id sid tid token lemma pos bracis-19022 1 1 intelligent intelligent ADJ bracis-19022 1 2 agents agent NOUN bracis-19022 1 3 for for ADP bracis-19022 1 4 observation observation NOUN bracis-19022 1 5 and and CCONJ bracis-19022 1 6 containment containment NOUN bracis-19022 1 7 of of ADP bracis-19022 1 8 malicious malicious ADJ bracis-19022 1 9 targets target NOUN bracis-19022 1 10 organizations organization NOUN bracis-19022 1 11 | | ADV bracis-19022 1 12 springer springer NOUN bracis-19022 1 13 nature nature PROPN bracis-19022 1 14 link link PROPN bracis-19022 1 15 ( ( PUNCT bracis-19022 1 16 formerly formerly ADV bracis-19022 1 17 springerlink springerlink NOUN bracis-19022 1 18 ) ) PUNCT bracis-19022 1 19 skip skip VERB bracis-19022 1 20 to to ADP bracis-19022 1 21 main main ADJ bracis-19022 1 22 content content NOUN bracis-19022 1 23 advertisement advertisement NOUN bracis-19022 1 24 log log NOUN bracis-19022 1 25 in in ADP bracis-19022 1 26 menu menu NOUN bracis-19022 1 27 find find VERB bracis-19022 1 28 a a DET bracis-19022 1 29 journal journal NOUN bracis-19022 1 30 publish publish VERB bracis-19022 1 31 with with ADP bracis-19022 1 32 us we PRON bracis-19022 1 33 track track VERB bracis-19022 1 34 your your PRON bracis-19022 1 35 research research NOUN bracis-19022 1 36 search search NOUN bracis-19022 1 37 cart cart NOUN bracis-19022 1 38 home home NOUN bracis-19022 1 39 intelligent intelligent ADJ bracis-19022 1 40 systems system NOUN bracis-19022 1 41 conference conference NOUN bracis-19022 1 42 paper paper NOUN bracis-19022 1 43 intelligent intelligent ADJ bracis-19022 1 44 agents agent NOUN bracis-19022 1 45 for for ADP bracis-19022 1 46 observation observation NOUN bracis-19022 1 47 and and CCONJ bracis-19022 1 48 containment containment NOUN bracis-19022 1 49 of of ADP bracis-19022 1 50 malicious malicious ADJ bracis-19022 1 51 targets target NOUN bracis-19022 1 52 organizations organization NOUN bracis-19022 1 53 conference conference NOUN bracis-19022 1 54 paper paper NOUN bracis-19022 1 55 first first ADV bracis-19022 1 56 online online ADV bracis-19022 1 57 : : PUNCT bracis-19022 1 58 28 28 NUM bracis-19022 1 59 november november PROPN bracis-19022 1 60 2021 2021 NUM bracis-19022 2 1 pp pp CCONJ bracis-19022 2 2 48–63 48–63 NUM bracis-19022 2 3 cite cite VERB bracis-19022 2 4 this this DET bracis-19022 2 5 conference conference NOUN bracis-19022 2 6 paper paper NOUN bracis-19022 2 7 access access NOUN bracis-19022 2 8 provided provide VERB bracis-19022 2 9 by by ADP bracis-19022 2 10 university university PROPN bracis-19022 2 11 of of ADP bracis-19022 2 12 notre notre PROPN bracis-19022 2 13 dame dame PROPN bracis-19022 2 14 hesburgh hesburgh PROPN bracis-19022 2 15 library library PROPN bracis-19022 2 16 download download PROPN bracis-19022 2 17 book book NOUN bracis-19022 2 18 pdf pdf PROPN bracis-19022 2 19 download download NOUN bracis-19022 2 20 book book NOUN bracis-19022 2 21 epub epub PROPN bracis-19022 2 22 intelligent intelligent ADJ bracis-19022 2 23 systems system NOUN bracis-19022 2 24 ( ( PUNCT bracis-19022 2 25 bracis bracis NOUN bracis-19022 2 26 2021 2021 NUM bracis-19022 2 27 ) ) PUNCT bracis-19022 2 28 intelligent intelligent ADJ bracis-19022 2 29 agents agent NOUN bracis-19022 2 30 for for ADP bracis-19022 2 31 observation observation NOUN bracis-19022 2 32 and and CCONJ bracis-19022 2 33 containment containment NOUN bracis-19022 2 34 of of ADP bracis-19022 2 35 malicious malicious ADJ bracis-19022 2 36 targets target NOUN bracis-19022 2 37 organizations organization NOUN bracis-19022 2 38 download download VERB bracis-19022 2 39 book book NOUN bracis-19022 2 40 pdf pdf PROPN bracis-19022 2 41 download download NOUN bracis-19022 2 42 book book NOUN bracis-19022 2 43 epub epub NOUN bracis-19022 2 44 thayanne thayanne NOUN bracis-19022 2 45 frança frança PROPN bracis-19022 2 46 da da PROPN bracis-19022 2 47 silva10 silva10 PROPN bracis-19022 2 48 , , PUNCT bracis-19022 2 49 matheus matheus PROPN bracis-19022 2 50 santos santos PROPN bracis-19022 2 51 araújo10 araújo10 VERB bracis-19022 2 52 , , PUNCT bracis-19022 2 53 raimundo raimundo PROPN bracis-19022 2 54 juracy juracy PROPN bracis-19022 2 55 campos campos PROPN bracis-19022 2 56 ferro ferro PROPN bracis-19022 2 57 junior10 junior10 PROPN bracis-19022 2 58 , , PUNCT bracis-19022 2 59 leonardo leonardo PROPN bracis-19022 2 60 ferreira ferreira PROPN bracis-19022 2 61 da da PROPN bracis-19022 2 62 costa11 costa11 PROPN bracis-19022 2 63 , , PUNCT bracis-19022 2 64 joão joão PROPN bracis-19022 2 65 pedro pedro PROPN bracis-19022 2 66 bernardino bernardino PROPN bracis-19022 2 67 andrade11 andrade11 PROPN bracis-19022 2 68 & & CCONJ bracis-19022 2 69 … … PUNCT bracis-19022 2 70 gustavo gustavo PROPN bracis-19022 2 71 augusto augusto PROPN bracis-19022 2 72 lima lima PROPN bracis-19022 2 73 de de PROPN bracis-19022 2 74 campos10 campos10 NOUN bracis-19022 2 75     SPACE bracis-19022 2 76 show show NOUN bracis-19022 2 77 authors author NOUN bracis-19022 2 78 part part NOUN bracis-19022 2 79 of of ADP bracis-19022 2 80 the the DET bracis-19022 2 81 book book NOUN bracis-19022 2 82 series series NOUN bracis-19022 2 83 : : PUNCT bracis-19022 2 84 lecture lecture NOUN bracis-19022 2 85 notes note NOUN bracis-19022 2 86 in in ADP bracis-19022 2 87 computer computer NOUN bracis-19022 2 88 science science NOUN bracis-19022 2 89 ( ( PUNCT bracis-19022 2 90 ( ( PUNCT bracis-19022 2 91 lnai lnai ADJ bracis-19022 2 92 , , PUNCT bracis-19022 2 93 volume volume NOUN bracis-19022 2 94 13073 13073 NUM bracis-19022 2 95 ) ) PUNCT bracis-19022 2 96 ) ) PUNCT bracis-19022 2 97 included include VERB bracis-19022 2 98 in in ADP bracis-19022 2 99 the the DET bracis-19022 2 100 following follow VERB bracis-19022 2 101 conference conference NOUN bracis-19022 2 102 series series NOUN bracis-19022 2 103 : : PUNCT bracis-19022 2 104 brazilian brazilian ADJ bracis-19022 2 105 conference conference NOUN bracis-19022 2 106 on on ADP bracis-19022 2 107 intelligent intelligent ADJ bracis-19022 2 108 systems system NOUN bracis-19022 2 109 752 752 NUM bracis-19022 2 110 accesses access NOUN bracis-19022 2 111 abstract abstract ADV bracis-19022 2 112 the the DET bracis-19022 2 113 problem problem NOUN bracis-19022 2 114 addressed address VERB bracis-19022 2 115 in in ADP bracis-19022 2 116 this this DET bracis-19022 2 117 work work NOUN bracis-19022 2 118 is be AUX bracis-19022 2 119 an an DET bracis-19022 2 120 extension extension NOUN bracis-19022 2 121 of of ADP bracis-19022 2 122 the the DET bracis-19022 2 123 cooperative cooperative ADJ bracis-19022 2 124 multi multi ADJ bracis-19022 2 125 - - ADJ bracis-19022 2 126 robot robot ADJ bracis-19022 2 127 observation observation NOUN bracis-19022 2 128 of of ADP bracis-19022 2 129 multiple multiple ADJ bracis-19022 2 130 moving move VERB bracis-19022 2 131 targets target NOUN bracis-19022 2 132 problem problem NOUN bracis-19022 2 133 ( ( PUNCT bracis-19022 2 134 cmommt cmommt PROPN bracis-19022 2 135 ) ) PUNCT bracis-19022 2 136 . . PUNCT bracis-19022 3 1 the the DET bracis-19022 3 2 scenario scenario NOUN bracis-19022 3 3 remains remain VERB bracis-19022 3 4 the the DET bracis-19022 3 5 same same ADJ bracis-19022 3 6 , , PUNCT bracis-19022 3 7 but but CCONJ bracis-19022 3 8 the the DET bracis-19022 3 9 targets target NOUN bracis-19022 3 10 are be AUX bracis-19022 3 11 structured structure VERB bracis-19022 3 12 as as ADP bracis-19022 3 13 an an DET bracis-19022 3 14 organization organization NOUN bracis-19022 3 15 to to PART bracis-19022 3 16 achieve achieve VERB bracis-19022 3 17 the the DET bracis-19022 3 18 highest high ADJ bracis-19022 3 19 possible possible ADJ bracis-19022 3 20 percentage percentage NOUN bracis-19022 3 21 of of ADP bracis-19022 3 22 exploration exploration NOUN bracis-19022 3 23 of of ADP bracis-19022 3 24 the the DET bracis-19022 3 25 environment environment NOUN bracis-19022 3 26 and and CCONJ bracis-19022 3 27 avoid avoid VERB bracis-19022 3 28 robots robot NOUN bracis-19022 3 29 . . PUNCT bracis-19022 4 1 targets target NOUN bracis-19022 4 2 can can AUX bracis-19022 4 3 be be AUX bracis-19022 4 4 organized organize VERB bracis-19022 4 5 as as ADP bracis-19022 4 6 hierarchy hierarchy NOUN bracis-19022 4 7 , , PUNCT bracis-19022 4 8 holarchy holarchy ADJ bracis-19022 4 9 , , PUNCT bracis-19022 4 10 team team NOUN bracis-19022 4 11 , , PUNCT bracis-19022 4 12 and and CCONJ bracis-19022 4 13 coalition coalition NOUN bracis-19022 4 14 , , PUNCT bracis-19022 4 15 but but CCONJ bracis-19022 4 16 they they PRON bracis-19022 4 17 can can AUX bracis-19022 4 18 also also ADV bracis-19022 4 19 be be AUX bracis-19022 4 20 unorganized unorganized ADJ bracis-19022 4 21 . . PUNCT bracis-19022 5 1 our our PRON bracis-19022 5 2 work work NOUN bracis-19022 5 3 seeks seek VERB bracis-19022 5 4 to to PART bracis-19022 5 5 apply apply VERB bracis-19022 5 6 computer computer NOUN bracis-19022 5 7 vision vision NOUN bracis-19022 5 8 to to PART bracis-19022 5 9 assist assist VERB bracis-19022 5 10 robots robot NOUN bracis-19022 5 11 in in ADP bracis-19022 5 12 classifying classify VERB bracis-19022 5 13 the the DET bracis-19022 5 14 target target NOUN bracis-19022 5 15 team team NOUN bracis-19022 5 16 ’s ’s PART bracis-19022 5 17 organizational organizational ADJ bracis-19022 5 18 structure structure NOUN bracis-19022 5 19 faced face VERB bracis-19022 5 20 with with ADP bracis-19022 5 21 a a DET bracis-19022 5 22 group group NOUN bracis-19022 5 23 of of ADP bracis-19022 5 24 malicious malicious ADJ bracis-19022 5 25 target target NOUN bracis-19022 5 26 agents agent NOUN bracis-19022 5 27 . . PUNCT bracis-19022 6 1 thus thus ADV bracis-19022 6 2 , , PUNCT bracis-19022 6 3 robots robot NOUN bracis-19022 6 4 can can AUX bracis-19022 6 5 select select VERB bracis-19022 6 6 the the DET bracis-19022 6 7 most most ADV bracis-19022 6 8 appropriate appropriate ADJ bracis-19022 6 9 strategy strategy NOUN bracis-19022 6 10 among among ADP bracis-19022 6 11 the the DET bracis-19022 6 12 containment containment NOUN bracis-19022 6 13 strategies strategy NOUN bracis-19022 6 14 implemented implement VERB bracis-19022 6 15 for for ADP bracis-19022 6 16 each each DET bracis-19022 6 17 organizational organizational ADJ bracis-19022 6 18 structure structure NOUN bracis-19022 6 19 or or CCONJ bracis-19022 6 20 continue continue VERB bracis-19022 6 21 with with ADP bracis-19022 6 22 the the DET bracis-19022 6 23 method method NOUN bracis-19022 6 24 proposed propose VERB bracis-19022 6 25 by by ADP bracis-19022 6 26 literature literature NOUN bracis-19022 6 27 for for ADP bracis-19022 6 28 cases case NOUN bracis-19022 6 29 where where SCONJ bracis-19022 6 30 the the DET bracis-19022 6 31 targets target NOUN bracis-19022 6 32 are be AUX bracis-19022 6 33 not not PART bracis-19022 6 34 organized organize VERB bracis-19022 6 35 . . PUNCT bracis-19022 7 1 the the DET bracis-19022 7 2 results result NOUN bracis-19022 7 3 showed show VERB bracis-19022 7 4 that that SCONJ bracis-19022 7 5 our our PRON bracis-19022 7 6 approach approach NOUN bracis-19022 7 7 had have VERB bracis-19022 7 8 satisfactory satisfactory ADJ bracis-19022 7 9 results result NOUN bracis-19022 7 10 since since SCONJ bracis-19022 7 11 , , PUNCT bracis-19022 7 12 in in ADP bracis-19022 7 13 luck luck NOUN bracis-19022 7 14 , , PUNCT bracis-19022 7 15 robots robot NOUN bracis-19022 7 16 have have VERB bracis-19022 7 17 a a DET bracis-19022 7 18 20 20 NUM bracis-19022 7 19 % % NOUN bracis-19022 7 20 chance chance NOUN bracis-19022 7 21 of of ADP bracis-19022 7 22 hitting hit VERB bracis-19022 7 23 the the DET bracis-19022 7 24 structure structure NOUN bracis-19022 7 25 ( ( PUNCT bracis-19022 7 26 hierarchy hierarchy NOUN bracis-19022 7 27 , , PUNCT bracis-19022 7 28 holarchy holarchy ADJ bracis-19022 7 29 , , PUNCT bracis-19022 7 30 team team NOUN bracis-19022 7 31 , , PUNCT bracis-19022 7 32 coalition coalition NOUN bracis-19022 7 33 , , PUNCT bracis-19022 7 34 or or CCONJ bracis-19022 7 35 random random ADJ bracis-19022 7 36 ) ) PUNCT bracis-19022 7 37 . . PUNCT bracis-19022 8 1 our our PRON bracis-19022 8 2 approach approach NOUN bracis-19022 8 3 had have VERB bracis-19022 8 4 an an DET bracis-19022 8 5 accuracy accuracy NOUN bracis-19022 8 6 of of ADP bracis-19022 8 7 63.28 63.28 NUM bracis-19022 8 8 % % NOUN bracis-19022 8 9 . . PUNCT bracis-19022 9 1 the the DET bracis-19022 9 2 containment containment NOUN bracis-19022 9 3 strategies strategy NOUN bracis-19022 9 4 obtained obtain VERB bracis-19022 9 5 satisfactory satisfactory ADJ bracis-19022 9 6 results result NOUN bracis-19022 9 7 in in ADP bracis-19022 9 8 the the DET bracis-19022 9 9 robots robot NOUN bracis-19022 9 10 ’ ' PUNCT bracis-19022 9 11 performance performance NOUN bracis-19022 9 12 regarding regard VERB bracis-19022 9 13 the the DET bracis-19022 9 14 depreciation depreciation NOUN bracis-19022 9 15 of of ADP bracis-19022 9 16 the the DET bracis-19022 9 17 percentage percentage NOUN bracis-19022 9 18 of of ADP bracis-19022 9 19 the the DET bracis-19022 9 20 environment environment NOUN bracis-19022 9 21 explored explore VERB bracis-19022 9 22 by by ADP bracis-19022 9 23 the the DET bracis-19022 9 24 targets target NOUN bracis-19022 9 25 ( ( PUNCT bracis-19022 9 26 peet peet NOUN bracis-19022 9 27 ) ) PUNCT bracis-19022 9 28 compared compare VERB bracis-19022 9 29 to to ADP bracis-19022 9 30 the the DET bracis-19022 9 31 previous previous ADJ bracis-19022 9 32 approach approach NOUN bracis-19022 9 33 for for ADP bracis-19022 9 34 robots robot NOUN bracis-19022 9 35 . . PUNCT bracis-19022 10 1 however however ADV bracis-19022 10 2 , , PUNCT bracis-19022 10 3 for for ADP bracis-19022 10 4 the the DET bracis-19022 10 5 average average ADJ bracis-19022 10 6 number number NOUN bracis-19022 10 7 of of ADP bracis-19022 10 8 observed observe VERB bracis-19022 10 9 targets target NOUN bracis-19022 10 10 ( ( PUNCT bracis-19022 10 11 anot anot INTJ bracis-19022 10 12 ) ) PUNCT bracis-19022 10 13 , , PUNCT bracis-19022 10 14 the the DET bracis-19022 10 15 previous previous ADJ bracis-19022 10 16 strategy strategy NOUN bracis-19022 10 17 was be AUX bracis-19022 10 18 better well ADJ bracis-19022 10 19 . . PUNCT bracis-19022 11 1 the the DET bracis-19022 11 2 new new ADJ bracis-19022 11 3 organizational organizational ADJ bracis-19022 11 4 approach approach NOUN bracis-19022 11 5 to to ADP bracis-19022 11 6 targets target NOUN bracis-19022 11 7 in in ADP bracis-19022 11 8 cmommt cmommt NOUN bracis-19022 11 9 was be AUX bracis-19022 11 10 better well ADJ bracis-19022 11 11 than than ADP bracis-19022 11 12 random random ADJ bracis-19022 11 13 in in ADP bracis-19022 11 14 the the DET bracis-19022 11 15 desired desire VERB bracis-19022 11 16 exploration exploration NOUN bracis-19022 11 17 of of ADP bracis-19022 11 18 the the DET bracis-19022 11 19 desired desire VERB bracis-19022 11 20 environment environment NOUN bracis-19022 11 21 . . PUNCT bracis-19022 12 1 access access NOUN bracis-19022 12 2 provided provide VERB bracis-19022 12 3 by by ADP bracis-19022 12 4 university university PROPN bracis-19022 12 5 of of ADP bracis-19022 12 6 notre notre PROPN bracis-19022 12 7 dame dame PROPN bracis-19022 12 8 hesburgh hesburgh PROPN bracis-19022 12 9 library library PROPN bracis-19022 12 10 . . PUNCT bracis-19022 13 1 download download PROPN bracis-19022 13 2 conference conference NOUN bracis-19022 13 3 paper paper NOUN bracis-19022 13 4 pdf pdf NOUN bracis-19022 13 5 similar similar ADJ bracis-19022 13 6 content content NOUN bracis-19022 13 7 being be AUX bracis-19022 13 8 viewed view VERB bracis-19022 13 9 by by ADP bracis-19022 13 10 others other NOUN bracis-19022 13 11 distributed distribute VERB bracis-19022 13 12 assignment assignment NOUN bracis-19022 13 13 with with ADP bracis-19022 13 14 limited limited ADJ bracis-19022 13 15 communication communication NOUN bracis-19022 13 16 for for ADP bracis-19022 13 17 multi multi ADJ bracis-19022 13 18 - - ADJ bracis-19022 13 19 robot robot ADJ bracis-19022 13 20 multi multi ADJ bracis-19022 13 21 - - ADJ bracis-19022 13 22 target target ADJ bracis-19022 13 23 tracking tracking NOUN bracis-19022 13 24 article article NOUN bracis-19022 13 25 17 17 NUM bracis-19022 13 26 may may PROPN bracis-19022 13 27 2019 2019 NUM bracis-19022 13 28 an an DET bracis-19022 13 29 integer integer NOUN bracis-19022 13 30 linear linear NOUN bracis-19022 13 31 programming programming NOUN bracis-19022 13 32 model model NOUN bracis-19022 13 33 for for ADP bracis-19022 13 34 fair fair ADJ bracis-19022 13 35 multitarget multitarget NOUN bracis-19022 13 36 tracking tracking NOUN bracis-19022 13 37 in in ADP bracis-19022 13 38 cooperative cooperative ADJ bracis-19022 13 39 multirobot multirobot NOUN bracis-19022 13 40 systems system NOUN bracis-19022 13 41 article article NOUN bracis-19022 13 42 18 18 NUM bracis-19022 13 43 april april PROPN bracis-19022 13 44 2018 2018 NUM bracis-19022 13 45 cooperative cooperative ADJ bracis-19022 13 46 observation observation NOUN bracis-19022 13 47 of of ADP bracis-19022 13 48 smart smart ADJ bracis-19022 13 49 target target NOUN bracis-19022 13 50 agents agent NOUN bracis-19022 13 51 chapter chapter NOUN bracis-19022 13 52 © © PROPN bracis-19022 13 53 2020 2020 NUM bracis-19022 13 54 explore explore VERB bracis-19022 13 55 related relate VERB bracis-19022 13 56 subjects subject NOUN bracis-19022 13 57 discover discover VERB bracis-19022 13 58 the the DET bracis-19022 13 59 latest late ADJ bracis-19022 13 60 articles article NOUN bracis-19022 13 61 , , PUNCT bracis-19022 13 62 books book NOUN bracis-19022 13 63 and and CCONJ bracis-19022 13 64 news news NOUN bracis-19022 13 65 in in ADP bracis-19022 13 66 related related ADJ bracis-19022 13 67 subjects subject NOUN bracis-19022 13 68 , , PUNCT bracis-19022 13 69 suggested suggest VERB bracis-19022 13 70 using use VERB bracis-19022 13 71 machine machine NOUN bracis-19022 13 72 learning learning NOUN bracis-19022 13 73 . . PUNCT bracis-19022 14 1 multiagent multiagent NOUN bracis-19022 14 2 systems system NOUN bracis-19022 14 3 organization organization PROPN bracis-19022 14 4 theory theory NOUN bracis-19022 14 5 organized organize VERB bracis-19022 14 6 crime crime NOUN bracis-19022 14 7 organizational organizational ADJ bracis-19022 14 8 theory theory NOUN bracis-19022 14 9 robotics robotic NOUN bracis-19022 14 10 social social ADJ bracis-19022 14 11 robotics robotic NOUN bracis-19022 14 12 1 1 NUM bracis-19022 14 13 introduction introduction NOUN bracis-19022 14 14 the the DET bracis-19022 14 15 observation observation NOUN bracis-19022 14 16 of of ADP bracis-19022 14 17 moving move VERB bracis-19022 14 18 targets target NOUN bracis-19022 14 19 is be AUX bracis-19022 14 20 an an DET bracis-19022 14 21 essential essential ADJ bracis-19022 14 22 multi multi ADJ bracis-19022 14 23 - - ADJ bracis-19022 14 24 robot robot ADJ bracis-19022 14 25 application application NOUN bracis-19022 14 26 in in ADP bracis-19022 14 27 mas mas PROPN bracis-19022 14 28 that that PRON bracis-19022 14 29 still still ADV bracis-19022 14 30 presents present VERB bracis-19022 14 31 numerous numerous ADJ bracis-19022 14 32 open open ADJ bracis-19022 14 33 challenges challenge NOUN bracis-19022 14 34 , , PUNCT bracis-19022 14 35 including include VERB bracis-19022 14 36 the the DET bracis-19022 14 37 effective effective ADJ bracis-19022 14 38 coordination coordination NOUN bracis-19022 14 39 of of ADP bracis-19022 14 40 robots robot NOUN bracis-19022 14 41 [ [ X bracis-19022 14 42 11 11 NUM bracis-19022 14 43 ] ] PUNCT bracis-19022 14 44 . . PUNCT bracis-19022 15 1 the the DET bracis-19022 15 2 cmommt cmommt NOUN bracis-19022 15 3 addresses address VERB bracis-19022 15 4 the the DET bracis-19022 15 5 scenario scenario NOUN bracis-19022 15 6 where where SCONJ bracis-19022 15 7 a a DET bracis-19022 15 8 group group NOUN bracis-19022 15 9 of of ADP bracis-19022 15 10 agents agent NOUN bracis-19022 15 11 , , PUNCT bracis-19022 15 12 called call VERB bracis-19022 15 13 robots robot NOUN bracis-19022 15 14 , , PUNCT bracis-19022 15 15 seek seek VERB bracis-19022 15 16 to to PART bracis-19022 15 17 retain retain VERB bracis-19022 15 18 within within ADP bracis-19022 15 19 an an DET bracis-19022 15 20 “ " PUNCT bracis-19022 15 21 observation observation NOUN bracis-19022 15 22 band band NOUN bracis-19022 15 23 ” " PUNCT bracis-19022 15 24 a a DET bracis-19022 15 25 maximum maximum ADJ bracis-19022 15 26 number number NOUN bracis-19022 15 27 of of ADP bracis-19022 15 28 agents agent NOUN bracis-19022 15 29 from from ADP bracis-19022 15 30 the the DET bracis-19022 15 31 opposite opposite ADJ bracis-19022 15 32 group group NOUN bracis-19022 15 33 , , PUNCT bracis-19022 15 34 called call VERB bracis-19022 15 35 targets target NOUN bracis-19022 15 36 [ [ X bracis-19022 15 37 14 14 NUM bracis-19022 15 38 , , PUNCT bracis-19022 15 39 16 16 NUM bracis-19022 15 40 ] ] PUNCT bracis-19022 15 41 . . PUNCT bracis-19022 16 1 in in ADP bracis-19022 16 2 one one NUM bracis-19022 16 3 of of ADP bracis-19022 16 4 the the DET bracis-19022 16 5 reformulations reformulation NOUN bracis-19022 16 6 of of ADP bracis-19022 16 7 cmommt cmommt NOUN bracis-19022 16 8 , , PUNCT bracis-19022 16 9 cooperative cooperative ADJ bracis-19022 16 10 target target NOUN bracis-19022 16 11 observation observation NOUN bracis-19022 16 12 ( ( PUNCT bracis-19022 16 13 cto cto PROPN bracis-19022 16 14 ) ) PUNCT bracis-19022 16 15 [ [ X bracis-19022 16 16 13 13 NUM bracis-19022 16 17 , , PUNCT bracis-19022 16 18 18 18 NUM bracis-19022 16 19 ] ] PUNCT bracis-19022 16 20 proposed propose VERB bracis-19022 16 21 targeting target VERB bracis-19022 16 22 strategies strategy NOUN bracis-19022 16 23 based base VERB bracis-19022 16 24 on on ADP bracis-19022 16 25 structures structure NOUN bracis-19022 16 26 to to PART bracis-19022 16 27 improve improve VERB bracis-19022 16 28 the the DET bracis-19022 16 29 performance performance NOUN bracis-19022 16 30 of of ADP bracis-19022 16 31 this this DET bracis-19022 16 32 team team NOUN bracis-19022 16 33 in in ADP bracis-19022 16 34 the the DET bracis-19022 16 35 cto cto PROPN bracis-19022 16 36 . . PUNCT bracis-19022 17 1 the the DET bracis-19022 17 2 results result NOUN bracis-19022 17 3 showed show VERB bracis-19022 17 4 that that SCONJ bracis-19022 17 5 the the DET bracis-19022 17 6 strategies strategy NOUN bracis-19022 17 7 of of ADP bracis-19022 17 8 [ [ X bracis-19022 17 9 18 18 NUM bracis-19022 17 10 ] ] PUNCT bracis-19022 17 11 were be AUX bracis-19022 17 12 better well ADJ bracis-19022 17 13 for for ADP bracis-19022 17 14 target target NOUN bracis-19022 17 15 performance performance NOUN bracis-19022 17 16 compared compare VERB bracis-19022 17 17 to to ADP bracis-19022 17 18 the the DET bracis-19022 17 19 proposed propose VERB bracis-19022 17 20 strategy strategy NOUN bracis-19022 17 21 [ [ X bracis-19022 17 22 13 13 NUM bracis-19022 17 23 ] ] PUNCT bracis-19022 17 24 . . PUNCT bracis-19022 18 1 thus thus ADV bracis-19022 18 2 , , PUNCT bracis-19022 18 3 in in ADP bracis-19022 18 4 our our PRON bracis-19022 18 5 approach approach NOUN bracis-19022 18 6 , , PUNCT bracis-19022 18 7 we we PRON bracis-19022 18 8 implement implement VERB bracis-19022 18 9 four four NUM bracis-19022 18 10 organizational organizational ADJ bracis-19022 18 11 paradigms paradigm NOUN bracis-19022 18 12 for for ADP bracis-19022 18 13 multi multi ADJ bracis-19022 18 14 - - ADJ bracis-19022 18 15 agent agent ADJ bracis-19022 18 16 systems system NOUN bracis-19022 18 17 [ [ X bracis-19022 18 18 10 10 NUM bracis-19022 18 19 ] ] PUNCT bracis-19022 18 20 , , PUNCT bracis-19022 18 21 in in ADP bracis-19022 18 22 the the DET bracis-19022 18 23 target target NOUN bracis-19022 18 24 team team NOUN bracis-19022 18 25 in in ADP bracis-19022 18 26 cmommt cmommt PROPN bracis-19022 18 27 , , PUNCT bracis-19022 18 28 in in ADP bracis-19022 18 29 a a DET bracis-19022 18 30 scenario scenario NOUN bracis-19022 18 31 where where SCONJ bracis-19022 18 32 targets target NOUN bracis-19022 18 33 seek seek VERB bracis-19022 18 34 not not PART bracis-19022 18 35 only only ADV bracis-19022 18 36 to to PART bracis-19022 18 37 walk walk VERB bracis-19022 18 38 randomly randomly ADV bracis-19022 18 39 but but CCONJ bracis-19022 18 40 explore explore VERB bracis-19022 18 41 the the DET bracis-19022 18 42 environment environment NOUN bracis-19022 18 43 while while SCONJ bracis-19022 18 44 avoiding avoid VERB bracis-19022 18 45 robots robot NOUN bracis-19022 18 46 . . PUNCT bracis-19022 19 1 research research NOUN bracis-19022 19 2 has have AUX bracis-19022 19 3 shown show VERB bracis-19022 19 4 that that SCONJ bracis-19022 19 5 it it PRON bracis-19022 19 6 is be AUX bracis-19022 19 7 possible possible ADJ bracis-19022 19 8 to to PART bracis-19022 19 9 recognize recognize VERB bracis-19022 19 10 patterns pattern NOUN bracis-19022 19 11 in in ADP bracis-19022 19 12 images image NOUN bracis-19022 19 13 captured capture VERB bracis-19022 19 14 by by ADP bracis-19022 19 15 satellites satellite NOUN bracis-19022 19 16 [ [ X bracis-19022 19 17 21 21 NUM bracis-19022 19 18 ] ] PUNCT bracis-19022 19 19 , , PUNCT bracis-19022 19 20 infrared infrared ADJ bracis-19022 19 21 cameras camera NOUN bracis-19022 20 1 [ [ X bracis-19022 20 2 6 6 NUM bracis-19022 20 3 ] ] PUNCT bracis-19022 20 4 , , PUNCT bracis-19022 20 5 security security NOUN bracis-19022 20 6 cameras camera NOUN bracis-19022 21 1 [ [ X bracis-19022 21 2 3 3 NUM bracis-19022 21 3 , , PUNCT bracis-19022 21 4 4 4 NUM bracis-19022 21 5 ] ] PUNCT bracis-19022 21 6 , , PUNCT bracis-19022 21 7 etc etc X bracis-19022 21 8 . . X bracis-19022 22 1 furthermore furthermore ADV bracis-19022 22 2 , , PUNCT bracis-19022 22 3 there there PRON bracis-19022 22 4 are be VERB bracis-19022 22 5 researches research NOUN bracis-19022 22 6 in in ADP bracis-19022 22 7 the the DET bracis-19022 22 8 area area NOUN bracis-19022 22 9 of of ADP bracis-19022 22 10 multi multi ADJ bracis-19022 22 11 - - ADJ bracis-19022 22 12 agent agent ADJ bracis-19022 22 13 simulation simulation NOUN bracis-19022 22 14 that that PRON bracis-19022 22 15 made make VERB bracis-19022 22 16 use use NOUN bracis-19022 22 17 of of ADP bracis-19022 22 18 computer computer NOUN bracis-19022 22 19 vision vision NOUN bracis-19022 22 20 in in ADP bracis-19022 22 21 the the DET bracis-19022 22 22 simulation simulation NOUN bracis-19022 22 23 image image NOUN bracis-19022 22 24 to to PART bracis-19022 22 25 locate locate VERB bracis-19022 22 26 agents agent NOUN bracis-19022 22 27 in in ADP bracis-19022 22 28 the the DET bracis-19022 22 29 environment environment NOUN bracis-19022 22 30 [ [ X bracis-19022 22 31 15 15 NUM bracis-19022 22 32 ] ] PUNCT bracis-19022 22 33 . . PUNCT bracis-19022 23 1 thus thus ADV bracis-19022 23 2 , , PUNCT bracis-19022 23 3 this this DET bracis-19022 23 4 research research NOUN bracis-19022 23 5 applied apply VERB bracis-19022 23 6 computer computer NOUN bracis-19022 23 7 vision vision NOUN bracis-19022 23 8 to to PART bracis-19022 23 9 help help VERB bracis-19022 23 10 classify classify VERB bracis-19022 23 11 the the DET bracis-19022 23 12 four four NUM bracis-19022 23 13 organizational organizational ADJ bracis-19022 23 14 paradigms paradigm NOUN bracis-19022 23 15 modeled model VERB bracis-19022 23 16 for for ADP bracis-19022 23 17 the the DET bracis-19022 23 18 targets target NOUN bracis-19022 23 19 ( ( PUNCT bracis-19022 23 20 hierarchy hierarchy NOUN bracis-19022 23 21 , , PUNCT bracis-19022 23 22 holarchy holarchy ADJ bracis-19022 23 23 , , PUNCT bracis-19022 23 24 team team NOUN bracis-19022 23 25 , , PUNCT bracis-19022 23 26 and and CCONJ bracis-19022 23 27 coalition coalition NOUN bracis-19022 23 28 ) ) PUNCT bracis-19022 23 29 and and CCONJ bracis-19022 23 30 the the DET bracis-19022 23 31 random random ADJ bracis-19022 23 32 model model NOUN bracis-19022 23 33 through through ADP bracis-19022 23 34 images image NOUN bracis-19022 23 35 captured capture VERB bracis-19022 23 36 from from ADP bracis-19022 23 37 the the DET bracis-19022 23 38 environment environment NOUN bracis-19022 23 39 . . PUNCT bracis-19022 24 1 thus thus ADV bracis-19022 24 2 , , PUNCT bracis-19022 24 3 if if SCONJ bracis-19022 24 4 we we PRON bracis-19022 24 5 model model VERB bracis-19022 24 6 the the DET bracis-19022 24 7 organizational organizational ADJ bracis-19022 24 8 structures structure NOUN bracis-19022 24 9 in in ADP bracis-19022 24 10 the the DET bracis-19022 24 11 targets target NOUN bracis-19022 24 12 so so SCONJ bracis-19022 24 13 that that SCONJ bracis-19022 24 14 communication communication NOUN bracis-19022 24 15 between between ADP bracis-19022 24 16 them they PRON bracis-19022 24 17 depends depend VERB bracis-19022 24 18 on on ADP bracis-19022 24 19 the the DET bracis-19022 24 20 location location NOUN bracis-19022 24 21 of of ADP bracis-19022 24 22 these these DET bracis-19022 24 23 agents agent NOUN bracis-19022 24 24 with with ADP bracis-19022 24 25 their their PRON bracis-19022 24 26 coordinators coordinator NOUN bracis-19022 24 27 , , PUNCT bracis-19022 24 28 sub sub NOUN bracis-19022 24 29 - - NOUN bracis-19022 24 30 coordinators coordinator NOUN bracis-19022 24 31 , , PUNCT bracis-19022 24 32 or or CCONJ bracis-19022 24 33 group group NOUN bracis-19022 24 34 partners partner NOUN bracis-19022 24 35 , , PUNCT bracis-19022 24 36 we we PRON bracis-19022 24 37 can can AUX bracis-19022 24 38 apply apply VERB bracis-19022 24 39 computer computer NOUN bracis-19022 24 40 vision vision NOUN bracis-19022 24 41 to to PART bracis-19022 24 42 classify classify VERB bracis-19022 24 43 the the DET bracis-19022 24 44 organizational organizational ADJ bracis-19022 24 45 paradigms paradigm NOUN bracis-19022 24 46 present present ADJ bracis-19022 24 47 in in ADP bracis-19022 24 48 the the DET bracis-19022 24 49 targets target NOUN bracis-19022 24 50 . . PUNCT bracis-19022 25 1 with with ADP bracis-19022 25 2 this this DET bracis-19022 25 3 information information NOUN bracis-19022 25 4 , , PUNCT bracis-19022 25 5 robots robot NOUN bracis-19022 25 6 can can AUX bracis-19022 25 7 now now ADV bracis-19022 25 8 select select VERB bracis-19022 25 9 an an DET bracis-19022 25 10 appropriate appropriate ADJ bracis-19022 25 11 containment containment NOUN bracis-19022 25 12 approach approach NOUN bracis-19022 25 13 for for ADP bracis-19022 25 14 each each PRON bracis-19022 25 15 of of ADP bracis-19022 25 16 the the DET bracis-19022 25 17 four four NUM bracis-19022 25 18 organizations organization NOUN bracis-19022 25 19 developed develop VERB bracis-19022 25 20 or or CCONJ bracis-19022 25 21 remain remain VERB bracis-19022 25 22 in in ADP bracis-19022 25 23 the the DET bracis-19022 25 24 strategy strategy NOUN bracis-19022 25 25 proposed propose VERB bracis-19022 25 26 by by ADP bracis-19022 25 27 [ [ X bracis-19022 25 28 14 14 NUM bracis-19022 25 29 ] ] PUNCT bracis-19022 25 30 if if SCONJ bracis-19022 25 31 the the DET bracis-19022 25 32 targets target NOUN bracis-19022 25 33 are be AUX bracis-19022 25 34 walking walk VERB bracis-19022 25 35 randomly randomly ADV bracis-19022 25 36 . . PUNCT bracis-19022 26 1 this this DET bracis-19022 26 2 article article NOUN bracis-19022 26 3 aims aim VERB bracis-19022 26 4 to to PART bracis-19022 26 5 develop develop VERB bracis-19022 26 6 a a DET bracis-19022 26 7 strategy strategy NOUN bracis-19022 26 8 for for ADP bracis-19022 26 9 the the DET bracis-19022 26 10 decision decision NOUN bracis-19022 26 11 - - PUNCT bracis-19022 26 12 making making NOUN bracis-19022 26 13 of of ADP bracis-19022 26 14 artificial artificial ADJ bracis-19022 26 15 robot robot NOUN bracis-19022 26 16 agents agent NOUN bracis-19022 26 17 , , PUNCT bracis-19022 26 18 aiming aim VERB bracis-19022 26 19 to to PART bracis-19022 26 20 maximize maximize VERB bracis-19022 26 21 the the DET bracis-19022 26 22 observation observation NOUN bracis-19022 26 23 metric metric ADJ bracis-19022 26 24 and and CCONJ bracis-19022 26 25 minimize minimize VERB bracis-19022 26 26 the the DET bracis-19022 26 27 exploration exploration NOUN bracis-19022 26 28 of of ADP bracis-19022 26 29 the the DET bracis-19022 26 30 environment environment NOUN bracis-19022 26 31 by by ADP bracis-19022 26 32 target target NOUN bracis-19022 26 33 agents agent NOUN bracis-19022 26 34 organized organize VERB bracis-19022 26 35 to to PART bracis-19022 26 36 explore explore VERB bracis-19022 26 37 and and CCONJ bracis-19022 26 38 perform perform VERB bracis-19022 26 39 malicious malicious ADJ bracis-19022 26 40 actions action NOUN bracis-19022 26 41 in in ADP bracis-19022 26 42 the the DET bracis-19022 26 43 background background NOUN bracis-19022 26 44 . . PUNCT bracis-19022 27 1 this this DET bracis-19022 27 2 paper paper NOUN bracis-19022 27 3 is be AUX bracis-19022 27 4 organized organize VERB bracis-19022 27 5 into into ADP bracis-19022 27 6 four four NUM bracis-19022 27 7 more more ADJ bracis-19022 27 8 sections section NOUN bracis-19022 27 9 . . PUNCT bracis-19022 28 1 section section NOUN bracis-19022 28 2     SPACE bracis-19022 28 3 2 2 NUM bracis-19022 28 4 presents present VERB bracis-19022 28 5 the the DET bracis-19022 28 6 literature literature PROPN bracis-19022 28 7 review review PROPN