id	sid	tid	token	lemma	pos
cana-2647	1	1	communications	communication	NOUN
cana-2647	1	2	on	on	ADP
cana-2647	1	3	applied	apply	VERB
cana-2647	1	4	nonlinear	nonlinear	ADJ
cana-2647	1	5	analysis	analysis	NOUN
cana-2647	1	6	issn	issn	NOUN
cana-2647	1	7	:	:	PUNCT
cana-2647	1	8	1074	1074	NUM
cana-2647	1	9	-	-	PUNCT
cana-2647	1	10	133x	133x	NUM
cana-2647	1	11	vol	vol	NOUN
cana-2647	1	12	32	32	NUM
cana-2647	1	13	no	no	NOUN
cana-2647	1	14	.	.	PUNCT
cana-2647	2	1	3s	3s	NUM
cana-2647	2	2	(	(	PUNCT
cana-2647	2	3	2025	2025	NUM
cana-2647	2	4	)	)	PUNCT
cana-2647	2	5	341	341	NUM
cana-2647	2	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	2	7	nonlinear	nonlinear	ADJ
cana-2647	2	8	decentralized	decentralize	VERB
cana-2647	2	9	federated	federated	ADJ
cana-2647	2	10	localization	localization	NOUN
cana-2647	2	11	framework	framework	NOUN
cana-2647	2	12	for	for	ADP
cana-2647	2	13	dynamic	dynamic	ADJ
cana-2647	2	14	vehicular	vehicular	ADJ
cana-2647	2	15	networks	network	NOUN
cana-2647	2	16	*	*	SYM
cana-2647	2	17	1b	1b	NUM
cana-2647	2	18	.	.	PUNCT
cana-2647	3	1	deena	deena	PROPN
cana-2647	3	2	divya	divya	PROPN
cana-2647	3	3	nayomi	nayomi	PROPN
cana-2647	3	4	,	,	PUNCT
cana-2647	3	5	2v	2v	PROPN
cana-2647	3	6	.	.	PUNCT
cana-2647	4	1	jyothsna	jyothsna	PROPN
cana-2647	4	2	1research	1research	NUM
cana-2647	4	3	scholar	scholar	NOUN
cana-2647	4	4	,	,	PUNCT
cana-2647	4	5	department	department	NOUN
cana-2647	4	6	of	of	ADP
cana-2647	4	7	computer	computer	NOUN
cana-2647	4	8	science	science	NOUN
cana-2647	4	9	and	and	CCONJ
cana-2647	4	10	engineering	engineering	NOUN
cana-2647	4	11	school	school	NOUN
cana-2647	4	12	of	of	ADP
cana-2647	4	13	computing	computing	NOUN
cana-2647	4	14	,	,	PUNCT
cana-2647	4	15	mohan	mohan	PROPN
cana-2647	4	16	babu	babu	PROPN
cana-2647	4	17	university	university	PROPN
cana-2647	4	18	(	(	PUNCT
cana-2647	4	19	erstwhile	erstwhile	VERB
cana-2647	4	20	sree	sree	PROPN
cana-2647	4	21	vidyanikethan	vidyanikethan	PROPN
cana-2647	4	22	engineering	engineering	PROPN
cana-2647	4	23	college	college	PROPN
cana-2647	4	24	(	(	PUNCT
cana-2647	4	25	autonomous	autonomous	ADJ
cana-2647	4	26	)	)	PUNCT
cana-2647	4	27	)	)	PUNCT
cana-2647	4	28	,	,	PUNCT
cana-2647	4	29	tirupati	tirupati	PROPN
cana-2647	4	30	,	,	PUNCT
cana-2647	4	31	andhra	andhra	PROPN
cana-2647	4	32	pradesh	pradesh	PROPN
cana-2647	4	33	,	,	PUNCT
cana-2647	4	34	india	india	PROPN
cana-2647	4	35	.	.	PUNCT
cana-2647	5	1	email	email	NOUN
cana-2647	5	2	:	:	PUNCT
cana-2647	6	1	bdeenadivyanayomi@gmail.com	bdeenadivyanayomi@gmail.com	X
cana-2647	7	1	2associate	2associate	NUM
cana-2647	7	2	dean	dean	NOUN
cana-2647	7	3	(	(	PUNCT
cana-2647	7	4	academic	academic	ADJ
cana-2647	7	5	affairs	affair	NOUN
cana-2647	7	6	)	)	PUNCT
cana-2647	7	7	and	and	CCONJ
cana-2647	7	8	associate	associate	NOUN
cana-2647	7	9	professor	professor	NOUN
cana-2647	7	10	,	,	PUNCT
cana-2647	7	11	department	department	NOUN
cana-2647	7	12	of	of	ADP
cana-2647	7	13	data	data	PROPN
cana-2647	7	14	science	science	NOUN
cana-2647	7	15	school	school	NOUN
cana-2647	7	16	of	of	ADP
cana-2647	7	17	computing	computing	NOUN
cana-2647	7	18	,	,	PUNCT
cana-2647	7	19	mohan	mohan	PROPN
cana-2647	7	20	babu	babu	PROPN
cana-2647	7	21	university	university	PROPN
cana-2647	7	22	(	(	PUNCT
cana-2647	7	23	erstwhile	erstwhile	VERB
cana-2647	7	24	sree	sree	PROPN
cana-2647	7	25	vidyanikethan	vidyanikethan	PROPN
cana-2647	7	26	engineering	engineering	PROPN
cana-2647	7	27	college	college	PROPN
cana-2647	7	28	)	)	PUNCT
cana-2647	7	29	,	,	PUNCT
cana-2647	7	30	tirupati	tirupati	PROPN
cana-2647	7	31	,	,	PUNCT
cana-2647	7	32	andhra	andhra	PROPN
cana-2647	7	33	pradesh	pradesh	PROPN
cana-2647	7	34	,	,	PUNCT
cana-2647	7	35	india	india	PROPN
cana-2647	7	36	.	.	PUNCT
cana-2647	7	37	email	email	NOUN
cana-2647	7	38	:	:	PUNCT
cana-2647	7	39	jyothsna1684@gmail.com	jyothsna1684@gmail.com	X
cana-2647	8	1	article	article	PROPN
cana-2647	8	2	history	history	NOUN
cana-2647	8	3	:	:	PUNCT
cana-2647	8	4	received	receive	VERB
cana-2647	8	5	:	:	PUNCT
cana-2647	8	6	21	21	NUM
cana-2647	8	7	-	-	SYM
cana-2647	8	8	09	09	NUM
cana-2647	8	9	-	-	PUNCT
cana-2647	8	10	2024	2024	NUM
cana-2647	8	11	revised	revise	VERB
cana-2647	8	12	:	:	PUNCT
cana-2647	8	13	30	30	NUM
cana-2647	8	14	-	-	SYM
cana-2647	8	15	10	10	NUM
cana-2647	8	16	-	-	PUNCT
cana-2647	8	17	2024	2024	NUM
cana-2647	8	18	accepted	accept	VERB
cana-2647	8	19	:	:	PUNCT
cana-2647	8	20	20	20	NUM
cana-2647	8	21	-	-	SYM
cana-2647	8	22	11	11	NUM
cana-2647	8	23	-	-	PUNCT
cana-2647	8	24	2024	2024	NUM
cana-2647	8	25	abstract	abstract	NOUN
cana-2647	8	26	:	:	PUNCT
cana-2647	8	27	this	this	DET
cana-2647	8	28	study	study	NOUN
cana-2647	8	29	introduces	introduce	VERB
cana-2647	8	30	a	a	DET
cana-2647	8	31	nonlinear	nonlinear	ADJ
cana-2647	8	32	decentralized	decentralize	VERB
cana-2647	8	33	federated	federated	ADJ
cana-2647	8	34	localization	localization	NOUN
cana-2647	8	35	framework	framework	NOUN
cana-2647	8	36	(	(	PUNCT
cana-2647	8	37	dflf	dflf	NOUN
cana-2647	8	38	)	)	PUNCT
cana-2647	8	39	designed	design	VERB
cana-2647	8	40	for	for	ADP
cana-2647	8	41	precise	precise	ADJ
cana-2647	8	42	real	real	ADJ
cana-2647	8	43	-	-	PUNCT
cana-2647	8	44	time	time	NOUN
cana-2647	8	45	vehicle	vehicle	NOUN
cana-2647	8	46	positioning	positioning	NOUN
cana-2647	8	47	in	in	ADP
cana-2647	8	48	dynamic	dynamic	ADJ
cana-2647	8	49	vehicular	vehicular	ADJ
cana-2647	8	50	networks	network	NOUN
cana-2647	8	51	.	.	PUNCT
cana-2647	9	1	the	the	DET
cana-2647	9	2	framework	framework	NOUN
cana-2647	9	3	addresses	address	NOUN
cana-2647	9	4	gnss	gnss	NOUN
cana-2647	9	5	inaccuracies	inaccuracy	NOUN
cana-2647	9	6	,	,	PUNCT
cana-2647	9	7	high	high	ADJ
cana-2647	9	8	communication	communication	NOUN
cana-2647	9	9	costs	cost	NOUN
cana-2647	9	10	,	,	PUNCT
cana-2647	9	11	and	and	CCONJ
cana-2647	9	12	privacy	privacy	NOUN
cana-2647	9	13	challenges	challenge	NOUN
cana-2647	9	14	by	by	ADP
cana-2647	9	15	integrating	integrate	VERB
cana-2647	9	16	nonlinear	nonlinear	ADJ
cana-2647	9	17	machine	machine	NOUN
cana-2647	9	18	learning	learn	VERB
cana-2647	9	19	techniques	technique	NOUN
cana-2647	9	20	,	,	PUNCT
cana-2647	9	21	including	include	VERB
cana-2647	9	22	long	long	ADJ
cana-2647	9	23	short	short	ADJ
cana-2647	9	24	-	-	PUNCT
cana-2647	9	25	term	term	NOUN
cana-2647	9	26	memory	memory	NOUN
cana-2647	9	27	(	(	PUNCT
cana-2647	9	28	lstm	lstm	NOUN
cana-2647	9	29	)	)	PUNCT
cana-2647	9	30	networks	network	NOUN
cana-2647	9	31	,	,	PUNCT
cana-2647	9	32	graph	graph	VERB
cana-2647	9	33	convolutional	convolutional	ADJ
cana-2647	9	34	networks	network	NOUN
cana-2647	9	35	(	(	PUNCT
cana-2647	9	36	gcns	gcns	PROPN
cana-2647	9	37	)	)	PUNCT
cana-2647	9	38	,	,	PUNCT
cana-2647	9	39	and	and	CCONJ
cana-2647	9	40	transformer	transformer	NOUN
cana-2647	9	41	-	-	PUNCT
cana-2647	9	42	based	base	VERB
cana-2647	9	43	attention	attention	NOUN
cana-2647	9	44	mechanisms	mechanism	NOUN
cana-2647	9	45	.	.	PUNCT
cana-2647	10	1	these	these	DET
cana-2647	10	2	models	model	NOUN
cana-2647	10	3	effectively	effectively	ADV
cana-2647	10	4	capture	capture	VERB
cana-2647	10	5	complex	complex	ADJ
cana-2647	10	6	temporal	temporal	ADJ
cana-2647	10	7	and	and	CCONJ
cana-2647	10	8	spatial	spatial	ADJ
cana-2647	10	9	dependencies	dependency	NOUN
cana-2647	10	10	from	from	ADP
cana-2647	10	11	gnss	gnss	NOUN
cana-2647	10	12	,	,	PUNCT
cana-2647	10	13	sensor	sensor	NOUN
cana-2647	10	14	,	,	PUNCT
cana-2647	10	15	and	and	CCONJ
cana-2647	10	16	vehicle	vehicle	NOUN
cana-2647	10	17	-	-	PUNCT
cana-2647	10	18	to	to	ADP
cana-2647	10	19	-	-	PUNCT
cana-2647	10	20	vehicle	vehicle	NOUN
cana-2647	10	21	(	(	PUNCT
cana-2647	10	22	v2v	v2v	NOUN
cana-2647	10	23	)	)	PUNCT
cana-2647	10	24	communication	communication	NOUN
cana-2647	10	25	data	datum	NOUN
cana-2647	10	26	.	.	PUNCT
cana-2647	11	1	federated	federated	ADJ
cana-2647	11	2	learning	learning	NOUN
cana-2647	11	3	ensures	ensure	VERB
cana-2647	11	4	secure	secure	ADJ
cana-2647	11	5	,	,	PUNCT
cana-2647	11	6	decentralized	decentralized	ADJ
cana-2647	11	7	training	training	NOUN
cana-2647	11	8	by	by	ADP
cana-2647	11	9	exchanging	exchange	VERB
cana-2647	11	10	encrypted	encrypt	VERB
cana-2647	11	11	model	model	NOUN
cana-2647	11	12	updates	update	NOUN
cana-2647	11	13	rather	rather	ADV
cana-2647	11	14	than	than	ADP
cana-2647	11	15	raw	raw	ADJ
cana-2647	11	16	data	datum	NOUN
cana-2647	11	17	.	.	PUNCT
cana-2647	12	1	experimental	experimental	ADJ
cana-2647	12	2	results	result	NOUN
cana-2647	12	3	using	use	VERB
cana-2647	12	4	synthetic	synthetic	ADJ
cana-2647	12	5	gnss	gnss	NOUN
cana-2647	12	6	data	datum	NOUN
cana-2647	12	7	and	and	CCONJ
cana-2647	12	8	v2v	v2v	NOUN
cana-2647	12	9	interactions	interaction	NOUN
cana-2647	12	10	demonstrate	demonstrate	VERB
cana-2647	12	11	significant	significant	ADJ
cana-2647	12	12	accuracy	accuracy	NOUN
cana-2647	12	13	improvements	improvement	NOUN
cana-2647	12	14	,	,	PUNCT
cana-2647	12	15	with	with	ADP
cana-2647	12	16	root	root	NOUN
cana-2647	12	17	mean	mean	ADJ
cana-2647	12	18	square	square	ADJ
cana-2647	12	19	errors	error	NOUN
cana-2647	12	20	(	(	PUNCT
cana-2647	12	21	rmse	rmse	NOUN
cana-2647	12	22	)	)	PUNCT
cana-2647	12	23	of	of	ADP
cana-2647	12	24	2.3	2.3	NUM
cana-2647	12	25	meters	meter	NOUN
cana-2647	12	26	in	in	ADP
cana-2647	12	27	urban	urban	ADJ
cana-2647	12	28	scenarios	scenario	NOUN
cana-2647	12	29	and	and	CCONJ
cana-2647	12	30	1.2	1.2	NUM
cana-2647	12	31	meters	meter	NOUN
cana-2647	12	32	on	on	ADP
cana-2647	12	33	highways	highway	NOUN
cana-2647	12	34	.	.	PUNCT
cana-2647	13	1	scalability	scalability	NOUN
cana-2647	13	2	tests	test	NOUN
cana-2647	13	3	with	with	ADP
cana-2647	13	4	networks	network	NOUN
cana-2647	13	5	of	of	ADP
cana-2647	13	6	up	up	ADP
cana-2647	13	7	to	to	PART
cana-2647	13	8	500	500	NUM
cana-2647	13	9	vehicles	vehicle	NOUN
cana-2647	13	10	confirm	confirm	VERB
cana-2647	13	11	the	the	DET
cana-2647	13	12	model	model	NOUN
cana-2647	13	13	's	's	PART
cana-2647	13	14	robustness	robustness	NOUN
cana-2647	13	15	in	in	ADP
cana-2647	13	16	dense	dense	ADJ
cana-2647	13	17	traffic	traffic	NOUN
cana-2647	13	18	environments	environment	NOUN
cana-2647	13	19	.	.	PUNCT
cana-2647	14	1	privacy	privacy	NOUN
cana-2647	14	2	-	-	PUNCT
cana-2647	14	3	preserving	preserve	VERB
cana-2647	14	4	measures	measure	NOUN
cana-2647	14	5	such	such	ADJ
cana-2647	14	6	as	as	ADP
cana-2647	14	7	differential	differential	ADJ
cana-2647	14	8	privacy	privacy	NOUN
cana-2647	14	9	and	and	CCONJ
cana-2647	14	10	homomorphic	homomorphic	ADJ
cana-2647	14	11	encryption	encryption	NOUN
cana-2647	14	12	ensure	ensure	VERB
cana-2647	14	13	secure	secure	ADJ
cana-2647	14	14	collaboration	collaboration	NOUN
cana-2647	14	15	without	without	ADP
cana-2647	14	16	notable	notable	ADJ
cana-2647	14	17	performance	performance	NOUN
cana-2647	14	18	degradation	degradation	NOUN
cana-2647	14	19	.	.	PUNCT
cana-2647	15	1	the	the	DET
cana-2647	15	2	framework	framework	NOUN
cana-2647	15	3	's	's	PART
cana-2647	15	4	nonlinear	nonlinear	ADJ
cana-2647	15	5	modeling	modeling	NOUN
cana-2647	15	6	capability	capability	NOUN
cana-2647	15	7	enhances	enhance	VERB
cana-2647	15	8	localization	localization	NOUN
cana-2647	15	9	reliability	reliability	NOUN
cana-2647	15	10	under	under	ADP
cana-2647	15	11	urban	urban	ADJ
cana-2647	15	12	canyon	canyon	NOUN
cana-2647	15	13	conditions	condition	NOUN
cana-2647	15	14	and	and	CCONJ
cana-2647	15	15	intermittent	intermittent	ADJ
cana-2647	15	16	connectivity	connectivity	NOUN
cana-2647	15	17	,	,	PUNCT
cana-2647	15	18	making	make	VERB
cana-2647	15	19	it	it	PRON
cana-2647	15	20	a	a	DET
cana-2647	15	21	viable	viable	ADJ
cana-2647	15	22	solution	solution	NOUN
cana-2647	15	23	for	for	ADP
cana-2647	15	24	decentralized	decentralized	ADJ
cana-2647	15	25	vehicle	vehicle	NOUN
cana-2647	15	26	positioning	positioning	NOUN
cana-2647	15	27	in	in	ADP
cana-2647	15	28	real	real	ADJ
cana-2647	15	29	-	-	PUNCT
cana-2647	15	30	world	world	NOUN
cana-2647	15	31	scenarios	scenario	NOUN
cana-2647	15	32	.	.	PUNCT
cana-2647	16	1	keywords	keyword	NOUN
cana-2647	16	2	:	:	PUNCT
cana-2647	16	3	federated	federated	ADJ
cana-2647	16	4	localization	localization	NOUN
cana-2647	16	5	,	,	PUNCT
cana-2647	16	6	gnss	gnss	NOUN
cana-2647	16	7	accuracy	accuracy	NOUN
cana-2647	16	8	,	,	PUNCT
cana-2647	16	9	vehicular	vehicular	ADJ
cana-2647	16	10	networks	network	NOUN
cana-2647	16	11	,	,	PUNCT
cana-2647	16	12	data	data	NOUN
cana-2647	16	13	privacy	privacy	NOUN
cana-2647	16	14	,	,	PUNCT
cana-2647	16	15	hybrid	hybrid	ADJ
cana-2647	16	16	learning	learning	NOUN
cana-2647	16	17	,	,	PUNCT
cana-2647	16	18	lstm	lstm	ADJ
cana-2647	16	19	,	,	PUNCT
cana-2647	16	20	gcn	gcn	ADJ
cana-2647	16	21	,	,	PUNCT
cana-2647	16	22	v2v	v2v	NOUN
cana-2647	16	23	communication	communication	NOUN
cana-2647	16	24	.	.	PUNCT
cana-2647	17	1	1	1	NUM
cana-2647	17	2	introduction	introduction	NOUN
cana-2647	17	3	in	in	ADP
cana-2647	17	4	vehicular	vehicular	ADJ
cana-2647	17	5	networks	network	NOUN
cana-2647	17	6	,	,	PUNCT
cana-2647	17	7	accurate	accurate	ADJ
cana-2647	17	8	node	node	NOUN
cana-2647	17	9	positioning	positioning	NOUN
cana-2647	17	10	is	be	AUX
cana-2647	17	11	crucial	crucial	ADJ
cana-2647	17	12	for	for	ADP
cana-2647	17	13	traffic	traffic	NOUN
cana-2647	17	14	safety	safety	NOUN
cana-2647	17	15	,	,	PUNCT
cana-2647	17	16	navigation	navigation	NOUN
cana-2647	17	17	,	,	PUNCT
cana-2647	17	18	and	and	CCONJ
cana-2647	17	19	coordination	coordination	NOUN
cana-2647	17	20	.	.	PUNCT
cana-2647	18	1	communication	communication	NOUN
cana-2647	18	2	overhead	overhead	ADV
cana-2647	18	3	,	,	PUNCT
cana-2647	18	4	privacy	privacy	NOUN
cana-2647	18	5	risks	risk	NOUN
cana-2647	18	6	,	,	PUNCT
cana-2647	18	7	and	and	CCONJ
cana-2647	18	8	challenges	challenge	NOUN
cana-2647	18	9	in	in	ADP
cana-2647	18	10	handling	handle	VERB
cana-2647	18	11	dynamic	dynamic	ADJ
cana-2647	18	12	environments	environment	NOUN
cana-2647	18	13	often	often	ADV
cana-2647	18	14	limit	limit	VERB
cana-2647	18	15	centralized	centralized	ADJ
cana-2647	18	16	localization	localization	NOUN
cana-2647	18	17	methods	method	NOUN
cana-2647	18	18	,	,	PUNCT
cana-2647	18	19	where	where	SCONJ
cana-2647	18	20	data	datum	NOUN
cana-2647	18	21	frequently	frequently	ADV
cana-2647	18	22	changes	change	VERB
cana-2647	18	23	.	.	PUNCT
cana-2647	19	1	decentralized	decentralize	VERB
cana-2647	19	2	federated	federated	ADJ
cana-2647	19	3	learning	learning	NOUN
cana-2647	19	4	(	(	PUNCT
cana-2647	19	5	dfl	dfl	PROPN
cana-2647	19	6	)	)	PUNCT
cana-2647	19	7	offers	offer	VERB
cana-2647	19	8	an	an	DET
cana-2647	19	9	alternative	alternative	ADJ
cana-2647	19	10	solution	solution	NOUN
cana-2647	19	11	by	by	ADP
cana-2647	19	12	enabling	enable	VERB
cana-2647	19	13	vehicles	vehicle	NOUN
cana-2647	19	14	to	to	PART
cana-2647	19	15	train	train	VERB
cana-2647	19	16	shared	share	VERB
cana-2647	19	17	models	model	NOUN
cana-2647	19	18	without	without	ADP
cana-2647	19	19	sending	send	VERB
cana-2647	19	20	raw	raw	ADJ
cana-2647	19	21	data	datum	NOUN
cana-2647	19	22	to	to	ADP
cana-2647	19	23	a	a	DET
cana-2647	19	24	central	central	ADJ
cana-2647	19	25	server	server	NOUN
cana-2647	20	1	[	[	X
cana-2647	20	2	1	1	NUM
cana-2647	20	3	]	]	PUNCT
cana-2647	20	4	,	,	PUNCT
cana-2647	20	5	[	[	X
cana-2647	20	6	2	2	NUM
cana-2647	20	7	]	]	PUNCT
cana-2647	20	8	.	.	PUNCT
cana-2647	21	1	privacy	privacy	NOUN
cana-2647	21	2	concerns	concern	NOUN
cana-2647	21	3	are	be	AUX
cana-2647	21	4	reduced	reduce	VERB
cana-2647	21	5	,	,	PUNCT
cana-2647	21	6	and	and	CCONJ
cana-2647	21	7	centralized	centralized	ADJ
cana-2647	21	8	infrastructure	infrastructure	NOUN
cana-2647	21	9	requirements	requirement	NOUN
cana-2647	21	10	are	be	AUX
cana-2647	21	11	minimized	minimize	VERB
cana-2647	21	12	,	,	PUNCT
cana-2647	21	13	particularly	particularly	ADV
cana-2647	21	14	in	in	ADP
cana-2647	21	15	scenarios	scenario	NOUN
cana-2647	21	16	involving	involve	VERB
cana-2647	21	17	sensitive	sensitive	ADJ
cana-2647	21	18	location	location	NOUN
cana-2647	21	19	data	datum	NOUN
cana-2647	21	20	.	.	PUNCT
cana-2647	22	1	vehicles	vehicle	NOUN
cana-2647	22	2	share	share	PROPN
cana-2647	22	3	model	model	PROPN
cana-2647	22	4	updates	update	NOUN
cana-2647	22	5	directly	directly	ADV
cana-2647	22	6	instead	instead	ADV
cana-2647	22	7	of	of	ADP
cana-2647	22	8	raw	raw	ADJ
cana-2647	22	9	information	information	NOUN
cana-2647	22	10	,	,	PUNCT
cana-2647	22	11	facilitated	facilitate	VERB
cana-2647	22	12	by	by	ADP
cana-2647	22	13	dfl	dfl	PROPN
cana-2647	22	14	.	.	PUNCT
cana-2647	23	1	communications	communication	NOUN
cana-2647	23	2	on	on	ADP
cana-2647	23	3	applied	apply	VERB
cana-2647	23	4	nonlinear	nonlinear	ADJ
cana-2647	23	5	analysis	analysis	NOUN
cana-2647	23	6	issn	issn	NOUN
cana-2647	23	7	:	:	PUNCT
cana-2647	23	8	1074	1074	NUM
cana-2647	23	9	-	-	PUNCT
cana-2647	23	10	133x	133x	NUM
cana-2647	23	11	vol	vol	NOUN
cana-2647	23	12	32	32	NUM
cana-2647	23	13	no	no	NOUN
cana-2647	23	14	.	.	PUNCT
cana-2647	24	1	3s	3s	NUM
cana-2647	24	2	(	(	PUNCT
cana-2647	24	3	2025	2025	NUM
cana-2647	24	4	)	)	PUNCT
cana-2647	24	5	342	342	NUM
cana-2647	24	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	24	7	diverse	diverse	ADJ
cana-2647	24	8	data	datum	NOUN
cana-2647	24	9	sources	source	NOUN
cana-2647	24	10	enhance	enhance	VERB
cana-2647	24	11	learning	learn	VERB
cana-2647	24	12	through	through	ADP
cana-2647	24	13	weighted	weight	VERB
cana-2647	24	14	aggregation	aggregation	NOUN
cana-2647	24	15	methods	method	NOUN
cana-2647	24	16	like	like	ADP
cana-2647	24	17	the	the	DET
cana-2647	24	18	dfl	dfl	PROPN
cana-2647	24	19	-	-	PUNCT
cana-2647	24	20	dds	dds	PROPN
cana-2647	24	21	algorithm	algorithm	PROPN
cana-2647	24	22	,	,	PUNCT
cana-2647	24	23	even	even	ADV
cana-2647	24	24	when	when	SCONJ
cana-2647	24	25	vehicles	vehicle	NOUN
cana-2647	24	26	are	be	AUX
cana-2647	24	27	constrained	constrain	VERB
cana-2647	24	28	by	by	ADP
cana-2647	24	29	limited	limited	ADJ
cana-2647	24	30	communication	communication	NOUN
cana-2647	24	31	ranges	range	NOUN
cana-2647	24	32	or	or	CCONJ
cana-2647	24	33	specific	specific	ADJ
cana-2647	24	34	routes	route	NOUN
cana-2647	24	35	[	[	X
cana-2647	24	36	2	2	NUM
cana-2647	24	37	]	]	PUNCT
cana-2647	24	38	.	.	PUNCT
cana-2647	25	1	by	by	ADP
cana-2647	25	2	sharing	share	VERB
cana-2647	25	3	and	and	CCONJ
cana-2647	25	4	validating	validate	VERB
cana-2647	25	5	positional	positional	ADJ
cana-2647	25	6	data	datum	NOUN
cana-2647	25	7	,	,	PUNCT
cana-2647	25	8	cooperative	cooperative	ADJ
cana-2647	25	9	localization	localization	NOUN
cana-2647	25	10	methods	method	NOUN
cana-2647	25	11	,	,	PUNCT
cana-2647	25	12	including	include	VERB
cana-2647	25	13	local	local	ADJ
cana-2647	25	14	dynamic	dynamic	ADJ
cana-2647	25	15	maps	map	NOUN
cana-2647	25	16	(	(	PUNCT
cana-2647	25	17	ldms	ldm	NOUN
cana-2647	25	18	)	)	PUNCT
cana-2647	25	19	,	,	PUNCT
cana-2647	25	20	enhance	enhance	VERB
cana-2647	25	21	accuracy	accuracy	NOUN
cana-2647	25	22	[	[	X
cana-2647	25	23	3	3	NUM
cana-2647	25	24	]	]	PUNCT
cana-2647	25	25	.	.	PUNCT
cana-2647	26	1	without	without	ADP
cana-2647	26	2	centralized	centralized	ADJ
cana-2647	26	3	aggregation	aggregation	NOUN
cana-2647	26	4	,	,	PUNCT
cana-2647	26	5	federated	federated	ADJ
cana-2647	26	6	filtering	filtering	NOUN
cana-2647	26	7	and	and	CCONJ
cana-2647	26	8	consensus	consensus	NOUN
cana-2647	26	9	optimization	optimization	NOUN
cana-2647	26	10	techniques	technique	NOUN
cana-2647	26	11	integrate	integrate	VERB
cana-2647	26	12	data	datum	NOUN
cana-2647	26	13	from	from	ADP
cana-2647	26	14	multiple	multiple	ADJ
cana-2647	26	15	sources	source	NOUN
cana-2647	26	16	,	,	PUNCT
cana-2647	26	17	further	far	ADV
cana-2647	26	18	improving	improve	VERB
cana-2647	26	19	localization	localization	NOUN
cana-2647	26	20	[	[	X
cana-2647	26	21	4	4	NUM
cana-2647	26	22	]	]	PUNCT
cana-2647	26	23	,	,	PUNCT
cana-2647	26	24	[	[	X
cana-2647	26	25	5	5	NUM
cana-2647	26	26	]	]	PUNCT
cana-2647	26	27	.	.	PUNCT
cana-2647	27	1	ensuring	ensure	VERB
cana-2647	27	2	accurate	accurate	ADJ
cana-2647	27	3	model	model	NOUN
cana-2647	27	4	convergence	convergence	NOUN
cana-2647	27	5	and	and	CCONJ
cana-2647	27	6	efficient	efficient	ADJ
cana-2647	27	7	communication	communication	NOUN
cana-2647	27	8	in	in	ADP
cana-2647	27	9	highly	highly	ADV
cana-2647	27	10	dynamic	dynamic	ADJ
cana-2647	27	11	vehicular	vehicular	ADJ
cana-2647	27	12	settings	setting	NOUN
cana-2647	27	13	remains	remain	VERB
cana-2647	27	14	a	a	DET
cana-2647	27	15	significant	significant	ADJ
cana-2647	27	16	challenge	challenge	NOUN
cana-2647	27	17	.	.	PUNCT
cana-2647	28	1	network	network	NOUN
cana-2647	28	2	topology	topology	NOUN
cana-2647	28	3	and	and	CCONJ
cana-2647	28	4	traffic	traffic	NOUN
cana-2647	28	5	density	density	NOUN
cana-2647	28	6	frequently	frequently	ADV
cana-2647	28	7	change	change	VERB
cana-2647	28	8	,	,	PUNCT
cana-2647	28	9	reducing	reduce	VERB
cana-2647	28	10	model	model	NOUN
cana-2647	28	11	accuracy	accuracy	NOUN
cana-2647	28	12	and	and	CCONJ
cana-2647	28	13	slowing	slow	VERB
cana-2647	28	14	convergence	convergence	NOUN
cana-2647	28	15	[	[	X
cana-2647	28	16	6	6	NUM
cana-2647	28	17	]	]	PUNCT
cana-2647	28	18	.	.	PUNCT
cana-2647	29	1	bandwidth	bandwidth	ADJ
cana-2647	29	2	usage	usage	NOUN
cana-2647	29	3	must	must	AUX
cana-2647	29	4	be	be	AUX
cana-2647	29	5	reduced	reduce	VERB
cana-2647	29	6	while	while	SCONJ
cana-2647	29	7	maintaining	maintain	VERB
cana-2647	29	8	the	the	DET
cana-2647	29	9	integrity	integrity	NOUN
cana-2647	29	10	of	of	ADP
cana-2647	29	11	shared	share	VERB
cana-2647	29	12	updates	update	NOUN
cana-2647	29	13	,	,	PUNCT
cana-2647	29	14	which	which	PRON
cana-2647	29	15	requires	require	VERB
cana-2647	29	16	efficient	efficient	ADJ
cana-2647	29	17	methods	method	NOUN
cana-2647	29	18	like	like	ADP
cana-2647	29	19	adaptive	adaptive	ADJ
cana-2647	29	20	gradient	gradient	ADJ
cana-2647	29	21	compression	compression	NOUN
cana-2647	30	1	[	[	X
cana-2647	30	2	1][6	1][6	X
cana-2647	30	3	]	]	X
cana-2647	30	4	.	.	PUNCT
cana-2647	31	1	addressing	address	VERB
cana-2647	31	2	these	these	DET
cana-2647	31	3	gaps	gap	NOUN
cana-2647	31	4	and	and	CCONJ
cana-2647	31	5	improving	improve	VERB
cana-2647	31	6	localization	localization	NOUN
cana-2647	31	7	reliability	reliability	NOUN
cana-2647	31	8	necessitate	necessitate	ADJ
cana-2647	31	9	exploring	explore	VERB
cana-2647	31	10	the	the	DET
cana-2647	31	11	integration	integration	NOUN
cana-2647	31	12	of	of	ADP
cana-2647	31	13	additional	additional	ADJ
cana-2647	31	14	data	datum	NOUN
cana-2647	31	15	sources	source	NOUN
cana-2647	31	16	,	,	PUNCT
cana-2647	31	17	such	such	ADJ
cana-2647	31	18	as	as	ADP
cana-2647	31	19	gps	gps	PROPN
cana-2647	31	20	and	and	CCONJ
cana-2647	31	21	uwb	uwb	NOUN
cana-2647	31	22	[	[	X
cana-2647	31	23	5	5	NUM
cana-2647	31	24	]	]	PUNCT
cana-2647	31	25	.	.	PUNCT
cana-2647	32	1	to	to	PART
cana-2647	32	2	address	address	VERB
cana-2647	32	3	these	these	DET
cana-2647	32	4	issues	issue	NOUN
cana-2647	32	5	,	,	PUNCT
cana-2647	32	6	a	a	DET
cana-2647	32	7	decentralized	decentralize	VERB
cana-2647	32	8	federated	federated	ADJ
cana-2647	32	9	localization	localization	NOUN
cana-2647	32	10	framework	framework	NOUN
cana-2647	32	11	(	(	PUNCT
cana-2647	32	12	dflf	dflf	NOUN
cana-2647	32	13	)	)	PUNCT
cana-2647	32	14	is	be	AUX
cana-2647	32	15	proposed	propose	VERB
cana-2647	32	16	in	in	ADP
cana-2647	32	17	this	this	DET
cana-2647	32	18	research	research	NOUN
cana-2647	32	19	.	.	PUNCT
cana-2647	33	1	through	through	ADP
cana-2647	33	2	decentralized	decentralize	VERB
cana-2647	33	3	learning	learning	NOUN
cana-2647	33	4	models	model	NOUN
cana-2647	33	5	,	,	PUNCT
cana-2647	33	6	the	the	DET
cana-2647	33	7	study	study	NOUN
cana-2647	33	8	aims	aim	VERB
cana-2647	33	9	to	to	PART
cana-2647	33	10	improve	improve	VERB
cana-2647	33	11	localization	localization	NOUN
cana-2647	33	12	accuracy	accuracy	NOUN
cana-2647	33	13	,	,	PUNCT
cana-2647	33	14	reduce	reduce	VERB
cana-2647	33	15	communication	communication	NOUN
cana-2647	33	16	costs	cost	NOUN
cana-2647	33	17	using	use	VERB
cana-2647	33	18	optimized	optimize	VERB
cana-2647	33	19	update	update	NOUN
cana-2647	33	20	strategies	strategy	NOUN
cana-2647	33	21	,	,	PUNCT
cana-2647	33	22	and	and	CCONJ
cana-2647	33	23	maintain	maintain	VERB
cana-2647	33	24	data	data	NOUN
cana-2647	33	25	privacy	privacy	NOUN
cana-2647	33	26	by	by	ADP
cana-2647	33	27	applying	apply	VERB
cana-2647	33	28	cryptographic	cryptographic	ADJ
cana-2647	33	29	techniques	technique	NOUN
cana-2647	33	30	during	during	ADP
cana-2647	33	31	model	model	NOUN
cana-2647	33	32	training	training	NOUN
cana-2647	33	33	.	.	PUNCT
cana-2647	34	1	the	the	DET
cana-2647	34	2	framework	framework	NOUN
cana-2647	34	3	enables	enable	VERB
cana-2647	34	4	collaboration	collaboration	NOUN
cana-2647	34	5	among	among	ADP
cana-2647	34	6	vehicles	vehicle	NOUN
cana-2647	34	7	while	while	SCONJ
cana-2647	34	8	preserving	preserve	VERB
cana-2647	34	9	sensitive	sensitive	ADJ
cana-2647	34	10	information	information	NOUN
cana-2647	34	11	and	and	CCONJ
cana-2647	34	12	focuses	focus	VERB
cana-2647	34	13	on	on	ADP
cana-2647	34	14	combining	combine	VERB
cana-2647	34	15	temporal	temporal	ADJ
cana-2647	34	16	and	and	CCONJ
cana-2647	34	17	spatial	spatial	ADJ
cana-2647	34	18	data	datum	NOUN
cana-2647	34	19	from	from	ADP
cana-2647	34	20	multiple	multiple	ADJ
cana-2647	34	21	sensors	sensor	NOUN
cana-2647	34	22	.	.	PUNCT
cana-2647	35	1	the	the	DET
cana-2647	35	2	reliability	reliability	NOUN
cana-2647	35	3	of	of	ADP
cana-2647	35	4	localization	localization	NOUN
cana-2647	35	5	in	in	ADP
cana-2647	35	6	dynamic	dynamic	ADJ
cana-2647	35	7	vehicular	vehicular	ADJ
cana-2647	35	8	networks	network	NOUN
cana-2647	35	9	is	be	AUX
cana-2647	35	10	expected	expect	VERB
cana-2647	35	11	to	to	PART
cana-2647	35	12	improve	improve	VERB
cana-2647	35	13	with	with	ADP
cana-2647	35	14	the	the	DET
cana-2647	35	15	proposed	propose	VERB
cana-2647	35	16	framework	framework	NOUN
cana-2647	35	17	.	.	PUNCT
cana-2647	36	1	applications	application	NOUN
cana-2647	36	2	of	of	ADP
cana-2647	36	3	this	this	DET
cana-2647	36	4	framework	framework	NOUN
cana-2647	36	5	include	include	VERB
cana-2647	36	6	supporting	support	VERB
cana-2647	36	7	autonomous	autonomous	ADJ
cana-2647	36	8	vehicle	vehicle	NOUN
cana-2647	36	9	systems	system	NOUN
cana-2647	36	10	,	,	PUNCT
cana-2647	36	11	traffic	traffic	NOUN
cana-2647	36	12	coordination	coordination	NOUN
cana-2647	36	13	,	,	PUNCT
cana-2647	36	14	and	and	CCONJ
cana-2647	36	15	real	real	ADJ
cana-2647	36	16	-	-	PUNCT
cana-2647	36	17	time	time	NOUN
cana-2647	36	18	navigation	navigation	NOUN
cana-2647	36	19	.	.	PUNCT
cana-2647	37	1	experimental	experimental	ADJ
cana-2647	37	2	tests	test	NOUN
cana-2647	37	3	using	use	VERB
cana-2647	37	4	datasets	dataset	NOUN
cana-2647	37	5	like	like	ADP
cana-2647	37	6	kitti	kitti	PROPN
cana-2647	37	7	and	and	CCONJ
cana-2647	37	8	realworld	realworld	PROPN
cana-2647	37	9	vehicular	vehicular	ADJ
cana-2647	37	10	network	network	NOUN
cana-2647	37	11	data	datum	NOUN
cana-2647	37	12	will	will	AUX
cana-2647	37	13	validate	validate	VERB
cana-2647	37	14	the	the	DET
cana-2647	37	15	framework	framework	NOUN
cana-2647	37	16	's	's	PART
cana-2647	37	17	performance	performance	NOUN
cana-2647	37	18	[	[	X
cana-2647	37	19	7	7	NUM
cana-2647	37	20	]	]	PUNCT
cana-2647	37	21	,	,	PUNCT
cana-2647	37	22	[	[	X
cana-2647	37	23	5	5	NUM
cana-2647	37	24	]	]	PUNCT
cana-2647	37	25	.	.	PUNCT
cana-2647	38	1	the	the	DET
cana-2647	38	2	paper	paper	NOUN
cana-2647	38	3	is	be	AUX
cana-2647	38	4	structured	structure	VERB
cana-2647	38	5	as	as	SCONJ
cana-2647	38	6	follows	follow	VERB
cana-2647	38	7	:	:	PUNCT
cana-2647	38	8	a	a	DET
cana-2647	38	9	detailed	detailed	ADJ
cana-2647	38	10	explanation	explanation	NOUN
cana-2647	38	11	of	of	ADP
cana-2647	38	12	the	the	DET
cana-2647	38	13	framework	framework	NOUN
cana-2647	38	14	components	component	NOUN
cana-2647	38	15	,	,	PUNCT
cana-2647	38	16	including	include	VERB
cana-2647	38	17	data	datum	NOUN
cana-2647	38	18	sources	source	NOUN
cana-2647	38	19	,	,	PUNCT
cana-2647	38	20	preprocessing	preprocesse	VERB
cana-2647	38	21	steps	step	NOUN
cana-2647	38	22	,	,	PUNCT
cana-2647	38	23	and	and	CCONJ
cana-2647	38	24	learning	learn	VERB
cana-2647	38	25	methods	method	NOUN
cana-2647	38	26	,	,	PUNCT
cana-2647	38	27	is	be	AUX
cana-2647	38	28	presented	present	VERB
cana-2647	38	29	in	in	ADP
cana-2647	38	30	methods	method	NOUN
cana-2647	38	31	and	and	CCONJ
cana-2647	38	32	materials	material	NOUN
cana-2647	38	33	.	.	PUNCT
cana-2647	39	1	next	next	ADJ
cana-2647	39	2	,	,	PUNCT
cana-2647	39	3	experimental	experimental	ADJ
cana-2647	39	4	results	result	NOUN
cana-2647	39	5	and	and	CCONJ
cana-2647	39	6	their	their	PRON
cana-2647	39	7	analysis	analysis	NOUN
cana-2647	39	8	are	be	AUX
cana-2647	39	9	discussed	discuss	VERB
cana-2647	39	10	,	,	PUNCT
cana-2647	39	11	followed	follow	VERB
cana-2647	39	12	by	by	ADP
cana-2647	39	13	conclusions	conclusion	NOUN
cana-2647	39	14	and	and	CCONJ
cana-2647	39	15	suggestions	suggestion	NOUN
cana-2647	39	16	for	for	ADP
cana-2647	39	17	future	future	ADJ
cana-2647	39	18	work	work	NOUN
cana-2647	39	19	.	.	PUNCT
cana-2647	40	1	2	2	NUM
cana-2647	40	2	related	relate	VERB
cana-2647	40	3	work	work	NOUN
cana-2647	40	4	ashour	ashour	NOUN
cana-2647	40	5	et	et	PROPN
cana-2647	40	6	al	al	PROPN
cana-2647	40	7	.	.	PUNCT
cana-2647	41	1	[	[	X
cana-2647	41	2	4	4	NUM
cana-2647	41	3	]	]	PUNCT
cana-2647	41	4	,	,	PUNCT
cana-2647	41	5	wang	wang	PROPN
cana-2647	41	6	et	et	PROPN
cana-2647	41	7	al	al	PROPN
cana-2647	41	8	.	.	PUNCT
cana-2647	42	1	[	[	X
cana-2647	42	2	5	5	NUM
cana-2647	42	3	]	]	PUNCT
cana-2647	42	4	,	,	PUNCT
cana-2647	42	5	parker	parker	PROPN
cana-2647	42	6	et	et	PROPN
cana-2647	42	7	al	al	PROPN
cana-2647	42	8	.	.	PUNCT
cana-2647	43	1	[	[	X
