american_scientific_journal-7989	97	2	17](7	17](7	NUM
american_scientific_journal-7989	97	3	)	)	PUNCT
american_scientific_journal-7989	97	4	this	this	PRON
american_scientific_journal-7989	97	5	demonstrates	demonstrate	VERB
american_scientific_journal-7989	97	6	that	that	SCONJ
american_scientific_journal-7989	97	7	the	the	DET
american_scientific_journal-7989	97	8	lookahead	lookahead	NOUN
american_scientific_journal-7989	97	9	distance	distance	NOUN
american_scientific_journal-7989	97	10	,	,	PUNCT
american_scientific_journal-7989	97	11	or	or	CCONJ
american_scientific_journal-7989	97	12	𝑙	𝑙	PRON
american_scientific_journal-7989	97	13	,	,	PUNCT
american_scientific_journal-7989	97	14	is	be	AUX
american_scientific_journal-7989	97	15	the	the	DET
american_scientific_journal-7989	97	16	algorithm	algorithm	NOUN
american_scientific_journal-7989	97	17	's	's	PART
american_scientific_journal-7989	97	18	sole	sole	ADJ
american_scientific_journal-7989	97	19	parameter	parameter	NOUN
american_scientific_journal-7989	97	20	.	.	PUNCT
american_scientific_journal-7989	98	1	the	the	DET
american_scientific_journal-7989	98	2	algorithm	algorithm	NOUN
american_scientific_journal-7989	98	3	is	be	AUX
american_scientific_journal-7989	98	4	incredibly	incredibly	ADV
american_scientific_journal-7989	98	5	simple	simple	ADJ
american_scientific_journal-7989	98	6	to	to	PART
american_scientific_journal-7989	98	7	implement	implement	VERB
american_scientific_journal-7989	98	8	and	and	CCONJ
american_scientific_journal-7989	98	9	fine	fine	ADJ
american_scientific_journal-7989	98	10	-	-	PUNCT
american_scientific_journal-7989	98	11	tune	tune	NOUN
american_scientific_journal-7989	98	12	as	as	ADP
american_scientific_journal-7989	98	13	a	a	DET
american_scientific_journal-7989	98	14	result	result	NOUN
american_scientific_journal-7989	98	15	.	.	PUNCT
american_scientific_journal-7989	99	1	the	the	DET
american_scientific_journal-7989	99	2	lookahead	lookahead	NOUN
american_scientific_journal-7989	99	3	distance	distance	NOUN
american_scientific_journal-7989	99	4	can	can	AUX
american_scientific_journal-7989	99	5	be	be	AUX
american_scientific_journal-7989	99	6	tuned	tune	VERB
american_scientific_journal-7989	99	7	to	to	PART
american_scientific_journal-7989	99	8	change	change	VERB
american_scientific_journal-7989	99	9	a	a	DET
american_scientific_journal-7989	99	10	variety	variety	NOUN
american_scientific_journal-7989	99	11	of	of	ADP
american_scientific_journal-7989	99	12	performance	performance	NOUN
american_scientific_journal-7989	99	13	aspects	aspect	NOUN
american_scientific_journal-7989	99	14	.	.	PUNCT
american_scientific_journal-7989	100	1	a	a	DET
american_scientific_journal-7989	100	2	path	path	NOUN
american_scientific_journal-7989	100	3	's	's	PART
american_scientific_journal-7989	100	4	maximum	maximum	ADJ
american_scientific_journal-7989	100	5	curvature	curvature	NOUN
american_scientific_journal-7989	100	6	can	can	AUX
american_scientific_journal-7989	100	7	be	be	AUX
american_scientific_journal-7989	100	8	tracked	track	VERB
american_scientific_journal-7989	100	9	more	more	ADV
american_scientific_journal-7989	100	10	accurately	accurately	ADV
american_scientific_journal-7989	100	11	and	and	CCONJ
american_scientific_journal-7989	100	12	with	with	ADP
american_scientific_journal-7989	100	13	more	more	ADJ
american_scientific_journal-7989	100	14	precision	precision	NOUN
american_scientific_journal-7989	100	15	when	when	SCONJ
american_scientific_journal-7989	100	16	the	the	DET
american_scientific_journal-7989	100	17	lookahead	lookahead	NOUN
american_scientific_journal-7989	100	18	distance	distance	NOUN
american_scientific_journal-7989	100	19	is	be	AUX
american_scientific_journal-7989	100	20	less	less	ADJ
american_scientific_journal-7989	100	21	.	.	PUNCT
american_scientific_journal-7989	101	1	a	a	DET
american_scientific_journal-7989	101	2	lower	low	ADJ
american_scientific_journal-7989	101	3	lookahead	lookahead	NOUN
american_scientific_journal-7989	101	4	distance	distance	NOUN
american_scientific_journal-7989	101	5	also	also	ADV
american_scientific_journal-7989	101	6	makes	make	VERB
american_scientific_journal-7989	101	7	the	the	DET
american_scientific_journal-7989	101	8	vehicle	vehicle	NOUN
american_scientific_journal-7989	101	9	return	return	VERB
american_scientific_journal-7989	101	10	to	to	ADP
american_scientific_journal-7989	101	11	the	the	DET
american_scientific_journal-7989	101	12	path	path	NOUN
american_scientific_journal-7989	101	13	more	more	ADV
american_scientific_journal-7989	101	14	quickly	quickly	ADV
american_scientific_journal-7989	101	15	after	after	ADP
american_scientific_journal-7989	101	16	becoming	becoming	AUX
american_scientific_journal-7989	101	17	separated	separate	VERB
american_scientific_journal-7989	101	18	.	.	PUNCT
american_scientific_journal-7989	102	1	but	but	CCONJ
american_scientific_journal-7989	102	2	there	there	PRON
american_scientific_journal-7989	102	3	are	be	VERB
american_scientific_journal-7989	102	4	some	some	DET
american_scientific_journal-7989	102	5	compelling	compelling	ADJ
american_scientific_journal-7989	102	6	arguments	argument	NOUN
american_scientific_journal-7989	102	7	for	for	ADP
american_scientific_journal-7989	102	8	lengthening	lengthen	VERB
american_scientific_journal-7989	102	9	it	it	PRON
american_scientific_journal-7989	102	10	:	:	PUNCT
american_scientific_journal-7989	102	11			X
american_scientific_journal-7989	102	12	while	while	SCONJ
american_scientific_journal-7989	102	13	tracking	track	VERB
american_scientific_journal-7989	102	14	a	a	DET
american_scientific_journal-7989	102	15	path	path	NOUN
american_scientific_journal-7989	102	16	,	,	PUNCT
american_scientific_journal-7989	102	17	oscillations	oscillation	NOUN
american_scientific_journal-7989	102	18	are	be	AUX
american_scientific_journal-7989	102	19	lessened	lessen	VERB
american_scientific_journal-7989	102	20	by	by	ADP
american_scientific_journal-7989	102	21	a	a	DET
american_scientific_journal-7989	102	22	greater	great	ADJ
american_scientific_journal-7989	102	23	lookahead	lookahead	NOUN
american_scientific_journal-7989	102	24	distance	distance	NOUN
american_scientific_journal-7989	102	25	.	.	PUNCT
american_scientific_journal-7989	103	1			PRON
american_scientific_journal-7989	103	2	it	it	PRON
american_scientific_journal-7989	103	3	enables	enable	VERB
american_scientific_journal-7989	103	4	the	the	DET
american_scientific_journal-7989	103	5	mobile	mobile	ADJ
american_scientific_journal-7989	103	6	start	start	NOUN
american_scientific_journal-7989	103	7	turning	turn	VERB
american_scientific_journal-7989	103	8	before	before	ADV
american_scientific_journal-7989	103	9	arrive	arrive	VERB
american_scientific_journal-7989	103	10	the	the	DET
american_scientific_journal-7989	103	11	curve	curve	NOUN
american_scientific_journal-7989	103	12	on	on	ADP
american_scientific_journal-7989	103	13	paths	path	NOUN
american_scientific_journal-7989	103	14	with	with	ADP
american_scientific_journal-7989	103	15	steep	steep	ADJ
american_scientific_journal-7989	103	16	curves	curve	NOUN
american_scientific_journal-7989	103	17	,	,	PUNCT
american_scientific_journal-7989	103	18	producing	produce	VERB
american_scientific_journal-7989	103	19	smoother	smooth	ADJ
american_scientific_journal-7989	103	20	trajectories	trajectory	NOUN
american_scientific_journal-7989	103	21	.	.	PUNCT
american_scientific_journal-7989	104	1			PRON
american_scientific_journal-7989	105	1	because	because	SCONJ
american_scientific_journal-7989	105	2	the	the	DET
american_scientific_journal-7989	105	3	resulting	result	VERB
american_scientific_journal-7989	105	4	bends	bend	NOUN
american_scientific_journal-7989	105	5	are	be	AUX
american_scientific_journal-7989	105	6	less	less	ADV
american_scientific_journal-7989	105	7	sharp	sharp	ADJ
american_scientific_journal-7989	105	8	,	,	PUNCT
american_scientific_journal-7989	105	9	the	the	DET
american_scientific_journal-7989	105	10	requested	request	VERB
american_scientific_journal-7989	105	11	steering	steering	NOUN
american_scientific_journal-7989	105	12	changes	change	NOUN
american_scientific_journal-7989	105	13	are	be	AUX
american_scientific_journal-7989	105	14	less	less	ADV
american_scientific_journal-7989	105	15	sudden	sudden	ADJ
american_scientific_journal-7989	105	16	,	,	PUNCT
american_scientific_journal-7989	105	17	it	it	PRON
american_scientific_journal-7989	105	18	is	be	AUX
american_scientific_journal-7989	105	19	excellent	excellent	ADJ
american_scientific_journal-7989	105	20	for	for	ADP
american_scientific_journal-7989	105	21	vehicles	vehicle	NOUN
american_scientific_journal-7989	105	22	with	with	ADP
american_scientific_journal-7989	105	23	a	a	DET
american_scientific_journal-7989	105	24	lot	lot	NOUN
american_scientific_journal-7989	105	25	of	of	ADP
american_scientific_journal-7989	105	26	steering	steering	NOUN
american_scientific_journal-7989	105	27	latency	latency	NOUN
american_scientific_journal-7989	105	28	or	or	CCONJ
american_scientific_journal-7989	105	29	those	those	PRON
american_scientific_journal-7989	105	30	traveling	travel	VERB
american_scientific_journal-7989	105	31	at	at	ADP
american_scientific_journal-7989	105	32	higher	high	ADJ
american_scientific_journal-7989	105	33	speeds	speed	NOUN
american_scientific_journal-7989	105	34	.	.	PUNCT
american_scientific_journal-7989	106	1			NOUN
american_scientific_journal-7989	106	2	when	when	SCONJ
american_scientific_journal-7989	106	3	reentering	reentere	VERB
american_scientific_journal-7989	106	4	the	the	DET
american_scientific_journal-7989	106	5	path	path	NOUN
american_scientific_journal-7989	106	6	after	after	ADP
american_scientific_journal-7989	106	7	a	a	DET
american_scientific_journal-7989	106	8	significant	significant	ADJ
american_scientific_journal-7989	106	9	separation	separation	NOUN
american_scientific_journal-7989	106	10	,	,	PUNCT
american_scientific_journal-7989	106	11	there	there	PRON
american_scientific_journal-7989	106	12	is	be	VERB
american_scientific_journal-7989	106	13	less	less	ADJ
american_scientific_journal-7989	106	14	overshoot	overshoot	NOUN
american_scientific_journal-7989	106	15	with	with	ADP
american_scientific_journal-7989	106	16	a	a	DET
american_scientific_journal-7989	106	17	higher	high	ADJ
american_scientific_journal-7989	106	18	lookahead	lookahead	NOUN
american_scientific_journal-7989	106	19	distance	distance	NOUN
american_scientific_journal-7989	106	20	[	[	X
american_scientific_journal-7989	106	21	17	17	NUM
american_scientific_journal-7989	106	22	]	]	SYM
american_scientific_journal-7989	106	23	.	.	PUNCT
american_scientific_journal-7989	107	1	5	5	X
american_scientific_journal-7989	107	2	.	.	X
american_scientific_journal-7989	107	3	waypoint	waypoint	NOUN
american_scientific_journal-7989	107	4	navigation	navigation	NOUN
american_scientific_journal-7989	107	5	the	the	DET
american_scientific_journal-7989	107	6	robotic	robotic	ADJ
american_scientific_journal-7989	107	7	vehicle	vehicle	NOUN
american_scientific_journal-7989	107	8	is	be	AUX
american_scientific_journal-7989	107	9	given	give	VERB
american_scientific_journal-7989	107	10	a	a	DET
american_scientific_journal-7989	107	11	patrol	patrol	NOUN
american_scientific_journal-7989	107	12	mission	mission	NOUN
american_scientific_journal-7989	107	13	by	by	ADP
american_scientific_journal-7989	107	14	the	the	DET
american_scientific_journal-7989	107	15	mission	mission	NOUN
american_scientific_journal-7989	107	16	commander	commander	NOUN
american_scientific_journal-7989	107	17	in	in	ADP
american_scientific_journal-7989	107	18	a	a	DET
american_scientific_journal-7989	107	19	typical	typical	ADJ
american_scientific_journal-7989	107	20	waypoint	waypoint	NOUN
american_scientific_journal-7989	107	21	navigation	navigation	PROPN
american_scientific_journal-7989	107	22	scenario	scenario	NOUN
american_scientific_journal-7989	107	23	,	,	PUNCT
american_scientific_journal-7989	107	24	and	and	CCONJ
american_scientific_journal-7989	107	25	the	the	DET
american_scientific_journal-7989	107	26	road	road	NOUN
american_scientific_journal-7989	107	27	to	to	PART
american_scientific_journal-7989	107	28	be	be	AUX
american_scientific_journal-7989	107	29	taken	take	VERB
american_scientific_journal-7989	107	30	is	be	AUX
american_scientific_journal-7989	107	31	described	describe	VERB
american_scientific_journal-7989	107	32	as	as	ADP
american_scientific_journal-7989	107	33	a	a	DET
american_scientific_journal-7989	107	34	collection	collection	NOUN
american_scientific_journal-7989	107	35	of	of	ADP
american_scientific_journal-7989	107	36	waypoints	waypoint	NOUN
american_scientific_journal-7989	107	37	separated	separate	VERB
american_scientific_journal-7989	107	38	by	by	ADP
american_scientific_journal-7989	107	39	tens	ten	NOUN
american_scientific_journal-7989	107	40	or	or	CCONJ
american_scientific_journal-7989	107	41	hundreds	hundred	NOUN
american_scientific_journal-7989	107	42	of	of	ADP
american_scientific_journal-7989	107	43	meters	meter	NOUN
american_scientific_journal-7989	107	44	.	.	PUNCT
american_scientific_journal-7989	108	1	without	without	ADP
american_scientific_journal-7989	108	2	assistance	assistance	NOUN
american_scientific_journal-7989	108	3	from	from	ADP
american_scientific_journal-7989	108	4	a	a	DET
american_scientific_journal-7989	108	5	driver	driver	NOUN
american_scientific_journal-7989	108	6	,	,	PUNCT
american_scientific_journal-7989	108	7	the	the	DET
american_scientific_journal-7989	108	8	autonomous	autonomous	ADJ
american_scientific_journal-7989	108	9	vehicle	vehicle	NOUN
american_scientific_journal-7989	108	10	travels	travel	VERB
american_scientific_journal-7989	108	11	between	between	ADP
american_scientific_journal-7989	108	12	successive	successive	ADJ