bracis-19022 28 8 . . PUNCT bracis-19022 29 1 section section NOUN bracis-19022 29 2     SPACE bracis-19022 29 3 3 3 NUM bracis-19022 29 4 describes describe VERB bracis-19022 29 5 the the DET bracis-19022 29 6 approaches approach NOUN bracis-19022 29 7 used use VERB bracis-19022 29 8 by by ADP bracis-19022 29 9 targets target NOUN bracis-19022 29 10 and and CCONJ bracis-19022 29 11 robots robot NOUN bracis-19022 29 12 , , PUNCT bracis-19022 29 13 materials material NOUN bracis-19022 29 14 , , PUNCT bracis-19022 29 15 and and CCONJ bracis-19022 29 16 methods method NOUN bracis-19022 29 17 . . PUNCT bracis-19022 30 1 section section NOUN bracis-19022 30 2     SPACE bracis-19022 30 3 4 4 NUM bracis-19022 30 4 shows show VERB bracis-19022 30 5 the the DET bracis-19022 30 6 experiment experiment NOUN bracis-19022 30 7 and and CCONJ bracis-19022 30 8 the the DET bracis-19022 30 9 results result NOUN bracis-19022 30 10 . . PUNCT bracis-19022 31 1 finally finally ADV bracis-19022 31 2 , , PUNCT bracis-19022 31 3 sect sect NOUN bracis-19022 31 4 . . PUNCT bracis-19022 31 5     SPACE bracis-19022 31 6 5 5 NUM bracis-19022 31 7 concludes conclude VERB bracis-19022 31 8 the the DET bracis-19022 31 9 paper paper NOUN bracis-19022 31 10 with with ADP bracis-19022 31 11 final final ADJ bracis-19022 31 12 observations observation NOUN bracis-19022 31 13 and and CCONJ bracis-19022 31 14 future future ADJ bracis-19022 31 15 research research NOUN bracis-19022 31 16 . . PUNCT bracis-19022 32 1 2 2 NUM bracis-19022 32 2 a a DET bracis-19022 32 3 literature literature NOUN bracis-19022 32 4 review review VERB bracis-19022 32 5 the the DET bracis-19022 32 6 cmommt cmommt NOUN bracis-19022 32 7 problem problem NOUN bracis-19022 32 8 , , PUNCT bracis-19022 32 9 initially initially ADV bracis-19022 32 10 described describe VERB bracis-19022 32 11 in in ADP bracis-19022 32 12 [ [ X bracis-19022 32 13 14 14 NUM bracis-19022 32 14 ] ] PUNCT bracis-19022 32 15 , , PUNCT bracis-19022 32 16 is be AUX bracis-19022 32 17 defined define VERB bracis-19022 32 18 in in ADP bracis-19022 32 19 a a DET bracis-19022 32 20 simple simple ADJ bracis-19022 32 21 , , PUNCT bracis-19022 32 22 two two NUM bracis-19022 32 23 - - PUNCT bracis-19022 32 24 dimensional dimensional ADJ bracis-19022 32 25 polyhedral polyhedral ADJ bracis-19022 32 26 spatial spatial ADJ bracis-19022 32 27 region region NOUN bracis-19022 32 28 , , PUNCT bracis-19022 32 29 with with ADP bracis-19022 32 30 inputs input NOUN bracis-19022 32 31 / / SYM bracis-19022 32 32 outputs output NOUN bracis-19022 32 33 containing contain VERB bracis-19022 32 34 two two NUM bracis-19022 32 35 teams team NOUN bracis-19022 32 36 of of ADP bracis-19022 32 37 agents agent NOUN bracis-19022 32 38 , , PUNCT bracis-19022 32 39 the the DET bracis-19022 32 40 targets target NOUN bracis-19022 32 41 and and CCONJ bracis-19022 32 42 the the DET bracis-19022 32 43 robots robot NOUN bracis-19022 32 44 . . PUNCT bracis-19022 33 1 the the DET bracis-19022 33 2 team team NOUN bracis-19022 33 3 of of ADP bracis-19022 33 4 robots robot NOUN bracis-19022 33 5 has have VERB bracis-19022 33 6 \ \ PROPN bracis-19022 33 7 ( ( PUNCT bracis-19022 33 8 360^{\circ 360^{\circ NUM bracis-19022 33 9 } } PUNCT bracis-19022 33 10 \ \ ADJ bracis-19022 33 11 ) ) PUNCT bracis-19022 33 12 observation observation NOUN bracis-19022 33 13 sensors sensor NOUN bracis-19022 33 14 . . PUNCT bracis-19022 34 1 this this DET bracis-19022 34 2 team team NOUN bracis-19022 34 3 ’s ’s PART bracis-19022 34 4 objective objective NOUN bracis-19022 34 5 is be AUX bracis-19022 34 6 to to PART bracis-19022 34 7 maximize maximize VERB bracis-19022 34 8 the the DET bracis-19022 34 9 collective collective ADJ bracis-19022 34 10 time time NOUN bracis-19022 34 11 during during ADP bracis-19022 34 12 which which PRON bracis-19022 34 13 each each DET bracis-19022 34 14 target target NOUN bracis-19022 34 15 in in ADP bracis-19022 34 16 the the DET bracis-19022 34 17 environment environment NOUN bracis-19022 34 18 is be AUX bracis-19022 34 19 monitored monitor VERB bracis-19022 34 20 by by ADP bracis-19022 34 21 at at ADV bracis-19022 34 22 least least ADV bracis-19022 34 23 one one NUM bracis-19022 34 24 robot robot NOUN bracis-19022 34 25 during during ADP bracis-19022 34 26 the the DET bracis-19022 34 27 simulation simulation NOUN bracis-19022 34 28 time time NOUN bracis-19022 34 29 . . PUNCT bracis-19022 35 1 we we PRON bracis-19022 35 2 say say VERB bracis-19022 35 3 that that SCONJ bracis-19022 35 4 a a DET bracis-19022 35 5 robot robot NOUN bracis-19022 35 6 is be AUX bracis-19022 35 7 tracking track VERB bracis-19022 35 8 a a DET bracis-19022 35 9 target target NOUN bracis-19022 35 10 when when SCONJ bracis-19022 35 11 the the DET bracis-19022 35 12 target target NOUN bracis-19022 35 13 is be AUX bracis-19022 35 14 within within ADP bracis-19022 35 15 the the DET bracis-19022 35 16 robot robot NOUN bracis-19022 35 17 ’s ’s PART bracis-19022 35 18 sensory sensory ADJ bracis-19022 35 19 field field NOUN bracis-19022 35 20 of of ADP bracis-19022 35 21 observation observation NOUN bracis-19022 35 22 . . PUNCT bracis-19022 36 1 some some DET bracis-19022 36 2 reformulations reformulation NOUN bracis-19022 36 3 of of ADP bracis-19022 36 4 this this DET bracis-19022 36 5 problem problem NOUN bracis-19022 36 6 have have AUX bracis-19022 36 7 been be AUX bracis-19022 36 8 created create VERB bracis-19022 36 9 , , PUNCT bracis-19022 36 10 such such ADJ bracis-19022 36 11 as as ADP bracis-19022 36 12 fcmommt fcmommt NOUN bracis-19022 36 13 [ [ X bracis-19022 36 14 8 8 NUM bracis-19022 36 15 ] ] PUNCT bracis-19022 36 16 , , PUNCT bracis-19022 36 17 p p NOUN bracis-19022 36 18 - - PUNCT bracis-19022 36 19 cmommt cmommt NOUN bracis-19022 37 1 [ [ X bracis-19022 37 2 2 2 NUM bracis-19022 37 3 , , PUNCT bracis-19022 37 4 9 9 NUM bracis-19022 37 5 ] ] PUNCT bracis-19022 37 6 . . PUNCT bracis-19022 38 1 the the DET bracis-19022 38 2 cto cto PROPN bracis-19022 38 3 is be AUX bracis-19022 38 4 another another DET bracis-19022 38 5 reformulation reformulation NOUN bracis-19022 38 6 of of ADP bracis-19022 38 7 the the DET bracis-19022 38 8 cmommt cmommt NOUN bracis-19022 38 9 [ [ X bracis-19022 38 10 13 13 NUM bracis-19022 38 11 ] ] PUNCT bracis-19022 38 12 . . PUNCT bracis-19022 39 1 the the DET bracis-19022 39 2 main main ADJ bracis-19022 39 3 difference difference NOUN bracis-19022 39 4 between between ADP bracis-19022 39 5 these these DET bracis-19022 39 6 two two NUM bracis-19022 39 7 problems problem NOUN bracis-19022 39 8 is be AUX bracis-19022 39 9 that that SCONJ bracis-19022 39 10 in in ADP bracis-19022 39 11 the the DET bracis-19022 39 12 cto cto PROPN bracis-19022 39 13 , , PUNCT bracis-19022 39 14 the the DET bracis-19022 39 15 targets target NOUN bracis-19022 39 16 provide provide VERB bracis-19022 39 17 information information NOUN bracis-19022 39 18 about about ADP bracis-19022 39 19 their their PRON bracis-19022 39 20 location location NOUN bracis-19022 39 21 . . PUNCT bracis-19022 40 1 the the DET bracis-19022 40 2 observers observer NOUN bracis-19022 40 3 ’ ’ PART bracis-19022 40 4 objectives objective NOUN bracis-19022 40 5 remain remain VERB bracis-19022 40 6 the the DET bracis-19022 40 7 same same ADJ bracis-19022 40 8 as as ADP bracis-19022 40 9 that that PRON bracis-19022 40 10 of of ADP bracis-19022 40 11 the the DET bracis-19022 40 12 robots robot NOUN bracis-19022 40 13 . . PUNCT bracis-19022 41 1 the the DET bracis-19022 41 2 targets target NOUN bracis-19022 41 3 were be AUX bracis-19022 41 4 modeled model VERB bracis-19022 41 5 with with ADP bracis-19022 41 6 random random ADJ bracis-19022 41 7 movements movement NOUN bracis-19022 41 8 , , PUNCT bracis-19022 41 9 the the DET bracis-19022 41 10 target target NOUN bracis-19022 41 11 team team NOUN bracis-19022 41 12 being be AUX bracis-19022 41 13 superior superior ADJ bracis-19022 41 14 in in ADP bracis-19022 41 15 numbers number NOUN bracis-19022 41 16 to to ADP bracis-19022 41 17 the the DET bracis-19022 41 18 observer observer NOUN bracis-19022 41 19 team team NOUN bracis-19022 41 20 , , PUNCT bracis-19022 41 21 but but CCONJ bracis-19022 41 22 the the DET bracis-19022 41 23 observers observer NOUN bracis-19022 41 24 are be AUX bracis-19022 41 25 faster fast ADJ bracis-19022 41 26 . . PUNCT bracis-19022 42 1 in in ADP bracis-19022 42 2 [ [ X bracis-19022 42 3 1 1 NUM bracis-19022 42 4 ] ] PUNCT bracis-19022 42 5 , , PUNCT bracis-19022 42 6 it it PRON bracis-19022 42 7 was be AUX bracis-19022 42 8 observed observe VERB bracis-19022 42 9 that that SCONJ bracis-19022 42 10 observers observer NOUN bracis-19022 42 11 at at ADP bracis-19022 42 12 the the DET bracis-19022 42 13 cto cto PROPN bracis-19022 42 14 work work NOUN bracis-19022 42 15 in in ADP bracis-19022 42 16 a a DET bracis-19022 42 17 hierarchical hierarchical ADJ bracis-19022 42 18 structure structure NOUN bracis-19022 42 19 with with ADP bracis-19022 42 20 the the DET bracis-19022 42 21 k k NOUN bracis-19022 42 22 - - PUNCT bracis-19022 42 23 means mean NOUN bracis-19022 42 24 and and CCONJ bracis-19022 42 25 fuzzy fuzzy ADJ bracis-19022 42 26 c c NOUN bracis-19022 42 27 - - PUNCT bracis-19022 42 28 means means NOUN bracis-19022 42 29 algorithm algorithm NOUN bracis-19022 42 30 . . PUNCT bracis-19022 43 1 thus thus ADV bracis-19022 43 2 , , PUNCT bracis-19022 43 3 [ [ X bracis-19022 43 4 18 18 NUM bracis-19022 43 5 ] ] PUNCT bracis-19022 43 6 proposed propose VERB bracis-19022 43 7 three three NUM bracis-19022 43 8 strategies strategy NOUN bracis-19022 43 9 so so SCONJ bracis-19022 43 10 that that SCONJ bracis-19022 43 11 the the DET bracis-19022 43 12 targets target NOUN bracis-19022 43 13 were be AUX bracis-19022 43 14 as as ADV bracis-19022 43 15 organized organize VERB bracis-19022 43 16 as as ADP bracis-19022 43 17 the the DET bracis-19022 43 18 observers observer NOUN bracis-19022 43 19 , , PUNCT bracis-19022 43 20 hierarchy hierarchy NOUN bracis-19022 43 21 with with ADP bracis-19022 43 22 k k NOUN bracis-19022 43 23 - - PUNCT bracis-19022 43 24 means mean NOUN bracis-19022 43 25 , , PUNCT bracis-19022 43 26 the the DET bracis-19022 43 27 hierarchy hierarchy NOUN bracis-19022 43 28 with with ADP bracis-19022 43 29 fuzzy fuzzy ADJ bracis-19022 43 30 c c NOUN bracis-19022 43 31 - - PUNCT bracis-19022 43 32 means mean NOUN bracis-19022 43 33 , , PUNCT bracis-19022 43 34 and and CCONJ bracis-19022 43 35 holarchy holarchy ADJ bracis-19022 43 36 , , PUNCT bracis-19022 43 37 and and CCONJ bracis-19022 43 38 a a DET bracis-19022 43 39 strategy strategy NOUN bracis-19022 43 40 with with ADP bracis-19022 43 41 neural neural ADJ bracis-19022 43 42 networks network NOUN bracis-19022 43 43 . . PUNCT bracis-19022 44 1 the the DET bracis-19022 44 2 results result NOUN bracis-19022 44 3 showed show VERB bracis-19022 44 4 that that SCONJ bracis-19022 44 5 the the DET bracis-19022 44 6 method method NOUN bracis-19022 44 7 based base VERB bracis-19022 44 8 on on ADP bracis-19022 44 9 the the DET bracis-19022 44 10 organizational organizational ADJ bracis-19022 44 11 paradigms paradigm NOUN bracis-19022 44 12 was be AUX bracis-19022 44 13 superior superior ADJ bracis-19022 44 14 to to ADP bracis-19022 44 15 the the DET bracis-19022 44 16 cto cto PROPN bracis-19022 44 17 literature literature PROPN bracis-19022 44 18 approach approach NOUN bracis-19022 44 19 . . PUNCT bracis-19022 45 1 [ [ X bracis-19022 45 2 19 19 NUM bracis-19022 45 3 ] ] PUNCT bracis-19022 45 4 proposed propose VERB bracis-19022 45 5 an an DET bracis-19022 45 6 approach approach NOUN bracis-19022 45 7 to to PART bracis-19022 45 8 classify classify VERB bracis-19022 45 9 the the DET bracis-19022 45 10 organizational organizational ADJ bracis-19022 45 11 structure structure NOUN bracis-19022 45 12 of of ADP bracis-19022 45 13 a a DET bracis-19022 45 14 group group NOUN bracis-19022 45 15 of of ADP bracis-19022 45 16 target target NOUN bracis-19022 45 17 mobile mobile ADJ bracis-19022 45 18 agents agent NOUN bracis-19022 45 19 that that PRON bracis-19022 45 20 are be AUX bracis-19022 45 21 continuously continuously ADV bracis-19022 45 22 monitored monitor VERB bracis-19022 45 23 by by ADP bracis-19022 45 24 a a DET bracis-19022 45 25 smaller small ADJ bracis-19022 45 26 group group NOUN bracis-19022 45 27 of of ADP bracis-19022 45 28 mobile mobile ADJ bracis-19022 45 29 observer observer NOUN bracis-19022 45 30 agents agent NOUN bracis-19022 45 31 in in ADP bracis-19022 45 32 the the DET bracis-19022 45 33 cto cto PROPN bracis-19022 45 34 problem problem NOUN bracis-19022 45 35 , , PUNCT bracis-19022 45 36 a a DET bracis-19022 45 37 reformulation reformulation NOUN bracis-19022 45 38 of of ADP bracis-19022 45 39 the the DET bracis-19022 45 40 cmommt cmommt NOUN bracis-19022 45 41 . . PUNCT bracis-19022 46 1 the the DET bracis-19022 46 2 approach approach NOUN bracis-19022 46 3 considers consider VERB bracis-19022 46 4 that that SCONJ bracis-19022 46 5 the the DET bracis-19022 46 6 group group NOUN bracis-19022 46 7 of of ADP bracis-19022 46 8 target target NOUN bracis-19022 46 9 agents agent NOUN bracis-19022 46 10 can can AUX bracis-19022 46 11 be be AUX bracis-19022 46 12 organized organize VERB bracis-19022 46 13 according accord VERB bracis-19022 46 14 to to ADP bracis-19022 46 15 eight eight NUM bracis-19022 46 16 different different ADJ bracis-19022 46 17 paradigms paradigm NOUN bracis-19022 46 18 . . PUNCT bracis-19022 47 1 these these DET bracis-19022 47 2 agents agent NOUN bracis-19022 47 3 communicate communicate VERB bracis-19022 47 4 through through ADP bracis-19022 47 5 the the DET bracis-19022 47 6 exchange exchange NOUN bracis-19022 47 7 of of ADP bracis-19022 47 8 messages message NOUN bracis-19022 47 9 whose whose DET bracis-19022 47 10 contents content NOUN bracis-19022 47 11 are be AUX bracis-19022 47 12 performative performative ADJ bracis-19022 47 13 of of ADP bracis-19022 47 14 the the DET bracis-19022 47 15 speech speech NOUN bracis-19022 47 16 act act NOUN bracis-19022 47 17 . . PUNCT bracis-19022 48 1 this this DET bracis-19022 48 2 approach approach NOUN bracis-19022 48 3 proved prove VERB bracis-19022 48 4 effective effective ADJ bracis-19022 48 5 in in ADP bracis-19022 48 6 comparison comparison NOUN bracis-19022 48 7 with with ADP bracis-19022 48 8 the the DET bracis-19022 48 9 dummy dummy ADJ bracis-19022 48 10 classifier classifier NOUN bracis-19022 48 11 that that PRON bracis-19022 48 12 simulated simulate VERB bracis-19022 48 13 human human ADJ bracis-19022 48 14 logic logic NOUN bracis-19022 48 15 based base VERB bracis-19022 48 16 on on ADP bracis-19022 48 17 the the DET bracis-19022 48 18 frequency frequency NOUN bracis-19022 48 19 strategy strategy NOUN bracis-19022 48 20 . . PUNCT bracis-19022 49 1 however however ADV bracis-19022 49 2 , , PUNCT bracis-19022 49 3 it it PRON bracis-19022 49 4 was be AUX bracis-19022 49 5 observed observe VERB bracis-19022 49 6 in in ADP bracis-19022 49 7 this this DET bracis-19022 49 8 approach approach NOUN bracis-19022 49 9 that that SCONJ bracis-19022 49 10 the the DET bracis-19022 49 11 organizational organizational ADJ bracis-19022 49 12 strategy strategy NOUN bracis-19022 49 13 adopted adopt VERB bracis-19022 49 14 for for ADP bracis-19022 49 15 the the DET bracis-19022 49 16 targets target NOUN bracis-19022 49 17 , , PUNCT bracis-19022 49 18 targets target NOUN bracis-19022 49 19 , , PUNCT bracis-19022 49 20 and and CCONJ bracis-19022 49 21 observers observer NOUN bracis-19022 49 22 provided provide VERB bracis-19022 49 23 their their PRON bracis-19022 49 24 location location NOUN bracis-19022 49 25 information information NOUN bracis-19022 49 26 to to ADP bracis-19022 49 27 each each DET bracis-19022 49 28 other other ADJ bracis-19022 49 29 in in ADP bracis-19022 49 30 the the DET bracis-19022 49 31 cto cto PROPN bracis-19022 49 32 . . PUNCT bracis-19022 50 1 this this DET bracis-19022 50 2 type type NOUN bracis-19022 50 3 of of ADP bracis-19022 50 4 scenario scenario NOUN bracis-19022 50 5 , , PUNCT bracis-19022 50 6 where where SCONJ bracis-19022 50 7 opposing oppose VERB bracis-19022 50 8 teams team NOUN bracis-19022 50 9 exchange exchange VERB bracis-19022 50 10 information information NOUN bracis-19022 50 11 when when SCONJ bracis-19022 50 12 their their PRON bracis-19022 50 13 goals goal NOUN bracis-19022 50 14 neutralize neutralize VERB bracis-19022 50 15 each each DET bracis-19022 50 16 other other ADJ bracis-19022 50 17 , , PUNCT bracis-19022 50 18 is be AUX bracis-19022 50 19 not not PART bracis-19022 50 20 a a DET bracis-19022 50 21 realistic realistic ADJ bracis-19022 50 22 scenario scenario NOUN bracis-19022 50 23 . . PUNCT bracis-19022 51 1 thus thus ADV bracis-19022 51 2 , , PUNCT bracis-19022 51 3 in in ADP bracis-19022 51 4 the the DET bracis-19022 51 5 cmommt cmommt PROPN bracis-19022 51 6 scenario scenario NOUN bracis-19022 51 7 , , PUNCT bracis-19022 51 8 where where SCONJ bracis-19022 51 9 the the DET bracis-19022 51 10 environment environment NOUN bracis-19022 51 11 is be AUX bracis-19022 51 12 partially partially ADV bracis-19022 51 13 observable observable ADJ bracis-19022 51 14 , , PUNCT bracis-19022 51 15 the the DET bracis-19022 51 16 targets target NOUN bracis-19022 51 17 and and CCONJ bracis-19022 51 18 robots robot NOUN bracis-19022 51 19 ( ( PUNCT bracis-19022 51 20 observers observer NOUN bracis-19022 51 21 ) ) PUNCT bracis-19022 51 22 do do AUX bracis-19022 51 23 not not PART bracis-19022 51 24 contribute contribute VERB bracis-19022 51 25 with with ADP bracis-19022 51 26 their their PRON bracis-19022 51 27 locations location NOUN bracis-19022 51 28 , , PUNCT bracis-19022 51 29 the the DET bracis-19022 51 30 simulation simulation NOUN bracis-19022 51 31 becomes become VERB bracis-19022 51 32 more more ADV bracis-19022 51 33 realistic realistic ADJ bracis-19022 51 34 . . PUNCT bracis-19022 52 1 in in ADP bracis-19022 52 2 [ [ X bracis-19022 52 3 5 5 NUM bracis-19022 52 4 , , PUNCT bracis-19022 52 5 15 15 NUM bracis-19022 52 6 ] ] PUNCT bracis-19022 52 7 , , PUNCT bracis-19022 52 8 computer computer NOUN bracis-19022 52 9 vision vision NOUN bracis-19022 52 10 was be AUX bracis-19022 52 11 applied apply VERB bracis-19022 52 12 to to ADP bracis-19022 52 13 the the DET bracis-19022 52 14 images image NOUN bracis-19022 52 15 captured capture VERB bracis-19022 52 16 by by ADP bracis-19022 52 17 agents agent NOUN bracis-19022 52 18 to to PART bracis-19022 52 19 help help VERB bracis-19022 52 20 achieve achieve VERB bracis-19022 52 21 their their PRON bracis-19022 52 22 goals goal NOUN bracis-19022 52 23 . . PUNCT bracis-19022 53 1 [ [ X bracis-19022 53 2 5 5 NUM bracis-19022 53 3 ] ] PUNCT bracis-19022 53 4 presented present VERB bracis-19022 53 5 the the DET bracis-19022 53 6 development development NOUN bracis-19022 53 7 of of ADP bracis-19022 53 8 a a DET bracis-19022 53 9 robotic robotic ADJ bracis-19022 53 10 multi multi ADJ bracis-19022 53 11 - - ADJ bracis-19022 53 12 agent agent ADJ bracis-19022 53 13 system system NOUN bracis-19022 53 14 , , PUNCT bracis-19022 53 15 called call VERB bracis-19022 53 16 smart smart ADJ bracis-19022 53 17 , , PUNCT bracis-19022 53 18 in in ADP bracis-19022 53 19 which which PRON bracis-19022 53 20 there there PRON bracis-19022 53 21 are be VERB bracis-19022 53 22 two two NUM bracis-19022 53 23 groups group NOUN bracis-19022 53 24 of of ADP bracis-19022 53 25 agents agent NOUN bracis-19022 53 26 , , PUNCT bracis-19022 53 27 hardware hardware NOUN bracis-19022 53 28 and and CCONJ bracis-19022 53 29 software software NOUN bracis-19022 53 30 agents agent NOUN bracis-19022 53 31 , , PUNCT bracis-19022 53 32 that that PRON bracis-19022 53 33 work work VERB bracis-19022 53 34 cooperatively cooperatively ADV bracis-19022 53 35 . . PUNCT bracis-19022 54 1 the the DET bracis-19022 54 2 hardware hardware NOUN bracis-19022 54 3 agents agent NOUN bracis-19022 54 4 are be AUX bracis-19022 54 5 robots robot NOUN bracis-19022 54 6 with with ADP bracis-19022 54 7 three three NUM bracis-19022 54 8 and and CCONJ bracis-19022 54 9 four four NUM bracis-19022 54 10 legs leg NOUN bracis-19022 54 11 and and CCONJ bracis-19022 54 12 an an DET bracis-19022 54 13 ip ip NOUN bracis-19022 54 14 camera camera NOUN bracis-19022 54 15 that that PRON bracis-19022 54 16 captures capture VERB bracis-19022 54 17 images image NOUN bracis-19022 54 18 of of ADP bracis-19022 54 19 the the DET bracis-19022 54 20 scene scene NOUN bracis-19022 54 21 where where SCONJ bracis-19022 54 22 the the DET bracis-19022 54 23 cooperative cooperative ADJ bracis-19022 54 24 task task NOUN bracis-19022 54 25 takes take VERB bracis-19022 54 26 place place NOUN bracis-19022 54 27 . . PUNCT bracis-19022 55 1 [ [ X bracis-19022 55 2 15 15 NUM bracis-19022 55 3 ] ] PUNCT bracis-19022 55 4 presented present VERB bracis-19022 55 5 a a DET bracis-19022 55 6 behavior behavior NOUN bracis-19022 55 7 - - PUNCT bracis-19022 55 8 based base VERB bracis-19022 55 9 approach approach NOUN bracis-19022 55 10 for for ADP bracis-19022 55 11 maintaining maintain VERB bracis-19022 55 12 robot robot NOUN bracis-19022 55 13 formation formation NOUN bracis-19022 55 14 . . PUNCT bracis-19022 56 1 the the DET bracis-19022 56 2 robot robot NOUN bracis-19022 56 3 ’s ’s PART bracis-19022 56 4 objective objective NOUN bracis-19022 56 5 is be AUX bracis-19022 56 6 to to PART bracis-19022 56 7 circulate circulate VERB bracis-19022 56 8 through through ADP bracis-19022 56 9 the the DET bracis-19022 56 10 environment environment NOUN bracis-19022 56 11 , , PUNCT bracis-19022 56 12 keeping keep VERB bracis-19022 56 13 a a DET bracis-19022 56 14 relative relative ADJ bracis-19022 56 15 position position NOUN bracis-19022 56 16 between between ADP bracis-19022 56 17 them they PRON bracis-19022 56 18 and and CCONJ bracis-19022 56 19 avoiding avoid VERB bracis-19022 56 20 shock shock NOUN bracis-19022 56 21 . . PUNCT bracis-19022 57 1 based base VERB bracis-19022 57 2 on on ADP bracis-19022 57 3 these these DET bracis-19022 57 4 concepts concept NOUN bracis-19022 57 5 of of ADP bracis-19022 57 6 an an DET bracis-19022 57 7 image image NOUN bracis-19022 57 8 capture capture NOUN bracis-19022 57 9 agent agent NOUN bracis-19022 57 10 , , PUNCT bracis-19022 57 11 the the DET bracis-19022 57 12 use use NOUN bracis-19022 57 13 of of ADP bracis-19022 57 14 the the DET bracis-19022 57 15 computer computer NOUN bracis-19022 57 16 vision vision NOUN bracis-19022 57 17 technique technique NOUN bracis-19022 57 18 , , PUNCT bracis-19022 57 19 and and CCONJ bracis-19022 57 20 the the DET bracis-19022 57 21 limitation limitation NOUN bracis-19022 57 22 of of ADP bracis-19022 57 23 target target NOUN bracis-19022 57 24 communication communication NOUN bracis-19022 57 25 to to PART bracis-19022 57 26 maintain maintain VERB bracis-19022 57 27 the the DET bracis-19022 57 28 organization organization NOUN bracis-19022 57 29 in in ADP bracis-19022 57 30 cmommt cmommt PROPN bracis-19022 57 31 , , PUNCT bracis-19022 57 32 we we PRON bracis-19022 57 33 can can AUX bracis-19022 57 34 assist assist VERB bracis-19022 57 35 robots robot NOUN bracis-19022 57 36 in in ADP bracis-19022 57 37 classifying classify VERB bracis-19022 57 38 target target NOUN bracis-19022 57 39 structures structure NOUN bracis-19022 57 40 through through ADP bracis-19022 57 41 the the DET bracis-19022 57 42 application application NOUN bracis-19022 57 43 of of ADP bracis-19022 57 44 computer computer NOUN bracis-19022 57 45 vision vision NOUN bracis-19022 57 46 in in ADP bracis-19022 57 47 the the DET bracis-19022 57 48 simulation simulation NOUN bracis-19022 57 49 scenario scenario NOUN bracis-19022 57 50 , , PUNCT bracis-19022 57 51 such such ADJ bracis-19022 57 52 as as ADP bracis-19022 57 53 [ [ X bracis-19022 57 54 5 5 NUM bracis-19022 57 55 , , PUNCT bracis-19022 57 56 15 15 NUM bracis-19022 57 57 ] ] PUNCT bracis-19022 57 58 . . PUNCT bracis-19022 58 1 3 3 NUM bracis-19022 58 2 the the DET bracis-19022 58 3 approach approach NOUN bracis-19022 58 4 for for ADP bracis-19022 58 5 observing observe VERB bracis-19022 58 6 and and CCONJ bracis-19022 58 7 containment containment NOUN bracis-19022 58 8 of of ADP bracis-19022 58 9 malicious malicious ADJ bracis-19022 58 10 targets target NOUN bracis-19022 58 11 organizations organization NOUN bracis-19022 58 12 in in ADP bracis-19022 58 13 this this DET bracis-19022 58 14 article article NOUN bracis-19022 58 15 , , PUNCT bracis-19022 58 16 we we PRON bracis-19022 58 17 present present VERB bracis-19022 58 18 an an DET bracis-19022 58 19 extension extension NOUN bracis-19022 58 20 to to ADP bracis-19022 58 21 the the DET bracis-19022 58 22 cmommt cmommt NOUN bracis-19022 58 23 problem problem NOUN bracis-19022 58 24 . . PUNCT bracis-19022 59 1 the the DET bracis-19022 59 2 scenario scenario NOUN bracis-19022 59 3 remains remain VERB bracis-19022 59 4 the the DET bracis-19022 59 5 same same ADJ bracis-19022 59 6 , , PUNCT bracis-19022 59 7 but but CCONJ bracis-19022 59 8 the the DET bracis-19022 59 9 targets target NOUN bracis-19022 59 10 are be AUX bracis-19022 59 11 structured structure VERB bracis-19022 59 12 as as ADP bracis-19022 59 13 an an DET bracis-19022 59 14 organization organization NOUN bracis-19022 59 15 aiming aim VERB bracis-19022 59 16 to to PART bracis-19022 59 17 achieve achieve VERB bracis-19022 59 18 the the DET bracis-19022 59 19 highest high ADJ bracis-19022 59 20 possible possible ADJ bracis-19022 59 21 percentage percentage NOUN bracis-19022 59 22 of of ADP bracis-19022 59 23 scenario scenario NOUN bracis-19022 59 24 exploration exploration NOUN bracis-19022 59 25 while while SCONJ bracis-19022 59 26 avoiding avoid VERB bracis-19022 59 27 robots robot NOUN bracis-19022 59 28 . . PUNCT bracis-19022 60 1 robots robot NOUN bracis-19022 60 2 continue continue VERB bracis-19022 60 3 with with ADP bracis-19022 60 4 the the DET bracis-19022 60 5 surveillance surveillance NOUN bracis-19022 60 6 objective objective NOUN bracis-19022 60 7 , , PUNCT bracis-19022 60 8 seeking seek VERB bracis-19022 60 9 to to PART bracis-19022 60 10 maximize maximize VERB bracis-19022 60 11 the the DET bracis-19022 60 12 vision vision NOUN bracis-19022 60 13 on on ADP bracis-19022 60 14 the the DET bracis-19022 60 15 targets target NOUN bracis-19022 60 16 and and CCONJ bracis-19022 60 17 minimize minimize VERB bracis-19022 60 18 the the DET bracis-19022 60 19 effect effect NOUN bracis-19022 60 20 of of ADP bracis-19022 60 21 the the DET bracis-19022 60 22 organized organize VERB bracis-19022 60 23 targets target NOUN bracis-19022 60 24 on on ADP bracis-19022 60 25 the the DET bracis-19022 60 26 environment environment NOUN bracis-19022 60 27 through through ADP bracis-19022 60 28 strategies strategy NOUN bracis-19022 60 29 to to PART bracis-19022 60 30 contain contain VERB bracis-19022 60 31 the the DET bracis-19022 60 32 exploration exploration NOUN bracis-19022 60 33 of of ADP bracis-19022 60 34 the the DET bracis-19022 60 35 targets target NOUN bracis-19022 60 36 . . PUNCT bracis-19022 61 1 in in ADP bracis-19022 61 2 the the DET bracis-19022 61 3 original original ADJ bracis-19022 61 4 cmommt cmommt NOUN bracis-19022 61 5 problem problem NOUN bracis-19022 61 6 , , PUNCT bracis-19022 61 7 robots robot NOUN bracis-19022 61 8 were be AUX bracis-19022 61 9 only only ADV bracis-19022 61 10 concerned concerned ADJ bracis-19022 61 11 with with ADP bracis-19022 61 12 observing observe VERB bracis-19022 61 13 targets target NOUN bracis-19022 61 14 . . PUNCT bracis-19022 62 1 however however ADV bracis-19022 62 2 , , PUNCT bracis-19022 62 3 this this DET bracis-19022 62 4 approach approach NOUN bracis-19022 62 5 is be AUX bracis-19022 62 6 not not PART bracis-19022 62 7 sufficient sufficient ADJ bracis-19022 62 8 for for ADP bracis-19022 62 9 robots robot NOUN bracis-19022 62 10 in in ADP bracis-19022 62 11 this this DET bracis-19022 62 12 extension extension NOUN bracis-19022 62 13 of of ADP bracis-19022 62 14 the the DET bracis-19022 62 15 cmommt cmommt NOUN bracis-19022 62 16 problem problem NOUN bracis-19022 62 17 . . PUNCT bracis-19022 63 1 the the DET bracis-19022 63 2 targets target NOUN bracis-19022 63 3 are be AUX bracis-19022 63 4 intended intend VERB bracis-19022 63 5 to to PART bracis-19022 63 6 explore explore VERB bracis-19022 63 7 the the DET bracis-19022 63 8 environment environment NOUN bracis-19022 63 9 , , PUNCT bracis-19022 63 10 and and CCONJ bracis-19022 63 11 they they PRON bracis-19022 63 12 are be AUX bracis-19022 63 13 organized organize VERB bracis-19022 63 14 as as ADP bracis-19022 63 15 hierarchy hierarchy NOUN bracis-19022 63 16 , , PUNCT bracis-19022 63 17 holarchy holarchy ADJ bracis-19022 63 18 , , PUNCT bracis-19022 63 19 team team NOUN bracis-19022 63 20 , , PUNCT bracis-19022 63 21 or or CCONJ bracis-19022 63 22 coalition coalition NOUN bracis-19022 63 23 . . PUNCT bracis-19022 64 1 therefore therefore ADV bracis-19022 64 2 , , PUNCT bracis-19022 64 3 the the DET bracis-19022 64 4 proposed propose VERB bracis-19022 64 5 approach approach NOUN bracis-19022 64 6 for for ADP bracis-19022 64 7 robots robot NOUN bracis-19022 64 8 in in ADP bracis-19022 64 9 this this DET bracis-19022 64 10 new new ADJ bracis-19022 64 11 cmommt cmommt NOUN bracis-19022 64 12 problem problem NOUN bracis-19022 64 13 is be AUX bracis-19022 64 14 using use VERB bracis-19022 64 15 image image NOUN bracis-19022 64 16 classification classification NOUN bracis-19022 64 17 to to PART bracis-19022 64 18 select select VERB bracis-19022 64 19 the the DET bracis-19022 64 20 containment containment NOUN bracis-19022 64 21 strategy strategy NOUN bracis-19022 64 22 to to PART bracis-19022 64 23 minimize minimize VERB bracis-19022 64 24 the the DET bracis-19022 64 25 exploration exploration NOUN bracis-19022 64 26 of of ADP bracis-19022 64 27 targets target NOUN bracis-19022 64 28 organized organize VERB bracis-19022 64 29 in in ADP bracis-19022 64 30 the the DET bracis-19022 64 31 scenario scenario NOUN bracis-19022 64 32 . . PUNCT bracis-19022 65 1 considering consider VERB bracis-19022 65 2 the the DET bracis-19022 65 3 assumption assumption NOUN bracis-19022 65 4 that that SCONJ bracis-19022 65 5 there there PRON bracis-19022 65 6 is be VERB bracis-19022 65 7 a a DET bracis-19022 65 8 drone drone NOUN bracis-19022 65 9 in in ADP bracis-19022 65 10 the the DET bracis-19022 65 11 scenario scenario NOUN bracis-19022 65 12 capable capable ADJ bracis-19022 65 13 of of ADP bracis-19022 65 14 capturing capture VERB bracis-19022 65 15 images image NOUN bracis-19022 65 16 of of ADP bracis-19022 65 17 both both CCONJ bracis-19022 65 18 the the DET bracis-19022 65 19 target target NOUN bracis-19022 65 20 team team NOUN bracis-19022 65 21 and and CCONJ bracis-19022 65 22 the the DET bracis-19022 65 23 robots robot NOUN bracis-19022 65 24 , , PUNCT bracis-19022 65 25 it it PRON bracis-19022 65 26 is be AUX bracis-19022 65 27 possible possible ADJ bracis-19022 65 28 to to PART bracis-19022 65 29 generate generate VERB bracis-19022 65 30 a a DET bracis-19022 65 31 set set NOUN bracis-19022 65 32 of of ADP bracis-19022 65 33 examples example NOUN bracis-19022 65 34 , , PUNCT bracis-19022 65 35 label label VERB bracis-19022 65 36 them they PRON bracis-19022 65 37 and and CCONJ bracis-19022 65 38 train train VERB bracis-19022 65 39 a a DET bracis-19022 65 40 classification classification NOUN bracis-19022 65 41 system system NOUN bracis-19022 65 42 that that PRON bracis-19022 65 43 can can AUX bracis-19022 65 44 recognize recognize VERB bracis-19022 65 45 patterns pattern NOUN bracis-19022 65 46 in in ADP bracis-19022 65 47 movement movement NOUN bracis-19022 65 48 in in ADP bracis-19022 65 49 each each DET bracis-19022 65 50 organizational organizational ADJ bracis-19022 65 51 paradigm paradigm NOUN bracis-19022 65 52 present present ADJ bracis-19022 65 53 in in ADP bracis-19022 65 54 the the DET bracis-19022 65 55 targets target NOUN bracis-19022 65 56 to to PART bracis-19022 65 57 classify classify VERB bracis-19022 65 58 the the DET bracis-19022 65 59 structure structure NOUN bracis-19022 65 60 . . PUNCT bracis-19022 66 1 thus thus ADV bracis-19022 66 2 , , PUNCT bracis-19022 66 3 through through ADP bracis-19022 66 4 classification classification NOUN bracis-19022 66 5 , , PUNCT bracis-19022 66 6 the the DET bracis-19022 66 7 work work NOUN bracis-19022 66 8 proposes propose VERB bracis-19022 66 9 four four NUM bracis-19022 66 10 associated associated ADJ bracis-19022 66 11 containment containment NOUN bracis-19022 66 12 strategies strategy NOUN bracis-19022 66 13 to to PART bracis-19022 66 14 solve solve VERB bracis-19022 66 15 the the DET bracis-19022 66 16 problem problem NOUN bracis-19022 66 17 . . PUNCT bracis-19022 67 1 3.1 3.1 NUM bracis-19022 67 2 target target NOUN bracis-19022 67 3 strategy strategy NOUN bracis-19022 67 4 targets target NOUN bracis-19022 67 5 , , PUNCT bracis-19022 67 6 in in ADP bracis-19022 67 7 this this DET bracis-19022 67 8 extension extension NOUN bracis-19022 67 9 of of ADP bracis-19022 67 10 the the DET bracis-19022 67 11 cmommt cmommt NOUN bracis-19022 67 12 problem problem NOUN bracis-19022 67 13 , , PUNCT bracis-19022 67 14 see see VERB bracis-19022 67 15 the the DET bracis-19022 67 16 environment environment