id	sid	tid	token	lemma	pos
arestyrurj-153	1	1	aresty	aresty	PROPN
arestyrurj-153	1	2	rutgers	rutgers	PROPN
arestyrurj-153	1	3	undergraduate	undergraduate	PROPN
arestyrurj-153	1	4	research	research	PROPN
arestyrurj-153	1	5	journal	journal	PROPN
arestyrurj-153	1	6	,	,	PUNCT
arestyrurj-153	1	7	volume	volume	NOUN
arestyrurj-153	1	8	i	i	PRON
arestyrurj-153	1	9	,	,	PUNCT
arestyrurj-153	1	10	issue	issue	NOUN
arestyrurj-153	1	11	ii	ii	NOUN
arestyrurj-153	1	12	this	this	DET
arestyrurj-153	1	13	work	work	NOUN
arestyrurj-153	1	14	is	be	AUX
arestyrurj-153	1	15	licensed	license	VERB
arestyrurj-153	1	16	under	under	ADP
arestyrurj-153	1	17	a	a	DET
arestyrurj-153	1	18	creative	creative	ADJ
arestyrurj-153	1	19	commons	common	NOUN
arestyrurj-153	1	20	attribution	attribution	NOUN
arestyrurj-153	1	21	-	-	PUNCT
arestyrurj-153	1	22	noncommercial	noncommercial	ADJ
arestyrurj-153	1	23	-	-	PUNCT
arestyrurj-153	1	24	sharealike	sharealike	ADJ
arestyrurj-153	1	25	4.0	4.0	NUM
arestyrurj-153	1	26	international	international	ADJ
arestyrurj-153	1	27	license	license	NOUN
arestyrurj-153	1	28	.	.	PUNCT
arestyrurj-153	2	1	minimization	minimization	NOUN
arestyrurj-153	2	2	of	of	ADP
arestyrurj-153	2	3	fuel	fuel	NOUN
arestyrurj-153	2	4	consumption	consumption	NOUN
arestyrurj-153	2	5	of	of	ADP
arestyrurj-153	2	6	a	a	DET
arestyrurj-153	2	7	swarm	swarm	NOUN
arestyrurj-153	2	8	of	of	ADP
arestyrurj-153	2	9	spacecraft	spacecraft	NOUN
arestyrurj-153	2	10	through	through	ADP
arestyrurj-153	2	11	a	a	DET
arestyrurj-153	2	12	genetic	genetic	ADJ
arestyrurj-153	2	13	algorithm	algorithm	NOUN
arestyrurj-153	2	14	approach	approach	NOUN
arestyrurj-153	2	15	shane	shane	PROPN
arestyrurj-153	2	16	lecompte	lecompte	PROPN
arestyrurj-153	2	17	,	,	PUNCT
arestyrurj-153	2	18	dr	dr	PROPN
arestyrurj-153	2	19	.	.	PROPN
arestyrurj-153	2	20	annalisa	annalisa	PROPN
arestyrurj-153	2	21	scacchioli	scacchioli	NOUN
arestyrurj-153	2	22	(	(	PUNCT
arestyrurj-153	2	23	faculty	faculty	NOUN
arestyrurj-153	2	24	advisor	advisor	NOUN
arestyrurj-153	2	25	)	)	PUNCT
arestyrurj-153	2	26	✵	✵	PROPN
arestyrurj-153	2	27	abstract	abstract	ADV
arestyrurj-153	2	28	as	as	SCONJ
arestyrurj-153	2	29	humanity	humanity	NOUN
arestyrurj-153	2	30	moves	move	VERB
arestyrurj-153	2	31	closer	close	ADV
arestyrurj-153	2	32	to	to	ADP
arestyrurj-153	2	33	forming	form	VERB
arestyrurj-153	2	34	realistic	realistic	ADJ
arestyrurj-153	2	35	paths	path	NOUN
arestyrurj-153	2	36	toward	toward	ADP
arestyrurj-153	2	37	space	space	NOUN
arestyrurj-153	2	38	exploration	exploration	NOUN
arestyrurj-153	2	39	beyond	beyond	ADP
arestyrurj-153	2	40	that	that	PRON
arestyrurj-153	2	41	what	what	PRON
arestyrurj-153	2	42	we	we	PRON
arestyrurj-153	2	43	have	have	AUX
arestyrurj-153	2	44	already	already	ADV
arestyrurj-153	2	45	accomplished	accomplish	VERB
arestyrurj-153	2	46	,	,	PUNCT
arestyrurj-153	2	47	multiple	multiple	ADJ
arestyrurj-153	2	48	new	new	ADJ
arestyrurj-153	2	49	challenges	challenge	NOUN
arestyrurj-153	2	50	have	have	AUX
arestyrurj-153	2	51	presented	present	VERB
arestyrurj-153	2	52	themselves	themselves	PRON
arestyrurj-153	2	53	.	.	PUNCT
arestyrurj-153	3	1	traditional	traditional	ADJ
arestyrurj-153	3	2	large	large	ADJ
arestyrurj-153	3	3	spacecraft	spacecraft	NOUN
arestyrurj-153	3	4	prove	prove	VERB
arestyrurj-153	3	5	to	to	PART
arestyrurj-153	3	6	be	be	AUX
arestyrurj-153	3	7	unfeasible	unfeasible	ADJ
arestyrurj-153	3	8	both	both	CCONJ
arestyrurj-153	3	9	logistically	logistically	ADV
arestyrurj-153	3	10	and	and	CCONJ
arestyrurj-153	3	11	economically	economically	ADV
arestyrurj-153	3	12	for	for	ADP
arestyrurj-153	3	13	missions	mission	NOUN
arestyrurj-153	3	14	where	where	SCONJ
arestyrurj-153	3	15	a	a	DET
arestyrurj-153	3	16	single	single	ADJ
arestyrurj-153	3	17	problem	problem	NOUN
arestyrurj-153	3	18	can	can	AUX
arestyrurj-153	3	19	completely	completely	ADV
arestyrurj-153	3	20	halt	halt	VERB
arestyrurj-153	3	21	operations	operation	NOUN
arestyrurj-153	3	22	,	,	PUNCT
arestyrurj-153	3	23	especially	especially	ADV
arestyrurj-153	3	24	given	give	VERB
arestyrurj-153	3	25	that	that	PRON
arestyrurj-153	3	26	higher	high	ADJ
arestyrurj-153	3	27	reward	reward	NOUN
arestyrurj-153	3	28	missions	mission	NOUN
arestyrurj-153	3	29	are	be	AUX
arestyrurj-153	3	30	also	also	ADV
arestyrurj-153	3	31	of	of	ADP
arestyrurj-153	3	32	higher	high	ADJ
arestyrurj-153	3	33	risk	risk	NOUN
arestyrurj-153	3	34	.	.	PUNCT
arestyrurj-153	4	1	a	a	DET
arestyrurj-153	4	2	possible	possible	ADJ
arestyrurj-153	4	3	alternative	alternative	NOUN
arestyrurj-153	4	4	to	to	ADP
arestyrurj-153	4	5	large	large	ADJ
arestyrurj-153	4	6	craft	craft	NOUN
arestyrurj-153	4	7	is	be	AUX
arestyrurj-153	4	8	using	use	VERB
arestyrurj-153	4	9	a	a	DET
arestyrurj-153	4	10	swarm	swarm	NOUN
arestyrurj-153	4	11	of	of	ADP
arestyrurj-153	4	12	smaller	small	ADJ
arestyrurj-153	4	13	craft	craft	NOUN
arestyrurj-153	4	14	made	make	VERB
arestyrurj-153	4	15	to	to	PART
arestyrurj-153	4	16	accomplish	accomplish	VERB
arestyrurj-153	4	17	the	the	DET
arestyrurj-153	4	18	same	same	ADJ
arestyrurj-153	4	19	goals	goal	NOUN
arestyrurj-153	4	20	while	while	SCONJ
arestyrurj-153	4	21	mitigating	mitigate	VERB
arestyrurj-153	4	22	some	some	PRON
arestyrurj-153	4	23	of	of	ADP
arestyrurj-153	4	24	the	the	DET
arestyrurj-153	4	25	drawbacks	drawback	NOUN
arestyrurj-153	4	26	large	large	ADJ
arestyrurj-153	4	27	craft	craft	NOUN
arestyrurj-153	4	28	face	face	NOUN
arestyrurj-153	4	29	.	.	PUNCT
arestyrurj-153	5	1	rockets	rocket	NOUN
arestyrurj-153	5	2	,	,	PUNCT
arestyrurj-153	5	3	space	space	NOUN
arestyrurj-153	5	4	shuttles	shuttle	NOUN
arestyrurj-153	5	5	,	,	PUNCT
arestyrurj-153	5	6	and	and	CCONJ
arestyrurj-153	5	7	satellites	satellite	NOUN
arestyrurj-153	5	8	all	all	PRON
arestyrurj-153	5	9	prove	prove	VERB
arestyrurj-153	5	10	to	to	PART
arestyrurj-153	5	11	be	be	AUX
arestyrurj-153	5	12	too	too	ADV
arestyrurj-153	5	13	large	large	ADJ
arestyrurj-153	5	14	to	to	PART
arestyrurj-153	5	15	navigate	navigate	VERB
arestyrurj-153	5	16	areas	area	NOUN
arestyrurj-153	5	17	of	of	ADP
arestyrurj-153	5	18	space	space	NOUN
arestyrurj-153	5	19	dense	dense	ADJ
arestyrurj-153	5	20	with	with	ADP
arestyrurj-153	5	21	obstacles	obstacle	NOUN
arestyrurj-153	5	22	.	.	PUNCT
arestyrurj-153	6	1	smaller	small	ADJ
arestyrurj-153	6	2	craft	craft	NOUN
arestyrurj-153	6	3	on	on	ADP
arestyrurj-153	6	4	the	the	DET
arestyrurj-153	6	5	scale	scale	NOUN
arestyrurj-153	6	6	of	of	ADP
arestyrurj-153	6	7	one	one	NUM
arestyrurj-153	6	8	meter	meter	NOUN
arestyrurj-153	6	9	in	in	ADP
arestyrurj-153	6	10	a	a	DET
arestyrurj-153	6	11	large	large	ADJ
arestyrurj-153	6	12	swarm	swarm	NOUN
arestyrurj-153	6	13	would	would	AUX
arestyrurj-153	6	14	navigate	navigate	VERB
arestyrurj-153	6	15	these	these	DET
arestyrurj-153	6	16	regions	region	NOUN
arestyrurj-153	6	17	.	.	PUNCT
arestyrurj-153	7	1	due	due	ADP
arestyrurj-153	7	2	to	to	ADP
arestyrurj-153	7	3	the	the	DET
arestyrurj-153	7	4	decentralized	decentralized	ADJ
arestyrurj-153	7	5	nature	nature	NOUN
arestyrurj-153	7	6	of	of	ADP
arestyrurj-153	7	7	a	a	DET
arestyrurj-153	7	8	swarm	swarm	NOUN
arestyrurj-153	7	9	,	,	PUNCT
arestyrurj-153	7	10	any	any	DET
arestyrurj-153	7	11	problems	problem	NOUN
arestyrurj-153	7	12	faced	face	VERB
arestyrurj-153	7	13	by	by	ADP
arestyrurj-153	7	14	one	one	NUM
arestyrurj-153	7	15	craft	craft	NOUN
arestyrurj-153	7	16	do	do	AUX
arestyrurj-153	7	17	not	not	PART
arestyrurj-153	7	18	necessarily	necessarily	ADV
arestyrurj-153	7	19	affect	affect	VERB
arestyrurj-153	7	20	the	the	DET
arestyrurj-153	7	21	others	other	NOUN
arestyrurj-153	7	22	,	,	PUNCT
arestyrurj-153	7	23	allowing	allow	VERB
arestyrurj-153	7	24	the	the	DET
arestyrurj-153	7	25	swarm	swarm	NOUN
arestyrurj-153	7	26	to	to	PART
arestyrurj-153	7	27	stay	stay	VERB
arestyrurj-153	7	28	operational	operational	ADJ
arestyrurj-153	7	29	despite	despite	SCONJ
arestyrurj-153	7	30	some	some	DET
arestyrurj-153	7	31	crafts	craft	NOUN
arestyrurj-153	7	32	becoming	becoming	AUX
arestyrurj-153	7	33	compromised	compromise	VERB
arestyrurj-153	7	34	.	.	PUNCT
arestyrurj-153	8	1	this	this	DET
arestyrurj-153	8	2	feature	feature	NOUN
arestyrurj-153	8	3	means	mean	VERB
arestyrurj-153	8	4	that	that	SCONJ
arestyrurj-153	8	5	a	a	DET
arestyrurj-153	8	6	problem	problem	NOUN
arestyrurj-153	8	7	or	or	CCONJ
arestyrurj-153	8	8	miscalculation	miscalculation	NOUN
arestyrurj-153	8	9	that	that	PRON
arestyrurj-153	8	10	could	could	AUX
arestyrurj-153	8	11	completely	completely	ADV
arestyrurj-153	8	12	derail	derail	VERB
arestyrurj-153	8	13	an	an	DET
arestyrurj-153	8	14	entire	entire	ADJ
arestyrurj-153	8	15	mission	mission	NOUN
arestyrurj-153	8	16	in	in	ADP
arestyrurj-153	8	17	the	the	DET
arestyrurj-153	8	18	context	context	NOUN
arestyrurj-153	8	19	of	of	ADP
arestyrurj-153	8	20	a	a	DET
arestyrurj-153	8	21	large	large	ADJ
arestyrurj-153	8	22	spacecraft	spacecraft	NOUN
arestyrurj-153	8	23	would	would	AUX
arestyrurj-153	8	24	not	not	PART
arestyrurj-153	8	25	do	do	VERB
arestyrurj-153	8	26	the	the	DET
arestyrurj-153	8	27	same	same	ADJ
arestyrurj-153	8	28	to	to	ADP
arestyrurj-153	8	29	a	a	DET
arestyrurj-153	8	30	swarm	swarm	NOUN
arestyrurj-153	8	31	.	.	PUNCT
arestyrurj-153	9	1	in	in	ADP
arestyrurj-153	9	2	the	the	DET
arestyrurj-153	9	3	context	context	NOUN
arestyrurj-153	9	4	of	of	ADP
arestyrurj-153	9	5	exploring	explore	VERB
arestyrurj-153	9	6	dense	dense	ADJ
arestyrurj-153	9	7	and/or	and/or	CCONJ
arestyrurj-153	9	8	extreme	extreme	ADJ
arestyrurj-153	9	9	environments	environment	NOUN
arestyrurj-153	9	10	in	in	ADP
arestyrurj-153	9	11	space	space	NOUN
arestyrurj-153	9	12	,	,	PUNCT
arestyrurj-153	9	13	many	many	ADJ
arestyrurj-153	9	14	logistic	logistic	ADJ
arestyrurj-153	9	15	and	and	CCONJ
arestyrurj-153	9	16	economic	economic	ADJ
arestyrurj-153	9	17	problems	problem	NOUN
arestyrurj-153	9	18	faced	face	VERB
arestyrurj-153	9	19	by	by	ADP
arestyrurj-153	9	20	large	large	ADJ
arestyrurj-153	9	21	craft	craft	NOUN
arestyrurj-153	9	22	due	due	ADP
arestyrurj-153	9	23	to	to	ADP
arestyrurj-153	9	24	their	their	PRON
arestyrurj-153	9	25	size	size	NOUN
arestyrurj-153	9	26	and	and	CCONJ
arestyrurj-153	9	27	centralized	centralized	ADJ
arestyrurj-153	9	28	nature	nature	NOUN
arestyrurj-153	9	29	will	will	AUX
arestyrurj-153	9	30	not	not	PART
arestyrurj-153	9	31	affect	affect	VERB
arestyrurj-153	9	32	a	a	DET
arestyrurj-153	9	33	swarm	swarm	NOUN
arestyrurj-153	9	34	.	.	PUNCT
arestyrurj-153	10	1	with	with	ADP
arestyrurj-153	10	2	an	an	DET
arestyrurj-153	10	3	accurate	accurate	ADJ
arestyrurj-153	10	4	mathematical	mathematical	ADJ
arestyrurj-153	10	5	model	model	NOUN
arestyrurj-153	10	6	of	of	ADP
arestyrurj-153	10	7	the	the	DET
arestyrurj-153	10	8	swarm	swarm	NOUN
arestyrurj-153	10	9	dynamics	dynamic	NOUN
arestyrurj-153	10	10	from	from	ADP
arestyrurj-153	10	11	benet	benet	PROPN
arestyrurj-153	10	12	et	et	PROPN
arestyrurj-153	10	13	al.[1	al.[1	PROPN
arestyrurj-153	10	14	]	]	PUNCT
arestyrurj-153	10	15	,	,	PUNCT
arestyrurj-153	10	16	a	a	DET
arestyrurj-153	10	17	genetic	genetic	ADJ
arestyrurj-153	10	18	algorithm	algorithm	NOUN
arestyrurj-153	10	19	’s	’s	PART
arestyrurj-153	10	20	metaheuristic	metaheuristic	ADJ
arestyrurj-153	10	21	method	method	NOUN
arestyrurj-153	10	22	is	be	AUX
arestyrurj-153	10	23	utilized[2	utilized[2	NUM
arestyrurj-153	10	24	]	]	PUNCT
arestyrurj-153	10	25	to	to	PART
arestyrurj-153	10	26	find	find	VERB
arestyrurj-153	10	27	optimal	optimal	ADJ
arestyrurj-153	10	28	parameters	parameter	NOUN
arestyrurj-153	10	29	that	that	PRON
arestyrurj-153	10	30	yield	yield	VERB
arestyrurj-153	10	31	a	a	DET
arestyrurj-153	10	32	minimal	minimal	ADJ
arestyrurj-153	10	33	fuel	fuel	NOUN
arestyrurj-153	10	34	consumption	consumption	NOUN
arestyrurj-153	10	35	value	value	NOUN
arestyrurj-153	10	36	for	for	ADP
arestyrurj-153	10	37	a	a	DET
arestyrurj-153	10	38	given	give	VERB
arestyrurj-153	10	39	trajectory	trajectory	NOUN
arestyrurj-153	10	40	/	/	SYM
arestyrurj-153	10	41	mission	mission	NOUN
arestyrurj-153	10	42	objective	objective	NOUN
arestyrurj-153	10	43	.	.	PUNCT
arestyrurj-153	11	1	from	from	ADP
arestyrurj-153	11	2	this	this	DET
arestyrurj-153	11	3	approach	approach	NOUN
arestyrurj-153	11	4	,	,	PUNCT
arestyrurj-153	11	5	the	the	DET
arestyrurj-153	11	6	total	total	ADJ
arestyrurj-153	11	7	fuel	fuel	NOUN
arestyrurj-153	11	8	consumption	consumption	NOUN
arestyrurj-153	11	9	was	be	AUX
arestyrurj-153	11	10	cut	cut	VERB
arestyrurj-153	11	11	in	in	ADP
arestyrurj-153	11	12	half	half	NOUN
arestyrurj-153	11	13	while	while	SCONJ
arestyrurj-153	11	14	retaining	retain	VERB
arestyrurj-153	11	15	desirable	desirable	ADJ
arestyrurj-153	11	16	characteristics	characteristic	NOUN
arestyrurj-153	11	17	of	of	ADP
arestyrurj-153	11	18	the	the	DET
arestyrurj-153	11	19	trajectory	trajectory	NOUN
arestyrurj-153	11	20	such	such	ADJ
arestyrurj-153	11	21	as	as	ADP
arestyrurj-153	11	22	collision	collision	NOUN
arestyrurj-153	11	23	avoidance	avoidance	NOUN
arestyrurj-153	11	24	and	and	CCONJ
arestyrurj-153	11	25	final	final	ADJ
arestyrurj-153	11	26	formation	formation	NOUN
arestyrurj-153	11	27	constraints	constraint	NOUN
arestyrurj-153	11	28	,	,	PUNCT
arestyrurj-153	11	29	giving	give	VERB
arestyrurj-153	11	30	us	we	PRON
arestyrurj-153	11	31	a	a	DET
arestyrurj-153	11	32	similar	similar	ADJ
arestyrurj-153	11	33	course	course	NOUN
arestyrurj-153	11	34	that	that	PRON
arestyrurj-153	11	35	accomplishes	accomplish	VERB
arestyrurj-153	11	36	the	the	DET
arestyrurj-153	11	37	same	same	ADJ
arestyrurj-153	11	38	goal	goal	NOUN
arestyrurj-153	11	39	of	of	ADP
arestyrurj-153	11	40	transporting	transport	VERB
arestyrurj-153	11	41	craft	craft	NOUN
arestyrurj-153	11	42	around	around	ADP
arestyrurj-153	11	43	objects	object	NOUN
arestyrurj-153	11	44	and	and	CCONJ
arestyrurj-153	11	45	disturbances	disturbance	NOUN
arestyrurj-153	11	46	while	while	SCONJ
arestyrurj-153	11	47	also	also	ADV
arestyrurj-153	11	48	minimizing	minimize	VERB
arestyrurj-153	11	49	economic	economic	ADJ
arestyrurj-153	11	50	losses	loss	NOUN
arestyrurj-153	11	51	.	.	PUNCT
arestyrurj-153	12	1	1	1	NUM
arestyrurj-153	12	2	introduction	introduction	NOUN
arestyrurj-153	12	3	sending	send	VERB
arestyrurj-153	12	4	a	a	DET
arestyrurj-153	12	5	large	large	ADJ
arestyrurj-153	12	6	spacecraft	spacecraft	NOUN
arestyrurj-153	12	7	to	to	ADP
arestyrurj-153	12	8	a	a	DET
arestyrurj-153	12	9	destination	destination	NOUN
arestyrurj-153	12	10	far	far	ADV
arestyrurj-153	12	11	from	from	ADP
arestyrurj-153	12	12	earth	earth	NOUN
arestyrurj-153	12	13	costs	cost	VERB
arestyrurj-153	12	14	more	more	ADJ
arestyrurj-153	12	15	money	money	NOUN
arestyrurj-153	12	16	and	and	CCONJ
arestyrurj-153	12	17	has	have	VERB
arestyrurj-153	12	18	higher	high	ADJ
arestyrurj-153	12	19	risk	risk	NOUN
arestyrurj-153	12	20	factors	factor	NOUN
arestyrurj-153	12	21	and	and	CCONJ
arestyrurj-153	12	22	implications	implication	NOUN
arestyrurj-153	12	23	of	of	ADP
arestyrurj-153	12	24	failure	failure	NOUN
arestyrurj-153	12	25	than	than	ADP
arestyrurj-153	12	26	the	the	DET
arestyrurj-153	12	27	alternative	alternative	NOUN
arestyrurj-153	12	28	presented	present	VERB
arestyrurj-153	12	29	in	in	ADP
arestyrurj-153	12	30	this	this	DET
arestyrurj-153	12	31	paper	paper	NOUN
arestyrurj-153	12	32	.	.	PUNCT
arestyrurj-153	13	1	the	the	DET
arestyrurj-153	13	2	materials	material	NOUN
arestyrurj-153	13	3	fees	fee	NOUN
arestyrurj-153	13	4	,	,	PUNCT
arestyrurj-153	13	5	fuel	fuel	NOUN
arestyrurj-153	13	6	cost	cost	NOUN
arestyrurj-153	13	7	for	for	ADP
arestyrurj-153	13	8	propelling	propel	VERB
arestyrurj-153	13	9	the	the	DET
arestyrurj-153	13	10	craft	craft	NOUN
arestyrurj-153	13	11	,	,	PUNCT
arestyrurj-153	13	12	and	and	CCONJ
arestyrurj-153	13	13	opportunity	opportunity	NOUN
arestyrurj-153	13	14	cost	cost	NOUN
arestyrurj-153	13	15	associated	associate	VERB
arestyrurj-153	13	16	with	with	ADP
arestyrurj-153	13	17	large	large	ADJ
arestyrurj-153	13	18	craft	craft	NOUN
arestyrurj-153	13	19	failure	failure	NOUN
arestyrurj-153	13	20	all	all	PRON
arestyrurj-153	13	21	heavily	heavily	ADV
arestyrurj-153	13	22	outweigh	outweigh	VERB
arestyrurj-153	13	23	that	that	PRON
arestyrurj-153	13	24	of	of	ADP
arestyrurj-153	13	25	a	a	DET
arestyrurj-153	13	26	swarm	swarm	NOUN
arestyrurj-153	13	27	.	.	PUNCT
arestyrurj-153	14	1	failure	failure	NOUN
arestyrurj-153	14	2	of	of	ADP
arestyrurj-153	14	3	any	any	DET
arestyrurj-153	14	4	portion	portion	NOUN
arestyrurj-153	14	5	of	of	ADP
arestyrurj-153	14	6	the	the	DET
arestyrurj-153	14	7	large	large	ADJ
arestyrurj-153	14	8	craft	craft	NOUN
arestyrurj-153	14	9	can	can	AUX
arestyrurj-153	14	10	result	result	VERB
arestyrurj-153	14	11	in	in	ADP
arestyrurj-153	14	12	failure	failure	NOUN
arestyrurj-153	14	13	of	of	ADP
arestyrurj-153	14	14	the	the	DET
arestyrurj-153	14	15	entire	entire	ADJ
arestyrurj-153	14	16	mission	mission	NOUN
arestyrurj-153	14	17	in	in	ADP
arestyrurj-153	14	18	a	a	DET
arestyrurj-153	14	19	domino	domino	NOUN
arestyrurj-153	14	20	effect	effect	NOUN
arestyrurj-153	14	21	,	,	PUNCT
arestyrurj-153	14	22	while	while	SCONJ
arestyrurj-153	14	23	the	the	DET
arestyrurj-153	14	24	swarm	swarm	NOUN
arestyrurj-153	14	25	approach	approach	NOUN
arestyrurj-153	14	26	mitigates	mitigate	VERB
arestyrurj-153	14	27	this	this	PRON
arestyrurj-153	14	28	.	.	PUNCT
arestyrurj-153	15	1	sending	send	VERB
arestyrurj-153	15	2	a	a	DET
arestyrurj-153	15	3	swarm	swarm	NOUN
arestyrurj-153	15	4	through	through	ADP
arestyrurj-153	15	5	a	a	DET
arestyrurj-153	15	6	field	field	NOUN
arestyrurj-153	15	7	of	of	ADP
arestyrurj-153	15	8	densely	densely	ADV
arestyrurj-153	15	9	packed	pack	VERB
arestyrurj-153	15	10	asteroids	asteroid	NOUN
arestyrurj-153	15	11	or	or	CCONJ
arestyrurj-153	15	12	ice	ice	NOUN
arestyrurj-153	15	13	rocks	rock	NOUN
arestyrurj-153	15	14	in	in	ADP
arestyrurj-153	15	15	planetary	planetary	ADJ
arestyrurj-153	15	16	rings	ring	NOUN
arestyrurj-153	15	17	involves	involve	VERB
arestyrurj-153	15	18	a	a	DET
arestyrurj-153	15	19	cooperative	cooperative	ADJ
arestyrurj-153	15	20	intelligence	intelligence	NOUN
arestyrurj-153	15	21	between	between	ADP
arestyrurj-153	15	22	individual	individual	ADJ
arestyrurj-153	15	23	agents	agent	NOUN
arestyrurj-153	15	24	that	that	PRON
arestyrurj-153	15	25	may	may	AUX
arestyrurj-153	15	26	not	not	PART
arestyrurj-153	15	27	be	be	AUX
arestyrurj-153	15	28	as	as	ADV
arestyrurj-153	15	29	sophisticated	sophisticated	ADJ
arestyrurj-153	15	30	on	on	ADP
arestyrurj-153	15	31	their	their	PRON
arestyrurj-153	15	32	own	own	ADJ
arestyrurj-153	15	33	,	,	PUNCT
arestyrurj-153	15	34	but	but	CCONJ
arestyrurj-153	15	35	as	as	SCONJ
arestyrurj-153	15	36	a	a	DET
arestyrurj-153	15	37	whole	whole	NOUN
arestyrurj-153	15	38	are	be	AUX
arestyrurj-153	15	39	comparable	comparable	ADJ
arestyrurj-153	15	40	to	to	ADP
arestyrurj-153	15	41	any	any	DET
arestyrurj-153	15	42	individual	individual	ADJ
arestyrurj-153	15	43	many	many	ADJ
arestyrurj-153	15	44	orders	order	NOUN
arestyrurj-153	15	45	of	of	ADP
arestyrurj-153	15	46	magnitude	magnitude	NOUN
arestyrurj-153	15	47	larger	large	ADJ
arestyrurj-153	15	48	/	/	SYM
arestyrurj-153	15	49	smarter	smart	ADJ
arestyrurj-153	15	50	on	on	ADP
arestyrurj-153	15	51	its	its	PRON
arestyrurj-153	15	52	own	own	ADJ
arestyrurj-153	15	53	.	.	PUNCT
arestyrurj-153	16	1	this	this	DET
arestyrurj-153	16	2	idea	idea	NOUN
arestyrurj-153	16	3	is	be	AUX
arestyrurj-153	16	4	mimicked	mimic	VERB
arestyrurj-153	16	5	in	in	ADP
arestyrurj-153	16	6	nature	nature	NOUN
arestyrurj-153	16	7	with	with	ADP
arestyrurj-153	16	8	swarms	swarm	NOUN
arestyrurj-153	16	9	of	of	ADP
arestyrurj-153	16	10	bees	bee	NOUN
arestyrurj-153	16	11	together	together	ADV
arestyrurj-153	16	12	to	to	PART
arestyrurj-153	16	13	accomplish	accomplish	VERB
arestyrurj-153	16	14	great	great	ADJ
arestyrurj-153	16	15	feats	feat	NOUN
arestyrurj-153	16	16	of	of	ADP
arestyrurj-153	16	17	engineering	engineering	NOUN
arestyrurj-153	16	18	comparable	comparable	ADJ
arestyrurj-153	16	19	to	to	ADP
arestyrurj-153	16	20	humans	human	NOUN
arestyrurj-153	16	21	despite	despite	SCONJ
arestyrurj-153	16	22	their	their	PRON
arestyrurj-153	16	23	individual	individual	ADJ
arestyrurj-153	16	24	intelligence	intelligence	NOUN
arestyrurj-153	16	25	paling	pale	VERB
arestyrurj-153	16	26	in	in	ADP
arestyrurj-153	16	27	comparison	comparison	NOUN
arestyrurj-153	16	28	.	.	PUNCT
arestyrurj-153	17	1	despite	despite	SCONJ
arestyrurj-153	17	2	the	the	DET
arestyrurj-153	17	3	hackneyed	hackneyed	ADJ
arestyrurj-153	17	4	image	image	NOUN
arestyrurj-153	17	5	that	that	SCONJ
arestyrurj-153	17	6	space	space	NOUN
arestyrurj-153	17	7	travel	travel	NOUN
arestyrurj-153	17	8	is	be	AUX
arestyrurj-153	17	9	an	an	DET
arestyrurj-153	17	10	incredibly	incredibly	ADV
arestyrurj-153	17	11	advanced	advanced	ADJ
arestyrurj-153	17	12	and	and	CCONJ
arestyrurj-153	17	13	technical	technical	ADJ
arestyrurj-153	17	14	area	area	NOUN
arestyrurj-153	17	15	for	for	ADP
arestyrurj-153	17	16	humankind	humankind	NOUN
arestyrurj-153	17	17	,	,	PUNCT
arestyrurj-153	17	18	controlling	control	VERB
arestyrurj-153	17	19	a	a	DET
arestyrurj-153	17	20	swarm	swarm	NOUN
arestyrurj-153	17	21	of	of	ADP
arestyrurj-153	17	22	autonomous	autonomous	ADJ
arestyrurj-153	17	23	agents	agent	NOUN
arestyrurj-153	17	24	moving	move	VERB
arestyrurj-153	17	25	as	as	SCONJ
arestyrurj-153	17	26	a	a	DET
arestyrurj-153	17	27	single	single	ADJ
arestyrurj-153	17	28	unit	unit	NOUN
arestyrurj-153	17	29	was	be	AUX
arestyrurj-153	17	30	already	already	ADV
arestyrurj-153	17	31	solved	solve	VERB
arestyrurj-153	17	32	by	by	ADP
arestyrurj-153	17	33	nature	nature	NOUN
arestyrurj-153	17	34	millions	million	NOUN
arestyrurj-153	17	35	of	of	ADP
arestyrurj-153	17	36	years	year	NOUN
arestyrurj-153	17	37	before	before	SCONJ
arestyrurj-153	17	38	humans	human	NOUN
arestyrurj-153	17	39	ever	ever	ADV
arestyrurj-153	17	40	existed	exist	VERB
arestyrurj-153	17	41	.	.	PUNCT
arestyrurj-153	18	1	this	this	DET
arestyrurj-153	18	2	trend	trend	NOUN
arestyrurj-153	18	3	can	can	AUX
arestyrurj-153	18	4	be	be	AUX
arestyrurj-153	18	5	seen	see	VERB
arestyrurj-153	18	6	in	in	ADP
arestyrurj-153	18	7	flocks	flock	NOUN
arestyrurj-153	18	8	of	of	ADP
arestyrurj-153	18	9	birds	bird	NOUN
arestyrurj-153	18	10	,	,	PUNCT
arestyrurj-153	18	11	schools	school	NOUN
arestyrurj-153	18	12	of	of	ADP
arestyrurj-153	18	13	fish	fish	NOUN
arestyrurj-153	18	14	,	,	PUNCT
arestyrurj-153	18	15	and	and	CCONJ
arestyrurj-153	18	16	colonies	colony	NOUN
arestyrurj-153	18	17	of	of	ADP
arestyrurj-153	18	18	ants	ant	NOUN
arestyrurj-153	18	19	.	.	PUNCT
arestyrurj-153	19	1	they	they	PRON
arestyrurj-153	19	2	react	react	VERB
arestyrurj-153	19	3	to	to	ADP
arestyrurj-153	19	4	disturbances	disturbance	NOUN
arestyrurj-153	19	5	as	as	ADP
arestyrurj-153	19	6	a	a	DET
arestyrurj-153	19	7	whole	whole	NOUN
arestyrurj-153	19	8	and	and	CCONJ
arestyrurj-153	19	9	can	can	AUX
arestyrurj-153	19	10	continue	continue	VERB
arestyrurj-153	19	11	to	to	PART
arestyrurj-153	19	12	survive	survive	VERB
arestyrurj-153	19	13	even	even	ADV
arestyrurj-153	19	14	if	if	SCONJ
arestyrurj-153	19	15	individual	individual	ADJ
arestyrurj-153	19	16	swarm	swarm	NOUN
arestyrurj-153	19	17	members	member	NOUN
arestyrurj-153	19	18	are	be	AUX
arestyrurj-153	19	19	compromised	compromise	VERB
arestyrurj-153	19	20	.	.	PUNCT
arestyrurj-153	20	1	following	follow	VERB
arestyrurj-153	20	2	the	the	DET
arestyrurj-153	20	3	biological	biological	ADJ
arestyrurj-153	20	4	inspiration	inspiration	NOUN
arestyrurj-153	20	5	for	for	ADP
arestyrurj-153	20	6	translating	translating	NOUN
arestyrurj-153	20	7	of	of	ADP
arestyrurj-153	20	8	this	this	DET
arestyrurj-153	20	9	problem	problem	NOUN
arestyrurj-153	20	10	into	into	ADP
arestyrurj-153	20	11	a	a	DET
arestyrurj-153	20	12	mathematical	mathematical	ADJ
arestyrurj-153	20	13	equation	equation	NOUN
arestyrurj-153	20	14	/	/	SYM
arestyrurj-153	20	15	model	model	NOUN
arestyrurj-153	20	16	,	,	PUNCT
arestyrurj-153	20	17	a	a	DET
arestyrurj-153	20	18	biologically	biologically	ADV
arestyrurj-153	20	19	inspired	inspire	VERB
arestyrurj-153	20	20	method	method	NOUN
arestyrurj-153	20	21	of	of	ADP
arestyrurj-153	20	22	solving	solve	VERB
arestyrurj-153	20	23	it	it	PRON
arestyrurj-153	20	24	seemed	seem	VERB
arestyrurj-153	20	25	to	to	PART
arestyrurj-153	20	26	be	be	AUX
arestyrurj-153	20	27	in	in	ADP
arestyrurj-153	20	28	order	order	NOUN
arestyrurj-153	20	29	.	.	PUNCT
arestyrurj-153	21	1	the	the	DET
arestyrurj-153	21	2	genetic	genetic	ADJ
arestyrurj-153	21	3	algorithm	algorithm	NOUN
arestyrurj-153	21	4	is	be	AUX
arestyrurj-153	21	5	based	base	VERB
arestyrurj-153	21	6	on	on	ADP
arestyrurj-153	21	7	darwin	darwin	PROPN
arestyrurj-153	21	8	’s	’s	PART
arestyrurj-153	21	9	theory	theory	NOUN
arestyrurj-153	21	10	of	of	ADP
arestyrurj-153	21	11	evolution	evolution	NOUN
arestyrurj-153	21	12	.	.	PUNCT
arestyrurj-153	22	1	the	the	DET
arestyrurj-153	22	2	idea	idea	NOUN
arestyrurj-153	22	3	of	of	ADP
arestyrurj-153	22	4	“	"	PUNCT
arestyrurj-153	22	5	survival	survival	NOUN
arestyrurj-153	22	6	of	of	ADP
arestyrurj-153	22	7	the	the	DET
arestyrurj-153	22	8	aresty	aresty	ADJ
arestyrurj-153	22	9	rutgers	rutgers	PROPN
arestyrurj-153	22	10	undergraduate	undergraduate	PROPN
arestyrurj-153	22	11	research	research	PROPN
arestyrurj-153	22	12	journal	journal	PROPN
arestyrurj-153	22	13	,	,	PUNCT
arestyrurj-153	22	14	volume	volume	NOUN
arestyrurj-153	22	15	i	i	PRON
arestyrurj-153	22	16	,	,	PUNCT
arestyrurj-153	22	17	issue	issue	VERB
arestyrurj-153	22	18	ii	ii	PROPN
arestyrurj-153	22	19	fittest	fit	ADJ
arestyrurj-153	22	20	”	"	PUNCT
arestyrurj-153	22	21	as	as	SCONJ
arestyrurj-153	22	22	it	it	PRON
arestyrurj-153	22	23	is	be	AUX
arestyrurj-153	22	24	described	describe	VERB
arestyrurj-153	22	25	in	in	ADP
arestyrurj-153	22	26	natural	natural	ADJ
arestyrurj-153	22	27	selection	selection	NOUN
arestyrurj-153	22	28	is	be	AUX
arestyrurj-153	22	29	utilized	utilize	VERB
arestyrurj-153	22	30	in	in	ADP
arestyrurj-153	22	31	this	this	DET
arestyrurj-153	22	32	algorithm	algorithm	NOUN
arestyrurj-153	22	33	to	to	PART
arestyrurj-153	22	34	only	only	ADV
arestyrurj-153	22	35	allow	allow	VERB
arestyrurj-153	22	36	the	the	DET
arestyrurj-153	22	37	most	most	ADV
arestyrurj-153	22	38	optimal	optimal	ADJ
arestyrurj-153	22	39	members	member	NOUN
arestyrurj-153	22	40	of	of	ADP
arestyrurj-153	22	41	each	each	DET
arestyrurj-153	22	42	generation	generation	NOUN
arestyrurj-153	22	43	to	to	PART
arestyrurj-153	22	44	survive	survive	VERB
arestyrurj-153	22	45	to	to	ADP
arestyrurj-153	22	46	the	the	DET
arestyrurj-153	22	47	next	next	ADJ
arestyrurj-153	22	48	,	,	PUNCT
arestyrurj-153	22	49	thus	thus	ADV
arestyrurj-153	22	50	giving	give	VERB
arestyrurj-153	22	51	rise	rise	NOUN
arestyrurj-153	22	52	to	to	ADP
arestyrurj-153	22	53	a	a	DET
arestyrurj-153	22	54	criterion	criterion	NOUN
arestyrurj-153	22	55	for	for	ADP
arestyrurj-153	22	56	convergence	convergence	NOUN
arestyrurj-153	22	57	to	to	ADP
arestyrurj-153	22	58	a	a	DET
arestyrurj-153	22	59	global	global	ADJ
arestyrurj-153	22	60	optimum	optimum	NOUN
arestyrurj-153	22	61	if	if	SCONJ
arestyrurj-153	22	62	this	this	DET
arestyrurj-153	22	63	algorithm	algorithm	NOUN
arestyrurj-153	22	64	is	be	AUX
arestyrurj-153	22	65	run	run	VERB
arestyrurj-153	22	66	consecutively	consecutively	ADV
arestyrurj-153	22	67	and	and	CCONJ
arestyrurj-153	22	68	recursively	recursively	ADV
arestyrurj-153	22	69	.	.	PUNCT
arestyrurj-153	23	1	these	these	DET
arestyrurj-153	23	2	“	"	PUNCT
arestyrurj-153	23	3	members	member	NOUN
arestyrurj-153	23	4	”	"	PUNCT
arestyrurj-153	23	5	are	be	AUX
arestyrurj-153	23	6	the	the	DET
arestyrurj-153	23	7	parameters	parameter	NOUN
arestyrurj-153	23	8	used	use	VERB
arestyrurj-153	23	9	in	in	ADP
arestyrurj-153	23	10	the	the	DET
arestyrurj-153	23	11	differential	differential	ADJ
arestyrurj-153	23	12	equation	equation	NOUN
arestyrurj-153	23	13	model	model	NOUN
arestyrurj-153	23	14	provided	provide	VERB
arestyrurj-153	23	15	by	by	ADP
arestyrurj-153	23	16	benet	benet	PROPN
arestyrurj-153	23	17	et	et	PROPN
arestyrurj-153	23	18	al.[1	al.[1	PROPN
arestyrurj-153	23	19	]	]	PUNCT
arestyrurj-153	23	20	and	and	CCONJ
arestyrurj-153	23	21	tweaked	tweak	VERB
arestyrurj-153	23	22	in	in	ADP
arestyrurj-153	23	23	this	this	DET
arestyrurj-153	23	24	paper	paper	NOUN
arestyrurj-153	23	25	.	.	PUNCT
arestyrurj-153	24	1	different	different	ADJ
arestyrurj-153	24	2	values	value	NOUN
arestyrurj-153	24	3	of	of	ADP
arestyrurj-153	24	4	certain	certain	ADJ
arestyrurj-153	24	5	parameters	parameter	NOUN
arestyrurj-153	24	6	give	give	VERB
arestyrurj-153	24	7	rise	rise	NOUN
arestyrurj-153	24	8	to	to	ADP
arestyrurj-153	24	9	other	other	ADJ
arestyrurj-153	24	10	solutions	solution	NOUN
arestyrurj-153	24	11	(	(	PUNCT
arestyrurj-153	24	12	trajectories	trajectory	NOUN
arestyrurj-153	24	13	)	)	PUNCT
arestyrurj-153	24	14	.	.	PUNCT
arestyrurj-153	25	1	thus	thus	ADV
arestyrurj-153	25	2	,	,	PUNCT
