id	sid	tid	token	lemma	pos
sc-156	1	1	aspects	aspect	NOUN
sc-156	1	2	of	of	ADP
sc-156	1	3	mechanism	mechanism	NOUN
sc-156	1	4	design	design	NOUN
sc-156	1	5	for	for	ADP
sc-156	1	6	industry	industry	NOUN
sc-156	1	7	4.0	4.0	NUM
sc-156	1	8	multi	multi	ADJ
sc-156	1	9	-	-	ADJ
sc-156	1	10	robot	robot	ADJ
sc-156	1	11	task	task	NOUN
sc-156	1	12	auctioning	auctioning	NOUN
sc-156	1	13	aspects	aspect	NOUN
sc-156	1	14	of	of	ADP
sc-156	1	15	mechanism	mechanism	NOUN
sc-156	1	16	design	design	NOUN
sc-156	1	17	for	for	ADP
sc-156	1	18	industry	industry	NOUN
sc-156	1	19	4.0	4.0	NUM
sc-156	1	20	multi	multi	ADJ
sc-156	1	21	-	-	ADJ
sc-156	1	22	robot	robot	ADJ
sc-156	1	23	task	task	NOUN
sc-156	1	24	auctioning	auction	VERB
sc-156	1	25	ajay	ajay	PROPN
sc-156	1	26	kattepur1	kattepur1	PROPN
sc-156	1	27	,	,	PUNCT
sc-156	1	28	sourav	sourav	PROPN
sc-156	1	29	khemkha2,∗	khemkha2,∗	PROPN
sc-156	1	30	1ericsson	1ericsson	NUM
sc-156	1	31	artificial	artificial	ADJ
sc-156	1	32	intelligence	intelligence	NOUN
sc-156	1	33	research	research	NOUN
sc-156	1	34	,	,	PUNCT
sc-156	1	35	bangalore	bangalore	PROPN
sc-156	1	36	india	india	PROPN
sc-156	1	37	.	.	PUNCT
sc-156	2	1	2dept	2dept	NUM
sc-156	2	2	.	.	NOUN
sc-156	2	3	of	of	ADP
sc-156	2	4	mathematics	mathematic	NOUN
sc-156	2	5	,	,	PUNCT
sc-156	2	6	indian	indian	PROPN
sc-156	2	7	institute	institute	PROPN
sc-156	2	8	of	of	ADP
sc-156	2	9	technology	technology	PROPN
sc-156	2	10	,	,	PUNCT
sc-156	2	11	kharagpur	kharagpur	PROPN
sc-156	2	12	,	,	PUNCT
sc-156	2	13	india	india	PROPN
sc-156	2	14	.	.	PUNCT
sc-156	3	1	abstract	abstract	PROPN
sc-156	3	2	collaborative	collaborative	ADJ
sc-156	3	3	multi	multi	ADJ
sc-156	3	4	-	-	ADJ
sc-156	3	5	robotic	robotic	ADJ
sc-156	3	6	tasks	task	NOUN
sc-156	3	7	are	be	AUX
sc-156	3	8	essential	essential	ADJ
sc-156	3	9	in	in	ADP
sc-156	3	10	complex	complex	ADJ
sc-156	3	11	industry	industry	NOUN
sc-156	3	12	4.0	4.0	NUM
sc-156	3	13	deployments	deployment	NOUN
sc-156	3	14	,	,	PUNCT
sc-156	3	15	involving	involve	VERB
sc-156	3	16	autonomous	autonomous	ADJ
sc-156	3	17	robots	robot	NOUN
sc-156	3	18	.	.	PUNCT
sc-156	4	1	as	as	SCONJ
sc-156	4	2	such	such	ADJ
sc-156	4	3	autonomous	autonomous	ADJ
sc-156	4	4	robots	robot	NOUN
sc-156	4	5	work	work	VERB
sc-156	4	6	with	with	ADP
sc-156	4	7	minimal	minimal	ADJ
sc-156	4	8	centralized	centralized	ADJ
sc-156	4	9	control	control	NOUN
sc-156	4	10	,	,	PUNCT
sc-156	4	11	analysis	analysis	NOUN
sc-156	4	12	of	of	ADP
sc-156	4	13	strategies	strategy	NOUN
sc-156	4	14	for	for	ADP
sc-156	4	15	effective	effective	ADJ
sc-156	4	16	cooperation	cooperation	NOUN
sc-156	4	17	in	in	ADP
sc-156	4	18	task	task	NOUN
sc-156	4	19	completion	completion	NOUN
sc-156	4	20	are	be	AUX
sc-156	4	21	needed	need	VERB
sc-156	4	22	.	.	PUNCT
sc-156	5	1	this	this	PRON
sc-156	5	2	is	be	AUX
sc-156	5	3	specially	specially	ADV
sc-156	5	4	crucial	crucial	ADJ
sc-156	5	5	when	when	SCONJ
sc-156	5	6	automation	automation	NOUN
sc-156	5	7	tasks	task	NOUN
sc-156	5	8	are	be	AUX
sc-156	5	9	outsourced	outsource	VERB
sc-156	5	10	to	to	ADP
sc-156	5	11	specialized	specialized	ADJ
sc-156	5	12	vendors	vendor	NOUN
sc-156	5	13	without	without	ADP
sc-156	5	14	centralized	centralized	ADJ
sc-156	5	15	control	control	NOUN
sc-156	5	16	.	.	PUNCT
sc-156	6	1	mechanism	mechanism	NOUN
sc-156	6	2	design	design	NOUN
sc-156	6	3	techniques	technique	NOUN
sc-156	6	4	have	have	AUX
sc-156	6	5	been	be	AUX
sc-156	6	6	proposed	propose	VERB
sc-156	6	7	to	to	PART
sc-156	6	8	create	create	VERB
sc-156	6	9	scenarios	scenario	NOUN
sc-156	6	10	among	among	ADP
sc-156	6	11	multiple	multiple	ADJ
sc-156	6	12	autonomous	autonomous	ADJ
sc-156	6	13	(	(	PUNCT
sc-156	6	14	possibly	possibly	ADV
sc-156	6	15	selfish	selfish	ADJ
sc-156	6	16	)	)	PUNCT
sc-156	6	17	entities	entity	NOUN
sc-156	6	18	to	to	PART
sc-156	6	19	result	result	VERB
sc-156	6	20	in	in	ADP
sc-156	6	21	desired	desire	VERB
sc-156	6	22	outcomes	outcome	NOUN
sc-156	6	23	.	.	PUNCT
sc-156	7	1	in	in	ADP
sc-156	7	2	this	this	DET
sc-156	7	3	paper	paper	NOUN
sc-156	7	4	,	,	PUNCT
sc-156	7	5	we	we	PRON
sc-156	7	6	study	study	VERB
sc-156	7	7	the	the	DET
sc-156	7	8	effect	effect	NOUN
sc-156	7	9	of	of	ADP
sc-156	7	10	varying	vary	VERB
sc-156	7	11	bidding	bidding	NOUN
sc-156	7	12	auction	auction	NOUN
sc-156	7	13	mechanism	mechanism	NOUN
sc-156	7	14	design	design	NOUN
sc-156	7	15	protocols	protocol	NOUN
sc-156	7	16	to	to	PART
sc-156	7	17	result	result	VERB
sc-156	7	18	in	in	ADP
sc-156	7	19	multi	multi	ADJ
sc-156	7	20	-	-	ADJ
sc-156	7	21	agent	agent	ADJ
sc-156	7	22	task	task	NOUN
sc-156	7	23	auctioning	auctioning	NOUN
sc-156	7	24	.	.	PUNCT
sc-156	8	1	we	we	PRON
sc-156	8	2	demonstrate	demonstrate	VERB
sc-156	8	3	this	this	DET
sc-156	8	4	approach	approach	NOUN
sc-156	8	5	over	over	ADP
sc-156	8	6	a	a	DET
sc-156	8	7	realistic	realistic	ADJ
sc-156	8	8	use	use	NOUN
sc-156	8	9	case	case	NOUN
sc-156	8	10	of	of	ADP
sc-156	8	11	task	task	NOUN
sc-156	8	12	allocation	allocation	NOUN
sc-156	8	13	involving	involve	VERB
sc-156	8	14	multiple	multiple	ADJ
sc-156	8	15	pick	pick	NOUN
sc-156	8	16	and	and	CCONJ
sc-156	8	17	place	place	VERB
sc-156	8	18	robots	robot	NOUN
sc-156	8	19	in	in	ADP
sc-156	8	20	industry	industry	NOUN
sc-156	8	21	4.0	4.0	NUM
sc-156	8	22	warehouses	warehouse	NOUN
sc-156	8	23	.	.	PUNCT
sc-156	9	1	multiple	multiple	ADJ
sc-156	9	2	realistic	realistic	ADJ
sc-156	9	3	auction	auction	NOUN
sc-156	9	4	/	/	SYM
sc-156	9	5	bidding	bidding	NOUN
sc-156	9	6	scenarios	scenario	NOUN
sc-156	9	7	considered	consider	VERB
sc-156	9	8	including	include	VERB
sc-156	9	9	selfish	selfish	ADJ
sc-156	9	10	agents	agent	NOUN
sc-156	9	11	,	,	PUNCT
sc-156	9	12	erroneous	erroneous	ADJ
sc-156	9	13	estimates	estimate	NOUN
sc-156	9	14	of	of	ADP
sc-156	9	15	temporal	temporal	ADJ
sc-156	9	16	features	feature	NOUN
sc-156	9	17	,	,	PUNCT
sc-156	9	18	heterogeneous	heterogeneous	ADJ
sc-156	9	19	capacities	capacity	NOUN
sc-156	9	20	and	and	CCONJ
sc-156	9	21	composite	composite	ADJ
sc-156	9	22	bids	bid	NOUN
sc-156	9	23	.	.	PUNCT
sc-156	10	1	the	the	DET
sc-156	10	2	results	result	NOUN
sc-156	10	3	demonstrate	demonstrate	VERB
sc-156	10	4	that	that	SCONJ
sc-156	10	5	effective	effective	ADJ
sc-156	10	6	mechanisms	mechanism	NOUN
sc-156	10	7	can	can	AUX
sc-156	10	8	lead	lead	VERB
sc-156	10	9	to	to	ADP
sc-156	10	10	fair	fair	ADJ
sc-156	10	11	outcomes	outcome	NOUN
sc-156	10	12	despite	despite	SCONJ
sc-156	10	13	erroneous	erroneous	ADJ
sc-156	10	14	or	or	CCONJ
sc-156	10	15	biased	biased	ADJ
sc-156	10	16	bids	bid	NOUN
sc-156	10	17	for	for	ADP
sc-156	10	18	tasks	task	NOUN
sc-156	10	19	from	from	ADP
sc-156	10	20	agents	agent	NOUN
sc-156	10	21	.	.	PUNCT
sc-156	11	1	received	receive	VERB
sc-156	11	2	on	on	ADP
sc-156	11	3	07	07	NUM
sc-156	11	4	august	august	PROPN
sc-156	11	5	2020	2020	NUM
sc-156	11	6	;	;	PUNCT
sc-156	11	7	accepted	accept	VERB
sc-156	11	8	on	on	ADP
sc-156	11	9	05	05	NUM
sc-156	11	10	august	august	PROPN
sc-156	11	11	2021	2021	NUM
sc-156	11	12	;	;	PUNCT
sc-156	11	13	published	publish	VERB
sc-156	11	14	on	on	ADP
sc-156	11	15	12	12	NUM
sc-156	11	16	august	august	NOUN
sc-156	11	17	2021	2021	NUM
sc-156	11	18	keywords	keyword	NOUN
sc-156	11	19	:	:	PUNCT
sc-156	11	20	smart	smart	ADJ
sc-156	11	21	things	thing	NOUN
sc-156	11	22	and	and	CCONJ
sc-156	11	23	smart	smart	ADJ
sc-156	11	24	objects	object	NOUN
sc-156	11	25	,	,	PUNCT
sc-156	11	26	software	software	NOUN
sc-156	11	27	defined	define	VERB
sc-156	11	28	networks	network	NOUN
sc-156	11	29	and	and	CCONJ
sc-156	11	30	internet	internet	NOUN
sc-156	11	31	of	of	ADP
sc-156	11	32	things	thing	NOUN
sc-156	11	33	,	,	PUNCT
sc-156	11	34	smart	smart	ADJ
sc-156	11	35	homes	home	NOUN
sc-156	11	36	,	,	PUNCT
sc-156	11	37	buildings	building	NOUN
sc-156	11	38	and	and	CCONJ
sc-156	11	39	malls	mall	VERB
sc-156	11	40	copyright	copyright	NOUN
sc-156	11	41	©	©	PROPN
sc-156	11	42	2021	2021	NUM
sc-156	11	43	ajay	ajay	PROPN
sc-156	11	44	kattepur	kattepur	PROPN
sc-156	11	45	et	et	PROPN
sc-156	11	46	al	al	PROPN
sc-156	11	47	.	.	PROPN
sc-156	11	48	,	,	PUNCT
sc-156	11	49	licensed	license	VERB
sc-156	11	50	to	to	ADP
sc-156	11	51	eai	eai	PROPN
sc-156	11	52	.	.	PUNCT
sc-156	12	1	this	this	PRON
sc-156	12	2	is	be	AUX
sc-156	12	3	an	an	DET
sc-156	12	4	open	open	ADJ
sc-156	12	5	access	access	NOUN
sc-156	12	6	article	article	NOUN
sc-156	12	7	distributed	distribute	VERB
sc-156	12	8	under	under	ADP
sc-156	12	9	the	the	DET
sc-156	12	10	terms	term	NOUN
sc-156	12	11	of	of	ADP
sc-156	12	12	the	the	DET
sc-156	12	13	creative	creative	ADJ
sc-156	12	14	commons	common	NOUN
sc-156	12	15	attribution	attribution	NOUN
sc-156	12	16	license	license	NOUN
sc-156	12	17	,	,	PUNCT
sc-156	12	18	which	which	PRON
sc-156	12	19	permits	permit	VERB
sc-156	12	20	unlimited	unlimited	ADJ
sc-156	12	21	use	use	NOUN
sc-156	12	22	,	,	PUNCT
sc-156	12	23	distribution	distribution	NOUN
sc-156	12	24	and	and	CCONJ
sc-156	12	25	reproduction	reproduction	NOUN
sc-156	12	26	in	in	ADP
sc-156	12	27	any	any	DET
sc-156	12	28	medium	medium	NOUN
sc-156	12	29	so	so	ADV
sc-156	12	30	long	long	ADV
sc-156	12	31	as	as	SCONJ
sc-156	12	32	the	the	DET
sc-156	12	33	original	original	ADJ
sc-156	12	34	work	work	NOUN
sc-156	12	35	is	be	AUX
sc-156	12	36	properly	properly	ADV
sc-156	12	37	cited	cite	VERB
sc-156	12	38	.	.	PUNCT
sc-156	13	1	doi:10.4108	doi:10.4108	VERB
sc-156	13	2	/	/	SYM
sc-156	13	3	eai.12	eai.12	NOUN
sc-156	13	4	-	-	PUNCT
sc-156	13	5	8	8	NUM
sc-156	13	6	-	-	PUNCT
sc-156	13	7	2021.170670	2021.170670	NUM
sc-156	13	8	1	1	NUM
sc-156	13	9	.	.	PUNCT
sc-156	13	10	introduction	introduction	NOUN
sc-156	13	11	industry	industry	NOUN
sc-156	13	12	4.0	4.0	NUM
sc-156	13	13	integrates	integrate	NOUN
sc-156	13	14	the	the	DET
sc-156	13	15	use	use	NOUN
sc-156	13	16	of	of	ADP
sc-156	13	17	robotics	robotic	NOUN
sc-156	13	18	,	,	PUNCT
sc-156	13	19	cyberphysical	cyberphysical	ADJ
sc-156	13	20	systems	system	NOUN
sc-156	13	21	and	and	CCONJ
sc-156	13	22	intelligent	intelligent	ADJ
sc-156	13	23	automation	automation	NOUN
sc-156	13	24	[	[	X
sc-156	13	25	1	1	NUM
sc-156	13	26	]	]	PUNCT
sc-156	13	27	.	.	PUNCT
sc-156	14	1	this	this	PRON
sc-156	14	2	has	have	AUX
sc-156	14	3	led	lead	VERB
sc-156	14	4	to	to	ADP
sc-156	14	5	increasing	increase	VERB
sc-156	14	6	proliferation	proliferation	NOUN
sc-156	14	7	into	into	ADP
sc-156	14	8	manufacturing	manufacturing	NOUN
sc-156	14	9	,	,	PUNCT
sc-156	14	10	supply	supply	NOUN
sc-156	14	11	chain	chain	NOUN
sc-156	14	12	,	,	PUNCT
sc-156	14	13	retailing	retailing	NOUN
sc-156	14	14	and	and	CCONJ
sc-156	14	15	warehousing	warehousing	NOUN
sc-156	14	16	sectors	sector	NOUN
sc-156	14	17	.	.	PUNCT
sc-156	15	1	the	the	DET
sc-156	15	2	key	key	ADJ
sc-156	15	3	enablers	enabler	NOUN
sc-156	15	4	for	for	ADP
sc-156	15	5	industry	industry	NOUN
sc-156	15	6	4.0	4.0	NUM
sc-156	15	7	include	include	VERB
sc-156	15	8	:	:	PUNCT
sc-156	16	1	1	1	X
sc-156	16	2	.	.	PUNCT
sc-156	16	3	the	the	DET
sc-156	16	4	ability	ability	NOUN
sc-156	16	5	to	to	PART
sc-156	16	6	interoperate	interoperate	VERB
sc-156	16	7	between	between	ADP
sc-156	16	8	computing	computing	NOUN
sc-156	16	9	,	,	PUNCT
sc-156	16	10	internet	internet	NOUN
sc-156	16	11	of	of	ADP
sc-156	16	12	things	thing	NOUN
sc-156	16	13	(	(	PUNCT
sc-156	16	14	iot	iot	NOUN
sc-156	16	15	)	)	PUNCT
sc-156	17	1	[	[	X
sc-156	17	2	2	2	NUM
sc-156	17	3	]	]	PUNCT
sc-156	17	4	,	,	PUNCT
sc-156	17	5	robotics	robotic	NOUN
sc-156	17	6	and	and	CCONJ
sc-156	17	7	human	human	ADJ
sc-156	17	8	participants	participant	NOUN
sc-156	17	9	.	.	PUNCT
sc-156	18	1	2	2	X
sc-156	18	2	.	.	X
sc-156	18	3	the	the	DET
sc-156	18	4	ability	ability	NOUN
sc-156	18	5	to	to	PART
sc-156	18	6	add	add	VERB
sc-156	18	7	information	information	NOUN
sc-156	18	8	to	to	ADP
sc-156	18	9	physical	physical	ADJ
sc-156	18	10	systems	system	NOUN
sc-156	18	11	,	,	PUNCT
sc-156	18	12	such	such	ADJ
sc-156	18	13	as	as	ADP
sc-156	18	14	those	those	PRON
sc-156	18	15	provided	provide	VERB
sc-156	18	16	by	by	ADP
sc-156	18	17	sensor	sensor	NOUN
sc-156	18	18	data	datum	NOUN
sc-156	18	19	.	.	PUNCT
sc-156	19	1	3	3	X
sc-156	19	2	.	.	X
sc-156	19	3	replacing	replace	VERB
sc-156	19	4	human	human	ADJ
sc-156	19	5	participants	participant	NOUN
sc-156	19	6	in	in	ADP
sc-156	19	7	technical	technical	ADJ
sc-156	19	8	tasks	task	NOUN
sc-156	19	9	,	,	PUNCT
sc-156	19	10	specially	specially	ADV
sc-156	19	11	those	those	PRON
sc-156	19	12	requiring	require	VERB
sc-156	19	13	repetitive	repetitive	ADJ
sc-156	19	14	automation	automation	NOUN
sc-156	19	15	or	or	CCONJ
sc-156	19	16	robotic	robotic	ADJ
sc-156	19	17	precision	precision	NOUN
sc-156	19	18	.	.	PUNCT
sc-156	20	1	∗corresponding	∗corresponde	VERB
sc-156	20	2	author	author	NOUN
sc-156	20	3	.	.	PUNCT
sc-156	21	1	email	email	NOUN
sc-156	21	2	:	:	PUNCT
sc-156	21	3	ajay.kattepur@gmail.com	ajay.kattepur@gmail.com	X
sc-156	21	4	4	4	X
sc-156	21	5	.	.	PUNCT
sc-156	22	1	robotic	robotic	ADJ
sc-156	22	2	systems	system	NOUN
sc-156	22	3	performing	perform	VERB
sc-156	22	4	tasks	task	NOUN
sc-156	22	5	in	in	ADP
sc-156	22	6	an	an	DET
sc-156	22	7	autonomous	autonomous	ADJ
sc-156	22	8	fashion	fashion	NOUN
sc-156	22	9	,	,	PUNCT
sc-156	22	10	with	with	ADP
sc-156	22	11	minimal	minimal	ADJ
sc-156	22	12	human	human	ADJ
sc-156	22	13	intervention	intervention	NOUN
sc-156	22	14	.	.	PUNCT
sc-156	23	1	a	a	DET
sc-156	23	2	fundamental	fundamental	ADJ
sc-156	23	3	characteristic	characteristic	NOUN
sc-156	23	4	required	require	VERB
sc-156	23	5	in	in	ADP
sc-156	23	6	industry	industry	NOUN
sc-156	23	7	4.0	4.0	NUM
sc-156	23	8	deployments	deployment	NOUN
sc-156	23	9	is	be	AUX
sc-156	23	10	the	the	DET
sc-156	23	11	ability	ability	NOUN
sc-156	23	12	of	of	ADP
sc-156	23	13	autonomous	autonomous	ADJ
sc-156	23	14	robotic	robotic	ADJ
sc-156	23	15	devices	device	NOUN
sc-156	23	16	to	to	ADP
sc-156	23	17	self	self	NOUN
sc-156	23	18	-	-	PUNCT
sc-156	23	19	configure	configure	NOUN
sc-156	23	20	in	in	ADP
sc-156	23	21	dynamic	dynamic	ADJ
sc-156	23	22	goal	goal	NOUN
sc-156	23	23	and	and	CCONJ
sc-156	23	24	deployment	deployment	NOUN
sc-156	23	25	conditions	condition	NOUN
sc-156	23	26	.	.	PUNCT
sc-156	24	1	this	this	PRON
sc-156	24	2	requires	require	VERB
sc-156	24	3	autonomous	autonomous	ADJ
sc-156	24	4	goal	goal	NOUN
sc-156	24	5	evaluation	evaluation	NOUN
sc-156	24	6	,	,	PUNCT
sc-156	24	7	reasoning	reasoning	NOUN
sc-156	24	8	and	and	CCONJ
sc-156	24	9	task	task	NOUN
sc-156	24	10	completion	completion	NOUN
sc-156	24	11	capabilities	capability	NOUN
sc-156	24	12	in	in	ADP
sc-156	24	13	agents	agent	NOUN
sc-156	24	14	.	.	PUNCT
sc-156	25	1	an	an	DET
sc-156	25	2	industry	industry	NOUN
sc-156	25	3	4.0	4.0	NUM
sc-156	25	4	use	use	NOUN
sc-156	25	5	case	case	NOUN
sc-156	25	6	of	of	ADP
sc-156	25	7	interest	interest	NOUN
sc-156	25	8	is	be	AUX
sc-156	25	9	amazon	amazon	NOUN
sc-156	25	10	’s	’s	PART
sc-156	25	11	warehouse	warehouse	NOUN
sc-156	25	12	1	1	NUM
sc-156	25	13	[	[	X
sc-156	25	14	6	6	NUM
sc-156	25	15	]	]	PUNCT
sc-156	25	16	,	,	PUNCT
sc-156	25	17	wherein	wherein	SCONJ
sc-156	25	18	multiple	multiple	ADJ
sc-156	25	19	kiva	kiva	PROPN
sc-156	25	20	robots	robot	NOUN
sc-156	25	21	are	be	AUX
sc-156	25	22	used	use	VERB
sc-156	25	23	for	for	ADP
sc-156	25	24	pick	pick	NOUN
sc-156	25	25	and	and	CCONJ
sc-156	25	26	delivery	delivery	NOUN
sc-156	25	27	tasks	task	NOUN
sc-156	25	28	.	.	PUNCT
sc-156	26	1	tasks	task	NOUN
sc-156	26	2	arrive	arrive	VERB
sc-156	26	3	at	at	ADP
sc-156	26	4	varying	vary	VERB
sc-156	26	5	rates	rate	NOUN
sc-156	26	6	and	and	CCONJ
sc-156	26	7	may	may	AUX
sc-156	26	8	be	be	AUX
sc-156	26	9	be	be	AUX
sc-156	26	10	completed	complete	VERB
sc-156	26	11	by	by	ADP
sc-156	26	12	robotic	robotic	ADJ
sc-156	26	13	agents	agent	NOUN
sc-156	26	14	available	available	ADJ
sc-156	26	15	in	in	ADP
sc-156	26	16	the	the	DET
sc-156	26	17	warehouse	warehouse	NOUN
sc-156	26	18	.	.	PUNCT
sc-156	27	1	warehouse	warehouse	NOUN
sc-156	27	2	systems	system	NOUN
sc-156	27	3	have	have	AUX
sc-156	27	4	been	be	AUX
sc-156	27	5	typically	typically	ADV
sc-156	27	6	controlled	control	VERB
sc-156	27	7	using	use	VERB
sc-156	27	8	a	a	DET
sc-156	27	9	centralized	centralized	ADJ
sc-156	27	10	monitors	monitor	NOUN
sc-156	27	11	,	,	PUNCT
sc-156	27	12	which	which	PRON
sc-156	27	13	track	track	VERB
sc-156	27	14	inventory	inventory	NOUN
sc-156	27	15	and	and	CCONJ
sc-156	27	16	locations	location	NOUN
sc-156	27	17	of	of	ADP
sc-156	27	18	agents	agent	NOUN
sc-156	27	19	on	on	ADP
sc-156	27	20	the	the	DET
sc-156	27	21	shop	shop	NOUN
sc-156	27	22	floor	floor	NOUN
sc-156	27	23	.	.	PUNCT
sc-156	28	1	however	however	ADV
sc-156	28	2	,	,	PUNCT
sc-156	28	3	this	this	PRON
sc-156	28	4	is	be	AUX
sc-156	28	5	antagonistic	antagonistic	ADJ
sc-156	28	6	to	to	ADP
sc-156	28	7	the	the	DET
sc-156	28	8	principles	principle	NOUN
sc-156	28	9	of	of	ADP
sc-156	28	10	industry	industry	NOUN
sc-156	28	11	4.0	4.0	NUM
sc-156	28	12	,	,	PUNCT
sc-156	28	13	requiring	require	VERB
sc-156	28	14	distributed	distribute	VERB
sc-156	28	15	,	,	PUNCT
sc-156	28	16	autonomous	autonomous	ADJ
sc-156	28	17	and	and	CCONJ
sc-156	28	18	decentralized	decentralized	ADJ
sc-156	28	19	participants	participant	NOUN
sc-156	28	20	.	.	PUNCT
sc-156	29	1	this	this	PRON
sc-156	29	2	also	also	ADV
sc-156	29	3	requires	require	VERB
sc-156	29	4	specific	specific	ADJ
sc-156	29	5	locations	location	NOUN
sc-156	29	6	,	,	PUNCT
sc-156	29	7	states	state	NOUN
sc-156	29	8	,	,	PUNCT
sc-156	29	9	1https://www.amazonrobotics.com/	1https://www.amazonrobotics.com/	PROPN
sc-156	29	10	1	1	NUM
sc-156	29	11	eai	eai	NOUN
sc-156	29	12	endorsed	endorse	VERB
sc-156	29	13	transactions	transaction	NOUN
sc-156	29	14	on	on	ADP
sc-156	29	15	smart	smart	ADJ
sc-156	29	16	cities	city	NOUN
sc-156	29	17	research	research	NOUN
sc-156	29	18	article	article	NOUN
sc-156	29	19	eai	eai	PROPN
sc-156	29	20	endorsed	endorse	VERB
sc-156	29	21	transactions	transaction	NOUN
sc-156	29	22	on	on	ADP
sc-156	29	23	smart	smart	ADJ
sc-156	29	24	cities	city	NOUN
sc-156	29	25	10	10	NUM
sc-156	29	26	2021	2021	NUM
sc-156	29	27	03	03	NUM
sc-156	29	28	2022	2022	NUM
sc-156	29	29	|	|	ADV
sc-156	29	30	volume	volume	NOUN
sc-156	29	31	6	6	NUM
sc-156	29	32	|	|	NOUN
sc-156	29	33	issue	issue	NOUN
sc-156	29	34	17	17	NUM
sc-156	29	35	|	|	ADV
sc-156	29	36	e2	e2	PROPN
sc-156	29	37	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
sc-156	29	38	mailto:<ajay.kattepur@gmail.com	mailto:<ajay.kattepur@gmail.com	PROPN
sc-156	29	39	>	>	X
sc-156	29	40	https://www.amazonrobotics.com/	https://www.amazonrobotics.com/	NOUN
sc-156	29	41	ajay	ajay	PROPN
sc-156	29	42	kattepur	kattepur	PROPN
sc-156	29	43	,	,	PUNCT
sc-156	29	44	sourav	sourav	PROPN
sc-156	29	45	khemkha	khemkha	PROPN
sc-156	29	46	task	task	NOUN
sc-156	29	47	capacities	capacity	NOUN
sc-156	29	48	of	of	ADP
sc-156	29	49	individual	individual	ADJ
sc-156	29	50	agents	agent	NOUN
sc-156	29	51	to	to	PART
sc-156	29	52	be	be	AUX
sc-156	29	53	monitored	monitor	VERB
sc-156	29	54	and	and	CCONJ
sc-156	29	55	maintained	maintain	VERB
sc-156	29	56	in	in	ADP
sc-156	29	57	a	a	DET