american_scientific_journal-7989	108	13	destinations	destination	NOUN
american_scientific_journal-7989	108	14	.	.	PUNCT
american_scientific_journal-7989	109	1	for	for	SCONJ
american_scientific_journal-7989	109	2	a	a	DET
american_scientific_journal-7989	109	3	waypoint	waypoint	NOUN
american_scientific_journal-7989	109	4	to	to	PART
american_scientific_journal-7989	109	5	be	be	AUX
american_scientific_journal-7989	109	6	considered	consider	VERB
american_scientific_journal-7989	109	7	attained	attain	VERB
american_scientific_journal-7989	109	8	,	,	PUNCT
american_scientific_journal-7989	109	9	the	the	DET
american_scientific_journal-7989	109	10	robot	robot	NOUN
american_scientific_journal-7989	109	11	must	must	AUX
american_scientific_journal-7989	109	12	pass	pass	VERB
american_scientific_journal-7989	109	13	it	it	PRON
american_scientific_journal-7989	109	14	at	at	ADP
american_scientific_journal-7989	109	15	a	a	DET
american_scientific_journal-7989	109	16	distance	distance	NOUN
american_scientific_journal-7989	109	17	that	that	PRON
american_scientific_journal-7989	109	18	is	be	AUX
american_scientific_journal-7989	109	19	less	less	ADJ
american_scientific_journal-7989	109	20	than	than	ADP
american_scientific_journal-7989	109	21	or	or	CCONJ
american_scientific_journal-7989	109	22	equal	equal	ADJ
american_scientific_journal-7989	109	23	to	to	ADP
american_scientific_journal-7989	109	24	the	the	DET
american_scientific_journal-7989	109	25	waypoint	waypoint	NOUN
american_scientific_journal-7989	109	26	's	's	PART
american_scientific_journal-7989	109	27	radial	radial	ADJ
american_scientific_journal-7989	109	28	tolerance	tolerance	NOUN
american_scientific_journal-7989	109	29	.	.	PUNCT
american_scientific_journal-7989	110	1	the	the	DET
american_scientific_journal-7989	110	2	path	path	NOUN
american_scientific_journal-7989	110	3	that	that	PRON
american_scientific_journal-7989	110	4	the	the	DET
american_scientific_journal-7989	110	5	algorithm	algorithm	NOUN
american_scientific_journal-7989	110	6	follows	follow	VERB
american_scientific_journal-7989	110	7	will	will	AUX
american_scientific_journal-7989	110	8	be	be	AUX
american_scientific_journal-7989	110	9	the	the	DET
american_scientific_journal-7989	110	10	straight	straight	ADJ
american_scientific_journal-7989	110	11	section	section	NOUN
american_scientific_journal-7989	110	12	between	between	ADP
american_scientific_journal-7989	110	13	the	the	DET
american_scientific_journal-7989	110	14	previous	previous	ADJ
american_scientific_journal-7989	110	15	and	and	CCONJ
american_scientific_journal-7989	110	16	next	next	ADJ
american_scientific_journal-7989	110	17	waypoints	waypoint	NOUN
american_scientific_journal-7989	110	18	,	,	PUNCT
american_scientific_journal-7989	110	19	figure	figure	NOUN
american_scientific_journal-7989	110	20	(	(	PUNCT
american_scientific_journal-7989	110	21	5	5	NUM
american_scientific_journal-7989	110	22	)	)	PUNCT
american_scientific_journal-7989	110	23	.	.	PUNCT
american_scientific_journal-7989	111	1	the	the	DET
american_scientific_journal-7989	111	2	pure	pure	ADJ
american_scientific_journal-7989	111	3	pursuit	pursuit	NOUN
american_scientific_journal-7989	111	4	algorithm	algorithm	NOUN
american_scientific_journal-7989	111	5	is	be	AUX
american_scientific_journal-7989	111	6	typically	typically	ADV
american_scientific_journal-7989	111	7	implemented	implement	VERB
american_scientific_journal-7989	111	8	using	use	VERB
american_scientific_journal-7989	111	9	a	a	DET
american_scientific_journal-7989	111	10	detailed	detailed	ADJ
american_scientific_journal-7989	111	11	path	path	NOUN
american_scientific_journal-7989	111	12	that	that	PRON
american_scientific_journal-7989	111	13	is	be	AUX
american_scientific_journal-7989	111	14	represented	represent	VERB
american_scientific_journal-7989	111	15	in	in	ADP
american_scientific_journal-7989	111	16	the	the	DET
american_scientific_journal-7989	111	17	literature	literature	NOUN
american_scientific_journal-7989	111	18	as	as	ADP
american_scientific_journal-7989	111	19	a	a	DET
american_scientific_journal-7989	111	20	collection	collection	NOUN
american_scientific_journal-7989	111	21	of	of	ADP
american_scientific_journal-7989	111	22	closely	closely	ADV
american_scientific_journal-7989	111	23	spaced	space	VERB
american_scientific_journal-7989	111	24	nodes	node	NOUN
american_scientific_journal-7989	111	25	.	.	PUNCT
american_scientific_journal-7989	112	1	however	however	ADV
american_scientific_journal-7989	112	2	,	,	PUNCT
american_scientific_journal-7989	112	3	the	the	DET
american_scientific_journal-7989	112	4	user	user	NOUN
american_scientific_journal-7989	112	5	wo	will	AUX
american_scientific_journal-7989	112	6	n't	not	PART
american_scientific_journal-7989	112	7	want	want	VERB
american_scientific_journal-7989	112	8	to	to	PART
american_scientific_journal-7989	112	9	specify	specify	VERB
american_scientific_journal-7989	112	10	a	a	DET
american_scientific_journal-7989	112	11	very	very	ADV
american_scientific_journal-7989	112	12	specific	specific	ADJ
american_scientific_journal-7989	112	13	path	path	NOUN
american_scientific_journal-7989	112	14	for	for	ADP
american_scientific_journal-7989	112	15	many	many	ADJ
american_scientific_journal-7989	112	16	programs	program	NOUN
american_scientific_journal-7989	112	17	.	.	PUNCT
american_scientific_journal-7989	113	1	each	each	PRON
american_scientific_journal-7989	113	2	of	of	ADP
american_scientific_journal-7989	113	3	the	the	DET
american_scientific_journal-7989	113	4	waypoints	waypoint	NOUN
american_scientific_journal-7989	113	5	provided	provide	VERB
american_scientific_journal-7989	113	6	to	to	ADP
american_scientific_journal-7989	113	7	the	the	DET
american_scientific_journal-7989	113	8	pure	pure	ADJ
american_scientific_journal-7989	113	9	pursuit	pursuit	NOUN
american_scientific_journal-7989	113	10	waypoint	waypoint	NOUN
american_scientific_journal-7989	113	11	implementation	implementation	NOUN
american_scientific_journal-7989	113	12	presented	present	VERB
american_scientific_journal-7989	113	13	here	here	ADV
american_scientific_journal-7989	113	14	is	be	AUX
american_scientific_journal-7989	113	15	regarded	regard	VERB
american_scientific_journal-7989	113	16	as	as	ADP
american_scientific_journal-7989	113	17	an	an	DET
american_scientific_journal-7989	113	18	interim	interim	ADJ
american_scientific_journal-7989	113	19	goal	goal	NOUN
american_scientific_journal-7989	113	20	location	location	NOUN
american_scientific_journal-7989	113	21	,	,	PUNCT
american_scientific_journal-7989	113	22	and	and	CCONJ
american_scientific_journal-7989	113	23	the	the	DET
american_scientific_journal-7989	113	24	fundamental	fundamental	ADJ
american_scientific_journal-7989	113	25	algorithm	algorithm	NOUN
american_scientific_journal-7989	113	26	monitors	monitor	VERB
american_scientific_journal-7989	113	27	the	the	DET
american_scientific_journal-7989	113	28	straight	straight	ADJ
american_scientific_journal-7989	113	29	-	-	PUNCT
american_scientific_journal-7989	113	30	line	line	NOUN
american_scientific_journal-7989	113	31	segments	segment	NOUN
american_scientific_journal-7989	113	32	between	between	ADP
american_scientific_journal-7989	113	33	successive	successive	ADJ
american_scientific_journal-7989	113	34	pairs	pair	NOUN
american_scientific_journal-7989	113	35	of	of	ADP
american_scientific_journal-7989	113	36	waypoints	waypoint	NOUN
american_scientific_journal-7989	113	37	.	.	PUNCT
american_scientific_journal-7989	114	1	although	although	SCONJ
american_scientific_journal-7989	114	2	a	a	DET
american_scientific_journal-7989	114	3	list	list	NOUN
american_scientific_journal-7989	114	4	of	of	ADP
american_scientific_journal-7989	114	5	all	all	DET
american_scientific_journal-7989	114	6	the	the	DET
american_scientific_journal-7989	114	7	waypoints	waypoint	NOUN
american_scientific_journal-7989	114	8	is	be	AUX
american_scientific_journal-7989	114	9	kept	keep	VERB
american_scientific_journal-7989	114	10	,	,	PUNCT
american_scientific_journal-7989	114	11	the	the	DET
american_scientific_journal-7989	114	12	algorithm	algorithm	NOUN
american_scientific_journal-7989	114	13	only	only	ADV
american_scientific_journal-7989	114	14	ever	ever	ADV
american_scientific_journal-7989	114	15	works	work	VERB
american_scientific_journal-7989	114	16	between	between	ADP
american_scientific_journal-7989	114	17	the	the	DET
american_scientific_journal-7989	114	18	current	current	NOUN
american_scientific_journal-7989	114	19	and	and	CCONJ
american_scientific_journal-7989	114	20	the	the	DET
american_scientific_journal-7989	114	21	following	follow	VERB
american_scientific_journal-7989	114	22	waypoints	waypoint	NOUN
american_scientific_journal-7989	114	23	at	at	ADP
american_scientific_journal-7989	114	24	any	any	DET
american_scientific_journal-7989	114	25	one	one	NUM
american_scientific_journal-7989	114	26	moment[17	moment[17	VERB
american_scientific_journal-7989	114	27	]	]	PUNCT
american_scientific_journal-7989	114	28	.	.	PUNCT
american_scientific_journal-7989	115	1	5.1	5.1	NUM
american_scientific_journal-7989	115	2	.	.	PUNCT
american_scientific_journal-7989	116	1	building	building	NOUN
american_scientific_journal-7989	116	2	map	map	NOUN
american_scientific_journal-7989	116	3	of	of	ADP
american_scientific_journal-7989	116	4	the	the	DET
american_scientific_journal-7989	116	5	environment	environment	NOUN
american_scientific_journal-7989	116	6	it	it	PRON
american_scientific_journal-7989	116	7	is	be	AUX
american_scientific_journal-7989	116	8	possible	possible	ADJ
american_scientific_journal-7989	116	9	to	to	PART
american_scientific_journal-7989	116	10	create	create	VERB
american_scientific_journal-7989	116	11	a	a	DET
american_scientific_journal-7989	116	12	two	two	NUM
american_scientific_journal-7989	116	13	-	-	PUNCT
american_scientific_journal-7989	116	14	dimensional	dimensional	ADJ
american_scientific_journal-7989	116	15	occupancy	occupancy	NOUN
american_scientific_journal-7989	116	16	grid	grid	NOUN
american_scientific_journal-7989	116	17	for	for	ADP
american_scientific_journal-7989	116	18	the	the	DET
american_scientific_journal-7989	116	19	environment	environment	NOUN
american_scientific_journal-7989	116	20	map	map	NOUN
american_scientific_journal-7989	116	21	.	.	PUNCT
american_scientific_journal-7989	117	1	an	an	DET
american_scientific_journal-7989	117	2	occupancy	occupancy	NOUN
american_scientific_journal-7989	117	3	grid	grid	NOUN
american_scientific_journal-7989	117	4	can	can	AUX
american_scientific_journal-7989	117	5	be	be	AUX
american_scientific_journal-7989	117	6	american	american	ADJ
american_scientific_journal-7989	117	7	academic	academic	ADJ
american_scientific_journal-7989	117	8	scientific	scientific	ADJ
american_scientific_journal-7989	117	9	research	research	NOUN
american_scientific_journal-7989	117	10	journal	journal	NOUN
american_scientific_journal-7989	117	11	for	for	ADP
american_scientific_journal-7989	117	12	engineering	engineering	NOUN
american_scientific_journal-7989	117	13	,	,	PUNCT
american_scientific_journal-7989	117	14	technology	technology	NOUN
american_scientific_journal-7989	117	15	,	,	PUNCT
american_scientific_journal-7989	117	16	and	and	CCONJ
american_scientific_journal-7989	117	17	sciences	science	NOUN
american_scientific_journal-7989	117	18	(	(	PUNCT
american_scientific_journal-7989	117	19	asrjets	asrjet	NOUN
american_scientific_journal-7989	117	20	)	)	PUNCT
american_scientific_journal-7989	117	21	(	(	PUNCT
american_scientific_journal-7989	117	22	2022	2022	NUM
american_scientific_journal-7989	117	23	)	)	PUNCT
american_scientific_journal-7989	117	24	volume	volume	NOUN
american_scientific_journal-7989	117	25	90	90	NUM
american_scientific_journal-7989	117	26	,	,	PUNCT
american_scientific_journal-7989	117	27	no	no	DET
american_scientific_journal-7989	117	28	1	1	NUM
american_scientific_journal-7989	117	29	,	,	PUNCT
american_scientific_journal-7989	117	30	pp	pp	ADV
american_scientific_journal-7989	117	31	1	1	NUM
american_scientific_journal-7989	117	32	-	-	SYM
american_scientific_journal-7989	117	33	12	12	NUM
american_scientific_journal-7989	117	34	8	8	NUM
american_scientific_journal-7989	117	35	made	make	VERB
american_scientific_journal-7989	117	36	in	in	ADP
american_scientific_journal-7989	117	37	matlab	matlab	NOUN
american_scientific_journal-7989	117	38	by	by	ADP
american_scientific_journal-7989	117	39	using	use	VERB
american_scientific_journal-7989	117	40	the	the	DET
american_scientific_journal-7989	117	41	instructions	instruction	NOUN
american_scientific_journal-7989	117	42	below	below	ADP
american_scientific_journal-7989	117	43	:	:	PUNCT
american_scientific_journal-7989	117	44	image	image	NOUN
american_scientific_journal-7989	117	45	=	=	PUNCT
american_scientific_journal-7989	117	46	imread('image.png	imread('image.png	NOUN
american_scientific_journal-7989	117	47	'	'	PUNCT
american_scientific_journal-7989	117	48	)	)	PUNCT
american_scientific_journal-7989	117	49	;	;	PUNCT
american_scientific_journal-7989	117	50	grayimage	grayimage	NOUN
american_scientific_journal-7989	117	51	=	=	SYM
american_scientific_journal-7989	117	52	rgb2gray(image	rgb2gray(image	NOUN
american_scientific_journal-7989	117	53	)	)	PUNCT
american_scientific_journal-7989	117	54	;	;	PUNCT
american_scientific_journal-7989	117	55	bwimage	bwimage	NOUN
american_scientific_journal-7989	117	56	=	=	SYM
american_scientific_journal-7989	117	57	grayimage	grayimage	NOUN
american_scientific_journal-7989	117	58	<	<	X
american_scientific_journal-7989	117	59	0.5	0.5	NUM
american_scientific_journal-7989	117	60	;	;	PUNCT
american_scientific_journal-7989	117	61	grid	grid	NOUN
american_scientific_journal-7989	117	62	=	=	SYM
american_scientific_journal-7989	117	63	binaryoccupancymap(bwimage	binaryoccupancymap(bwimage	NOUN