cana-2647	43	2	8	8	NUM
cana-2647	43	3	]	]	PUNCT
cana-2647	43	4	,	,	PUNCT
cana-2647	43	5	pollicino	pollicino	PROPN
cana-2647	43	6	et	et	PROPN
cana-2647	43	7	al	al	PROPN
cana-2647	43	8	.	.	PROPN
cana-2647	43	9	,	,	PUNCT
cana-2647	44	1	[	[	X
cana-2647	44	2	9	9	NUM
cana-2647	44	3	]	]	PUNCT
cana-2647	44	4	and	and	CCONJ
cana-2647	44	5	leung	leung	PROPN
cana-2647	44	6	et	et	PROPN
cana-2647	44	7	al	al	PROPN
cana-2647	44	8	.	.	PUNCT
cana-2647	45	1	[	[	X
cana-2647	45	2	10	10	NUM
cana-2647	45	3	]	]	PUNCT
cana-2647	45	4	focus	focus	NOUN
cana-2647	45	5	on	on	ADP
cana-2647	45	6	decentralizing	decentralize	VERB
cana-2647	45	7	vehicle	vehicle	NOUN
cana-2647	45	8	location	location	NOUN
cana-2647	45	9	systems	system	NOUN
cana-2647	45	10	.	.	PUNCT
cana-2647	46	1	ashour	ashour	NOUN
cana-2647	46	2	et	et	PROPN
cana-2647	46	3	al	al	PROPN
cana-2647	46	4	.	.	PUNCT
cana-2647	47	1	[	[	X
cana-2647	47	2	4	4	X
cana-2647	47	3	]	]	PUNCT
cana-2647	47	4	describe	describe	VERB
cana-2647	47	5	a	a	DET
cana-2647	47	6	system	system	NOUN
cana-2647	47	7	that	that	PRON
cana-2647	47	8	reduces	reduce	VERB
cana-2647	47	9	location	location	NOUN
cana-2647	47	10	errors	error	NOUN
cana-2647	47	11	by	by	ADP
cana-2647	47	12	62.8	62.8	NUM
cana-2647	47	13	%	%	NOUN
cana-2647	47	14	by	by	ADP
cana-2647	47	15	allowing	allow	VERB
cana-2647	47	16	vehicles	vehicle	NOUN
cana-2647	47	17	to	to	PART
cana-2647	47	18	share	share	VERB
cana-2647	47	19	their	their	PRON
cana-2647	47	20	position	position	NOUN
cana-2647	47	21	data	datum	NOUN
cana-2647	47	22	.	.	PUNCT
cana-2647	48	1	wang	wang	PROPN
cana-2647	48	2	et	et	PROPN
cana-2647	48	3	al	al	PROPN
cana-2647	48	4	.	.	PUNCT
cana-2647	49	1	[	[	X
cana-2647	49	2	5	5	X
cana-2647	49	3	]	]	PUNCT
cana-2647	49	4	explain	explain	VERB
cana-2647	49	5	a	a	DET
cana-2647	49	6	vehicle	vehicle	NOUN
cana-2647	49	7	-	-	PUNCT
cana-2647	49	8	to	to	ADP
cana-2647	49	9	-	-	PUNCT
cana-2647	49	10	vehicle	vehicle	NOUN
cana-2647	49	11	(	(	PUNCT
cana-2647	49	12	v2v	v2v	NOUN
cana-2647	49	13	)	)	PUNCT
cana-2647	49	14	system	system	NOUN
cana-2647	49	15	that	that	PRON
cana-2647	49	16	estimates	estimate	VERB
cana-2647	49	17	positions	position	NOUN
cana-2647	49	18	with	with	ADP
cana-2647	49	19	20–30	20–30	NUM
cana-2647	49	20	cm	cm	NOUN
cana-2647	49	21	accuracy	accuracy	NOUN
cana-2647	49	22	but	but	CCONJ
cana-2647	49	23	still	still	ADV
cana-2647	49	24	needs	need	VERB
cana-2647	49	25	testing	testing	NOUN
cana-2647	49	26	in	in	ADP
cana-2647	49	27	large	large	ADJ
cana-2647	49	28	,	,	PUNCT
cana-2647	49	29	busy	busy	ADJ
cana-2647	49	30	areas	area	NOUN
cana-2647	49	31	.	.	PUNCT
cana-2647	50	1	parker	parker	PROPN
cana-2647	50	2	et	et	PROPN
cana-2647	50	3	al	al	PROPN
cana-2647	50	4	.	.	PUNCT
cana-2647	51	1	[	[	X
cana-2647	51	2	8	8	NUM
cana-2647	51	3	]	]	PUNCT
cana-2647	51	4	suggest	suggest	AUX
cana-2647	51	5	using	use	VERB
cana-2647	51	6	data	datum	NOUN
cana-2647	51	7	shared	share	VERB
cana-2647	51	8	directly	directly	ADV
cana-2647	51	9	between	between	ADP
cana-2647	51	10	vehicles	vehicle	NOUN
cana-2647	51	11	for	for	ADP
cana-2647	51	12	better	well	ADJ
cana-2647	51	13	real	real	ADJ
cana-2647	51	14	-	-	PUNCT
cana-2647	51	15	time	time	NOUN
cana-2647	51	16	location	location	NOUN
cana-2647	51	17	estimates	estimate	NOUN
cana-2647	51	18	.	.	PUNCT
cana-2647	52	1	however	however	ADV
cana-2647	52	2	,	,	PUNCT
cana-2647	52	3	practical	practical	ADJ
cana-2647	52	4	tests	test	NOUN
cana-2647	52	5	or	or	CCONJ
cana-2647	52	6	detailed	detailed	ADJ
cana-2647	52	7	data	datum	NOUN
cana-2647	52	8	are	be	AUX
cana-2647	52	9	missing	miss	VERB
cana-2647	52	10	.	.	PUNCT
cana-2647	53	1	leung	leung	PROPN
cana-2647	53	2	et	et	PROPN
cana-2647	53	3	al	al	PROPN
cana-2647	53	4	.	.	PUNCT
cana-2647	54	1	[	[	X
cana-2647	54	2	10	10	NUM
cana-2647	54	3	]	]	PUNCT
cana-2647	54	4	add	add	VERB
cana-2647	54	5	to	to	ADP
cana-2647	54	6	this	this	DET
cana-2647	54	7	idea	idea	NOUN
cana-2647	54	8	by	by	ADP
cana-2647	54	9	adapting	adapt	VERB
cana-2647	54	10	their	their	PRON
cana-2647	54	11	method	method	NOUN
cana-2647	54	12	to	to	ADP
cana-2647	54	13	low	low	ADJ
cana-2647	54	14	-	-	PUNCT
cana-2647	54	15	traffic	traffic	NOUN
cana-2647	54	16	areas	area	NOUN
cana-2647	54	17	but	but	CCONJ
cana-2647	54	18	do	do	AUX
cana-2647	54	19	not	not	PART
cana-2647	54	20	explain	explain	VERB
cana-2647	54	21	how	how	SCONJ
cana-2647	54	22	it	it	PRON
cana-2647	54	23	scales	scale	VERB
cana-2647	54	24	to	to	ADP
cana-2647	54	25	busier	busy	ADJ
cana-2647	54	26	regions	region	NOUN
cana-2647	54	27	.	.	PUNCT
cana-2647	55	1	li	li	PROPN
cana-2647	55	2	et	et	PROPN
cana-2647	55	3	al	al	PROPN
cana-2647	55	4	.	.	PUNCT
cana-2647	56	1	[	[	X
cana-2647	56	2	11	11	NUM
cana-2647	56	3	]	]	PUNCT
cana-2647	56	4	,	,	PUNCT
cana-2647	56	5	movahedian	movahedian	PROPN
cana-2647	56	6	et	et	PROPN
cana-2647	56	7	al	al	PROPN
cana-2647	56	8	.	.	PUNCT
cana-2647	57	1	[	[	X
cana-2647	57	2	12	12	NUM
cana-2647	57	3	]	]	PUNCT
cana-2647	57	4	,	,	PUNCT
cana-2647	57	5	zhou	zhou	PROPN
cana-2647	57	6	et	et	PROPN
cana-2647	57	7	al	al	PROPN
cana-2647	57	8	.	.	PUNCT
cana-2647	58	1	[	[	X
cana-2647	58	2	7	7	NUM
cana-2647	58	3	]	]	PUNCT
cana-2647	58	4	,	,	PUNCT
cana-2647	58	5	and	and	CCONJ
cana-2647	58	6	su	su	PROPN
cana-2647	58	7	et	et	PROPN
cana-2647	58	8	al	al	PROPN
cana-2647	58	9	.	.	PUNCT
cana-2647	59	1	[	[	X
cana-2647	59	2	2	2	X
cana-2647	59	3	]	]	PUNCT
cana-2647	59	4	explore	explore	VERB
cana-2647	59	5	federated	federated	ADJ
cana-2647	59	6	learning	learning	NOUN
cana-2647	59	7	for	for	ADP
cana-2647	59	8	cars	car	NOUN
cana-2647	59	9	.	.	PUNCT
cana-2647	60	1	li	li	PROPN
cana-2647	60	2	et	et	PROPN
cana-2647	60	3	al	al	PROPN
cana-2647	60	4	.	.	PUNCT
cana-2647	61	1	[	[	X
cana-2647	61	2	11	11	NUM
cana-2647	61	3	]	]	PUNCT
cana-2647	61	4	describe	describe	VERB
cana-2647	61	5	a	a	DET
cana-2647	61	6	system	system	NOUN
cana-2647	61	7	(	(	PUNCT
cana-2647	61	8	c	c	NOUN
cana-2647	61	9	-	-	PUNCT
cana-2647	61	10	dfl	dfl	PROPN
cana-2647	61	11	)	)	PUNCT
cana-2647	61	12	that	that	PRON
cana-2647	61	13	keeps	keep	VERB
cana-2647	61	14	personal	personal	ADJ
cana-2647	61	15	data	datum	NOUN
cana-2647	61	16	private	private	ADJ
cana-2647	61	17	while	while	SCONJ
cana-2647	61	18	improving	improve	VERB
cana-2647	61	19	learning	learning	NOUN
cana-2647	61	20	accuracy	accuracy	NOUN
cana-2647	61	21	.	.	PUNCT
cana-2647	62	1	resource	resource	NOUN
cana-2647	62	2	use	use	NOUN
cana-2647	62	3	during	during	ADP
cana-2647	62	4	distributed	distribute	VERB
cana-2647	62	5	training	training	NOUN
cana-2647	62	6	and	and	CCONJ
cana-2647	62	7	its	its	PRON
cana-2647	62	8	limits	limit	NOUN
cana-2647	62	9	are	be	AUX
cana-2647	62	10	not	not	PART
cana-2647	62	11	fully	fully	ADV
cana-2647	62	12	explained	explain	VERB
cana-2647	62	13	.	.	PUNCT
cana-2647	63	1	movahedian	movahedian	PROPN
cana-2647	63	2	et	et	PROPN
cana-2647	63	3	al	al	PROPN
cana-2647	63	4	.	.	PUNCT
cana-2647	64	1	[	[	X
cana-2647	64	2	12	12	NUM
cana-2647	64	3	]	]	PUNCT
cana-2647	64	4	describe	describe	VERB
cana-2647	64	5	how	how	SCONJ
cana-2647	64	6	model	model	NOUN
cana-2647	64	7	aggregation	aggregation	NOUN
cana-2647	64	8	can	can	AUX
cana-2647	64	9	save	save	VERB
cana-2647	64	10	up	up	ADP
cana-2647	64	11	to	to	PART
cana-2647	64	12	83	83	NUM
cana-2647	64	13	%	%	NOUN
cana-2647	64	14	of	of	ADP
cana-2647	64	15	computing	compute	VERB
cana-2647	64	16	resources	resource	NOUN
cana-2647	64	17	,	,	PUNCT
cana-2647	64	18	though	though	SCONJ
cana-2647	64	19	it	it	PRON
cana-2647	64	20	is	be	AUX
cana-2647	64	21	unclear	unclear	ADJ
cana-2647	64	22	how	how	SCONJ
cana-2647	64	23	it	it	PRON
cana-2647	64	24	works	work	VERB
cana-2647	64	25	with	with	ADP
cana-2647	64	26	fast	fast	ADV
cana-2647	64	27	-	-	PUNCT
cana-2647	64	28	changing	change	VERB
cana-2647	64	29	networks	network	NOUN
cana-2647	64	30	.	.	PUNCT
cana-2647	65	1	zhou	zhou	PROPN
cana-2647	65	2	et	et	PROPN
cana-2647	65	3	al	al	PROPN
cana-2647	65	4	.	.	PUNCT
cana-2647	66	1	[	[	X
cana-2647	66	2	7	7	X
cana-2647	66	3	]	]	PUNCT
cana-2647	66	4	combine	combine	VERB
cana-2647	66	5	time	time	NOUN
cana-2647	66	6	and	and	CCONJ
cana-2647	66	7	space	space	NOUN
cana-2647	66	8	data	datum	NOUN
cana-2647	66	9	to	to	PART
cana-2647	66	10	improve	improve	VERB
cana-2647	66	11	learning	learn	VERB
cana-2647	66	12	transfer	transfer	NOUN
cana-2647	66	13	but	but	CCONJ
cana-2647	66	14	mention	mention	VERB
cana-2647	66	15	possible	possible	ADJ
cana-2647	66	16	issues	issue	NOUN
cana-2647	66	17	with	with	ADP
cana-2647	66	18	processing	processing	NOUN
cana-2647	66	19	delays	delay	NOUN
cana-2647	66	20	.	.	PUNCT
cana-2647	67	1	su	su	PROPN
cana-2647	67	2	et	et	PROPN
cana-2647	67	3	al	al	PROPN
cana-2647	67	4	.	.	PUNCT
cana-2647	68	1	[	[	X
cana-2647	68	2	2	2	X
cana-2647	68	3	]	]	AUX
cana-2647	68	4	suggest	suggest	VERB
cana-2647	68	5	communications	communication	NOUN
cana-2647	68	6	on	on	ADP
cana-2647	68	7	applied	apply	VERB
cana-2647	68	8	nonlinear	nonlinear	ADJ
cana-2647	68	9	analysis	analysis	NOUN
cana-2647	68	10	issn	issn	NOUN
cana-2647	68	11	:	:	PUNCT
cana-2647	68	12	1074	1074	NUM
cana-2647	68	13	-	-	PUNCT
cana-2647	68	14	133x	133x	NUM
cana-2647	68	15	vol	vol	NOUN
cana-2647	68	16	32	32	NUM
cana-2647	68	17	no	no	NOUN
cana-2647	68	18	.	.	PUNCT
cana-2647	69	1	3s	3s	NUM
cana-2647	69	2	(	(	PUNCT
cana-2647	69	3	2025	2025	NUM
cana-2647	69	4	)	)	PUNCT
cana-2647	69	5	343	343	NUM
cana-2647	69	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	69	7	using	use	VERB
cana-2647	69	8	varied	varied	ADJ
cana-2647	69	9	data	datum	NOUN
cana-2647	69	10	sources	source	NOUN
cana-2647	69	11	to	to	PART
cana-2647	69	12	improve	improve	VERB
cana-2647	69	13	accuracy	accuracy	NOUN
cana-2647	69	14	while	while	SCONJ
cana-2647	69	15	keeping	keep	VERB
cana-2647	69	16	privacy	privacy	NOUN
cana-2647	69	17	.	.	PUNCT
cana-2647	70	1	still	still	ADV
cana-2647	70	2	,	,	PUNCT
cana-2647	70	3	how	how	SCONJ
cana-2647	70	4	it	it	PRON
cana-2647	70	5	handles	handle	VERB
cana-2647	70	6	heavy	heavy	ADJ
cana-2647	70	7	communication	communication	NOUN
cana-2647	70	8	loads	load	NOUN
cana-2647	70	9	is	be	AUX
cana-2647	70	10	not	not	PART
cana-2647	70	11	detailed	detail	VERB
cana-2647	70	12	.	.	PUNCT
cana-2647	71	1	fu	fu	PROPN
cana-2647	71	2	et	et	PROPN
cana-2647	71	3	al	al	PROPN
cana-2647	71	4	.	.	PUNCT
cana-2647	72	1	[	[	X
cana-2647	72	2	13	13	NUM
cana-2647	72	3	]	]	PUNCT
cana-2647	72	4	,	,	PUNCT
cana-2647	72	5	santos	santos	PROPN
cana-2647	72	6	et	et	PROPN
cana-2647	72	7	al	al	PROPN
cana-2647	72	8	.	.	PUNCT
cana-2647	73	1	[	[	X
cana-2647	73	2	14	14	NUM
cana-2647	73	3	]	]	PUNCT
cana-2647	73	4	,	,	PUNCT
cana-2647	73	5	and	and	CCONJ
cana-2647	73	6	lee	lee	PROPN
cana-2647	73	7	et	et	PROPN
cana-2647	73	8	al	al	PROPN
cana-2647	73	9	.	.	PUNCT
cana-2647	74	1	[	[	X
cana-2647	74	2	15	15	NUM
cana-2647	74	3	]	]	PUNCT
cana-2647	74	4	examine	examine	NOUN
cana-2647	74	5	roadside	roadside	NOUN
cana-2647	74	6	units	unit	NOUN
cana-2647	74	7	(	(	PUNCT
cana-2647	74	8	rsus	rsus	NOUN
cana-2647	74	9	)	)	PUNCT
cana-2647	74	10	and	and	CCONJ
cana-2647	74	11	mixed	mixed	ADJ
cana-2647	74	12	networks	network	NOUN
cana-2647	74	13	.	.	PUNCT
cana-2647	75	1	fu	fu	PROPN
cana-2647	75	2	et	et	PROPN
cana-2647	75	3	al	al	PROPN
cana-2647	75	4	.	.	PUNCT
cana-2647	76	1	[	[	X
cana-2647	76	2	13	13	NUM
cana-2647	76	3	]	]	PUNCT
cana-2647	76	4	describe	describe	VERB
cana-2647	76	5	a	a	DET
cana-2647	76	6	system	system	NOUN
cana-2647	76	7	that	that	PRON
cana-2647	76	8	tracks	track	VERB
cana-2647	76	9	vehicles	vehicle	NOUN
cana-2647	76	10	using	use	VERB
cana-2647	76	11	rsus	rsus	NOUN
cana-2647	76	12	,	,	PUNCT
cana-2647	76	13	cutting	cut	VERB
cana-2647	76	14	gps	gps	NOUN
cana-2647	76	15	errors	error	NOUN
cana-2647	76	16	from	from	ADP
cana-2647	76	17	7.21	7.21	NUM
cana-2647	76	18	m	m	NOUN
cana-2647	76	19	to	to	ADP
cana-2647	76	20	0.74	0.74	NUM
cana-2647	76	21	m.	m.	NOUN
cana-2647	76	22	santos	santos	PROPN
cana-2647	76	23	et	et	PROPN
cana-2647	76	24	al	al	PROPN
cana-2647	76	25	.	.	PUNCT
cana-2647	77	1	[	[	X
cana-2647	77	2	14	14	NUM
cana-2647	77	3	]	]	PUNCT
cana-2647	77	4	also	also	ADV
cana-2647	77	5	use	use	VERB
cana-2647	77	6	rsus	rsus	NOUN
cana-2647	77	7	and	and	CCONJ
cana-2647	77	8	show	show	VERB
cana-2647	77	9	similar	similar	ADJ
cana-2647	77	10	improvements	improvement	NOUN
cana-2647	77	11	in	in	ADP
cana-2647	77	12	positioning	positioning	NOUN
cana-2647	77	13	.	.	PUNCT
cana-2647	78	1	both	both	DET
cana-2647	78	2	papers	paper	NOUN
cana-2647	78	3	skip	skip	VERB
cana-2647	78	4	discussing	discuss	VERB
cana-2647	78	5	costs	cost	NOUN
cana-2647	78	6	or	or	CCONJ
cana-2647	78	7	how	how	SCONJ
cana-2647	78	8	rsus	rsus	NOUN
cana-2647	78	9	would	would	AUX
cana-2647	78	10	work	work	VERB
cana-2647	78	11	in	in	ADP
cana-2647	78	12	larger	large	ADJ
cana-2647	78	13	areas	area	NOUN
cana-2647	78	14	.	.	PUNCT
cana-2647	79	1	lee	lee	PROPN
cana-2647	79	2	et	et	PROPN
cana-2647	79	3	al	al	PROPN
cana-2647	79	4	.	.	PUNCT
cana-2647	80	1	[	[	X
cana-2647	80	2	15	15	NUM
cana-2647	80	3	]	]	PUNCT
cana-2647	80	4	combine	combine	VERB
cana-2647	80	5	different	different	ADJ
cana-2647	80	6	types	type	NOUN
cana-2647	80	7	of	of	ADP
cana-2647	80	8	networks	network	NOUN
cana-2647	80	9	to	to	PART
cana-2647	80	10	improve	improve	VERB
cana-2647	80	11	position	position	NOUN
cana-2647	80	12	accuracy	accuracy	NOUN
cana-2647	80	13	but	but	CCONJ
cana-2647	80	14	do	do	AUX
cana-2647	80	15	not	not	PART
cana-2647	80	16	explain	explain	VERB
cana-2647	80	17	how	how	SCONJ
cana-2647	80	18	the	the	DET
cana-2647	80	19	networks	network	NOUN
cana-2647	80	20	interact	interact	VERB
cana-2647	80	21	or	or	CCONJ
cana-2647	80	22	deal	deal	VERB
cana-2647	80	23	with	with	ADP
cana-2647	80	24	scaling	scale	VERB
cana-2647	80	25	issues	issue	NOUN
cana-2647	80	26	.	.	PUNCT
cana-2647	81	1	al	al	PROPN
cana-2647	81	2	-	-	PUNCT
cana-2647	81	3	hattab	hattab	PROPN
cana-2647	81	4	et	et	PROPN
cana-2647	81	5	al	al	PROPN
cana-2647	81	6	.	.	PUNCT
cana-2647	82	1	[	[	X
cana-2647	82	2	16	16	NUM
cana-2647	82	3	]	]	PUNCT
cana-2647	82	4	and	and	CCONJ
cana-2647	82	5	mohammadabadi	mohammadabadi	PROPN
cana-2647	82	6	et	et	PROPN
cana-2647	82	7	al	al	PROPN
cana-2647	82	8	.	.	PUNCT
cana-2647	83	1	[	[	X
cana-2647	83	2	17	17	NUM
cana-2647	83	3	]	]	PUNCT
cana-2647	83	4	focus	focus	NOUN
cana-2647	83	5	on	on	ADP
cana-2647	83	6	mathematical	mathematical	ADJ
cana-2647	83	7	methods	method	NOUN
cana-2647	83	8	for	for	ADP
cana-2647	83	9	finding	find	VERB
cana-2647	83	10	locations	location	NOUN
cana-2647	83	11	.	.	PUNCT
cana-2647	84	1	al	al	PROPN
cana-2647	84	2	-	-	PUNCT
cana-2647	84	3	hattab	hattab	PROPN
cana-2647	84	4	et	et	PROPN
cana-2647	84	5	al	al	PROPN
cana-2647	84	6	.	.	PUNCT
cana-2647	85	1	[	[	X
cana-2647	85	2	16	16	NUM
cana-2647	85	3	]	]	PUNCT
cana-2647	85	4	use	use	NOUN
cana-2647	85	5	signal	signal	NOUN
cana-2647	85	6	strength	strength	NOUN
cana-2647	85	7	and	and	CCONJ
cana-2647	85	8	distance	distance	NOUN
cana-2647	85	9	to	to	PART
cana-2647	85	10	find	find	VERB
cana-2647	85	11	sensor	sensor	NOUN
cana-2647	85	12	locations	location	NOUN
cana-2647	85	13	.	.	PUNCT
cana-2647	86	1	the	the	DET
cana-2647	86	2	ideas	idea	NOUN
cana-2647	86	3	are	be	AUX
cana-2647	86	4	theoretical	theoretical	ADJ
cana-2647	86	5	,	,	PUNCT
cana-2647	86	6	with	with	ADP
cana-2647	86	7	no	no	DET
cana-2647	86	8	practical	practical	ADJ
cana-2647	86	9	testing	testing	NOUN
cana-2647	86	10	mentioned	mention	VERB
cana-2647	86	11	.	.	PUNCT
cana-2647	87	1	mohammadabadi	mohammadabadi	PROPN
cana-2647	87	2	et	et	PROPN
cana-2647	87	3	al	al	PROPN
cana-2647	87	4	.	.	PUNCT
cana-2647	88	1	[	[	X
cana-2647	88	2	17	17	NUM
cana-2647	88	3	]	]	PUNCT
cana-2647	88	4	use	use	VERB
cana-2647	88	5	cooperative	cooperative	ADJ
cana-2647	88	6	positioning	positioning	NOUN
cana-2647	88	7	to	to	PART
cana-2647	88	8	improve	improve	VERB
cana-2647	88	9	accuracy	accuracy	NOUN
cana-2647	88	10	by	by	ADP
cana-2647	88	11	up	up	ADP
cana-2647	88	12	to	to	PART
cana-2647	88	13	50	50	NUM
cana-2647	88	14	%	%	NOUN
cana-2647	88	15	.	.	PUNCT
cana-2647	89	1	practical	practical	ADJ
cana-2647	89	2	use	use	NOUN
cana-2647	89	3	in	in	ADP
cana-2647	89	4	busy	busy	ADJ
cana-2647	89	5	areas	area	NOUN
cana-2647	89	6	or	or	CCONJ
cana-2647	89	7	traffic	traffic	NOUN
cana-2647	89	8	scenarios	scenario	NOUN
cana-2647	89	9	is	be	AUX
cana-2647	89	10	not	not	PART
cana-2647	89	11	explained	explain	VERB
cana-2647	89	12	well	well	ADV
cana-2647	89	13	.	.	PUNCT
cana-2647	90	1	barbieri	barbieri	PROPN
cana-2647	90	2	et	et	PROPN
cana-2647	90	3	al	al	PROPN
cana-2647	90	4	.	.	PUNCT
cana-2647	91	1	[	[	X
cana-2647	91	2	1	1	X
cana-2647	91	3	]	]	PUNCT
cana-2647	91	4	and	and	CCONJ
cana-2647	91	5	kong	kong	PROPN
cana-2647	91	6	et	et	PROPN
cana-2647	91	7	al	al	PROPN
cana-2647	91	8	.	.	PUNCT
cana-2647	92	1	[	[	X
cana-2647	92	2	18	18	NUM
cana-2647	92	3	]	]	PUNCT
cana-2647	92	4	focus	focus	NOUN
cana-2647	92	5	on	on	ADP
cana-2647	92	6	lowering	lower	VERB
cana-2647	92	7	the	the	DET
cana-2647	92	8	amount	amount	NOUN
cana-2647	92	9	of	of	ADP
cana-2647	92	10	data	datum	NOUN
cana-2647	92	11	exchanged	exchange	VERB
cana-2647	92	12	in	in	ADP
cana-2647	92	13	networks	network	NOUN
cana-2647	92	14	.	.	PUNCT
cana-2647	93	1	barbieri	barbieri	PROPN
cana-2647	93	2	et	et	PROPN
cana-2647	93	3	al	al	PROPN
cana-2647	93	4	.	.	PUNCT
cana-2647	94	1	[	[	X
cana-2647	94	2	1	1	X
cana-2647	94	3	]	]	PUNCT
cana-2647	94	4	describe	describe	VERB
cana-2647	94	5	compressing	compress	VERB
cana-2647	94	6	data	datum	NOUN
cana-2647	94	7	to	to	PART
cana-2647	94	8	use	use	VERB
cana-2647	94	9	fewer	few	ADJ
cana-2647	94	10	resources	resource	NOUN
cana-2647	94	11	.	.	PUNCT
cana-2647	95	1	tests	test	NOUN
cana-2647	95	2	in	in	ADP
cana-2647	95	3	crowded	crowded	ADJ
cana-2647	95	4	traffic	traffic	NOUN
cana-2647	95	5	situations	situation	NOUN
cana-2647	95	6	are	be	AUX
cana-2647	95	7	not	not	PART
cana-2647	95	8	included	include	VERB
cana-2647	95	9	.	.	PUNCT
cana-2647	96	1	kong	kong	PROPN
cana-2647	96	2	et	et	PROPN
cana-2647	96	3	al	al	PROPN
cana-2647	96	4	.	.	PUNCT
cana-2647	97	1	[	[	X
cana-2647	97	2	18	18	NUM
cana-2647	97	3	]	]	PUNCT
cana-2647	97	4	introduce	introduce	NOUN
cana-2647	97	5	fedvcp	fedvcp	NOUN
cana-2647	97	6	,	,	PUNCT
cana-2647	97	7	which	which	PRON
cana-2647	97	8	reduces	reduce	VERB
cana-2647	97	9	gps	gps	NOUN
cana-2647	97	10	errors	error	NOUN
cana-2647	97	11	but	but	CCONJ
cana-2647	97	12	does	do	AUX
cana-2647	97	13	not	not	PART
cana-2647	97	14	address	address	VERB
cana-2647	97	15	possible	possible	ADJ
cana-2647	97	16	delays	delay	NOUN
cana-2647	97	17	or	or	CCONJ
cana-2647	97	18	communication	communication	NOUN
cana-2647	97	19	problems	problem	NOUN
cana-2647	97	20	in	in	ADP
cana-2647	97	21	heavy	heavy	ADJ
cana-2647	97	22	traffic	traffic	NOUN
cana-2647	97	23	.	.	PUNCT
cana-2647	98	1	the	the	DET
cana-2647	98	2	papers	paper	NOUN
cana-2647	98	3	show	show	VERB
cana-2647	98	4	how	how	SCONJ
cana-2647	98	5	decentralized	decentralize	VERB
cana-2647	98	6	and	and	CCONJ
cana-2647	98	7	federated	federated	ADJ
cana-2647	98	8	systems	system	NOUN
cana-2647	98	9	may	may	AUX
cana-2647	98	10	help	help	VERB
cana-2647	98	11	with	with	ADP
cana-2647	98	12	positioning	positioning	NOUN
cana-2647	98	13	and	and	CCONJ
cana-2647	98	14	data	datum	NOUN
cana-2647	98	15	sharing	sharing	NOUN
cana-2647	98	16	in	in	ADP
cana-2647	98	17	networks	network	NOUN
cana-2647	98	18	.	.	PUNCT
cana-2647	99	1	many	many	ADJ
cana-2647	99	2	methods	method	NOUN
cana-2647	99	3	rely	rely	VERB
cana-2647	99	4	on	on	ADP
cana-2647	99	5	sharing	share	VERB
cana-2647	99	6	data	datum	NOUN
cana-2647	99	7	while	while	SCONJ
cana-2647	99	8	maintaining	maintain	VERB
cana-2647	99	9	privacy	privacy	NOUN
cana-2647	99	10	and	and	CCONJ
cana-2647	99	11	reducing	reduce	VERB
cana-2647	99	12	central	central	ADJ
cana-2647	99	13	dependencies	dependency	NOUN
cana-2647	99	14	.	.	PUNCT
cana-2647	100	1	however	however	ADV
cana-2647	100	2	,	,	PUNCT
cana-2647	100	3	testing	test	VERB
cana-2647	100	4	in	in	ADP
cana-2647	100	5	real	real	ADJ
cana-2647	100	6	-	-	PUNCT
cana-2647	100	7	world	world	NOUN
cana-2647	100	8	situations	situation	NOUN
cana-2647	100	9	,	,	PUNCT
cana-2647	100	10	managing	manage	VERB
cana-2647	100	11	communication	communication	NOUN
cana-2647	100	12	loads	load	NOUN
cana-2647	100	13	,	,	PUNCT
cana-2647	100	14	and	and	CCONJ
cana-2647	100	15	handling	handle	VERB
cana-2647	100	16	costs	cost	NOUN
cana-2647	100	17	or	or	CCONJ
cana-2647	100	18	scaling	scale	VERB
cana-2647	100	19	challenges	challenge	NOUN
cana-2647	100	20	are	be	AUX
cana-2647	100	21	often	often	ADV
cana-2647	100	22	not	not	PART
cana-2647	100	23	discussed	discuss	VERB
cana-2647	100	24	fully	fully	ADV
cana-2647	100	25	.	.	PUNCT
cana-2647	101	1	3	3	NUM
cana-2647	101	2	methods	method	NOUN
cana-2647	101	3	and	and	CCONJ
cana-2647	101	4	materials	material	NOUN
cana-2647	101	5	3.1	3.1	NUM
cana-2647	101	6	framework	framework	NOUN
cana-2647	101	7	overview	overview	VERB
cana-2647	101	8	the	the	DET
cana-2647	101	9	decentralized	decentralize	VERB
cana-2647	101	10	federated	federated	ADJ
cana-2647	101	11	localization	localization	NOUN
cana-2647	101	12	framework	framework	NOUN
cana-2647	101	13	(	(	PUNCT
cana-2647	101	14	dflf	dflf	NOUN
cana-2647	101	15	)	)	PUNCT
cana-2647	101	16	organizes	organize	VERB
cana-2647	101	17	data	datum	NOUN
cana-2647	101	18	from	from	ADP
cana-2647	101	19	vehicles	vehicle	NOUN
cana-2647	101	20	to	to	PART
cana-2647	101	21	calculate	calculate	VERB
cana-2647	101	22	positions	position	NOUN
cana-2647	101	23	more	more	ADV
cana-2647	101	24	accurately	accurately	ADV
cana-2647	101	25	in	in	ADP
cana-2647	101	26	changing	change	VERB
cana-2647	101	27	environments	environment	NOUN
cana-2647	101	28	.	.	PUNCT
cana-2647	102	1	it	it	PRON
cana-2647	102	2	gathers	gather	VERB
cana-2647	102	3	information	information	NOUN
cana-2647	102	4	from	from	ADP
cana-2647	102	5	gnss	gnss	NOUN
cana-2647	102	6	,	,	PUNCT
cana-2647	102	7	vehicle	vehicle	NOUN
cana-2647	102	8	-	-	PUNCT
cana-2647	102	9	to	to	ADP
cana-2647	102	10	-	-	PUNCT
cana-2647	102	11	vehicle	vehicle	NOUN
cana-2647	102	12	communication	communication	NOUN
cana-2647	102	13	using	use	VERB
cana-2647	102	14	ieee	ieee	NOUN
cana-2647	102	15	802.11p	802.11p	NUM
cana-2647	102	16	,	,	PUNCT
cana-2647	102	17	and	and	CCONJ
cana-2647	102	18	onboard	onboard	ADP
cana-2647	102	19	sensors	sensor	NOUN
cana-2647	102	20	like	like	ADP
cana-2647	102	21	accelerometers	accelerometer	NOUN
cana-2647	102	22	and	and	CCONJ
cana-2647	102	23	gyroscopes	gyroscope	NOUN
cana-2647	102	24	.	.	PUNCT
cana-2647	103	1	each	each	DET
cana-2647	103	2	data	datum	NOUN
cana-2647	103	3	source	source	NOUN
cana-2647	103	4	contributes	contribute	VERB
cana-2647	103	5	unique	unique	ADJ
cana-2647	103	6	details	detail	NOUN
cana-2647	103	7	about	about	ADP
cana-2647	103	8	the	the	DET
cana-2647	103	9	vehicle	vehicle	NOUN
cana-2647	103	10	's	's	PART
cana-2647	103	11	location	location	NOUN
cana-2647	103	12	and	and	CCONJ
cana-2647	103	13	movement	movement	NOUN
cana-2647	103	14	.	.	PUNCT
cana-2647	104	1	the	the	DET
cana-2647	104	2	framework	framework	NOUN
cana-2647	104	3	works	work	VERB
cana-2647	104	4	through	through	ADP
cana-2647	104	5	five	five	NUM
cana-2647	104	6	layers	layer	NOUN
cana-2647	104	7	.	.	PUNCT
cana-2647	105	1	the	the	DET
cana-2647	105	2	data	data	NOUN
cana-2647	105	3	acquisition	acquisition	NOUN
cana-2647	105	4	layer	layer	NOUN
cana-2647	105	5	collects	collect	VERB
cana-2647	105	6	information	information	NOUN
cana-2647	105	7	in	in	ADP
cana-2647	105	8	real	real	ADJ
cana-2647	105	9	time	time	NOUN
cana-2647	105	10	,	,	PUNCT
cana-2647	105	11	including	include	VERB
cana-2647	105	12	coordinates	coordinate	NOUN
cana-2647	105	13	from	from	ADP
cana-2647	105	14	gnss	gnss	NOUN
cana-2647	105	15	,	,	PUNCT
cana-2647	105	16	distance	distance	NOUN
cana-2647	105	17	and	and	CCONJ
cana-2647	105	18	speed	speed	NOUN
cana-2647	105	19	data	datum	NOUN
cana-2647	105	20	from	from	ADP
cana-2647	105	21	v2v	v2v	NOUN
cana-2647	105	22	communication	communication	NOUN
cana-2647	105	23	,	,	PUNCT
cana-2647	105	24	and	and	CCONJ
cana-2647	105	25	movementrelated	movementrelate	VERB
cana-2647	105	26	measurements	measurement	NOUN
cana-2647	105	27	from	from	ADP
cana-2647	105	28	onboard	onboard	ADJ
cana-2647	105	29	sensors	sensor	NOUN
cana-2647	105	30	.	.	PUNCT
cana-2647	106	1	noise	noise	NOUN
cana-2647	106	2	and	and	CCONJ
cana-2647	106	3	inconsistencies	inconsistency	NOUN
cana-2647	106	4	in	in	ADP
cana-2647	106	5	the	the	DET
cana-2647	106	6	data	datum	NOUN
cana-2647	106	7	are	be	AUX
cana-2647	106	8	handled	handle	VERB
cana-2647	106	9	in	in	ADP
cana-2647	106	10	the	the	DET
cana-2647	106	11	edge	edge	NOUN
cana-2647	106	12	computing	compute	VERB
cana-2647	106	13	layer	layer	NOUN
cana-2647	106	14	.	.	PUNCT
cana-2647	107	1	filtering	filter	VERB
cana-2647	107	2	techniques	technique	NOUN
cana-2647	107	3	like	like	ADP
cana-2647	107	4	kalman	kalman	PROPN
cana-2647	107	5	filters	filter	NOUN
cana-2647	107	6	smooth	smooth	VERB
cana-2647	107	7	out	out	ADP
cana-2647	107	8	the	the	DET
cana-2647	107	9	input	input	NOUN
cana-2647	107	10	,	,	PUNCT
cana-2647	107	11	and	and	CCONJ
cana-2647	107	12	useful	useful	ADJ
cana-2647	107	13	details	detail	NOUN
cana-2647	107	14	like	like	ADP
cana-2647	107	15	speed	speed	NOUN
cana-2647	107	16	and	and	CCONJ
cana-2647	107	17	direction	direction	NOUN
cana-2647	107	18	are	be	AUX
cana-2647	107	19	extracted	extract	VERB
cana-2647	107	20	to	to	PART
cana-2647	107	21	prepare	prepare	VERB
cana-2647	107	22	the	the	DET
cana-2647	107	23	data	datum	NOUN
cana-2647	107	24	for	for	ADP
cana-2647	107	25	analysis	analysis	NOUN
cana-2647	107	26	.	.	PUNCT
cana-2647	108	1	the	the	DET
cana-2647	108	2	communication	communication	NOUN
cana-2647	108	3	layer	layer	NOUN
cana-2647	108	4	connects	connect	VERB
cana-2647	108	5	vehicles	vehicle	NOUN
cana-2647	108	6	directly	directly	ADV
cana-2647	108	7	,	,	PUNCT
cana-2647	108	8	allowing	allow	VERB
cana-2647	108	9	them	they	PRON
cana-2647	108	10	to	to	PART
cana-2647	108	11	exchange	exchange	VERB
cana-2647	108	12	information	information	NOUN
cana-2647	108	13	about	about	ADP
cana-2647	108	14	their	their	PRON
cana-2647	108	15	trained	train	VERB
cana-2647	108	16	models	model	NOUN
cana-2647	108	17	instead	instead	ADV
cana-2647	108	18	of	of	ADP
cana-2647	108	19	raw	raw	ADJ
cana-2647	108	20	data	datum	NOUN
cana-2647	108	21	.	.	PUNCT
cana-2647	109	1	this	this	DET
cana-2647	109	2	layer	layer	NOUN
cana-2647	109	3	uses	use	VERB
cana-2647	109	4	protocols	protocol	NOUN
cana-2647	109	5	like	like	ADP
cana-2647	109	6	ieee	ieee	NOUN
cana-2647	109	7	802.11p	802.11p	NUM
cana-2647	109	8	to	to	PART
cana-2647	109	9	keep	keep	VERB
cana-2647	109	10	the	the	DET
cana-2647	109	11	data	datum	NOUN
cana-2647	109	12	flow	flow	NOUN
cana-2647	109	13	steady	steady	ADJ
cana-2647	109	14	,	,	PUNCT
cana-2647	109	15	even	even	ADV
cana-2647	109	16	when	when	SCONJ
cana-2647	109	17	vehicles	vehicle	NOUN
cana-2647	109	18	join	join	VERB
cana-2647	109	19	or	or	CCONJ
cana-2647	109	20	leave	leave	VERB
cana-2647	109	21	the	the	DET
cana-2647	109	22	network	network	NOUN
cana-2647	109	23	.	.	PUNCT
cana-2647	110	1	the	the	DET
cana-2647	110	2	federated	federated	ADJ
cana-2647	110	3	aggregation	aggregation	NOUN
cana-2647	110	4	layer	layer	NOUN
cana-2647	110	5	combines	combine	VERB
cana-2647	110	6	these	these	DET
cana-2647	110	7	updates	update	NOUN
cana-2647	110	8	from	from	ADP
cana-2647	110	9	multiple	multiple	ADJ
cana-2647	110	10	vehicles	vehicle	NOUN
cana-2647	110	11	,	,	PUNCT
cana-2647	110	12	calculating	calculate	VERB
cana-2647	110	13	shared	share	VERB
cana-2647	110	14	improvements	improvement	NOUN
cana-2647	110	15	to	to	ADP
cana-2647	110	16	the	the	DET
cana-2647	110	17	positioning	positioning	NOUN
cana-2647	110	18	models	model	NOUN
cana-2647	110	19	.	.	PUNCT
cana-2647	111	1	the	the	DET
cana-2647	111	2	method	method	NOUN
cana-2647	111	3	relies	rely	VERB
cana-2647	111	4	on	on	ADP
cana-2647	111	5	weighted	weight	VERB
cana-2647	111	6	averages	average	NOUN
cana-2647	111	7	to	to	PART
cana-2647	111	8	balance	balance	VERB
cana-2647	111	9	contributions	contribution	NOUN
cana-2647	111	10	from	from	ADP
cana-2647	111	11	vehicles	vehicle	NOUN
cana-2647	111	12	with	with	ADP
cana-2647	111	13	different	different	ADJ
cana-2647	111	14	amounts	amount	NOUN
cana-2647	111	15	or	or	CCONJ
cana-2647	111	16	quality	quality	NOUN
cana-2647	111	17	of	of	ADP
cana-2647	111	18	data	datum	NOUN
cana-2647	111	19	.	.	PUNCT
cana-2647	112	1	communications	communication	NOUN
cana-2647	112	2	on	on	ADP
cana-2647	112	3	applied	apply	VERB
cana-2647	112	4	nonlinear	nonlinear	ADJ
cana-2647	112	5	analysis	analysis	NOUN
cana-2647	112	6	issn	issn	NOUN
cana-2647	112	7	:	:	PUNCT
cana-2647	112	8	1074	1074	NUM
cana-2647	112	9	-	-	PUNCT
cana-2647	112	10	133x	133x	NUM
cana-2647	112	11	vol	vol	NOUN
cana-2647	112	12	32	32	NUM
cana-2647	112	13	no	no	NOUN
cana-2647	112	14	.	.	PUNCT
cana-2647	113	1	3s	3s	NUM
cana-2647	113	2	(	(	PUNCT
cana-2647	113	3	2025	2025	NUM
cana-2647	113	4	)	)	PUNCT
cana-2647	113	5	344	344	NUM
cana-2647	113	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	114	1	the	the	DET
cana-2647	114	2	final	final	ADJ
cana-2647	114	3	layer	layer	NOUN
cana-2647	114	4	uses	use	VERB
cana-2647	114	5	machine	machine	NOUN
cana-2647	114	6	learning	learn	VERB
cana-2647	114	7	to	to	PART
cana-2647	114	8	estimate	estimate	VERB
cana-2647	114	9	positions	position	NOUN
cana-2647	114	10	.	.	PUNCT
cana-2647	115	1	it	it	PRON
cana-2647	115	2	combines	combine	VERB
cana-2647	115	3	patterns	pattern	NOUN
cana-2647	115	4	in	in	ADP
cana-2647	115	5	time	time	NOUN
cana-2647	115	6	from	from	ADP
cana-2647	115	7	gnss	gnss	NOUN
cana-2647	115	8	and	and	CCONJ
cana-2647	115	9	sensor	sensor	NOUN
cana-2647	115	10	data	datum	NOUN