NOUN bracis-19022 67 17 in in ADP bracis-19022 67 18 quadrants quadrant NOUN bracis-19022 67 19 . . PUNCT bracis-19022 68 1 there there PRON bracis-19022 68 2 are be VERB bracis-19022 68 3 four four NUM bracis-19022 68 4 quadrants quadrant NOUN bracis-19022 68 5 : : PUNCT bracis-19022 68 6 upper upper ADJ bracis-19022 68 7 right right NOUN bracis-19022 68 8 , , PUNCT bracis-19022 68 9 upper upper ADJ bracis-19022 68 10 left left NOUN bracis-19022 68 11 , , PUNCT bracis-19022 68 12 lower lower ADV bracis-19022 68 13 left left ADJ bracis-19022 68 14 , , PUNCT bracis-19022 68 15 and and CCONJ bracis-19022 68 16 lower low ADJ bracis-19022 68 17 right right ADJ bracis-19022 68 18 . . PUNCT bracis-19022 69 1 among among ADP bracis-19022 69 2 the the DET bracis-19022 69 3 paradigms paradigms NOUN bracis-19022 69 4 raised raise VERB bracis-19022 69 5 by by ADP bracis-19022 69 6 [ [ X bracis-19022 69 7 10 10 NUM bracis-19022 69 8 ] ] PUNCT bracis-19022 69 9 , , PUNCT bracis-19022 69 10 hierarchy hierarchy INTJ bracis-19022 69 11 , , PUNCT bracis-19022 69 12 holarchy holarchy ADJ bracis-19022 69 13 , , PUNCT bracis-19022 69 14 team team NOUN bracis-19022 69 15 , , PUNCT bracis-19022 69 16 and and CCONJ bracis-19022 69 17 coalition coalition NOUN bracis-19022 69 18 were be AUX bracis-19022 69 19 selected select VERB bracis-19022 69 20 for for ADP bracis-19022 69 21 this this DET bracis-19022 69 22 work work NOUN bracis-19022 69 23 . . PUNCT bracis-19022 70 1 because because SCONJ bracis-19022 70 2 , , PUNCT bracis-19022 70 3 according accord VERB bracis-19022 70 4 to to ADP bracis-19022 70 5 [ [ X bracis-19022 70 6 10 10 NUM bracis-19022 70 7 ] ] PUNCT bracis-19022 70 8 , , PUNCT bracis-19022 70 9 starting start VERB bracis-19022 70 10 from from ADP bracis-19022 70 11 these these DET bracis-19022 70 12 four four NUM bracis-19022 70 13 , , PUNCT bracis-19022 70 14 it it PRON bracis-19022 70 15 is be AUX bracis-19022 70 16 possible possible ADJ bracis-19022 70 17 to to PART bracis-19022 70 18 generate generate VERB bracis-19022 70 19 the the DET bracis-19022 70 20 others other NOUN bracis-19022 70 21 . . PUNCT bracis-19022 71 1 the the DET bracis-19022 71 2 subsections subsection NOUN bracis-19022 71 3 below below ADP bracis-19022 71 4 detail detail NOUN bracis-19022 71 5 each each DET bracis-19022 71 6 organizational organizational ADJ bracis-19022 71 7 structure structure NOUN bracis-19022 71 8 modeled model VERB bracis-19022 71 9 on on ADP bracis-19022 71 10 the the DET bracis-19022 71 11 target target NOUN bracis-19022 71 12 team team NOUN bracis-19022 71 13 . . PUNCT bracis-19022 72 1 hierarchy hierarchy NOUN bracis-19022 72 2 . . PUNCT bracis-19022 73 1 in in ADP bracis-19022 73 2 this this DET bracis-19022 73 3 organizational organizational ADJ bracis-19022 73 4 structure structure NOUN bracis-19022 73 5 , , PUNCT bracis-19022 73 6 only only ADV bracis-19022 73 7 the the DET bracis-19022 73 8 two two NUM bracis-19022 73 9 - - PUNCT bracis-19022 73 10 level level NOUN bracis-19022 73 11 hierarchy hierarchy NOUN bracis-19022 73 12 was be AUX bracis-19022 73 13 considered consider VERB bracis-19022 73 14 . . PUNCT bracis-19022 74 1 at at ADP bracis-19022 74 2 the the DET bracis-19022 74 3 level level NOUN bracis-19022 74 4 above above ADV bracis-19022 74 5 , , PUNCT bracis-19022 74 6 there there PRON bracis-19022 74 7 is be VERB bracis-19022 74 8 a a DET bracis-19022 74 9 target target NOUN bracis-19022 74 10 responsible responsible ADJ bracis-19022 74 11 for for ADP bracis-19022 74 12 calculating calculate VERB bracis-19022 74 13 the the DET bracis-19022 74 14 quadrant quadrant NOUN bracis-19022 74 15 that that PRON bracis-19022 74 16 contains contain VERB bracis-19022 74 17 the the DET bracis-19022 74 18 smallest small ADJ bracis-19022 74 19 percentage percentage NOUN bracis-19022 74 20 of of ADP bracis-19022 74 21 exploration exploration NOUN bracis-19022 74 22 closest close ADJ bracis-19022 74 23 to to ADP bracis-19022 74 24 it it PRON bracis-19022 74 25 , , PUNCT bracis-19022 74 26 based base VERB bracis-19022 74 27 on on ADP bracis-19022 74 28 the the DET bracis-19022 74 29 information information NOUN bracis-19022 74 30 obtained obtain VERB bracis-19022 74 31 by by ADP bracis-19022 74 32 the the DET bracis-19022 74 33 targets target NOUN bracis-19022 74 34 , , PUNCT bracis-19022 74 35 to to PART bracis-19022 74 36 request request VERB bracis-19022 74 37 the the DET bracis-19022 74 38 movement movement NOUN bracis-19022 74 39 of of ADP bracis-19022 74 40 this this DET bracis-19022 74 41 team team NOUN bracis-19022 74 42 to to ADP bracis-19022 74 43 this this DET bracis-19022 74 44 particular particular ADJ bracis-19022 74 45 quadrant quadrant NOUN bracis-19022 74 46 at at ADP bracis-19022 74 47 each each DET bracis-19022 74 48 time time NOUN bracis-19022 74 49 interval interval NOUN bracis-19022 74 50 , , PUNCT bracis-19022 74 51 called call VERB bracis-19022 74 52 of of ADP bracis-19022 74 53 coordinator coordinator NOUN bracis-19022 74 54 . . PUNCT bracis-19022 75 1 the the DET bracis-19022 75 2 targets target NOUN bracis-19022 75 3 that that PRON bracis-19022 75 4 inform inform VERB bracis-19022 75 5 the the DET bracis-19022 75 6 area area NOUN bracis-19022 75 7 explored explore VERB bracis-19022 75 8 by by ADP bracis-19022 75 9 them they PRON bracis-19022 75 10 and and CCONJ bracis-19022 75 11 perform perform VERB bracis-19022 75 12 the the DET bracis-19022 75 13 action action NOUN bracis-19022 75 14 requested request VERB bracis-19022 75 15 by by ADP bracis-19022 75 16 the the DET bracis-19022 75 17 coordinator coordinator NOUN bracis-19022 75 18 are be AUX bracis-19022 75 19 called call VERB bracis-19022 75 20 subordinates subordinate NOUN bracis-19022 75 21 . . PUNCT bracis-19022 76 1 therefore therefore ADV bracis-19022 76 2 , , PUNCT bracis-19022 76 3 subordinates subordinate NOUN bracis-19022 76 4 must must AUX bracis-19022 76 5 remain remain VERB bracis-19022 76 6 within within ADP bracis-19022 76 7 the the DET bracis-19022 76 8 message message NOUN bracis-19022 76 9 range range NOUN bracis-19022 76 10 to to PART bracis-19022 76 11 receive receive VERB bracis-19022 76 12 the the DET bracis-19022 76 13 information information NOUN bracis-19022 76 14 , , PUNCT bracis-19022 76 15 as as SCONJ bracis-19022 76 16 communication communication NOUN bracis-19022 76 17 is be AUX bracis-19022 76 18 carried carry VERB bracis-19022 76 19 out out ADP bracis-19022 76 20 through through ADP bracis-19022 76 21 the the DET bracis-19022 76 22 speech speech NOUN bracis-19022 76 23 act act NOUN bracis-19022 76 24 . . PUNCT bracis-19022 77 1 the the DET bracis-19022 77 2 state state NOUN bracis-19022 77 3 machine machine NOUN bracis-19022 77 4 that that PRON bracis-19022 77 5 demonstrates demonstrate VERB bracis-19022 77 6 target target NOUN bracis-19022 77 7 team team NOUN bracis-19022 77 8 communication communication NOUN bracis-19022 77 9 is be AUX bracis-19022 77 10 shown show VERB bracis-19022 77 11 in in ADP bracis-19022 77 12 fig fig NOUN bracis-19022 77 13 . . PUNCT bracis-19022 77 14     SPACE bracis-19022 78 1 1 1 X bracis-19022 78 2 . . PUNCT bracis-19022 79 1 in in ADP bracis-19022 79 2 the the DET bracis-19022 79 3 initial initial ADJ bracis-19022 79 4 state state NOUN bracis-19022 79 5 ( ( PUNCT bracis-19022 79 6 \(q_{0}\ \(q_{0}\ NOUN bracis-19022 79 7 ) ) PUNCT bracis-19022 79 8 ) ) PUNCT bracis-19022 79 9 , , PUNCT bracis-19022 79 10 the the DET bracis-19022 79 11 coordinator coordinator NOUN bracis-19022 79 12 ( ( PUNCT bracis-19022 79 13 c c NOUN bracis-19022 79 14 ) ) PUNCT bracis-19022 79 15 , , PUNCT bracis-19022 79 16 belonging belong VERB bracis-19022 79 17 to to ADP bracis-19022 79 18 the the DET bracis-19022 79 19 target target NOUN bracis-19022 79 20 team team NOUN bracis-19022 79 21 ( ( PUNCT bracis-19022 79 22 t t PROPN bracis-19022 79 23 ) ) PUNCT bracis-19022 79 24 , , PUNCT bracis-19022 79 25 requests request VERB bracis-19022 79 26 that that SCONJ bracis-19022 79 27 all all DET bracis-19022 79 28 subordinates subordinate NOUN bracis-19022 79 29 ( ( PUNCT bracis-19022 79 30 s s AUX bracis-19022 79 31 ) ) PUNCT bracis-19022 79 32 tell tell VERB bracis-19022 79 33 you you PRON bracis-19022 79 34 the the DET bracis-19022 79 35 coordinates coordinate NOUN bracis-19022 79 36 of of ADP bracis-19022 79 37 your your PRON bracis-19022 79 38 current current ADJ bracis-19022 79 39 state state NOUN bracis-19022 79 40 . . PUNCT bracis-19022 80 1 in in ADP bracis-19022 80 2 state state NOUN bracis-19022 80 3 \(q_{1}\ \(q_{1}\ NUM bracis-19022 80 4 ) ) PUNCT bracis-19022 80 5 , , PUNCT bracis-19022 80 6 subordinates subordinate NOUN bracis-19022 80 7 report report VERB bracis-19022 80 8 their their PRON bracis-19022 80 9 status status NOUN bracis-19022 80 10 to to ADP bracis-19022 80 11 the the DET bracis-19022 80 12 coordinator coordinator NOUN bracis-19022 80 13 . . PUNCT bracis-19022 81 1 finally finally ADV bracis-19022 81 2 , , PUNCT bracis-19022 81 3 in in ADP bracis-19022 81 4 the the DET bracis-19022 81 5 state state NOUN bracis-19022 81 6 ( ( PUNCT bracis-19022 81 7 \(q_{2}\ \(q_{2}\ PROPN bracis-19022 81 8 ) ) PUNCT bracis-19022 81 9 ) ) PUNCT bracis-19022 81 10 , , PUNCT bracis-19022 81 11 the the DET bracis-19022 81 12 coordinator coordinator NOUN bracis-19022 81 13 requests request VERB bracis-19022 81 14 all all DET bracis-19022 81 15 targets target NOUN bracis-19022 81 16 to to PART bracis-19022 81 17 move move VERB bracis-19022 81 18 towards towards ADP bracis-19022 81 19 the the DET bracis-19022 81 20 goal goal NOUN bracis-19022 81 21 calculated calculate VERB bracis-19022 81 22 by by ADP bracis-19022 81 23 it it PRON bracis-19022 81 24 . . PUNCT bracis-19022 82 1 as as SCONJ bracis-19022 82 2 the the DET bracis-19022 82 3 communication communication NOUN bracis-19022 82 4 is be AUX bracis-19022 82 5 not not PART bracis-19022 82 6 continuous continuous ADJ bracis-19022 82 7 but but CCONJ bracis-19022 82 8 occurs occur VERB bracis-19022 82 9 every every DET bracis-19022 82 10 period period NOUN bracis-19022 82 11 after after ADP bracis-19022 82 12 reaching reach VERB bracis-19022 82 13 the the DET bracis-19022 82 14 final final ADJ bracis-19022 82 15 state state NOUN bracis-19022 82 16 , , PUNCT bracis-19022 82 17 the the DET bracis-19022 82 18 state state NOUN bracis-19022 82 19 machine machine NOUN bracis-19022 82 20 will will AUX bracis-19022 82 21 only only ADV bracis-19022 82 22 restart restart VERB bracis-19022 82 23 again again ADV bracis-19022 82 24 in in ADP bracis-19022 82 25 the the DET bracis-19022 82 26 initial initial ADJ bracis-19022 82 27 state state NOUN bracis-19022 82 28 at at ADP bracis-19022 82 29 the the DET bracis-19022 82 30 time time NOUN bracis-19022 82 31 determined determine VERB bracis-19022 82 32 to to PART bracis-19022 82 33 exchange exchange VERB bracis-19022 82 34 messages message NOUN bracis-19022 82 35 from from ADP bracis-19022 82 36 the the DET bracis-19022 82 37 target target NOUN bracis-19022 82 38 team team NOUN bracis-19022 82 39 . . PUNCT bracis-19022 83 1 fig fig NOUN bracis-19022 83 2 . . PUNCT bracis-19022 84 1 1 1 X bracis-19022 84 2 . . X bracis-19022 84 3 hierarchy hierarchy VERB bracis-19022 84 4 communication communication NOUN bracis-19022 84 5 state state NOUN bracis-19022 84 6 machine machine NOUN bracis-19022 84 7 . . PUNCT bracis-19022 85 1 full full ADJ bracis-19022 85 2 size size NOUN bracis-19022 85 3 image image NOUN bracis-19022 85 4 holarchy holarchy NOUN bracis-19022 85 5 . . PUNCT bracis-19022 86 1 in in ADP bracis-19022 86 2 holarchy holarchy NOUN bracis-19022 86 3 , , PUNCT bracis-19022 86 4 targets target NOUN bracis-19022 86 5 have have AUX bracis-19022 86 6 been be AUX bracis-19022 86 7 separated separate VERB bracis-19022 86 8 into into ADP bracis-19022 86 9 two two NUM bracis-19022 86 10 holon holon NOUN bracis-19022 86 11 structured structure VERB bracis-19022 86 12 as as ADP bracis-19022 86 13 a a DET bracis-19022 86 14 simple simple ADJ bracis-19022 86 15 hierarchy hierarchy NOUN bracis-19022 86 16 , , PUNCT bracis-19022 86 17 each each PRON bracis-19022 86 18 containing contain VERB bracis-19022 86 19 a a DET bracis-19022 86 20 sub sub NOUN bracis-19022 86 21 - - NOUN bracis-19022 86 22 coordinator coordinator NOUN bracis-19022 86 23 who who PRON bracis-19022 86 24 has have VERB bracis-19022 86 25 authority authority NOUN bracis-19022 86 26 over over ADP bracis-19022 86 27 the the DET bracis-19022 86 28 subordinates subordinate NOUN bracis-19022 86 29 of of ADP bracis-19022 86 30 his his PRON bracis-19022 86 31 holon holon NOUN bracis-19022 86 32 . . PUNCT bracis-19022 87 1 our our PRON bracis-19022 87 2 approach approach NOUN bracis-19022 87 3 has have AUX bracis-19022 87 4 only only ADV bracis-19022 87 5 been be AUX bracis-19022 87 6 tested test VERB bracis-19022 87 7 with with ADP bracis-19022 87 8 this this DET bracis-19022 87 9 simpler simple ADJ bracis-19022 87 10 holarchy holarchy NOUN bracis-19022 87 11 . . PUNCT bracis-19022 88 1 there there PRON bracis-19022 88 2 is be VERB bracis-19022 88 3 a a DET bracis-19022 88 4 general general ADJ bracis-19022 88 5 coordinator coordinator NOUN bracis-19022 88 6 that that PRON bracis-19022 88 7 performs perform VERB bracis-19022 88 8 the the DET bracis-19022 88 9 same same ADJ bracis-19022 88 10 calculation calculation NOUN bracis-19022 88 11 process process NOUN bracis-19022 88 12 as as ADP bracis-19022 88 13 the the DET bracis-19022 88 14 hierarchy hierarchy NOUN bracis-19022 88 15 coordinator coordinator NOUN bracis-19022 88 16 . . PUNCT bracis-19022 89 1 however however ADV bracis-19022 89 2 , , PUNCT bracis-19022 89 3 this this DET bracis-19022 89 4 one one NOUN bracis-19022 89 5 only only ADV bracis-19022 89 6 has have VERB bracis-19022 89 7 access access NOUN bracis-19022 89 8 to to ADP bracis-19022 89 9 the the DET bracis-19022 89 10 sub sub NOUN bracis-19022 89 11 - - NOUN bracis-19022 89 12 coordinators coordinator NOUN bracis-19022 89 13 . . PUNCT bracis-19022 90 1 therefore therefore ADV bracis-19022 90 2 , , PUNCT bracis-19022 90 3 the the DET bracis-19022 90 4 coordinator coordinator NOUN bracis-19022 90 5 transmits transmit VERB bracis-19022 90 6 the the DET bracis-19022 90 7 message message NOUN bracis-19022 90 8 to to ADP bracis-19022 90 9 the the DET bracis-19022 90 10 sub sub NOUN bracis-19022 90 11 - - NOUN bracis-19022 90 12 coordinators coordinator NOUN bracis-19022 90 13 , , PUNCT bracis-19022 90 14 and and CCONJ bracis-19022 90 15 these these PRON bracis-19022 90 16 send send VERB bracis-19022 90 17 the the DET bracis-19022 90 18 message message NOUN bracis-19022 90 19 to to ADP bracis-19022 90 20 their their PRON bracis-19022 90 21 subordinates subordinate NOUN bracis-19022 90 22 . . PUNCT bracis-19022 91 1 hierarchy hierarchy VERB bracis-19022 91 2 communication communication NOUN bracis-19022 91 3 state state NOUN bracis-19022 91 4 machine machine NOUN bracis-19022 91 5 . . PUNCT bracis-19022 92 1 at at ADP bracis-19022 92 2 each each DET bracis-19022 92 3 given give VERB bracis-19022 92 4 time time NOUN bracis-19022 92 5 , , PUNCT bracis-19022 92 6 the the DET bracis-19022 92 7 coordinator coordinator NOUN bracis-19022 92 8 informs inform VERB bracis-19022 92 9 the the DET bracis-19022 92 10 sub sub NOUN bracis-19022 92 11 - - NOUN bracis-19022 92 12 coordinators coordinator NOUN bracis-19022 92 13 of of ADP bracis-19022 92 14 their their PRON bracis-19022 92 15 environment environment NOUN bracis-19022 92 16 analysis analysis NOUN bracis-19022 92 17 based base VERB bracis-19022 92 18 on on ADP bracis-19022 92 19 information information NOUN bracis-19022 92 20 obtained obtain VERB bracis-19022 92 21 by by ADP bracis-19022 92 22 all all DET bracis-19022 92 23 members member NOUN bracis-19022 92 24 of of ADP bracis-19022 92 25 this this DET bracis-19022 92 26 paradigm paradigm NOUN bracis-19022 92 27 ( ( PUNCT bracis-19022 92 28 coordinator coordinator NOUN bracis-19022 92 29 , , PUNCT bracis-19022 92 30 sub sub NOUN bracis-19022 92 31 - - NOUN bracis-19022 92 32 coordinator coordinator NOUN bracis-19022 92 33 , , PUNCT bracis-19022 92 34 and and CCONJ bracis-19022 92 35 subordinates subordinate NOUN bracis-19022 92 36 ) ) PUNCT bracis-19022 92 37 . . PUNCT bracis-19022 93 1 the the DET bracis-19022 93 2 sub sub ADJ bracis-19022 93 3 - - ADJ bracis-19022 93 4 coordinators coordinator NOUN bracis-19022 93 5 request request VERB bracis-19022 93 6 an an DET bracis-19022 93 7 action action NOUN bracis-19022 93 8 from from ADP bracis-19022 93 9 their their PRON bracis-19022 93 10 subordinates subordinate NOUN bracis-19022 93 11 , , PUNCT bracis-19022 93 12 who who PRON bracis-19022 93 13 are be AUX bracis-19022 93 14 within within ADP bracis-19022 93 15 the the DET bracis-19022 93 16 sub sub NOUN bracis-19022 93 17 - - NOUN bracis-19022 93 18 coordinator coordinator NOUN bracis-19022 93 19 ’s ’s PART bracis-19022 93 20 speech speech NOUN bracis-19022 93 21 act act NOUN bracis-19022 93 22 range range NOUN bracis-19022 93 23 , , PUNCT bracis-19022 93 24 based base VERB bracis-19022 93 25 on on ADP bracis-19022 93 26 the the DET bracis-19022 93 27 analysis analysis NOUN bracis-19022 93 28 of of ADP bracis-19022 93 29 the the DET bracis-19022 93 30 general general ADJ bracis-19022 93 31 coordinator coordinator NOUN bracis-19022 93 32 . . PUNCT bracis-19022 94 1 the the DET bracis-19022 94 2 coordinator coordinator NOUN bracis-19022 94 3 ’s ’s PART bracis-19022 94 4 message message NOUN bracis-19022 94 5 is be AUX bracis-19022 94 6 only only ADV bracis-19022 94 7 received receive VERB bracis-19022 94 8 if if SCONJ bracis-19022 94 9 the the DET bracis-19022 94 10 sub sub NOUN bracis-19022 94 11 - - NOUN bracis-19022 94 12 coordinators coordinator NOUN bracis-19022 94 13 are be AUX bracis-19022 94 14 within within ADP bracis-19022 94 15 the the DET bracis-19022 94 16 coordinator coordinator NOUN bracis-19022 94 17 ’s ’s PART bracis-19022 94 18 message message NOUN bracis-19022 94 19 transmission transmission NOUN bracis-19022 94 20 range range NOUN bracis-19022 94 21 . . PUNCT bracis-19022 95 1 likewise likewise ADV bracis-19022 95 2 , , PUNCT bracis-19022 95 3 the the DET bracis-19022 95 4 subordinates subordinate NOUN bracis-19022 95 5 of of ADP bracis-19022 95 6 each each DET bracis-19022 95 7 holon holon NOUN bracis-19022 95 8 must must AUX bracis-19022 95 9 be be AUX bracis-19022 95 10 within within ADP bracis-19022 95 11 range range NOUN bracis-19022 95 12 of of ADP bracis-19022 95 13 their their PRON bracis-19022 95 14 sub sub NOUN bracis-19022 95 15 - - NOUN bracis-19022 95 16 coordinator coordinator NOUN bracis-19022 95 17 ’s ’s PART bracis-19022 95 18 message message NOUN bracis-19022 95 19 transmission transmission NOUN bracis-19022 95 20 . . PUNCT bracis-19022 96 1 figure figure NOUN bracis-19022 96 2     SPACE bracis-19022 96 3 2 2 NUM bracis-19022 96 4 shows show VERB bracis-19022 96 5 the the DET bracis-19022 96 6 state state NOUN bracis-19022 96 7 machine machine NOUN bracis-19022 96 8 of of ADP bracis-19022 96 9 the the DET bracis-19022 96 10 target target NOUN bracis-19022 96 11 team team NOUN bracis-19022 96 12 communication communication NOUN bracis-19022 96 13 in in ADP bracis-19022 96 14 the the DET bracis-19022 96 15 holarchy holarchy NOUN bracis-19022 96 16 . . PUNCT bracis-19022 97 1 in in ADP bracis-19022 97 2 the the DET bracis-19022 97 3 initial initial ADJ bracis-19022 97 4 state state NOUN bracis-19022 97 5 ( ( PUNCT bracis-19022 97 6 \(q_{0}\ \(q_{0}\ NOUN bracis-19022 97 7 ) ) PUNCT bracis-19022 97 8 ) ) PUNCT bracis-19022 97 9 , , PUNCT bracis-19022 97 10 the the DET bracis-19022 97 11 coordinator coordinator NOUN bracis-19022 97 12 ( ( PUNCT bracis-19022 97 13 c c NOUN bracis-19022 97 14 ) ) PUNCT bracis-19022 97 15 , , PUNCT bracis-19022 97 16 belonging belong VERB bracis-19022 97 17 to to ADP bracis-19022 97 18 the the DET bracis-19022 97 19 target target NOUN bracis-19022 97 20 team team NOUN bracis-19022 97 21 ( ( PUNCT bracis-19022 97 22 t t PROPN bracis-19022 97 23 ) ) PUNCT bracis-19022 97 24 , , PUNCT bracis-19022 97 25 requests request VERB bracis-19022 97 26 that that SCONJ bracis-19022 97 27 all all DET bracis-19022 97 28 sub sub NOUN bracis-19022 97 29 - - ADJ bracis-19022 97 30 coordinators coordinator NOUN bracis-19022 97 31 ( ( PUNCT bracis-19022 97 32 sc sc NOUN bracis-19022 97 33 ) ) PUNCT bracis-19022 97 34 ask ask VERB bracis-19022 97 35 all all DET bracis-19022 97 36 their their PRON bracis-19022 97 37 subordinates subordinate NOUN bracis-19022 97 38 to to PART bracis-19022 97 39 inform inform VERB bracis-19022 97 40 them they PRON bracis-19022 97 41 of of ADP bracis-19022 97 42 the the DET bracis-19022 97 43 coordinates coordinate NOUN bracis-19022 97 44 of of ADP bracis-19022 97 45 their their PRON bracis-19022 97 46 current current ADJ bracis-19022 97 47 status status NOUN bracis-19022 97 48 . . PUNCT bracis-19022 98 1 in in ADP bracis-19022 98 2 the the DET bracis-19022 98 3 \(q_{1}\ \(q_{1}\ PROPN bracis-19022 98 4 ) ) PUNCT bracis-19022 98 5 state state NOUN bracis-19022 98 6 , , PUNCT bracis-19022 98 7 sub sub NOUN bracis-19022 98 8 - - ADJ bracis-19022 98 9 coordinators coordinator NOUN bracis-19022 98 10 request request VERB bracis-19022 98 11 this this DET bracis-19022 98 12 information information NOUN bracis-19022 98 13 from from ADP bracis-19022 98 14 subordinates subordinate NOUN bracis-19022 98 15 . . PUNCT bracis-19022 99 1 in in ADP bracis-19022 99 2 the the DET bracis-19022 99 3 state state NOUN bracis-19022 99 4 \(q_{2}\ \(q_{2}\ NOUN bracis-19022 99 5 ) ) PUNCT bracis-19022 99 6 and and CCONJ bracis-19022 99 7 \(q_{3}\ \(q_{3}\ NOUN bracis-19022 99 8 ) ) PUNCT bracis-19022 99 9 , , PUNCT bracis-19022 99 10 the the DET bracis-19022 99 11 subordinates subordinate NOUN bracis-19022 99 12 report report VERB bracis-19022 99 13 their their PRON bracis-19022 99 14 status status NOUN bracis-19022 99 15 to to ADP bracis-19022 99 16 their their PRON bracis-19022 99 17 sub sub NOUN bracis-19022 99 18 - - NOUN bracis-19022 99 19 coordinators coordinator NOUN bracis-19022 99 20 , , PUNCT bracis-19022 99 21 and and CCONJ bracis-19022 99 22 these these PRON bracis-19022 99 23 report report VERB bracis-19022 99 24 the the DET bracis-19022 99 25 status status NOUN bracis-19022 99 26 of of ADP bracis-19022 99 27 their their PRON bracis-19022 99 28 subordinates subordinate NOUN bracis-19022 99 29 to to ADP bracis-19022 99 30 the the DET bracis-19022 99 31 coordinator coordinator NOUN bracis-19022 99 32 , , PUNCT bracis-19022 99 33 respectively respectively ADV bracis-19022 99 34 . . PUNCT bracis-19022 100 1 in in ADP bracis-19022 100 2 the the DET bracis-19022 100 3 next next ADJ bracis-19022 100 4 state state NOUN bracis-19022 100 5 , , PUNCT bracis-19022 100 6 the the DET bracis-19022 100 7 coordinator coordinator NOUN bracis-19022 100 8 asks ask VERB bracis-19022 100 9 the the DET bracis-19022 100 10 sub sub NOUN bracis-19022 100 11 - - NOUN bracis-19022 100 12 coordinators coordinator NOUN bracis-19022 100 13 to to PART bracis-19022 100 14 ask ask VERB bracis-19022 100 15 their their PRON bracis-19022 100 16 subordinates subordinate NOUN bracis-19022 100 17 to to PART bracis-19022 100 18 go go VERB bracis-19022 100 19 towards towards ADP bracis-19022 100 20 the the DET bracis-19022 100 21 goal goal NOUN bracis-19022 100 22 calculated calculate VERB bracis-19022 100 23 by by ADP bracis-19022 100 24 the the DET bracis-19022 100 25 coordinator coordinator NOUN bracis-19022 100 26 . . PUNCT bracis-19022 101 1 finally finally ADV bracis-19022 101 2 , , PUNCT bracis-19022 101 3 in in ADP bracis-19022 101 4 the the DET bracis-19022 101 5 \(q_{5}\ \(q_{5}\ ADJ bracis-19022 101 6 ) ) PUNCT bracis-19022 101 7 state state NOUN bracis-19022 101 8 , , PUNCT bracis-19022 101 9 the the DET bracis-19022 101 10 subordinates subordinate NOUN bracis-19022 101 11 perform perform VERB bracis-19022 101 12 the the DET bracis-19022 101 13 action action NOUN bracis-19022 101 14 forwarded forward VERB bracis-19022 101 15 by by ADP bracis-19022 101 16 their their PRON bracis-19022 101 17 sub sub NOUN bracis-19022 101 18 - - NOUN bracis-19022 101 19 coordinator coordinator NOUN bracis-19022 101 20 . . PUNCT bracis-19022 102 1 finally finally ADV bracis-19022 102 2 , , PUNCT bracis-19022 102 3 in in ADP bracis-19022 102 4 the the DET bracis-19022 102 5 final final ADJ bracis-19022 102 6 state state NOUN bracis-19022 102 7 ( ( PUNCT bracis-19022 102 8 \(q_{0}\ \(q_{0}\ NOUN bracis-19022 102 9 ) ) PUNCT bracis-19022 102 10 ) ) PUNCT bracis-19022 102 11 , , PUNCT bracis-19022 102 12 the the DET bracis-19022 102 13 machine machine NOUN bracis-19022 102 14 is be AUX bracis-19022 102 15 shut shut VERB bracis-19022 102 16 down down ADP bracis-19022 102 17 until until ADP bracis-19022 102 18 the the DET bracis-19022 102 19 next next ADJ bracis-19022 102 20 communication communication NOUN bracis-19022 102 21 period period NOUN bracis-19022 102 22 between between ADP bracis-19022 102 23 the the DET bracis-19022 102 24 target target NOUN bracis-19022 102 25 team team NOUN bracis-19022 102 26 . . PUNCT bracis-19022 103 1 fig fig NOUN bracis-19022 103 2 . . PUNCT bracis-19022 104 1 2 2 X bracis-19022 104 2 . . X bracis-19022 104 3 holarchy holarchy ADJ bracis-19022 104 4 communication communication NOUN bracis-19022 104 5 state state NOUN bracis-19022 104 6 machine machine NOUN bracis-19022 104 7 . . PUNCT bracis-19022 105 1 full full ADJ bracis-19022 105 2 size size NOUN bracis-19022 105 3 image image NOUN bracis-19022 105 4 team team NOUN bracis-19022 105 5 . . PUNCT bracis-19022 106 1 in in ADP bracis-19022 106 2 this this DET bracis-19022 106 3 organizational organizational ADJ bracis-19022 106 4 paradigm paradigm NOUN bracis-19022 106 5 , , PUNCT bracis-19022 106 6 all all DET bracis-19022 106 7 members member NOUN bracis-19022 106 8 are be AUX bracis-19022 106 9 at at ADP bracis-19022 106 10 the the DET bracis-19022 106 11 same same ADJ bracis-19022 106 12 level level NOUN bracis-19022 106 13 and and CCONJ bracis-19022 106 14 divided divide VERB bracis-19022 106 15 into into ADP bracis-19022 106 16 four four NUM bracis-19022 106 17 groups group NOUN bracis-19022 106 18 containing contain VERB bracis-19022 106 19 the the DET bracis-19022 106 20 same same ADJ bracis-19022 106 21 number number NOUN bracis-19022 106 22 of of ADP bracis-19022 106 23 members member NOUN bracis-19022 106 24 . . PUNCT bracis-19022 107 1 each each DET bracis-19022 107 2 group group NOUN bracis-19022 107 3 is be AUX bracis-19022 107 4 sent send VERB bracis-19022 107 5 to to ADP bracis-19022 107 6 a a DET bracis-19022 107 7 region region NOUN bracis-19022 107 8 of of ADP bracis-19022 107 9 the the DET bracis-19022 107 10 environment environment NOUN bracis-19022 107 11 ( ( PUNCT bracis-19022 107 12 quadrant quadrant NOUN bracis-19022 107 13 ) ) PUNCT bracis-19022 107 14 to to PART bracis-19022 107 15 accomplish accomplish VERB bracis-19022 107 16 its its PRON bracis-19022 107 17 objective objective NOUN bracis-19022 107 18 . . PUNCT bracis-19022 108 1 each each DET bracis-19022 108 2 sub sub ADJ bracis-19022 108 3 - - ADJ bracis-19022 108 4 team team ADJ bracis-19022 108 5 member member NOUN bracis-19022 108 6 must must AUX bracis-19022 108 7 remain remain VERB bracis-19022 108 8 within within ADP bracis-19022 108 9 a a DET bracis-19022 108 10 certain certain ADJ bracis-19022 108 11 radius radius NOUN bracis-19022 108 12 to to PART bracis-19022 108 13 maintain maintain VERB bracis-19022 108 14 communication communication NOUN bracis-19022 108 15 and and CCONJ bracis-19022 108 16 must must AUX bracis-19022 108 17 stay stay VERB bracis-19022 108 18 in in ADP bracis-19022 108 19 the the DET bracis-19022 108 20 area area NOUN bracis-19022 108 21 assigned assign VERB bracis-19022 108 22 to to ADP bracis-19022 108 23 their their PRON bracis-19022 108 24 sub sub NOUN bracis-19022 108 25 - - NOUN bracis-19022 108 26 team team NOUN bracis-19022 108 27 . . PUNCT bracis-19022 109 1 as as SCONJ bracis-19022 109 2 shown show VERB bracis-19022 109 3 in in ADP bracis-19022 109 4 fig fig NOUN bracis-19022 109 5 . . PUNCT bracis-19022 109 6     SPACE bracis-19022 110 1 3 3 NUM bracis-19022 110 2 , , PUNCT bracis-19022 110 3 in in ADP bracis-19022 110 4 the the DET bracis-19022 110 5 initial initial ADJ bracis-19022 110 6 state state NOUN bracis-19022 110 7 , , PUNCT bracis-19022 110 8 ( ( PUNCT bracis-19022 110 9 \(q_{0}\ \(q_{0}\ NOUN bracis-19022 110 10 ) ) PUNCT bracis-19022 110 11 ) ) PUNCT bracis-19022 110 12 , , PUNCT bracis-19022 110 13 the the DET bracis-19022 110 14 targets target NOUN bracis-19022 110 15 of of ADP bracis-19022 110 16 each each DET bracis-19022 110 17 sub sub ADJ bracis-19022 110 18 - - NOUN bracis-19022 110 19 team team NOUN bracis-19022 110 20 report report VERB bracis-19022 110 21 the the DET bracis-19022 110 22 exploration exploration NOUN bracis-19022 110 23 rate rate NOUN bracis-19022 110 24 around around ADP bracis-19022 110 25 them they PRON bracis-19022 110 26 to to ADP bracis-19022 110 27 their their PRON bracis-19022 110 28 teammates teammate NOUN bracis-19022 110 29 . . PUNCT bracis-19022 111 1 in in ADP bracis-19022 111 2 the the DET bracis-19022 111 3 final final ADJ bracis-19022 111 4 state state NOUN bracis-19022 111 5 , , PUNCT bracis-19022 111 6 ( ( PUNCT bracis-19022 111 7 \(q_{1}\ \(q_{1}\ NUM bracis-19022 111 8 ) ) PUNCT bracis-19022 111 9 ) ) PUNCT bracis-19022 111 10 , , PUNCT bracis-19022 111 11 each each PRON bracis-19022 111 12 sub sub NOUN bracis-19022 111 13 - - NOUN bracis-19022 111 14 team team NOUN bracis-19022 111 15 will will AUX bracis-19022 111 16 ask ask VERB bracis-19022 111 17 its its PRON bracis-19022 111 18 members member NOUN bracis-19022 111 19 to to PART bracis-19022 111 20 go go VERB bracis-19022 111 21 to to ADP bracis-19022 111 22 the the DET bracis-19022 111 23 coordinates coordinate NOUN bracis-19022 111 24 of of ADP bracis-19022 111 25 the the DET bracis-19022 111 26 target target NOUN bracis-19022 111 27 that that PRON bracis-19022 111 28 obtained obtain VERB bracis-19022 111 29 the the DET bracis-19022 111 30 lowest low ADJ bracis-19022 111 31 exploration exploration NOUN bracis-19022 111 32 rate rate NOUN bracis-19022 111 33 around around ADP bracis-19022 111 34 it it PRON bracis-19022 111 35 in in ADP bracis-19022 111 36 that that DET bracis-19022 111 37 sub sub NOUN bracis-19022 111 38 - - NOUN bracis-19022 111 39 team team NOUN bracis-19022 111 40 . . PUNCT bracis-19022 112 1 fig fig NOUN bracis-19022 112 2 . . PUNCT bracis-19022 113 1 3 3 X bracis-19022 113 2 . . X bracis-19022 113 3 team team NOUN bracis-19022 113 4 communication communication NOUN bracis-19022 113 5 state state NOUN bracis-19022 113 6 machine machine NOUN bracis-19022 113 7 . . PUNCT bracis-19022 114 1 full full ADJ bracis-19022 114 2 size size NOUN bracis-19022 114 3 image image NOUN bracis-19022 114 4 coalition coalition NOUN bracis-19022 114 5 . . PUNCT bracis-19022 115 1 on on ADP bracis-19022 115 2 our our PRON bracis-19022 115 3 problem problem NOUN bracis-19022 115 4 , , PUNCT bracis-19022 115 5 there there PRON bracis-19022 115 6 are be VERB bracis-19022 115 7 two two NUM bracis-19022 115 8 coalitions coalition NOUN bracis-19022 115 9 , , PUNCT bracis-19022 115 10 the the DET bracis-19022 115 11 members member NOUN bracis-19022 115 12 located locate VERB bracis-19022 115 13 on on ADP bracis-19022 115 14 the the DET bracis-19022 115 15 right right NOUN bracis-19022 115 16 in in ADP bracis-19022 115 17 the the DET bracis-19022 115 18 scene scene NOUN bracis-19022 115 19 form form VERB bracis-19022 115 20 a a DET bracis-19022 115 21 coalition coalition NOUN bracis-19022 115 22 , , PUNCT bracis-19022 115 23 and and CCONJ bracis-19022 115 24 those those PRON bracis-19022 115 25 found find VERB bracis-19022 115 26 on on ADP bracis-19022 115 27 the the DET bracis-19022 115 28 left left ADJ bracis-19022 115 29 form form NOUN bracis-19022 115 30 another another DET bracis-19022 115 31 coalition coalition NOUN bracis-19022 115 32 . . PUNCT bracis-19022 116 1 as as SCONJ bracis-19022 116 2 targets target NOUN bracis-19022 116 3 are be AUX bracis-19022 116 4 placed place VERB bracis-19022 116 5 randomly randomly ADV bracis-19022 116 6 in in ADP bracis-19022 116 7 the the DET bracis-19022 116 8 environment environment NOUN bracis-19022 116 9 , , PUNCT bracis-19022 116 10 each each DET bracis-19022 116 11 coalition coalition NOUN bracis-19022 116 12 can can AUX bracis-19022 116 13 have have VERB bracis-19022 116 14 a a DET bracis-19022 116 15 different different ADJ bracis-19022 116 16 number number NOUN bracis-19022 116 17 of of ADP bracis-19022 116 18 members member NOUN bracis-19022 116 19 . . PUNCT bracis-19022 117 1 communication communication NOUN bracis-19022 117 2 , , PUNCT bracis-19022 117 3 just just ADV bracis-19022 117 4 like like INTJ bracis-19022 117 5 in in ADP bracis-19022 117 6 the the DET bracis-19022 117 7 team team NOUN bracis-19022 117 8 , , PUNCT bracis-19022 117 9 takes take VERB bracis-19022 117 10 place place NOUN bracis-19022 117 11 at at ADP bracis-19022 117 12 a a DET bracis-19022 117 13 certain certain ADJ bracis-19022 117 14 point point NOUN bracis-19022 117 15 in in ADP bracis-19022 