american_scientific_journal-7989	117	64	)	)	PUNCT
american_scientific_journal-7989	117	65	;	;	PUNCT
american_scientific_journal-7989	117	66	map=	map=	PROPN
american_scientific_journal-7989	117	67	grid	grid	NOUN
american_scientific_journal-7989	117	68	show(map	show(map	NOUN
american_scientific_journal-7989	117	69	)	)	PUNCT
american_scientific_journal-7989	117	70	as	as	SCONJ
american_scientific_journal-7989	117	71	indicated	indicate	VERB
american_scientific_journal-7989	117	72	in	in	ADP
american_scientific_journal-7989	117	73	table	table	NOUN
american_scientific_journal-7989	117	74	(	(	PUNCT
american_scientific_journal-7989	117	75	1	1	NUM
american_scientific_journal-7989	117	76	)	)	PUNCT
american_scientific_journal-7989	117	77	,	,	PUNCT
american_scientific_journal-7989	117	78	this	this	DET
american_scientific_journal-7989	117	79	study	study	NOUN
american_scientific_journal-7989	117	80	used	use	VERB
american_scientific_journal-7989	117	81	four	four	NUM
american_scientific_journal-7989	117	82	maps	map	NOUN
american_scientific_journal-7989	117	83	,	,	PUNCT
american_scientific_journal-7989	117	84	divided	divide	VERB
american_scientific_journal-7989	117	85	into	into	ADP
american_scientific_journal-7989	117	86	simple	simple	ADJ
american_scientific_journal-7989	117	87	and	and	CCONJ
american_scientific_journal-7989	117	88	complex	complex	ADJ
american_scientific_journal-7989	117	89	maps	map	NOUN
american_scientific_journal-7989	117	90	:	:	PUNCT
american_scientific_journal-7989	117	91	table	table	NOUN
american_scientific_journal-7989	117	92	1	1	NUM
american_scientific_journal-7989	117	93	:	:	PUNCT
american_scientific_journal-7989	117	94	maps	map	VERB
american_scientific_journal-7989	117	95	parameters	parameter	NOUN
american_scientific_journal-7989	117	96	case	case	NOUN
american_scientific_journal-7989	117	97	1	1	NUM
american_scientific_journal-7989	117	98	case	case	NOUN
american_scientific_journal-7989	117	99	2	2	NUM
american_scientific_journal-7989	117	100	case	case	NOUN
american_scientific_journal-7989	117	101	3	3	NUM
american_scientific_journal-7989	117	102	case	case	NOUN
american_scientific_journal-7989	117	103	4	4	NUM
american_scientific_journal-7989	117	104	grid	grid	NOUN
american_scientific_journal-7989	117	105	size	size	NOUN
american_scientific_journal-7989	117	106	[	[	PUNCT
american_scientific_journal-7989	117	107	52	52	NUM
american_scientific_journal-7989	117	108	50	50	NUM
american_scientific_journal-7989	117	109	]	]	PUNCT
american_scientific_journal-7989	118	1	[	[	X
american_scientific_journal-7989	118	2	52	52	NUM
american_scientific_journal-7989	118	3	50	50	NUM
american_scientific_journal-7989	118	4	]	]	PUNCT
american_scientific_journal-7989	119	1	[	[	X
american_scientific_journal-7989	119	2	52	52	NUM
american_scientific_journal-7989	119	3	50	50	NUM
american_scientific_journal-7989	119	4	]	]	PUNCT
american_scientific_journal-7989	120	1	[	[	X
american_scientific_journal-7989	120	2	40	40	NUM
american_scientific_journal-7989	120	3	74	74	NUM
american_scientific_journal-7989	120	4	]	]	PUNCT
american_scientific_journal-7989	120	5	resolution	resolution	NOUN
american_scientific_journal-7989	120	6	1	1	NUM
american_scientific_journal-7989	120	7	1	1	NUM
american_scientific_journal-7989	120	8	1	1	NUM
american_scientific_journal-7989	120	9	1	1	NUM
american_scientific_journal-7989	120	10	x	x	NOUN
american_scientific_journal-7989	120	11	world	world	NOUN
american_scientific_journal-7989	120	12	limits	limit	VERB
american_scientific_journal-7989	120	13	[	[	X
american_scientific_journal-7989	120	14	0	0	NUM
american_scientific_journal-7989	120	15	50	50	NUM
american_scientific_journal-7989	120	16	]	]	PUNCT
american_scientific_journal-7989	121	1	[	[	X
american_scientific_journal-7989	121	2	0	0	NUM
american_scientific_journal-7989	121	3	50	50	NUM
american_scientific_journal-7989	121	4	]	]	PUNCT
american_scientific_journal-7989	122	1	[	[	X
american_scientific_journal-7989	122	2	0	0	NUM
american_scientific_journal-7989	122	3	50	50	NUM
american_scientific_journal-7989	122	4	]	]	PUNCT
american_scientific_journal-7989	123	1	[	[	X
american_scientific_journal-7989	123	2	0	0	NUM
american_scientific_journal-7989	123	3	74	74	NUM
american_scientific_journal-7989	123	4	]	]	PUNCT
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american_scientific_journal-7989	123	6	world	world	NOUN
american_scientific_journal-7989	123	7	limits	limit	VERB
american_scientific_journal-7989	123	8	[	[	X
american_scientific_journal-7989	123	9	0	0	NUM
american_scientific_journal-7989	123	10	52	52	NUM
american_scientific_journal-7989	123	11	]	]	PUNCT
american_scientific_journal-7989	124	1	[	[	X
american_scientific_journal-7989	124	2	0	0	NUM
american_scientific_journal-7989	124	3	52	52	NUM
american_scientific_journal-7989	124	4	]	]	PUNCT
american_scientific_journal-7989	125	1	[	[	X
american_scientific_journal-7989	125	2	0	0	NUM
american_scientific_journal-7989	125	3	52	52	NUM
american_scientific_journal-7989	125	4	]	]	PUNCT
american_scientific_journal-7989	126	1	[	[	X
american_scientific_journal-7989	126	2	0	0	NUM
american_scientific_journal-7989	126	3	40	40	NUM
american_scientific_journal-7989	126	4	]	]	PUNCT
american_scientific_journal-7989	126	5	grid	grid	NOUN
american_scientific_journal-7989	126	6	origin	origin	NOUN
american_scientific_journal-7989	126	7	in	in	ADP
american_scientific_journal-7989	126	8	world	world	NOUN
american_scientific_journal-7989	127	1	[	[	X
american_scientific_journal-7989	127	2	0	0	NUM
american_scientific_journal-7989	127	3	0	0	NUM
american_scientific_journal-7989	127	4	]	]	PUNCT
american_scientific_journal-7989	128	1	[	[	X
american_scientific_journal-7989	128	2	0	0	NUM
american_scientific_journal-7989	128	3	0	0	NUM
american_scientific_journal-7989	128	4	]	]	PUNCT
american_scientific_journal-7989	129	1	[	[	X
american_scientific_journal-7989	129	2	0	0	NUM
american_scientific_journal-7989	129	3	0	0	NUM
american_scientific_journal-7989	129	4	]	]	PUNCT
american_scientific_journal-7989	130	1	[	[	X
american_scientific_journal-7989	130	2	0	0	NUM
american_scientific_journal-7989	130	3	0	0	NUM
american_scientific_journal-7989	130	4	]	]	X
american_scientific_journal-7989	130	5	prm	prm	PROPN
american_scientific_journal-7989	130	6	were	be	AUX
american_scientific_journal-7989	130	7	implemented	implement	VERB
american_scientific_journal-7989	130	8	in	in	ADP
american_scientific_journal-7989	130	9	matlab	matlab	PROPN
american_scientific_journal-7989	130	10	r2021a	r2021a	PROPN
american_scientific_journal-7989	130	11	.	.	PUNCT
american_scientific_journal-7989	131	1	in	in	ADP
american_scientific_journal-7989	131	2	order	order	NOUN
american_scientific_journal-7989	131	3	to	to	PART
american_scientific_journal-7989	131	4	show	show	VERB
american_scientific_journal-7989	131	5	how	how	SCONJ
american_scientific_journal-7989	131	6	well	well	ADV
american_scientific_journal-7989	131	7	the	the	DET
american_scientific_journal-7989	131	8	methodologies	methodology	NOUN
american_scientific_journal-7989	131	9	were	be	AUX
american_scientific_journal-7989	131	10	applied	apply	VERB
american_scientific_journal-7989	131	11	to	to	ADP
american_scientific_journal-7989	131	12	maps	map	NOUN
american_scientific_journal-7989	131	13	in	in	ADP
american_scientific_journal-7989	131	14	order	order	NOUN
american_scientific_journal-7989	131	15	to	to	PART
american_scientific_journal-7989	131	16	show	show	VERB
american_scientific_journal-7989	131	17	how	how	SCONJ
american_scientific_journal-7989	131	18	well	well	ADV
american_scientific_journal-7989	131	19	performed	perform	VERB
american_scientific_journal-7989	131	20	at	at	ADP
american_scientific_journal-7989	131	21	path	path	NOUN
american_scientific_journal-7989	131	22	planning	planning	NOUN
american_scientific_journal-7989	131	23	.	.	PUNCT
american_scientific_journal-7989	132	1	a	a	DET
american_scientific_journal-7989	132	2	map	map	NOUN
american_scientific_journal-7989	132	3	was	be	AUX
american_scientific_journal-7989	132	4	loaded	load	VERB
american_scientific_journal-7989	132	5	first	first	ADV
american_scientific_journal-7989	132	6	,	,	PUNCT
american_scientific_journal-7989	132	7	then	then	ADV
american_scientific_journal-7989	132	8	the	the	DET
american_scientific_journal-7989	132	9	quantity	quantity	NOUN
american_scientific_journal-7989	132	10	of	of	ADP
american_scientific_journal-7989	132	11	nodes	node	NOUN
american_scientific_journal-7989	132	12	was	be	AUX
american_scientific_journal-7989	132	13	displayed	display	VERB
american_scientific_journal-7989	132	14	.	.	PUNCT
american_scientific_journal-7989	133	1	start	start	VERB
american_scientific_journal-7989	133	2	and	and	CCONJ
american_scientific_journal-7989	133	3	goal	goal	NOUN
american_scientific_journal-7989	133	4	location	location	NOUN
american_scientific_journal-7989	133	5	were	be	AUX
american_scientific_journal-7989	133	6	then	then	ADV
american_scientific_journal-7989	133	7	established	establish	VERB
american_scientific_journal-7989	133	8	.	.	PUNCT
american_scientific_journal-7989	134	1	the	the	DET
american_scientific_journal-7989	134	2	program	program	NOUN
american_scientific_journal-7989	134	3	then	then	ADV
american_scientific_journal-7989	134	4	created	create	VERB
american_scientific_journal-7989	134	5	a	a	DET
american_scientific_journal-7989	134	6	net	net	NOUN
american_scientific_journal-7989	134	7	of	of	ADP
american_scientific_journal-7989	134	8	potential	potential	ADJ
american_scientific_journal-7989	134	9	node	node	NOUN
american_scientific_journal-7989	134	10	connections	connection	NOUN
american_scientific_journal-7989	134	11	between	between	ADP
american_scientific_journal-7989	134	12	the	the	DET
american_scientific_journal-7989	134	13	starting	starting	NOUN
american_scientific_journal-7989	134	14	place	place	NOUN
american_scientific_journal-7989	134	15	and	and	CCONJ
american_scientific_journal-7989	134	16	the	the	DET
american_scientific_journal-7989	134	17	ending	end	VERB
american_scientific_journal-7989	134	18	position	position	NOUN
american_scientific_journal-7989	134	19	.	.	PUNCT
american_scientific_journal-7989	135	1	in	in	ADP
american_scientific_journal-7989	135	2	order	order	NOUN
american_scientific_journal-7989	135	3	to	to	PART
american_scientific_journal-7989	135	4	return	return	VERB
american_scientific_journal-7989	135	5	a	a	DET
american_scientific_journal-7989	135	6	collision	collision	NOUN
american_scientific_journal-7989	135	7	-	-	PUNCT
american_scientific_journal-7989	135	8	free	free	ADJ
american_scientific_journal-7989	135	9	path	path	NOUN
american_scientific_journal-7989	135	10	,	,	PUNCT
american_scientific_journal-7989	135	11	the	the	DET
american_scientific_journal-7989	135	12	program	program	NOUN
american_scientific_journal-7989	135	13	lastly	lastly	ADV
american_scientific_journal-7989	135	14	explored	explore	VERB
american_scientific_journal-7989	135	15	this	this	DET
american_scientific_journal-7989	135	16	network	network	NOUN
american_scientific_journal-7989	135	17	of	of	ADP
american_scientific_journal-7989	135	18	connected	connected	ADJ
american_scientific_journal-7989	135	19	nodes	node	NOUN
american_scientific_journal-7989	135	20	.	.	PUNCT
american_scientific_journal-7989	136	1	the	the	DET
american_scientific_journal-7989	136	2	prm	prm	PROPN
american_scientific_journal-7989	136	3	settings	setting	NOUN
american_scientific_journal-7989	136	4	used	use	VERB
american_scientific_journal-7989	136	5	for	for	ADP
american_scientific_journal-7989	136	6	the	the	DET
american_scientific_journal-7989	136	7	maps	map	NOUN
american_scientific_journal-7989	136	8	are	be	AUX
american_scientific_journal-7989	136	9	listed	list	VERB
american_scientific_journal-7989	136	10	in	in	ADP
american_scientific_journal-7989	136	11	tables	table	NOUN
american_scientific_journal-7989	136	12	(	(	PUNCT
american_scientific_journal-7989	136	13	2	2	NUM
american_scientific_journal-7989	136	14	)	)	PUNCT
american_scientific_journal-7989	136	15	.	.	PUNCT
american_scientific_journal-7989	137	1	table	table	NOUN
american_scientific_journal-7989	137	2	2	2	NUM
american_scientific_journal-7989	137	3	:	:	PUNCT
american_scientific_journal-7989	137	4	prm	prm	ADJ
american_scientific_journal-7989	137	5	parameters	parameter	NOUN
american_scientific_journal-7989	137	6	case	case	NOUN
american_scientific_journal-7989	137	7	1	1	NUM
american_scientific_journal-7989	137	8	case	case	NOUN
american_scientific_journal-7989	137	9	2	2	NUM
american_scientific_journal-7989	137	10	case	case	NOUN
american_scientific_journal-7989	137	11	3	3	NUM
american_scientific_journal-7989	137	12	case	case	NOUN
american_scientific_journal-7989	137	13	4	4	NUM
american_scientific_journal-7989	137	14	start	start	NOUN
american_scientific_journal-7989	137	15	location	location	NOUN
american_scientific_journal-7989	137	16	[	[	X
american_scientific_journal-7989	137	17	10	10	NUM
american_scientific_journal-7989	137	18	20	20	NUM
american_scientific_journal-7989	137	19	]	]	PUNCT
american_scientific_journal-7989	138	1	[	[	X
american_scientific_journal-7989	138	2	41	41	NUM
american_scientific_journal-7989	138	3	10	10	NUM
american_scientific_journal-7989	138	4	]	]	PUNCT
american_scientific_journal-7989	139	1	[	[	X
american_scientific_journal-7989	139	2	10	10	NUM
american_scientific_journal-7989	139	3	10	10	NUM
american_scientific_journal-7989	139	4	]	]	PUNCT
american_scientific_journal-7989	140	1	[	[	X
american_scientific_journal-7989	140	2	5	5	NUM
american_scientific_journal-7989	140	3	5	5	NUM
american_scientific_journal-7989	140	4	]	]	PUNCT
american_scientific_journal-7989	140	5	robot	robot	NOUN
american_scientific_journal-7989	140	6	goal	goal	NOUN
american_scientific_journal-7989	140	7	[	[	X