cana-2647	115	11	with	with	ADP
cana-2647	115	12	spatial	spatial	ADJ
cana-2647	115	13	relationships	relationship	NOUN
cana-2647	115	14	from	from	ADP
cana-2647	115	15	vehicle	vehicle	NOUN
cana-2647	115	16	interaction	interaction	NOUN
cana-2647	115	17	graphs	graph	NOUN
cana-2647	115	18	.	.	PUNCT
cana-2647	116	1	the	the	DET
cana-2647	116	2	analysis	analysis	NOUN
cana-2647	116	3	blends	blend	NOUN
cana-2647	116	4	techniques	technique	NOUN
cana-2647	116	5	like	like	ADP
cana-2647	116	6	lstms	lstms	NOUN
cana-2647	116	7	for	for	ADP
cana-2647	116	8	handling	handle	VERB
cana-2647	116	9	sequences	sequence	NOUN
cana-2647	116	10	and	and	CCONJ
cana-2647	116	11	gcns	gcn	VERB
cana-2647	116	12	for	for	ADP
cana-2647	116	13	mapping	mapping	NOUN
cana-2647	116	14	connections	connection	NOUN
cana-2647	116	15	between	between	ADP
cana-2647	116	16	vehicles	vehicle	NOUN
cana-2647	116	17	.	.	PUNCT
cana-2647	117	1	a	a	DET
cana-2647	117	2	transformer	transformer	NOUN
cana-2647	117	3	-	-	PUNCT
cana-2647	117	4	based	base	VERB
cana-2647	117	5	approach	approach	NOUN
cana-2647	117	6	integrates	integrate	VERB
cana-2647	117	7	these	these	DET
cana-2647	117	8	inputs	input	NOUN
cana-2647	117	9	to	to	PART
cana-2647	117	10	provide	provide	VERB
cana-2647	117	11	accurate	accurate	ADJ
cana-2647	117	12	positioning	positioning	NOUN
cana-2647	117	13	predictions	prediction	NOUN
cana-2647	117	14	.	.	PUNCT
cana-2647	118	1	this	this	DET
cana-2647	118	2	setup	setup	NOUN
cana-2647	118	3	reduces	reduce	VERB
cana-2647	118	4	dependency	dependency	NOUN
cana-2647	118	5	on	on	ADP
cana-2647	118	6	central	central	ADJ
cana-2647	118	7	servers	server	NOUN
cana-2647	118	8	and	and	CCONJ
cana-2647	118	9	adapts	adapt	VERB
cana-2647	118	10	to	to	ADP
cana-2647	118	11	changing	change	VERB
cana-2647	118	12	traffic	traffic	NOUN
cana-2647	118	13	patterns	pattern	NOUN
cana-2647	118	14	.	.	PUNCT
cana-2647	119	1	a	a	DET
cana-2647	119	2	diagram	diagram	NOUN
cana-2647	119	3	showing	show	VERB
cana-2647	119	4	how	how	SCONJ
cana-2647	119	5	data	datum	NOUN
cana-2647	119	6	moves	move	NOUN
cana-2647	119	7	between	between	ADP
cana-2647	119	8	layers	layer	NOUN
cana-2647	119	9	can	can	AUX
cana-2647	119	10	help	help	VERB
cana-2647	119	11	visualize	visualize	VERB
cana-2647	119	12	this	this	DET
cana-2647	119	13	process	process	NOUN
cana-2647	119	14	.	.	PUNCT
cana-2647	120	1	3.2	3.2	NUM
cana-2647	120	2	data	datum	NOUN
cana-2647	120	3	sources	source	NOUN
cana-2647	120	4	the	the	DET
cana-2647	120	5	framework	framework	NOUN
cana-2647	120	6	collects	collect	VERB
cana-2647	120	7	data	datum	NOUN
cana-2647	120	8	from	from	ADP
cana-2647	120	9	three	three	NUM
cana-2647	120	10	main	main	ADJ
cana-2647	120	11	sources	source	NOUN
cana-2647	120	12	to	to	PART
cana-2647	120	13	estimate	estimate	VERB
cana-2647	120	14	vehicle	vehicle	NOUN
cana-2647	120	15	positions	position	NOUN
cana-2647	120	16	and	and	CCONJ
cana-2647	120	17	movements	movement	NOUN
cana-2647	120	18	.	.	PUNCT
cana-2647	121	1	gnss	gns	NOUN
cana-2647	121	2	provides	provide	VERB
cana-2647	121	3	geographic	geographic	ADJ
cana-2647	121	4	information	information	NOUN
cana-2647	121	5	such	such	ADJ
cana-2647	121	6	as	as	ADP
cana-2647	121	7	latitude	latitude	NOUN
cana-2647	121	8	and	and	CCONJ
cana-2647	121	9	longitude	longitude	NOUN
cana-2647	121	10	.	.	PUNCT
cana-2647	122	1	this	this	DET
cana-2647	122	2	data	datum	NOUN
cana-2647	122	3	forms	form	VERB
cana-2647	122	4	the	the	DET
cana-2647	122	5	basis	basis	NOUN
cana-2647	122	6	for	for	ADP
cana-2647	122	7	locating	locate	VERB
cana-2647	122	8	vehicles	vehicle	NOUN
cana-2647	122	9	but	but	CCONJ
cana-2647	122	10	often	often	ADV
cana-2647	122	11	encounters	encounter	VERB
cana-2647	122	12	accuracy	accuracy	NOUN
cana-2647	122	13	issues	issue	NOUN
cana-2647	122	14	in	in	ADP
cana-2647	122	15	urban	urban	ADJ
cana-2647	122	16	areas	area	NOUN
cana-2647	122	17	.	.	PUNCT
cana-2647	123	1	signals	signal	NOUN
cana-2647	123	2	may	may	AUX
cana-2647	123	3	bounce	bounce	VERB
cana-2647	123	4	off	off	ADP
cana-2647	123	5	tall	tall	ADJ
cana-2647	123	6	buildings	building	NOUN
cana-2647	123	7	or	or	CCONJ
cana-2647	123	8	become	become	AUX
cana-2647	123	9	blocked	block	VERB
cana-2647	123	10	by	by	ADP
cana-2647	123	11	obstacles	obstacle	NOUN
cana-2647	123	12	,	,	PUNCT
cana-2647	123	13	leading	lead	VERB
cana-2647	123	14	to	to	ADP
cana-2647	123	15	errors	error	NOUN
cana-2647	123	16	,	,	PUNCT
cana-2647	123	17	especially	especially	ADV
cana-2647	123	18	in	in	ADP
cana-2647	123	19	places	place	NOUN
cana-2647	123	20	like	like	ADP
cana-2647	123	21	tunnels	tunnel	NOUN
cana-2647	123	22	or	or	CCONJ
cana-2647	123	23	dense	dense	ADJ
cana-2647	123	24	city	city	NOUN
cana-2647	123	25	centers	center	NOUN
cana-2647	123	26	.	.	PUNCT
cana-2647	124	1	onboard	onboard	ADJ
cana-2647	124	2	sensors	sensor	NOUN
cana-2647	124	3	add	add	VERB
cana-2647	124	4	extra	extra	ADJ
cana-2647	124	5	details	detail	NOUN
cana-2647	124	6	about	about	ADP
cana-2647	124	7	a	a	DET
cana-2647	124	8	vehicle	vehicle	NOUN
cana-2647	124	9	’s	’s	PART
cana-2647	124	10	motion	motion	NOUN
cana-2647	124	11	.	.	PUNCT
cana-2647	125	1	accelerometers	accelerometer	NOUN
cana-2647	125	2	measure	measure	VERB
cana-2647	125	3	changes	change	NOUN
cana-2647	125	4	in	in	ADP
cana-2647	125	5	speed	speed	NOUN
cana-2647	125	6	,	,	PUNCT
cana-2647	125	7	while	while	SCONJ
cana-2647	125	8	gyroscopes	gyroscope	NOUN
cana-2647	125	9	detect	detect	VERB
cana-2647	125	10	shifts	shift	NOUN
cana-2647	125	11	in	in	ADP
cana-2647	125	12	direction	direction	NOUN
cana-2647	125	13	.	.	PUNCT
cana-2647	126	1	odometers	odometer	NOUN
cana-2647	126	2	track	track	VERB
cana-2647	126	3	the	the	DET
cana-2647	126	4	distance	distance	NOUN
cana-2647	126	5	traveled	travel	VERB
cana-2647	126	6	,	,	PUNCT
cana-2647	126	7	helping	help	VERB
cana-2647	126	8	to	to	PART
cana-2647	126	9	calculate	calculate	VERB
cana-2647	126	10	the	the	DET
cana-2647	126	11	vehicle	vehicle	NOUN
cana-2647	126	12	’s	’s	PART
cana-2647	126	13	position	position	NOUN
cana-2647	126	14	through	through	ADP
cana-2647	126	15	a	a	DET
cana-2647	126	16	method	method	NOUN
cana-2647	126	17	called	call	VERB
cana-2647	126	18	dead	dead	ADJ
cana-2647	126	19	reckoning	reckoning	NOUN
cana-2647	126	20	.	.	PUNCT
cana-2647	127	1	cameras	camera	NOUN
cana-2647	127	2	,	,	PUNCT
cana-2647	127	3	when	when	SCONJ
cana-2647	127	4	included	include	VERB
cana-2647	127	5	,	,	PUNCT
cana-2647	127	6	detect	detect	VERB
cana-2647	127	7	surrounding	surround	VERB
cana-2647	127	8	features	feature	NOUN
cana-2647	127	9	like	like	ADP
cana-2647	127	10	road	road	NOUN
cana-2647	127	11	markings	marking	NOUN
cana-2647	127	12	or	or	CCONJ
cana-2647	127	13	nearby	nearby	ADJ
cana-2647	127	14	objects	object	NOUN
cana-2647	127	15	,	,	PUNCT
cana-2647	127	16	offering	offer	VERB
cana-2647	127	17	additional	additional	ADJ
cana-2647	127	18	context	context	NOUN
cana-2647	127	19	to	to	PART
cana-2647	127	20	improve	improve	VERB
cana-2647	127	21	position	position	NOUN
cana-2647	127	22	estimates	estimate	NOUN
cana-2647	127	23	.	.	PUNCT
cana-2647	128	1	ieee	ieee	NOUN
cana-2647	128	2	802.11p	802.11p	PROPN
cana-2647	128	3	communication	communication	NOUN
cana-2647	128	4	allows	allow	VERB
cana-2647	128	5	vehicles	vehicle	NOUN
cana-2647	128	6	to	to	PART
cana-2647	128	7	exchange	exchange	VERB
cana-2647	128	8	information	information	NOUN
cana-2647	128	9	with	with	ADP
cana-2647	128	10	one	one	NUM
cana-2647	128	11	another	another	DET
cana-2647	128	12	.	.	PUNCT
cana-2647	129	1	this	this	PRON
cana-2647	129	2	includes	include	VERB
cana-2647	129	3	details	detail	NOUN
cana-2647	129	4	such	such	ADJ
cana-2647	129	5	as	as	ADP
cana-2647	129	6	the	the	DET
cana-2647	129	7	distance	distance	NOUN
cana-2647	129	8	between	between	ADP
cana-2647	129	9	vehicles	vehicle	NOUN
cana-2647	129	10	and	and	CCONJ
cana-2647	129	11	their	their	PRON
cana-2647	129	12	relative	relative	ADJ
cana-2647	129	13	speeds	speed	NOUN
cana-2647	129	14	.	.	PUNCT
cana-2647	130	1	by	by	ADP
cana-2647	130	2	sharing	share	VERB
cana-2647	130	3	this	this	DET
cana-2647	130	4	data	datum	NOUN
cana-2647	130	5	,	,	PUNCT
cana-2647	130	6	vehicles	vehicle	NOUN
cana-2647	130	7	gain	gain	VERB
cana-2647	130	8	a	a	DET
cana-2647	130	9	better	well	ADJ
cana-2647	130	10	understanding	understanding	NOUN
cana-2647	130	11	of	of	ADP
cana-2647	130	12	their	their	PRON
cana-2647	130	13	surroundings	surrounding	NOUN
cana-2647	130	14	.	.	PUNCT
cana-2647	131	1	this	this	DET
cana-2647	131	2	type	type	NOUN
cana-2647	131	3	of	of	ADP
cana-2647	131	4	communication	communication	NOUN
cana-2647	131	5	becomes	become	VERB
cana-2647	131	6	especially	especially	ADV
cana-2647	131	7	useful	useful	ADJ
cana-2647	131	8	in	in	ADP
cana-2647	131	9	situations	situation	NOUN
cana-2647	131	10	where	where	SCONJ
cana-2647	131	11	gnss	gnss	NOUN
cana-2647	131	12	data	datum	NOUN
cana-2647	131	13	or	or	CCONJ
cana-2647	131	14	sensors	sensor	NOUN
cana-2647	131	15	alone	alone	ADV
cana-2647	131	16	can	can	AUX
cana-2647	131	17	not	not	PART
cana-2647	131	18	provide	provide	VERB
cana-2647	131	19	enough	enough	ADJ
cana-2647	131	20	accuracy	accuracy	NOUN
cana-2647	131	21	.	.	PUNCT
cana-2647	132	1	combining	combine	VERB
cana-2647	132	2	these	these	DET
cana-2647	132	3	three	three	NUM
cana-2647	132	4	data	datum	NOUN
cana-2647	132	5	sources	source	NOUN
cana-2647	132	6	improves	improve	VERB
cana-2647	132	7	the	the	DET
cana-2647	132	8	overall	overall	ADJ
cana-2647	132	9	quality	quality	NOUN
cana-2647	132	10	and	and	CCONJ
cana-2647	132	11	reliability	reliability	NOUN
cana-2647	132	12	of	of	ADP
cana-2647	132	13	localization	localization	NOUN
cana-2647	132	14	in	in	ADP
cana-2647	132	15	different	different	ADJ
cana-2647	132	16	driving	driving	NOUN
cana-2647	132	17	environments	environment	NOUN
cana-2647	132	18	.	.	PUNCT
cana-2647	133	1	3.3	3.3	NUM
cana-2647	133	2	data	datum	NOUN
cana-2647	133	3	preprocessing	preprocesse	VERB
cana-2647	133	4	preprocessing	preprocessing	NOUN
cana-2647	133	5	begins	begin	VERB
cana-2647	133	6	with	with	ADP
cana-2647	133	7	handling	handling	NOUN
cana-2647	133	8	noise	noise	NOUN
cana-2647	133	9	in	in	ADP
cana-2647	133	10	the	the	DET
cana-2647	133	11	raw	raw	ADJ
cana-2647	133	12	data	datum	NOUN
cana-2647	133	13	.	.	PUNCT
cana-2647	134	1	gnss	gnss	NOUN
cana-2647	134	2	signals	signal	NOUN
cana-2647	134	3	and	and	CCONJ
cana-2647	134	4	sensor	sensor	NOUN
cana-2647	134	5	readings	reading	NOUN
cana-2647	134	6	often	often	ADV
cana-2647	134	7	include	include	VERB
cana-2647	134	8	inconsistencies	inconsistency	NOUN
cana-2647	134	9	caused	cause	VERB
cana-2647	134	10	by	by	ADP
cana-2647	134	11	environmental	environmental	ADJ
cana-2647	134	12	interference	interference	NOUN
cana-2647	134	13	or	or	CCONJ
cana-2647	134	14	equipment	equipment	NOUN
cana-2647	134	15	limitations	limitation	NOUN
cana-2647	134	16	.	.	PUNCT
cana-2647	135	1	noise	noise	NOUN
cana-2647	135	2	is	be	AUX
cana-2647	135	3	reduced	reduce	VERB
cana-2647	135	4	using	use	VERB
cana-2647	135	5	kalman	kalman	NOUN
cana-2647	135	6	filters	filter	NOUN
cana-2647	135	7	,	,	PUNCT
cana-2647	135	8	which	which	PRON
cana-2647	135	9	predict	predict	VERB
cana-2647	135	10	and	and	CCONJ
cana-2647	135	11	correct	correct	ADJ
cana-2647	135	12	positions	position	NOUN
cana-2647	135	13	iteratively	iteratively	ADV
cana-2647	135	14	.	.	PUNCT
cana-2647	136	1	the	the	DET
cana-2647	136	2	prediction	prediction	NOUN
cana-2647	136	3	step	step	NOUN
cana-2647	136	4	calculates	calculate	VERB
cana-2647	136	5	the	the	DET
cana-2647	136	6	next	next	ADJ
cana-2647	136	7	position	position	NOUN
cana-2647	136	8	based	base	VERB
cana-2647	136	9	on	on	ADP
cana-2647	136	10	the	the	DET
cana-2647	136	11	current	current	ADJ
cana-2647	136	12	state	state	NOUN
cana-2647	136	13	:	:	PUNCT
cana-2647	136	14	𝑥𝑘+1	𝑥𝑘+1	ADP
cana-2647	136	15	=	=	VERB
cana-2647	136	16	𝐴𝑥𝑘	𝐴𝑥𝑘	PROPN
cana-2647	136	17	+	+	CCONJ
cana-2647	136	18	𝐵𝑢𝑘	𝐵𝑢𝑘	PROPN
cana-2647	136	19	here	here	ADV
cana-2647	136	20	,	,	PUNCT
cana-2647	136	21	𝑥𝑘	𝑥𝑘	PROPN
cana-2647	136	22	represents	represent	VERB
cana-2647	136	23	the	the	DET
cana-2647	136	24	vehicle	vehicle	NOUN
cana-2647	136	25	’s	’s	PART
cana-2647	136	26	current	current	ADJ
cana-2647	136	27	state	state	NOUN
cana-2647	136	28	,	,	PUNCT
cana-2647	136	29	𝐴	𝐴	PROPN
cana-2647	136	30	is	be	AUX
cana-2647	136	31	the	the	DET
cana-2647	136	32	state	state	NOUN
cana-2647	136	33	transition	transition	NOUN
cana-2647	136	34	matrix	matrix	NOUN
cana-2647	136	35	,	,	PUNCT
cana-2647	136	36	and	and	CCONJ
cana-2647	136	37	𝑢𝑘	𝑢𝑘	PROPN
cana-2647	136	38	is	be	AUX
cana-2647	136	39	the	the	DET
cana-2647	136	40	control	control	NOUN
cana-2647	136	41	input	input	NOUN
cana-2647	136	42	.	.	PUNCT
cana-2647	137	1	the	the	DET
cana-2647	137	2	update	update	NOUN
cana-2647	137	3	step	step	NOUN
cana-2647	137	4	adjusts	adjust	VERB
cana-2647	137	5	this	this	DET
cana-2647	137	6	prediction	prediction	NOUN
cana-2647	137	7	using	use	VERB
cana-2647	137	8	new	new	ADJ
cana-2647	137	9	sensor	sensor	NOUN
cana-2647	137	10	measurements	measurement	NOUN
cana-2647	137	11	:	:	PUNCT
cana-2647	137	12	𝑥𝑘+1′	𝑥𝑘+1′	NOUN
cana-2647	137	13	=	=	SYM
cana-2647	138	1	𝑥𝑘+1	𝑥𝑘+1	NUM
cana-2647	138	2	+	+	NUM
cana-2647	138	3	𝐾(𝑧𝑘+1	𝐾(𝑧𝑘+1	NOUN
cana-2647	138	4	−	−	NOUN
cana-2647	138	5	𝐻𝑥𝑘+1	𝐻𝑥𝑘+1	NOUN
cana-2647	138	6	)	)	PUNCT
cana-2647	138	7	the	the	DET
cana-2647	138	8	term	term	NOUN
cana-2647	138	9	𝑧𝑘+1	𝑧𝑘+1	NUM
cana-2647	138	10	is	be	AUX
cana-2647	138	11	the	the	DET
cana-2647	138	12	actual	actual	ADJ
cana-2647	138	13	measurement	measurement	NOUN
cana-2647	138	14	,	,	PUNCT
cana-2647	138	15	𝐻	𝐻	PROPN
cana-2647	138	16	maps	map	VERB
cana-2647	138	17	the	the	DET
cana-2647	138	18	predicted	predict	VERB
cana-2647	138	19	state	state	NOUN
cana-2647	138	20	to	to	ADP
cana-2647	138	21	measurement	measurement	NOUN
cana-2647	138	22	space	space	NOUN
cana-2647	138	23	,	,	PUNCT
cana-2647	138	24	and	and	CCONJ
cana-2647	138	25	𝐾	𝐾	PROPN
cana-2647	138	26	is	be	AUX
cana-2647	138	27	the	the	DET
cana-2647	138	28	kalman	kalman	NOUN
cana-2647	138	29	gain	gain	NOUN
cana-2647	138	30	,	,	PUNCT
cana-2647	138	31	calculated	calculate	VERB
cana-2647	138	32	as	as	ADP
cana-2647	138	33	:	:	PUNCT
cana-2647	138	34	𝐾	𝐾	NOUN
cana-2647	138	35	=	=	PRON
cana-2647	138	36	𝑃𝐻𝑇(𝐻𝑃𝐻𝑇	𝑃𝐻𝑇(𝐻𝑃𝐻𝑇	NOUN
cana-2647	138	37	+	+	CCONJ
cana-2647	138	38	𝑅)−1	𝑅)−1	VERB
cana-2647	138	39	where	where	SCONJ
cana-2647	138	40	𝑃	𝑃	NOUN
cana-2647	138	41	is	be	AUX
cana-2647	138	42	the	the	DET
cana-2647	138	43	error	error	NOUN
cana-2647	138	44	covariance	covariance	NOUN
cana-2647	138	45	matrix	matrix	NOUN
cana-2647	138	46	,	,	PUNCT
cana-2647	138	47	and	and	CCONJ
cana-2647	138	48	𝑅	𝑅	PROPN
cana-2647	138	49	represents	represent	VERB
cana-2647	138	50	measurement	measurement	NOUN
cana-2647	138	51	noise	noise	NOUN
cana-2647	138	52	.	.	PUNCT
cana-2647	139	1	this	this	DET
cana-2647	139	2	process	process	NOUN
cana-2647	139	3	reduces	reduce	VERB
cana-2647	139	4	random	random	ADJ
cana-2647	139	5	fluctuations	fluctuation	NOUN
cana-2647	139	6	while	while	SCONJ
cana-2647	139	7	refining	refining	NOUN
cana-2647	139	8	position	position	NOUN
cana-2647	139	9	estimates	estimate	NOUN
cana-2647	139	10	.	.	PUNCT
cana-2647	140	1	communications	communication	NOUN
cana-2647	140	2	on	on	ADP
cana-2647	140	3	applied	apply	VERB
cana-2647	140	4	nonlinear	nonlinear	ADJ
cana-2647	140	5	analysis	analysis	NOUN
cana-2647	140	6	issn	issn	NOUN
cana-2647	140	7	:	:	PUNCT
cana-2647	140	8	1074	1074	NUM
cana-2647	140	9	-	-	PUNCT
cana-2647	140	10	133x	133x	NUM
cana-2647	140	11	vol	vol	NOUN
cana-2647	140	12	32	32	NUM
cana-2647	140	13	no	no	NOUN
cana-2647	140	14	.	.	PUNCT
cana-2647	141	1	3s	3s	NUM
cana-2647	141	2	(	(	PUNCT
cana-2647	141	3	2025	2025	NUM
cana-2647	141	4	)	)	PUNCT
cana-2647	141	5	345	345	NUM
cana-2647	141	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	141	7	for	for	ADP
cana-2647	141	8	cases	case	NOUN
cana-2647	141	9	involving	involve	VERB
cana-2647	141	10	nonlinear	nonlinear	ADJ
cana-2647	141	11	patterns	pattern	NOUN
cana-2647	141	12	,	,	PUNCT
cana-2647	141	13	particle	particle	NOUN
cana-2647	141	14	filters	filter	NOUN
cana-2647	141	15	are	be	AUX
cana-2647	141	16	applied	apply	VERB
cana-2647	141	17	.	.	PUNCT
cana-2647	142	1	a	a	DET
cana-2647	142	2	set	set	NOUN
cana-2647	142	3	of	of	ADP
cana-2647	142	4	weighted	weight	VERB
cana-2647	142	5	particles	particle	NOUN
cana-2647	142	6	approximates	approximate	VERB
cana-2647	142	7	the	the	DET
cana-2647	142	8	probability	probability	NOUN
cana-2647	142	9	distribution	distribution	NOUN
cana-2647	142	10	of	of	ADP
cana-2647	142	11	the	the	DET
cana-2647	142	12	vehicle	vehicle	NOUN
cana-2647	142	13	’s	’s	PART
cana-2647	142	14	state	state	NOUN
cana-2647	142	15	.	.	PUNCT
cana-2647	143	1	particles	particle	NOUN
cana-2647	143	2	are	be	AUX
cana-2647	143	3	propagated	propagate	VERB
cana-2647	143	4	through	through	ADP
cana-2647	143	5	the	the	DET
cana-2647	143	6	system	system	NOUN
cana-2647	143	7	’s	’s	PART
cana-2647	143	8	motion	motion	NOUN
cana-2647	143	9	model	model	NOUN
cana-2647	143	10	,	,	PUNCT
cana-2647	143	11	and	and	CCONJ
cana-2647	143	12	their	their	PRON
cana-2647	143	13	weights	weight	NOUN
cana-2647	143	14	are	be	AUX
cana-2647	143	15	updated	update	VERB
cana-2647	143	16	based	base	VERB
cana-2647	143	17	on	on	ADP
cana-2647	143	18	sensor	sensor	NOUN
cana-2647	143	19	likelihoods	likelihood	NOUN
cana-2647	143	20	.	.	PUNCT
cana-2647	144	1	the	the	DET
cana-2647	144	2	state	state	NOUN
cana-2647	144	3	is	be	AUX
cana-2647	144	4	estimated	estimate	VERB
cana-2647	144	5	as	as	ADP
cana-2647	144	6	the	the	DET
cana-2647	144	7	weighted	weighted	ADJ
cana-2647	144	8	average	average	NOUN
cana-2647	144	9	of	of	ADP
cana-2647	144	10	these	these	DET
cana-2647	144	11	particles	particle	NOUN
cana-2647	144	12	.	.	PUNCT
cana-2647	145	1	after	after	ADP
cana-2647	145	2	noise	noise	NOUN
cana-2647	145	3	reduction	reduction	NOUN
cana-2647	145	4	,	,	PUNCT
cana-2647	145	5	features	feature	NOUN
cana-2647	145	6	are	be	AUX
cana-2647	145	7	extracted	extract	VERB
cana-2647	145	8	to	to	PART
cana-2647	145	9	prepare	prepare	VERB
cana-2647	145	10	data	datum	NOUN
cana-2647	145	11	for	for	ADP
cana-2647	145	12	further	further	ADJ
cana-2647	145	13	analysis	analysis	NOUN
cana-2647	145	14	.	.	PUNCT
cana-2647	146	1	velocity	velocity	NOUN
cana-2647	146	2	is	be	AUX
cana-2647	146	3	calculated	calculate	VERB
cana-2647	146	4	from	from	ADP
cana-2647	146	5	position	position	NOUN
cana-2647	146	6	changes	change	NOUN
cana-2647	146	7	over	over	ADP
cana-2647	146	8	time	time	NOUN
cana-2647	146	9	using	use	VERB
cana-2647	146	10	:	:	PUNCT
cana-2647	146	11	𝑣	𝑣	ADP
cana-2647	146	12	=	=	PRON
cana-2647	146	13	δ𝑥	δ𝑥	SCONJ
cana-2647	146	14	δ𝑡	δ𝑡	NOUN
cana-2647	146	15	acceleration	acceleration	NOUN
cana-2647	146	16	is	be	AUX
cana-2647	146	17	derived	derive	VERB
cana-2647	146	18	from	from	ADP
cana-2647	146	19	changes	change	NOUN
cana-2647	146	20	in	in	ADP
cana-2647	146	21	velocity	velocity	NOUN
cana-2647	146	22	:	:	PUNCT
cana-2647	146	23	𝑎	𝑎	X
cana-2647	146	24	=	=	X
cana-2647	146	25	δ𝑣	δ𝑣	PROPN
cana-2647	146	26	δ𝑡	δ𝑡	PROPN
cana-2647	146	27	time	time	NOUN
cana-2647	146	28	-	-	PUNCT
cana-2647	146	29	series	series	NOUN
cana-2647	146	30	patterns	pattern	NOUN
cana-2647	146	31	are	be	AUX
cana-2647	146	32	identified	identify	VERB
cana-2647	146	33	by	by	ADP
cana-2647	146	34	examining	examine	VERB
cana-2647	146	35	gnss	gnss	NOUN
cana-2647	146	36	data	datum	NOUN
cana-2647	146	37	trends	trend	NOUN
cana-2647	146	38	over	over	ADP
cana-2647	146	39	successive	successive	ADJ
cana-2647	146	40	intervals	interval	NOUN
cana-2647	146	41	.	.	PUNCT
cana-2647	147	1	vehicleto	vehicleto	NOUN
cana-2647	147	2	-	-	PUNCT
cana-2647	147	3	vehicle	vehicle	NOUN
cana-2647	147	4	communication	communication	NOUN
cana-2647	147	5	data	datum	NOUN
cana-2647	147	6	,	,	PUNCT
cana-2647	147	7	such	such	ADJ
cana-2647	147	8	as	as	ADP
cana-2647	147	9	distances	distance	NOUN
cana-2647	147	10	,	,	PUNCT
cana-2647	147	11	are	be	AUX
cana-2647	147	12	represented	represent	VERB
cana-2647	147	13	in	in	ADP
cana-2647	147	14	graph	graph	NOUN
cana-2647	147	15	structures	structure	NOUN
cana-2647	147	16	.	.	PUNCT
cana-2647	148	1	each	each	DET
cana-2647	148	2	vehicle	vehicle	NOUN
cana-2647	148	3	acts	act	VERB
cana-2647	148	4	as	as	ADP
cana-2647	148	5	a	a	DET
cana-2647	148	6	node	node	NOUN
cana-2647	148	7	,	,	PUNCT
cana-2647	148	8	and	and	CCONJ
cana-2647	148	9	the	the	DET
cana-2647	148	10	distance	distance	NOUN
cana-2647	148	11	between	between	ADP
cana-2647	148	12	vehicles	vehicle	NOUN
cana-2647	148	13	forms	form	VERB
cana-2647	148	14	the	the	DET
cana-2647	148	15	edges	edge	NOUN
cana-2647	148	16	,	,	PUNCT
cana-2647	148	17	creating	create	VERB
cana-2647	148	18	a	a	DET
cana-2647	148	19	spatial	spatial	ADJ
cana-2647	148	20	representation	representation	NOUN
cana-2647	148	21	for	for	ADP
cana-2647	148	22	later	later	ADJ
cana-2647	148	23	use	use	NOUN
cana-2647	148	24	.	.	PUNCT
cana-2647	149	1	1	1	X
cana-2647	149	2	.	.	X
cana-2647	149	3	input	input	NOUN
cana-2647	149	4	:	:	PUNCT
cana-2647	149	5	raw	raw	ADJ
cana-2647	149	6	gnss	gnss	NOUN
cana-2647	149	7	data	datum	NOUN
cana-2647	149	8	(	(	PUNCT
cana-2647	149	9	𝑧𝑘	𝑧𝑘	NOUN
cana-2647	149	10	)	)	PUNCT
cana-2647	149	11	,	,	PUNCT
cana-2647	149	12	sensor	sensor	NOUN
cana-2647	149	13	data	datum	NOUN
cana-2647	149	14	(	(	PUNCT
cana-2647	149	15	𝑢𝑘	𝑢𝑘	PROPN
cana-2647	149	16	)	)	PUNCT
cana-2647	149	17	,	,	PUNCT
cana-2647	149	18	v2v	v2v	NOUN
cana-2647	149	19	distance	distance	NOUN
cana-2647	149	20	measurements	measurement	NOUN
cana-2647	149	21	.	.	PUNCT
cana-2647	150	1	2	2	X
cana-2647	150	2	.	.	NOUN
cana-2647	150	3	noise	noise	NOUN
cana-2647	150	4	reduction	reduction	NOUN
cana-2647	150	5	:	:	PUNCT
cana-2647	150	6	−	−	PROPN
cana-2647	150	7	predict	predict	VERB
cana-2647	150	8	the	the	DET
cana-2647	150	9	state	state	NOUN
cana-2647	150	10	:	:	PUNCT
cana-2647	150	11	𝑥𝑘+1	𝑥𝑘+1	ADP
cana-2647	150	12	=	=	VERB
cana-2647	150	13	𝐴𝑥𝑘	𝐴𝑥𝑘	PROPN
cana-2647	150	14	+	+	CCONJ
cana-2647	150	15	𝐵𝑢𝑘	𝐵𝑢𝑘	PROPN
cana-2647	150	16	−	−	PROPN
cana-2647	150	17	update	update	NOUN
cana-2647	150	18	the	the	DET
cana-2647	150	19	state	state	NOUN
cana-2647	150	20	:	:	PUNCT
cana-2647	150	21	𝑥𝑘+1′	𝑥𝑘+1′	NOUN
cana-2647	150	22	=	=	SYM
cana-2647	150	23	𝑥𝑘+1	𝑥𝑘+1	NUM
cana-2647	150	24	+	+	NUM
cana-2647	150	25	𝐾(𝑧𝑘+1	𝐾(𝑧𝑘+1	NOUN
cana-2647	150	26	−	−	NOUN
cana-2647	150	27	𝐻𝑥𝑘+1	𝐻𝑥𝑘+1	NOUN
cana-2647	150	28	)	)	PUNCT
cana-2647	151	1	−	−	PROPN
cana-2647	151	2	compute	compute	NOUN
cana-2647	151	3	kalman	kalman	NOUN
cana-2647	151	4	gain	gain	NOUN
cana-2647	151	5	:	:	PUNCT
cana-2647	151	6	𝐾	𝐾	NOUN
cana-2647	151	7	=	=	PRON
cana-2647	151	8	𝑃𝐻𝑇(𝐻𝑃𝐻𝑇	𝑃𝐻𝑇(𝐻𝑃𝐻𝑇	PART
cana-2647	151	9	+	+	NOUN
cana-2647	151	10	𝑅)−1	𝑅)−1	VERB
cana-2647	151	11	−	−	PROPN
cana-2647	151	12	for	for	ADP
cana-2647	151	13	nonlinear	nonlinear	ADJ
cana-2647	151	14	cases	case	NOUN
cana-2647	151	15	,	,	PUNCT
cana-2647	151	16	propagate	propagate	ADJ
cana-2647	151	17	particles	particle	NOUN
cana-2647	151	18	and	and	CCONJ
cana-2647	151	19	adjust	adjust	VERB
cana-2647	151	20	weights	weight	NOUN
cana-2647	151	21	.	.	PUNCT
cana-2647	152	1	3	3	X
cana-2647	152	2	.	.	X
cana-2647	152	3	feature	feature	NOUN
cana-2647	152	4	extraction	extraction	NOUN
cana-2647	152	5	:	:	PUNCT
cana-2647	152	6	compute	compute	NOUN
cana-2647	152	7	velocity	velocity	NOUN
cana-2647	152	8	:	:	PUNCT
cana-2647	152	9	𝑣	𝑣	PART
cana-2647	152	10	=	=	PRON
cana-2647	152	11	δ𝑥	δ𝑥	ADP
cana-2647	152	12	δ𝑡	δ𝑡	X
cana-2647	152	13	compute	compute	PROPN
cana-2647	152	14	acceleration	acceleration	NOUN
cana-2647	152	15	:	:	PUNCT
cana-2647	152	16	𝑎	𝑎	X
cana-2647	152	17	=	=	X
cana-2647	152	18	δ𝑣	δ𝑣	PROPN
cana-2647	152	19	δ𝑡	δ𝑡	NOUN
cana-2647	152	20	construct	construct	VERB
cana-2647	152	21	graphs	graph	NOUN
cana-2647	152	22	from	from	ADP
cana-2647	152	23	v2v	v2v	PROPN
cana-2647	152	24	data	datum	NOUN
cana-2647	152	25	:	:	PUNCT
cana-2647	152	26	nodes	node	NOUN
cana-2647	152	27	represent	represent	VERB
cana-2647	152	28	vehicles	vehicle	NOUN
cana-2647	152	29	,	,	PUNCT
cana-2647	152	30	and	and	CCONJ
cana-2647	152	31	edges	edge	NOUN
cana-2647	152	32	represent	represent	VERB
cana-2647	152	33	distances	distance	NOUN
cana-2647	152	34	.	.	PUNCT
cana-2647	153	1	4	4	X
cana-2647	153	2	.	.	X
cana-2647	153	3	output	output	NOUN
cana-2647	153	4	:	:	PUNCT
cana-2647	153	5	preprocessed	preprocesse	VERB
cana-2647	153	6	data	datum	NOUN
cana-2647	153	7	including	include	VERB
cana-2647	153	8	refined	refined	ADJ
cana-2647	153	9	positions	position	NOUN
cana-2647	153	10	,	,	PUNCT
cana-2647	153	11	motion	motion	NOUN
cana-2647	153	12	features	feature	NOUN
cana-2647	153	13	,	,	PUNCT
cana-2647	153	14	and	and	CCONJ
cana-2647	153	15	spatial	spatial	ADJ
cana-2647	153	16	graphs	graph	NOUN
cana-2647	153	17	.	.	PUNCT
cana-2647	154	1	this	this	DET
cana-2647	154	2	preprocessing	preprocesse	VERB
cana-2647	154	3	workflow	workflow	NOUN
cana-2647	154	4	ensures	ensure	VERB
cana-2647	154	5	data	datum	NOUN
cana-2647	154	6	consistency	consistency	NOUN
cana-2647	154	7	and	and	CCONJ
cana-2647	154	8	prepares	prepare	VERB
cana-2647	154	9	it	it	PRON
cana-2647	154	10	for	for	ADP
cana-2647	154	11	input	input	NOUN
cana-2647	154	12	into	into	ADP
cana-2647	154	13	machine	machine	NOUN
cana-2647	154	14	learning	learning	NOUN
cana-2647	154	15	models	model	NOUN
cana-2647	154	16	.	.	PUNCT
cana-2647	155	1	it	it	PRON
cana-2647	155	2	combines	combine	VERB
cana-2647	155	3	mathematical	mathematical	ADJ
cana-2647	155	4	operations	operation	NOUN
cana-2647	155	5	and	and	CCONJ
cana-2647	155	6	structured	structure	VERB
cana-2647	155	7	techniques	technique	NOUN
cana-2647	155	8	to	to	PART
cana-2647	155	9	make	make	VERB
cana-2647	155	10	data	datum	NOUN
cana-2647	155	11	usable	usable	ADJ
cana-2647	155	12	for	for	ADP
cana-2647	155	13	later	later	ADJ
cana-2647	155	14	stages	stage	NOUN
cana-2647	155	15	.	.	PUNCT
cana-2647	156	1	3.4	3.4	NUM
cana-2647	156	2	machine	machine	NOUN
cana-2647	156	3	learning	learning	NOUN
cana-2647	156	4	models	model	NOUN
cana-2647	156	5	the	the	DET
cana-2647	156	6	proposed	propose	VERB
cana-2647	156	7	hybrid	hybrid	NOUN
cana-2647	156	8	model	model	NOUN
cana-2647	156	9	combines	combine	VERB
cana-2647	156	10	methods	method	NOUN
cana-2647	156	11	to	to	PART
cana-2647	156	12	analyze	analyze	VERB
cana-2647	156	13	temporal	temporal	ADJ
cana-2647	156	14	,	,	PUNCT
cana-2647	156	15	spatial	spatial	ADJ
cana-2647	156	16	,	,	PUNCT
cana-2647	156	17	and	and	CCONJ
cana-2647	156	18	multi	multi	ADJ
cana-2647	156	19	-	-	ADJ
cana-2647	156	20	source	source	NOUN
cana-2647	156	21	vehicular	vehicular	ADJ
cana-2647	156	22	data	datum	NOUN
cana-2647	156	23	.	.	PUNCT
cana-2647	157	1	long	long	ADJ
cana-2647	157	2	short	short	ADJ
cana-2647	157	3	-	-	PUNCT
cana-2647	157	4	term	term	NOUN
cana-2647	157	5	memory	memory	NOUN
cana-2647	157	6	(	(	PUNCT
cana-2647	157	7	lstm	lstm	NOUN
cana-2647	157	8	)	)	PUNCT
cana-2647	157	9	networks	network	NOUN
cana-2647	157	10	process	process	NOUN
cana-2647	157	11	time	time	NOUN
cana-2647	157	12	-	-	PUNCT
cana-2647	157	13	series	series	NOUN
cana-2647	157	14	patterns	pattern	NOUN
cana-2647	157	15	,	,	PUNCT
cana-2647	157	16	while	while	SCONJ
cana-2647	157	17	graph	graph	VERB
cana-2647	157	18	convolutional	convolutional	ADJ
cana-2647	157	19	networks	network	NOUN
cana-2647	157	20	(	(	PUNCT
cana-2647	157	21	gcns	gcns	PROPN
cana-2647	157	22	)	)	PUNCT
cana-2647	157	23	examine	examine	VERB
cana-2647	157	24	spatial	spatial	ADJ
cana-2647	157	25	relationships	relationship	NOUN
cana-2647	157	26	.	.	PUNCT
cana-2647	158	1	a	a	DET
cana-2647	158	2	transformer	transformer	NOUN
cana-2647	158	3	-	-	PUNCT
cana-2647	158	4	based	base	VERB
cana-2647	158	5	attention	attention	NOUN
cana-2647	158	6	mechanism	mechanism	NOUN
cana-2647	158	7	combines	combine	VERB
cana-2647	158	8	these	these	DET
cana-2647	158	9	features	feature	NOUN
cana-2647	158	10	.	.	PUNCT
cana-2647	159	1	federated	federated	ADJ
cana-2647	159	2	averaging	averaging	NOUN
cana-2647	159	3	(	(	PUNCT
cana-2647	159	4	fedavg	fedavg	NOUN
cana-2647	159	5	)	)	PUNCT
cana-2647	159	6	allows	allow	VERB
cana-2647	159	7	decentralized	decentralized	ADJ
cana-2647	159	8	learning	learning	NOUN
cana-2647	159	9	,	,	PUNCT
cana-2647	159	10	where	where	SCONJ
cana-2647	159	11	nodes	node	NOUN
cana-2647	159	12	share	share	VERB
cana-2647	159	13	model	model	NOUN
cana-2647	159	14	updates	update	NOUN
cana-2647	159	15	instead	instead	ADV
cana-2647	159	16	of	of	ADP
cana-2647	159	17	raw	raw	ADJ
cana-2647	159	18	data	datum	NOUN
cana-2647	159	19	.	.	PUNCT
cana-2647	160	1	lstm	lstm	PROPN
cana-2647	160	2	networks	network	NOUN
cana-2647	160	3	capture	capture	VERB
cana-2647	160	4	dependencies	dependency	NOUN
cana-2647	160	5	in	in	ADP
cana-2647	160	6	sequences	sequence	NOUN
cana-2647	160	7	like	like	ADP
cana-2647	160	8	gnss	gnss	NOUN
cana-2647	160	9	data	datum	NOUN
cana-2647	160	10	.	.	PUNCT
cana-2647	161	1	the	the	DET
cana-2647	161	2	model	model	NOUN
cana-2647	161	3	predicts	predict	NOUN
cana-2647	161	4	and	and	CCONJ
cana-2647	161	5	updates	update	VERB
cana-2647	161	6	the	the	DET
cana-2647	161	7	hidden	hidden	ADJ
cana-2647	161	8	and	and	CCONJ
cana-2647	161	9	cell	cell	NOUN
cana-2647	161	10	states	state	NOUN
cana-2647	161	11	using	use	VERB
cana-2647	161	12	the	the	DET
cana-2647	161	13	following	follow	VERB
cana-2647	161	14	equations	equation	NOUN
cana-2647	161	15	:	:	PUNCT
cana-2647	161	16	communications	communication	NOUN
cana-2647	161	17	on	on	ADP
cana-2647	161	18	applied	apply	VERB
cana-2647	161	19	nonlinear	nonlinear	ADJ
cana-2647	161	20	analysis	analysis	NOUN
cana-2647	161	21	issn	issn	NOUN
cana-2647	161	22	:	:	PUNCT
cana-2647	161	23	1074	1074	NUM
cana-2647	161	24	-	-	PUNCT
cana-2647	161	25	133x	133x	NUM
cana-2647	161	26	vol	vol	NOUN
cana-2647	161	27	32	32	NUM