arestyrurj-153	25	3	the	the	DET
arestyrurj-153	25	4	genetic	genetic	ADJ
arestyrurj-153	25	5	algorithm	algorithm	NOUN
arestyrurj-153	25	6	is	be	AUX
arestyrurj-153	25	7	utilized	utilize	VERB
arestyrurj-153	25	8	to	to	PART
arestyrurj-153	25	9	find	find	VERB
arestyrurj-153	25	10	which	which	PRON
arestyrurj-153	25	11	parameters	parameter	NOUN
arestyrurj-153	25	12	result	result	VERB
arestyrurj-153	25	13	in	in	ADP
arestyrurj-153	25	14	the	the	DET
arestyrurj-153	25	15	most	most	ADV
arestyrurj-153	25	16	optimal	optimal	ADJ
arestyrurj-153	25	17	trajectory	trajectory	NOUN
arestyrurj-153	25	18	.	.	PUNCT
arestyrurj-153	26	1	in	in	ADP
arestyrurj-153	26	2	their	their	PRON
arestyrurj-153	26	3	paper	paper	NOUN
arestyrurj-153	26	4	,	,	PUNCT
arestyrurj-153	26	5	conn	conn	PROPN
arestyrurj-153	26	6	et	et	PROPN
arestyrurj-153	26	7	al	al	PROPN
arestyrurj-153	26	8	.	.	PROPN
arestyrurj-153	26	9	detail	detail	PROPN
arestyrurj-153	26	10	nasa	nasa	PROPN
arestyrurj-153	26	11	’s	’s	PART
arestyrurj-153	26	12	latest	late	ADJ
arestyrurj-153	26	13	developments	development	NOUN
arestyrurj-153	26	14	with	with	ADP
arestyrurj-153	26	15	autonomous	autonomous	ADJ
arestyrurj-153	26	16	spacecraft	spacecraft	NOUN
arestyrurj-153	26	17	swarms.[3	swarms.[3	X
arestyrurj-153	26	18	]	]	PUNCT
arestyrurj-153	26	19	soda	soda	NOUN
arestyrurj-153	26	20	,	,	PUNCT
arestyrurj-153	26	21	or	or	CCONJ
arestyrurj-153	26	22	swarm	swarm	NOUN
arestyrurj-153	26	23	orbital	orbital	ADJ
arestyrurj-153	26	24	dynamics	dynamic	NOUN
arestyrurj-153	26	25	advisor	advisor	NOUN
arestyrurj-153	26	26	,	,	PUNCT
arestyrurj-153	26	27	is	be	AUX
arestyrurj-153	26	28	a	a	DET
arestyrurj-153	26	29	computational	computational	ADJ
arestyrurj-153	26	30	framework	framework	NOUN
arestyrurj-153	26	31	for	for	ADP
arestyrurj-153	26	32	a	a	DET
arestyrurj-153	26	33	control	control	NOUN
arestyrurj-153	26	34	network	network	NOUN
arestyrurj-153	26	35	that	that	PRON
arestyrurj-153	26	36	governs	govern	VERB
arestyrurj-153	26	37	communications	communication	NOUN
arestyrurj-153	26	38	between	between	ADP
arestyrurj-153	26	39	spacecraft	spacecraft	NOUN
arestyrurj-153	26	40	in	in	ADP
arestyrurj-153	26	41	a	a	DET
arestyrurj-153	26	42	swarm	swarm	NOUN
arestyrurj-153	26	43	.	.	PUNCT
arestyrurj-153	27	1	however	however	ADV
arestyrurj-153	27	2	,	,	PUNCT
arestyrurj-153	27	3	a	a	DET
arestyrurj-153	27	4	fuel	fuel	NOUN
arestyrurj-153	27	5	optimization	optimization	NOUN
arestyrurj-153	27	6	approach	approach	NOUN
arestyrurj-153	27	7	is	be	AUX
arestyrurj-153	27	8	still	still	ADV
arestyrurj-153	27	9	yet	yet	ADV
arestyrurj-153	27	10	to	to	PART
arestyrurj-153	27	11	be	be	AUX
arestyrurj-153	27	12	fully	fully	ADV
arestyrurj-153	27	13	explored	explore	VERB
arestyrurj-153	27	14	in	in	ADP
arestyrurj-153	27	15	this	this	DET
arestyrurj-153	27	16	context	context	NOUN
arestyrurj-153	27	17	.	.	PUNCT
arestyrurj-153	28	1	optimal	optimal	ADJ
arestyrurj-153	28	2	path	path	NOUN
arestyrurj-153	28	3	planning	planning	NOUN
arestyrurj-153	28	4	and	and	CCONJ
arestyrurj-153	28	5	fuel	fuel	NOUN
arestyrurj-153	28	6	minimization	minimization	NOUN
arestyrurj-153	28	7	approaches	approach	NOUN
arestyrurj-153	28	8	for	for	ADP
arestyrurj-153	28	9	uavs	uavs	NOUN
arestyrurj-153	28	10	(	(	PUNCT
arestyrurj-153	28	11	unmanned	unmanned	ADJ
arestyrurj-153	28	12	aerial	aerial	ADJ
arestyrurj-153	28	13	vehicles	vehicle	NOUN
arestyrurj-153	28	14	)	)	PUNCT
arestyrurj-153	28	15	have	have	AUX
arestyrurj-153	28	16	been	be	AUX
arestyrurj-153	28	17	researched	research	VERB
arestyrurj-153	28	18	for	for	ADP
arestyrurj-153	28	19	terrestrial	terrestrial	ADJ
arestyrurj-153	28	20	environments[4,5	environments[4,5	NOUN
arestyrurj-153	28	21	]	]	PUNCT
arestyrurj-153	28	22	,	,	PUNCT
arestyrurj-153	28	23	and	and	CCONJ
arestyrurj-153	28	24	in	in	ADP
arestyrurj-153	28	25	space	space	NOUN
arestyrurj-153	28	26	in	in	ADP
arestyrurj-153	28	27	the	the	DET
arestyrurj-153	28	28	context	context	NOUN
arestyrurj-153	28	29	of	of	ADP
arestyrurj-153	28	30	transferring	transfer	VERB
arestyrurj-153	28	31	between	between	ADP
arestyrurj-153	28	32	multiple	multiple	NOUN
arestyrurj-153	28	33	orbits[6	orbits[6	ADV
arestyrurj-153	28	34	]	]	PUNCT
arestyrurj-153	28	35	,	,	PUNCT
arestyrurj-153	28	36	but	but	CCONJ
arestyrurj-153	28	37	a	a	DET
arestyrurj-153	28	38	combination	combination	NOUN
arestyrurj-153	28	39	of	of	ADP
arestyrurj-153	28	40	these	these	DET
arestyrurj-153	28	41	approaches	approach	NOUN
arestyrurj-153	28	42	has	have	VERB
arestyrurj-153	28	43	yet	yet	ADV
arestyrurj-153	28	44	to	to	PART
arestyrurj-153	28	45	be	be	AUX
arestyrurj-153	28	46	extensively	extensively	ADV
arestyrurj-153	28	47	developed	develop	VERB
arestyrurj-153	28	48	for	for	ADP
arestyrurj-153	28	49	space	space	NOUN
arestyrurj-153	28	50	exploration	exploration	NOUN
arestyrurj-153	28	51	in	in	ADP
arestyrurj-153	28	52	dynamically	dynamically	ADV
arestyrurj-153	28	53	dense	dense	ADJ
arestyrurj-153	28	54	environments	environment	NOUN
arestyrurj-153	28	55	.	.	PUNCT
arestyrurj-153	29	1	in	in	ADP
arestyrurj-153	29	2	this	this	DET
arestyrurj-153	29	3	paper	paper	NOUN
arestyrurj-153	29	4	,	,	PUNCT
arestyrurj-153	29	5	calculating	calculate	VERB
arestyrurj-153	29	6	the	the	DET
arestyrurj-153	29	7	optimal	optimal	ADJ
arestyrurj-153	29	8	trajectory	trajectory	NOUN
arestyrurj-153	29	9	of	of	ADP
arestyrurj-153	29	10	a	a	DET
arestyrurj-153	29	11	swarm	swarm	NOUN
arestyrurj-153	29	12	of	of	ADP
arestyrurj-153	29	13	spacecraft	spacecraft	NOUN
arestyrurj-153	29	14	is	be	AUX
arestyrurj-153	29	15	investigated	investigate	VERB
arestyrurj-153	29	16	,	,	PUNCT
arestyrurj-153	29	17	minimizing	minimize	VERB
arestyrurj-153	29	18	the	the	DET
arestyrurj-153	29	19	total	total	ADJ
arestyrurj-153	29	20	fuel	fuel	NOUN
arestyrurj-153	29	21	consumption	consumption	NOUN
arestyrurj-153	29	22	in	in	ADP
arestyrurj-153	29	23	this	this	DET
arestyrurj-153	29	24	specific	specific	ADJ
arestyrurj-153	29	25	context	context	NOUN
arestyrurj-153	29	26	,	,	PUNCT
arestyrurj-153	29	27	thus	thus	ADV
arestyrurj-153	29	28	finding	find	VERB
arestyrurj-153	29	29	both	both	CCONJ
arestyrurj-153	29	30	a	a	DET
arestyrurj-153	29	31	logistic	logistic	ADJ
arestyrurj-153	29	32	and	and	CCONJ
arestyrurj-153	29	33	economically	economically	ADV
arestyrurj-153	29	34	viable	viable	ADJ
arestyrurj-153	29	35	alternative	alternative	NOUN
arestyrurj-153	29	36	to	to	ADP
arestyrurj-153	29	37	that	that	PRON
arestyrurj-153	29	38	of	of	ADP
arestyrurj-153	29	39	traditional	traditional	ADJ
arestyrurj-153	29	40	missions	mission	NOUN
arestyrurj-153	29	41	involving	involve	VERB
arestyrurj-153	29	42	a	a	DET
arestyrurj-153	29	43	singular	singular	ADJ
arestyrurj-153	29	44	large	large	ADJ
arestyrurj-153	29	45	craft	craft	NOUN
arestyrurj-153	29	46	.	.	PUNCT
arestyrurj-153	30	1	a	a	DET
arestyrurj-153	30	2	specific	specific	ADJ
arestyrurj-153	30	3	area	area	NOUN
arestyrurj-153	30	4	of	of	ADP
arestyrurj-153	30	5	space	space	NOUN
arestyrurj-153	30	6	exploration	exploration	NOUN
arestyrurj-153	30	7	,	,	PUNCT
arestyrurj-153	30	8	as	as	SCONJ
arestyrurj-153	30	9	mentioned	mention	VERB
arestyrurj-153	30	10	earlier	early	ADV
arestyrurj-153	30	11	,	,	PUNCT
arestyrurj-153	30	12	in	in	ADP
arestyrurj-153	30	13	which	which	PRON
arestyrurj-153	30	14	the	the	DET
arestyrurj-153	30	15	results	result	NOUN
arestyrurj-153	30	16	of	of	ADP
arestyrurj-153	30	17	this	this	DET
arestyrurj-153	30	18	work	work	NOUN
arestyrurj-153	30	19	may	may	AUX
arestyrurj-153	30	20	be	be	AUX
arestyrurj-153	30	21	applicable	applicable	ADJ
arestyrurj-153	30	22	is	be	AUX
arestyrurj-153	30	23	in	in	ADP
arestyrurj-153	30	24	the	the	DET
arestyrurj-153	30	25	exploration	exploration	NOUN
arestyrurj-153	30	26	of	of	ADP
arestyrurj-153	30	27	saturn	saturn	NOUN
arestyrurj-153	30	28	’s	’s	PART
arestyrurj-153	30	29	rings	ring	NOUN
arestyrurj-153	30	30	.	.	PUNCT
arestyrurj-153	31	1	while	while	SCONJ
arestyrurj-153	31	2	we	we	PRON
arestyrurj-153	31	3	have	have	AUX
arestyrurj-153	31	4	been	be	AUX
arestyrurj-153	31	5	able	able	ADJ
arestyrurj-153	31	6	to	to	PART
arestyrurj-153	31	7	visit	visit	VERB
arestyrurj-153	31	8	many	many	ADJ
arestyrurj-153	31	9	moons	moon	NOUN
arestyrurj-153	31	10	of	of	ADP
arestyrurj-153	31	11	other	other	ADJ
arestyrurj-153	31	12	planets	planet	NOUN
arestyrurj-153	31	13	in	in	ADP
arestyrurj-153	31	14	our	our	PRON
arestyrurj-153	31	15	solar	solar	ADJ
arestyrurj-153	31	16	system	system	NOUN
arestyrurj-153	31	17	,	,	PUNCT
arestyrurj-153	31	18	we	we	PRON
arestyrurj-153	31	19	have	have	AUX
arestyrurj-153	31	20	only	only	ADV
arestyrurj-153	31	21	been	be	AUX
arestyrurj-153	31	22	able	able	ADJ
arestyrurj-153	31	23	to	to	PART
arestyrurj-153	31	24	visualize	visualize	VERB
arestyrurj-153	31	25	saturn	saturn	NOUN
arestyrurj-153	31	26	’s	’s	PART
arestyrurj-153	31	27	rings	ring	NOUN
arestyrurj-153	31	28	from	from	ADP
arestyrurj-153	31	29	a	a	DET
arestyrurj-153	31	30	distance	distance	NOUN
arestyrurj-153	31	31	due	due	ADP
arestyrurj-153	31	32	to	to	ADP
arestyrurj-153	31	33	the	the	DET
arestyrurj-153	31	34	density	density	NOUN
arestyrurj-153	31	35	and	and	CCONJ
arestyrurj-153	31	36	unpredictable	unpredictable	ADJ
arestyrurj-153	31	37	size	size	NOUN
arestyrurj-153	31	38	(	(	PUNCT
arestyrurj-153	31	39	meters	meter	NOUN
arestyrurj-153	31	40	to	to	ADP
arestyrurj-153	31	41	kilometers	kilometer	NOUN
arestyrurj-153	31	42	)	)	PUNCT
arestyrurj-153	31	43	of	of	ADP
arestyrurj-153	31	44	the	the	DET
arestyrurj-153	31	45	ice	ice	NOUN
arestyrurj-153	31	46	rocks	rock	NOUN
arestyrurj-153	31	47	present	present	ADJ
arestyrurj-153	31	48	in	in	ADP
arestyrurj-153	31	49	them	they	PRON
arestyrurj-153	31	50	.	.	PUNCT
arestyrurj-153	32	1	this	this	DET
arestyrurj-153	32	2	environment	environment	NOUN
arestyrurj-153	32	3	provides	provide	VERB
arestyrurj-153	32	4	an	an	DET
arestyrurj-153	32	5	unacceptable	unacceptable	ADJ
arestyrurj-153	32	6	risk	risk	NOUN
arestyrurj-153	32	7	for	for	ADP
arestyrurj-153	32	8	a	a	DET
arestyrurj-153	32	9	multimillion	multimillion	ADJ
arestyrurj-153	32	10	-	-	PUNCT
arestyrurj-153	32	11	dollar	dollar	NOUN
arestyrurj-153	32	12	spacecraft	spacecraft	NOUN
arestyrurj-153	32	13	,	,	PUNCT
arestyrurj-153	32	14	so	so	CCONJ
arestyrurj-153	32	15	such	such	ADJ
arestyrurj-153	32	16	missions	mission	NOUN
arestyrurj-153	32	17	have	have	AUX
arestyrurj-153	32	18	been	be	AUX
arestyrurj-153	32	19	avoided	avoid	VERB
arestyrurj-153	32	20	.	.	PUNCT
arestyrurj-153	33	1	a	a	DET
arestyrurj-153	33	2	swarm	swarm	NOUN
arestyrurj-153	33	3	of	of	ADP
arestyrurj-153	33	4	spacecraft	spacecraft	NOUN
arestyrurj-153	33	5	with	with	ADP
arestyrurj-153	33	6	the	the	DET
arestyrurj-153	33	7	same	same	ADJ
arestyrurj-153	33	8	instrumental	instrumental	ADJ
arestyrurj-153	33	9	capabilities	capability	NOUN
arestyrurj-153	33	10	of	of	ADP
arestyrurj-153	33	11	a	a	DET
arestyrurj-153	33	12	large	large	ADJ
arestyrurj-153	33	13	vessel	vessel	NOUN
arestyrurj-153	33	14	and	and	CCONJ
arestyrurj-153	33	15	collective	collective	ADJ
arestyrurj-153	33	16	intelligence	intelligence	NOUN
arestyrurj-153	33	17	equivalent	equivalent	ADJ
arestyrurj-153	33	18	to	to	ADP
arestyrurj-153	33	19	that	that	PRON
arestyrurj-153	33	20	of	of	ADP
arestyrurj-153	33	21	a	a	DET
arestyrurj-153	33	22	larger	large	ADJ
arestyrurj-153	33	23	computer	computer	NOUN
arestyrurj-153	33	24	system	system	NOUN
arestyrurj-153	33	25	on	on	ADP
arestyrurj-153	33	26	a	a	DET
arestyrurj-153	33	27	traditional	traditional	ADJ
arestyrurj-153	33	28	craft	craft	NOUN
arestyrurj-153	33	29	that	that	PRON
arestyrurj-153	33	30	can	can	AUX
arestyrurj-153	33	31	morph	morph	VERB
arestyrurj-153	33	32	around	around	ADP
arestyrurj-153	33	33	complex	complex	ADJ
arestyrurj-153	33	34	obstacles	obstacle	NOUN
arestyrurj-153	33	35	and	and	CCONJ
arestyrurj-153	33	36	dynamic	dynamic	ADJ
arestyrurj-153	33	37	obstacle	obstacle	NOUN
arestyrurj-153	33	38	patterns	pattern	NOUN
arestyrurj-153	33	39	can	can	AUX
arestyrurj-153	33	40	provide	provide	VERB
arestyrurj-153	33	41	a	a	DET
arestyrurj-153	33	42	solution	solution	NOUN
arestyrurj-153	33	43	.	.	PUNCT
arestyrurj-153	34	1	the	the	DET
arestyrurj-153	34	2	total	total	ADJ
arestyrurj-153	34	3	cost	cost	NOUN
arestyrurj-153	34	4	of	of	ADP
arestyrurj-153	34	5	the	the	DET
arestyrurj-153	34	6	cassini	cassini	ADJ
arestyrurj-153	34	7	mission	mission	NOUN
arestyrurj-153	34	8	,	,	PUNCT
arestyrurj-153	34	9	a	a	DET
arestyrurj-153	34	10	probe	probe	NOUN
arestyrurj-153	34	11	that	that	PRON
arestyrurj-153	34	12	orbited	orbit	VERB
arestyrurj-153	34	13	saturn	saturn	NOUN
arestyrurj-153	34	14	retrieving	retrieve	VERB
arestyrurj-153	34	15	much	much	ADJ
arestyrurj-153	34	16	of	of	ADP
arestyrurj-153	34	17	the	the	DET
arestyrurj-153	34	18	data	datum	NOUN
arestyrurj-153	34	19	we	we	PRON
arestyrurj-153	34	20	have	have	VERB
arestyrurj-153	34	21	today	today	NOUN
arestyrurj-153	34	22	about	about	ADP
arestyrurj-153	34	23	saturn	saturn	NOUN
arestyrurj-153	34	24	’s	’s	PART
arestyrurj-153	34	25	rings	ring	NOUN
arestyrurj-153	34	26	,	,	PUNCT
arestyrurj-153	34	27	was	be	AUX
arestyrurj-153	34	28	about	about	ADV
arestyrurj-153	34	29	$	$	SYM
arestyrurj-153	34	30	3.26	3.26	NUM
arestyrurj-153	34	31	billion	billion	NUM
arestyrurj-153	34	32	,	,	PUNCT
arestyrurj-153	34	33	with	with	ADP
arestyrurj-153	34	34	operations	operation	NOUN
arestyrurj-153	34	35	,	,	PUNCT
arestyrurj-153	34	36	fuel	fuel	NOUN
arestyrurj-153	34	37	,	,	PUNCT
arestyrurj-153	34	38	and	and	CCONJ
arestyrurj-153	34	39	communications	communication	NOUN
arestyrurj-153	34	40	costing	cost	VERB
arestyrurj-153	34	41	about	about	ADV
arestyrurj-153	34	42	$	$	SYM
arestyrurj-153	34	43	760	760	NUM
arestyrurj-153	34	44	million.[7	million.[7	NOUN
arestyrurj-153	34	45	]	]	X
arestyrurj-153	34	46	this	this	DET
arestyrurj-153	34	47	last	last	ADJ
arestyrurj-153	34	48	figure	figure	NOUN
arestyrurj-153	34	49	is	be	AUX
arestyrurj-153	34	50	for	for	SCONJ
arestyrurj-153	34	51	the	the	DET
arestyrurj-153	34	52	costs	cost	NOUN
arestyrurj-153	34	53	mostly	mostly	ADV
arestyrurj-153	34	54	associated	associate	VERB
arestyrurj-153	34	55	with	with	ADP
arestyrurj-153	34	56	the	the	DET
arestyrurj-153	34	57	cassini	cassini	ADJ
arestyrurj-153	34	58	mission	mission	NOUN
arestyrurj-153	34	59	only	only	ADV
arestyrurj-153	34	60	after	after	SCONJ
arestyrurj-153	34	61	it	it	PRON
arestyrurj-153	34	62	had	have	AUX
arestyrurj-153	34	63	entered	enter	VERB
arestyrurj-153	34	64	saturn	saturn	NOUN
arestyrurj-153	34	65	’s	’s	PART
arestyrurj-153	34	66	orbit	orbit	NOUN
arestyrurj-153	34	67	and	and	CCONJ
arestyrurj-153	34	68	not	not	PART
arestyrurj-153	34	69	the	the	DET
arestyrurj-153	34	70	costs	cost	NOUN
arestyrurj-153	34	71	from	from	ADP
arestyrurj-153	34	72	the	the	DET
arestyrurj-153	34	73	launch	launch	NOUN
arestyrurj-153	34	74	from	from	ADP
arestyrurj-153	34	75	earth	earth	NOUN
arestyrurj-153	34	76	.	.	PUNCT
arestyrurj-153	35	1	with	with	ADP
arestyrurj-153	35	2	this	this	PRON
arestyrurj-153	35	3	being	be	AUX
arestyrurj-153	35	4	said	say	VERB
arestyrurj-153	35	5	,	,	PUNCT
arestyrurj-153	35	6	costs	cost	NOUN
arestyrurj-153	35	7	associated	associate	VERB
arestyrurj-153	35	8	with	with	ADP
arestyrurj-153	35	9	launch	launch	NOUN
arestyrurj-153	35	10	and	and	CCONJ
arestyrurj-153	35	11	leaving	leave	VERB
arestyrurj-153	35	12	earth	earth	NOUN
arestyrurj-153	35	13	for	for	ADP
arestyrurj-153	35	14	both	both	CCONJ
arestyrurj-153	35	15	the	the	DET
arestyrurj-153	35	16	traditional	traditional	ADJ
arestyrurj-153	35	17	and	and	CCONJ
arestyrurj-153	35	18	swarm	swarm	NOUN
arestyrurj-153	35	19	approach	approach	NOUN
arestyrurj-153	35	20	are	be	AUX
arestyrurj-153	35	21	the	the	DET
arestyrurj-153	35	22	same	same	ADJ
arestyrurj-153	35	23	considering	consider	VERB
arestyrurj-153	35	24	the	the	DET
arestyrurj-153	35	25	costs	cost	NOUN
arestyrurj-153	35	26	of	of	ADP
arestyrurj-153	35	27	operations	operation	NOUN
arestyrurj-153	35	28	in	in	ADP
arestyrurj-153	35	29	orbit	orbit	NOUN
arestyrurj-153	35	30	are	be	AUX
arestyrurj-153	35	31	lessened	lessen	VERB
arestyrurj-153	35	32	by	by	ADP
arestyrurj-153	35	33	the	the	DET
arestyrurj-153	35	34	swarm	swarm	NOUN
arestyrurj-153	35	35	approach	approach	NOUN
arestyrurj-153	35	36	,	,	PUNCT
arestyrurj-153	35	37	not	not	PART
arestyrurj-153	35	38	necessarily	necessarily	ADV
arestyrurj-153	35	39	launch	launch	VERB
arestyrurj-153	35	40	and	and	CCONJ
arestyrurj-153	35	41	manufacturing	manufacturing	NOUN
arestyrurj-153	35	42	costs	cost	NOUN
arestyrurj-153	35	43	on	on	ADP
arestyrurj-153	35	44	earth	earth	NOUN
arestyrurj-153	35	45	.	.	PUNCT
arestyrurj-153	36	1	the	the	DET
arestyrurj-153	36	2	purpose	purpose	NOUN
arestyrurj-153	36	3	of	of	ADP
arestyrurj-153	36	4	this	this	DET
arestyrurj-153	36	5	paper	paper	NOUN
arestyrurj-153	36	6	is	be	AUX
arestyrurj-153	36	7	to	to	PART
arestyrurj-153	36	8	highlight	highlight	VERB
arestyrurj-153	36	9	the	the	DET
arestyrurj-153	36	10	economic	economic	ADJ
arestyrurj-153	36	11	viability	viability	NOUN
arestyrurj-153	36	12	of	of	ADP
arestyrurj-153	36	13	the	the	DET
arestyrurj-153	36	14	swarm	swarm	NOUN
arestyrurj-153	36	15	approach	approach	NOUN
arestyrurj-153	36	16	in	in	ADP
arestyrurj-153	36	17	the	the	DET
arestyrurj-153	36	18	context	context	NOUN
arestyrurj-153	36	19	of	of	ADP
arestyrurj-153	36	20	operations	operation	NOUN
arestyrurj-153	36	21	post	post	ADJ
arestyrurj-153	36	22	-	-	NOUN
arestyrurj-153	36	23	launch	launch	NOUN
arestyrurj-153	36	24	and	and	CCONJ
arestyrurj-153	36	25	during	during	ADP
arestyrurj-153	36	26	the	the	DET
arestyrurj-153	36	27	actual	actual	ADJ
arestyrurj-153	36	28	mission	mission	NOUN
arestyrurj-153	36	29	.	.	PUNCT
arestyrurj-153	37	1	the	the	DET
arestyrurj-153	37	2	swarm	swarm	NOUN
arestyrurj-153	37	3	itself	itself	PRON
arestyrurj-153	37	4	will	will	AUX
arestyrurj-153	37	5	most	most	ADV
arestyrurj-153	37	6	likely	likely	ADV
arestyrurj-153	37	7	leave	leave	VERB
arestyrurj-153	37	8	earth	earth	NOUN
arestyrurj-153	37	9	on	on	ADP
arestyrurj-153	37	10	a	a	DET
arestyrurj-153	37	11	larger	large	ADJ
arestyrurj-153	37	12	craft	craft	NOUN
arestyrurj-153	37	13	and	and	CCONJ
arestyrurj-153	37	14	then	then	ADV
arestyrurj-153	37	15	be	be	AUX
arestyrurj-153	37	16	deployed	deploy	VERB
arestyrurj-153	37	17	from	from	ADP
arestyrurj-153	37	18	the	the	DET
arestyrurj-153	37	19	mothercraft	mothercraft	NOUN
arestyrurj-153	37	20	once	once	SCONJ
arestyrurj-153	37	21	the	the	DET
arestyrurj-153	37	22	destination	destination	NOUN
arestyrurj-153	37	23	has	have	AUX
arestyrurj-153	37	24	been	be	AUX
arestyrurj-153	37	25	reached	reach	VERB
arestyrurj-153	37	26	.	.	PUNCT
arestyrurj-153	38	1	only	only	ADV
arestyrurj-153	38	2	then	then	ADV
arestyrurj-153	38	3	will	will	AUX
arestyrurj-153	38	4	the	the	DET
arestyrurj-153	38	5	total	total	ADJ
arestyrurj-153	38	6	cost	cost	NOUN
arestyrurj-153	38	7	of	of	ADP
arestyrurj-153	38	8	the	the	DET
arestyrurj-153	38	9	entire	entire	ADJ
arestyrurj-153	38	10	project	project	NOUN
arestyrurj-153	38	11	start	start	VERB
arestyrurj-153	38	12	to	to	PART
arestyrurj-153	38	13	become	become	VERB
arestyrurj-153	38	14	much	much	ADV
arestyrurj-153	38	15	less	less	ADJ
arestyrurj-153	38	16	than	than	ADP
arestyrurj-153	38	17	that	that	PRON
arestyrurj-153	38	18	of	of	ADP
arestyrurj-153	38	19	a	a	DET
arestyrurj-153	38	20	traditional	traditional	ADJ
arestyrurj-153	38	21	mission	mission	NOUN
arestyrurj-153	38	22	where	where	SCONJ
arestyrurj-153	38	23	a	a	DET
arestyrurj-153	38	24	singular	singular	ADJ
arestyrurj-153	38	25	large	large	ADJ
arestyrurj-153	38	26	craft	craft	NOUN
arestyrurj-153	38	27	leaves	leave	VERB
arestyrurj-153	38	28	earth	earth	NOUN
arestyrurj-153	38	29	and	and	CCONJ
arestyrurj-153	38	30	carries	carry	VERB
arestyrurj-153	38	31	out	out	ADP
arestyrurj-153	38	32	the	the	DET
arestyrurj-153	38	33	mission	mission	NOUN
arestyrurj-153	38	34	at	at	ADP
arestyrurj-153	38	35	the	the	DET
arestyrurj-153	38	36	destination	destination	NOUN
arestyrurj-153	38	37	.	.	PUNCT
arestyrurj-153	39	1	not	not	PART
arestyrurj-153	39	2	only	only	ADV
arestyrurj-153	39	3	will	will	AUX
arestyrurj-153	39	4	a	a	DET
arestyrurj-153	39	5	swarm	swarm	NOUN
arestyrurj-153	39	6	approach	approach	NOUN
arestyrurj-153	39	7	to	to	ADP
arestyrurj-153	39	8	this	this	DET
arestyrurj-153	39	9	specific	specific	ADJ
arestyrurj-153	39	10	problem	problem	NOUN
arestyrurj-153	39	11	have	have	VERB
arestyrurj-153	39	12	the	the	DET
arestyrurj-153	39	13	potential	potential	NOUN
arestyrurj-153	39	14	to	to	PART
arestyrurj-153	39	15	cost	cost	VERB
arestyrurj-153	39	16	much	much	ADV
arestyrurj-153	39	17	less	less	ADJ
arestyrurj-153	39	18	,	,	PUNCT
arestyrurj-153	39	19	but	but	CCONJ
arestyrurj-153	39	20	it	it	PRON
arestyrurj-153	39	21	also	also	ADV
arestyrurj-153	39	22	has	have	VERB
arestyrurj-153	39	23	a	a	DET
arestyrurj-153	39	24	much	much	ADV
arestyrurj-153	39	25	greater	great	ADJ
arestyrurj-153	39	26	margin	margin	NOUN
arestyrurj-153	39	27	of	of	ADP
arestyrurj-153	39	28	error	error	NOUN
arestyrurj-153	39	29	,	,	PUNCT
arestyrurj-153	39	30	resulting	result	VERB
arestyrurj-153	39	31	in	in	ADP
arestyrurj-153	39	32	less	less	ADJ
arestyrurj-153	39	33	risk	risk	NOUN
arestyrurj-153	39	34	.	.	PUNCT
arestyrurj-153	40	1	there	there	PRON
arestyrurj-153	40	2	have	have	AUX
arestyrurj-153	40	3	been	be	AUX
arestyrurj-153	40	4	multiple	multiple	ADJ
arestyrurj-153	40	5	studies	study	NOUN
arestyrurj-153	40	6	showing	show	VERB
arestyrurj-153	40	7	both	both	CCONJ
arestyrurj-153	40	8	the	the	DET
arestyrurj-153	40	9	economic	economic	ADJ
arestyrurj-153	40	10	and	and	CCONJ
arestyrurj-153	40	11	lower	low	ADJ
arestyrurj-153	40	12	risk	risk	NOUN
arestyrurj-153	40	13	advantages	advantage	NOUN
arestyrurj-153	40	14	of	of	ADP
arestyrurj-153	40	15	the	the	DET
arestyrurj-153	40	16	swarm	swarm	NOUN
arestyrurj-153	40	17	approach	approach	NOUN
arestyrurj-153	40	18	instead	instead	ADV
arestyrurj-153	40	19	of	of	ADP
arestyrurj-153	40	20	the	the	DET
arestyrurj-153	40	21	traditional	traditional	ADJ
arestyrurj-153	40	22	large	large	ADJ
arestyrurj-153	40	23	craft	craft	NOUN
arestyrurj-153	40	24	approach.[8,9	approach.[8,9	NOUN
arestyrurj-153	40	25	]	]	PUNCT
arestyrurj-153	40	26	various	various	ADJ
arestyrurj-153	40	27	work	work	NOUN
arestyrurj-153	40	28	on	on	ADP
arestyrurj-153	40	29	the	the	DET
arestyrurj-153	40	30	validity	validity	NOUN
arestyrurj-153	40	31	of	of	ADP
arestyrurj-153	40	32	swarm	swarm	NOUN
arestyrurj-153	40	33	approaches	approach	NOUN
arestyrurj-153	40	34	to	to	ADP
arestyrurj-153	40	35	drone	drone	NOUN
arestyrurj-153	40	36	applications	application	NOUN
arestyrurj-153	40	37	and	and	CCONJ
arestyrurj-153	40	38	general	general	ADJ
arestyrurj-153	40	39	robotics	robotic	NOUN
arestyrurj-153	40	40	applications	application	NOUN
arestyrurj-153	40	41	has	have	AUX
arestyrurj-153	40	42	already	already	ADV
arestyrurj-153	40	43	been	be	AUX
arestyrurj-153	40	44	explored.[8,10,11	explored.[8,10,11	NOUN
arestyrurj-153	40	45	]	]	PUNCT
arestyrurj-153	40	46	in	in	ADP
arestyrurj-153	40	47	addition	addition	NOUN
arestyrurj-153	40	48	,	,	PUNCT
arestyrurj-153	40	49	nasa	nasa	PROPN
arestyrurj-153	40	50	has	have	AUX
arestyrurj-153	40	51	considered	consider	VERB
arestyrurj-153	40	52	projects	project	NOUN
arestyrurj-153	40	53	involving	involve	VERB
arestyrurj-153	40	54	“	"	PUNCT
arestyrurj-153	40	55	cubesats	cubesat	NOUN
arestyrurj-153	40	56	”	"	PUNCT
arestyrurj-153	40	57	that	that	PRON
arestyrurj-153	40	58	would	would	AUX
arestyrurj-153	40	59	accomplish	accomplish	VERB
arestyrurj-153	40	60	similar	similar	ADJ
arestyrurj-153	40	61	goals	goal	NOUN
arestyrurj-153	40	62	using	use	VERB
arestyrurj-153	40	63	a	a	DET
arestyrurj-153	40	64	swarm	swarm	NOUN
arestyrurj-153	40	65	guidance	guidance	NOUN
arestyrurj-153	40	66	framework	framework	NOUN
arestyrurj-153	40	67	within	within	ADP
arestyrurj-153	40	68	earth	earth	NOUN
arestyrurj-153	40	69	’s	’s	PART
arestyrurj-153	40	70	orbit	orbit	NOUN
arestyrurj-153	40	71	,	,	PUNCT
arestyrurj-153	40	72	also	also	ADV
arestyrurj-153	40	73	including	include	VERB
arestyrurj-153	40	74	ideas	idea	NOUN
arestyrurj-153	40	75	for	for	ADP
arestyrurj-153	40	76	swarm	swarm	NOUN
arestyrurj-153	40	77	missions	mission	NOUN
arestyrurj-153	40	78	to	to	PART
arestyrurj-153	40	79	saturn	saturn	VERB
arestyrurj-153	40	80	in	in	ADP
arestyrurj-153	40	81	particular	particular	ADJ
arestyrurj-153	40	82	to	to	ADP
arestyrurj-153	40	83	individual	individual	ADJ
arestyrurj-153	40	84	moons	moon	NOUN
arestyrurj-153	40	85	and	and	CCONJ
arestyrurj-153	40	86	the	the	DET
arestyrurj-153	40	87	upper	upper	ADJ
arestyrurj-153	40	88	atmosphere	atmosphere	NOUN
arestyrurj-153	40	89	,	,	PUNCT
arestyrurj-153	40	90	but	but	CCONJ
arestyrurj-153	40	91	never	never	ADV
arestyrurj-153	40	92	within	within	ADP
arestyrurj-153	40	93	the	the	DET
arestyrurj-153	40	94	dense	dense	ADJ
arestyrurj-153	40	95	parts	part	NOUN
arestyrurj-153	40	96	of	of	ADP
arestyrurj-153	40	97	the	the	DET
arestyrurj-153	40	98	rings.[12	rings.[12	NOUN
arestyrurj-153	40	99	]	]	PUNCT
arestyrurj-153	40	100	in	in	ADP
arestyrurj-153	40	101	essence	essence	NOUN
arestyrurj-153	40	102	,	,	PUNCT
arestyrurj-153	40	103	a	a	DET
arestyrurj-153	40	104	swarm	swarm	NOUN
arestyrurj-153	40	105	approach	approach	NOUN
arestyrurj-153	40	106	not	not	PART
arestyrurj-153	40	107	only	only	ADV
arestyrurj-153	40	108	can	can	AUX
arestyrurj-153	40	109	provide	provide	VERB
arestyrurj-153	40	110	a	a	DET
arestyrurj-153	40	111	method	method	NOUN
arestyrurj-153	40	112	of	of	ADP
arestyrurj-153	40	113	getting	get	VERB
arestyrurj-153	40	114	more	more	ADJ
arestyrurj-153	40	115	data	datum	NOUN
arestyrurj-153	40	116	about	about	ADP
arestyrurj-153	40	117	saturn	saturn	NOUN
arestyrurj-153	40	118	’s	’s	PART
arestyrurj-153	40	119	rings	ring	NOUN
arestyrurj-153	40	120	to	to	PART
arestyrurj-153	40	121	advance	advance	VERB
arestyrurj-153	40	122	the	the	DET
arestyrurj-153	40	123	science	science	NOUN
arestyrurj-153	40	124	of	of	ADP
arestyrurj-153	40	125	planetary	planetary	ADJ
arestyrurj-153	40	126	rings	ring	NOUN
arestyrurj-153	40	127	but	but	CCONJ
arestyrurj-153	40	128	can	can	AUX
arestyrurj-153	40	129	provide	provide	VERB
arestyrurj-153	40	130	an	an	DET
arestyrurj-153	40	131	economically	economically	ADV
arestyrurj-153	40	132	viable	viable	ADJ
arestyrurj-153	40	133	and	and	CCONJ
arestyrurj-153	40	134	less	less	ADJ
arestyrurj-153	40	135	risk	risk	NOUN
arestyrurj-153	40	136	-	-	PUNCT
arestyrurj-153	40	137	prone	prone	ADJ
arestyrurj-153	40	138	alternative	alternative	NOUN
arestyrurj-153	40	139	to	to	ADP
arestyrurj-153	40	140	traditional	traditional	ADJ
arestyrurj-153	40	141	mission	mission	NOUN
arestyrurj-153	40	142	outlines	outline	NOUN
arestyrurj-153	40	143	.	.	PUNCT
arestyrurj-153	41	1	aresty	aresty	ADJ
arestyrurj-153	41	2	rutgers	rutgers	PROPN
arestyrurj-153	41	3	undergraduate	undergraduate	PROPN
arestyrurj-153	41	4	research	research	PROPN
arestyrurj-153	41	5	journal	journal	PROPN
arestyrurj-153	41	6	,	,	PUNCT
arestyrurj-153	41	7	volume	volume	NOUN
arestyrurj-153	41	8	i	i	PRON
arestyrurj-153	41	9	,	,	PUNCT
arestyrurj-153	41	10	issue	issue	NOUN
arestyrurj-153	41	11	ii	ii	NOUN
arestyrurj-153	41	12	list	list	NOUN
arestyrurj-153	41	13	of	of	ADP
arestyrurj-153	41	14	relevant	relevant	ADJ
arestyrurj-153	41	15	terms	term	NOUN
arestyrurj-153	41	16	artificial	artificial	ADJ
arestyrurj-153	41	17	potential	potential	ADJ
arestyrurj-153	41	18	field	field	NOUN
arestyrurj-153	41	19	–	–	PUNCT
arestyrurj-153	41	20	the	the	DET
arestyrurj-153	41	21	assignment	assignment	NOUN
arestyrurj-153	41	22	of	of	ADP
arestyrurj-153	41	23	values	value	NOUN
arestyrurj-153	41	24	to	to	ADP
arestyrurj-153	41	25	every	every	DET
arestyrurj-153	41	26	point	point	NOUN
arestyrurj-153	41	27	in	in	ADP
arestyrurj-153	41	28	space	space	NOUN
arestyrurj-153	41	29	that	that	PRON
arestyrurj-153	41	30	corresponds	correspond	VERB
arestyrurj-153	41	31	to	to	ADP
arestyrurj-153	41	32	the	the	DET
arestyrurj-153	41	33	willingness	willingness	NOUN
arestyrurj-153	41	34	of	of	ADP
arestyrurj-153	41	35	an	an	DET
arestyrurj-153	41	36	object	object	NOUN
arestyrurj-153	41	37	to	to	PART
arestyrurj-153	41	38	move	move	VERB
arestyrurj-153	41	39	toward	toward	ADP
arestyrurj-153	41	40	or	or	CCONJ
arestyrurj-153	41	41	away	away	ADV
arestyrurj-153	41	42	from	from	ADP
arestyrurj-153	41	43	that	that	DET
arestyrurj-153	41	44	point	point	NOUN
arestyrurj-153	41	45	in	in	ADP
arestyrurj-153	41	46	space	space	NOUN
arestyrurj-153	41	47	while	while	SCONJ
arestyrurj-153	41	48	not	not	PART
arestyrurj-153	41	49	being	be	AUX
arestyrurj-153	41	50	tied	tie	VERB
arestyrurj-153	41	51	to	to	ADP
arestyrurj-153	41	52	any	any	DET
arestyrurj-153	41	53	actual	actual	ADJ
arestyrurj-153	41	54	physical	physical	ADJ
arestyrurj-153	41	55	phenomena	phenomenon	NOUN
arestyrurj-153	41	56	or	or	CCONJ
arestyrurj-153	41	57	interactions	interaction	NOUN
arestyrurj-153	41	58	such	such	ADJ
arestyrurj-153	41	59	as	as	ADP
arestyrurj-153	41	60	gravitation	gravitation	NOUN