sc-156	29	58	centralized	centralized	ADJ
sc-156	29	59	fashion	fashion	NOUN
sc-156	29	60	,	,	PUNCT
sc-156	29	61	which	which	PRON
sc-156	29	62	is	be	AUX
sc-156	29	63	not	not	PART
sc-156	29	64	scalable	scalable	ADJ
sc-156	29	65	.	.	PUNCT
sc-156	30	1	the	the	DET
sc-156	30	2	design	design	NOUN
sc-156	30	3	of	of	ADP
sc-156	30	4	systems	system	NOUN
sc-156	30	5	that	that	PRON
sc-156	30	6	have	have	AUX
sc-156	30	7	distributed	distribute	VERB
sc-156	30	8	,	,	PUNCT
sc-156	30	9	autonomous	autonomous	ADJ
sc-156	30	10	and	and	CCONJ
sc-156	30	11	(	(	PUNCT
sc-156	30	12	possibly	possibly	ADV
sc-156	30	13	)	)	PUNCT
sc-156	30	14	selfish	selfish	ADJ
sc-156	30	15	agent	agent	NOUN
sc-156	30	16	interactions	interaction	NOUN
sc-156	30	17	requires	require	VERB
sc-156	30	18	a	a	DET
sc-156	30	19	careful	careful	ADJ
sc-156	30	20	analysis	analysis	NOUN
sc-156	30	21	of	of	ADP
sc-156	30	22	desired	desire	VERB
sc-156	30	23	goals	goal	NOUN
sc-156	30	24	.	.	PUNCT
sc-156	31	1	systematic	systematic	ADJ
sc-156	31	2	techniques	technique	NOUN
sc-156	31	3	are	be	AUX
sc-156	31	4	needed	need	VERB
sc-156	31	5	to	to	PART
sc-156	31	6	model	model	VERB
sc-156	31	7	the	the	DET
sc-156	31	8	interactions	interaction	NOUN
sc-156	31	9	,	,	PUNCT
sc-156	31	10	constraints	constraint	NOUN
sc-156	31	11	and	and	CCONJ
sc-156	31	12	the	the	DET
sc-156	31	13	resultant	resultant	NOUN
sc-156	31	14	outcome	outcome	NOUN
sc-156	31	15	of	of	ADP
sc-156	31	16	such	such	ADJ
sc-156	31	17	system	system	NOUN
sc-156	31	18	constraints	constraint	NOUN
sc-156	31	19	.	.	PUNCT
sc-156	32	1	mechanism	mechanism	NOUN
sc-156	32	2	design	design	NOUN
sc-156	33	1	[	[	X
sc-156	33	2	3][4	3][4	NUM
sc-156	33	3	]	]	X
sc-156	33	4	is	be	AUX
sc-156	33	5	concerned	concern	VERB
sc-156	33	6	with	with	ADP
sc-156	33	7	settings	setting	NOUN
sc-156	33	8	where	where	SCONJ
sc-156	33	9	a	a	DET
sc-156	33	10	policy	policy	NOUN
sc-156	33	11	maker	maker	NOUN
sc-156	33	12	faces	face	VERB
sc-156	33	13	the	the	DET
sc-156	33	14	problem	problem	NOUN
sc-156	33	15	of	of	ADP
sc-156	33	16	aggregating	aggregate	VERB
sc-156	33	17	the	the	DET
sc-156	33	18	announced	announce	VERB
sc-156	33	19	preferences	preference	NOUN
sc-156	33	20	into	into	ADP
sc-156	33	21	a	a	DET
sc-156	33	22	systemwide	systemwide	ADJ
sc-156	33	23	decision	decision	NOUN
sc-156	33	24	.	.	PUNCT
sc-156	34	1	mechanism	mechanism	NOUN
sc-156	34	2	design	design	NOUN
sc-156	34	3	solves	solve	VERB
sc-156	34	4	a	a	DET
sc-156	34	5	decision	decision	NOUN
sc-156	34	6	or	or	CCONJ
sc-156	34	7	optimization	optimization	NOUN
sc-156	34	8	problem	problem	NOUN
sc-156	34	9	with	with	ADP
sc-156	34	10	incomplete	incomplete	ADJ
sc-156	34	11	information	information	NOUN
sc-156	34	12	on	on	ADP
sc-156	34	13	agent	agent	NOUN
sc-156	34	14	capabilities	capability	NOUN
sc-156	34	15	.	.	PUNCT
sc-156	35	1	the	the	DET
sc-156	35	2	most	most	ADV
sc-156	35	3	widely	widely	ADV
sc-156	35	4	used	use	VERB
sc-156	35	5	mechanism	mechanism	NOUN
sc-156	35	6	is	be	AUX
sc-156	35	7	the	the	DET
sc-156	35	8	vickery	vickery	PROPN
sc-156	35	9	-	-	PUNCT
sc-156	35	10	clarkes	clarke	NOUN
sc-156	35	11	-	-	PUNCT
sc-156	35	12	groves	grove	NOUN
sc-156	35	13	(	(	PUNCT
sc-156	35	14	vcg	vcg	NOUN
sc-156	35	15	)	)	PUNCT
sc-156	35	16	mechanism	mechanism	NOUN
sc-156	35	17	[	[	X
sc-156	35	18	5][4	5][4	NUM
sc-156	35	19	]	]	PUNCT
sc-156	35	20	,	,	PUNCT
sc-156	35	21	that	that	PRON
sc-156	35	22	can	can	AUX
sc-156	35	23	guarantee	guarantee	VERB
sc-156	35	24	pareto	pareto	ADJ
sc-156	35	25	optimality	optimality	NOUN
sc-156	35	26	and	and	CCONJ
sc-156	35	27	promote	promote	VERB
sc-156	35	28	truthful	truthful	ADJ
sc-156	35	29	bidding	bidding	NOUN
sc-156	35	30	as	as	ADP
sc-156	35	31	a	a	DET
sc-156	35	32	dominant	dominant	ADJ
sc-156	35	33	strategy	strategy	NOUN
sc-156	35	34	.	.	PUNCT
sc-156	36	1	in	in	ADP
sc-156	36	2	this	this	DET
sc-156	36	3	paper	paper	NOUN
sc-156	36	4	,	,	PUNCT
sc-156	36	5	we	we	PRON
sc-156	36	6	apply	apply	VERB
sc-156	36	7	various	various	ADJ
sc-156	36	8	mechanism	mechanism	NOUN
sc-156	36	9	designs	design	NOUN
sc-156	36	10	to	to	PART
sc-156	36	11	study	study	VERB
sc-156	36	12	coordination	coordination	NOUN
sc-156	36	13	problems	problem	NOUN
sc-156	36	14	among	among	ADP
sc-156	36	15	multiple	multiple	ADJ
sc-156	36	16	intelligent	intelligent	ADJ
sc-156	36	17	robotic	robotic	ADJ
sc-156	36	18	agents	agent	NOUN
sc-156	36	19	[	[	X
sc-156	36	20	7	7	NUM
sc-156	36	21	]	]	PUNCT
sc-156	36	22	.	.	PUNCT
sc-156	37	1	we	we	PRON
sc-156	37	2	consider	consider	VERB
sc-156	37	3	the	the	DET
sc-156	37	4	industry	industry	NOUN
sc-156	37	5	4.0	4.0	NUM
sc-156	37	6	warehouse	warehouse	NOUN
sc-156	37	7	scenario	scenario	NOUN
sc-156	37	8	where	where	SCONJ
sc-156	37	9	multiple	multiple	ADJ
sc-156	37	10	picking	picking	NOUN
sc-156	37	11	,	,	PUNCT
sc-156	37	12	placing	placing	NOUN
sc-156	37	13	and	and	CCONJ
sc-156	37	14	inventory	inventory	NOUN
sc-156	37	15	management	management	NOUN
sc-156	37	16	tasks	task	NOUN
sc-156	37	17	are	be	AUX
sc-156	37	18	to	to	PART
sc-156	37	19	be	be	AUX
sc-156	37	20	completed	complete	VERB
sc-156	37	21	via	via	ADP
sc-156	37	22	an	an	DET
sc-156	37	23	auction	auction	NOUN
sc-156	37	24	mechanism	mechanism	NOUN
sc-156	37	25	.	.	PUNCT
sc-156	38	1	the	the	DET
sc-156	38	2	agents	agent	NOUN
sc-156	38	3	are	be	AUX
sc-156	38	4	autonomous	autonomous	ADJ
sc-156	38	5	,	,	PUNCT
sc-156	38	6	may	may	AUX
sc-156	38	7	have	have	VERB
sc-156	38	8	incomplete	incomplete	ADJ
sc-156	38	9	information	information	NOUN
sc-156	38	10	about	about	ADP
sc-156	38	11	the	the	DET
sc-156	38	12	bids	bid	NOUN
sc-156	38	13	and	and	CCONJ
sc-156	38	14	heterogeneous	heterogeneous	ADJ
sc-156	38	15	capacities	capacity	NOUN
sc-156	38	16	.	.	PUNCT
sc-156	39	1	the	the	DET
sc-156	39	2	combinatorial	combinatorial	ADJ
sc-156	39	3	auction	auction	NOUN
sc-156	39	4	is	be	AUX
sc-156	39	5	formulated	formulate	VERB
sc-156	39	6	with	with	ADP
sc-156	39	7	agents	agent	NOUN
sc-156	39	8	vying	vie	VERB
sc-156	39	9	for	for	ADP
sc-156	39	10	tasks	task	NOUN
sc-156	39	11	,	,	PUNCT
sc-156	39	12	in	in	ADP
sc-156	39	13	order	order	NOUN
sc-156	39	14	to	to	PART
sc-156	39	15	be	be	AUX
sc-156	39	16	rewarded	reward	VERB
sc-156	39	17	with	with	ADP
sc-156	39	18	point	point	NOUN
sc-156	39	19	scores	score	NOUN
sc-156	39	20	.	.	PUNCT
sc-156	40	1	point	point	NOUN
sc-156	40	2	scores	score	NOUN
sc-156	40	3	gained	gain	VERB
sc-156	40	4	due	due	ADP
sc-156	40	5	to	to	ADP
sc-156	40	6	completion	completion	NOUN
sc-156	40	7	of	of	ADP
sc-156	40	8	tasks	task	NOUN
sc-156	40	9	are	be	AUX
sc-156	40	10	traded	trade	VERB
sc-156	40	11	off	off	ADP
sc-156	40	12	with	with	ADP
sc-156	40	13	battery	battery	NOUN
sc-156	40	14	charging	charging	NOUN
sc-156	40	15	times	time	NOUN
sc-156	40	16	,	,	PUNCT
sc-156	40	17	that	that	PRON
sc-156	40	18	may	may	AUX
sc-156	40	19	be	be	AUX
sc-156	40	20	used	use	VERB
sc-156	40	21	by	by	ADP
sc-156	40	22	agents	agent	NOUN
sc-156	40	23	(	(	PUNCT
sc-156	40	24	analogous	analogous	ADJ
sc-156	40	25	to	to	ADP
sc-156	40	26	cash	cash	NOUN
sc-156	40	27	payments	payment	NOUN
sc-156	40	28	received	receive	VERB
sc-156	40	29	to	to	ADP
sc-156	40	30	human	human	ADJ
sc-156	40	31	participants	participant	NOUN
sc-156	40	32	)	)	PUNCT
sc-156	40	33	.	.	PUNCT
sc-156	41	1	such	such	DET
sc-156	41	2	a	a	DET
sc-156	41	3	federation	federation	NOUN
sc-156	41	4	of	of	ADP
sc-156	41	5	agents	agent	NOUN
sc-156	41	6	is	be	AUX
sc-156	41	7	required	require	VERB
sc-156	41	8	for	for	ADP
sc-156	41	9	large	large	ADJ
sc-156	41	10	scale	scale	NOUN
sc-156	41	11	deployments	deployment	NOUN
sc-156	41	12	,	,	PUNCT
sc-156	41	13	with	with	ADP
sc-156	41	14	vendors	vendor	NOUN
sc-156	41	15	and	and	CCONJ
sc-156	41	16	heterogeneous	heterogeneous	ADJ
sc-156	41	17	robots	robot	NOUN
sc-156	41	18	competing	compete	VERB
sc-156	41	19	for	for	ADP
sc-156	41	20	common	common	ADJ
sc-156	41	21	tasks	task	NOUN
sc-156	41	22	.	.	PUNCT
sc-156	42	1	we	we	PRON
sc-156	42	2	integrate	integrate	VERB
sc-156	42	3	the	the	DET
sc-156	42	4	vcg	vcg	NOUN
sc-156	42	5	mechanism	mechanism	NOUN
sc-156	42	6	to	to	PART
sc-156	42	7	enable	enable	VERB
sc-156	42	8	task	task	NOUN
sc-156	42	9	auctioning	auctioning	NOUN
sc-156	42	10	and	and	CCONJ
sc-156	42	11	coordination	coordination	NOUN
sc-156	42	12	among	among	ADP
sc-156	42	13	the	the	DET
sc-156	42	14	robotic	robotic	ADJ
sc-156	42	15	agents	agent	NOUN
sc-156	42	16	in	in	ADP
sc-156	42	17	industry	industry	NOUN
sc-156	42	18	4.0	4.0	NUM
sc-156	42	19	.	.	PUNCT
sc-156	43	1	through	through	ADP
sc-156	43	2	exhaustive	exhaustive	ADJ
sc-156	43	3	simulations	simulation	NOUN
sc-156	43	4	,	,	PUNCT
sc-156	43	5	nuances	nuance	NOUN
sc-156	43	6	are	be	AUX
sc-156	43	7	studied	study	VERB
sc-156	43	8	in	in	ADP
sc-156	43	9	scenarios	scenario	NOUN
sc-156	43	10	including	include	VERB
sc-156	43	11	heterogeneous	heterogeneous	ADJ
sc-156	43	12	agent	agent	NOUN
sc-156	43	13	capacities	capacity	NOUN
sc-156	43	14	,	,	PUNCT
sc-156	43	15	individual	individual	ADJ
sc-156	43	16	task	task	NOUN
sc-156	43	17	bids	bid	NOUN
sc-156	43	18	,	,	PUNCT
sc-156	43	19	combinatorial	combinatorial	ADJ
sc-156	43	20	bids	bid	NOUN
sc-156	43	21	and	and	CCONJ
sc-156	43	22	collusion	collusion	NOUN
sc-156	43	23	with	with	ADP
sc-156	43	24	erroneous	erroneous	ADJ
sc-156	43	25	estimates	estimate	NOUN
sc-156	43	26	.	.	PUNCT
sc-156	44	1	we	we	PRON
sc-156	44	2	demonstrate	demonstrate	VERB
sc-156	44	3	how	how	SCONJ
sc-156	44	4	the	the	DET
sc-156	44	5	mechanisms	mechanism	NOUN
sc-156	44	6	may	may	AUX
sc-156	44	7	be	be	AUX
sc-156	44	8	made	make	VERB
sc-156	44	9	robust	robust	ADJ
sc-156	44	10	enough	enough	ADV
sc-156	44	11	to	to	PART
sc-156	44	12	ensure	ensure	VERB
sc-156	44	13	fair	fair	ADJ
sc-156	44	14	and	and	CCONJ
sc-156	44	15	truthful	truthful	ADJ
sc-156	44	16	allocation	allocation	NOUN
sc-156	44	17	to	to	PART
sc-156	44	18	auction	auction	VERB
sc-156	44	19	participants	participant	NOUN
sc-156	44	20	.	.	PUNCT
sc-156	45	1	such	such	DET
sc-156	45	2	a	a	DET
sc-156	45	3	model	model	NOUN
sc-156	45	4	ensures	ensure	VERB
sc-156	45	5	fair	fair	ADJ
sc-156	45	6	,	,	PUNCT
sc-156	45	7	scalable	scalable	ADJ
sc-156	45	8	and	and	CCONJ
sc-156	45	9	efficient	efficient	ADJ
sc-156	45	10	deployments	deployment	NOUN
sc-156	45	11	of	of	ADP
sc-156	45	12	autonomous	autonomous	ADJ
sc-156	45	13	agents	agent	NOUN
sc-156	45	14	in	in	ADP
sc-156	45	15	industry	industry	NOUN
sc-156	45	16	4.0	4.0	NUM
sc-156	45	17	deployments	deployment	NOUN
sc-156	45	18	.	.	PUNCT
sc-156	46	1	the	the	DET
sc-156	46	2	principal	principal	ADJ
sc-156	46	3	contributions	contribution	NOUN
sc-156	46	4	of	of	ADP
sc-156	46	5	this	this	DET
sc-156	46	6	paper	paper	NOUN
sc-156	46	7	are	be	AUX
sc-156	46	8	:	:	PUNCT
sc-156	46	9	1	1	X
sc-156	46	10	.	.	X
sc-156	46	11	porting	port	VERB
sc-156	46	12	the	the	DET
sc-156	46	13	industry	industry	NOUN
sc-156	46	14	4.0	4.0	NUM
sc-156	46	15	autonomous	autonomous	ADJ
sc-156	46	16	agent	agent	NOUN
sc-156	46	17	task	task	NOUN
sc-156	46	18	allocation	allocation	NOUN
sc-156	46	19	problem	problem	NOUN
sc-156	46	20	into	into	ADP
sc-156	46	21	a	a	DET
sc-156	46	22	game	game	NOUN
sc-156	46	23	theoretic	theoretic	NOUN
sc-156	46	24	mechanism	mechanism	NOUN
sc-156	46	25	formulation	formulation	NOUN
sc-156	46	26	.	.	PUNCT
sc-156	47	1	2	2	X
sc-156	47	2	.	.	X
sc-156	47	3	evaluating	evaluate	VERB
sc-156	47	4	the	the	DET
sc-156	47	5	use	use	NOUN
sc-156	47	6	of	of	ADP
sc-156	47	7	vcg	vcg	NOUN
sc-156	47	8	auctioning	auctioning	NOUN
sc-156	47	9	mechanism	mechanism	NOUN
sc-156	47	10	designs	design	NOUN
sc-156	47	11	for	for	ADP
sc-156	47	12	combinatorial	combinatorial	ADJ
sc-156	47	13	auctions	auction	NOUN
sc-156	47	14	in	in	ADP
sc-156	47	15	cooperative	cooperative	ADJ
sc-156	47	16	tasks	task	NOUN
sc-156	47	17	.	.	PUNCT
sc-156	48	1	3	3	X
sc-156	48	2	.	.	X
sc-156	48	3	consider	consider	VERB
sc-156	48	4	auctions	auction	NOUN
sc-156	48	5	under	under	ADP
sc-156	48	6	multiple	multiple	ADJ
sc-156	48	7	scenarios	scenario	NOUN
sc-156	48	8	with	with	ADP
sc-156	48	9	homogeneous	homogeneous	ADJ
sc-156	48	10	/	/	SYM
sc-156	48	11	heterogeneous	heterogeneous	ADJ
sc-156	48	12	agents	agent	NOUN
sc-156	48	13	,	,	PUNCT
sc-156	48	14	single	single	ADJ
sc-156	48	15	/	/	SYM
sc-156	48	16	combinatorial	combinatorial	ADJ
sc-156	48	17	tasks	task	NOUN
sc-156	48	18	and	and	CCONJ
sc-156	48	19	truthful	truthful	ADJ
sc-156	48	20	/	/	SYM
sc-156	48	21	erroneous	erroneous	ADJ
sc-156	48	22	bids	bid	NOUN
sc-156	48	23	.	.	PUNCT
sc-156	49	1	4	4	X
sc-156	49	2	.	.	X
sc-156	49	3	extensive	extensive	ADJ
sc-156	49	4	simulation	simulation	NOUN
sc-156	49	5	of	of	ADP
sc-156	49	6	the	the	DET
sc-156	49	7	above	above	ADJ
sc-156	49	8	mechanisms	mechanism	NOUN
sc-156	49	9	,	,	PUNCT
sc-156	49	10	to	to	PART
sc-156	49	11	demonstrate	demonstrate	VERB
sc-156	49	12	efficacy	efficacy	NOUN
sc-156	49	13	of	of	ADP
sc-156	49	14	solutions	solution	NOUN
sc-156	49	15	in	in	ADP
sc-156	49	16	industry	industry	NOUN
sc-156	49	17	4.0	4.0	NUM
sc-156	49	18	context	context	NOUN
sc-156	49	19	.	.	PUNCT
sc-156	50	1	the	the	DET
sc-156	50	2	rest	rest	NOUN
sc-156	50	3	of	of	ADP
sc-156	50	4	this	this	DET
sc-156	50	5	paper	paper	NOUN
sc-156	50	6	is	be	AUX
sc-156	50	7	organized	organize	VERB
sc-156	50	8	as	as	SCONJ
sc-156	50	9	follows	follow	VERB
sc-156	50	10	:	:	PUNCT
sc-156	50	11	a	a	DET
sc-156	50	12	survey	survey	NOUN
sc-156	50	13	of	of	ADP
sc-156	50	14	the	the	DET
sc-156	50	15	state	state	NOUN
sc-156	50	16	of	of	ADP
sc-156	50	17	the	the	DET
sc-156	50	18	art	art	NOUN
sc-156	50	19	is	be	AUX
sc-156	50	20	presented	present	VERB
sc-156	50	21	in	in	ADP
sc-156	50	22	section	section	NOUN
sc-156	50	23	2	2	NUM
sc-156	50	24	.	.	PUNCT
sc-156	50	25	section	section	NOUN
sc-156	50	26	3	3	NUM
sc-156	50	27	provides	provide	VERB
sc-156	50	28	an	an	DET
sc-156	50	29	overview	overview	NOUN
sc-156	50	30	of	of	ADP
sc-156	50	31	the	the	DET
sc-156	50	32	automated	automate	VERB
sc-156	50	33	task	task	NOUN
sc-156	50	34	procurement	procurement	NOUN
sc-156	50	35	processes	process	NOUN
sc-156	50	36	in	in	ADP
sc-156	50	37	industry	industry	NOUN
sc-156	50	38	4.0	4.0	NUM
sc-156	50	39	warehouses	warehouse	NOUN
sc-156	50	40	.	.	PUNCT
sc-156	51	1	an	an	DET
sc-156	51	2	overview	overview	NOUN
sc-156	51	3	of	of	ADP
sc-156	51	4	mechanism	mechanism	NOUN
sc-156	51	5	designs	design	NOUN
sc-156	51	6	,	,	PUNCT
sc-156	51	7	combinatorial	combinatorial	ADJ
sc-156	51	8	auctions	auction	NOUN
sc-156	51	9	and	and	CCONJ
sc-156	51	10	bidding	bidding	NOUN
sc-156	51	11	languages	language	NOUN
sc-156	51	12	are	be	AUX
sc-156	51	13	provided	provide	VERB
sc-156	51	14	in	in	ADP
sc-156	51	15	section	section	NOUN
sc-156	51	16	4	4	NUM
sc-156	51	17	.	.	PUNCT
sc-156	52	1	mapping	mapping	NOUN
sc-156	52	2	problems	problem	NOUN
sc-156	52	3	from	from	ADP
sc-156	52	4	industry	industry	NOUN
sc-156	52	5	4.0	4.0	NUM
sc-156	52	6	task	task	NOUN
sc-156	52	7	allocation	allocation	NOUN
sc-156	52	8	into	into	ADP
sc-156	52	9	mechanism	mechanism	NOUN
sc-156	52	10	design	design	NOUN
sc-156	52	11	formalisms	formalism	NOUN
sc-156	52	12	,	,	PUNCT
sc-156	52	13	with	with	ADP
sc-156	52	14	bidding	bidding	NOUN
sc-156	52	15	,	,	PUNCT
sc-156	52	16	allocation	allocation	NOUN
sc-156	52	17	and	and	CCONJ
sc-156	52	18	payment	payment	NOUN
sc-156	52	19	is	be	AUX
sc-156	52	20	provided	provide	VERB
sc-156	52	21	in	in	ADP
sc-156	52	22	section	section	NOUN
sc-156	52	23	5	5	NUM
sc-156	52	24	.	.	PUNCT
sc-156	53	1	comprehensive	comprehensive	ADJ
sc-156	53	2	simulations	simulation	NOUN
sc-156	53	3	are	be	AUX
sc-156	53	4	examined	examine	VERB
sc-156	53	5	in	in	ADP
sc-156	53	6	section	section	NOUN
sc-156	53	7	6	6	NUM
sc-156	53	8	,	,	PUNCT
sc-156	53	9	including	include	VERB
sc-156	53	10	use	use	NOUN
sc-156	53	11	of	of	ADP
sc-156	53	12	heterogeneous	heterogeneous	ADJ
sc-156	53	13	agents	agent	NOUN
sc-156	53	14	,	,	PUNCT
sc-156	53	15	composite	composite	ADJ
sc-156	53	16	bids	bid	NOUN
sc-156	53	17	and	and	CCONJ
sc-156	53	18	erroneous	erroneous	ADJ
sc-156	53	19	estimates	estimate	NOUN
sc-156	53	20	.	.	PUNCT
sc-156	54	1	this	this	PRON
sc-156	54	2	is	be	AUX
sc-156	54	3	followed	follow	VERB
sc-156	54	4	by	by	ADP
sc-156	54	5	conclusions	conclusion	NOUN
sc-156	54	6	of	of	ADP
sc-156	54	7	the	the	DET
sc-156	54	8	paper	paper	NOUN
sc-156	54	9	.	.	PUNCT
sc-156	55	1	2	2	X
sc-156	55	2	.	.	X
sc-156	55	3	related	relate	VERB
sc-156	55	4	work	work	NOUN
sc-156	55	5	we	we	PRON
sc-156	55	6	provide	provide	VERB
sc-156	55	7	an	an	DET
sc-156	55	8	overview	overview	NOUN
sc-156	55	9	of	of	ADP
sc-156	55	10	the	the	DET
sc-156	55	11	state	state	NOUN
sc-156	55	12	of	of	ADP
sc-156	55	13	the	the	DET
sc-156	55	14	art	art	NOUN
sc-156	55	15	in	in	ADP
sc-156	55	16	combinatorial	combinatorial	ADJ
sc-156	55	17	auctions	auction	NOUN
sc-156	55	18	,	,	PUNCT
sc-156	55	19	mechanism	mechanism	NOUN
sc-156	55	20	design	design	NOUN
sc-156	55	21	and	and	CCONJ
sc-156	55	22	industry	industry	NOUN
sc-156	55	23	4.0	4.0	NUM
sc-156	55	24	warehouse	warehouse	NOUN
sc-156	55	25	automation	automation	NOUN
sc-156	55	26	.	.	PUNCT
sc-156	56	1	2.1	2.1	NUM
sc-156	56	2	.	.	PUNCT
sc-156	56	3	mechanism	mechanism	NOUN
sc-156	56	4	designs	design	NOUN
sc-156	56	5	and	and	CCONJ
sc-156	56	6	auctions	auction	NOUN
sc-156	56	7	auctions	auction	NOUN
sc-156	56	8	and	and	CCONJ
sc-156	56	9	bidding	bidding	NOUN
sc-156	56	10	techniques	technique	NOUN
sc-156	56	11	have	have	AUX
sc-156	56	12	been	be	AUX
sc-156	56	13	proposed	propose	VERB
sc-156	56	14	to	to	PART
sc-156	56	15	allocate	allocate	VERB
sc-156	56	16	resources	resource	NOUN
sc-156	56	17	to	to	ADP
sc-156	56	18	parties	party	NOUN
sc-156	56	19	in	in	ADP
sc-156	56	20	a	a	DET
sc-156	56	21	fair	fair	ADJ
sc-156	56	22	manner	manner	NOUN
sc-156	56	23	.	.	PUNCT
sc-156	57	1	this	this	PRON
sc-156	57	2	has	have	AUX
sc-156	57	3	been	be	AUX
sc-156	57	4	extended	extend	VERB
sc-156	57	5	in	in	ADP
sc-156	57	6	combinatorial	combinatorial	ADJ
sc-156	57	7	auctions	auction	NOUN
sc-156	57	8	[	[	X
sc-156	57	9	8	8	NUM
sc-156	57	10	]	]	PUNCT
sc-156	57	11	,	,	PUNCT
sc-156	57	12	where	where	SCONJ
sc-156	57	13	bidders	bidder	NOUN
sc-156	57	14	propose	propose	VERB
sc-156	57	15	bids	bid	NOUN
sc-156	57	16	on	on	ADP
sc-156	57	17	combinations	combination	NOUN
sc-156	57	18	of	of	ADP
sc-156	57	19	available	available	ADJ
sc-156	57	20	items	item	NOUN
sc-156	57	21	/	/	SYM
sc-156	57	22	tasks	task	NOUN
sc-156	57	23	.	.	PUNCT
sc-156	58	1	as	as	SCONJ
sc-156	58	2	bidders	bidder	NOUN
sc-156	58	3	are	be	AUX
sc-156	58	4	autonomous	autonomous	ADJ
sc-156	58	5	and	and	CCONJ
sc-156	58	6	may	may	AUX
sc-156	58	7	behave	behave	VERB
sc-156	58	8	in	in	ADP
sc-156	58	9	individualistic	individualistic	ADJ
sc-156	58	10	manner	manner	NOUN
sc-156	58	11	,	,	PUNCT
sc-156	58	12	it	it	PRON
sc-156	58	13	is	be	AUX
sc-156	58	14	important	important	ADJ
sc-156	58	15	to	to	PART
sc-156	58	16	set	set	VERB
sc-156	58	17	up	up	ADP
sc-156	58	18	games	game	NOUN
sc-156	58	19	that	that	PRON
sc-156	58	20	can	can	AUX
sc-156	58	21	result	result	VERB
sc-156	58	22	in	in	ADP
sc-156	58	23	desirable	desirable	ADJ
sc-156	58	24	outcomes	outcome	NOUN