cana-2647	161	28	no	no	NOUN
cana-2647	161	29	.	.	PUNCT
cana-2647	162	1	3s	3s	NUM
cana-2647	162	2	(	(	PUNCT
cana-2647	162	3	2025	2025	NUM
cana-2647	162	4	)	)	PUNCT
cana-2647	162	5	346	346	NUM
cana-2647	162	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	162	7	𝑓𝑡	𝑓𝑡	NOUN
cana-2647	162	8	=	=	PUNCT
cana-2647	162	9	𝜎(𝑊𝑓	𝜎(𝑊𝑓	NOUN
cana-2647	162	10	⋅	⋅	PROPN
cana-2647	163	1	[	[	X
cana-2647	163	2	ℎ𝑡−1	ℎ𝑡−1	ADJ
cana-2647	163	3	,	,	PUNCT
cana-2647	163	4	𝑥𝑡	𝑥𝑡	ADP
cana-2647	163	5	]	]	PUNCT
cana-2647	163	6	+	+	CCONJ
cana-2647	163	7	𝑏𝑓	𝑏𝑓	ADV
cana-2647	163	8	)	)	PUNCT
cana-2647	163	9	𝑖𝑡	𝑖𝑡	NOUN
cana-2647	164	1	=	=	PUNCT
cana-2647	164	2	𝜎(𝑊𝑖	𝜎(𝑊𝑖	NOUN
cana-2647	164	3	⋅	⋅	PROPN
cana-2647	165	1	[	[	X
cana-2647	165	2	ℎ𝑡−1	ℎ𝑡−1	ADJ
cana-2647	165	3	,	,	PUNCT
cana-2647	165	4	𝑥𝑡	𝑥𝑡	ADP
cana-2647	165	5	]	]	X
cana-2647	165	6	+	+	CCONJ
cana-2647	165	7	𝑏𝑖	𝑏𝑖	NOUN
cana-2647	165	8	)	)	PUNCT
cana-2647	165	9	�	�	PROPN
cana-2647	165	10	̃	̃	PROPN
cana-2647	165	11	�	�	NOUN
cana-2647	165	12	𝑡	𝑡	ADJ
cana-2647	165	13	=	=	NOUN
cana-2647	165	14	tanh(𝑊𝐶	tanh(𝑊𝐶	NOUN
cana-2647	165	15	⋅	⋅	PROPN
cana-2647	166	1	[	[	X
cana-2647	166	2	ℎ𝑡−1	ℎ𝑡−1	ADJ
cana-2647	166	3	,	,	PUNCT
cana-2647	166	4	𝑥𝑡	𝑥𝑡	ADP
cana-2647	166	5	]	]	X
cana-2647	166	6	+	+	CCONJ
cana-2647	166	7	𝑏𝐶	𝑏𝐶	X
cana-2647	166	8	)	)	PUNCT
cana-2647	166	9	𝐶𝑡	𝐶𝑡	PROPN
cana-2647	166	10	=	=	SYM
cana-2647	166	11	𝑓𝑡	𝑓𝑡	PROPN
cana-2647	166	12	∗	∗	X
cana-2647	166	13	𝐶𝑡−1	𝐶𝑡−1	PROPN
cana-2647	166	14	+	+	CCONJ
cana-2647	166	15	𝑖𝑡	𝑖𝑡	PROPN
cana-2647	166	16	∗	∗	PROPN
cana-2647	166	17	�	�	PROPN
cana-2647	166	18	̃	̃	PROPN
cana-2647	166	19	�	�	NOUN
cana-2647	166	20	𝑡	𝑡	NOUN
cana-2647	166	21	𝑜𝑡	𝑜𝑡	NOUN
cana-2647	166	22	=	=	PUNCT
cana-2647	166	23	𝜎(𝑊𝑜	𝜎(𝑊𝑜	NOUN
cana-2647	166	24	⋅	⋅	PROPN
cana-2647	167	1	[	[	X
cana-2647	167	2	ℎ𝑡−1	ℎ𝑡−1	ADJ
cana-2647	167	3	,	,	PUNCT
cana-2647	167	4	𝑥𝑡	𝑥𝑡	ADP
cana-2647	167	5	]	]	X
cana-2647	167	6	+	+	CCONJ
cana-2647	167	7	𝑏𝑜	𝑏𝑜	X
cana-2647	167	8	)	)	PUNCT
cana-2647	167	9	ℎ𝑡	ℎ𝑡	NOUN
cana-2647	167	10	=	=	PUNCT
cana-2647	167	11	𝑜𝑡	𝑜𝑡	NOUN
cana-2647	167	12	∗	∗	NOUN
cana-2647	167	13	tanh(𝐶𝑡	tanh(𝐶𝑡	PROPN
cana-2647	167	14	)	)	PUNCT
cana-2647	167	15	here	here	ADV
cana-2647	167	16	,	,	PUNCT
cana-2647	167	17	𝑓𝑡	𝑓𝑡	PROPN
cana-2647	167	18	,	,	PUNCT
cana-2647	167	19	𝑖𝑡	𝑖𝑡	NOUN
cana-2647	167	20	,	,	PUNCT
cana-2647	167	21	and	and	CCONJ
cana-2647	167	22	𝑜𝑡	𝑜𝑡	PROPN
cana-2647	167	23	represent	represent	VERB
cana-2647	167	24	the	the	DET
cana-2647	167	25	forget	forget	NOUN
cana-2647	167	26	,	,	PUNCT
cana-2647	167	27	input	input	NOUN
cana-2647	167	28	,	,	PUNCT
cana-2647	167	29	and	and	CCONJ
cana-2647	167	30	output	output	NOUN
cana-2647	167	31	gates	gate	NOUN
cana-2647	167	32	,	,	PUNCT
cana-2647	167	33	𝐶𝑡	𝐶𝑡	PROPN
cana-2647	167	34	is	be	AUX
cana-2647	167	35	the	the	DET
cana-2647	167	36	cell	cell	NOUN
cana-2647	167	37	state	state	NOUN
cana-2647	167	38	,	,	PUNCT
cana-2647	167	39	and	and	CCONJ
cana-2647	167	40	ℎ𝑡	ℎ𝑡	NOUN
cana-2647	167	41	is	be	AUX
cana-2647	167	42	the	the	DET
cana-2647	167	43	hidden	hidden	ADJ
cana-2647	167	44	state	state	NOUN
cana-2647	167	45	at	at	ADP
cana-2647	167	46	time	time	NOUN
cana-2647	167	47	𝑡.	𝑡.	VERB
cana-2647	167	48	these	these	DET
cana-2647	167	49	equations	equation	NOUN
cana-2647	167	50	help	help	VERB
cana-2647	167	51	to	to	PART
cana-2647	167	52	track	track	VERB
cana-2647	167	53	time	time	NOUN
cana-2647	167	54	-	-	PUNCT
cana-2647	167	55	based	base	VERB
cana-2647	167	56	trends	trend	NOUN
cana-2647	167	57	in	in	ADP
cana-2647	167	58	vehicle	vehicle	NOUN
cana-2647	167	59	motion	motion	NOUN
cana-2647	167	60	.	.	PUNCT
cana-2647	168	1	gcns	gcns	PROPN
cana-2647	168	2	map	map	VERB
cana-2647	168	3	spatial	spatial	ADJ
cana-2647	168	4	relationships	relationship	NOUN
cana-2647	168	5	in	in	ADP
cana-2647	168	6	data	datum	NOUN
cana-2647	168	7	collected	collect	VERB
cana-2647	168	8	from	from	ADP
cana-2647	168	9	vehicle	vehicle	NOUN
cana-2647	168	10	interactions	interaction	NOUN
cana-2647	168	11	.	.	PUNCT
cana-2647	169	1	vehicles	vehicle	NOUN
cana-2647	169	2	are	be	AUX
cana-2647	169	3	treated	treat	VERB
cana-2647	169	4	as	as	ADP
cana-2647	169	5	nodes	node	NOUN
cana-2647	169	6	,	,	PUNCT
cana-2647	169	7	and	and	CCONJ
cana-2647	169	8	distances	distance	NOUN
cana-2647	169	9	between	between	ADP
cana-2647	169	10	them	they	PRON
cana-2647	169	11	form	form	VERB
cana-2647	169	12	weighted	weight	VERB
cana-2647	169	13	edges	edge	NOUN
cana-2647	169	14	in	in	ADP
cana-2647	169	15	a	a	DET
cana-2647	169	16	graph	graph	NOUN
cana-2647	169	17	.	.	PUNCT
cana-2647	170	1	the	the	DET
cana-2647	170	2	gcn	gcn	ADJ
cana-2647	170	3	layer	layer	NOUN
cana-2647	170	4	propagates	propagate	VERB
cana-2647	170	5	information	information	NOUN
cana-2647	170	6	through	through	ADP
cana-2647	170	7	nodes	node	NOUN
cana-2647	170	8	as	as	ADP
cana-2647	170	9	:	:	PUNCT
cana-2647	170	10	𝐻(𝑘+1	𝐻(𝑘+1	NUM
cana-2647	170	11	)	)	PUNCT
cana-2647	170	12	=	=	SYM
cana-2647	170	13	𝜎(	𝜎(	NUM
cana-2647	170	14	�	�	SYM
cana-2647	170	15	̃	̃	PROPN
cana-2647	170	16	�	�	PROPN
cana-2647	170	17	−1/2	−1/2	ADJ
cana-2647	170	18	�	�	PROPN
cana-2647	170	19	̃	̃	PROPN
cana-2647	170	20	�	�	PROPN
cana-2647	170	21	�	�	PROPN
cana-2647	170	22	̃	̃	NOUN
cana-2647	170	23	�	�	NOUN
cana-2647	170	24	−1/2𝐻(𝑘)𝑊(𝑘	−1/2𝐻(𝑘)𝑊(𝑘	NUM
cana-2647	170	25	)	)	PUNCT
cana-2647	170	26	)	)	PUNCT
cana-2647	170	27	in	in	ADP
cana-2647	170	28	this	this	DET
cana-2647	170	29	formula	formula	NOUN
cana-2647	170	30	,	,	PUNCT
cana-2647	170	31	�	�	PROPN
cana-2647	170	32	̃	̃	PROPN
cana-2647	170	33	�	�	PROPN
cana-2647	170	34	represents	represent	VERB
cana-2647	170	35	the	the	DET
cana-2647	170	36	adjacency	adjacency	NOUN
cana-2647	170	37	matrix	matrix	NOUN
cana-2647	170	38	with	with	ADP
cana-2647	170	39	added	add	VERB
cana-2647	170	40	self	self	NOUN
cana-2647	170	41	-	-	PUNCT
cana-2647	170	42	loops	loop	NOUN
cana-2647	170	43	,	,	PUNCT
cana-2647	170	44	�	�	PROPN
cana-2647	170	45	̃	̃	PROPN
cana-2647	170	46	�	�	PROPN
cana-2647	170	47	is	be	AUX
cana-2647	170	48	the	the	DET
cana-2647	170	49	degree	degree	NOUN
cana-2647	170	50	matrix	matrix	NOUN
cana-2647	170	51	,	,	PUNCT
cana-2647	170	52	𝐻(𝑘	𝐻(𝑘	PRON
cana-2647	170	53	)	)	PUNCT
cana-2647	170	54	contains	contain	VERB
cana-2647	170	55	node	node	ADJ
cana-2647	170	56	features	feature	NOUN
cana-2647	170	57	at	at	ADP
cana-2647	170	58	layer	layer	NOUN
cana-2647	170	59	𝑘	𝑘	NOUN
cana-2647	170	60	,	,	PUNCT
cana-2647	170	61	and	and	CCONJ
cana-2647	170	62	𝑊(𝑘	𝑊(𝑘	X
cana-2647	170	63	)	)	PUNCT
cana-2647	170	64	is	be	AUX
cana-2647	170	65	the	the	DET
cana-2647	170	66	weight	weight	NOUN
cana-2647	170	67	matrix	matrix	NOUN
cana-2647	170	68	.	.	PUNCT
cana-2647	171	1	this	this	DET
cana-2647	171	2	calculation	calculation	NOUN
cana-2647	171	3	updates	update	VERB
cana-2647	171	4	each	each	DET
cana-2647	171	5	node	node	NOUN
cana-2647	171	6	’s	’s	PART
cana-2647	171	7	features	feature	NOUN
cana-2647	171	8	by	by	ADP
cana-2647	171	9	aggregating	aggregate	VERB
cana-2647	171	10	information	information	NOUN
cana-2647	171	11	from	from	ADP
cana-2647	171	12	its	its	PRON
cana-2647	171	13	neighbors	neighbor	NOUN
cana-2647	171	14	.	.	PUNCT
cana-2647	172	1	the	the	DET
cana-2647	172	2	transformer	transformer	NOUN
cana-2647	172	3	-	-	PUNCT
cana-2647	172	4	based	base	VERB
cana-2647	172	5	attention	attention	NOUN
cana-2647	172	6	mechanism	mechanism	NOUN
cana-2647	172	7	combines	combine	VERB
cana-2647	172	8	temporal	temporal	ADJ
cana-2647	172	9	and	and	CCONJ
cana-2647	172	10	spatial	spatial	ADJ
cana-2647	172	11	features	feature	NOUN
cana-2647	172	12	by	by	ADP
cana-2647	172	13	assigning	assign	VERB
cana-2647	172	14	weights	weight	NOUN
cana-2647	172	15	to	to	ADP
cana-2647	172	16	important	important	ADJ
cana-2647	172	17	data	datum	NOUN
cana-2647	172	18	points	point	NOUN
cana-2647	172	19	.	.	PUNCT
cana-2647	173	1	attention	attention	NOUN
cana-2647	173	2	is	be	AUX
cana-2647	173	3	computed	compute	VERB
cana-2647	173	4	as	as	ADP
cana-2647	173	5	:	:	PUNCT
cana-2647	173	6	attention(𝑄	attention(𝑄	PROPN
cana-2647	173	7	,	,	PUNCT
cana-2647	173	8	𝐾	𝐾	PROPN
cana-2647	173	9	,	,	PUNCT
cana-2647	173	10	𝑉	𝑉	PROPN
cana-2647	173	11	)	)	PUNCT
cana-2647	173	12	=	=	SYM
cana-2647	173	13	softmax	softmax	NOUN
cana-2647	173	14	(	(	PUNCT
cana-2647	173	15	𝑄𝐾𝑇	𝑄𝐾𝑇	NOUN
cana-2647	173	16	√𝑑𝑘	√𝑑𝑘	PROPN
cana-2647	173	17	)	)	PUNCT
cana-2647	173	18	𝑉	𝑉	PROPN
cana-2647	173	19	here	here	ADV
cana-2647	173	20	,	,	PUNCT
cana-2647	173	21	𝑄	𝑄	PROPN
cana-2647	173	22	,	,	PUNCT
cana-2647	173	23	𝐾	𝐾	PROPN
cana-2647	173	24	,	,	PUNCT
cana-2647	173	25	and	and	CCONJ
cana-2647	173	26	𝑉	𝑉	PROPN
cana-2647	173	27	are	be	AUX
cana-2647	173	28	query	query	NOUN
cana-2647	173	29	,	,	PUNCT
cana-2647	173	30	key	key	ADJ
cana-2647	173	31	,	,	PUNCT
cana-2647	173	32	and	and	CCONJ
cana-2647	173	33	value	value	NOUN
cana-2647	173	34	matrices	matrix	NOUN
cana-2647	173	35	derived	derive	VERB
cana-2647	173	36	from	from	ADP
cana-2647	173	37	input	input	NOUN
cana-2647	173	38	features	feature	NOUN
cana-2647	173	39	,	,	PUNCT
cana-2647	173	40	and	and	CCONJ
cana-2647	173	41	𝑑𝑘	𝑑𝑘	ADV
cana-2647	173	42	is	be	AUX
cana-2647	173	43	the	the	DET
cana-2647	173	44	dimension	dimension	NOUN
cana-2647	173	45	of	of	ADP
cana-2647	173	46	the	the	DET
cana-2647	173	47	key	key	NOUN
cana-2647	173	48	.	.	PUNCT
cana-2647	174	1	this	this	DET
cana-2647	174	2	process	process	NOUN
cana-2647	174	3	identifies	identify	VERB
cana-2647	174	4	which	which	PRON
cana-2647	174	5	features	feature	VERB
cana-2647	174	6	contribute	contribute	VERB
cana-2647	174	7	most	most	ADJ
cana-2647	174	8	to	to	ADP
cana-2647	174	9	position	position	NOUN
cana-2647	174	10	predictions	prediction	NOUN
cana-2647	174	11	.	.	PUNCT
cana-2647	175	1	federated	federate	VERB
cana-2647	175	2	averaging	averaging	NOUN
cana-2647	175	3	enables	enable	VERB
cana-2647	175	4	decentralized	decentralized	ADJ
cana-2647	175	5	learning	learn	VERB
cana-2647	175	6	by	by	ADP
cana-2647	175	7	aggregating	aggregate	VERB
cana-2647	175	8	local	local	ADJ
cana-2647	175	9	models	model	NOUN
cana-2647	175	10	from	from	ADP
cana-2647	175	11	multiple	multiple	ADJ
cana-2647	175	12	nodes	node	NOUN
cana-2647	175	13	.	.	PUNCT
cana-2647	176	1	the	the	DET
cana-2647	176	2	global	global	ADJ
cana-2647	176	3	model	model	NOUN
cana-2647	176	4	is	be	AUX
cana-2647	176	5	updated	update	VERB
cana-2647	176	6	as	as	ADP
cana-2647	176	7	:	:	PUNCT
cana-2647	176	8	𝑤𝑡	𝑤𝑡	ADJ
cana-2647	176	9	=	=	PUNCT
cana-2647	176	10	∑𝑁𝑖=1𝑛𝑖𝑤𝑡	∑𝑁𝑖=1𝑛𝑖𝑤𝑡	PROPN
cana-2647	176	11	𝑖	𝑖	SYM
cana-2647	176	12	∑𝑁𝑖=1𝑛𝑖	∑𝑁𝑖=1𝑛𝑖	NOUN
cana-2647	176	13	where	where	SCONJ
cana-2647	176	14	𝑤𝑡	𝑤𝑡	ADJ
cana-2647	176	15	𝑖	𝑖	NOUN
cana-2647	176	16	represents	represent	VERB
cana-2647	176	17	the	the	DET
cana-2647	176	18	parameters	parameter	NOUN
cana-2647	176	19	of	of	ADP
cana-2647	176	20	the	the	DET
cana-2647	176	21	model	model	NOUN
cana-2647	176	22	trained	train	VERB
cana-2647	176	23	at	at	ADP
cana-2647	176	24	node	node	PROPN
cana-2647	176	25	𝑖	𝑖	SYM
cana-2647	176	26	,	,	PUNCT
cana-2647	176	27	𝑛𝑖	𝑛𝑖	PROPN
cana-2647	176	28	is	be	AUX
cana-2647	176	29	the	the	DET
cana-2647	176	30	data	data	NOUN
cana-2647	176	31	size	size	NOUN
cana-2647	176	32	at	at	ADP
cana-2647	176	33	that	that	DET
cana-2647	176	34	node	node	NOUN
cana-2647	176	35	,	,	PUNCT
cana-2647	176	36	and	and	CCONJ
cana-2647	176	37	𝑤𝑡	𝑤𝑡	PRON
cana-2647	176	38	is	be	AUX
cana-2647	176	39	the	the	DET
cana-2647	176	40	updated	update	VERB
cana-2647	176	41	global	global	ADJ
cana-2647	176	42	model	model	NOUN
cana-2647	176	43	at	at	ADP
cana-2647	176	44	iteration	iteration	NOUN
cana-2647	176	45	𝑡.	𝑡.	NOUN
cana-2647	176	46	3.4.1	3.4.1	NUM
cana-2647	176	47	algorithm	algorithm	NOUN
cana-2647	176	48	model	model	NOUN
cana-2647	176	49	-	-	PUNCT
cana-2647	176	50	based	base	VERB
cana-2647	176	51	hybrid	hybrid	ADJ
cana-2647	176	52	learning	learning	NOUN
cana-2647	176	53	input	input	NOUN
cana-2647	176	54	:	:	PUNCT
cana-2647	176	55	gnss	gnss	NOUN
cana-2647	176	56	data	datum	NOUN
cana-2647	176	57	(	(	PUNCT
cana-2647	176	58	𝑥𝑡	𝑥𝑡	ADJ
cana-2647	176	59	)	)	PUNCT
cana-2647	176	60	,	,	PUNCT
cana-2647	176	61	vehicle	vehicle	NOUN
cana-2647	176	62	interaction	interaction	NOUN
cana-2647	176	63	graphs	graph	NOUN
cana-2647	176	64	(	(	PUNCT
cana-2647	176	65	�	�	PROPN
cana-2647	176	66	̃	̃	NOUN
cana-2647	176	67	�	�	PROPN
cana-2647	176	68	)	)	PUNCT
cana-2647	176	69	,	,	PUNCT
cana-2647	176	70	onboard	onboard	ADP
cana-2647	176	71	sensor	sensor	NOUN
cana-2647	176	72	data	datum	NOUN
cana-2647	176	73	.	.	PUNCT
cana-2647	177	1	output	output	NOUN
cana-2647	177	2	:	:	PUNCT
cana-2647	177	3	predicted	predict	VERB
cana-2647	177	4	vehicle	vehicle	NOUN
cana-2647	177	5	positions	position	NOUN
cana-2647	177	6	.	.	PUNCT
cana-2647	178	1	1	1	X
cana-2647	178	2	.	.	X
cana-2647	178	3	temporal	temporal	ADJ
cana-2647	178	4	modeling	modeling	NOUN
cana-2647	178	5	with	with	ADP
cana-2647	178	6	lstm	lstm	NOUN
cana-2647	178	7	:	:	PUNCT
cana-2647	178	8	initialize	initialize	VERB
cana-2647	178	9	states	state	NOUN
cana-2647	178	10	(	(	PUNCT
cana-2647	178	11	ℎ0	ℎ0	PROPN
cana-2647	178	12	,	,	PUNCT
cana-2647	178	13	𝐶0	𝐶0	NOUN
cana-2647	178	14	)	)	PUNCT
cana-2647	178	15	.	.	PUNCT
cana-2647	179	1	for	for	ADP
cana-2647	179	2	each	each	DET
cana-2647	179	3	time	time	NOUN
cana-2647	179	4	step	step	NOUN
cana-2647	179	5	𝑡	𝑡	PROPN
cana-2647	179	6	,	,	PUNCT
cana-2647	179	7	compute	compute	NOUN
cana-2647	179	8	:	:	PUNCT
cana-2647	179	9	ℎ𝑡	ℎ𝑡	NOUN
cana-2647	179	10	,	,	PUNCT
cana-2647	179	11	𝐶𝑡	𝐶𝑡	PROPN
cana-2647	179	12	=	=	PUNCT
cana-2647	179	13	lstm(𝑥𝑡	lstm(𝑥𝑡	PROPN
cana-2647	179	14	,	,	PUNCT
cana-2647	179	15	ℎ𝑡−1	ℎ𝑡−1	PROPN
cana-2647	179	16	,	,	PUNCT
cana-2647	179	17	𝐶𝑡−1	𝐶𝑡−1	PROPN
cana-2647	179	18	)	)	PUNCT
cana-2647	179	19	generate	generate	VERB
cana-2647	179	20	temporal	temporal	ADJ
cana-2647	179	21	embeddings	embedding	NOUN
cana-2647	180	1	𝐻𝑡	𝐻𝑡	NOUN
cana-2647	180	2	=	=	PUNCT
cana-2647	181	1	[	[	X
cana-2647	181	2	ℎ1	ℎ1	PROPN
cana-2647	181	3	,	,	PUNCT
cana-2647	181	4	ℎ2	ℎ2	NOUN
cana-2647	181	5	,	,	PUNCT
cana-2647	181	6	…	…	PUNCT
cana-2647	181	7	,	,	PUNCT
cana-2647	181	8	ℎ𝑇	ℎ𝑇	ADP
cana-2647	181	9	]	]	PUNCT
cana-2647	181	10	.	.	PUNCT
cana-2647	182	1	2	2	NUM
cana-2647	182	2	.	.	SYM
cana-2647	182	3	2	2	NUM
cana-2647	182	4	.	.	X
cana-2647	182	5	spatial	spatial	ADJ
cana-2647	182	6	modeling	modeling	NOUN
cana-2647	182	7	with	with	ADP
cana-2647	182	8	gcn	gcn	ADJ
cana-2647	182	9	:	:	PUNCT
cana-2647	182	10	communications	communication	NOUN
cana-2647	182	11	on	on	ADP
cana-2647	182	12	applied	apply	VERB
cana-2647	182	13	nonlinear	nonlinear	ADJ
cana-2647	182	14	analysis	analysis	NOUN
cana-2647	182	15	issn	issn	NOUN
cana-2647	182	16	:	:	PUNCT
cana-2647	182	17	1074	1074	NUM
cana-2647	182	18	-	-	PUNCT
cana-2647	182	19	133x	133x	NUM
cana-2647	182	20	vol	vol	NOUN
cana-2647	182	21	32	32	NUM
cana-2647	182	22	no	no	NOUN
cana-2647	182	23	.	.	PUNCT
cana-2647	183	1	3s	3s	NUM
cana-2647	183	2	(	(	PUNCT
cana-2647	183	3	2025	2025	NUM
cana-2647	183	4	)	)	PUNCT
cana-2647	183	5	347	347	NUM
cana-2647	183	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	183	7	construct	construct	VERB
cana-2647	183	8	graph	graph	NOUN
cana-2647	183	9	with	with	ADP
cana-2647	183	10	adjacency	adjacency	PROPN
cana-2647	183	11	matrix	matrix	NOUN
cana-2647	183	12	�	�	PROPN
cana-2647	183	13	̃	̃	PROPN
cana-2647	183	14	�	�	PROPN
cana-2647	183	15	.	.	PUNCT
cana-2647	184	1	update	update	NOUN
cana-2647	184	2	node	node	NOUN
cana-2647	184	3	features	feature	VERB
cana-2647	184	4	using	use	VERB
cana-2647	184	5	:	:	PUNCT
cana-2647	184	6	𝐻(𝑘+1	𝐻(𝑘+1	NUM
cana-2647	184	7	)	)	PUNCT
cana-2647	184	8	=	=	SYM
cana-2647	184	9	𝜎(	𝜎(	NUM
cana-2647	184	10	�	�	SYM
cana-2647	184	11	̃	̃	PROPN
cana-2647	184	12	�	�	PROPN
cana-2647	184	13	−1/2	−1/2	ADJ
cana-2647	184	14	�	�	PROPN
cana-2647	184	15	̃	̃	PROPN
cana-2647	184	16	�	�	PROPN
cana-2647	184	17	�	�	PROPN
cana-2647	184	18	̃	̃	NOUN
cana-2647	184	19	�	�	NOUN
cana-2647	184	20	−1/2𝐻(𝑘)𝑊(𝑘	−1/2𝐻(𝑘)𝑊(𝑘	NUM
cana-2647	184	21	)	)	PUNCT
cana-2647	184	22	)	)	PUNCT
cana-2647	185	1	3	3	X
cana-2647	185	2	.	.	X
cana-2647	185	3	feature	feature	NOUN
cana-2647	185	4	fusion	fusion	NOUN
cana-2647	185	5	with	with	ADP
cana-2647	185	6	attention	attention	NOUN
cana-2647	185	7	:	:	PUNCT
cana-2647	185	8	compute	compute	VERB
cana-2647	185	9	attention	attention	NOUN
cana-2647	185	10	scores	score	NOUN
cana-2647	185	11	for	for	ADP
cana-2647	185	12	embeddings	embedding	NOUN
cana-2647	185	13	:	:	PUNCT
cana-2647	185	14	attention(𝑄	attention(𝑄	PROPN
cana-2647	185	15	,	,	PUNCT
cana-2647	185	16	𝐾	𝐾	PROPN
cana-2647	185	17	,	,	PUNCT
cana-2647	185	18	𝑉	𝑉	PROPN
cana-2647	185	19	)	)	PUNCT
cana-2647	185	20	=	=	SYM
cana-2647	185	21	softmax	softmax	NOUN
cana-2647	185	22	(	(	PUNCT
cana-2647	185	23	𝑄𝐾𝑇	𝑄𝐾𝑇	NOUN
cana-2647	185	24	√𝑑𝑘	√𝑑𝑘	PROPN
cana-2647	185	25	)	)	PUNCT
cana-2647	185	26	𝑉	𝑉	PROPN
cana-2647	185	27	fuse	fuse	NOUN
cana-2647	185	28	temporal	temporal	ADJ
cana-2647	185	29	and	and	CCONJ
cana-2647	185	30	spatial	spatial	ADJ
cana-2647	185	31	features	feature	NOUN
cana-2647	185	32	into	into	ADP
cana-2647	185	33	a	a	DET
cana-2647	185	34	unified	unified	ADJ
cana-2647	185	35	embedding	embedding	NOUN
cana-2647	185	36	.	.	PUNCT
cana-2647	186	1	4	4	X
cana-2647	186	2	.	.	NOUN
cana-2647	186	3	federated	federated	ADJ
cana-2647	186	4	training	training	NOUN
cana-2647	186	5	with	with	ADP
cana-2647	186	6	fedavg	fedavg	NOUN
cana-2647	186	7	:	:	PUNCT
cana-2647	186	8	train	train	VERB
cana-2647	186	9	local	local	ADJ
cana-2647	186	10	models	model	NOUN
cana-2647	186	11	on	on	ADP
cana-2647	186	12	vehicle	vehicle	NOUN
cana-2647	186	13	-	-	PUNCT
cana-2647	186	14	specific	specific	ADJ
cana-2647	186	15	data	datum	NOUN
cana-2647	186	16	.	.	PUNCT
cana-2647	187	1	aggregate	aggregate	ADJ
cana-2647	187	2	parameters	parameter	NOUN
cana-2647	187	3	:	:	PUNCT
cana-2647	187	4	𝑤𝑡	𝑤𝑡	VERB
cana-2647	187	5	=	=	SYM
cana-2647	187	6	∑𝑁𝑖=1𝑛𝑖𝑤𝑡	∑𝑁𝑖=1𝑛𝑖𝑤𝑡	PROPN
cana-2647	187	7	𝑖	𝑖	SYM
cana-2647	187	8	∑𝑁𝑖=1𝑛𝑖	∑𝑁𝑖=1𝑛𝑖	NOUN
cana-2647	187	9	5	5	NUM
cana-2647	187	10	.	.	PUNCT
cana-2647	187	11	prediction	prediction	NOUN
cana-2647	187	12	:	:	PUNCT
cana-2647	187	13	use	use	VERB
cana-2647	187	14	the	the	DET
cana-2647	187	15	fused	fuse	VERB
cana-2647	187	16	embeddings	embedding	NOUN
cana-2647	187	17	to	to	PART
cana-2647	187	18	predict	predict	VERB
cana-2647	187	19	positions	position	NOUN
cana-2647	187	20	.	.	PUNCT
cana-2647	188	1	3.5	3.5	NUM
cana-2647	188	2	decentralized	decentralize	VERB
cana-2647	188	3	communication	communication	NOUN
cana-2647	188	4	model	model	NOUN
cana-2647	188	5	updates	update	NOUN
cana-2647	188	6	are	be	AUX
cana-2647	188	7	exchanged	exchange	VERB
cana-2647	188	8	between	between	ADP
cana-2647	188	9	vehicles	vehicle	NOUN
cana-2647	188	10	through	through	ADP
cana-2647	188	11	direct	direct	ADJ
cana-2647	188	12	communication	communication	NOUN
cana-2647	188	13	,	,	PUNCT
cana-2647	188	14	using	use	VERB
cana-2647	188	15	protocols	protocol	NOUN
cana-2647	188	16	like	like	ADP
cana-2647	188	17	ieee	ieee	NOUN
cana-2647	188	18	802.11p	802.11p	NOUN
cana-2647	188	19	or	or	CCONJ
cana-2647	188	20	lte	lte	PROPN
cana-2647	188	21	-	-	PUNCT
cana-2647	188	22	v2x	v2x	NOUN
cana-2647	188	23	.	.	PUNCT
cana-2647	189	1	these	these	PRON
cana-2647	189	2	allow	allow	VERB
cana-2647	189	3	vehicles	vehicle	NOUN
cana-2647	189	4	within	within	ADP
cana-2647	189	5	a	a	DET
cana-2647	189	6	certain	certain	ADJ
cana-2647	189	7	range	range	NOUN
cana-2647	189	8	to	to	PART
cana-2647	189	9	share	share	VERB
cana-2647	189	10	data	datum	NOUN
cana-2647	189	11	efficiently	efficiently	ADV
cana-2647	189	12	,	,	PUNCT
cana-2647	189	13	even	even	ADV
cana-2647	189	14	when	when	SCONJ
cana-2647	189	15	they	they	PRON
cana-2647	189	16	are	be	AUX
cana-2647	189	17	in	in	ADP
cana-2647	189	18	motion	motion	NOUN
cana-2647	189	19	.	.	PUNCT
cana-2647	190	1	a	a	DET
cana-2647	190	2	mechanism	mechanism	NOUN
cana-2647	190	3	for	for	ADP
cana-2647	190	4	discovering	discover	VERB
cana-2647	190	5	nearby	nearby	ADJ
cana-2647	190	6	vehicles	vehicle	NOUN
cana-2647	190	7	dynamically	dynamically	ADV
cana-2647	190	8	ensures	ensure	VERB
cana-2647	190	9	that	that	SCONJ
cana-2647	190	10	connections	connection	NOUN
cana-2647	190	11	adjust	adjust	VERB
cana-2647	190	12	to	to	ADP
cana-2647	190	13	changing	change	VERB
cana-2647	190	14	network	network	NOUN
cana-2647	190	15	structures	structure	NOUN
cana-2647	190	16	.	.	PUNCT
cana-2647	191	1	gossip	gossip	NOUN
cana-2647	191	2	protocols	protocol	NOUN
cana-2647	191	3	distribute	distribute	VERB
cana-2647	191	4	updates	update	NOUN
cana-2647	191	5	incrementally	incrementally	ADV
cana-2647	191	6	,	,	PUNCT
cana-2647	191	7	sending	send	VERB
cana-2647	191	8	information	information	NOUN
cana-2647	191	9	to	to	ADP
cana-2647	191	10	a	a	DET
cana-2647	191	11	small	small	ADJ
cana-2647	191	12	group	group	NOUN
cana-2647	191	13	of	of	ADP
cana-2647	191	14	nearby	nearby	ADJ
cana-2647	191	15	vehicles	vehicle	NOUN
cana-2647	191	16	,	,	PUNCT
cana-2647	191	17	which	which	PRON
cana-2647	191	18	then	then	ADV
cana-2647	191	19	pass	pass	VERB
cana-2647	191	20	it	it	PRON
cana-2647	191	21	on	on	ADP
cana-2647	191	22	to	to	ADP
cana-2647	191	23	others	other	NOUN
cana-2647	191	24	.	.	PUNCT
cana-2647	192	1	this	this	PRON
cana-2647	192	2	creates	create	VERB
cana-2647	192	3	a	a	DET
cana-2647	192	4	chain	chain	NOUN
cana-2647	192	5	of	of	ADP
cana-2647	192	6	communication	communication	NOUN
cana-2647	192	7	,	,	PUNCT
cana-2647	192	8	reducing	reduce	VERB
cana-2647	192	9	the	the	DET
cana-2647	192	10	overall	overall	ADJ
cana-2647	192	11	burden	burden	NOUN
cana-2647	192	12	on	on	ADP
cana-2647	192	13	the	the	DET
cana-2647	192	14	network	network	NOUN
cana-2647	192	15	while	while	SCONJ
cana-2647	192	16	keeping	keep	VERB
cana-2647	192	17	the	the	DET
cana-2647	192	18	updates	update	NOUN
cana-2647	192	19	consistent	consistent	ADJ
cana-2647	192	20	across	across	ADP
cana-2647	192	21	participants	participant	NOUN
cana-2647	192	22	.	.	PUNCT
cana-2647	193	1	privacy	privacy	NOUN
cana-2647	193	2	is	be	AUX
cana-2647	193	3	maintained	maintain	VERB
cana-2647	193	4	by	by	ADP
cana-2647	193	5	transmitting	transmit	VERB
cana-2647	193	6	only	only	ADJ
cana-2647	193	7	model	model	NOUN
cana-2647	193	8	updates	update	NOUN
cana-2647	193	9	rather	rather	ADV
cana-2647	193	10	than	than	ADP
cana-2647	193	11	raw	raw	ADJ
cana-2647	193	12	data	datum	NOUN
cana-2647	193	13	.	.	PUNCT
cana-2647	194	1	differential	differential	PROPN
cana-2647	194	2	privacy	privacy	NOUN
cana-2647	194	3	adds	add	VERB
cana-2647	194	4	controlled	control	VERB
cana-2647	194	5	noise	noise	NOUN
cana-2647	194	6	to	to	ADP
cana-2647	194	7	the	the	DET
cana-2647	194	8	shared	share	VERB
cana-2647	194	9	parameters	parameter	NOUN
cana-2647	194	10	,	,	PUNCT
cana-2647	194	11	making	make	VERB
cana-2647	194	12	it	it	PRON
cana-2647	194	13	harder	hard	ADJ
cana-2647	194	14	to	to	PART
cana-2647	194	15	extract	extract	VERB
cana-2647	194	16	individual	individual	ADJ
cana-2647	194	17	vehicle	vehicle	NOUN
cana-2647	194	18	data	datum	NOUN
cana-2647	194	19	.	.	PUNCT
cana-2647	195	1	homomorphic	homomorphic	ADJ
cana-2647	195	2	encryption	encryption	NOUN
cana-2647	195	3	allows	allow	VERB
cana-2647	195	4	computations	computation	NOUN
cana-2647	195	5	on	on	ADP
cana-2647	195	6	encrypted	encrypt	VERB
cana-2647	195	7	updates	update	NOUN
cana-2647	195	8	,	,	PUNCT
cana-2647	195	9	so	so	CCONJ
cana-2647	195	10	there	there	PRON
cana-2647	195	11	is	be	VERB
cana-2647	195	12	no	no	DET
cana-2647	195	13	need	need	NOUN
cana-2647	195	14	to	to	PART
cana-2647	195	15	decrypt	decrypt	VERB
cana-2647	195	16	sensitive	sensitive	ADJ
cana-2647	195	17	information	information	NOUN
cana-2647	195	18	during	during	ADP
cana-2647	195	19	processing	processing	NOUN
cana-2647	195	20	.	.	PUNCT
cana-2647	196	1	these	these	DET
cana-2647	196	2	methods	method	NOUN
cana-2647	196	3	together	together	ADV
cana-2647	196	4	create	create	VERB
cana-2647	196	5	a	a	DET
cana-2647	196	6	way	way	NOUN
cana-2647	196	7	for	for	SCONJ
cana-2647	196	8	vehicles	vehicle	NOUN
cana-2647	196	9	to	to	PART
cana-2647	196	10	collaborate	collaborate	VERB
cana-2647	196	11	on	on	ADP
cana-2647	196	12	model	model	NOUN
cana-2647	196	13	training	training	NOUN
cana-2647	196	14	without	without	ADP
cana-2647	196	15	exposing	expose	VERB
cana-2647	196	16	their	their	PRON
cana-2647	196	17	private	private	ADJ
cana-2647	196	18	data	datum	NOUN
cana-2647	196	19	.	.	PUNCT
cana-2647	197	1	this	this	DET
cana-2647	197	2	setup	setup	NOUN
cana-2647	197	3	supports	support	VERB
cana-2647	197	4	secure	secure	ADJ
cana-2647	197	5	and	and	CCONJ
cana-2647	197	6	adaptable	adaptable	ADJ
cana-2647	197	7	communication	communication	NOUN
cana-2647	197	8	in	in	ADP
cana-2647	197	9	constantly	constantly	ADV
cana-2647	197	10	changing	change	VERB
cana-2647	197	11	traffic	traffic	NOUN
cana-2647	197	12	conditions	condition	NOUN
cana-2647	197	13	.	.	PUNCT
cana-2647	198	1	3.6	3.6	NUM
cana-2647	198	2	federated	federate	VERB
cana-2647	198	3	aggregation	aggregation	NOUN
cana-2647	198	4	federated	federate	VERB
cana-2647	198	5	aggregation	aggregation	NOUN
cana-2647	198	6	combines	combine	VERB
cana-2647	198	7	model	model	NOUN
cana-2647	198	8	updates	update	NOUN
cana-2647	198	9	from	from	ADP
cana-2647	198	10	nodes	node	NOUN
cana-2647	198	11	into	into	ADP
cana-2647	198	12	a	a	DET
cana-2647	198	13	global	global	ADJ
cana-2647	198	14	model	model	NOUN
cana-2647	198	15	without	without	ADP
cana-2647	198	16	sharing	share	VERB
cana-2647	198	17	raw	raw	ADJ
cana-2647	198	18	data	datum	NOUN
cana-2647	198	19	.	.	PUNCT
cana-2647	199	1	weighted	weight	VERB
cana-2647	199	2	averaging	averaging	NOUN
cana-2647	199	3	is	be	AUX
cana-2647	199	4	used	use	VERB
cana-2647	199	5	to	to	PART
cana-2647	199	6	account	account	VERB
cana-2647	199	7	for	for	ADP
cana-2647	199	8	differences	difference	NOUN
cana-2647	199	9	in	in	ADP
cana-2647	199	10	dataset	dataset	ADJ
cana-2647	199	11	sizes	size	NOUN
cana-2647	199	12	or	or	CCONJ
cana-2647	199	13	data	datum	NOUN
cana-2647	199	14	quality	quality	NOUN
cana-2647	199	15	across	across	ADP
cana-2647	199	16	nodes	node	NOUN
cana-2647	199	17	.	.	PUNCT
cana-2647	200	1	the	the	DET
cana-2647	200	2	global	global	ADJ
cana-2647	200	3	model	model	NOUN
cana-2647	200	4	is	be	AUX
cana-2647	200	5	updated	update	VERB
cana-2647	200	6	using	use	VERB
cana-2647	200	7	the	the	DET
cana-2647	200	8	formula	formula	NOUN
cana-2647	200	9	:	:	PUNCT
cana-2647	200	10	𝑤𝑡	𝑤𝑡	VERB
cana-2647	200	11	=	=	PUNCT
cana-2647	200	12	∑𝑁𝑖=1𝑛𝑖𝑤𝑡	∑𝑁𝑖=1𝑛𝑖𝑤𝑡	PROPN
cana-2647	200	13	𝑖	𝑖	SYM
cana-2647	200	14	∑𝑁𝑖=1𝑛𝑖	∑𝑁𝑖=1𝑛𝑖	NOUN
cana-2647	200	15	where	where	SCONJ
cana-2647	200	16	𝑤𝑡	𝑤𝑡	ADJ
cana-2647	200	17	𝑖	𝑖	NOUN
cana-2647	200	18	represents	represent	VERB
cana-2647	200	19	the	the	DET
cana-2647	200	20	model	model	NOUN
cana-2647	200	21	parameters	parameter	NOUN
cana-2647	200	22	from	from	ADP
cana-2647	200	23	node	node	PROPN
cana-2647	200	24	𝑖	𝑖	NOUN
cana-2647	200	25	at	at	ADP
cana-2647	200	26	time	time	NOUN
cana-2647	200	27	𝑡	𝑡	PROPN
cana-2647	200	28	,	,	PUNCT
cana-2647	200	29	𝑛𝑖	𝑛𝑖	PROPN
cana-2647	200	30	is	be	AUX
cana-2647	200	31	the	the	DET
cana-2647	200	32	size	size	NOUN
cana-2647	200	33	of	of	ADP
cana-2647	200	34	the	the	DET
cana-2647	200	35	dataset	dataset	NOUN
cana-2647	200	36	at	at	ADP
cana-2647	200	37	node	node	NOUN
cana-2647	200	38	𝑖	𝑖	SYM
cana-2647	200	39	,	,	PUNCT
cana-2647	200	40	and	and	CCONJ
cana-2647	200	41	𝑤𝑡	𝑤𝑡	PRON
cana-2647	200	42	is	be	AUX
cana-2647	200	43	the	the	DET
cana-2647	200	44	aggregated	aggregate	VERB
cana-2647	200	45	global	global	ADJ
cana-2647	200	46	model	model	NOUN
cana-2647	200	47	.	.	PUNCT
cana-2647	201	1	this	this	PRON
cana-2647	201	2	ensures	ensure	VERB
cana-2647	201	3	nodes	node	NOUN
cana-2647	201	4	with	with	ADP
cana-2647	201	5	larger	large	ADJ
cana-2647	201	6	or	or	CCONJ
cana-2647	201	7	more	more	ADV
cana-2647	201	8	representative	representative	ADJ
cana-2647	201	9	datasets	dataset	NOUN
cana-2647	201	10	contribute	contribute	VERB
cana-2647	201	11	proportionally	proportionally	ADV
cana-2647	201	12	.	.	PUNCT
cana-2647	202	1	to	to	PART
cana-2647	202	2	ensure	ensure	VERB
cana-2647	202	3	data	datum	NOUN
cana-2647	202	4	integrity	integrity	NOUN
cana-2647	202	5	during	during	ADP
cana-2647	202	6	aggregation	aggregation	NOUN
cana-2647	202	7	,	,	PUNCT
cana-2647	202	8	secure	secure	ADJ
cana-2647	202	9	aggregation	aggregation	NOUN
cana-2647	202	10	methods	method	NOUN
cana-2647	202	11	are	be	AUX
cana-2647	202	12	employed	employ	VERB
cana-2647	202	13	.	.	PUNCT
cana-2647	203	1	homomorphic	homomorphic	ADJ
cana-2647	203	2	encryption	encryption	NOUN
cana-2647	203	3	allows	allow	VERB
cana-2647	203	4	updates	update	NOUN
cana-2647	203	5	to	to	PART
cana-2647	203	6	remain	remain	VERB
cana-2647	203	7	encrypted	encrypt	VERB
cana-2647	203	8	throughout	throughout	ADP
cana-2647	203	9	the	the	DET
cana-2647	203	10	computation	computation	NOUN
cana-2647	203	11	,	,	PUNCT
cana-2647	203	12	enabling	enable	VERB
cana-2647	203	13	nodes	node	NOUN
cana-2647	203	14	to	to	PART
cana-2647	203	15	perform	perform	VERB
cana-2647	203	16	aggregation	aggregation	NOUN
cana-2647	203	17	without	without	ADP
cana-2647	203	18	accessing	access	VERB
cana-2647	203	19	individual	individual	ADJ
cana-2647	203	20	updates	update	NOUN
cana-2647	203	21	.	.	PUNCT
cana-2647	204	1	blockchain	blockchain	NOUN
cana-2647	204	2	-	-	PUNCT
cana-2647	204	3	based	base	VERB
cana-2647	204	4	consensus	consensus	NOUN
cana-2647	204	5	algorithms	algorithm	NOUN
cana-2647	204	6	can	can	AUX
cana-2647	204	7	validate	validate	VERB
cana-2647	204	8	and	and	CCONJ
cana-2647	204	9	record	record	VERB
cana-2647	204	10	the	the	DET
cana-2647	204	11	updates	update	NOUN
cana-2647	204	12	,	,	PUNCT
cana-2647	204	13	creating	create	VERB
cana-2647	204	14	a	a	DET
cana-2647	204	15	tamper	tamper	ADV
cana-2647	204	16	-	-	PUNCT