arestyrurj-153	41	61	.	.	PUNCT
arestyrurj-153	42	1	a	a	DET
arestyrurj-153	42	2	standard	standard	ADJ
arestyrurj-153	42	3	potential	potential	ADJ
arestyrurj-153	42	4	field	field	NOUN
arestyrurj-153	42	5	encompasses	encompass	VERB
arestyrurj-153	42	6	these	these	DET
arestyrurj-153	42	7	fundamental	fundamental	ADJ
arestyrurj-153	42	8	forces.[1	forces.[1	NOUN
arestyrurj-153	42	9	]	]	PUNCT
arestyrurj-153	42	10	bifurcation	bifurcation	NOUN
arestyrurj-153	42	11	–	–	PUNCT
arestyrurj-153	42	12	the	the	DET
arestyrurj-153	42	13	ability	ability	NOUN
arestyrurj-153	42	14	of	of	ADP
arestyrurj-153	42	15	a	a	DET
arestyrurj-153	42	16	dynamic	dynamic	ADJ
arestyrurj-153	42	17	system	system	NOUN
arestyrurj-153	42	18	to	to	PART
arestyrurj-153	42	19	drastically	drastically	ADV
arestyrurj-153	42	20	change	change	VERB
arestyrurj-153	42	21	its	its	PRON
arestyrurj-153	42	22	behavior	behavior	NOUN
arestyrurj-153	42	23	with	with	ADP
arestyrurj-153	42	24	the	the	DET
arestyrurj-153	42	25	tuning	tuning	NOUN
arestyrurj-153	42	26	of	of	ADP
arestyrurj-153	42	27	a	a	DET
arestyrurj-153	42	28	single	single	ADJ
arestyrurj-153	42	29	parameter.[1	parameter.[1	NOUN
arestyrurj-153	42	30	]	]	PUNCT
arestyrurj-153	42	31	convergence	convergence	NOUN
arestyrurj-153	42	32	–	–	PUNCT
arestyrurj-153	42	33	when	when	SCONJ
arestyrurj-153	42	34	a	a	DET
arestyrurj-153	42	35	system	system	NOUN
arestyrurj-153	42	36	tends	tend	VERB
arestyrurj-153	42	37	toward	toward	ADP
arestyrurj-153	42	38	a	a	DET
arestyrurj-153	42	39	certain	certain	ADJ
arestyrurj-153	42	40	steady	steady	ADJ
arestyrurj-153	42	41	value	value	NOUN
arestyrurj-153	42	42	or	or	CCONJ
arestyrurj-153	42	43	state	state	NOUN
arestyrurj-153	42	44	after	after	ADP
arestyrurj-153	42	45	a	a	DET
arestyrurj-153	42	46	certain	certain	ADJ
arestyrurj-153	42	47	period	period	NOUN
arestyrurj-153	42	48	of	of	ADP
arestyrurj-153	42	49	time	time	NOUN
arestyrurj-153	42	50	.	.	PUNCT
arestyrurj-153	43	1	line	line	NOUN
arestyrurj-153	43	2	integral	integral	ADJ
arestyrurj-153	43	3	–	–	PUNCT
arestyrurj-153	43	4	the	the	DET
arestyrurj-153	43	5	integral	integral	NOUN
arestyrurj-153	43	6	of	of	ADP
arestyrurj-153	43	7	a	a	DET
arestyrurj-153	43	8	function	function	NOUN
arestyrurj-153	43	9	evaluated	evaluate	VERB
arestyrurj-153	43	10	along	along	ADP
arestyrurj-153	43	11	a	a	DET
arestyrurj-153	43	12	path	path	NOUN
arestyrurj-153	43	13	in	in	ADP
arestyrurj-153	43	14	space.[14	space.[14	PROPN
arestyrurj-153	43	15	]	]	PUNCT
arestyrurj-153	43	16	work	work	NOUN
arestyrurj-153	43	17	–	–	PUNCT
arestyrurj-153	43	18	the	the	DET
arestyrurj-153	43	19	amount	amount	NOUN
arestyrurj-153	43	20	of	of	ADP
arestyrurj-153	43	21	energy	energy	NOUN
arestyrurj-153	43	22	transfer	transfer	NOUN
arestyrurj-153	43	23	associated	associate	VERB
arestyrurj-153	43	24	with	with	ADP
arestyrurj-153	43	25	a	a	DET
arestyrurj-153	43	26	force	force	NOUN
arestyrurj-153	43	27	acting	act	VERB
arestyrurj-153	43	28	on	on	ADP
arestyrurj-153	43	29	an	an	DET
arestyrurj-153	43	30	object	object	NOUN
arestyrurj-153	43	31	,	,	PUNCT
arestyrurj-153	43	32	as	as	SCONJ
arestyrurj-153	43	33	calculated	calculate	VERB
arestyrurj-153	43	34	via	via	ADP
arestyrurj-153	43	35	the	the	DET
arestyrurj-153	43	36	line	line	NOUN
arestyrurj-153	43	37	integral	integral	ADJ
arestyrurj-153	43	38	of	of	ADP
arestyrurj-153	43	39	the	the	DET
arestyrurj-153	43	40	force	force	NOUN
arestyrurj-153	43	41	along	along	ADP
arestyrurj-153	43	42	a	a	DET
arestyrurj-153	43	43	specified	specified	ADJ
arestyrurj-153	43	44	path	path	NOUN
arestyrurj-153	43	45	in	in	ADP
arestyrurj-153	43	46	space.[14	space.[14	PROPN
arestyrurj-153	43	47	]	]	PUNCT
arestyrurj-153	43	48	metaheuristic	metaheuristic	ADJ
arestyrurj-153	43	49	–	–	PUNCT
arestyrurj-153	43	50	a	a	DET
arestyrurj-153	43	51	computer	computer	NOUN
arestyrurj-153	43	52	search	search	NOUN
arestyrurj-153	43	53	algorithm	algorithm	NOUN
arestyrurj-153	43	54	that	that	PRON
arestyrurj-153	43	55	is	be	AUX
arestyrurj-153	43	56	more	more	ADV
arestyrurj-153	43	57	sophisticated	sophisticated	ADJ
arestyrurj-153	43	58	than	than	ADP
arestyrurj-153	43	59	simply	simply	ADV
arestyrurj-153	43	60	checking	check	VERB
arestyrurj-153	43	61	all	all	DET
arestyrurj-153	43	62	possible	possible	ADJ
arestyrurj-153	43	63	solutions	solution	NOUN
arestyrurj-153	43	64	in	in	ADP
arestyrurj-153	43	65	order	order	NOUN
arestyrurj-153	43	66	to	to	PART
arestyrurj-153	43	67	solve	solve	VERB
arestyrurj-153	43	68	an	an	DET
arestyrurj-153	43	69	optimization	optimization	NOUN
arestyrurj-153	43	70	problem.[2	problem.[2	NOUN
arestyrurj-153	43	71	]	]	X
arestyrurj-153	43	72	genetic	genetic	ADJ
arestyrurj-153	43	73	algorithm	algorithm	NOUN
arestyrurj-153	43	74	–	–	PUNCT
arestyrurj-153	43	75	a	a	DET
arestyrurj-153	43	76	metaheuristic	metaheuristic	ADJ
arestyrurj-153	43	77	method	method	NOUN
arestyrurj-153	43	78	of	of	ADP
arestyrurj-153	43	79	optimizing	optimize	VERB
arestyrurj-153	43	80	a	a	DET
arestyrurj-153	43	81	function	function	NOUN
arestyrurj-153	43	82	that	that	PRON
arestyrurj-153	43	83	is	be	AUX
arestyrurj-153	43	84	otherwise	otherwise	ADV
arestyrurj-153	43	85	undefinable	undefinable	ADJ
arestyrurj-153	43	86	analytically	analytically	ADV
arestyrurj-153	43	87	or	or	CCONJ
arestyrurj-153	43	88	extremely	extremely	ADV
arestyrurj-153	43	89	difficult	difficult	ADJ
arestyrurj-153	43	90	to	to	PART
arestyrurj-153	43	91	do	do	VERB
arestyrurj-153	43	92	using	use	VERB
arestyrurj-153	43	93	methods	method	NOUN
arestyrurj-153	43	94	of	of	ADP
arestyrurj-153	43	95	differential	differential	ADJ
arestyrurj-153	43	96	calculus	calculus	NOUN
arestyrurj-153	43	97	.	.	PUNCT
arestyrurj-153	44	1	a	a	DET
arestyrurj-153	44	2	global	global	ADJ
arestyrurj-153	44	3	optimum	optimum	NOUN
arestyrurj-153	44	4	is	be	AUX
arestyrurj-153	44	5	approximated	approximate	VERB
arestyrurj-153	44	6	numerically	numerically	ADV
arestyrurj-153	44	7	by	by	ADP
arestyrurj-153	44	8	mimicking	mimic	VERB
arestyrurj-153	44	9	darwin	darwin	PROPN
arestyrurj-153	44	10	’s	’s	PART
arestyrurj-153	44	11	theory	theory	NOUN
arestyrurj-153	44	12	of	of	ADP
arestyrurj-153	44	13	evolution	evolution	NOUN
arestyrurj-153	44	14	.	.	PUNCT
arestyrurj-153	45	1	with	with	ADP
arestyrurj-153	45	2	each	each	DET
arestyrurj-153	45	3	successive	successive	ADJ
arestyrurj-153	45	4	generation	generation	NOUN
arestyrurj-153	45	5	,	,	PUNCT
arestyrurj-153	45	6	a	a	DET
arestyrurj-153	45	7	more	more	ADJ
arestyrurj-153	45	8	“	"	PUNCT
arestyrurj-153	45	9	fit	fit	ADJ
arestyrurj-153	45	10	”	"	PUNCT
arestyrurj-153	45	11	(	(	PUNCT
arestyrurj-153	45	12	lower	low	ADJ
arestyrurj-153	45	13	fuel	fuel	NOUN
arestyrurj-153	45	14	consumption	consumption	NOUN
arestyrurj-153	45	15	)	)	PUNCT
arestyrurj-153	45	16	solution	solution	NOUN
arestyrurj-153	45	17	is	be	AUX
arestyrurj-153	45	18	created	create	VERB
arestyrurj-153	45	19	by	by	ADP
arestyrurj-153	45	20	taking	take	VERB
arestyrurj-153	45	21	the	the	DET
arestyrurj-153	45	22	desirable	desirable	ADJ
arestyrurj-153	45	23	characteristics	characteristic	NOUN
arestyrurj-153	45	24	of	of	ADP
arestyrurj-153	45	25	the	the	DET
arestyrurj-153	45	26	previous	previous	ADJ
arestyrurj-153	45	27	generation	generation	NOUN
arestyrurj-153	45	28	and	and	CCONJ
arestyrurj-153	45	29	using	use	VERB
arestyrurj-153	45	30	them	they	PRON
arestyrurj-153	45	31	to	to	ADP
arestyrurj-153	45	32	pseudo	pseudo	NOUN
arestyrurj-153	45	33	-	-	PUNCT
arestyrurj-153	45	34	randomly	randomly	ADV
arestyrurj-153	45	35	generate	generate	VERB
arestyrurj-153	45	36	the	the	DET
arestyrurj-153	45	37	next	next	ADJ
arestyrurj-153	45	38	.	.	PUNCT
arestyrurj-153	46	1	each	each	DET
arestyrurj-153	46	2	iteration	iteration	NOUN
arestyrurj-153	46	3	(	(	PUNCT
arestyrurj-153	46	4	or	or	CCONJ
arestyrurj-153	46	5	generation	generation	NOUN
arestyrurj-153	46	6	)	)	PUNCT
arestyrurj-153	46	7	has	have	VERB
arestyrurj-153	46	8	“	"	PUNCT
arestyrurj-153	46	9	genes	gene	NOUN
arestyrurj-153	46	10	”	"	PUNCT
arestyrurj-153	46	11	associated	associate	VERB
arestyrurj-153	46	12	with	with	ADP
arestyrurj-153	46	13	it	it	PRON
arestyrurj-153	46	14	that	that	PRON
arestyrurj-153	46	15	combine	combine	VERB
arestyrurj-153	46	16	in	in	ADP
arestyrurj-153	46	17	a	a	DET
arestyrurj-153	46	18	way	way	NOUN
arestyrurj-153	46	19	with	with	ADP
arestyrurj-153	46	20	the	the	DET
arestyrurj-153	46	21	possibility	possibility	NOUN
arestyrurj-153	46	22	of	of	ADP
arestyrurj-153	46	23	mutation	mutation	NOUN
arestyrurj-153	46	24	to	to	PART
arestyrurj-153	46	25	produce	produce	VERB
arestyrurj-153	46	26	the	the	DET
arestyrurj-153	46	27	next	next	ADJ
arestyrurj-153	46	28	generation.[2	generation.[2	X
arestyrurj-153	46	29	]	]	X
arestyrurj-153	46	30	2	2	NUM
arestyrurj-153	46	31	methods	method	NOUN
arestyrurj-153	46	32	i.	i.	PROPN
arestyrurj-153	46	33	mathematical	mathematical	PROPN
arestyrurj-153	46	34	model	model	NOUN
arestyrurj-153	46	35	in	in	ADP
arestyrurj-153	46	36	this	this	DET
arestyrurj-153	46	37	paper	paper	NOUN
arestyrurj-153	46	38	,	,	PUNCT
arestyrurj-153	46	39	a	a	DET
arestyrurj-153	46	40	swarm	swarm	NOUN
arestyrurj-153	46	41	of	of	ADP
arestyrurj-153	46	42	twenty	twenty	NUM
arestyrurj-153	46	43	spacecraft	spacecraft	NOUN
arestyrurj-153	46	44	is	be	AUX
arestyrurj-153	46	45	considered	consider	VERB
arestyrurj-153	46	46	with	with	ADP
arestyrurj-153	46	47	dynamics	dynamic	NOUN
arestyrurj-153	46	48	modeled	model	VERB
arestyrurj-153	46	49	by	by	ADP
arestyrurj-153	46	50	a	a	DET
arestyrurj-153	46	51	system	system	NOUN
arestyrurj-153	46	52	of	of	ADP
arestyrurj-153	46	53	differential	differential	ADJ
arestyrurj-153	46	54	equations	equation	NOUN
arestyrurj-153	46	55	provided	provide	VERB
arestyrurj-153	46	56	by	by	ADP
arestyrurj-153	46	57	bennet	bennet	PROPN
arestyrurj-153	46	58	et	et	PROPN
arestyrurj-153	46	59	al.[1	al.[1	PROPN
arestyrurj-153	46	60	]	]	PUNCT
arestyrurj-153	46	61	the	the	DET
arestyrurj-153	46	62	model	model	NOUN
arestyrurj-153	46	63	works	work	VERB
arestyrurj-153	46	64	for	for	ADP
arestyrurj-153	46	65	any	any	DET
arestyrurj-153	46	66	number	number	NOUN
arestyrurj-153	46	67	of	of	ADP
arestyrurj-153	46	68	craft	craft	NOUN
arestyrurj-153	46	69	,	,	PUNCT
arestyrurj-153	46	70	but	but	CCONJ
arestyrurj-153	46	71	twenty	twenty	NUM
arestyrurj-153	46	72	are	be	AUX
arestyrurj-153	46	73	used	use	VERB
arestyrurj-153	46	74	throughout	throughout	ADP
arestyrurj-153	46	75	this	this	DET
arestyrurj-153	46	76	paper	paper	NOUN
arestyrurj-153	46	77	.	.	PUNCT
arestyrurj-153	47	1	the	the	DET
arestyrurj-153	47	2	swarm	swarm	NOUN
arestyrurj-153	47	3	is	be	AUX
arestyrurj-153	47	4	assumed	assume	VERB
arestyrurj-153	47	5	to	to	PART
arestyrurj-153	47	6	start	start	VERB
arestyrurj-153	47	7	stationed	station	VERB
arestyrurj-153	47	8	at	at	ADP
arestyrurj-153	47	9	a	a	DET
arestyrurj-153	47	10	larger	large	ADJ
arestyrurj-153	47	11	craft	craft	NOUN
arestyrurj-153	47	12	or	or	CCONJ
arestyrurj-153	47	13	satellite	satellite	NOUN
arestyrurj-153	47	14	within	within	ADP
arestyrurj-153	47	15	space	space	NOUN
arestyrurj-153	47	16	.	.	PUNCT
arestyrurj-153	48	1	the	the	DET
arestyrurj-153	48	2	swarm	swarm	NOUN
arestyrurj-153	48	3	will	will	AUX
arestyrurj-153	48	4	then	then	ADV
arestyrurj-153	48	5	be	be	AUX
arestyrurj-153	48	6	launched	launch	VERB
arestyrurj-153	48	7	horizontally	horizontally	ADV
arestyrurj-153	48	8	into	into	ADP
arestyrurj-153	48	9	space	space	NOUN
arestyrurj-153	48	10	from	from	ADP
arestyrurj-153	48	11	this	this	DET
arestyrurj-153	48	12	dock	dock	NOUN
arestyrurj-153	48	13	.	.	PUNCT
arestyrurj-153	49	1	this	this	DET
arestyrurj-153	49	2	system	system	NOUN
arestyrurj-153	49	3	of	of	ADP
arestyrurj-153	49	4	equations	equation	NOUN
arestyrurj-153	49	5	is	be	AUX
arestyrurj-153	49	6	derived	derive	VERB
arestyrurj-153	49	7	from	from	ADP
arestyrurj-153	49	8	the	the	DET
arestyrurj-153	49	9	basic	basic	ADJ
arestyrurj-153	49	10	principle	principle	NOUN
arestyrurj-153	49	11	of	of	ADP
arestyrurj-153	49	12	a	a	DET
arestyrurj-153	49	13	particle	particle	NOUN
arestyrurj-153	49	14	’s	’s	PART
arestyrurj-153	49	15	behavior	behavior	NOUN
arestyrurj-153	49	16	in	in	ADP
arestyrurj-153	49	17	a	a	DET
arestyrurj-153	49	18	potential	potential	ADJ
arestyrurj-153	49	19	field	field	NOUN
arestyrurj-153	49	20	.	.	PUNCT
arestyrurj-153	50	1	in	in	ADP
arestyrurj-153	50	2	this	this	DET
arestyrurj-153	50	3	model	model	NOUN
arestyrurj-153	50	4	,	,	PUNCT
arestyrurj-153	50	5	at	at	ADP
arestyrurj-153	50	6	every	every	DET
arestyrurj-153	50	7	point	point	NOUN
arestyrurj-153	50	8	in	in	ADP
arestyrurj-153	50	9	three	three	NUM
arestyrurj-153	50	10	-	-	PUNCT
arestyrurj-153	50	11	dimensional	dimensional	ADJ
arestyrurj-153	50	12	space	space	NOUN
arestyrurj-153	50	13	,	,	PUNCT
arestyrurj-153	50	14	a	a	DET
arestyrurj-153	50	15	value	value	NOUN
arestyrurj-153	50	16	for	for	ADP
arestyrurj-153	50	17	potential	potential	NOUN
arestyrurj-153	50	18	is	be	AUX
arestyrurj-153	50	19	defined	define	VERB
arestyrurj-153	50	20	,	,	PUNCT
arestyrurj-153	50	21	and	and	CCONJ
arestyrurj-153	50	22	in	in	ADP
arestyrurj-153	50	23	this	this	DET
arestyrurj-153	50	24	case	case	NOUN
arestyrurj-153	50	25	,	,	PUNCT
arestyrurj-153	50	26	the	the	DET
arestyrurj-153	50	27	particles	particle	NOUN
arestyrurj-153	50	28	are	be	AUX
arestyrurj-153	50	29	individual	individual	ADJ
arestyrurj-153	50	30	spacecraft	spacecraft	NOUN
arestyrurj-153	50	31	moving	move	VERB
arestyrurj-153	50	32	through	through	ADP
arestyrurj-153	50	33	this	this	DET
arestyrurj-153	50	34	space	space	NOUN
arestyrurj-153	50	35	.	.	PUNCT
arestyrurj-153	51	1	a	a	DET
arestyrurj-153	51	2	potential	potential	ADJ
arestyrurj-153	51	3	field	field	NOUN
arestyrurj-153	51	4	can	can	AUX
arestyrurj-153	51	5	be	be	AUX
arestyrurj-153	51	6	thought	think	VERB
arestyrurj-153	51	7	of	of	ADP
arestyrurj-153	51	8	as	as	ADP
arestyrurj-153	51	9	either	either	CCONJ
arestyrurj-153	51	10	a	a	DET
arestyrurj-153	51	11	hill	hill	NOUN
arestyrurj-153	51	12	or	or	CCONJ
arestyrurj-153	51	13	a	a	DET
arestyrurj-153	51	14	well	well	INTJ
arestyrurj-153	51	15	where	where	SCONJ
arestyrurj-153	51	16	objects	object	NOUN
arestyrurj-153	51	17	(	(	PUNCT
arestyrurj-153	51	18	particles	particle	NOUN
arestyrurj-153	51	19	)	)	PUNCT
arestyrurj-153	51	20	tend	tend	VERB
arestyrurj-153	51	21	to	to	PART
arestyrurj-153	51	22	either	either	CCONJ
arestyrurj-153	51	23	roll	roll	VERB
arestyrurj-153	51	24	down	down	ADP
arestyrurj-153	51	25	the	the	DET
arestyrurj-153	51	26	hill	hill	NOUN
arestyrurj-153	51	27	(	(	PUNCT
arestyrurj-153	51	28	move	move	VERB
arestyrurj-153	51	29	away	away	ADV
arestyrurj-153	51	30	from	from	ADP
arestyrurj-153	51	31	a	a	DET
arestyrurj-153	51	32	higher	high	ADJ
arestyrurj-153	51	33	potential	potential	NOUN
arestyrurj-153	51	34	)	)	PUNCT
arestyrurj-153	51	35	or	or	CCONJ
arestyrurj-153	51	36	roll	roll	VERB
arestyrurj-153	51	37	into	into	ADP
arestyrurj-153	51	38	the	the	DET
arestyrurj-153	51	39	well	well	NOUN
arestyrurj-153	51	40	(	(	PUNCT
arestyrurj-153	51	41	move	move	VERB
arestyrurj-153	51	42	closer	close	ADV
arestyrurj-153	51	43	to	to	ADP
arestyrurj-153	51	44	a	a	DET
arestyrurj-153	51	45	lower	low	ADJ
arestyrurj-153	51	46	potential	potential	NOUN
arestyrurj-153	51	47	)	)	PUNCT
arestyrurj-153	51	48	wherein	wherein	SCONJ
arestyrurj-153	51	49	this	this	DET
arestyrurj-153	51	50	analogy	analogy	NOUN
arestyrurj-153	51	51	the	the	DET
arestyrurj-153	51	52	potential	potential	NOUN
arestyrurj-153	51	53	is	be	AUX
arestyrurj-153	51	54	gravity	gravity	NOUN
arestyrurj-153	51	55	.	.	PUNCT
arestyrurj-153	52	1	we	we	PRON
arestyrurj-153	52	2	can	can	AUX
arestyrurj-153	52	3	extend	extend	VERB
arestyrurj-153	52	4	this	this	DET
arestyrurj-153	52	5	same	same	ADJ
arestyrurj-153	52	6	concept	concept	NOUN
arestyrurj-153	52	7	to	to	ADP
arestyrurj-153	52	8	a	a	DET
arestyrurj-153	52	9	more	more	ADV
arestyrurj-153	52	10	abstract	abstract	ADJ
arestyrurj-153	52	11	mathematical	mathematical	ADJ
arestyrurj-153	52	12	model	model	NOUN
arestyrurj-153	52	13	by	by	ADP
arestyrurj-153	52	14	defining	define	VERB
arestyrurj-153	52	15	points	point	NOUN
arestyrurj-153	52	16	in	in	ADP
arestyrurj-153	52	17	three	three	NUM
arestyrurj-153	52	18	-	-	PUNCT
arestyrurj-153	52	19	dimensional	dimensional	ADJ
arestyrurj-153	52	20	space	space	NOUN
arestyrurj-153	52	21	that	that	PRON
arestyrurj-153	52	22	the	the	DET
arestyrurj-153	52	23	spacecraft	spacecraft	NOUN
arestyrurj-153	52	24	tend	tend	VERB
arestyrurj-153	52	25	to	to	PART
arestyrurj-153	52	26	move	move	VERB
arestyrurj-153	52	27	away	away	ADV
arestyrurj-153	52	28	from	from	ADP
arestyrurj-153	52	29	and	and	CCONJ
arestyrurj-153	52	30	others	other	NOUN
arestyrurj-153	52	31	where	where	SCONJ
arestyrurj-153	52	32	the	the	DET
arestyrurj-153	52	33	spacecraft	spacecraft	NOUN
arestyrurj-153	52	34	tend	tend	VERB
arestyrurj-153	52	35	to	to	PART
arestyrurj-153	52	36	converge	converge	VERB
arestyrurj-153	52	37	to	to	ADP
arestyrurj-153	52	38	.	.	PUNCT
arestyrurj-153	53	1	these	these	DET
arestyrurj-153	53	2	artificial	artificial	ADJ
arestyrurj-153	53	3	potentials	potential	NOUN
arestyrurj-153	53	4	depend	depend	VERB
arestyrurj-153	53	5	on	on	ADP
arestyrurj-153	53	6	both	both	CCONJ
arestyrurj-153	53	7	the	the	DET
arestyrurj-153	53	8	position	position	NOUN
arestyrurj-153	53	9	of	of	ADP
arestyrurj-153	53	10	a	a	DET
arestyrurj-153	53	11	craft	craft	NOUN
arestyrurj-153	53	12	in	in	ADP
arestyrurj-153	53	13	space	space	NOUN
arestyrurj-153	53	14	as	as	ADV
arestyrurj-153	53	15	well	well	ADV
arestyrurj-153	53	16	as	as	ADP
arestyrurj-153	53	17	its	its	PRON
arestyrurj-153	53	18	relative	relative	ADJ
arestyrurj-153	53	19	positions	position	NOUN
arestyrurj-153	53	20	to	to	ADP
arestyrurj-153	53	21	all	all	DET
arestyrurj-153	53	22	others	other	NOUN
arestyrurj-153	53	23	in	in	ADP
arestyrurj-153	53	24	the	the	DET
arestyrurj-153	53	25	swarm	swarm	NOUN
arestyrurj-153	53	26	.	.	PUNCT
arestyrurj-153	54	1	suppose	suppose	VERB
arestyrurj-153	54	2	there	there	PRON
arestyrurj-153	54	3	are	be	VERB
arestyrurj-153	54	4	preset	preset	ADJ
arestyrurj-153	54	5	positions	position	NOUN
arestyrurj-153	54	6	in	in	ADP
arestyrurj-153	54	7	space	space	NOUN
arestyrurj-153	54	8	where	where	SCONJ
arestyrurj-153	54	9	low	low	ADJ
arestyrurj-153	54	10	potentials	potential	NOUN
arestyrurj-153	54	11	occur	occur	VERB
arestyrurj-153	54	12	in	in	ADP
arestyrurj-153	54	13	addition	addition	NOUN
arestyrurj-153	54	14	to	to	ADP
arestyrurj-153	54	15	high	high	ADJ
arestyrurj-153	54	16	potentials	potential	NOUN
arestyrurj-153	54	17	being	be	AUX
arestyrurj-153	54	18	defined	define	VERB
arestyrurj-153	54	19	at	at	ADP
arestyrurj-153	54	20	the	the	DET
arestyrurj-153	54	21	positions	position	NOUN
arestyrurj-153	54	22	of	of	ADP
arestyrurj-153	54	23	each	each	DET
arestyrurj-153	54	24	spacecraft	spacecraft	NOUN
arestyrurj-153	54	25	and	and	CCONJ
arestyrurj-153	54	26	any	any	DET
arestyrurj-153	54	27	obstacles	obstacle	NOUN
arestyrurj-153	54	28	.	.	PUNCT
arestyrurj-153	55	1	in	in	ADP
arestyrurj-153	55	2	that	that	DET
arestyrurj-153	55	3	case	case	NOUN
arestyrurj-153	55	4	,	,	PUNCT
arestyrurj-153	55	5	a	a	DET
arestyrurj-153	55	6	mathematical	mathematical	ADJ
arestyrurj-153	55	7	scheme	scheme	NOUN
arestyrurj-153	55	8	can	can	AUX
arestyrurj-153	55	9	be	be	AUX
arestyrurj-153	55	10	created	create	VERB
arestyrurj-153	55	11	where	where	SCONJ
arestyrurj-153	55	12	both	both	PRON
arestyrurj-153	55	13	external	external	ADJ
arestyrurj-153	55	14	obstacle	obstacle	NOUN
arestyrurj-153	55	15	and	and	CCONJ
arestyrurj-153	55	16	inter	inter	ADJ
arestyrurj-153	55	17	-	-	ADJ
arestyrurj-153	55	18	craft	craft	ADJ
arestyrurj-153	55	19	collision	collision	NOUN
arestyrurj-153	55	20	avoidance	avoidance	NOUN
arestyrurj-153	55	21	and	and	CCONJ
arestyrurj-153	55	22	convergence	convergence	NOUN
arestyrurj-153	55	23	to	to	ADP
arestyrurj-153	55	24	desired	desire	VERB
arestyrurj-153	55	25	final	final	ADJ
arestyrurj-153	55	26	formations	formation	NOUN
arestyrurj-153	55	27	are	be	AUX
arestyrurj-153	55	28	well	well	ADV
arestyrurj-153	55	29	defined	define	VERB
arestyrurj-153	55	30	.	.	PUNCT
arestyrurj-153	56	1	the	the	DET
arestyrurj-153	56	2	following	follow	VERB
arestyrurj-153	56	3	model	model	NOUN
arestyrurj-153	56	4	(	(	PUNCT
arestyrurj-153	56	5	figure	figure	NOUN
arestyrurj-153	56	6	1	1	NUM
arestyrurj-153	56	7	)	)	PUNCT
arestyrurj-153	56	8	was	be	AUX
arestyrurj-153	56	9	based	base	VERB
arestyrurj-153	56	10	on	on	ADP
arestyrurj-153	56	11	the	the	DET
arestyrurj-153	56	12	theory	theory	NOUN
arestyrurj-153	56	13	of	of	ADP
arestyrurj-153	56	14	bifurcating	bifurcate	VERB
arestyrurj-153	56	15	potential	potential	ADJ
arestyrurj-153	56	16	fields	field	NOUN
arestyrurj-153	56	17	with	with	ADP
arestyrurj-153	56	18	a	a	DET
arestyrurj-153	56	19	more	more	ADV
arestyrurj-153	56	20	rigorous	rigorous	ADJ
arestyrurj-153	56	21	mathematical	mathematical	ADJ
arestyrurj-153	56	22	derivation	derivation	NOUN
arestyrurj-153	56	23	in	in	ADP
arestyrurj-153	56	24	the	the	DET
arestyrurj-153	56	25	paper	paper	NOUN
arestyrurj-153	56	26	by	by	ADP
arestyrurj-153	56	27	bennet	bennet	PROPN
arestyrurj-153	56	28	et	et	PROPN
arestyrurj-153	56	29	al.[1	al.[1	PROPN
arestyrurj-153	56	30	]	]	PUNCT
arestyrurj-153	56	31	they	they	PRON
arestyrurj-153	56	32	were	be	AUX
arestyrurj-153	56	33	able	able	ADJ
arestyrurj-153	56	34	to	to	PART
arestyrurj-153	56	35	derive	derive	VERB
arestyrurj-153	56	36	a	a	DET
arestyrurj-153	56	37	relation	relation	NOUN
arestyrurj-153	56	38	between	between	ADP
arestyrurj-153	56	39	the	the	DET
arestyrurj-153	56	40	velocity	velocity	NOUN
arestyrurj-153	56	41	of	of	ADP
arestyrurj-153	56	42	each	each	DET
arestyrurj-153	56	43	craft	craft	NOUN
arestyrurj-153	56	44	in	in	ADP
arestyrurj-153	56	45	a	a	DET
arestyrurj-153	56	46	conveniently	conveniently	ADV
arestyrurj-153	56	47	defined	define	VERB
arestyrurj-153	56	48	(	(	PUNCT
arestyrurj-153	56	49	in	in	ADP
arestyrurj-153	56	50	the	the	DET
arestyrurj-153	56	51	sense	sense	NOUN
arestyrurj-153	56	52	that	that	SCONJ
arestyrurj-153	56	53	it	it	PRON
arestyrurj-153	56	54	is	be	AUX
arestyrurj-153	56	55	artificially	artificially	ADV
arestyrurj-153	56	56	constructed	construct	VERB
arestyrurj-153	56	57	with	with	ADP
arestyrurj-153	56	58	the	the	DET
arestyrurj-153	56	59	final	final	ADJ
arestyrurj-153	56	60	product	product	NOUN
arestyrurj-153	56	61	in	in	ADP
arestyrurj-153	56	62	mind	mind	NOUN
arestyrurj-153	56	63	during	during	ADP
arestyrurj-153	56	64	its	its	PRON
arestyrurj-153	56	65	inception	inception	NOUN
arestyrurj-153	56	66	)	)	PUNCT
arestyrurj-153	56	67	potential	potential	ADJ
arestyrurj-153	56	68	field	field	NOUN
arestyrurj-153	56	69	to	to	PART
arestyrurj-153	56	70	get	get	AUX
arestyrurj-153	56	71	desired	desire	VERB
arestyrurj-153	56	72	final	final	ADJ
arestyrurj-153	56	73	formation	formation	NOUN
arestyrurj-153	56	74	and	and	CCONJ
arestyrurj-153	56	75	trajectory	trajectory	NOUN
arestyrurj-153	56	76	characteristics	characteristic	NOUN
arestyrurj-153	56	77	.	.	PUNCT
arestyrurj-153	57	1	mathematically	mathematically	ADV
arestyrurj-153	57	2	,	,	PUNCT
arestyrurj-153	57	3	the	the	DET
arestyrurj-153	57	4	velocity	velocity	NOUN
arestyrurj-153	57	5	is	be	AUX
arestyrurj-153	57	6	equal	equal	ADJ
arestyrurj-153	57	7	to	to	ADP
arestyrurj-153	57	8	the	the	DET
arestyrurj-153	57	9	negative	negative	ADJ
arestyrurj-153	57	10	gradient	gradient	NOUN
arestyrurj-153	57	11	of	of	ADP
arestyrurj-153	57	12	the	the	DET
arestyrurj-153	57	13	potential	potential	ADJ
arestyrurj-153	57	14	field	field	NOUN
arestyrurj-153	57	15	.	.	PUNCT
arestyrurj-153	58	1	the	the	DET
arestyrurj-153	58	2	effects	effect	NOUN
arestyrurj-153	58	3	of	of	ADP
arestyrurj-153	58	4	these	these	DET
arestyrurj-153	58	5	potential	potential	ADJ
arestyrurj-153	58	6	fields	field	NOUN
arestyrurj-153	58	7	on	on	ADP
arestyrurj-153	58	8	the	the	DET
arestyrurj-153	58	9	spacecraft	spacecraft	NOUN
arestyrurj-153	58	10	aresty	aresty	PROPN
arestyrurj-153	58	11	rutgers	rutgers	PROPN
arestyrurj-153	58	12	undergraduate	undergraduate	PROPN
arestyrurj-153	58	13	research	research	PROPN
arestyrurj-153	58	14	journal	journal	PROPN
arestyrurj-153	58	15	,	,	PUNCT
arestyrurj-153	58	16	volume	volume	NOUN
arestyrurj-153	58	17	i	i	PRON
arestyrurj-153	58	18	,	,	PUNCT
arestyrurj-153	58	19	issue	issue	NOUN
arestyrurj-153	58	20	ii	ii	NOUN
arestyrurj-153	58	21	only	only	ADV
arestyrurj-153	58	22	initiate	initiate	VERB
arestyrurj-153	58	23	the	the	DET
arestyrurj-153	58	24	thrusters	thruster	NOUN
arestyrurj-153	58	25	to	to	PART
arestyrurj-153	58	26	force	force	VERB
arestyrurj-153	58	27	the	the	DET
arestyrurj-153	58	28	spacecraft	spacecraft	NOUN
arestyrurj-153	58	29	in	in	ADP
arestyrurj-153	58	30	a	a	DET
arestyrurj-153	58	31	certain	certain	ADJ
arestyrurj-153	58	32	direction	direction	NOUN
arestyrurj-153	58	33	.	.	PUNCT
arestyrurj-153	59	1	in	in	ADP
arestyrurj-153	59	2	other	other	ADJ
arestyrurj-153	59	3	words	word	NOUN
arestyrurj-153	59	4	,	,	PUNCT
arestyrurj-153	59	5	these	these	DET
arestyrurj-153	59	6	potentials	potential	NOUN
arestyrurj-153	59	7	are	be	AUX
arestyrurj-153	59	8	not	not	PART
arestyrurj-153	59	9	real	real	ADJ
arestyrurj-153	59	10	and	and	CCONJ
arestyrurj-153	59	11	are	be	AUX
arestyrurj-153	59	12	only	only	ADV
arestyrurj-153	59	13	defined	define	VERB
arestyrurj-153	59	14	within	within	ADP
arestyrurj-153	59	15	the	the	DET
arestyrurj-153	59	16	computersensor	computersensor	NOUN
arestyrurj-153	59	17	framework	framework	NOUN
arestyrurj-153	59	18	of	of	ADP
arestyrurj-153	59	19	the	the	DET
arestyrurj-153	59	20	swarm	swarm	NOUN
arestyrurj-153	59	21	.	.	PUNCT
arestyrurj-153	60	1	the	the	DET
arestyrurj-153	60	2	equation	equation	NOUN
arestyrurj-153	60	3	above	above	ADV
arestyrurj-153	60	4	is	be	AUX
arestyrurj-153	60	5	a	a	DET
arestyrurj-153	60	6	modified	modify	VERB
arestyrurj-153	60	7	version	version	NOUN
arestyrurj-153	60	8	of	of	ADP
arestyrurj-153	60	9	the	the	DET
arestyrurj-153	60	10	model	model	NOUN
arestyrurj-153	60	11	from	from	ADP
arestyrurj-153	60	12	bennet	bennet	PROPN
arestyrurj-153	60	13	et	et	PROPN
arestyrurj-153	60	14	al	al	PROPN
arestyrurj-153	60	15	.	.	PROPN
arestyrurj-153	60	16	,[1	,[1	PROPN
arestyrurj-153	60	17	]	]	PUNCT
arestyrurj-153	60	18	taking	take	VERB
arestyrurj-153	60	19	this	this	PRON
arestyrurj-153	60	20	into	into	ADP
arestyrurj-153	60	21	consideration	consideration	NOUN
arestyrurj-153	60	22	.	.	PUNCT
arestyrurj-153	61	1	above	above	ADV
arestyrurj-153	61	2	in	in	ADP
arestyrurj-153	61	3	figure	figure	NOUN
arestyrurj-153	61	4	1	1	NUM
arestyrurj-153	61	5	the	the	DET
arestyrurj-153	61	6	system	system	NOUN
arestyrurj-153	61	7	of	of	ADP
arestyrurj-153	61	8	differential	differential	ADJ
arestyrurj-153	61	9	equations	equation	NOUN
arestyrurj-153	61	10	modeling	model	VERB
arestyrurj-153	61	11	the	the	DET
arestyrurj-153	61	12	dynamics	dynamic	NOUN
arestyrurj-153	61	13	of	of	ADP
arestyrurj-153	61	14	the	the	DET
arestyrurj-153	61	15	swarm	swarm	NOUN
arestyrurj-153	61	16	is	be	AUX
arestyrurj-153	61	17	given	give	VERB
arestyrurj-153	61	18	.	.	PUNCT
arestyrurj-153	62	1	without	without	ADP
arestyrurj-153	62	2	going	go	VERB
arestyrurj-153	62	3	into	into	ADP
arestyrurj-153	62	4	mathematical	mathematical	ADJ
arestyrurj-153	62	5	detail	detail	NOUN
arestyrurj-153	62	6	,	,	PUNCT
arestyrurj-153	62	7	these	these	PRON
arestyrurj-153	62	8	are	be	AUX
arestyrurj-153	62	9	a	a	DET
arestyrurj-153	62	10	system	system	NOUN
arestyrurj-153	62	11	of	of	ADP
arestyrurj-153	62	12	equations	equation	NOUN
arestyrurj-153	62	13	relating	relate	VERB
arestyrurj-153	62	14	the	the	DET
arestyrurj-153	62	15	velocities	velocity	NOUN
arestyrurj-153	62	16	,	,	PUNCT
arestyrurj-153	62	17	positions	position	NOUN
arestyrurj-153	62	18	,	,	PUNCT
arestyrurj-153	62	19	and	and	CCONJ
arestyrurj-153	62	20	relative	relative	ADJ
arestyrurj-153	62	21	positions	position	NOUN
arestyrurj-153	62	22	of	of	ADP
arestyrurj-153	62	23	all	all	DET
arestyrurj-153	62	24	swarm	swarm	NOUN
arestyrurj-153	62	25	members	member	NOUN
arestyrurj-153	62	26	to	to	ADP
arestyrurj-153	62	27	one	one	NUM
arestyrurj-153	62	28	another	another	DET
arestyrurj-153	62	29	.	.	PUNCT
arestyrurj-153	63	1	the	the	DET
arestyrurj-153	63	2	solution	solution	NOUN
arestyrurj-153	63	3	to	to	ADP
arestyrurj-153	63	4	this	this	DET
arestyrurj-153	63	5	equation	equation	NOUN
arestyrurj-153	63	6	is	be	AUX
arestyrurj-153	63	7	the	the	DET
arestyrurj-153	63	8	set	set	NOUN
arestyrurj-153	63	9	of	of	ADP
arestyrurj-153	63	10	all	all	DET
arestyrurj-153	63	11	the	the	DET
arestyrurj-153	63	12	position	position	NOUN
arestyrurj-153	63	13	functions	function	NOUN
arestyrurj-153	63	14	of	of	ADP
arestyrurj-153	63	15	time	time	NOUN
arestyrurj-153	63	16	of	of	ADP
arestyrurj-153	63	17	each	each	DET
arestyrurj-153	63	18	member	member	NOUN
arestyrurj-153	63	19	of	of	ADP
arestyrurj-153	63	20	the	the	DET
arestyrurj-153	63	21	swarm	swarm	NOUN
arestyrurj-153	63	22	,	,	PUNCT
arestyrurj-153	63	23	describing	describe	VERB
arestyrurj-153	63	24	the	the	DET