sc-156	58	25	both	both	PRON
sc-156	58	26	to	to	ADP
sc-156	58	27	the	the	DET
sc-156	58	28	auctioneers	auctioneer	NOUN
sc-156	58	29	as	as	ADV
sc-156	58	30	well	well	ADV
sc-156	58	31	as	as	ADP
sc-156	58	32	the	the	DET
sc-156	58	33	bidders	bidder	NOUN
sc-156	58	34	.	.	PUNCT
sc-156	59	1	mechanism	mechanism	NOUN
sc-156	59	2	design	design	NOUN
sc-156	60	1	[	[	X
sc-156	60	2	3][4	3][4	NOUN
sc-156	60	3	]	]	X
sc-156	60	4	has	have	AUX
sc-156	60	5	been	be	AUX
sc-156	60	6	proposed	propose	VERB
sc-156	60	7	to	to	PART
sc-156	60	8	generate	generate	VERB
sc-156	60	9	social	social	ADJ
sc-156	60	10	interactions	interaction	NOUN
sc-156	60	11	among	among	ADP
sc-156	60	12	agents	agent	NOUN
sc-156	60	13	,	,	PUNCT
sc-156	60	14	in	in	ADP
sc-156	60	15	order	order	NOUN
sc-156	60	16	to	to	PART
sc-156	60	17	meet	meet	VERB
sc-156	60	18	certain	certain	ADJ
sc-156	60	19	goal	goal	NOUN
sc-156	60	20	objectives	objective	NOUN
sc-156	60	21	.	.	PUNCT
sc-156	61	1	it	it	PRON
sc-156	61	2	is	be	AUX
sc-156	61	3	the	the	DET
sc-156	61	4	assumption	assumption	NOUN
sc-156	61	5	of	of	ADP
sc-156	61	6	the	the	DET
sc-156	61	7	mechanism	mechanism	NOUN
sc-156	61	8	design	design	NOUN
sc-156	61	9	process	process	NOUN
sc-156	61	10	,	,	PUNCT
sc-156	61	11	that	that	SCONJ
sc-156	61	12	the	the	DET
sc-156	61	13	participants	participant	NOUN
sc-156	61	14	in	in	ADP
sc-156	61	15	the	the	DET
sc-156	61	16	social	social	ADJ
sc-156	61	17	interaction	interaction	NOUN
sc-156	61	18	will	will	AUX
sc-156	61	19	hold	hold	VERB
sc-156	61	20	private	private	ADJ
sc-156	61	21	information	information	NOUN
sc-156	61	22	and	and	CCONJ
sc-156	61	23	behave	behave	VERB
sc-156	61	24	in	in	ADP
sc-156	61	25	a	a	DET
sc-156	61	26	self	self	NOUN
sc-156	61	27	-	-	PUNCT
sc-156	61	28	centered	center	VERB
sc-156	61	29	manner	manner	NOUN
sc-156	61	30	to	to	PART
sc-156	61	31	maximize	maximize	VERB
sc-156	61	32	private	private	ADJ
sc-156	61	33	goals	goal	NOUN
sc-156	61	34	.	.	PUNCT
sc-156	62	1	the	the	DET
sc-156	62	2	most	most	ADV
sc-156	62	3	widely	widely	ADV
sc-156	62	4	used	use	VERB
sc-156	62	5	mechanism	mechanism	NOUN
sc-156	62	6	is	be	AUX
sc-156	62	7	the	the	DET
sc-156	62	8	vickery	vickery	NOUN
sc-156	62	9	-	-	PUNCT
sc-156	62	10	clarkesgroves	clarkesgrove	NOUN
sc-156	62	11	(	(	PUNCT
sc-156	62	12	vcg	vcg	NOUN
sc-156	62	13	)	)	PUNCT
sc-156	62	14	mechanism	mechanism	NOUN
sc-156	62	15	[	[	X
sc-156	62	16	5][4	5][4	NUM
sc-156	62	17	]	]	PUNCT
sc-156	62	18	.	.	PUNCT
sc-156	63	1	a	a	DET
sc-156	63	2	simple	simple	ADJ
sc-156	63	3	used	use	VERB
sc-156	63	4	case	case	NOUN
sc-156	63	5	of	of	ADP
sc-156	63	6	the	the	DET
sc-156	63	7	vcg	vcg	NOUN
sc-156	63	8	mechanism	mechanism	NOUN
sc-156	63	9	is	be	AUX
sc-156	63	10	the	the	DET
sc-156	63	11	vickery	vickery	PROPN
sc-156	63	12	auction	auction	NOUN
sc-156	63	13	or	or	CCONJ
sc-156	63	14	the	the	DET
sc-156	63	15	second	second	ADJ
sc-156	63	16	price	price	NOUN
sc-156	63	17	sealed	seal	VERB
sc-156	63	18	bid	bid	NOUN
sc-156	63	19	auction	auction	NOUN
sc-156	63	20	,	,	PUNCT
sc-156	63	21	wherein	wherein	SCONJ
sc-156	63	22	each	each	DET
sc-156	63	23	buyer	buyer	NOUN
sc-156	63	24	submits	submit	VERB
sc-156	63	25	a	a	DET
sc-156	63	26	sealed	seal	VERB
sc-156	63	27	bid	bid	NOUN
sc-156	63	28	,	,	PUNCT
sc-156	63	29	the	the	DET
sc-156	63	30	buyer	buyer	NOUN
sc-156	63	31	with	with	ADP
sc-156	63	32	the	the	DET
sc-156	63	33	highest	high	ADJ
sc-156	63	34	bid	bid	NOUN
sc-156	63	35	is	be	AUX
sc-156	63	36	declared	declare	VERB
sc-156	63	37	the	the	DET
sc-156	63	38	winner	winner	NOUN
sc-156	63	39	.	.	PUNCT
sc-156	64	1	the	the	DET
sc-156	64	2	use	use	NOUN
sc-156	64	3	of	of	ADP
sc-156	64	4	combinatorial	combinatorial	ADJ
sc-156	64	5	auctions	auction	NOUN
sc-156	64	6	and	and	CCONJ
sc-156	64	7	mechanisms	mechanism	NOUN
sc-156	64	8	have	have	AUX
sc-156	64	9	been	be	AUX
sc-156	64	10	proposed	propose	VERB
sc-156	64	11	in	in	ADP
sc-156	64	12	the	the	DET
sc-156	64	13	logistics	logistic	NOUN
sc-156	64	14	,	,	PUNCT
sc-156	64	15	autonomous	autonomous	ADJ
sc-156	64	16	robotic	robotic	ADJ
sc-156	64	17	and	and	CCONJ
sc-156	64	18	vehicular	vehicular	ADJ
sc-156	64	19	transport	transport	NOUN
sc-156	64	20	segments	segment	NOUN
sc-156	64	21	.	.	PUNCT
sc-156	65	1	in	in	ADP
sc-156	65	2	[	[	X
sc-156	65	3	9	9	NUM
sc-156	65	4	]	]	PUNCT
sc-156	65	5	,	,	PUNCT
sc-156	65	6	the	the	DET
sc-156	65	7	application	application	NOUN
sc-156	65	8	of	of	ADP
sc-156	65	9	single	single	ADJ
sc-156	65	10	-	-	PUNCT
sc-156	65	11	round	round	NOUN
sc-156	65	12	combinatorial	combinatorial	ADJ
sc-156	65	13	auctions	auction	NOUN
sc-156	65	14	have	have	AUX
sc-156	65	15	been	be	AUX
sc-156	65	16	applied	apply	VERB
sc-156	65	17	to	to	ADP
sc-156	65	18	home	home	NOUN
sc-156	65	19	depot	depot	NOUN
sc-156	65	20	’s	’s	PART
sc-156	65	21	transporter	transporter	NOUN
sc-156	65	22	handling	handling	NOUN
sc-156	65	23	network	network	NOUN
sc-156	65	24	.	.	PUNCT
sc-156	66	1	the	the	DET
sc-156	66	2	results	result	NOUN
sc-156	66	3	indicate	indicate	VERB
sc-156	66	4	that	that	SCONJ
sc-156	66	5	the	the	DET
sc-156	66	6	choice	choice	NOUN
sc-156	66	7	of	of	ADP
sc-156	66	8	auction	auction	NOUN
sc-156	66	9	mechanisms	mechanism	NOUN
sc-156	66	10	not	not	PART
sc-156	66	11	only	only	ADV
sc-156	66	12	provided	provide	VERB
sc-156	66	13	better	well	ADJ
sc-156	66	14	rates	rate	NOUN
sc-156	66	15	,	,	PUNCT
sc-156	66	16	but	but	CCONJ
sc-156	66	17	many	many	ADJ
sc-156	66	18	of	of	ADP
sc-156	66	19	the	the	DET
sc-156	66	20	carriers	carrier	NOUN
sc-156	66	21	also	also	ADV
sc-156	66	22	expressed	express	VERB
sc-156	66	23	increased	increase	VERB
sc-156	66	24	satisfaction	satisfaction	NOUN
sc-156	66	25	in	in	ADP
sc-156	66	26	the	the	DET
sc-156	66	27	awarded	award	VERB
sc-156	66	28	tasks	task	NOUN
sc-156	66	29	.	.	PUNCT
sc-156	67	1	in	in	ADP
sc-156	67	2	[	[	X
sc-156	67	3	10	10	NUM
sc-156	67	4	]	]	PUNCT
sc-156	67	5	,	,	PUNCT
sc-156	67	6	the	the	DET
sc-156	67	7	use	use	NOUN
sc-156	67	8	of	of	ADP
sc-156	67	9	vcg	vcg	PROPN
sc-156	67	10	auctions	auction	NOUN
sc-156	67	11	in	in	ADP
sc-156	67	12	multi	multi	ADJ
sc-156	67	13	-	-	ADJ
sc-156	67	14	tenant	tenant	ADJ
sc-156	67	15	autonomous	autonomous	ADJ
sc-156	67	16	vehicle	vehicle	NOUN
sc-156	67	17	scheduling	scheduling	NOUN
sc-156	67	18	is	be	AUX
sc-156	67	19	proposed	propose	VERB
sc-156	67	20	,	,	PUNCT
sc-156	67	21	that	that	PRON
sc-156	67	22	would	would	AUX
sc-156	67	23	help	help	VERB
sc-156	67	24	improve	improve	VERB
sc-156	67	25	the	the	DET
sc-156	67	26	utilization	utilization	NOUN
sc-156	67	27	of	of	ADP
sc-156	67	28	resources	resource	NOUN
sc-156	67	29	.	.	PUNCT
sc-156	68	1	in	in	ADP
sc-156	68	2	[	[	X
sc-156	68	3	11	11	NUM
sc-156	68	4	]	]	PUNCT
sc-156	68	5	,	,	PUNCT
sc-156	68	6	the	the	DET
sc-156	68	7	use	use	NOUN
sc-156	68	8	of	of	ADP
sc-156	68	9	software	software	NOUN
sc-156	68	10	actors	actor	NOUN
sc-156	68	11	interacting	interact	VERB
sc-156	68	12	over	over	ADP
sc-156	68	13	mechanisms	mechanism	NOUN
sc-156	68	14	for	for	ADP
sc-156	68	15	2	2	NUM
sc-156	68	16	eai	eai	NOUN
sc-156	68	17	endorsed	endorse	VERB
sc-156	68	18	transactions	transaction	NOUN
sc-156	68	19	on	on	ADP
sc-156	68	20	smart	smart	ADJ
sc-156	68	21	cities	city	NOUN
sc-156	68	22	10	10	NUM
sc-156	68	23	2021	2021	NUM
sc-156	68	24	03	03	NUM
sc-156	68	25	2022	2022	NUM
sc-156	68	26	|	|	ADV
sc-156	68	27	volume	volume	NOUN
sc-156	68	28	6	6	NUM
sc-156	68	29	|	|	NOUN
sc-156	68	30	issue	issue	NOUN
sc-156	68	31	17	17	NUM
sc-156	68	32	|	|	NOUN
sc-156	68	33	e2	e2	NOUN
sc-156	68	34	aspects	aspect	NOUN
sc-156	68	35	of	of	ADP
sc-156	68	36	mechanism	mechanism	NOUN
sc-156	68	37	design	design	NOUN
sc-156	68	38	for	for	ADP
sc-156	68	39	industry	industry	NOUN
sc-156	68	40	4.0	4.0	NUM
sc-156	68	41	multi	multi	ADJ
sc-156	68	42	-	-	ADJ
sc-156	68	43	robot	robot	ADJ
sc-156	68	44	task	task	NOUN
sc-156	68	45	auctioning	auctioning	NOUN
sc-156	68	46	improved	improve	VERB
sc-156	68	47	agility	agility	NOUN
sc-156	68	48	and	and	CCONJ
sc-156	68	49	scalability	scalability	NOUN
sc-156	68	50	is	be	AUX
sc-156	68	51	proposed	propose	VERB
sc-156	68	52	.	.	PUNCT
sc-156	69	1	in	in	ADP
sc-156	69	2	our	our	PRON
sc-156	69	3	work	work	NOUN
sc-156	69	4	,	,	PUNCT
sc-156	69	5	we	we	PRON
sc-156	69	6	apply	apply	VERB
sc-156	69	7	efficient	efficient	ADJ
sc-156	69	8	mechanism	mechanism	NOUN
sc-156	69	9	design	design	NOUN
sc-156	69	10	to	to	ADP
sc-156	69	11	autonomous	autonomous	ADJ
sc-156	69	12	robots	robot	NOUN
sc-156	69	13	deployed	deploy	VERB
sc-156	69	14	in	in	ADP
sc-156	69	15	industrial	industrial	ADJ
sc-156	69	16	settings	setting	NOUN
sc-156	69	17	.	.	PUNCT
sc-156	70	1	2.2	2.2	NUM
sc-156	70	2	.	.	PUNCT
sc-156	71	1	industry	industry	NOUN
sc-156	71	2	4.0	4.0	NUM
sc-156	71	3	automation	automation	NOUN
sc-156	71	4	industry	industry	NOUN
sc-156	71	5	4.0	4.0	NUM
sc-156	71	6	deployments	deployment	NOUN
sc-156	71	7	[	[	X
sc-156	71	8	1	1	X
sc-156	71	9	]	]	X
sc-156	71	10	propose	propose	VERB
sc-156	71	11	the	the	DET
sc-156	71	12	use	use	NOUN
sc-156	71	13	of	of	ADP
sc-156	71	14	autonomous	autonomous	ADJ
sc-156	71	15	robotic	robotic	ADJ
sc-156	71	16	entities	entity	NOUN
sc-156	71	17	to	to	PART
sc-156	71	18	complete	complete	VERB
sc-156	71	19	complex	complex	ADJ
sc-156	71	20	tasks	task	NOUN
sc-156	71	21	.	.	PUNCT
sc-156	72	1	commercial	commercial	ADJ
sc-156	72	2	deployments	deployment	NOUN
sc-156	72	3	have	have	AUX
sc-156	72	4	been	be	AUX
sc-156	72	5	used	use	VERB
sc-156	72	6	in	in	ADP
sc-156	72	7	warehouses	warehouse	NOUN
sc-156	72	8	[	[	X
sc-156	72	9	12	12	NUM
sc-156	72	10	]	]	PUNCT
sc-156	72	11	to	to	PART
sc-156	72	12	improve	improve	VERB
sc-156	72	13	throughput	throughput	NOUN
sc-156	72	14	of	of	ADP
sc-156	72	15	automated	automate	VERB
sc-156	72	16	tasks	task	NOUN
sc-156	72	17	.	.	PUNCT
sc-156	73	1	amazon2	amazon2	NOUN
sc-156	73	2	has	have	AUX
sc-156	73	3	deployed	deploy	VERB
sc-156	73	4	hundreds	hundred	NOUN
sc-156	73	5	of	of	ADP
sc-156	73	6	autonomous	autonomous	ADJ
sc-156	73	7	robots	robot	NOUN
sc-156	73	8	to	to	PART
sc-156	73	9	aid	aid	VERB
sc-156	73	10	in	in	ADP
sc-156	73	11	reducing	reduce	VERB
sc-156	73	12	costs	cost	NOUN
sc-156	73	13	of	of	ADP
sc-156	73	14	warehouse	warehouse	NOUN
sc-156	73	15	logistics	logistic	NOUN
sc-156	74	1	[	[	X
sc-156	74	2	6	6	NUM
sc-156	74	3	]	]	PUNCT
sc-156	74	4	.	.	PUNCT
sc-156	75	1	inspiration	inspiration	NOUN
sc-156	75	2	is	be	AUX
sc-156	75	3	drawn	draw	VERB
sc-156	75	4	from	from	ADP
sc-156	75	5	the	the	DET
sc-156	75	6	use	use	NOUN
sc-156	75	7	of	of	ADP
sc-156	75	8	autonomic	autonomic	ADJ
sc-156	75	9	computing	computing	NOUN
sc-156	75	10	technologies	technology	NOUN
sc-156	75	11	[	[	X
sc-156	75	12	13	13	NUM
sc-156	75	13	]	]	PUNCT
sc-156	75	14	,	,	PUNCT
sc-156	75	15	that	that	PRON
sc-156	75	16	allow	allow	VERB
sc-156	75	17	robotic	robotic	ADJ
sc-156	75	18	runtime	runtime	NOUN
sc-156	75	19	reconfiguration	reconfiguration	NOUN
sc-156	75	20	and	and	CCONJ
sc-156	75	21	adaptation	adaptation	NOUN
sc-156	75	22	.	.	PUNCT
sc-156	76	1	architectures	architecture	NOUN
sc-156	76	2	with	with	ADP
sc-156	76	3	selfaware	selfaware	NOUN
sc-156	76	4	,	,	PUNCT
sc-156	76	5	self	self	NOUN
sc-156	76	6	-	-	PUNCT
sc-156	76	7	configuring	configure	VERB
sc-156	76	8	and	and	CCONJ
sc-156	76	9	self	self	NOUN
sc-156	76	10	-	-	PUNCT
sc-156	76	11	optimizing	optimize	VERB
sc-156	76	12	capabilities	capability	NOUN
sc-156	76	13	have	have	AUX
sc-156	76	14	also	also	ADV
sc-156	76	15	been	be	AUX
sc-156	76	16	proposed	propose	VERB
sc-156	76	17	[	[	X
sc-156	76	18	14	14	NUM
sc-156	76	19	]	]	PUNCT
sc-156	76	20	,	,	PUNCT
sc-156	76	21	that	that	PRON
sc-156	76	22	may	may	AUX
sc-156	76	23	be	be	AUX
sc-156	76	24	applied	apply	VERB
sc-156	76	25	to	to	ADP
sc-156	76	26	such	such	ADJ
sc-156	76	27	automation	automation	NOUN
sc-156	76	28	frameworks	framework	NOUN
sc-156	76	29	.	.	PUNCT
sc-156	77	1	for	for	ADP
sc-156	77	2	smaller	small	ADJ
sc-156	77	3	scale	scale	NOUN
sc-156	77	4	deployments	deployment	NOUN
sc-156	77	5	,	,	PUNCT
sc-156	77	6	coordinating	coordinate	VERB
sc-156	77	7	robotic	robotic	ADJ
sc-156	77	8	entities	entity	NOUN
sc-156	77	9	via	via	ADP
sc-156	77	10	a	a	DET
sc-156	77	11	centralized	centralized	ADJ
sc-156	77	12	cloud	cloud	NOUN
sc-156	77	13	[	[	X
sc-156	77	14	15	15	NUM
sc-156	77	15	]	]	PUNCT
sc-156	77	16	,	,	PUNCT
sc-156	77	17	could	could	AUX
sc-156	77	18	prove	prove	VERB
sc-156	77	19	useful	useful	ADJ
sc-156	77	20	.	.	PUNCT
sc-156	78	1	in	in	ADP
sc-156	78	2	[	[	X
sc-156	78	3	16	16	NUM
sc-156	78	4	]	]	X
sc-156	78	5	,	,	PUNCT
sc-156	78	6	a	a	DET
sc-156	78	7	smart	smart	ADJ
sc-156	78	8	factory	factory	NOUN
sc-156	78	9	framework	framework	NOUN
sc-156	78	10	is	be	AUX
sc-156	78	11	proposed	propose	VERB
sc-156	78	12	that	that	PRON
sc-156	78	13	incorporates	incorporate	VERB
sc-156	78	14	industrial	industrial	ADJ
sc-156	78	15	network	network	NOUN
sc-156	78	16	,	,	PUNCT
sc-156	78	17	cloud	cloud	NOUN
sc-156	78	18	,	,	PUNCT
sc-156	78	19	and	and	CCONJ
sc-156	78	20	supervisory	supervisory	ADJ
sc-156	78	21	control	control	NOUN
sc-156	78	22	terminals	terminal	NOUN
sc-156	78	23	with	with	ADP
sc-156	78	24	smart	smart	ADJ
sc-156	78	25	shop	shop	NOUN
sc-156	78	26	-	-	PUNCT
sc-156	78	27	floor	floor	NOUN
sc-156	78	28	objects	object	NOUN
sc-156	78	29	such	such	ADJ
sc-156	78	30	as	as	ADP
sc-156	78	31	machines	machine	NOUN
sc-156	78	32	,	,	PUNCT
sc-156	78	33	conveyors	conveyor	NOUN
sc-156	78	34	,	,	PUNCT
sc-156	78	35	and	and	CCONJ
sc-156	78	36	products	product	NOUN
sc-156	78	37	.	.	PUNCT
sc-156	79	1	as	as	SCONJ
sc-156	79	2	the	the	DET
sc-156	79	3	smart	smart	ADJ
sc-156	79	4	factory	factory	NOUN
sc-156	79	5	is	be	AUX
sc-156	79	6	characterised	characterise	VERB
sc-156	79	7	by	by	ADP
sc-156	79	8	a	a	DET
sc-156	79	9	self	self	NOUN
sc-156	79	10	-	-	PUNCT
sc-156	79	11	organized	organize	VERB
sc-156	79	12	multi	multi	ADJ
sc-156	79	13	-	-	ADJ
sc-156	79	14	agent	agent	ADJ
sc-156	79	15	system	system	NOUN
sc-156	79	16	,	,	PUNCT
sc-156	79	17	an	an	DET
sc-156	79	18	intelligent	intelligent	ADJ
sc-156	79	19	negotiation	negotiation	NOUN
sc-156	79	20	mechanism	mechanism	NOUN
sc-156	79	21	is	be	AUX
sc-156	79	22	proposed	propose	VERB
sc-156	79	23	for	for	SCONJ
sc-156	79	24	agents	agent	NOUN
sc-156	79	25	to	to	PART
sc-156	79	26	cooperate	cooperate	VERB
sc-156	79	27	with	with	ADP
sc-156	79	28	each	each	DET
sc-156	79	29	other	other	ADJ
sc-156	79	30	.	.	PUNCT
sc-156	80	1	analysis	analysis	NOUN
sc-156	80	2	done	do	VERB
sc-156	80	3	in	in	ADP
sc-156	80	4	[	[	X
sc-156	80	5	17	17	NUM
sc-156	80	6	]	]	PUNCT
sc-156	80	7	demonstrates	demonstrate	VERB
sc-156	80	8	that	that	SCONJ
sc-156	80	9	the	the	DET
sc-156	80	10	system	system	NOUN
sc-156	80	11	between	between	ADP
sc-156	80	12	the	the	DET
sc-156	80	13	picking	picking	NOUN
sc-156	80	14	and	and	CCONJ
sc-156	80	15	storage	storage	NOUN
sc-156	80	16	area	area	NOUN
sc-156	80	17	represents	represent	VERB
sc-156	80	18	the	the	DET
sc-156	80	19	most	most	ADV
sc-156	80	20	critical	critical	ADJ
sc-156	80	21	subsystem	subsystem	NOUN
sc-156	80	22	in	in	ADP
sc-156	80	23	automated	automate	VERB
sc-156	80	24	warehouses	warehouse	NOUN
sc-156	80	25	.	.	PUNCT
sc-156	81	1	these	these	DET
sc-156	81	2	requirements	requirement	NOUN
sc-156	81	3	suggests	suggest	VERB
sc-156	81	4	the	the	DET
sc-156	81	5	development	development	NOUN
sc-156	81	6	of	of	ADP
sc-156	81	7	decentralized	decentralized	ADJ
sc-156	81	8	control	control	NOUN
sc-156	81	9	solutions	solution	NOUN
sc-156	81	10	,	,	PUNCT
sc-156	81	11	involving	involve	VERB
sc-156	81	12	coordination	coordination	NOUN
sc-156	81	13	among	among	ADP
sc-156	81	14	multi	multi	ADJ
sc-156	81	15	-	-	ADJ
sc-156	81	16	agent	agent	ADJ
sc-156	81	17	systems	system	NOUN
sc-156	81	18	.	.	PUNCT
sc-156	82	1	in	in	ADP
sc-156	82	2	[	[	X
sc-156	82	3	18	18	NUM
sc-156	82	4	]	]	PUNCT
sc-156	82	5	,	,	PUNCT
sc-156	82	6	a	a	DET
sc-156	82	7	distributed	distribute	VERB
sc-156	82	8	optimization	optimization	NOUN
sc-156	82	9	framework	framework	NOUN
sc-156	82	10	is	be	AUX
sc-156	82	11	proposed	propose	VERB
sc-156	82	12	to	to	PART
sc-156	82	13	handle	handle	VERB
sc-156	82	14	task	task	NOUN
sc-156	82	15	allocations	allocation	NOUN
sc-156	82	16	in	in	ADP
sc-156	82	17	industry	industry	NOUN
sc-156	82	18	4.0	4.0	NUM
sc-156	82	19	warehouses	warehouse	NOUN
sc-156	82	20	.	.	PUNCT
sc-156	83	1	in	in	ADP
sc-156	83	2	[	[	X
sc-156	83	3	21	21	NUM
sc-156	83	4	]	]	X
sc-156	83	5	,	,	PUNCT
sc-156	83	6	a	a	DET
sc-156	83	7	decentralised	decentralise	VERB
sc-156	83	8	multi	multi	ADJ
sc-156	83	9	-	-	ADJ
sc-156	83	10	agent	agent	ADJ
sc-156	83	11	variant	variant	NOUN
sc-156	83	12	of	of	ADP
sc-156	83	13	robotic	robotic	ADJ
sc-156	83	14	coordination	coordination	NOUN
sc-156	83	15	in	in	ADP
sc-156	83	16	an	an	DET
sc-156	83	17	open	open	ADJ
sc-156	83	18	factory	factory	NOUN
sc-156	83	19	setting	setting	NOUN
sc-156	83	20	with	with	ADP
sc-156	83	21	multiple	multiple	ADJ
sc-156	83	22	owners	owner	NOUN
sc-156	83	23	of	of	ADP
sc-156	83	24	robots	robot	NOUN
sc-156	83	25	as	as	ADV
sc-156	83	26	well	well	ADV
sc-156	83	27	as	as	ADP
sc-156	83	28	different	different	ADJ
sc-156	83	29	owners	owner	NOUN
sc-156	83	30	of	of	ADP
sc-156	83	31	the	the	DET
sc-156	83	32	items	item	NOUN
sc-156	83	33	to	to	PART
sc-156	83	34	be	be	AUX
sc-156	83	35	produced	produce	VERB
sc-156	83	36	,	,	PUNCT
sc-156	83	37	both	both	PRON
sc-156	83	38	considered	consider	VERB
sc-156	83	39	self	self	NOUN
sc-156	83	40	-	-	PUNCT
sc-156	83	41	interested	interested	ADJ
sc-156	83	42	and	and	CCONJ
sc-156	83	43	individually	individually	ADV
sc-156	83	44	rational	rational	ADJ
sc-156	83	45	are	be	AUX
sc-156	83	46	considered	consider	VERB
sc-156	83	47	.	.	PUNCT
sc-156	84	1	this	this	PRON
sc-156	84	2	is	be	AUX
sc-156	84	3	solved	solve	VERB
sc-156	84	4	using	use	VERB
sc-156	84	5	a	a	DET
sc-156	84	6	multi	multi	ADJ
sc-156	84	7	-	-	ADJ
sc-156	84	8	agent	agent	ADJ
sc-156	84	9	decentralised	decentralise	VERB
sc-156	84	10	optimisation	optimisation	NOUN
sc-156	84	11	approach	approach	NOUN
sc-156	84	12	that	that	PRON
sc-156	84	13	is	be	AUX
sc-156	84	14	computationally	computationally	ADV
sc-156	84	15	efficient	efficient	ADJ
sc-156	84	16	.	.	PUNCT
sc-156	85	1	in	in	ADP
sc-156	85	2	this	this	DET
sc-156	85	3	paper	paper	NOUN
sc-156	85	4	,	,	PUNCT
sc-156	85	5	we	we	PRON
sc-156	85	6	apply	apply	VERB
sc-156	85	7	mechanism	mechanism	NOUN
sc-156	85	8	design	design	NOUN
sc-156	85	9	to	to	ADP
sc-156	85	10	the	the	DET
sc-156	85	11	combinatorial	combinatorial	ADJ
sc-156	85	12	auctioning	auctioning	NOUN
sc-156	85	13	of	of	ADP
sc-156	85	14	tasks	task	NOUN
sc-156	85	15	in	in	ADP
sc-156	85	16	industry	industry	NOUN
sc-156	85	17	4.0	4.0	NUM
sc-156	85	18	warehouses	warehouse	NOUN
sc-156	85	19	.	.	PUNCT
sc-156	86	1	table	table	NOUN
sc-156	86	2	1	1	NUM
sc-156	86	3	provides	provide	VERB
sc-156	86	4	a	a	DET
sc-156	86	5	detailed	detailed	ADJ
sc-156	86	6	comparison	comparison	NOUN
sc-156	86	7	with	with	ADP
sc-156	86	8	respect	respect	NOUN
sc-156	86	9	to	to	ADP
sc-156	86	10	the	the	DET
sc-156	86	11	categories	category	NOUN
sc-156	86	12	of	of	ADP