cana-2647	204	17	resistant	resistant	ADJ
cana-2647	204	18	aggregation	aggregation	NOUN
cana-2647	204	19	process	process	NOUN
cana-2647	204	20	.	.	PUNCT
cana-2647	205	1	communications	communication	NOUN
cana-2647	205	2	on	on	ADP
cana-2647	205	3	applied	apply	VERB
cana-2647	205	4	nonlinear	nonlinear	ADJ
cana-2647	205	5	analysis	analysis	NOUN
cana-2647	205	6	issn	issn	NOUN
cana-2647	205	7	:	:	PUNCT
cana-2647	205	8	1074	1074	NUM
cana-2647	205	9	-	-	PUNCT
cana-2647	205	10	133x	133x	NUM
cana-2647	205	11	vol	vol	NOUN
cana-2647	205	12	32	32	NUM
cana-2647	205	13	no	no	NOUN
cana-2647	205	14	.	.	PUNCT
cana-2647	206	1	3s	3s	NUM
cana-2647	206	2	(	(	PUNCT
cana-2647	206	3	2025	2025	NUM
cana-2647	206	4	)	)	PUNCT
cana-2647	206	5	348	348	NUM
cana-2647	206	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	206	7	dynamic	dynamic	ADJ
cana-2647	206	8	synchronization	synchronization	NOUN
cana-2647	206	9	addresses	address	NOUN
cana-2647	206	10	node	node	VERB
cana-2647	206	11	connectivity	connectivity	NOUN
cana-2647	206	12	issues	issue	NOUN
cana-2647	206	13	.	.	PUNCT
cana-2647	207	1	nodes	node	NOUN
cana-2647	207	2	with	with	ADP
cana-2647	207	3	intermittent	intermittent	ADJ
cana-2647	207	4	connections	connection	NOUN
cana-2647	207	5	can	can	AUX
cana-2647	207	6	still	still	ADV
cana-2647	207	7	participate	participate	VERB
cana-2647	207	8	by	by	ADP
cana-2647	207	9	sharing	share	VERB
cana-2647	207	10	their	their	PRON
cana-2647	207	11	updates	update	NOUN
cana-2647	207	12	asynchronously	asynchronously	ADV
cana-2647	207	13	.	.	PUNCT
cana-2647	208	1	missing	miss	VERB
cana-2647	208	2	updates	update	NOUN
cana-2647	208	3	are	be	AUX
cana-2647	208	4	approximated	approximate	VERB
cana-2647	208	5	using	use	VERB
cana-2647	208	6	prior	prior	ADJ
cana-2647	208	7	contributions	contribution	NOUN
cana-2647	208	8	:	:	PUNCT
cana-2647	208	9	�	�	PROPN
cana-2647	208	10	̃	̃	NOUN
cana-2647	208	11	�	�	NOUN
cana-2647	208	12	𝑡	𝑡	ADP
cana-2647	208	13	𝑖	𝑖	NOUN
cana-2647	208	14	=	=	SYM
cana-2647	208	15	𝛼𝑤𝑡	𝛼𝑤𝑡	NOUN
cana-2647	208	16	𝑖−1	𝑖−1	X
cana-2647	208	17	+	+	CCONJ
cana-2647	208	18	(	(	PUNCT
cana-2647	208	19	1	1	NUM
cana-2647	208	20	−	−	PROPN
cana-2647	208	21	𝛼)𝑤𝑡	𝛼)𝑤𝑡	PROPN
cana-2647	208	22	𝑖	𝑖	SYM
cana-2647	208	23	where	where	SCONJ
cana-2647	208	24	�	�	PROPN
cana-2647	208	25	̃	̃	NOUN
cana-2647	208	26	�	�	NOUN
cana-2647	208	27	𝑡	𝑡	ADP
cana-2647	208	28	𝑖	𝑖	NOUN
cana-2647	208	29	represents	represent	VERB
cana-2647	208	30	the	the	DET
cana-2647	208	31	approximated	approximate	VERB
cana-2647	208	32	update	update	NOUN
cana-2647	208	33	,	,	PUNCT
cana-2647	208	34	𝑤𝑡	𝑤𝑡	VERB
cana-2647	208	35	𝑖−1	𝑖−1	PROPN
cana-2647	208	36	is	be	AUX
cana-2647	208	37	the	the	DET
cana-2647	208	38	last	last	ADJ
cana-2647	208	39	known	know	VERB
cana-2647	208	40	contribution	contribution	NOUN
cana-2647	208	41	,	,	PUNCT
cana-2647	208	42	and	and	CCONJ
cana-2647	208	43	𝛼	𝛼	NOUN
cana-2647	208	44	is	be	AUX
cana-2647	208	45	a	a	DET
cana-2647	208	46	weighting	weighting	NOUN
cana-2647	208	47	factor	factor	NOUN
cana-2647	208	48	.	.	PUNCT
cana-2647	209	1	outdated	outdated	ADJ
cana-2647	209	2	updates	update	NOUN
cana-2647	209	3	are	be	AUX
cana-2647	209	4	excluded	exclude	VERB
cana-2647	209	5	using	use	VERB
cana-2647	209	6	a	a	DET
cana-2647	209	7	threshold	threshold	NOUN
cana-2647	209	8	to	to	PART
cana-2647	209	9	maintain	maintain	VERB
cana-2647	209	10	accuracy	accuracy	NOUN
cana-2647	209	11	.	.	PUNCT
cana-2647	210	1	synchronization	synchronization	NOUN
cana-2647	210	2	ensures	ensure	VERB
cana-2647	210	3	that	that	SCONJ
cana-2647	210	4	aggregation	aggregation	NOUN
cana-2647	210	5	continues	continue	VERB
cana-2647	210	6	smoothly	smoothly	ADV
cana-2647	210	7	,	,	PUNCT
cana-2647	210	8	even	even	ADV
cana-2647	210	9	with	with	ADP
cana-2647	210	10	delayed	delayed	ADJ
cana-2647	210	11	or	or	CCONJ
cana-2647	210	12	missing	missing	ADJ
cana-2647	210	13	inputs	input	NOUN
cana-2647	210	14	.	.	PUNCT
cana-2647	211	1	input	input	NOUN
cana-2647	211	2	:	:	PUNCT
cana-2647	211	3	local	local	ADJ
cana-2647	211	4	models	model	NOUN
cana-2647	211	5	𝑤𝑡	𝑤𝑡	VERB
cana-2647	211	6	𝑖	𝑖	PRON
cana-2647	211	7	and	and	CCONJ
cana-2647	211	8	dataset	dataset	ADJ
cana-2647	211	9	sizes	size	NOUN
cana-2647	211	10	𝑛𝑖	𝑛𝑖	NOUN
cana-2647	211	11	from	from	ADP
cana-2647	211	12	𝑁	𝑁	PROPN
cana-2647	211	13	nodes	node	NOUN
cana-2647	211	14	.	.	PUNCT
cana-2647	212	1	output	output	NOUN
cana-2647	212	2	:	:	PUNCT
cana-2647	212	3	updated	update	VERB
cana-2647	212	4	global	global	ADJ
cana-2647	212	5	model	model	NOUN
cana-2647	212	6	𝑤𝑡.	𝑤𝑡.	PROPN
cana-2647	212	7	1	1	X
cana-2647	212	8	.	.	PUNCT
cana-2647	212	9	initialize	initialize	VERB
cana-2647	212	10	the	the	DET
cana-2647	212	11	global	global	ADJ
cana-2647	212	12	model	model	NOUN
cana-2647	212	13	𝑤𝑡	𝑤𝑡	VERB
cana-2647	212	14	=	=	NOUN
cana-2647	212	15	0	0	NUM
cana-2647	212	16	.	.	NOUN
cana-2647	213	1	2	2	NUM
cana-2647	213	2	.	.	X
cana-2647	214	1	for	for	ADP
cana-2647	214	2	each	each	DET
cana-2647	214	3	node	node	NOUN
cana-2647	214	4	𝑖	𝑖	NOUN
cana-2647	214	5	=	=	SYM
cana-2647	214	6	1,2	1,2	NUM
cana-2647	214	7	,	,	PUNCT
cana-2647	214	8	…	…	PUNCT
cana-2647	214	9	,	,	PUNCT
cana-2647	214	10	𝑁	𝑁	NOUN
cana-2647	214	11	:	:	PUNCT
cana-2647	214	12	𝑤𝑡	𝑤𝑡	NOUN
cana-2647	214	13	=	=	PUNCT
cana-2647	214	14	𝑤𝑡	𝑤𝑡	PUNCT
cana-2647	214	15	+	+	NUM
cana-2647	214	16	𝑛𝑖𝑤𝑡	𝑛𝑖𝑤𝑡	NOUN
cana-2647	214	17	𝑖	𝑖	SYM
cana-2647	214	18	3	3	X
cana-2647	214	19	.	.	PUNCT
cana-2647	214	20	normalize	normalize	VERB
cana-2647	214	21	the	the	DET
cana-2647	214	22	weighted	weighted	ADJ
cana-2647	214	23	sum	sum	NOUN
cana-2647	214	24	:	:	PUNCT
cana-2647	214	25	𝑤𝑡	𝑤𝑡	ADP
cana-2647	214	26	=	=	PUNCT
cana-2647	214	27	𝑤𝑡	𝑤𝑡	X
cana-2647	214	28	∑𝑁𝑖=1𝑛𝑖	∑𝑁𝑖=1𝑛𝑖	NOUN
cana-2647	214	29	4	4	NUM
cana-2647	214	30	.	.	PUNCT
cana-2647	215	1	if	if	SCONJ
cana-2647	215	2	secure	secure	ADJ
cana-2647	215	3	aggregation	aggregation	NOUN
cana-2647	215	4	is	be	AUX
cana-2647	215	5	used	use	VERB
cana-2647	215	6	:	:	PUNCT
cana-2647	215	7	encrypt	encrypt	VERB
cana-2647	215	8	𝑤𝑡	𝑤𝑡	ADP
cana-2647	215	9	𝑖	𝑖	NOUN
cana-2647	215	10	using	use	VERB
cana-2647	215	11	homomorphic	homomorphic	ADJ
cana-2647	215	12	encryption	encryption	NOUN
cana-2647	215	13	.	.	PUNCT
cana-2647	216	1	perform	perform	VERB
cana-2647	216	2	aggregation	aggregation	NOUN
cana-2647	216	3	on	on	ADP
cana-2647	216	4	encrypted	encrypt	VERB
cana-2647	216	5	updates	update	NOUN
cana-2647	216	6	.	.	PUNCT
cana-2647	217	1	decrypt	decrypt	VERB
cana-2647	217	2	the	the	DET
cana-2647	217	3	final	final	ADJ
cana-2647	217	4	result	result	NOUN
cana-2647	217	5	.	.	PUNCT
cana-2647	218	1	5	5	X
cana-2647	218	2	.	.	X
cana-2647	218	3	for	for	ADP
cana-2647	218	4	missing	miss	VERB
cana-2647	218	5	or	or	CCONJ
cana-2647	218	6	delayed	delay	VERB
cana-2647	218	7	updates	update	NOUN
cana-2647	218	8	:	:	PUNCT
cana-2647	218	9	�	�	PROPN
cana-2647	218	10	̃	̃	NOUN
cana-2647	218	11	�	�	NOUN
cana-2647	218	12	𝑡	𝑡	ADP
cana-2647	218	13	𝑖	𝑖	NOUN
cana-2647	218	14	=	=	SYM
cana-2647	218	15	𝛼𝑤𝑡	𝛼𝑤𝑡	NOUN
cana-2647	218	16	𝑖−1	𝑖−1	X
cana-2647	218	17	+	+	CCONJ
cana-2647	218	18	(	(	PUNCT
cana-2647	218	19	1	1	NUM
cana-2647	218	20	−	−	PROPN
cana-2647	218	21	𝛼)𝑤𝑡	𝛼)𝑤𝑡	PROPN
cana-2647	218	22	𝑖	𝑖	ADP
cana-2647	218	23	6	6	NUM
cana-2647	218	24	.	.	PUNCT
cana-2647	218	25	replace	replace	VERB
cana-2647	218	26	𝑤𝑡	𝑤𝑡	ADJ
cana-2647	218	27	𝑖	𝑖	PUNCT
cana-2647	218	28	with	with	ADP
cana-2647	218	29	�	�	PROPN
cana-2647	218	30	̃	̃	NOUN
cana-2647	218	31	�	�	NOUN
cana-2647	218	32	𝑡	𝑡	ADP
cana-2647	218	33	𝑖	𝑖	NOUN
cana-2647	218	34	if	if	SCONJ
cana-2647	218	35	𝑤𝑡	𝑤𝑡	PRON
cana-2647	218	36	𝑖	𝑖	VERB
cana-2647	218	37	is	be	AUX
cana-2647	218	38	missing	miss	VERB
cana-2647	218	39	.	.	PUNCT
cana-2647	219	1	7	7	X
cana-2647	219	2	.	.	X
cana-2647	219	3	exclude	exclude	VERB
cana-2647	219	4	outdated	outdated	ADJ
cana-2647	219	5	updates	update	NOUN
cana-2647	219	6	exceeding	exceed	VERB
cana-2647	219	7	a	a	DET
cana-2647	219	8	gradient	gradient	ADJ
cana-2647	219	9	-	-	PUNCT
cana-2647	219	10	staleness	staleness	NOUN
cana-2647	219	11	threshold	threshold	NOUN
cana-2647	219	12	.	.	PUNCT
cana-2647	220	1	8	8	X
cana-2647	220	2	.	.	X
cana-2647	220	3	return	return	VERB
cana-2647	220	4	the	the	DET
cana-2647	220	5	aggregated	aggregate	VERB
cana-2647	220	6	global	global	ADJ
cana-2647	220	7	model	model	NOUN
cana-2647	220	8	𝑤𝑡.	𝑤𝑡.	ADP
cana-2647	220	9	3.7	3.7	NUM
cana-2647	220	10	workflow	workflow	NOUN
cana-2647	220	11	of	of	ADP
cana-2647	220	12	the	the	DET
cana-2647	220	13	framework	framework	NOUN
cana-2647	220	14	the	the	DET
cana-2647	220	15	workflow	workflow	NOUN
cana-2647	220	16	begins	begin	VERB
cana-2647	220	17	with	with	ADP
cana-2647	220	18	processed	process	VERB
cana-2647	220	19	input	input	NOUN
cana-2647	220	20	features	feature	NOUN
cana-2647	220	21	derived	derive	VERB
cana-2647	220	22	from	from	ADP
cana-2647	220	23	gnss	gnss	NOUN
cana-2647	220	24	data	datum	NOUN
cana-2647	220	25	,	,	PUNCT
cana-2647	220	26	onboard	onboard	ADP
cana-2647	220	27	sensors	sensor	NOUN
cana-2647	220	28	,	,	PUNCT
cana-2647	220	29	and	and	CCONJ
cana-2647	220	30	v2v	v2v	NOUN
cana-2647	220	31	communication	communication	NOUN
cana-2647	220	32	.	.	PUNCT
cana-2647	221	1	gnss	gns	NOUN
cana-2647	221	2	provides	provide	VERB
cana-2647	221	3	time	time	NOUN
cana-2647	221	4	-	-	PUNCT
cana-2647	221	5	series	series	NOUN
cana-2647	221	6	location	location	NOUN
cana-2647	221	7	data	datum	NOUN
cana-2647	221	8	,	,	PUNCT
cana-2647	221	9	sensors	sensor	NOUN
cana-2647	221	10	capture	capture	VERB
cana-2647	221	11	motion	motion	NOUN
cana-2647	221	12	-	-	PUNCT
cana-2647	221	13	related	relate	VERB
cana-2647	221	14	information	information	NOUN
cana-2647	221	15	like	like	ADP
cana-2647	221	16	speed	speed	NOUN
cana-2647	221	17	and	and	CCONJ
cana-2647	221	18	acceleration	acceleration	NOUN
cana-2647	221	19	,	,	PUNCT
cana-2647	221	20	and	and	CCONJ
cana-2647	221	21	v2v	v2v	NOUN
cana-2647	221	22	communication	communication	NOUN
cana-2647	221	23	delivers	deliver	VERB
cana-2647	221	24	spatial	spatial	ADJ
cana-2647	221	25	relationships	relationship	NOUN
cana-2647	221	26	,	,	PUNCT
cana-2647	221	27	including	include	VERB
cana-2647	221	28	distances	distance	NOUN
cana-2647	221	29	and	and	CCONJ
cana-2647	221	30	relative	relative	ADJ
cana-2647	221	31	velocities	velocity	NOUN
cana-2647	221	32	between	between	ADP
cana-2647	221	33	vehicles	vehicle	NOUN
cana-2647	221	34	.	.	PUNCT
cana-2647	222	1	these	these	DET
cana-2647	222	2	features	feature	NOUN
cana-2647	222	3	are	be	AUX
cana-2647	222	4	fed	feed	VERB
cana-2647	222	5	into	into	ADP
cana-2647	222	6	a	a	DET
cana-2647	222	7	hybrid	hybrid	ADJ
cana-2647	222	8	machine	machine	NOUN
cana-2647	222	9	learning	learning	NOUN
cana-2647	222	10	model	model	NOUN
cana-2647	222	11	designed	design	VERB
cana-2647	222	12	to	to	PART
cana-2647	222	13	handle	handle	VERB
cana-2647	222	14	temporal	temporal	ADJ
cana-2647	222	15	and	and	CCONJ
cana-2647	222	16	spatial	spatial	ADJ
cana-2647	222	17	patterns	pattern	NOUN
cana-2647	222	18	effectively	effectively	ADV
cana-2647	222	19	.	.	PUNCT
cana-2647	223	1	the	the	DET
cana-2647	223	2	temporal	temporal	ADJ
cana-2647	223	3	component	component	NOUN
cana-2647	223	4	is	be	AUX
cana-2647	223	5	managed	manage	VERB
cana-2647	223	6	by	by	ADP
cana-2647	223	7	an	an	DET
cana-2647	223	8	lstm	lstm	ADJ
cana-2647	223	9	network	network	NOUN
cana-2647	223	10	,	,	PUNCT
cana-2647	223	11	which	which	PRON
cana-2647	223	12	processes	process	VERB
cana-2647	223	13	sequential	sequential	ADJ
cana-2647	223	14	gnss	gnss	NOUN
cana-2647	223	15	and	and	CCONJ
cana-2647	223	16	sensor	sensor	NOUN
cana-2647	223	17	data	datum	NOUN
cana-2647	223	18	.	.	PUNCT
cana-2647	224	1	the	the	DET
cana-2647	224	2	lstm	lstm	PROPN
cana-2647	224	3	uses	use	VERB
cana-2647	224	4	its	its	PRON
cana-2647	224	5	internal	internal	ADJ
cana-2647	224	6	states	state	NOUN
cana-2647	224	7	to	to	PART
cana-2647	224	8	capture	capture	VERB
cana-2647	224	9	dependencies	dependency	NOUN
cana-2647	224	10	across	across	ADP
cana-2647	224	11	time	time	NOUN
cana-2647	224	12	,	,	PUNCT
cana-2647	224	13	producing	produce	VERB
cana-2647	224	14	embeddings	embedding	NOUN
cana-2647	224	15	that	that	PRON
cana-2647	224	16	represent	represent	VERB
cana-2647	224	17	temporal	temporal	ADJ
cana-2647	224	18	movement	movement	NOUN
cana-2647	224	19	trends	trend	NOUN
cana-2647	224	20	.	.	PUNCT
cana-2647	225	1	simultaneously	simultaneously	ADV
cana-2647	225	2	,	,	PUNCT
cana-2647	225	3	spatial	spatial	ADJ
cana-2647	225	4	relationships	relationship	NOUN
cana-2647	225	5	are	be	AUX
cana-2647	225	6	modeled	model	VERB
cana-2647	225	7	using	use	VERB
cana-2647	225	8	a	a	DET
cana-2647	225	9	gcn	gcn	NOUN
cana-2647	225	10	,	,	PUNCT
cana-2647	225	11	which	which	PRON
cana-2647	225	12	constructs	construct	VERB
cana-2647	225	13	a	a	DET
cana-2647	225	14	graph	graph	NOUN
cana-2647	225	15	where	where	SCONJ
cana-2647	225	16	nodes	node	NOUN
cana-2647	225	17	represent	represent	VERB
cana-2647	225	18	vehicles	vehicle	NOUN
cana-2647	225	19	and	and	CCONJ
cana-2647	225	20	edges	edge	NOUN
cana-2647	225	21	represent	represent	VERB
cana-2647	225	22	interactions	interaction	NOUN
cana-2647	225	23	derived	derive	VERB
cana-2647	225	24	from	from	ADP
cana-2647	225	25	v2v	v2v	PROPN
cana-2647	225	26	data	datum	NOUN
cana-2647	225	27	.	.	PUNCT
cana-2647	226	1	the	the	DET
cana-2647	226	2	gcn	gcn	NOUN
cana-2647	226	3	updates	update	VERB
cana-2647	226	4	the	the	DET
cana-2647	226	5	feature	feature	NOUN
cana-2647	226	6	representations	representation	NOUN
cana-2647	226	7	of	of	ADP
cana-2647	226	8	nodes	node	NOUN
cana-2647	226	9	by	by	ADP
cana-2647	226	10	aggregating	aggregate	VERB
cana-2647	226	11	information	information	NOUN
cana-2647	226	12	from	from	ADP
cana-2647	226	13	their	their	PRON
cana-2647	226	14	neighbors	neighbor	NOUN
cana-2647	226	15	in	in	ADP
cana-2647	226	16	the	the	DET
cana-2647	226	17	graph	graph	NOUN
cana-2647	226	18	.	.	PUNCT
cana-2647	227	1	the	the	DET
cana-2647	227	2	outputs	output	NOUN
cana-2647	227	3	of	of	ADP
cana-2647	227	4	the	the	DET
cana-2647	227	5	lstm	lstm	NOUN
cana-2647	227	6	and	and	CCONJ
cana-2647	227	7	gcn	gcn	NOUN
cana-2647	227	8	are	be	AUX
cana-2647	227	9	fused	fuse	VERB
cana-2647	227	10	using	use	VERB
cana-2647	227	11	a	a	DET
cana-2647	227	12	transformer	transformer	NOUN
cana-2647	227	13	-	-	PUNCT
cana-2647	227	14	based	base	VERB
cana-2647	227	15	attention	attention	NOUN
cana-2647	227	16	mechanism	mechanism	NOUN
cana-2647	227	17	.	.	PUNCT
cana-2647	228	1	this	this	DET
cana-2647	228	2	mechanism	mechanism	NOUN
cana-2647	228	3	assigns	assign	VERB
cana-2647	228	4	importance	importance	NOUN
cana-2647	228	5	scores	score	NOUN
cana-2647	228	6	to	to	ADP
cana-2647	228	7	both	both	CCONJ
cana-2647	228	8	temporal	temporal	ADJ
cana-2647	228	9	and	and	CCONJ
cana-2647	228	10	spatial	spatial	ADJ
cana-2647	228	11	features	feature	NOUN
cana-2647	228	12	,	,	PUNCT
cana-2647	228	13	ensuring	ensure	VERB
cana-2647	228	14	the	the	DET
cana-2647	228	15	most	most	ADV
cana-2647	228	16	relevant	relevant	ADJ
cana-2647	228	17	aspects	aspect	NOUN
cana-2647	228	18	of	of	ADP
cana-2647	228	19	the	the	DET
cana-2647	228	20	data	datum	NOUN
cana-2647	228	21	are	be	AUX
cana-2647	228	22	emphasized	emphasize	VERB
cana-2647	228	23	.	.	PUNCT
cana-2647	229	1	the	the	DET
cana-2647	229	2	fused	fuse	VERB
cana-2647	229	3	representation	representation	NOUN
cana-2647	229	4	is	be	AUX
cana-2647	229	5	passed	pass	VERB
cana-2647	229	6	through	through	ADP
cana-2647	229	7	a	a	DET
cana-2647	229	8	final	final	ADJ
cana-2647	229	9	prediction	prediction	NOUN
cana-2647	229	10	layer	layer	NOUN
cana-2647	229	11	,	,	PUNCT
cana-2647	229	12	which	which	PRON
cana-2647	229	13	outputs	output	VERB
cana-2647	229	14	the	the	DET
cana-2647	229	15	vehicle	vehicle	NOUN
cana-2647	229	16	’s	’s	PART
cana-2647	229	17	current	current	ADJ
cana-2647	229	18	position	position	NOUN
cana-2647	229	19	and	and	CCONJ
cana-2647	229	20	forecasts	forecast	VERB
cana-2647	229	21	its	its	PRON
cana-2647	229	22	trajectory	trajectory	NOUN
cana-2647	229	23	.	.	PUNCT
cana-2647	230	1	by	by	ADP
cana-2647	230	2	combining	combine	VERB
cana-2647	230	3	temporal	temporal	ADJ
cana-2647	230	4	,	,	PUNCT
cana-2647	230	5	spatial	spatial	ADJ
cana-2647	230	6	,	,	PUNCT
cana-2647	230	7	and	and	CCONJ
cana-2647	230	8	attention	attention	NOUN
cana-2647	230	9	-	-	PUNCT
cana-2647	230	10	driven	drive	VERB
cana-2647	230	11	fusion	fusion	NOUN
cana-2647	230	12	,	,	PUNCT
cana-2647	230	13	this	this	DET
cana-2647	230	14	workflow	workflow	NOUN
cana-2647	230	15	produces	produce	VERB
cana-2647	230	16	accurate	accurate	ADJ
cana-2647	230	17	predictions	prediction	NOUN
cana-2647	230	18	that	that	PRON
cana-2647	230	19	account	account	VERB
cana-2647	230	20	for	for	ADP
cana-2647	230	21	both	both	PRON
cana-2647	230	22	historical	historical	ADJ
cana-2647	230	23	motion	motion	NOUN
cana-2647	230	24	and	and	CCONJ
cana-2647	230	25	real	real	ADJ
cana-2647	230	26	-	-	PUNCT
cana-2647	230	27	time	time	NOUN
cana-2647	230	28	interactions	interaction	NOUN
cana-2647	230	29	between	between	ADP
cana-2647	230	30	vehicles	vehicle	NOUN
cana-2647	230	31	.	.	PUNCT
cana-2647	231	1	the	the	DET
cana-2647	231	2	model	model	NOUN
cana-2647	231	3	is	be	AUX
cana-2647	231	4	trained	train	VERB
cana-2647	231	5	locally	locally	ADV
cana-2647	231	6	on	on	ADP
cana-2647	231	7	each	each	DET
cana-2647	231	8	communications	communication	NOUN
cana-2647	231	9	on	on	ADP
cana-2647	231	10	applied	apply	VERB
cana-2647	231	11	nonlinear	nonlinear	ADJ
cana-2647	231	12	analysis	analysis	NOUN
cana-2647	231	13	issn	issn	NOUN
cana-2647	231	14	:	:	PUNCT
cana-2647	231	15	1074	1074	NUM
cana-2647	231	16	-	-	PUNCT
cana-2647	231	17	133x	133x	NUM
cana-2647	231	18	vol	vol	NOUN
cana-2647	231	19	32	32	NUM
cana-2647	231	20	no	no	NOUN
cana-2647	231	21	.	.	PUNCT
cana-2647	232	1	3s	3s	NUM
cana-2647	232	2	(	(	PUNCT
cana-2647	232	3	2025	2025	NUM
cana-2647	232	4	)	)	PUNCT
cana-2647	232	5	349	349	NUM
cana-2647	232	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	232	7	node	node	NOUN
cana-2647	232	8	using	use	VERB
cana-2647	232	9	the	the	DET
cana-2647	232	10	processed	process	VERB
cana-2647	232	11	input	input	NOUN
cana-2647	232	12	features	feature	NOUN
cana-2647	232	13	,	,	PUNCT
cana-2647	232	14	enabling	enable	VERB
cana-2647	232	15	decentralized	decentralized	ADJ
cana-2647	232	16	learning	learning	NOUN
cana-2647	232	17	while	while	SCONJ
cana-2647	232	18	maintaining	maintain	VERB
cana-2647	232	19	data	data	NOUN
cana-2647	232	20	privacy	privacy	NOUN
cana-2647	232	21	.	.	PUNCT
cana-2647	233	1	figure	figure	NOUN
cana-2647	233	2	1	1	NUM
cana-2647	233	3	:	:	PUNCT
cana-2647	233	4	workflow	workflow	NOUN
cana-2647	233	5	of	of	ADP
cana-2647	233	6	the	the	DET
cana-2647	233	7	hybrid	hybrid	ADJ
cana-2647	233	8	model	model	NOUN
cana-2647	233	9	for	for	ADP
cana-2647	233	10	vehicle	vehicle	NOUN
cana-2647	233	11	localization	localization	NOUN
cana-2647	233	12	and	and	CCONJ
cana-2647	233	13	prediction	prediction	VERB
cana-2647	233	14	the	the	DET
cana-2647	233	15	workflow	workflow	NOUN
cana-2647	233	16	diagram	diagram	NOUN
cana-2647	233	17	shown	show	VERB
cana-2647	233	18	in	in	ADP
cana-2647	233	19	figure	figure	NOUN
cana-2647	233	20	1	1	NUM
cana-2647	233	21	illustrates	illustrate	VERB
cana-2647	233	22	the	the	DET
cana-2647	233	23	hybrid	hybrid	ADJ
cana-2647	233	24	model	model	NOUN
cana-2647	233	25	’s	’s	PART
cana-2647	233	26	process	process	NOUN
cana-2647	233	27	for	for	ADP
cana-2647	233	28	vehicle	vehicle	NOUN
cana-2647	233	29	localization	localization	NOUN
cana-2647	233	30	and	and	CCONJ
cana-2647	233	31	trajectory	trajectory	NOUN
cana-2647	233	32	prediction	prediction	NOUN
cana-2647	233	33	.	.	PUNCT
cana-2647	234	1	input	input	NOUN
cana-2647	234	2	data	datum	NOUN
cana-2647	234	3	,	,	PUNCT
cana-2647	234	4	including	include	VERB
cana-2647	234	5	gnss	gnss	NOUN
cana-2647	234	6	time	time	NOUN
cana-2647	234	7	-	-	PUNCT
cana-2647	234	8	series	series	NOUN
cana-2647	234	9	,	,	PUNCT
cana-2647	234	10	sensor	sensor	NOUN
cana-2647	234	11	measurements	measurement	NOUN
cana-2647	234	12	,	,	PUNCT
cana-2647	234	13	and	and	CCONJ
cana-2647	234	14	v2v	v2v	NOUN
cana-2647	234	15	communication	communication	NOUN
cana-2647	234	16	,	,	PUNCT
cana-2647	234	17	undergoes	undergo	VERB
cana-2647	234	18	preprocessing	preprocesse	VERB
cana-2647	234	19	to	to	PART
cana-2647	234	20	extract	extract	VERB
cana-2647	234	21	temporal	temporal	ADJ
cana-2647	234	22	and	and	CCONJ
cana-2647	234	23	spatial	spatial	ADJ
cana-2647	234	24	features	feature	NOUN
cana-2647	234	25	.	.	PUNCT
cana-2647	235	1	temporal	temporal	ADJ
cana-2647	235	2	data	datum	NOUN
cana-2647	235	3	is	be	AUX
cana-2647	235	4	processed	process	VERB
cana-2647	235	5	by	by	ADP
cana-2647	235	6	an	an	DET
cana-2647	235	7	lstm	lstm	NOUN
cana-2647	235	8	to	to	PART
cana-2647	235	9	identify	identify	VERB
cana-2647	235	10	time	time	NOUN
cana-2647	235	11	-	-	PUNCT
cana-2647	235	12	based	base	VERB
cana-2647	235	13	patterns	pattern	NOUN
cana-2647	235	14	,	,	PUNCT
cana-2647	235	15	while	while	SCONJ
cana-2647	235	16	spatial	spatial	ADJ
cana-2647	235	17	relationships	relationship	NOUN
cana-2647	235	18	are	be	AUX
cana-2647	235	19	modeled	model	VERB
cana-2647	235	20	using	use	VERB
cana-2647	235	21	a	a	DET
cana-2647	235	22	gcn	gcn	NOUN
cana-2647	235	23	.	.	PUNCT
cana-2647	236	1	these	these	DET
cana-2647	236	2	outputs	output	NOUN
cana-2647	236	3	are	be	AUX
cana-2647	236	4	fused	fuse	VERB
cana-2647	236	5	using	use	VERB
cana-2647	236	6	an	an	DET
cana-2647	236	7	attention	attention	NOUN
cana-2647	236	8	mechanism	mechanism	NOUN
cana-2647	236	9	to	to	PART
cana-2647	236	10	highlight	highlight	VERB
cana-2647	236	11	critical	critical	ADJ
cana-2647	236	12	features	feature	NOUN
cana-2647	236	13	.	.	PUNCT
cana-2647	237	1	the	the	DET
cana-2647	237	2	fused	fuse	VERB
cana-2647	237	3	representation	representation	NOUN
cana-2647	237	4	is	be	AUX
cana-2647	237	5	passed	pass	VERB
cana-2647	237	6	to	to	ADP
cana-2647	237	7	a	a	DET
cana-2647	237	8	prediction	prediction	NOUN
cana-2647	237	9	layer	layer	NOUN
cana-2647	237	10	to	to	PART
cana-2647	237	11	estimate	estimate	VERB
cana-2647	237	12	vehicle	vehicle	NOUN
cana-2647	237	13	positions	position	NOUN
cana-2647	237	14	and	and	CCONJ
cana-2647	237	15	trajectories	trajectory	NOUN
cana-2647	237	16	.	.	PUNCT
cana-2647	238	1	a	a	DET
cana-2647	238	2	convergence	convergence	NOUN
cana-2647	238	3	check	check	NOUN
cana-2647	238	4	evaluates	evaluate	NOUN
cana-2647	238	5	whether	whether	SCONJ
cana-2647	238	6	the	the	DET
cana-2647	238	7	model	model	NOUN
cana-2647	238	8	's	's	PART
cana-2647	238	9	performance	performance	NOUN
cana-2647	238	10	meets	meet	VERB
cana-2647	238	11	predefined	predefine	VERB
cana-2647	238	12	criteria	criterion	NOUN
cana-2647	238	13	.	.	PUNCT
cana-2647	239	1	if	if	SCONJ
cana-2647	239	2	the	the	DET
cana-2647	239	3	loss	loss	NOUN
cana-2647	239	4	is	be	AUX
cana-2647	239	5	unacceptable	unacceptable	ADJ
cana-2647	239	6	,	,	PUNCT
cana-2647	239	7	the	the	DET
cana-2647	239	8	workflow	workflow	NOUN
cana-2647	239	9	iterates	iterate	VERB
cana-2647	239	10	back	back	ADV
cana-2647	239	11	to	to	PART
cana-2647	239	12	refine	refine	VERB
cana-2647	239	13	temporal	temporal	ADJ
cana-2647	239	14	patterns	pattern	NOUN
cana-2647	239	15	.	.	PUNCT
cana-2647	240	1	the	the	DET
cana-2647	240	2	process	process	NOUN
cana-2647	240	3	continues	continue	VERB
cana-2647	240	4	until	until	SCONJ
cana-2647	240	5	convergence	convergence	NOUN
cana-2647	240	6	is	be	AUX
cana-2647	240	7	achieved	achieve	VERB
cana-2647	240	8	,	,	PUNCT
cana-2647	240	9	ensuring	ensure	VERB
cana-2647	240	10	accuracy	accuracy	NOUN
cana-2647	240	11	in	in	ADP
cana-2647	240	12	predictions	prediction	NOUN
cana-2647	240	13	.	.	PUNCT
cana-2647	241	1	4	4	NUM
cana-2647	241	2	experimental	experimental	ADJ
cana-2647	241	3	study	study	NOUN
cana-2647	241	4	this	this	DET
cana-2647	241	5	experimental	experimental	ADJ
cana-2647	241	6	study	study	NOUN
cana-2647	241	7	focuses	focus	VERB
cana-2647	241	8	on	on	ADP
cana-2647	241	9	assessing	assess	VERB
cana-2647	241	10	the	the	DET
cana-2647	241	11	performance	performance	NOUN
cana-2647	241	12	of	of	ADP
cana-2647	241	13	the	the	DET
cana-2647	241	14	decentralized	decentralize	VERB
cana-2647	241	15	federated	federated	ADJ
cana-2647	241	16	localization	localization	NOUN
cana-2647	241	17	framework	framework	NOUN
cana-2647	241	18	(	(	PUNCT
cana-2647	241	19	dflf	dflf	NOUN
cana-2647	241	20	)	)	PUNCT
cana-2647	241	21	in	in	ADP
cana-2647	241	22	dynamic	dynamic	ADJ
cana-2647	241	23	vehicular	vehicular	ADJ
cana-2647	241	24	networks	network	NOUN
cana-2647	241	25	.	.	PUNCT
cana-2647	242	1	the	the	DET
cana-2647	242	2	primary	primary	ADJ
cana-2647	242	3	objective	objective	NOUN
cana-2647	242	4	is	be	AUX
cana-2647	242	5	to	to	PART
cana-2647	242	6	validate	validate	VERB
cana-2647	242	7	the	the	DET
cana-2647	242	8	framework	framework	NOUN
cana-2647	242	9	’s	’s	PART
cana-2647	242	10	ability	ability	NOUN
cana-2647	242	11	to	to	PART
cana-2647	242	12	deliver	deliver	VERB
cana-2647	242	13	precise	precise	ADJ
cana-2647	242	14	real	real	ADJ
cana-2647	242	15	-	-	PUNCT
cana-2647	242	16	time	time	NOUN
cana-2647	242	17	vehicle	vehicle	NOUN
cana-2647	242	18	localization	localization	NOUN
cana-2647	242	19	by	by	ADP
cana-2647	242	20	addressing	address	VERB
cana-2647	242	21	three	three	NUM
cana-2647	242	22	critical	critical	ADJ
cana-2647	242	23	challenges	challenge	NOUN
cana-2647	242	24	:	:	PUNCT
cana-2647	242	25	mitigating	mitigate	VERB
cana-2647	242	26	gnss	gnss	NOUN
cana-2647	242	27	signal	signal	NOUN
cana-2647	242	28	inaccuracies	inaccuracy	NOUN
cana-2647	242	29	,	,	PUNCT
cana-2647	242	30	ensuring	ensure	VERB
cana-2647	242	31	data	datum	NOUN
cana-2647	242	32	privacy	privacy	NOUN
cana-2647	242	33	during	during	ADP
cana-2647	242	34	collaborative	collaborative	ADJ
cana-2647	242	35	model	model	NOUN
cana-2647	242	36	training	training	NOUN
cana-2647	242	37	,	,	PUNCT
cana-2647	242	38	and	and	CCONJ
cana-2647	242	39	maintaining	maintain	VERB
cana-2647	242	40	adaptability	adaptability	NOUN
cana-2647	242	41	in	in	ADP
cana-2647	242	42	highly	highly	ADV
cana-2647	242	43	dynamic	dynamic	ADJ
cana-2647	242	44	traffic	traffic	NOUN
cana-2647	242	45	scenarios	scenario	NOUN
cana-2647	242	46	with	with	ADP
cana-2647	242	47	changing	change	VERB
cana-2647	242	48	network	network	NOUN
cana-2647	242	49	topology	topology	NOUN
cana-2647	242	50	.	.	PUNCT
cana-2647	243	1	key	key	ADJ
cana-2647	243	2	challenges	challenge	NOUN
cana-2647	243	3	include	include	VERB
cana-2647	243	4	gnss	gnss	NOUN
cana-2647	243	5	inaccuracies	inaccuracy	NOUN
cana-2647	243	6	caused	cause	VERB
cana-2647	243	7	by	by	ADP
cana-2647	243	8	signal	signal	NOUN
cana-2647	243	9	obstruction	obstruction	NOUN
cana-2647	243	10	or	or	CCONJ
cana-2647	243	11	multipath	multipath	NOUN
cana-2647	243	12	effects	effect	NOUN
cana-2647	243	13	in	in	ADP
cana-2647	243	14	urban	urban	ADJ
cana-2647	243	15	environments	environment	NOUN
cana-2647	243	16	,	,	PUNCT
cana-2647	243	17	such	such	ADJ
cana-2647	243	18	as	as	ADP
cana-2647	243	19	tunnels	tunnel	NOUN
cana-2647	243	20	or	or	CCONJ
cana-2647	243	21	areas	area	NOUN
cana-2647	243	22	surrounded	surround	VERB
cana-2647	243	23	by	by	ADP
cana-2647	243	24	tall	tall	ADJ
cana-2647	243	25	buildings	building	NOUN
cana-2647	243	26	.	.	PUNCT
cana-2647	244	1	additionally	additionally	ADV
cana-2647	244	2	,	,	PUNCT
cana-2647	244	3	the	the	DET
cana-2647	244	4	need	need	NOUN
cana-2647	244	5	to	to	PART
cana-2647	244	6	exchange	exchange	VERB
cana-2647	244	7	model	model	NOUN
cana-2647	244	8	updates	update	NOUN
cana-2647	244	9	rather	rather	ADV
cana-2647	244	10	than	than	ADP
cana-2647	244	11	raw	raw	ADJ
cana-2647	244	12	data	datum	NOUN
cana-2647	244	13	introduces	introduce	VERB
cana-2647	244	14	complexities	complexity	NOUN
cana-2647	244	15	in	in	ADP
cana-2647	244	16	preserving	preserve	VERB
cana-2647	244	17	data	datum	NOUN
cana-2647	244	18	privacy	privacy	NOUN
cana-2647	244	19	while	while	SCONJ
cana-2647	244	20	maintaining	maintain	VERB
cana-2647	244	21	efficient	efficient	ADJ
cana-2647	244	22	communication	communication	NOUN
cana-2647	244	23	.	.	PUNCT
cana-2647	245	1	the	the	DET
cana-2647	245	2	highly	highly	ADV
cana-2647	245	3	dynamic	dynamic	ADJ
cana-2647	245	4	nature	nature	NOUN
cana-2647	245	5	of	of	ADP
cana-2647	245	6	vehicular	vehicular	ADJ
cana-2647	245	7	networks	network	NOUN
cana-2647	245	8	,	,	PUNCT
cana-2647	245	9	where	where	SCONJ
cana-2647	245	10	communications	communication	NOUN
cana-2647	245	11	on	on	ADP
cana-2647	245	12	applied	apply	VERB
cana-2647	245	13	nonlinear	nonlinear	ADJ
cana-2647	245	14	analysis	analysis	NOUN
cana-2647	245	15	issn	issn	NOUN
cana-2647	245	16	:	:	PUNCT
cana-2647	245	17	1074	1074	NUM
cana-2647	245	18	-	-	PUNCT
cana-2647	245	19	133x	133x	NUM
cana-2647	245	20	vol	vol	NOUN
cana-2647	245	21	32	32	NUM
cana-2647	246	1	no	no	NOUN
cana-2647	246	2	.	.	PUNCT
cana-2647	247	1	3s	3s	NUM
cana-2647	247	2	(	(	PUNCT
cana-2647	247	3	2025	2025	NUM
cana-2647	247	4	)	)	PUNCT
cana-2647	247	5	350	350	NUM
cana-2647	247	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	247	7	vehicles	vehicle	NOUN
cana-2647	247	8	frequently	frequently	ADV
cana-2647	247	9	enter	enter	VERB
cana-2647	247	10	and	and	CCONJ
cana-2647	247	11	exit	exit	VERB
cana-2647	247	12	the	the	DET
cana-2647	247	13	communication	communication	NOUN
cana-2647	247	14	range	range	NOUN
cana-2647	247	15	,	,	PUNCT
cana-2647	247	16	further	far	ADV
cana-2647	247	17	complicates	complicate	VERB
cana-2647	247	18	accurate	accurate	ADJ
cana-2647	247	19	localization	localization	NOUN
cana-2647	247	20	and	and	CCONJ
cana-2647	247	21	model	model	NOUN
cana-2647	247	22	synchronization	synchronization	NOUN
cana-2647	247	23	.	.	PUNCT
cana-2647	248	1	to	to	PART