arestyrurj-153	63	25	path	path	NOUN
arestyrurj-153	63	26	each	each	DET
arestyrurj-153	63	27	craft	craft	NOUN
arestyrurj-153	63	28	follows	follow	VERB
arestyrurj-153	63	29	through	through	ADP
arestyrurj-153	63	30	space	space	NOUN
arestyrurj-153	63	31	.	.	PUNCT
arestyrurj-153	64	1	the	the	DET
arestyrurj-153	64	2	diagram	diagram	NOUN
arestyrurj-153	64	3	next	next	ADV
arestyrurj-153	64	4	to	to	ADP
arestyrurj-153	64	5	the	the	DET
arestyrurj-153	64	6	model	model	NOUN
arestyrurj-153	64	7	is	be	AUX
arestyrurj-153	64	8	the	the	DET
arestyrurj-153	64	9	representation	representation	NOUN
arestyrurj-153	64	10	of	of	ADP
arestyrurj-153	64	11	the	the	DET
arestyrurj-153	64	12	position	position	NOUN
arestyrurj-153	64	13	vectors	vector	NOUN
arestyrurj-153	64	14	of	of	ADP
arestyrurj-153	64	15	two	two	NUM
arestyrurj-153	64	16	arbitrary	arbitrary	ADJ
arestyrurj-153	64	17	crafts	craft	NOUN
arestyrurj-153	64	18	with	with	ADP
arestyrurj-153	64	19	respect	respect	NOUN
arestyrurj-153	64	20	to	to	ADP
arestyrurj-153	64	21	the	the	DET
arestyrurj-153	64	22	origin	origin	NOUN
arestyrurj-153	64	23	and	and	CCONJ
arestyrurj-153	64	24	their	their	PRON
arestyrurj-153	64	25	relative	relative	ADJ
arestyrurj-153	64	26	position	position	NOUN
arestyrurj-153	64	27	vector	vector	NOUN
arestyrurj-153	64	28	.	.	PUNCT
arestyrurj-153	65	1	this	this	DET
arestyrurj-153	65	2	model	model	NOUN
arestyrurj-153	65	3	contains	contain	VERB
arestyrurj-153	65	4	four	four	NUM
arestyrurj-153	65	5	parts	part	NOUN
arestyrurj-153	65	6	:	:	PUNCT
arestyrurj-153	65	7	the	the	DET
arestyrurj-153	65	8	exponential	exponential	ADJ
arestyrurj-153	65	9	potential	potential	NOUN
arestyrurj-153	65	10	,	,	PUNCT
arestyrurj-153	65	11	the	the	DET
arestyrurj-153	65	12	hyperbolic	hyperbolic	ADJ
arestyrurj-153	65	13	potential	potential	NOUN
arestyrurj-153	65	14	,	,	PUNCT
arestyrurj-153	65	15	the	the	DET
arestyrurj-153	65	16	inter	inter	ADJ
arestyrurj-153	65	17	-	-	ADJ
arestyrurj-153	65	18	craft	craft	ADJ
arestyrurj-153	65	19	repulsive	repulsive	ADJ
arestyrurj-153	65	20	potential	potential	NOUN
arestyrurj-153	65	21	,	,	PUNCT
arestyrurj-153	65	22	and	and	CCONJ
arestyrurj-153	65	23	the	the	DET
arestyrurj-153	65	24	modification	modification	NOUN
arestyrurj-153	65	25	,	,	PUNCT
arestyrurj-153	65	26	which	which	PRON
arestyrurj-153	65	27	we	we	PRON
arestyrurj-153	65	28	introduce	introduce	VERB
arestyrurj-153	65	29	as	as	ADP
arestyrurj-153	65	30	the	the	DET
arestyrurj-153	65	31	craft	craft	NOUN
arestyrurj-153	65	32	-	-	PUNCT
arestyrurj-153	65	33	obstacle	obstacle	NOUN
arestyrurj-153	65	34	avoidance	avoidance	NOUN
arestyrurj-153	65	35	potential	potential	NOUN
arestyrurj-153	65	36	.	.	PUNCT
arestyrurj-153	66	1	the	the	DET
arestyrurj-153	66	2	exponential	exponential	ADJ
arestyrurj-153	66	3	and	and	CCONJ
arestyrurj-153	66	4	hyperbolic	hyperbolic	ADJ
arestyrurj-153	66	5	potentials	potential	NOUN
arestyrurj-153	66	6	control	control	VERB
arestyrurj-153	66	7	the	the	DET
arestyrurj-153	66	8	final	final	ADJ
arestyrurj-153	66	9	formation	formation	NOUN
arestyrurj-153	66	10	and	and	CCONJ
arestyrurj-153	66	11	trajectory	trajectory	NOUN
arestyrurj-153	66	12	,	,	PUNCT
arestyrurj-153	66	13	while	while	SCONJ
arestyrurj-153	66	14	the	the	DET
arestyrurj-153	66	15	repulsive	repulsive	ADJ
arestyrurj-153	66	16	potential	potential	NOUN
arestyrurj-153	66	17	experienced	experience	VERB
arestyrurj-153	66	18	by	by	ADP
arestyrurj-153	66	19	each	each	DET
arestyrurj-153	66	20	craft	craft	NOUN
arestyrurj-153	66	21	governs	govern	VERB
arestyrurj-153	66	22	obstacle	obstacle	NOUN
arestyrurj-153	66	23	and	and	CCONJ
arestyrurj-153	66	24	inter	inter	ADJ
arestyrurj-153	66	25	-	-	ADJ
arestyrurj-153	66	26	craft	craft	ADJ
arestyrurj-153	66	27	avoidance	avoidance	NOUN
arestyrurj-153	66	28	.	.	PUNCT
arestyrurj-153	67	1	from	from	ADP
arestyrurj-153	67	2	this	this	PRON
arestyrurj-153	67	3	,	,	PUNCT
arestyrurj-153	67	4	a	a	DET
arestyrurj-153	67	5	system	system	NOUN
arestyrurj-153	67	6	of	of	ADP
arestyrurj-153	67	7	20	20	NUM
arestyrurj-153	67	8	first	first	ADJ
arestyrurj-153	67	9	order	order	NOUN
arestyrurj-153	67	10	,	,	PUNCT
arestyrurj-153	67	11	nonlinear	nonlinear	ADJ
arestyrurj-153	67	12	,	,	PUNCT
arestyrurj-153	67	13	highly	highly	ADV
arestyrurj-153	67	14	coupled	couple	VERB
arestyrurj-153	67	15	,	,	PUNCT
arestyrurj-153	67	16	vector	vector	NOUN
arestyrurj-153	67	17	differential	differential	NOUN
arestyrurj-153	67	18	equations	equation	NOUN
arestyrurj-153	67	19	governing	govern	VERB
arestyrurj-153	67	20	the	the	DET
arestyrurj-153	67	21	motion	motion	NOUN
arestyrurj-153	67	22	of	of	ADP
arestyrurj-153	67	23	the	the	DET
arestyrurj-153	67	24	swarm	swarm	NOUN
arestyrurj-153	67	25	is	be	AUX
arestyrurj-153	67	26	obtained	obtain	VERB
arestyrurj-153	67	27	.	.	PUNCT
arestyrurj-153	68	1	relevant	relevant	ADJ
arestyrurj-153	68	2	variables	variable	NOUN
arestyrurj-153	68	3	and	and	CCONJ
arestyrurj-153	68	4	parameters	parameter	NOUN
arestyrurj-153	68	5	are	be	AUX
arestyrurj-153	68	6	summarized	summarize	VERB
arestyrurj-153	68	7	in	in	ADP
arestyrurj-153	68	8	the	the	DET
arestyrurj-153	68	9	following	follow	VERB
arestyrurj-153	68	10	table	table	NOUN
arestyrurj-153	68	11	(	(	PUNCT
arestyrurj-153	68	12	table	table	NOUN
arestyrurj-153	68	13	1	1	NUM
arestyrurj-153	68	14	)	)	PUNCT
arestyrurj-153	68	15	.	.	PUNCT
arestyrurj-153	69	1	ii	ii	PROPN
arestyrurj-153	69	2	.	.	PUNCT
arestyrurj-153	70	1	formulation	formulation	NOUN
arestyrurj-153	70	2	of	of	ADP
arestyrurj-153	70	3	optimization	optimization	NOUN
arestyrurj-153	70	4	problem	problem	NOUN
arestyrurj-153	70	5	the	the	DET
arestyrurj-153	70	6	main	main	ADJ
arestyrurj-153	70	7	goal	goal	NOUN
arestyrurj-153	70	8	in	in	ADP
arestyrurj-153	70	9	this	this	DET
arestyrurj-153	70	10	paper	paper	NOUN
arestyrurj-153	70	11	is	be	AUX
arestyrurj-153	70	12	to	to	PART
arestyrurj-153	70	13	determine	determine	VERB
arestyrurj-153	70	14	the	the	DET
arestyrurj-153	70	15	values	value	NOUN
arestyrurj-153	70	16	of	of	ADP
arestyrurj-153	70	17	certain	certain	ADJ
arestyrurj-153	70	18	parameters	parameter	NOUN
arestyrurj-153	70	19	in	in	ADP
arestyrurj-153	70	20	the	the	DET
arestyrurj-153	70	21	model	model	NOUN
arestyrurj-153	70	22	that	that	PRON
arestyrurj-153	70	23	yield	yield	VERB
arestyrurj-153	70	24	a	a	DET
arestyrurj-153	70	25	trajectory	trajectory	NOUN
arestyrurj-153	70	26	that	that	PRON
arestyrurj-153	70	27	minimizes	minimize	VERB
arestyrurj-153	70	28	the	the	DET
arestyrurj-153	70	29	total	total	ADJ
arestyrurj-153	70	30	fuel	fuel	NOUN
arestyrurj-153	70	31	consumption	consumption	NOUN
arestyrurj-153	70	32	of	of	ADP
arestyrurj-153	70	33	the	the	DET
arestyrurj-153	70	34	swarm	swarm	NOUN
arestyrurj-153	70	35	.	.	PUNCT
arestyrurj-153	71	1	fuel	fuel	NOUN
arestyrurj-153	71	2	consumption	consumption	NOUN
arestyrurj-153	71	3	in	in	ADP
arestyrurj-153	71	4	a	a	DET
arestyrurj-153	71	5	craft	craft	NOUN
arestyrurj-153	71	6	is	be	AUX
arestyrurj-153	71	7	defined	define	VERB
arestyrurj-153	71	8	as	as	ADP
arestyrurj-153	71	9	being	be	AUX
arestyrurj-153	71	10	equal	equal	ADJ
arestyrurj-153	71	11	to	to	ADP
arestyrurj-153	71	12	the	the	DET
arestyrurj-153	71	13	energy	energy	NOUN
arestyrurj-153	71	14	loss	loss	NOUN
arestyrurj-153	71	15	associated	associate	VERB
arestyrurj-153	71	16	with	with	ADP
arestyrurj-153	71	17	a	a	DET
arestyrurj-153	71	18	trajectory	trajectory	NOUN
arestyrurj-153	71	19	.	.	PUNCT
arestyrurj-153	72	1	under	under	ADP
arestyrurj-153	72	2	the	the	DET
arestyrurj-153	72	3	assumption	assumption	NOUN
arestyrurj-153	72	4	that	that	SCONJ
arestyrurj-153	72	5	there	there	PRON
arestyrurj-153	72	6	is	be	VERB
arestyrurj-153	72	7	a	a	DET
arestyrurj-153	72	8	direct	direct	ADJ
arestyrurj-153	72	9	proportion	proportion	NOUN
arestyrurj-153	72	10	between	between	ADP
arestyrurj-153	72	11	fuel	fuel	NOUN
arestyrurj-153	72	12	used	use	VERB
arestyrurj-153	72	13	and	and	CCONJ
arestyrurj-153	72	14	energy	energy	NOUN
arestyrurj-153	72	15	lost	lose	VERB
arestyrurj-153	72	16	,	,	PUNCT
arestyrurj-153	72	17	the	the	DET
arestyrurj-153	72	18	following	follow	VERB
arestyrurj-153	72	19	calculations	calculation	NOUN
arestyrurj-153	72	20	are	be	AUX
arestyrurj-153	72	21	all	all	PRON
arestyrurj-153	72	22	in	in	ADP
arestyrurj-153	72	23	joules	joule	NOUN
arestyrurj-153	72	24	per	per	ADP
arestyrurj-153	72	25	kilogram	kilogram	PROPN
arestyrurj-153	72	26	of	of	ADP
arestyrurj-153	72	27	fuel	fuel	NOUN
arestyrurj-153	72	28	used	use	VERB
arestyrurj-153	72	29	.	.	PUNCT
arestyrurj-153	73	1	in	in	ADP
arestyrurj-153	73	2	other	other	ADJ
arestyrurj-153	73	3	words	word	NOUN
arestyrurj-153	73	4	,	,	PUNCT
arestyrurj-153	73	5	one	one	NUM
arestyrurj-153	73	6	kilogram	kilogram	NOUN
arestyrurj-153	73	7	of	of	ADP
arestyrurj-153	73	8	fuel	fuel	NOUN
arestyrurj-153	73	9	used	use	VERB
arestyrurj-153	73	10	is	be	AUX
arestyrurj-153	73	11	equal	equal	ADJ
arestyrurj-153	73	12	to	to	ADP
arestyrurj-153	73	13	one	one	NUM
arestyrurj-153	73	14	joule	joule	NOUN
arestyrurj-153	73	15	of	of	ADP
arestyrurj-153	73	16	energy	energy	NOUN
arestyrurj-153	73	17	.	.	PUNCT
arestyrurj-153	74	1	this	this	DET
arestyrurj-153	74	2	fact	fact	NOUN
arestyrurj-153	74	3	can	can	AUX
arestyrurj-153	74	4	be	be	AUX
arestyrurj-153	74	5	changed	change	VERB
arestyrurj-153	74	6	for	for	ADP
arestyrurj-153	74	7	any	any	DET
arestyrurj-153	74	8	fuel	fuel	NOUN
arestyrurj-153	74	9	/	/	SYM
arestyrurj-153	74	10	energy	energy	NOUN
arestyrurj-153	74	11	ratio	ratio	NOUN
arestyrurj-153	74	12	for	for	ADP
arestyrurj-153	74	13	a	a	DET
arestyrurj-153	74	14	real	real	ADJ
arestyrurj-153	74	15	fuel	fuel	NOUN
arestyrurj-153	74	16	with	with	ADP
arestyrurj-153	74	17	a	a	DET
arestyrurj-153	74	18	simple	simple	ADJ
arestyrurj-153	74	19	multiplicative	multiplicative	ADJ
arestyrurj-153	74	20	factor	factor	NOUN
arestyrurj-153	74	21	.	.	PUNCT
arestyrurj-153	75	1	in	in	ADP
arestyrurj-153	75	2	this	this	DET
arestyrurj-153	75	3	case	case	NOUN
arestyrurj-153	75	4	,	,	PUNCT
arestyrurj-153	75	5	energy	energy	NOUN
arestyrurj-153	75	6	loss	loss	NOUN
arestyrurj-153	75	7	is	be	AUX
arestyrurj-153	75	8	the	the	DET
arestyrurj-153	75	9	work	work	NOUN
arestyrurj-153	75	10	done	do	VERB
arestyrurj-153	75	11	on	on	ADP
arestyrurj-153	75	12	the	the	DET
arestyrurj-153	75	13	craft	craft	NOUN
arestyrurj-153	75	14	by	by	ADP
arestyrurj-153	75	15	the	the	DET
arestyrurj-153	75	16	thruster	thruster	NOUN
arestyrurj-153	75	17	force	force	NOUN
arestyrurj-153	75	18	along	along	ADP
arestyrurj-153	75	19	its	its	PRON
arestyrurj-153	75	20	trajectory	trajectory	NOUN
arestyrurj-153	75	21	.	.	PUNCT
arestyrurj-153	76	1	since	since	SCONJ
arestyrurj-153	76	2	we	we	PRON
arestyrurj-153	76	3	neglect	neglect	VERB
arestyrurj-153	76	4	gravitation	gravitation	NOUN
arestyrurj-153	76	5	and	and	CCONJ
arestyrurj-153	76	6	any	any	DET
arestyrurj-153	76	7	other	other	ADJ
arestyrurj-153	76	8	forces	force	NOUN
arestyrurj-153	76	9	acting	act	VERB
arestyrurj-153	76	10	on	on	ADP
arestyrurj-153	76	11	each	each	DET
arestyrurj-153	76	12	craft	craft	NOUN
arestyrurj-153	76	13	,	,	PUNCT
arestyrurj-153	76	14	the	the	DET
arestyrurj-153	76	15	only	only	ADJ
arestyrurj-153	76	16	force	force	NOUN
arestyrurj-153	76	17	acting	act	VERB
arestyrurj-153	76	18	on	on	ADP
arestyrurj-153	76	19	one	one	NUM
arestyrurj-153	76	20	craft	craft	NOUN
arestyrurj-153	76	21	is	be	AUX
arestyrurj-153	76	22	the	the	DET
arestyrurj-153	76	23	force	force	NOUN
arestyrurj-153	76	24	of	of	ADP
arestyrurj-153	76	25	its	its	PRON
arestyrurj-153	76	26	thrusters	thruster	NOUN
arestyrurj-153	76	27	acting	act	VERB
arestyrurj-153	76	28	to	to	ADP
arestyrurj-153	76	29	either	either	CCONJ
arestyrurj-153	76	30	accelerate	accelerate	VERB
arestyrurj-153	76	31	or	or	CCONJ
arestyrurj-153	76	32	decelerate	decelerate	VERB
arestyrurj-153	76	33	it	it	PRON
arestyrurj-153	76	34	.	.	PUNCT
arestyrurj-153	77	1	thus	thus	ADV
arestyrurj-153	77	2	,	,	PUNCT
arestyrurj-153	77	3	the	the	DET
arestyrurj-153	77	4	total	total	ADJ
arestyrurj-153	77	5	work	work	NOUN
arestyrurj-153	77	6	done	do	VERB
arestyrurj-153	77	7	by	by	ADP
arestyrurj-153	77	8	the	the	DET
arestyrurj-153	77	9	thrusters	thruster	NOUN
arestyrurj-153	77	10	on	on	ADP
arestyrurj-153	77	11	the	the	DET
arestyrurj-153	77	12	craft	craft	NOUN
arestyrurj-153	77	13	will	will	AUX
arestyrurj-153	77	14	be	be	AUX
arestyrurj-153	77	15	equal	equal	ADJ
arestyrurj-153	77	16	to	to	ADP
arestyrurj-153	77	17	the	the	DET
arestyrurj-153	77	18	amount	amount	NOUN
arestyrurj-153	77	19	of	of	ADP
arestyrurj-153	77	20	fuel	fuel	NOUN
arestyrurj-153	77	21	used	use	VERB
arestyrurj-153	77	22	under	under	ADP
arestyrurj-153	77	23	these	these	DET
arestyrurj-153	77	24	assumptions	assumption	NOUN
arestyrurj-153	77	25	.	.	PUNCT
arestyrurj-153	78	1	the	the	DET
arestyrurj-153	78	2	expression	expression	NOUN
arestyrurj-153	78	3	for	for	ADP
arestyrurj-153	78	4	work	work	NOUN
arestyrurj-153	78	5	then	then	ADV
arestyrurj-153	78	6	that	that	SCONJ
arestyrurj-153	78	7	we	we	PRON
arestyrurj-153	78	8	are	be	AUX
arestyrurj-153	78	9	interested	interested	ADJ
arestyrurj-153	78	10	in	in	ADP
arestyrurj-153	78	11	is	be	AUX
arestyrurj-153	78	12	the	the	DET
arestyrurj-153	78	13	following	follow	VERB
arestyrurj-153	78	14	line	line	NOUN
arestyrurj-153	78	15	integral	integral	ADJ
arestyrurj-153	78	16	evaluated	evaluate	VERB
arestyrurj-153	78	17	along	along	ADP
arestyrurj-153	78	18	the	the	DET
arestyrurj-153	78	19	path	path	NOUN
arestyrurj-153	78	20	defined	define	VERB
arestyrurj-153	78	21	by	by	ADP
arestyrurj-153	78	22	the	the	DET
arestyrurj-153	78	23	trajectory	trajectory	NOUN
arestyrurj-153	78	24	(	(	PUNCT
arestyrurj-153	78	25	figure	figure	NOUN
arestyrurj-153	78	26	2	2	NUM
arestyrurj-153	78	27	)	)	PUNCT
arestyrurj-153	78	28	.	.	PUNCT
arestyrurj-153	79	1	figure	figure	VERB
arestyrurj-153	79	2	1	1	NUM
arestyrurj-153	79	3	:	:	PUNCT
arestyrurj-153	79	4	mathematical	mathematical	ADJ
arestyrurj-153	79	5	model	model	NOUN
arestyrurj-153	79	6	of	of	ADP
arestyrurj-153	79	7	swarm	swarm	NOUN
arestyrurj-153	79	8	dynamics	dynamic	NOUN
arestyrurj-153	79	9	and	and	CCONJ
arestyrurj-153	79	10	reference	reference	NOUN
arestyrurj-153	79	11	system	system	NOUN
arestyrurj-153	79	12	figure	figure	NOUN
arestyrurj-153	79	13	2	2	NUM
arestyrurj-153	79	14	:	:	PUNCT
arestyrurj-153	79	15	work	work	NOUN
arestyrurj-153	79	16	line	line	NOUN
arestyrurj-153	79	17	integral	integral	ADJ
arestyrurj-153	79	18	aresty	aresty	ADJ
arestyrurj-153	79	19	rutgers	rutgers	PROPN
arestyrurj-153	79	20	undergraduate	undergraduate	PROPN
arestyrurj-153	79	21	research	research	PROPN
arestyrurj-153	79	22	journal	journal	PROPN
arestyrurj-153	79	23	,	,	PUNCT
arestyrurj-153	79	24	volume	volume	NOUN
arestyrurj-153	79	25	i	i	PRON
arestyrurj-153	79	26	,	,	PUNCT
arestyrurj-153	79	27	issue	issue	NOUN
arestyrurj-153	79	28	ii	ii	NOUN
arestyrurj-153	79	29	where	where	SCONJ
arestyrurj-153	79	30	𝒓𝒓	𝒓𝒓	PROPN
arestyrurj-153	79	31	is	be	AUX
arestyrurj-153	79	32	the	the	DET
arestyrurj-153	79	33	displacement	displacement	NOUN
arestyrurj-153	79	34	of	of	ADP
arestyrurj-153	79	35	the	the	DET
arestyrurj-153	79	36	spacecraft	spacecraft	NOUN
arestyrurj-153	79	37	and	and	CCONJ
arestyrurj-153	79	38	𝑭𝑭	𝑭𝑭	PROPN
arestyrurj-153	79	39	is	be	AUX
arestyrurj-153	79	40	the	the	DET
arestyrurj-153	79	41	net	net	ADJ
arestyrurj-153	79	42	force	force	NOUN
arestyrurj-153	79	43	experienced	experience	VERB
arestyrurj-153	79	44	by	by	ADP
arestyrurj-153	79	45	the	the	DET
arestyrurj-153	79	46	craft	craft	NOUN
arestyrurj-153	79	47	due	due	ADP
arestyrurj-153	79	48	to	to	ADP
arestyrurj-153	79	49	the	the	DET
arestyrurj-153	79	50	thrusters	thruster	NOUN
arestyrurj-153	79	51	along	along	ADP
arestyrurj-153	79	52	the	the	DET
arestyrurj-153	79	53	path	path	NOUN
arestyrurj-153	79	54	it	it	PRON
arestyrurj-153	79	55	follows	follow	VERB
arestyrurj-153	79	56	to	to	ADP
arestyrurj-153	79	57	the	the	DET
arestyrurj-153	79	58	end	end	NOUN
arestyrurj-153	79	59	goal	goal	NOUN
arestyrurj-153	79	60	.	.	PUNCT
arestyrurj-153	80	1	we	we	PRON
arestyrurj-153	80	2	can	can	AUX
arestyrurj-153	80	3	then	then	ADV
arestyrurj-153	80	4	see	see	VERB
arestyrurj-153	80	5	that	that	SCONJ
arestyrurj-153	80	6	𝑑𝑑𝒓𝒓/𝑑𝑑𝑑𝑑	𝑑𝑑𝒓𝒓/𝑑𝑑𝑑𝑑	PROPN
arestyrurj-153	80	7	is	be	AUX
arestyrurj-153	80	8	equal	equal	ADJ
arestyrurj-153	80	9	to	to	ADP
arestyrurj-153	80	10	the	the	DET
arestyrurj-153	80	11	velocity	velocity	NOUN
arestyrurj-153	80	12	of	of	ADP
arestyrurj-153	80	13	the	the	DET
arestyrurj-153	80	14	craft	craft	NOUN
arestyrurj-153	80	15	traveling	travel	VERB
arestyrurj-153	80	16	on	on	ADP
arestyrurj-153	80	17	this	this	DET
arestyrurj-153	80	18	trajectory	trajectory	NOUN
arestyrurj-153	80	19	.	.	PUNCT
arestyrurj-153	81	1	we	we	PRON
arestyrurj-153	81	2	then	then	ADV
arestyrurj-153	81	3	arrive	arrive	VERB
arestyrurj-153	81	4	at	at	ADP
arestyrurj-153	81	5	𝑑𝑑𝒓𝒓	𝑑𝑑𝒓𝒓	NOUN
arestyrurj-153	81	6	=	=	PUNCT
arestyrurj-153	81	7	𝒗𝒗𝑑𝑑𝑑𝑑.	𝒗𝒗𝑑𝑑𝑑𝑑.	NOUN
arestyrurj-153	81	8	it	it	PRON
arestyrurj-153	81	9	is	be	AUX
arestyrurj-153	81	10	common	common	ADJ
arestyrurj-153	81	11	to	to	PART
arestyrurj-153	81	12	use	use	VERB
arestyrurj-153	81	13	in	in	ADP
arestyrurj-153	81	14	the	the	DET
arestyrurj-153	81	15	field	field	NOUN
arestyrurj-153	81	16	of	of	ADP
arestyrurj-153	81	17	dynamical	dynamical	ADJ
arestyrurj-153	81	18	systems	system	NOUN
arestyrurj-153	81	19	to	to	PART
arestyrurj-153	81	20	denote	denote	VERB
arestyrurj-153	81	21	time	time	NOUN
arestyrurj-153	81	22	derivatives	derivative	NOUN
arestyrurj-153	81	23	with	with	ADP
arestyrurj-153	81	24	a	a	DET
arestyrurj-153	81	25	small	small	ADJ
arestyrurj-153	81	26	dot	dot	NOUN
arestyrurj-153	81	27	above	above	ADP
arestyrurj-153	81	28	the	the	DET
arestyrurj-153	81	29	variable	variable	NOUN
arestyrurj-153	81	30	of	of	ADP
arestyrurj-153	81	31	interest[13	interest[13	NOUN
arestyrurj-153	81	32	]	]	PUNCT
arestyrurj-153	81	33	.	.	PUNCT
arestyrurj-153	82	1	the	the	DET
arestyrurj-153	82	2	only	only	ADJ
arestyrurj-153	82	3	forces	force	NOUN
arestyrurj-153	82	4	exerted	exert	VERB
arestyrurj-153	82	5	on	on	ADP
arestyrurj-153	82	6	the	the	DET
arestyrurj-153	82	7	crafts	craft	NOUN
arestyrurj-153	82	8	being	be	AUX
arestyrurj-153	82	9	considered	consider	VERB
arestyrurj-153	82	10	are	be	AUX
arestyrurj-153	82	11	the	the	DET
arestyrurj-153	82	12	forces	force	NOUN
arestyrurj-153	82	13	due	due	ADP
arestyrurj-153	82	14	to	to	ADP
arestyrurj-153	82	15	the	the	DET
arestyrurj-153	82	16	thrusters	thruster	NOUN
arestyrurj-153	82	17	.	.	PUNCT
arestyrurj-153	83	1	gravitation	gravitation	NOUN
arestyrurj-153	83	2	from	from	ADP
arestyrurj-153	83	3	saturn	saturn	NOUN
arestyrurj-153	83	4	is	be	AUX
arestyrurj-153	83	5	neglected	neglect	VERB
arestyrurj-153	83	6	due	due	ADP
arestyrurj-153	83	7	to	to	ADP
arestyrurj-153	83	8	all	all	DET
arestyrurj-153	83	9	particles	particle	NOUN
arestyrurj-153	83	10	and	and	CCONJ
arestyrurj-153	83	11	agents	agent	NOUN
arestyrurj-153	83	12	being	be	AUX
arestyrurj-153	83	13	within	within	ADP
arestyrurj-153	83	14	saturn	saturn	NOUN
arestyrurj-153	83	15	’s	’s	PART
arestyrurj-153	83	16	orbital	orbital	ADJ
arestyrurj-153	83	17	reference	reference	NOUN
arestyrurj-153	83	18	frame	frame	NOUN
arestyrurj-153	83	19	,	,	PUNCT
arestyrurj-153	83	20	where	where	SCONJ
arestyrurj-153	83	21	the	the	DET
arestyrurj-153	83	22	force	force	NOUN
arestyrurj-153	83	23	of	of	ADP
arestyrurj-153	83	24	gravity	gravity	NOUN
arestyrurj-153	83	25	is	be	AUX
arestyrurj-153	83	26	already	already	ADV
arestyrurj-153	83	27	accounted	account	VERB
arestyrurj-153	83	28	for	for	ADP
arestyrurj-153	83	29	in	in	ADP
arestyrurj-153	83	30	defining	define	VERB
arestyrurj-153	83	31	this	this	DET
arestyrurj-153	83	32	frame	frame	NOUN
arestyrurj-153	83	33	.	.	PUNCT
arestyrurj-153	84	1	gravitation	gravitation	NOUN
arestyrurj-153	84	2	between	between	ADP
arestyrurj-153	84	3	spacecraft	spacecraft	NOUN
arestyrurj-153	84	4	and	and	CCONJ
arestyrurj-153	84	5	ring	ring	NOUN
arestyrurj-153	84	6	particles	particle	NOUN
arestyrurj-153	84	7	is	be	AUX
arestyrurj-153	84	8	also	also	ADV
arestyrurj-153	84	9	neglected	neglect	VERB
arestyrurj-153	84	10	due	due	ADP
arestyrurj-153	84	11	to	to	ADP
arestyrurj-153	84	12	their	their	PRON
arestyrurj-153	84	13	extremely	extremely	ADV
arestyrurj-153	84	14	small	small	ADJ
arestyrurj-153	84	15	masses	masse	NOUN
arestyrurj-153	84	16	that	that	PRON
arestyrurj-153	84	17	would	would	AUX
arestyrurj-153	84	18	result	result	VERB
arestyrurj-153	84	19	in	in	ADP
arestyrurj-153	84	20	small	small	ADJ
arestyrurj-153	84	21	forces	force	NOUN
arestyrurj-153	84	22	compared	compare	VERB
arestyrurj-153	84	23	to	to	ADP
arestyrurj-153	84	24	the	the	DET
arestyrurj-153	84	25	thruster	thruster	NOUN
arestyrurj-153	84	26	forces	force	NOUN
arestyrurj-153	84	27	.	.	PUNCT
arestyrurj-153	85	1	since	since	SCONJ
arestyrurj-153	85	2	the	the	DET
arestyrurj-153	85	3	variable	variable	NOUN
arestyrurj-153	85	4	“	"	PUNCT
arestyrurj-153	85	5	𝑥𝑥	𝑥𝑥	ADP
arestyrurj-153	85	6	”	"	PUNCT
arestyrurj-153	85	7	denotes	denote	VERB
arestyrurj-153	85	8	the	the	DET
arestyrurj-153	85	9	position	position	NOUN
arestyrurj-153	85	10	of	of	ADP
arestyrurj-153	85	11	a	a	DET
arestyrurj-153	85	12	craft	craft	NOUN
arestyrurj-153	85	13	,	,	PUNCT
arestyrurj-153	85	14	“	"	PUNCT
arestyrurj-153	85	15	𝑥𝑥	𝑥𝑥	ADP
arestyrurj-153	85	16	”	"	PUNCT
arestyrurj-153	85	17	with	with	ADP
arestyrurj-153	85	18	one	one	NUM
arestyrurj-153	85	19	dot	dot	NOUN
arestyrurj-153	85	20	denotes	denote	NOUN
arestyrurj-153	85	21	the	the	DET
arestyrurj-153	85	22	velocity	velocity	NOUN
arestyrurj-153	85	23	,	,	PUNCT
arestyrurj-153	85	24	while	while	SCONJ
arestyrurj-153	85	25	“	"	PUNCT
arestyrurj-153	85	26	𝑥𝑥	𝑥𝑥	ADP
arestyrurj-153	85	27	”	"	PUNCT
arestyrurj-153	85	28	with	with	ADP
arestyrurj-153	85	29	two	two	NUM
arestyrurj-153	85	30	dots	dot	NOUN
arestyrurj-153	85	31	denotes	denote	NOUN
arestyrurj-153	85	32	acceleration	acceleration	NOUN
arestyrurj-153	85	33	.	.	PUNCT
arestyrurj-153	86	1	from	from	ADP
arestyrurj-153	86	2	this	this	PRON
arestyrurj-153	86	3	,	,	PUNCT
arestyrurj-153	86	4	and	and	CCONJ
arestyrurj-153	86	5	the	the	DET
arestyrurj-153	86	6	fact	fact	NOUN
arestyrurj-153	86	7	that	that	SCONJ
arestyrurj-153	86	8	force	force	NOUN
arestyrurj-153	86	9	is	be	AUX
arestyrurj-153	86	10	equal	equal	ADJ
arestyrurj-153	86	11	to	to	ADP
arestyrurj-153	86	12	mass	mass	PROPN
arestyrurj-153	86	13	times	times	PROPN
arestyrurj-153	86	14	acceleration	acceleration	NOUN
arestyrurj-153	86	15	(	(	PUNCT
arestyrurj-153	86	16	𝑭𝑭	𝑭𝑭	NOUN
arestyrurj-153	86	17	=	=	PUNCT
arestyrurj-153	86	18	𝑚𝑚𝑚𝑚	𝑚𝑚𝑚𝑚	PROPN
arestyrurj-153	86	19	)	)	PUNCT
arestyrurj-153	86	20	by	by	ADP
arestyrurj-153	86	21	newton	newton	PROPN
arestyrurj-153	86	22	’s	’s	PART
arestyrurj-153	86	23	second	second	ADJ
arestyrurj-153	86	24	law	law	NOUN
arestyrurj-153	86	25	,	,	PUNCT
arestyrurj-153	86	26	we	we	PRON
arestyrurj-153	86	27	obtain	obtain	VERB
arestyrurj-153	86	28	the	the	DET
arestyrurj-153	86	29	total	total	ADJ
arestyrurj-153	86	30	work	work	NOUN
arestyrurj-153	86	31	done	do	VERB
arestyrurj-153	86	32	by	by	ADP
arestyrurj-153	86	33	the	the	DET
arestyrurj-153	86	34	thrusters	thruster	NOUN
arestyrurj-153	86	35	in	in	ADP
arestyrurj-153	86	36	moving	move	VERB
arestyrurj-153	86	37	the	the	DET
arestyrurj-153	86	38	craft	craft	NOUN
arestyrurj-153	86	39	along	along	ADP
arestyrurj-153	86	40	its	its	PRON
arestyrurj-153	86	41	trajectory	trajectory	NOUN
arestyrurj-153	86	42	as	as	ADP
arestyrurj-153	86	43	an	an	DET
arestyrurj-153	86	44	integral	integral	ADJ
arestyrurj-153	86	45	from	from	ADP
arestyrurj-153	86	46	the	the	DET
arestyrurj-153	86	47	starting	starting	NOUN
arestyrurj-153	86	48	time	time	NOUN
arestyrurj-153	86	49	(	(	PUNCT
arestyrurj-153	86	50	0	0	NUM
arestyrurj-153	86	51	)	)	PUNCT
arestyrurj-153	86	52	to	to	ADP
arestyrurj-153	86	53	the	the	DET
arestyrurj-153	86	54	final	final	ADJ
arestyrurj-153	86	55	time	time	NOUN
arestyrurj-153	86	56	of	of	ADP
arestyrurj-153	86	57	the	the	DET
arestyrurj-153	86	58	force	force	NOUN
arestyrurj-153	86	59	vector	vector	NOUN
arestyrurj-153	86	60	.	.	PUNCT
arestyrurj-153	87	1	this	this	DET
arestyrurj-153	87	2	pattern	pattern	NOUN
arestyrurj-153	87	3	is	be	AUX
arestyrurj-153	87	4	expressed	express	VERB
arestyrurj-153	87	5	as	as	ADP
arestyrurj-153	87	6	the	the	DET
arestyrurj-153	87	7	product	product	NOUN
arestyrurj-153	87	8	of	of	ADP
arestyrurj-153	87	9	mass	mass	NOUN
arestyrurj-153	87	10	and	and	CCONJ
arestyrurj-153	87	11	the	the	DET
arestyrurj-153	87	12	second	second	ADJ
arestyrurj-153	87	13	time	time	NOUN
arestyrurj-153	87	14	derivative	derivative	ADJ
arestyrurj-153	87	15	(	(	PUNCT
arestyrurj-153	87	16	acceleration	acceleration	NOUN
arestyrurj-153	87	17	)	)	PUNCT
arestyrurj-153	87	18	of	of	ADP
arestyrurj-153	87	19	the	the	DET
arestyrurj-153	87	20	i’th	i’th	PROPN
arestyrurj-153	87	21	craft	craft	NOUN
arestyrurj-153	87	22	’s	’s	PART
arestyrurj-153	87	23	displacement	displacement	NOUN
arestyrurj-153	87	24	and	and	CCONJ
arestyrurj-153	87	25	𝑑𝑑𝒓𝒓	𝑑𝑑𝒓𝒓	NOUN
arestyrurj-153	87	26	being	be	AUX
arestyrurj-153	87	27	equal	equal	ADJ
arestyrurj-153	87	28	to	to	ADP
arestyrurj-153	87	29	𝒗𝒗𝑑𝑑𝑑𝑑	𝒗𝒗𝑑𝑑𝑑𝑑	NOUN
arestyrurj-153	87	30	,	,	PUNCT
arestyrurj-153	87	31	which	which	PRON
arestyrurj-153	87	32	is	be	AUX
arestyrurj-153	87	33	equivalently	equivalently	ADV
arestyrurj-153	87	34	expressed	express	VERB
arestyrurj-153	87	35	as	as	ADP
arestyrurj-153	87	36	the	the	DET
arestyrurj-153	87	37	product	product	NOUN
arestyrurj-153	87	38	of	of	ADP
arestyrurj-153	87	39	𝑑𝑑𝑑𝑑	𝑑𝑑𝑑𝑑	NOUN
arestyrurj-153	87	40	and	and	CCONJ
arestyrurj-153	87	41	the	the	DET
arestyrurj-153	87	42	first	first	ADJ
arestyrurj-153	87	43	time	time	NOUN
arestyrurj-153	87	44	derivative	derivative	NOUN
arestyrurj-153	87	45	of	of	ADP
arestyrurj-153	87	46	the	the	DET
arestyrurj-153	87	47	i’th	i’th	PROPN
arestyrurj-153	87	48	craft	craft	NOUN
arestyrurj-153	87	49	’s	’s	PART
arestyrurj-153	87	50	displacement	displacement	NOUN
arestyrurj-153	87	51	.	.	PUNCT
arestyrurj-153	88	1	finally	finally	ADV
arestyrurj-153	88	2	,	,	PUNCT
arestyrurj-153	88	3	we	we	PRON
arestyrurj-153	88	4	sum	sum	VERB
arestyrurj-153	88	5	over	over	ADP
arestyrurj-153	88	6	all	all	DET
arestyrurj-153	88	7	craft	craft	NOUN
arestyrurj-153	88	8	to	to	PART
arestyrurj-153	88	9	get	get	VERB
arestyrurj-153	88	10	the	the	DET
arestyrurj-153	88	11	total	total	ADJ
arestyrurj-153	88	12	energy	energy	NOUN
arestyrurj-153	88	13	lost	lose	VERB
arestyrurj-153	88	14	(	(	PUNCT
arestyrurj-153	88	15	fuel	fuel	NOUN
arestyrurj-153	88	16	consumed	consume	VERB
arestyrurj-153	88	17	)	)	PUNCT
arestyrurj-153	88	18	of	of	ADP
arestyrurj-153	88	19	the	the	DET
arestyrurj-153	88	20	swarm	swarm	NOUN
arestyrurj-153	88	21	over	over	ADP
arestyrurj-153	88	22	the	the	DET
arestyrurj-153	88	23	course	course	NOUN
arestyrurj-153	88	24	of	of	ADP
arestyrurj-153	88	25	the	the	DET
arestyrurj-153	88	26	trajectory	trajectory	NOUN
arestyrurj-153	88	27	(	(	PUNCT
arestyrurj-153	88	28	figure	figure	NOUN
arestyrurj-153	88	29	3	3	NUM
arestyrurj-153	88	30	)	)	PUNCT
arestyrurj-153	88	31	.	.	PUNCT
arestyrurj-153	89	1	a	a	DET
arestyrurj-153	89	2	,	,	PUNCT
arestyrurj-153	89	3	b	b	NOUN
arestyrurj-153	89	4	,	,	PUNCT
arestyrurj-153	89	5	c	c	PROPN
arestyrurj-153	89	6	parameters	parameter	NOUN
arestyrurj-153	89	7	that	that	PRON
arestyrurj-153	89	8	are	be	AUX
arestyrurj-153	89	9	members	member	NOUN
arestyrurj-153	89	10	of	of	ADP
arestyrurj-153	89	11	the	the	DET
arestyrurj-153	89	12	vector	vector	NOUN
arestyrurj-153	89	13	k	k	PROPN
arestyrurj-153	89	14	–	–	PUNCT
arestyrurj-153	89	15	control	control	VERB
arestyrurj-153	89	16	the	the	DET
arestyrurj-153	89	17	shape	shape	NOUN
arestyrurj-153	89	18	of	of	ADP
arestyrurj-153	89	19	the	the	DET
arestyrurj-153	89	20	final	final	ADJ
arestyrurj-153	89	21	formation	formation	NOUN
arestyrurj-153	89	22	(	(	PUNCT
arestyrurj-153	89	23	circles	circle	NOUN
arestyrurj-153	89	24	,	,	PUNCT
arestyrurj-153	89	25	spheres	sphere	NOUN
arestyrurj-153	89	26	,	,	PUNCT
arestyrurj-153	89	27	etc	etc	X
arestyrurj-153	89	28	.	.	X
arestyrurj-153	89	29	)	)	PUNCT
arestyrurj-153	90	1	ch	ch	NOUN
arestyrurj-153	90	2	magnitude	magnitude	NOUN
arestyrurj-153	90	3	of	of	ADP
arestyrurj-153	90	4	the	the	DET
arestyrurj-153	90	5	hyperbolic	hyperbolic	ADJ
arestyrurj-153	90	6	potential	potential	ADJ
arestyrurj-153	90	7	term	term	NOUN
arestyrurj-153	90	8	–	–	PUNCT
arestyrurj-153	90	9	determines	determine	VERB
arestyrurj-153	90	10	speed	speed	NOUN
arestyrurj-153	90	11	of	of	ADP
arestyrurj-153	90	12	convergence	convergence	NOUN
arestyrurj-153	90	13	and	and	CCONJ
arestyrurj-153	90	14	works	work	VERB
arestyrurj-153	90	15	together	together	ADV
arestyrurj-153	90	16	with	with	ADP
arestyrurj-153	90	17	exponential	exponential	ADJ
arestyrurj-153	90	18	potential	potential	NOUN
arestyrurj-153	90	19	to	to	PART
arestyrurj-153	90	20	determine	determine	VERB
arestyrurj-153	90	21	general	general	ADJ
arestyrurj-153	90	22	trajectory	trajectory	NOUN
arestyrurj-153	90	23	shape	shape	NOUN