117 16 time time NOUN bracis-19022 117 17 , , PUNCT bracis-19022 117 18 and and CCONJ bracis-19022 117 19 the the DET bracis-19022 117 20 members member NOUN bracis-19022 117 21 of of ADP bracis-19022 117 22 each each DET bracis-19022 117 23 coalition coalition NOUN bracis-19022 117 24 must must AUX bracis-19022 117 25 stay stay VERB bracis-19022 117 26 within within ADP bracis-19022 117 27 a a DET bracis-19022 117 28 certain certain ADJ bracis-19022 117 29 radius radius NOUN bracis-19022 117 30 to to PART bracis-19022 117 31 enable enable VERB bracis-19022 117 32 communication communication NOUN bracis-19022 117 33 . . PUNCT bracis-19022 118 1 the the DET bracis-19022 118 2 two two NUM bracis-19022 118 3 coalitions coalition NOUN bracis-19022 118 4 tend tend VERB bracis-19022 118 5 to to PART bracis-19022 118 6 be be AUX bracis-19022 118 7 separated separate VERB bracis-19022 118 8 from from ADP bracis-19022 118 9 each each DET bracis-19022 118 10 other other ADJ bracis-19022 118 11 , , PUNCT bracis-19022 118 12 as as SCONJ bracis-19022 118 13 each each PRON bracis-19022 118 14 is be AUX bracis-19022 118 15 allocated allocate VERB bracis-19022 118 16 to to ADP bracis-19022 118 17 a a DET bracis-19022 118 18 specific specific ADJ bracis-19022 118 19 area area NOUN bracis-19022 118 20 . . PUNCT bracis-19022 119 1 however however ADV bracis-19022 119 2 , , PUNCT bracis-19022 119 3 the the DET bracis-19022 119 4 targets target NOUN bracis-19022 119 5 of of ADP bracis-19022 119 6 each each DET bracis-19022 119 7 coalition coalition NOUN bracis-19022 119 8 must must AUX bracis-19022 119 9 be be AUX bracis-19022 119 10 close close ADJ bracis-19022 119 11 to to ADP bracis-19022 119 12 each each DET bracis-19022 119 13 other other ADJ bracis-19022 119 14 to to PART bracis-19022 119 15 carry carry VERB bracis-19022 119 16 out out ADP bracis-19022 119 17 decision decision NOUN bracis-19022 119 18 - - PUNCT bracis-19022 119 19 making making NOUN bracis-19022 119 20 . . PUNCT bracis-19022 120 1 in in ADP bracis-19022 120 2 fig fig NOUN bracis-19022 120 3 . . PUNCT bracis-19022 120 4     SPACE bracis-19022 120 5 4 4 NUM bracis-19022 120 6 , , PUNCT bracis-19022 120 7 the the DET bracis-19022 120 8 communication communication NOUN bracis-19022 120 9 state state NOUN bracis-19022 120 10 machine machine NOUN bracis-19022 120 11 is be AUX bracis-19022 120 12 presented present VERB bracis-19022 120 13 . . PUNCT bracis-19022 121 1 in in ADP bracis-19022 121 2 the the DET bracis-19022 121 3 initial initial ADJ bracis-19022 121 4 state state NOUN bracis-19022 121 5 ( ( PUNCT bracis-19022 121 6 \(q_{0}\ \(q_{0}\ NOUN bracis-19022 121 7 ) ) PUNCT bracis-19022 121 8 ) ) PUNCT bracis-19022 121 9 , , PUNCT bracis-19022 121 10 each each DET bracis-19022 121 11 target target NOUN bracis-19022 121 12 of of ADP bracis-19022 121 13 each each DET bracis-19022 121 14 coalition coalition NOUN bracis-19022 121 15 informs inform VERB bracis-19022 121 16 the the DET bracis-19022 121 17 exploration exploration NOUN bracis-19022 121 18 state state NOUN bracis-19022 121 19 of of ADP bracis-19022 121 20 the the DET bracis-19022 121 21 region region NOUN bracis-19022 121 22 around around ADP bracis-19022 121 23 them they PRON bracis-19022 121 24 . . PUNCT bracis-19022 122 1 in in ADP bracis-19022 122 2 the the DET bracis-19022 122 3 \(q_{1}\ \(q_{1}\ PROPN bracis-19022 122 4 ) ) PUNCT bracis-19022 122 5 state state NOUN bracis-19022 122 6 , , PUNCT bracis-19022 122 7 coalitions coalition NOUN bracis-19022 122 8 request request VERB bracis-19022 122 9 that that PRON bracis-19022 122 10 targets target VERB bracis-19022 122 11 belonging belong VERB bracis-19022 122 12 to to ADP bracis-19022 122 13 their their PRON bracis-19022 122 14 coalition coalition NOUN bracis-19022 122 15 go go VERB bracis-19022 122 16 to to ADP bracis-19022 122 17 the the DET bracis-19022 122 18 target target NOUN bracis-19022 122 19 coordinates coordinate NOUN bracis-19022 122 20 of of ADP bracis-19022 122 21 each each DET bracis-19022 122 22 coalition coalition NOUN bracis-19022 122 23 that that PRON bracis-19022 122 24 has have VERB bracis-19022 122 25 the the DET bracis-19022 122 26 lowest low ADJ bracis-19022 122 27 exploitation exploitation NOUN bracis-19022 122 28 rate rate NOUN bracis-19022 122 29 in in ADP bracis-19022 122 30 its its PRON bracis-19022 122 31 surroundings surrounding NOUN bracis-19022 122 32 . . PUNCT bracis-19022 123 1 3.2 3.2 NUM bracis-19022 123 2 robots robot NOUN bracis-19022 123 3 strategy strategy NOUN bracis-19022 123 4 computer computer NOUN bracis-19022 123 5 vision vision NOUN bracis-19022 123 6 . . PUNCT bracis-19022 124 1 initially initially ADV bracis-19022 124 2 , , PUNCT bracis-19022 124 3 a a DET bracis-19022 124 4 survey survey NOUN bracis-19022 124 5 of of ADP bracis-19022 124 6 classic classic ADJ bracis-19022 124 7 cnn cnn PROPN bracis-19022 124 8 models model NOUN bracis-19022 124 9 was be AUX bracis-19022 124 10 carried carry VERB bracis-19022 124 11 out out ADP bracis-19022 124 12 to to PART bracis-19022 124 13 evaluate evaluate VERB bracis-19022 124 14 each each DET bracis-19022 124 15 model model NOUN bracis-19022 124 16 for for ADP bracis-19022 124 17 classification classification NOUN bracis-19022 124 18 of of ADP bracis-19022 124 19 organizational organizational ADJ bracis-19022 124 20 paradigms paradigm NOUN bracis-19022 124 21 and and CCONJ bracis-19022 124 22 the the DET bracis-19022 124 23 random random ADJ bracis-19022 124 24 model model NOUN bracis-19022 124 25 . . PUNCT bracis-19022 125 1 mobilenetsv2 mobilenetsv2 PROPN bracis-19022 125 2 was be AUX bracis-19022 125 3 selected select VERB bracis-19022 125 4 because because SCONJ bracis-19022 125 5 it it PRON bracis-19022 125 6 is be AUX bracis-19022 125 7 a a DET bracis-19022 125 8 simple simple ADJ bracis-19022 125 9 but but CCONJ bracis-19022 125 10 efficient efficient ADJ bracis-19022 125 11 convolutional convolutional ADJ bracis-19022 125 12 neural neural ADJ bracis-19022 125 13 network network NOUN bracis-19022 125 14 . . PUNCT bracis-19022 126 1 in in ADP bracis-19022 126 2 order order NOUN bracis-19022 126 3 to to PART bracis-19022 126 4 carry carry VERB bracis-19022 126 5 out out ADP bracis-19022 126 6 the the DET bracis-19022 126 7 classification classification NOUN bracis-19022 126 8 in in ADP bracis-19022 126 9 real real ADJ bracis-19022 126 10 - - PUNCT bracis-19022 126 11 time time NOUN bracis-19022 126 12 simulation simulation NOUN bracis-19022 126 13 , , PUNCT bracis-19022 126 14 a a DET bracis-19022 126 15 light light ADJ bracis-19022 126 16 network network NOUN bracis-19022 126 17 is be AUX bracis-19022 126 18 needed need VERB bracis-19022 126 19 for for ADP bracis-19022 126 20 this this DET bracis-19022 126 21 task task NOUN bracis-19022 126 22 . . PUNCT bracis-19022 127 1 fig fig NOUN bracis-19022 127 2 . . PUNCT bracis-19022 128 1 4 4 X bracis-19022 128 2 . . X bracis-19022 128 3 coalition coalition NOUN bracis-19022 128 4 communication communication NOUN bracis-19022 128 5 state state NOUN bracis-19022 128 6 machine machine NOUN bracis-19022 128 7 . . PUNCT bracis-19022 129 1 full full ADJ bracis-19022 129 2 size size NOUN bracis-19022 129 3 image image NOUN bracis-19022 129 4 other other ADJ bracis-19022 129 5 cnn cnn PROPN bracis-19022 129 6 models model NOUN bracis-19022 129 7 can can AUX bracis-19022 129 8 be be AUX bracis-19022 129 9 used use VERB bracis-19022 129 10 . . PUNCT bracis-19022 130 1 but but CCONJ bracis-19022 130 2 , , PUNCT bracis-19022 130 3 as as SCONJ bracis-19022 130 4 our our PRON bracis-19022 130 5 objective objective NOUN bracis-19022 130 6 is be AUX bracis-19022 130 7 to to PART bracis-19022 130 8 evaluate evaluate VERB bracis-19022 130 9 the the DET bracis-19022 130 10 benefits benefit NOUN bracis-19022 130 11 of of ADP bracis-19022 130 12 using use VERB bracis-19022 130 13 simulation simulation NOUN bracis-19022 130 14 scenario scenario NOUN bracis-19022 130 15 images image NOUN bracis-19022 130 16 with with ADP bracis-19022 130 17 cnn cnn PROPN bracis-19022 130 18 for for ADP bracis-19022 130 19 agents agent NOUN bracis-19022 130 20 ’ ' PUNCT bracis-19022 130 21 decision decision NOUN bracis-19022 130 22 - - PUNCT bracis-19022 130 23 making making NOUN bracis-19022 130 24 , , PUNCT bracis-19022 130 25 only only ADV bracis-19022 130 26 mobilenetsv2 mobilenetsv2 PROPN bracis-19022 130 27 was be AUX bracis-19022 130 28 used use VERB bracis-19022 130 29 in in ADP bracis-19022 130 30 this this DET bracis-19022 130 31 paper paper NOUN bracis-19022 130 32 . . PUNCT bracis-19022 131 1 for for ADP bracis-19022 131 2 our our PRON bracis-19022 131 3 proposed propose VERB bracis-19022 131 4 model model NOUN bracis-19022 131 5 , , PUNCT bracis-19022 131 6 which which PRON bracis-19022 131 7 uses use VERB bracis-19022 131 8 netlogo netlogo PROPN bracis-19022 131 9 simulation simulation PROPN bracis-19022 131 10 scenario scenario NOUN bracis-19022 131 11 images image NOUN bracis-19022 131 12 , , PUNCT bracis-19022 131 13 we we PRON bracis-19022 131 14 train train VERB bracis-19022 131 15 our our PRON bracis-19022 131 16 dataset dataset NOUN bracis-19022 131 17 to to ADP bracis-19022 131 18 100 100 NUM bracis-19022 131 19 epochs epoch NOUN bracis-19022 131 20 using use VERB bracis-19022 131 21 the the DET bracis-19022 131 22 adam adam PROPN bracis-19022 131 23 optimizer optimizer NOUN bracis-19022 131 24 and and CCONJ bracis-19022 131 25 an an DET bracis-19022 131 26 initial initial ADJ bracis-19022 131 27 learning learning NOUN bracis-19022 131 28 rate rate NOUN bracis-19022 131 29 of of ADP bracis-19022 131 30 \(1e-3\ \(1e-3\ NOUN bracis-19022 131 31 ) ) PUNCT bracis-19022 131 32 . . PUNCT bracis-19022 132 1 in in ADP bracis-19022 132 2 this this DET bracis-19022 132 3 work work NOUN bracis-19022 132 4 , , PUNCT bracis-19022 132 5 we we PRON bracis-19022 132 6 test test VERB bracis-19022 132 7 the the DET bracis-19022 132 8 lot lot NOUN bracis-19022 132 9 size size NOUN bracis-19022 132 10 valued value VERB bracis-19022 132 11 at at ADP bracis-19022 132 12 32 32 NUM bracis-19022 132 13 . . PUNCT bracis-19022 133 1 \(80\%\ \(80\%\ X bracis-19022 133 2 ) ) PUNCT bracis-19022 133 3 from from ADP bracis-19022 133 4 our our PRON bracis-19022 133 5 image image NOUN bracis-19022 133 6 bank bank NOUN bracis-19022 133 7 was be AUX bracis-19022 133 8 used use VERB bracis-19022 133 9 for for ADP bracis-19022 133 10 the the DET bracis-19022 133 11 training training NOUN bracis-19022 133 12 step step NOUN bracis-19022 133 13 and and CCONJ bracis-19022 133 14 \(20\%\ \(20\%\ NUM bracis-19022 133 15 ) ) PUNCT bracis-19022 133 16 for for ADP bracis-19022 133 17 the the DET bracis-19022 133 18 validation validation NOUN bracis-19022 133 19 step step NOUN bracis-19022 133 20 . . PUNCT bracis-19022 134 1 in in ADP bracis-19022 134 2 the the DET bracis-19022 134 3 training training NOUN bracis-19022 134 4 stage stage NOUN bracis-19022 134 5 , , PUNCT bracis-19022 134 6 we we PRON bracis-19022 134 7 obtained obtain VERB bracis-19022 134 8 \(74.56\%\ \(74.56\%\ PROPN bracis-19022 134 9 ) ) PUNCT bracis-19022 134 10 accuracy accuracy NOUN bracis-19022 134 11 . . PUNCT bracis-19022 135 1 in in ADP bracis-19022 135 2 the the DET bracis-19022 135 3 validation validation NOUN bracis-19022 135 4 step step NOUN bracis-19022 135 5 , , PUNCT bracis-19022 135 6 the the DET bracis-19022 135 7 accuracy accuracy NOUN bracis-19022 135 8 of of ADP bracis-19022 135 9 \(72.14\%\ \(72.14\%\ NOUN bracis-19022 135 10 ) ) PUNCT bracis-19022 135 11 was be AUX bracis-19022 135 12 obtained obtain VERB bracis-19022 135 13 . . PUNCT bracis-19022 136 1 during during ADP bracis-19022 136 2 the the DET bracis-19022 136 3 simulation simulation NOUN bracis-19022 136 4 , , PUNCT bracis-19022 136 5 images image NOUN bracis-19022 136 6 of of ADP bracis-19022 136 7 the the DET bracis-19022 136 8 scenario scenario NOUN bracis-19022 136 9 are be AUX bracis-19022 136 10 sent send VERB bracis-19022 136 11 to to PART bracis-19022 136 12 classify classify VERB bracis-19022 136 13 the the DET bracis-19022 136 14 organizational organizational ADJ bracis-19022 136 15 structure structure NOUN bracis-19022 136 16 of of ADP bracis-19022 136 17 the the DET bracis-19022 136 18 targets target NOUN bracis-19022 136 19 . . PUNCT bracis-19022 137 1 four four NUM bracis-19022 137 2 containment containment NOUN bracis-19022 137 3 strategies strategy NOUN bracis-19022 137 4 for for ADP bracis-19022 137 5 the the DET bracis-19022 137 6 robot robot NOUN bracis-19022 137 7 team team NOUN bracis-19022 137 8 are be AUX bracis-19022 137 9 proposed propose VERB bracis-19022 137 10 to to PART bracis-19022 137 11 deal deal VERB bracis-19022 137 12 with with ADP bracis-19022 137 13 the the DET bracis-19022 137 14 organizational organizational ADJ bracis-19022 137 15 structure structure NOUN bracis-19022 137 16 that that PRON bracis-19022 137 17 targets target NOUN bracis-19022 137 18 may may AUX bracis-19022 137 19 adopt adopt VERB bracis-19022 137 20 . . PUNCT bracis-19022 138 1 the the DET bracis-19022 138 2 following follow VERB bracis-19022 138 3 subsections subsection NOUN bracis-19022 138 4 describe describe VERB bracis-19022 138 5 these these DET bracis-19022 138 6 strategies strategy NOUN bracis-19022 138 7 . . PUNCT bracis-19022 139 1 strategy strategy NOUN bracis-19022 139 2 against against ADP bracis-19022 139 3 hierarchy hierarchy NOUN bracis-19022 139 4 . . PUNCT bracis-19022 140 1 in in ADP bracis-19022 140 2 this this DET bracis-19022 140 3 type type NOUN bracis-19022 140 4 of of ADP bracis-19022 140 5 organization organization NOUN bracis-19022 140 6 , , PUNCT bracis-19022 140 7 in in ADP bracis-19022 140 8 which which PRON bracis-19022 140 9 the the DET bracis-19022 140 10 targets target NOUN bracis-19022 140 11 are be AUX bracis-19022 140 12 submitted submit VERB bracis-19022 140 13 to to ADP bracis-19022 140 14 a a DET bracis-19022 140 15 higher high ADJ bracis-19022 140 16 - - PUNCT bracis-19022 140 17 level level NOUN bracis-19022 140 18 agent agent NOUN bracis-19022 140 19 and and CCONJ bracis-19022 140 20 where where SCONJ bracis-19022 140 21 decision decision NOUN bracis-19022 140 22 - - PUNCT bracis-19022 140 23 making making NOUN bracis-19022 140 24 depends depend VERB bracis-19022 140 25 on on ADP bracis-19022 140 26 the the DET bracis-19022 140 27 latter latter ADJ bracis-19022 140 28 ’s ’s PART bracis-19022 140 29 endorsement endorsement NOUN bracis-19022 140 30 , , PUNCT bracis-19022 140 31 the the DET bracis-19022 140 32 containment containment NOUN bracis-19022 140 33 strategy strategy NOUN bracis-19022 140 34 adopted adopt VERB bracis-19022 140 35 was be AUX bracis-19022 140 36 to to PART bracis-19022 140 37 disable disable VERB bracis-19022 140 38 the the DET bracis-19022 140 39 coordinator coordinator NOUN bracis-19022 140 40 ’s ’s PART bracis-19022 140 41 communication communication NOUN bracis-19022 140 42 with with ADP bracis-19022 140 43 the the DET bracis-19022 140 44 targets target NOUN bracis-19022 140 45 . . PUNCT bracis-19022 141 1 as as SCONJ bracis-19022 141 2 only only ADV bracis-19022 141 3 the the DET bracis-19022 141 4 coordinator coordinator NOUN bracis-19022 141 5 requests request VERB bracis-19022 141 6 an an DET bracis-19022 141 7 action action NOUN bracis-19022 141 8 and and CCONJ bracis-19022 141 9 the the DET bracis-19022 141 10 agents agent NOUN bracis-19022 141 11 ’ ' PUNCT bracis-19022 141 12 act act NOUN bracis-19022 141 13 of of ADP bracis-19022 141 14 speaking speaking NOUN bracis-19022 141 15 represents represent VERB bracis-19022 141 16 in in ADP bracis-19022 141 17 the the DET bracis-19022 141 18 real real ADJ bracis-19022 141 19 world world NOUN bracis-19022 141 20 the the DET bracis-19022 141 21 human human ADJ bracis-19022 141 22 speech speech NOUN bracis-19022 141 23 itself itself PRON bracis-19022 141 24 , , PUNCT bracis-19022 141 25 as as ADV bracis-19022 141 26 soon soon ADV bracis-19022 141 27 as as SCONJ bracis-19022 141 28 the the DET bracis-19022 141 29 hierarchical hierarchical ADJ bracis-19022 141 30 structure structure NOUN bracis-19022 141 31 is be AUX bracis-19022 141 32 detected detect VERB bracis-19022 141 33 , , PUNCT bracis-19022 141 34 the the DET bracis-19022 141 35 robots robot NOUN bracis-19022 141 36 move move VERB bracis-19022 141 37 between between ADP bracis-19022 141 38 the the DET bracis-19022 141 39 targets target NOUN bracis-19022 141 40 in in ADP bracis-19022 141 41 order order NOUN bracis-19022 141 42 to to PART bracis-19022 141 43 see see VERB bracis-19022 141 44 which which DET bracis-19022 141 45 one one NOUN bracis-19022 141 46 is be AUX bracis-19022 141 47 communicating communicate VERB bracis-19022 141 48 an an DET bracis-19022 141 49 action action NOUN bracis-19022 141 50 . . PUNCT bracis-19022 142 1 thus thus ADV bracis-19022 142 2 , , PUNCT bracis-19022 142 3 the the DET bracis-19022 142 4 robots robot NOUN bracis-19022 142 5 will will AUX bracis-19022 142 6 disable disable VERB bracis-19022 142 7 this this DET bracis-19022 142 8 agent agent NOUN bracis-19022 142 9 ’s ’s PART bracis-19022 142 10 communication communication NOUN bracis-19022 142 11 , , PUNCT bracis-19022 142 12 and and CCONJ bracis-19022 142 13 the the DET bracis-19022 142 14 targets target NOUN bracis-19022 142 15 will will AUX bracis-19022 142 16 be be AUX bracis-19022 142 17 incapacitated incapacitate VERB bracis-19022 142 18 , , PUNCT bracis-19022 142 19 as as SCONJ bracis-19022 142 20 they they PRON bracis-19022 142 21 will will AUX bracis-19022 142 22 not not PART bracis-19022 142 23 be be AUX bracis-19022 142 24 able able ADJ bracis-19022 142 25 to to PART bracis-19022 142 26 reach reach VERB bracis-19022 142 27 their their PRON bracis-19022 142 28 goals goal NOUN bracis-19022 142 29 because because SCONJ bracis-19022 142 30 the the DET bracis-19022 142 31 agent agent NOUN bracis-19022 142 32 in in ADP bracis-19022 142 33 charge charge NOUN bracis-19022 142 34 of of ADP bracis-19022 142 35 transmitting transmit VERB bracis-19022 142 36 information information NOUN bracis-19022 142 37 about about ADP bracis-19022 142 38 their their PRON bracis-19022 142 39 goals goal NOUN bracis-19022 142 40 has have AUX bracis-19022 142 41 been be AUX bracis-19022 142 42 disabled disable VERB bracis-19022 142 43 . . PUNCT bracis-19022 143 1 however however ADV bracis-19022 143 2 , , PUNCT bracis-19022 143 3 robots robot NOUN bracis-19022 143 4 continue continue VERB bracis-19022 143 5 to to PART bracis-19022 143 6 look look VERB bracis-19022 143 7 for for ADP bracis-19022 143 8 more more ADJ bracis-19022 143 9 coordinators coordinator NOUN bracis-19022 143 10 , , PUNCT bracis-19022 143 11 as as SCONJ bracis-19022 143 12 they they PRON bracis-19022 143 13 do do AUX bracis-19022 143 14 not not PART bracis-19022 143 15 have have VERB bracis-19022 143 16 the the DET bracis-19022 143 17 details detail NOUN bracis-19022 143 18 on on ADP bracis-19022 143 19 how how SCONJ bracis-19022 143 20 the the DET bracis-19022 143 21 hierarchy hierarchy NOUN bracis-19022 143 22 is be AUX bracis-19022 143 23 structured structure VERB bracis-19022 143 24 , , PUNCT bracis-19022 143 25 two two NUM bracis-19022 143 26 levels level NOUN bracis-19022 143 27 or or CCONJ bracis-19022 143 28 more more ADJ bracis-19022 143 29 . . PUNCT bracis-19022 144 1 strategy strategy NOUN bracis-19022 144 2 against against ADP bracis-19022 144 3 holarchy holarchy NOUN bracis-19022 144 4 . . PUNCT bracis-19022 145 1 in in ADP bracis-19022 145 2 holarchy holarchy NOUN bracis-19022 145 3 , , PUNCT bracis-19022 145 4 it it PRON bracis-19022 145 5 is be AUX bracis-19022 145 6 necessary necessary ADJ bracis-19022 145 7 to to PART bracis-19022 145 8 disable disable VERB bracis-19022 145 9 the the DET bracis-19022 145 10 general general ADJ bracis-19022 145 11 coordinator coordinator NOUN bracis-19022 145 12 and and CCONJ bracis-19022 145 13 the the DET bracis-19022 145 14 sub sub NOUN bracis-19022 145 15 - - NOUN bracis-19022 145 16 coordinators coordinator NOUN bracis-19022 145 17 . . PUNCT bracis-19022 146 1 for for ADP bracis-19022 146 2 however however ADV bracis-19022 146 3 much much ADJ bracis-19022 146 4 the the DET bracis-19022 146 5 sub sub NOUN bracis-19022 146 6 - - NOUN bracis-19022 146 7 coordinators coordinator NOUN bracis-19022 146 8 are be AUX bracis-19022 146 9 submissive submissive ADJ bracis-19022 146 10 to to ADP bracis-19022 146 11 the the DET bracis-19022 146 12 general general ADJ bracis-19022 146 13 coordinator coordinator NOUN bracis-19022 146 14 , , PUNCT bracis-19022 146 15 they they PRON bracis-19022 146 16 have have VERB bracis-19022 146 17 authority authority NOUN bracis-19022 146 18 over over ADP bracis-19022 146 19 the the DET bracis-19022 146 20 targets target NOUN bracis-19022 146 21 of of ADP bracis-19022 146 22 their their PRON bracis-19022 146 23 group group NOUN bracis-19022 146 24 . . PUNCT bracis-19022 147 1 if if SCONJ bracis-19022 147 2 so so ADV bracis-19022 147 3 , , PUNCT bracis-19022 147 4 the the DET bracis-19022 147 5 holarchy holarchy NOUN bracis-19022 147 6 could could AUX bracis-19022 147 7 turn turn VERB bracis-19022 147 8 into into ADP bracis-19022 147 9 coalitions coalition NOUN bracis-19022 147 10 , , PUNCT bracis-19022 147 11 and and CCONJ bracis-19022 147 12 targets target NOUN bracis-19022 147 13 could could AUX bracis-19022 147 14 still still ADV bracis-19022 147 15 achieve achieve VERB bracis-19022 147 16 their their PRON bracis-19022 147 17 goals goal NOUN bracis-19022 147 18 . . PUNCT bracis-19022 148 1 therefore therefore ADV bracis-19022 148 2 , , PUNCT bracis-19022 148 3 the the DET bracis-19022 148 4 containment containment NOUN bracis-19022 148 5 strategy strategy NOUN bracis-19022 148 6 adopted adopt VERB bracis-19022 148 7 for for ADP bracis-19022 148 8 this this DET bracis-19022 148 9 structure structure NOUN bracis-19022 148 10 is be AUX bracis-19022 148 11 to to PART bracis-19022 148 12 disable disable VERB bracis-19022 148 13 the the DET bracis-19022 148 14 communication communication NOUN bracis-19022 148 15 of of ADP bracis-19022 148 16 all all DET bracis-19022 148 17 targets target NOUN bracis-19022 148 18 that that PRON bracis-19022 148 19 have have VERB bracis-19022 148 20 authority authority NOUN bracis-19022 148 21 over over ADP bracis-19022 148 22 other other ADJ bracis-19022 148 23 targets target NOUN bracis-19022 148 24 . . PUNCT bracis-19022 149 1 strategy strategy NOUN bracis-19022 149 2 against against ADP bracis-19022 149 3 the the DET bracis-19022 149 4 team team NOUN bracis-19022 149 5 . . PUNCT bracis-19022 150 1 in in ADP bracis-19022 150 2 the the DET bracis-19022 150 3 team team NOUN bracis-19022 150 4 ’s ’s PART bracis-19022 150 5 case case NOUN bracis-19022 150 6 , , PUNCT bracis-19022 150 7 the the DET bracis-19022 150 8 targets target NOUN bracis-19022 150 9 are be AUX bracis-19022 150 10 independent independent ADJ bracis-19022 150 11 of of ADP bracis-19022 150 12 each each DET bracis-19022 150 13 other other ADJ bracis-19022 150 14 but but CCONJ bracis-19022 150 15 cooperate cooperate VERB bracis-19022 150 16 to to PART bracis-19022 150 17 achieve achieve VERB bracis-19022 150 18 their their PRON bracis-19022 150 19 goals goal NOUN bracis-19022 150 20 ; ; PUNCT bracis-19022 150 21 that that PRON bracis-19022 150 22 is is ADV bracis-19022 150 23 , , PUNCT bracis-19022 150 24 they they PRON bracis-19022 150 25 explore explore VERB bracis-19022 150 26 the the DET bracis-19022 150 27 area area NOUN bracis-19022 150 28 allocated allocate VERB bracis-19022 150 29 to to ADP bracis-19022 150 30 their their PRON bracis-19022 150 31 team team NOUN bracis-19022 150 32 to to PART bracis-19022 150 33 maximize maximize VERB bracis-19022 150 34 the the DET bracis-19022 150 35 percentage percentage NOUN bracis-19022 150 36 of of ADP bracis-19022 150 37 the the DET bracis-19022 150 38 region region NOUN bracis-19022 150 39 explored explore VERB bracis-19022 150 40 by by ADP bracis-19022 150 41 the the DET bracis-19022 150 42 targets target NOUN bracis-19022 150 43 . . PUNCT bracis-19022 151 1 as as SCONJ bracis-19022 151 2 there there PRON bracis-19022 151 3 is be VERB bracis-19022 151 4 no no DET bracis-19022 151 5 essential essential ADJ bracis-19022 151 6 agent agent NOUN bracis-19022 151 7 in in ADP bracis-19022 151 8 this this DET bracis-19022 151 9 structure structure NOUN bracis-19022 151 10 that that PRON bracis-19022 151 11 its its PRON bracis-19022 151 12 suppression suppression NOUN bracis-19022 151 13 disables disable NOUN bracis-19022 151 14 , , PUNCT bracis-19022 151 15 as as SCONJ bracis-19022 151 16 all all DET bracis-19022 151 17 targets target NOUN bracis-19022 151 18 are be AUX bracis-19022 151 19 at at ADP bracis-19022 151 20 the the DET bracis-19022 151 21 same same ADJ bracis-19022 151 22 level level NOUN bracis-19022 151 23 , , PUNCT bracis-19022 151 24 the the DET bracis-19022 151 25 strategy strategy NOUN bracis-19022 151 26 adopted adopt VERB bracis-19022 151 27 was be AUX bracis-19022 151 28 an an DET bracis-19022 151 29 extension extension NOUN bracis-19022 151 30 of of ADP bracis-19022 151 31 the the DET bracis-19022 151 32 approach approach NOUN bracis-19022 151 33 proposed propose VERB bracis-19022 151 34 by by ADP bracis-19022 151 35 [ [ X bracis-19022 151 36 14 14 NUM bracis-19022 151 37 ] ] PUNCT bracis-19022 151 38 . . PUNCT bracis-19022 152 1 in in ADP bracis-19022 152 2 this this DET bracis-19022 152 3 extension extension NOUN bracis-19022 152 4 , , PUNCT bracis-19022 152 5 robots robot NOUN bracis-19022 152 6 have have VERB bracis-19022 152 7 two two NUM bracis-19022 152 8 behaviors behavior NOUN bracis-19022 152 9 , , PUNCT bracis-19022 152 10 that that PRON bracis-19022 152 11 of of ADP bracis-19022 152 12 seeking seek VERB bracis-19022 152 13 sub sub NOUN bracis-19022 152 14 - - NOUN bracis-19022 152 15 times time NOUN bracis-19022 152 16 and and CCONJ bracis-19022 152 17 that that PRON bracis-19022 152 18 of of ADP bracis-19022 152 19 disrupting disrupt VERB bracis-19022 152 20 the the DET bracis-19022 152 21 communication communication NOUN bracis-19022 152 22 of of ADP bracis-19022 152 23 targets target NOUN bracis-19022 152 24 under under ADP bracis-19022 152 25 observation observation NOUN bracis-19022 152 26 . . PUNCT bracis-19022 153 1 as as SCONJ bracis-19022 153 2 the the DET bracis-19022 153 3 targets target NOUN bracis-19022 153 4 of of ADP bracis-19022 153 5 each each DET bracis-19022 153 6 subteam subteam NOUN bracis-19022 153 7 are be AUX bracis-19022 153 8 close close ADJ bracis-19022 153 9 to to ADP bracis-19022 153 10 each each DET bracis-19022 153 11 other other ADJ bracis-19022 153 12 , , PUNCT bracis-19022 153 13 if if SCONJ bracis-19022 153 14 the the DET bracis-19022 153 15 force force NOUN bracis-19022 153 16 field field NOUN bracis-19022 153 17 proposed propose VERB bracis-19022 153 18 by by ADP bracis-19022 153 19 [ [ X bracis-19022 153 20 14 14 NUM bracis-19022 153 21 ] ] PUNCT bracis-19022 153 22 were be AUX bracis-19022 153 23 used use VERB bracis-19022 153 24 to to PART bracis-19022 153 25 repel repel VERB bracis-19022 153 26 all all DET bracis-19022 153 27 other other ADJ bracis-19022 153 28 robots robot NOUN bracis-19022 153 29 , , PUNCT bracis-19022 153 30 only only ADV bracis-19022 153 31 four four NUM bracis-19022 153 32 robots robot NOUN bracis-19022 153 33 would would AUX bracis-19022 153 34 be be AUX bracis-19022 153 35 trying try VERB bracis-19022 153 36 to to PART bracis-19022 153 37 disable disable VERB bracis-19022 153 38 communication communication NOUN bracis-19022 153 39 , , PUNCT bracis-19022 153 40 while while SCONJ bracis-19022 153 41 the the DET bracis-19022 153 42 other other ADJ bracis-19022 153 43 eight eight NUM bracis-19022 153 44 would would AUX bracis-19022 153 45 be be AUX bracis-19022 153 46 idle idle ADJ bracis-19022 153 47 . . PUNCT bracis-19022 154 1 thus thus ADV bracis-19022 154 2 , , PUNCT bracis-19022 154 3 a a DET bracis-19022 154 4 conditional conditional NOUN bracis-19022 154 5 was be AUX bracis-19022 154 6 added add VERB bracis-19022 154 7 to to ADP bracis-19022 154 8 this this DET bracis-19022 154 9 force force NOUN bracis-19022 154 10 field field NOUN bracis-19022 154 11 . . PUNCT bracis-19022 155 1 it it PRON bracis-19022 155 2 now now ADV bracis-19022 155 3 allows allow VERB bracis-19022 155 4 a a DET bracis-19022 155 5 maximum maximum NOUN bracis-19022 155 6 of of ADP bracis-19022 155 7 two two NUM bracis-19022 155 8 robots robot NOUN bracis-19022 155 9 and and CCONJ bracis-19022 155 10 repels repel VERB bracis-19022 155 11 the the DET bracis-19022 155 12 others other NOUN bracis-19022 155 13 when when SCONJ bracis-19022 155 14 it it PRON bracis-19022 155 15 exceeds exceed VERB bracis-19022 155 16 this this DET bracis-19022 155 17 margin margin NOUN bracis-19022 155 18 . . PUNCT bracis-19022 156 1 so so ADV bracis-19022 156 2 , , PUNCT bracis-19022 156 3 instead instead ADV bracis-19022 156 4 of of ADP bracis-19022 156 5 just just ADV bracis-19022 156 6 one one NUM bracis-19022 156 7 robot robot NOUN bracis-19022 156 8 trying try VERB bracis-19022 156 9 to to PART bracis-19022 156 10 disable disable VERB bracis-19022 156 11 the the DET bracis-19022 156 12 communication communication NOUN bracis-19022 156 13 of of ADP bracis-19022 156 14 six six NUM bracis-19022 156 15 targets target NOUN bracis-19022 156 16 , , PUNCT bracis-19022 156 17 there there PRON bracis-19022 156 18 are be VERB bracis-19022 156 19 now now ADV bracis-19022 156 20 two two NUM bracis-19022 156 21 for for ADP bracis-19022 156 22 this this DET bracis-19022 156 23 purpose purpose NOUN bracis-19022 156 24 in in ADP bracis-19022 156 25 each each DET bracis-19022 156 26 sub sub NOUN bracis-19022 156 27 - - NOUN bracis-19022 156 28 team team NOUN bracis-19022 156 29 . . PUNCT bracis-19022 157 1 the the DET bracis-19022 157 2 four four NUM bracis-19022 157 3 remaining remain VERB bracis-19022 157 4 robots robot NOUN bracis-19022 157 5 are be AUX bracis-19022 157 6 responsible responsible ADJ bracis-19022 157 7 for for ADP bracis-19022 157 8 looking look VERB bracis-19022 157 9 for for ADP bracis-19022 157 10 more more ADJ bracis-19022 157 11 sub sub NOUN bracis-19022 157 12 - - NOUN bracis-19022 157 13 teams team NOUN bracis-19022 157 14 , , PUNCT bracis-19022 157 15 as as SCONJ bracis-19022 157 16 the the DET bracis-19022 157 17 robot robot NOUN bracis-19022 157 18 team team NOUN bracis-19022 157 19 does do AUX bracis-19022 157 20 not not PART bracis-19022 157 21 know know VERB bracis-19022 157 22 how how SCONJ bracis-19022 157 23 many many ADJ bracis-19022 157 24 sub sub NOUN bracis-19022 157 25 - - NOUN bracis-19022 157 26 teams team NOUN bracis-19022 157 27 there there PRON bracis-19022 157 28 are be VERB bracis-19022 157 29 in in ADP bracis-19022 157 30 the the DET bracis-19022 157 31 simulation simulation NOUN bracis-19022 157 32 scenario scenario PROPN bracis-19022 157 33 . . PUNCT bracis-19022 158 1 strategy strategy NOUN bracis-19022 158 2 against against ADP bracis-19022 158 3 the the DET bracis-19022 158 4 coalition coalition NOUN bracis-19022 158 5 . . PUNCT bracis-19022 159 1 as as SCONJ bracis-19022 159 2 the the DET bracis-19022 159 3 number number NOUN bracis-19022 159 4 of of ADP bracis-19022 159 5 members member NOUN bracis-19022 159 6 in in ADP bracis-19022 159 7 each each DET bracis-19022 159 8 coalition coalition NOUN bracis-19022 159 9 can can AUX bracis-19022 159 10 be be AUX bracis-19022 159 11 unequal unequal ADJ bracis-19022 159 12 and and CCONJ bracis-19022 159 13 there there PRON bracis-19022 159 14 are be VERB bracis-19022 159 15 no no DET bracis-19022 159 16 agents agent NOUN bracis-19022 159 17 with with ADP bracis-19022 159 18 authority authority NOUN bracis-19022 159 19 over over ADP bracis-19022 159 20 others other NOUN bracis-19022 159 21 , , PUNCT bracis-19022 159 22 the the DET bracis-19022 159 23 containment containment NOUN bracis-19022 159 24 strategy strategy NOUN bracis-19022 159 25 was be AUX bracis-19022 159 26 an an DET bracis-19022 159 27 extension extension NOUN bracis-19022 159 28 of of ADP bracis-19022 159 29 the the DET bracis-19022 159 30 method method NOUN bracis-19022 159 31 proposed propose VERB bracis-19022 159 32 by by ADP bracis-19022 159 33 [ [ X bracis-19022 159 34 14 14 NUM bracis-19022 159 35 ] ] PUNCT bracis-19022 159 36 as as ADV bracis-19022 159 37 well well ADV bracis-19022 159 38 . . PUNCT bracis-19022 160 1 they they PRON bracis-19022 160 2 are be AUX bracis-19022 160 3 seeking seek VERB bracis-19022 160 4 , , PUNCT bracis-19022 160 5 as as ADV bracis-19022 160 6 well well ADV bracis-19022 160 7 as as ADP bracis-19022 160 8 in in ADP bracis-19022 160 9 the the DET bracis-19022 160 10 team team NOUN bracis-19022 160 11 , , PUNCT bracis-19022 160 12 to to PART bracis-19022 160 13 break break VERB bracis-19022 160 14 communication communication NOUN bracis-19022 160 15 between between ADP bracis-19022 160 16 the the DET bracis-19022 160 17 coalition coalition NOUN bracis-19022 160 18 targets target NOUN bracis-19022 160 19 , , PUNCT bracis-19022 160 20 as as SCONJ bracis-19022 160 21 there there PRON bracis-19022 160 22 are be VERB bracis-19022 160 23 not not