american_scientific_journal-7989	140	8	30	30	NUM
american_scientific_journal-7989	140	9	32	32	NUM
american_scientific_journal-7989	140	10	]	]	PUNCT
american_scientific_journal-7989	141	1	[	[	X
american_scientific_journal-7989	141	2	20	20	NUM
american_scientific_journal-7989	141	3	10	10	NUM
american_scientific_journal-7989	141	4	]	]	PUNCT
american_scientific_journal-7989	142	1	[	[	X
american_scientific_journal-7989	142	2	40	40	NUM
american_scientific_journal-7989	142	3	15	15	NUM
american_scientific_journal-7989	142	4	]	]	PUNCT
american_scientific_journal-7989	143	1	[	[	X
american_scientific_journal-7989	143	2	60,15	60,15	NUM
american_scientific_journal-7989	143	3	]	]	SYM
american_scientific_journal-7989	143	4	num	num	ADJ
american_scientific_journal-7989	143	5	nodes	node	NOUN
american_scientific_journal-7989	143	6	50	50	NUM
american_scientific_journal-7989	143	7	100	100	NUM
american_scientific_journal-7989	143	8	150	150	NUM
american_scientific_journal-7989	143	9	200	200	NUM
american_scientific_journal-7989	143	10	6	6	NUM
american_scientific_journal-7989	143	11	.	.	PUNCT
american_scientific_journal-7989	143	12	experimental	experimental	ADJ
american_scientific_journal-7989	143	13	work	work	NOUN
american_scientific_journal-7989	143	14	&	&	CCONJ
american_scientific_journal-7989	143	15	result	result	VERB
american_scientific_journal-7989	143	16	to	to	PART
american_scientific_journal-7989	143	17	find	find	VERB
american_scientific_journal-7989	143	18	the	the	DET
american_scientific_journal-7989	143	19	probabilistic	probabilistic	ADJ
american_scientific_journal-7989	143	20	roadmaps	roadmap	NOUN
american_scientific_journal-7989	143	21	,	,	PUNCT
american_scientific_journal-7989	143	22	the	the	DET
american_scientific_journal-7989	143	23	occupancy	occupancy	NOUN
american_scientific_journal-7989	143	24	grid	grid	NOUN
american_scientific_journal-7989	143	25	map	map	NOUN
american_scientific_journal-7989	143	26	of	of	ADP
american_scientific_journal-7989	143	27	the	the	DET
american_scientific_journal-7989	143	28	environment	environment	NOUN
american_scientific_journal-7989	143	29	imported	import	VERB
american_scientific_journal-7989	143	30	to	to	ADP
american_scientific_journal-7989	143	31	the	the	DET
american_scientific_journal-7989	143	32	matlab	matlab	PROPN
american_scientific_journal-7989	143	33	workspace	workspace	NOUN
american_scientific_journal-7989	143	34	and	and	CCONJ
american_scientific_journal-7989	143	35	using	use	VERB
american_scientific_journal-7989	143	36	instruction	instruction	NOUN
american_scientific_journal-7989	143	37	follow	follow	NOUN
american_scientific_journal-7989	143	38	:	:	PUNCT
american_scientific_journal-7989	143	39	mapinflated	mapinflated	ADJ
american_scientific_journal-7989	143	40	=	=	SYM
american_scientific_journal-7989	143	41	copy(map	copy(map	NOUN
american_scientific_journal-7989	143	42	)	)	PUNCT
american_scientific_journal-7989	143	43	;	;	PUNCT
american_scientific_journal-7989	143	44	american	american	PROPN
american_scientific_journal-7989	143	45	academic	academic	ADJ
american_scientific_journal-7989	143	46	scientific	scientific	ADJ
american_scientific_journal-7989	143	47	research	research	NOUN
american_scientific_journal-7989	143	48	journal	journal	NOUN
american_scientific_journal-7989	143	49	for	for	ADP
american_scientific_journal-7989	143	50	engineering	engineering	NOUN
american_scientific_journal-7989	143	51	,	,	PUNCT
american_scientific_journal-7989	143	52	technology	technology	NOUN
american_scientific_journal-7989	143	53	,	,	PUNCT
american_scientific_journal-7989	143	54	and	and	CCONJ
american_scientific_journal-7989	143	55	sciences	science	NOUN
american_scientific_journal-7989	143	56	(	(	PUNCT
american_scientific_journal-7989	143	57	asrjets	asrjet	NOUN
american_scientific_journal-7989	143	58	)	)	PUNCT
american_scientific_journal-7989	143	59	(	(	PUNCT
american_scientific_journal-7989	143	60	2022	2022	NUM
american_scientific_journal-7989	143	61	)	)	PUNCT
american_scientific_journal-7989	143	62	volume	volume	NOUN
american_scientific_journal-7989	143	63	90	90	NUM
american_scientific_journal-7989	143	64	,	,	PUNCT
american_scientific_journal-7989	143	65	no	no	DET
american_scientific_journal-7989	143	66	1	1	NUM
american_scientific_journal-7989	143	67	,	,	PUNCT
american_scientific_journal-7989	143	68	pp	pp	ADV
american_scientific_journal-7989	143	69	1	1	NUM
american_scientific_journal-7989	143	70	-	-	SYM
american_scientific_journal-7989	143	71	12	12	NUM
american_scientific_journal-7989	143	72	9	9	NUM
american_scientific_journal-7989	143	73	inflate(mapinflated	inflate(mapinflate	VERB
american_scientific_journal-7989	143	74	,	,	PUNCT
american_scientific_journal-7989	143	75	robot.trackwidth/2	robot.trackwidth/2	NOUN
american_scientific_journal-7989	143	76	)	)	PUNCT
american_scientific_journal-7989	143	77	;	;	PUNCT
american_scientific_journal-7989	143	78	prm	prm	PROPN
american_scientific_journal-7989	143	79	=	=	SYM
american_scientific_journal-7989	143	80	robotics.prm(mapinflated	robotics.prm(mapinflated	ADJ
american_scientific_journal-7989	143	81	)	)	PUNCT
american_scientific_journal-7989	143	82	;	;	PUNCT
american_scientific_journal-7989	143	83	prm.numnodes	prm.numnode	NOUN
american_scientific_journal-7989	143	84	=	=	SYM
american_scientific_journal-7989	143	85	n	n	CCONJ
american_scientific_journal-7989	143	86	;	;	PUNCT
american_scientific_journal-7989	143	87	prm.connectiondistance	prm.connectiondistance	NOUN
american_scientific_journal-7989	143	88	=	=	SYM
american_scientific_journal-7989	143	89	d	d	NOUN
american_scientific_journal-7989	143	90	;	;	PUNCT
american_scientific_journal-7989	143	91	startlocation	startlocation	NOUN
american_scientific_journal-7989	143	92	=	=	PUNCT
american_scientific_journal-7989	144	1	[	[	X
american_scientific_journal-7989	144	2	x	x	X
american_scientific_journal-7989	144	3	y	y	NOUN
american_scientific_journal-7989	144	4	]	]	X
american_scientific_journal-7989	144	5	;	;	PUNCT
american_scientific_journal-7989	144	6	endlocation	endlocation	NOUN
american_scientific_journal-7989	144	7	=	=	PUNCT
american_scientific_journal-7989	145	1	[	[	X
american_scientific_journal-7989	145	2	x	x	X
american_scientific_journal-7989	145	3	y	y	NOUN
american_scientific_journal-7989	145	4	]	]	X
american_scientific_journal-7989	145	5	;	;	PUNCT
american_scientific_journal-7989	145	6	path	path	NOUN
american_scientific_journal-7989	145	7	=	=	SYM
american_scientific_journal-7989	145	8	findpath(prm	findpath(prm	PROPN
american_scientific_journal-7989	145	9	,	,	PUNCT
american_scientific_journal-7989	145	10	startlocation	startlocation	NOUN
american_scientific_journal-7989	145	11	,	,	PUNCT
american_scientific_journal-7989	145	12	endlocation	endlocation	NOUN
american_scientific_journal-7989	145	13	)	)	PUNCT
american_scientific_journal-7989	145	14	show(prm	show(prm	NOUN
american_scientific_journal-7989	145	15	)	)	PUNCT
american_scientific_journal-7989	145	16	;	;	PUNCT
american_scientific_journal-7989	145	17	the	the	DET
american_scientific_journal-7989	145	18	mobile	mobile	NOUN
american_scientific_journal-7989	145	19	robot	robot	NOUN
american_scientific_journal-7989	145	20	navigates	navigate	VERB
american_scientific_journal-7989	145	21	and	and	CCONJ
american_scientific_journal-7989	145	22	avoids	avoid	VERB
american_scientific_journal-7989	145	23	obstacles	obstacle	NOUN
american_scientific_journal-7989	145	24	to	to	PART
american_scientific_journal-7989	145	25	reach	reach	VERB
american_scientific_journal-7989	145	26	the	the	DET
american_scientific_journal-7989	145	27	destination	destination	NOUN
american_scientific_journal-7989	145	28	location	location	NOUN
american_scientific_journal-7989	145	29	by	by	ADP
american_scientific_journal-7989	145	30	employing	employ	VERB
american_scientific_journal-7989	145	31	the	the	DET
american_scientific_journal-7989	145	32	prm	prm	ADJ
american_scientific_journal-7989	145	33	and	and	CCONJ
american_scientific_journal-7989	145	34	pure	pure	ADJ
american_scientific_journal-7989	145	35	pursuit	pursuit	NOUN
american_scientific_journal-7989	145	36	algorithm	algorithm	NOUN
american_scientific_journal-7989	145	37	technique	technique	NOUN
american_scientific_journal-7989	145	38	.	.	PUNCT
american_scientific_journal-7989	146	1	in	in	ADP
american_scientific_journal-7989	146	2	any	any	DET
american_scientific_journal-7989	146	3	case	case	NOUN
american_scientific_journal-7989	146	4	the	the	DET
american_scientific_journal-7989	146	5	first	first	ADJ
american_scientific_journal-7989	146	6	step	step	NOUN
american_scientific_journal-7989	146	7	is	be	AUX
american_scientific_journal-7989	146	8	got	get	VERB
american_scientific_journal-7989	146	9	probabilistic	probabilistic	ADJ
american_scientific_journal-7989	146	10	roadmap	roadmap	NOUN
american_scientific_journal-7989	146	11	to	to	PART
american_scientific_journal-7989	146	12	find	find	VERB
american_scientific_journal-7989	146	13	the	the	DET
american_scientific_journal-7989	146	14	best	good	ADJ
american_scientific_journal-7989	146	15	path	path	NOUN
american_scientific_journal-7989	146	16	to	to	PART
american_scientific_journal-7989	146	17	move	move	VERB
american_scientific_journal-7989	146	18	the	the	DET
american_scientific_journal-7989	146	19	robot	robot	NOUN
american_scientific_journal-7989	146	20	to	to	ADP
american_scientific_journal-7989	146	21	the	the	DET
american_scientific_journal-7989	146	22	goal	goal	NOUN
american_scientific_journal-7989	146	23	point	point	NOUN
american_scientific_journal-7989	146	24	from	from	ADP
american_scientific_journal-7989	146	25	the	the	DET
american_scientific_journal-7989	146	26	home	home	NOUN
american_scientific_journal-7989	146	27	point	point	NOUN
american_scientific_journal-7989	146	28	and	and	CCONJ
american_scientific_journal-7989	146	29	navigate	navigate	VERB
american_scientific_journal-7989	146	30	through	through	ADP
american_scientific_journal-7989	146	31	the	the	DET
american_scientific_journal-7989	146	32	path	path	NOUN
american_scientific_journal-7989	146	33	by	by	ADP
american_scientific_journal-7989	146	34	pure	pure	ADJ
american_scientific_journal-7989	146	35	-	-	PUNCT
american_scientific_journal-7989	146	36	pursuit	pursuit	NOUN
american_scientific_journal-7989	146	37	algorithm	algorithm	NOUN
american_scientific_journal-7989	146	38	.	.	PUNCT
american_scientific_journal-7989	147	1	in	in	ADP
american_scientific_journal-7989	147	2	case	case	NOUN
american_scientific_journal-7989	147	3	of	of	ADP
american_scientific_journal-7989	147	4	(	(	PUNCT
american_scientific_journal-7989	147	5	50	50	NUM
american_scientific_journal-7989	147	6	)	)	PUNCT
american_scientific_journal-7989	147	7	numbers	number	NOUN
american_scientific_journal-7989	147	8	of	of	ADP
american_scientific_journal-7989	147	9	nodes	node	NOUN
american_scientific_journal-7989	147	10	are	be	AUX
american_scientific_journal-7989	147	11	used	use	VERB
american_scientific_journal-7989	147	12	we	we	PRON
american_scientific_journal-7989	147	13	did	do	AUX
american_scientific_journal-7989	147	14	n’t	not	PART
american_scientific_journal-7989	147	15	get	get	VERB
american_scientific_journal-7989	147	16	the	the	DET
american_scientific_journal-7989	147	17	path	path	NOUN
american_scientific_journal-7989	147	18	because	because	SCONJ
american_scientific_journal-7989	147	19	nodes	node	NOUN
american_scientific_journal-7989	147	20	do	do	AUX
american_scientific_journal-7989	147	21	n’t	not	PART
american_scientific_journal-7989	147	22	connect	connect	VERB
american_scientific_journal-7989	147	23	.	.	PUNCT
american_scientific_journal-7989	148	1	by	by	ADP
american_scientific_journal-7989	148	2	trying	try	VERB
american_scientific_journal-7989	148	3	prm	prm	PROPN
american_scientific_journal-7989	148	4	again	again	ADV
american_scientific_journal-7989	148	5	to	to	PART
american_scientific_journal-7989	148	6	have	have	VERB
american_scientific_journal-7989	148	7	the	the	DET
american_scientific_journal-7989	148	8	best	good	ADJ
american_scientific_journal-7989	148	9	path	path	NOUN
american_scientific_journal-7989	148	10	with	with	ADP
american_scientific_journal-7989	148	11	nodes	node	NOUN
american_scientific_journal-7989	148	12	connected	connect	VERB
american_scientific_journal-7989	148	13	.	.	PUNCT
american_scientific_journal-7989	149	1	in	in	ADP
american_scientific_journal-7989	149	2	case	case	NOUN
american_scientific_journal-7989	149	3	with	with	ADP
american_scientific_journal-7989	149	4	(	(	PUNCT
american_scientific_journal-7989	149	5	50	50	NUM
american_scientific_journal-7989	149	6	)	)	PUNCT
american_scientific_journal-7989	149	7	numbers	number	NOUN
american_scientific_journal-7989	149	8	of	of	ADP
american_scientific_journal-7989	149	9	nodes	node	NOUN
american_scientific_journal-7989	149	10	are	be	AUX
american_scientific_journal-7989	149	11	used	use	VERB
american_scientific_journal-7989	149	12	we	we	PRON
american_scientific_journal-7989	149	13	did	do	AUX
american_scientific_journal-7989	149	14	n’t	not	PART
american_scientific_journal-7989	149	15	get	get	VERB
american_scientific_journal-7989	149	16	the	the	DET
american_scientific_journal-7989	149	17	path	path	NOUN
american_scientific_journal-7989	149	18	because	because	SCONJ
american_scientific_journal-7989	149	19	nodes	node	NOUN
american_scientific_journal-7989	149	20	do	do	AUX
american_scientific_journal-7989	149	21	n’t	not	PART
american_scientific_journal-7989	149	22	connect	connect	VERB
american_scientific_journal-7989	149	23	as	as	SCONJ
american_scientific_journal-7989	149	24	shown	show	VERB
american_scientific_journal-7989	149	25	in	in	ADP
american_scientific_journal-7989	149	26	figure	figure	NOUN
american_scientific_journal-7989	149	27	(	(	PUNCT
american_scientific_journal-7989	149	28	6	6	NUM
american_scientific_journal-7989	149	29	ii	ii	NOUN