arestyrurj-153	90	24	ce	ce	PROPN
arestyrurj-153	90	25	,	,	PUNCT
arestyrurj-153	90	26	le	le	X
arestyrurj-153	90	27	magnitude	magnitude	NOUN
arestyrurj-153	90	28	and	and	CCONJ
arestyrurj-153	90	29	length	length	NOUN
arestyrurj-153	90	30	scale	scale	NOUN
arestyrurj-153	90	31	of	of	ADP
arestyrurj-153	90	32	exponential	exponential	ADJ
arestyrurj-153	90	33	potential	potential	ADJ
arestyrurj-153	90	34	term	term	NOUN
arestyrurj-153	90	35	–	–	PUNCT
arestyrurj-153	90	36	work	work	VERB
arestyrurj-153	90	37	together	together	ADV
arestyrurj-153	90	38	with	with	ADP
arestyrurj-153	90	39	hyperbolic	hyperbolic	ADJ
arestyrurj-153	90	40	potential	potential	NOUN
arestyrurj-153	90	41	to	to	PART
arestyrurj-153	90	42	determine	determine	VERB
arestyrurj-153	90	43	general	general	ADJ
arestyrurj-153	90	44	trajectory	trajectory	NOUN
arestyrurj-153	90	45	shapes	shape	NOUN
arestyrurj-153	90	46	and	and	CCONJ
arestyrurj-153	90	47	provide	provide	VERB
arestyrurj-153	90	48	an	an	DET
arestyrurj-153	90	49	upper	upper	ADJ
arestyrurj-153	90	50	bound	bind	VERB
arestyrurj-153	90	51	on	on	ADP
arestyrurj-153	90	52	velocity	velocity	NOUN
arestyrurj-153	90	53	cr	cr	PROPN
arestyrurj-153	90	54	,	,	PUNCT
arestyrurj-153	90	55	lr	lr	X
arestyrurj-153	90	56	magnitude	magnitude	NOUN
arestyrurj-153	90	57	and	and	CCONJ
arestyrurj-153	90	58	length	length	NOUN
arestyrurj-153	90	59	scale	scale	NOUN
arestyrurj-153	90	60	of	of	ADP
arestyrurj-153	90	61	inter	inter	ADJ
arestyrurj-153	90	62	-	-	ADJ
arestyrurj-153	90	63	craft	craft	ADJ
arestyrurj-153	90	64	repulsive	repulsive	ADJ
arestyrurj-153	90	65	potentials	potential	NOUN
arestyrurj-153	90	66	–	–	PUNCT
arestyrurj-153	90	67	determine	determine	VERB
arestyrurj-153	90	68	how	how	SCONJ
arestyrurj-153	90	69	strong	strong	ADJ
arestyrurj-153	90	70	the	the	DET
arestyrurj-153	90	71	repulsive	repulsive	ADJ
arestyrurj-153	90	72	force	force	NOUN
arestyrurj-153	90	73	between	between	ADP
arestyrurj-153	90	74	crafts	craft	NOUN
arestyrurj-153	90	75	is	be	AUX
arestyrurj-153	90	76	.	.	PUNCT
arestyrurj-153	90	77	constants	constant	NOUN
arestyrurj-153	90	78	of	of	ADP
arestyrurj-153	90	79	craft	craft	NOUN
arestyrurj-153	90	80	geometry	geometry	NOUN
arestyrurj-153	90	81	and	and	CCONJ
arestyrurj-153	90	82	material	material	PROPN
arestyrurj-153	90	83	cdm	cdm	PROPN
arestyrurj-153	90	84	,	,	PUNCT
arestyrurj-153	90	85	ldm	ldm	NOUN
arestyrurj-153	90	86	magnitude	magnitude	NOUN
arestyrurj-153	90	87	and	and	CCONJ
arestyrurj-153	90	88	length	length	NOUN
arestyrurj-153	90	89	scale	scale	NOUN
arestyrurj-153	90	90	of	of	ADP
arestyrurj-153	90	91	craft	craft	NOUN
arestyrurj-153	90	92	-	-	PUNCT
arestyrurj-153	90	93	obstacle	obstacle	NOUN
arestyrurj-153	90	94	repulsive	repulsive	ADJ
arestyrurj-153	90	95	potentials	potential	NOUN
arestyrurj-153	90	96	–	–	PUNCT
arestyrurj-153	90	97	determine	determine	VERB
arestyrurj-153	90	98	how	how	SCONJ
arestyrurj-153	90	99	strong	strong	ADJ
arestyrurj-153	90	100	the	the	DET
arestyrurj-153	90	101	repulsive	repulsive	ADJ
arestyrurj-153	90	102	force	force	NOUN
arestyrurj-153	90	103	between	between	ADP
arestyrurj-153	90	104	crafts	craft	NOUN
arestyrurj-153	90	105	and	and	CCONJ
arestyrurj-153	90	106	obstacles	obstacle	NOUN
arestyrurj-153	90	107	is	be	AUX
arestyrurj-153	90	108	.	.	PUNCT
arestyrurj-153	91	1	constants	constant	NOUN
arestyrurj-153	91	2	of	of	ADP
arestyrurj-153	91	3	obstacle	obstacle	NOUN
arestyrurj-153	91	4	geometry	geometry	PROPN
arestyrurj-153	91	5	μ	μ	PROPN
arestyrurj-153	91	6	bifurcation	bifurcation	NOUN
arestyrurj-153	91	7	parameter	parameter	NOUN
arestyrurj-153	91	8	–	–	PUNCT
arestyrurj-153	91	9	controls	control	VERB
arestyrurj-153	91	10	how	how	SCONJ
arestyrurj-153	91	11	many	many	ADJ
arestyrurj-153	91	12	steady	steady	ADJ
arestyrurj-153	91	13	state	state	NOUN
arestyrurj-153	91	14	formations	formation	NOUN
arestyrurj-153	91	15	swarm	swarm	NOUN
arestyrurj-153	91	16	converges	converge	VERB
arestyrurj-153	91	17	to	to	ADP
arestyrurj-153	91	18	r	r	VERB
arestyrurj-153	91	19	scalar	scalar	ADV
arestyrurj-153	91	20	–	–	PUNCT
arestyrurj-153	91	21	determines	determine	VERB
arestyrurj-153	91	22	how	how	SCONJ
arestyrurj-153	91	23	spread	spread	VERB
arestyrurj-153	91	24	out	out	ADP
arestyrurj-153	91	25	the	the	DET
arestyrurj-153	91	26	swarm	swarm	NOUN
arestyrurj-153	91	27	is	be	AUX
arestyrurj-153	91	28	as	as	ADP
arestyrurj-153	91	29	a	a	DET
arestyrurj-153	91	30	whole	whole	NOUN
arestyrurj-153	91	31	by	by	ADP
arestyrurj-153	91	32	controlling	control	VERB
arestyrurj-153	91	33	locations	location	NOUN
arestyrurj-153	91	34	of	of	ADP
arestyrurj-153	91	35	hyperbolic	hyperbolic	ADJ
arestyrurj-153	91	36	and	and	CCONJ
arestyrurj-153	91	37	expotential	expotential	ADJ
arestyrurj-153	91	38	potentials	potential	NOUN
arestyrurj-153	91	39	xi	xi	X
arestyrurj-153	91	40	position	position	NOUN
arestyrurj-153	91	41	vector	vector	NOUN
arestyrurj-153	91	42	of	of	ADP
arestyrurj-153	91	43	the	the	DET
arestyrurj-153	91	44	i’th	i’th	PROPN
arestyrurj-153	91	45	craft	craft	VERB
arestyrurj-153	91	46	xij	xij	PROPN
arestyrurj-153	91	47	relative	relative	ADJ
arestyrurj-153	91	48	position	position	NOUN
arestyrurj-153	91	49	vector	vector	NOUN
arestyrurj-153	91	50	between	between	ADP
arestyrurj-153	91	51	i’th	i’th	PROPN
arestyrurj-153	91	52	and	and	CCONJ
arestyrurj-153	91	53	j’th	j’th	PROPN
arestyrurj-153	91	54	crafts	craft	NOUN
arestyrurj-153	91	55	ux	ux	ADP
arestyrurj-153	91	56	average	average	ADJ
arestyrurj-153	91	57	velocity	velocity	NOUN
arestyrurj-153	91	58	with	with	ADP
arestyrurj-153	91	59	which	which	PRON
arestyrurj-153	91	60	swarm	swarm	NOUN
arestyrurj-153	91	61	travels	travel	VERB
arestyrurj-153	91	62	in	in	ADP
arestyrurj-153	91	63	positive	positive	ADJ
arestyrurj-153	91	64	x	x	NOUN
arestyrurj-153	91	65	-	-	NOUN
arestyrurj-153	91	66	direction	direction	NOUN
arestyrurj-153	91	67	xim	xim	PROPN
arestyrurj-153	91	68	relative	relative	ADJ
arestyrurj-153	91	69	position	position	NOUN
arestyrurj-153	91	70	vector	vector	NOUN
arestyrurj-153	91	71	between	between	ADP
arestyrurj-153	91	72	i’th	i’th	PROPN
arestyrurj-153	91	73	craft	craft	NOUN
arestyrurj-153	91	74	and	and	CCONJ
arestyrurj-153	91	75	m’th	m’th	PROPN
arestyrurj-153	91	76	obstacle	obstacle	NOUN
arestyrurj-153	91	77	table	table	NOUN
arestyrurj-153	91	78	1	1	NUM
arestyrurj-153	91	79	:	:	PUNCT
arestyrurj-153	91	80	relevant	relevant	ADJ
arestyrurj-153	91	81	parameters	parameter	NOUN
arestyrurj-153	91	82	summary	summary	NOUN
arestyrurj-153	91	83	figure	figure	NOUN
arestyrurj-153	91	84	3	3	NUM
arestyrurj-153	91	85	:	:	PUNCT
arestyrurj-153	91	86	total	total	ADJ
arestyrurj-153	91	87	energy	energy	NOUN
arestyrurj-153	91	88	expression	expression	NOUN
arestyrurj-153	91	89	of	of	ADP
arestyrurj-153	91	90	swarm	swarm	NOUN
arestyrurj-153	91	91	along	along	ADP
arestyrurj-153	91	92	a	a	DET
arestyrurj-153	91	93	trajectory	trajectory	NOUN
arestyrurj-153	91	94	aresty	aresty	ADJ
arestyrurj-153	91	95	rutgers	rutgers	PROPN
arestyrurj-153	91	96	undergraduate	undergraduate	PROPN
arestyrurj-153	91	97	research	research	PROPN
arestyrurj-153	91	98	journal	journal	PROPN
arestyrurj-153	91	99	,	,	PUNCT
arestyrurj-153	91	100	volume	volume	NOUN
arestyrurj-153	91	101	i	i	PRON
arestyrurj-153	91	102	,	,	PUNCT
arestyrurj-153	91	103	issue	issue	NOUN
arestyrurj-153	91	104	ii	ii	NOUN
arestyrurj-153	91	105	where	where	SCONJ
arestyrurj-153	91	106	𝑑𝑑𝑓𝑓	𝑑𝑑𝑓𝑓	PROPN
arestyrurj-153	91	107	is	be	AUX
arestyrurj-153	91	108	the	the	DET
arestyrurj-153	91	109	final	final	ADJ
arestyrurj-153	91	110	time	time	NOUN
arestyrurj-153	91	111	during	during	ADP
arestyrurj-153	91	112	the	the	DET
arestyrurj-153	91	113	simulation	simulation	NOUN
arestyrurj-153	91	114	.	.	PUNCT
arestyrurj-153	92	1	the	the	DET
arestyrurj-153	92	2	absolute	absolute	ADJ
arestyrurj-153	92	3	value	value	NOUN
arestyrurj-153	92	4	is	be	AUX
arestyrurj-153	92	5	necessary	necessary	ADJ
arestyrurj-153	92	6	considering	consider	VERB
arestyrurj-153	92	7	that	that	SCONJ
arestyrurj-153	92	8	if	if	SCONJ
arestyrurj-153	92	9	the	the	DET
arestyrurj-153	92	10	thruster	thruster	NOUN
arestyrurj-153	92	11	force	force	NOUN
arestyrurj-153	92	12	is	be	AUX
arestyrurj-153	92	13	ever	ever	ADV
arestyrurj-153	92	14	acting	act	VERB
arestyrurj-153	92	15	to	to	PART
arestyrurj-153	92	16	decelerate	decelerate	VERB
arestyrurj-153	92	17	a	a	DET
arestyrurj-153	92	18	craft	craft	NOUN
arestyrurj-153	92	19	(	(	PUNCT
arestyrurj-153	92	20	it	it	PRON
arestyrurj-153	92	21	is	be	AUX
arestyrurj-153	92	22	acting	act	VERB
arestyrurj-153	92	23	opposite	opposite	ADP
arestyrurj-153	92	24	the	the	DET
arestyrurj-153	92	25	direction	direction	NOUN
arestyrurj-153	92	26	of	of	ADP
arestyrurj-153	92	27	the	the	DET
arestyrurj-153	92	28	craft	craft	NOUN
arestyrurj-153	92	29	’s	’s	PART
arestyrurj-153	92	30	velocity	velocity	NOUN
arestyrurj-153	92	31	)	)	PUNCT
arestyrurj-153	92	32	,	,	PUNCT
arestyrurj-153	92	33	then	then	ADV
arestyrurj-153	92	34	the	the	DET
arestyrurj-153	92	35	mathematical	mathematical	ADJ
arestyrurj-153	92	36	expression	expression	NOUN
arestyrurj-153	92	37	for	for	ADP
arestyrurj-153	92	38	work	work	NOUN
arestyrurj-153	92	39	will	will	AUX
arestyrurj-153	92	40	yield	yield	VERB
arestyrurj-153	92	41	a	a	DET
arestyrurj-153	92	42	negative	negative	ADJ
arestyrurj-153	92	43	value	value	NOUN
arestyrurj-153	92	44	,	,	PUNCT
arestyrurj-153	92	45	representing	represent	VERB
arestyrurj-153	92	46	an	an	DET
arestyrurj-153	92	47	energy	energy	NOUN
arestyrurj-153	92	48	gain	gain	NOUN
arestyrurj-153	92	49	in	in	ADP
arestyrurj-153	92	50	the	the	DET
arestyrurj-153	92	51	system	system	NOUN
arestyrurj-153	92	52	.	.	PUNCT
arestyrurj-153	93	1	fuel	fuel	NOUN
arestyrurj-153	93	2	is	be	AUX
arestyrurj-153	93	3	not	not	PART
arestyrurj-153	93	4	generated	generate	VERB
arestyrurj-153	93	5	in	in	ADP
arestyrurj-153	93	6	this	this	DET
arestyrurj-153	93	7	instance	instance	NOUN
arestyrurj-153	93	8	,	,	PUNCT
arestyrurj-153	93	9	so	so	CCONJ
arestyrurj-153	93	10	the	the	DET
arestyrurj-153	93	11	absolute	absolute	ADJ
arestyrurj-153	93	12	value	value	NOUN
arestyrurj-153	93	13	bars	bar	NOUN
arestyrurj-153	93	14	restrict	restrict	VERB
arestyrurj-153	93	15	this	this	DET
arestyrurj-153	93	16	work	work	NOUN
arestyrurj-153	93	17	to	to	PART
arestyrurj-153	93	18	always	always	ADV
arestyrurj-153	93	19	represent	represent	VERB
arestyrurj-153	93	20	an	an	DET
arestyrurj-153	93	21	energy	energy	NOUN
arestyrurj-153	93	22	loss	loss	NOUN
arestyrurj-153	93	23	in	in	ADP
arestyrurj-153	93	24	the	the	DET
arestyrurj-153	93	25	system	system	NOUN
arestyrurj-153	93	26	.	.	PUNCT
arestyrurj-153	94	1	the	the	DET
arestyrurj-153	94	2	above	above	ADJ
arestyrurj-153	94	3	expression	expression	NOUN
arestyrurj-153	94	4	is	be	AUX
arestyrurj-153	94	5	equal	equal	ADJ
arestyrurj-153	94	6	to	to	ADP
arestyrurj-153	94	7	the	the	DET
arestyrurj-153	94	8	total	total	ADJ
arestyrurj-153	94	9	energy	energy	NOUN
arestyrurj-153	94	10	lost	lose	VERB
arestyrurj-153	94	11	during	during	ADP
arestyrurj-153	94	12	a	a	DET
arestyrurj-153	94	13	swarm	swarm	NOUN
arestyrurj-153	94	14	maneuver	maneuver	NOUN
arestyrurj-153	94	15	,	,	PUNCT
arestyrurj-153	94	16	representing	represent	VERB
arestyrurj-153	94	17	the	the	DET
arestyrurj-153	94	18	objective	objective	ADJ
arestyrurj-153	94	19	function	function	NOUN
arestyrurj-153	94	20	we	we	PRON
arestyrurj-153	94	21	wish	wish	VERB
arestyrurj-153	94	22	to	to	PART
arestyrurj-153	94	23	minimize	minimize	VERB
arestyrurj-153	94	24	.	.	PUNCT
arestyrurj-153	95	1	since	since	SCONJ
arestyrurj-153	95	2	this	this	DET
arestyrurj-153	95	3	function	function	NOUN
arestyrurj-153	95	4	is	be	AUX
arestyrurj-153	95	5	locked	lock	VERB
arestyrurj-153	95	6	within	within	ADP
arestyrurj-153	95	7	a	a	DET
arestyrurj-153	95	8	highly	highly	ADV
arestyrurj-153	95	9	coupled	couple	VERB
arestyrurj-153	95	10	system	system	NOUN
arestyrurj-153	95	11	of	of	ADP
arestyrurj-153	95	12	differential	differential	ADJ
arestyrurj-153	95	13	equations	equation	NOUN
arestyrurj-153	95	14	and	and	CCONJ
arestyrurj-153	95	15	an	an	DET
arestyrurj-153	95	16	integral	integral	NOUN
arestyrurj-153	95	17	that	that	PRON
arestyrurj-153	95	18	has	have	VERB
arestyrurj-153	95	19	no	no	DET
arestyrurj-153	95	20	closed	closed	ADJ
arestyrurj-153	95	21	-	-	PUNCT
arestyrurj-153	95	22	form	form	NOUN
arestyrurj-153	95	23	expression	expression	NOUN
arestyrurj-153	95	24	(	(	PUNCT
arestyrurj-153	95	25	an	an	DET
arestyrurj-153	95	26	expression	expression	NOUN
arestyrurj-153	95	27	involving	involve	VERB
arestyrurj-153	95	28	a	a	DET
arestyrurj-153	95	29	finite	finite	ADJ
arestyrurj-153	95	30	amount	amount	NOUN
arestyrurj-153	95	31	of	of	ADP
arestyrurj-153	95	32	known	know	VERB
arestyrurj-153	95	33	algebraic	algebraic	ADJ
arestyrurj-153	95	34	operations	operation	NOUN
arestyrurj-153	95	35	and	and	CCONJ
arestyrurj-153	95	36	variables	variable	NOUN
arestyrurj-153	95	37	without	without	ADP
arestyrurj-153	95	38	derivatives	derivative	NOUN
arestyrurj-153	95	39	and	and	CCONJ
arestyrurj-153	95	40	integrals	integral	NOUN
arestyrurj-153	95	41	)	)	PUNCT
arestyrurj-153	95	42	,	,	PUNCT
arestyrurj-153	95	43	we	we	PRON
arestyrurj-153	95	44	must	must	AUX
arestyrurj-153	95	45	use	use	VERB
arestyrurj-153	95	46	a	a	DET
arestyrurj-153	95	47	more	more	ADV
arestyrurj-153	95	48	advanced	advanced	ADJ
arestyrurj-153	95	49	method	method	NOUN
arestyrurj-153	95	50	of	of	ADP
arestyrurj-153	95	51	optimization	optimization	NOUN
arestyrurj-153	95	52	which	which	PRON
arestyrurj-153	95	53	in	in	ADP
arestyrurj-153	95	54	this	this	DET
arestyrurj-153	95	55	case	case	NOUN
arestyrurj-153	95	56	is	be	AUX
arestyrurj-153	95	57	the	the	DET
arestyrurj-153	95	58	genetic	genetic	ADJ
arestyrurj-153	95	59	algorithm	algorithm	NOUN
arestyrurj-153	95	60	.	.	PUNCT
arestyrurj-153	96	1	iii	iii	X
arestyrurj-153	96	2	.	.	PUNCT
arestyrurj-153	96	3	genetic	genetic	ADJ
arestyrurj-153	96	4	algorithm	algorithm	NOUN
arestyrurj-153	96	5	in	in	ADP
arestyrurj-153	96	6	the	the	DET
arestyrurj-153	96	7	genetic	genetic	ADJ
arestyrurj-153	96	8	algorithm	algorithm	NOUN
arestyrurj-153	96	9	,	,	PUNCT
arestyrurj-153	96	10	a	a	DET
arestyrurj-153	96	11	single	single	ADJ
arestyrurj-153	96	12	member	member	NOUN
arestyrurj-153	96	13	of	of	ADP
arestyrurj-153	96	14	a	a	DET
arestyrurj-153	96	15	population	population	NOUN
arestyrurj-153	96	16	is	be	AUX
arestyrurj-153	96	17	the	the	DET
arestyrurj-153	96	18	set	set	NOUN
arestyrurj-153	96	19	of	of	ADP
arestyrurj-153	96	20	parameters	parameter	NOUN
arestyrurj-153	96	21	and	and	CCONJ
arestyrurj-153	96	22	its	its	PRON
arestyrurj-153	96	23	associated	associated	ADJ
arestyrurj-153	96	24	final	final	ADJ
arestyrurj-153	96	25	fuel	fuel	NOUN
arestyrurj-153	96	26	consumption	consumption	NOUN
arestyrurj-153	96	27	value	value	NOUN
arestyrurj-153	96	28	.	.	PUNCT
arestyrurj-153	97	1	we	we	PRON
arestyrurj-153	97	2	only	only	ADV
arestyrurj-153	97	3	consider	consider	VERB
arestyrurj-153	97	4	the	the	DET
arestyrurj-153	97	5	parameters	parameter	NOUN
arestyrurj-153	97	6	𝑚𝑚	𝑚𝑚	ADP
arestyrurj-153	97	7	,	,	PUNCT
arestyrurj-153	97	8	𝑏𝑏	𝑏𝑏	PROPN
arestyrurj-153	97	9	,	,	PUNCT
arestyrurj-153	97	10	𝑐𝑐	𝑐𝑐	PROPN
arestyrurj-153	97	11	,	,	PUNCT
arestyrurj-153	97	12	𝐶𝐶𝑒𝑒	𝐶𝐶𝑒𝑒	PROPN
arestyrurj-153	97	13	,	,	PUNCT
arestyrurj-153	97	14	𝐿𝐿𝑒𝑒	𝐿𝐿𝑒𝑒	PROPN
arestyrurj-153	97	15	,	,	PUNCT
arestyrurj-153	97	16	𝐶𝐶ℎ	𝐶𝐶ℎ	NOUN
arestyrurj-153	97	17	,	,	PUNCT
arestyrurj-153	97	18	and	and	CCONJ
arestyrurj-153	97	19	𝑟𝑟	𝑟𝑟	ADV
arestyrurj-153	97	20	as	as	SCONJ
arestyrurj-153	97	21	the	the	DET
arestyrurj-153	97	22	rest	rest	NOUN
arestyrurj-153	97	23	are	be	AUX
arestyrurj-153	97	24	either	either	CCONJ
arestyrurj-153	97	25	constants	constant	NOUN
arestyrurj-153	97	26	associated	associate	VERB
arestyrurj-153	97	27	with	with	ADP
arestyrurj-153	97	28	the	the	DET
arestyrurj-153	97	29	spacecraft	spacecraft	NOUN
arestyrurj-153	97	30	or	or	CCONJ
arestyrurj-153	97	31	obstacles	obstacle	NOUN
arestyrurj-153	97	32	,	,	PUNCT
arestyrurj-153	97	33	which	which	PRON
arestyrurj-153	97	34	can	can	AUX
arestyrurj-153	97	35	not	not	PART
arestyrurj-153	97	36	be	be	AUX
arestyrurj-153	97	37	changed	change	VERB
arestyrurj-153	97	38	or	or	CCONJ
arestyrurj-153	97	39	are	be	AUX
arestyrurj-153	97	40	constants	constant	NOUN
arestyrurj-153	97	41	associated	associate	VERB
arestyrurj-153	97	42	with	with	ADP
arestyrurj-153	97	43	a	a	DET
arestyrurj-153	97	44	desired	desire	VERB
arestyrurj-153	97	45	final	final	ADJ
arestyrurj-153	97	46	formation	formation	NOUN
arestyrurj-153	97	47	type	type	NOUN
arestyrurj-153	97	48	that	that	PRON
arestyrurj-153	97	49	we	we	PRON
arestyrurj-153	97	50	wish	wish	VERB
arestyrurj-153	97	51	to	to	PART
arestyrurj-153	97	52	keep	keep	VERB
arestyrurj-153	97	53	constant	constant	ADJ
arestyrurj-153	97	54	.	.	PUNCT
arestyrurj-153	98	1	the	the	DET
arestyrurj-153	98	2	algorithm	algorithm	NOUN
arestyrurj-153	98	3	(	(	PUNCT
arestyrurj-153	98	4	refer	refer	VERB
arestyrurj-153	98	5	to	to	PART
arestyrurj-153	98	6	figure	figure	VERB
arestyrurj-153	98	7	4	4	NUM
arestyrurj-153	98	8	)	)	PUNCT
arestyrurj-153	98	9	works	work	VERB
arestyrurj-153	98	10	by	by	ADP
arestyrurj-153	98	11	taking	take	VERB
arestyrurj-153	98	12	a	a	DET
arestyrurj-153	98	13	set	set	NOUN
arestyrurj-153	98	14	of	of	ADP
arestyrurj-153	98	15	random	random	ADJ
arestyrurj-153	98	16	initial	initial	ADJ
arestyrurj-153	98	17	parameters	parameter	NOUN
arestyrurj-153	98	18	,	,	PUNCT
arestyrurj-153	98	19	running	run	VERB
arestyrurj-153	98	20	them	they	PRON
arestyrurj-153	98	21	through	through	ADP
arestyrurj-153	98	22	a	a	DET
arestyrurj-153	98	23	matlab	matlab	PROPN
arestyrurj-153	98	24	simulink[14	simulink[14	PROPN
arestyrurj-153	98	25	]	]	PUNCT
arestyrurj-153	98	26	simulation	simulation	NOUN
arestyrurj-153	98	27	to	to	PART
arestyrurj-153	98	28	obtain	obtain	VERB
arestyrurj-153	98	29	the	the	DET
arestyrurj-153	98	30	fuel	fuel	NOUN
arestyrurj-153	98	31	consumed	consume	VERB
arestyrurj-153	98	32	in	in	ADP
arestyrurj-153	98	33	that	that	DET
arestyrurj-153	98	34	trajectory	trajectory	NOUN
arestyrurj-153	98	35	,	,	PUNCT
arestyrurj-153	98	36	and	and	CCONJ
arestyrurj-153	98	37	then	then	ADV
arestyrurj-153	98	38	selecting	select	VERB
arestyrurj-153	98	39	the	the	DET
arestyrurj-153	98	40	two	two	NUM
arestyrurj-153	98	41	sets	set	NOUN
arestyrurj-153	98	42	of	of	ADP
arestyrurj-153	98	43	parameters	parameter	NOUN
arestyrurj-153	98	44	that	that	PRON
arestyrurj-153	98	45	result	result	VERB
arestyrurj-153	98	46	in	in	ADP
arestyrurj-153	98	47	the	the	DET
arestyrurj-153	98	48	lowest	low	ADJ
arestyrurj-153	98	49	fuel	fuel	NOUN
arestyrurj-153	98	50	consumed	consume	VERB
arestyrurj-153	98	51	out	out	ADP
arestyrurj-153	98	52	of	of	ADP
arestyrurj-153	98	53	all	all	PRON
arestyrurj-153	98	54	of	of	ADP
arestyrurj-153	98	55	the	the	DET
arestyrurj-153	98	56	initial	initial	ADJ
arestyrurj-153	98	57	sets	set	NOUN
arestyrurj-153	98	58	.	.	PUNCT
arestyrurj-153	99	1	these	these	DET
arestyrurj-153	99	2	two	two	NUM
arestyrurj-153	99	3	sets	set	NOUN
arestyrurj-153	99	4	are	be	AUX
arestyrurj-153	99	5	chosen	choose	VERB
arestyrurj-153	99	6	as	as	ADP
arestyrurj-153	99	7	the	the	DET
arestyrurj-153	99	8	parents	parent	NOUN
arestyrurj-153	99	9	for	for	ADP
arestyrurj-153	99	10	the	the	DET
arestyrurj-153	99	11	next	next	ADJ
arestyrurj-153	99	12	generation	generation	NOUN
arestyrurj-153	99	13	.	.	PUNCT
arestyrurj-153	100	1	the	the	DET
arestyrurj-153	100	2	parameters	parameter	NOUN
arestyrurj-153	100	3	associated	associate	VERB
arestyrurj-153	100	4	with	with	ADP
arestyrurj-153	100	5	these	these	PRON
arestyrurj-153	100	6	are	be	AUX
arestyrurj-153	100	7	then	then	ADV
arestyrurj-153	100	8	converted	convert	VERB
arestyrurj-153	100	9	to	to	ADP
arestyrurj-153	100	10	a	a	DET
arestyrurj-153	100	11	type	type	NOUN
arestyrurj-153	100	12	of	of	ADP
arestyrurj-153	100	13	binary	binary	ADJ
arestyrurj-153	100	14	vector	vector	NOUN
arestyrurj-153	100	15	of	of	ADP
arestyrurj-153	100	16	ones	one	NOUN
arestyrurj-153	100	17	and	and	CCONJ
arestyrurj-153	100	18	zeroes	zero	NOUN
arestyrurj-153	100	19	.	.	PUNCT
arestyrurj-153	101	1	the	the	DET
arestyrurj-153	101	2	reason	reason	NOUN
arestyrurj-153	101	3	for	for	ADP
arestyrurj-153	101	4	this	this	PRON
arestyrurj-153	101	5	is	be	AUX
arestyrurj-153	101	6	because	because	SCONJ
arestyrurj-153	101	7	the	the	DET
arestyrurj-153	101	8	next	next	ADJ
arestyrurj-153	101	9	step	step	NOUN
arestyrurj-153	101	10	figure	figure	NOUN
arestyrurj-153	101	11	4	4	NUM
arestyrurj-153	101	12	:	:	PUNCT
arestyrurj-153	101	13	genetic	genetic	ADJ
arestyrurj-153	101	14	algorithm	algorithm	NOUN
arestyrurj-153	101	15	visualization[2	visualization[2	PROPN
arestyrurj-153	101	16	]	]	X
arestyrurj-153	101	17	aresty	aresty	ADJ
arestyrurj-153	101	18	rutgers	rutgers	PROPN
arestyrurj-153	101	19	undergraduate	undergraduate	PROPN
arestyrurj-153	101	20	research	research	PROPN
arestyrurj-153	101	21	journal	journal	PROPN
arestyrurj-153	101	22	,	,	PUNCT
arestyrurj-153	101	23	volume	volume	NOUN
arestyrurj-153	101	24	i	i	PRON
arestyrurj-153	101	25	,	,	PUNCT
arestyrurj-153	101	26	issue	issue	PROPN
arestyrurj-153	101	27	ii	ii	PROPN
arestyrurj-153	101	28	is	be	AUX
arestyrurj-153	101	29	the	the	DET
arestyrurj-153	101	30	exchanging	exchanging	NOUN
arestyrurj-153	101	31	of	of	ADP
arestyrurj-153	101	32	the	the	DET
arestyrurj-153	101	33	“	"	PUNCT
arestyrurj-153	101	34	genetic	genetic	ADJ
arestyrurj-153	101	35	material	material	NOUN
arestyrurj-153	101	36	”	"	PUNCT
arestyrurj-153	101	37	of	of	ADP
arestyrurj-153	101	38	the	the	DET
arestyrurj-153	101	39	two	two	NUM
arestyrurj-153	101	40	parents	parent	NOUN
arestyrurj-153	101	41	to	to	PART
arestyrurj-153	101	42	produce	produce	VERB
arestyrurj-153	101	43	offspring	offspring	NOUN
arestyrurj-153	101	44	.	.	PUNCT
arestyrurj-153	102	1	the	the	DET
arestyrurj-153	102	2	binary	binary	ADJ
arestyrurj-153	102	3	representations	representation	NOUN
arestyrurj-153	102	4	of	of	ADP
arestyrurj-153	102	5	each	each	DET
arestyrurj-153	102	6	parent	parent	NOUN
arestyrurj-153	102	7	’s	’s	PART
arestyrurj-153	102	8	parameter	parameter	NOUN
arestyrurj-153	102	9	are	be	AUX
arestyrurj-153	102	10	lined	line	VERB
arestyrurj-153	102	11	up	up	ADP
arestyrurj-153	102	12	,	,	PUNCT
arestyrurj-153	102	13	and	and	CCONJ
arestyrurj-153	102	14	a	a	DET
arestyrurj-153	102	15	random	random	ADJ
arestyrurj-153	102	16	stopping	stopping	NOUN
arestyrurj-153	102	17	point	point	NOUN
arestyrurj-153	102	18	is	be	AUX
arestyrurj-153	102	19	then	then	ADV
arestyrurj-153	102	20	selected	select	VERB
arestyrurj-153	102	21	.	.	PUNCT
arestyrurj-153	103	1	this	this	DET
arestyrurj-153	103	2	random	random	ADJ
arestyrurj-153	103	3	stopping	stopping	NOUN
arestyrurj-153	103	4	point	point	NOUN
arestyrurj-153	103	5	is	be	AUX
arestyrurj-153	103	6	selected	select	VERB
arestyrurj-153	103	7	through	through	ADP
arestyrurj-153	103	8	a	a	DET
arestyrurj-153	103	9	random	random	ADJ
arestyrurj-153	103	10	number	number	NOUN
arestyrurj-153	103	11	generator	generator	NOUN
arestyrurj-153	103	12	in	in	ADP
arestyrurj-153	103	13	the	the	DET
arestyrurj-153	103	14	matlab	matlab	PROPN
arestyrurj-153	103	15	code	code	PROPN
arestyrurj-153	103	16	.	.	PUNCT
arestyrurj-153	104	1	every	every	DET
arestyrurj-153	104	2	value	value	NOUN
arestyrurj-153	104	3	before	before	SCONJ
arestyrurj-153	104	4	the	the	DET
arestyrurj-153	104	5	stopping	stopping	NOUN
arestyrurj-153	104	6	point	point	NOUN
arestyrurj-153	104	7	is	be	AUX
arestyrurj-153	104	8	swapped	swap	VERB
arestyrurj-153	104	9	amongst	amongst	ADP
arestyrurj-153	104	10	the	the	DET
arestyrurj-153	104	11	two	two	NUM
arestyrurj-153	104	12	parents	parent	NOUN
arestyrurj-153	104	13	,	,	PUNCT
arestyrurj-153	104	14	along	along	ADP
arestyrurj-153	104	15	with	with	ADP
arestyrurj-153	104	16	a	a	DET
arestyrurj-153	104	17	random	random	ADJ
arestyrurj-153	104	18	chance	chance	NOUN
arestyrurj-153	104	19	for	for	ADP
arestyrurj-153	104	20	one	one	NUM
arestyrurj-153	104	21	of	of	ADP
arestyrurj-153	104	22	the	the	DET
arestyrurj-153	104	23	values	value	NOUN
arestyrurj-153	104	24	to	to	PART
arestyrurj-153	104	25	be	be	AUX
arestyrurj-153	104	26	inverted	invert	VERB
arestyrurj-153	104	27	(	(	PUNCT
arestyrurj-153	104	28	1	1	NUM
arestyrurj-153	104	29	to	to	PART
arestyrurj-153	104	30	0	0	NUM
arestyrurj-153	104	31	or	or	CCONJ
arestyrurj-153	104	32	0	0	NUM
arestyrurj-153	104	33	to	to	PART
arestyrurj-153	104	34	1	1	NUM
arestyrurj-153	104	35	)	)	PUNCT
arestyrurj-153	104	36	at	at	ADP
arestyrurj-153	104	37	a	a	DET
arestyrurj-153	104	38	low	low	ADJ
arestyrurj-153	104	39	probability	probability	NOUN
arestyrurj-153	104	40	,	,	PUNCT
arestyrurj-153	104	41	representing	represent	VERB
arestyrurj-153	104	42	random	random	ADJ
arestyrurj-153	104	43	mutations	mutation	NOUN
arestyrurj-153	104	44	.	.	PUNCT
arestyrurj-153	105	1	this	this	DET
arestyrurj-153	105	2	process	process	NOUN
arestyrurj-153	105	3	is	be	AUX
arestyrurj-153	105	4	continued	continue	VERB
arestyrurj-153	105	5	a	a	DET
arestyrurj-153	105	6	number	number	NOUN
arestyrurj-153	105	7	of	of	ADP
arestyrurj-153	105	8	times	time	NOUN
arestyrurj-153	105	9	until	until	SCONJ
arestyrurj-153	105	10	multiple	multiple	ADJ
arestyrurj-153	105	11	“	"	PUNCT
arestyrurj-153	105	12	child	child	NOUN
arestyrurj-153	105	13	”	"	PUNCT
arestyrurj-153	105	14	binary	binary	ADJ
arestyrurj-153	105	15	vectors	vector	NOUN
arestyrurj-153	105	16	are	be	AUX
arestyrurj-153	105	17	created	create	VERB
arestyrurj-153	105	18	,	,	PUNCT
arestyrurj-153	105	19	which	which	PRON
arestyrurj-153	105	20	are	be	AUX
arestyrurj-153	105	21	then	then	ADV
arestyrurj-153	105	22	converted	convert	VERB
arestyrurj-153	105	23	back	back	ADV
arestyrurj-153	105	24	to	to	ADP
arestyrurj-153	105	25	their	their	PRON
arestyrurj-153	105	26	decimal	decimal	ADJ
arestyrurj-153	105	27	representation	representation	NOUN
arestyrurj-153	105	28	.	.	PUNCT
arestyrurj-153	106	1	together	together	ADV
arestyrurj-153	106	2	with	with	ADP
arestyrurj-153	106	3	this	this	DET
arestyrurj-153	106	4	genetic	genetic	ADJ
arestyrurj-153	106	5	crossover	crossover	NOUN
arestyrurj-153	106	6	process	process	NOUN
arestyrurj-153	106	7	and	and	CCONJ
arestyrurj-153	106	8	random	random	ADJ
arestyrurj-153	106	9	mutations	mutation	NOUN
arestyrurj-153	106	10	,	,	PUNCT
arestyrurj-153	106	11	there	there	PRON
arestyrurj-153	106	12	is	be	VERB
arestyrurj-153	106	13	a	a	DET
arestyrurj-153	106	14	chance	chance	NOUN
arestyrurj-153	106	15	for	for	ADP
arestyrurj-153	106	16	every	every	DET
arestyrurj-153	106	17	generation	generation	NOUN
arestyrurj-153	106	18	for	for	SCONJ
arestyrurj-153	106	19	a	a	DET
arestyrurj-153	106	20	more	more	ADV
arestyrurj-153	106	21	optimal	optimal	ADJ
arestyrurj-153	106	22	set	set	NOUN
arestyrurj-153	106	23	of	of	ADP
arestyrurj-153	106	24	parameters	parameter	NOUN
arestyrurj-153	106	25	to	to	PART
arestyrurj-153	106	26	arise	arise	VERB
arestyrurj-153	106	27	while	while	SCONJ
arestyrurj-153	106	28	not	not	PART
arestyrurj-153	106	29	converging	converge	VERB
arestyrurj-153	106	30	prematurely	prematurely	ADV
arestyrurj-153	106	31	.	.	PUNCT
arestyrurj-153	107	1	after	after	ADP
arestyrurj-153	107	2	the	the	DET
arestyrurj-153	107	3	conversion	conversion	NOUN
arestyrurj-153	107	4	back	back	ADV
arestyrurj-153	107	5	to	to	ADP
arestyrurj-153	107	6	decimal	decimal	ADJ
arestyrurj-153	107	7	form	form	NOUN
arestyrurj-153	107	8	,	,	PUNCT
arestyrurj-153	107	9	the	the	DET
arestyrurj-153	107	10	children	child	NOUN
arestyrurj-153	107	11	are	be	AUX
arestyrurj-153	107	12	run	run	VERB
arestyrurj-153	107	13	through	through	ADP
arestyrurj-153	107	14	the	the	DET
arestyrurj-153	107	15	same	same	ADJ
arestyrurj-153	107	16	fitness	fitness	NOUN
arestyrurj-153	107	17	test	test	NOUN
arestyrurj-153	107	18	the	the	DET
arestyrurj-153	107	19	previous	previous	ADJ
arestyrurj-153	107	20	population	population	NOUN
arestyrurj-153	107	21	went	go	VERB
arestyrurj-153	107	22	through	through	ADV
arestyrurj-153	107	23	,	,	PUNCT
arestyrurj-153	107	24	and	and	CCONJ
arestyrurj-153	107	25	two	two	NUM
arestyrurj-153	107	26	new	new	ADJ
arestyrurj-153	107	27	parents	parent	NOUN
arestyrurj-153	107	28	are	be	AUX
arestyrurj-153	107	29	selected	select	VERB
arestyrurj-153	107	30	while	while	SCONJ
arestyrurj-153	107	31	the	the	DET
arestyrurj-153	107	32	other	other	ADJ
arestyrurj-153	107	33	sets	set	NOUN
arestyrurj-153	107	34	of	of	ADP
arestyrurj-153	107	35	parameters	parameter	NOUN
arestyrurj-153	107	36	are	be	AUX
arestyrurj-153	107	37	scrapped	scrap	VERB
arestyrurj-153	107	38	.	.	PUNCT
arestyrurj-153	108	1	this	this	DET
arestyrurj-153	108	2	process	process	NOUN
arestyrurj-153	108	3	continues	continue	VERB
arestyrurj-153	108	4	until	until	SCONJ
arestyrurj-153	108	5	a	a	DET
arestyrurj-153	108	6	population	population	NOUN
arestyrurj-153	108	7	converges	converge	VERB
arestyrurj-153	108	8	to	to	ADP
arestyrurj-153	108	9	a	a	DET
arestyrurj-153	108	10	global	global	ADJ
arestyrurj-153	108	11	optimum	optimum	NOUN