PART bracis-19022 160 24 enough enough ADJ bracis-19022 160 25 robots robot NOUN bracis-19022 160 26 to to PART bracis-19022 160 27 disable disable VERB bracis-19022 160 28 all all DET bracis-19022 160 29 targets target NOUN bracis-19022 160 30 to to PART bracis-19022 160 31 minimize minimize VERB bracis-19022 160 32 the the DET bracis-19022 160 33 exploration exploration NOUN bracis-19022 160 34 of of ADP bracis-19022 160 35 the the DET bracis-19022 160 36 scenario scenario NOUN bracis-19022 160 37 . . PUNCT bracis-19022 161 1 strategy strategy NOUN bracis-19022 161 2 overview overview NOUN bracis-19022 161 3 . . PUNCT bracis-19022 162 1 thus thus ADV bracis-19022 162 2 , , PUNCT bracis-19022 162 3 the the DET bracis-19022 162 4 robot robot NOUN bracis-19022 162 5 approach approach NOUN bracis-19022 162 6 consists consist VERB bracis-19022 162 7 of of ADP bracis-19022 162 8 them they PRON bracis-19022 162 9 , , PUNCT bracis-19022 162 10 every every DET bracis-19022 162 11 200 200 NUM bracis-19022 162 12 steps step NOUN bracis-19022 162 13 of of ADP bracis-19022 162 14 time time NOUN bracis-19022 162 15 on on ADP bracis-19022 162 16 the the DET bracis-19022 162 17 netlogo netlogo NOUN bracis-19022 162 18 platform platform NOUN bracis-19022 162 19 , , PUNCT bracis-19022 162 20 sending send VERB bracis-19022 162 21 an an DET bracis-19022 162 22 image image NOUN bracis-19022 162 23 of of ADP bracis-19022 162 24 the the DET bracis-19022 162 25 simulation simulation NOUN bracis-19022 162 26 scenario scenario NOUN bracis-19022 162 27 to to ADP bracis-19022 162 28 the the DET bracis-19022 162 29 jupyter jupyter ADJ bracis-19022 162 30 notebook notebook NOUN bracis-19022 162 31 . . PUNCT bracis-19022 163 1 then then ADV bracis-19022 163 2 , , PUNCT bracis-19022 163 3 the the DET bracis-19022 163 4 classification classification NOUN bracis-19022 163 5 of of ADP bracis-19022 163 6 the the DET bracis-19022 163 7 organizational organizational ADJ bracis-19022 163 8 paradigm paradigm NOUN bracis-19022 163 9 by by ADP bracis-19022 163 10 mobilenetv2 mobilenetv2 PROPN bracis-19022 163 11 is be AUX bracis-19022 163 12 performed perform VERB bracis-19022 163 13 , , PUNCT bracis-19022 163 14 and and CCONJ bracis-19022 163 15 the the DET bracis-19022 163 16 result result NOUN bracis-19022 163 17 is be AUX bracis-19022 163 18 returned return VERB bracis-19022 163 19 to to ADP bracis-19022 163 20 the the DET bracis-19022 163 21 robots robot NOUN bracis-19022 163 22 team team NOUN bracis-19022 163 23 . . PUNCT bracis-19022 164 1 thus thus ADV bracis-19022 164 2 , , PUNCT bracis-19022 164 3 from from ADP bracis-19022 164 4 the the DET bracis-19022 164 5 returned return VERB bracis-19022 164 6 response response NOUN bracis-19022 164 7 , , PUNCT bracis-19022 164 8 the the DET bracis-19022 164 9 most most ADV bracis-19022 164 10 suitable suitable ADJ bracis-19022 164 11 containment containment NOUN bracis-19022 164 12 strategy strategy NOUN bracis-19022 164 13 is be AUX bracis-19022 164 14 selected select VERB bracis-19022 164 15 . . PUNCT bracis-19022 165 1 the the DET bracis-19022 165 2 simulation simulation NOUN bracis-19022 165 3 only only ADV bracis-19022 165 4 returns return VERB bracis-19022 165 5 to to ADP bracis-19022 165 6 processing processing NOUN bracis-19022 165 7 when when SCONJ bracis-19022 165 8 the the DET bracis-19022 165 9 jupyter jupyter ADJ bracis-19022 165 10 notebook notebook NOUN bracis-19022 165 11 returns return VERB bracis-19022 165 12 the the DET bracis-19022 165 13 classification classification NOUN bracis-19022 165 14 value value NOUN bracis-19022 165 15 performed perform VERB bracis-19022 165 16 by by ADP bracis-19022 165 17 cnn cnn PROPN bracis-19022 165 18 . . PROPN bracis-19022 166 1 3.3 3.3 NUM bracis-19022 166 2 materials material NOUN bracis-19022 166 3 and and CCONJ bracis-19022 166 4 methods method NOUN bracis-19022 166 5 the the DET bracis-19022 166 6 netlogo netlogo NOUN bracis-19022 166 7 [ [ X bracis-19022 166 8 20 20 NUM bracis-19022 166 9 ] ] X bracis-19022 166 10 platform platform NOUN bracis-19022 166 11 was be AUX bracis-19022 166 12 selected select VERB bracis-19022 166 13 for for ADP bracis-19022 166 14 scenario scenario NOUN bracis-19022 166 15 simulation simulation NOUN bracis-19022 166 16 , , PUNCT bracis-19022 166 17 as as ADP bracis-19022 166 18 [ [ X bracis-19022 166 19 1 1 NUM bracis-19022 166 20 , , PUNCT bracis-19022 166 21 18 18 NUM bracis-19022 166 22 , , PUNCT bracis-19022 166 23 19 19 NUM bracis-19022 166 24 ] ] PUNCT bracis-19022 166 25 used use VERB bracis-19022 166 26 to to PART bracis-19022 166 27 simulate simulate VERB bracis-19022 166 28 a a DET bracis-19022 166 29 reformulation reformulation NOUN bracis-19022 166 30 of of ADP bracis-19022 166 31 the the DET bracis-19022 166 32 cmommt cmommt NOUN bracis-19022 166 33 problem problem NOUN bracis-19022 166 34 , , PUNCT bracis-19022 166 35 the the DET bracis-19022 166 36 cto cto PROPN bracis-19022 166 37 . . PUNCT bracis-19022 167 1 this this DET bracis-19022 167 2 platform platform NOUN bracis-19022 167 3 was be AUX bracis-19022 167 4 also also ADV bracis-19022 167 5 chosen choose VERB bracis-19022 167 6 for for ADP bracis-19022 167 7 its its PRON bracis-19022 167 8 integrality integrality NOUN bracis-19022 167 9 with with ADP bracis-19022 167 10 the the DET bracis-19022 167 11 jupyter jupyter ADJ bracis-19022 167 12 notebook notebook NOUN bracis-19022 167 13 [ [ X bracis-19022 167 14 12 12 NUM bracis-19022 167 15 ] ] X bracis-19022 167 16 platform platform NOUN bracis-19022 167 17 used use VERB bracis-19022 167 18 in in ADP bracis-19022 167 19 this this DET bracis-19022 167 20 research research NOUN bracis-19022 167 21 . . PUNCT bracis-19022 168 1 mobilenetv2 mobilenetv2 PROPN bracis-19022 169 1 [ [ X bracis-19022 169 2 17 17 NUM bracis-19022 169 3 ] ] PUNCT bracis-19022 169 4 was be AUX bracis-19022 169 5 loaded load VERB bracis-19022 169 6 by by ADP bracis-19022 169 7 keras keras PROPN bracis-19022 169 8 [ [ X bracis-19022 169 9 7 7 NUM bracis-19022 169 10 ] ] PUNCT bracis-19022 169 11 , , PUNCT bracis-19022 169 12 an an DET bracis-19022 169 13 open open ADJ bracis-19022 169 14 - - PUNCT bracis-19022 169 15 source source NOUN bracis-19022 169 16 neural neural ADJ bracis-19022 169 17 network network NOUN bracis-19022 169 18 library library NOUN bracis-19022 169 19 written write VERB bracis-19022 169 20 in in ADP bracis-19022 169 21 python python PROPN bracis-19022 169 22 . . PUNCT bracis-19022 170 1 in in ADP bracis-19022 170 2 the the DET bracis-19022 170 3 generation generation NOUN bracis-19022 170 4 of of ADP bracis-19022 170 5 the the DET bracis-19022 170 6 image image NOUN bracis-19022 170 7 bank bank NOUN bracis-19022 170 8 , , PUNCT bracis-19022 170 9 the the DET bracis-19022 170 10 data data NOUN bracis-19022 170 11 augmentation augmentation NOUN bracis-19022 170 12 technique technique NOUN bracis-19022 170 13 was be AUX bracis-19022 170 14 used use VERB bracis-19022 170 15 to to PART bracis-19022 170 16 supplement supplement VERB bracis-19022 170 17 our our PRON bracis-19022 170 18 dataset dataset NOUN bracis-19022 170 19 . . PUNCT bracis-19022 171 1 in in ADP bracis-19022 171 2 addition addition NOUN bracis-19022 171 3 , , PUNCT bracis-19022 171 4 the the DET bracis-19022 171 5 use use NOUN bracis-19022 171 6 of of ADP bracis-19022 171 7 this this DET bracis-19022 171 8 technique technique NOUN bracis-19022 171 9 simulates simulate VERB bracis-19022 171 10 a a DET bracis-19022 171 11 drone drone NOUN bracis-19022 171 12 flying fly VERB bracis-19022 171 13 over over ADP bracis-19022 171 14 the the DET bracis-19022 171 15 scene scene NOUN bracis-19022 171 16 and and CCONJ bracis-19022 171 17 capturing capture VERB bracis-19022 171 18 images image NOUN bracis-19022 171 19 of of ADP bracis-19022 171 20 the the DET bracis-19022 171 21 robot robot NOUN bracis-19022 171 22 team team NOUN bracis-19022 171 23 and and CCONJ bracis-19022 171 24 targets target NOUN bracis-19022 171 25 from from ADP bracis-19022 171 26 various various ADJ bracis-19022 171 27 angles angle NOUN bracis-19022 171 28 and and CCONJ bracis-19022 171 29 positions position NOUN bracis-19022 171 30 . . PUNCT bracis-19022 172 1 our our PRON bracis-19022 172 2 image image NOUN bracis-19022 172 3 bank bank NOUN bracis-19022 172 4 was be AUX bracis-19022 172 5 generated generate VERB bracis-19022 172 6 from from ADP bracis-19022 172 7 the the DET bracis-19022 172 8 simulation simulation NOUN bracis-19022 172 9 scenario scenario NOUN bracis-19022 172 10 images image NOUN bracis-19022 172 11 . . PUNCT bracis-19022 173 1 the the DET bracis-19022 173 2 starting start VERB bracis-19022 173 3 position position NOUN bracis-19022 173 4 of of ADP bracis-19022 173 5 each each DET bracis-19022 173 6 target target NOUN bracis-19022 173 7 and and CCONJ bracis-19022 173 8 robot robot NOUN bracis-19022 173 9 is be AUX bracis-19022 173 10 random random ADJ bracis-19022 173 11 , , PUNCT bracis-19022 173 12 and and CCONJ bracis-19022 173 13 the the DET bracis-19022 173 14 choice choice NOUN bracis-19022 173 15 of of ADP bracis-19022 173 16 the the DET bracis-19022 173 17 following follow VERB bracis-19022 173 18 position position NOUN bracis-19022 173 19 is be AUX bracis-19022 173 20 based base VERB bracis-19022 173 21 on on ADP bracis-19022 173 22 the the DET bracis-19022 173 23 strategy strategy NOUN bracis-19022 173 24 adopted adopt VERB bracis-19022 173 25 by by ADP bracis-19022 173 26 each each DET bracis-19022 173 27 team team NOUN bracis-19022 173 28 . . PUNCT bracis-19022 174 1 seeking seek VERB bracis-19022 174 2 to to PART bracis-19022 174 3 diversify diversify VERB bracis-19022 174 4 the the DET bracis-19022 174 5 image image NOUN bracis-19022 174 6 bank bank NOUN bracis-19022 174 7 , , PUNCT bracis-19022 174 8 the the DET bracis-19022 174 9 target target NOUN bracis-19022 174 10 communication communication NOUN bracis-19022 174 11 range range NOUN bracis-19022 174 12 sensor sensor NOUN bracis-19022 174 13 can can AUX bracis-19022 174 14 vary vary VERB bracis-19022 174 15 between between ADP bracis-19022 174 16 5 5 NUM bracis-19022 174 17 , , PUNCT bracis-19022 174 18 10 10 NUM bracis-19022 174 19 , , PUNCT bracis-19022 174 20 15 15 NUM bracis-19022 174 21 , , PUNCT bracis-19022 174 22 20 20 NUM bracis-19022 174 23 , , PUNCT bracis-19022 174 24 and and CCONJ bracis-19022 174 25 25 25 NUM bracis-19022 174 26 netlogo netlogo NOUN bracis-19022 174 27 distance distance NOUN bracis-19022 174 28 units unit NOUN bracis-19022 174 29 . . PUNCT bracis-19022 175 1 thus thus ADV bracis-19022 175 2 , , PUNCT bracis-19022 175 3 targets target NOUN bracis-19022 175 4 can can AUX bracis-19022 175 5 be be AUX bracis-19022 175 6 further far ADV bracis-19022 175 7 away away ADV bracis-19022 175 8 or or CCONJ bracis-19022 175 9 closer close ADV bracis-19022 175 10 depending depend VERB bracis-19022 175 11 on on ADP bracis-19022 175 12 the the DET bracis-19022 175 13 communication communication NOUN bracis-19022 175 14 range range NOUN bracis-19022 175 15 setting setting NOUN bracis-19022 175 16 . . PUNCT bracis-19022 176 1 initially initially ADV bracis-19022 176 2 , , PUNCT bracis-19022 176 3 the the DET bracis-19022 176 4 image image NOUN bracis-19022 176 5 bank bank NOUN bracis-19022 176 6 contains contain VERB bracis-19022 176 7 750 750 NUM bracis-19022 176 8 images image NOUN bracis-19022 176 9 of of ADP bracis-19022 176 10 each each DET bracis-19022 176 11 organizational organizational ADJ bracis-19022 176 12 paradigm paradigm NOUN bracis-19022 176 13 and and CCONJ bracis-19022 176 14 the the DET bracis-19022 176 15 random random ADJ bracis-19022 176 16 model model NOUN bracis-19022 176 17 for for ADP bracis-19022 176 18 [ [ X bracis-19022 176 19 14 14 NUM bracis-19022 176 20 ] ] PUNCT bracis-19022 176 21 targets target NOUN bracis-19022 176 22 , , PUNCT bracis-19022 176 23 in in ADP bracis-19022 176 24 which which PRON bracis-19022 176 25 there there PRON bracis-19022 176 26 are be VERB bracis-19022 176 27 150 150 NUM bracis-19022 176 28 images image NOUN bracis-19022 176 29 for for ADP bracis-19022 176 30 each each DET bracis-19022 176 31 communication communication NOUN bracis-19022 176 32 range range NOUN bracis-19022 176 33 sensor sensor NOUN bracis-19022 176 34 configuration configuration NOUN bracis-19022 176 35 , , PUNCT bracis-19022 176 36 totaling total VERB bracis-19022 176 37 3750 3750 NUM bracis-19022 176 38 images image NOUN bracis-19022 176 39 . . PUNCT bracis-19022 177 1 the the DET bracis-19022 177 2 photos photo NOUN bracis-19022 177 3 were be AUX bracis-19022 177 4 captured capture VERB bracis-19022 177 5 manually manually ADV bracis-19022 177 6 in in ADP bracis-19022 177 7 the the DET bracis-19022 177 8 most most ADV bracis-19022 177 9 diverse diverse ADJ bracis-19022 177 10 positions position NOUN bracis-19022 177 11 , , PUNCT bracis-19022 177 12 rotations rotation NOUN bracis-19022 177 13 , , PUNCT bracis-19022 177 14 and and CCONJ bracis-19022 177 15 transitions transition NOUN bracis-19022 177 16 from from ADP bracis-19022 177 17 one one NUM bracis-19022 177 18 quadrant quadrant NOUN bracis-19022 177 19 to to ADP bracis-19022 177 20 another another PRON bracis-19022 177 21 for for ADP bracis-19022 177 22 better well ADJ bracis-19022 177 23 learning learning NOUN bracis-19022 177 24 of of ADP bracis-19022 177 25 the the DET bracis-19022 177 26 model model NOUN bracis-19022 177 27 . . PUNCT bracis-19022 178 1 after after ADP bracis-19022 178 2 capturing capture VERB bracis-19022 178 3 the the DET bracis-19022 178 4 3750 3750 NUM bracis-19022 178 5 images image NOUN bracis-19022 178 6 of of ADP bracis-19022 178 7 the the DET bracis-19022 178 8 scenery scenery NOUN bracis-19022 178 9 , , PUNCT bracis-19022 178 10 the the DET bracis-19022 178 11 data data NOUN bracis-19022 178 12 augmentation augmentation NOUN bracis-19022 178 13 technique technique NOUN bracis-19022 178 14 was be AUX bracis-19022 178 15 applied apply VERB bracis-19022 178 16 , , PUNCT bracis-19022 178 17 which which PRON bracis-19022 178 18 generated generate VERB bracis-19022 178 19 our our PRON bracis-19022 178 20 final final ADJ bracis-19022 178 21 image image NOUN bracis-19022 178 22 bank bank NOUN bracis-19022 178 23 with with ADP bracis-19022 178 24 41 41 NUM bracis-19022 178 25 , , PUNCT bracis-19022 178 26     SPACE bracis-19022 178 27 250 250 NUM bracis-19022 178 28 imagesfootnote imagesfootnote ADJ bracis-19022 178 29 1 1 NUM bracis-19022 178 30 . . PUNCT bracis-19022 178 31 figure figure NOUN bracis-19022 178 32     SPACE bracis-19022 178 33 5 5 NUM bracis-19022 178 34 shows show VERB bracis-19022 178 35 the the DET bracis-19022 178 36 simulation simulation NOUN bracis-19022 178 37 environment environment NOUN bracis-19022 178 38 with with ADP bracis-19022 178 39 the the DET bracis-19022 178 40 targets target NOUN bracis-19022 178 41 structured structure VERB bracis-19022 178 42 as as ADP bracis-19022 178 43 a a DET bracis-19022 178 44 hierarchy hierarchy NOUN bracis-19022 178 45 , , PUNCT bracis-19022 178 46 where where SCONJ bracis-19022 178 47 the the DET bracis-19022 178 48 “ " PUNCT bracis-19022 178 49 arrows arrow NOUN bracis-19022 178 50 ” " PUNCT bracis-19022 178 51 agents agent NOUN bracis-19022 178 52 are be AUX bracis-19022 178 53 the the DET bracis-19022 178 54 robots robot NOUN bracis-19022 178 55 and and CCONJ bracis-19022 178 56 the the DET bracis-19022 178 57 “ " PUNCT bracis-19022 178 58 people people NOUN bracis-19022 178 59 ” " PUNCT bracis-19022 178 60 agents agent NOUN bracis-19022 178 61 are be AUX bracis-19022 178 62 the the DET bracis-19022 178 63 targets target NOUN bracis-19022 178 64 . . PUNCT bracis-19022 179 1 according accord VERB bracis-19022 179 2 to to ADP bracis-19022 179 3 the the DET bracis-19022 179 4 robot robot NOUN bracis-19022 179 5 closest close ADJ bracis-19022 179 6 to to ADP bracis-19022 179 7 them they PRON bracis-19022 179 8 , , PUNCT bracis-19022 179 9 the the DET bracis-19022 179 10 colors color NOUN bracis-19022 179 11 of of ADP bracis-19022 179 12 the the DET bracis-19022 179 13 target target NOUN bracis-19022 179 14 agents agent NOUN bracis-19022 179 15 are be AUX bracis-19022 179 16 responsible responsible ADJ bracis-19022 179 17 for for ADP bracis-19022 179 18 their their PRON bracis-19022 179 19 observation observation NOUN bracis-19022 179 20 . . PUNCT bracis-19022 180 1 there there PRON bracis-19022 180 2 is be VERB bracis-19022 180 3 a a DET bracis-19022 180 4 quadrant quadrant ADJ bracis-19022 180 5 division division NOUN bracis-19022 180 6 to to PART bracis-19022 180 7 aid aid VERB bracis-19022 180 8 in in ADP bracis-19022 180 9 viewing view VERB bracis-19022 180 10 target target NOUN bracis-19022 180 11 movements movement NOUN bracis-19022 180 12 and and CCONJ bracis-19022 180 13 image image NOUN bracis-19022 180 14 processing processing NOUN bracis-19022 180 15 . . PUNCT bracis-19022 181 1 fig fig NOUN bracis-19022 181 2 . . PUNCT bracis-19022 182 1 5 5 X bracis-19022 182 2 . . X bracis-19022 182 3 netlogo netlogo PROPN bracis-19022 182 4 simulation simulation PROPN bracis-19022 182 5 example example NOUN bracis-19022 182 6 . . PUNCT bracis-19022 183 1 full full ADJ bracis-19022 183 2 size size NOUN bracis-19022 183 3 image image NOUN bracis-19022 183 4 4 4 NUM bracis-19022 183 5 experiments experiment NOUN bracis-19022 183 6 and and CCONJ bracis-19022 183 7 results result VERB bracis-19022 183 8 4.1 4.1 NUM bracis-19022 183 9 test test NOUN bracis-19022 183 10 settings setting NOUN bracis-19022 183 11 the the DET bracis-19022 183 12 configured configure VERB bracis-19022 183 13 parameters parameter NOUN bracis-19022 183 14 were be AUX bracis-19022 183 15 based base VERB bracis-19022 183 16 on on ADP bracis-19022 183 17 the the DET bracis-19022 183 18 settings setting NOUN bracis-19022 183 19 used use VERB bracis-19022 183 20 by by ADP bracis-19022 183 21 [ [ X bracis-19022 183 22 13 13 NUM bracis-19022 183 23 ] ] PUNCT bracis-19022 183 24 . . PUNCT bracis-19022 184 1 targets target NOUN bracis-19022 184 2 and and CCONJ bracis-19022 184 3 robots robot NOUN bracis-19022 184 4 are be AUX bracis-19022 184 5 in in ADP bracis-19022 184 6 a a DET bracis-19022 184 7 rectangular rectangular ADJ bracis-19022 184 8 field field NOUN bracis-19022 184 9 with with ADP bracis-19022 184 10 dimensions dimension NOUN bracis-19022 184 11 150 150 NUM bracis-19022 184 12 by by ADP bracis-19022 184 13 150 150 NUM bracis-19022 184 14 units unit NOUN bracis-19022 184 15 ; ; PUNCT bracis-19022 184 16 there there PRON bracis-19022 184 17 are be VERB bracis-19022 184 18 1500 1500 NUM bracis-19022 184 19 interaction interaction NOUN bracis-19022 184 20 steps step NOUN bracis-19022 184 21 per per ADP bracis-19022 184 22 simulation simulation NOUN bracis-19022 184 23 ; ; PUNCT bracis-19022 184 24 observer observer NOUN bracis-19022 184 25 speed speed NOUN bracis-19022 184 26 is be AUX bracis-19022 184 27 1 1 NUM bracis-19022 184 28 step step NOUN bracis-19022 184 29 at at ADP bracis-19022 184 30 each each DET bracis-19022 184 31 interaction interaction NOUN bracis-19022 184 32 step step NOUN bracis-19022 184 33 ; ; PUNCT bracis-19022 184 34 target target NOUN bracis-19022 184 35 speed speed NOUN bracis-19022 184 36 is be AUX bracis-19022 184 37 0.9 0.9 NUM bracis-19022 184 38 steps step NOUN bracis-19022 184 39 at at ADP bracis-19022 184 40 each each DET bracis-19022 184 41 interaction interaction NOUN bracis-19022 184 42 step step NOUN bracis-19022 184 43 ; ; PUNCT bracis-19022 184 44 sensor sensor NOUN bracis-19022 184 45 range range NOUN bracis-19022 184 46 is be AUX bracis-19022 184 47 25 25 NUM bracis-19022 184 48 units unit NOUN bracis-19022 184 49 ; ; PUNCT bracis-19022 184 50 communication communication NOUN bracis-19022 184 51 range range NOUN bracis-19022 184 52 varies vary VERB bracis-19022 184 53 between between ADP bracis-19022 184 54 5 5 NUM bracis-19022 184 55 , , PUNCT bracis-19022 184 56 10 10 NUM bracis-19022 184 57 , , PUNCT bracis-19022 184 58 15 15 NUM bracis-19022 184 59 , , PUNCT bracis-19022 184 60 20 20 NUM bracis-19022 184 61 and and CCONJ bracis-19022 184 62 25 25 NUM bracis-19022 184 63 units unit NOUN bracis-19022 184 64 ; ; PUNCT bracis-19022 184 65 24 24 NUM bracis-19022 184 66 targets target NOUN bracis-19022 184 67 ; ; PUNCT bracis-19022 184 68 12 12 NUM bracis-19022 184 69 robots robot NOUN bracis-19022 184 70 ; ; PUNCT bracis-19022 184 71 in in ADP bracis-19022 184 72 the the DET bracis-19022 184 73 case case NOUN bracis-19022 184 74 of of ADP bracis-19022 184 75 hierarchy hierarchy NOUN bracis-19022 184 76 there there PRON bracis-19022 184 77 is be VERB bracis-19022 184 78 an an DET bracis-19022 184 79 extra extra ADJ bracis-19022 184 80 target target NOUN bracis-19022 184 81 , , PUNCT bracis-19022 184 82 called call VERB bracis-19022 184 83 coordinator coordinator NOUN bracis-19022 184 84 ; ; PUNCT bracis-19022 184 85 in in ADP bracis-19022 184 86 the the DET bracis-19022 184 87 case case NOUN bracis-19022 184 88 of of ADP bracis-19022 184 89 holarchy holarchy NOUN bracis-19022 184 90 there there PRON bracis-19022 184 91 are be VERB bracis-19022 184 92 three three NUM bracis-19022 184 93 extra extra ADJ bracis-19022 184 94 targets target NOUN bracis-19022 184 95 , , PUNCT bracis-19022 184 96 called call VERB bracis-19022 184 97 general general ADJ bracis-19022 184 98 coordinator coordinator NOUN bracis-19022 184 99 and and CCONJ bracis-19022 184 100 sub sub NOUN bracis-19022 184 101 - - NOUN bracis-19022 184 102 coordinators coordinator NOUN bracis-19022 184 103 . . PUNCT bracis-19022 185 1 in in ADP bracis-19022 185 2 order order NOUN bracis-19022 185 3 to to PART bracis-19022 185 4 evaluate evaluate VERB bracis-19022 185 5 the the DET bracis-19022 185 6 performance performance NOUN bracis-19022 185 7 of of ADP bracis-19022 185 8 the the DET bracis-19022 185 9 robots robot NOUN bracis-19022 185 10 , , PUNCT bracis-19022 185 11 it it PRON bracis-19022 185 12 was be AUX bracis-19022 185 13 configured configure VERB bracis-19022 185 14 for for ADP bracis-19022 185 15 targets target NOUN bracis-19022 185 16 with with ADP bracis-19022 185 17 the the DET bracis-19022 185 18 highest high ADJ bracis-19022 185 19 speed speed NOUN bracis-19022 185 20 and and CCONJ bracis-19022 185 21 range range NOUN bracis-19022 185 22 of of ADP bracis-19022 185 23 vision vision NOUN bracis-19022 185 24 defined define VERB bracis-19022 185 25 by by ADP bracis-19022 185 26 [ [ PUNCT bracis-19022 185 27 13 13 NUM bracis-19022 185 28 ] ] PUNCT bracis-19022 185 29 . . PUNCT bracis-19022 186 1 well well INTJ bracis-19022 186 2 , , PUNCT bracis-19022 186 3 this this PRON bracis-19022 186 4 is be AUX bracis-19022 186 5 the the DET bracis-19022 186 6 most most ADV bracis-19022 186 7 challenging challenging ADJ bracis-19022 186 8 scenario scenario NOUN bracis-19022 186 9 for for ADP bracis-19022 186 10 the the DET bracis-19022 186 11 team team NOUN bracis-19022 186 12 of of ADP bracis-19022 186 13 configured configure VERB bracis-19022 186 14 robots robot NOUN bracis-19022 186 15 today today NOUN bracis-19022 186 16 . . PUNCT bracis-19022 187 1 thus thus ADV bracis-19022 187 2 , , PUNCT bracis-19022 187 3 if if SCONJ bracis-19022 187 4 satisfactory satisfactory ADJ bracis-19022 187 5 results result NOUN bracis-19022 187 6 were be AUX bracis-19022 187 7 obtained obtain VERB bracis-19022 187 8 in in ADP bracis-19022 187 9 this this DET bracis-19022 187 10 scenario scenario NOUN bracis-19022 187 11 , , PUNCT bracis-19022 187 12 in in ADP bracis-19022 187 13 better well ADJ bracis-19022 187 14 scenes scene NOUN bracis-19022 187 15 for for ADP bracis-19022 187 16 robots robot NOUN bracis-19022 187 17 , , PUNCT bracis-19022 187 18 the the DET bracis-19022 187 19 performance performance NOUN bracis-19022 187 20 tends tend VERB bracis-19022 187 21 to to PART bracis-19022 187 22 be be AUX bracis-19022 187 23 acceptable acceptable ADJ bracis-19022 187 24 as as ADV bracis-19022 187 25 well well ADV bracis-19022 187 26 . . PUNCT bracis-19022 188 1 4.2 4.2 NUM bracis-19022 188 2 result result NOUN bracis-19022 188 3 of of ADP bracis-19022 188 4 the the DET bracis-19022 188 5 classification classification NOUN bracis-19022 188 6 of of ADP bracis-19022 188 7 organizational organizational ADJ bracis-19022 188 8 structures structure NOUN bracis-19022 188 9 and and CCONJ bracis-19022 188 10 the the DET bracis-19022 188 11 random random ADJ bracis-19022 188 12 model model NOUN bracis-19022 188 13 for for ADP bracis-19022 188 14 our our PRON bracis-19022 188 15 proposed propose VERB bracis-19022 188 16 model model NOUN bracis-19022 188 17 , , PUNCT bracis-19022 188 18 we we PRON bracis-19022 188 19 train train VERB bracis-19022 188 20 our our PRON bracis-19022 188 21 dataset dataset NOUN bracis-19022 188 22 for for ADP bracis-19022 188 23 1000 1000 NUM bracis-19022 188 24 epochs epoch NOUN bracis-19022 188 25 with with ADP bracis-19022 188 26 the the DET bracis-19022 188 27 lot lot NOUN bracis-19022 188 28 size size NOUN bracis-19022 188 29 value value NOUN bracis-19022 188 30 of of ADP bracis-19022 188 31 32 32 NUM bracis-19022 188 32 . . PUNCT bracis-19022 189 1 our our PRON bracis-19022 189 2 model model NOUN bracis-19022 189 3 was be AUX bracis-19022 189 4 tested test VERB bracis-19022 189 5 to to PART bracis-19022 189 6 classify classify VERB bracis-19022 189 7 images image NOUN bracis-19022 189 8 that that PRON bracis-19022 189 9 were be AUX bracis-19022 189 10 not not PART bracis-19022 189 11 included include VERB bracis-19022 189 12 in in ADP bracis-19022 189 13 training training NOUN bracis-19022 189 14 or or CCONJ bracis-19022 189 15 validation validation NOUN bracis-19022 189 16 sets set NOUN bracis-19022 189 17 . . PUNCT bracis-19022 190 1 our our PRON bracis-19022 190 2 test test NOUN bracis-19022 190 3 suite suite NOUN bracis-19022 190 4 consists consist VERB bracis-19022 190 5 of of ADP bracis-19022 190 6 3750 3750 NUM bracis-19022 190 7 images image NOUN bracis-19022 190 8 , , PUNCT bracis-19022 190 9 with with ADP bracis-19022 190 10 750 750 NUM bracis-19022 190 11 from from ADP bracis-19022 190 12 each each DET bracis-19022 190 13 organizational organizational ADJ bracis-19022 190 14 paradigm paradigm NOUN bracis-19022 190 15 and and CCONJ bracis-19022 190 16 random random ADJ bracis-19022 190 17 model model NOUN bracis-19022 190 18 . . PUNCT bracis-19022 191 1 fig fig NOUN bracis-19022 191 2 . . PUNCT bracis-19022 192 1 6 6 NUM bracis-19022 192 2 . . X bracis-19022 192 3 confusion confusion NOUN bracis-19022 192 4 matrix matrix NOUN bracis-19022 192 5 . . PUNCT bracis-19022 193 1 full full ADJ bracis-19022 193 2 size size NOUN bracis-19022 193 3 image image NOUN bracis-19022 193 4 as as SCONJ bracis-19022 193 5 we we PRON bracis-19022 193 6 can can AUX bracis-19022 193 7 see see VERB bracis-19022 193 8 in in ADP bracis-19022 193 9 the the DET bracis-19022 193 10 confusion confusion NOUN bracis-19022 193 11 matrix matrix NOUN bracis-19022 193 12 presented present VERB bracis-19022 193 13 in in ADP bracis-19022 193 14 fig fig NOUN bracis-19022 193 15 . . PUNCT bracis-19022 193 16     SPACE bracis-19022 194 1 6 6 NUM bracis-19022 194 2 , , PUNCT bracis-19022 194 3 our our PRON bracis-19022 194 4 model model NOUN bracis-19022 194 5 obtained obtain VERB bracis-19022 194 6 an an DET bracis-19022 194 7 accuracy accuracy NOUN bracis-19022 194 8 of of ADP bracis-19022 194 9 0.6328 0.6328 NUM bracis-19022 194 10 . . PUNCT bracis-19022 195 1 if if SCONJ bracis-19022 195 2 we we PRON bracis-19022 195 3 were be AUX bracis-19022 195 4 to to PART bracis-19022 195 5 consider consider VERB bracis-19022 195 6 robots robot NOUN bracis-19022 195 7 drawing draw VERB bracis-19022 195 8 lots lot NOUN bracis-19022 195 9 to to PART bracis-19022 195 10 predict predict VERB bracis-19022 195 11 the the DET bracis-19022 195 12 paradigms paradigm NOUN bracis-19022 195 13 , , PUNCT bracis-19022 195 14 the the DET bracis-19022 195 15 probability probability NOUN bracis-19022 195 16 of of ADP bracis-19022 195 17 getting get VERB bracis-19022 195 18 it it PRON bracis-19022 195 19 right right ADV bracis-19022 195 20 would would AUX bracis-19022 195 21 be be AUX bracis-19022 195 22 \(20\%\ \(20\%\ NUM bracis-19022 195 23 ) ) PUNCT bracis-19022 195 24 , , PUNCT bracis-19022 195 25 while while SCONJ bracis-19022 195 26 our our PRON bracis-19022 195 27 model model NOUN bracis-19022 195 28 gets get VERB bracis-19022 195 29 a a DET bracis-19022 195 30 \(63.28\%\ \(63.28\%\ NOUN bracis-19022 195 31 ) ) PUNCT bracis-19022 195 32 hit hit VERB bracis-19022 195 33 odds odd NOUN bracis-19022 195 34 rate rate NOUN bracis-19022 195 35 . . PUNCT bracis-19022 196 1 analyzing analyze VERB bracis-19022 196 2 the the DET bracis-19022 196 3 classification classification NOUN bracis-19022 196 4 of of ADP bracis-19022 196 5 each each DET bracis-19022 196 6 paradigm paradigm NOUN bracis-19022 196 7 , , PUNCT bracis-19022 196 8 we we PRON bracis-19022 196 9 can can AUX bracis-19022 196 10 see see VERB bracis-19022 196 11 that that SCONJ bracis-19022 196 12 the the DET bracis-19022 196 13 random random ADJ bracis-19022 196 14 model model NOUN bracis-19022 196 15 and and CCONJ bracis-19022 196 16 the the DET bracis-19022 196 17 team team NOUN bracis-19022 196 18 obtained obtain VERB bracis-19022 196 19 a a DET bracis-19022 196 20 considerable considerable ADJ bracis-19022 196 21 rate rate NOUN bracis-19022 196 22 of of ADP bracis-19022 196 23 false false ADJ bracis-19022 196 24 positives positive NOUN bracis-19022 196 25 between between ADP bracis-19022 196 26 them they PRON bracis-19022 196 27 . . PUNCT bracis-19022 197 1 this this PRON bracis-19022 197 2 could could AUX bracis-19022 197 3 be be AUX bracis-19022 197 4 due due ADJ bracis-19022 197 5 to to ADP bracis-19022 197 6 the the DET bracis-19022 197 7 team team NOUN bracis-19022 197 8 paradigm paradigm NOUN bracis-19022 197 9 spreading spread VERB bracis-19022 197 10 the the DET bracis-19022 197 11 four four NUM bracis-19022 197 12 subteams subteam NOUN bracis-19022 197 13 across across ADP bracis-19022 197 14 the the DET bracis-19022 197 15 four four NUM bracis-19022 197 16 quadrants quadrant NOUN bracis-19022 197 17 of of ADP bracis-19022 197 18 the the DET bracis-19022 197 19 scenario scenario NOUN bracis-19022 197 20 . . PUNCT bracis-19022 198 1 for for ADP bracis-19022 198 2 high high ADJ bracis-19022 198 3 team team NOUN bracis-19022 198 4 communication communication NOUN bracis-19022 198 5 range range NOUN bracis-19022 198 6 values value NOUN bracis-19022 198 7 ( ( PUNCT bracis-19022 198 8 20 20 NUM bracis-19022 198 9 or or CCONJ bracis-19022 198 10 25 25 NUM bracis-19022 198 11 ) ) PUNCT bracis-19022 198 12 , , PUNCT bracis-19022 198 13 where where SCONJ bracis-19022 198 14 targets target NOUN bracis-19022 198 15 can can AUX bracis-19022 198 16 move move VERB bracis-19022 198 17 further far ADV bracis-19022 198 18 between between ADP bracis-19022 198 19 their their PRON bracis-19022 198 20 sub sub ADJ bracis-19022 198 21 - - ADJ bracis-19022 198 22 team team ADJ bracis-19022 198 23 members member NOUN bracis-19022 198 24 , , PUNCT bracis-19022 198 25 the the DET bracis-19022 198 26 team team NOUN bracis-19022 198 27 structure structure NOUN bracis-19022 198 28 begins begin VERB bracis-19022 198 29 to to PART bracis-19022 198 30 resemble resemble VERB bracis-19022 198 31 the the DET bracis-19022 198 32 random random ADJ bracis-19022 198 33 model model NOUN bracis-19022 198 34 . . PUNCT bracis-19022 199 1 some some DET bracis-19022 199 2 images image NOUN bracis-19022 199 3 of of ADP bracis-19022 199 4 the the DET bracis-19022 199 5 organizational organizational ADJ bracis-19022 199 6 paradigm paradigm NOUN bracis-19022 199 7 of of ADP bracis-19022 199 8 the the DET bracis-19022 199 9 hierarchy hierarchy NOUN bracis-19022 199 10 were be AUX bracis-19022 199 11 classified classify VERB bracis-19022 199 12 as as ADP bracis-19022 199 13 the the DET bracis-19022 199 14 coalition coalition NOUN bracis-19022 199 15 . . PUNCT bracis-19022 200 1 as as ADP bracis-19022 200 2 in in ADP bracis-19022 200 3 the the DET bracis-19022 200 4 coalition coalition NOUN bracis-19022 200 5 , , PUNCT bracis-19022 200 6 the the DET bracis-19022 200 7 number number NOUN bracis-19022 200 8 of of ADP bracis-19022 200 9 members member NOUN bracis-19022 200 10 in in ADP bracis-19022 200 11 each each DET bracis-19022 200 12 coalition coalition NOUN bracis-19022 200 13 can can AUX bracis-19022 200 14 be be AUX bracis-19022 200 15 unbalanced unbalanced ADJ bracis-19022 200 16 , , PUNCT bracis-19022 200 17 to to ADP bracis-19022 200 18 the the DET bracis-19022 200 19 point point NOUN bracis-19022 200 20 where where SCONJ bracis-19022 200 21 there there PRON bracis-19022 200 22 are be VERB bracis-19022 200 23 22 22 NUM bracis-19022 200 24 targets target NOUN bracis-19022 200 25 in in ADP bracis-19022 200 26 one one NUM bracis-19022 200 27 coalition coalition NOUN bracis-19022 200 28 and and CCONJ bracis-19022 200 29 only only ADV bracis-19022 200 30 two two NUM bracis-19022 200 31 in in ADP bracis-19022 200 32 another another PRON bracis-19022 200 33 . . PUNCT bracis-19022 201 1 thus thus ADV bracis-19022 201 2 , , PUNCT bracis-19022 201 3 in in