cana-2647	248	2	address	address	VERB
cana-2647	248	3	these	these	DET
cana-2647	248	4	challenges	challenge	NOUN
cana-2647	248	5	,	,	PUNCT
cana-2647	248	6	the	the	DET
cana-2647	248	7	study	study	NOUN
cana-2647	248	8	employs	employ	VERB
cana-2647	248	9	a	a	DET
cana-2647	248	10	simulation	simulation	NOUN
cana-2647	248	11	-	-	PUNCT
cana-2647	248	12	based	base	VERB
cana-2647	248	13	approach	approach	NOUN
cana-2647	248	14	using	use	VERB
cana-2647	248	15	synthetic	synthetic	ADJ
cana-2647	248	16	gnss	gnss	NOUN
cana-2647	248	17	data	datum	NOUN
cana-2647	248	18	,	,	PUNCT
cana-2647	248	19	onboard	onboard	ADP
cana-2647	248	20	sensor	sensor	NOUN
cana-2647	248	21	measurements	measurement	NOUN
cana-2647	248	22	,	,	PUNCT
cana-2647	248	23	and	and	CCONJ
cana-2647	248	24	vehicle	vehicle	NOUN
cana-2647	248	25	-	-	PUNCT
cana-2647	248	26	to	to	ADP
cana-2647	248	27	-	-	PUNCT
cana-2647	248	28	vehicle	vehicle	NOUN
cana-2647	248	29	(	(	PUNCT
cana-2647	248	30	v2v	v2v	NOUN
cana-2647	248	31	)	)	PUNCT
cana-2647	248	32	communication	communication	NOUN
cana-2647	248	33	data	datum	NOUN
cana-2647	248	34	.	.	PUNCT
cana-2647	249	1	the	the	DET
cana-2647	249	2	experimental	experimental	ADJ
cana-2647	249	3	design	design	NOUN
cana-2647	249	4	leverages	leverage	VERB
cana-2647	249	5	a	a	DET
cana-2647	249	6	hybrid	hybrid	ADJ
cana-2647	249	7	machine	machine	NOUN
cana-2647	249	8	learning	learning	NOUN
cana-2647	249	9	model	model	NOUN
cana-2647	249	10	:	:	PUNCT
cana-2647	249	11	lstms	lstms	ADJ
cana-2647	249	12	for	for	ADP
cana-2647	249	13	processing	process	VERB
cana-2647	249	14	temporal	temporal	ADJ
cana-2647	249	15	gnss	gnss	NOUN
cana-2647	249	16	and	and	CCONJ
cana-2647	249	17	sensor	sensor	NOUN
cana-2647	249	18	data	datum	NOUN
cana-2647	249	19	,	,	PUNCT
cana-2647	249	20	gcns	gcn	VERB
cana-2647	249	21	for	for	ADP
cana-2647	249	22	capturing	capture	VERB
cana-2647	249	23	spatial	spatial	ADJ
cana-2647	249	24	relationships	relationship	NOUN
cana-2647	249	25	in	in	ADP
cana-2647	249	26	v2v	v2v	NOUN
cana-2647	249	27	interactions	interaction	NOUN
cana-2647	249	28	,	,	PUNCT
cana-2647	249	29	and	and	CCONJ
cana-2647	249	30	a	a	DET
cana-2647	249	31	transformer	transformer	NOUN
cana-2647	249	32	-	-	PUNCT
cana-2647	249	33	based	base	VERB
cana-2647	249	34	attention	attention	NOUN
cana-2647	249	35	mechanism	mechanism	NOUN
cana-2647	249	36	for	for	ADP
cana-2647	249	37	combining	combine	VERB
cana-2647	249	38	these	these	DET
cana-2647	249	39	features	feature	NOUN
cana-2647	249	40	.	.	PUNCT
cana-2647	250	1	federated	federated	ADJ
cana-2647	250	2	learning	learning	NOUN
cana-2647	250	3	techniques	technique	NOUN
cana-2647	250	4	,	,	PUNCT
cana-2647	250	5	supported	support	VERB
cana-2647	250	6	by	by	ADP
cana-2647	250	7	privacy	privacy	NOUN
cana-2647	250	8	-	-	PUNCT
cana-2647	250	9	preserving	preserve	VERB
cana-2647	250	10	measures	measure	NOUN
cana-2647	250	11	like	like	ADP
cana-2647	250	12	differential	differential	NOUN
cana-2647	250	13	privacy	privacy	NOUN
cana-2647	250	14	and	and	CCONJ
cana-2647	250	15	homomorphic	homomorphic	ADJ
cana-2647	250	16	encryption	encryption	NOUN
cana-2647	250	17	,	,	PUNCT
cana-2647	250	18	ensure	ensure	VERB
cana-2647	250	19	secure	secure	ADJ
cana-2647	250	20	and	and	CCONJ
cana-2647	250	21	decentralized	decentralized	ADJ
cana-2647	250	22	model	model	NOUN
cana-2647	250	23	training	training	NOUN
cana-2647	250	24	.	.	PUNCT
cana-2647	251	1	the	the	DET
cana-2647	251	2	framework	framework	NOUN
cana-2647	251	3	’s	’s	PART
cana-2647	251	4	performance	performance	NOUN
cana-2647	251	5	is	be	AUX
cana-2647	251	6	evaluated	evaluate	VERB
cana-2647	251	7	across	across	ADP
cana-2647	251	8	different	different	ADJ
cana-2647	251	9	traffic	traffic	NOUN
cana-2647	251	10	scenarios	scenario	NOUN
cana-2647	251	11	,	,	PUNCT
cana-2647	251	12	including	include	VERB
cana-2647	251	13	dense	dense	ADJ
cana-2647	251	14	urban	urban	ADJ
cana-2647	251	15	and	and	CCONJ
cana-2647	251	16	highway	highway	NOUN
cana-2647	251	17	environments	environment	NOUN
cana-2647	251	18	,	,	PUNCT
cana-2647	251	19	to	to	PART
cana-2647	251	20	measure	measure	VERB
cana-2647	251	21	its	its	PRON
cana-2647	251	22	accuracy	accuracy	NOUN
cana-2647	251	23	,	,	PUNCT
cana-2647	251	24	scalability	scalability	NOUN
cana-2647	251	25	,	,	PUNCT
cana-2647	251	26	and	and	CCONJ
cana-2647	251	27	communication	communication	NOUN
cana-2647	251	28	efficiency	efficiency	NOUN
cana-2647	251	29	.	.	PUNCT
cana-2647	252	1	4.1	4.1	NUM
cana-2647	252	2	simulation	simulation	NOUN
cana-2647	252	3	environment	environment	NOUN
cana-2647	252	4	the	the	DET
cana-2647	252	5	simulation	simulation	NOUN
cana-2647	252	6	setup	setup	NOUN
cana-2647	252	7	uses	use	VERB
cana-2647	252	8	sumo	sumo	PROPN
cana-2647	252	9	to	to	PART
cana-2647	252	10	replicate	replicate	VERB
cana-2647	252	11	diverse	diverse	ADJ
cana-2647	252	12	traffic	traffic	NOUN
cana-2647	252	13	scenarios	scenario	NOUN
cana-2647	252	14	,	,	PUNCT
cana-2647	252	15	including	include	VERB
cana-2647	252	16	dense	dense	ADJ
cana-2647	252	17	urban	urban	ADJ
cana-2647	252	18	streets	street	NOUN
cana-2647	252	19	and	and	CCONJ
cana-2647	252	20	open	open	ADJ
cana-2647	252	21	highways	highway	NOUN
cana-2647	252	22	,	,	PUNCT
cana-2647	252	23	with	with	ADP
cana-2647	252	24	realistic	realistic	ADJ
cana-2647	252	25	vehicle	vehicle	NOUN
cana-2647	252	26	movements	movement	NOUN
cana-2647	252	27	,	,	PUNCT
cana-2647	252	28	dynamic	dynamic	ADJ
cana-2647	252	29	traffic	traffic	NOUN
cana-2647	252	30	densities	density	NOUN
cana-2647	252	31	,	,	PUNCT
cana-2647	252	32	and	and	CCONJ
cana-2647	252	33	frequent	frequent	ADJ
cana-2647	252	34	changes	change	NOUN
cana-2647	252	35	in	in	ADP
cana-2647	252	36	vehicular	vehicular	ADJ
cana-2647	252	37	topology	topology	NOUN
cana-2647	252	38	.	.	PUNCT
cana-2647	253	1	to	to	PART
cana-2647	253	2	generate	generate	VERB
cana-2647	253	3	gnss	gnss	NOUN
cana-2647	253	4	synthetic	synthetic	ADJ
cana-2647	253	5	data	datum	NOUN
cana-2647	253	6	,	,	PUNCT
cana-2647	253	7	sumo	sumo	PROPN
cana-2647	253	8	is	be	AUX
cana-2647	253	9	integrated	integrate	VERB
cana-2647	253	10	with	with	ADP
cana-2647	253	11	realistic	realistic	ADJ
cana-2647	253	12	urban	urban	ADJ
cana-2647	253	13	mobility	mobility	NOUN
cana-2647	253	14	models	model	NOUN
cana-2647	253	15	,	,	PUNCT
cana-2647	253	16	simulating	simulate	VERB
cana-2647	253	17	gnss	gnss	NOUN
cana-2647	253	18	signal	signal	NOUN
cana-2647	253	19	inaccuracies	inaccuracy	NOUN
cana-2647	253	20	such	such	ADJ
cana-2647	253	21	as	as	ADP
cana-2647	253	22	multipath	multipath	NOUN
cana-2647	253	23	effects	effect	NOUN
cana-2647	253	24	and	and	CCONJ
cana-2647	253	25	signal	signal	ADJ
cana-2647	253	26	blockages	blockage	NOUN
cana-2647	253	27	.	.	PUNCT
cana-2647	254	1	v2v	v2v	NOUN
cana-2647	254	2	data	datum	NOUN
cana-2647	254	3	,	,	PUNCT
cana-2647	254	4	including	include	VERB
cana-2647	254	5	relative	relative	ADJ
cana-2647	254	6	distances	distance	NOUN
cana-2647	254	7	,	,	PUNCT
cana-2647	254	8	velocities	velocity	NOUN
cana-2647	254	9	,	,	PUNCT
cana-2647	254	10	and	and	CCONJ
cana-2647	254	11	positions	position	NOUN
cana-2647	254	12	,	,	PUNCT
cana-2647	254	13	is	be	AUX
cana-2647	254	14	modeled	model	VERB
cana-2647	254	15	using	use	VERB
cana-2647	254	16	sumo	sumo	PROPN
cana-2647	254	17	’s	’s	PART
cana-2647	254	18	traci	traci	PROPN
cana-2647	254	19	interface	interface	NOUN
cana-2647	254	20	,	,	PUNCT
cana-2647	254	21	which	which	PRON
cana-2647	254	22	facilitates	facilitate	VERB
cana-2647	254	23	real	real	ADJ
cana-2647	254	24	-	-	PUNCT
cana-2647	254	25	time	time	NOUN
cana-2647	254	26	vehicular	vehicular	ADJ
cana-2647	254	27	communication	communication	NOUN
cana-2647	254	28	data	datum	NOUN
cana-2647	254	29	exchange	exchange	NOUN
cana-2647	254	30	.	.	PUNCT
cana-2647	255	1	ieee	ieee	PROPN
cana-2647	255	2	802.11p	802.11p	NUM
cana-2647	255	3	,	,	PUNCT
cana-2647	255	4	a	a	DET
cana-2647	255	5	dedicated	dedicated	ADJ
cana-2647	255	6	short	short	ADJ
cana-2647	255	7	-	-	PUNCT
cana-2647	255	8	range	range	NOUN
cana-2647	255	9	communication	communication	NOUN
cana-2647	255	10	protocol	protocol	NOUN
cana-2647	255	11	,	,	PUNCT
cana-2647	255	12	facilitates	facilitate	VERB
cana-2647	255	13	low	low	ADJ
cana-2647	255	14	-	-	PUNCT
cana-2647	255	15	latency	latency	NOUN
cana-2647	255	16	,	,	PUNCT
cana-2647	255	17	high	high	ADJ
cana-2647	255	18	-	-	PUNCT
cana-2647	255	19	speed	speed	NOUN
cana-2647	255	20	v2v	v2v	NOUN
cana-2647	255	21	and	and	CCONJ
cana-2647	255	22	v2i	v2i	NOUN
cana-2647	255	23	communication	communication	NOUN
cana-2647	255	24	,	,	PUNCT
cana-2647	255	25	ensuring	ensure	VERB
cana-2647	255	26	uninterrupted	uninterrupted	ADJ
cana-2647	255	27	data	datum	NOUN
cana-2647	255	28	flow	flow	NOUN
cana-2647	255	29	even	even	ADV
cana-2647	255	30	under	under	ADP
cana-2647	255	31	conditions	condition	NOUN
cana-2647	255	32	of	of	ADP
cana-2647	255	33	high	high	ADJ
cana-2647	255	34	vehicle	vehicle	NOUN
cana-2647	255	35	turnover	turnover	NOUN
cana-2647	255	36	or	or	CCONJ
cana-2647	255	37	network	network	NOUN
cana-2647	255	38	congestion	congestion	NOUN
cana-2647	255	39	.	.	PUNCT
cana-2647	256	1	privacy	privacy	NOUN
cana-2647	256	2	is	be	AUX
cana-2647	256	3	preserved	preserve	VERB
cana-2647	256	4	using	use	VERB
cana-2647	256	5	differential	differential	ADJ
cana-2647	256	6	privacy	privacy	NOUN
cana-2647	256	7	,	,	PUNCT
cana-2647	256	8	where	where	SCONJ
cana-2647	256	9	gaussian	gaussian	ADJ
cana-2647	256	10	noise	noise	NOUN
cana-2647	256	11	is	be	AUX
cana-2647	256	12	added	add	VERB
cana-2647	256	13	to	to	ADP
cana-2647	256	14	federated	federated	ADJ
cana-2647	256	15	model	model	NOUN
cana-2647	256	16	updates	update	NOUN
cana-2647	256	17	.	.	PUNCT
cana-2647	257	1	this	this	PRON
cana-2647	257	2	ensures	ensure	VERB
cana-2647	257	3	sensitive	sensitive	ADJ
cana-2647	257	4	information	information	NOUN
cana-2647	257	5	is	be	AUX
cana-2647	257	6	protected	protect	VERB
cana-2647	257	7	while	while	SCONJ
cana-2647	257	8	maintaining	maintain	VERB
cana-2647	257	9	the	the	DET
cana-2647	257	10	statistical	statistical	ADJ
cana-2647	257	11	utility	utility	NOUN
cana-2647	257	12	of	of	ADP
cana-2647	257	13	the	the	DET
cana-2647	257	14	aggregated	aggregate	VERB
cana-2647	257	15	models	model	NOUN
cana-2647	257	16	.	.	PUNCT
cana-2647	258	1	to	to	PART
cana-2647	258	2	address	address	VERB
cana-2647	258	3	gnss	gnss	NOUN
cana-2647	258	4	and	and	CCONJ
cana-2647	258	5	sensor	sensor	NOUN
cana-2647	258	6	data	datum	NOUN
cana-2647	258	7	inaccuracies	inaccuracy	NOUN
cana-2647	258	8	caused	cause	VERB
cana-2647	258	9	by	by	ADP
cana-2647	258	10	environmental	environmental	ADJ
cana-2647	258	11	obstructions	obstruction	NOUN
cana-2647	258	12	,	,	PUNCT
cana-2647	258	13	kalman	kalman	NOUN
cana-2647	258	14	filters	filter	NOUN
cana-2647	258	15	are	be	AUX
cana-2647	258	16	applied	apply	VERB
cana-2647	258	17	.	.	PUNCT
cana-2647	259	1	these	these	DET
cana-2647	259	2	filters	filter	NOUN
cana-2647	259	3	iteratively	iteratively	ADV
cana-2647	259	4	predict	predict	VERB
cana-2647	259	5	and	and	CCONJ
cana-2647	259	6	refine	refine	VERB
cana-2647	259	7	position	position	NOUN
cana-2647	259	8	estimates	estimate	NOUN
cana-2647	259	9	,	,	PUNCT
cana-2647	259	10	smoothing	smooth	VERB
cana-2647	259	11	out	out	ADP
cana-2647	259	12	noise	noise	NOUN
cana-2647	259	13	and	and	CCONJ
cana-2647	259	14	inconsistencies	inconsistency	NOUN
cana-2647	259	15	in	in	ADP
cana-2647	259	16	the	the	DET
cana-2647	259	17	input	input	NOUN
cana-2647	259	18	data	datum	NOUN
cana-2647	259	19	.	.	PUNCT
cana-2647	260	1	this	this	DET
cana-2647	260	2	simulation	simulation	NOUN
cana-2647	260	3	environment	environment	NOUN
cana-2647	260	4	,	,	PUNCT
cana-2647	260	5	combining	combine	VERB
cana-2647	260	6	synthetic	synthetic	ADJ
cana-2647	260	7	gnss	gnss	NOUN
cana-2647	260	8	and	and	CCONJ
cana-2647	260	9	v2v	v2v	NOUN
cana-2647	260	10	data	datum	NOUN
cana-2647	260	11	sources	source	NOUN
cana-2647	260	12	,	,	PUNCT
cana-2647	260	13	robust	robust	ADJ
cana-2647	260	14	communication	communication	NOUN
cana-2647	260	15	protocols	protocol	NOUN
cana-2647	260	16	,	,	PUNCT
cana-2647	260	17	privacy	privacy	NOUN
cana-2647	260	18	-	-	PUNCT
cana-2647	260	19	preserving	preserve	VERB
cana-2647	260	20	methods	method	NOUN
cana-2647	260	21	,	,	PUNCT
cana-2647	260	22	and	and	CCONJ
cana-2647	260	23	noise	noise	NOUN
cana-2647	260	24	reduction	reduction	NOUN
cana-2647	260	25	techniques	technique	NOUN
cana-2647	260	26	,	,	PUNCT
cana-2647	260	27	provides	provide	VERB
cana-2647	260	28	a	a	DET
cana-2647	260	29	comprehensive	comprehensive	ADJ
cana-2647	260	30	platform	platform	NOUN
cana-2647	260	31	to	to	PART
cana-2647	260	32	evaluate	evaluate	VERB
cana-2647	260	33	the	the	DET
cana-2647	260	34	dflf	dflf	NOUN
cana-2647	260	35	framework	framework	NOUN
cana-2647	260	36	’s	’s	PART
cana-2647	260	37	performance	performance	NOUN
cana-2647	260	38	in	in	ADP
cana-2647	260	39	achieving	achieve	VERB
cana-2647	260	40	accurate	accurate	ADJ
cana-2647	260	41	,	,	PUNCT
cana-2647	260	42	private	private	ADJ
cana-2647	260	43	,	,	PUNCT
cana-2647	260	44	and	and	CCONJ
cana-2647	260	45	adaptive	adaptive	ADJ
cana-2647	260	46	localization	localization	NOUN
cana-2647	260	47	.	.	PUNCT
cana-2647	261	1	4.2	4.2	NUM
cana-2647	261	2	results	result	NOUN
cana-2647	261	3	and	and	CCONJ
cana-2647	261	4	discussion	discussion	NOUN
cana-2647	261	5	the	the	DET
cana-2647	261	6	experimental	experimental	ADJ
cana-2647	261	7	study	study	NOUN
cana-2647	261	8	validated	validate	VERB
cana-2647	261	9	the	the	DET
cana-2647	261	10	decentralized	decentralize	VERB
cana-2647	261	11	federated	federated	ADJ
cana-2647	261	12	localization	localization	NOUN
cana-2647	261	13	framework	framework	NOUN
cana-2647	261	14	(	(	PUNCT
cana-2647	261	15	dflf	dflf	NOUN
cana-2647	261	16	)	)	PUNCT
cana-2647	261	17	as	as	ADP
cana-2647	261	18	an	an	DET
cana-2647	261	19	effective	effective	ADJ
cana-2647	261	20	solution	solution	NOUN
cana-2647	261	21	for	for	ADP
cana-2647	261	22	precise	precise	ADJ
cana-2647	261	23	real	real	ADJ
cana-2647	261	24	-	-	PUNCT
cana-2647	261	25	time	time	NOUN
cana-2647	261	26	vehicle	vehicle	NOUN
cana-2647	261	27	localization	localization	NOUN
cana-2647	261	28	in	in	ADP
cana-2647	261	29	dynamic	dynamic	ADJ
cana-2647	261	30	vehicular	vehicular	ADJ
cana-2647	261	31	networks	network	NOUN
cana-2647	261	32	.	.	PUNCT
cana-2647	262	1	the	the	DET
cana-2647	262	2	results	result	NOUN
cana-2647	262	3	illustrate	illustrate	VERB
cana-2647	262	4	its	its	PRON
cana-2647	262	5	superior	superior	ADJ
cana-2647	262	6	performance	performance	NOUN
cana-2647	262	7	over	over	ADP
cana-2647	262	8	contemporary	contemporary	ADJ
cana-2647	262	9	models	model	NOUN
cana-2647	262	10	st	st	NOUN
cana-2647	262	11	-	-	PUNCT
cana-2647	262	12	ftl	ftl	NOUN
cana-2647	263	1	[	[	X
cana-2647	263	2	7	7	NUM
cana-2647	263	3	]	]	PUNCT
cana-2647	263	4	and	and	CCONJ
cana-2647	263	5	fedvcp	fedvcp	NOUN
cana-2647	263	6	[	[	X
cana-2647	263	7	18	18	NUM
cana-2647	263	8	]	]	PUNCT
cana-2647	263	9	across	across	ADP
cana-2647	263	10	various	various	ADJ
cana-2647	263	11	metrics	metric	NOUN
cana-2647	263	12	,	,	PUNCT
cana-2647	263	13	including	include	VERB
cana-2647	263	14	localization	localization	NOUN
cana-2647	263	15	accuracy	accuracy	NOUN
cana-2647	263	16	,	,	PUNCT
cana-2647	263	17	privacy	privacy	NOUN
cana-2647	263	18	preservation	preservation	NOUN
cana-2647	263	19	,	,	PUNCT
cana-2647	263	20	and	and	CCONJ
cana-2647	263	21	scalability	scalability	NOUN
cana-2647	263	22	.	.	PUNCT
cana-2647	264	1	the	the	DET
cana-2647	264	2	dflf	dflf	NOUN
cana-2647	264	3	framework	framework	NOUN
cana-2647	264	4	consistently	consistently	ADV
cana-2647	264	5	achieved	achieve	VERB
cana-2647	264	6	lower	low	ADJ
cana-2647	264	7	rmse	rmse	NOUN
cana-2647	264	8	values	value	NOUN
cana-2647	264	9	compared	compare	VERB
cana-2647	264	10	to	to	ADP
cana-2647	264	11	st	st	NOUN
cana-2647	264	12	-	-	PUNCT
cana-2647	264	13	ftl	ftl	NOUN
cana-2647	264	14	and	and	CCONJ
cana-2647	264	15	fedvcp	fedvcp	NOUN
cana-2647	264	16	across	across	ADP
cana-2647	264	17	different	different	ADJ
cana-2647	264	18	traffic	traffic	NOUN
cana-2647	264	19	scenarios	scenario	NOUN
cana-2647	264	20	.	.	PUNCT
cana-2647	265	1	in	in	ADP
cana-2647	265	2	urban	urban	ADJ
cana-2647	265	3	canyon	canyon	NOUN
cana-2647	265	4	environments	environment	NOUN
cana-2647	265	5	,	,	PUNCT
cana-2647	265	6	where	where	SCONJ
cana-2647	265	7	gnss	gnss	NOUN
cana-2647	265	8	signals	signal	NOUN
cana-2647	265	9	are	be	AUX
cana-2647	265	10	prone	prone	ADJ
cana-2647	265	11	to	to	AUX
cana-2647	265	12	interference	interference	VERB
cana-2647	265	13	,	,	PUNCT
cana-2647	265	14	dflf	dflf	NOUN
cana-2647	265	15	recorded	record	VERB
cana-2647	265	16	an	an	DET
cana-2647	265	17	rmse	rmse	NOUN
cana-2647	265	18	of	of	ADP
cana-2647	265	19	2.3	2.3	NUM
cana-2647	265	20	meters	meter	NOUN
cana-2647	265	21	,	,	PUNCT
cana-2647	265	22	outperforming	outperform	VERB
cana-2647	265	23	st	st	PROPN
cana-2647	265	24	-	-	PUNCT
cana-2647	265	25	ftl	ftl	NOUN
cana-2647	265	26	,	,	PUNCT
cana-2647	265	27	which	which	PRON
cana-2647	265	28	achieved	achieve	VERB
cana-2647	265	29	3.1	3.1	NUM
cana-2647	265	30	meters	meter	NOUN
cana-2647	265	31	,	,	PUNCT
cana-2647	265	32	and	and	CCONJ
cana-2647	265	33	fedvcp	fedvcp	PROPN
cana-2647	265	34	,	,	PUNCT
cana-2647	265	35	which	which	PRON
cana-2647	265	36	showed	show	VERB
cana-2647	265	37	a	a	DET
cana-2647	265	38	higher	high	ADJ
cana-2647	265	39	error	error	NOUN
cana-2647	265	40	of	of	ADP
cana-2647	265	41	4.7	4.7	NUM
cana-2647	265	42	meters	meter	NOUN
cana-2647	265	43	.	.	PUNCT
cana-2647	266	1	on	on	ADP
cana-2647	266	2	highways	highway	NOUN
cana-2647	266	3	with	with	ADP
cana-2647	266	4	minimal	minimal	ADJ
cana-2647	266	5	signal	signal	NOUN
cana-2647	266	6	disruptions	disruption	NOUN
cana-2647	266	7	,	,	PUNCT
cana-2647	266	8	dflf	dflf	NOUN
cana-2647	266	9	further	far	ADV
cana-2647	266	10	reduced	reduce	VERB
cana-2647	266	11	the	the	DET
cana-2647	266	12	rmse	rmse	NOUN
cana-2647	266	13	to	to	ADP
cana-2647	266	14	1.2	1.2	NUM
cana-2647	266	15	meters	meter	NOUN
cana-2647	266	16	,	,	PUNCT
cana-2647	266	17	a	a	DET
cana-2647	266	18	significant	significant	ADJ
cana-2647	266	19	improvement	improvement	NOUN
cana-2647	266	20	over	over	ADP
cana-2647	266	21	st	st	PROPN
cana-2647	266	22	-	-	PUNCT
cana-2647	266	23	ftl	ftl	NOUN
cana-2647	266	24	’s	’s	PART
cana-2647	266	25	1.8	1.8	NUM
cana-2647	266	26	meters	meter	NOUN
cana-2647	266	27	and	and	CCONJ
cana-2647	266	28	fedvcp	fedvcp	VERB
cana-2647	266	29	2.5	2.5	NUM
cana-2647	266	30	meters	meter	NOUN
cana-2647	266	31	as	as	SCONJ
cana-2647	266	32	shown	show	VERB
cana-2647	266	33	in	in	ADP
cana-2647	266	34	table	table	NOUN
cana-2647	266	35	1	1	NUM
cana-2647	266	36	.	.	PUNCT
cana-2647	267	1	these	these	DET
cana-2647	267	2	results	result	NOUN
cana-2647	267	3	highlight	highlight	VERB
cana-2647	267	4	the	the	DET
cana-2647	267	5	framework	framework	NOUN
cana-2647	267	6	's	's	PART
cana-2647	267	7	ability	ability	NOUN
cana-2647	267	8	communications	communication	NOUN
cana-2647	267	9	on	on	ADP
cana-2647	267	10	applied	apply	VERB
cana-2647	267	11	nonlinear	nonlinear	ADJ
cana-2647	267	12	analysis	analysis	NOUN
cana-2647	267	13	issn	issn	NOUN
cana-2647	267	14	:	:	PUNCT
cana-2647	267	15	1074	1074	NUM
cana-2647	267	16	-	-	PUNCT
cana-2647	267	17	133x	133x	NUM
cana-2647	267	18	vol	vol	NOUN
cana-2647	267	19	32	32	NUM
cana-2647	268	1	no	no	NOUN
cana-2647	268	2	.	.	PUNCT
cana-2647	269	1	3s	3s	NUM
cana-2647	269	2	(	(	PUNCT
cana-2647	269	3	2025	2025	NUM
cana-2647	269	4	)	)	PUNCT
cana-2647	269	5	351	351	NUM
cana-2647	269	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	269	7	to	to	PART
cana-2647	269	8	adapt	adapt	VERB
cana-2647	269	9	to	to	ADP
cana-2647	269	10	varying	vary	VERB
cana-2647	269	11	conditions	condition	NOUN
cana-2647	269	12	by	by	ADP
cana-2647	269	13	leveraging	leverage	VERB
cana-2647	269	14	hybrid	hybrid	ADJ
cana-2647	269	15	data	datum	NOUN
cana-2647	269	16	inputs	input	NOUN
cana-2647	269	17	from	from	ADP
cana-2647	269	18	gnss	gnss	NOUN
cana-2647	269	19	,	,	PUNCT
cana-2647	269	20	onboard	onboard	ADJ
cana-2647	269	21	sensors	sensor	NOUN
cana-2647	269	22	,	,	PUNCT
cana-2647	269	23	and	and	CCONJ
cana-2647	269	24	v2v	v2v	NOUN
cana-2647	269	25	communication	communication	NOUN
cana-2647	269	26	.	.	PUNCT
cana-2647	270	1	table	table	NOUN
cana-2647	270	2	1	1	NUM
cana-2647	270	3	:	:	PUNCT
cana-2647	270	4	localization	localization	NOUN
cana-2647	270	5	accuracy	accuracy	NOUN
cana-2647	270	6	across	across	ADP
cana-2647	270	7	different	different	ADJ
cana-2647	270	8	traffic	traffic	NOUN
cana-2647	270	9	scenarios	scenario	NOUN
cana-2647	270	10	scenario	scenario	NOUN
cana-2647	270	11	dflf	dflf	NOUN
cana-2647	270	12	(	(	PUNCT
cana-2647	270	13	rmse	rmse	PROPN
cana-2647	270	14	in	in	ADP
cana-2647	270	15	meters	meter	NOUN
cana-2647	270	16	)	)	PUNCT
cana-2647	270	17	st	st	PROPN
cana-2647	270	18	-	-	PUNCT
cana-2647	270	19	ftl	ftl	PROPN
cana-2647	270	20	(	(	PUNCT
cana-2647	270	21	rmse	rmse	NOUN
cana-2647	270	22	in	in	ADP
cana-2647	270	23	meters	meter	NOUN
cana-2647	270	24	)	)	PUNCT
cana-2647	270	25	fedvcp	fedvcp	NOUN
cana-2647	270	26	(	(	PUNCT
cana-2647	270	27	rmse	rmse	NOUN
cana-2647	270	28	in	in	ADP
cana-2647	270	29	meters	meter	NOUN
cana-2647	270	30	)	)	PUNCT
cana-2647	270	31	urban	urban	ADJ
cana-2647	270	32	canyon	canyon	NOUN
cana-2647	270	33	2.3	2.3	NUM
cana-2647	270	34	3.1	3.1	NUM
cana-2647	270	35	4.7	4.7	NUM
cana-2647	270	36	highway	highway	NOUN
cana-2647	270	37	1.2	1.2	NUM
cana-2647	270	38	1.8	1.8	NUM
cana-2647	270	39	2.5	2.5	NUM
cana-2647	270	40	figure	figure	NOUN
cana-2647	270	41	2	2	NUM
cana-2647	270	42	:	:	PUNCT
cana-2647	270	43	accuracy	accuracy	NOUN
cana-2647	270	44	comparison	comparison	NOUN
cana-2647	270	45	of	of	ADP
cana-2647	270	46	models	model	NOUN
cana-2647	270	47	under	under	ADP
cana-2647	270	48	different	different	ADJ
cana-2647	270	49	scenarios	scenario	NOUN
cana-2647	270	50	localization	localization	NOUN
cana-2647	270	51	accuracy	accuracy	NOUN
cana-2647	270	52	was	be	AUX
cana-2647	270	53	shown	show	VERB
cana-2647	270	54	in	in	ADP
cana-2647	270	55	figure	figure	NOUN
cana-2647	270	56	2	2	NUM
cana-2647	270	57	achieved	achieve	VERB
cana-2647	270	58	through	through	ADP
cana-2647	270	59	the	the	DET
cana-2647	270	60	combined	combine	VERB
cana-2647	270	61	effect	effect	NOUN
cana-2647	270	62	of	of	ADP
cana-2647	270	63	kalman	kalman	PROPN
cana-2647	270	64	filtering	filtering	NOUN
cana-2647	270	65	and	and	CCONJ
cana-2647	270	66	the	the	DET
cana-2647	270	67	hybrid	hybrid	ADJ
cana-2647	270	68	machine	machine	NOUN
cana-2647	270	69	learning	learning	NOUN
cana-2647	270	70	model	model	NOUN
cana-2647	270	71	.	.	PUNCT
cana-2647	271	1	kalman	kalman	NOUN
cana-2647	271	2	filters	filter	NOUN
cana-2647	271	3	effectively	effectively	ADV
cana-2647	271	4	smoothed	smooth	VERB
cana-2647	271	5	noisy	noisy	ADJ
cana-2647	271	6	gnss	gnss	NOUN
cana-2647	271	7	data	datum	NOUN
cana-2647	271	8	,	,	PUNCT
cana-2647	271	9	reducing	reduce	VERB
cana-2647	271	10	errors	error	NOUN
cana-2647	271	11	caused	cause	VERB
cana-2647	271	12	by	by	ADP
cana-2647	271	13	multipath	multipath	NOUN
cana-2647	271	14	interference	interference	NOUN
cana-2647	271	15	and	and	CCONJ
cana-2647	271	16	signal	signal	ADJ
cana-2647	271	17	blockages	blockage	NOUN
cana-2647	271	18	.	.	PUNCT
cana-2647	272	1	the	the	DET
cana-2647	272	2	integration	integration	NOUN
cana-2647	272	3	of	of	ADP
cana-2647	272	4	temporal	temporal	ADJ
cana-2647	272	5	and	and	CCONJ
cana-2647	272	6	spatial	spatial	ADJ
cana-2647	272	7	patterns	pattern	NOUN
cana-2647	272	8	using	use	VERB
cana-2647	272	9	lstm	lstm	NOUN
cana-2647	272	10	and	and	CCONJ
cana-2647	272	11	gcn	gcn	NOUN
cana-2647	272	12	further	far	ADV
cana-2647	272	13	improved	improve	VERB
cana-2647	272	14	predictions	prediction	NOUN
cana-2647	272	15	,	,	PUNCT
cana-2647	272	16	enabling	enable	VERB
cana-2647	272	17	the	the	DET
cana-2647	272	18	framework	framework	NOUN
cana-2647	272	19	to	to	PART
cana-2647	272	20	maintain	maintain	VERB
cana-2647	272	21	consistent	consistent	ADJ
cana-2647	272	22	accuracy	accuracy	NOUN
cana-2647	272	23	in	in	ADP
cana-2647	272	24	diverse	diverse	ADJ
cana-2647	272	25	conditions	condition	NOUN
cana-2647	272	26	.	.	PUNCT
cana-2647	273	1	the	the	DET
cana-2647	273	2	table	table	NOUN
cana-2647	273	3	2	2	NUM
cana-2647	273	4	study	study	NOUN
cana-2647	273	5	demonstrated	demonstrate	VERB
cana-2647	273	6	that	that	SCONJ
cana-2647	273	7	dflf	dflf	NOUN
cana-2647	273	8	achieved	achieve	VERB
cana-2647	273	9	a	a	DET
cana-2647	273	10	strong	strong	ADJ
cana-2647	273	11	balance	balance	NOUN
cana-2647	273	12	between	between	ADP
cana-2647	273	13	privacy	privacy	NOUN
cana-2647	273	14	and	and	CCONJ
cana-2647	273	15	performance	performance	NOUN
cana-2647	273	16	.	.	PUNCT
cana-2647	274	1	when	when	SCONJ
cana-2647	274	2	differential	differential	ADJ
cana-2647	274	3	privacy	privacy	NOUN
cana-2647	274	4	was	be	AUX
cana-2647	274	5	applied	apply	VERB
cana-2647	274	6	,	,	PUNCT
cana-2647	274	7	dflf	dflf	NOUN
cana-2647	274	8	exhibited	exhibit	VERB
cana-2647	274	9	an	an	DET
cana-2647	274	10	rmse	rmse	ADJ
cana-2647	274	11	increase	increase	NOUN
cana-2647	274	12	of	of	ADP
cana-2647	274	13	only	only	ADV
cana-2647	274	14	1.5	1.5	NUM
cana-2647	274	15	%	%	NOUN
cana-2647	274	16	,	,	PUNCT
cana-2647	274	17	a	a	DET
cana-2647	274	18	marginal	marginal	ADJ
cana-2647	274	19	degradation	degradation	NOUN
cana-2647	274	20	compared	compare	VERB
cana-2647	274	21	to	to	ADP
cana-2647	274	22	st	st	PROPN
cana-2647	274	23	-	-	PUNCT
cana-2647	274	24	ftl	ftl	NOUN
cana-2647	274	25	’s	’s	PART
cana-2647	274	26	3.8	3.8	NUM
cana-2647	274	27	%	%	NOUN
cana-2647	274	28	and	and	CCONJ
cana-2647	274	29	fedvcp	fedvcp	NOUN
cana-2647	274	30	7.4	7.4	NUM
cana-2647	274	31	%	%	NOUN
cana-2647	274	32	.	.	PUNCT
cana-2647	275	1	this	this	DET
cana-2647	275	2	minimal	minimal	ADJ
cana-2647	275	3	loss	loss	NOUN
cana-2647	275	4	in	in	ADP
cana-2647	275	5	accuracy	accuracy	NOUN
cana-2647	275	6	demonstrates	demonstrate	VERB
cana-2647	275	7	the	the	DET
cana-2647	275	8	effectiveness	effectiveness	NOUN
cana-2647	275	9	of	of	ADP
cana-2647	275	10	dflf	dflf	NOUN
cana-2647	275	11	’s	’s	PART
cana-2647	275	12	federated	federated	ADJ
cana-2647	275	13	learning	learning	NOUN
cana-2647	275	14	architecture	architecture	NOUN
cana-2647	275	15	,	,	PUNCT
cana-2647	275	16	which	which	PRON
cana-2647	275	17	protects	protect	VERB
cana-2647	275	18	sensitive	sensitive	ADJ
cana-2647	275	19	data	datum	NOUN
cana-2647	275	20	by	by	ADP
cana-2647	275	21	sharing	share	VERB
cana-2647	275	22	only	only	ADV
cana-2647	275	23	encrypted	encrypt	VERB
cana-2647	275	24	model	model	NOUN
cana-2647	275	25	updates	update	NOUN
cana-2647	275	26	with	with	ADP
cana-2647	275	27	added	add	VERB
cana-2647	275	28	gaussian	gaussian	ADJ
cana-2647	275	29	noise	noise	NOUN
cana-2647	275	30	.	.	PUNCT
cana-2647	276	1	table	table	NOUN
cana-2647	276	2	2	2	NUM
cana-2647	276	3	:	:	PUNCT
cana-2647	276	4	privacy	privacy	NOUN
cana-2647	276	5	vs.	vs.	ADP
cana-2647	276	6	performance	performance	NOUN
cana-2647	276	7	impact	impact	NOUN
cana-2647	276	8	on	on	ADP
cana-2647	276	9	localization	localization	NOUN
cana-2647	276	10	accuracy	accuracy	NOUN
cana-2647	276	11	model	model	NOUN
cana-2647	276	12	rmse	rmse	PROPN
cana-2647	276	13	without	without	ADP
cana-2647	276	14	privacy	privacy	NOUN
cana-2647	276	15	(	(	PUNCT
cana-2647	276	16	meters	meter	NOUN
cana-2647	276	17	)	)	PUNCT
cana-2647	276	18	rmse	rmse	NOUN
cana-2647	276	19	with	with	ADP
cana-2647	276	20	privacy	privacy	NOUN
cana-2647	276	21	(	(	PUNCT
cana-2647	276	22	meters	meter	NOUN
cana-2647	276	23	)	)	PUNCT
cana-2647	276	24	accuracy	accuracy	NOUN
cana-2647	276	25	degradation	degradation	NOUN
cana-2647	276	26	(	(	PUNCT
cana-2647	276	27	%	%	INTJ
cana-2647	276	28	)	)	PUNCT
cana-2647	276	29	dflf	dflf	NOUN
cana-2647	276	30	2.3	2.3	NUM
cana-2647	276	31	2.4	2.4	NUM
cana-2647	276	32	1.5	1.5	NUM
cana-2647	276	33	st	st	NOUN
cana-2647	276	34	-	-	PUNCT
cana-2647	276	35	ftl	ftl	NOUN
cana-2647	276	36	3.1	3.1	NUM
cana-2647	276	37	3.3	3.3	NUM
cana-2647	276	38	3.8	3.8	NUM
cana-2647	276	39	fedvcp	fedvcp	NOUN
cana-2647	276	40	4.7	4.7	NUM
cana-2647	276	41	5.0	5.0	NUM
cana-2647	276	42	7.4	7.4	NUM
cana-2647	276	43	communications	communication	NOUN
cana-2647	276	44	on	on	ADP
cana-2647	276	45	applied	apply	VERB
cana-2647	276	46	nonlinear	nonlinear	ADJ
cana-2647	276	47	analysis	analysis	NOUN
cana-2647	276	48	issn	issn	NOUN
cana-2647	276	49	:	:	PUNCT
cana-2647	276	50	1074	1074	NUM
cana-2647	276	51	-	-	PUNCT
cana-2647	276	52	133x	133x	NUM
cana-2647	276	53	vol	vol	NOUN
cana-2647	276	54	32	32	NUM
cana-2647	277	1	no	no	NOUN
cana-2647	277	2	.	.	PUNCT
cana-2647	278	1	3s	3s	NUM
cana-2647	278	2	(	(	PUNCT
cana-2647	278	3	2025	2025	NUM
cana-2647	278	4	)	)	PUNCT
cana-2647	278	5	352	352	NUM
cana-2647	278	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	278	7	figure	figure	NOUN
cana-2647	278	8	3	3	NUM
cana-2647	278	9	:	:	PUNCT
cana-2647	278	10	impact	impact	NOUN
cana-2647	278	11	of	of	ADP
cana-2647	278	12	privacy	privacy	NOUN
cana-2647	278	13	measures	measure	NOUN
cana-2647	278	14	on	on	ADP
cana-2647	278	15	model	model	NOUN
cana-2647	278	16	performance	performance	NOUN
cana-2647	278	17	the	the	DET
cana-2647	278	18	figure	figure	NOUN
cana-2647	278	19	3	3	NUM
cana-2647	278	20	framework	framework	NOUN
cana-2647	278	21	’s	’s	PART
cana-2647	278	22	use	use	NOUN
cana-2647	278	23	of	of	ADP
cana-2647	278	24	differential	differential	ADJ
cana-2647	278	25	privacy	privacy	NOUN
cana-2647	278	26	ensured	ensure	VERB
cana-2647	278	27	secure	secure	ADJ
cana-2647	278	28	collaboration	collaboration	NOUN
cana-2647	278	29	among	among	ADP
cana-2647	278	30	vehicles	vehicle	NOUN