arestyrurj-153	108	12	where	where	SCONJ
arestyrurj-153	108	13	the	the	DET
arestyrurj-153	108	14	fuel	fuel	NOUN
arestyrurj-153	108	15	consumption	consumption	NOUN
arestyrurj-153	108	16	values	value	NOUN
arestyrurj-153	108	17	are	be	AUX
arestyrurj-153	108	18	all	all	ADV
arestyrurj-153	108	19	equally	equally	ADV
arestyrurj-153	108	20	as	as	ADV
arestyrurj-153	108	21	fit	fit	ADJ
arestyrurj-153	108	22	as	as	ADP
arestyrurj-153	108	23	each	each	DET
arestyrurj-153	108	24	other	other	ADJ
arestyrurj-153	108	25	.	.	PUNCT
arestyrurj-153	109	1	of	of	ADP
arestyrurj-153	109	2	course	course	NOUN
arestyrurj-153	109	3	,	,	PUNCT
arestyrurj-153	109	4	other	other	ADJ
arestyrurj-153	109	5	convergence	convergence	NOUN
arestyrurj-153	109	6	criteria	criterion	NOUN
arestyrurj-153	109	7	could	could	AUX
arestyrurj-153	109	8	be	be	AUX
arestyrurj-153	109	9	used	use	VERB
arestyrurj-153	109	10	(	(	PUNCT
arestyrurj-153	109	11	energy	energy	NOUN
arestyrurj-153	109	12	consumption	consumption	NOUN
arestyrurj-153	109	13	below	below	ADP
arestyrurj-153	109	14	a	a	DET
arestyrurj-153	109	15	certain	certain	ADJ
arestyrurj-153	109	16	value	value	NOUN
arestyrurj-153	109	17	across	across	ADP
arestyrurj-153	109	18	the	the	DET
arestyrurj-153	109	19	swarm	swarm	NOUN
arestyrurj-153	109	20	,	,	PUNCT
arestyrurj-153	109	21	total	total	ADJ
arestyrurj-153	109	22	time	time	NOUN
arestyrurj-153	109	23	spent	spend	VERB
arestyrurj-153	109	24	,	,	PUNCT
arestyrurj-153	109	25	etc	etc	X
arestyrurj-153	109	26	.	.	X
arestyrurj-153	109	27	)	)	PUNCT
arestyrurj-153	109	28	,	,	PUNCT
arestyrurj-153	109	29	but	but	CCONJ
arestyrurj-153	109	30	defining	define	VERB
arestyrurj-153	109	31	convergence	convergence	NOUN
arestyrurj-153	109	32	in	in	ADP
arestyrurj-153	109	33	this	this	DET
arestyrurj-153	109	34	way	way	NOUN
arestyrurj-153	109	35	where	where	SCONJ
arestyrurj-153	109	36	every	every	DET
arestyrurj-153	109	37	craft	craft	NOUN
arestyrurj-153	109	38	is	be	AUX
arestyrurj-153	109	39	equally	equally	ADV
arestyrurj-153	109	40	optimal	optimal	ADJ
arestyrurj-153	109	41	tends	tend	VERB
arestyrurj-153	109	42	to	to	PART
arestyrurj-153	109	43	prioritize	prioritize	VERB
arestyrurj-153	109	44	the	the	DET
arestyrurj-153	109	45	crafts	craft	NOUN
arestyrurj-153	109	46	expending	expend	VERB
arestyrurj-153	109	47	the	the	DET
arestyrurj-153	109	48	most	most	ADJ
arestyrurj-153	109	49	fuel	fuel	NOUN
arestyrurj-153	109	50	first	first	ADV
arestyrurj-153	109	51	.	.	PUNCT
arestyrurj-153	110	1	this	this	DET
arestyrurj-153	110	2	process	process	NOUN
arestyrurj-153	110	3	was	be	AUX
arestyrurj-153	110	4	implemented	implement	VERB
arestyrurj-153	110	5	in	in	ADP
arestyrurj-153	110	6	matlab[14	matlab[14	PROPN
arestyrurj-153	110	7	]	]	PUNCT
arestyrurj-153	110	8	with	with	ADP
arestyrurj-153	110	9	multiple	multiple	ADJ
arestyrurj-153	110	10	simulink	simulink	PROPN
arestyrurj-153	110	11	simulations	simulation	NOUN
arestyrurj-153	110	12	running	run	VERB
arestyrurj-153	110	13	per	per	ADP
arestyrurj-153	110	14	generation	generation	NOUN
arestyrurj-153	110	15	to	to	PART
arestyrurj-153	110	16	get	get	VERB
arestyrurj-153	110	17	the	the	DET
arestyrurj-153	110	18	final	final	ADJ
arestyrurj-153	110	19	fuel	fuel	NOUN
arestyrurj-153	110	20	consumption	consumption	NOUN
arestyrurj-153	110	21	value	value	NOUN
arestyrurj-153	110	22	for	for	ADP
arestyrurj-153	110	23	each	each	DET
arestyrurj-153	110	24	new	new	ADJ
arestyrurj-153	110	25	set	set	NOUN
arestyrurj-153	110	26	of	of	ADP
arestyrurj-153	110	27	parameters	parameter	NOUN
arestyrurj-153	110	28	.	.	PUNCT
arestyrurj-153	111	1	information	information	NOUN
arestyrurj-153	111	2	and	and	CCONJ
arestyrurj-153	111	3	methods	method	NOUN
arestyrurj-153	111	4	followed	follow	VERB
arestyrurj-153	111	5	that	that	PRON
arestyrurj-153	111	6	were	be	AUX
arestyrurj-153	111	7	used	use	VERB
arestyrurj-153	111	8	to	to	PART
arestyrurj-153	111	9	code	code	VERB
arestyrurj-153	111	10	this	this	DET
arestyrurj-153	111	11	algorithm	algorithm	NOUN
arestyrurj-153	111	12	are	be	AUX
arestyrurj-153	111	13	presented	present	VERB
arestyrurj-153	111	14	in	in	ADP
arestyrurj-153	111	15	the	the	DET
arestyrurj-153	111	16	article	article	NOUN
arestyrurj-153	111	17	by	by	ADP
arestyrurj-153	111	18	mallawaarachchi.[2	mallawaarachchi.[2	X
arestyrurj-153	111	19	]	]	X
arestyrurj-153	111	20	a	a	DET
arestyrurj-153	111	21	similar	similar	ADJ
arestyrurj-153	111	22	evolution	evolution	NOUN
arestyrurj-153	111	23	-	-	PUNCT
arestyrurj-153	111	24	based	base	VERB
arestyrurj-153	111	25	optimization	optimization	NOUN
arestyrurj-153	111	26	method	method	NOUN
arestyrurj-153	111	27	was	be	AUX
arestyrurj-153	111	28	successfully	successfully	ADV
arestyrurj-153	111	29	used	use	VERB
arestyrurj-153	111	30	in	in	ADP
arestyrurj-153	111	31	path	path	NOUN
arestyrurj-153	111	32	planning	plan	VERB
arestyrurj-153	111	33	a	a	DET
arestyrurj-153	111	34	single	single	ADJ
arestyrurj-153	111	35	uav	uav	PROPN
arestyrurj-153	111	36	in	in	ADP
arestyrurj-153	111	37	a	a	DET
arestyrurj-153	111	38	terrestrial	terrestrial	ADJ
arestyrurj-153	111	39	environment	environment	NOUN
arestyrurj-153	111	40	in	in	ADP
arestyrurj-153	111	41	the	the	DET
arestyrurj-153	111	42	paper	paper	NOUN
arestyrurj-153	111	43	by	by	ADP
arestyrurj-153	111	44	rathbun	rathbun	PROPN
arestyrurj-153	111	45	et	et	PROPN
arestyrurj-153	111	46	al.[4	al.[4	PROPN
arestyrurj-153	111	47	]	]	X
arestyrurj-153	111	48	3	3	NUM
arestyrurj-153	111	49	numerical	numerical	ADJ
arestyrurj-153	111	50	results	result	NOUN
arestyrurj-153	111	51	in	in	ADP
arestyrurj-153	111	52	the	the	DET
arestyrurj-153	111	53	following	follow	VERB
arestyrurj-153	111	54	simulations	simulation	NOUN
arestyrurj-153	111	55	,	,	PUNCT
arestyrurj-153	111	56	there	there	PRON
arestyrurj-153	111	57	is	be	VERB
arestyrurj-153	111	58	a	a	DET
arestyrurj-153	111	59	swarm	swarm	NOUN
arestyrurj-153	111	60	of	of	ADP
arestyrurj-153	111	61	twenty	twenty	NUM
arestyrurj-153	111	62	spacecraft	spacecraft	NOUN
arestyrurj-153	111	63	initially	initially	ADV
arestyrurj-153	111	64	arranged	arrange	VERB
arestyrurj-153	111	65	in	in	ADP
arestyrurj-153	111	66	a	a	DET
arestyrurj-153	111	67	circle	circle	NOUN
arestyrurj-153	111	68	at	at	ADP
arestyrurj-153	111	69	the	the	DET
arestyrurj-153	111	70	vertical	vertical	ADJ
arestyrurj-153	111	71	launch	launch	NOUN
arestyrurj-153	111	72	pad	pad	NOUN
arestyrurj-153	111	73	and	and	CCONJ
arestyrurj-153	111	74	three	three	NUM
arestyrurj-153	111	75	static	static	ADJ
arestyrurj-153	111	76	disturbances	disturbance	NOUN
arestyrurj-153	111	77	(	(	PUNCT
arestyrurj-153	111	78	ice	ice	NOUN
arestyrurj-153	111	79	rocks	rock	NOUN
arestyrurj-153	111	80	/	/	SYM
arestyrurj-153	111	81	asteroids	asteroid	NOUN
arestyrurj-153	111	82	)	)	PUNCT
arestyrurj-153	111	83	in	in	ADP
arestyrurj-153	111	84	space	space	NOUN
arestyrurj-153	111	85	along	along	ADP
arestyrurj-153	111	86	the	the	DET
arestyrurj-153	111	87	trajectory	trajectory	NOUN
arestyrurj-153	111	88	.	.	PUNCT
arestyrurj-153	112	1	in	in	ADP
arestyrurj-153	112	2	the	the	DET
arestyrurj-153	112	3	context	context	NOUN
arestyrurj-153	112	4	of	of	ADP
arestyrurj-153	112	5	saturn	saturn	NOUN
arestyrurj-153	112	6	’s	’s	PART
arestyrurj-153	112	7	rings	ring	NOUN
arestyrurj-153	112	8	,	,	PUNCT
arestyrurj-153	112	9	this	this	DET
arestyrurj-153	112	10	simulation	simulation	NOUN
arestyrurj-153	112	11	represents	represent	VERB
arestyrurj-153	112	12	a	a	DET
arestyrurj-153	112	13	swarm	swarm	NOUN
arestyrurj-153	112	14	being	be	AUX
arestyrurj-153	112	15	deployed	deploy	VERB
arestyrurj-153	112	16	from	from	ADP
arestyrurj-153	112	17	a	a	DET
arestyrurj-153	112	18	mothercraft	mothercraft	NOUN
arestyrurj-153	112	19	near	near	ADP
arestyrurj-153	112	20	saturn	saturn	NOUN
arestyrurj-153	112	21	into	into	ADP
arestyrurj-153	112	22	a	a	DET
arestyrurj-153	112	23	region	region	NOUN
arestyrurj-153	112	24	of	of	ADP
arestyrurj-153	112	25	saturn	saturn	NOUN
arestyrurj-153	112	26	’s	’s	PART
arestyrurj-153	112	27	rings	ring	NOUN
arestyrurj-153	112	28	with	with	ADP
arestyrurj-153	112	29	ring	ring	NOUN
arestyrurj-153	112	30	particles	particle	NOUN
arestyrurj-153	112	31	acting	act	VERB
arestyrurj-153	112	32	as	as	ADP
arestyrurj-153	112	33	obstacles	obstacle	NOUN
arestyrurj-153	112	34	.	.	PUNCT
arestyrurj-153	113	1	it	it	PRON
arestyrurj-153	113	2	should	should	AUX
arestyrurj-153	113	3	be	be	AUX
arestyrurj-153	113	4	noted	note	VERB
arestyrurj-153	113	5	that	that	SCONJ
arestyrurj-153	113	6	this	this	DET
arestyrurj-153	113	7	simulation	simulation	NOUN
arestyrurj-153	113	8	and	and	CCONJ
arestyrurj-153	113	9	approach	approach	NOUN
arestyrurj-153	113	10	will	will	AUX
arestyrurj-153	113	11	work	work	VERB
arestyrurj-153	113	12	for	for	ADP
arestyrurj-153	113	13	any	any	DET
arestyrurj-153	113	14	number	number	NOUN
arestyrurj-153	113	15	of	of	ADP
arestyrurj-153	113	16	spacecraft	spacecraft	NOUN
arestyrurj-153	113	17	and	and	CCONJ
arestyrurj-153	113	18	disturbances	disturbance	NOUN
arestyrurj-153	113	19	that	that	PRON
arestyrurj-153	113	20	may	may	AUX
arestyrurj-153	113	21	or	or	CCONJ
arestyrurj-153	113	22	may	may	AUX
arestyrurj-153	113	23	not	not	PART
arestyrurj-153	113	24	be	be	AUX
arestyrurj-153	113	25	static	static	ADJ
arestyrurj-153	113	26	.	.	PUNCT
arestyrurj-153	114	1	still	still	ADV
arestyrurj-153	114	2	,	,	PUNCT
arestyrurj-153	114	3	for	for	ADP
arestyrurj-153	114	4	this	this	DET
arestyrurj-153	114	5	work	work	NOUN
arestyrurj-153	114	6	,	,	PUNCT
arestyrurj-153	114	7	a	a	DET
arestyrurj-153	114	8	simpler	simple	ADJ
arestyrurj-153	114	9	scenario	scenario	NOUN
arestyrurj-153	114	10	was	be	AUX
arestyrurj-153	114	11	chosen	choose	VERB
arestyrurj-153	114	12	,	,	PUNCT
arestyrurj-153	114	13	primarily	primarily	ADV
arestyrurj-153	114	14	to	to	PART
arestyrurj-153	114	15	demonstrate	demonstrate	VERB
arestyrurj-153	114	16	the	the	DET
arestyrurj-153	114	17	efficacy	efficacy	NOUN
arestyrurj-153	114	18	of	of	ADP
arestyrurj-153	114	19	the	the	DET
arestyrurj-153	114	20	chosen	choose	VERB
arestyrurj-153	114	21	genetic	genetic	ADJ
arestyrurj-153	114	22	algorithm	algorithm	NOUN
arestyrurj-153	114	23	in	in	ADP
arestyrurj-153	114	24	reducing	reduce	VERB
arestyrurj-153	114	25	fuel	fuel	NOUN
arestyrurj-153	114	26	consumption	consumption	NOUN
arestyrurj-153	114	27	.	.	PUNCT
arestyrurj-153	115	1	as	as	SCONJ
arestyrurj-153	115	2	described	describe	VERB
arestyrurj-153	115	3	before	before	ADV
arestyrurj-153	115	4	,	,	PUNCT
arestyrurj-153	115	5	the	the	DET
arestyrurj-153	115	6	fuel	fuel	NOUN
arestyrurj-153	115	7	consumption	consumption	NOUN
arestyrurj-153	115	8	depends	depend	VERB
arestyrurj-153	115	9	on	on	ADP
arestyrurj-153	115	10	the	the	DET
arestyrurj-153	115	11	force	force	NOUN
arestyrurj-153	115	12	exerted	exert	VERB
arestyrurj-153	115	13	on	on	ADP
arestyrurj-153	115	14	a	a	DET
arestyrurj-153	115	15	craft	craft	NOUN
arestyrurj-153	115	16	by	by	ADP
arestyrurj-153	115	17	the	the	DET
arestyrurj-153	115	18	thrusters	thruster	NOUN
arestyrurj-153	115	19	,	,	PUNCT
arestyrurj-153	115	20	which	which	PRON
arestyrurj-153	115	21	is	be	AUX
arestyrurj-153	115	22	proportional	proportional	ADJ
arestyrurj-153	115	23	to	to	ADP
arestyrurj-153	115	24	the	the	DET
arestyrurj-153	115	25	acceleration	acceleration	NOUN
arestyrurj-153	115	26	of	of	ADP
arestyrurj-153	115	27	the	the	DET
arestyrurj-153	115	28	craft	craft	NOUN
arestyrurj-153	115	29	.	.	PUNCT
arestyrurj-153	116	1	whenever	whenever	SCONJ
arestyrurj-153	116	2	crafts	craft	NOUN
arestyrurj-153	116	3	are	be	AUX
arestyrurj-153	116	4	accelerating	accelerate	VERB
arestyrurj-153	116	5	to	to	PART
arestyrurj-153	116	6	form	form	VERB
arestyrurj-153	116	7	a	a	DET
arestyrurj-153	116	8	final	final	ADJ
arestyrurj-153	116	9	formation	formation	NOUN
arestyrurj-153	116	10	,	,	PUNCT
arestyrurj-153	116	11	avoid	avoid	VERB
arestyrurj-153	116	12	an	an	DET
arestyrurj-153	116	13	obstacle	obstacle	NOUN
arestyrurj-153	116	14	,	,	PUNCT
arestyrurj-153	116	15	or	or	CCONJ
arestyrurj-153	116	16	avoid	avoid	VERB
arestyrurj-153	116	17	another	another	DET
arestyrurj-153	116	18	craft	craft	NOUN
arestyrurj-153	116	19	,	,	PUNCT
arestyrurj-153	116	20	the	the	DET
arestyrurj-153	116	21	thrusters	thruster	NOUN
arestyrurj-153	116	22	must	must	AUX
arestyrurj-153	116	23	exert	exert	VERB
arestyrurj-153	116	24	force	force	NOUN
arestyrurj-153	116	25	on	on	ADP
arestyrurj-153	116	26	the	the	DET
arestyrurj-153	116	27	craft	craft	NOUN
arestyrurj-153	116	28	to	to	PART
arestyrurj-153	116	29	move	move	VERB
arestyrurj-153	116	30	it	it	PRON
arestyrurj-153	116	31	,	,	PUNCT
arestyrurj-153	116	32	thus	thus	ADV
arestyrurj-153	116	33	spending	spend	VERB
arestyrurj-153	116	34	fuel	fuel	NOUN
arestyrurj-153	116	35	.	.	PUNCT
arestyrurj-153	117	1	smoother	smooth	ADJ
arestyrurj-153	117	2	trajectories	trajectory	NOUN
arestyrurj-153	117	3	generally	generally	ADV
arestyrurj-153	117	4	use	use	VERB
arestyrurj-153	117	5	less	less	ADJ
arestyrurj-153	117	6	fuel	fuel	NOUN
arestyrurj-153	117	7	than	than	ADP
arestyrurj-153	117	8	trajectories	trajectory	NOUN
arestyrurj-153	117	9	where	where	SCONJ
arestyrurj-153	117	10	sharp	sharp	ADJ
arestyrurj-153	117	11	turns	turn	NOUN
arestyrurj-153	117	12	and	and	CCONJ
arestyrurj-153	117	13	abrupt	abrupt	ADJ
arestyrurj-153	117	14	accelerations	acceleration	NOUN
arestyrurj-153	117	15	are	be	AUX
arestyrurj-153	117	16	required	require	VERB
arestyrurj-153	117	17	to	to	PART
arestyrurj-153	117	18	avoid	avoid	VERB
arestyrurj-153	117	19	collisions	collision	NOUN
arestyrurj-153	117	20	.	.	PUNCT
arestyrurj-153	118	1	within	within	ADP
arestyrurj-153	118	2	this	this	DET
arestyrurj-153	118	3	preliminary	preliminary	ADJ
arestyrurj-153	118	4	model	model	NOUN
arestyrurj-153	118	5	,	,	PUNCT
arestyrurj-153	118	6	collisions	collision	NOUN
arestyrurj-153	118	7	may	may	AUX
arestyrurj-153	118	8	happen	happen	VERB
arestyrurj-153	118	9	and	and	CCONJ
arestyrurj-153	118	10	can	can	AUX
arestyrurj-153	118	11	be	be	AUX
arestyrurj-153	118	12	checked	check	VERB
arestyrurj-153	118	13	for	for	ADP
arestyrurj-153	118	14	but	but	CCONJ
arestyrurj-153	118	15	will	will	AUX
arestyrurj-153	118	16	not	not	PART
arestyrurj-153	118	17	be	be	AUX
arestyrurj-153	118	18	physically	physically	ADV
arestyrurj-153	118	19	accurate	accurate	ADJ
arestyrurj-153	118	20	.	.	PUNCT
arestyrurj-153	119	1	the	the	DET
arestyrurj-153	119	2	agents	agent	NOUN
arestyrurj-153	119	3	will	will	AUX
arestyrurj-153	119	4	move	move	VERB
arestyrurj-153	119	5	through	through	ADP
arestyrurj-153	119	6	obstacles	obstacle	NOUN
arestyrurj-153	119	7	or	or	CCONJ
arestyrurj-153	119	8	other	other	ADJ
arestyrurj-153	119	9	craft	craft	NOUN
arestyrurj-153	119	10	upon	upon	SCONJ
arestyrurj-153	119	11	collision	collision	NOUN
arestyrurj-153	119	12	.	.	PUNCT
arestyrurj-153	120	1	this	this	DET
arestyrurj-153	120	2	simulation	simulation	NOUN
arestyrurj-153	120	3	’s	’s	PART
arestyrurj-153	120	4	main	main	ADJ
arestyrurj-153	120	5	goal	goal	NOUN
arestyrurj-153	120	6	is	be	AUX
arestyrurj-153	120	7	to	to	PART
arestyrurj-153	120	8	validate	validate	VERB
arestyrurj-153	120	9	the	the	DET
arestyrurj-153	120	10	genetic	genetic	ADJ
arestyrurj-153	120	11	algorithm	algorithm	NOUN
arestyrurj-153	120	12	before	before	ADP
arestyrurj-153	120	13	making	make	VERB
arestyrurj-153	120	14	the	the	DET
arestyrurj-153	120	15	mathematical	mathematical	ADJ
arestyrurj-153	120	16	model	model	NOUN
arestyrurj-153	120	17	and	and	CCONJ
arestyrurj-153	120	18	environment	environment	NOUN
arestyrurj-153	120	19	too	too	ADV
arestyrurj-153	120	20	complicated	complicated	ADJ
arestyrurj-153	120	21	.	.	PUNCT
arestyrurj-153	121	1	future	future	ADJ
arestyrurj-153	121	2	work	work	NOUN
arestyrurj-153	121	3	on	on	ADP
arestyrurj-153	121	4	this	this	DET
arestyrurj-153	121	5	project	project	NOUN
arestyrurj-153	121	6	will	will	AUX
arestyrurj-153	121	7	involve	involve	VERB
arestyrurj-153	121	8	the	the	DET
arestyrurj-153	121	9	implementation	implementation	NOUN
arestyrurj-153	121	10	of	of	ADP
arestyrurj-153	121	11	physically	physically	ADV
arestyrurj-153	121	12	accurate	accurate	ADJ
arestyrurj-153	121	13	collision	collision	NOUN
arestyrurj-153	121	14	physics	physics	NOUN
arestyrurj-153	121	15	and	and	CCONJ
arestyrurj-153	121	16	the	the	DET
arestyrurj-153	121	17	event	event	NOUN
arestyrurj-153	121	18	of	of	ADP
arestyrurj-153	121	19	a	a	DET
arestyrurj-153	121	20	craft	craft	NOUN
arestyrurj-153	121	21	colliding	collide	VERB
arestyrurj-153	121	22	and	and	CCONJ
arestyrurj-153	121	23	being	be	AUX
arestyrurj-153	121	24	compromised	compromise	VERB
arestyrurj-153	121	25	,	,	PUNCT
arestyrurj-153	121	26	leaving	leave	VERB
arestyrurj-153	121	27	the	the	DET
arestyrurj-153	121	28	swarm	swarm	NOUN
arestyrurj-153	121	29	.	.	PUNCT
arestyrurj-153	122	1	first	first	ADV
arestyrurj-153	122	2	,	,	PUNCT
arestyrurj-153	122	3	we	we	PRON
arestyrurj-153	122	4	start	start	VERB
arestyrurj-153	122	5	with	with	ADP
arestyrurj-153	122	6	an	an	DET
arestyrurj-153	122	7	initial	initial	ADJ
arestyrurj-153	122	8	population	population	NOUN
arestyrurj-153	122	9	of	of	ADP
arestyrurj-153	122	10	five	five	NUM
arestyrurj-153	122	11	sets	set	NOUN
arestyrurj-153	122	12	of	of	ADP
arestyrurj-153	122	13	parameters	parameter	NOUN
arestyrurj-153	122	14	,	,	PUNCT
arestyrurj-153	122	15	listed	list	VERB
arestyrurj-153	122	16	in	in	ADP
arestyrurj-153	122	17	the	the	DET
arestyrurj-153	122	18	chart	chart	NOUN
arestyrurj-153	122	19	to	to	ADP
arestyrurj-153	122	20	the	the	DET
arestyrurj-153	122	21	left	left	NOUN
arestyrurj-153	122	22	of	of	ADP
arestyrurj-153	122	23	figure	figure	NOUN
arestyrurj-153	122	24	5	5	NUM
arestyrurj-153	122	25	.	.	PUNCT
arestyrurj-153	123	1	the	the	DET
arestyrurj-153	123	2	trajectory	trajectory	NOUN
arestyrurj-153	123	3	and	and	CCONJ
arestyrurj-153	123	4	fuel	fuel	NOUN
arestyrurj-153	123	5	consumption	consumption	NOUN
arestyrurj-153	123	6	analysis	analysis	NOUN
arestyrurj-153	123	7	for	for	ADP
arestyrurj-153	123	8	one	one	NUM
arestyrurj-153	123	9	craft	craft	NOUN
arestyrurj-153	123	10	is	be	AUX
arestyrurj-153	123	11	shown	show	VERB
arestyrurj-153	123	12	below	below	ADP
arestyrurj-153	123	13	in	in	ADP
arestyrurj-153	123	14	figure	figure	NOUN
arestyrurj-153	123	15	7	7	NUM
arestyrurj-153	123	16	.	.	PUNCT
arestyrurj-153	124	1	in	in	ADP
arestyrurj-153	124	2	figure	figure	NOUN
arestyrurj-153	124	3	5	5	NUM
arestyrurj-153	124	4	we	we	PRON
arestyrurj-153	124	5	show	show	VERB
arestyrurj-153	124	6	the	the	DET
arestyrurj-153	124	7	parameters	parameter	NOUN
arestyrurj-153	124	8	used	use	VERB
arestyrurj-153	124	9	for	for	ADP
arestyrurj-153	124	10	this	this	DET
arestyrurj-153	124	11	simulation	simulation	NOUN
arestyrurj-153	124	12	as	as	ADV
arestyrurj-153	124	13	well	well	ADV
arestyrurj-153	124	14	as	as	ADP
arestyrurj-153	124	15	the	the	DET
arestyrurj-153	124	16	swarm	swarm	NOUN
arestyrurj-153	124	17	trajectory	trajectory	NOUN
arestyrurj-153	124	18	.	.	PUNCT
arestyrurj-153	125	1	figure	figure	NOUN
arestyrurj-153	125	2	6	6	NUM
arestyrurj-153	125	3	presents	present	VERB
arestyrurj-153	125	4	an	an	DET
arestyrurj-153	125	5	alternate	alternate	ADJ
arestyrurj-153	125	6	view	view	NOUN
arestyrurj-153	125	7	.	.	PUNCT
arestyrurj-153	126	1	as	as	SCONJ
arestyrurj-153	126	2	seen	see	VERB
arestyrurj-153	126	3	from	from	ADP
arestyrurj-153	126	4	figure	figure	NOUN
arestyrurj-153	126	5	5	5	NUM
arestyrurj-153	126	6	and	and	CCONJ
arestyrurj-153	126	7	figure	figure	VERB
arestyrurj-153	126	8	6	6	NUM
arestyrurj-153	126	9	,	,	PUNCT
arestyrurj-153	126	10	the	the	DET
arestyrurj-153	126	11	swarm	swarm	NOUN
arestyrurj-153	126	12	starts	start	VERB
arestyrurj-153	126	13	in	in	ADP
arestyrurj-153	126	14	an	an	DET
arestyrurj-153	126	15	initial	initial	ADJ
arestyrurj-153	126	16	circular	circular	ADJ
arestyrurj-153	126	17	launch	launch	NOUN
arestyrurj-153	126	18	apparatus	apparatus	NOUN
arestyrurj-153	126	19	.	.	PUNCT
arestyrurj-153	127	1	it	it	PRON
arestyrurj-153	127	2	then	then	ADV
arestyrurj-153	127	3	moves	move	VERB
arestyrurj-153	127	4	through	through	ADP
arestyrurj-153	127	5	space	space	NOUN
arestyrurj-153	127	6	approaching	approach	VERB
arestyrurj-153	127	7	the	the	DET
arestyrurj-153	127	8	final	final	ADJ
arestyrurj-153	127	9	formation	formation	NOUN
arestyrurj-153	127	10	while	while	SCONJ
arestyrurj-153	127	11	avoiding	avoid	VERB
arestyrurj-153	127	12	the	the	DET
arestyrurj-153	127	13	obstacles	obstacle	NOUN
arestyrurj-153	127	14	at	at	ADP
arestyrurj-153	127	15	locations	location	NOUN
arestyrurj-153	127	16	denoted	denote	VERB
arestyrurj-153	127	17	by	by	ADP
arestyrurj-153	127	18	large	large	ADJ
arestyrurj-153	127	19	open	open	ADJ
arestyrurj-153	127	20	circles	circle	NOUN
arestyrurj-153	127	21	and	and	CCONJ
arestyrurj-153	127	22	the	the	DET
arestyrurj-153	127	23	other	other	ADJ
arestyrurj-153	127	24	craft	craft	NOUN
arestyrurj-153	127	25	.	.	PUNCT
arestyrurj-153	128	1	the	the	DET
arestyrurj-153	128	2	blue	blue	ADJ
arestyrurj-153	128	3	craft	craft	NOUN
arestyrurj-153	128	4	on	on	ADP
arestyrurj-153	128	5	the	the	DET
arestyrurj-153	128	6	right	right	NOUN
arestyrurj-153	128	7	provides	provide	VERB
arestyrurj-153	128	8	an	an	DET
arestyrurj-153	128	9	example	example	NOUN
arestyrurj-153	128	10	of	of	ADP
arestyrurj-153	128	11	such	such	ADJ
arestyrurj-153	128	12	aggressive	aggressive	ADJ
arestyrurj-153	128	13	avoidance	avoidance	NOUN
arestyrurj-153	128	14	behavior	behavior	NOUN
arestyrurj-153	128	15	with	with	ADP
arestyrurj-153	128	16	an	an	DET
arestyrurj-153	128	17	aggressive	aggressive	ADJ
arestyrurj-153	128	18	fuel	fuel	NOUN
arestyrurj-153	128	19	consumption	consumption	NOUN
arestyrurj-153	128	20	depends	depend	VERB
arestyrurj-153	128	21	on	on	ADP
arestyrurj-153	128	22	the	the	DET
arestyrurj-153	128	23	force	force	NOUN
arestyrurj-153	128	24	exerted	exert	VERB
arestyrurj-153	128	25	on	on	ADP
arestyrurj-153	128	26	a	a	DET
arestyrurj-153	128	27	craft	craft	NOUN
arestyrurj-153	128	28	by	by	ADP
arestyrurj-153	128	29	the	the	DET
arestyrurj-153	128	30	thrusters	thruster	NOUN
arestyrurj-153	128	31	,	,	PUNCT
arestyrurj-153	128	32	which	which	PRON
arestyrurj-153	128	33	is	be	AUX
arestyrurj-153	128	34	proportional	proportional	ADJ
arestyrurj-153	128	35	to	to	ADP
arestyrurj-153	128	36	the	the	DET
arestyrurj-153	128	37	acceleration	acceleration	NOUN
arestyrurj-153	128	38	of	of	ADP
arestyrurj-153	128	39	the	the	DET
arestyrurj-153	128	40	craft	craft	NOUN
arestyrurj-153	128	41	aresty	aresty	ADJ
arestyrurj-153	128	42	rutgers	rutgers	PROPN
arestyrurj-153	128	43	undergraduate	undergraduate	PROPN
arestyrurj-153	128	44	research	research	PROPN
arestyrurj-153	128	45	journal	journal	PROPN
arestyrurj-153	128	46	,	,	PUNCT
arestyrurj-153	128	47	volume	volume	NOUN
arestyrurj-153	128	48	i	i	PRON
arestyrurj-153	128	49	,	,	PUNCT
arestyrurj-153	128	50	issue	issue	NOUN
arestyrurj-153	128	51	ii	ii	PROPN
arestyrurj-153	128	52	maneuver	maneuver	NOUN
arestyrurj-153	128	53	at	at	ADP
arestyrurj-153	128	54	around	around	ADV
arestyrurj-153	128	55	10	10	NUM
arestyrurj-153	128	56	meters	meter	NOUN
arestyrurj-153	128	57	.	.	PUNCT
arestyrurj-153	129	1	the	the	DET
arestyrurj-153	129	2	red	red	PROPN
arestyrurj-153	129	3	trajectory	trajectory	NOUN
arestyrurj-153	129	4	next	next	ADV
arestyrurj-153	129	5	to	to	ADP
arestyrurj-153	129	6	it	it	PRON
arestyrurj-153	129	7	also	also	ADV
arestyrurj-153	129	8	appears	appear	VERB
arestyrurj-153	129	9	to	to	PART
arestyrurj-153	129	10	move	move	VERB
arestyrurj-153	129	11	out	out	ADP
arestyrurj-153	129	12	of	of	ADP
arestyrurj-153	129	13	the	the	DET
arestyrurj-153	129	14	way	way	NOUN
arestyrurj-153	129	15	of	of	ADP
arestyrurj-153	129	16	the	the	DET
arestyrurj-153	129	17	blue	blue	ADJ
arestyrurj-153	129	18	one	one	NOUN
arestyrurj-153	129	19	when	when	SCONJ
arestyrurj-153	129	20	it	it	PRON
arestyrurj-153	129	21	moves	move	VERB
arestyrurj-153	129	22	in	in	ADP
arestyrurj-153	129	23	the	the	DET
arestyrurj-153	129	24	red	red	ADJ
arestyrurj-153	129	25	trajectory	trajectory	NOUN
arestyrurj-153	129	26	’s	’s	PART
arestyrurj-153	129	27	path	path	NOUN
arestyrurj-153	129	28	to	to	PART
arestyrurj-153	129	29	avoid	avoid	VERB
arestyrurj-153	129	30	the	the	DET
arestyrurj-153	129	31	obstacle	obstacle	NOUN
arestyrurj-153	129	32	as	as	ADV
arestyrurj-153	129	33	well	well	ADV
arestyrurj-153	129	34	.	.	PUNCT
arestyrurj-153	130	1	this	this	DET
arestyrurj-153	130	2	trend	trend	NOUN
arestyrurj-153	130	3	is	be	AUX
arestyrurj-153	130	4	better	well	ADV
arestyrurj-153	130	5	visible	visible	ADJ
arestyrurj-153	130	6	in	in	ADP
arestyrurj-153	130	7	figure	figure	NOUN
arestyrurj-153	130	8	5	5	NUM
arestyrurj-153	130	9	.	.	PUNCT
arestyrurj-153	131	1	as	as	SCONJ
arestyrurj-153	131	2	the	the	DET
arestyrurj-153	131	3	blue	blue	ADJ
arestyrurj-153	131	4	craft	craft	NOUN
arestyrurj-153	131	5	dips	dip	VERB
arestyrurj-153	131	6	inward	inward	ADV
arestyrurj-153	131	7	toward	toward	ADP
arestyrurj-153	131	8	the	the	DET
arestyrurj-153	131	9	left	left	NOUN
arestyrurj-153	131	10	,	,	PUNCT
arestyrurj-153	131	11	the	the	DET
arestyrurj-153	131	12	red	red	ADJ
arestyrurj-153	131	13	craft	craft	NOUN
arestyrurj-153	131	14	above	above	ADP
arestyrurj-153	131	15	it	it	PRON
arestyrurj-153	131	16	speeds	speed	VERB
arestyrurj-153	131	17	up	up	ADP
arestyrurj-153	131	18	(	(	PUNCT
arestyrurj-153	131	19	more	more	ADJ
arestyrurj-153	131	20	space	space	NOUN
arestyrurj-153	131	21	in	in	ADP
arestyrurj-153	131	22	between	between	ADP
arestyrurj-153	131	23	consecutive	consecutive	ADJ
arestyrurj-153	131	24	dots	dot	NOUN
arestyrurj-153	131	25	represents	represent	VERB
arestyrurj-153	131	26	faster	fast	ADJ
arestyrurj-153	131	27	movement	movement	NOUN
arestyrurj-153	131	28	)	)	PUNCT
arestyrurj-153	131	29	to	to	PART
arestyrurj-153	131	30	avoid	avoid	VERB
arestyrurj-153	131	31	the	the	DET
arestyrurj-153	131	32	blue	blue	ADJ
arestyrurj-153	131	33	craft	craft	NOUN
arestyrurj-153	131	34	.	.	PUNCT
arestyrurj-153	132	1	although	although	SCONJ
arestyrurj-153	132	2	they	they	PRON
arestyrurj-153	132	3	are	be	AUX
arestyrurj-153	132	4	not	not	PART
arestyrurj-153	132	5	necessarily	necessarily	ADV
arestyrurj-153	132	6	on	on	ADP
arestyrurj-153	132	7	a	a	DET
arestyrurj-153	132	8	collision	collision	NOUN
arestyrurj-153	132	9	course	course	NOUN
arestyrurj-153	132	10	,	,	PUNCT
arestyrurj-153	132	11	they	they	PRON
arestyrurj-153	132	12	could	could	AUX
arestyrurj-153	132	13	be	be	AUX
arestyrurj-153	132	14	as	as	SCONJ
arestyrurj-153	132	15	these	these	DET
arestyrurj-153	132	16	dots	dot	NOUN
arestyrurj-153	132	17	only	only	ADV
arestyrurj-153	132	18	represent	represent	VERB
arestyrurj-153	132	19	the	the	DET
arestyrurj-153	132	20	centers	center	NOUN
arestyrurj-153	132	21	of	of	ADP
arestyrurj-153	132	22	spherical	spherical	ADJ
arestyrurj-153	132	23	crafts	craft	NOUN
arestyrurj-153	132	24	,	,	PUNCT
arestyrurj-153	132	25	which	which	PRON
arestyrurj-153	132	26	could	could	AUX
arestyrurj-153	132	27	have	have	VERB
arestyrurj-153	132	28	varying	vary	VERB
arestyrurj-153	132	29	sizes	size	NOUN
arestyrurj-153	132	30	.	.	PUNCT
arestyrurj-153	133	1	the	the	DET
arestyrurj-153	133	2	magnitudes	magnitude	NOUN
arestyrurj-153	133	3	of	of	ADP
arestyrurj-153	133	4	the	the	DET
arestyrurj-153	133	5	inter	inter	ADJ
arestyrurj-153	133	6	-	-	ADJ
arestyrurj-153	133	7	craft	craft	ADJ
arestyrurj-153	133	8	repulsive	repulsive	ADJ
arestyrurj-153	133	9	potentials	potential	VERB
arestyrurj-153	133	10	responsible	responsible	ADJ
arestyrurj-153	133	11	for	for	ADP
arestyrurj-153	133	12	this	this	DET
arestyrurj-153	133	13	collision	collision	NOUN
arestyrurj-153	133	14	avoidance	avoidance	NOUN
arestyrurj-153	133	15	behavior	behavior	NOUN
arestyrurj-153	133	16	would	would	AUX
arestyrurj-153	133	17	factor	factor	VERB
arestyrurj-153	133	18	in	in	ADP
arestyrurj-153	133	19	the	the	DET
arestyrurj-153	133	20	craft	craft	NOUN
arestyrurj-153	133	21	’s	’s	PART
arestyrurj-153	133	22	radius	radius	NOUN
arestyrurj-153	133	23	when	when	SCONJ
arestyrurj-153	133	24	being	be	AUX
arestyrurj-153	133	25	chosen	choose	VERB
arestyrurj-153	133	26	.	.	PUNCT
arestyrurj-153	134	1	in	in	ADP
arestyrurj-153	134	2	this	this	DET
arestyrurj-153	134	3	case	case	NOUN
arestyrurj-153	134	4	,	,	PUNCT
arestyrurj-153	134	5	the	the	DET
arestyrurj-153	134	6	red	red	ADJ
arestyrurj-153	134	7	and	and	CCONJ
arestyrurj-153	134	8	blue	blue	ADJ
arestyrurj-153	134	9	crafts	craft	NOUN
arestyrurj-153	134	10	became	become	VERB
arestyrurj-153	134	11	a	a	DET
arestyrurj-153	134	12	bit	bit	NOUN
arestyrurj-153	134	13	too	too	ADV
arestyrurj-153	134	14	close	close	ADJ
arestyrurj-153	134	15	to	to	ADP
arestyrurj-153	134	16	each	each	DET
arestyrurj-153	134	17	other	other	ADJ
arestyrurj-153	134	18	,	,	PUNCT
arestyrurj-153	134	19	so	so	SCONJ
arestyrurj-153	134	20	the	the	DET
arestyrurj-153	134	21	avoidance	avoidance	NOUN
arestyrurj-153	134	22	mechanism	mechanism	NOUN
arestyrurj-153	134	23	governed	govern	VERB
arestyrurj-153	134	24	by	by	ADP
arestyrurj-153	134	25	the	the	DET
arestyrurj-153	134	26	potentials	potential	NOUN