ADP bracis-19022 201 4 these these DET bracis-19022 201 5 cases case NOUN bracis-19022 201 6 , , PUNCT bracis-19022 201 7 the the DET bracis-19022 201 8 hierarchy hierarchy NOUN bracis-19022 201 9 can can AUX bracis-19022 201 10 resemble resemble VERB bracis-19022 201 11 the the DET bracis-19022 201 12 coalition coalition NOUN bracis-19022 201 13 and and CCONJ bracis-19022 201 14 vice vice NOUN bracis-19022 201 15 versa versa ADV bracis-19022 201 16 , , PUNCT bracis-19022 201 17 especially especially ADV bracis-19022 201 18 if if SCONJ bracis-19022 201 19 the the DET bracis-19022 201 20 communication communication NOUN bracis-19022 201 21 range range NOUN bracis-19022 201 22 is be AUX bracis-19022 201 23 high high ADJ bracis-19022 201 24 , , PUNCT bracis-19022 201 25 as as SCONJ bracis-19022 201 26 the the DET bracis-19022 201 27 targets target NOUN bracis-19022 201 28 spread spread VERB bracis-19022 201 29 further far ADV bracis-19022 201 30 across across ADP bracis-19022 201 31 the the DET bracis-19022 201 32 environment environment NOUN bracis-19022 201 33 . . PUNCT bracis-19022 202 1 holarchy holarchy PROPN bracis-19022 202 2 was be AUX bracis-19022 202 3 also also ADV bracis-19022 202 4 classified classify VERB bracis-19022 202 5 as as ADP bracis-19022 202 6 a a DET bracis-19022 202 7 coalition coalition NOUN bracis-19022 202 8 due due ADP bracis-19022 202 9 to to ADP bracis-19022 202 10 the the DET bracis-19022 202 11 fact fact NOUN bracis-19022 202 12 that that SCONJ bracis-19022 202 13 they they PRON bracis-19022 202 14 have have AUX bracis-19022 202 15 a a DET bracis-19022 202 16 common common ADJ bracis-19022 202 17 characteristic characteristic NOUN bracis-19022 202 18 ; ; PUNCT bracis-19022 202 19 there there PRON bracis-19022 202 20 are be VERB bracis-19022 202 21 two two NUM bracis-19022 202 22 target target NOUN bracis-19022 202 23 groups group NOUN bracis-19022 202 24 in in ADP bracis-19022 202 25 the the DET bracis-19022 202 26 scenario scenario NOUN bracis-19022 202 27 . . PUNCT bracis-19022 203 1 however however ADV bracis-19022 203 2 , , PUNCT bracis-19022 203 3 while while SCONJ bracis-19022 203 4 one one PRON bracis-19022 203 5 has have VERB bracis-19022 203 6 the the DET bracis-19022 203 7 same same ADJ bracis-19022 203 8 amount amount NOUN bracis-19022 203 9 of of ADP bracis-19022 203 10 members member NOUN bracis-19022 203 11 , , PUNCT bracis-19022 203 12 the the DET bracis-19022 203 13 other other ADJ bracis-19022 203 14 may may AUX bracis-19022 203 15 contain contain VERB bracis-19022 203 16 unbalanced unbalanced ADJ bracis-19022 203 17 values value NOUN bracis-19022 203 18 . . PUNCT bracis-19022 204 1 therefore therefore ADV bracis-19022 204 2 , , PUNCT bracis-19022 204 3 for for ADP bracis-19022 204 4 scenarios scenario NOUN bracis-19022 204 5 where where SCONJ bracis-19022 204 6 there there PRON bracis-19022 204 7 were be VERB bracis-19022 204 8 the the DET bracis-19022 204 9 same same ADJ bracis-19022 204 10 amount amount NOUN bracis-19022 204 11 of of ADP bracis-19022 204 12 members member NOUN bracis-19022 204 13 or or CCONJ bracis-19022 204 14 approximate approximate ADJ bracis-19022 204 15 , , PUNCT bracis-19022 204 16 the the DET bracis-19022 204 17 model model NOUN bracis-19022 204 18 could could AUX bracis-19022 204 19 misclassify misclassify VERB bracis-19022 204 20 these these DET bracis-19022 204 21 two two NUM bracis-19022 204 22 paradigms paradigm NOUN bracis-19022 204 23 . . PUNCT bracis-19022 205 1 figure figure NOUN bracis-19022 205 2     SPACE bracis-19022 205 3 7 7 NUM bracis-19022 205 4 presents present VERB bracis-19022 205 5 the the DET bracis-19022 205 6 test test NOUN bracis-19022 205 7 step step NOUN bracis-19022 205 8 rating rating NOUN bracis-19022 205 9 report report NOUN bracis-19022 205 10 , , PUNCT bracis-19022 205 11 which which PRON bracis-19022 205 12 contains contain VERB bracis-19022 205 13 the the DET bracis-19022 205 14 accuracy accuracy NOUN bracis-19022 205 15 and and CCONJ bracis-19022 205 16 recall recall NOUN bracis-19022 205 17 for for ADP bracis-19022 205 18 each each DET bracis-19022 205 19 organizational organizational ADJ bracis-19022 205 20 and and CCONJ bracis-19022 205 21 random random ADJ bracis-19022 205 22 model model NOUN bracis-19022 205 23 . . PUNCT bracis-19022 206 1 the the DET bracis-19022 206 2 model model NOUN bracis-19022 206 3 had have VERB bracis-19022 206 4 the the DET bracis-19022 206 5 best good ADJ bracis-19022 206 6 accuracy accuracy NOUN bracis-19022 206 7 for for ADP bracis-19022 206 8 holarchy holarchy NOUN bracis-19022 206 9 ; ; PUNCT bracis-19022 206 10 that that PRON bracis-19022 206 11 is is ADV bracis-19022 206 12 , , PUNCT bracis-19022 206 13 when when SCONJ bracis-19022 206 14 it it PRON bracis-19022 206 15 predicts predict VERB bracis-19022 206 16 that that SCONJ bracis-19022 206 17 targets target NOUN bracis-19022 206 18 are be AUX bracis-19022 206 19 arranged arrange VERB bracis-19022 206 20 as as ADP bracis-19022 206 21 a a DET bracis-19022 206 22 holarchy holarchy NOUN bracis-19022 206 23 , , PUNCT bracis-19022 206 24 it it PRON bracis-19022 206 25 is be AUX bracis-19022 206 26 correct correct ADJ bracis-19022 206 27 at at ADP bracis-19022 206 28 \(93\%\ \(93\%\ NOUN bracis-19022 206 29 ) ) PUNCT bracis-19022 206 30 of of ADP bracis-19022 206 31 the the DET bracis-19022 206 32 time time NOUN bracis-19022 206 33 . . PUNCT bracis-19022 207 1 in in ADP bracis-19022 207 2 the the DET bracis-19022 207 3 case case NOUN bracis-19022 207 4 of of ADP bracis-19022 207 5 recall recall NOUN bracis-19022 207 6 , , PUNCT bracis-19022 207 7 the the DET bracis-19022 207 8 results result NOUN bracis-19022 207 9 were be AUX bracis-19022 207 10 close close ADJ bracis-19022 207 11 , , PUNCT bracis-19022 207 12 with with ADP bracis-19022 207 13 the the DET bracis-19022 207 14 exception exception NOUN bracis-19022 207 15 of of ADP bracis-19022 207 16 the the DET bracis-19022 207 17 coalition coalition NOUN bracis-19022 207 18 . . PUNCT bracis-19022 208 1 however however ADV bracis-19022 208 2 , , PUNCT bracis-19022 208 3 all all PRON bracis-19022 208 4 were be AUX bracis-19022 208 5 above above ADP bracis-19022 208 6 \(50\%\ \(50\%\ PRON bracis-19022 208 7 ) ) PUNCT bracis-19022 208 8 . . PUNCT bracis-19022 209 1 that that PRON bracis-19022 209 2 is is ADV bracis-19022 209 3 , , PUNCT bracis-19022 209 4 our our PRON bracis-19022 209 5 model model NOUN bracis-19022 209 6 correctly correctly ADV bracis-19022 209 7 identifies identify VERB bracis-19022 209 8 around around ADP bracis-19022 209 9 \(60\%\ \(60\%\ NOUN bracis-19022 209 10 ) ) PUNCT bracis-19022 209 11 most most ADJ bracis-19022 209 12 of of ADP bracis-19022 209 13 the the DET bracis-19022 209 14 target target NOUN bracis-19022 209 15 - - PUNCT bracis-19022 209 16 structured structure VERB bracis-19022 209 17 models model NOUN bracis-19022 209 18 . . PUNCT bracis-19022 210 1 fig fig NOUN bracis-19022 210 2 . . PUNCT bracis-19022 211 1 7 7 X bracis-19022 211 2 . . X bracis-19022 211 3 test test NOUN bracis-19022 211 4 step step NOUN bracis-19022 211 5 classification classification NOUN bracis-19022 211 6 report report NOUN bracis-19022 211 7 . . PUNCT bracis-19022 212 1 full full ADJ bracis-19022 212 2 size size NOUN bracis-19022 212 3 image image NOUN bracis-19022 212 4 4.3 4.3 NUM bracis-19022 212 5 results result NOUN bracis-19022 212 6 of of ADP bracis-19022 212 7 achieving achieve VERB bracis-19022 212 8 goals goal NOUN bracis-19022 212 9 for for ADP bracis-19022 212 10 each each DET bracis-19022 212 11 team team NOUN bracis-19022 212 12 one one NUM bracis-19022 212 13 hundred hundred NUM bracis-19022 212 14 times time NOUN bracis-19022 212 15 , , PUNCT bracis-19022 212 16 the the DET bracis-19022 212 17 models model NOUN bracis-19022 212 18 with with ADP bracis-19022 212 19 the the DET bracis-19022 212 20 robots robot NOUN bracis-19022 212 21 were be AUX bracis-19022 212 22 run run VERB bracis-19022 212 23 using use VERB bracis-19022 212 24 or or CCONJ bracis-19022 212 25 not not PART bracis-19022 212 26 the the DET bracis-19022 212 27 classification classification NOUN bracis-19022 212 28 approaches approach NOUN bracis-19022 212 29 for for ADP bracis-19022 212 30 selection selection NOUN bracis-19022 212 31 of of ADP bracis-19022 212 32 the the DET bracis-19022 212 33 containment containment NOUN bracis-19022 212 34 strategy strategy NOUN bracis-19022 212 35 . . PUNCT bracis-19022 213 1 after after ADP bracis-19022 213 2 that that PRON bracis-19022 213 3 , , PUNCT bracis-19022 213 4 the the DET bracis-19022 213 5 average average NOUN bracis-19022 213 6 of of ADP bracis-19022 213 7 their their PRON bracis-19022 213 8 values value NOUN bracis-19022 213 9 was be AUX bracis-19022 213 10 calculated calculate VERB bracis-19022 213 11 . . PUNCT bracis-19022 214 1 tables table NOUN bracis-19022 214 2     SPACE bracis-19022 214 3 1 1 NUM bracis-19022 214 4 , , PUNCT bracis-19022 214 5 2 2 NUM bracis-19022 214 6 , , PUNCT bracis-19022 214 7 3 3 NUM bracis-19022 214 8 , , PUNCT bracis-19022 214 9 4 4 NUM bracis-19022 214 10 , , PUNCT bracis-19022 214 11 and and CCONJ bracis-19022 214 12 5 5 NUM bracis-19022 214 13 present present VERB bracis-19022 214 14 the the DET bracis-19022 214 15 results result NOUN bracis-19022 214 16 of of ADP bracis-19022 214 17 the the DET bracis-19022 214 18 percentage percentage NOUN bracis-19022 214 19 of of ADP bracis-19022 214 20 environment environment NOUN bracis-19022 214 21 explored explore VERB bracis-19022 214 22 by by ADP bracis-19022 214 23 targets target NOUN bracis-19022 214 24 ( ( PUNCT bracis-19022 214 25 peet peet NOUN bracis-19022 214 26 ) ) PUNCT bracis-19022 214 27 and and CCONJ bracis-19022 214 28 the the DET bracis-19022 214 29 average average ADJ bracis-19022 214 30 number number NOUN bracis-19022 214 31 of of ADP bracis-19022 214 32 observed observe VERB bracis-19022 214 33 targets target NOUN bracis-19022 214 34 ( ( PUNCT bracis-19022 214 35 anot anot INTJ bracis-19022 214 36 ) ) PUNCT bracis-19022 214 37 with with ADP bracis-19022 214 38 robots robot NOUN bracis-19022 214 39 using use VERB bracis-19022 214 40 or or CCONJ bracis-19022 214 41 not not PART bracis-19022 214 42 the the DET bracis-19022 214 43 classifications classification NOUN bracis-19022 214 44 with with ADP bracis-19022 214 45 the the DET bracis-19022 214 46 containment containment NOUN bracis-19022 214 47 strategies strategy NOUN bracis-19022 214 48 for for ADP bracis-19022 214 49 each each DET bracis-19022 214 50 range range NOUN bracis-19022 214 51 of of ADP bracis-19022 214 52 target target NOUN bracis-19022 214 53 communication communication NOUN bracis-19022 214 54 . . PUNCT bracis-19022 215 1 table table NOUN bracis-19022 215 2 1 1 NUM bracis-19022 215 3 . . PUNCT bracis-19022 215 4 result result VERB bracis-19022 215 5 with with ADP bracis-19022 215 6 communication communication NOUN bracis-19022 215 7 range range NOUN bracis-19022 215 8 equal equal ADJ bracis-19022 215 9 to to ADP bracis-19022 215 10 5.full 5.full NUM bracis-19022 215 11 size size NOUN bracis-19022 215 12 table table NOUN bracis-19022 215 13 table table NOUN bracis-19022 215 14 2 2 NUM bracis-19022 215 15 . . X bracis-19022 215 16 result result VERB bracis-19022 215 17 with with ADP bracis-19022 215 18 communication communication NOUN bracis-19022 215 19 range range NOUN bracis-19022 215 20 equal equal ADJ bracis-19022 215 21 to to ADP bracis-19022 215 22 10.full 10.full NUM bracis-19022 215 23 size size NOUN bracis-19022 215 24 table table NOUN bracis-19022 215 25 table table NOUN bracis-19022 215 26 3 3 NUM bracis-19022 215 27 . . PUNCT bracis-19022 215 28 result result VERB bracis-19022 215 29 with with ADP bracis-19022 215 30 communication communication NOUN bracis-19022 215 31 range range NOUN bracis-19022 215 32 equal equal ADJ bracis-19022 215 33 to to ADP bracis-19022 215 34 15.full 15.full NUM bracis-19022 215 35 size size NOUN bracis-19022 215 36 table table NOUN bracis-19022 215 37 table table NOUN bracis-19022 215 38 4 4 NUM bracis-19022 215 39 . . NOUN bracis-19022 215 40 result result VERB bracis-19022 215 41 with with ADP bracis-19022 215 42 communication communication NOUN bracis-19022 215 43 range range NOUN bracis-19022 215 44 equal equal ADJ bracis-19022 215 45 to to ADP bracis-19022 215 46 20.full 20.full NUM bracis-19022 215 47 size size NOUN bracis-19022 215 48 table table NOUN bracis-19022 215 49 table table NOUN bracis-19022 215 50 5 5 NUM bracis-19022 215 51 . . PUNCT bracis-19022 215 52 result result VERB bracis-19022 215 53 with with ADP bracis-19022 215 54 communication communication NOUN bracis-19022 215 55 range range NOUN bracis-19022 215 56 equal equal ADJ bracis-19022 215 57 to to ADP bracis-19022 215 58 25.full 25.full NUM bracis-19022 215 59 size size NOUN bracis-19022 215 60 table table NOUN bracis-19022 215 61 note note VERB bracis-19022 215 62 that that SCONJ bracis-19022 215 63 in in ADP bracis-19022 215 64 scenarios scenario NOUN bracis-19022 215 65 where where SCONJ bracis-19022 215 66 robots robot NOUN bracis-19022 215 67 used use VERB bracis-19022 215 68 these these DET bracis-19022 215 69 strategies strategy NOUN bracis-19022 215 70 , , PUNCT bracis-19022 215 71 targets target NOUN bracis-19022 215 72 had have VERB bracis-19022 215 73 the the DET bracis-19022 215 74 lowest low ADJ bracis-19022 215 75 peet peet NOUN bracis-19022 215 76 for for ADP bracis-19022 215 77 any any DET bracis-19022 215 78 communication communication NOUN bracis-19022 215 79 range range NOUN bracis-19022 215 80 when when SCONJ bracis-19022 215 81 compared compare VERB bracis-19022 215 82 to to ADP bracis-19022 215 83 scenarios scenario NOUN bracis-19022 215 84 where where SCONJ bracis-19022 215 85 robots robot NOUN bracis-19022 215 86 did do AUX bracis-19022 215 87 not not PART bracis-19022 215 88 use use VERB bracis-19022 215 89 them they PRON bracis-19022 215 90 . . PUNCT bracis-19022 216 1 this this PRON bracis-19022 216 2 means mean VERB bracis-19022 216 3 that that SCONJ bracis-19022 216 4 robots robot NOUN bracis-19022 216 5 that that PRON bracis-19022 216 6 used use VERB bracis-19022 216 7 classification classification NOUN bracis-19022 216 8 approaches approach NOUN bracis-19022 216 9 with with ADP bracis-19022 216 10 containment containment NOUN bracis-19022 216 11 strategies strategy NOUN bracis-19022 216 12 were be AUX bracis-19022 216 13 more more ADV bracis-19022 216 14 efficient efficient ADJ bracis-19022 216 15 in in ADP bracis-19022 216 16 preventing prevent VERB bracis-19022 216 17 the the DET bracis-19022 216 18 progress progress NOUN bracis-19022 216 19 of of ADP bracis-19022 216 20 exploration exploration NOUN bracis-19022 216 21 of of ADP bracis-19022 216 22 the the DET bracis-19022 216 23 environment environment NOUN bracis-19022 216 24 by by ADP bracis-19022 216 25 the the DET bracis-19022 216 26 targets target NOUN bracis-19022 216 27 . . PUNCT bracis-19022 217 1 in in ADP bracis-19022 217 2 hierarchy hierarchy NOUN bracis-19022 217 3 and and CCONJ bracis-19022 217 4 holarchy holarchy NOUN bracis-19022 217 5 , , PUNCT bracis-19022 217 6 it it PRON bracis-19022 217 7 was be AUX bracis-19022 217 8 observed observe VERB bracis-19022 217 9 in in ADP bracis-19022 217 10 the the DET bracis-19022 217 11 behavior behavior NOUN bracis-19022 217 12 of of ADP bracis-19022 217 13 the the DET bracis-19022 217 14 targets target NOUN bracis-19022 217 15 that that PRON bracis-19022 217 16 when when SCONJ bracis-19022 217 17 agents agent NOUN bracis-19022 217 18 with with ADP bracis-19022 217 19 authority authority NOUN bracis-19022 217 20 over over ADP bracis-19022 217 21 them they PRON bracis-19022 217 22 were be AUX bracis-19022 217 23 disqualified disqualify VERB bracis-19022 217 24 , , PUNCT bracis-19022 217 25 the the DET bracis-19022 217 26 targets target NOUN bracis-19022 217 27 remained remain VERB bracis-19022 217 28 around around ADP bracis-19022 217 29 the the DET bracis-19022 217 30 last last ADJ bracis-19022 217 31 location location NOUN bracis-19022 217 32 passed pass VERB bracis-19022 217 33 by by ADP bracis-19022 217 34 their their PRON bracis-19022 217 35 coordinators coordinator NOUN bracis-19022 217 36 . . PUNCT bracis-19022 218 1 in in ADP bracis-19022 218 2 the the DET bracis-19022 218 3 team team NOUN bracis-19022 218 4 and and CCONJ bracis-19022 218 5 coalition coalition NOUN bracis-19022 218 6 , , PUNCT bracis-19022 218 7 the the DET bracis-19022 218 8 behavior behavior NOUN bracis-19022 218 9 of of ADP bracis-19022 218 10 the the DET bracis-19022 218 11 agents agent NOUN bracis-19022 218 12 who who PRON bracis-19022 218 13 departed depart VERB bracis-19022 218 14 from from ADP bracis-19022 218 15 communication communication NOUN bracis-19022 218 16 with with ADP bracis-19022 218 17 their their PRON bracis-19022 218 18 team team NOUN bracis-19022 218 19 or or CCONJ bracis-19022 218 20 coalition coalition NOUN bracis-19022 218 21 was be AUX bracis-19022 218 22 also also ADV bracis-19022 218 23 to to PART bracis-19022 218 24 walk walk VERB bracis-19022 218 25 around around ADP bracis-19022 218 26 the the DET bracis-19022 218 27 last last ADJ bracis-19022 218 28 location location NOUN bracis-19022 218 29 where where SCONJ bracis-19022 218 30 they they PRON bracis-19022 218 31 had have VERB bracis-19022 218 32 communication communication NOUN bracis-19022 218 33 with with ADP bracis-19022 218 34 their their PRON bracis-19022 218 35 sub sub NOUN bracis-19022 218 36 - - NOUN bracis-19022 218 37 team team NOUN bracis-19022 218 38 or or CCONJ bracis-19022 218 39 coalition coalition NOUN bracis-19022 218 40 . . PUNCT bracis-19022 219 1 in in ADP bracis-19022 219 2 some some DET bracis-19022 219 3 cases case NOUN bracis-19022 219 4 , , PUNCT bracis-19022 219 5 it it PRON bracis-19022 219 6 was be AUX bracis-19022 219 7 possible possible ADJ bracis-19022 219 8 for for SCONJ bracis-19022 219 9 this this DET bracis-19022 219 10 isolated isolated ADJ bracis-19022 219 11 agent agent NOUN bracis-19022 219 12 to to PART bracis-19022 219 13 meet meet VERB bracis-19022 219 14 again again ADV bracis-19022 219 15 with with ADP bracis-19022 219 16 his his PRON bracis-19022 219 17 group group NOUN bracis-19022 219 18 , , PUNCT bracis-19022 219 19 while while SCONJ bracis-19022 219 20 the the DET bracis-19022 219 21 rest rest NOUN bracis-19022 219 22 continued continue VERB bracis-19022 219 23 with with ADP bracis-19022 219 24 the the DET bracis-19022 219 25 objective objective NOUN bracis-19022 219 26 of of ADP bracis-19022 219 27 exploring explore VERB bracis-19022 219 28 the the DET bracis-19022 219 29 environment environment NOUN bracis-19022 219 30 . . PUNCT bracis-19022 220 1 the the DET bracis-19022 220 2 results result NOUN bracis-19022 220 3 for for ADP bracis-19022 220 4 the the DET bracis-19022 220 5 anot anot PROPN bracis-19022 220 6 for for ADP bracis-19022 220 7 each each DET bracis-19022 220 8 strategy strategy NOUN bracis-19022 220 9 are be AUX bracis-19022 220 10 not not PART bracis-19022 220 11 significantly significantly ADV bracis-19022 220 12 different different ADJ bracis-19022 220 13 . . PUNCT bracis-19022 221 1 but but CCONJ bracis-19022 221 2 , , PUNCT bracis-19022 221 3 the the DET bracis-19022 221 4 hierarchy hierarchy NOUN bracis-19022 221 5 and and CCONJ bracis-19022 221 6 holarchy holarchy NOUN bracis-19022 221 7 were be AUX bracis-19022 221 8 observed observe VERB bracis-19022 221 9 because because SCONJ bracis-19022 221 10 the the DET bracis-19022 221 11 targets target NOUN bracis-19022 221 12 are be AUX bracis-19022 221 13 only only ADV bracis-19022 221 14 circling circle VERB bracis-19022 221 15 in in ADP bracis-19022 221 16 the the DET bracis-19022 221 17 last last ADJ bracis-19022 221 18 location location NOUN bracis-19022 221 19 passed pass VERB bracis-19022 221 20 by by ADP bracis-19022 221 21 their their PRON bracis-19022 221 22 coordinators coordinator NOUN bracis-19022 221 23 or or CCONJ bracis-19022 221 24 sub sub NOUN bracis-19022 221 25 - - NOUN bracis-19022 221 26 coordinators coordinator NOUN bracis-19022 221 27 when when SCONJ bracis-19022 221 28 these these PRON bracis-19022 221 29 are be AUX bracis-19022 221 30 disabled disable VERB bracis-19022 221 31 by by ADP bracis-19022 221 32 robots robot NOUN bracis-19022 221 33 , , PUNCT bracis-19022 221 34 which which PRON bracis-19022 221 35 facilitates facilitate VERB bracis-19022 221 36 the the DET bracis-19022 221 37 observation observation NOUN bracis-19022 221 38 of of ADP bracis-19022 221 39 the the DET bracis-19022 221 40 robot robot NOUN bracis-19022 221 41 team team NOUN bracis-19022 221 42 . . PUNCT bracis-19022 222 1 however however ADV bracis-19022 222 2 , , PUNCT bracis-19022 222 3 in in ADP bracis-19022 222 4 the the DET bracis-19022 222 5 case case NOUN bracis-19022 222 6 of of ADP bracis-19022 222 7 team team NOUN bracis-19022 222 8 and and CCONJ bracis-19022 222 9 coalition coalition NOUN bracis-19022 222 10 , , PUNCT bracis-19022 222 11 while while SCONJ bracis-19022 222 12 some some DET bracis-19022 222 13 robots robot NOUN bracis-19022 222 14 seek seek VERB bracis-19022 222 15 to to PART bracis-19022 222 16 break break VERB bracis-19022 222 17 communication communication NOUN bracis-19022 222 18 , , PUNCT bracis-19022 222 19 others other NOUN bracis-19022 222 20 seek seek VERB bracis-19022 222 21 to to PART bracis-19022 222 22 locate locate VERB bracis-19022 222 23 other other ADJ bracis-19022 222 24 teams team NOUN bracis-19022 222 25 and and CCONJ bracis-19022 222 26 coalitions coalition NOUN bracis-19022 222 27 across across ADP bracis-19022 222 28 the the DET bracis-19022 222 29 scene scene NOUN bracis-19022 222 30 . . PUNCT bracis-19022 223 1 thus thus ADV bracis-19022 223 2 , , PUNCT bracis-19022 223 3 the the DET bracis-19022 223 4 number number NOUN bracis-19022 223 5 of of ADP bracis-19022 223 6 robots robot NOUN bracis-19022 223 7 for for ADP bracis-19022 223 8 observation observation NOUN bracis-19022 223 9 of of ADP bracis-19022 223 10 targets target NOUN bracis-19022 223 11 is be AUX bracis-19022 223 12 lower low ADJ bracis-19022 223 13 than than ADP bracis-19022 223 14 the the DET bracis-19022 223 15 scenario scenario NOUN bracis-19022 223 16 where where SCONJ bracis-19022 223 17 robots robot NOUN bracis-19022 223 18 did do AUX bracis-19022 223 19 not not PART bracis-19022 223 20 use use VERB bracis-19022 223 21 classification classification NOUN bracis-19022 223 22 approaches approach NOUN bracis-19022 223 23 . . PUNCT bracis-19022 224 1 a a DET bracis-19022 224 2 containment containment NOUN bracis-19022 224 3 strategy strategy NOUN bracis-19022 224 4 for for ADP bracis-19022 224 5 the the DET bracis-19022 224 6 random random ADJ bracis-19022 224 7 structure structure NOUN bracis-19022 224 8 was be AUX bracis-19022 224 9 not not PART bracis-19022 224 10 proposed propose VERB bracis-19022 224 11 , , PUNCT bracis-19022 224 12 as as SCONJ bracis-19022 224 13 the the DET bracis-19022 224 14 movement movement NOUN bracis-19022 224 15 of of ADP bracis-19022 224 16 targets target NOUN bracis-19022 224 17 in in ADP bracis-19022 224 18 this this DET bracis-19022 224 19 structure structure NOUN bracis-19022 224 20 is be AUX bracis-19022 224 21 unpredictable unpredictable ADJ bracis-19022 224 22 . . PUNCT bracis-19022 225 1 so so ADV bracis-19022 225 2 the the DET bracis-19022 225 3 robots robot NOUN bracis-19022 225 4 remained remain VERB bracis-19022 225 5 in in ADP bracis-19022 225 6 the the DET bracis-19022 225 7 approach approach NOUN bracis-19022 225 8 proposed propose VERB bracis-19022 225 9 by by ADP bracis-19022 225 10 [ [ X bracis-19022 225 11 14 14 NUM bracis-19022 225 12 ] ] PUNCT bracis-19022 225 13 . . PUNCT bracis-19022 226 1 however however ADV bracis-19022 226 2 , , PUNCT bracis-19022 226 3 it it PRON bracis-19022 226 4 was be AUX bracis-19022 226 5 evaluated evaluate VERB bracis-19022 226 6 along along ADP bracis-19022 226 7 with with ADP bracis-19022 226 8 the the DET bracis-19022 226 9 paradigms paradigms NOUN bracis-19022 226 10 in in ADP bracis-19022 226 11 order order NOUN bracis-19022 226 12 to to PART bracis-19022 226 13 compare compare VERB bracis-19022 226 14 the the DET bracis-19022 226 15 achievement achievement NOUN bracis-19022 226 16 of of ADP bracis-19022 226 17 the the DET bracis-19022 226 18 goals goal NOUN bracis-19022 226 19 with with ADP bracis-19022 226 20 the the DET bracis-19022 226 21 targets target NOUN bracis-19022 226 22 being be AUX bracis-19022 226 23 organized organize VERB bracis-19022 226 24 or or CCONJ bracis-19022 226 25 not not PART bracis-19022 226 26 . . PUNCT bracis-19022 227 1 regarding regard VERB bracis-19022 227 2 the the DET bracis-19022 227 3 avoidance avoidance NOUN bracis-19022 227 4 of of ADP bracis-19022 227 5 observers observer NOUN bracis-19022 227 6 , , PUNCT bracis-19022 227 7 the the DET bracis-19022 227 8 random random ADJ bracis-19022 227 9 strategy strategy NOUN bracis-19022 227 10 was be AUX bracis-19022 227 11 the the DET bracis-19022 227 12 best good ADJ bracis-19022 227 13 since since SCONJ bracis-19022 227 14 the the DET bracis-19022 227 15 average average ADJ bracis-19022 227 16 number number NOUN bracis-19022 227 17 of of ADP bracis-19022 227 18 observed observe VERB bracis-19022 227 19 targets target NOUN bracis-19022 227 20 ( ( PUNCT bracis-19022 227 21 anot anot INTJ bracis-19022 227 22 ) ) PUNCT bracis-19022 227 23 was be AUX bracis-19022 227 24 lower low ADJ bracis-19022 227 25 for for ADP bracis-19022 227 26 this this DET bracis-19022 227 27 strategy strategy NOUN bracis-19022 227 28 ; ; PUNCT bracis-19022 227 29 that that PRON bracis-19022 227 30 is is ADV bracis-19022 227 31 , , PUNCT bracis-19022 227 32 the the DET bracis-19022 227 33 targets target NOUN bracis-19022 227 34 were be AUX bracis-19022 227 35 a a DET bracis-19022 227 36 little little ADV bracis-19022 227 37 better well ADJ bracis-19022 227 38 at at ADP bracis-19022 227 39 avoiding avoid VERB bracis-19022 227 40 the the DET bracis-19022 227 41 robots robot NOUN bracis-19022 227 42 since since SCONJ bracis-19022 227 43 in in ADP bracis-19022 227 44 this this DET bracis-19022 227 45 strategy strategy NOUN bracis-19022 227 46 , , PUNCT bracis-19022 227 47 the the DET bracis-19022 227 48 targets target NOUN bracis-19022 227 49 were be AUX bracis-19022 227 50 more more ADV bracis-19022 227 51 spread spread VERB bracis-19022 227 52 out out ADP bracis-19022 227 53 , , PUNCT bracis-19022 227 54 while while SCONJ bracis-19022 227 55 the the DET bracis-19022 227 56 organizational organizational ADJ bracis-19022 227 57 targets target NOUN bracis-19022 227 58 are be AUX bracis-19022 227 59 closer close ADJ bracis-19022 227 60 to to PART bracis-19022 227 61 communicate communicate VERB bracis-19022 227 62 . . PUNCT bracis-19022 228 1 for for ADP bracis-19022 228 2 the the DET bracis-19022 228 3 purpose purpose NOUN bracis-19022 228 4 of of ADP bracis-19022 228 5 exploring explore VERB bracis-19022 228 6 the the DET bracis-19022 228 7 environment environment NOUN bracis-19022 228 8 , , PUNCT bracis-19022 228 9 organizational organizational ADJ bracis-19022 228 10 strategies strategy NOUN bracis-19022 228 11 were be AUX bracis-19022 228 12 better well ADJ bracis-19022 228 13 , , PUNCT bracis-19022 228 14 as as SCONJ bracis-19022 228 15 they they PRON bracis-19022 228 16 reached reach VERB bracis-19022 228 17 higher high ADJ bracis-19022 228 18 percentages percentage NOUN bracis-19022 228 19 of of ADP bracis-19022 228 20 exploration exploration NOUN bracis-19022 228 21 , , PUNCT bracis-19022 228 22 except except SCONJ bracis-19022 228 23 for for ADP bracis-19022 228 24 hierarchy hierarchy NOUN bracis-19022 228 25 and and CCONJ bracis-19022 228 26 holarchy holarchy NOUN bracis-19022 228 27 that that PRON bracis-19022 228 28 obtained obtain VERB bracis-19022 228 29 better well ADJ bracis-19022 228 30 results result NOUN bracis-19022 228 31 from from ADP bracis-19022 228 32 a a DET bracis-19022 228 33 communication communication NOUN bracis-19022 228 34 reach reach VERB bracis-19022 228 35 equal equal ADJ bracis-19022 228 36 to to ADP bracis-19022 228 37 or or CCONJ bracis-19022 228 38 greater great ADJ bracis-19022 228 39 than than ADP bracis-19022 228 40 15 15 NUM bracis-19022 228 41 and and CCONJ bracis-19022 228 42 10 10 NUM bracis-19022 228 43 , , PUNCT bracis-19022 228 44 respectively respectively ADV bracis-19022 228 45 . . PUNCT bracis-19022 229 1 because because SCONJ bracis-19022 229 2 the the DET bracis-19022 229 3 targets target NOUN bracis-19022 229 4 in in ADP bracis-19022 229 5 these these DET bracis-19022 229 6 strategies strategy NOUN bracis-19022 229 7 are be AUX bracis-19022 229 8 organized organize VERB bracis-19022 229 9 for for ADP bracis-19022 229 10 this this DET bracis-19022 229 11 purpose purpose NOUN bracis-19022 229 12 , , PUNCT bracis-19022 229 13 as as SCONJ bracis-19022 229 14 they they PRON bracis-19022 229 15 focus focus VERB bracis-19022 229 16 on on ADP bracis-19022 229 17 regions region NOUN bracis-19022 229 18 that that PRON bracis-19022 229 19 have have AUX bracis-19022 229 20 not not PART bracis-19022 229 21 been be AUX bracis-19022 229 22 explored explore VERB bracis-19022 229 23 so so ADV bracis-19022 229 24 far far ADV bracis-19022 229 25 , , PUNCT bracis-19022 229 26 while while SCONJ bracis-19022 229 27 the the DET bracis-19022 229 28 random random ADJ bracis-19022 229 29 one one NOUN bracis-19022 229 30 can can AUX bracis-19022 229 31 repeat repeat VERB bracis-19022 229 32 areas area NOUN bracis-19022 229 33 already already ADV bracis-19022 229 34 explored explore VERB bracis-19022 229 35 more more ADJ bracis-19022 229 36 than than ADP bracis-19022 229 37 once once ADV bracis-19022 229 38 . . PUNCT bracis-19022 230 1 in in ADP bracis-19022 230 2 addition addition NOUN bracis-19022 230 3 , , PUNCT bracis-19022 230 4 team team NOUN bracis-19022 230 5 and and CCONJ bracis-19022 230 6 coalition coalition NOUN bracis-19022 230 7 obtained obtain VERB bracis-19022 230 8 the the DET bracis-19022 230 9 best good ADJ bracis-19022 230 10 results result NOUN bracis-19022 230 11 for for ADP bracis-19022 230 12 exploration exploration NOUN bracis-19022 230 13 , , PUNCT bracis-19022 230 14 as as SCONJ bracis-19022 230 15 they they PRON bracis-19022 230 16 do do AUX bracis-19022 230 17 not not PART bracis-19022 230 18 have have VERB bracis-19022 230 19 an an DET bracis-19022 230 20 organizational organizational ADJ bracis-19022 230 21 structure structure NOUN bracis-19022 230 22 as as SCONJ bracis-19022 230 23 restricted restrict VERB bracis-19022 230 24 as as ADP bracis-19022 230 25 hierarchy hierarchy NOUN bracis-19022 230 26 and and CCONJ bracis-19022 230 27 holarchy holarchy NOUN bracis-19022 230 28 . . PUNCT bracis-19022 231 1 thus thus ADV bracis-19022 231 2 , , PUNCT bracis-19022 231 3 they they PRON bracis-19022 231 4 have have VERB bracis-19022 231 5 more more ADJ bracis-19022 231 6 freedom freedom NOUN bracis-19022 231 7 to to PART bracis-19022 231 8 spread spread VERB bracis-19022 231 9 out out ADP bracis-19022 231 10 across across ADP bracis-19022 231 11 the the DET bracis-19022 231 12 environment environment NOUN bracis-19022 231 13 in in ADP bracis-19022 231 14 order order NOUN bracis-19022 231 15 to to PART bracis-19022 231 16 reach reach VERB bracis-19022 231 17 their their PRON bracis-19022 231 18 goal goal NOUN bracis-19022 231 19 . . PUNCT bracis-19022 232 1 the the DET bracis-19022 232 2 random random ADJ bracis-19022 232 3 model model NOUN bracis-19022 232 4 is be AUX bracis-19022 232 5 not not PART bracis-19022 232 6 affected affect VERB bracis-19022 232 7 by by ADP bracis-19022 232 8 the the DET bracis-19022 232 9 change change NOUN bracis-19022 232 10 in in ADP bracis-19022 232 11 communication communication NOUN bracis-19022 232 12 range range NOUN bracis-19022 232 13 , , PUNCT bracis-19022 232 14 as as SCONJ bracis-19022 232 15 this this DET bracis-19022 232 16 strategy strategy NOUN bracis-19022 232 17 does do AUX bracis-19022 232 18 not not PART bracis-19022 232 19 use use VERB bracis-19022 232 20 communication communication NOUN bracis-19022 232 21 ; ; PUNCT bracis-19022 232 22 the the DET bracis-19022 232 23 targets target NOUN bracis-19022 232 24 just just ADV bracis-19022 232 25 walk walk VERB bracis-19022 232 26 randomly randomly ADV bracis-19022 232 27 . . PUNCT bracis-19022 233 1 5 5 NUM bracis-19022 233 2 conclusion conclusion NOUN bracis-19022 233 3 the the DET bracis-19022 233 4 contribution contribution NOUN bracis-19022 233 5 given give VERB bracis-19022 233 6 by by ADP bracis-19022 233 7 this this DET bracis-19022 233 8 research research NOUN bracis-19022 233 9 is be AUX bracis-19022 233 10 to to PART bracis-19022 233 11 show show VERB bracis-19022 233 12 how how SCONJ bracis-19022 233 13 the the DET bracis-19022 233 14 use use NOUN bracis-19022 233 15 of of ADP bracis-19022 233 16 computer computer NOUN bracis-19022 233 17 vision vision NOUN bracis-19022 233 18 enables enable VERB bracis-19022 233 19 the the DET bracis-19022 233 20 classification classification NOUN bracis-19022 233 21 of of ADP bracis-19022 233 22 organizational organizational ADJ bracis-19022 233 23 structures structure NOUN bracis-19022 