cana-2647	278	31	without	without	ADP
cana-2647	278	32	compromising	compromise	VERB
cana-2647	278	33	the	the	DET
cana-2647	278	34	statistical	statistical	ADJ
cana-2647	278	35	utility	utility	NOUN
cana-2647	278	36	of	of	ADP
cana-2647	278	37	the	the	DET
cana-2647	278	38	aggregated	aggregate	VERB
cana-2647	278	39	model	model	NOUN
cana-2647	278	40	.	.	PUNCT
cana-2647	279	1	homomorphic	homomorphic	ADJ
cana-2647	279	2	encryption	encryption	NOUN
cana-2647	279	3	further	far	ADV
cana-2647	279	4	enhanced	enhance	VERB
cana-2647	279	5	the	the	DET
cana-2647	279	6	security	security	NOUN
cana-2647	279	7	of	of	ADP
cana-2647	279	8	updates	update	NOUN
cana-2647	279	9	during	during	ADP
cana-2647	279	10	federated	federated	ADJ
cana-2647	279	11	aggregation	aggregation	NOUN
cana-2647	279	12	,	,	PUNCT
cana-2647	279	13	addressing	address	VERB
cana-2647	279	14	privacy	privacy	NOUN
cana-2647	279	15	concerns	concern	NOUN
cana-2647	279	16	while	while	SCONJ
cana-2647	279	17	maintaining	maintain	VERB
cana-2647	279	18	competitive	competitive	ADJ
cana-2647	279	19	performance	performance	NOUN
cana-2647	279	20	.	.	PUNCT
cana-2647	280	1	the	the	DET
cana-2647	280	2	table	table	NOUN
cana-2647	280	3	3	3	NUM
cana-2647	280	4	and	and	CCONJ
cana-2647	280	5	figure	figure	VERB
cana-2647	280	6	4	4	NUM
cana-2647	280	7	scalability	scalability	NOUN
cana-2647	280	8	analysis	analysis	NOUN
cana-2647	280	9	revealed	reveal	VERB
cana-2647	280	10	that	that	SCONJ
cana-2647	280	11	dflf	dflf	NOUN
cana-2647	280	12	maintained	maintain	VERB
cana-2647	280	13	its	its	PRON
cana-2647	280	14	localization	localization	NOUN
cana-2647	280	15	accuracy	accuracy	NOUN
cana-2647	280	16	even	even	ADV
cana-2647	280	17	as	as	SCONJ
cana-2647	280	18	the	the	DET
cana-2647	280	19	network	network	NOUN
cana-2647	280	20	size	size	NOUN
cana-2647	280	21	increased	increase	VERB
cana-2647	280	22	.	.	PUNCT
cana-2647	281	1	for	for	ADP
cana-2647	281	2	a	a	DET
cana-2647	281	3	network	network	NOUN
cana-2647	281	4	with	with	ADP
cana-2647	281	5	100	100	NUM
cana-2647	281	6	vehicles	vehicle	NOUN
cana-2647	281	7	,	,	PUNCT
cana-2647	281	8	dflf	dflf	NOUN
cana-2647	281	9	recorded	record	VERB
cana-2647	281	10	an	an	DET
cana-2647	281	11	rmse	rmse	NOUN
cana-2647	281	12	of	of	ADP
cana-2647	281	13	2.3	2.3	NUM
cana-2647	281	14	meters	meter	NOUN
cana-2647	281	15	,	,	PUNCT
cana-2647	281	16	while	while	SCONJ
cana-2647	281	17	st	st	PROPN
cana-2647	281	18	-	-	PUNCT
cana-2647	281	19	ftl	ftl	NOUN
cana-2647	281	20	and	and	CCONJ
cana-2647	281	21	fedvcp	fedvcp	NOUN
cana-2647	281	22	showed	show	VERB
cana-2647	281	23	rmses	rmse	NOUN
cana-2647	281	24	of	of	ADP
cana-2647	281	25	3.4	3.4	NUM
cana-2647	281	26	meters	meter	NOUN
cana-2647	281	27	and	and	CCONJ
cana-2647	281	28	5.1	5.1	NUM
cana-2647	281	29	meters	meter	NOUN
cana-2647	281	30	,	,	PUNCT
cana-2647	281	31	respectively	respectively	ADV
cana-2647	281	32	.	.	PUNCT
cana-2647	282	1	with	with	ADP
cana-2647	282	2	an	an	DET
cana-2647	282	3	increase	increase	NOUN
cana-2647	282	4	to	to	ADP
cana-2647	282	5	500	500	NUM
cana-2647	282	6	vehicles	vehicle	NOUN
cana-2647	282	7	,	,	PUNCT
cana-2647	282	8	dflf	dflf	PROPN
cana-2647	282	9	’s	’s	PART
cana-2647	282	10	rmse	rmse	NOUN
cana-2647	282	11	increased	increase	VERB
cana-2647	282	12	slightly	slightly	ADV
cana-2647	282	13	to	to	ADP
cana-2647	282	14	2.8	2.8	NUM
cana-2647	282	15	meters	meter	NOUN
cana-2647	282	16	,	,	PUNCT
cana-2647	282	17	compared	compare	VERB
cana-2647	282	18	to	to	ADP
cana-2647	282	19	4.6	4.6	NUM
cana-2647	282	20	meters	meter	NOUN
cana-2647	282	21	for	for	ADP
cana-2647	282	22	st	st	NOUN
cana-2647	282	23	-	-	PUNCT
cana-2647	282	24	ftl	ftl	NOUN
cana-2647	282	25	and	and	CCONJ
cana-2647	282	26	6.8	6.8	NUM
cana-2647	282	27	meters	meter	NOUN
cana-2647	282	28	for	for	ADP
cana-2647	282	29	fedvcp	fedvcp	NOUN
cana-2647	282	30	.	.	PUNCT
cana-2647	283	1	this	this	DET
cana-2647	283	2	result	result	NOUN
cana-2647	283	3	underscores	underscore	VERB
cana-2647	283	4	dflf	dflf	NOUN
cana-2647	283	5	’s	’s	PART
cana-2647	283	6	efficiency	efficiency	NOUN
cana-2647	283	7	in	in	ADP
cana-2647	283	8	managing	manage	VERB
cana-2647	283	9	communication	communication	NOUN
cana-2647	283	10	and	and	CCONJ
cana-2647	283	11	data	datum	NOUN
cana-2647	283	12	processing	processing	NOUN
cana-2647	283	13	in	in	ADP
cana-2647	283	14	large	large	ADJ
cana-2647	283	15	-	-	PUNCT
cana-2647	283	16	scale	scale	NOUN
cana-2647	283	17	networks	network	NOUN
cana-2647	283	18	,	,	PUNCT
cana-2647	283	19	attributed	attribute	VERB
cana-2647	283	20	to	to	ADP
cana-2647	283	21	its	its	PRON
cana-2647	283	22	optimized	optimize	VERB
cana-2647	283	23	federated	federated	ADJ
cana-2647	283	24	learning	learning	NOUN
cana-2647	283	25	mechanism	mechanism	NOUN
cana-2647	283	26	and	and	CCONJ
cana-2647	283	27	transformer	transformer	NOUN
cana-2647	283	28	-	-	PUNCT
cana-2647	283	29	based	base	VERB
cana-2647	283	30	attention	attention	NOUN
cana-2647	283	31	for	for	ADP
cana-2647	283	32	effective	effective	ADJ
cana-2647	283	33	feature	feature	NOUN
cana-2647	283	34	prioritization	prioritization	NOUN
cana-2647	283	35	.	.	PUNCT
cana-2647	284	1	table	table	NOUN
cana-2647	284	2	3	3	NUM
cana-2647	284	3	:	:	PUNCT
cana-2647	284	4	scalability	scalability	NOUN
cana-2647	284	5	analysis	analysis	NOUN
cana-2647	284	6	of	of	ADP
cana-2647	284	7	dflf	dflf	NOUN
cana-2647	284	8	,	,	PUNCT
cana-2647	284	9	st	st	NOUN
cana-2647	284	10	-	-	PUNCT
cana-2647	284	11	ftl	ftl	NOUN
cana-2647	284	12	,	,	PUNCT
cana-2647	284	13	and	and	CCONJ
cana-2647	284	14	fedvcp	fedvcp	NOUN
cana-2647	284	15	with	with	ADP
cana-2647	284	16	increasing	increase	VERB
cana-2647	284	17	vehicle	vehicle	NOUN
cana-2647	284	18	density	density	NOUN
cana-2647	284	19	number	number	NOUN
cana-2647	284	20	of	of	ADP
cana-2647	284	21	vehicles	vehicle	NOUN
cana-2647	284	22	dflf	dflf	NOUN
cana-2647	284	23	(	(	PUNCT
cana-2647	284	24	rmse	rmse	PROPN
cana-2647	284	25	in	in	ADP
cana-2647	284	26	meters	meter	NOUN
cana-2647	284	27	)	)	PUNCT
cana-2647	284	28	st	st	PROPN
cana-2647	284	29	-	-	PUNCT
cana-2647	284	30	ftl	ftl	PROPN
cana-2647	284	31	(	(	PUNCT
cana-2647	284	32	rmse	rmse	NOUN
cana-2647	284	33	in	in	ADP
cana-2647	284	34	meters	meter	NOUN
cana-2647	284	35	)	)	PUNCT
cana-2647	284	36	fedvcp	fedvcp	NOUN
cana-2647	284	37	(	(	PUNCT
cana-2647	284	38	rmse	rmse	NOUN
cana-2647	284	39	in	in	ADP
cana-2647	284	40	meters	meter	NOUN
cana-2647	284	41	)	)	PUNCT
cana-2647	284	42	100	100	NUM
cana-2647	284	43	2.3	2.3	NUM
cana-2647	284	44	3.4	3.4	NUM
cana-2647	284	45	5.1	5.1	NUM
cana-2647	284	46	500	500	NUM
cana-2647	284	47	2.8	2.8	NUM
cana-2647	284	48	4.6	4.6	NUM
cana-2647	284	49	6.8	6.8	NUM
cana-2647	284	50	communications	communication	NOUN
cana-2647	284	51	on	on	ADP
cana-2647	284	52	applied	apply	VERB
cana-2647	284	53	nonlinear	nonlinear	ADJ
cana-2647	284	54	analysis	analysis	NOUN
cana-2647	284	55	issn	issn	NOUN
cana-2647	284	56	:	:	PUNCT
cana-2647	284	57	1074	1074	NUM
cana-2647	284	58	-	-	PUNCT
cana-2647	284	59	133x	133x	NUM
cana-2647	284	60	vol	vol	NOUN
cana-2647	284	61	32	32	NUM
cana-2647	284	62	no	no	NOUN
cana-2647	284	63	.	.	PUNCT
cana-2647	285	1	3s	3s	NUM
cana-2647	285	2	(	(	PUNCT
cana-2647	285	3	2025	2025	NUM
cana-2647	285	4	)	)	PUNCT
cana-2647	285	5	353	353	NUM
cana-2647	285	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	285	7	figure	figure	NOUN
cana-2647	285	8	4	4	NUM
cana-2647	285	9	:	:	PUNCT
cana-2647	285	10	scalability	scalability	NOUN
cana-2647	285	11	of	of	ADP
cana-2647	285	12	models	model	NOUN
cana-2647	285	13	across	across	ADP
cana-2647	285	14	varying	vary	VERB
cana-2647	285	15	vehicular	vehicular	ADJ
cana-2647	285	16	densities	density	NOUN
cana-2647	285	17	in	in	ADP
cana-2647	285	18	specific	specific	ADJ
cana-2647	285	19	scenarios	scenario	NOUN
cana-2647	285	20	as	as	SCONJ
cana-2647	285	21	shown	show	VERB
cana-2647	285	22	in	in	ADP
cana-2647	285	23	table	table	NOUN
cana-2647	285	24	4	4	NUM
cana-2647	285	25	,	,	PUNCT
cana-2647	285	26	such	such	ADJ
cana-2647	285	27	as	as	ADP
cana-2647	285	28	urban	urban	ADJ
cana-2647	285	29	canyons	canyon	NOUN
cana-2647	285	30	and	and	CCONJ
cana-2647	285	31	intermittent	intermittent	ADJ
cana-2647	285	32	connectivity	connectivity	NOUN
cana-2647	285	33	,	,	PUNCT
cana-2647	285	34	dflf	dflf	NOUN
cana-2647	285	35	demonstrated	demonstrate	VERB
cana-2647	285	36	its	its	PRON
cana-2647	285	37	adaptability	adaptability	NOUN
cana-2647	285	38	and	and	CCONJ
cana-2647	285	39	robustness	robustness	NOUN
cana-2647	285	40	.	.	PUNCT
cana-2647	286	1	in	in	ADP
cana-2647	286	2	urban	urban	ADJ
cana-2647	286	3	canyons	canyon	NOUN
cana-2647	286	4	,	,	PUNCT
cana-2647	286	5	the	the	DET
cana-2647	286	6	framework	framework	NOUN
cana-2647	286	7	leveraged	leverage	VERB
cana-2647	286	8	its	its	PRON
cana-2647	286	9	transformer	transformer	NOUN
cana-2647	286	10	-	-	PUNCT
cana-2647	286	11	based	base	VERB
cana-2647	286	12	attention	attention	NOUN
cana-2647	286	13	mechanism	mechanism	NOUN
cana-2647	286	14	to	to	PART
cana-2647	286	15	integrate	integrate	VERB
cana-2647	286	16	gnss	gnss	NOUN
cana-2647	286	17	,	,	PUNCT
cana-2647	286	18	sensor	sensor	NOUN
cana-2647	286	19	,	,	PUNCT
cana-2647	286	20	and	and	CCONJ
cana-2647	286	21	v2v	v2v	NOUN
cana-2647	286	22	data	datum	NOUN
cana-2647	286	23	,	,	PUNCT
cana-2647	286	24	achieving	achieve	VERB
cana-2647	286	25	an	an	DET
cana-2647	286	26	rmse	rmse	NOUN
cana-2647	286	27	of	of	ADP
cana-2647	286	28	2.3	2.3	NUM
cana-2647	286	29	meters	meter	NOUN
cana-2647	286	30	,	,	PUNCT
cana-2647	286	31	significantly	significantly	ADV
cana-2647	286	32	lower	low	ADJ
cana-2647	286	33	than	than	ADP
cana-2647	286	34	st	st	PROPN
cana-2647	286	35	-	-	PUNCT
cana-2647	286	36	ftl	ftl	NOUN
cana-2647	286	37	’s	’s	PART
cana-2647	286	38	3.1	3.1	NUM
cana-2647	286	39	meters	meter	NOUN
cana-2647	286	40	and	and	CCONJ
cana-2647	286	41	fedvcp	fedvcp	NOUN
cana-2647	286	42	4.7	4.7	NUM
cana-2647	286	43	meters	meter	NOUN
cana-2647	286	44	.	.	PUNCT
cana-2647	287	1	during	during	ADP
cana-2647	287	2	intermittent	intermittent	ADJ
cana-2647	287	3	connectivity	connectivity	NOUN
cana-2647	287	4	,	,	PUNCT
cana-2647	287	5	dflf	dflf	NOUN
cana-2647	287	6	utilized	utilize	VERB
cana-2647	287	7	its	its	PRON
cana-2647	287	8	dynamic	dynamic	ADJ
cana-2647	287	9	synchronization	synchronization	NOUN
cana-2647	287	10	mechanism	mechanism	NOUN
cana-2647	287	11	to	to	PART
cana-2647	287	12	compensate	compensate	VERB
cana-2647	287	13	for	for	ADP
cana-2647	287	14	missing	miss	VERB
cana-2647	287	15	updates	update	NOUN
cana-2647	287	16	,	,	PUNCT
cana-2647	287	17	maintaining	maintain	VERB
cana-2647	287	18	an	an	DET
cana-2647	287	19	rmse	rmse	NOUN
cana-2647	287	20	of	of	ADP
cana-2647	287	21	3.0	3.0	NUM
cana-2647	287	22	meters	meter	NOUN
cana-2647	287	23	,	,	PUNCT
cana-2647	287	24	outperforming	outperform	VERB
cana-2647	287	25	st	st	PROPN
cana-2647	287	26	-	-	PUNCT
cana-2647	287	27	ftl	ftl	PROPN
cana-2647	287	28	(	(	PUNCT
cana-2647	287	29	4.2	4.2	NUM
cana-2647	287	30	meters	meter	NOUN
cana-2647	287	31	)	)	PUNCT
cana-2647	287	32	and	and	CCONJ
cana-2647	287	33	fedvcp	fedvcp	NOUN
cana-2647	287	34	(	(	PUNCT
cana-2647	287	35	6.3	6.3	NUM
cana-2647	287	36	meters	meter	NOUN
cana-2647	287	37	)	)	PUNCT
cana-2647	287	38	.	.	PUNCT
cana-2647	288	1	table	table	NOUN
cana-2647	288	2	4	4	NUM
cana-2647	288	3	:	:	PUNCT
cana-2647	288	4	case	case	NOUN
cana-2647	288	5	study	study	NOUN
cana-2647	288	6	results	result	NOUN
cana-2647	288	7	in	in	ADP
cana-2647	288	8	urban	urban	ADJ
cana-2647	288	9	canyon	canyon	NOUN
cana-2647	288	10	and	and	CCONJ
cana-2647	288	11	intermittent	intermittent	ADJ
cana-2647	288	12	connectivity	connectivity	NOUN
cana-2647	288	13	scenarios	scenario	NOUN
cana-2647	288	14	scenario	scenario	NOUN
cana-2647	288	15	dflf	dflf	NOUN
cana-2647	288	16	(	(	PUNCT
cana-2647	288	17	rmse	rmse	PROPN
cana-2647	288	18	in	in	ADP
cana-2647	288	19	meters	meter	NOUN
cana-2647	288	20	)	)	PUNCT
cana-2647	288	21	st	st	PROPN
cana-2647	288	22	-	-	PUNCT
cana-2647	288	23	ftl	ftl	PROPN
cana-2647	288	24	(	(	PUNCT
cana-2647	288	25	rmse	rmse	NOUN
cana-2647	288	26	in	in	ADP
cana-2647	288	27	meters	meter	NOUN
cana-2647	288	28	)	)	PUNCT
cana-2647	288	29	fedvcp	fedvcp	NOUN
cana-2647	288	30	(	(	PUNCT
cana-2647	288	31	rmse	rmse	NOUN
cana-2647	288	32	in	in	ADP
cana-2647	288	33	meters	meter	NOUN
cana-2647	288	34	)	)	PUNCT
cana-2647	288	35	urban	urban	ADJ
cana-2647	288	36	canyon	canyon	NOUN
cana-2647	288	37	2.3	2.3	NUM
cana-2647	288	38	3.1	3.1	NUM
cana-2647	288	39	4.7	4.7	NUM
cana-2647	288	40	intermittent	intermittent	ADJ
cana-2647	288	41	connectivity	connectivity	NOUN
cana-2647	288	42	3.0	3.0	NUM
cana-2647	288	43	4.2	4.2	NUM
cana-2647	288	44	6.3	6.3	NUM
cana-2647	288	45	communications	communication	NOUN
cana-2647	288	46	on	on	ADP
cana-2647	288	47	applied	apply	VERB
cana-2647	288	48	nonlinear	nonlinear	ADJ
cana-2647	288	49	analysis	analysis	NOUN
cana-2647	288	50	issn	issn	NOUN
cana-2647	288	51	:	:	PUNCT
cana-2647	288	52	1074	1074	NUM
cana-2647	288	53	-	-	PUNCT
cana-2647	288	54	133x	133x	NUM
cana-2647	288	55	vol	vol	NOUN
cana-2647	288	56	32	32	NUM
cana-2647	288	57	no	no	NOUN
cana-2647	288	58	.	.	PUNCT
cana-2647	289	1	3s	3s	NUM
cana-2647	289	2	(	(	PUNCT
cana-2647	289	3	2025	2025	NUM
cana-2647	289	4	)	)	PUNCT
cana-2647	289	5	354	354	NUM
cana-2647	289	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	289	7	figure	figure	NOUN
cana-2647	289	8	5	5	NUM
cana-2647	289	9	:	:	PUNCT
cana-2647	289	10	model	model	NOUN
cana-2647	289	11	performance	performance	NOUN
cana-2647	289	12	in	in	ADP
cana-2647	289	13	specific	specific	ADJ
cana-2647	289	14	traffic	traffic	NOUN
cana-2647	289	15	scenarios	scenario	NOUN
cana-2647	289	16	the	the	DET
cana-2647	289	17	figure	figure	NOUN
cana-2647	289	18	5	5	NUM
cana-2647	289	19	findings	finding	NOUN
cana-2647	289	20	confirm	confirm	VERB
cana-2647	289	21	that	that	SCONJ
cana-2647	289	22	dflf	dflf	NOUN
cana-2647	289	23	successfully	successfully	ADV
cana-2647	289	24	addresses	address	VERB
cana-2647	289	25	the	the	DET
cana-2647	289	26	challenges	challenge	NOUN
cana-2647	289	27	of	of	ADP
cana-2647	289	28	real	real	ADJ
cana-2647	289	29	-	-	PUNCT
cana-2647	289	30	time	time	NOUN
cana-2647	289	31	localization	localization	NOUN
cana-2647	289	32	in	in	ADP
cana-2647	289	33	dynamic	dynamic	ADJ
cana-2647	289	34	vehicular	vehicular	ADJ
cana-2647	289	35	networks	network	NOUN
cana-2647	289	36	.	.	PUNCT
cana-2647	290	1	by	by	ADP
cana-2647	290	2	combining	combine	VERB
cana-2647	290	3	kalman	kalman	PROPN
cana-2647	290	4	filtering	filtering	PROPN
cana-2647	290	5	,	,	PUNCT
cana-2647	290	6	lstm	lstm	PROPN
cana-2647	290	7	,	,	PUNCT
cana-2647	290	8	gcn	gcn	ADJ
cana-2647	290	9	,	,	PUNCT
cana-2647	290	10	and	and	CCONJ
cana-2647	290	11	transformer	transformer	NOUN
cana-2647	290	12	-	-	PUNCT
cana-2647	290	13	based	base	VERB
cana-2647	290	14	attention	attention	NOUN
cana-2647	290	15	,	,	PUNCT
cana-2647	290	16	the	the	DET
cana-2647	290	17	framework	framework	NOUN
cana-2647	290	18	effectively	effectively	ADV
cana-2647	290	19	integrates	integrate	VERB
cana-2647	290	20	temporal	temporal	ADJ
cana-2647	290	21	and	and	CCONJ
cana-2647	290	22	spatial	spatial	ADJ
cana-2647	290	23	data	datum	NOUN
cana-2647	290	24	to	to	PART
cana-2647	290	25	produce	produce	VERB
cana-2647	290	26	accurate	accurate	ADJ
cana-2647	290	27	predictions	prediction	NOUN
cana-2647	290	28	.	.	PUNCT
cana-2647	291	1	the	the	DET
cana-2647	291	2	federated	federated	ADJ
cana-2647	291	3	learning	learning	NOUN
cana-2647	291	4	approach	approach	NOUN
cana-2647	291	5	,	,	PUNCT
cana-2647	291	6	supported	support	VERB
cana-2647	291	7	by	by	ADP
cana-2647	291	8	differential	differential	NOUN
cana-2647	291	9	privacy	privacy	NOUN
cana-2647	291	10	and	and	CCONJ
cana-2647	291	11	homomorphic	homomorphic	ADJ
cana-2647	291	12	encryption	encryption	NOUN
cana-2647	291	13	,	,	PUNCT
cana-2647	291	14	ensures	ensure	VERB
cana-2647	291	15	secure	secure	ADJ
cana-2647	291	16	and	and	CCONJ
cana-2647	291	17	decentralized	decentralized	ADJ
cana-2647	291	18	model	model	NOUN
cana-2647	291	19	training	training	NOUN
cana-2647	291	20	without	without	ADP
cana-2647	291	21	significant	significant	ADJ
cana-2647	291	22	loss	loss	NOUN
cana-2647	291	23	of	of	ADP
cana-2647	291	24	performance	performance	NOUN
cana-2647	291	25	.	.	PUNCT
cana-2647	292	1	compared	compare	VERB
cana-2647	292	2	to	to	ADP
cana-2647	292	3	st	st	NOUN
cana-2647	292	4	-	-	PUNCT
cana-2647	292	5	ftl	ftl	NOUN
cana-2647	292	6	and	and	CCONJ
cana-2647	292	7	fedvcp	fedvcp	NOUN
cana-2647	292	8	,	,	PUNCT
cana-2647	292	9	dflf	dflf	NOUN
cana-2647	292	10	demonstrated	demonstrate	VERB
cana-2647	292	11	superior	superior	ADJ
cana-2647	292	12	accuracy	accuracy	NOUN
cana-2647	292	13	,	,	PUNCT
cana-2647	292	14	scalability	scalability	NOUN
cana-2647	292	15	,	,	PUNCT
cana-2647	292	16	and	and	CCONJ
cana-2647	292	17	privacy	privacy	NOUN
cana-2647	292	18	preservation	preservation	NOUN
cana-2647	292	19	.	.	PUNCT
cana-2647	293	1	st	st	NOUN
cana-2647	293	2	-	-	PUNCT
cana-2647	293	3	ftl	ftl	NOUN
cana-2647	293	4	,	,	PUNCT
cana-2647	293	5	despite	despite	SCONJ
cana-2647	293	6	having	have	VERB
cana-2647	293	7	better	well	ADJ
cana-2647	293	8	performance	performance	NOUN
cana-2647	293	9	than	than	ADP
cana-2647	293	10	fedvcp	fedvcp	NOUN
cana-2647	293	11	,	,	PUNCT
cana-2647	293	12	fell	fall	VERB
cana-2647	293	13	short	short	ADV
cana-2647	293	14	of	of	ADP
cana-2647	293	15	dflf	dflf	NOUN
cana-2647	293	16	in	in	ADP
cana-2647	293	17	handling	handle	VERB
cana-2647	293	18	high	high	ADJ
cana-2647	293	19	-	-	PUNCT
cana-2647	293	20	density	density	NOUN
cana-2647	293	21	traffic	traffic	NOUN
cana-2647	293	22	scenarios	scenario	NOUN
cana-2647	293	23	and	and	CCONJ
cana-2647	293	24	balancing	balance	VERB
cana-2647	293	25	privacy	privacy	NOUN
cana-2647	293	26	and	and	CCONJ
cana-2647	293	27	accuracy	accuracy	NOUN
cana-2647	293	28	.	.	PUNCT
cana-2647	294	1	the	the	DET
cana-2647	294	2	advanced	advanced	ADJ
cana-2647	294	3	feature	feature	NOUN
cana-2647	294	4	fusion	fusion	NOUN
cana-2647	294	5	in	in	ADP
cana-2647	294	6	dflf	dflf	NOUN
cana-2647	294	7	,	,	PUNCT
cana-2647	294	8	driven	drive	VERB
cana-2647	294	9	by	by	ADP
cana-2647	294	10	the	the	DET
cana-2647	294	11	attention	attention	NOUN
cana-2647	294	12	mechanism	mechanism	NOUN
cana-2647	294	13	,	,	PUNCT
cana-2647	294	14	provided	provide	VERB
cana-2647	294	15	a	a	DET
cana-2647	294	16	notable	notable	ADJ
cana-2647	294	17	advantage	advantage	NOUN
cana-2647	294	18	in	in	ADP
cana-2647	294	19	challenging	challenge	VERB
cana-2647	294	20	conditions	condition	NOUN
cana-2647	294	21	such	such	ADJ
cana-2647	294	22	as	as	ADP
cana-2647	294	23	urban	urban	ADJ
cana-2647	294	24	canyons	canyon	NOUN
cana-2647	294	25	and	and	CCONJ
cana-2647	294	26	intermittent	intermittent	ADJ
cana-2647	294	27	connectivity	connectivity	NOUN
cana-2647	294	28	.	.	PUNCT
cana-2647	295	1	the	the	DET
cana-2647	295	2	study	study	NOUN
cana-2647	295	3	concludes	conclude	VERB
cana-2647	295	4	that	that	SCONJ
cana-2647	295	5	dflf	dflf	NOUN
cana-2647	295	6	offers	offer	VERB
cana-2647	295	7	a	a	DET
cana-2647	295	8	robust	robust	ADJ
cana-2647	295	9	solution	solution	NOUN
cana-2647	295	10	for	for	ADP
cana-2647	295	11	vehicular	vehicular	ADJ
cana-2647	295	12	localization	localization	NOUN
cana-2647	295	13	,	,	PUNCT
cana-2647	295	14	addressing	address	VERB
cana-2647	295	15	the	the	DET
cana-2647	295	16	key	key	ADJ
cana-2647	295	17	limitations	limitation	NOUN
cana-2647	295	18	of	of	ADP
cana-2647	295	19	existing	exist	VERB
cana-2647	295	20	models	model	NOUN
cana-2647	295	21	.	.	PUNCT
cana-2647	296	1	future	future	ADJ
cana-2647	296	2	research	research	NOUN
cana-2647	296	3	could	could	AUX
cana-2647	296	4	explore	explore	VERB
cana-2647	296	5	adaptive	adaptive	ADJ
cana-2647	296	6	attention	attention	NOUN
cana-2647	296	7	mechanisms	mechanism	NOUN
cana-2647	296	8	and	and	CCONJ
cana-2647	296	9	the	the	DET
cana-2647	296	10	integration	integration	NOUN
cana-2647	296	11	of	of	ADP
cana-2647	296	12	alternative	alternative	ADJ
cana-2647	296	13	communication	communication	NOUN
cana-2647	296	14	protocols	protocol	NOUN
cana-2647	296	15	to	to	PART
cana-2647	296	16	further	far	ADV
cana-2647	296	17	enhance	enhance	VERB
cana-2647	296	18	the	the	DET
cana-2647	296	19	framework	framework	NOUN
cana-2647	296	20	’s	’s	PART
cana-2647	296	21	adaptability	adaptability	NOUN
cana-2647	296	22	and	and	CCONJ
cana-2647	296	23	efficiency	efficiency	NOUN
cana-2647	296	24	.	.	PUNCT
cana-2647	297	1	5	5	NUM
cana-2647	297	2	conclusion	conclusion	NOUN
cana-2647	297	3	the	the	DET
cana-2647	297	4	study	study	NOUN
cana-2647	297	5	focused	focus	VERB
cana-2647	297	6	on	on	ADP
cana-2647	297	7	addressing	address	VERB
cana-2647	297	8	real	real	ADJ
cana-2647	297	9	-	-	PUNCT
cana-2647	297	10	time	time	NOUN
cana-2647	297	11	vehicle	vehicle	NOUN
cana-2647	297	12	positioning	positioning	NOUN
cana-2647	297	13	challenges	challenge	NOUN
cana-2647	297	14	in	in	ADP
cana-2647	297	15	dynamic	dynamic	ADJ
cana-2647	297	16	environments	environment	NOUN
cana-2647	297	17	by	by	ADP
cana-2647	297	18	developing	develop	VERB
cana-2647	297	19	a	a	DET
cana-2647	297	20	decentralized	decentralize	VERB
cana-2647	297	21	federated	federated	ADJ
cana-2647	297	22	localization	localization	NOUN
cana-2647	297	23	framework	framework	NOUN
cana-2647	297	24	(	(	PUNCT
cana-2647	297	25	dflf	dflf	NOUN
cana-2647	297	26	)	)	PUNCT
cana-2647	297	27	.	.	PUNCT
cana-2647	298	1	the	the	DET
cana-2647	298	2	framework	framework	NOUN
cana-2647	298	3	used	use	VERB
cana-2647	298	4	data	datum	NOUN
cana-2647	298	5	from	from	ADP
cana-2647	298	6	gnss	gnss	NOUN
cana-2647	298	7	,	,	PUNCT
cana-2647	298	8	onboard	onboard	ADJ
cana-2647	298	9	sensors	sensor	NOUN
cana-2647	298	10	,	,	PUNCT
cana-2647	298	11	and	and	CCONJ
cana-2647	298	12	v2v	v2v	NOUN
cana-2647	298	13	communication	communication	NOUN
cana-2647	298	14	to	to	PART
cana-2647	298	15	improve	improve	VERB
cana-2647	298	16	position	position	NOUN
cana-2647	298	17	estimation	estimation	NOUN
cana-2647	298	18	.	.	PUNCT
cana-2647	299	1	it	it	PRON
cana-2647	299	2	incorporated	incorporate	VERB
cana-2647	299	3	machine	machine	NOUN
cana-2647	299	4	learning	learn	VERB
cana-2647	299	5	techniques	technique	NOUN
cana-2647	299	6	like	like	ADP
cana-2647	299	7	lstms	lstms	NOUN
cana-2647	299	8	and	and	CCONJ
cana-2647	299	9	gcns	gcns	PROPN
cana-2647	299	10	,	,	PUNCT
cana-2647	299	11	combined	combine	VERB
cana-2647	299	12	with	with	ADP
cana-2647	299	13	attention	attention	NOUN
cana-2647	299	14	mechanisms	mechanism	NOUN
cana-2647	299	15	,	,	PUNCT
cana-2647	299	16	to	to	PART
cana-2647	299	17	analyze	analyze	VERB
cana-2647	299	18	temporal	temporal	ADJ
cana-2647	299	19	and	and	CCONJ
cana-2647	299	20	spatial	spatial	ADJ
cana-2647	299	21	data	datum	NOUN
cana-2647	299	22	.	.	PUNCT
cana-2647	300	1	results	result	NOUN
cana-2647	300	2	showed	show	VERB
cana-2647	300	3	reduced	reduce	VERB
cana-2647	300	4	localization	localization	NOUN
cana-2647	300	5	errors	error	NOUN
cana-2647	300	6	,	,	PUNCT
cana-2647	300	7	with	with	ADP
cana-2647	300	8	rmse	rmse	ADJ
cana-2647	300	9	values	value	NOUN
cana-2647	300	10	of	of	ADP
cana-2647	300	11	2.3	2.3	NUM
cana-2647	300	12	meters	meter	NOUN
cana-2647	300	13	in	in	ADP
cana-2647	300	14	urban	urban	ADJ
cana-2647	300	15	areas	area	NOUN
cana-2647	300	16	and	and	CCONJ
cana-2647	300	17	1.2	1.2	NUM
cana-2647	300	18	meters	meter	NOUN
cana-2647	300	19	on	on	ADP
cana-2647	300	20	highways	highway	NOUN
cana-2647	300	21	.	.	PUNCT
cana-2647	301	1	scalability	scalability	NOUN
cana-2647	301	2	was	be	AUX
cana-2647	301	3	maintained	maintain	VERB
cana-2647	301	4	with	with	ADP
cana-2647	301	5	vehicle	vehicle	NOUN
cana-2647	301	6	networks	network	NOUN
cana-2647	301	7	ranging	range	VERB
cana-2647	301	8	from	from	ADP
cana-2647	301	9	100	100	NUM
cana-2647	301	10	to	to	PART
cana-2647	301	11	500	500	NUM
cana-2647	301	12	nodes	node	NOUN
cana-2647	301	13	.	.	PUNCT
cana-2647	302	1	the	the	DET
cana-2647	302	2	research	research	NOUN
cana-2647	302	3	provided	provide	VERB
cana-2647	302	4	a	a	DET
cana-2647	302	5	method	method	NOUN
cana-2647	302	6	to	to	PART
cana-2647	302	7	handle	handle	VERB
cana-2647	302	8	gnss	gnss	NOUN
cana-2647	302	9	limitations	limitation	NOUN
cana-2647	302	10	and	and	CCONJ
cana-2647	302	11	frequent	frequent	ADJ
cana-2647	302	12	topology	topology	NOUN
cana-2647	302	13	changes	change	NOUN
cana-2647	302	14	in	in	ADP
cana-2647	302	15	vehicular	vehicular	ADJ
cana-2647	302	16	networks	network	NOUN
cana-2647	302	17	.	.	PUNCT
cana-2647	303	1	privacy	privacy	NOUN
cana-2647	303	2	was	be	AUX
cana-2647	303	3	preserved	preserve	VERB
cana-2647	303	4	by	by	ADP
cana-2647	303	5	exchanging	exchange	VERB
cana-2647	303	6	encrypted	encrypt	VERB
cana-2647	303	7	model	model	NOUN
cana-2647	303	8	updates	update	NOUN
cana-2647	303	9	,	,	PUNCT
cana-2647	303	10	ensuring	ensure	VERB
cana-2647	303	11	sensitive	sensitive	ADJ
cana-2647	303	12	data	datum	NOUN
cana-2647	303	13	was	be	AUX
cana-2647	303	14	not	not	PART
cana-2647	303	15	shared	share	VERB
cana-2647	303	16	directly	directly	ADV
cana-2647	303	17	.	.	PUNCT
cana-2647	304	1	the	the	DET
cana-2647	304	2	approach	approach	NOUN
cana-2647	304	3	showed	show	VERB
cana-2647	304	4	consistent	consistent	ADJ
cana-2647	304	5	performance	performance	NOUN
cana-2647	304	6	communications	communication	NOUN
cana-2647	304	7	on	on	ADP
cana-2647	304	8	applied	apply	VERB
cana-2647	304	9	nonlinear	nonlinear	ADJ
cana-2647	304	10	analysis	analysis	NOUN
cana-2647	304	11	issn	issn	NOUN
cana-2647	304	12	:	:	PUNCT
cana-2647	304	13	1074	1074	NUM
cana-2647	304	14	-	-	PUNCT
cana-2647	304	15	133x	133x	NUM
cana-2647	304	16	vol	vol	NOUN
cana-2647	304	17	32	32	NUM
cana-2647	304	18	no	no	NOUN
cana-2647	304	19	.	.	PUNCT
cana-2647	305	1	3s	3s	NUM
cana-2647	305	2	(	(	PUNCT
cana-2647	305	3	2025	2025	NUM
cana-2647	305	4	)	)	PUNCT
cana-2647	305	5	355	355	NUM
cana-2647	305	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	305	7	under	under	ADP
cana-2647	305	8	dynamic	dynamic	ADJ
cana-2647	305	9	conditions	condition	NOUN
cana-2647	305	10	,	,	PUNCT
cana-2647	305	11	such	such	ADJ
cana-2647	305	12	as	as	ADP
cana-2647	305	13	urban	urban	ADJ
cana-2647	305	14	canyons	canyon	NOUN
cana-2647	305	15	and	and	CCONJ
cana-2647	305	16	intermittent	intermittent	ADJ
cana-2647	305	17	connectivity	connectivity	NOUN
cana-2647	305	18	.	.	PUNCT
cana-2647	306	1	the	the	DET
cana-2647	306	2	study	study	NOUN
cana-2647	306	3	relied	rely	VERB
cana-2647	306	4	on	on	ADP
cana-2647	306	5	simulations	simulation	NOUN
cana-2647	306	6	,	,	PUNCT
cana-2647	306	7	which	which	PRON
cana-2647	306	8	might	might	AUX
cana-2647	306	9	not	not	PART
cana-2647	306	10	fully	fully	ADV
cana-2647	306	11	represent	represent	VERB
cana-2647	306	12	real	real	ADJ
cana-2647	306	13	-	-	PUNCT
cana-2647	306	14	world	world	NOUN
cana-2647	306	15	situations	situation	NOUN
cana-2647	306	16	.	.	PUNCT
cana-2647	307	1	testing	test	VERB
cana-2647	307	2	with	with	ADP
cana-2647	307	3	live	live	ADJ
cana-2647	307	4	vehicular	vehicular	ADJ
cana-2647	307	5	data	datum	NOUN
cana-2647	307	6	and	and	CCONJ
cana-2647	307	7	different	different	ADJ
cana-2647	307	8	communication	communication	NOUN
cana-2647	307	9	protocols	protocol	NOUN
cana-2647	307	10	could	could	AUX
cana-2647	307	11	provide	provide	VERB
cana-2647	307	12	additional	additional	ADJ
cana-2647	307	13	validation	validation	NOUN
cana-2647	307	14	.	.	PUNCT
cana-2647	308	1	exploring	explore	VERB
cana-2647	308	2	more	more	ADJ
cana-2647	308	3	adaptive	adaptive	ADJ
cana-2647	308	4	models	model	NOUN
cana-2647	308	5	and	and	CCONJ
cana-2647	308	6	integration	integration	NOUN
cana-2647	308	7	with	with	ADP
cana-2647	308	8	other	other	ADJ
cana-2647	308	9	sensor	sensor	NOUN
cana-2647	308	10	types	type	NOUN
cana-2647	308	11	may	may	AUX
cana-2647	308	12	improve	improve	VERB
cana-2647	308	13	future	future	ADJ
cana-2647	308	14	designs	design	NOUN
cana-2647	308	15	.	.	PUNCT
cana-2647	309	1	this	this	DET
cana-2647	309	2	work	work	NOUN
cana-2647	309	3	addressed	address	VERB
cana-2647	309	4	gaps	gap	NOUN
cana-2647	309	5	in	in	ADP
cana-2647	309	6	decentralized	decentralized	ADJ
cana-2647	309	7	vehicle	vehicle	NOUN
cana-2647	309	8	localization	localization	NOUN
cana-2647	309	9	and	and	CCONJ
cana-2647	309	10	proposed	propose	VERB
cana-2647	309	11	a	a	DET
cana-2647	309	12	framework	framework	NOUN
cana-2647	309	13	for	for	ADP
cana-2647	309	14	handling	handle	VERB
cana-2647	309	15	dynamic	dynamic	ADJ
cana-2647	309	16	traffic	traffic	NOUN
cana-2647	309	17	scenarios	scenario	NOUN
cana-2647	309	18	.	.	PUNCT
cana-2647	310	1	it	it	PRON
cana-2647	310	2	outlined	outline	VERB
cana-2647	310	3	a	a	DET
cana-2647	310	4	structured	structured	ADJ
cana-2647	310	5	approach	approach	NOUN
cana-2647	310	6	to	to	ADP
cana-2647	310	7	achieving	achieve	VERB
cana-2647	310	8	precise	precise	ADJ
cana-2647	310	9	positioning	positioning	NOUN
cana-2647	310	10	while	while	SCONJ
cana-2647	310	11	managing	manage	VERB
cana-2647	310	12	privacy	privacy	NOUN
cana-2647	310	13	concerns	concern	NOUN
cana-2647	310	14	and	and	CCONJ
cana-2647	310	15	communication	communication	NOUN
cana-2647	310	16	challenges	challenge	NOUN
cana-2647	310	17	in	in	ADP
cana-2647	310	18	vehicular	vehicular	ADJ
cana-2647	310	19	networks	network	NOUN
cana-2647	310	20	.	.	PUNCT
cana-2647	311	1	references	reference	NOUN
cana-2647	311	2	[	[	X
cana-2647	311	3	1	1	NUM
cana-2647	311	4	]	]	PUNCT
cana-2647	311	5	barbieri	barbieri	PROPN
cana-2647	311	6	,	,	PUNCT
cana-2647	311	7	luca	luca	PROPN
cana-2647	311	8	,	,	PUNCT
cana-2647	311	9	mattia	mattia	NOUN
cana-2647	311	10	brambilla	brambilla	NOUN
cana-2647	311	11	,	,	PUNCT
cana-2647	311	12	and	and	CCONJ
cana-2647	311	13	monica	monica	PROPN
cana-2647	311	14	nicoli	nicoli	NOUN