arestyrurj-153	134	27	was	be	AUX
arestyrurj-153	134	28	initiated	initiate	VERB
arestyrurj-153	134	29	.	.	PUNCT
arestyrurj-153	135	1	in	in	ADP
arestyrurj-153	135	2	figure	figure	NOUN
arestyrurj-153	135	3	7	7	NUM
arestyrurj-153	135	4	we	we	PRON
arestyrurj-153	135	5	show	show	VERB
arestyrurj-153	135	6	the	the	DET
arestyrurj-153	135	7	fuel	fuel	NOUN
arestyrurj-153	135	8	consumption	consumption	NOUN
arestyrurj-153	135	9	against	against	ADP
arestyrurj-153	135	10	the	the	DET
arestyrurj-153	135	11	time	time	NOUN
arestyrurj-153	135	12	of	of	ADP
arestyrurj-153	135	13	this	this	DET
arestyrurj-153	135	14	same	same	ADJ
arestyrurj-153	135	15	blue	blue	ADJ
arestyrurj-153	135	16	craft	craft	NOUN
arestyrurj-153	135	17	described	describe	VERB
arestyrurj-153	135	18	above	above	ADV
arestyrurj-153	135	19	.	.	PUNCT
arestyrurj-153	136	1	a	a	DET
arestyrurj-153	136	2	graph	graph	NOUN
arestyrurj-153	136	3	of	of	ADP
arestyrurj-153	136	4	a	a	DET
arestyrurj-153	136	5	singular	singular	ADJ
arestyrurj-153	136	6	craft	craft	NOUN
arestyrurj-153	136	7	’s	’s	PART
arestyrurj-153	136	8	fuel	fuel	NOUN
arestyrurj-153	136	9	consumption	consumption	NOUN
arestyrurj-153	136	10	is	be	AUX
arestyrurj-153	136	11	presented	present	VERB
arestyrurj-153	136	12	as	as	SCONJ
arestyrurj-153	136	13	it	it	PRON
arestyrurj-153	136	14	is	be	AUX
arestyrurj-153	136	15	still	still	ADV
arestyrurj-153	136	16	indicative	indicative	ADJ
arestyrurj-153	136	17	of	of	ADP
arestyrurj-153	136	18	the	the	DET
arestyrurj-153	136	19	swarm	swarm	NOUN
arestyrurj-153	136	20	’s	’s	PART
arestyrurj-153	136	21	consumption	consumption	NOUN
arestyrurj-153	136	22	as	as	ADP
arestyrurj-153	136	23	a	a	DET
arestyrurj-153	136	24	whole	whole	NOUN
arestyrurj-153	136	25	.	.	PUNCT
arestyrurj-153	137	1	this	this	DET
arestyrurj-153	137	2	blue	blue	ADJ
arestyrurj-153	137	3	craft	craft	NOUN
arestyrurj-153	137	4	was	be	AUX
arestyrurj-153	137	5	the	the	DET
arestyrurj-153	137	6	most	most	ADV
arestyrurj-153	137	7	responsible	responsible	ADJ
arestyrurj-153	137	8	for	for	ADP
arestyrurj-153	137	9	increased	increase	VERB
arestyrurj-153	137	10	fuel	fuel	NOUN
arestyrurj-153	137	11	consumption	consumption	NOUN
arestyrurj-153	137	12	in	in	ADP
arestyrurj-153	137	13	this	this	DET
arestyrurj-153	137	14	trajectory	trajectory	NOUN
arestyrurj-153	137	15	due	due	ADP
arestyrurj-153	137	16	to	to	ADP
arestyrurj-153	137	17	its	its	PRON
arestyrurj-153	137	18	harsh	harsh	ADJ
arestyrurj-153	137	19	avoidance	avoidance	NOUN
arestyrurj-153	137	20	maneuver	maneuver	NOUN
arestyrurj-153	137	21	.	.	PUNCT
arestyrurj-153	138	1	the	the	DET
arestyrurj-153	138	2	fuel	fuel	NOUN
arestyrurj-153	138	3	consumption	consumption	NOUN
arestyrurj-153	138	4	spikes	spike	VERB
arestyrurj-153	138	5	during	during	ADP
arestyrurj-153	138	6	periods	period	NOUN
arestyrurj-153	138	7	of	of	ADP
arestyrurj-153	138	8	high	high	ADJ
arestyrurj-153	138	9	acceleration	acceleration	NOUN
arestyrurj-153	138	10	and	and	CCONJ
arestyrurj-153	138	11	saturates	saturate	VERB
arestyrurj-153	138	12	once	once	ADV
arestyrurj-153	138	13	the	the	DET
arestyrurj-153	138	14	swarm	swarm	NOUN
arestyrurj-153	138	15	converges	converge	VERB
arestyrurj-153	138	16	to	to	ADP
arestyrurj-153	138	17	the	the	DET
arestyrurj-153	138	18	final	final	ADJ
arestyrurj-153	138	19	formation	formation	NOUN
arestyrurj-153	138	20	as	as	SCONJ
arestyrurj-153	138	21	expected	expect	VERB
arestyrurj-153	138	22	since	since	SCONJ
arestyrurj-153	138	23	the	the	DET
arestyrurj-153	138	24	craft	craft	NOUN
arestyrurj-153	138	25	is	be	AUX
arestyrurj-153	138	26	no	no	ADV
arestyrurj-153	138	27	longer	long	ADV
arestyrurj-153	138	28	accelerating	accelerate	VERB
arestyrurj-153	138	29	at	at	ADP
arestyrurj-153	138	30	that	that	DET
arestyrurj-153	138	31	point	point	NOUN
arestyrurj-153	138	32	.	.	PUNCT
arestyrurj-153	139	1	also	also	ADV
arestyrurj-153	139	2	noteworthy	noteworthy	ADJ
arestyrurj-153	139	3	is	be	AUX
arestyrurj-153	139	4	that	that	SCONJ
arestyrurj-153	139	5	fuel	fuel	NOUN
arestyrurj-153	139	6	consumption	consumption	NOUN
arestyrurj-153	139	7	spikes	spike	VERB
arestyrurj-153	139	8	around	around	ADP
arestyrurj-153	139	9	when	when	SCONJ
arestyrurj-153	139	10	the	the	DET
arestyrurj-153	139	11	blue	blue	ADJ
arestyrurj-153	139	12	trajectory	trajectory	NOUN
arestyrurj-153	139	13	aggressively	aggressively	ADV
arestyrurj-153	139	14	avoids	avoid	VERB
arestyrurj-153	139	15	the	the	DET
arestyrurj-153	139	16	obstacle	obstacle	NOUN
arestyrurj-153	139	17	(	(	PUNCT
arestyrurj-153	139	18	asteroid	asteroid	NOUN
arestyrurj-153	139	19	)	)	PUNCT
arestyrurj-153	139	20	bound	bind	VERB
arestyrurj-153	139	21	for	for	ADP
arestyrurj-153	139	22	a	a	DET
arestyrurj-153	139	23	head	head	NOUN
arestyrurj-153	139	24	-	-	PUNCT
arestyrurj-153	139	25	on	on	ADP
arestyrurj-153	139	26	collision	collision	NOUN
arestyrurj-153	139	27	if	if	SCONJ
arestyrurj-153	139	28	it	it	PRON
arestyrurj-153	139	29	did	do	AUX
arestyrurj-153	139	30	not	not	PART
arestyrurj-153	139	31	move	move	VERB
arestyrurj-153	139	32	out	out	ADP
arestyrurj-153	139	33	of	of	ADP
arestyrurj-153	139	34	the	the	DET
arestyrurj-153	139	35	way	way	NOUN
arestyrurj-153	139	36	.	.	PUNCT
arestyrurj-153	140	1	all	all	PRON
arestyrurj-153	140	2	of	of	ADP
arestyrurj-153	140	3	the	the	DET
arestyrurj-153	140	4	fuel	fuel	NOUN
arestyrurj-153	140	5	consumptions	consumption	NOUN
arestyrurj-153	140	6	summed	sum	VERB
arestyrurj-153	140	7	for	for	ADP
arestyrurj-153	140	8	each	each	DET
arestyrurj-153	140	9	craft	craft	NOUN
arestyrurj-153	140	10	for	for	ADP
arestyrurj-153	140	11	this	this	DET
arestyrurj-153	140	12	simulation	simulation	NOUN
arestyrurj-153	140	13	was	be	AUX
arestyrurj-153	140	14	3462.7	3462.7	NUM
arestyrurj-153	140	15	j	j	PROPN
arestyrurj-153	140	16	/	/	SYM
arestyrurj-153	140	17	kg	kg	PROPN
arestyrurj-153	140	18	.	.	PUNCT
arestyrurj-153	141	1	this	this	DET
arestyrurj-153	141	2	value	value	NOUN
arestyrurj-153	141	3	is	be	AUX
arestyrurj-153	141	4	accurate	accurate	ADJ
arestyrurj-153	141	5	within	within	ADP
arestyrurj-153	141	6	the	the	DET
arestyrurj-153	141	7	model	model	NOUN
arestyrurj-153	141	8	itself	itself	PRON
arestyrurj-153	141	9	as	as	SCONJ
arestyrurj-153	141	10	it	it	PRON
arestyrurj-153	141	11	is	be	AUX
arestyrurj-153	141	12	a	a	DET
arestyrurj-153	141	13	result	result	NOUN
arestyrurj-153	141	14	of	of	ADP
arestyrurj-153	141	15	pure	pure	ADJ
arestyrurj-153	141	16	mathematical	mathematical	ADJ
arestyrurj-153	141	17	calculations	calculation	NOUN
arestyrurj-153	141	18	without	without	ADP
arestyrurj-153	141	19	any	any	DET
arestyrurj-153	141	20	data	datum	NOUN
arestyrurj-153	141	21	being	be	AUX
arestyrurj-153	141	22	taken	take	VERB
arestyrurj-153	141	23	.	.	PUNCT
arestyrurj-153	142	1	after	after	ADP
arestyrurj-153	142	2	running	run	VERB
arestyrurj-153	142	3	this	this	DET
arestyrurj-153	142	4	data	data	NOUN
arestyrurj-153	142	5	set	set	NOUN
arestyrurj-153	142	6	(	(	PUNCT
arestyrurj-153	142	7	set	set	NOUN
arestyrurj-153	142	8	of	of	ADP
arestyrurj-153	142	9	the	the	DET
arestyrurj-153	142	10	seven	seven	NUM
arestyrurj-153	142	11	parameters	parameter	NOUN
arestyrurj-153	142	12	being	be	AUX
arestyrurj-153	142	13	considered	consider	VERB
arestyrurj-153	142	14	)	)	PUNCT
arestyrurj-153	142	15	and	and	CCONJ
arestyrurj-153	142	16	four	four	NUM
arestyrurj-153	142	17	others	other	NOUN
arestyrurj-153	142	18	through	through	ADP
arestyrurj-153	142	19	the	the	DET
arestyrurj-153	142	20	genetic	genetic	ADJ
arestyrurj-153	142	21	algorithm	algorithm	NOUN
arestyrurj-153	142	22	,	,	PUNCT
arestyrurj-153	142	23	it	it	PRON
arestyrurj-153	142	24	converged	converge	VERB
arestyrurj-153	142	25	to	to	ADP
arestyrurj-153	142	26	a	a	DET
arestyrurj-153	142	27	possible	possible	ADJ
arestyrurj-153	142	28	optimal	optimal	ADJ
arestyrurj-153	142	29	data	datum	NOUN
arestyrurj-153	142	30	set	set	VERB
arestyrurj-153	142	31	after	after	ADP
arestyrurj-153	142	32	71	71	NUM
arestyrurj-153	142	33	generations	generation	NOUN
arestyrurj-153	142	34	(	(	PUNCT
arestyrurj-153	142	35	or	or	CCONJ
arestyrurj-153	142	36	355	355	NUM
arestyrurj-153	142	37	individual	individual	ADJ
arestyrurj-153	142	38	simulations	simulation	NOUN
arestyrurj-153	142	39	in	in	ADP
arestyrurj-153	142	40	simulink	simulink	NOUN
arestyrurj-153	142	41	)	)	PUNCT
arestyrurj-153	142	42	.	.	PUNCT
arestyrurj-153	143	1	this	this	DET
arestyrurj-153	143	2	process	process	NOUN
arestyrurj-153	143	3	worked	work	VERB
arestyrurj-153	143	4	by	by	ADP
arestyrurj-153	143	5	taking	take	VERB
arestyrurj-153	143	6	the	the	DET
arestyrurj-153	143	7	original	original	ADJ
arestyrurj-153	143	8	population	population	NOUN
arestyrurj-153	143	9	of	of	ADP
arestyrurj-153	143	10	five	five	NUM
arestyrurj-153	143	11	sets	set	NOUN
arestyrurj-153	143	12	of	of	ADP
arestyrurj-153	143	13	the	the	DET
arestyrurj-153	143	14	seven	seven	NUM
arestyrurj-153	143	15	parameters	parameter	NOUN
arestyrurj-153	143	16	being	be	AUX
arestyrurj-153	143	17	considered	consider	VERB
arestyrurj-153	143	18	and	and	CCONJ
arestyrurj-153	143	19	running	run	VERB
arestyrurj-153	143	20	the	the	DET
arestyrurj-153	143	21	simulink	simulink	PROPN
arestyrurj-153	143	22	simulation	simulation	NOUN
arestyrurj-153	143	23	and	and	CCONJ
arestyrurj-153	143	24	corresponding	correspond	VERB
arestyrurj-153	143	25	total	total	ADJ
arestyrurj-153	143	26	fuel	fuel	NOUN
arestyrurj-153	143	27	usage	usage	NOUN
arestyrurj-153	143	28	for	for	ADP
arestyrurj-153	143	29	a	a	DET
arestyrurj-153	143	30	swarm	swarm	NOUN
arestyrurj-153	143	31	.	.	PUNCT
arestyrurj-153	144	1	with	with	ADP
arestyrurj-153	144	2	the	the	DET
arestyrurj-153	144	3	five	five	NUM
arestyrurj-153	144	4	values	value	NOUN
arestyrurj-153	144	5	of	of	ADP
arestyrurj-153	144	6	fuel	fuel	NOUN
arestyrurj-153	144	7	consumption	consumption	NOUN
arestyrurj-153	144	8	,	,	PUNCT
arestyrurj-153	144	9	the	the	DET
arestyrurj-153	144	10	two	two	NUM
arestyrurj-153	144	11	smallest	small	ADJ
arestyrurj-153	144	12	are	be	AUX
arestyrurj-153	144	13	considered	consider	VERB
arestyrurj-153	144	14	and	and	CCONJ
arestyrurj-153	144	15	figure	figure	VERB
arestyrurj-153	144	16	5	5	NUM
arestyrurj-153	144	17	:	:	PUNCT
arestyrurj-153	144	18	parameters	parameter	NOUN
arestyrurj-153	144	19	and	and	CCONJ
arestyrurj-153	144	20	associated	associated	ADJ
arestyrurj-153	144	21	trajectories	trajectory	NOUN
arestyrurj-153	144	22	of	of	ADP
arestyrurj-153	144	23	swarm	swarm	NOUN
arestyrurj-153	144	24	traveling	travel	VERB
arestyrurj-153	144	25	in	in	ADP
arestyrurj-153	144	26	x	x	NOUN
arestyrurj-153	144	27	-	-	NOUN
arestyrurj-153	144	28	direction	direction	NOUN
arestyrurj-153	144	29	.	.	PUNCT
arestyrurj-153	145	1	different	different	ADJ
arestyrurj-153	145	2	colored	colored	ADJ
arestyrurj-153	145	3	trajectories	trajectory	NOUN
arestyrurj-153	145	4	represent	represent	VERB
arestyrurj-153	145	5	different	different	ADJ
arestyrurj-153	145	6	spacecraft	spacecraft	NOUN
arestyrurj-153	145	7	.	.	PUNCT
arestyrurj-153	146	1	figure	figure	VERB
arestyrurj-153	146	2	6	6	NUM
arestyrurj-153	146	3	:	:	PUNCT
arestyrurj-153	146	4	top	top	ADJ
arestyrurj-153	146	5	-	-	PUNCT
arestyrurj-153	146	6	down	down	ADP
arestyrurj-153	146	7	view	view	NOUN
arestyrurj-153	146	8	of	of	ADP
arestyrurj-153	146	9	same	same	ADJ
arestyrurj-153	146	10	trajectory	trajectory	NOUN
arestyrurj-153	146	11	.	.	PUNCT
arestyrurj-153	147	1	different	different	ADJ
arestyrurj-153	147	2	colored	colored	ADJ
arestyrurj-153	147	3	trajectories	trajectory	NOUN
arestyrurj-153	147	4	represent	represent	VERB
arestyrurj-153	147	5	different	different	ADJ
arestyrurj-153	147	6	spacecraft	spacecraft	NOUN
arestyrurj-153	147	7	.	.	PUNCT
arestyrurj-153	148	1	figure	figure	VERB
arestyrurj-153	148	2	7	7	NUM
arestyrurj-153	148	3	:	:	PUNCT
arestyrurj-153	148	4	fuel	fuel	NOUN
arestyrurj-153	148	5	consumption	consumption	NOUN
arestyrurj-153	148	6	(	(	PUNCT
arestyrurj-153	148	7	j	j	PROPN
arestyrurj-153	148	8	/	/	SYM
arestyrurj-153	148	9	kg	kg	PROPN
arestyrurj-153	148	10	)	)	PUNCT
arestyrurj-153	148	11	of	of	ADP
arestyrurj-153	148	12	one	one	NUM
arestyrurj-153	148	13	craft	craft	NOUN
arestyrurj-153	148	14	against	against	ADP
arestyrurj-153	148	15	time	time	NOUN
arestyrurj-153	148	16	(	(	PUNCT
arestyrurj-153	148	17	s	s	NOUN
arestyrurj-153	148	18	)	)	PUNCT
arestyrurj-153	148	19	.	.	PUNCT
arestyrurj-153	149	1	aresty	aresty	PROPN
arestyrurj-153	149	2	rutgers	rutgers	PROPN
arestyrurj-153	149	3	undergraduate	undergraduate	PROPN
arestyrurj-153	149	4	research	research	PROPN
arestyrurj-153	149	5	journal	journal	PROPN
arestyrurj-153	149	6	,	,	PUNCT
arestyrurj-153	149	7	volume	volume	NOUN
arestyrurj-153	149	8	i	i	PRON
arestyrurj-153	149	9	,	,	PUNCT
arestyrurj-153	149	10	issue	issue	PROPN
arestyrurj-153	149	11	ii	ii	PROPN
arestyrurj-153	149	12	used	use	VERB
arestyrurj-153	149	13	as	as	ADP
arestyrurj-153	149	14	parents	parent	NOUN
arestyrurj-153	149	15	for	for	ADP
arestyrurj-153	149	16	the	the	DET
arestyrurj-153	149	17	next	next	ADJ
arestyrurj-153	149	18	generation	generation	NOUN
arestyrurj-153	149	19	.	.	PUNCT
arestyrurj-153	150	1	using	use	VERB
arestyrurj-153	150	2	the	the	DET
arestyrurj-153	150	3	technique	technique	NOUN
arestyrurj-153	150	4	described	describe	VERB
arestyrurj-153	150	5	in	in	ADP
arestyrurj-153	150	6	the	the	DET
arestyrurj-153	150	7	section	section	NOUN
arestyrurj-153	150	8	on	on	ADP
arestyrurj-153	150	9	the	the	DET
arestyrurj-153	150	10	genetic	genetic	ADJ
arestyrurj-153	150	11	algorithm	algorithm	NOUN
arestyrurj-153	150	12	,	,	PUNCT
arestyrurj-153	150	13	five	five	NUM
arestyrurj-153	150	14	more	more	ADJ
arestyrurj-153	150	15	sets	set	NOUN
arestyrurj-153	150	16	of	of	ADP
arestyrurj-153	150	17	parameters	parameter	NOUN
arestyrurj-153	150	18	(	(	PUNCT
arestyrurj-153	150	19	that	that	PRON
arestyrurj-153	150	20	have	have	VERB
arestyrurj-153	150	21	a	a	DET
arestyrurj-153	150	22	higher	high	ADJ
arestyrurj-153	150	23	chance	chance	NOUN
arestyrurj-153	150	24	of	of	ADP
arestyrurj-153	150	25	being	be	AUX
arestyrurj-153	150	26	optimal	optimal	ADJ
arestyrurj-153	150	27	)	)	PUNCT
arestyrurj-153	150	28	are	be	AUX
arestyrurj-153	150	29	generated	generate	VERB
arestyrurj-153	150	30	from	from	ADP
arestyrurj-153	150	31	the	the	DET
arestyrurj-153	150	32	parents	parent	NOUN
arestyrurj-153	150	33	.	.	PUNCT
arestyrurj-153	151	1	one	one	NUM
arestyrurj-153	151	2	generation	generation	NOUN
arestyrurj-153	151	3	consists	consist	VERB
arestyrurj-153	151	4	of	of	ADP
arestyrurj-153	151	5	the	the	DET
arestyrurj-153	151	6	five	five	NUM
arestyrurj-153	151	7	simulations	simulation	NOUN
arestyrurj-153	151	8	and	and	CCONJ
arestyrurj-153	151	9	calculations	calculation	NOUN
arestyrurj-153	151	10	of	of	ADP
arestyrurj-153	151	11	total	total	ADJ
arestyrurj-153	151	12	fuel	fuel	NOUN
arestyrurj-153	151	13	consumption	consumption	NOUN
arestyrurj-153	151	14	.	.	PUNCT
arestyrurj-153	152	1	so	so	ADV
arestyrurj-153	152	2	in	in	ADP
arestyrurj-153	152	3	total	total	NOUN
arestyrurj-153	152	4	,	,	PUNCT
arestyrurj-153	152	5	the	the	DET
arestyrurj-153	152	6	algorithm	algorithm	NOUN
arestyrurj-153	152	7	converged	converge	VERB
arestyrurj-153	152	8	after	after	ADP
arestyrurj-153	152	9	71	71	NUM
arestyrurj-153	152	10	of	of	ADP
arestyrurj-153	152	11	these	these	PRON
arestyrurj-153	152	12	or	or	CCONJ
arestyrurj-153	152	13	355	355	NUM
arestyrurj-153	152	14	individual	individual	ADJ
arestyrurj-153	152	15	instances	instance	NOUN
arestyrurj-153	152	16	of	of	ADP
arestyrurj-153	152	17	numerically	numerically	ADV
arestyrurj-153	152	18	solving	solve	VERB
arestyrurj-153	152	19	the	the	DET
arestyrurj-153	152	20	system	system	NOUN
arestyrurj-153	152	21	of	of	ADP
arestyrurj-153	152	22	equations	equation	NOUN
arestyrurj-153	152	23	and	and	CCONJ
arestyrurj-153	152	24	calculating	calculate	VERB
arestyrurj-153	152	25	integrals	integral	NOUN
arestyrurj-153	152	26	.	.	PUNCT
arestyrurj-153	153	1	the	the	DET
arestyrurj-153	153	2	algorithm	algorithm	NOUN
arestyrurj-153	153	3	’s	’s	PART
arestyrurj-153	153	4	optimal	optimal	ADJ
arestyrurj-153	153	5	parameters	parameter	NOUN
arestyrurj-153	153	6	output	output	VERB
arestyrurj-153	153	7	and	and	CCONJ
arestyrurj-153	153	8	their	their	PRON
arestyrurj-153	153	9	corresponding	corresponding	ADJ
arestyrurj-153	153	10	trajectories	trajectory	NOUN
arestyrurj-153	153	11	when	when	SCONJ
arestyrurj-153	153	12	run	run	VERB
arestyrurj-153	153	13	through	through	ADP
arestyrurj-153	153	14	the	the	DET
arestyrurj-153	153	15	same	same	ADJ
arestyrurj-153	153	16	simulation	simulation	NOUN
arestyrurj-153	153	17	are	be	AUX
arestyrurj-153	153	18	described	describe	VERB
arestyrurj-153	153	19	below	below	ADP
arestyrurj-153	153	20	in	in	ADP
arestyrurj-153	153	21	figures	figure	NOUN
arestyrurj-153	153	22	8	8	NUM
arestyrurj-153	153	23	and	and	CCONJ
arestyrurj-153	153	24	9	9	NUM
arestyrurj-153	153	25	.	.	X
arestyrurj-153	154	1	one	one	NUM
arestyrurj-153	154	2	of	of	ADP
arestyrurj-153	154	3	the	the	DET
arestyrurj-153	154	4	first	first	ADJ
arestyrurj-153	154	5	things	thing	NOUN
arestyrurj-153	154	6	immediately	immediately	ADV
arestyrurj-153	154	7	made	make	VERB
arestyrurj-153	154	8	apparent	apparent	ADJ
arestyrurj-153	154	9	is	be	AUX
arestyrurj-153	154	10	that	that	SCONJ
arestyrurj-153	154	11	the	the	DET
arestyrurj-153	154	12	blue	blue	ADJ
arestyrurj-153	154	13	trajectories	trajectory	NOUN
arestyrurj-153	154	14	now	now	ADV
arestyrurj-153	154	15	no	no	ADV
arestyrurj-153	154	16	longer	long	ADV
arestyrurj-153	154	17	need	need	VERB
arestyrurj-153	154	18	to	to	PART
arestyrurj-153	154	19	avoid	avoid	VERB
arestyrurj-153	154	20	the	the	DET
arestyrurj-153	154	21	obstacle	obstacle	NOUN
arestyrurj-153	154	22	so	so	ADV
arestyrurj-153	154	23	aggressively	aggressively	ADV
arestyrurj-153	154	24	,	,	PUNCT
arestyrurj-153	154	25	and	and	CCONJ
arestyrurj-153	154	26	the	the	DET
arestyrurj-153	154	27	swarm	swarm	NOUN
arestyrurj-153	154	28	as	as	ADP
arestyrurj-153	154	29	a	a	DET
arestyrurj-153	154	30	whole	whole	ADJ
arestyrurj-153	154	31	being	being	NOUN
arestyrurj-153	154	32	generally	generally	ADV
arestyrurj-153	154	33	smoother	smooth	ADJ
arestyrurj-153	154	34	as	as	SCONJ
arestyrurj-153	154	35	it	it	PRON
arestyrurj-153	154	36	converges	converge	VERB
arestyrurj-153	154	37	to	to	ADP
arestyrurj-153	154	38	a	a	DET
arestyrurj-153	154	39	final	final	ADJ
arestyrurj-153	154	40	formation	formation	NOUN
arestyrurj-153	154	41	.	.	PUNCT
arestyrurj-153	155	1	with	with	ADP
arestyrurj-153	155	2	the	the	DET
arestyrurj-153	155	3	use	use	NOUN
arestyrurj-153	155	4	of	of	ADP
arestyrurj-153	155	5	the	the	DET
arestyrurj-153	155	6	genetic	genetic	ADJ
arestyrurj-153	155	7	algorithm	algorithm	NOUN
arestyrurj-153	155	8	,	,	PUNCT
arestyrurj-153	155	9	the	the	DET
arestyrurj-153	155	10	swarm	swarm	NOUN
arestyrurj-153	155	11	could	could	AUX
arestyrurj-153	155	12	navigate	navigate	VERB
arestyrurj-153	155	13	through	through	ADP
arestyrurj-153	155	14	the	the	DET
arestyrurj-153	155	15	field	field	NOUN
arestyrurj-153	155	16	of	of	ADP
arestyrurj-153	155	17	obstacles	obstacle	NOUN
arestyrurj-153	155	18	and	and	CCONJ
arestyrurj-153	155	19	arrive	arrive	VERB
arestyrurj-153	155	20	at	at	ADP
arestyrurj-153	155	21	the	the	DET
arestyrurj-153	155	22	same	same	ADJ
arestyrurj-153	155	23	destination	destination	NOUN
arestyrurj-153	155	24	while	while	SCONJ
arestyrurj-153	155	25	minimizing	minimize	VERB
arestyrurj-153	155	26	the	the	DET
arestyrurj-153	155	27	fuel	fuel	NOUN
arestyrurj-153	155	28	used	use	VERB
arestyrurj-153	155	29	to	to	PART
arestyrurj-153	155	30	arrive	arrive	VERB
arestyrurj-153	155	31	there	there	ADV
arestyrurj-153	155	32	.	.	PUNCT
arestyrurj-153	156	1	in	in	ADP
arestyrurj-153	156	2	figure	figure	NOUN
arestyrurj-153	156	3	10	10	NUM
arestyrurj-153	156	4	we	we	PRON
arestyrurj-153	156	5	display	display	VERB
arestyrurj-153	156	6	the	the	DET
arestyrurj-153	156	7	fuel	fuel	NOUN
arestyrurj-153	156	8	consumption	consumption	NOUN
arestyrurj-153	156	9	versus	versus	ADP
arestyrurj-153	156	10	time	time	NOUN
arestyrurj-153	156	11	of	of	ADP
arestyrurj-153	156	12	the	the	DET
arestyrurj-153	156	13	same	same	ADJ
arestyrurj-153	156	14	craft	craft	NOUN
arestyrurj-153	156	15	as	as	ADP
arestyrurj-153	156	16	before	before	ADV
arestyrurj-153	156	17	,	,	PUNCT
arestyrurj-153	156	18	only	only	ADV
arestyrurj-153	156	19	now	now	ADV
arestyrurj-153	156	20	after	after	SCONJ
arestyrurj-153	156	21	the	the	DET
arestyrurj-153	156	22	algorithm	algorithm	NOUN
arestyrurj-153	156	23	has	have	AUX
arestyrurj-153	156	24	run	run	VERB
arestyrurj-153	156	25	and	and	CCONJ
arestyrurj-153	156	26	the	the	DET
arestyrurj-153	156	27	new	new	ADJ
arestyrurj-153	156	28	parameters	parameter	NOUN
arestyrurj-153	156	29	put	put	VERB
arestyrurj-153	156	30	in	in	ADP
arestyrurj-153	156	31	place	place	NOUN
arestyrurj-153	156	32	.	.	PUNCT
arestyrurj-153	157	1	the	the	DET
arestyrurj-153	157	2	fuel	fuel	NOUN
arestyrurj-153	157	3	consumption	consumption	NOUN
arestyrurj-153	157	4	saturates	saturate	VERB
arestyrurj-153	157	5	in	in	ADP
arestyrurj-153	157	6	about	about	ADP
arestyrurj-153	157	7	half	half	DET
arestyrurj-153	157	8	the	the	DET
arestyrurj-153	157	9	time	time	NOUN
arestyrurj-153	157	10	as	as	ADP
arestyrurj-153	157	11	the	the	DET
arestyrurj-153	157	12	original	original	ADJ
arestyrurj-153	157	13	simulation	simulation	NOUN
arestyrurj-153	157	14	reaching	reach	VERB
arestyrurj-153	157	15	a	a	DET
arestyrurj-153	157	16	maximum	maximum	ADJ
arestyrurj-153	157	17	value	value	NOUN
arestyrurj-153	157	18	of	of	ADP
arestyrurj-153	157	19	a	a	DET
arestyrurj-153	157	20	little	little	ADJ
arestyrurj-153	157	21	less	less	ADJ
arestyrurj-153	157	22	than	than	ADP
arestyrurj-153	157	23	60	60	NUM
arestyrurj-153	157	24	j	j	PROPN
arestyrurj-153	157	25	/	/	SYM
arestyrurj-153	157	26	kg	kg	PROPN
arestyrurj-153	157	27	,	,	PUNCT
arestyrurj-153	157	28	which	which	PRON
arestyrurj-153	157	29	is	be	AUX
arestyrurj-153	157	30	much	much	ADV
arestyrurj-153	157	31	smaller	small	ADJ
arestyrurj-153	157	32	than	than	ADP
arestyrurj-153	157	33	the	the	DET
arestyrurj-153	157	34	original	original	ADJ
arestyrurj-153	157	35	in	in	ADP
arestyrurj-153	157	36	figure	figure	NOUN
arestyrurj-153	157	37	7	7	NUM
arestyrurj-153	157	38	,	,	PUNCT
arestyrurj-153	157	39	being	be	AUX
arestyrurj-153	157	40	at	at	ADP
arestyrurj-153	157	41	about	about	ADV
arestyrurj-153	157	42	170	170	NUM
arestyrurj-153	157	43	j	j	PROPN
arestyrurj-153	157	44	/	/	SYM
arestyrurj-153	157	45	kg	kg	PROPN
arestyrurj-153	157	46	.	.	PUNCT
arestyrurj-153	158	1	another	another	DET
arestyrurj-153	158	2	notable	notable	ADJ
arestyrurj-153	158	3	aspect	aspect	NOUN
arestyrurj-153	158	4	of	of	ADP
arestyrurj-153	158	5	this	this	DET
arestyrurj-153	158	6	new	new	ADJ
arestyrurj-153	158	7	trajectory	trajectory	NOUN
arestyrurj-153	158	8	is	be	AUX
arestyrurj-153	158	9	that	that	SCONJ
arestyrurj-153	158	10	the	the	DET
arestyrurj-153	158	11	fuel	fuel	NOUN
arestyrurj-153	158	12	consumption	consumption	NOUN
arestyrurj-153	158	13	curve	curve	NOUN
arestyrurj-153	158	14	in	in	ADP
arestyrurj-153	158	15	figure	figure	NOUN
arestyrurj-153	158	16	10	10	NUM
arestyrurj-153	158	17	increases	increase	VERB
arestyrurj-153	158	18	much	much	ADV
arestyrurj-153	158	19	more	more	ADV
arestyrurj-153	158	20	smoothly	smoothly	ADV
arestyrurj-153	158	21	than	than	ADP
arestyrurj-153	158	22	that	that	PRON
arestyrurj-153	158	23	of	of	ADP
arestyrurj-153	158	24	the	the	DET
arestyrurj-153	158	25	unoptimized	unoptimized	ADJ
arestyrurj-153	158	26	swarm	swarm	NOUN
arestyrurj-153	158	27	,	,	PUNCT
arestyrurj-153	158	28	which	which	PRON
arestyrurj-153	158	29	has	have	VERB
arestyrurj-153	158	30	many	many	ADJ
arestyrurj-153	158	31	abrupt	abrupt	ADJ
arestyrurj-153	158	32	spikes	spike	NOUN
arestyrurj-153	158	33	.	.	PUNCT
arestyrurj-153	159	1	in	in	ADP
arestyrurj-153	159	2	the	the	DET
arestyrurj-153	159	3	context	context	NOUN
arestyrurj-153	159	4	of	of	ADP
arestyrurj-153	159	5	a	a	DET
arestyrurj-153	159	6	real	real	ADJ
arestyrurj-153	159	7	-	-	PUNCT
arestyrurj-153	159	8	world	world	NOUN
arestyrurj-153	159	9	scenario	scenario	NOUN
arestyrurj-153	159	10	,	,	PUNCT
arestyrurj-153	159	11	the	the	DET
arestyrurj-153	159	12	same	same	ADJ
arestyrurj-153	159	13	mission	mission	NOUN
arestyrurj-153	159	14	could	could	AUX
arestyrurj-153	159	15	be	be	AUX
arestyrurj-153	159	16	completed	complete	VERB
arestyrurj-153	159	17	for	for	ADP
arestyrurj-153	159	18	half	half	DET
arestyrurj-153	159	19	the	the	DET
arestyrurj-153	159	20	fuel	fuel	NOUN
arestyrurj-153	159	21	cost	cost	NOUN
arestyrurj-153	159	22	while	while	SCONJ
arestyrurj-153	159	23	also	also	ADV
arestyrurj-153	159	24	putting	put	VERB
arestyrurj-153	159	25	less	less	ADJ
arestyrurj-153	159	26	strain	strain	NOUN
arestyrurj-153	159	27	on	on	ADP
arestyrurj-153	159	28	the	the	DET
arestyrurj-153	159	29	thrusters	thruster	NOUN
arestyrurj-153	159	30	.	.	PUNCT
arestyrurj-153	160	1	4	4	NUM
arestyrurj-153	160	2	conclusions	conclusion	NOUN
arestyrurj-153	160	3	although	although	SCONJ
arestyrurj-153	160	4	these	these	PRON
arestyrurj-153	160	5	are	be	AUX
arestyrurj-153	160	6	preliminary	preliminary	ADJ
arestyrurj-153	160	7	results	result	NOUN
arestyrurj-153	160	8	,	,	PUNCT
arestyrurj-153	160	9	they	they	PRON
arestyrurj-153	160	10	show	show	VERB
arestyrurj-153	160	11	that	that	SCONJ
arestyrurj-153	160	12	the	the	DET
arestyrurj-153	160	13	genetic	genetic	ADJ
arestyrurj-153	160	14	algorithm	algorithm	NOUN
arestyrurj-153	160	15	approach	approach	NOUN
arestyrurj-153	160	16	can	can	AUX
arestyrurj-153	160	17	be	be	AUX
arestyrurj-153	160	18	successfully	successfully	ADV
arestyrurj-153	160	19	optimize	optimize	VERB
arestyrurj-153	160	20	the	the	DET
arestyrurj-153	160	21	fuel	fuel	NOUN
arestyrurj-153	160	22	consumption	consumption	NOUN
arestyrurj-153	160	23	of	of	ADP
arestyrurj-153	160	24	a	a	DET
arestyrurj-153	160	25	swarm	swarm	NOUN
arestyrurj-153	160	26	trajectory	trajectory	NOUN
arestyrurj-153	160	27	of	of	ADP
arestyrurj-153	160	28	spacecraft	spacecraft	NOUN
arestyrurj-153	160	29	defined	define	VERB
arestyrurj-153	160	30	by	by	ADP
arestyrurj-153	160	31	this	this	DET
arestyrurj-153	160	32	complex	complex	ADJ
arestyrurj-153	160	33	nonlinear	nonlinear	ADJ
arestyrurj-153	160	34	model	model	NOUN
arestyrurj-153	160	35	.	.	PUNCT
arestyrurj-153	161	1	the	the	DET
arestyrurj-153	161	2	solution	solution	NOUN
arestyrurj-153	161	3	to	to	ADP
arestyrurj-153	161	4	this	this	DET
arestyrurj-153	161	5	problem	problem	NOUN
arestyrurj-153	161	6	provides	provide	VERB
arestyrurj-153	161	7	a	a	DET
arestyrurj-153	161	8	method	method	NOUN
arestyrurj-153	161	9	of	of	ADP
arestyrurj-153	161	10	exploring	explore	VERB
arestyrurj-153	161	11	and	and	CCONJ
arestyrurj-153	161	12	gaining	gain	VERB
arestyrurj-153	161	13	new	new	ADJ
arestyrurj-153	161	14	information	information	NOUN
arestyrurj-153	161	15	on	on	ADP
arestyrurj-153	161	16	the	the	DET
arestyrurj-153	161	17	rings	ring	NOUN
arestyrurj-153	161	18	of	of	ADP
arestyrurj-153	161	19	saturn	saturn	NOUN
arestyrurj-153	161	20	that	that	PRON
arestyrurj-153	161	21	otherwise	otherwise	ADV
arestyrurj-153	161	22	would	would	AUX
arestyrurj-153	161	23	not	not	PART
arestyrurj-153	161	24	be	be	AUX
arestyrurj-153	161	25	possible	possible	ADJ
arestyrurj-153	161	26	.	.	PUNCT
arestyrurj-153	162	1	future	future	ADJ
arestyrurj-153	162	2	work	work	NOUN
arestyrurj-153	162	3	will	will	AUX
arestyrurj-153	162	4	include	include	VERB
arestyrurj-153	162	5	making	make	VERB
arestyrurj-153	162	6	the	the	DET
arestyrurj-153	162	7	model	model	NOUN
arestyrurj-153	162	8	more	more	ADV
arestyrurj-153	162	9	realistic	realistic	ADJ
arestyrurj-153	162	10	and	and	CCONJ
arestyrurj-153	162	11	transitioning	transition	VERB
arestyrurj-153	162	12	the	the	DET
arestyrurj-153	162	13	figure	figure	NOUN
arestyrurj-153	162	14	8	8	NUM
arestyrurj-153	162	15	:	:	PUNCT
arestyrurj-153	162	16	parameters	parameter	NOUN
arestyrurj-153	162	17	and	and	CCONJ
arestyrurj-153	162	18	associated	associated	ADJ
arestyrurj-153	162	19	trajectories	trajectory	NOUN
arestyrurj-153	162	20	of	of	ADP
arestyrurj-153	162	21	swarm	swarm	NOUN
arestyrurj-153	162	22	after	after	ADP
arestyrurj-153	162	23	genetic	genetic	ADJ
arestyrurj-153	162	24	algorithm	algorithm	NOUN
arestyrurj-153	162	25	.	.	PUNCT
arestyrurj-153	163	1	different	different	ADJ
arestyrurj-153	163	2	colored	colored	ADJ
arestyrurj-153	163	3	trajectories	trajectory	NOUN
arestyrurj-153	163	4	represent	represent	VERB
arestyrurj-153	163	5	different	different	ADJ
arestyrurj-153	163	6	spacecraft	spacecraft	NOUN
arestyrurj-153	163	7	.	.	PUNCT
arestyrurj-153	164	1	figure	figure	VERB
arestyrurj-153	164	2	9	9	NUM
arestyrurj-153	164	3	:	:	PUNCT
arestyrurj-153	164	4	side	side	ADJ
arestyrurj-153	164	5	view	view	NOUN
arestyrurj-153	164	6	of	of	ADP
arestyrurj-153	164	7	same	same	ADJ
arestyrurj-153	164	8	trajectory	trajectory	NOUN
arestyrurj-153	164	9	.	.	PUNCT
arestyrurj-153	165	1	different	different	ADJ
arestyrurj-153	165	2	colored	colored	ADJ