sc-156	86	13	papers	paper	NOUN
sc-156	86	14	.	.	PUNCT
sc-156	87	1	we	we	PRON
sc-156	87	2	have	have	AUX
sc-156	87	3	contrasted	contrast	VERB
sc-156	87	4	work	work	NOUN
sc-156	87	5	using	use	VERB
sc-156	87	6	multi	multi	ADJ
sc-156	87	7	-	-	ADJ
sc-156	87	8	agent	agent	ADJ
sc-156	87	9	optimization	optimization	NOUN
sc-156	87	10	,	,	PUNCT
sc-156	87	11	game	game	NOUN
sc-156	87	12	theoretic	theoretic	NOUN
sc-156	87	13	models	model	NOUN
sc-156	87	14	and	and	CCONJ
sc-156	87	15	reinforcement	reinforcement	NOUN
sc-156	87	16	learning	learning	NOUN
sc-156	87	17	.	.	PUNCT
sc-156	88	1	to	to	ADP
sc-156	88	2	the	the	DET
sc-156	88	3	best	good	ADJ
sc-156	88	4	of	of	ADP
sc-156	88	5	our	our	PRON
sc-156	88	6	knowledge	knowledge	NOUN
sc-156	88	7	,	,	PUNCT
sc-156	88	8	there	there	PRON
sc-156	88	9	is	be	VERB
sc-156	88	10	limited	limited	ADJ
sc-156	88	11	work	work	NOUN
sc-156	88	12	in	in	ADP
sc-156	88	13	the	the	DET
sc-156	88	14	intersection	intersection	NOUN
sc-156	88	15	of	of	ADP
sc-156	88	16	combinatorial	combinatorial	ADJ
sc-156	88	17	auctioning	auctioning	NOUN
sc-156	88	18	and	and	CCONJ
sc-156	88	19	industry	industry	NOUN
sc-156	88	20	4.0	4.0	NUM
sc-156	88	21	robotic	robotic	ADJ
sc-156	88	22	task	task	NOUN
sc-156	88	23	allocation	allocation	NOUN
sc-156	88	24	.	.	PUNCT
sc-156	89	1	we	we	PRON
sc-156	89	2	consider	consider	VERB
sc-156	89	3	auctions	auction	NOUN
sc-156	89	4	under	under	ADP
sc-156	89	5	multiple	multiple	ADJ
sc-156	89	6	scenarios	scenario	NOUN
sc-156	89	7	with	with	ADP
sc-156	89	8	homogeneous	homogeneous	ADJ
sc-156	89	9	/	/	SYM
sc-156	89	10	heterogeneous	heterogeneous	ADJ
sc-156	89	11	agents	agent	NOUN
sc-156	89	12	,	,	PUNCT
sc-156	89	13	single	single	ADJ
sc-156	89	14	/	/	SYM
sc-156	89	15	combinatorial	combinatorial	ADJ
sc-156	89	16	tasks	task	NOUN
sc-156	89	17	and	and	CCONJ
sc-156	89	18	truthful	truthful	ADJ
sc-156	89	19	/	/	SYM
sc-156	89	20	erroneous	erroneous	ADJ
sc-156	89	21	bids	bid	NOUN
sc-156	89	22	.	.	PUNCT
sc-156	90	1	such	such	DET
sc-156	90	2	an	an	DET
sc-156	90	3	in	in	ADP
sc-156	90	4	depth	depth	NOUN
sc-156	90	5	analysis	analysis	NOUN
sc-156	90	6	of	of	ADP
sc-156	90	7	mechanisms	mechanism	NOUN
sc-156	90	8	would	would	AUX
sc-156	90	9	bring	bring	VERB
sc-156	90	10	us	we	PRON
sc-156	90	11	closer	close	ADV
sc-156	90	12	to	to	ADP
sc-156	90	13	practical	practical	ADJ
sc-156	90	14	deployments	deployment	NOUN
sc-156	90	15	of	of	ADP
sc-156	90	16	autonomous	autonomous	ADJ
sc-156	90	17	entities	entity	NOUN
sc-156	90	18	in	in	ADP
sc-156	90	19	industrial	industrial	ADJ
sc-156	90	20	settings	setting	NOUN
sc-156	90	21	.	.	PUNCT
sc-156	91	1	2https://www.amazonrobotics.com/	2https://www.amazonrobotics.com/	NOUN
sc-156	91	2	3	3	NUM
sc-156	91	3	.	.	PUNCT
sc-156	91	4	automated	automate	VERB
sc-156	91	5	task	task	PROPN
sc-156	91	6	procurement	procurement	NOUN
sc-156	91	7	process	process	NOUN
sc-156	91	8	in	in	ADP
sc-156	91	9	this	this	DET
sc-156	91	10	section	section	NOUN
sc-156	91	11	,	,	PUNCT
sc-156	91	12	we	we	PRON
sc-156	91	13	provide	provide	VERB
sc-156	91	14	an	an	DET
sc-156	91	15	overview	overview	NOUN
sc-156	91	16	of	of	ADP
sc-156	91	17	industry	industry	NOUN
sc-156	91	18	4.0	4.0	NUM
sc-156	91	19	warehouse	warehouse	NOUN
sc-156	91	20	automation	automation	NOUN
sc-156	91	21	,	,	PUNCT
sc-156	91	22	that	that	PRON
sc-156	91	23	makes	make	VERB
sc-156	91	24	use	use	NOUN
sc-156	91	25	of	of	ADP
sc-156	91	26	multiple	multiple	ADJ
sc-156	91	27	intelligent	intelligent	ADJ
sc-156	91	28	robotic	robotic	ADJ
sc-156	91	29	agents	agent	NOUN
sc-156	91	30	for	for	ADP
sc-156	91	31	task	task	NOUN
sc-156	91	32	completion	completion	NOUN
sc-156	91	33	.	.	PUNCT
sc-156	92	1	3.1	3.1	NUM
sc-156	92	2	.	.	PUNCT
sc-156	92	3	intelligent	intelligent	ADJ
sc-156	92	4	agents	agent	NOUN
sc-156	92	5	traditional	traditional	ADJ
sc-156	92	6	techniques	technique	NOUN
sc-156	92	7	to	to	PART
sc-156	92	8	coordinate	coordinate	VERB
sc-156	92	9	machines	machine	NOUN
sc-156	92	10	and	and	CCONJ
sc-156	92	11	robots	robot	NOUN
sc-156	92	12	in	in	ADP
sc-156	92	13	large	large	ADJ
sc-156	92	14	warehouses	warehouse	NOUN
sc-156	92	15	involve	involve	VERB
sc-156	92	16	centralized	centralized	ADJ
sc-156	92	17	architectures	architecture	NOUN
sc-156	92	18	.	.	PUNCT
sc-156	93	1	a	a	DET
sc-156	93	2	typical	typical	ADJ
sc-156	93	3	use	use	NOUN
sc-156	93	4	case	case	NOUN
sc-156	93	5	could	could	AUX
sc-156	93	6	include	include	VERB
sc-156	93	7	data	datum	NOUN
sc-156	93	8	analytics	analytic	NOUN
sc-156	93	9	and	and	CCONJ
sc-156	93	10	coordination	coordination	NOUN
sc-156	93	11	performed	perform	VERB
sc-156	93	12	over	over	ADP
sc-156	93	13	a	a	DET
sc-156	93	14	centralized	centralized	ADJ
sc-156	93	15	cloud	cloud	NOUN
sc-156	93	16	repository	repository	NOUN
sc-156	93	17	[	[	X
sc-156	93	18	6	6	NUM
sc-156	93	19	]	]	PUNCT
sc-156	93	20	.	.	PUNCT
sc-156	94	1	however	however	ADV
sc-156	94	2	,	,	PUNCT
sc-156	94	3	there	there	PRON
sc-156	94	4	are	be	VERB
sc-156	94	5	multiple	multiple	ADJ
sc-156	94	6	drawbacks	drawback	NOUN
sc-156	94	7	of	of	ADP
sc-156	94	8	centralized	centralized	ADJ
sc-156	94	9	coordination	coordination	NOUN
sc-156	94	10	,	,	PUNCT
sc-156	94	11	including	include	VERB
sc-156	94	12	:	:	PUNCT
sc-156	94	13	(	(	PUNCT
sc-156	94	14	i	i	NOUN
sc-156	94	15	)	)	PUNCT
sc-156	94	16	inefficient	inefficient	ADJ
sc-156	94	17	latency	latency	NOUN
sc-156	94	18	overheads	overhead	NOUN
sc-156	94	19	to	to	PART
sc-156	94	20	transmit	transmit	VERB
sc-156	94	21	large	large	ADJ
sc-156	94	22	datasets	dataset	NOUN
sc-156	94	23	to	to	ADP
sc-156	94	24	the	the	DET
sc-156	94	25	cloud	cloud	NOUN
sc-156	94	26	(	(	PUNCT
sc-156	94	27	ii	ii	NOUN
sc-156	94	28	)	)	PUNCT
sc-156	94	29	inability	inability	NOUN
sc-156	94	30	to	to	PART
sc-156	94	31	reconfigure	reconfigure	VERB
sc-156	94	32	in	in	ADP
sc-156	94	33	real	real	ADJ
sc-156	94	34	-	-	PUNCT
sc-156	94	35	time	time	NOUN
sc-156	94	36	to	to	ADP
sc-156	94	37	changes	change	NOUN
sc-156	94	38	,	,	PUNCT
sc-156	94	39	that	that	PRON
sc-156	94	40	is	be	AUX
sc-156	94	41	a	a	DET
sc-156	94	42	requirement	requirement	NOUN
sc-156	94	43	of	of	ADP
sc-156	94	44	multiple	multiple	ADJ
sc-156	94	45	manufacturing	manufacturing	NOUN
sc-156	94	46	and	and	CCONJ
sc-156	94	47	transportation	transportation	NOUN
sc-156	94	48	scenarios	scenario	NOUN
sc-156	94	49	(	(	PUNCT
sc-156	94	50	iii	iii	NOUN
sc-156	94	51	)	)	PUNCT
sc-156	94	52	lack	lack	NOUN
sc-156	94	53	of	of	ADP
sc-156	94	54	scale	scale	NOUN
sc-156	94	55	,	,	PUNCT
sc-156	94	56	dependent	dependent	ADJ
sc-156	94	57	on	on	ADP
sc-156	94	58	a	a	DET
sc-156	94	59	single	single	ADJ
sc-156	94	60	computational	computational	ADJ
sc-156	94	61	node	node	NOUN
sc-156	94	62	to	to	PART
sc-156	94	63	optimize	optimize	VERB
sc-156	94	64	operations	operation	NOUN
sc-156	94	65	.	.	PUNCT
sc-156	95	1	an	an	DET
sc-156	95	2	alternative	alternative	NOUN
sc-156	95	3	to	to	ADP
sc-156	95	4	such	such	ADJ
sc-156	95	5	centralized	centralized	ADJ
sc-156	95	6	systems	system	NOUN
sc-156	95	7	,	,	PUNCT
sc-156	95	8	is	be	AUX
sc-156	95	9	to	to	PART
sc-156	95	10	make	make	VERB
sc-156	95	11	use	use	NOUN
sc-156	95	12	of	of	ADP
sc-156	95	13	multi	multi	ADJ
sc-156	95	14	-	-	ADJ
sc-156	95	15	agent	agent	ADJ
sc-156	95	16	systems	system	NOUN
sc-156	95	17	[	[	X
sc-156	95	18	7	7	NUM
sc-156	95	19	]	]	PUNCT
sc-156	95	20	.	.	PUNCT
sc-156	96	1	multi	multi	ADJ
sc-156	96	2	-	-	ADJ
sc-156	96	3	agent	agent	ADJ
sc-156	96	4	systems	system	NOUN
sc-156	96	5	consist	consist	VERB
sc-156	96	6	of	of	ADP
sc-156	96	7	multiple	multiple	ADJ
sc-156	96	8	coordinating	coordinate	VERB
sc-156	96	9	intelligent	intelligent	ADJ
sc-156	96	10	agents	agent	NOUN
sc-156	96	11	,	,	PUNCT
sc-156	96	12	that	that	PRON
sc-156	96	13	can	can	AUX
sc-156	96	14	perform	perform	VERB
sc-156	96	15	task	task	NOUN
sc-156	96	16	computations	computation	NOUN
sc-156	96	17	in	in	ADP
sc-156	96	18	an	an	DET
sc-156	96	19	autonomous	autonomous	ADJ
sc-156	96	20	fashion	fashion	NOUN
sc-156	96	21	.	.	PUNCT
sc-156	97	1	the	the	DET
sc-156	97	2	intelligent	intelligent	ADJ
sc-156	97	3	agents	agent	NOUN
sc-156	97	4	posses	posse	VERB
sc-156	97	5	perception	perception	NOUN
sc-156	97	6	/	/	SYM
sc-156	97	7	actuation	actuation	NOUN
sc-156	97	8	capabilities	capability	NOUN
sc-156	97	9	to	to	PART
sc-156	97	10	sense	sense	VERB
sc-156	97	11	/	/	SYM
sc-156	97	12	act	act	NOUN
sc-156	97	13	on	on	ADP
sc-156	97	14	the	the	DET
sc-156	97	15	environment	environment	NOUN
sc-156	97	16	–	–	PUNCT
sc-156	97	17	however	however	ADV
sc-156	97	18	,	,	PUNCT
sc-156	97	19	this	this	DET
sc-156	97	20	information	information	NOUN
sc-156	97	21	may	may	AUX
sc-156	97	22	be	be	AUX
sc-156	97	23	restricted	restrict	VERB
sc-156	97	24	to	to	ADP
sc-156	97	25	a	a	DET
sc-156	97	26	limited	limited	ADJ
sc-156	97	27	viewpoint	viewpoint	NOUN
sc-156	97	28	.	.	PUNCT
sc-156	98	1	in	in	ADP
sc-156	98	2	order	order	NOUN
sc-156	98	3	to	to	PART
sc-156	98	4	perform	perform	VERB
sc-156	98	5	more	more	ADJ
sc-156	98	6	complex	complex	ADJ
sc-156	98	7	tasks	task	NOUN
sc-156	98	8	,	,	PUNCT
sc-156	98	9	it	it	PRON
sc-156	98	10	is	be	AUX
sc-156	98	11	necessary	necessary	ADJ
sc-156	98	12	for	for	SCONJ
sc-156	98	13	the	the	DET
sc-156	98	14	agents	agent	NOUN
sc-156	98	15	to	to	PART
sc-156	98	16	coordinate	coordinate	VERB
sc-156	98	17	with	with	ADP
sc-156	98	18	each	each	DET
sc-156	98	19	other	other	ADJ
sc-156	98	20	.	.	PUNCT
sc-156	99	1	the	the	DET
sc-156	99	2	data	datum	NOUN
sc-156	99	3	and	and	CCONJ
sc-156	99	4	knowledge	knowledge	NOUN
sc-156	99	5	captured	capture	VERB
sc-156	99	6	by	by	ADP
sc-156	99	7	agents	agent	NOUN
sc-156	99	8	may	may	AUX
sc-156	99	9	be	be	AUX
sc-156	99	10	shared	share	VERB
sc-156	99	11	amongst	amongst	ADP
sc-156	99	12	the	the	DET
sc-156	99	13	agents	agent	NOUN
sc-156	99	14	via	via	ADP
sc-156	99	15	hierarchical	hierarchical	ADJ
sc-156	99	16	or	or	CCONJ
sc-156	99	17	peer	peer	NOUN
sc-156	99	18	-	-	PUNCT
sc-156	99	19	to	to	ADP
sc-156	99	20	-	-	PUNCT
sc-156	99	21	peer	peer	NOUN
sc-156	99	22	mechanisms	mechanism	NOUN
sc-156	99	23	.	.	PUNCT
sc-156	100	1	this	this	DET
sc-156	100	2	information	information	NOUN
sc-156	100	3	may	may	AUX
sc-156	100	4	be	be	AUX
sc-156	100	5	used	use	VERB
sc-156	100	6	to	to	PART
sc-156	100	7	perform	perform	VERB
sc-156	100	8	more	more	ADJ
sc-156	100	9	complex	complex	ADJ
sc-156	100	10	sets	set	NOUN
sc-156	100	11	of	of	ADP
sc-156	100	12	tasks	task	NOUN
sc-156	100	13	,	,	PUNCT
sc-156	100	14	than	than	SCONJ
sc-156	100	15	would	would	AUX
sc-156	100	16	have	have	AUX
sc-156	100	17	been	be	AUX
sc-156	100	18	possible	possible	ADJ
sc-156	100	19	by	by	ADP
sc-156	100	20	individual	individual	ADJ
sc-156	100	21	agents	agent	NOUN
sc-156	100	22	.	.	PUNCT
sc-156	101	1	to	to	PART
sc-156	101	2	model	model	VERB
sc-156	101	3	the	the	DET
sc-156	101	4	robotic	robotic	ADJ
sc-156	101	5	components	component	NOUN
sc-156	101	6	in	in	ADP
sc-156	101	7	warehouses	warehouse	NOUN
sc-156	101	8	,	,	PUNCT
sc-156	101	9	we	we	PRON
sc-156	101	10	make	make	VERB
sc-156	101	11	use	use	NOUN
sc-156	101	12	of	of	ADP
sc-156	101	13	the	the	DET
sc-156	101	14	autonomous	autonomous	ADJ
sc-156	101	15	robot	robot	NOUN
sc-156	101	16	abstraction	abstraction	NOUN
sc-156	101	17	,	,	PUNCT
sc-156	101	18	inspired	inspire	VERB
sc-156	101	19	by	by	ADP
sc-156	101	20	intelligent	intelligent	ADJ
sc-156	101	21	agents	agent	NOUN
sc-156	101	22	[	[	X
sc-156	101	23	19	19	NUM
sc-156	101	24	]	]	PUNCT
sc-156	101	25	.	.	PUNCT
sc-156	102	1	typical	typical	ADJ
sc-156	102	2	activities	activity	NOUN
sc-156	102	3	,	,	PUNCT
sc-156	102	4	for	for	ADP
sc-156	102	5	instance	instance	NOUN
sc-156	102	6	with	with	ADP
sc-156	102	7	a	a	DET
sc-156	102	8	pick	pick	NOUN
sc-156	102	9	&	&	CCONJ
sc-156	102	10	place	place	PROPN
sc-156	102	11	robot	robot	NOUN
sc-156	102	12	in	in	ADP
sc-156	102	13	a	a	DET
sc-156	102	14	smart	smart	ADJ
sc-156	102	15	warehouse	warehouse	NOUN
sc-156	102	16	,	,	PUNCT
sc-156	102	17	include	include	VERB
sc-156	102	18	:	:	PUNCT
sc-156	102	19	1	1	X
sc-156	102	20	.	.	X
sc-156	102	21	goals	goal	NOUN
sc-156	102	22	:	:	PUNCT
sc-156	102	23	understanding	understand	VERB
sc-156	102	24	goals	goal	NOUN
sc-156	102	25	of	of	ADP
sc-156	102	26	each	each	DET
sc-156	102	27	task	task	NOUN
sc-156	102	28	and	and	CCONJ
sc-156	102	29	subtask	subtask	NOUN
sc-156	102	30	,	,	PUNCT
sc-156	102	31	such	such	ADJ
sc-156	102	32	as	as	ADP
sc-156	102	33	,	,	PUNCT
sc-156	102	34	placing	place	VERB
sc-156	102	35	correct	correct	ADJ
sc-156	102	36	parts	part	NOUN
sc-156	102	37	into	into	ADP
sc-156	102	38	correct	correct	ADJ
sc-156	102	39	bins	bin	NOUN
sc-156	102	40	within	within	ADP
sc-156	102	41	the	the	DET
sc-156	102	42	given	give	VERB
sc-156	102	43	time	time	NOUN
sc-156	102	44	constraints	constraint	NOUN
sc-156	102	45	.	.	PUNCT
sc-156	103	1	2	2	X
sc-156	103	2	.	.	X
sc-156	103	3	perception	perception	NOUN
sc-156	103	4	:	:	PUNCT
sc-156	103	5	object	object	VERB
sc-156	103	6	identification	identification	NOUN
sc-156	103	7	and	and	CCONJ
sc-156	103	8	obstacle	obstacle	NOUN
sc-156	103	9	detection	detection	NOUN
sc-156	103	10	using	use	VERB
sc-156	103	11	camera	camera	NOUN
sc-156	103	12	and	and	CCONJ
sc-156	103	13	odometry	odometry	NOUN
sc-156	103	14	sensors	sensor	NOUN
sc-156	103	15	that	that	PRON
sc-156	103	16	sense	sense	VERB
sc-156	103	17	the	the	DET
sc-156	103	18	environment	environment	NOUN
sc-156	103	19	.	.	PUNCT
sc-156	104	1	this	this	PRON
sc-156	104	2	aids	aid	VERB
sc-156	104	3	the	the	DET
sc-156	104	4	robot	robot	NOUN
sc-156	104	5	in	in	ADP
sc-156	104	6	object	object	NOUN
sc-156	104	7	detection	detection	NOUN
sc-156	104	8	and	and	CCONJ
sc-156	104	9	identification	identification	NOUN
sc-156	104	10	.	.	PUNCT
sc-156	105	1	3	3	X
sc-156	105	2	.	.	X
sc-156	105	3	actions	action	NOUN
sc-156	105	4	:	:	PUNCT
sc-156	105	5	identifying	identify	VERB
sc-156	105	6	granular	granular	ADJ
sc-156	105	7	actionable	actionable	ADJ
sc-156	105	8	sub	sub	NOUN
sc-156	105	9	-	-	NOUN
sc-156	105	10	tasks	task	NOUN
sc-156	105	11	,	,	PUNCT
sc-156	105	12	such	such	ADJ
sc-156	105	13	as	as	ADP
sc-156	105	14	,	,	PUNCT
sc-156	105	15	moving	move	VERB
sc-156	105	16	to	to	ADP
sc-156	105	17	particular	particular	ADJ
sc-156	105	18	location	location	NOUN
sc-156	105	19	,	,	PUNCT
sc-156	105	20	picking	pick	VERB
sc-156	105	21	up	up	ADP
sc-156	105	22	parts	part	NOUN
sc-156	105	23	of	of	ADP
sc-156	105	24	orders	order	NOUN
sc-156	105	25	or	or	CCONJ
sc-156	105	26	sorting	sort	VERB
sc-156	105	27	objects	object	NOUN
sc-156	105	28	.	.	PUNCT
sc-156	106	1	constraints	constraint	NOUN
sc-156	106	2	may	may	AUX
sc-156	106	3	be	be	AUX
sc-156	106	4	placed	place	VERB
sc-156	106	5	on	on	ADP
sc-156	106	6	the	the	DET
sc-156	106	7	robot	robot	NOUN
sc-156	106	8	capabilities	capability	NOUN
sc-156	106	9	,	,	PUNCT
sc-156	106	10	motion	motion	NOUN
sc-156	106	11	plans	plan	NOUN
sc-156	106	12	and	and	CCONJ
sc-156	106	13	accuracy	accuracy	NOUN
sc-156	106	14	in	in	ADP
sc-156	106	15	performing	perform	VERB
sc-156	106	16	such	such	ADJ
sc-156	106	17	actions	action	NOUN
sc-156	106	18	.	.	PUNCT
sc-156	107	1	4	4	X
sc-156	107	2	.	.	X
sc-156	107	3	knowledge	knowledge	NOUN
sc-156	107	4	base	base	PROPN
sc-156	107	5	:	:	PUNCT
sc-156	107	6	using	use	VERB
sc-156	107	7	domain	domain	NOUN
sc-156	107	8	models	model	NOUN
sc-156	107	9	of	of	ADP
sc-156	107	10	the	the	DET
sc-156	107	11	world	world	NOUN
sc-156	107	12	for	for	ADP
sc-156	107	13	goal	goal	NOUN
sc-156	107	14	completion	completion	NOUN
sc-156	107	15	,	,	PUNCT
sc-156	107	16	such	such	ADJ
sc-156	107	17	as	as	ADP
sc-156	107	18	warehouse	warehouse	NOUN
sc-156	107	19	environment	environment	NOUN
sc-156	107	20	maps	map	NOUN
sc-156	107	21	,	,	PUNCT
sc-156	107	22	rack	rack	VERB
sc-156	107	23	type	type	NOUN
sc-156	107	24	and	and	CCONJ
sc-156	107	25	product	product	NOUN
sc-156	107	26	features	feature	NOUN
sc-156	107	27	.	.	PUNCT
sc-156	108	1	we	we	PRON
sc-156	108	2	further	far	ADV
sc-156	108	3	elaborate	elaborate	VERB
sc-156	108	4	on	on	ADP
sc-156	108	5	task	task	NOUN
sc-156	108	6	allocation	allocation	NOUN
sc-156	108	7	in	in	ADP
sc-156	108	8	the	the	DET
sc-156	108	9	industry	industry	NOUN
sc-156	108	10	4.0	4.0	NUM
sc-156	108	11	automation	automation	NOUN
sc-156	108	12	setting	setting	NOUN
sc-156	108	13	,	,	PUNCT
sc-156	108	14	next	next	ADV
sc-156	108	15	.	.	PUNCT
sc-156	109	1	3	3	NUM
sc-156	109	2	eai	eai	NOUN
sc-156	109	3	endorsed	endorse	VERB
sc-156	109	4	transactions	transaction	NOUN
sc-156	109	5	on	on	ADP
sc-156	109	6	smart	smart	ADJ
sc-156	109	7	cities	city	NOUN
sc-156	109	8	10	10	NUM
sc-156	109	9	2021	2021	NUM
sc-156	109	10	03	03	NUM
sc-156	109	11	2022	2022	NUM
sc-156	109	12	|	|	ADV
sc-156	109	13	volume	volume	NOUN
sc-156	109	14	6	6	NUM
sc-156	109	15	|	|	NOUN
sc-156	109	16	issue	issue	NOUN
sc-156	109	17	17	17	NUM
sc-156	109	18	|	|	NOUN
sc-156	109	19	e2	e2	PROPN
sc-156	109	20	https://www.amazonrobotics.com/	https://www.amazonrobotics.com/	NOUN
sc-156	109	21	ajay	ajay	PROPN
sc-156	109	22	kattepur	kattepur	PROPN
sc-156	109	23	,	,	PUNCT
sc-156	109	24	sourav	sourav	PROPN
sc-156	109	25	khemkha	khemkha	PROPN
sc-156	109	26	table	table	NOUN
sc-156	109	27	1	1	NUM
sc-156	109	28	.	.	PUNCT
sc-156	110	1	state	state	NOUN
sc-156	110	2	of	of	ADP
sc-156	110	3	the	the	DET
sc-156	110	4	art	art	NOUN
sc-156	110	5	comparison	comparison	NOUN
sc-156	110	6	on	on	ADP
sc-156	110	7	industry	industry	NOUN
sc-156	110	8	4.0	4.0	NUM
sc-156	110	9	multi	multi	ADJ
sc-156	110	10	-	-	ADJ
sc-156	110	11	robot	robot	ADJ
sc-156	110	12	task	task	NOUN
sc-156	110	13	auctions	auction	NOUN
sc-156	110	14	.	.	PUNCT
sc-156	111	1	papers	paper	NOUN
sc-156	111	2	approach	approach	VERB
sc-156	111	3	contrast	contrast	NOUN
sc-156	111	4	with	with	ADP
sc-156	111	5	our	our	PRON
sc-156	111	6	approach	approach	NOUN
sc-156	111	7	.	.	PUNCT
sc-156	112	1	[	[	X
sc-156	112	2	13	13	NUM
sc-156	112	3	]	]	X
sc-156	112	4	[	[	X
sc-156	112	5	15	15	NUM
sc-156	112	6	]	]	X
sc-156	112	7	cloud	cloud	ADJ
sc-156	112	8	/	/	SYM
sc-156	112	9	edge	edge	NOUN
sc-156	112	10	robotics	robotic	NOUN
sc-156	112	11	for	for	ADP
sc-156	112	12	industry	industry	NOUN
sc-156	112	13	4.0	4.0	NUM
sc-156	112	14	techniques	technique	NOUN
sc-156	112	15	in	in	ADP
sc-156	112	16	this	this	DET
sc-156	112	17	area	area	NOUN
sc-156	112	18	largely	largely	ADV
sc-156	112	19	rely	rely	VERB
sc-156	112	20	on	on	ADP
sc-156	112	21	a	a	DET
sc-156	112	22	centralized	centralized	ADJ
sc-156	112	23	coordinator	coordinator	NOUN
sc-156	112	24	to	to	PART
sc-156	112	25	orchestrate	orchestrate	VERB
sc-156	112	26	the	the	DET
sc-156	112	27	tasks	task	NOUN
sc-156	112	28	.	.	PUNCT
sc-156	113	1	the	the	DET
sc-156	113	2	cloud	cloud	NOUN
sc-156	113	3	,	,	PUNCT
sc-156	113	4	edge	edge	NOUN
sc-156	113	5	or	or	CCONJ
sc-156	113	6	master	master	NOUN
sc-156	113	7	controller	controller	NOUN
sc-156	113	8	is	be	AUX
sc-156	113	9	responsible	responsible	ADJ
sc-156	113	10	for	for	ADP
sc-156	113	11	allocating	allocate	VERB
sc-156	113	12	tasks	task	NOUN
sc-156	113	13	to	to	ADP
sc-156	113	14	the	the	DET
sc-156	113	15	agents	agent	NOUN