233 24 in in ADP bracis-19022 233 25 multi multi ADJ bracis-19022 233 26 - - ADJ bracis-19022 233 27 agent agent ADJ bracis-19022 233 28 simulations simulation NOUN bracis-19022 233 29 , , PUNCT bracis-19022 233 30 which which PRON bracis-19022 233 31 until until ADP bracis-19022 233 32 now now ADV bracis-19022 233 33 had have AUX bracis-19022 233 34 not not PART bracis-19022 233 35 been be AUX bracis-19022 233 36 proposed propose VERB bracis-19022 233 37 . . PUNCT bracis-19022 234 1 in in ADP bracis-19022 234 2 addition addition NOUN bracis-19022 234 3 to to ADP bracis-19022 234 4 introducing introduce VERB bracis-19022 234 5 new new ADJ bracis-19022 234 6 strategies strategy NOUN bracis-19022 234 7 and and CCONJ bracis-19022 234 8 objectives objective NOUN bracis-19022 234 9 to to ADP bracis-19022 234 10 targets target NOUN bracis-19022 234 11 and and CCONJ bracis-19022 234 12 robots robot NOUN bracis-19022 234 13 in in ADP bracis-19022 234 14 the the DET bracis-19022 234 15 cmommt cmommt NOUN bracis-19022 234 16 problem problem NOUN bracis-19022 234 17 . . PUNCT bracis-19022 235 1 our our PRON bracis-19022 235 2 classification classification NOUN bracis-19022 235 3 approach approach NOUN bracis-19022 235 4 showed show VERB bracis-19022 235 5 satisfactory satisfactory ADJ bracis-19022 235 6 results result NOUN bracis-19022 235 7 when when SCONJ bracis-19022 235 8 compared compare VERB bracis-19022 235 9 to to ADP bracis-19022 235 10 drawing draw VERB bracis-19022 235 11 lots lot NOUN bracis-19022 235 12 since since SCONJ bracis-19022 235 13 the the DET bracis-19022 235 14 model model NOUN bracis-19022 235 15 obtained obtain VERB bracis-19022 235 16 an an DET bracis-19022 235 17 accuracy accuracy NOUN bracis-19022 235 18 of of ADP bracis-19022 235 19 \(63.28\%\ \(63.28\%\ NOUN bracis-19022 235 20 ) ) PUNCT bracis-19022 235 21 . . PUNCT bracis-19022 236 1 our our PRON bracis-19022 236 2 containment containment NOUN bracis-19022 236 3 approaches approach NOUN bracis-19022 236 4 also also ADV bracis-19022 236 5 showed show VERB bracis-19022 236 6 promising promising ADJ bracis-19022 236 7 results result NOUN bracis-19022 236 8 for for ADP bracis-19022 236 9 the the DET bracis-19022 236 10 robots robot NOUN bracis-19022 236 11 team team NOUN bracis-19022 236 12 in in ADP bracis-19022 236 13 terms term NOUN bracis-19022 236 14 of of ADP bracis-19022 236 15 exploration exploration NOUN bracis-19022 236 16 of of ADP bracis-19022 236 17 the the DET bracis-19022 236 18 environment environment NOUN bracis-19022 236 19 , , PUNCT bracis-19022 236 20 allowing allow VERB bracis-19022 236 21 them they PRON bracis-19022 236 22 to to PART bracis-19022 236 23 minimize minimize VERB bracis-19022 236 24 the the DET bracis-19022 236 25 percentage percentage NOUN bracis-19022 236 26 of of ADP bracis-19022 236 27 the the DET bracis-19022 236 28 territory territory NOUN bracis-19022 236 29 explored explore VERB bracis-19022 236 30 by by ADP bracis-19022 236 31 the the DET bracis-19022 236 32 targets target NOUN bracis-19022 236 33 and and CCONJ bracis-19022 236 34 thus thus ADV bracis-19022 236 35 avoid avoid VERB bracis-19022 236 36 further further ADJ bracis-19022 236 37 damage damage NOUN bracis-19022 236 38 to to ADP bracis-19022 236 39 the the DET bracis-19022 236 40 scenarios scenario NOUN bracis-19022 236 41 that that SCONJ bracis-19022 236 42 the the DET bracis-19022 236 43 targets target NOUN bracis-19022 236 44 could could AUX bracis-19022 236 45 cause cause VERB bracis-19022 236 46 . . PUNCT bracis-19022 237 1 in in ADP bracis-19022 237 2 the the DET bracis-19022 237 3 anot anot PROPN bracis-19022 237 4 issue issue NOUN bracis-19022 237 5 , , PUNCT bracis-19022 237 6 hierarchy hierarchy NOUN bracis-19022 237 7 and and CCONJ bracis-19022 237 8 holarchy holarchy NOUN bracis-19022 237 9 had have VERB bracis-19022 237 10 the the DET bracis-19022 237 11 best good ADJ bracis-19022 237 12 results result NOUN bracis-19022 237 13 , , PUNCT bracis-19022 237 14 while while SCONJ bracis-19022 237 15 the the DET bracis-19022 237 16 team team NOUN bracis-19022 237 17 and and CCONJ bracis-19022 237 18 coalition coalition NOUN bracis-19022 237 19 containment containment NOUN bracis-19022 237 20 strategies strategy NOUN bracis-19022 237 21 performed perform VERB bracis-19022 237 22 less less ADJ bracis-19022 237 23 than than ADP bracis-19022 237 24 the the DET bracis-19022 237 25 performance performance NOUN bracis-19022 237 26 obtained obtain VERB bracis-19022 237 27 by by ADP bracis-19022 237 28 robots robot NOUN bracis-19022 237 29 that that PRON bracis-19022 237 30 did do AUX bracis-19022 237 31 not not PART bracis-19022 237 32 use use VERB bracis-19022 237 33 the the DET bracis-19022 237 34 containment containment NOUN bracis-19022 237 35 strategies strategy NOUN bracis-19022 237 36 but but CCONJ bracis-19022 237 37 used use VERB bracis-19022 237 38 the the DET bracis-19022 237 39 method method NOUN bracis-19022 237 40 proposed propose VERB bracis-19022 237 41 by by ADP bracis-19022 237 42 [ [ X bracis-19022 237 43 14 14 NUM bracis-19022 237 44 ] ] PUNCT bracis-19022 237 45 . . PUNCT bracis-19022 238 1 furthermore furthermore ADV bracis-19022 238 2 , , PUNCT bracis-19022 238 3 in in ADP bracis-19022 238 4 the the DET bracis-19022 238 5 case case NOUN bracis-19022 238 6 of of ADP bracis-19022 238 7 targets target NOUN bracis-19022 238 8 , , PUNCT bracis-19022 238 9 our our PRON bracis-19022 238 10 distance distance NOUN bracis-19022 238 11 - - PUNCT bracis-19022 238 12 to to ADP bracis-19022 238 13 - - PUNCT bracis-19022 238 14 target target NOUN bracis-19022 238 15 - - PUNCT bracis-19022 238 16 based base VERB bracis-19022 238 17 organizational organizational ADJ bracis-19022 238 18 approach approach NOUN bracis-19022 238 19 for for ADP bracis-19022 238 20 communication communication NOUN bracis-19022 238 21 was be AUX bracis-19022 238 22 adequate adequate ADJ bracis-19022 238 23 for for ADP bracis-19022 238 24 the the DET bracis-19022 238 25 targets target NOUN bracis-19022 238 26 ’ ' PUNCT bracis-19022 238 27 objective objective NOUN bracis-19022 238 28 of of ADP bracis-19022 238 29 exploring explore VERB bracis-19022 238 30 the the DET bracis-19022 238 31 environment environment NOUN bracis-19022 238 32 compared compare VERB bracis-19022 238 33 to to ADP bracis-19022 238 34 the the DET bracis-19022 238 35 random random ADJ bracis-19022 238 36 strategy strategy NOUN bracis-19022 238 37 . . PUNCT bracis-19022 239 1 however however ADV bracis-19022 239 2 , , PUNCT bracis-19022 239 3 it it PRON bracis-19022 239 4 is be AUX bracis-19022 239 5 not not PART bracis-19022 239 6 suitable suitable ADJ bracis-19022 239 7 for for ADP bracis-19022 239 8 the the DET bracis-19022 239 9 targets target NOUN bracis-19022 239 10 ’ ' PUNCT bracis-19022 239 11 other other ADJ bracis-19022 239 12 goal goal NOUN bracis-19022 239 13 , , PUNCT bracis-19022 239 14 avoiding avoid VERB bracis-19022 239 15 robots robot NOUN bracis-19022 239 16 . . PUNCT bracis-19022 240 1 for for ADP bracis-19022 240 2 future future ADJ bracis-19022 240 3 work work NOUN bracis-19022 240 4 , , PUNCT bracis-19022 240 5 we we PRON bracis-19022 240 6 intend intend VERB bracis-19022 240 7 to to PART bracis-19022 240 8 implement implement VERB bracis-19022 240 9 other other ADJ bracis-19022 240 10 simulation simulation NOUN bracis-19022 240 11 scenarios scenario NOUN bracis-19022 240 12 , , PUNCT bracis-19022 240 13 for for ADP bracis-19022 240 14 example example NOUN bracis-19022 240 15 , , PUNCT bracis-19022 240 16 with with ADP bracis-19022 240 17 obstacles obstacle NOUN bracis-19022 240 18 , , PUNCT bracis-19022 240 19 in in ADP bracis-19022 240 20 order order NOUN bracis-19022 240 21 to to PART bracis-19022 240 22 evaluate evaluate VERB bracis-19022 240 23 our our PRON bracis-19022 240 24 approach approach NOUN bracis-19022 240 25 , , PUNCT bracis-19022 240 26 even even ADV bracis-19022 240 27 in in ADP bracis-19022 240 28 the the DET bracis-19022 240 29 real real ADJ bracis-19022 240 30 world world NOUN bracis-19022 240 31 . . PUNCT bracis-19022 241 1 in in ADP bracis-19022 241 2 addition addition NOUN bracis-19022 241 3 to to ADP bracis-19022 241 4 implementing implement VERB bracis-19022 241 5 more more ADV bracis-19022 241 6 robust robust ADJ bracis-19022 241 7 frameworks framework NOUN bracis-19022 241 8 to to PART bracis-19022 241 9 analyze analyze VERB bracis-19022 241 10 the the DET bracis-19022 241 11 performance performance NOUN bracis-19022 241 12 of of ADP bracis-19022 241 13 our our PRON bracis-19022 241 14 model model NOUN bracis-19022 241 15 in in ADP bracis-19022 241 16 complex complex ADJ bracis-19022 241 17 environments environment NOUN bracis-19022 241 18 . . PUNCT bracis-19022 242 1 we we PRON bracis-19022 242 2 intend intend VERB bracis-19022 242 3 to to PART bracis-19022 242 4 evaluate evaluate VERB bracis-19022 242 5 the the DET bracis-19022 242 6 approach approach NOUN bracis-19022 242 7 with with ADP bracis-19022 242 8 other other ADJ bracis-19022 242 9 cnn cnn PROPN bracis-19022 242 10 models model NOUN bracis-19022 242 11 to to PART bracis-19022 242 12 select select VERB bracis-19022 242 13 the the DET bracis-19022 242 14 best good ADJ bracis-19022 242 15 model model NOUN bracis-19022 242 16 to to PART bracis-19022 242 17 be be AUX bracis-19022 242 18 used use VERB bracis-19022 242 19 in in ADP bracis-19022 242 20 terms term NOUN bracis-19022 242 21 of of ADP bracis-19022 242 22 accuracy accuracy NOUN bracis-19022 242 23 and and CCONJ bracis-19022 242 24 processing processing NOUN bracis-19022 242 25 time time NOUN bracis-19022 242 26 . . PUNCT bracis-19022 243 1 finally finally ADV bracis-19022 243 2 , , PUNCT bracis-19022 243 3 we we PRON bracis-19022 243 4 want want VERB bracis-19022 243 5 to to PART bracis-19022 243 6 examine examine VERB bracis-19022 243 7 the the DET bracis-19022 243 8 impact impact NOUN bracis-19022 243 9 of of ADP bracis-19022 243 10 the the DET bracis-19022 243 11 wrong wrong ADJ bracis-19022 243 12 choice choice NOUN bracis-19022 243 13 of of ADP bracis-19022 243 14 containment containment NOUN bracis-19022 243 15 approaches approach NOUN bracis-19022 243 16 , , PUNCT bracis-19022 243 17 in in ADP bracis-19022 243 18 addition addition NOUN bracis-19022 243 19 to to ADP bracis-19022 243 20 implementing implement VERB bracis-19022 243 21 the the DET bracis-19022 243 22 containment containment NOUN bracis-19022 243 23 strategies strategy NOUN bracis-19022 243 24 for for ADP bracis-19022 243 25 each each DET bracis-19022 243 26 new new ADJ bracis-19022 243 27 organizational organizational ADJ bracis-19022 243 28 paradigm paradigm NOUN bracis-19022 243 29 implemented implement VERB bracis-19022 243 30 and and CCONJ bracis-19022 243 31 improving improve VERB bracis-19022 243 32 those those PRON bracis-19022 243 33 already already ADV bracis-19022 243 34 implemented implement VERB bracis-19022 243 35 . . PUNCT bracis-19022 244 1 notes note VERB bracis-19022 244 2 1.the 1.the DET bracis-19022 244 3 dataset dataset NOUN bracis-19022 244 4 is be AUX bracis-19022 244 5 available available ADJ bracis-19022 244 6 at at ADP bracis-19022 244 7 the the DET bracis-19022 244 8 following follow VERB bracis-19022 244 9 link link NOUN bracis-19022 244 10 : : PUNCT bracis-19022 244 11 https://drive.google.com/drive/folders/1pwjdrzp23st4qzszf_wnyquehot9qcdq?usp=sharing https://drive.google.com/drive/folders/1pwjdrzp23st4qzszf_wnyquehot9qcdq?usp=share VERB bracis-19022 244 12 . . PUNCT bracis-19022 245 1 references reference NOUN bracis-19022 245 2 andrade andrade PROPN bracis-19022 245 3 , , PUNCT bracis-19022 245 4 j.p j.p PROPN bracis-19022 245 5 . . PROPN bracis-19022 245 6 , , PUNCT bracis-19022 245 7 oliveira oliveira PROPN bracis-19022 245 8 , , PUNCT bracis-19022 245 9 r. r. PROPN bracis-19022 245 10 , , PUNCT bracis-19022 245 11 da da PROPN bracis-19022 245 12 silva silva PROPN bracis-19022 245 13 , , PUNCT bracis-19022 245 14 t.f t.f PROPN bracis-19022 245 15 . . PROPN bracis-19022 245 16 , , PUNCT bracis-19022 245 17 maia maia PROPN bracis-19022 245 18 , , PUNCT bracis-19022 245 19 j.e.b j.e.b PROPN bracis-19022 245 20 . . PROPN bracis-19022 245 21 , , PUNCT bracis-19022 245 22 de de PROPN bracis-19022 245 23 campos campos PROPN bracis-19022 245 24 , , PUNCT bracis-19022 245 25 g.a g.a PROPN bracis-19022 245 26 . . PROPN bracis-19022 245 27 : : PUNCT bracis-19022 246 1 organization organization NOUN bracis-19022 246 2 / / SYM bracis-19022 246 3 fuzzy fuzzy ADJ bracis-19022 246 4 approach approach NOUN bracis-19022 246 5 to to ADP bracis-19022 246 6 the the DET bracis-19022 246 7 cto cto PROPN bracis-19022 246 8 problem problem NOUN bracis-19022 246 9 . . PUNCT bracis-19022 247 1 in in ADP bracis-19022 247 2 : : PUNCT bracis-19022 247 3 2018 2018 NUM bracis-19022 247 4 7th 7th ADJ bracis-19022 247 5 brazilian brazilian ADJ bracis-19022 247 6 conference conference NOUN bracis-19022 247 7 on on ADP bracis-19022 247 8 intelligent intelligent ADJ bracis-19022 247 9 systems system NOUN bracis-19022 247 10 ( ( PUNCT bracis-19022 247 11 bracis bracis NOUN bracis-19022 247 12 ) ) PUNCT bracis-19022 247 13 , , PUNCT bracis-19022 247 14 pp pp ADP bracis-19022 247 15 . . PUNCT bracis-19022 248 1 444–449 444–449 NUM bracis-19022 248 2 . . PUNCT bracis-19022 249 1 ieee ieee NOUN bracis-19022 249 2 ( ( PUNCT bracis-19022 249 3 2018 2018 NUM bracis-19022 249 4 ) ) PUNCT bracis-19022 249 5 google google PROPN bracis-19022 249 6 scholar scholar NOUN bracis-19022 249 7     SPACE bracis-19022 249 8 araújo araújo PROPN bracis-19022 249 9 , , PUNCT bracis-19022 249 10 m.s m.s PROPN bracis-19022 249 11 . . PROPN bracis-19022 249 12 , , PUNCT bracis-19022 249 13 et et PROPN bracis-19022 249 14 al al PROPN bracis-19022 249 15 . . PUNCT bracis-19022 249 16 : : PUNCT bracis-19022 250 1 cooperative cooperative ADJ bracis-19022 250 2 observation observation NOUN bracis-19022 250 3 of of ADP bracis-19022 250 4 smart smart ADJ bracis-19022 250 5 target target NOUN bracis-19022 250 6 agents agent NOUN bracis-19022 250 7 . . PUNCT bracis-19022 251 1 in in ADP bracis-19022 251 2 : : PUNCT bracis-19022 251 3 cerri cerri PROPN bracis-19022 251 4 , , PUNCT bracis-19022 251 5 r. r. PROPN bracis-19022 251 6 , , PUNCT bracis-19022 251 7 prati prati PROPN bracis-19022 251 8 , , PUNCT bracis-19022 251 9 r.c r.c PROPN bracis-19022 251 10 . . PROPN bracis-19022 251 11 ( ( PUNCT bracis-19022 251 12 eds ed NOUN bracis-19022 251 13 . . PUNCT bracis-19022 251 14 ) ) PUNCT bracis-19022 251 15 bracis bracis PROPN bracis-19022 251 16 2020 2020 NUM bracis-19022 251 17 . . PUNCT bracis-19022 252 1 lncs lncs PROPN bracis-19022 252 2 ( ( PUNCT bracis-19022 252 3 lnai lnai ADJ bracis-19022 252 4 ) ) PUNCT bracis-19022 252 5 , , PUNCT bracis-19022 252 6 vol vol NOUN bracis-19022 252 7 . . PROPN bracis-19022 252 8 12320 12320 NUM bracis-19022 252 9 , , PUNCT bracis-19022 252 10 pp pp ADV bracis-19022 252 11 . . PUNCT bracis-19022 253 1 77–92 77–92 NUM bracis-19022 253 2 . . PUNCT bracis-19022 254 1 springer springer NOUN bracis-19022 254 2 , , PUNCT bracis-19022 254 3 cham cham PROPN bracis-19022 254 4 ( ( PUNCT bracis-19022 254 5 2020 2020 NUM bracis-19022 254 6 ) ) PUNCT bracis-19022 254 7 . . PUNCT bracis-19022 255 1 https://doi.org/10.1007/978-3-030-61380-8_6 https://doi.org/10.1007/978-3-030-61380-8_6 PROPN bracis-19022 255 2 chapter chapter NOUN bracis-19022 255 3     SPACE bracis-19022 255 4 google google PROPN bracis-19022 255 5 scholar scholar NOUN bracis-19022 255 6     SPACE bracis-19022 255 7 arroyo arroyo NOUN bracis-19022 255 8 , , PUNCT bracis-19022 255 9 r. r. PROPN bracis-19022 255 10 , , PUNCT bracis-19022 255 11 yebes yebe NOUN bracis-19022 255 12 , , PUNCT bracis-19022 255 13 j.j j.j PROPN bracis-19022 255 14 . . PROPN bracis-19022 255 15 , , PUNCT bracis-19022 255 16 bergasa bergasa PROPN bracis-19022 255 17 , , PUNCT bracis-19022 255 18 l.m l.m PROPN bracis-19022 255 19 . . PROPN bracis-19022 255 20 , , PUNCT bracis-19022 255 21 daza daza PROPN bracis-19022 255 22 , , PUNCT bracis-19022 255 23 i.g i.g PROPN bracis-19022 255 24 . . PROPN bracis-19022 255 25 , , PUNCT bracis-19022 255 26 almazán almazán PROPN bracis-19022 255 27 , , PUNCT bracis-19022 255 28 j. j. PROPN bracis-19022 255 29 : : PUNCT bracis-19022 255 30 expert expert ADJ bracis-19022 255 31 video video NOUN bracis-19022 255 32 - - PUNCT bracis-19022 255 33 surveillance surveillance NOUN bracis-19022 255 34 system system NOUN bracis-19022 255 35 for for ADP bracis-19022 255 36 real real ADJ bracis-19022 255 37 - - PUNCT bracis-19022 255 38 time time NOUN bracis-19022 255 39 detection detection NOUN bracis-19022 255 40 of of ADP bracis-19022 255 41 suspicious suspicious ADJ bracis-19022 255 42 behaviors behavior NOUN bracis-19022 255 43 in in ADP bracis-19022 255 44 shopping shopping NOUN bracis-19022 255 45 malls mall NOUN bracis-19022 255 46 . . PUNCT bracis-19022 256 1 expert expert NOUN bracis-19022 256 2 syst syst PROPN bracis-19022 256 3 . . PUNCT bracis-19022 256 4 appl appl PROPN bracis-19022 256 5 . . PUNCT bracis-19022 257 1 42(21 42(21 NUM bracis-19022 257 2 ) ) PUNCT bracis-19022 257 3 , , PUNCT bracis-19022 257 4 7991–8005 7991–8005 NUM bracis-19022 257 5 ( ( PUNCT bracis-19022 257 6 2015 2015 NUM bracis-19022 257 7 ) ) PUNCT bracis-19022 257 8 article article NOUN bracis-19022 257 9     SPACE bracis-19022 257 10 google google PROPN bracis-19022 257 11 scholar scholar NOUN bracis-19022 257 12     SPACE bracis-19022 257 13 bennett bennett PROPN bracis-19022 257 14 , , PUNCT bracis-19022 257 15 m.k m.k PROPN bracis-19022 257 16 . . PROPN bracis-19022 257 17 , , PUNCT bracis-19022 257 18 younes younes PROPN bracis-19022 257 19 , , PUNCT bracis-19022 257 20 n. n. NOUN bracis-19022 257 21 , , PUNCT bracis-19022 257 22 joyce joyce PROPN bracis-19022 257 23 , , PUNCT bracis-19022 257 24 k. k. PROPN bracis-19022 257 25 : : PUNCT bracis-19022 257 26 automating automate VERB bracis-19022 257 27 drone drone NOUN bracis-19022 257 28 image image NOUN bracis-19022 257 29 processing processing NOUN bracis-19022 257 30 to to PART bracis-19022 257 31 map map VERB bracis-19022 257 32 coral coral ADJ bracis-19022 257 33 reef reef NOUN bracis-19022 257 34 substrates substrate NOUN bracis-19022 257 35 using use VERB bracis-19022 257 36 google google PROPN bracis-19022 257 37 earth earth NOUN bracis-19022 257 38 engine engine NOUN bracis-19022 257 39 . . PUNCT bracis-19022 258 1 drones drone NOUN bracis-19022 258 2 4(3 4(3 NUM bracis-19022 258 3 ) ) PUNCT bracis-19022 258 4 , , PUNCT bracis-19022 258 5 50 50 NUM bracis-19022 258 6 ( ( PUNCT bracis-19022 258 7 2020 2020 NUM bracis-19022 258 8 ) ) PUNCT bracis-19022 258 9 article article NOUN bracis-19022 258 10     SPACE bracis-19022 258 11 google google PROPN bracis-19022 258 12 scholar scholar NOUN bracis-19022 258 13     SPACE bracis-19022 258 14 cena cena PROPN bracis-19022 258 15 , , PUNCT bracis-19022 258 16 c.g c.g PROPN bracis-19022 258 17 . . PROPN bracis-19022 258 18 , , PUNCT bracis-19022 258 19 cardenas cardenas PROPN bracis-19022 258 20 , , PUNCT bracis-19022 258 21 p.f p.f PROPN bracis-19022 258 22 . . PROPN bracis-19022 258 23 , , PUNCT bracis-19022 258 24 pazmino pazmino PROPN bracis-19022 258 25 , , PUNCT bracis-19022 258 26 r.s r.s PROPN bracis-19022 258 27 . . PROPN bracis-19022 258 28 , , PUNCT bracis-19022 258 29 puglisi puglisi VERB bracis-19022 258 30 , , PUNCT bracis-19022 258 31 l. l. PROPN bracis-19022 258 32 , , PUNCT bracis-19022 258 33 santonja santonja NOUN bracis-19022 258 34 , , PUNCT bracis-19022 258 35 r.a r.a PROPN bracis-19022 258 36 . . PROPN bracis-19022 258 37 : : PUNCT bracis-19022 259 1 a a DET bracis-19022 259 2 cooperative cooperative ADJ bracis-19022 259 3 multi multi ADJ bracis-19022 259 4 - - ADJ bracis-19022 259 5 agent agent ADJ bracis-19022 259 6 robotics robotic NOUN bracis-19022 259 7 system system NOUN bracis-19022 259 8 : : PUNCT bracis-19022 259 9 design design NOUN bracis-19022 259 10 and and CCONJ bracis-19022 259 11 modelling modelling NOUN bracis-19022 259 12 . . PUNCT bracis-19022 260 1 expert expert NOUN bracis-19022 260 2 syst syst PROPN bracis-19022 260 3 . . PUNCT bracis-19022 261 1 appl appl PROPN bracis-19022 261 2 . . PUNCT bracis-19022 262 1 40(12 40(12 NUM bracis-19022 262 2 ) ) PUNCT bracis-19022 262 3 , , PUNCT bracis-19022 262 4 4737–4748 4737–4748 NOUN bracis-19022 262 5 ( ( PUNCT bracis-19022 262 6 2013 2013 NUM bracis-19022 262 7 ) ) PUNCT bracis-19022 262 8 article article NOUN bracis-19022 262 9     SPACE bracis-19022 262 10 google google PROPN bracis-19022 262 11 scholar scholar NOUN bracis-19022 262 12     SPACE bracis-19022 262 13 cho cho PROPN bracis-19022 262 14 , , PUNCT bracis-19022 262 15 c. c. PROPN bracis-19022 262 16 , , PUNCT bracis-19022 262 17 kim kim PROPN bracis-19022 262 18 , , PUNCT bracis-19022 262 19 j. j. PROPN bracis-19022 262 20 , , PUNCT bracis-19022 262 21 kim kim PROPN bracis-19022 262 22 , , PUNCT bracis-19022 262 23 j. j. PROPN bracis-19022 262 24 , , PUNCT bracis-19022 262 25 lee lee PROPN bracis-19022 262 26 , , PUNCT bracis-19022 262 27 s.-j s.-j PROPN bracis-19022 262 28 . . PROPN bracis-19022 262 29 , , PUNCT bracis-19022 262 30 kim kim PROPN bracis-19022 262 31 , , PUNCT bracis-19022 262 32 k.j k.j PROPN bracis-19022 262 33 . . PROPN bracis-19022 262 34 : : PUNCT bracis-19022 262 35 detecting detect VERB bracis-19022 262 36 for for ADP bracis-19022 262 37 high high ADJ bracis-19022 262 38 speed speed NOUN bracis-19022 262 39 flying fly VERB bracis-19022 262 40 object object NOUN bracis-19022 262 41 using use VERB bracis-19022 262 42 image image NOUN bracis-19022 262 43 processing processing NOUN bracis-19022 262 44 on on ADP bracis-19022 262 45 target target NOUN bracis-19022 262 46 place place NOUN bracis-19022 262 47 . . PUNCT bracis-19022 263 1 clust clust NOUN bracis-19022 263 2 . . PUNCT bracis-19022 264 1 comput comput NOUN bracis-19022 264 2 . . PUNCT bracis-19022 265 1 19(1 19(1 NUM bracis-19022 265 2 ) ) PUNCT bracis-19022 265 3 , , PUNCT bracis-19022 265 4 285–292 285–292 NUM bracis-19022 265 5 ( ( PUNCT bracis-19022 265 6 2016 2016 NUM bracis-19022 265 7 ) ) PUNCT bracis-19022 265 8 . . PUNCT bracis-19022 266 1 https://doi.org/10.1007/s10586-015-0525-x https://doi.org/10.1007/s10586-015-0525-x PROPN bracis-19022 266 2 article article NOUN bracis-19022 266 3     SPACE bracis-19022 266 4 google google PROPN bracis-19022 266 5 scholar scholar NOUN bracis-19022 266 6     SPACE bracis-19022 266 7 chollet chollet NOUN bracis-19022 266 8 , , PUNCT bracis-19022 266 9 f. f. PROPN bracis-19022 266 10 , , PUNCT bracis-19022 266 11 et et PROPN bracis-19022 266 12 al al PROPN bracis-19022 266 13 . . PUNCT bracis-19022 266 14 : : PUNCT bracis-19022 267 1 keras keras PROPN bracis-19022 267 2 ( ( PUNCT bracis-19022 267 3 2015 2015 NUM bracis-19022 267 4 ) ) PUNCT bracis-19022 267 5 . . PUNCT bracis-19022 268 1 https://github.com/fchollet/keras https://github.com/fchollet/keras PROPN bracis-19022 268 2 ding ding PROPN bracis-19022 268 3 , , PUNCT bracis-19022 268 4 y. y. PROPN bracis-19022 268 5 , , PUNCT bracis-19022 268 6 he he PRON bracis-19022 268 7 , , PUNCT bracis-19022 268 8 y. y. NOUN bracis-19022 268 9 : : PUNCT bracis-19022 268 10 flexible flexible ADJ bracis-19022 268 11 formation formation NOUN bracis-19022 268 12 of of ADP bracis-19022 268 13 the the DET bracis-19022 268 14 multi multi ADJ bracis-19022 268 15 - - ADJ bracis-19022 268 16 robot robot ADJ bracis-19022 268 17 system system NOUN bracis-19022 268 18 and and CCONJ bracis-19022 268 19 its its PRON bracis-19022 268 20 application application NOUN bracis-19022 268 21 on on ADP bracis-19022 268 22 cmommt cmommt PROPN bracis-19022 268 23 problem problem NOUN bracis-19022 268 24 . . PUNCT bracis-19022 269 1 in in ADP bracis-19022 269 2 : : PUNCT bracis-19022 269 3 2010 2010 NUM bracis-19022 269 4 2nd 2nd PROPN bracis-19022 269 5 international international PROPN bracis-19022 269 6 asia asia PROPN bracis-19022 269 7 conference conference PROPN bracis-19022 269 8 on on ADP bracis-19022 269 9 informatics informatic NOUN bracis-19022 269 10 in in ADP bracis-19022 269 11 control control NOUN bracis-19022 269 12 , , PUNCT bracis-19022 269 13 automation automation NOUN bracis-19022 269 14 and and CCONJ bracis-19022 269 15 robotics robotic NOUN bracis-19022 269 16 ( ( PUNCT bracis-19022 269 17 car car NOUN bracis-19022 269 18 2010 2010 NUM bracis-19022 269 19 ) ) PUNCT bracis-19022 269 20 , , PUNCT bracis-19022 269 21 vol vol NOUN bracis-19022 269 22 . . PROPN bracis-19022 269 23 1 1 NUM bracis-19022 269 24 , , PUNCT bracis-19022 269 25 pp pp ADJ bracis-19022 269 26 . . PUNCT bracis-19022 270 1 377–382 377–382 NUM bracis-19022 270 2 . . PUNCT bracis-19022 270 3 ieee ieee NOUN bracis-19022 270 4 ( ( PUNCT bracis-19022 270 5 2010 2010 NUM bracis-19022 270 6 ) ) PUNCT bracis-19022 270 7 google google PROPN bracis-19022 270 8 scholar scholar NOUN bracis-19022 270 9     SPACE bracis-19022 270 10 ding ding NOUN bracis-19022 270 11 , , PUNCT bracis-19022 270 12 y. y. PROPN bracis-19022 270 13 , , PUNCT bracis-19022 270 14 zhu zhu PROPN bracis-19022 270 15 , , PUNCT bracis-19022 270 16 m. m. NOUN bracis-19022 270 17 , , PUNCT bracis-19022 270 18 he he PRON bracis-19022 270 19 , , PUNCT bracis-19022 270 20 y. y. PROPN bracis-19022 270 21 , , PUNCT bracis-19022 270 22 jiang jiang PROPN bracis-19022 270 23 , , PUNCT bracis-19022 270 24 j. j. PROPN bracis-19022 270 25 : : PUNCT bracis-19022 270 26 p p ADJ bracis-19022 270 27 - - PUNCT bracis-19022 270 28 cmommt cmommt NOUN bracis-19022 270 29 algorithm algorithm NOUN bracis-19022 270 30 for for ADP bracis-19022 270 31 the the DET bracis-19022 270 32 cooperative cooperative ADJ bracis-19022 270 33 multi multi ADJ bracis-19022 270 34 - - ADJ bracis-19022 270 35 robot robot ADJ bracis-19022 270 36 observation observation NOUN bracis-19022 270 37 of of ADP bracis-19022 270 38 multiple multiple ADJ bracis-19022 270 39 moving move VERB bracis-19022 270 40 targets target NOUN bracis-19022 270 41 . . PUNCT bracis-19022 271 1 in in ADP bracis-19022 271 2 : : PUNCT bracis-19022 271 3 2006 2006 NUM bracis-19022 271 4 6th 6th NOUN bracis-19022 271 5 world world PROPN bracis-19022 271 6 congress congress PROPN bracis-19022 271 7 on on ADP bracis-19022 271 8 intelligent intelligent ADJ bracis-19022 271 9 control control NOUN bracis-19022 271 10 and and CCONJ bracis-19022 271 11 automation automation NOUN bracis-19022 271 12 , , PUNCT bracis-19022 271 13 vol vol NOUN bracis-19022 271 14 . . PROPN bracis-19022 271 15 2 2 NUM bracis-19022 271 16 , , PUNCT bracis-19022 271 17 pp pp ADJ bracis-19022 271 18 . . PUNCT bracis-19022 272 1 9267–9271 9267–9271 NOUN bracis-19022 272 2 . . PUNCT bracis-19022 273 1 ieee ieee NOUN bracis-19022 273 2 ( ( PUNCT bracis-19022 273 3 2006 2006 NUM bracis-19022 273 4 ) ) PUNCT bracis-19022 273 5 google google PROPN bracis-19022 273 6 scholar scholar NOUN bracis-19022 273 7     SPACE bracis-19022 273 8 horling horling NOUN bracis-19022 273 9 , , PUNCT bracis-19022 273 10 b. b. NOUN bracis-19022 273 11 , , PUNCT bracis-19022 273 12 lesser less ADJ bracis-19022 273 13 , , PUNCT bracis-19022 273 14 v. v. ADV bracis-19022 273 15 : : PUNCT bracis-19022 273 16 a a DET bracis-19022 273 17 survey survey NOUN bracis-19022 273 18 of of ADP bracis-19022 273 19 multi multi ADJ bracis-19022 273 20 - - ADJ bracis-19022 273 21 agent agent ADJ bracis-19022 273 22 organizational organizational ADJ bracis-19022 273 23 paradigms paradigm NOUN bracis-19022 273 24 . . PUNCT bracis-19022 274 1 knowl knowl PROPN bracis-19022 274 2 . . PUNCT bracis-19022 275 1 eng eng PROPN bracis-19022 275 2 . . PROPN bracis-19022 275 3 rev rev PROPN bracis-19022 275 4 . . PROPN bracis-19022 275 5 19(4 19(4 PROPN bracis-19022 275 6 ) ) PUNCT bracis-19022 275 7 , , PUNCT bracis-19022 275 8 281–316 281–316 NUM bracis-19022 275 9 ( ( PUNCT bracis-19022 275 10 2004 2004 NUM bracis-19022 275 11 ) ) PUNCT bracis-19022 275 12 article article NOUN bracis-19022 275 13     SPACE bracis-19022 275 14 google google PROPN bracis-19022 275 15 scholar scholar NOUN bracis-19022 275 16     SPACE bracis-19022 275 17 khan khan PROPN bracis-19022 275 18 , , PUNCT bracis-19022 275 19 a. a. NOUN bracis-19022 275 20 , , PUNCT bracis-19022 275 21 rinner rinner NOUN bracis-19022 275 22 , , PUNCT bracis-19022 275 23 b. b. PROPN bracis-19022 275 24 , , PUNCT bracis-19022 275 25 cavallaro cavallaro PROPN bracis-19022 275 26 , , PUNCT bracis-19022 275 27 a. a. NOUN bracis-19022 275 28 : : PUNCT bracis-19022 275 29 cooperative cooperative ADJ bracis-19022 275 30 robots robot NOUN bracis-19022 275 31 to to PART bracis-19022 275 32 observe observe VERB bracis-19022 275 33 moving move VERB bracis-19022 275 34 targets target NOUN bracis-19022 275 35 . . PUNCT bracis-19022 276 1 ieee ieee PROPN bracis-19022 276 2 trans trans PROPN bracis-19022 276 3 . . PUNCT bracis-19022 277 1 cybern cybern PROPN bracis-19022 277 2 . . PUNCT bracis-19022 278 1 48(1 48(1 NOUN bracis-19022 278 2 ) ) PUNCT bracis-19022 278 3 , , PUNCT bracis-19022 278 4 187–198 187–198 NUM bracis-19022 278 5 ( ( PUNCT bracis-19022 278 6 2016 2016 NUM bracis-19022 278 7 ) ) PUNCT bracis-19022 278 8 article article NOUN bracis-19022 278 9     SPACE bracis-19022 278 10 google google PROPN bracis-19022 278 11 scholar scholar NOUN bracis-19022 278 12     SPACE bracis-19022 278 13 kluyver kluyver NOUN bracis-19022 278 14 , , PUNCT bracis-19022 278 15 t. t. PROPN bracis-19022 278 16 , , PUNCT bracis-19022 278 17 et et PROPN bracis-19022 278 18 al al PROPN bracis-19022 278 19 . . PUNCT bracis-19022 278 20 : : PUNCT bracis-19022 279 1 jupyter jupyter ADV bracis-19022 279 2 notebooks notebook VERB bracis-19022 279 3 a a DET bracis-19022 279 4 publishing publishing NOUN bracis-19022 279 5 format format NOUN bracis-19022 279 6 for for ADP bracis-19022 279 7 reproducible reproducible ADJ bracis-19022 279 8 computational computational ADJ bracis-19022 279 9 workflows workflow NOUN bracis-19022 279 10 . . PUNCT bracis-19022 280 1 in in ADP bracis-19022 280 2 : : PUNCT bracis-19022 280 3 loizides loizide NOUN bracis-19022 280 4 , , PUNCT bracis-19022 280 5 f. f. PROPN bracis-19022 280 6 , , PUNCT bracis-19022 280 7 schmidt schmidt PROPN bracis-19022 280 8 , , PUNCT bracis-19022 280 9 b. b. PROPN bracis-19022 280 10 ( ( PUNCT bracis-19022 280 11 eds eds PROPN bracis-19022 280 12 . . PUNCT bracis-19022 280 13 ) ) PUNCT bracis-19022 280 14 positioning positioning NOUN bracis-19022 280 15 and and CCONJ bracis-19022 280 16 power power NOUN bracis-19022 280 17 in in ADP bracis-19022 280 18 academic academic ADJ bracis-19022 280 19 publishing publishing NOUN bracis-19022 280 20 : : PUNCT bracis-19022 280 21 players player NOUN bracis-19022 280 22 , , PUNCT bracis-19022 280 23 agents agent NOUN bracis-19022 280 24 and and CCONJ bracis-19022 280 25 agendas agenda NOUN bracis-19022 280 26 , , PUNCT bracis-19022 280 27 pp pp ADJ bracis-19022 280 28 . . PUNCT bracis-19022 281 1 87–90 87–90 NUM bracis-19022 281 2 . . PUNCT bracis-19022 282 1 ios ios PROPN bracis-19022 282 2 press press NOUN bracis-19022 282 3 ( ( PUNCT bracis-19022 282 4 2016 2016 NUM bracis-19022 282 5 ) ) PUNCT bracis-19022 282 6 google google PROPN bracis-19022 282 7 scholar scholar NOUN bracis-19022 282 8     SPACE bracis-19022 282 9 luke luke PROPN bracis-19022 282 10 , , PUNCT bracis-19022 282 11 s. s. PROPN bracis-19022 282 12 , , PUNCT bracis-19022 282 13 sullivan sullivan PROPN bracis-19022 282 14 , , PUNCT bracis-19022 282 15 k. k. PROPN bracis-19022 282 16 , , PUNCT bracis-19022 282 17 panait panait PROPN bracis-19022 282 18 , , PUNCT bracis-19022 282 19 l. l. PROPN bracis-19022 282 20 , , PUNCT bracis-19022 282 21 balan balan PROPN bracis-19022 282 22 , , PUNCT bracis-19022 282 23 g. g. PROPN bracis-19022 282 24 : : PUNCT bracis-19022 282 25 tunably tunably ADV bracis-19022 282 26 decentralized decentralize VERB bracis-19022 282 27 algorithms algorithm NOUN bracis-19022 282 28 for for ADP bracis-19022 282 29 cooperative cooperative ADJ bracis-19022 282 30 target target NOUN bracis-19022 282 31 observation observation NOUN bracis-19022 282 32 . . PUNCT bracis-19022 283 1 in in ADP bracis-19022 283 2 : : PUNCT bracis-19022 283 3 proceedings proceeding NOUN bracis-19022 283 4 of of ADP bracis-19022 283 5 the the DET bracis-19022 283 6 fourth fourth ADJ bracis-19022 283 7 international international ADJ bracis-19022 283 8 joint joint ADJ bracis-19022 283 9 conference conference NOUN bracis-19022 283 10 on on ADP bracis-19022 283 11 autonomous autonomous ADJ bracis-19022 283 12 agents agent NOUN bracis-19022 283 13 and and CCONJ bracis-19022 283 14 multiagent multiagent NOUN bracis-19022 283 15 systems system NOUN bracis-19022 283 16 , , PUNCT bracis-19022 283 17 pp pp ADV bracis-19022 283 18 . . PUNCT bracis-19022 284 1 911–917 911–917 NUM bracis-19022 284 2 ( ( PUNCT bracis-19022 284 3 2005 2005 NUM bracis-19022 284 4 ) ) PUNCT bracis-19022 284 5 google google PROPN bracis-19022 284 6 scholar scholar NOUN bracis-19022 284 7     SPACE bracis-19022 284 8 parker parker NOUN bracis-19022 284 9 , , PUNCT bracis-19022 284 10 l.e l.e PROPN bracis-19022 284 11 . . PROPN bracis-19022 284 12 : : PUNCT bracis-19022 285 1 cooperative cooperative ADJ bracis-19022 285 2 motion motion NOUN bracis-19022 285 3 