american_scientific_journal-7989	149	30	)	)	PUNCT
american_scientific_journal-7989	149	31	.	.	PUNCT
american_scientific_journal-7989	150	1	by	by	ADP
american_scientific_journal-7989	150	2	trying	try	VERB
american_scientific_journal-7989	150	3	prm	prm	VERB
american_scientific_journal-7989	150	4	again	again	ADV
american_scientific_journal-7989	150	5	with	with	ADP
american_scientific_journal-7989	150	6	(	(	PUNCT
american_scientific_journal-7989	150	7	100	100	NUM
american_scientific_journal-7989	150	8	)	)	PUNCT
american_scientific_journal-7989	150	9	nodes	node	NOUN
american_scientific_journal-7989	150	10	to	to	PART
american_scientific_journal-7989	150	11	have	have	VERB
american_scientific_journal-7989	150	12	the	the	DET
american_scientific_journal-7989	150	13	best	good	ADJ
american_scientific_journal-7989	150	14	path	path	NOUN
american_scientific_journal-7989	150	15	with	with	ADP
american_scientific_journal-7989	150	16	nodes	node	NOUN
american_scientific_journal-7989	150	17	connected	connect	VERB
american_scientific_journal-7989	150	18	.	.	PUNCT
american_scientific_journal-7989	151	1	the	the	DET
american_scientific_journal-7989	151	2	map	map	NOUN
american_scientific_journal-7989	151	3	has	have	VERB
american_scientific_journal-7989	151	4	more	more	ADJ
american_scientific_journal-7989	151	5	doors	door	NOUN
american_scientific_journal-7989	151	6	and	and	CCONJ
american_scientific_journal-7989	151	7	lanes	lane	NOUN
american_scientific_journal-7989	151	8	in	in	ADP
american_scientific_journal-7989	151	9	case	case	NOUN
american_scientific_journal-7989	151	10	iii	iii	X
american_scientific_journal-7989	151	11	with	with	ADP
american_scientific_journal-7989	151	12	(	(	PUNCT
american_scientific_journal-7989	151	13	50	50	NUM
american_scientific_journal-7989	151	14	)	)	PUNCT
american_scientific_journal-7989	151	15	numbers	number	NOUN
american_scientific_journal-7989	151	16	of	of	ADP
american_scientific_journal-7989	151	17	nodes	node	NOUN
american_scientific_journal-7989	151	18	are	be	AUX
american_scientific_journal-7989	151	19	used	use	VERB
american_scientific_journal-7989	151	20	we	we	PRON
american_scientific_journal-7989	151	21	did	do	AUX
american_scientific_journal-7989	151	22	n’t	not	PART
american_scientific_journal-7989	151	23	get	get	VERB
american_scientific_journal-7989	151	24	the	the	DET
american_scientific_journal-7989	151	25	path	path	NOUN
american_scientific_journal-7989	151	26	because	because	SCONJ
american_scientific_journal-7989	151	27	nodes	node	NOUN
american_scientific_journal-7989	151	28	do	do	AUX
american_scientific_journal-7989	151	29	n’t	not	PART
american_scientific_journal-7989	151	30	connect	connect	VERB
american_scientific_journal-7989	151	31	as	as	SCONJ
american_scientific_journal-7989	151	32	shown	show	VERB
american_scientific_journal-7989	151	33	in	in	ADP
american_scientific_journal-7989	151	34	figure	figure	NOUN
american_scientific_journal-7989	151	35	(	(	PUNCT
american_scientific_journal-7989	151	36	6	6	NUM
american_scientific_journal-7989	151	37	iii	iii	NOUN
american_scientific_journal-7989	151	38	)	)	PUNCT
american_scientific_journal-7989	151	39	.	.	PUNCT
american_scientific_journal-7989	152	1	by	by	ADP
american_scientific_journal-7989	152	2	trying	try	VERB
american_scientific_journal-7989	152	3	prm	prm	VERB
american_scientific_journal-7989	152	4	again	again	ADV
american_scientific_journal-7989	152	5	with	with	ADP
american_scientific_journal-7989	152	6	(	(	PUNCT
american_scientific_journal-7989	152	7	100	100	NUM
american_scientific_journal-7989	152	8	)	)	PUNCT
american_scientific_journal-7989	152	9	nodes	node	NOUN
american_scientific_journal-7989	152	10	did	do	AUX
american_scientific_journal-7989	152	11	n’t	not	PART
american_scientific_journal-7989	152	12	have	have	VERB
american_scientific_journal-7989	152	13	the	the	DET
american_scientific_journal-7989	152	14	path	path	NOUN
american_scientific_journal-7989	152	15	with	with	ADP
american_scientific_journal-7989	152	16	nodes	node	NOUN
american_scientific_journal-7989	152	17	unconnected	unconnected	ADJ
american_scientific_journal-7989	152	18	.	.	PUNCT
american_scientific_journal-7989	153	1	by	by	ADP
american_scientific_journal-7989	153	2	trying	try	VERB
american_scientific_journal-7989	153	3	prm	prm	VERB
american_scientific_journal-7989	153	4	again	again	ADV
american_scientific_journal-7989	153	5	with	with	ADP
american_scientific_journal-7989	153	6	(	(	PUNCT
american_scientific_journal-7989	153	7	150	150	NUM
american_scientific_journal-7989	153	8	)	)	PUNCT
american_scientific_journal-7989	153	9	nodes	node	NOUN
american_scientific_journal-7989	153	10	to	to	PART
american_scientific_journal-7989	153	11	have	have	VERB
american_scientific_journal-7989	153	12	the	the	DET
american_scientific_journal-7989	153	13	best	good	ADJ
american_scientific_journal-7989	153	14	path	path	NOUN
american_scientific_journal-7989	153	15	with	with	ADP
american_scientific_journal-7989	153	16	nodes	node	NOUN
american_scientific_journal-7989	153	17	connected	connect	VERB
american_scientific_journal-7989	153	18	.	.	PUNCT
american_scientific_journal-7989	154	1	in	in	ADP
american_scientific_journal-7989	154	2	case	case	NOUN
american_scientific_journal-7989	154	3	(	(	PUNCT
american_scientific_journal-7989	154	4	iv	iv	X
american_scientific_journal-7989	154	5	)	)	PUNCT
american_scientific_journal-7989	154	6	the	the	DET
american_scientific_journal-7989	154	7	most	most	ADV
american_scientific_journal-7989	154	8	complex	complex	ADJ
american_scientific_journal-7989	154	9	map	map	NOUN
american_scientific_journal-7989	154	10	with	with	ADP
american_scientific_journal-7989	154	11	(	(	PUNCT
american_scientific_journal-7989	154	12	50	50	NUM
american_scientific_journal-7989	154	13	)	)	PUNCT
american_scientific_journal-7989	154	14	numbers	number	NOUN
american_scientific_journal-7989	154	15	of	of	ADP
american_scientific_journal-7989	154	16	nodes	node	NOUN
american_scientific_journal-7989	154	17	are	be	AUX
american_scientific_journal-7989	154	18	used	use	VERB
american_scientific_journal-7989	154	19	we	we	PRON
american_scientific_journal-7989	154	20	did	do	AUX
american_scientific_journal-7989	154	21	n’t	not	PART
american_scientific_journal-7989	154	22	get	get	VERB
american_scientific_journal-7989	154	23	the	the	DET
american_scientific_journal-7989	154	24	path	path	NOUN
american_scientific_journal-7989	154	25	because	because	SCONJ
american_scientific_journal-7989	154	26	nodes	node	NOUN
american_scientific_journal-7989	154	27	do	do	AUX
american_scientific_journal-7989	154	28	n’t	not	PART
american_scientific_journal-7989	154	29	connect	connect	VERB
american_scientific_journal-7989	154	30	as	as	SCONJ
american_scientific_journal-7989	154	31	shown	show	VERB
american_scientific_journal-7989	154	32	in	in	ADP
american_scientific_journal-7989	154	33	.	.	PUNCT
american_scientific_journal-7989	155	1	by	by	ADP
american_scientific_journal-7989	155	2	trying	try	VERB
american_scientific_journal-7989	155	3	prm	prm	VERB
american_scientific_journal-7989	155	4	again	again	ADV
american_scientific_journal-7989	155	5	with	with	ADP
american_scientific_journal-7989	155	6	(	(	PUNCT
american_scientific_journal-7989	155	7	100	100	NUM
american_scientific_journal-7989	155	8	)	)	PUNCT
american_scientific_journal-7989	155	9	nodes	node	NOUN
american_scientific_journal-7989	155	10	did	do	AUX
american_scientific_journal-7989	155	11	n’t	not	PART
american_scientific_journal-7989	155	12	have	have	VERB
american_scientific_journal-7989	155	13	the	the	DET
american_scientific_journal-7989	155	14	path	path	NOUN
american_scientific_journal-7989	155	15	with	with	ADP
american_scientific_journal-7989	155	16	nodes	node	NOUN
american_scientific_journal-7989	155	17	unconnected	unconnected	ADJ
american_scientific_journal-7989	155	18	.	.	PUNCT
american_scientific_journal-7989	156	1	so	so	ADV
american_scientific_journal-7989	156	2	,	,	PUNCT
american_scientific_journal-7989	156	3	we	we	PRON
american_scientific_journal-7989	156	4	trying	try	VERB
american_scientific_journal-7989	156	5	prm	prm	VERB
american_scientific_journal-7989	156	6	again	again	ADV
american_scientific_journal-7989	156	7	with	with	ADP
american_scientific_journal-7989	156	8	(	(	PUNCT
american_scientific_journal-7989	156	9	150	150	NUM
american_scientific_journal-7989	156	10	)	)	PUNCT
american_scientific_journal-7989	156	11	nodes	node	NOUN
american_scientific_journal-7989	157	1	did	do	AUX
american_scientific_journal-7989	157	2	n’t	not	PART
american_scientific_journal-7989	157	3	have	have	VERB
american_scientific_journal-7989	157	4	the	the	DET
american_scientific_journal-7989	157	5	path	path	NOUN
american_scientific_journal-7989	157	6	with	with	ADP
american_scientific_journal-7989	157	7	nodes	node	NOUN
american_scientific_journal-7989	157	8	unconnected	unconnected	ADJ
american_scientific_journal-7989	157	9	.	.	PUNCT
american_scientific_journal-7989	158	1	by	by	ADP
american_scientific_journal-7989	158	2	trying	try	VERB
american_scientific_journal-7989	158	3	prm	prm	VERB
american_scientific_journal-7989	158	4	again	again	ADV
american_scientific_journal-7989	158	5	with	with	ADP
american_scientific_journal-7989	158	6	(	(	PUNCT
american_scientific_journal-7989	158	7	200	200	NUM
american_scientific_journal-7989	158	8	)	)	PUNCT
american_scientific_journal-7989	158	9	nodes	node	NOUN
american_scientific_journal-7989	158	10	result	result	VERB
american_scientific_journal-7989	158	11	the	the	DET
american_scientific_journal-7989	158	12	best	good	ADJ
american_scientific_journal-7989	158	13	path	path	NOUN
american_scientific_journal-7989	158	14	with	with	ADP
american_scientific_journal-7989	158	15	nodes	node	NOUN
american_scientific_journal-7989	158	16	connected	connect	VERB
american_scientific_journal-7989	158	17	as	as	ADP
american_scientific_journal-7989	158	18	show	show	NOUN
american_scientific_journal-7989	158	19	in	in	ADP
american_scientific_journal-7989	158	20	figure	figure	NOUN
american_scientific_journal-7989	158	21	(	(	PUNCT
american_scientific_journal-7989	158	22	6	6	NUM
american_scientific_journal-7989	158	23	iv	iv	NUM
american_scientific_journal-7989	158	24	)	)	PUNCT
american_scientific_journal-7989	158	25	.	.	PUNCT
american_scientific_journal-7989	159	1	american	american	ADJ
american_scientific_journal-7989	159	2	academic	academic	ADJ
american_scientific_journal-7989	159	3	scientific	scientific	ADJ
american_scientific_journal-7989	159	4	research	research	NOUN
american_scientific_journal-7989	159	5	journal	journal	NOUN
american_scientific_journal-7989	159	6	for	for	ADP
american_scientific_journal-7989	159	7	engineering	engineering	NOUN
american_scientific_journal-7989	159	8	,	,	PUNCT
american_scientific_journal-7989	159	9	technology	technology	NOUN
american_scientific_journal-7989	159	10	,	,	PUNCT
american_scientific_journal-7989	159	11	and	and	CCONJ
american_scientific_journal-7989	159	12	sciences	science	NOUN
american_scientific_journal-7989	159	13	(	(	PUNCT
american_scientific_journal-7989	159	14	asrjets	asrjet	NOUN
american_scientific_journal-7989	159	15	)	)	PUNCT
american_scientific_journal-7989	159	16	(	(	PUNCT
american_scientific_journal-7989	159	17	2022	2022	NUM
american_scientific_journal-7989	159	18	)	)	PUNCT
american_scientific_journal-7989	159	19	volume	volume	NOUN
american_scientific_journal-7989	159	20	90	90	NUM
american_scientific_journal-7989	159	21	,	,	PUNCT
american_scientific_journal-7989	159	22	no	no	DET
american_scientific_journal-7989	159	23	1	1	NUM
american_scientific_journal-7989	159	24	,	,	PUNCT
american_scientific_journal-7989	159	25	pp	pp	ADV
american_scientific_journal-7989	159	26	1	1	NUM
american_scientific_journal-7989	159	27	-	-	SYM
american_scientific_journal-7989	159	28	12	12	NUM
american_scientific_journal-7989	159	29	10	10	NUM
american_scientific_journal-7989	159	30	figure	figure	NOUN
american_scientific_journal-7989	159	31	6	6	NUM
american_scientific_journal-7989	159	32	:	:	PUNCT
american_scientific_journal-7989	159	33	maps	map	NOUN
american_scientific_journal-7989	159	34	&	&	CCONJ
american_scientific_journal-7989	159	35	prm	prm	PROPN
american_scientific_journal-7989	159	36	7	7	NUM
american_scientific_journal-7989	159	37	.	.	PUNCT
american_scientific_journal-7989	159	38	conclusions	conclusion	NOUN
american_scientific_journal-7989	159	39	a	a	DET
american_scientific_journal-7989	159	40	solution	solution	NOUN
american_scientific_journal-7989	159	41	can	can	AUX
american_scientific_journal-7989	159	42	be	be	AUX
american_scientific_journal-7989	159	43	efficiently	efficiently	ADV
american_scientific_journal-7989	159	44	reached	reach	VERB
american_scientific_journal-7989	159	45	in	in	ADP
american_scientific_journal-7989	159	46	cases	case	NOUN
american_scientific_journal-7989	159	47	where	where	SCONJ
american_scientific_journal-7989	159	48	the	the	DET
american_scientific_journal-7989	159	49	environment	environment	NOUN
american_scientific_journal-7989	159	50	map	map	NOUN
american_scientific_journal-7989	159	51	is	be	AUX
american_scientific_journal-7989	159	52	simple	simple	ADJ
american_scientific_journal-7989	159	53	(	(	PUNCT
american_scientific_journal-7989	159	54	i.e.	i.e.	X
american_scientific_journal-7989	159	55	,	,	PUNCT
american_scientific_journal-7989	159	56	there	there	PRON
american_scientific_journal-7989	159	57	are	be	VERB
american_scientific_journal-7989	159	58	fewer	few	ADJ
american_scientific_journal-7989	159	59	obstacles	obstacle	NOUN
american_scientific_journal-7989	159	60	)	)	PUNCT
american_scientific_journal-7989	159	61	,	,	PUNCT
american_scientific_journal-7989	159	62	has	have	VERB
american_scientific_journal-7989	159	63	a	a	DET
american_scientific_journal-7989	159	64	small	small	ADJ