sc-156	113	16	and	and	CCONJ
sc-156	113	17	monitoring	monitor	VERB
sc-156	113	18	progress	progress	NOUN
sc-156	113	19	.	.	PUNCT
sc-156	114	1	in	in	ADP
sc-156	114	2	contrast	contrast	NOUN
sc-156	114	3	,	,	PUNCT
sc-156	114	4	our	our	PRON
sc-156	114	5	approach	approach	NOUN
sc-156	114	6	makes	make	VERB
sc-156	114	7	use	use	NOUN
sc-156	114	8	of	of	ADP
sc-156	114	9	an	an	DET
sc-156	114	10	auctioning	auctioning	NOUN
sc-156	114	11	mechanism	mechanism	NOUN
sc-156	114	12	where	where	SCONJ
sc-156	114	13	the	the	DET
sc-156	114	14	agents	agent	NOUN
sc-156	114	15	may	may	AUX
sc-156	114	16	bid	bid	VERB
sc-156	114	17	for	for	ADP
sc-156	114	18	jobs	job	NOUN
sc-156	114	19	and	and	CCONJ
sc-156	114	20	available	available	ADJ
sc-156	114	21	tasks	task	NOUN
sc-156	114	22	.	.	PUNCT
sc-156	115	1	any	any	DET
sc-156	115	2	deviations	deviation	NOUN
sc-156	115	3	in	in	ADP
sc-156	115	4	bidding	bidding	NOUN
sc-156	115	5	or	or	CCONJ
sc-156	115	6	errors	error	NOUN
sc-156	115	7	re	re	VERB
sc-156	115	8	handled	handle	VERB
sc-156	115	9	by	by	ADP
sc-156	115	10	the	the	DET
sc-156	115	11	system	system	NOUN
sc-156	115	12	.	.	PUNCT
sc-156	116	1	the	the	DET
sc-156	116	2	advantage	advantage	NOUN
sc-156	116	3	is	be	AUX
sc-156	116	4	that	that	SCONJ
sc-156	116	5	multiple	multiple	ADJ
sc-156	116	6	vendors	vendor	NOUN
sc-156	116	7	/	/	SYM
sc-156	116	8	robot	robot	NOUN
sc-156	116	9	types	type	NOUN
sc-156	116	10	may	may	AUX
sc-156	116	11	participate	participate	VERB
sc-156	116	12	in	in	ADP
sc-156	116	13	the	the	DET
sc-156	116	14	auctioning	auctioning	NOUN
sc-156	116	15	process	process	NOUN
sc-156	116	16	.	.	PUNCT
sc-156	117	1	[	[	X
sc-156	117	2	16	16	NUM
sc-156	117	3	]	]	X
sc-156	117	4	[	[	X
sc-156	117	5	18	18	NUM
sc-156	117	6	]	]	X
sc-156	117	7	[	[	X
sc-156	117	8	21	21	NUM
sc-156	117	9	]	]	X
sc-156	117	10	distributed	distribute	VERB
sc-156	117	11	optimization	optimization	NOUN
sc-156	117	12	,	,	PUNCT
sc-156	117	13	multiagent	multiagent	NOUN
sc-156	117	14	systems	system	NOUN
sc-156	117	15	for	for	ADP
sc-156	117	16	industry	industry	NOUN
sc-156	117	17	4.0	4.0	NUM
sc-156	117	18	these	these	DET
sc-156	117	19	category	category	NOUN
sc-156	117	20	of	of	ADP
sc-156	117	21	papers	paper	NOUN
sc-156	117	22	consider	consider	VERB
sc-156	117	23	an	an	DET
sc-156	117	24	open	open	ADJ
sc-156	117	25	and	and	CCONJ
sc-156	117	26	flexible	flexible	ADJ
sc-156	117	27	deployment	deployment	NOUN
sc-156	117	28	of	of	ADP
sc-156	117	29	agents	agent	NOUN
sc-156	117	30	within	within	ADP
sc-156	117	31	the	the	DET
sc-156	117	32	factory	factory	NOUN
sc-156	117	33	floor	floor	NOUN
sc-156	117	34	.	.	PUNCT
sc-156	118	1	there	there	PRON
sc-156	118	2	may	may	AUX
sc-156	118	3	be	be	AUX
sc-156	118	4	variations	variation	NOUN
sc-156	118	5	in	in	ADP
sc-156	118	6	demands	demand	NOUN
sc-156	118	7	,	,	PUNCT
sc-156	118	8	heterogenous	heterogenous	ADJ
sc-156	118	9	agents	agent	NOUN
sc-156	118	10	and	and	CCONJ
sc-156	118	11	agents	agent	NOUN
sc-156	118	12	incoming	incoming	ADJ
sc-156	118	13	/	/	SYM
sc-156	118	14	leaving	leave	VERB
sc-156	118	15	the	the	DET
sc-156	118	16	system	system	NOUN
sc-156	118	17	.	.	PUNCT
sc-156	119	1	unlike	unlike	ADP
sc-156	119	2	centralized	centralized	ADJ
sc-156	119	3	optimization	optimization	NOUN
sc-156	119	4	approaches	approach	NOUN
sc-156	119	5	,	,	PUNCT
sc-156	119	6	these	these	PRON
sc-156	119	7	rely	rely	VERB
sc-156	119	8	on	on	ADP
sc-156	119	9	decentralized	decentralize	VERB
sc-156	119	10	optimization	optimization	NOUN
sc-156	119	11	approaches	approach	NOUN
sc-156	119	12	.	.	PUNCT
sc-156	120	1	this	this	PRON
sc-156	120	2	is	be	AUX
sc-156	120	3	in	in	ADP
sc-156	120	4	line	line	NOUN
sc-156	120	5	with	with	ADP
sc-156	120	6	the	the	DET
sc-156	120	7	area	area	NOUN
sc-156	120	8	of	of	ADP
sc-156	120	9	this	this	DET
sc-156	120	10	work	work	NOUN
sc-156	120	11	.	.	PUNCT
sc-156	121	1	however	however	ADV
sc-156	121	2	,	,	PUNCT
sc-156	121	3	we	we	PRON
sc-156	121	4	make	make	VERB
sc-156	121	5	use	use	NOUN
sc-156	121	6	of	of	ADP
sc-156	121	7	combinatorial	combinatorial	ADJ
sc-156	121	8	auctions	auction	NOUN
sc-156	121	9	that	that	PRON
sc-156	121	10	are	be	AUX
sc-156	121	11	an	an	DET
sc-156	121	12	alternative	alternative	NOUN
sc-156	121	13	to	to	ADP
sc-156	121	14	optimization	optimization	NOUN
sc-156	121	15	based	base	VERB
sc-156	121	16	approaches	approach	NOUN
sc-156	121	17	.	.	PUNCT
sc-156	122	1	the	the	DET
sc-156	122	2	optimization	optimization	NOUN
sc-156	122	3	happens	happen	VERB
sc-156	122	4	at	at	ADP
sc-156	122	5	the	the	DET
sc-156	122	6	bidding	bidding	NOUN
sc-156	122	7	level	level	NOUN
sc-156	122	8	rather	rather	ADV
sc-156	122	9	than	than	ADP
sc-156	122	10	the	the	DET
sc-156	122	11	task	task	NOUN
sc-156	122	12	level	level	NOUN
sc-156	122	13	.	.	PUNCT
sc-156	123	1	[	[	X
sc-156	123	2	11	11	NUM
sc-156	123	3	]	]	X
sc-156	123	4	[	[	X
sc-156	123	5	9	9	NUM
sc-156	123	6	]	]	X
sc-156	123	7	[	[	X
sc-156	123	8	10	10	NUM
sc-156	123	9	]	]	PUNCT
sc-156	123	10	game	game	NOUN
sc-156	123	11	theory	theory	NOUN
sc-156	123	12	and	and	CCONJ
sc-156	123	13	auctions	auction	NOUN
sc-156	123	14	for	for	ADP
sc-156	123	15	autonomous	autonomous	ADJ
sc-156	123	16	agents	agent	NOUN
sc-156	123	17	these	these	DET
sc-156	123	18	set	set	NOUN
sc-156	123	19	of	of	ADP
sc-156	123	20	approaches	approach	NOUN
sc-156	123	21	make	make	VERB
sc-156	123	22	use	use	NOUN
sc-156	123	23	of	of	ADP
sc-156	123	24	game	game	NOUN
sc-156	123	25	theory	theory	NOUN
sc-156	123	26	,	,	PUNCT
sc-156	123	27	mechanism	mechanism	NOUN
sc-156	123	28	design	design	NOUN
sc-156	123	29	and	and	CCONJ
sc-156	123	30	combinatorial	combinatorial	ADJ
sc-156	123	31	auctions	auction	NOUN
sc-156	123	32	to	to	PART
sc-156	123	33	solve	solve	VERB
sc-156	123	34	problems	problem	NOUN
sc-156	123	35	in	in	ADP
sc-156	123	36	autonomous	autonomous	ADJ
sc-156	123	37	agents	agent	NOUN
sc-156	123	38	.	.	PUNCT
sc-156	124	1	however	however	ADV
sc-156	124	2	,	,	PUNCT
sc-156	124	3	the	the	DET
sc-156	124	4	settings	setting	NOUN
sc-156	124	5	are	be	AUX
sc-156	124	6	in	in	ADP
sc-156	124	7	the	the	DET
sc-156	124	8	case	case	NOUN
sc-156	124	9	of	of	ADP
sc-156	124	10	autonomous	autonomous	ADJ
sc-156	124	11	electric	electric	ADJ
sc-156	124	12	vehicles	vehicle	NOUN
sc-156	124	13	and	and	CCONJ
sc-156	124	14	software	software	NOUN
sc-156	124	15	,	,	PUNCT
sc-156	124	16	which	which	PRON
sc-156	124	17	have	have	VERB
sc-156	124	18	their	their	PRON
sc-156	124	19	own	own	ADJ
sc-156	124	20	set	set	NOUN
sc-156	124	21	of	of	ADP
sc-156	124	22	constraints	constraint	NOUN
sc-156	124	23	.	.	PUNCT
sc-156	125	1	there	there	PRON
sc-156	125	2	is	be	VERB
sc-156	125	3	not	not	PART
sc-156	125	4	much	much	ADJ
sc-156	125	5	analysis	analysis	NOUN
sc-156	125	6	of	of	ADP
sc-156	125	7	selfish	selfish	ADJ
sc-156	125	8	agents	agent	NOUN
sc-156	125	9	and	and	CCONJ
sc-156	125	10	overbidding	overbidding	NOUN
sc-156	125	11	that	that	PRON
sc-156	125	12	has	have	AUX
sc-156	125	13	been	be	AUX
sc-156	125	14	done	do	VERB
sc-156	125	15	in	in	ADP
sc-156	125	16	this	this	DET
sc-156	125	17	paper	paper	NOUN
sc-156	125	18	.	.	PUNCT
sc-156	126	1	moreover	moreover	ADV
sc-156	126	2	,	,	PUNCT
sc-156	126	3	industry	industry	NOUN
sc-156	126	4	4.0	4.0	NUM
sc-156	126	5	robotic	robotic	ADJ
sc-156	126	6	coordination	coordination	NOUN
sc-156	126	7	comes	come	VERB
sc-156	126	8	with	with	ADP
sc-156	126	9	its	its	PRON
sc-156	126	10	own	own	ADJ
sc-156	126	11	set	set	NOUN
sc-156	126	12	of	of	ADP
sc-156	126	13	challenges	challenge	NOUN
sc-156	126	14	and	and	CCONJ
sc-156	126	15	bidding	bidding	NOUN
sc-156	126	16	specifications	specification	NOUN
sc-156	126	17	,	,	PUNCT
sc-156	126	18	that	that	PRON
sc-156	126	19	are	be	AUX
sc-156	126	20	to	to	PART
sc-156	126	21	be	be	AUX
sc-156	126	22	included	include	VERB
sc-156	126	23	.	.	PUNCT
sc-156	127	1	[	[	X
sc-156	127	2	22	22	NUM
sc-156	127	3	]	]	X
sc-156	127	4	[	[	X
sc-156	127	5	23	23	NUM
sc-156	127	6	]	]	PUNCT
sc-156	127	7	reinforcement	reinforcement	NOUN
sc-156	127	8	learning	learning	NOUN
sc-156	127	9	approaches	approach	NOUN
sc-156	127	10	for	for	ADP
sc-156	127	11	multirobot	multirobot	NOUN
sc-156	127	12	coordination	coordination	NOUN
sc-156	127	13	these	these	DET
sc-156	127	14	approaches	approach	NOUN
sc-156	127	15	make	make	VERB
sc-156	127	16	use	use	NOUN
sc-156	127	17	of	of	ADP
sc-156	127	18	machine	machine	NOUN
sc-156	127	19	learning	learning	NOUN
sc-156	127	20	and	and	CCONJ
sc-156	127	21	reinforcement	reinforcement	NOUN
sc-156	127	22	learning	learning	NOUN
sc-156	127	23	to	to	PART
sc-156	127	24	coordinate	coordinate	VERB
sc-156	127	25	multiple	multiple	ADJ
sc-156	127	26	robots	robot	NOUN
sc-156	127	27	.	.	PUNCT
sc-156	128	1	however	however	ADV
sc-156	128	2	,	,	PUNCT
sc-156	128	3	an	an	DET
sc-156	128	4	extended	extended	ADJ
sc-156	128	5	training	training	NOUN
sc-156	128	6	period	period	NOUN
sc-156	128	7	is	be	AUX
sc-156	128	8	needed	need	VERB
sc-156	128	9	,	,	PUNCT
sc-156	128	10	which	which	PRON
sc-156	128	11	can	can	AUX
sc-156	128	12	not	not	PART
sc-156	128	13	be	be	AUX
sc-156	128	14	guaranteed	guarantee	VERB
sc-156	128	15	in	in	ADP
sc-156	128	16	all	all	DET
sc-156	128	17	cases	case	NOUN
sc-156	128	18	.	.	PUNCT
sc-156	129	1	our	our	PRON
sc-156	129	2	solution	solution	NOUN
sc-156	129	3	is	be	AUX
sc-156	129	4	a	a	DET
sc-156	129	5	higher	high	ADJ
sc-156	129	6	level	level	NOUN
sc-156	129	7	alternative	alternative	NOUN
sc-156	129	8	to	to	ADP
sc-156	129	9	this	this	PRON
sc-156	129	10	,	,	PUNCT
sc-156	129	11	wherein	wherein	SCONJ
sc-156	129	12	coordination	coordination	NOUN
sc-156	129	13	of	of	ADP
sc-156	129	14	autonomous	autonomous	ADJ
sc-156	129	15	agents	agent	NOUN
sc-156	129	16	is	be	AUX
sc-156	129	17	carried	carry	VERB
sc-156	129	18	out	out	ADP
sc-156	129	19	via	via	ADP
sc-156	129	20	vcg	vcg	PROPN
sc-156	129	21	auctioning	auctioning	NOUN
sc-156	129	22	.	.	PUNCT
sc-156	130	1	3.2	3.2	NUM
sc-156	130	2	.	.	PUNCT
sc-156	131	1	industry	industry	NOUN
sc-156	131	2	4.0	4.0	NUM
sc-156	131	3	warehouse	warehouse	NOUN
sc-156	131	4	tasks	task	NOUN
sc-156	131	5	industry	industry	NOUN
sc-156	131	6	4.0	4.0	NUM
sc-156	131	7	warehouse	warehouse	NOUN
sc-156	131	8	tasks	task	NOUN
sc-156	131	9	require	require	VERB
sc-156	131	10	coordination	coordination	NOUN
sc-156	131	11	between	between	ADP
sc-156	131	12	multiple	multiple	ADJ
sc-156	131	13	autonomous	autonomous	ADJ
sc-156	131	14	agents	agent	NOUN
sc-156	131	15	.	.	PUNCT
sc-156	132	1	this	this	PRON
sc-156	132	2	is	be	AUX
sc-156	132	3	specifically	specifically	ADV
sc-156	132	4	needed	need	VERB
sc-156	132	5	in	in	ADP
sc-156	132	6	large	large	ADJ
sc-156	132	7	warehouse	warehouse	NOUN
sc-156	132	8	set	set	NOUN
sc-156	132	9	-	-	PUNCT
sc-156	132	10	ups	up	NOUN
sc-156	132	11	where	where	SCONJ
sc-156	132	12	a	a	DET
sc-156	132	13	“	"	PUNCT
sc-156	132	14	parts	part	NOUN
sc-156	132	15	-	-	PUNCT
sc-156	132	16	topicker	topicker	NOUN
sc-156	132	17	”	"	PUNCT
sc-156	132	18	model	model	NOUN
sc-156	132	19	involving	involve	VERB
sc-156	132	20	items	item	NOUN
sc-156	132	21	on	on	ADP
sc-156	132	22	a	a	DET
sc-156	132	23	conveyor	conveyor	NOUN
sc-156	132	24	belt	belt	NOUN
sc-156	132	25	has	have	VERB
sc-156	132	26	to	to	PART
sc-156	132	27	be	be	AUX
sc-156	132	28	replaced	replace	VERB
sc-156	132	29	by	by	ADP
sc-156	132	30	a	a	DET
sc-156	132	31	“	"	PUNCT
sc-156	132	32	picker	picker	NOUN
sc-156	132	33	-	-	PUNCT
sc-156	132	34	to	to	ADP
sc-156	132	35	-	-	PUNCT
sc-156	132	36	parts	part	NOUN
sc-156	132	37	”	"	PUNCT
sc-156	132	38	model	model	NOUN
sc-156	132	39	,	,	PUNCT
sc-156	132	40	such	such	ADJ
sc-156	132	41	as	as	ADP
sc-156	132	42	making	make	VERB
sc-156	132	43	use	use	NOUN
sc-156	132	44	of	of	ADP
sc-156	132	45	autonomous	autonomous	ADJ
sc-156	132	46	mobile	mobile	ADJ
sc-156	132	47	robots	robot	NOUN
sc-156	132	48	.	.	PUNCT
sc-156	133	1	to	to	PART
sc-156	133	2	further	far	ADV
sc-156	133	3	elaborate	elaborate	VERB
sc-156	133	4	we	we	PRON
sc-156	133	5	present	present	VERB
sc-156	133	6	the	the	DET
sc-156	133	7	following	follow	VERB
sc-156	133	8	realistic	realistic	ADJ
sc-156	133	9	scenario	scenario	NOUN
sc-156	133	10	:	:	PUNCT
sc-156	133	11	a	a	DET
sc-156	133	12	large	large	ADJ
sc-156	133	13	warehouse	warehouse	NOUN
sc-156	133	14	is	be	AUX
sc-156	133	15	presented	present	VERB
sc-156	133	16	,	,	PUNCT
sc-156	133	17	such	such	ADJ
sc-156	133	18	as	as	ADP
sc-156	133	19	those	those	PRON
sc-156	133	20	managed	manage	VERB
sc-156	133	21	by	by	ADP
sc-156	133	22	amazon	amazon	NOUN
sc-156	133	23	or	or	CCONJ
sc-156	133	24	dell	dell	NOUN
sc-156	133	25	.	.	PUNCT
sc-156	134	1	orders	order	NOUN
sc-156	134	2	arrive	arrive	VERB
sc-156	134	3	periodically	periodically	ADV
sc-156	134	4	and	and	CCONJ
sc-156	134	5	are	be	AUX
sc-156	134	6	retrieved	retrieve	VERB
sc-156	134	7	by	by	ADP
sc-156	134	8	a	a	DET
sc-156	134	9	fleet	fleet	NOUN
sc-156	134	10	of	of	ADP
sc-156	134	11	autonomous	autonomous	ADJ
sc-156	134	12	robots	robot	NOUN
sc-156	134	13	.	.	PUNCT
sc-156	135	1	a	a	DET
sc-156	135	2	set	set	NOUN
sc-156	135	3	of	of	ADP
sc-156	135	4	server	server	NOUN
sc-156	135	5	robots	robot	NOUN
sc-156	135	6	receive	receive	VERB
sc-156	135	7	the	the	DET
sc-156	135	8	orders	order	NOUN
sc-156	135	9	and	and	CCONJ
sc-156	135	10	efficiently	efficiently	ADV
sc-156	135	11	allocate	allocate	VERB
sc-156	135	12	them	they	PRON
sc-156	135	13	to	to	ADP
sc-156	135	14	the	the	DET
sc-156	135	15	delivery	delivery	NOUN
sc-156	135	16	robots	robot	NOUN
sc-156	135	17	.	.	PUNCT
sc-156	136	1	the	the	DET
sc-156	136	2	delivery	delivery	NOUN
sc-156	136	3	robots	robot	NOUN
sc-156	136	4	move	move	VERB
sc-156	136	5	along	along	ADP
sc-156	136	6	the	the	DET
sc-156	136	7	warehouse	warehouse	NOUN
sc-156	136	8	floor	floor	NOUN
sc-156	136	9	and	and	CCONJ
sc-156	136	10	approach	approach	VERB
sc-156	136	11	appropriate	appropriate	ADJ
sc-156	136	12	product	product	NOUN
sc-156	136	13	locations	location	NOUN
sc-156	136	14	.	.	PUNCT
sc-156	137	1	the	the	DET
sc-156	137	2	delivery	delivery	NOUN
sc-156	137	3	robots	robot	NOUN
sc-156	137	4	recognize	recognize	VERB
sc-156	137	5	the	the	DET
sc-156	137	6	correct	correct	ADJ
sc-156	137	7	items	item	NOUN
sc-156	137	8	and	and	CCONJ
sc-156	137	9	make	make	VERB
sc-156	137	10	use	use	NOUN
sc-156	137	11	of	of	ADP
sc-156	137	12	robotic	robotic	ADJ
sc-156	137	13	arms	arm	NOUN
sc-156	137	14	to	to	PART
sc-156	137	15	pick	pick	VERB
sc-156	137	16	the	the	DET
sc-156	137	17	objects	object	NOUN
sc-156	137	18	.	.	PUNCT
sc-156	138	1	there	there	PRON
sc-156	138	2	are	be	VERB
sc-156	138	3	constraints	constraint	NOUN
sc-156	138	4	on	on	ADP
sc-156	138	5	the	the	DET
sc-156	138	6	task	task	NOUN
sc-156	138	7	completion	completion	PROPN
sc-156	138	8	times	time	NOUN
sc-156	138	9	that	that	PRON
sc-156	138	10	must	must	AUX
sc-156	138	11	be	be	AUX
sc-156	138	12	met	meet	VERB
sc-156	138	13	.	.	PUNCT
sc-156	139	1	the	the	DET
sc-156	139	2	robots	robot	NOUN
sc-156	139	3	have	have	AUX
sc-156	139	4	limited	limit	VERB
sc-156	139	5	carrying	carry	VERB
sc-156	139	6	capacities	capacity	NOUN
sc-156	139	7	and	and	CCONJ
sc-156	139	8	drain	drain	NOUN
sc-156	139	9	batteries	battery	NOUN
sc-156	139	10	as	as	SCONJ
sc-156	139	11	they	they	PRON
sc-156	139	12	perform	perform	VERB
sc-156	139	13	tasks	task	NOUN
sc-156	139	14	.	.	PUNCT
sc-156	140	1	there	there	PRON
sc-156	140	2	are	be	VERB
sc-156	140	3	also	also	ADV
sc-156	140	4	variations	variation	NOUN
sc-156	140	5	in	in	ADP
sc-156	140	6	order	order	NOUN
sc-156	140	7	arrival	arrival	NOUN
sc-156	140	8	rates	rate	NOUN
sc-156	140	9	.	.	PUNCT
sc-156	141	1	the	the	DET
sc-156	141	2	scenario	scenario	NOUN
sc-156	141	3	described	describe	VERB
sc-156	141	4	above	above	ADV
sc-156	141	5	requires	require	VERB
sc-156	141	6	multiple	multiple	ADJ
sc-156	141	7	aspects	aspect	NOUN
sc-156	141	8	to	to	PART
sc-156	141	9	be	be	AUX
sc-156	141	10	taken	take	VERB
sc-156	141	11	into	into	ADP
sc-156	141	12	account	account	NOUN
sc-156	141	13	.	.	PUNCT
sc-156	142	1	first	first	ADV
sc-156	142	2	,	,	PUNCT
sc-156	142	3	there	there	PRON
sc-156	142	4	is	be	VERB
sc-156	142	5	a	a	DET
sc-156	142	6	lack	lack	NOUN
sc-156	142	7	of	of	ADP
sc-156	142	8	a	a	DET
sc-156	142	9	centralized	centralized	ADJ
sc-156	142	10	control	control	NOUN
sc-156	142	11	mechanism	mechanism	NOUN
sc-156	142	12	,	,	PUNCT
sc-156	142	13	requiring	require	VERB
sc-156	142	14	a	a	DET
sc-156	142	15	protocol	protocol	NOUN
sc-156	142	16	for	for	ADP
sc-156	142	17	coordination	coordination	NOUN
sc-156	142	18	among	among	ADP
sc-156	142	19	the	the	DET
sc-156	142	20	agents	agent	NOUN
sc-156	142	21	.	.	PUNCT
sc-156	143	1	second	second	ADJ
sc-156	143	2	,	,	PUNCT
sc-156	143	3	rather	rather	ADV
sc-156	143	4	than	than	ADP
sc-156	143	5	accumulating	accumulate	VERB
sc-156	143	6	tasks	task	NOUN
sc-156	143	7	in	in	ADP
sc-156	143	8	batches	batch	NOUN
sc-156	143	9	to	to	PART
sc-156	143	10	be	be	AUX
sc-156	143	11	procured	procure	VERB
sc-156	143	12	at	at	ADP
sc-156	143	13	a	a	DET
sc-156	143	14	later	later	ADJ
sc-156	143	15	stage	stage	NOUN
sc-156	143	16	,	,	PUNCT
sc-156	143	17	the	the	DET
sc-156	143	18	processing	processing	NOUN
sc-156	143	19	must	must	AUX
sc-156	143	20	be	be	AUX
sc-156	143	21	done	do	VERB
sc-156	143	22	in	in	ADP
sc-156	143	23	a	a	DET
sc-156	143	24	first	first	ADJ
sc-156	143	25	come	come	NOUN
sc-156	143	26	first	first	ADV
sc-156	143	27	serve	serve	VERB
sc-156	143	28	basis	basis	NOUN
sc-156	143	29	.	.	PUNCT
sc-156	144	1	third	third	ADJ
sc-156	144	2	,	,	PUNCT
sc-156	144	3	the	the	DET
sc-156	144	4	number	number	NOUN
sc-156	144	5	of	of	ADP
sc-156	144	6	agents	agent	NOUN
sc-156	144	7	and	and	CCONJ
sc-156	144	8	the	the	DET
sc-156	144	9	tasks	task	NOUN
sc-156	144	10	allocated	allocate	VERB
sc-156	144	11	should	should	AUX
sc-156	144	12	be	be	AUX
sc-156	144	13	appropriately	appropriately	ADV
sc-156	144	14	scaled	scale	VERB
sc-156	144	15	up	up	ADP
sc-156	144	16	in	in	ADP
sc-156	144	17	accordance	accordance	NOUN
sc-156	144	18	with	with	ADP
sc-156	144	19	order	order	NOUN
sc-156	144	20	rates	rate	NOUN
sc-156	144	21	.	.	PUNCT
sc-156	145	1	fig	fig	NOUN
sc-156	145	2	.	.	PUNCT
sc-156	146	1	1	1	NUM
sc-156	146	2	provides	provide	VERB
sc-156	146	3	an	an	DET
sc-156	146	4	overview	overview	NOUN
sc-156	146	5	of	of	ADP
sc-156	146	6	the	the	DET
sc-156	146	7	warehouse	warehouse	NOUN
sc-156	146	8	automation	automation	NOUN
sc-156	146	9	model	model	NOUN
sc-156	146	10	.	.	PUNCT
sc-156	147	1	specialized	specialized	ADJ
sc-156	147	2	agents	agent	NOUN
sc-156	147	3	are	be	AUX
sc-156	147	4	used	use	VERB
sc-156	147	5	to	to	PART
sc-156	147	6	schedule	schedule	VERB
sc-156	147	7	and	and	CCONJ
sc-156	147	8	procure	procure	NOUN
sc-156	147	9	products	product	NOUN
sc-156	147	10	with	with	ADP
sc-156	147	11	minimal	minimal	ADJ
sc-156	147	12	external	external	ADJ
sc-156	147	13	control	control	NOUN
sc-156	147	14	.	.	PUNCT
sc-156	148	1	server	server	NOUN
sc-156	148	2	agents	agent	NOUN
sc-156	148	3	broadcast	broadcast	VERB
sc-156	148	4	goal	goal	NOUN
sc-156	148	5	tasks	task	NOUN
sc-156	148	6	to	to	ADP
sc-156	148	7	delivery	delivery	NOUN