cana-2647	311	15	.	.	PUNCT
cana-2647	312	1	"	"	PUNCT
cana-2647	312	2	a	a	DET
cana-2647	312	3	compressed	compressed	ADJ
cana-2647	312	4	decentralized	decentralize	VERB
cana-2647	312	5	federated	federated	ADJ
cana-2647	312	6	learning	learning	NOUN
cana-2647	312	7	frame	frame	NOUN
cana-2647	312	8	work	work	NOUN
cana-2647	312	9	for	for	ADP
cana-2647	312	10	enhanced	enhanced	ADJ
cana-2647	312	11	environmental	environmental	ADJ
cana-2647	312	12	awareness	awareness	NOUN
cana-2647	312	13	in	in	ADP
cana-2647	312	14	v2v	v2v	NOUN
cana-2647	312	15	networks	network	NOUN
cana-2647	312	16	.	.	PUNCT
cana-2647	312	17	"	"	PUNCT
cana-2647	313	1	in	in	ADP
cana-2647	313	2	2024	2024	NUM
cana-2647	313	3	ieee	ieee	NOUN
cana-2647	313	4	international	international	ADJ
cana-2647	313	5	conference	conference	NOUN
cana-2647	313	6	on	on	ADP
cana-2647	313	7	acoustics	acoustic	NOUN
cana-2647	313	8	,	,	PUNCT
cana-2647	313	9	speech	speech	NOUN
cana-2647	313	10	,	,	PUNCT
cana-2647	313	11	and	and	CCONJ
cana-2647	313	12	signal	signal	NOUN
cana-2647	313	13	processing	processing	NOUN
cana-2647	313	14	workshops	workshop	NOUN
cana-2647	313	15	(	(	PUNCT
cana-2647	313	16	icasspw	icasspw	NOUN
cana-2647	313	17	)	)	PUNCT
cana-2647	313	18	,	,	PUNCT
cana-2647	313	19	pp	pp	PROPN
cana-2647	313	20	.	.	PUNCT
cana-2647	314	1	374	374	NUM
cana-2647	314	2	-	-	SYM
cana-2647	314	3	378	378	NUM
cana-2647	314	4	.	.	PUNCT
cana-2647	314	5	ieee	ieee	NOUN
cana-2647	314	6	,	,	PUNCT
cana-2647	314	7	2024	2024	NUM
cana-2647	314	8	.	.	PUNCT
cana-2647	315	1	[	[	X
cana-2647	315	2	2	2	NUM
cana-2647	315	3	]	]	SYM
cana-2647	315	4	su	su	PROPN
cana-2647	315	5	,	,	PUNCT
cana-2647	315	6	dongyuan	dongyuan	ADJ
cana-2647	315	7	,	,	PUNCT
cana-2647	315	8	yipeng	yipeng	PROPN
cana-2647	315	9	zhou	zhou	PROPN
cana-2647	315	10	,	,	PUNCT
cana-2647	315	11	and	and	CCONJ
cana-2647	315	12	laizhong	laizhong	PROPN
cana-2647	315	13	cui	cui	PROPN
cana-2647	315	14	.	.	PUNCT
cana-2647	316	1	"	"	PUNCT
cana-2647	316	2	boost	boost	VERB
cana-2647	316	3	decentralized	decentralize	VERB
cana-2647	316	4	federated	federated	ADJ
cana-2647	316	5	learning	learning	NOUN
cana-2647	316	6	in	in	ADP
cana-2647	316	7	vehicular	vehicular	ADJ
cana-2647	316	8	networks	network	NOUN
cana-2647	316	9	by	by	ADP
cana-2647	316	10	diversifying	diversify	VERB
cana-2647	316	11	data	datum	NOUN
cana-2647	316	12	sources	source	NOUN
cana-2647	316	13	.	.	PUNCT
cana-2647	316	14	"	"	PUNCT
cana-2647	317	1	in	in	ADP
cana-2647	317	2	2022	2022	NUM
cana-2647	317	3	ieee	ieee	NOUN
cana-2647	317	4	30th	30th	ADJ
cana-2647	317	5	international	international	ADJ
cana-2647	317	6	conference	conference	NOUN
cana-2647	317	7	on	on	ADP
cana-2647	317	8	network	network	NOUN
cana-2647	317	9	protocols	protocol	NOUN
cana-2647	317	10	(	(	PUNCT
cana-2647	317	11	icnp	icnp	ADJ
cana-2647	317	12	)	)	PUNCT
cana-2647	317	13	,	,	PUNCT
cana-2647	317	14	pp	pp	ADJ
cana-2647	317	15	.	.	PUNCT
cana-2647	317	16	111	111	NUM
cana-2647	317	17	.	.	PUNCT
cana-2647	317	18	ieee	ieee	NOUN
cana-2647	317	19	,	,	PUNCT
cana-2647	317	20	2022	2022	NUM
cana-2647	317	21	.	.	PUNCT
cana-2647	318	1	[	[	X
cana-2647	318	2	3	3	NUM
cana-2647	318	3	]	]	X
cana-2647	318	4	héry	héry	NOUN
cana-2647	318	5	,	,	PUNCT
cana-2647	318	6	elwan	elwan	PROPN
cana-2647	318	7	,	,	PUNCT
cana-2647	318	8	philippe	philippe	PROPN
cana-2647	318	9	xu	xu	PROPN
cana-2647	318	10	,	,	PUNCT
cana-2647	318	11	and	and	CCONJ
cana-2647	318	12	philippe	philippe	PROPN
cana-2647	318	13	bonnifait	bonnifait	VERB
cana-2647	318	14	.	.	PUNCT
cana-2647	319	1	"	"	PUNCT
cana-2647	319	2	consistent	consistent	ADJ
cana-2647	319	3	decentralized	decentralize	VERB
cana-2647	319	4	cooperative	cooperative	ADJ
cana-2647	319	5	localization	localization	NOUN
cana-2647	319	6	for	for	ADP
cana-2647	319	7	autonomous	autonomous	ADJ
cana-2647	319	8	vehicles	vehicle	NOUN
cana-2647	319	9	using	use	VERB
cana-2647	319	10	lidar	lidar	NOUN
cana-2647	319	11	,	,	PUNCT
cana-2647	319	12	gnss	gnss	NOUN
cana-2647	319	13	,	,	PUNCT
cana-2647	319	14	and	and	CCONJ
cana-2647	319	15	hd	hd	NOUN
cana-2647	319	16	maps	map	NOUN
cana-2647	319	17	.	.	PUNCT
cana-2647	319	18	"	"	PUNCT
cana-2647	320	1	journal	journal	NOUN
cana-2647	320	2	of	of	ADP
cana-2647	320	3	field	field	NOUN
cana-2647	320	4	robotics	robotic	NOUN
cana-2647	320	5	38	38	NUM
cana-2647	320	6	,	,	PUNCT
cana-2647	320	7	no	no	INTJ
cana-2647	320	8	.	.	NOUN
cana-2647	320	9	4	4	NUM
cana-2647	320	10	(	(	PUNCT
cana-2647	320	11	2021	2021	NUM
cana-2647	320	12	):	):	PUNCT
cana-2647	320	13	552	552	NUM
cana-2647	320	14	-	-	SYM
cana-2647	320	15	571	571	NUM
cana-2647	320	16	.	.	PUNCT
cana-2647	321	1	[	[	X
cana-2647	321	2	4	4	NUM
cana-2647	321	3	]	]	X
cana-2647	321	4	ashour	ashour	NOUN
cana-2647	321	5	,	,	PUNCT
cana-2647	321	6	mahmoud	mahmoud	PROPN
cana-2647	321	7	,	,	PUNCT
cana-2647	321	8	ahmed	ahmed	PROPN
cana-2647	321	9	hamdi	hamdi	PROPN
cana-2647	321	10	sakr	sakr	PROPN
cana-2647	321	11	,	,	PUNCT
cana-2647	321	12	and	and	CCONJ
cana-2647	321	13	rui	rui	PROPN
cana-2647	321	14	guo	guo	PROPN
cana-2647	321	15	.	.	PUNCT
cana-2647	322	1	"	"	PUNCT
cana-2647	322	2	distributed	distribute	VERB
cana-2647	322	3	cooperative	cooperative	ADJ
cana-2647	322	4	localization	localization	NOUN
cana-2647	322	5	framework	framework	NOUN
cana-2647	322	6	via	via	ADP
cana-2647	322	7	consensus	consensus	NOUN
cana-2647	322	8	optimization	optimization	NOUN
cana-2647	322	9	.	.	PUNCT
cana-2647	322	10	"	"	PUNCT
cana-2647	323	1	in	in	ADP
cana-2647	323	2	2020	2020	NUM
cana-2647	323	3	ieee	ieee	NOUN
cana-2647	323	4	92nd	92nd	NOUN
cana-2647	323	5	vehicular	vehicular	ADJ
cana-2647	323	6	technology	technology	NOUN
cana-2647	323	7	conference	conference	NOUN
cana-2647	323	8	(	(	PUNCT
cana-2647	323	9	vtc2020	vtc2020	NOUN
cana-2647	323	10	-	-	PUNCT
cana-2647	323	11	fall	fall	NOUN
cana-2647	323	12	)	)	PUNCT
cana-2647	323	13	,	,	PUNCT
cana-2647	323	14	pp	pp	ADP
cana-2647	323	15	.	.	PUNCT
cana-2647	323	16	1	1	NUM
cana-2647	323	17	-	-	SYM
cana-2647	323	18	7	7	NUM
cana-2647	323	19	.	.	PUNCT
cana-2647	323	20	ieee	ieee	NOUN
cana-2647	323	21	,	,	PUNCT
cana-2647	323	22	2020	2020	NUM
cana-2647	323	23	.	.	PUNCT
cana-2647	324	1	[	[	X
cana-2647	324	2	5	5	NUM
cana-2647	324	3	]	]	X
cana-2647	324	4	wang	wang	PROPN
cana-2647	324	5	,	,	PUNCT
cana-2647	324	6	d.	d.	PROPN
cana-2647	324	7	,	,	PUNCT
cana-2647	324	8	k.	k.	PROPN
cana-2647	324	9	o'keefe	o'keefe	PROPN
cana-2647	324	10	,	,	PUNCT
cana-2647	324	11	and	and	CCONJ
cana-2647	324	12	m.	m.	NOUN
cana-2647	324	13	g.	g.	PROPN
cana-2647	324	14	petovello	petovello	PROPN
cana-2647	324	15	.	.	PUNCT
cana-2647	325	1	"	"	PUNCT
cana-2647	325	2	decentralized	decentralize	VERB
cana-2647	325	3	cooperative	cooperative	ADJ
cana-2647	325	4	positioning	positioning	NOUN
cana-2647	325	5	for	for	ADP
cana-2647	325	6	vehicle	vehicle	NOUN
cana-2647	325	7	-	-	PUNCT
cana-2647	325	8	to	to	ADP
cana-2647	325	9	-	-	PUNCT
cana-2647	325	10	vehicle	vehicle	NOUN
cana-2647	325	11	(	(	PUNCT
cana-2647	325	12	v2v	v2v	NOUN
cana-2647	325	13	)	)	PUNCT
cana-2647	325	14	application	application	NOUN
cana-2647	325	15	using	use	VERB
cana-2647	325	16	gps	gps	PROPN
cana-2647	325	17	integrated	integrate	VERB
cana-2647	325	18	with	with	ADP
cana-2647	325	19	uwb	uwb	PROPN
cana-2647	325	20	range	range	NOUN
cana-2647	325	21	.	.	PUNCT
cana-2647	325	22	"	"	PUNCT
cana-2647	326	1	in	in	ADP
cana-2647	326	2	proceedings	proceeding	NOUN
cana-2647	326	3	of	of	ADP
cana-2647	326	4	the	the	DET
cana-2647	326	5	ion	ion	NOUN
cana-2647	326	6	2013	2013	NUM
cana-2647	326	7	pacific	pacific	PROPN
cana-2647	326	8	pnt	pnt	PROPN
cana-2647	326	9	meeting	meeting	NOUN
cana-2647	326	10	,	,	PUNCT
cana-2647	326	11	pp	pp	ADP
cana-2647	326	12	.	.	PUNCT
cana-2647	327	1	793	793	NUM
cana-2647	327	2	-	-	SYM
cana-2647	327	3	803	803	NUM
cana-2647	327	4	.	.	PUNCT
cana-2647	328	1	2013	2013	NUM
cana-2647	328	2	.	.	PUNCT
cana-2647	329	1	[	[	X
cana-2647	329	2	6	6	NUM
cana-2647	329	3	]	]	PUNCT
cana-2647	329	4	ciftler	ciftler	NOUN
cana-2647	329	5	,	,	PUNCT
cana-2647	329	6	bekir	bekir	PROPN
cana-2647	329	7	sait	sait	PROPN
cana-2647	329	8	,	,	PUNCT
cana-2647	329	9	abdullatif	abdullatif	PROPN
cana-2647	329	10	albaseer	albaseer	NOUN
cana-2647	329	11	,	,	PUNCT
cana-2647	329	12	noureddine	noureddine	ADP
cana-2647	329	13	lasla	lasla	PROPN
cana-2647	329	14	,	,	PUNCT
cana-2647	329	15	and	and	CCONJ
cana-2647	329	16	mohamed	mohamed	PROPN
cana-2647	329	17	abdallah	abdallah	PROPN
cana-2647	329	18	.	.	PUNCT
cana-2647	330	1	"	"	PUNCT
cana-2647	330	2	federated	federate	VERB
cana-2647	330	3	learning	learning	NOUN
cana-2647	330	4	for	for	ADP
cana-2647	330	5	localization	localization	NOUN
cana-2647	330	6	:	:	PUNCT
cana-2647	330	7	a	a	DET
cana-2647	330	8	privacy	privacy	NOUN
cana-2647	330	9	-	-	PUNCT
cana-2647	330	10	preserving	preserve	VERB
cana-2647	330	11	crowdsourcing	crowdsourcing	NOUN
cana-2647	330	12	method	method	NOUN
cana-2647	330	13	.	.	PUNCT
cana-2647	330	14	"	"	PUNCT
cana-2647	331	1	arxiv	arxiv	PROPN
cana-2647	331	2	preprint	preprint	VERB
cana-2647	331	3	arxiv:2001.01911	arxiv:2001.01911	PROPN
cana-2647	331	4	(	(	PUNCT
cana-2647	331	5	2020	2020	NUM
cana-2647	331	6	)	)	PUNCT
cana-2647	331	7	.	.	PUNCT
cana-2647	332	1	[	[	X
cana-2647	332	2	7	7	NUM
cana-2647	332	3	]	]	X
cana-2647	332	4	zhou	zhou	X
cana-2647	332	5	,	,	PUNCT
cana-2647	332	6	xiaokang	xiaokang	PROPN
cana-2647	332	7	,	,	PUNCT
cana-2647	332	8	qiuyue	qiuyue	PROPN
cana-2647	332	9	yang	yang	PROPN
cana-2647	332	10	,	,	PUNCT
cana-2647	332	11	qiang	qiang	PROPN
cana-2647	332	12	liu	liu	PROPN
cana-2647	332	13	,	,	PUNCT
cana-2647	332	14	wei	wei	PROPN
cana-2647	332	15	liang	liang	PROPN
cana-2647	332	16	,	,	PUNCT
cana-2647	332	17	kevin	kevin	PROPN
cana-2647	332	18	wang	wang	PROPN
cana-2647	332	19	,	,	PUNCT
cana-2647	332	20	zhi	zhi	PROPN
cana-2647	332	21	liu	liu	PROPN
cana-2647	332	22	,	,	PUNCT
cana-2647	332	23	jianhua	jianhua	PROPN
cana-2647	332	24	ma	ma	PROPN
cana-2647	332	25	,	,	PUNCT
cana-2647	332	26	and	and	CCONJ
cana-2647	332	27	qun	qun	PROPN
cana-2647	332	28	jin	jin	PROPN
cana-2647	332	29	.	.	PUNCT
cana-2647	333	1	"	"	PUNCT
cana-2647	333	2	spatial	spatial	ADJ
cana-2647	333	3	–	–	PUNCT
cana-2647	333	4	temporal	temporal	ADJ
cana-2647	333	5	federated	federated	ADJ
cana-2647	333	6	transfer	transfer	NOUN
cana-2647	333	7	learning	learning	NOUN
cana-2647	333	8	with	with	ADP
cana-2647	333	9	multi	multi	ADJ
cana-2647	333	10	-	-	ADJ
cana-2647	333	11	sensor	sensor	ADJ
cana-2647	333	12	data	datum	NOUN
cana-2647	333	13	fusion	fusion	NOUN
cana-2647	333	14	for	for	ADP
cana-2647	333	15	cooperative	cooperative	ADJ
cana-2647	333	16	positioning	positioning	NOUN
cana-2647	333	17	.	.	PUNCT
cana-2647	333	18	"	"	PUNCT
cana-2647	334	1	information	information	NOUN
cana-2647	334	2	fusion	fusion	NOUN
cana-2647	334	3	105	105	NUM
cana-2647	334	4	(	(	PUNCT
cana-2647	334	5	2024	2024	NUM
cana-2647	334	6	):	):	PUNCT
cana-2647	334	7	102182	102182	NUM
cana-2647	334	8	.	.	PUNCT
cana-2647	335	1	[	[	X
cana-2647	335	2	8	8	NUM
cana-2647	335	3	]	]	X
cana-2647	335	4	parker	parker	PROPN
cana-2647	335	5	,	,	PUNCT
cana-2647	335	6	ryan	ryan	PROPN
cana-2647	335	7	,	,	PUNCT
cana-2647	335	8	and	and	CCONJ
cana-2647	335	9	shahrokh	shahrokh	VERB
cana-2647	335	10	valaee	valaee	PROPN
cana-2647	335	11	.	.	PUNCT
cana-2647	336	1	"	"	PUNCT
cana-2647	336	2	vehicle	vehicle	NOUN
cana-2647	336	3	localization	localization	NOUN
cana-2647	336	4	in	in	ADP
cana-2647	336	5	vehicular	vehicular	ADJ
cana-2647	336	6	networks	network	NOUN
cana-2647	336	7	.	.	PUNCT
cana-2647	336	8	"	"	PUNCT
cana-2647	337	1	in	in	ADP
cana-2647	337	2	ieee	ieee	NOUN
cana-2647	337	3	vehicular	vehicular	ADJ
cana-2647	337	4	technology	technology	NOUN
cana-2647	337	5	conference	conference	NOUN
cana-2647	337	6	,	,	PUNCT
cana-2647	337	7	pp	pp	ADJ
cana-2647	337	8	.	.	PUNCT
cana-2647	337	9	1	1	NUM
cana-2647	337	10	-	-	SYM
cana-2647	337	11	5	5	NUM
cana-2647	337	12	.	.	PUNCT
cana-2647	337	13	ieee	ieee	NOUN
cana-2647	337	14	,	,	PUNCT
cana-2647	337	15	2006	2006	NUM
cana-2647	337	16	.	.	PUNCT
cana-2647	338	1	[	[	X
cana-2647	338	2	9	9	NUM
cana-2647	338	3	]	]	SYM
cana-2647	338	4	pollicino	pollicino	NOUN
cana-2647	338	5	,	,	PUNCT
cana-2647	338	6	francesco	francesco	PROPN
cana-2647	338	7	,	,	PUNCT
cana-2647	338	8	samih	samih	PROPN
cana-2647	338	9	eisa	eisa	PROPN
cana-2647	338	10	,	,	PUNCT
cana-2647	338	11	pedro	pedro	PROPN
cana-2647	338	12	rosa	rosa	PROPN
cana-2647	338	13	,	,	PUNCT
cana-2647	338	14	miguel	miguel	PROPN
cana-2647	338	15	l.	l.	PROPN
cana-2647	338	16	pardal	pardal	PROPN
cana-2647	338	17	,	,	PUNCT
cana-2647	338	18	and	and	CCONJ
cana-2647	338	19	mirco	mirco	PROPN
cana-2647	338	20	marchetti	marchetti	PROPN
cana-2647	338	21	.	.	PUNCT
cana-2647	339	1	"	"	PUNCT
cana-2647	339	2	decentralized	decentralize	VERB
cana-2647	339	3	position	position	NOUN
cana-2647	339	4	detection	detection	NOUN
cana-2647	339	5	for	for	ADP
cana-2647	339	6	moving	move	VERB
cana-2647	339	7	vehicles	vehicle	NOUN
cana-2647	339	8	.	.	PUNCT
cana-2647	339	9	"	"	PUNCT
cana-2647	340	1	in	in	ADP
cana-2647	340	2	2023	2023	NUM
cana-2647	340	3	ieee	ieee	NOUN
cana-2647	340	4	97th	97th	VERB
cana-2647	340	5	vehicular	vehicular	ADJ
cana-2647	340	6	technology	technology	NOUN
cana-2647	340	7	conference	conference	NOUN
cana-2647	340	8	(	(	PUNCT
cana-2647	340	9	vtc2023	vtc2023	NOUN
cana-2647	340	10	-	-	PUNCT
cana-2647	340	11	spring	spring	NOUN
cana-2647	340	12	)	)	PUNCT
cana-2647	340	13	,	,	PUNCT
cana-2647	340	14	pp	pp	ADP
cana-2647	340	15	.	.	PUNCT
cana-2647	341	1	16	16	NUM
cana-2647	341	2	.	.	PUNCT
cana-2647	341	3	ieee	ieee	NOUN
cana-2647	341	4	,	,	PUNCT
cana-2647	341	5	2023	2023	NUM
cana-2647	341	6	.	.	PUNCT
cana-2647	342	1	[	[	X
cana-2647	342	2	10	10	NUM
cana-2647	342	3	]	]	X
cana-2647	342	4	leung	leung	PROPN
cana-2647	342	5	,	,	PUNCT
cana-2647	342	6	keith	keith	PROPN
cana-2647	342	7	yk	yk	PROPN
cana-2647	342	8	,	,	PUNCT
cana-2647	342	9	timothy	timothy	PROPN
cana-2647	342	10	d.	d.	PROPN
cana-2647	342	11	barfoot	barfoot	PROPN
cana-2647	342	12	,	,	PUNCT
cana-2647	342	13	and	and	CCONJ
cana-2647	342	14	hugh	hugh	PROPN
cana-2647	342	15	ht	ht	PROPN
cana-2647	342	16	liu	liu	PROPN
cana-2647	342	17	.	.	PUNCT
cana-2647	343	1	"	"	PUNCT
cana-2647	343	2	decentralized	decentralize	VERB
cana-2647	343	3	localization	localization	NOUN
cana-2647	343	4	for	for	ADP
cana-2647	343	5	dynamic	dynamic	ADJ
cana-2647	343	6	and	and	CCONJ
cana-2647	343	7	sparse	sparse	ADJ
cana-2647	343	8	robot	robot	NOUN
cana-2647	343	9	networks	network	NOUN
cana-2647	343	10	.	.	PUNCT
cana-2647	343	11	"	"	PUNCT
cana-2647	344	1	in	in	ADP
cana-2647	344	2	2009	2009	NUM
cana-2647	344	3	ieee	ieee	NOUN
cana-2647	344	4	international	international	ADJ
cana-2647	344	5	conference	conference	NOUN
cana-2647	344	6	on	on	ADP
cana-2647	344	7	robotics	robotic	NOUN
cana-2647	344	8	and	and	CCONJ
cana-2647	344	9	automation	automation	NOUN
cana-2647	344	10	,	,	PUNCT
cana-2647	344	11	pp	pp	ADP
cana-2647	344	12	.	.	PUNCT
cana-2647	344	13	3135	3135	NUM
cana-2647	344	14	-	-	SYM
cana-2647	344	15	3141	3141	NUM
cana-2647	344	16	.	.	PUNCT
cana-2647	344	17	ieee	ieee	NOUN
cana-2647	344	18	,	,	PUNCT
cana-2647	344	19	2009	2009	NUM
cana-2647	344	20	.	.	PUNCT
cana-2647	345	1	[	[	X
cana-2647	345	2	11	11	NUM
cana-2647	345	3	]	]	X
cana-2647	345	4	liu	liu	PROPN
cana-2647	345	5	,	,	PUNCT
cana-2647	345	6	xiaoyan	xiaoyan	PROPN
cana-2647	345	7	,	,	PUNCT
cana-2647	345	8	zehui	zehui	PROPN
cana-2647	345	9	dong	dong	PROPN
cana-2647	345	10	,	,	PUNCT
cana-2647	345	11	zhiwei	zhiwei	PROPN
cana-2647	345	12	xu	xu	PROPN
cana-2647	345	13	,	,	PUNCT
cana-2647	345	14	siyuan	siyuan	PROPN
cana-2647	345	15	liu	liu	PROPN
cana-2647	345	16	,	,	PUNCT
cana-2647	345	17	and	and	CCONJ
cana-2647	345	18	jie	jie	PROPN
cana-2647	345	19	tian	tian	PROPN
cana-2647	345	20	.	.	PUNCT
cana-2647	346	1	"	"	PUNCT
cana-2647	346	2	enhanced	enhance	VERB
cana-2647	346	3	decentralized	decentralize	VERB
cana-2647	346	4	federated	federated	ADJ
cana-2647	346	5	learning	learning	NOUN
cana-2647	346	6	based	base	VERB
cana-2647	346	7	on	on	ADP
cana-2647	346	8	consensus	consensus	NOUN
cana-2647	346	9	in	in	ADP
cana-2647	346	10	connected	connected	ADJ
cana-2647	346	11	vehicles	vehicle	NOUN
cana-2647	346	12	.	.	PUNCT
cana-2647	346	13	"	"	PUNCT
cana-2647	347	1	arxiv	arxiv	PROPN
cana-2647	347	2	preprint	preprint	NOUN
cana-2647	347	3	arxiv:2209.10722	arxiv:2209.10722	NOUN
cana-2647	347	4	(	(	PUNCT
cana-2647	347	5	2022	2022	NUM
cana-2647	347	6	)	)	PUNCT
cana-2647	347	7	.	.	PUNCT
cana-2647	348	1	[	[	X
cana-2647	348	2	12	12	NUM
cana-2647	348	3	]	]	X
cana-2647	348	4	movahedian	movahedian	ADJ
cana-2647	348	5	,	,	PUNCT
cana-2647	348	6	mahtab	mahtab	NOUN
cana-2647	348	7	,	,	PUNCT
cana-2647	348	8	mahdi	mahdi	PROPN
cana-2647	348	9	dolati	dolati	PROPN
cana-2647	348	10	,	,	PUNCT
cana-2647	348	11	and	and	CCONJ
cana-2647	348	12	majid	majid	PROPN
cana-2647	348	13	ghaderi	ghaderi	PROPN
cana-2647	348	14	.	.	PUNCT
cana-2647	349	1	"	"	PUNCT
cana-2647	349	2	adaptive	adaptive	ADJ
cana-2647	349	3	model	model	NOUN
cana-2647	349	4	aggregation	aggregation	NOUN
cana-2647	349	5	for	for	ADP
cana-2647	349	6	decentralized	decentralize	VERB
cana-2647	349	7	federated	federated	ADJ
cana-2647	349	8	learning	learning	NOUN
cana-2647	349	9	in	in	ADP
cana-2647	349	10	vehicular	vehicular	ADJ
cana-2647	349	11	networks	network	NOUN
cana-2647	349	12	.	.	PUNCT
cana-2647	349	13	"	"	PUNCT
cana-2647	350	1	in	in	ADP
cana-2647	350	2	2023	2023	NUM
cana-2647	350	3	19th	19th	ADJ
cana-2647	350	4	international	international	ADJ
cana-2647	350	5	conference	conference	NOUN
cana-2647	350	6	on	on	ADP
cana-2647	350	7	network	network	NOUN
cana-2647	350	8	and	and	CCONJ
cana-2647	350	9	service	service	NOUN
cana-2647	350	10	management	management	NOUN
cana-2647	350	11	(	(	PUNCT
cana-2647	350	12	cnsm	cnsm	NOUN
cana-2647	350	13	)	)	PUNCT
cana-2647	350	14	,	,	PUNCT
cana-2647	350	15	pp	pp	ADJ
cana-2647	350	16	.	.	PUNCT
cana-2647	351	1	1	1	NUM
cana-2647	351	2	-	-	SYM
cana-2647	351	3	9	9	NUM
cana-2647	351	4	.	.	X
cana-2647	351	5	ieee	ieee	NOUN
cana-2647	351	6	,	,	PUNCT
cana-2647	351	7	2023	2023	NUM
cana-2647	351	8	.	.	PUNCT
cana-2647	352	1	[	[	X
cana-2647	352	2	13	13	NUM
cana-2647	352	3	]	]	SYM
cana-2647	352	4	fu	fu	PROPN
cana-2647	352	5	,	,	PUNCT
cana-2647	352	6	huiyuan	huiyuan	PROPN
cana-2647	352	7	,	,	PUNCT
cana-2647	352	8	jun	jun	PROPN
cana-2647	352	9	guan	guan	PROPN
cana-2647	352	10	,	,	PUNCT
cana-2647	352	11	feng	feng	PROPN
cana-2647	352	12	jing	jing	PROPN
cana-2647	352	13	,	,	PUNCT
cana-2647	352	14	chuanming	chuanming	PROPN
cana-2647	352	15	wang	wang	PROPN
cana-2647	352	16	,	,	PUNCT
cana-2647	352	17	and	and	CCONJ
cana-2647	352	18	huadong	huadong	PROPN
cana-2647	352	19	ma	ma	PROPN
cana-2647	352	20	.	.	PUNCT
cana-2647	353	1	"	"	PUNCT
cana-2647	353	2	a	a	DET
cana-2647	353	3	real	real	ADJ
cana-2647	353	4	-	-	PUNCT
cana-2647	353	5	time	time	NOUN
cana-2647	353	6	multi	multi	ADJ
cana-2647	353	7	-	-	ADJ
cana-2647	353	8	vehicle	vehicle	ADJ
cana-2647	353	9	tracking	tracking	NOUN
cana-2647	353	10	framework	framework	NOUN
cana-2647	353	11	in	in	ADP
cana-2647	353	12	intelligent	intelligent	ADJ
cana-2647	353	13	vehicular	vehicular	ADJ
cana-2647	353	14	networks	network	NOUN
cana-2647	353	15	.	.	PUNCT
cana-2647	353	16	"	"	PUNCT
cana-2647	354	1	china	china	PROPN
cana-2647	354	2	communications	communication	NOUN
cana-2647	354	3	18	18	NUM
cana-2647	354	4	,	,	PUNCT
cana-2647	354	5	no	no	INTJ
cana-2647	354	6	.	.	NOUN
cana-2647	354	7	6	6	NUM
cana-2647	354	8	(	(	PUNCT
cana-2647	354	9	2021	2021	NUM
cana-2647	354	10	):	):	PUNCT
cana-2647	354	11	89	89	NUM
cana-2647	354	12	-	-	SYM
cana-2647	354	13	99	99	NUM
cana-2647	354	14	.	.	PUNCT
cana-2647	355	1	[	[	X
cana-2647	355	2	14	14	NUM
cana-2647	355	3	]	]	X
cana-2647	355	4	santos	santo	NOUN
cana-2647	355	5	,	,	PUNCT
cana-2647	355	6	frances	frances	PROPN
cana-2647	355	7	a.	a.	PROPN
cana-2647	355	8	,	,	PUNCT
cana-2647	355	9	ademar	ademar	PROPN
cana-2647	355	10	t.	t.	PROPN
cana-2647	355	11	akabane	akabane	PROPN
cana-2647	355	12	,	,	PUNCT
cana-2647	355	13	roberto	roberto	PROPN
cana-2647	355	14	s.	s.	PROPN
cana-2647	355	15	yokoyama	yokoyama	PROPN
cana-2647	355	16	,	,	PUNCT
cana-2647	355	17	antonio	antonio	PROPN
cana-2647	355	18	af	af	PROPN
cana-2647	355	19	loureiro	loureiro	PROPN
cana-2647	355	20	,	,	PUNCT
cana-2647	355	21	and	and	CCONJ
cana-2647	355	22	leandro	leandro	PROPN
cana-2647	355	23	a.	a.	NOUN
cana-2647	355	24	villas	villas	PROPN
cana-2647	355	25	.	.	PUNCT
cana-2647	356	1	"	"	PUNCT
cana-2647	356	2	a	a	DET
cana-2647	356	3	roadside	roadside	NOUN
cana-2647	356	4	unit	unit	NOUN
cana-2647	356	5	-	-	PUNCT
cana-2647	356	6	based	base	VERB
cana-2647	356	7	localization	localization	NOUN
cana-2647	356	8	scheme	scheme	NOUN
cana-2647	356	9	to	to	PART
cana-2647	356	10	improve	improve	VERB
cana-2647	356	11	positioning	positioning	NOUN
cana-2647	356	12	for	for	ADP
cana-2647	356	13	vehicular	vehicular	ADJ
cana-2647	356	14	networks	network	NOUN
cana-2647	356	15	.	.	PUNCT
cana-2647	356	16	"	"	PUNCT
cana-2647	357	1	in	in	ADP
cana-2647	357	2	2016	2016	NUM
cana-2647	357	3	ieee	ieee	NOUN
cana-2647	357	4	84th	84th	NOUN
cana-2647	357	5	vehicular	vehicular	ADJ
cana-2647	357	6	technology	technology	NOUN
cana-2647	357	7	conference	conference	NOUN
cana-2647	357	8	(	(	PUNCT
cana-2647	357	9	vtc	vtc	NOUN
cana-2647	357	10	-	-	PUNCT
cana-2647	357	11	fall	fall	NOUN
cana-2647	357	12	)	)	PUNCT
cana-2647	357	13	,	,	PUNCT
cana-2647	357	14	pp	pp	ADP
cana-2647	357	15	.	.	PUNCT
cana-2647	357	16	1	1	NUM
cana-2647	357	17	-	-	SYM
cana-2647	357	18	5	5	NUM
cana-2647	357	19	.	.	PUNCT
cana-2647	357	20	ieee	ieee	NOUN
cana-2647	357	21	,	,	PUNCT
cana-2647	357	22	2016	2016	NUM
cana-2647	357	23	.	.	PUNCT
cana-2647	358	1	[	[	X
cana-2647	358	2	15	15	NUM
cana-2647	358	3	]	]	X
cana-2647	358	4	lee	lee	PROPN
cana-2647	358	5	,	,	PUNCT
cana-2647	358	6	soomok	soomok	NOUN
cana-2647	358	7	,	,	PUNCT
cana-2647	358	8	jung	jung	NOUN
cana-2647	358	9	-	-	PUNCT
cana-2647	358	10	hoon	hoon	PROPN
cana-2647	358	11	kim	kim	PROPN
cana-2647	358	12	,	,	PUNCT
cana-2647	358	13	jung	jung	PROPN
cana-2647	358	14	-	-	PUNCT
cana-2647	358	15	woo	woo	PROPN
cana-2647	358	16	kim	kim	PROPN
cana-2647	358	17	,	,	PUNCT
cana-2647	358	18	gyumin	gyumin	NOUN
cana-2647	358	19	oh	oh	INTJ
cana-2647	358	20	,	,	PUNCT
cana-2647	358	21	and	and	CCONJ
cana-2647	358	22	seung	seung	NOUN
cana-2647	358	23	-	-	PUNCT
cana-2647	358	24	woo	woo	NOUN
cana-2647	358	25	seo	seo	NOUN
cana-2647	358	26	.	.	PUNCT
cana-2647	359	1	"	"	PUNCT
cana-2647	359	2	decentralized	decentralize	VERB
cana-2647	359	3	localization	localization	NOUN
cana-2647	359	4	framework	framework	NOUN
cana-2647	359	5	using	use	VERB
cana-2647	359	6	heterogeneous	heterogeneous	ADJ
cana-2647	359	7	map	map	NOUN
cana-2647	359	8	-	-	PUNCT
cana-2647	359	9	matchings	matching	NOUN
cana-2647	359	10	.	.	PUNCT
cana-2647	359	11	"	"	PUNCT
cana-2647	360	1	in	in	ADP
cana-2647	360	2	2018	2018	NUM
cana-2647	360	3	ieee	ieee	NOUN
cana-2647	360	4	/	/	SYM
cana-2647	360	5	rsj	rsj	NOUN
cana-2647	360	6	international	international	ADJ
cana-2647	360	7	conference	conference	NOUN
cana-2647	360	8	on	on	ADP
cana-2647	360	9	intelligent	intelligent	ADJ
cana-2647	360	10	robots	robot	NOUN
cana-2647	360	11	and	and	CCONJ
cana-2647	360	12	systems	system	NOUN
cana-2647	360	13	(	(	PUNCT
cana-2647	360	14	iros	iro	NOUN
cana-2647	360	15	)	)	PUNCT
cana-2647	360	16	,	,	PUNCT
cana-2647	360	17	pp	pp	ADJ
cana-2647	360	18	.	.	PUNCT
cana-2647	360	19	2183	2183	NUM
cana-2647	360	20	-	-	SYM
cana-2647	360	21	2189	2189	NUM
cana-2647	360	22	.	.	PUNCT
cana-2647	360	23	ieee	ieee	NOUN
cana-2647	360	24	,	,	PUNCT
cana-2647	360	25	2018	2018	NUM
cana-2647	360	26	.	.	PUNCT
cana-2647	361	1	communications	communication	NOUN
cana-2647	361	2	on	on	ADP
cana-2647	361	3	applied	apply	VERB
cana-2647	361	4	nonlinear	nonlinear	ADJ
cana-2647	361	5	analysis	analysis	NOUN
cana-2647	361	6	issn	issn	NOUN
cana-2647	361	7	:	:	PUNCT
cana-2647	361	8	1074	1074	NUM
cana-2647	361	9	-	-	PUNCT
cana-2647	361	10	133x	133x	NUM
cana-2647	361	11	vol	vol	NOUN
cana-2647	361	12	32	32	NUM
cana-2647	361	13	no	no	NOUN
cana-2647	361	14	.	.	PUNCT
cana-2647	362	1	3s	3s	NUM
cana-2647	362	2	(	(	PUNCT
cana-2647	362	3	2025	2025	NUM
cana-2647	362	4	)	)	PUNCT
cana-2647	362	5	356	356	NUM
cana-2647	362	6	https://internationalpubls.com	https://internationalpubls.com	X
cana-2647	363	1	[	[	X
cana-2647	363	2	16	16	NUM
cana-2647	363	3	]	]	X
cana-2647	363	4	al	al	PROPN
cana-2647	363	5	-	-	PUNCT
cana-2647	363	6	hattab	hattab	PROPN
cana-2647	363	7	,	,	PUNCT
cana-2647	363	8	mohammad	mohammad	PROPN
cana-2647	363	9	,	,	PUNCT
cana-2647	363	10	maen	maen	PROPN
cana-2647	363	11	takruri	takruri	PROPN
cana-2647	363	12	,	,	PUNCT
cana-2647	363	13	hussain	hussain	PROPN
cana-2647	363	14	attia	attia	PROPN
cana-2647	363	15	,	,	PUNCT
cana-2647	363	16	and	and	CCONJ
cana-2647	363	17	huthaifa	huthaifa	PROPN
cana-2647	363	18	al	al	PROPN
cana-2647	363	19	-	-	PUNCT
cana-2647	363	20	omari	omari	PROPN
cana-2647	363	21	.	.	PUNCT
cana-2647	364	1	"	"	PUNCT
cana-2647	364	2	decentralized	decentralize	VERB
cana-2647	364	3	localization	localization	NOUN
cana-2647	364	4	in	in	ADP
cana-2647	364	5	wireless	wireless	ADJ
cana-2647	364	6	sensor	sensor	NOUN
cana-2647	364	7	networks	network	NOUN
cana-2647	364	8	.	.	PUNCT
cana-2647	364	9	"	"	PUNCT
cana-2647	365	1	in	in	ADP
cana-2647	365	2	2017	2017	NUM
cana-2647	365	3	international	international	ADJ
cana-2647	365	4	conference	conference	NOUN
cana-2647	365	5	on	on	ADP
cana-2647	365	6	electrical	electrical	ADJ
cana-2647	365	7	and	and	CCONJ
cana-2647	365	8	computing	computing	NOUN
cana-2647	365	9	technologies	technology	NOUN
cana-2647	365	10	and	and	CCONJ
cana-2647	365	11	applications	application	NOUN
cana-2647	365	12	(	(	PUNCT
cana-2647	365	13	icecta	icecta	ADJ
cana-2647	365	14	)	)	PUNCT
cana-2647	365	15	,	,	PUNCT
cana-2647	365	16	pp	pp	PROPN
cana-2647	365	17	.	.	PUNCT
cana-2647	366	1	1	1	NUM
cana-2647	366	2	-	-	SYM
cana-2647	366	3	5	5	NUM
cana-2647	366	4	.	.	PUNCT
cana-2647	366	5	ieee	ieee	NOUN
cana-2647	366	6	,	,	PUNCT
cana-2647	366	7	2017	2017	NUM
cana-2647	366	8	.	.	PUNCT
cana-2647	367	1	[	[	X
cana-2647	367	2	17	17	NUM
cana-2647	367	3	]	]	X
cana-2647	367	4	mohammadabadi	mohammadabadi	NOUN
cana-2647	367	5	,	,	PUNCT
cana-2647	367	6	peyman	peyman	ADJ
cana-2647	367	7	hadi	hadi	PROPN
cana-2647	367	8	,	,	PUNCT
cana-2647	367	9	and	and	CCONJ
cana-2647	367	10	shahrokh	shahrokh	VERB
cana-2647	367	11	valaee	valaee	PROPN
cana-2647	367	12	.	.	PUNCT
cana-2647	368	1	"	"	PUNCT
cana-2647	368	2	cooperative	cooperative	ADJ
cana-2647	368	3	node	node	NOUN
cana-2647	368	4	positioning	positioning	NOUN
cana-2647	368	5	in	in	ADP
cana-2647	368	6	vehicular	vehicular	ADJ
cana-2647	368	7	networks	network	NOUN
cana-2647	368	8	using	use	VERB
cana-2647	368	9	inter	inter	ADJ
cana-2647	368	10	-	-	ADJ
cana-2647	368	11	node	node	ADJ
cana-2647	368	12	distance	distance	NOUN
cana-2647	368	13	measurements	measurement	NOUN
cana-2647	368	14	.	.	PUNCT
cana-2647	368	15	"	"	PUNCT
cana-2647	369	1	in	in	ADP
cana-2647	369	2	2014	2014	NUM
cana-2647	369	3	ieee	ieee	NOUN
cana-2647	369	4	25th	25th	NOUN
cana-2647	369	5	annual	annual	ADJ
cana-2647	369	6	international	international	ADJ
cana-2647	369	7	symposium	symposium	NOUN
cana-2647	369	8	on	on	ADP
cana-2647	369	9	personal	personal	ADJ
cana-2647	369	10	,	,	PUNCT
cana-2647	369	11	indoor	indoor	ADJ
cana-2647	369	12	,	,	PUNCT
cana-2647	369	13	and	and	CCONJ
cana-2647	369	14	mobile	mobile	ADJ
cana-2647	369	15	radio	radio	NOUN
cana-2647	369	16	communication	communication	NOUN
cana-2647	369	17	(	(	PUNCT
cana-2647	369	18	pimrc	pimrc	NOUN
cana-2647	369	19	)	)	PUNCT
cana-2647	369	20	,	,	PUNCT
cana-2647	369	21	pp	pp	PROPN
cana-2647	369	22	.	.	PUNCT
cana-2647	369	23	1448	1448	NUM
cana-2647	369	24	-	-	SYM
cana-2647	369	25	1452	1452	NUM
cana-2647	369	26	.	.	PUNCT
cana-2647	369	27	ieee	ieee	NOUN
cana-2647	369	28	,	,	PUNCT
cana-2647	369	29	2014	2014	NUM
cana-2647	369	30	.	.	PUNCT
cana-2647	370	1	[	[	X
cana-2647	370	2	18	18	NUM
cana-2647	370	3	]	]	X
cana-2647	370	4	kong	kong	PROPN
cana-2647	370	5	,	,	PUNCT
cana-2647	370	6	xiangjie	xiangjie	PROPN
cana-2647	370	7	,	,	PUNCT
cana-2647	370	8	haoran	haoran	PROPN
cana-2647	370	9	gao	gao	PROPN
cana-2647	370	10	,	,	PUNCT
cana-2647	370	11	guojiang	guojiang	PROPN
cana-2647	370	12	shen	shen	PROPN
cana-2647	370	13	,	,	PUNCT
cana-2647	370	14	gaohui	gaohui	PROPN
cana-2647	370	15	duan	duan	PROPN
cana-2647	370	16	,	,	PUNCT
cana-2647	370	17	and	and	CCONJ
cana-2647	370	18	sajal	sajal	ADJ
cana-2647	370	19	k.	k.	PROPN
cana-2647	370	20	das	das	PROPN
cana-2647	370	21	.	.	PUNCT
cana-2647	371	1	"	"	PUNCT
cana-2647	371	2	fedvcp	fedvcp	NOUN
cana-2647	371	3	:	:	PUNCT
cana-2647	371	4	a	a	DET
cana-2647	371	5	federated	federate	VERB
cana-2647	371	6	-	-	PUNCT
cana-2647	371	7	learningbased	learningbase	VERB
cana-2647	371	8	cooperative	cooperative	ADJ
cana-2647	371	9	positioning	positioning	NOUN
cana-2647	371	10	scheme	scheme	NOUN
cana-2647	371	11	for	for	ADP
cana-2647	371	12	social	social	ADJ
cana-2647	371	13	internet	internet	NOUN
cana-2647	371	14	of	of	ADP
cana-2647	371	15	vehicles	vehicle	NOUN
cana-2647	371	16	.	.	PUNCT
cana-2647	371	17	"	"	PUNCT
cana-2647	372	1	ieee	ieee	NOUN
cana-2647	372	2	transactions	transaction	NOUN
cana-2647	372	3	on	on	ADP
cana-2647	372	4	computational	computational	ADJ
cana-2647	372	5	social	social	ADJ
cana-2647	372	6	systems	system	NOUN
cana-2647	372	7	9	9	NUM
cana-2647	372	8	,	,	PUNCT
cana-2647	372	9	no	no	INTJ
cana-2647	372	10	.	.	NOUN
cana-2647	372	11	1	1	NUM
cana-2647	372	12	(	(	PUNCT
cana-2647	372	13	2021	2021	NUM
cana-2647	372	14	):	):	PUNCT
cana-2647	372	15	197	197	NUM
cana-2647	372	16	-	-	SYM
cana-2647	372	17	206	206	NUM
cana-2647	372	18	.	.	PUNCT