id	keyword
american_scientific_journal-3835	path
american_scientific_journal-3835	planning
american_scientific_journal-3835	pso
american_scientific_journal-3835	curve
american_scientific_journal-3835	obstacles
american_scientific_journal-3835	points
american_scientific_journal-3835	bézier
american_scientific_journal-3835	goal
american_scientific_journal-3835	robot