american_scientific_journal-7989	159	65	number	number	NOUN
american_scientific_journal-7989	159	66	of	of	ADP
american_scientific_journal-7989	159	67	nodes	node	NOUN
american_scientific_journal-7989	159	68	,	,	PUNCT
american_scientific_journal-7989	159	69	and	and	CCONJ
american_scientific_journal-7989	159	70	has	have	VERB
american_scientific_journal-7989	159	71	a	a	DET
american_scientific_journal-7989	159	72	long	long	ADJ
american_scientific_journal-7989	159	73	connection	connection	NOUN
american_scientific_journal-7989	159	74	distance	distance	NOUN
american_scientific_journal-7989	159	75	between	between	ADP
american_scientific_journal-7989	159	76	nodes	node	NOUN
american_scientific_journal-7989	159	77	.	.	PUNCT
american_scientific_journal-7989	160	1	we	we	PRON
american_scientific_journal-7989	160	2	can	can	AUX
american_scientific_journal-7989	160	3	see	see	VERB
american_scientific_journal-7989	160	4	the	the	DET
american_scientific_journal-7989	160	5	impact	impact	NOUN
american_scientific_journal-7989	160	6	of	of	ADP
american_scientific_journal-7989	160	7	using	use	VERB
american_scientific_journal-7989	160	8	a	a	DET
american_scientific_journal-7989	160	9	varying	vary	VERB
american_scientific_journal-7989	160	10	number	number	NOUN
american_scientific_journal-7989	160	11	of	of	ADP
american_scientific_journal-7989	160	12	nodes	node	NOUN
american_scientific_journal-7989	160	13	in	in	ADP
american_scientific_journal-7989	160	14	prm	prm	VERB
american_scientific_journal-7989	160	15	by	by	ADP
american_scientific_journal-7989	160	16	using	use	VERB
american_scientific_journal-7989	160	17	a	a	DET
american_scientific_journal-7989	160	18	fixed	fix	VERB
american_scientific_journal-7989	160	19	connection	connection	NOUN
american_scientific_journal-7989	160	20	distance	distance	NOUN
american_scientific_journal-7989	160	21	between	between	ADP
american_scientific_journal-7989	160	22	the	the	DET
american_scientific_journal-7989	160	23	nodes	node	NOUN
american_scientific_journal-7989	160	24	.	.	PUNCT
american_scientific_journal-7989	161	1	both	both	DET
american_scientific_journal-7989	161	2	strategies	strategy	NOUN
american_scientific_journal-7989	161	3	(	(	PUNCT
american_scientific_journal-7989	161	4	prm	prm	ADJ
american_scientific_journal-7989	161	5	and	and	CCONJ
american_scientific_journal-7989	161	6	pure	pure	ADJ
american_scientific_journal-7989	161	7	-	-	PUNCT
american_scientific_journal-7989	161	8	pursuit	pursuit	NOUN
american_scientific_journal-7989	161	9	)	)	PUNCT
american_scientific_journal-7989	161	10	have	have	AUX
american_scientific_journal-7989	161	11	successfully	successfully	ADV
american_scientific_journal-7989	161	12	shown	show	VERB
american_scientific_journal-7989	161	13	that	that	SCONJ
american_scientific_journal-7989	161	14	they	they	PRON
american_scientific_journal-7989	161	15	are	be	AUX
american_scientific_journal-7989	161	16	effective	effective	ADJ
american_scientific_journal-7989	161	17	at	at	ADP
american_scientific_journal-7989	161	18	helping	help	VERB
american_scientific_journal-7989	161	19	mobile	mobile	ADJ
american_scientific_journal-7989	161	20	robots	robot	NOUN
american_scientific_journal-7989	161	21	plan	plan	VERB
american_scientific_journal-7989	161	22	their	their	PRON
american_scientific_journal-7989	161	23	routes	route	NOUN
american_scientific_journal-7989	161	24	.	.	PUNCT
american_scientific_journal-7989	162	1	they	they	PRON
american_scientific_journal-7989	162	2	have	have	AUX
american_scientific_journal-7989	162	3	provided	provide	VERB
american_scientific_journal-7989	162	4	collision	collision	NOUN
american_scientific_journal-7989	162	5	-	-	PUNCT
american_scientific_journal-7989	162	6	free	free	ADJ
american_scientific_journal-7989	162	7	navigation	navigation	NOUN
american_scientific_journal-7989	162	8	between	between	ADP
american_scientific_journal-7989	162	9	the	the	DET
american_scientific_journal-7989	162	10	predetermined	predetermined	ADJ
american_scientific_journal-7989	162	11	initial	initial	ADJ
american_scientific_journal-7989	162	12	and	and	CCONJ
american_scientific_journal-7989	162	13	final	final	ADJ
american_scientific_journal-7989	162	14	locations	location	NOUN
american_scientific_journal-7989	162	15	inside	inside	ADP
american_scientific_journal-7989	162	16	the	the	DET
american_scientific_journal-7989	162	17	designated	designate	VERB
american_scientific_journal-7989	162	18	environment	environment	NOUN
american_scientific_journal-7989	162	19	or	or	CCONJ
american_scientific_journal-7989	162	20	map	map	NOUN
american_scientific_journal-7989	162	21	.	.	PUNCT
american_scientific_journal-7989	163	1	this	this	PRON
american_scientific_journal-7989	163	2	allows	allow	VERB
american_scientific_journal-7989	163	3	control	control	PROPN
american_scientific_journal-7989	163	4	mobile	mobile	ADJ
american_scientific_journal-7989	163	5	robot	robot	NOUN
american_scientific_journal-7989	163	6	for	for	ADP
american_scientific_journal-7989	163	7	hospital	hospital	NOUN
american_scientific_journal-7989	163	8	disinfection	disinfection	NOUN
american_scientific_journal-7989	163	9	by	by	ADP
american_scientific_journal-7989	163	10	using	use	VERB
american_scientific_journal-7989	163	11	uv	uv	NOUN
american_scientific_journal-7989	163	12	light	light	NOUN
american_scientific_journal-7989	163	13	for	for	ADP
american_scientific_journal-7989	163	14	example	example	NOUN
american_scientific_journal-7989	163	15	.	.	PUNCT
american_scientific_journal-7989	164	1	however	however	ADV
american_scientific_journal-7989	164	2	,	,	PUNCT
american_scientific_journal-7989	164	3	the	the	DET
american_scientific_journal-7989	164	4	prm	prm	PROPN
american_scientific_journal-7989	164	5	method	method	NOUN
american_scientific_journal-7989	164	6	observed	observe	VERB
american_scientific_journal-7989	164	7	benefits	benefit	NOUN
american_scientific_journal-7989	164	8	and	and	CCONJ
american_scientific_journal-7989	164	9	drawbacks	drawback	NOUN
american_scientific_journal-7989	164	10	.	.	PUNCT
american_scientific_journal-7989	165	1	the	the	DET
american_scientific_journal-7989	165	2	resulting	result	VERB
american_scientific_journal-7989	165	3	trajectories	trajectory	NOUN
american_scientific_journal-7989	165	4	show	show	VERB
american_scientific_journal-7989	165	5	that	that	SCONJ
american_scientific_journal-7989	165	6	more	more	ADJ
american_scientific_journal-7989	165	7	nods	nod	NOUN
american_scientific_journal-7989	165	8	were	be	AUX
american_scientific_journal-7989	165	9	required	require	VERB
american_scientific_journal-7989	165	10	,	,	PUNCT
american_scientific_journal-7989	165	11	which	which	PRON
american_scientific_journal-7989	165	12	improves	improve	VERB
american_scientific_journal-7989	165	13	the	the	DET
american_scientific_journal-7989	165	14	mobility	mobility	NOUN
american_scientific_journal-7989	165	15	of	of	ADP
american_scientific_journal-7989	165	16	the	the	DET
american_scientific_journal-7989	165	17	mobile	mobile	ADJ
american_scientific_journal-7989	165	18	robots	robot	NOUN
american_scientific_journal-7989	165	19	but	but	CCONJ
american_scientific_journal-7989	165	20	takes	take	VERB
american_scientific_journal-7989	165	21	more	more	ADJ
american_scientific_journal-7989	165	22	time	time	NOUN
american_scientific_journal-7989	165	23	.	.	PUNCT
american_scientific_journal-7989	166	1	also	also	ADV
american_scientific_journal-7989	166	2	,	,	PUNCT
american_scientific_journal-7989	166	3	the	the	DET
american_scientific_journal-7989	166	4	advantage	advantage	NOUN
american_scientific_journal-7989	166	5	of	of	ADP
american_scientific_journal-7989	166	6	prm	prm	PROPN
american_scientific_journal-7989	166	7	is	be	AUX
american_scientific_journal-7989	166	8	accurate	accurate	ADJ
american_scientific_journal-7989	166	9	results	result	NOUN
american_scientific_journal-7989	166	10	with	with	ADP
american_scientific_journal-7989	166	11	a	a	DET
american_scientific_journal-7989	166	12	large	large	ADJ
american_scientific_journal-7989	166	13	number	number	NOUN
american_scientific_journal-7989	166	14	of	of	ADP
american_scientific_journal-7989	166	15	nodes	node	NOUN
american_scientific_journal-7989	166	16	.	.	PUNCT
american_scientific_journal-7989	167	1	once	once	SCONJ
american_scientific_journal-7989	167	2	we	we	PRON
american_scientific_journal-7989	167	3	have	have	VERB
american_scientific_journal-7989	167	4	a	a	DET
american_scientific_journal-7989	167	5	realistic	realistic	ADJ
american_scientific_journal-7989	167	6	path	path	NOUN
american_scientific_journal-7989	167	7	from	from	ADP
american_scientific_journal-7989	167	8	the	the	DET
american_scientific_journal-7989	167	9	starting	starting	NOUN
american_scientific_journal-7989	167	10	point	point	NOUN
american_scientific_journal-7989	167	11	to	to	ADP
american_scientific_journal-7989	167	12	the	the	DET
american_scientific_journal-7989	167	13	goal	goal	NOUN
american_scientific_journal-7989	167	14	point	point	NOUN
american_scientific_journal-7989	167	15	in	in	ADP
american_scientific_journal-7989	167	16	the	the	DET
american_scientific_journal-7989	167	17	environment	environment	NOUN
american_scientific_journal-7989	167	18	,	,	PUNCT
american_scientific_journal-7989	167	19	we	we	PRON
american_scientific_journal-7989	167	20	can	can	AUX
american_scientific_journal-7989	167	21	simply	simply	ADV
american_scientific_journal-7989	167	22	follow	follow	VERB
american_scientific_journal-7989	167	23	the	the	DET
american_scientific_journal-7989	167	24	waypoints	waypoint	NOUN
american_scientific_journal-7989	167	25	of	of	ADP
american_scientific_journal-7989	167	26	the	the	DET
american_scientific_journal-7989	167	27	path	path	NOUN
american_scientific_journal-7989	167	28	to	to	PART
american_scientific_journal-7989	167	29	get	get	VERB
american_scientific_journal-7989	167	30	to	to	ADP
american_scientific_journal-7989	167	31	the	the	DET
american_scientific_journal-7989	167	32	goal	goal	NOUN
american_scientific_journal-7989	167	33	location	location	NOUN
american_scientific_journal-7989	167	34	.	.	PUNCT
american_scientific_journal-7989	168	1	using	use	VERB
american_scientific_journal-7989	168	2	matlab	matlab	PROPN
american_scientific_journal-7989	168	3	's	's	PART
american_scientific_journal-7989	168	4	"	"	PUNCT
american_scientific_journal-7989	168	5	robotics	robotic	NOUN
american_scientific_journal-7989	168	6	system	system	NOUN
american_scientific_journal-7989	168	7	toolbox	toolbox	NOUN
american_scientific_journal-7989	168	8	,	,	PUNCT
american_scientific_journal-7989	168	9	"	"	PUNCT
american_scientific_journal-7989	168	10	a	a	DET
american_scientific_journal-7989	168	11	path	path	NOUN
american_scientific_journal-7989	168	12	following	follow	VERB
american_scientific_journal-7989	168	13	controller	controller	NOUN
american_scientific_journal-7989	168	14	object	object	NOUN
american_scientific_journal-7989	168	15	built	build	VERB
american_scientific_journal-7989	168	16	on	on	ADP
american_scientific_journal-7989	168	17	a	a	DET
american_scientific_journal-7989	168	18	pure	pure	ADJ
american_scientific_journal-7989	168	19	-	-	PUNCT
american_scientific_journal-7989	168	20	pursuit	pursuit	NOUN
american_scientific_journal-7989	168	21	process	process	NOUN
american_scientific_journal-7989	168	22	can	can	AUX
american_scientific_journal-7989	168	23	be	be	AUX
american_scientific_journal-7989	168	24	produced	produce	VERB
american_scientific_journal-7989	168	25	.	.	PUNCT
american_scientific_journal-7989	169	1	in	in	ADP
american_scientific_journal-7989	169	2	pure	pure	ADJ
american_scientific_journal-7989	169	3	-	-	PUNCT
american_scientific_journal-7989	169	4	pursuit	pursuit	NOUN
american_scientific_journal-7989	169	5	,	,	PUNCT
american_scientific_journal-7989	169	6	the	the	DET
american_scientific_journal-7989	169	7	algorithm	algorithm	NOUN
american_scientific_journal-7989	169	8	's	's	PART
american_scientific_journal-7989	169	9	main	main	ADJ
american_scientific_journal-7989	169	10	goal	goal	NOUN
american_scientific_journal-7989	169	11	is	be	AUX
american_scientific_journal-7989	169	12	to	to	PART
american_scientific_journal-7989	169	13	select	select	VERB
american_scientific_journal-7989	169	14	a	a	DET
american_scientific_journal-7989	169	15	suitable	suitable	ADJ
american_scientific_journal-7989	169	16	look	look	NOUN
american_scientific_journal-7989	169	17	-	-	PUNCT
american_scientific_journal-7989	169	18	ahead	ahead	NOUN
american_scientific_journal-7989	169	19	distance	distance	NOUN
american_scientific_journal-7989	169	20	.	.	PUNCT
american_scientific_journal-7989	170	1	in	in	ADP
american_scientific_journal-7989	170	2	its	its	PRON
american_scientific_journal-7989	170	3	most	most	ADV
american_scientific_journal-7989	170	4	basic	basic	ADJ
american_scientific_journal-7989	170	5	form	form	NOUN
american_scientific_journal-7989	170	6	,	,	PUNCT
american_scientific_journal-7989	170	7	by	by	ADP
american_scientific_journal-7989	170	8	measuring	measure	VERB
american_scientific_journal-7989	170	9	the	the	DET
american_scientific_journal-7989	170	10	difference	difference	NOUN
american_scientific_journal-7989	170	11	in	in	ADP
american_scientific_journal-7989	170	12	heading	head	VERB
american_scientific_journal-7989	170	13	between	between	ADP
american_scientific_journal-7989	170	14	the	the	DET
american_scientific_journal-7989	170	15	present	present	ADJ
american_scientific_journal-7989	170	16	vehicle	vehicle	NOUN
american_scientific_journal-7989	170	17	and	and	CCONJ
american_scientific_journal-7989	170	18	the	the	DET
american_scientific_journal-7989	170	19	objective	objective	ADJ
american_scientific_journal-7989	170	20	point	point	NOUN
american_scientific_journal-7989	170	21	along	along	ADP
american_scientific_journal-7989	170	22	the	the	DET
american_scientific_journal-7989	170	23	course	course	NOUN