sc-156	148	8	agents	agent	NOUN
sc-156	148	9	.	.	PUNCT
sc-156	149	1	mobile	mobile	ADJ
sc-156	149	2	delivery	delivery	NOUN
sc-156	149	3	agents	agent	NOUN
sc-156	149	4	acquire	acquire	VERB
sc-156	149	5	a	a	DET
sc-156	149	6	subset	subset	NOUN
sc-156	149	7	of	of	ADP
sc-156	149	8	tasks	task	NOUN
sc-156	149	9	and	and	CCONJ
sc-156	149	10	execute	execute	VERB
sc-156	149	11	them	they	PRON
sc-156	149	12	within	within	ADP
sc-156	149	13	the	the	DET
sc-156	149	14	time	time	NOUN
sc-156	149	15	constraints	constraint	NOUN
sc-156	149	16	.	.	PUNCT
sc-156	150	1	they	they	PRON
sc-156	150	2	are	be	AUX
sc-156	150	3	provided	provide	VERB
sc-156	150	4	with	with	ADP
sc-156	150	5	points	point	NOUN
sc-156	150	6	for	for	ADP
sc-156	150	7	completion	completion	NOUN
sc-156	150	8	of	of	ADP
sc-156	150	9	tasks	task	NOUN
sc-156	150	10	,	,	PUNCT
sc-156	150	11	that	that	PRON
sc-156	150	12	may	may	AUX
sc-156	150	13	be	be	AUX
sc-156	150	14	used	use	VERB
sc-156	150	15	to	to	PART
sc-156	150	16	recuperate	recuperate	VERB
sc-156	150	17	battery	battery	NOUN
sc-156	150	18	power	power	NOUN
sc-156	150	19	at	at	ADP
sc-156	150	20	charging	charge	VERB
sc-156	150	21	stations	station	NOUN
sc-156	150	22	.	.	PUNCT
sc-156	151	1	the	the	DET
sc-156	151	2	agents	agent	NOUN
sc-156	151	3	may	may	AUX
sc-156	151	4	be	be	AUX
sc-156	151	5	penalized	penalize	VERB
sc-156	151	6	for	for	ADP
sc-156	151	7	unfulfilled	unfulfilled	ADJ
sc-156	151	8	orders	order	NOUN
sc-156	151	9	.	.	PUNCT
sc-156	152	1	the	the	DET
sc-156	152	2	server	server	NOUN
sc-156	152	3	agents	agent	NOUN
sc-156	152	4	keeps	keep	VERB
sc-156	152	5	track	track	NOUN
sc-156	152	6	of	of	ADP
sc-156	152	7	the	the	DET
sc-156	152	8	increase	increase	NOUN
sc-156	152	9	/	/	SYM
sc-156	152	10	decrease	decrease	NOUN
sc-156	152	11	in	in	ADP
sc-156	152	12	item	item	NOUN
sc-156	152	13	inventory	inventory	NOUN
sc-156	152	14	in	in	ADP
sc-156	152	15	the	the	DET
sc-156	152	16	warehouse	warehouse	NOUN
sc-156	152	17	.	.	PUNCT
sc-156	153	1	do	do	AUX
sc-156	153	2	note	note	VERB
sc-156	153	3	that	that	SCONJ
sc-156	153	4	the	the	DET
sc-156	153	5	tasks	task	NOUN
sc-156	153	6	are	be	AUX
sc-156	153	7	typically	typically	ADV
sc-156	153	8	complex	complex	ADJ
sc-156	153	9	,	,	PUNCT
sc-156	153	10	requiring	require	VERB
sc-156	153	11	coordination	coordination	NOUN
sc-156	153	12	among	among	ADP
sc-156	153	13	multiple	multiple	ADJ
sc-156	153	14	agents	agent	NOUN
sc-156	153	15	.	.	PUNCT
sc-156	154	1	a	a	DET
sc-156	154	2	typical	typical	ADJ
sc-156	154	3	case	case	NOUN
sc-156	154	4	would	would	AUX
sc-156	154	5	be	be	AUX
sc-156	154	6	products	product	NOUN
sc-156	154	7	to	to	PART
sc-156	154	8	be	be	AUX
sc-156	154	9	re	re	VERB
sc-156	154	10	-	-	VERB
sc-156	154	11	tried	try	VERB
sc-156	154	12	from	from	ADP
sc-156	154	13	disparate	disparate	ADJ
sc-156	154	14	locations	location	NOUN
sc-156	154	15	,	,	PUNCT
sc-156	154	16	that	that	PRON
sc-156	154	17	would	would	AUX
sc-156	154	18	be	be	AUX
sc-156	154	19	efficiently	efficiently	ADV
sc-156	154	20	re	re	VERB
sc-156	154	21	-	-	VERB
sc-156	154	22	tried	try	VERB
sc-156	154	23	by	by	ADP
sc-156	154	24	agents	agent	NOUN
sc-156	154	25	4	4	NUM
sc-156	154	26	eai	eai	NOUN
sc-156	154	27	endorsed	endorse	VERB
sc-156	154	28	transactions	transaction	NOUN
sc-156	154	29	on	on	ADP
sc-156	154	30	smart	smart	ADJ
sc-156	154	31	cities	city	NOUN
sc-156	154	32	10	10	NUM
sc-156	154	33	2021	2021	NUM
sc-156	154	34	03	03	NUM
sc-156	154	35	2022	2022	NUM
sc-156	154	36	|	|	ADV
sc-156	154	37	volume	volume	NOUN
sc-156	154	38	6	6	NUM
sc-156	154	39	|	|	NOUN
sc-156	154	40	issue	issue	NOUN
sc-156	154	41	17	17	NUM
sc-156	154	42	|	|	NOUN
sc-156	154	43	e2	e2	NOUN
sc-156	154	44	aspects	aspect	NOUN
sc-156	154	45	of	of	ADP
sc-156	154	46	mechanism	mechanism	NOUN
sc-156	154	47	design	design	NOUN
sc-156	154	48	for	for	ADP
sc-156	154	49	industry	industry	NOUN
sc-156	154	50	4.0	4.0	NUM
sc-156	154	51	multi	multi	ADJ
sc-156	154	52	-	-	ADJ
sc-156	154	53	robot	robot	ADJ
sc-156	154	54	task	task	NOUN
sc-156	154	55	auctioning	auctioning	NOUN
sc-156	154	56	server	server	NOUN
sc-156	154	57	agents	agent	NOUN
sc-156	154	58	batch	batch	VERB
sc-156	154	59	product	product	NOUN
sc-156	154	60	requests	request	NOUN
sc-156	154	61	picking	pick	VERB
sc-156	154	62	mobile	mobile	ADJ
sc-156	154	63	agents	agent	NOUN
sc-156	154	64	inventory	inventory	NOUN
sc-156	154	65	levels	level	NOUN
sc-156	154	66	picking	pick	VERB
sc-156	154	67	locations	location	NOUN
sc-156	154	68	robot	robot	NOUN
sc-156	154	69	path	path	PROPN
sc-156	154	70	storage	storage	NOUN
sc-156	154	71	racks	rack	NOUN
sc-156	154	72	battery	battery	NOUN
sc-156	154	73	charging	charge	VERB
sc-156	154	74	stations	station	NOUN
sc-156	154	75	figure	figure	VERB
sc-156	154	76	1	1	NUM
sc-156	154	77	.	.	PUNCT
sc-156	155	1	multiple	multiple	ADJ
sc-156	155	2	agents	agent	NOUN
sc-156	155	3	deployed	deploy	VERB
sc-156	155	4	in	in	ADP
sc-156	155	5	warehouses	warehouse	NOUN
sc-156	155	6	.	.	PUNCT
sc-156	156	1	located	locate	VERB
sc-156	156	2	in	in	ADP
sc-156	156	3	close	close	ADJ
sc-156	156	4	proximity	proximity	NOUN
sc-156	156	5	.	.	PUNCT
sc-156	157	1	the	the	DET
sc-156	157	2	auctioning	auctioning	NOUN
sc-156	157	3	and	and	CCONJ
sc-156	157	4	allocation	allocation	NOUN
sc-156	157	5	of	of	ADP
sc-156	157	6	tasks	task	NOUN
sc-156	157	7	is	be	AUX
sc-156	157	8	typically	typically	ADV
sc-156	157	9	limited	limit	VERB
sc-156	157	10	by	by	ADP
sc-156	157	11	the	the	DET
sc-156	157	12	following	follow	VERB
sc-156	157	13	constraints	constraint	NOUN
sc-156	157	14	:	:	PUNCT
sc-156	157	15	◦	◦	NOUN
sc-156	157	16	utilization	utilization	NOUN
sc-156	157	17	–	–	PUNCT
sc-156	157	18	as	as	SCONJ
sc-156	157	19	every	every	DET
sc-156	157	20	agents	agent	NOUN
sc-156	157	21	has	have	AUX
sc-156	157	22	limited	limit	VERB
sc-156	157	23	load	load	NOUN
sc-156	157	24	carrying	carry	VERB
sc-156	157	25	capacity	capacity	NOUN
sc-156	157	26	,	,	PUNCT
sc-156	157	27	the	the	DET
sc-156	157	28	agents	agent	NOUN
sc-156	157	29	may	may	AUX
sc-156	157	30	choose	choose	VERB
sc-156	157	31	to	to	PART
sc-156	157	32	bid	bid	VERB
sc-156	157	33	or	or	CCONJ
sc-156	157	34	abstain	abstain	VERB
sc-156	157	35	from	from	ADP
sc-156	157	36	tasks	task	NOUN
sc-156	157	37	that	that	PRON
sc-156	157	38	would	would	AUX
sc-156	157	39	not	not	PART
sc-156	157	40	maximize	maximize	VERB
sc-156	157	41	utilization	utilization	NOUN
sc-156	157	42	.	.	PUNCT
sc-156	158	1	◦	◦	NOUN
sc-156	158	2	latency	latency	NOUN
sc-156	158	3	–	–	PUNCT
sc-156	158	4	every	every	DET
sc-156	158	5	task	task	NOUN
sc-156	158	6	has	have	VERB
sc-156	158	7	a	a	DET
sc-156	158	8	time	time	NOUN
sc-156	158	9	range	range	NOUN
sc-156	158	10	that	that	PRON
sc-156	158	11	must	must	AUX
sc-156	158	12	be	be	AUX
sc-156	158	13	met	meet	VERB
sc-156	158	14	,	,	PUNCT
sc-156	158	15	which	which	PRON
sc-156	158	16	might	might	AUX
sc-156	158	17	restrict	restrict	VERB
sc-156	158	18	the	the	DET
sc-156	158	19	agents	agent	NOUN
sc-156	158	20	that	that	PRON
sc-156	158	21	may	may	AUX
sc-156	158	22	participate	participate	VERB
sc-156	158	23	.	.	PUNCT
sc-156	159	1	◦	◦	NOUN
sc-156	159	2	battery	battery	NOUN
sc-156	159	3	limitation	limitation	NOUN
sc-156	159	4	–	–	PUNCT
sc-156	159	5	the	the	DET
sc-156	159	6	agents	agent	NOUN
sc-156	159	7	also	also	ADV
sc-156	159	8	must	must	AUX
sc-156	159	9	consider	consider	VERB
sc-156	159	10	battery	battery	NOUN
sc-156	159	11	capacities	capacity	NOUN
sc-156	159	12	,	,	PUNCT
sc-156	159	13	that	that	PRON
sc-156	159	14	must	must	AUX
sc-156	159	15	last	last	VERB
sc-156	159	16	throughput	throughput	NOUN
sc-156	159	17	the	the	DET
sc-156	159	18	task	task	NOUN
sc-156	159	19	duration	duration	NOUN
sc-156	159	20	.	.	PUNCT
sc-156	160	1	further	further	ADJ
sc-156	160	2	elaboration	elaboration	NOUN
sc-156	160	3	of	of	ADP
sc-156	160	4	how	how	SCONJ
sc-156	160	5	auction	auction	NOUN
sc-156	160	6	mechanism	mechanism	NOUN
sc-156	160	7	formulations	formulation	NOUN
sc-156	160	8	may	may	AUX
sc-156	160	9	be	be	AUX
sc-156	160	10	ported	port	VERB
sc-156	160	11	to	to	ADP
sc-156	160	12	distributed	distribute	VERB
sc-156	160	13	settings	setting	NOUN
sc-156	160	14	are	be	AUX
sc-156	160	15	elaborated	elaborate	VERB
sc-156	160	16	in	in	ADP
sc-156	160	17	the	the	DET
sc-156	160	18	proceeding	proceeding	NOUN
sc-156	160	19	sections	section	NOUN
sc-156	160	20	.	.	PUNCT
sc-156	161	1	do	do	AUX
sc-156	161	2	note	note	VERB
sc-156	161	3	that	that	SCONJ
sc-156	161	4	as	as	SCONJ
sc-156	161	5	there	there	PRON
sc-156	161	6	is	be	VERB
sc-156	161	7	autonomy	autonomy	NOUN
sc-156	161	8	involved	involve	VERB
sc-156	161	9	in	in	ADP
sc-156	161	10	the	the	DET
sc-156	161	11	process	process	NOUN
sc-156	161	12	,	,	PUNCT
sc-156	161	13	there	there	PRON
sc-156	161	14	are	be	VERB
sc-156	161	15	relative	relative	ADJ
sc-156	161	16	estimates	estimate	NOUN
sc-156	161	17	of	of	ADP
sc-156	161	18	latency	latency	NOUN
sc-156	161	19	and	and	CCONJ
sc-156	161	20	battery	battery	NOUN
sc-156	161	21	depletion	depletion	NOUN
sc-156	161	22	entailed	entail	VERB
sc-156	161	23	with	with	ADP
sc-156	161	24	completion	completion	NOUN
sc-156	161	25	of	of	ADP
sc-156	161	26	a	a	DET
sc-156	161	27	task	task	NOUN
sc-156	161	28	–	–	PUNCT
sc-156	161	29	these	these	PRON
sc-156	161	30	should	should	AUX
sc-156	161	31	be	be	AUX
sc-156	161	32	incorporated	incorporate	VERB
sc-156	161	33	into	into	ADP
sc-156	161	34	the	the	DET
sc-156	161	35	allocation	allocation	NOUN
sc-156	161	36	model	model	NOUN
sc-156	161	37	.	.	PUNCT
sc-156	162	1	4	4	X
sc-156	162	2	.	.	X
sc-156	162	3	mechanism	mechanism	NOUN
sc-156	162	4	design	design	NOUN
sc-156	162	5	and	and	CCONJ
sc-156	162	6	auctions	auction	NOUN
sc-156	162	7	in	in	ADP
sc-156	162	8	this	this	DET
sc-156	162	9	section	section	NOUN
sc-156	162	10	,	,	PUNCT
sc-156	162	11	we	we	PRON
sc-156	162	12	introduce	introduce	VERB
sc-156	162	13	combinatorial	combinatorial	ADJ
sc-156	162	14	task	task	NOUN
sc-156	162	15	auctions	auction	NOUN
sc-156	162	16	that	that	PRON
sc-156	162	17	may	may	AUX
sc-156	162	18	be	be	AUX
sc-156	162	19	applied	apply	VERB
sc-156	162	20	towards	towards	ADP
sc-156	162	21	multi	multi	ADJ
sc-156	162	22	-	-	ADJ
sc-156	162	23	agent	agent	ADJ
sc-156	162	24	task	task	NOUN
sc-156	162	25	allocation	allocation	NOUN
sc-156	162	26	.	.	PUNCT
sc-156	163	1	mechanism	mechanism	NOUN
sc-156	163	2	designs	design	NOUN
sc-156	163	3	that	that	PRON
sc-156	163	4	are	be	AUX
sc-156	163	5	responsible	responsible	ADJ
sc-156	163	6	for	for	ADP
sc-156	163	7	generating	generate	VERB
sc-156	163	8	scenarios	scenario	NOUN
sc-156	163	9	where	where	SCONJ
sc-156	163	10	autonomous	autonomous	ADJ
sc-156	163	11	agents	agent	NOUN
sc-156	163	12	bid	bid	VERB
sc-156	163	13	for	for	ADP
sc-156	163	14	tasks	task	NOUN
sc-156	163	15	are	be	AUX
sc-156	163	16	also	also	ADV
sc-156	163	17	studied	study	VERB
sc-156	163	18	.	.	PUNCT
sc-156	164	1	4.1	4.1	NUM
sc-156	164	2	.	.	PUNCT
sc-156	164	3	combinatorial	combinatorial	ADJ
sc-156	164	4	task	task	NOUN
sc-156	164	5	auctions	auction	NOUN
sc-156	164	6	auctions	auction	NOUN
sc-156	164	7	and	and	CCONJ
sc-156	164	8	bidding	bidding	NOUN
sc-156	164	9	techniques	technique	NOUN
sc-156	164	10	have	have	AUX
sc-156	164	11	been	be	AUX
sc-156	164	12	proposed	propose	VERB
sc-156	164	13	to	to	PART
sc-156	164	14	allocate	allocate	VERB
sc-156	164	15	resources	resource	NOUN
sc-156	164	16	to	to	ADP
sc-156	164	17	parties	party	NOUN
sc-156	164	18	in	in	ADP
sc-156	164	19	a	a	DET
sc-156	164	20	fair	fair	ADJ
sc-156	164	21	manner	manner	NOUN
sc-156	164	22	.	.	PUNCT
sc-156	165	1	this	this	PRON
sc-156	165	2	has	have	AUX
sc-156	165	3	been	be	AUX
sc-156	165	4	extended	extend	VERB
sc-156	165	5	in	in	ADP
sc-156	165	6	combinatorial	combinatorial	ADJ
sc-156	165	7	auctions	auction	NOUN
sc-156	165	8	[	[	X
sc-156	165	9	8	8	NUM
sc-156	165	10	]	]	PUNCT
sc-156	165	11	,	,	PUNCT
sc-156	165	12	where	where	SCONJ
sc-156	165	13	auctions	auction	NOUN
sc-156	165	14	of	of	ADP
sc-156	165	15	multiple	multiple	ADJ
sc-156	165	16	non	non	ADJ
sc-156	165	17	-	-	ADJ
sc-156	165	18	identical	identical	ADJ
sc-156	165	19	items	item	NOUN
sc-156	165	20	is	be	AUX
sc-156	165	21	performed	perform	VERB
sc-156	165	22	and	and	CCONJ
sc-156	165	23	the	the	DET
sc-156	165	24	bidding	bidding	NOUN
sc-156	165	25	price	price	NOUN
sc-156	165	26	may	may	AUX
sc-156	165	27	depend	depend	VERB
sc-156	165	28	on	on	ADP
sc-156	165	29	compositions	composition	NOUN
sc-156	165	30	of	of	ADP
sc-156	165	31	other	other	ADJ
sc-156	165	32	item	item	NOUN
sc-156	165	33	bids	bid	NOUN
sc-156	165	34	.	.	PUNCT
sc-156	166	1	in	in	ADP
sc-156	166	2	general	general	ADJ
sc-156	166	3	,	,	PUNCT
sc-156	166	4	as	as	SCONJ
sc-156	166	5	agents	agent	NOUN
sc-156	166	6	intend	intend	VERB
sc-156	166	7	to	to	PART
sc-156	166	8	bid	bid	VERB
sc-156	166	9	for	for	ADP
sc-156	166	10	combinations	combination	NOUN
sc-156	166	11	of	of	ADP
sc-156	166	12	items	item	NOUN
sc-156	166	13	,	,	PUNCT
sc-156	166	14	the	the	DET
sc-156	166	15	combinatorial	combinatorial	ADJ
sc-156	166	16	auctions	auction	NOUN
sc-156	166	17	may	may	AUX
sc-156	166	18	lead	lead	VERB
sc-156	166	19	to	to	ADP
sc-156	166	20	superior	superior	ADJ
sc-156	166	21	allocations	allocation	NOUN
sc-156	166	22	.	.	PUNCT
sc-156	167	1	however	however	ADV
sc-156	167	2	,	,	PUNCT
sc-156	167	3	due	due	ADP
sc-156	167	4	to	to	ADP
sc-156	167	5	the	the	DET
sc-156	167	6	exponential	exponential	ADJ
sc-156	167	7	number	number	NOUN
sc-156	167	8	of	of	ADP
sc-156	167	9	combinations	combination	NOUN
sc-156	167	10	,	,	PUNCT
sc-156	167	11	typically	typically	ADV
sc-156	167	12	a	a	DET
sc-156	167	13	subset	subset	NOUN
sc-156	167	14	of	of	ADP
sc-156	167	15	combinations	combination	NOUN
sc-156	167	16	are	be	AUX
sc-156	167	17	allowed	allow	VERB
sc-156	167	18	to	to	PART
sc-156	167	19	make	make	VERB
sc-156	167	20	the	the	DET
sc-156	167	21	complexity	complexity	NOUN
sc-156	167	22	tractable	tractable	ADJ
sc-156	167	23	.	.	PUNCT
sc-156	168	1	the	the	DET
sc-156	168	2	four	four	NUM
sc-156	168	3	aspects	aspect	NOUN
sc-156	168	4	to	to	PART
sc-156	168	5	be	be	AUX
sc-156	168	6	specified	specify	VERB
sc-156	168	7	in	in	ADP
sc-156	168	8	combinatorial	combinatorial	ADJ
sc-156	168	9	auctions	auction	NOUN
sc-156	168	10	are	be	AUX
sc-156	168	11	:	:	PUNCT
sc-156	168	12	1	1	X
sc-156	168	13	.	.	X
sc-156	168	14	bidding	bidding	NOUN
sc-156	168	15	:	:	PUNCT
sc-156	168	16	as	as	SCONJ
sc-156	168	17	each	each	DET
sc-156	168	18	bidder	bidder	NOUN
sc-156	168	19	provides	provide	VERB
sc-156	168	20	bids	bid	NOUN
sc-156	168	21	for	for	ADP
sc-156	168	22	a	a	DET
sc-156	168	23	combination	combination	NOUN
sc-156	168	24	of	of	ADP
sc-156	168	25	items	item	NOUN
sc-156	168	26	,	,	PUNCT
sc-156	168	27	the	the	DET
sc-156	168	28	protocol	protocol	NOUN
sc-156	168	29	to	to	PART
sc-156	168	30	specify	specify	VERB
sc-156	168	31	the	the	DET
sc-156	168	32	bids	bid	NOUN
sc-156	168	33	are	be	AUX
sc-156	168	34	to	to	PART
sc-156	168	35	be	be	AUX
sc-156	168	36	efficiently	efficiently	ADV
sc-156	168	37	specified	specify	VERB
sc-156	168	38	.	.	PUNCT
sc-156	169	1	2	2	X
sc-156	169	2	.	.	X
sc-156	169	3	allocation	allocation	NOUN
sc-156	169	4	:	:	PUNCT
sc-156	169	5	the	the	DET
sc-156	169	6	allocation	allocation	NOUN
sc-156	169	7	of	of	ADP
sc-156	169	8	items	item	NOUN
sc-156	169	9	to	to	ADP
sc-156	169	10	various	various	ADJ
sc-156	169	11	bidders	bidder	NOUN
sc-156	169	12	will	will	AUX
sc-156	169	13	choose	choose	VERB
sc-156	169	14	to	to	PART
sc-156	169	15	maximize	maximize	VERB
sc-156	169	16	an	an	DET
sc-156	169	17	utility	utility	NOUN
sc-156	169	18	function	function	NOUN
sc-156	169	19	based	base	VERB
sc-156	169	20	on	on	ADP
sc-156	169	21	the	the	DET
sc-156	169	22	bids	bid	NOUN
sc-156	169	23	.	.	PUNCT
sc-156	170	1	3	3	X
sc-156	170	2	.	.	X
sc-156	170	3	payment	payment	NOUN
sc-156	170	4	:	:	PUNCT
sc-156	170	5	the	the	DET
sc-156	170	6	rules	rule	NOUN
sc-156	170	7	of	of	ADP
sc-156	170	8	payment	payment	NOUN
sc-156	170	9	will	will	AUX
sc-156	170	10	be	be	AUX
sc-156	170	11	such	such	ADJ
sc-156	170	12	that	that	SCONJ
sc-156	170	13	the	the	DET
sc-156	170	14	auctioneers	auctioneer	NOUN
sc-156	170	15	’	'	PUNCT
sc-156	170	16	revenues	revenue	NOUN
sc-156	170	17	are	be	AUX
sc-156	170	18	maximized	maximize	VERB
sc-156	170	19	,	,	PUNCT
sc-156	170	20	while	while	SCONJ
sc-156	170	21	ensuring	ensure	VERB
sc-156	170	22	fair	fair	ADJ
sc-156	170	23	allocation	allocation	NOUN
sc-156	170	24	.	.	PUNCT
sc-156	171	1	fairness	fairness	NOUN
sc-156	171	2	here	here	ADV
sc-156	171	3	refers	refer	VERB
sc-156	171	4	to	to	ADP
sc-156	171	5	the	the	DET
sc-156	171	6	ability	ability	NOUN
sc-156	171	7	of	of	ADP
sc-156	171	8	the	the	DET
sc-156	171	9	mechanism	mechanism	NOUN
sc-156	171	10	to	to	PART
sc-156	171	11	identify	identify	VERB
sc-156	171	12	collusion	collusion	NOUN
sc-156	171	13	or	or	CCONJ
sc-156	171	14	over	over	ADV
sc-156	171	15	-	-	PUNCT
sc-156	171	16	optimistic	optimistic	ADJ
sc-156	171	17	bidding	bidding	NOUN
sc-156	171	18	among	among	ADP
sc-156	171	19	agents	agent	NOUN
sc-156	171	20	that	that	PRON
sc-156	171	21	could	could	AUX
sc-156	171	22	lead	lead	VERB
sc-156	171	23	to	to	ADP
sc-156	171	24	tasks	task	NOUN
sc-156	171	25	not	not	PART
sc-156	171	26	being	be	AUX
sc-156	171	27	fulfilled	fulfil	VERB
sc-156	171	28	.	.	PUNCT
sc-156	172	1	4	4	X
sc-156	172	2	.	.	X
sc-156	172	3	strategy	strategy	NOUN
sc-156	172	4	:	:	PUNCT
sc-156	172	5	as	as	SCONJ
sc-156	172	6	every	every	DET
sc-156	172	7	bidding	bidding	NOUN
sc-156	172	8	agent	agent	NOUN
sc-156	172	9	is	be	AUX
sc-156	172	10	autonomous	autonomous	ADJ
sc-156	172	11	,	,	PUNCT
sc-156	172	12	it	it	PRON
sc-156	172	13	is	be	AUX
sc-156	172	14	assumed	assume	VERB
sc-156	172	15	that	that	SCONJ
sc-156	172	16	the	the	DET
sc-156	172	17	strategy	strategy	NOUN
sc-156	172	18	employed	employ	VERB
sc-156	172	19	would	would	AUX
sc-156	172	20	be	be	AUX
sc-156	172	21	motivated	motivate	VERB
sc-156	172	22	by	by	ADP
sc-156	172	23	individual	individual	ADJ
sc-156	172	24	gains	gain	NOUN
sc-156	172	25	.	.	PUNCT
sc-156	173	1	the	the	DET
sc-156	173	2	auction	auction	NOUN
sc-156	173	3	should	should	AUX
sc-156	173	4	be	be	AUX
sc-156	173	5	formulated	formulate	VERB
sc-156	173	6	such	such	ADJ
sc-156	173	7	that	that	SCONJ
sc-156	173	8	despite	despite	SCONJ
sc-156	173	9	individual	individual	ADJ
sc-156	173	10	motivation	motivation	NOUN
sc-156	173	11	,	,	PUNCT
sc-156	173	12	the	the	DET
sc-156	173	13	allocation	allocation	NOUN
sc-156	173	14	would	would	AUX
sc-156	173	15	maximize	maximize	VERB
sc-156	173	16	overall	overall	ADJ
sc-156	173	17	utility	utility	NOUN
sc-156	173	18	.	.	PUNCT
sc-156	174	1	this	this	DET
sc-156	174	2	paper	paper	NOUN
sc-156	174	3	considers	consider	VERB
sc-156	174	4	only	only	ADV
sc-156	174	5	sealed	sealed	ADJ
sc-156	174	6	bid	bid	NOUN
sc-156	174	7	auctions	auction	NOUN
sc-156	174	8	with	with	ADP
sc-156	174	9	a	a	DET
sc-156	174	10	private	private	ADJ
sc-156	174	11	value	value	NOUN
sc-156	174	12	model	model	NOUN
sc-156	174	13	for	for	ADP
sc-156	174	14	each	each	DET
sc-156	174	15	bidding	bidding	NOUN
sc-156	174	16	agent	agent	NOUN