arestyrurj-153	165	3	trajectories	trajectory	NOUN
arestyrurj-153	165	4	represent	represent	VERB
arestyrurj-153	165	5	different	different	ADJ
arestyrurj-153	165	6	spacecraft	spacecraft	NOUN
arestyrurj-153	165	7	.	.	PUNCT
arestyrurj-153	166	1	figure	figure	NOUN
arestyrurj-153	166	2	10	10	NUM
arestyrurj-153	166	3	:	:	PUNCT
arestyrurj-153	166	4	fuel	fuel	NOUN
arestyrurj-153	166	5	consumption	consumption	NOUN
arestyrurj-153	166	6	(	(	PUNCT
arestyrurj-153	166	7	j	j	PROPN
arestyrurj-153	166	8	/	/	SYM
arestyrurj-153	166	9	kg	kg	PROPN
arestyrurj-153	166	10	)	)	PUNCT
arestyrurj-153	166	11	of	of	ADP
arestyrurj-153	166	12	one	one	NUM
arestyrurj-153	166	13	craft	craft	NOUN
arestyrurj-153	166	14	against	against	ADP
arestyrurj-153	166	15	time	time	NOUN
arestyrurj-153	166	16	(	(	PUNCT
arestyrurj-153	166	17	s	s	X
arestyrurj-153	166	18	)	)	PUNCT
arestyrurj-153	166	19	after	after	ADP
arestyrurj-153	166	20	genetic	genetic	ADJ
arestyrurj-153	166	21	algorithm	algorithm	NOUN
arestyrurj-153	166	22	.	.	PUNCT
arestyrurj-153	167	1	aresty	aresty	PROPN
arestyrurj-153	167	2	rutgers	rutgers	PROPN
arestyrurj-153	167	3	undergraduate	undergraduate	PROPN
arestyrurj-153	167	4	research	research	PROPN
arestyrurj-153	167	5	journal	journal	PROPN
arestyrurj-153	167	6	,	,	PUNCT
arestyrurj-153	167	7	volume	volume	NOUN
arestyrurj-153	167	8	i	i	PRON
arestyrurj-153	167	9	,	,	PUNCT
arestyrurj-153	167	10	issue	issue	VERB
arestyrurj-153	167	11	ii	ii	NOUN
arestyrurj-153	167	12	deterministic	deterministic	ADJ
arestyrurj-153	167	13	problem	problem	NOUN
arestyrurj-153	167	14	to	to	ADP
arestyrurj-153	167	15	a	a	DET
arestyrurj-153	167	16	stochastic	stochastic	ADJ
arestyrurj-153	167	17	one	one	NOUN
arestyrurj-153	167	18	;	;	PUNCT
arestyrurj-153	167	19	denser	dense	ADJ
arestyrurj-153	167	20	obstacle	obstacle	NOUN
arestyrurj-153	167	21	distributions	distribution	NOUN
arestyrurj-153	167	22	,	,	PUNCT
arestyrurj-153	167	23	and	and	CCONJ
arestyrurj-153	167	24	obstacles	obstacle	NOUN
arestyrurj-153	167	25	that	that	PRON
arestyrurj-153	167	26	are	be	AUX
arestyrurj-153	167	27	moving	move	VERB
arestyrurj-153	167	28	,	,	PUNCT
arestyrurj-153	167	29	will	will	AUX
arestyrurj-153	167	30	also	also	ADV
arestyrurj-153	167	31	be	be	AUX
arestyrurj-153	167	32	considered	consider	VERB
arestyrurj-153	167	33	in	in	ADP
arestyrurj-153	167	34	future	future	ADJ
arestyrurj-153	167	35	simulations	simulation	NOUN
arestyrurj-153	167	36	more	more	ADV
arestyrurj-153	167	37	akin	akin	ADJ
arestyrurj-153	167	38	to	to	ADP
arestyrurj-153	167	39	the	the	DET
arestyrurj-153	167	40	real	real	ADJ
arestyrurj-153	167	41	-	-	PUNCT
arestyrurj-153	167	42	world	world	NOUN
arestyrurj-153	167	43	density	density	NOUN
arestyrurj-153	167	44	of	of	ADP
arestyrurj-153	167	45	ice	ice	NOUN
arestyrurj-153	167	46	rocks	rock	NOUN
arestyrurj-153	167	47	in	in	ADP
arestyrurj-153	167	48	the	the	DET
arestyrurj-153	167	49	rings	ring	NOUN
arestyrurj-153	167	50	of	of	ADP
arestyrurj-153	167	51	saturn	saturn	NOUN
arestyrurj-153	167	52	.	.	PUNCT
arestyrurj-153	168	1	applying	apply	VERB
arestyrurj-153	168	2	the	the	DET
arestyrurj-153	168	3	genetic	genetic	ADJ
arestyrurj-153	168	4	algorithm	algorithm	NOUN
arestyrurj-153	168	5	method	method	NOUN
arestyrurj-153	168	6	to	to	ADP
arestyrurj-153	168	7	the	the	DET
arestyrurj-153	168	8	same	same	ADJ
arestyrurj-153	168	9	spacecraft	spacecraft	NOUN
arestyrurj-153	168	10	swarm	swarm	NOUN
arestyrurj-153	168	11	system	system	NOUN
arestyrurj-153	168	12	described	describe	VERB
arestyrurj-153	168	13	by	by	ADP
arestyrurj-153	168	14	more	more	ADJ
arestyrurj-153	168	15	accurate	accurate	ADJ
arestyrurj-153	168	16	stochastic	stochastic	NOUN
arestyrurj-153	168	17	models	model	NOUN
arestyrurj-153	168	18	can	can	AUX
arestyrurj-153	168	19	lead	lead	VERB
arestyrurj-153	168	20	to	to	ADP
arestyrurj-153	168	21	future	future	ADJ
arestyrurj-153	168	22	innovative	innovative	ADJ
arestyrurj-153	168	23	developments	development	NOUN
arestyrurj-153	168	24	in	in	ADP
arestyrurj-153	168	25	this	this	DET
arestyrurj-153	168	26	field	field	NOUN
arestyrurj-153	168	27	.	.	PUNCT
arestyrurj-153	169	1	new	new	ADJ
arestyrurj-153	169	2	methods	method	NOUN
arestyrurj-153	169	3	of	of	ADP
arestyrurj-153	169	4	optimization	optimization	NOUN
arestyrurj-153	169	5	will	will	AUX
arestyrurj-153	169	6	also	also	ADV
arestyrurj-153	169	7	be	be	AUX
arestyrurj-153	169	8	investigated∎	investigated∎	NUM
arestyrurj-153	169	9	5	5	NUM
arestyrurj-153	169	10	acknowledgements	acknowledgement	NOUN
arestyrurj-153	169	11	i	i	PRON
arestyrurj-153	169	12	would	would	AUX
arestyrurj-153	169	13	first	first	ADV
arestyrurj-153	169	14	like	like	VERB
arestyrurj-153	169	15	to	to	PART
arestyrurj-153	169	16	thank	thank	VERB
arestyrurj-153	169	17	dr	dr	PROPN
arestyrurj-153	169	18	.	.	PROPN
arestyrurj-153	169	19	annalisa	annalisa	PROPN
arestyrurj-153	169	20	scacchioli	scacchioli	NOUN
arestyrurj-153	169	21	for	for	ADP
arestyrurj-153	169	22	guiding	guide	VERB
arestyrurj-153	169	23	me	i	PRON
arestyrurj-153	169	24	through	through	ADP
arestyrurj-153	169	25	this	this	DET
arestyrurj-153	169	26	process	process	NOUN
arestyrurj-153	169	27	and	and	CCONJ
arestyrurj-153	169	28	opening	opening	NOUN
arestyrurj-153	169	29	up	up	ADP
arestyrurj-153	169	30	this	this	DET
arestyrurj-153	169	31	wonderful	wonderful	ADJ
arestyrurj-153	169	32	opportunity	opportunity	NOUN
arestyrurj-153	169	33	to	to	PART
arestyrurj-153	169	34	learn	learn	VERB
arestyrurj-153	169	35	as	as	ADV
arestyrurj-153	169	36	well	well	ADV
arestyrurj-153	169	37	as	as	ADP
arestyrurj-153	169	38	create	create	VERB
arestyrurj-153	169	39	something	something	PRON
arestyrurj-153	169	40	meaningful	meaningful	ADJ
arestyrurj-153	169	41	.	.	PUNCT
arestyrurj-153	170	1	without	without	ADP
arestyrurj-153	170	2	her	she	PRON
arestyrurj-153	170	3	,	,	PUNCT
arestyrurj-153	170	4	this	this	DET
arestyrurj-153	170	5	project	project	NOUN
arestyrurj-153	170	6	would	would	AUX
arestyrurj-153	170	7	not	not	PART
arestyrurj-153	170	8	have	have	AUX
arestyrurj-153	170	9	come	come	VERB
arestyrurj-153	170	10	to	to	ADP
arestyrurj-153	170	11	fruition	fruition	NOUN
arestyrurj-153	170	12	.	.	PUNCT
arestyrurj-153	171	1	i	i	PRON
arestyrurj-153	171	2	would	would	AUX
arestyrurj-153	171	3	also	also	ADV
arestyrurj-153	171	4	like	like	VERB
arestyrurj-153	171	5	to	to	PART
arestyrurj-153	171	6	thank	thank	VERB
arestyrurj-153	171	7	the	the	DET
arestyrurj-153	171	8	nasa	nasa	PROPN
arestyrurj-153	171	9	new	new	PROPN
arestyrurj-153	171	10	jersey	jersey	PROPN
arestyrurj-153	171	11	space	space	NOUN
arestyrurj-153	171	12	grant	grant	NOUN
arestyrurj-153	171	13	consortium	consortium	NOUN
arestyrurj-153	171	14	for	for	ADP
arestyrurj-153	171	15	funding	funding	NOUN
arestyrurj-153	171	16	and	and	CCONJ
arestyrurj-153	171	17	facilitating	facilitate	VERB
arestyrurj-153	171	18	this	this	DET
arestyrurj-153	171	19	research	research	NOUN
arestyrurj-153	171	20	.	.	PUNCT
arestyrurj-153	172	1	also	also	ADV
arestyrurj-153	172	2	,	,	PUNCT
arestyrurj-153	172	3	i	i	PRON
arestyrurj-153	172	4	would	would	AUX
arestyrurj-153	172	5	like	like	VERB
arestyrurj-153	172	6	to	to	PART
arestyrurj-153	172	7	thank	thank	VERB
arestyrurj-153	172	8	dr	dr	PROPN
arestyrurj-153	172	9	.	.	PROPN
arestyrurj-153	172	10	jingang	jingang	PROPN
arestyrurj-153	172	11	yi	yi	PROPN
arestyrurj-153	172	12	as	as	ADV
arestyrurj-153	172	13	well	well	ADV
arestyrurj-153	172	14	as	as	ADP
arestyrurj-153	172	15	dr	dr	PROPN
arestyrurj-153	172	16	.	.	PROPN
arestyrurj-153	172	17	enver	enver	PROPN
arestyrurj-153	172	18	koray	koray	PROPN
arestyrurj-153	172	19	akdogan	akdogan	VERB
arestyrurj-153	172	20	for	for	ADP
arestyrurj-153	172	21	providing	provide	VERB
arestyrurj-153	172	22	insight	insight	NOUN
arestyrurj-153	172	23	into	into	ADP
arestyrurj-153	172	24	the	the	DET
arestyrurj-153	172	25	inner	inner	ADJ
arestyrurj-153	172	26	workings	working	NOUN
arestyrurj-153	172	27	of	of	ADP
arestyrurj-153	172	28	the	the	DET
arestyrurj-153	172	29	mathematical	mathematical	ADJ
arestyrurj-153	172	30	model	model	NOUN
arestyrurj-153	172	31	used	use	VERB
arestyrurj-153	172	32	in	in	ADP
arestyrurj-153	172	33	this	this	DET
arestyrurj-153	172	34	paper	paper	NOUN
arestyrurj-153	172	35	as	as	ADV
arestyrurj-153	172	36	well	well	ADV
arestyrurj-153	172	37	as	as	ADP
arestyrurj-153	172	38	possible	possible	ADJ
arestyrurj-153	172	39	avenues	avenue	NOUN
arestyrurj-153	172	40	to	to	PART
arestyrurj-153	172	41	best	well	ADV
arestyrurj-153	172	42	utilize	utilize	VERB
arestyrurj-153	172	43	it	it	PRON
arestyrurj-153	172	44	for	for	ADP
arestyrurj-153	172	45	this	this	DET
arestyrurj-153	172	46	project	project	NOUN
arestyrurj-153	172	47	.	.	PUNCT
arestyrurj-153	173	1	6	6	NUM
arestyrurj-153	173	2	references	reference	NOUN
arestyrurj-153	173	3	[	[	X
arestyrurj-153	173	4	1	1	NUM
arestyrurj-153	173	5	]	]	PUNCT
arestyrurj-153	173	6	bennet	bennet	NOUN
arestyrurj-153	173	7	,	,	PUNCT
arestyrurj-153	173	8	derek	derek	PROPN
arestyrurj-153	173	9	j.	j.	PROPN
arestyrurj-153	173	10	,	,	PUNCT
arestyrurj-153	173	11	mcinnes	mcinnes	PROPN
arestyrurj-153	173	12	,	,	PUNCT
arestyrurj-153	173	13	c.r	c.r	PROPN
arestyrurj-153	173	14	.	.	PROPN
arestyrurj-153	173	15	,	,	PUNCT
arestyrurj-153	173	16	suzuki	suzuki	PROPN
arestyrurj-153	173	17	,	,	PUNCT
arestyrurj-153	173	18	m.	m.	NOUN
arestyrurj-153	173	19	,	,	PUNCT
arestyrurj-153	173	20	and	and	CCONJ
arestyrurj-153	173	21	uchiyama	uchiyama	PROPN
arestyrurj-153	173	22	k.	k.	PROPN
arestyrurj-153	173	23	,	,	PUNCT
arestyrurj-153	173	24	“	"	PUNCT
arestyrurj-153	173	25	autonomous	autonomous	ADJ
arestyrurj-153	173	26	three	three	NUM
arestyrurj-153	173	27	-	-	PUNCT
arestyrurj-153	173	28	dimensional	dimensional	ADJ
arestyrurj-153	173	29	formation	formation	NOUN
arestyrurj-153	173	30	flight	flight	NOUN
arestyrurj-153	173	31	for	for	ADP
arestyrurj-153	173	32	a	a	DET
arestyrurj-153	173	33	swarm	swarm	NOUN
arestyrurj-153	173	34	of	of	ADP
arestyrurj-153	173	35	unmanned	unmanned	ADJ
arestyrurj-153	173	36	aerial	aerial	ADJ
arestyrurj-153	173	37	vehicles	vehicle	NOUN
arestyrurj-153	173	38	,	,	PUNCT
arestyrurj-153	173	39	”	"	PUNCT
arestyrurj-153	173	40	journal	journal	NOUN
arestyrurj-153	173	41	of	of	ADP
arestyrurj-153	173	42	guidance	guidance	NOUN
arestyrurj-153	173	43	,	,	PUNCT
arestyrurj-153	173	44	control	control	NOUN
arestyrurj-153	173	45	,	,	PUNCT
arestyrurj-153	173	46	and	and	CCONJ
arestyrurj-153	173	47	dynamics	dynamic	NOUN
arestyrurj-153	173	48	,	,	PUNCT
arestyrurj-153	173	49	vol	vol	NOUN
arestyrurj-153	173	50	.	.	PROPN
arestyrurj-153	173	51	34	34	NUM
arestyrurj-153	173	52	,	,	PUNCT
arestyrurj-153	173	53	no	no	INTJ
arestyrurj-153	173	54	.	.	NOUN
arestyrurj-153	173	55	6	6	NUM
arestyrurj-153	173	56	,	,	PUNCT
arestyrurj-153	173	57	november	november	PROPN
arestyrurj-153	173	58	-	-	PUNCT
arestyrurj-153	173	59	december	december	PROPN
arestyrurj-153	173	60	2011	2011	NUM
arestyrurj-153	173	61	,	,	PUNCT
arestyrurj-153	173	62	1899	1899	NUM
arestyrurj-153	173	63	-	-	SYM
arestyrurj-153	173	64	1908	1908	NUM
arestyrurj-153	173	65	.	.	PUNCT
arestyrurj-153	174	1	[	[	X
arestyrurj-153	174	2	2	2	NUM
arestyrurj-153	174	3	]	]	X
arestyrurj-153	174	4	mallawaarachchi	mallawaarachchi	ADV
arestyrurj-153	174	5	,	,	PUNCT
arestyrurj-153	174	6	vijini	vijini	NOUN
arestyrurj-153	174	7	,	,	PUNCT
arestyrurj-153	174	8	“	"	PUNCT
arestyrurj-153	174	9	introduction	introduction	NOUN
arestyrurj-153	174	10	to	to	ADP
arestyrurj-153	174	11	genetic	genetic	ADJ
arestyrurj-153	174	12	algorithms	algorithm	NOUN
arestyrurj-153	174	13	–	–	PUNCT
arestyrurj-153	174	14	including	include	VERB
arestyrurj-153	174	15	example	example	NOUN
arestyrurj-153	174	16	code	code	NOUN
arestyrurj-153	174	17	,	,	PUNCT
arestyrurj-153	174	18	”	"	PUNCT
arestyrurj-153	174	19	medium	medium	NOUN
arestyrurj-153	174	20	towards	towards	ADP
arestyrurj-153	174	21	data	data	NOUN
arestyrurj-153	174	22	science	science	NOUN
arestyrurj-153	174	23	,	,	PUNCT
arestyrurj-153	174	24	7	7	NUM
arestyrurj-153	174	25	july	july	PROPN
arestyrurj-153	174	26	2017	2017	NUM
arestyrurj-153	174	27	.	.	PUNCT
arestyrurj-153	175	1	[	[	X
arestyrurj-153	175	2	3	3	NUM
arestyrurj-153	175	3	]	]	SYM
arestyrurj-153	175	4	conn	conn	PROPN
arestyrurj-153	175	5	,	,	PUNCT
arestyrurj-153	175	6	t.	t.	PROPN
arestyrurj-153	175	7	,	,	PUNCT
arestyrurj-153	175	8	plice	plice	PROPN
arestyrurj-153	175	9	l.	l.	PROPN
arestyrurj-153	175	10	,	,	PUNCT
arestyrurj-153	175	11	dono	dono	PROPN
arestyrurj-153	175	12	perez	perez	PROPN
arestyrurj-153	175	13	,	,	PUNCT
arestyrurj-153	175	14	a.	a.	NOUN
arestyrurj-153	175	15	,	,	PUNCT
arestyrurj-153	175	16	and	and	CCONJ
arestyrurj-153	175	17	ho	ho	PROPN
arestyrurj-153	175	18	,	,	PUNCT
arestyrurj-153	175	19	m.	m.	NOUN
arestyrurj-153	175	20	,	,	PUNCT
arestyrurj-153	175	21	“	"	PUNCT
arestyrurj-153	175	22	operating	operate	VERB
arestyrurj-153	175	23	small	small	NOUN
arestyrurj-153	175	24	sat	sit	VERB
arestyrurj-153	175	25	swarms	swarm	NOUN
arestyrurj-153	175	26	as	as	ADP
arestyrurj-153	175	27	a	a	DET
arestyrurj-153	175	28	single	single	ADJ
arestyrurj-153	175	29	entity	entity	NOUN
arestyrurj-153	175	30	:	:	PUNCT
arestyrurj-153	175	31	introducing	introduce	VERB
arestyrurj-153	175	32	soda	soda	NOUN
arestyrurj-153	175	33	,	,	PUNCT
arestyrurj-153	175	34	”	"	PUNCT
arestyrurj-153	175	35	nasa	nasa	PROPN
arestyrurj-153	175	36	ames	ames	PROPN
arestyrurj-153	175	37	research	research	PROPN
arestyrurj-153	175	38	center	center	PROPN
arestyrurj-153	175	39	/	/	SYM
arestyrurj-153	175	40	mission	mission	NOUN
arestyrurj-153	175	41	design	design	NOUN
arestyrurj-153	175	42	division	division	NOUN
arestyrurj-153	175	43	,	,	PUNCT
arestyrurj-153	175	44	31st	31st	NOUN
arestyrurj-153	175	45	annual	annual	ADJ
arestyrurj-153	175	46	aiaa	aiaa	PROPN
arestyrurj-153	175	47	/	/	SYM
arestyrurj-153	175	48	usu	usu	PROPN
arestyrurj-153	175	49	conference	conference	NOUN
arestyrurj-153	175	50	on	on	ADP
arestyrurj-153	175	51	small	small	ADJ
arestyrurj-153	175	52	satellites	satellite	NOUN
arestyrurj-153	175	53	,	,	PUNCT
arestyrurj-153	175	54	2017	2017	NUM
arestyrurj-153	175	55	.	.	PUNCT
arestyrurj-153	176	1	[	[	X
arestyrurj-153	176	2	4	4	NUM
arestyrurj-153	176	3	]	]	X
arestyrurj-153	176	4	rathbun	rathbun	PROPN
arestyrurj-153	176	5	,	,	PUNCT
arestyrurj-153	176	6	david	david	PROPN
arestyrurj-153	176	7	,	,	PUNCT
arestyrurj-153	176	8	kragelund	kragelund	PROPN
arestyrurj-153	176	9	sean	sean	PROPN
arestyrurj-153	176	10	,	,	PUNCT
arestyrurj-153	176	11	and	and	CCONJ
arestyrurj-153	176	12	pongpunwattana	pongpunwattana	PROPN
arestyrurj-153	176	13	,	,	PUNCT
arestyrurj-153	176	14	anawat	anawat	INTJ
arestyrurj-153	176	15	,	,	PUNCT
arestyrurj-153	176	16	“	"	PUNCT
arestyrurj-153	176	17	an	an	DET
arestyrurj-153	176	18	evolution	evolution	NOUN
arestyrurj-153	176	19	based	base	VERB
arestyrurj-153	176	20	path	path	NOUN
arestyrurj-153	176	21	planning	planning	NOUN
arestyrurj-153	176	22	algorithm	algorithm	NOUN
arestyrurj-153	176	23	for	for	ADP
arestyrurj-153	176	24	autonomous	autonomous	ADJ
arestyrurj-153	176	25	motion	motion	NOUN
arestyrurj-153	176	26	of	of	ADP
arestyrurj-153	176	27	a	a	DET
arestyrurj-153	176	28	uav	uav	PROPN
arestyrurj-153	176	29	through	through	ADP
arestyrurj-153	176	30	uncertain	uncertain	ADJ
arestyrurj-153	176	31	environments	environment	NOUN
arestyrurj-153	176	32	,	,	PUNCT
arestyrurj-153	176	33	”	"	PUNCT
arestyrurj-153	176	34	university	university	NOUN
arestyrurj-153	176	35	of	of	ADP
arestyrurj-153	176	36	washington	washington	PROPN
arestyrurj-153	176	37	,	,	PUNCT
arestyrurj-153	176	38	seattle	seattle	PROPN
arestyrurj-153	176	39	,	,	PUNCT
arestyrurj-153	176	40	wa	wa	NOUN
arestyrurj-153	176	41	,	,	PUNCT
arestyrurj-153	176	42	2002	2002	NUM
arestyrurj-153	176	43	.	.	PUNCT
arestyrurj-153	177	1	[	[	X
arestyrurj-153	177	2	5	5	NUM
arestyrurj-153	177	3	]	]	X
arestyrurj-153	177	4	zhao	zhao	X
arestyrurj-153	177	5	,	,	PUNCT
arestyrurj-153	177	6	yiyuan	yiyuan	PROPN
arestyrurj-153	177	7	j.	j.	PROPN
arestyrurj-153	177	8	and	and	CCONJ
arestyrurj-153	177	9	celia	celia	PROPN
arestyrurj-153	177	10	qi	qi	PROPN
arestyrurj-153	177	11	,	,	PUNCT
arestyrurj-153	177	12	ying	ying	PROPN
arestyrurj-153	177	13	,	,	PUNCT
arestyrurj-153	177	14	“	"	PUNCT
arestyrurj-153	177	15	minimum	minimum	ADJ
arestyrurj-153	177	16	fuel	fuel	NOUN
arestyrurj-153	177	17	powered	power	VERB
arestyrurj-153	177	18	dynamic	dynamic	ADJ
arestyrurj-153	177	19	soaring	soaring	NOUN
arestyrurj-153	177	20	of	of	ADP
arestyrurj-153	177	21	unmanned	unmanned	ADJ
arestyrurj-153	177	22	aerial	aerial	ADJ
arestyrurj-153	177	23	vehicles	vehicle	NOUN
arestyrurj-153	177	24	utilizing	utilize	VERB
arestyrurj-153	177	25	wind	wind	NOUN
arestyrurj-153	177	26	gradients	gradient	NOUN
arestyrurj-153	177	27	,	,	PUNCT
arestyrurj-153	177	28	”	"	PUNCT
arestyrurj-153	177	29	university	university	NOUN
arestyrurj-153	177	30	of	of	ADP
arestyrurj-153	177	31	minneapolis	minneapolis	PROPN
arestyrurj-153	177	32	,	,	PUNCT
arestyrurj-153	177	33	mn	mn	PROPN
arestyrurj-153	177	34	,	,	PUNCT
arestyrurj-153	177	35	2004	2004	NUM
arestyrurj-153	177	36	.	.	PUNCT
arestyrurj-153	178	1	[	[	X
arestyrurj-153	178	2	6	6	NUM
arestyrurj-153	178	3	]	]	X
arestyrurj-153	178	4	morgan	morgan	PROPN
arestyrurj-153	178	5	,	,	PUNCT
arestyrurj-153	178	6	daniel	daniel	PROPN
arestyrurj-153	178	7	,	,	PUNCT
arestyrurj-153	178	8	chong	chong	PROPN
arestyrurj-153	178	9	,	,	PUNCT
arestyrurj-153	178	10	soon	soon	ADV
arestyrurj-153	178	11	-	-	PUNCT
arestyrurj-153	178	12	jo	jo	NOUN
arestyrurj-153	178	13	,	,	PUNCT
arestyrurj-153	178	14	and	and	CCONJ
arestyrurj-153	178	15	hadaegh	hadaegh	VERB
arestyrurj-153	178	16	,	,	PUNCT
arestyrurj-153	178	17	fred	fred	PROPN
arestyrurj-153	178	18	y.	y.	PROPN
arestyrurj-153	178	19	,	,	PUNCT
arestyrurj-153	178	20	“	"	PUNCT
arestyrurj-153	178	21	model	model	NOUN
arestyrurj-153	178	22	predictive	predictive	ADJ
arestyrurj-153	178	23	control	control	NOUN
arestyrurj-153	178	24	of	of	ADP
arestyrurj-153	178	25	swarms	swarm	NOUN
arestyrurj-153	178	26	of	of	ADP
arestyrurj-153	178	27	spacecraft	spacecraft	NOUN
arestyrurj-153	178	28	using	use	VERB
arestyrurj-153	178	29	sequential	sequential	ADJ
arestyrurj-153	178	30	convex	convex	ADJ
arestyrurj-153	178	31	programming	programming	NOUN
arestyrurj-153	178	32	,	,	PUNCT
arestyrurj-153	178	33	”	"	PUNCT
arestyrurj-153	178	34	journal	journal	NOUN
arestyrurj-153	178	35	of	of	ADP
arestyrurj-153	178	36	guidance	guidance	NOUN
arestyrurj-153	178	37	,	,	PUNCT
arestyrurj-153	178	38	control	control	NOUN
arestyrurj-153	178	39	,	,	PUNCT
arestyrurj-153	178	40	and	and	CCONJ
arestyrurj-153	178	41	dynamics	dynamic	NOUN
arestyrurj-153	178	42	,	,	PUNCT
arestyrurj-153	178	43	vol	vol	NOUN
arestyrurj-153	178	44	.	.	PROPN
arestyrurj-153	178	45	37	37	NUM
arestyrurj-153	178	46	,	,	PUNCT
arestyrurj-153	178	47	no	no	DET
arestyrurj-153	178	48	6	6	NUM
arestyrurj-153	178	49	,	,	PUNCT
arestyrurj-153	178	50	november	november	PROPN
arestyrurj-153	178	51	-	-	PUNCT
arestyrurj-153	178	52	december	december	PROPN
arestyrurj-153	178	53	2014	2014	NUM
arestyrurj-153	178	54	,	,	PUNCT
arestyrurj-153	178	55	1725	1725	NUM
arestyrurj-153	178	56	-	-	SYM
arestyrurj-153	178	57	1740	1740	NUM
arestyrurj-153	178	58	.	.	PUNCT
arestyrurj-153	179	1	[	[	X
arestyrurj-153	179	2	7	7	X
arestyrurj-153	179	3	]	]	X
arestyrurj-153	179	4	“	"	PUNCT
arestyrurj-153	179	5	cassini	cassini	ADJ
arestyrurj-153	179	6	-	-	PUNCT
arestyrurj-153	179	7	solstice	solstice	NOUN
arestyrurj-153	179	8	mission	mission	NOUN
arestyrurj-153	179	9	faqs	faq	NOUN
arestyrurj-153	179	10	,	,	PUNCT
arestyrurj-153	179	11	”	"	PUNCT
arestyrurj-153	179	12	jet	jet	NOUN
arestyrurj-153	179	13	propulsion	propulsion	NOUN
arestyrurj-153	179	14	laboratory	laboratory	NOUN
arestyrurj-153	179	15	.	.	PUNCT
arestyrurj-153	180	1	retrieved	retrieve	VERB
arestyrurj-153	180	2	january	january	PROPN
arestyrurj-153	180	3	24	24	NUM
arestyrurj-153	180	4	,	,	PUNCT
arestyrurj-153	180	5	nasa	nasa	PROPN
arestyrurj-153	180	6	,	,	PUNCT
arestyrurj-153	180	7	2014	2014	NUM
arestyrurj-153	180	8	.	.	PUNCT
arestyrurj-153	181	1	[	[	X
arestyrurj-153	181	2	8	8	NUM
arestyrurj-153	181	3	]	]	X
arestyrurj-153	181	4	blocher	bloch	ADJ
arestyrurj-153	181	5	,	,	PUNCT
arestyrurj-153	181	6	a.	a.	NOUN
arestyrurj-153	181	7	,	,	PUNCT
arestyrurj-153	181	8	“	"	PUNCT
arestyrurj-153	181	9	alternative	alternative	ADJ
arestyrurj-153	181	10	mission	mission	NOUN
arestyrurj-153	181	11	concepts	concept	NOUN
arestyrurj-153	181	12	for	for	ADP
arestyrurj-153	181	13	the	the	DET
arestyrurj-153	181	14	exploration	exploration	NOUN
arestyrurj-153	181	15	of	of	ADP
arestyrurj-153	181	16	outer	outer	ADJ
arestyrurj-153	181	17	planets	planet	NOUN
arestyrurj-153	181	18	,	,	PUNCT
arestyrurj-153	181	19	”	"	PUNCT
arestyrurj-153	181	20	california	california	PROPN
arestyrurj-153	181	21	polytech	polytech	PROPN
arestyrurj-153	181	22	state	state	PROPN
arestyrurj-153	181	23	university	university	PROPN
arestyrurj-153	181	24	,	,	PUNCT
arestyrurj-153	181	25	master	master	NOUN
arestyrurj-153	181	26	’s	’s	PART
arestyrurj-153	181	27	thesis	thesis	NOUN
arestyrurj-153	181	28	2017	2017	NUM
arestyrurj-153	181	29	.	.	PUNCT
arestyrurj-153	182	1	[	[	X
arestyrurj-153	182	2	9	9	NUM
arestyrurj-153	182	3	]	]	PUNCT
arestyrurj-153	182	4	hadaegh	hadaegh	VERB
arestyrurj-153	182	5	,	,	PUNCT
arestyrurj-153	182	6	f.	f.	PROPN
arestyrurj-153	182	7	y.	y.	PROPN
arestyrurj-153	182	8	,	,	PUNCT
arestyrurj-153	182	9	chung	chung	PROPN
arestyrurj-153	182	10	,	,	PUNCT
arestyrurj-153	182	11	s.	s.	PROPN
arestyrurj-153	182	12	,	,	PUNCT
arestyrurj-153	182	13	manohara	manohara	PROPN
arestyrurj-153	182	14	,	,	PUNCT
arestyrurj-153	182	15	h.	h.	PROPN
arestyrurj-153	182	16	m.	m.	NOUN
arestyrurj-153	182	17	,	,	PUNCT
arestyrurj-153	182	18	“	"	PUNCT
arestyrurj-153	182	19	on	on	ADP
arestyrurj-153	182	20	development	development	NOUN
arestyrurj-153	182	21	of	of	ADP
arestyrurj-153	182	22	100	100	NUM
arestyrurj-153	182	23	-	-	PUNCT
arestyrurj-153	182	24	gram	gram	NOUN
arestyrurj-153	182	25	class	class	NOUN
arestyrurj-153	182	26	spacecraft	spacecraft	NOUN
arestyrurj-153	182	27	for	for	ADP
arestyrurj-153	182	28	swarm	swarm	NOUN
arestyrurj-153	182	29	applications	application	NOUN
arestyrurj-153	182	30	,	,	PUNCT
arestyrurj-153	182	31	”	"	PUNCT
arestyrurj-153	182	32	ieee	ieee	NOUN
arestyrurj-153	182	33	systems	system	NOUN
arestyrurj-153	182	34	journal	journal	NOUN
arestyrurj-153	182	35	,	,	PUNCT
arestyrurj-153	182	36	vol	vol	NOUN
arestyrurj-153	182	37	.	.	PROPN
arestyrurj-153	182	38	10	10	NUM
arestyrurj-153	182	39	,	,	PUNCT
arestyrurj-153	182	40	no	no	INTJ
arestyrurj-153	182	41	.	.	NOUN
arestyrurj-153	182	42	2	2	NUM
arestyrurj-153	182	43	,	,	PUNCT
arestyrurj-153	182	44	pages	page	NOUN
arestyrurj-153	182	45	673	673	NUM
arestyrurj-153	182	46	-	-	SYM
arestyrurj-153	182	47	684	684	NUM
arestyrurj-153	182	48	,	,	PUNCT
arestyrurj-153	182	49	june	june	PROPN
arestyrurj-153	182	50	2016	2016	NUM
arestyrurj-153	182	51	,	,	PUNCT
arestyrurj-153	182	52	2016	2016	NUM
arestyrurj-153	182	53	.	.	PUNCT
arestyrurj-153	183	1	[	[	X
arestyrurj-153	183	2	10	10	NUM
arestyrurj-153	183	3	]	]	X
arestyrurj-153	183	4	hinchley	hinchley	NOUN
arestyrurj-153	183	5	,	,	PUNCT
arestyrurj-153	183	6	m.	m.	NOUN
arestyrurj-153	183	7	g.	g.	PROPN
arestyrurj-153	183	8	,	,	PUNCT
arestyrurj-153	183	9	rash	rash	NOUN
arestyrurj-153	183	10	,	,	PUNCT
arestyrurj-153	183	11	j.	j.	PROPN
arestyrurj-153	183	12	l.	l.	PROPN
arestyrurj-153	183	13	,	,	PUNCT
arestyrurj-153	183	14	truszkowski	truszkowski	PROPN
arestyrurj-153	183	15	,	,	PUNCT
arestyrurj-153	183	16	w.	w.	PROPN
arestyrurj-153	183	17	f.	f.	PROPN
arestyrurj-153	183	18	,“autonomous	,“autonomous	PUNCT
arestyrurj-153	183	19	and	and	CCONJ
arestyrurj-153	183	20	autonomic	autonomic	ADJ
arestyrurj-153	183	21	swarms	swarm	NOUN
arestyrurj-153	183	22	,	,	PUNCT
arestyrurj-153	183	23	”	"	PUNCT
arestyrurj-153	183	24	information	information	NOUN
arestyrurj-153	183	25	systems	system	NOUN
arestyrurj-153	183	26	division	division	NOUN
arestyrurj-153	183	27	,	,	PUNCT
arestyrurj-153	183	28	nasa	nasa	PROPN
arestyrurj-153	183	29	goddard	goddard	PROPN
arestyrurj-153	183	30	space	space	NOUN
arestyrurj-153	183	31	flight	flight	NOUN
arestyrurj-153	183	32	center	center	NOUN
arestyrurj-153	183	33	,	,	PUNCT
arestyrurj-153	183	34	technical	technical	ADJ
arestyrurj-153	183	35	report	report	NOUN
arestyrurj-153	183	36	,	,	PUNCT
arestyrurj-153	183	37	2006	2006	NUM
arestyrurj-153	183	38	.	.	PUNCT
arestyrurj-153	184	1	[	[	X
arestyrurj-153	184	2	11	11	NUM
arestyrurj-153	184	3	]	]	X
arestyrurj-153	184	4	nallapu	nallapu	PROPN
arestyrurj-153	184	5	,	,	PUNCT
arestyrurj-153	184	6	r.	r.	PROPN
arestyrurj-153	184	7	,	,	PUNCT
arestyrurj-153	184	8	thangavelautham	thangavelautham	PROPN
arestyrurj-153	184	9	,	,	PUNCT
arestyrurj-153	184	10	j.	j.	PROPN
arestyrurj-153	184	11	,	,	PUNCT
arestyrurj-153	184	12	“	"	PUNCT
arestyrurj-153	184	13	design	design	NOUN
arestyrurj-153	184	14	of	of	ADP
arestyrurj-153	184	15	spacecraft	spacecraft	NOUN
arestyrurj-153	184	16	swarm	swarm	NOUN
arestyrurj-153	184	17	flybys	flybys	NOUN
arestyrurj-153	184	18	for	for	ADP
arestyrurj-153	184	19	planetary	planetary	ADJ
arestyrurj-153	184	20	moon	moon	NOUN
arestyrurj-153	184	21	exploration	exploration	NOUN
arestyrurj-153	184	22	,	,	PUNCT
arestyrurj-153	184	23	”	"	PUNCT
arestyrurj-153	184	24	structures	structure	NOUN
arestyrurj-153	184	25	,	,	PUNCT
arestyrurj-153	184	26	structural	structural	ADJ
arestyrurj-153	184	27	design	design	NOUN
arestyrurj-153	184	28	and	and	CCONJ
arestyrurj-153	184	29	materials	material	NOUN
arestyrurj-153	184	30	conference	conference	NOUN
arestyrurj-153	184	31	,	,	PUNCT
arestyrurj-153	184	32	technical	technical	ADJ
arestyrurj-153	184	33	report	report	NOUN
arestyrurj-153	184	34	,	,	PUNCT
arestyrurj-153	184	35	2019	2019	NUM
arestyrurj-153	184	36	.	.	PUNCT
arestyrurj-153	185	1	[	[	X
arestyrurj-153	185	2	12	12	NUM
arestyrurj-153	185	3	]	]	X
arestyrurj-153	185	4	blocher	bloch	ADJ
arestyrurj-153	185	5	,	,	PUNCT
arestyrurj-153	185	6	a.	a.	NOUN
arestyrurj-153	185	7	,	,	PUNCT
arestyrurj-153	185	8	atkinson	atkinson	PROPN
arestyrurj-153	185	9	,	,	PUNCT
arestyrurj-153	185	10	d.	d.	PROPN
arestyrurj-153	185	11	,	,	PUNCT
arestyrurj-153	185	12	freeman	freeman	PROPN
arestyrurj-153	185	13	,	,	PUNCT
arestyrurj-153	185	14	t.	t.	PROPN
arestyrurj-153	185	15	,	,	PUNCT
arestyrurj-153	185	16	“	"	PUNCT
arestyrurj-153	185	17	saturn	saturn	NOUN
arestyrurj-153	185	18	swarm	swarm	NOUN
arestyrurj-153	185	19	study	study	VERB
arestyrurj-153	185	20	small	small	ADJ
arestyrurj-153	185	21	probe	probe	NOUN
arestyrurj-153	185	22	and	and	CCONJ
arestyrurj-153	185	23	cubesat	cubesat	PROPN
arestyrurj-153	185	24	architectures	architecture	NOUN
arestyrurj-153	185	25	to	to	PART
arestyrurj-153	185	26	accompany	accompany	VERB
arestyrurj-153	185	27	new	new	ADJ
arestyrurj-153	185	28	frontiers	frontier	NOUN
arestyrurj-153	185	29	missions	mission	NOUN
arestyrurj-153	185	30	at	at	ADP
arestyrurj-153	185	31	saturn	saturn	NOUN
arestyrurj-153	185	32	”	"	PUNCT
arestyrurj-153	185	33	low	low	ADJ
arestyrurj-153	185	34	cost	cost	NOUN
arestyrurj-153	185	35	planetary	planetary	ADJ
arestyrurj-153	185	36	mission	mission	NOUN
arestyrurj-153	185	37	conference	conference	NOUN
arestyrurj-153	185	38	,	,	PUNCT
arestyrurj-153	185	39	presentation	presentation	NOUN
arestyrurj-153	185	40	,	,	PUNCT
arestyrurj-153	185	41	2017	2017	NUM
arestyrurj-153	185	42	.	.	PUNCT
arestyrurj-153	186	1	[	[	X
arestyrurj-153	186	2	13	13	NUM
arestyrurj-153	186	3	]	]	PUNCT
arestyrurj-153	186	4	matlab	matlab	PROPN
arestyrurj-153	186	5	simulink	simulink	PROPN
arestyrurj-153	186	6	,	,	PUNCT
arestyrurj-153	186	7	math	math	NOUN
arestyrurj-153	186	8	and	and	CCONJ
arestyrurj-153	186	9	computer	computer	NOUN
arestyrurj-153	186	10	algebra	algebra	NOUN
arestyrurj-153	186	11	system	system	NOUN
arestyrurj-153	186	12	,	,	PUNCT
arestyrurj-153	186	13	coding	code	VERB
arestyrurj-153	186	14	interface	interface	NOUN
arestyrurj-153	186	15	,	,	PUNCT
arestyrurj-153	186	16	and	and	CCONJ
arestyrurj-153	186	17	simulation	simulation	NOUN
arestyrurj-153	186	18	environment	environment	PROPN
arestyrurj-153	186	19	,	,	PUNCT
arestyrurj-153	186	20	mathworks	mathworks	PROPN
arestyrurj-153	186	21	,	,	PUNCT
arestyrurj-153	186	22	2019	2019	NUM
arestyrurj-153	186	23	.	.	PUNCT
arestyrurj-153	187	1	[	[	X
arestyrurj-153	187	2	14	14	NUM
arestyrurj-153	187	3	]	]	PUNCT
arestyrurj-153	187	4	hibbeler	hibbeler	NOUN
arestyrurj-153	187	5	,	,	PUNCT
arestyrurj-153	187	6	russel	russel	PROPN
arestyrurj-153	187	7	c.	c.	PROPN
arestyrurj-153	187	8	,	,	PUNCT
arestyrurj-153	187	9	engineering	engineering	NOUN
arestyrurj-153	187	10	mechanics	mechanic	NOUN
arestyrurj-153	187	11	:	:	PUNCT
arestyrurj-153	187	12	dynamics	dynamic	NOUN
arestyrurj-153	187	13	,	,	PUNCT
arestyrurj-153	187	14	14th	14th	NUM
arestyrurj-153	187	15	edition	edition	NOUN
arestyrurj-153	187	16	,	,	PUNCT
arestyrurj-153	187	17	2016	2016	NUM
arestyrurj-153	187	18	.	.	PUNCT