american_scientific_journal-7989	170	24	,	,	PUNCT
american_scientific_journal-7989	170	25	the	the	DET
american_scientific_journal-7989	170	26	pure	pure	ADJ
american_scientific_journal-7989	170	27	pursuit	pursuit	NOUN
american_scientific_journal-7989	170	28	algorithm	algorithm	NOUN
american_scientific_journal-7989	170	29	is	be	AUX
american_scientific_journal-7989	170	30	a	a	DET
american_scientific_journal-7989	170	31	proportional	proportional	ADJ
american_scientific_journal-7989	170	32	controller	controller	NOUN
american_scientific_journal-7989	170	33	.	.	PUNCT
american_scientific_journal-7989	171	1	the	the	DET
american_scientific_journal-7989	171	2	effectiveness	effectiveness	NOUN
american_scientific_journal-7989	171	3	of	of	ADP
american_scientific_journal-7989	171	4	the	the	DET
american_scientific_journal-7989	171	5	pure	pure	ADJ
american_scientific_journal-7989	171	6	pursuit	pursuit	NOUN
american_scientific_journal-7989	171	7	algorithm	algorithm	NOUN
american_scientific_journal-7989	171	8	implementations	implementation	NOUN
american_scientific_journal-7989	171	9	was	be	AUX
american_scientific_journal-7989	171	10	tested	test	VERB
american_scientific_journal-7989	171	11	in	in	ADP
american_scientific_journal-7989	171	12	a	a	DET
american_scientific_journal-7989	171	13	variety	variety	NOUN
american_scientific_journal-7989	171	14	of	of	ADP
american_scientific_journal-7989	171	15	situations	situation	NOUN
american_scientific_journal-7989	171	16	.	.	PUNCT
american_scientific_journal-7989	172	1	the	the	DET
american_scientific_journal-7989	172	2	algorithm	algorithm	NOUN
american_scientific_journal-7989	172	3	used	use	VERB
american_scientific_journal-7989	172	4	in	in	ADP
american_scientific_journal-7989	172	5	all	all	PRON
american_scientific_journal-7989	172	6	of	of	ADP
american_scientific_journal-7989	172	7	the	the	DET
american_scientific_journal-7989	172	8	tests	test	NOUN
american_scientific_journal-7989	172	9	followed	follow	VERB
american_scientific_journal-7989	172	10	a	a	DET
american_scientific_journal-7989	172	11	straight	straight	ADJ
american_scientific_journal-7989	172	12	path	path	NOUN
american_scientific_journal-7989	172	13	between	between	ADP
american_scientific_journal-7989	172	14	high	high	ADJ
american_scientific_journal-7989	172	15	level	level	NOUN
american_scientific_journal-7989	172	16	waypoints	waypoint	NOUN
american_scientific_journal-7989	172	17	,	,	PUNCT
american_scientific_journal-7989	172	18	it	it	PRON
american_scientific_journal-7989	172	19	’s	’	VERB
american_scientific_journal-7989	172	20	necessary	necessary	ADJ
american_scientific_journal-7989	172	21	to	to	PART
american_scientific_journal-7989	172	22	keep	keep	VERB
american_scientific_journal-7989	172	23	in	in	ADP
american_scientific_journal-7989	172	24	mind	mind	NOUN
american_scientific_journal-7989	172	25	that	that	SCONJ
american_scientific_journal-7989	172	26	prm	prm	PROPN
american_scientific_journal-7989	172	27	path	path	PROPN
american_scientific_journal-7989	172	28	position	position	NOUN
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american_scientific_journal-7989	172	30	the	the	DET
american_scientific_journal-7989	172	31	only	only	ADJ
american_scientific_journal-7989	172	32	navigation	navigation	NOUN
american_scientific_journal-7989	172	33	sensor	sensor	NOUN
american_scientific_journal-7989	172	34	employed	employ	VERB
american_scientific_journal-7989	172	35	in	in	ADP
american_scientific_journal-7989	172	36	these	these	DET
american_scientific_journal-7989	172	37	studies	study	NOUN
american_scientific_journal-7989	172	38	when	when	SCONJ
american_scientific_journal-7989	172	39	analyzing	analyze	VERB
american_scientific_journal-7989	172	40	their	their	PRON
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american_scientific_journal-7989	172	42	.	.	PUNCT
american_scientific_journal-7989	173	1	american	american	ADJ
american_scientific_journal-7989	173	2	academic	academic	ADJ
american_scientific_journal-7989	173	3	scientific	scientific	ADJ
american_scientific_journal-7989	173	4	research	research	NOUN
american_scientific_journal-7989	173	5	journal	journal	NOUN
american_scientific_journal-7989	173	6	for	for	ADP
american_scientific_journal-7989	173	7	engineering	engineering	NOUN
american_scientific_journal-7989	173	8	,	,	PUNCT
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american_scientific_journal-7989	173	10	,	,	PUNCT
american_scientific_journal-7989	173	11	and	and	CCONJ
american_scientific_journal-7989	173	12	sciences	science	NOUN
american_scientific_journal-7989	173	13	(	(	PUNCT
american_scientific_journal-7989	173	14	asrjets	asrjet	NOUN
american_scientific_journal-7989	173	15	)	)	PUNCT
american_scientific_journal-7989	173	16	(	(	PUNCT
american_scientific_journal-7989	173	17	2022	2022	NUM
american_scientific_journal-7989	173	18	)	)	PUNCT
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american_scientific_journal-7989	173	20	90	90	NUM
american_scientific_journal-7989	173	21	,	,	PUNCT
american_scientific_journal-7989	173	22	no	no	DET
american_scientific_journal-7989	173	23	1	1	NUM
american_scientific_journal-7989	173	24	,	,	PUNCT
american_scientific_journal-7989	173	25	pp	pp	ADV
american_scientific_journal-7989	173	26	1	1	NUM
american_scientific_journal-7989	173	27	-	-	SYM
american_scientific_journal-7989	173	28	12	12	NUM
american_scientific_journal-7989	173	29	11	11	NUM
american_scientific_journal-7989	173	30	this	this	DET
american_scientific_journal-7989	173	31	work	work	NOUN
american_scientific_journal-7989	173	32	's	's	PART
american_scientific_journal-7989	173	33	limitation	limitation	NOUN
american_scientific_journal-7989	173	34	is	be	AUX
american_scientific_journal-7989	173	35	that	that	SCONJ
american_scientific_journal-7989	173	36	it	it	PRON
american_scientific_journal-7989	173	37	only	only	ADV
american_scientific_journal-7989	173	38	applies	apply	VERB
american_scientific_journal-7989	173	39	to	to	ADP
american_scientific_journal-7989	173	40	environments	environment	NOUN
american_scientific_journal-7989	173	41	with	with	ADP
american_scientific_journal-7989	173	42	static	static	ADJ
american_scientific_journal-7989	173	43	obstacles	obstacle	NOUN
american_scientific_journal-7989	173	44	.	.	PUNCT
american_scientific_journal-7989	174	1	references	reference	NOUN
american_scientific_journal-7989	174	2	[	[	X
american_scientific_journal-7989	174	3	1]m	1]m	NUM
american_scientific_journal-7989	174	4	.	.	PUNCT
american_scientific_journal-7989	174	5	mucientes	mucientes	PROPN
american_scientific_journal-7989	174	6	,	,	PUNCT
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american_scientific_journal-7989	174	8	iglesias	iglesias	PROPN
american_scientific_journal-7989	174	9	,	,	PUNCT
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american_scientific_journal-7989	174	11	v	v	PROPN
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american_scientific_journal-7989	174	13	,	,	PUNCT
american_scientific_journal-7989	174	14	a.	a.	NOUN
american_scientific_journal-7989	174	15	bugarã	bugarã	PROPN
american_scientific_journal-7989	174	16	,	,	PUNCT
american_scientific_journal-7989	174	17	and	and	CCONJ
american_scientific_journal-7989	174	18	s.	s.	PROPN
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american_scientific_journal-7989	174	20	,	,	PUNCT
american_scientific_journal-7989	174	21	“	"	PUNCT
american_scientific_journal-7989	174	22	a	a	DET
american_scientific_journal-7989	174	23	fuzzy	fuzzy	ADJ
american_scientific_journal-7989	174	24	temporal	temporal	ADJ
american_scientific_journal-7989	174	25	rule	rule	NOUN
american_scientific_journal-7989	174	26	-	-	PUNCT
american_scientific_journal-7989	174	27	based	base	VERB
american_scientific_journal-7989	174	28	velocity	velocity	NOUN
american_scientific_journal-7989	174	29	controller	controller	NOUN
american_scientific_journal-7989	174	30	for	for	ADP
american_scientific_journal-7989	174	31	mobile	mobile	ADJ
american_scientific_journal-7989	174	32	robotics	robotic	NOUN
american_scientific_journal-7989	174	33	,	,	PUNCT
american_scientific_journal-7989	174	34	”	"	PUNCT
american_scientific_journal-7989	174	35	2003	2003	NUM
american_scientific_journal-7989	174	36	.	.	PUNCT
american_scientific_journal-7989	175	1	[	[	X
american_scientific_journal-7989	175	2	online	online	X
american_scientific_journal-7989	175	3	]	]	X
american_scientific_journal-7989	175	4	.	.	PUNCT
american_scientific_journal-7989	176	1	available	available	ADJ
american_scientific_journal-7989	176	2	:	:	PUNCT
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american_scientific_journal-7989	176	4	[	[	X
american_scientific_journal-7989	176	5	2]f	2]f	NUM
american_scientific_journal-7989	176	6	.	.	PUNCT
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american_scientific_journal-7989	176	8	-	-	PUNCT
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american_scientific_journal-7989	176	10	,	,	PUNCT
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american_scientific_journal-7989	176	13	-	-	PUNCT
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american_scientific_journal-7989	176	15	,	,	PUNCT
american_scientific_journal-7989	176	16	j.	j.	PROPN
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american_scientific_journal-7989	176	19	,	,	PUNCT
american_scientific_journal-7989	176	20	and	and	CCONJ
american_scientific_journal-7989	176	21	a.	a.	PROPN
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american_scientific_journal-7989	176	23	-	-	PROPN
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american_scientific_journal-7989	176	25	,	,	PUNCT
american_scientific_journal-7989	176	26	“	"	PUNCT
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american_scientific_journal-7989	176	29	fuzzification	fuzzification	NOUN
american_scientific_journal-7989	176	30	mechanisms	mechanism	NOUN
american_scientific_journal-7989	176	31	:	:	PUNCT
american_scientific_journal-7989	176	32	a	a	DET
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american_scientific_journal-7989	176	35	for	for	ADP
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american_scientific_journal-7989	176	38	,	,	PUNCT
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american_scientific_journal-7989	176	42	,	,	PUNCT
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american_scientific_journal-7989	176	44	:	:	PUNCT
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american_scientific_journal-7989	176	46	/	/	SYM
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american_scientific_journal-7989	176	48	.	.	PUNCT
american_scientific_journal-7989	177	1	[	[	X
american_scientific_journal-7989	177	2	3]h	3]h	NUM
american_scientific_journal-7989	177	3	.	.	PUNCT
american_scientific_journal-7989	177	4	khayyam	khayyam	PROPN
american_scientific_journal-7989	177	5	,	,	PUNCT
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american_scientific_journal-7989	177	8	,	,	PUNCT
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american_scientific_journal-7989	177	11	,	,	PUNCT
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american_scientific_journal-7989	177	13	r.	r.	PROPN
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american_scientific_journal-7989	177	16	,	,	PUNCT
american_scientific_journal-7989	177	17	“	"	PUNCT
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american_scientific_journal-7989	177	20	and	and	CCONJ
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american_scientific_journal-7989	177	24	for	for	ADP
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american_scientific_journal-7989	177	27	,	,	PUNCT
american_scientific_journal-7989	177	28	”	"	PUNCT
american_scientific_journal-7989	177	29	in	in	ADP
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american_scientific_journal-7989	177	32	in	in	ADP
american_scientific_journal-7989	177	33	engineering	engineering	NOUN
american_scientific_journal-7989	177	34	applications	application	NOUN
american_scientific_journal-7989	177	35	,	,	PUNCT
american_scientific_journal-7989	177	36	springer	springer	NOUN
american_scientific_journal-7989	177	37	international	international	ADJ
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american_scientific_journal-7989	177	39	,	,	PUNCT
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american_scientific_journal-7989	177	41	,	,	PUNCT
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american_scientific_journal-7989	177	43	.	.	PUNCT
american_scientific_journal-7989	178	1	39–68	39–68	NUM
american_scientific_journal-7989	178	2	.	.	PUNCT
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american_scientific_journal-7989	179	2	:	:	PUNCT
american_scientific_journal-7989	179	3	10.1007/978	10.1007/978	NUM
american_scientific_journal-7989	179	4	-	-	SYM
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american_scientific_journal-7989	179	6	-	-	PUNCT
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american_scientific_journal-7989	179	8	-	-	PUNCT
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american_scientific_journal-7989	179	10	-	-	PUNCT
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american_scientific_journal-7989	179	12	.	.	PUNCT
american_scientific_journal-7989	180	1	[	[	X
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american_scientific_journal-7989	180	3	.	.	PUNCT
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american_scientific_journal-7989	180	5	,	,	PUNCT
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american_scientific_journal-7989	180	8	,	,	PUNCT
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american_scientific_journal-7989	180	12	,	,	PUNCT
american_scientific_journal-7989	180	13	“	"	PUNCT
american_scientific_journal-7989	180	14	a	a	DET