sc-156	174	17	.	.	PUNCT
sc-156	175	1	the	the	DET
sc-156	175	2	modelling	modelling	NOUN
sc-156	175	3	is	be	AUX
sc-156	175	4	as	as	SCONJ
sc-156	175	5	follows	follow	VERB
sc-156	175	6	:	:	PUNCT
sc-156	175	7	1	1	X
sc-156	175	8	.	.	X
sc-156	175	9	a	a	DET
sc-156	175	10	single	single	ADJ
sc-156	175	11	auctioneer	auctioneer	NOUN
sc-156	175	12	presents	present	NOUN
sc-156	175	13	m	m	VERB
sc-156	175	14	items	item	NOUN
sc-156	175	15	for	for	ADP
sc-156	175	16	sale	sale	NOUN
sc-156	175	17	.	.	PUNCT
sc-156	176	1	this	this	PRON
sc-156	176	2	is	be	AUX
sc-156	176	3	bid	bid	VERB
sc-156	176	4	on	on	ADP
sc-156	176	5	my	my	PRON
sc-156	176	6	n	n	PRON
sc-156	176	7	bidders	bidder	NOUN
sc-156	176	8	,	,	PUNCT
sc-156	176	9	having	have	VERB
sc-156	176	10	i	i	PRON
sc-156	176	11	d	d	NOUN
sc-156	176	12	i	i	PRON
sc-156	176	13	and	and	CCONJ
sc-156	176	14	individual	individual	ADJ
sc-156	176	15	valuation	valuation	NOUN
sc-156	176	16	functions	function	NOUN
sc-156	176	17	vi	vi	PROPN
sc-156	176	18	.	.	PROPN
sc-156	176	19	2	2	NUM
sc-156	176	20	.	.	NUM
sc-156	176	21	vi(s	vi(s	NUM
sc-156	176	22	)	)	PUNCT
sc-156	176	23	is	be	AUX
sc-156	176	24	the	the	DET
sc-156	176	25	valuation	valuation	NOUN
sc-156	176	26	provided	provide	VERB
sc-156	176	27	by	by	ADP
sc-156	176	28	bidder	bidder	NOUN
sc-156	176	29	i	i	PRON
sc-156	176	30	for	for	ADP
sc-156	176	31	a	a	DET
sc-156	176	32	subset	subset	NOUN
sc-156	176	33	of	of	ADP
sc-156	176	34	items	item	NOUN
sc-156	176	35	s.	s.	PROPN
sc-156	176	36	3	3	NUM
sc-156	176	37	.	.	PUNCT
sc-156	177	1	the	the	DET
sc-156	177	2	auctioneer	auctioneer	NOUN
sc-156	177	3	determines	determine	VERB
sc-156	177	4	the	the	DET
sc-156	177	5	winning	win	VERB
sc-156	177	6	bidders	bidder	NOUN
sc-156	177	7	based	base	VERB
sc-156	177	8	on	on	ADP
sc-156	177	9	an	an	DET
sc-156	177	10	allocation	allocation	NOUN
sc-156	177	11	algorithm	algorithm	NOUN
sc-156	177	12	:	:	PUNCT
sc-156	177	13	find	find	VERB
sc-156	177	14	a	a	DET
sc-156	177	15	pairwise	pairwise	NOUN
sc-156	177	16	5	5	NUM
sc-156	177	17	eai	eai	NOUN
sc-156	177	18	endorsed	endorse	VERB
sc-156	177	19	transactions	transaction	NOUN
sc-156	177	20	on	on	ADP
sc-156	177	21	smart	smart	ADJ
sc-156	177	22	cities	city	NOUN
sc-156	177	23	10	10	NUM
sc-156	177	24	2021	2021	NUM
sc-156	177	25	03	03	NUM
sc-156	177	26	2022	2022	NUM
sc-156	177	27	|	|	ADV
sc-156	177	28	volume	volume	NOUN
sc-156	177	29	6	6	NUM
sc-156	177	30	|	|	NOUN
sc-156	177	31	issue	issue	NOUN
sc-156	177	32	17	17	NUM
sc-156	177	33	|	|	NOUN
sc-156	177	34	e2	e2	PROPN
sc-156	177	35	ajay	ajay	PROPN
sc-156	177	36	kattepur	kattepur	PROPN
sc-156	177	37	,	,	PUNCT
sc-156	177	38	sourav	sourav	PROPN
sc-156	177	39	khemkha	khemkha	PROPN
sc-156	177	40	disjoint	disjoint	NOUN
sc-156	177	41	set	set	NOUN
sc-156	177	42	s1	s1	NOUN
sc-156	177	43	,	,	PUNCT
sc-156	177	44	.	.	PUNCT
sc-156	177	45	.	.	PUNCT
sc-156	178	1	.	.	PUNCT
sc-156	179	1	,	,	PUNCT
sc-156	179	2	sn	sn	PROPN
sc-156	179	3	to	to	PART
sc-156	179	4	maximize	maximize	VERB
sc-156	179	5	the	the	DET
sc-156	179	6	overall	overall	ADJ
sc-156	179	7	utility	utility	NOUN
sc-156	179	8	∑	∑	PROPN
sc-156	179	9	i	i	PRON
sc-156	179	10	vi(si	vi(si	PROPN
sc-156	179	11	)	)	PUNCT
sc-156	179	12	.	.	PUNCT
sc-156	180	1	as	as	SCONJ
sc-156	180	2	the	the	DET
sc-156	180	3	combinatorial	combinatorial	ADJ
sc-156	180	4	auctions	auction	NOUN
sc-156	180	5	must	must	AUX
sc-156	180	6	posses	posse	VERB
sc-156	180	7	capabilities	capability	NOUN
sc-156	180	8	to	to	PART
sc-156	180	9	express	express	VERB
sc-156	180	10	combinations	combination	NOUN
sc-156	180	11	of	of	ADP
sc-156	180	12	items	item	NOUN
sc-156	180	13	[	[	X
sc-156	180	14	5	5	NUM
sc-156	180	15	]	]	PUNCT
sc-156	180	16	,	,	PUNCT
sc-156	180	17	the	the	DET
sc-156	180	18	following	follow	VERB
sc-156	180	19	bidding	bidding	NOUN
sc-156	180	20	combinations	combination	NOUN
sc-156	180	21	are	be	AUX
sc-156	180	22	typically	typically	ADV
sc-156	180	23	employed	employ	VERB
sc-156	180	24	:	:	PUNCT
sc-156	180	25	(	(	PUNCT
sc-156	180	26	i	i	NOUN
sc-156	180	27	)	)	PUNCT
sc-156	180	28	atomic	atomic	ADJ
sc-156	180	29	bids	bid	NOUN
sc-156	180	30	:	:	PUNCT
sc-156	180	31	the	the	DET
sc-156	180	32	bidder	bidder	NOUN
sc-156	180	33	submits	submit	VERB
sc-156	180	34	a	a	DET
sc-156	180	35	price	price	NOUN
sc-156	180	36	p	p	NOUN
sc-156	180	37	for	for	ADP
sc-156	180	38	a	a	DET
sc-156	180	39	subset	subset	NOUN
sc-156	180	40	of	of	ADP
sc-156	180	41	items	item	NOUN
sc-156	180	42	s.	s.	PROPN
sc-156	180	43	(	(	PUNCT
sc-156	180	44	ii	ii	PROPN
sc-156	180	45	)	)	PUNCT
sc-156	180	46	or	or	CCONJ
sc-156	180	47	bids	bid	NOUN
sc-156	180	48	:	:	PUNCT
sc-156	180	49	bidders	bidder	NOUN
sc-156	180	50	submit	submit	VERB
sc-156	180	51	a	a	DET
sc-156	180	52	number	number	NOUN
sc-156	180	53	of	of	ADP
sc-156	180	54	atomic	atomic	ADJ
sc-156	180	55	bids	bid	NOUN
sc-156	180	56	(	(	PUNCT
sc-156	180	57	si	si	X
sc-156	180	58	,	,	PUNCT
sc-156	180	59	pi	pi	NOUN
sc-156	180	60	)	)	PUNCT
sc-156	180	61	,	,	PUNCT
sc-156	180	62	with	with	ADP
sc-156	180	63	the	the	DET
sc-156	180	64	subset	subset	NOUN
sc-156	180	65	of	of	ADP
sc-156	180	66	items	item	NOUN
sc-156	180	67	si	si	PRON
sc-156	180	68	being	be	AUX
sc-156	180	69	valued	value	VERB
sc-156	180	70	at	at	ADP
sc-156	180	71	pi	pi	NOUN
sc-156	180	72	.	.	PUNCT
sc-156	181	1	the	the	DET
sc-156	181	2	bidder	bidder	NOUN
sc-156	181	3	may	may	AUX
sc-156	181	4	be	be	AUX
sc-156	181	5	awarded	award	VERB
sc-156	181	6	more	more	ADJ
sc-156	181	7	than	than	ADP
sc-156	181	8	one	one	NUM
sc-156	181	9	subset	subset	NOUN
sc-156	181	10	.	.	PUNCT
sc-156	182	1	(	(	PUNCT
sc-156	182	2	iii	iii	X
sc-156	182	3	)	)	PUNCT
sc-156	182	4	xor	xor	PROPN
sc-156	182	5	bids	bid	VERB
sc-156	182	6	:	:	PUNCT
sc-156	182	7	this	this	PRON
sc-156	182	8	is	be	AUX
sc-156	182	9	similar	similar	ADJ
sc-156	182	10	to	to	ADP
sc-156	182	11	the	the	DET
sc-156	182	12	or	or	CCONJ
sc-156	182	13	bids	bid	NOUN
sc-156	182	14	;	;	PUNCT
sc-156	182	15	however	however	ADV
sc-156	182	16	,	,	PUNCT
sc-156	182	17	only	only	ADV
sc-156	182	18	one	one	NUM
sc-156	182	19	of	of	ADP
sc-156	182	20	the	the	DET
sc-156	182	21	subsets	subset	NOUN
sc-156	182	22	is	be	AUX
sc-156	182	23	awarded	award	VERB
sc-156	182	24	to	to	ADP
sc-156	182	25	each	each	DET
sc-156	182	26	bidder	bidder	NOUN
sc-156	182	27	.	.	PUNCT
sc-156	183	1	such	such	ADJ
sc-156	183	2	bidding	bidding	NOUN
sc-156	183	3	techniques	technique	NOUN
sc-156	183	4	are	be	AUX
sc-156	183	5	integral	integral	ADJ
sc-156	183	6	to	to	ADP
sc-156	183	7	designing	design	VERB
sc-156	183	8	suitable	suitable	ADJ
sc-156	183	9	mechanisms	mechanism	NOUN
sc-156	183	10	for	for	ADP
sc-156	183	11	multi	multi	ADJ
sc-156	183	12	-	-	ADJ
sc-156	183	13	agent	agent	ADJ
sc-156	183	14	task	task	NOUN
sc-156	183	15	auctioning	auctioning	NOUN
sc-156	183	16	,	,	PUNCT
sc-156	183	17	described	describe	VERB
sc-156	183	18	next	next	ADV
sc-156	183	19	.	.	PUNCT
sc-156	184	1	4.2	4.2	NUM
sc-156	184	2	.	.	PUNCT
sc-156	184	3	mechanism	mechanism	NOUN
sc-156	184	4	design	design	VERB
sc-156	184	5	the	the	DET
sc-156	184	6	main	main	ADJ
sc-156	184	7	focus	focus	NOUN
sc-156	184	8	of	of	ADP
sc-156	184	9	mechanism	mechanism	NOUN
sc-156	184	10	design	design	NOUN
sc-156	185	1	[	[	X
sc-156	185	2	3][4	3][4	NOUN
sc-156	185	3	]	]	X
sc-156	185	4	is	be	AUX
sc-156	185	5	on	on	ADV
sc-156	185	6	on	on	ADP
sc-156	185	7	the	the	DET
sc-156	185	8	design	design	NOUN
sc-156	185	9	of	of	ADP
sc-156	185	10	social	social	ADJ
sc-156	185	11	institutions	institution	NOUN
sc-156	185	12	that	that	PRON
sc-156	185	13	satisfy	satisfy	VERB
sc-156	185	14	certain	certain	ADJ
sc-156	185	15	objectives	objective	NOUN
sc-156	185	16	,	,	PUNCT
sc-156	185	17	despite	despite	SCONJ
sc-156	185	18	the	the	DET
sc-156	185	19	fact	fact	NOUN
sc-156	185	20	that	that	SCONJ
sc-156	185	21	participating	participate	VERB
sc-156	185	22	individuals	individual	NOUN
sc-156	185	23	hold	hold	VERB
sc-156	185	24	private	private	ADJ
sc-156	185	25	information	information	NOUN
sc-156	185	26	.	.	PUNCT
sc-156	186	1	an	an	DET
sc-156	186	2	instance	instance	NOUN
sc-156	186	3	would	would	AUX
sc-156	186	4	be	be	AUX
sc-156	186	5	in	in	ADP
sc-156	186	6	an	an	DET
sc-156	186	7	auction	auction	NOUN
sc-156	186	8	setting	setting	NOUN
sc-156	186	9	,	,	PUNCT
sc-156	186	10	where	where	SCONJ
sc-156	186	11	the	the	DET
sc-156	186	12	auctioneer	auctioneer	NOUN
sc-156	186	13	would	would	AUX
sc-156	186	14	act	act	VERB
sc-156	186	15	in	in	ADP
sc-156	186	16	favour	favour	NOUN
sc-156	186	17	of	of	ADP
sc-156	186	18	increasing	increase	VERB
sc-156	186	19	the	the	DET
sc-156	186	20	price	price	NOUN
sc-156	186	21	of	of	ADP
sc-156	186	22	items	item	NOUN
sc-156	186	23	;	;	PUNCT
sc-156	186	24	on	on	ADP
sc-156	186	25	the	the	DET
sc-156	186	26	contrary	contrary	NOUN
sc-156	186	27	,	,	PUNCT
sc-156	186	28	the	the	DET
sc-156	186	29	bidder	bidder	NOUN
sc-156	186	30	would	would	AUX
sc-156	186	31	attempt	attempt	VERB
sc-156	186	32	to	to	PART
sc-156	186	33	acquire	acquire	VERB
sc-156	186	34	the	the	DET
sc-156	186	35	goods	good	NOUN
sc-156	186	36	at	at	ADP
sc-156	186	37	the	the	DET
sc-156	186	38	lowest	low	ADJ
sc-156	186	39	possible	possible	ADJ
sc-156	186	40	value	value	NOUN
sc-156	186	41	.	.	PUNCT
sc-156	187	1	formally	formally	ADV
sc-156	187	2	speaking	speak	VERB
sc-156	187	3	,	,	PUNCT
sc-156	187	4	for	for	ADP
sc-156	187	5	a	a	DET
sc-156	187	6	finite	finite	ADJ
sc-156	187	7	set	set	NOUN
sc-156	187	8	of	of	ADP
sc-156	187	9	individuals	individual	NOUN
sc-156	187	10	n	n	NOUN
sc-156	187	11	=	=	SYM
sc-156	187	12	{	{	PUNCT
sc-156	187	13	1	1	NUM
sc-156	187	14	,	,	PUNCT
sc-156	187	15	2	2	NUM
sc-156	187	16	,	,	PUNCT
sc-156	187	17	.	.	PUNCT
sc-156	187	18	.	.	PUNCT
sc-156	188	1	.	.	PUNCT
sc-156	189	1	,	,	PUNCT
sc-156	189	2	n	n	CCONJ
sc-156	189	3	}	}	PUNCT
sc-156	189	4	represented	represent	VERB
sc-156	189	5	by	by	ADP
sc-156	189	6	i	i	PRON
sc-156	189	7	,	,	PUNCT
sc-156	189	8	the	the	DET
sc-156	189	9	set	set	NOUN
sc-156	189	10	of	of	ADP
sc-156	189	11	possible	possible	ADJ
sc-156	189	12	decisions	decision	NOUN
sc-156	189	13	are	be	AUX
sc-156	189	14	represented	represent	VERB
sc-156	189	15	as	as	ADP
sc-156	189	16	d	d	PROPN
sc-156	189	17	∈	∈	PROPN
sc-156	189	18	d.	d.	NOUN
sc-156	189	19	we	we	PRON
sc-156	189	20	define	define	VERB
sc-156	189	21	a	a	DET
sc-156	189	22	few	few	ADJ
sc-156	189	23	terms	term	NOUN
sc-156	189	24	that	that	PRON
sc-156	189	25	are	be	AUX
sc-156	189	26	used	use	VERB
sc-156	189	27	in	in	ADP
sc-156	189	28	the	the	DET
sc-156	189	29	mechanism	mechanism	NOUN
sc-156	189	30	design	design	NOUN
sc-156	189	31	context	context	NOUN
sc-156	190	1	[	[	X
sc-156	190	2	3	3	NUM
sc-156	190	3	]	]	PUNCT
sc-156	190	4	.	.	PUNCT
sc-156	191	1	definition	definition	NOUN
sc-156	191	2	1	1	NUM
sc-156	191	3	.	.	PUNCT
sc-156	192	1	individual	individual	ADJ
sc-156	192	2	preferences	preference	NOUN
sc-156	192	3	the	the	DET
sc-156	192	4	private	private	ADJ
sc-156	192	5	information	information	NOUN
sc-156	192	6	held	hold	VERB
sc-156	192	7	by	by	ADP
sc-156	192	8	individual	individual	ADJ
sc-156	192	9	i	i	PRON
sc-156	192	10	is	be	AUX
sc-156	192	11	denoted	denote	VERB
sc-156	192	12	by	by	ADP
sc-156	192	13	θi	θi	ADP
sc-156	192	14	∈	∈	PROPN
sc-156	192	15	θi	θi	PROPN
sc-156	192	16	.	.	PUNCT
sc-156	193	1	the	the	DET
sc-156	193	2	utility	utility	NOUN
sc-156	193	3	function	function	NOUN
sc-156	193	4	representing	represent	VERB
sc-156	193	5	preferences	preference	NOUN
sc-156	193	6	over	over	ADP
sc-156	193	7	decisions	decision	NOUN
sc-156	193	8	is	be	AUX
sc-156	193	9	denoted	denote	VERB
sc-156	193	10	by	by	ADP
sc-156	193	11	vi	vi	PROPN
sc-156	193	12	:	:	PUNCT
sc-156	193	13	d	d	X
sc-156	193	14	×	×	NOUN
sc-156	193	15	θi	θi	PROPN
sc-156	193	16	→	→	SYM
sc-156	193	17	r.	r.	VERB
sc-156	193	18	the	the	DET
sc-156	193	19	preference	preference	NOUN
sc-156	193	20	of	of	ADP
sc-156	193	21	an	an	DET
sc-156	193	22	individual	individual	ADJ
sc-156	193	23	vi(d	vi(d	NOUN
sc-156	193	24	,	,	PUNCT
sc-156	193	25	θi	θi	X
sc-156	193	26	)	)	PUNCT
sc-156	193	27	denotes	denote	VERB
sc-156	193	28	the	the	DET
sc-156	193	29	advantageous	advantageous	ADJ
sc-156	193	30	benefit	benefit	NOUN
sc-156	193	31	from	from	ADP
sc-156	193	32	decision	decision	NOUN
sc-156	193	33	d	d	PROPN
sc-156	193	34	∈	∈	PROPN
sc-156	193	35	d.	d.	PROPN
sc-156	193	36	if	if	SCONJ
sc-156	193	37	an	an	DET
sc-156	193	38	individual	individual	ADJ
sc-156	193	39	prefers	prefer	VERB
sc-156	193	40	decision	decision	NOUN
sc-156	193	41	d	d	NOUN
sc-156	193	42	over	over	ADP
sc-156	193	43	d′	d′	NUM
sc-156	193	44	,	,	PUNCT
sc-156	193	45	it	it	PRON
sc-156	193	46	is	be	AUX
sc-156	193	47	denoted	denote	VERB
sc-156	193	48	by	by	ADP
sc-156	193	49	vi(d	vi(d	NOUN
sc-156	193	50	,	,	PUNCT
sc-156	193	51	θi	θi	X
sc-156	193	52	)	)	PUNCT
sc-156	193	53	>	>	X
sc-156	194	1	vi(d′	vi(d′	PROPN
sc-156	194	2	,	,	PUNCT
sc-156	194	3	θi	θi	NOUN
sc-156	194	4	)	)	PUNCT
sc-156	194	5	.	.	PUNCT
sc-156	195	1	definition	definition	NOUN
sc-156	195	2	2	2	NUM
sc-156	195	3	.	.	PUNCT
sc-156	195	4	allocating	allocate	VERB
sc-156	195	5	a	a	DET
sc-156	195	6	private	private	ADJ
sc-156	195	7	good	good	NOUN
sc-156	195	8	:	:	PUNCT
sc-156	195	9	in	in	ADP
sc-156	195	10	an	an	DET
sc-156	195	11	auction	auction	NOUN
sc-156	195	12	,	,	PUNCT
sc-156	195	13	an	an	DET
sc-156	195	14	atomic	atomic	ADJ
sc-156	195	15	good	good	NOUN
sc-156	195	16	is	be	AUX
sc-156	195	17	allocated	allocate	VERB
sc-156	195	18	to	to	ADP
sc-156	195	19	a	a	DET
sc-156	195	20	bidder	bidder	NOUN
sc-156	195	21	.	.	PUNCT
sc-156	196	1	the	the	DET
sc-156	196	2	allocation	allocation	NOUN
sc-156	196	3	is	be	AUX
sc-156	196	4	represented	represent	VERB
sc-156	196	5	as	as	ADP
sc-156	196	6	d	d	X
sc-156	196	7	=	=	SYM
sc-156	196	8	{	{	PUNCT
sc-156	196	9	d	d	X
sc-156	196	10	∈	∈	PROPN
sc-156	196	11	{	{	PUNCT
sc-156	196	12	0	0	NUM
sc-156	196	13	,	,	PUNCT
sc-156	196	14	1}n	1}n	NUM
sc-156	196	15	:	:	PUNCT
sc-156	196	16	∑	∑	PUNCT
sc-156	197	1	i	i	PRON
sc-156	197	2	di	di	NOUN
sc-156	197	3	=	=	NOUN
sc-156	197	4	1	1	NUM
sc-156	197	5	}	}	PUNCT
sc-156	197	6	,	,	PUNCT
sc-156	197	7	where	where	SCONJ
sc-156	197	8	di	di	X
sc-156	197	9	=	=	SYM
sc-156	197	10	1	1	NUM
sc-156	197	11	denotes	denote	NOUN
sc-156	197	12	successful	successful	ADJ
sc-156	197	13	bidder	bidder	NOUN
sc-156	197	14	.	.	PUNCT
sc-156	198	1	the	the	DET
sc-156	198	2	successful	successful	ADJ
sc-156	198	3	bidder	bidder	NOUN
sc-156	198	4	benefits	benefit	NOUN
sc-156	198	5	by	by	ADP
sc-156	198	6	θi	θi	NOUN
sc-156	198	7	thus	thus	ADV
sc-156	198	8	producing	produce	VERB
sc-156	198	9	the	the	DET
sc-156	198	10	valuation	valuation	NOUN
sc-156	198	11	vi(d	vi(d	NOUN
sc-156	198	12	,	,	PUNCT
sc-156	198	13	θi	θi	X
sc-156	198	14	)	)	PUNCT
sc-156	198	15	=	=	SYM
sc-156	198	16	diθi	diθi	NOUN
sc-156	198	17	.	.	PUNCT
sc-156	199	1	definition	definition	NOUN
sc-156	199	2	3	3	NUM
sc-156	199	3	.	.	PUNCT
sc-156	199	4	efficient	efficient	ADJ
sc-156	199	5	decision	decision	NOUN
sc-156	199	6	a	a	DET
sc-156	199	7	decision	decision	NOUN
sc-156	199	8	rule	rule	NOUN
sc-156	199	9	d(θ	d(θ	PROPN
sc-156	199	10	)	)	PUNCT
sc-156	199	11	is	be	AUX
sc-156	199	12	efficient	efficient	ADJ
sc-156	199	13	if	if	SCONJ
sc-156	199	14	:	:	PUNCT
sc-156	199	15	∑	∑	PROPN
sc-156	199	16	i	i	PRON
sc-156	199	17	vi(d(θ	vi(d(θ	NUM
sc-156	199	18	)	)	PUNCT
sc-156	199	19	,	,	PUNCT
sc-156	199	20	θi	θi	X
sc-156	199	21	)	)	PUNCT
sc-156	199	22	≥	≥	NOUN
sc-156	199	23	∑	∑	PUNCT
sc-156	199	24	i	i	PRON
sc-156	199	25	vi(d′	vi(d′	PROPN
sc-156	199	26	,	,	PUNCT
sc-156	199	27	θi	θi	AUX
sc-156	199	28	)	)	PUNCT
sc-156	199	29	(	(	PUNCT
sc-156	199	30	1	1	X
sc-156	199	31	)	)	PUNCT
sc-156	199	32	for	for	ADP
sc-156	199	33	all	all	DET
sc-156	199	34	θ	θ	PROPN
sc-156	199	35	and	and	CCONJ
sc-156	199	36	d′	d′	NUM
sc-156	199	37	∈	∈	PROPN
sc-156	199	38	d.	d.	NOUN
sc-156	199	39	this	this	PRON
sc-156	199	40	presents	present	VERB
sc-156	199	41	the	the	DET
sc-156	199	42	pareto	pareto	ADJ
sc-156	199	43	optimal	optimal	ADJ
sc-156	199	44	front	front	NOUN
sc-156	199	45	of	of	ADP
sc-156	199	46	allocating	allocate	VERB
sc-156	199	47	the	the	DET
sc-156	199	48	good	good	NOUN
sc-156	199	49	.	.	PUNCT
sc-156	200	1	definition	definition	NOUN
sc-156	200	2	4	4	NUM
sc-156	200	3	.	.	PUNCT
sc-156	200	4	mechanisms	mechanism	NOUN
sc-156	200	5	a	a	DET
sc-156	200	6	mechanism	mechanism	NOUN
sc-156	200	7	is	be	AUX
sc-156	200	8	defined	define	VERB
sc-156	200	9	as	as	ADP
sc-156	200	10	a	a	DET
sc-156	200	11	pair	pair	NOUN
sc-156	200	12	(	(	PUNCT
sc-156	200	13	m	m	NOUN
sc-156	200	14	,	,	PUNCT
sc-156	200	15	g	g	NOUN
sc-156	200	16	)	)	PUNCT
sc-156	200	17	,	,	PUNCT
sc-156	200	18	where	where	SCONJ
sc-156	200	19	m	m	NOUN
sc-156	200	20	is	be	AUX
sc-156	200	21	the	the	DET
sc-156	200	22	message	message	NOUN
sc-156	200	23	space	space	NOUN
sc-156	200	24	and	and	CCONJ
sc-156	200	25	g	g	PROPN
sc-156	200	26	is	be	AUX
sc-156	200	27	an	an	DET
sc-156	200	28	outcome	outcome	NOUN
sc-156	200	29	function	function	NOUN
sc-156	200	30	dependent	dependent	ADJ
sc-156	200	31	on	on	ADP
sc-156	200	32	the	the	DET
sc-156	200	33	decision	decision	NOUN
sc-156	200	34	d.	d.	PROPN
sc-156	200	35	so	so	ADV
sc-156	200	36	,	,	PUNCT
sc-156	200	37	for	for	ADP
sc-156	200	38	a	a	DET
sc-156	200	39	set	set	NOUN
sc-156	200	40	of	of	ADP
sc-156	200	41	messages	message	NOUN
sc-156	200	42	(	(	PUNCT
sc-156	200	43	m1	m1	NOUN
sc-156	200	44	,	,	PUNCT
sc-156	200	45	.	.	PUNCT
sc-156	200	46	.	.	PUNCT
sc-156	201	1	.	.	PUNCT
sc-156	202	1	,	,	PUNCT
sc-156	202	2	mn	mn	PROPN
sc-156	202	3	)	)	PUNCT
sc-156	202	4	,	,	PUNCT
sc-156	202	5	the	the	DET
sc-156	202	6	resulting	result	VERB
sc-156	202	7	outcomes	outcome	NOUN
sc-156	202	8	of	of	ADP
sc-156	202	9	decisions	decision	NOUN
sc-156	202	10	are	be	AUX
sc-156	202	11	represented	represent	VERB
sc-156	202	12	by	by	ADP
sc-156	202	13	(	(	PUNCT
sc-156	202	14	gd(m	gd(m	NOUN
sc-156	202	15	)	)	PUNCT
sc-156	202	16	,	,	PUNCT
sc-156	202	17	gt,1(m	gt,1(m	PROPN
sc-156	202	18	)	)	PUNCT
sc-156	202	19	,	,	PUNCT
sc-156	202	20	.	.	PUNCT
sc-156	202	21	.	.	PUNCT
sc-156	203	1	.	.	PUNCT
sc-156	204	1	,	,	PUNCT
sc-156	204	2	gt	gt	PROPN
sc-156	204	3	,	,	PUNCT
sc-156	204	4	n(m	n(m	PROPN
sc-156	204	5	)	)	PUNCT
sc-156	204	6	)	)	PUNCT
sc-156	204	7	.	.	PUNCT
sc-156	205	1	a	a	DET
sc-156	205	2	good	good	ADJ
sc-156	205	3	mechanism	mechanism	NOUN
sc-156	205	4	is	be	AUX
sc-156	205	5	one	one	NUM
sc-156	205	6	wherein	wherein	SCONJ
sc-156	205	7	the	the	DET
sc-156	205	8	participants	participant	NOUN
sc-156	205	9	individually	individually	ADV
sc-156	205	10	choose	choose	VERB
sc-156	205	11	messages	message	NOUN
sc-156	205	12	dependent	dependent	ADJ
sc-156	205	13	on	on	ADP
sc-156	205	14	their	their	PRON
sc-156	205	15	private	private	ADJ
sc-156	205	16	information	information	NOUN
sc-156	205	17	,	,	PUNCT
sc-156	205	18	yet	yet	CCONJ
sc-156	205	19	leading	lead	VERB
sc-156	205	20	to	to	ADP
sc-156	205	21	socially	socially	ADV
sc-156	205	22	desired	desire	VERB
sc-156	205	23	overall	overall	ADJ
sc-156	205	24	outcomes	outcome	NOUN
sc-156	205	25	.	.	PUNCT
sc-156	206	1	dominant	dominant	ADJ