control control NOUN bracis-19022 285 4 for for ADP bracis-19022 285 5 multi multi ADJ bracis-19022 285 6 - - ADJ bracis-19022 285 7 target target ADJ bracis-19022 285 8 observation observation NOUN bracis-19022 285 9 . . PUNCT bracis-19022 286 1 in in ADP bracis-19022 286 2 : : PUNCT bracis-19022 286 3 proceedings proceeding NOUN bracis-19022 286 4 of of ADP bracis-19022 286 5 the the DET bracis-19022 286 6 1997 1997 NUM bracis-19022 286 7 ieee ieee NOUN bracis-19022 286 8 / / SYM bracis-19022 286 9 rsj rsj NOUN bracis-19022 286 10 international international ADJ bracis-19022 286 11 conference conference NOUN bracis-19022 286 12 on on ADP bracis-19022 286 13 intelligent intelligent ADJ bracis-19022 286 14 robot robot NOUN bracis-19022 286 15 and and CCONJ bracis-19022 286 16 systems system NOUN bracis-19022 286 17 . . PUNCT bracis-19022 287 1 innovative innovative ADJ bracis-19022 287 2 robotics robotic NOUN bracis-19022 287 3 for for ADP bracis-19022 287 4 real real ADJ bracis-19022 287 5 - - PUNCT bracis-19022 287 6 world world NOUN bracis-19022 287 7 applications application NOUN bracis-19022 287 8 . . PUNCT bracis-19022 288 1 iros iro NOUN bracis-19022 288 2 1997 1997 NUM bracis-19022 288 3 , , PUNCT bracis-19022 288 4 vol vol NOUN bracis-19022 288 5 . . PROPN bracis-19022 288 6 3 3 NUM bracis-19022 288 7 , , PUNCT bracis-19022 288 8 pp pp ADJ bracis-19022 288 9 . . PUNCT bracis-19022 288 10 1591–1597 1591–1597 NUM bracis-19022 288 11 . . PUNCT bracis-19022 289 1 ieee ieee NOUN bracis-19022 289 2 ( ( PUNCT bracis-19022 289 3 1997 1997 NUM bracis-19022 289 4 ) ) PUNCT bracis-19022 289 5 google google NOUN bracis-19022 289 6 scholar scholar NOUN bracis-19022 289 7     SPACE bracis-19022 289 8 payá payá NOUN bracis-19022 289 9 , , PUNCT bracis-19022 289 10 l. l. PROPN bracis-19022 289 11 , , PUNCT bracis-19022 289 12 gil gil PROPN bracis-19022 289 13 , , PUNCT bracis-19022 289 14 a. a. NOUN bracis-19022 289 15 , , PUNCT bracis-19022 289 16 reinoso reinoso NOUN bracis-19022 289 17 , , PUNCT bracis-19022 289 18 o. o. PROPN bracis-19022 289 19 , , PUNCT bracis-19022 289 20 ballesta ballesta NOUN bracis-19022 289 21 , , PUNCT bracis-19022 289 22 m. m. NOUN bracis-19022 289 23 , , PUNCT bracis-19022 289 24 \(\tilde{n}\)eco \(\tilde{n}\)eco PROPN bracis-19022 289 25 , , PUNCT bracis-19022 289 26 r. r. NOUN bracis-19022 289 27 : : PUNCT bracis-19022 289 28 behaviour behaviour NOUN bracis-19022 289 29 - - PUNCT bracis-19022 289 30 based base VERB bracis-19022 289 31 multi multi ADJ bracis-19022 289 32 - - ADJ bracis-19022 289 33 robot robot ADJ bracis-19022 289 34 formations formation NOUN bracis-19022 289 35 using use VERB bracis-19022 289 36 computer computer NOUN bracis-19022 289 37 vision vision NOUN bracis-19022 289 38 . . PUNCT bracis-19022 290 1 in in ADP bracis-19022 290 2 : : PUNCT bracis-19022 290 3 proceedings proceeding NOUN bracis-19022 290 4 of of ADP bracis-19022 290 5 the the DET bracis-19022 290 6 6th 6th NOUN bracis-19022 290 7 iasted iasted ADJ bracis-19022 290 8 international international ADJ bracis-19022 290 9 conference conference NOUN bracis-19022 290 10 on on ADP bracis-19022 290 11 visualization visualization NOUN bracis-19022 290 12 , , PUNCT bracis-19022 290 13 imaging imaging NOUN bracis-19022 290 14 and and CCONJ bracis-19022 290 15 image image NOUN bracis-19022 290 16 processing processing NOUN bracis-19022 290 17 ( ( PUNCT bracis-19022 290 18 2006 2006 NUM bracis-19022 290 19 ) ) PUNCT bracis-19022 290 20 google google PROPN bracis-19022 290 21 scholar scholar NOUN bracis-19022 290 22     SPACE bracis-19022 290 23 robin robin PROPN bracis-19022 290 24 , , PUNCT bracis-19022 290 25 c. c. PROPN bracis-19022 290 26 , , PUNCT bracis-19022 290 27 lacroix lacroix PROPN bracis-19022 290 28 , , PUNCT bracis-19022 290 29 s. s. PROPN bracis-19022 290 30 : : PUNCT bracis-19022 290 31 multi multi ADJ bracis-19022 290 32 - - ADJ bracis-19022 290 33 robot robot ADJ bracis-19022 290 34 target target NOUN bracis-19022 290 35 detection detection NOUN bracis-19022 290 36 and and CCONJ bracis-19022 290 37 tracking tracking NOUN bracis-19022 290 38 : : PUNCT bracis-19022 290 39 taxonomy taxonomy NOUN bracis-19022 290 40 and and CCONJ bracis-19022 290 41 survey survey NOUN bracis-19022 290 42 . . PUNCT bracis-19022 291 1 auton auton PROPN bracis-19022 291 2 . . PUNCT bracis-19022 292 1 robot robot NOUN bracis-19022 292 2 . . PUNCT bracis-19022 293 1 40(4 40(4 NUM bracis-19022 293 2 ) ) PUNCT bracis-19022 293 3 , , PUNCT bracis-19022 293 4 729–760 729–760 NUM bracis-19022 293 5 ( ( PUNCT bracis-19022 293 6 2015 2015 NUM bracis-19022 293 7 ) ) PUNCT bracis-19022 293 8 . . PUNCT bracis-19022 294 1 https://doi.org/10.1007/s10514-015-9491-7 https://doi.org/10.1007/s10514-015-9491-7 PROPN bracis-19022 294 2 article article NOUN bracis-19022 294 3     SPACE bracis-19022 294 4 google google PROPN bracis-19022 294 5 scholar scholar NOUN bracis-19022 294 6     SPACE bracis-19022 294 7 sandler sandler NOUN bracis-19022 294 8 , , PUNCT bracis-19022 294 9 m. m. NOUN bracis-19022 294 10 , , PUNCT bracis-19022 294 11 howard howard PROPN bracis-19022 294 12 , , PUNCT bracis-19022 294 13 a. a. PROPN bracis-19022 294 14 , , PUNCT bracis-19022 294 15 zhu zhu PROPN bracis-19022 294 16 , , PUNCT bracis-19022 294 17 m. m. NOUN bracis-19022 294 18 , , PUNCT bracis-19022 294 19 zhmoginov zhmoginov PROPN bracis-19022 294 20 , , PUNCT bracis-19022 294 21 a. a. PROPN bracis-19022 294 22 , , PUNCT bracis-19022 294 23 chen chen PROPN bracis-19022 294 24 , , PUNCT bracis-19022 294 25 l.c l.c PROPN bracis-19022 294 26 . . PROPN bracis-19022 294 27 : : PUNCT bracis-19022 294 28 mobilenetv mobilenetv ADJ bracis-19022 294 29 2 2 NUM bracis-19022 294 30 : : PUNCT bracis-19022 294 31 inverted inverted ADJ bracis-19022 294 32 residuals residual NOUN bracis-19022 294 33 and and CCONJ bracis-19022 294 34 linear linear ADJ bracis-19022 294 35 bottlenecks bottleneck NOUN bracis-19022 294 36 . . PUNCT bracis-19022 295 1 in in ADP bracis-19022 295 2 : : PUNCT bracis-19022 295 3 proceedings proceeding NOUN bracis-19022 295 4 of of ADP bracis-19022 295 5 the the DET bracis-19022 295 6 ieee ieee NOUN bracis-19022 295 7 conference conference NOUN bracis-19022 295 8 on on ADP bracis-19022 295 9 computer computer NOUN bracis-19022 295 10 vision vision NOUN bracis-19022 295 11 and and CCONJ bracis-19022 295 12 pattern pattern NOUN bracis-19022 295 13 recognition recognition NOUN bracis-19022 295 14 , , PUNCT bracis-19022 295 15 pp pp ADP bracis-19022 295 16 . . PUNCT bracis-19022 296 1 4510–4520 4510–4520 NUM bracis-19022 296 2 ( ( PUNCT bracis-19022 296 3 2018 2018 NUM bracis-19022 296 4 ) ) PUNCT bracis-19022 296 5 google google PROPN bracis-19022 296 6 scholar scholar NOUN bracis-19022 296 7     SPACE bracis-19022 296 8 frança frança PROPN bracis-19022 296 9 da da PROPN bracis-19022 296 10 silva silva PROPN bracis-19022 296 11 , , PUNCT bracis-19022 296 12 t. t. PROPN bracis-19022 296 13 , , PUNCT bracis-19022 296 14 et et PROPN bracis-19022 296 15 al al PROPN bracis-19022 296 16 . . PUNCT bracis-19022 296 17 : : PUNCT bracis-19022 297 1 smart smart ADJ bracis-19022 297 2 targets target NOUN bracis-19022 297 3 to to PART bracis-19022 297 4 avoid avoid VERB bracis-19022 297 5 observation observation NOUN bracis-19022 297 6 in in ADP bracis-19022 297 7 cto cto PROPN bracis-19022 297 8 problem problem NOUN bracis-19022 297 9 . . PUNCT bracis-19022 298 1 in in ADP bracis-19022 298 2 : : PUNCT bracis-19022 298 3 proceedings proceeding NOUN bracis-19022 298 4 of of ADP bracis-19022 298 5 the the DET bracis-19022 298 6 18th 18th ADJ bracis-19022 298 7 international international ADJ bracis-19022 298 8 conference conference NOUN bracis-19022 298 9 on on ADP bracis-19022 298 10 autonomous autonomous ADJ bracis-19022 298 11 agents agent NOUN bracis-19022 298 12 and and CCONJ bracis-19022 298 13 multiagent multiagent NOUN bracis-19022 298 14 systems system NOUN bracis-19022 298 15 , , PUNCT bracis-19022 298 16 pp pp ADV bracis-19022 298 17 . . PUNCT bracis-19022 299 1 1958–1960 1958–1960 NUM bracis-19022 299 2 ( ( PUNCT bracis-19022 299 3 2019 2019 NUM bracis-19022 299 4 ) ) PUNCT bracis-19022 299 5 google google PROPN bracis-19022 299 6 scholar scholar NOUN bracis-19022 299 7     SPACE bracis-19022 299 8 silva silva NOUN bracis-19022 299 9 , , PUNCT bracis-19022 299 10 t. t. PROPN bracis-19022 299 11 , , PUNCT bracis-19022 299 12 araújo araújo NOUN bracis-19022 299 13 , , PUNCT bracis-19022 299 14 m. m. NOUN bracis-19022 299 15 , , PUNCT bracis-19022 299 16 junior junior PROPN bracis-19022 299 17 , , PUNCT bracis-19022 299 18 r.f r.f PROPN bracis-19022 299 19 . . PROPN bracis-19022 299 20 , , PUNCT bracis-19022 299 21 costa costa PROPN bracis-19022 299 22 , , PUNCT bracis-19022 299 23 l. l. PROPN bracis-19022 299 24 , , PUNCT bracis-19022 299 25 andrade andrade PROPN bracis-19022 299 26 , , PUNCT bracis-19022 299 27 j. j. PROPN bracis-19022 299 28 , , PUNCT bracis-19022 299 29 campos campos PROPN bracis-19022 299 30 , , PUNCT bracis-19022 299 31 g. g. PROPN bracis-19022 299 32 : : PUNCT bracis-19022 299 33 classifying classify VERB bracis-19022 299 34 organizational organizational ADJ bracis-19022 299 35 structures structure NOUN bracis-19022 299 36 on on ADP bracis-19022 299 37 targets target NOUN bracis-19022 299 38 in in ADP bracis-19022 299 39 the the DET bracis-19022 299 40 cooperative cooperative ADJ bracis-19022 299 41 target target NOUN bracis-19022 299 42 observation observation NOUN bracis-19022 299 43 . . PUNCT bracis-19022 300 1 in in ADP bracis-19022 300 2 : : PUNCT bracis-19022 300 3 anais anais PROPN bracis-19022 300 4 do do AUX bracis-19022 300 5 xvii xvii VERB bracis-19022 300 6 encontro encontro ADJ bracis-19022 300 7 nacional nacional ADJ bracis-19022 300 8 de de X bracis-19022 300 9 inteligência inteligência PROPN bracis-19022 300 10 artificial artificial PROPN bracis-19022 300 11 e e NOUN bracis-19022 300 12 computacional computacional NOUN bracis-19022 300 13 , , PUNCT bracis-19022 300 14 pp pp ADJ bracis-19022 300 15 . . PUNCT bracis-19022 301 1 718–729 718–729 NUM bracis-19022 301 2 . . PUNCT bracis-19022 302 1 sbc sbc NOUN bracis-19022 302 2 ( ( PUNCT bracis-19022 302 3 2020 2020 NUM bracis-19022 302 4 ) ) PUNCT bracis-19022 302 5 google google NOUN bracis-19022 302 6 scholar scholar NOUN bracis-19022 302 7     SPACE bracis-19022 302 8 tisue tisue NOUN bracis-19022 302 9 , , PUNCT bracis-19022 302 10 s. s. PROPN bracis-19022 302 11 , , PUNCT bracis-19022 302 12 wilensky wilensky PROPN bracis-19022 302 13 , , PUNCT bracis-19022 302 14 u. u. PROPN bracis-19022 302 15 : : PUNCT bracis-19022 302 16 netlogo netlogo PROPN bracis-19022 302 17 : : PUNCT bracis-19022 302 18 a a DET bracis-19022 302 19 simple simple ADJ bracis-19022 302 20 environment environment NOUN bracis-19022 302 21 for for ADP bracis-19022 302 22 modeling model VERB bracis-19022 302 23 complexity complexity NOUN bracis-19022 302 24 . . PUNCT bracis-19022 303 1 in in ADP bracis-19022 303 2 : : PUNCT bracis-19022 303 3 international international ADJ bracis-19022 303 4 conference conference NOUN bracis-19022 303 5 on on ADP bracis-19022 303 6 complex complex ADJ bracis-19022 303 7 systems system NOUN bracis-19022 303 8 , , PUNCT bracis-19022 303 9 vol vol NOUN bracis-19022 303 10 . . PROPN bracis-19022 303 11 21 21 NUM bracis-19022 303 12 , , PUNCT bracis-19022 303 13 pp pp ADJ bracis-19022 303 14 . . PUNCT bracis-19022 304 1 16–21 16–21 NUM bracis-19022 304 2 . . PUNCT bracis-19022 305 1 boston boston PROPN bracis-19022 305 2 , , PUNCT bracis-19022 305 3 ma ma PROPN bracis-19022 305 4 ( ( PUNCT bracis-19022 305 5 2004 2004 NUM bracis-19022 305 6 ) ) PUNCT bracis-19022 305 7 google google PROPN bracis-19022 305 8 scholar scholar NOUN bracis-19022 305 9     SPACE bracis-19022 305 10 vargas vargas NOUN bracis-19022 305 11 - - PUNCT bracis-19022 305 12 cuentas cuentas NOUN bracis-19022 305 13 , , PUNCT bracis-19022 305 14 n.i n.i PROPN bracis-19022 305 15 . . PROPN bracis-19022 305 16 , , PUNCT bracis-19022 305 17 roman roman PROPN bracis-19022 305 18 - - PUNCT bracis-19022 305 19 gonzalez gonzalez PROPN bracis-19022 305 20 , , PUNCT bracis-19022 305 21 a. a. NOUN bracis-19022 305 22 , , PUNCT bracis-19022 305 23 mantari mantari PROPN bracis-19022 305 24 , , PUNCT bracis-19022 305 25 a.a a.a PROPN bracis-19022 305 26 . . PROPN bracis-19022 305 27 , , PUNCT bracis-19022 305 28 muñoz muñoz PROPN bracis-19022 305 29 , , PUNCT bracis-19022 305 30 l.a l.a PROPN bracis-19022 305 31 . . PROPN bracis-19022 305 32 : : PUNCT bracis-19022 306 1 chagas chagas PROPN bracis-19022 306 2 disease disease NOUN bracis-19022 306 3 study study NOUN bracis-19022 306 4 using use VERB bracis-19022 306 5 satellite satellite NOUN bracis-19022 306 6 image image NOUN bracis-19022 306 7 processing processing NOUN bracis-19022 306 8 : : PUNCT bracis-19022 306 9 a a DET bracis-19022 306 10 bolivian bolivian ADJ bracis-19022 306 11 case case NOUN bracis-19022 306 12 . . PUNCT bracis-19022 307 1 acta acta PROPN bracis-19022 307 2 astronaut astronaut PROPN bracis-19022 307 3 . . PUNCT bracis-19022 308 1 144 144 NUM bracis-19022 308 2 , , PUNCT bracis-19022 308 3 216–224 216–224 NUM bracis-19022 308 4 ( ( PUNCT bracis-19022 308 5 2018 2018 NUM bracis-19022 308 6 ) ) PUNCT bracis-19022 308 7 article article NOUN bracis-19022 308 8     SPACE bracis-19022 308 9 google google PROPN bracis-19022 308 10 scholar scholar NOUN bracis-19022 308 11     SPACE bracis-19022 308 12 download download NOUN bracis-19022 308 13 references reference NOUN bracis-19022 308 14 author author NOUN bracis-19022 308 15 information information NOUN bracis-19022 308 16 authors author NOUN bracis-19022 308 17 and and CCONJ bracis-19022 308 18 affiliations affiliation NOUN bracis-19022 308 19 state state PROPN bracis-19022 308 20 university university PROPN bracis-19022 308 21 of of ADP bracis-19022 308 22 ceara ceara PROPN bracis-19022 308 23 , , PUNCT bracis-19022 308 24 fortaleza fortaleza PROPN bracis-19022 308 25 , , PUNCT bracis-19022 308 26 brazil brazil PROPN bracis-19022 308 27 thayanne thayanne NOUN bracis-19022 308 28 frança frança PROPN bracis-19022 308 29 da da PROPN bracis-19022 308 30 silva silva PROPN bracis-19022 308 31 , , PUNCT bracis-19022 308 32     SPACE bracis-19022 308 33 matheus matheus PROPN bracis-19022 308 34 santos santos PROPN bracis-19022 308 35 araújo araújo VERB bracis-19022 308 36 , , PUNCT bracis-19022 308 37     SPACE bracis-19022 308 38 raimundo raimundo NOUN bracis-19022 308 39 juracy juracy PROPN bracis-19022 308 40 campos campos PROPN bracis-19022 308 41 ferro ferro PROPN bracis-19022 308 42 junior junior PROPN bracis-19022 308 43     SPACE bracis-19022 308 44 & & CCONJ bracis-19022 308 45     SPACE bracis-19022 308 46 gustavo gustavo NOUN bracis-19022 308 47 augusto augusto PROPN bracis-19022 308 48 lima lima PROPN bracis-19022 308 49 de de PROPN bracis-19022 308 50 campos campos PROPN bracis-19022 308 51 federal federal PROPN bracis-19022 308 52 university university PROPN bracis-19022 308 53 of of ADP bracis-19022 308 54 ceara ceara PROPN bracis-19022 308 55 , , PUNCT bracis-19022 308 56 fortaleza fortaleza PROPN bracis-19022 308 57 , , PUNCT bracis-19022 308 58 brazil brazil PROPN bracis-19022 308 59 leonardo leonardo PROPN bracis-19022 308 60 ferreira ferreira PROPN bracis-19022 308 61 da da PROPN bracis-19022 308 62 costa costa PROPN bracis-19022 308 63     SPACE bracis-19022 308 64 & & CCONJ bracis-19022 308 65     SPACE bracis-19022 308 66 joão joão PROPN bracis-19022 308 67 pedro pedro PROPN bracis-19022 308 68 bernardino bernardino PROPN bracis-19022 308 69 andrade andrade PROPN bracis-19022 308 70 authors author NOUN bracis-19022 308 71 thayanne thayanne VERB bracis-19022 308 72 frança frança PROPN bracis-19022 308 73 da da PROPN bracis-19022 308 74 silvaview silvaview PROPN bracis-19022 308 75 author author NOUN bracis-19022 308 76 publications publication NOUN bracis-19022 308 77 search search NOUN bracis-19022 308 78 author author NOUN bracis-19022 308 79 on on ADP bracis-19022 308 80 : : PUNCT bracis-19022 308 81 pubmed pubmed PROPN bracis-19022 308 82     SPACE bracis-19022 308 83 google google PROPN bracis-19022 308 84 scholar scholar NOUN bracis-19022 308 85 matheus matheus PROPN bracis-19022 308 86 santos santos PROPN bracis-19022 308 87 araújoview araújoview PROPN bracis-19022 308 88 author author NOUN bracis-19022 308 89 publications publication NOUN bracis-19022 308 90 search search NOUN bracis-19022 308 91 author author NOUN bracis-19022 308 92 on on ADP bracis-19022 308 93 : : PUNCT bracis-19022 308 94 pubmed pubmed PROPN bracis-19022 308 95     SPACE bracis-19022 308 96 google google PROPN bracis-19022 308 97 scholar scholar PROPN bracis-19022 308 98 raimundo raimundo PROPN bracis-19022 308 99 juracy juracy PROPN bracis-19022 308 100 campos campos PROPN bracis-19022 308 101 ferro ferro PROPN bracis-19022 308 102 juniorview juniorview NOUN bracis-19022 308 103 author author NOUN bracis-19022 308 104 publications publication NOUN bracis-19022 308 105 search search NOUN bracis-19022 308 106 author author NOUN bracis-19022 308 107 on on ADP bracis-19022 308 108 : : PUNCT bracis-19022 308 109 pubmed pubmed PROPN bracis-19022 308 110     SPACE bracis-19022 308 111 google google PROPN bracis-19022 308 112 scholar scholar PROPN bracis-19022 308 113 leonardo leonardo PROPN bracis-19022 308 114 ferreira ferreira PROPN bracis-19022 308 115 da da PROPN bracis-19022 308 116 costaview costaview PROPN bracis-19022 308 117 author author NOUN bracis-19022 308 118 publications publication NOUN bracis-19022 308 119 search search NOUN bracis-19022 308 120 author author NOUN bracis-19022 308 121 on on ADP bracis-19022 308 122 : : PUNCT bracis-19022 308 123 pubmed pubmed PROPN bracis-19022 308 124     SPACE bracis-19022 308 125 google google PROPN bracis-19022 308 126 scholar scholar NOUN bracis-19022 308 127 joão joão PROPN bracis-19022 308 128 pedro pedro PROPN bracis-19022 308 129 bernardino bernardino PROPN bracis-19022 308 130 andradeview andradeview ADJ bracis-19022 308 131 author author NOUN bracis-19022 308 132 publications publication NOUN bracis-19022 308 133 search search NOUN bracis-19022 308 134 author author NOUN bracis-19022 308 135 on on ADP bracis-19022 308 136 : : PUNCT bracis-19022 308 137 pubmed pubmed PROPN bracis-19022 308 138     SPACE bracis-19022 308 139 google google PROPN bracis-19022 308 140 scholar scholar NOUN bracis-19022 308 141 gustavo gustavo NOUN bracis-19022 308 142 augusto augusto PROPN bracis-19022 308 143 lima lima PROPN bracis-19022 308 144 de de PROPN bracis-19022 308 145 camposview camposview NOUN bracis-19022 308 146 author author NOUN bracis-19022 308 147 publications publication NOUN bracis-19022 308 148 search search NOUN bracis-19022 308 149 author author NOUN bracis-19022 308 150 on on ADP bracis-19022 308 151 : : PUNCT bracis-19022 308 152 pubmed pubmed PROPN bracis-19022 308 153     SPACE bracis-19022 308 154 google google PROPN bracis-19022 308 155 scholar scholar NOUN bracis-19022 308 156 corresponding correspond VERB bracis-19022 308 157 author author NOUN bracis-19022 308 158 correspondence correspondence NOUN bracis-19022 308 159 to to PART bracis-19022 308 160 thayanne thayanne VERB bracis-19022 308 161 frança frança PROPN bracis-19022 308 162 da da PROPN bracis-19022 308 163 silva silva PROPN bracis-19022 308 164 . . PUNCT bracis-19022 309 1 editor editor NOUN bracis-19022 309 2 information information NOUN bracis-19022 309 3 editors editor NOUN bracis-19022 309 4 and and CCONJ bracis-19022 309 5 affiliations affiliation NOUN bracis-19022 309 6 universidade universidade PROPN bracis-19022 309 7 federal federal PROPN bracis-19022 309 8 de de X bracis-19022 309 9 sergipe sergipe PROPN bracis-19022 309 10 , , PUNCT bracis-19022 309 11 são são NOUN bracis-19022 309 12 cristóvão cristóvão PROPN bracis-19022 309 13 , , PUNCT bracis-19022 309 14 brazil brazil PROPN bracis-19022 309 15 andré andré PROPN bracis-19022 309 16 britto britto PROPN bracis-19022 309 17 universidade universidade PROPN bracis-19022 309 18 de de PROPN bracis-19022 309 19 são são PROPN bracis-19022 309 20 paulo paulo PROPN bracis-19022 309 21 , , PUNCT bracis-19022 309 22 são são PROPN bracis-19022 309 23 paulo paulo PROPN bracis-19022 309 24 , , PUNCT bracis-19022 309 25 brazil brazil PROPN bracis-19022 309 26 karina karina PROPN bracis-19022 309 27 valdivia valdivia PROPN bracis-19022 309 28 delgado delgado VERB bracis-19022 309 29 rights right NOUN bracis-19022 309 30 and and CCONJ bracis-19022 309 31 permissions permission NOUN bracis-19022 309 32 reprints reprint NOUN bracis-19022 309 33 and and CCONJ bracis-19022 309 34 permissions permission VERB bracis-19022 309 35 copyright copyright NOUN bracis-19022 309 36 information information NOUN bracis-19022 309 37 © © PROPN bracis-19022 309 38 2021 2021 NUM bracis-19022 309 39 springer springer NOUN bracis-19022 309 40 nature nature NOUN bracis-19022 309 41 switzerland switzerland PROPN bracis-19022 309 42 ag ag PROPN bracis-19022 309 43 about about ADP bracis-19022 309 44 this this DET bracis-19022 309 45 paper paper NOUN bracis-19022 309 46 cite cite VERB bracis-19022 309 47 this this DET bracis-19022 309 48 paper paper NOUN bracis-19022 309 49 da da PROPN bracis-19022 309 50 silva silva PROPN bracis-19022 309 51 , , PUNCT bracis-19022 309 52 t.f t.f PROPN bracis-19022 309 53 . . PROPN bracis-19022 309 54 , , PUNCT bracis-19022 309 55 araújo araújo PROPN bracis-19022 309 56 , , PUNCT bracis-19022 309 57 m.s m.s PROPN bracis-19022 309 58 . . PROPN bracis-19022 309 59 , , PUNCT bracis-19022 309 60 ferro ferro NOUN bracis-19022 309 61 junior junior NOUN bracis-19022 309 62 , , PUNCT bracis-19022 309 63 r.j.c r.j.c ADJ bracis-19022 309 64 . . PROPN bracis-19022 309 65 , , PUNCT bracis-19022 309 66 da da PROPN bracis-19022 309 67 costa costa PROPN bracis-19022 309 68 , , PUNCT bracis-19022 309 69 l.f l.f PROPN bracis-19022 309 70 . . PROPN bracis-19022 309 71 , , PUNCT bracis-19022 309 72 andrade andrade PROPN bracis-19022 309 73 , , PUNCT bracis-19022 309 74 j.p.b j.p.b PROPN bracis-19022 309 75 . . PROPN bracis-19022 309 76 , , PUNCT bracis-19022 309 77 de de PROPN bracis-19022 309 78 campos campos PROPN bracis-19022 309 79 , , PUNCT bracis-19022 309 80 g.a.l g.a.l INTJ bracis-19022 309 81 . . PUNCT bracis-19022 310 1 ( ( PUNCT bracis-19022 310 2 2021 2021 NUM bracis-19022 310 3 ) ) PUNCT bracis-19022 310 4 . . PUNCT bracis-19022 311 1 intelligent intelligent ADJ bracis-19022 311 2 agents agent NOUN bracis-19022 311 3 for for ADP bracis-19022 311 4 observation observation NOUN bracis-19022 311 5 and and CCONJ bracis-19022 311 6 containment containment NOUN bracis-19022 311 7 of of ADP bracis-19022 311 8 malicious malicious ADJ bracis-19022 311 9 targets target NOUN bracis-19022 311 10 organizations organization NOUN bracis-19022 311 11 . . PUNCT bracis-19022 312 1 in in ADP bracis-19022 312 2 : : PUNCT bracis-19022 312 3 britto britto PROPN bracis-19022 312 4 , , PUNCT bracis-19022 312 5 a. a. PROPN bracis-19022 312 6 , , PUNCT bracis-19022 312 7 valdivia valdivia PROPN bracis-19022 312 8 delgado delgado PROPN bracis-19022 312 9 , , PUNCT bracis-19022 312 10 k. k. PROPN bracis-19022 312 11 ( ( PUNCT bracis-19022 312 12 eds eds PROPN bracis-19022 312 13 ) ) PUNCT bracis-19022 312 14 intelligent intelligent ADJ bracis-19022 312 15 systems system NOUN bracis-19022 312 16 . . PUNCT bracis-19022 313 1 bracis bracis PROPN bracis-19022 313 2 2021 2021 NUM bracis-19022 313 3 . . PUNCT bracis-19022 314 1 lecture lecture NOUN bracis-19022 314 2 notes note NOUN bracis-19022 314 3 in in ADP bracis-19022 314 4 computer computer NOUN bracis-19022 314 5 science science NOUN bracis-19022 314 6 ( ( PUNCT bracis-19022 314 7 ) ) PUNCT bracis-19022 314 8 , , PUNCT bracis-19022 314 9 vol vol NOUN bracis-19022 314 10 13073 13073 NUM bracis-19022 314 11 . . PUNCT bracis-19022 315 1 springer springer NOUN bracis-19022 315 2 , , PUNCT bracis-19022 315 3 cham cham PROPN bracis-19022 315 4 . . PUNCT bracis-19022 316 1 https://doi.org/10.1007/978-3-030-91702-9_4 https://doi.org/10.1007/978-3-030-91702-9_4 PROPN bracis-19022 316 2 download download PROPN bracis-19022 316 3 citation citation PROPN bracis-19022 316 4 .ris .ris PUNCT bracis-19022 316 5 .enw .enw PROPN bracis-19022 316 6 .bib .bib PUNCT bracis-19022 317 1 doi doi PROPN bracis-19022 317 2 : : PUNCT bracis-19022 317 3 https://doi.org/10.1007/978-3-030-91702-9_4 https://doi.org/10.1007/978-3-030-91702-9_4 NOUN bracis-19022 317 4 published publish VERB bracis-19022 317 5 : : PUNCT bracis-19022 317 6 28 28 NUM bracis-19022 317 7 november november PROPN bracis-19022 317 8 2021 2021 NUM bracis-19022 317 9 publisher publisher NOUN bracis-19022 317 10 name name NOUN bracis-19022 317 11 : : PUNCT bracis-19022 317 12 springer springer NOUN bracis-19022 317 13 , , PUNCT bracis-19022 317 14 cham cham PROPN bracis-19022 317 15 print print PROPN bracis-19022 317 16 isbn isbn PROPN bracis-19022 317 17 : : PUNCT bracis-19022 317 18 978 978 NUM bracis-19022 317 19 - - SYM bracis-19022 317 20 3 3 NUM bracis-19022 317 21 - - PUNCT bracis-19022 317 22 030 030 NUM bracis-19022 317 23 - - PUNCT bracis-19022 317 24 91701 91701 NUM bracis-19022 317 25 - - SYM bracis-19022 317 26 2 2 NUM bracis-19022 317 27 online online ADJ bracis-19022 317 28 isbn isbn NOUN bracis-19022 317 29 : : PUNCT bracis-19022 317 30 978 978 NUM bracis-19022 317 31 - - SYM bracis-19022 317 32 3 3 NUM bracis-19022 317 33 - - PUNCT bracis-19022 317 34 030 030 NUM bracis-19022 317 35 - - PUNCT bracis-19022 317 36 91702 91702 NUM bracis-19022 317 37 - - SYM bracis-19022 317 38 9 9 NUM bracis-19022 317 39 ebook ebook NOUN bracis-19022 317 40 packages package NOUN bracis-19022 317 41 : : PUNCT bracis-19022 317 42 computer computer NOUN bracis-19022 317 43 sciencecomputer sciencecomputer NOUN bracis-19022 317 44 science science NOUN bracis-19022 317 45 ( ( PUNCT bracis-19022 317 46 r0 r0 NOUN bracis-19022 317 47 ) ) PUNCT bracis-19022 317 48 share share VERB bracis-19022 317 49 this this DET bracis-19022 317 50 paper paper NOUN bracis-19022 317 51 anyone anyone PRON bracis-19022 317 52 you you PRON bracis-19022 317 53 share share VERB bracis-19022 317 54 the the DET bracis-19022 317 55 following follow VERB bracis-19022 317 56 link link NOUN bracis-19022 317 57 with with ADP bracis-19022 317 58 will will AUX bracis-19022 317 59 be be AUX bracis-19022 317 60 able able ADJ bracis-19022 317 61 to to PART bracis-19022 317 62 read read VERB bracis-19022 317 63 this this DET bracis-19022 317 64 content content NOUN bracis-19022 317 65 : : PUNCT bracis-19022 317 66 get get VERB bracis-19022 317 67 shareable shareable ADJ bracis-19022 317 68 linksorry linksorry NOUN bracis-19022 317 69 , , PUNCT bracis-19022 317 70 a a DET bracis-19022 317 71 shareable shareable ADJ bracis-19022 317 72 link link NOUN bracis-19022 317 73 is be AUX bracis-19022 317 74 not not PART bracis-19022 317 75 currently currently ADV bracis-19022 317 76 available available ADJ bracis-19022 317 77 for for ADP bracis-19022 317 78 this this DET bracis-19022 317 79 article article NOUN bracis-19022 317 80 . . PUNCT bracis-19022 318 1 copy copy VERB bracis-19022 318 2 shareable shareable ADJ bracis-19022 318 3 link link NOUN bracis-19022 318 4 to to PART bracis-19022 318 5 clipboard clipboard NOUN bracis-19022 318 6 provided provide VERB bracis-19022 318 7 by by ADP bracis-19022 318 8 the the DET bracis-19022 318 9 springer springer NOUN bracis-19022 318 10 nature nature PROPN bracis-19022 318 11 sharedit sharedit PROPN bracis-19022 318 12 content content NOUN bracis-19022 318 13 - - PUNCT bracis-19022 318 14 sharing share VERB bracis-19022 318 15 initiative initiative NOUN bracis-19022 318 16 keywords keyword VERB bracis-19022 318 17 multi multi ADJ bracis-19022 318 18 - - ADJ bracis-19022 318 19 agent agent ADJ bracis-19022 318 20 system system NOUN bracis-19022 318 21 cooperative cooperative ADJ bracis-19022 318 22 multi multi ADJ bracis-19022 318 23 - - ADJ bracis-19022 318 24 robot robot ADJ bracis-19022 318 25 observation observation NOUN bracis-19022 318 26 of of ADP bracis-19022 318 27 multiple multiple ADJ bracis-19022 318 28 moving move VERB bracis-19022 318 29 targets target NOUN bracis-19022 318 30 organization organization NOUN bracis-19022 318 31 computational computational ADJ bracis-19022 318 32 vision vision NOUN bracis-19022 318 33 containment containment NOUN bracis-19022 318 34 strategies strategy NOUN bracis-19022 318 35 publish publish VERB bracis-19022 318 36 with with ADP bracis-19022 318 37 us us PROPN bracis-19022 318 38 policies policy NOUN bracis-19022 318 39 and and CCONJ bracis-19022 318 40 ethics ethic NOUN bracis-19022 318 41 search search NOUN bracis-19022 318 42 search search NOUN bracis-19022 318 43 by by ADP bracis-19022 318 44 keyword keyword NOUN bracis-19022 318 45 or or CCONJ bracis-19022 318 46 author author NOUN bracis-19022 318 47 search search NOUN bracis-19022 318 48 navigation navigation NOUN bracis-19022 318 49 find find VERB bracis-19022 318 50 a a DET bracis-19022 318 51 journal journal NOUN bracis-19022 318 52 publish publish VERB bracis-19022 318 53 with with ADP bracis-19022 318 54 us we PRON bracis-19022 318 55 track track VERB bracis-19022 318 56 your your PRON bracis-19022 318 57 research research NOUN bracis-19022 318 58 discover discover VERB bracis-19022 318 59 content content NOUN bracis-19022 318 60 journals journal NOUN bracis-19022 318 61 a a DET bracis-19022 318 62 - - PUNCT bracis-19022 318 63 z z NOUN bracis-19022 318 64 books book NOUN bracis-19022 318 65 a a DET bracis-19022 318 66 - - PUNCT bracis-19022 318 67 z z NOUN bracis-19022 318 68 publish publish NOUN bracis-19022 318 69 with with ADP bracis-19022 318 70 us us PROPN bracis-19022 318 71 journal journal PROPN bracis-19022 318 72 finder finder PROPN bracis-19022 318 73 publish publish VERB bracis-19022 318 74 your your PRON bracis-19022 318 75 research research NOUN bracis-19022 318 76 language language NOUN bracis-19022 318 77 editing edit VERB bracis-19022 318 78 open open ADJ bracis-19022 318 79 access access NOUN bracis-19022 318 80 publishing publishing NOUN bracis-19022 318 81 products product NOUN bracis-19022 318 82 and and CCONJ bracis-19022 318 83 services service NOUN bracis-19022 318 84 our our PRON bracis-19022 318 85 products product NOUN bracis-19022 318 86 librarians librarian VERB bracis-19022 318 87 societies society NOUN bracis-19022 318 88 partners partner NOUN bracis-19022 318 89 and and CCONJ bracis-19022 318 90 advertisers advertiser NOUN bracis-19022 318 91 our our PRON bracis-19022 318 92 brands brand NOUN bracis-19022 318 93 springer springer NOUN bracis-19022 318 94 nature nature PROPN bracis-19022 318 95 portfolio portfolio PROPN bracis-19022 318 96 bmc bmc PROPN bracis-19022 318 97 palgrave palgrave PROPN bracis-19022 318 98 macmillan macmillan PROPN bracis-19022 318 99 apress apress PROPN bracis-19022 318 100 discover discover VERB bracis-19022 318 101 your your PRON bracis-19022 318 102 privacy privacy NOUN bracis-19022 318 103 choices choice NOUN bracis-19022 318 104 / / SYM bracis-19022 318 105 manage manage NOUN bracis-19022 318 106 cookies cookie NOUN bracis-19022 318 107 your your PRON bracis-19022 318 108 us us PROPN bracis-19022 319 1 state state NOUN bracis-19022 319 2 privacy privacy NOUN bracis-19022 319 3 rights right NOUN bracis-19022 319 4 accessibility accessibility NOUN bracis-19022 319 5 statement statement NOUN bracis-19022 319 6 terms term NOUN bracis-19022 319 7 and and CCONJ bracis-19022 319 8 conditions condition NOUN bracis-19022 319 9 privacy privacy NOUN bracis-19022 319 10 policy policy NOUN bracis-19022 319 11 help help NOUN bracis-19022 319 12 and and CCONJ bracis-19022 319 13 support support VERB bracis-19022 319 14 legal legal ADJ bracis-19022 319 15 notice notice NOUN bracis-19022 319 16 cancel cancel VERB bracis-19022 319 17 contracts contract NOUN bracis-19022 319 18 here here ADV bracis-19022 319 19 129.74.145.123 129.74.145.123 NUM bracis-19022 319 20 hesburgh hesburgh PROPN bracis-19022 319 21 library library PROPN bracis-19022 319 22 er er INTJ bracis-19022 319 23 unit unit NOUN bracis-19022 319 24 ( ( PUNCT bracis-19022 319 25 3005732405 3005732405 NUM bracis-19022 319 26 ) ) PUNCT bracis-19022 319 27 northeast northeast ADJ bracis-19022 319 28 research research NOUN bracis-19022 319 29 libraries library NOUN bracis-19022 319 30 ( ( PUNCT bracis-19022 319 31 nerl nerl PROPN bracis-19022 319 32 ) ) PUNCT bracis-19022 319 33 ( ( PUNCT bracis-19022 319 34 8200828607 8200828607 NUM bracis-19022 319 35 ) ) PUNCT bracis-19022 319 36 nerl nerl VERB bracis-19022 319 37 ta ta X bracis-19022 319 38 account account NOUN bracis-19022 319 39 ( ( PUNCT bracis-19022 319 40 3006206169 3006206169 NUM bracis-19022 319 41 ) ) PUNCT bracis-19022 319 42 university university NOUN bracis-19022 319 43 of of ADP bracis-19022 319 44 notre notre PROPN bracis-19022 319 45 dame dame PROPN bracis-19022 319 46 hesburgh hesburgh PROPN bracis-19022 319 47 library library NOUN bracis-19022 319 48 ( ( PUNCT bracis-19022 319 49 3000184373 3000184373 NUM bracis-19022 319 50 ) ) PUNCT bracis-19022 320 1 © © ADP bracis-19022 320 2 2025 2025 NUM bracis-19022 320 3 springer springer NOUN bracis-19022 320 4 nature nature NOUN