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american_scientific_journal-7989	180	16	-	-	ADJ
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american_scientific_journal-7989	180	27	,	,	PUNCT
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american_scientific_journal-7989	180	32	,	,	PUNCT
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american_scientific_journal-7989	181	2	,	,	PUNCT
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american_scientific_journal-7989	181	6	,	,	PUNCT
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american_scientific_journal-7989	181	8	.	.	PUNCT
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american_scientific_journal-7989	182	2	,	,	PUNCT
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american_scientific_journal-7989	182	4	.	.	PROPN
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american_scientific_journal-7989	182	6	,	,	PUNCT
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american_scientific_journal-7989	182	8	:	:	PUNCT
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american_scientific_journal-7989	182	10	/	/	SYM
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american_scientific_journal-7989	182	12	.	.	PUNCT
american_scientific_journal-7989	183	1	[	[	X
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american_scientific_journal-7989	183	3	3	3	NUM
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american_scientific_journal-7989	183	12	&	&	CCONJ
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american_scientific_journal-7989	183	15	,	,	PUNCT
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american_scientific_journal-7989	183	18	.	.	PUNCT
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american_scientific_journal-7989	184	3	.	.	PUNCT
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american_scientific_journal-7989	185	21	 	 	SPACE
american_scientific_journal-7989	185	22	:	:	PUNCT
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american_scientific_journal-7989	185	32	 	 	SPACE
american_scientific_journal-7989	185	33	:	:	PUNCT
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american_scientific_journal-7989	185	35	 	 	SPACE
american_scientific_journal-7989	185	36	:	:	PUNCT
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american_scientific_journal-7989	185	40	-	-	SYM
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american_scientific_journal-7989	185	42	,	,	PUNCT
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american_scientific_journal-7989	186	12	 	 	SPACE
american_scientific_journal-7989	186	13	:	:	PUNCT
american_scientific_journal-7989	186	14	27	27	NUM
american_scientific_journal-7989	186	15	-	-	SYM
american_scientific_journal-7989	186	16	30	30	NUM
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american_scientific_journal-7989	187	3	.	.	PUNCT
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american_scientific_journal-7989	188	12	-	-	PUNCT
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american_scientific_journal-7989	190	8	2022	2022	NUM
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american_scientific_journal-7989	191	2	10	10	NUM
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american_scientific_journal-7989	191	5	z.	z.	PROPN
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american_scientific_journal-7989	191	13	-	-	PUNCT
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american_scientific_journal-7989	191	22	-	-	PUNCT
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american_scientific_journal-7989	191	30	,	,	PUNCT
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american_scientific_journal-7989	191	35	,	,	PUNCT
american_scientific_journal-7989	191	36	vol	vol	NOUN
american_scientific_journal-7989	191	37	.	.	PROPN
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american_scientific_journal-7989	191	39	,	,	PUNCT
american_scientific_journal-7989	191	40	pp	pp	ADJ
american_scientific_journal-7989	191	41	.	.	PUNCT
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american_scientific_journal-7989	192	2	,	,	PUNCT
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american_scientific_journal-7989	192	4	.	.	PROPN
american_scientific_journal-7989	192	5	2015	2015	NUM
american_scientific_journal-7989	192	6	,	,	PUNCT
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american_scientific_journal-7989	192	8	:	:	PUNCT
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american_scientific_journal-7989	192	10	/	/	SYM
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american_scientific_journal-7989	192	12	.	.	PUNCT
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american_scientific_journal-7989	193	3	]	]	PUNCT
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american_scientific_journal-7989	193	6	and	and	CCONJ
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american_scientific_journal-7989	193	8	v.	v.	PROPN
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american_scientific_journal-7989	193	10	,	,	PUNCT
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american_scientific_journal-7989	193	12	a	a	DET
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american_scientific_journal-7989	193	18	-	-	PUNCT
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american_scientific_journal-7989	193	31	,	,	PUNCT
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american_scientific_journal-7989	193	39	,	,	PUNCT
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american_scientific_journal-7989	193	43	,	,	PUNCT
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american_scientific_journal-7989	193	47	/	/	SYM
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american_scientific_journal-7989	194	20	for	for	ADP
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american_scientific_journal-7989	194	24	:	:	PUNCT
american_scientific_journal-7989	194	25	a	a	DET
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american_scientific_journal-7989	194	27	,	,	PUNCT
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american_scientific_journal-7989	194	31	academic	academic	PROPN
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american_scientific_journal-7989	194	37	,	,	PUNCT
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american_scientific_journal-7989	194	39	,	,	PUNCT
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american_scientific_journal-7989	195	1	10	10	NUM
american_scientific_journal-7989	195	2	,	,	PUNCT
american_scientific_journal-7989	195	3	no	no	INTJ
american_scientific_journal-7989	195	4	.	.	NOUN
american_scientific_journal-7989	195	5	10	10	NUM
american_scientific_journal-7989	195	6	,	,	PUNCT
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american_scientific_journal-7989	195	8	,	,	PUNCT
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american_scientific_journal-7989	195	10	:	:	PUNCT
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american_scientific_journal-7989	195	12	/	/	SYM
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american_scientific_journal-7989	195	14	.	.	PUNCT
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american_scientific_journal-7989	196	7	,	,	PUNCT
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american_scientific_journal-7989	196	10	,	,	PUNCT
american_scientific_journal-7989	196	11	t.	t.	PROPN
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american_scientific_journal-7989	196	14	and	and	CCONJ
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american_scientific_journal-7989	196	17	,	,	PUNCT
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american_scientific_journal-7989	196	20	:	:	PUNCT
american_scientific_journal-7989	196	21	hybrid	hybrid	ADJ
american_scientific_journal-7989	196	22	potential	potential	NOUN
american_scientific_journal-7989	196	23	based	base	VERB
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american_scientific_journal-7989	196	25	roadmap	roadmap	NOUN
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american_scientific_journal-7989	196	29	dynamic	dynamic	ADJ
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american_scientific_journal-7989	196	31	planning	planning	NOUN
american_scientific_journal-7989	196	32	of	of	ADP
american_scientific_journal-7989	196	33	mobile	mobile	NOUN
american_scientific_journal-7989	196	34	robots	robot	NOUN
american_scientific_journal-7989	196	35	,	,	PUNCT
american_scientific_journal-7989	196	36	”	"	PUNCT
american_scientific_journal-7989	196	37	ieee	ieee	NOUN
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american_scientific_journal-7989	196	39	,	,	PUNCT
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american_scientific_journal-7989	196	41	.	.	PROPN
american_scientific_journal-7989	196	42	8	8	NUM
american_scientific_journal-7989	196	43	,	,	PUNCT
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american_scientific_journal-7989	196	45	.	.	PUNCT
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american_scientific_journal-7989	196	47	,	,	PUNCT
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american_scientific_journal-7989	196	49	,	,	PUNCT
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american_scientific_journal-7989	196	51	:	:	PUNCT
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american_scientific_journal-7989	196	53	/	/	SYM
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american_scientific_journal-7989	197	6	,	,	PUNCT
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american_scientific_journal-7989	197	9	10th	10th	ADJ
american_scientific_journal-7989	197	10	international	international	ADJ
american_scientific_journal-7989	197	11	workshop	workshop	NOUN
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american_scientific_journal-7989	199	10	,	,	PUNCT
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american_scientific_journal-7989	200	22	tracking	tracking	NOUN
american_scientific_journal-7989	200	23	and	and	CCONJ
american_scientific_journal-7989	200	24	speed	speed	NOUN
american_scientific_journal-7989	200	25	control	control	NOUN
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american_scientific_journal-7989	200	27	cleaning	clean	VERB
american_scientific_journal-7989	200	28	vehicle	vehicle	NOUN
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american_scientific_journal-7989	200	32	pure	pure	ADJ
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american_scientific_journal-7989	200	34	algorithm	algorithm	NOUN
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american_scientific_journal-7989	200	36	.	.	PUNCT
american_scientific_journal-7989	200	37	”	"	PUNCT
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american_scientific_journal-7989	201	6	,	,	PUNCT
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american_scientific_journal-7989	201	9	,	,	PUNCT
american_scientific_journal-7989	201	10	j.	j.	PROPN
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american_scientific_journal-7989	201	12	,	,	PUNCT
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american_scientific_journal-7989	201	15	,	,	PUNCT
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american_scientific_journal-7989	201	17	d.	d.	PROPN
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american_scientific_journal-7989	201	19	,	,	PUNCT
american_scientific_journal-7989	201	20	“	"	PUNCT
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american_scientific_journal-7989	201	22	tracking	tracking	NOUN
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american_scientific_journal-7989	201	29	and	and	CCONJ
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american_scientific_journal-7989	201	33	pure	pure	ADJ
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american_scientific_journal-7989	201	38	and	and	CCONJ
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american_scientific_journal-7989	201	51	.	.	PUNCT
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american_scientific_journal-7989	202	4	j.	j.	PROPN
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american_scientific_journal-7989	202	6	,	,	PUNCT
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american_scientific_journal-7989	202	10	,	,	PUNCT
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american_scientific_journal-7989	202	14	,	,	PUNCT
american_scientific_journal-7989	202	15	and	and	CCONJ
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american_scientific_journal-7989	202	18	,	,	PUNCT
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american_scientific_journal-7989	202	21	-	-	PUNCT
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american_scientific_journal-7989	202	23	reactive	reactive	ADJ
american_scientific_journal-7989	202	24	path	path	NOUN
american_scientific_journal-7989	202	25	tracking	tracking	NOUN
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american_scientific_journal-7989	202	27	nonholonomic	nonholonomic	ADJ
american_scientific_journal-7989	202	28	mobile	mobile	ADJ
american_scientific_journal-7989	202	29	robots	robot	NOUN
american_scientific_journal-7989	202	30	with	with	ADP
american_scientific_journal-7989	202	31	a	a	DET
american_scientific_journal-7989	202	32	2d	2d	NUM
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american_scientific_journal-7989	202	35	,	,	PUNCT
american_scientific_journal-7989	202	36	”	"	PUNCT
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american_scientific_journal-7989	202	46	,	,	PUNCT
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american_scientific_journal-7989	202	48	,	,	PUNCT
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american_scientific_journal-7989	202	50	:	:	PUNCT
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