sc-156	206	2	strategies	strategy	NOUN
sc-156	206	3	are	be	AUX
sc-156	206	4	ones	one	NOUN
sc-156	206	5	wherein	wherein	SCONJ
sc-156	206	6	the	the	DET
sc-156	206	7	individuals	individual	NOUN
sc-156	206	8	have	have	VERB
sc-156	206	9	the	the	DET
sc-156	206	10	best	good	ADJ
sc-156	206	11	possible	possible	ADJ
sc-156	206	12	messages	message	NOUN
sc-156	206	13	with	with	ADP
sc-156	206	14	respect	respect	NOUN
sc-156	206	15	to	to	ADP
sc-156	206	16	other	other	ADJ
sc-156	206	17	participants	participant	NOUN
sc-156	206	18	in	in	ADP
sc-156	206	19	the	the	DET
sc-156	206	20	mechanism	mechanism	NOUN
sc-156	206	21	.	.	PUNCT
sc-156	207	1	in	in	ADP
sc-156	207	2	other	other	ADJ
sc-156	207	3	words	word	NOUN
sc-156	207	4	,	,	PUNCT
sc-156	207	5	the	the	DET
sc-156	207	6	dominant	dominant	ADJ
sc-156	207	7	strategy	strategy	NOUN
sc-156	207	8	is	be	AUX
sc-156	207	9	optimal	optimal	ADJ
sc-156	207	10	irrespective	irrespective	ADV
sc-156	207	11	of	of	ADP
sc-156	207	12	the	the	DET
sc-156	207	13	behaviour	behaviour	NOUN
sc-156	207	14	of	of	ADP
sc-156	207	15	other	other	ADJ
sc-156	207	16	participants	participant	NOUN
sc-156	207	17	.	.	PUNCT
sc-156	208	1	definition	definition	NOUN
sc-156	208	2	5	5	NUM
sc-156	208	3	.	.	PUNCT
sc-156	208	4	dominant	dominant	ADJ
sc-156	208	5	strategies	strategy	NOUN
sc-156	208	6	for	for	ADP
sc-156	208	7	an	an	DET
sc-156	208	8	agent	agent	NOUN
sc-156	208	9	i	i	PRON
sc-156	208	10	with	with	ADP
sc-156	208	11	private	private	ADJ
sc-156	208	12	information	information	NOUN
sc-156	208	13	θi	θi	PROPN
sc-156	208	14	,	,	PUNCT
sc-156	208	15	a	a	DET
sc-156	208	16	strategy	strategy	NOUN
sc-156	208	17	mi	mi	PROPN
sc-156	208	18	∈mi	∈mi	PROPN
sc-156	208	19	is	be	AUX
sc-156	208	20	said	say	VERB
sc-156	208	21	to	to	PART
sc-156	208	22	be	be	AUX
sc-156	208	23	dominant	dominant	ADJ
sc-156	208	24	if	if	SCONJ
sc-156	208	25	:	:	PUNCT
sc-156	208	26	vi(gd(m−i	vi(gd(m−i	PROPN
sc-156	208	27	,	,	PUNCT
sc-156	208	28	mi	mi	PROPN
sc-156	208	29	)	)	PUNCT
sc-156	208	30	,	,	PUNCT
sc-156	208	31	θi	θi	X
sc-156	208	32	)	)	PUNCT
sc-156	208	33	+	+	CCONJ
sc-156	208	34	gt	gt	PROPN
sc-156	208	35	,	,	PUNCT
sc-156	208	36	i(m−i	i(m−i	PROPN
sc-156	208	37	,	,	PUNCT
sc-156	208	38	mi	mi	PROPN
sc-156	208	39	)	)	PUNCT
sc-156	208	40	≥	≥	NOUN
sc-156	208	41	vi(gd(m−i	vi(gd(m−i	PROPN
sc-156	208	42	,	,	PUNCT
sc-156	208	43	mi	mi	PROPN
sc-156	208	44	)	)	PUNCT
sc-156	208	45	,	,	PUNCT
sc-156	208	46	θi	θi	X
sc-156	208	47	)	)	PUNCT
sc-156	208	48	+	+	CCONJ
sc-156	208	49	gt	gt	PROPN
sc-156	208	50	,	,	PUNCT
sc-156	208	51	i(m−i	i(m−i	PROPN
sc-156	208	52	,	,	PUNCT
sc-156	208	53	mi	mi	NOUN
sc-156	208	54	)	)	PUNCT
sc-156	208	55	for	for	ADP
sc-156	208	56	all	all	DET
sc-156	208	57	m−i	m−i	NOUN
sc-156	208	58	,	,	PUNCT
sc-156	208	59	mi	mi	PROPN
sc-156	208	60	;	;	PUNCT
sc-156	208	61	m	m	VERB
sc-156	208	62	are	be	AUX
sc-156	208	63	the	the	DET
sc-156	208	64	messages	message	NOUN
sc-156	208	65	made	make	VERB
sc-156	208	66	public	public	ADJ
sc-156	208	67	.	.	PUNCT
sc-156	209	1	as	as	SCONJ
sc-156	209	2	each	each	DET
sc-156	209	3	agent	agent	NOUN
sc-156	209	4	holds	hold	VERB
sc-156	209	5	private	private	ADJ
sc-156	209	6	information	information	NOUN
sc-156	209	7	θi	θi	PROPN
sc-156	209	8	,	,	PUNCT
sc-156	209	9	the	the	DET
sc-156	209	10	mechanism	mechanism	NOUN
sc-156	209	11	must	must	AUX
sc-156	209	12	provide	provide	VERB
sc-156	209	13	incentives	incentive	NOUN
sc-156	209	14	to	to	PART
sc-156	209	15	reveal	reveal	VERB
sc-156	209	16	this	this	DET
sc-156	209	17	information	information	NOUN
sc-156	209	18	truthfully	truthfully	ADV
sc-156	209	19	.	.	PUNCT
sc-156	210	1	individuals	individual	NOUN
sc-156	210	2	are	be	AUX
sc-156	210	3	taxed	tax	VERB
sc-156	210	4	or	or	CCONJ
sc-156	210	5	subsidized	subsidize	VERB
sc-156	210	6	based	base	VERB
sc-156	210	7	on	on	ADP
sc-156	210	8	the	the	DET
sc-156	210	9	revealed	reveal	VERB
sc-156	210	10	θi	θi	PROPN
sc-156	210	11	.	.	PUNCT
sc-156	211	1	this	this	DET
sc-156	211	2	incentive	incentive	NOUN
sc-156	211	3	is	be	AUX
sc-156	211	4	provided	provide	VERB
sc-156	211	5	using	use	VERB
sc-156	211	6	a	a	DET
sc-156	211	7	transfer	transfer	NOUN
sc-156	211	8	function	function	NOUN
sc-156	211	9	t	t	NOUN
sc-156	211	10	:	:	PUNCT
sc-156	211	11	θ	θ	PROPN
sc-156	211	12	→	→	SYM
sc-156	211	13	rn	rn	PROPN
sc-156	211	14	.	.	PUNCT
sc-156	212	1	for	for	ADP
sc-156	212	2	every	every	DET
sc-156	212	3	decision	decision	NOUN
sc-156	212	4	d	d	NOUN
sc-156	212	5	,	,	PUNCT
sc-156	212	6	the	the	DET
sc-156	212	7	social	social	ADJ
sc-156	212	8	choice	choice	NOUN
sc-156	212	9	function	function	NOUN
sc-156	212	10	is	be	AUX
sc-156	212	11	provided	provide	VERB
sc-156	212	12	as	as	ADP
sc-156	212	13	(	(	PUNCT
sc-156	212	14	d(θ	d(θ	PROPN
sc-156	212	15	)	)	PUNCT
sc-156	212	16	,	,	PUNCT
sc-156	212	17	t(θ	t(θ	PROPN
sc-156	212	18	)	)	PUNCT
sc-156	212	19	.	.	PUNCT
sc-156	213	1	some	some	DET
sc-156	213	2	typical	typical	ADJ
sc-156	213	3	desired	desire	VERB
sc-156	213	4	properties	property	NOUN
sc-156	213	5	of	of	ADP
sc-156	213	6	social	social	ADJ
sc-156	213	7	choice	choice	NOUN
sc-156	213	8	functions	function	NOUN
sc-156	213	9	,	,	PUNCT
sc-156	213	10	include	include	VERB
sc-156	213	11	:	:	PUNCT
sc-156	213	12	1	1	X
sc-156	213	13	.	.	X
sc-156	213	14	pareto	pareto	ADJ
sc-156	213	15	optimality	optimality	NOUN
sc-156	213	16	:	:	PUNCT
sc-156	213	17	implementing	implement	VERB
sc-156	213	18	an	an	DET
sc-156	213	19	outcome	outcome	NOUN
sc-156	213	20	that	that	PRON
sc-156	213	21	is	be	AUX
sc-156	213	22	not	not	PART
sc-156	213	23	pareto	pareto	VERB
sc-156	213	24	-	-	PUNCT
sc-156	213	25	dominated	dominate	VERB
sc-156	213	26	by	by	ADP
sc-156	213	27	any	any	DET
sc-156	213	28	other	other	ADJ
sc-156	213	29	outcome	outcome	NOUN
sc-156	213	30	,	,	PUNCT
sc-156	213	31	so	so	CCONJ
sc-156	213	32	no	no	DET
sc-156	213	33	other	other	ADJ
sc-156	213	34	outcomes	outcome	NOUN
sc-156	213	35	make	make	VERB
sc-156	213	36	one	one	NUM
sc-156	213	37	agent	agent	NOUN
sc-156	213	38	better	well	ADV
sc-156	213	39	-	-	PUNCT
sc-156	213	40	off	off	NOUN
sc-156	213	41	while	while	SCONJ
sc-156	213	42	making	make	VERB
sc-156	213	43	other	other	ADJ
sc-156	213	44	agents	agent	NOUN
sc-156	213	45	worse	bad	ADJ
sc-156	213	46	-	-	PUNCT
sc-156	213	47	off	off	NOUN
sc-156	213	48	.	.	PUNCT
sc-156	214	1	2	2	X
sc-156	214	2	.	.	NUM
sc-156	214	3	maximized	maximize	VERB
sc-156	214	4	social	social	ADJ
sc-156	214	5	welfare	welfare	NOUN
sc-156	214	6	:	:	PUNCT
sc-156	214	7	implementing	implement	VERB
sc-156	214	8	an	an	DET
sc-156	214	9	outcome	outcome	NOUN
sc-156	214	10	that	that	PRON
sc-156	214	11	maximizes	maximize	VERB
sc-156	214	12	the	the	DET
sc-156	214	13	total	total	ADJ
sc-156	214	14	utility	utility	NOUN
sc-156	214	15	across	across	ADP
sc-156	214	16	agents	agent	NOUN
sc-156	214	17	.	.	PUNCT
sc-156	215	1	this	this	PRON
sc-156	215	2	is	be	AUX
sc-156	215	3	often	often	ADV
sc-156	215	4	called	call	VERB
sc-156	215	5	the	the	DET
sc-156	215	6	efficient	efficient	ADJ
sc-156	215	7	outcome	outcome	NOUN
sc-156	215	8	.	.	PUNCT
sc-156	216	1	agent	agent	NOUN
sc-156	216	2	i	i	PRON
sc-156	216	3	with	with	ADP
sc-156	216	4	type	type	NOUN
sc-156	216	5	θi	θi	PROPN
sc-156	216	6	has	have	VERB
sc-156	216	7	utility	utility	NOUN
sc-156	216	8	vi(θi	vi(θi	PROPN
sc-156	216	9	,	,	PUNCT
sc-156	216	10	o	o	NOUN
sc-156	216	11	)	)	PUNCT
sc-156	216	12	for	for	ADP
sc-156	216	13	outcome	outcome	NOUN
sc-156	217	1	o	o	X
sc-156	217	2	∈	∈	PROPN
sc-156	218	1	o	o	NOUN
sc-156	218	2	,	,	PUNCT
sc-156	218	3	where	where	SCONJ
sc-156	218	4	o	o	NOUN
sc-156	218	5	is	be	AUX
sc-156	218	6	the	the	DET
sc-156	218	7	possible	possible	ADJ
sc-156	218	8	set	set	NOUN
sc-156	218	9	of	of	ADP
sc-156	218	10	outcomes	outcome	NOUN
sc-156	218	11	.	.	PUNCT
sc-156	219	1	we	we	PRON
sc-156	219	2	might	might	AUX
sc-156	219	3	wish	wish	VERB
sc-156	219	4	to	to	PART
sc-156	219	5	achieve	achieve	VERB
sc-156	219	6	efficiency	efficiency	NOUN
sc-156	219	7	in	in	ADP
sc-156	219	8	the	the	DET
sc-156	219	9	system	system	NOUN
sc-156	219	10	by	by	ADP
sc-156	219	11	maximizing	maximize	VERB
sc-156	219	12	the	the	DET
sc-156	219	13	total	total	ADJ
sc-156	219	14	utility	utility	NOUN
sc-156	219	15	gained	gain	VERB
sc-156	219	16	across	across	ADP
sc-156	219	17	all	all	DET
sc-156	219	18	agents	agent	NOUN
sc-156	219	19	,	,	PUNCT
sc-156	219	20	in	in	ADP
sc-156	219	21	which	which	DET
sc-156	219	22	case	case	NOUN
sc-156	219	23	:	:	PUNCT
sc-156	219	24	f(θ	f(θ	ADJ
sc-156	219	25	)	)	PUNCT
sc-156	219	26	=	=	SYM
sc-156	219	27	max	max	PROPN
sc-156	219	28	o∈o	o∈o	NOUN
sc-156	219	29	∑	∑	ADP
sc-156	219	30	i∈n	i∈n	NOUN
sc-156	219	31	vi(θi	vi(θi	PROPN
sc-156	219	32	,	,	PUNCT
sc-156	219	33	o	o	NOUN
sc-156	219	34	)	)	PUNCT
sc-156	219	35	(	(	PUNCT
sc-156	219	36	2	2	NUM
sc-156	219	37	)	)	PUNCT
sc-156	219	38	3	3	NUM
sc-156	219	39	.	.	PUNCT
sc-156	220	1	budget	budget	NOUN
sc-156	220	2	balance	balance	PROPN
sc-156	220	3	:	:	PUNCT
sc-156	220	4	the	the	DET
sc-156	220	5	total	total	ADJ
sc-156	220	6	payment	payment	NOUN
sc-156	220	7	that	that	PRON
sc-156	220	8	agents	agent	NOUN
sc-156	220	9	make	make	VERB
sc-156	220	10	equals	equal	VERB
sc-156	220	11	exactly	exactly	ADV
sc-156	220	12	zero	zero	NUM
sc-156	220	13	(	(	PUNCT
sc-156	220	14	a	a	DET
sc-156	220	15	strict	strict	ADJ
sc-156	220	16	budget	budget	NOUN
sc-156	220	17	balance	balance	NOUN
sc-156	220	18	)	)	PUNCT
sc-156	220	19	,	,	PUNCT
sc-156	220	20	so	so	CCONJ
sc-156	220	21	money	money	NOUN
sc-156	220	22	is	be	AUX
sc-156	220	23	not	not	PART
sc-156	220	24	injected	inject	VERB
sc-156	220	25	into	into	ADP
sc-156	220	26	or	or	CCONJ
sc-156	220	27	removed	remove	VERB
sc-156	220	28	from	from	ADP
sc-156	220	29	a	a	DET
sc-156	220	30	system	system	NOUN
sc-156	220	31	.	.	PUNCT
sc-156	221	1	or	or	CCONJ
sc-156	221	2	,	,	PUNCT
sc-156	221	3	the	the	DET
sc-156	221	4	total	total	ADJ
sc-156	221	5	payment	payment	NOUN
sc-156	221	6	is	be	AUX
sc-156	221	7	non	non	ADJ
sc-156	221	8	-	-	ADJ
sc-156	221	9	negative	negative	ADJ
sc-156	221	10	(	(	PUNCT
sc-156	221	11	a	a	DET
sc-156	221	12	weak	weak	ADJ
sc-156	221	13	budget	budget	NOUN
sc-156	221	14	balance	balance	NOUN
sc-156	221	15	)	)	PUNCT
sc-156	221	16	,	,	PUNCT
sc-156	221	17	so	so	CCONJ
sc-156	221	18	the	the	DET
sc-156	221	19	mechanism	mechanism	NOUN
sc-156	221	20	does	do	AUX
sc-156	221	21	not	not	PART
sc-156	221	22	run	run	VERB
sc-156	221	23	at	at	ADP
sc-156	221	24	a	a	DET
sc-156	221	25	loss	loss	NOUN
sc-156	221	26	.	.	PUNCT
sc-156	222	1	4	4	X
sc-156	222	2	.	.	X
sc-156	222	3	individual	individual	ADJ
sc-156	222	4	rationality	rationality	NOUN
sc-156	222	5	:	:	PUNCT
sc-156	222	6	we	we	PRON
sc-156	222	7	can	can	AUX
sc-156	222	8	consider	consider	VERB
sc-156	222	9	individual	individual	ADJ
sc-156	222	10	rationality	rationality	NOUN
sc-156	222	11	,	,	PUNCT
sc-156	222	12	in	in	ADP
sc-156	222	13	which	which	PRON
sc-156	222	14	an	an	DET
sc-156	222	15	agent	agent	NOUN
sc-156	222	16	has	have	VERB
sc-156	222	17	non	non	ADJ
sc-156	222	18	-	-	ADJ
sc-156	222	19	negative	negative	ADJ
sc-156	222	20	utility	utility	NOUN
sc-156	222	21	in	in	ADP
sc-156	222	22	expectation	expectation	NOUN
sc-156	222	23	to	to	ADP
sc-156	222	24	a	a	DET
sc-156	222	25	given	give	VERB
sc-156	222	26	mechanism	mechanism	NOUN
sc-156	222	27	.	.	PUNCT
sc-156	223	1	the	the	DET
sc-156	223	2	most	most	ADV
sc-156	223	3	widely	widely	ADV
sc-156	223	4	used	use	VERB
sc-156	223	5	mechanism	mechanism	NOUN
sc-156	223	6	is	be	AUX
sc-156	223	7	the	the	DET
sc-156	223	8	vickeryclarkes	vickeryclarke	NOUN
sc-156	223	9	-	-	PUNCT
sc-156	223	10	groves	grove	NOUN
sc-156	223	11	(	(	PUNCT
sc-156	223	12	vcg	vcg	NOUN
sc-156	223	13	)	)	PUNCT
sc-156	223	14	mechanism	mechanism	NOUN
sc-156	223	15	[	[	X
sc-156	223	16	5][4	5][4	NUM
sc-156	223	17	]	]	PUNCT
sc-156	223	18	.	.	PUNCT
sc-156	224	1	a	a	DET
sc-156	224	2	simple	simple	ADJ
sc-156	224	3	used	use	VERB
sc-156	224	4	case	case	NOUN
sc-156	224	5	of	of	ADP
sc-156	224	6	the	the	DET
sc-156	224	7	vcg	vcg	NOUN
sc-156	224	8	mechanism	mechanism	NOUN
sc-156	224	9	is	be	AUX
sc-156	224	10	the	the	DET
sc-156	224	11	vickery	vickery	PROPN
sc-156	224	12	auction	auction	NOUN
sc-156	224	13	or	or	CCONJ
sc-156	224	14	the	the	DET
sc-156	224	15	second	second	ADJ
sc-156	224	16	price	price	NOUN
sc-156	224	17	sealed	seal	VERB
sc-156	224	18	bid	bid	NOUN
sc-156	224	19	auction	auction	NOUN
sc-156	224	20	,	,	PUNCT
sc-156	224	21	wherein	wherein	SCONJ
sc-156	224	22	each	each	DET
sc-156	224	23	buyer	buyer	NOUN
sc-156	224	24	submits	submit	VERB
sc-156	224	25	a	a	DET
sc-156	224	26	sealed	seal	VERB
sc-156	224	27	bid	bid	NOUN
sc-156	224	28	,	,	PUNCT
sc-156	224	29	the	the	DET
sc-156	224	30	buyer	buyer	NOUN
sc-156	224	31	with	with	ADP
sc-156	224	32	the	the	DET
sc-156	224	33	highest	high	ADJ
sc-156	224	34	bid	bid	NOUN
sc-156	224	35	is	be	AUX
sc-156	224	36	declared	declare	VERB
sc-156	224	37	the	the	DET
sc-156	224	38	winner	winner	NOUN
sc-156	224	39	.	.	PUNCT
sc-156	225	1	the	the	DET
sc-156	225	2	winning	win	VERB
sc-156	225	3	bidder	bidder	NOUN
sc-156	225	4	pays	pay	VERB
sc-156	225	5	an	an	DET
sc-156	225	6	amount	amount	NOUN
sc-156	225	7	equal	equal	ADJ
sc-156	225	8	to	to	ADP
sc-156	225	9	the	the	DET
sc-156	225	10	second	second	ADJ
sc-156	225	11	highest	high	ADJ
sc-156	225	12	bid	bid	NOUN
sc-156	225	13	.	.	PUNCT
sc-156	226	1	it	it	PRON
sc-156	226	2	can	can	AUX
sc-156	226	3	be	be	AUX
sc-156	226	4	shown	show	VERB
sc-156	226	5	that	that	SCONJ
sc-156	226	6	the	the	DET
sc-156	226	7	6	6	NUM
sc-156	226	8	eai	eai	NOUN
sc-156	226	9	endorsed	endorse	VERB
sc-156	226	10	transactions	transaction	NOUN
sc-156	226	11	on	on	ADP
sc-156	226	12	smart	smart	ADJ
sc-156	226	13	cities	city	NOUN
sc-156	226	14	10	10	NUM
sc-156	226	15	2021	2021	NUM
sc-156	226	16	03	03	NUM
sc-156	226	17	2022	2022	NUM
sc-156	226	18	|	|	ADV
sc-156	226	19	volume	volume	NOUN
sc-156	226	20	6	6	NUM
sc-156	226	21	|	|	NOUN
sc-156	226	22	issue	issue	NOUN
sc-156	226	23	17	17	NUM
sc-156	226	24	|	|	NOUN
sc-156	226	25	e2	e2	NOUN
sc-156	226	26	aspects	aspect	NOUN
sc-156	226	27	of	of	ADP
sc-156	226	28	mechanism	mechanism	NOUN
sc-156	226	29	design	design	NOUN
sc-156	226	30	for	for	ADP
sc-156	226	31	industry	industry	NOUN
sc-156	226	32	4.0	4.0	NUM
sc-156	226	33	multi	multi	ADJ
sc-156	226	34	-	-	ADJ
sc-156	226	35	robot	robot	ADJ
sc-156	226	36	task	task	NOUN
sc-156	226	37	auctioning	auctioning	NOUN
sc-156	226	38	mechanism	mechanism	NOUN
sc-156	226	39	is	be	AUX
sc-156	226	40	truthful	truthful	ADJ
sc-156	226	41	–	–	PUNCT
sc-156	226	42	a	a	DET
sc-156	226	43	mechanism	mechanism	NOUN
sc-156	226	44	where	where	SCONJ
sc-156	226	45	bidding	bid	VERB
sc-156	226	46	the	the	DET
sc-156	226	47	true	true	ADJ
sc-156	226	48	valuation	valuation	NOUN
sc-156	226	49	is	be	AUX
sc-156	226	50	a	a	DET
sc-156	226	51	dominant	dominant	ADJ
sc-156	226	52	strategy	strategy	NOUN
sc-156	226	53	[	[	X
sc-156	226	54	3	3	NUM
sc-156	226	55	]	]	PUNCT
sc-156	226	56	.	.	PUNCT
sc-156	227	1	vcg	vcg	NOUN
sc-156	227	2	mechanism	mechanism	NOUN
sc-156	227	3	1	1	X
sc-156	227	4	.	.	PUNCT
sc-156	228	1	each	each	DET
sc-156	228	2	agent	agent	NOUN
sc-156	228	3	reports	report	VERB
sc-156	228	4	a	a	DET
sc-156	228	5	valuation	valuation	NOUN
sc-156	228	6	v̂i	v̂i	NOUN
sc-156	228	7	.	.	NOUN
sc-156	229	1	2	2	X
sc-156	229	2	.	.	X
sc-156	229	3	the	the	DET
sc-156	229	4	mechanism	mechanism	NOUN
sc-156	229	5	chooses	choose	VERB
sc-156	229	6	the	the	DET
sc-156	229	7	allocation	allocation	NOUN
sc-156	229	8	(	(	PUNCT
sc-156	229	9	m1	m1	NOUN
sc-156	229	10	,	,	PUNCT
sc-156	229	11	.	.	PUNCT
sc-156	229	12	.	.	PUNCT
sc-156	230	1	.	.	PUNCT
sc-156	231	1	,	,	PUNCT
sc-156	231	2	mn	mn	PROPN
sc-156	231	3	)	)	PUNCT
sc-156	231	4	that	that	PRON
sc-156	231	5	maximizes	maximize	VERB
sc-156	231	6	∑	∑	PROPN
sc-156	231	7	j	j	PROPN
sc-156	231	8	v̂j(mj	v̂j(mj	PROPN
sc-156	231	9	)	)	PUNCT
sc-156	231	10	and	and	CCONJ
sc-156	231	11	outputs	output	VERB
sc-156	231	12	it	it	PRON
sc-156	231	13	.	.	PUNCT
sc-156	232	1	3	3	X
sc-156	232	2	.	.	X
sc-156	232	3	for	for	ADP
sc-156	232	4	each	each	DET
sc-156	232	5	agent	agent	NOUN
sc-156	232	6	i	i	PRON
sc-156	232	7	:	:	PUNCT
sc-156	232	8	(	(	PUNCT
sc-156	232	9	a	a	X
sc-156	232	10	)	)	PUNCT
sc-156	232	11	the	the	DET
sc-156	232	12	mechanism	mechanism	NOUN
sc-156	232	13	finds	find	VERB
sc-156	232	14	the	the	DET
sc-156	232	15	allocation	allocation	NOUN
sc-156	232	16	(	(	PUNCT
sc-156	232	17	m′1	m′1	PROPN
sc-156	232	18	,	,	PUNCT
sc-156	232	19	.	.	PUNCT
sc-156	232	20	.	.	PUNCT
sc-156	233	1	.	.	PUNCT
sc-156	234	1	,	,	PUNCT
sc-156	234	2	m′n	m′n	NOUN
sc-156	234	3	)	)	PUNCT
sc-156	234	4	that	that	PRON
sc-156	234	5	maximizes	maximize	VERB
sc-156	234	6	∑	∑	PROPN
sc-156	234	7	j	j	PROPN
sc-156	234	8	,	,	PUNCT
sc-156	234	9	i	i	PRON
sc-156	234	10	v̂j(m′j	v̂j(m′j	ADJ
sc-156	234	11	)	)	PUNCT
sc-156	234	12	.	.	PUNCT
sc-156	235	1	(	(	PUNCT
sc-156	235	2	b	b	X
sc-156	235	3	)	)	PUNCT
sc-156	235	4	agent	agent	NOUN
sc-156	235	5	i	i	PRON
sc-156	235	6	pays	pay	VERB
sc-156	235	7	pi	pi	NOUN
sc-156	236	1	=	=	PUNCT
sc-156	236	2	∑	∑	PUNCT
sc-156	236	3	j	j	PROPN
sc-156	236	4	,	,	PUNCT
sc-156	236	5	i	i	PRON
sc-156	236	6	v̂j(m′j)−∑	v̂j(m′j)−∑	PROPN
sc-156	237	1	j	j	PROPN
sc-156	237	2	,	,	PUNCT
sc-156	237	3	i	i	PRON
sc-156	237	4	v̂j(mj	v̂j(mj	PROPN
sc-156	237	5	)	)	PUNCT
sc-156	237	6	.	.	PUNCT
sc-156	238	1	we	we	PRON
sc-156	238	2	apply	apply	VERB
sc-156	238	3	the	the	DET
sc-156	238	4	vcg	vcg	NOUN
sc-156	238	5	mechanism	mechanism	NOUN
sc-156	238	6	designs	design	NOUN
sc-156	238	7	to	to	PART
sc-156	238	8	evaluate	evaluate	VERB
sc-156	238	9	auctions	auction	NOUN
sc-156	238	10	in	in	ADP
sc-156	238	11	industry	industry	NOUN
sc-156	238	12	4.0	4.0	NUM
sc-156	238	13	settings	setting	NOUN
sc-156	238	14	in	in	ADP
sc-156	238	15	the	the	DET
sc-156	238	16	next	next	ADJ
sc-156	238	17	section	section	NOUN
sc-156	238	18	.	.	PUNCT
sc-156	239	1	5	5	X
sc-156	239	2	.	.	X
sc-156	239	3	industry	industry	NOUN
sc-156	239	4	4.0	4.0	NUM
sc-156	239	5	automation	automation	NOUN
sc-156	239	6	task	task	NOUN
sc-156	239	7	auctions	auction	NOUN
sc-156	239	8	we	we	PRON
sc-156	239	9	re	re	VERB
sc-156	239	10	-	-	VERB
sc-156	239	11	visit	visit	VERB
sc-156	239	12	the	the	DET
sc-156	239	13	scenario	scenario	NOUN
sc-156	239	14	on	on	ADP
sc-156	239	15	industry	industry	NOUN
sc-156	239	16	4.0	4.0	NUM
sc-156	239	17	warehouses	warehouse	NOUN
sc-156	239	18	from	from	ADP
sc-156	239	19	section	section	NOUN
sc-156	239	20	3.2	3.2	NUM
sc-156	239	21	,	,	PUNCT
sc-156	239	22	wherein	wherein	SCONJ
sc-156	239	23	multiple	multiple	ADJ
sc-156	239	24	mobile	mobile	ADJ
sc-156	239	25	picker	picker	NOUN
sc-156	239	26	robots	robot	NOUN
sc-156	239	27	are	be	AUX
sc-156	239	28	deployed	deploy	VERB
sc-156	239	29	in	in	ADP
sc-156	239	30	order	order	NOUN
sc-156	239	31	to	to	PART
sc-156	239	32	complete	complete	VERB
sc-156	239	33	a	a	DET
sc-156	239	34	task	task	NOUN
sc-156	239	35	.	.	PUNCT
sc-156	240	1	the	the	DET
sc-156	240	2	pickup	pickup	NOUN
sc-156	240	3	/	/	SYM
sc-156	240	4	delivery	delivery	NOUN
sc-156	240	5	tasks	task	NOUN
sc-156	240	6	can	can	AUX
sc-156	240	7	arrive	arrive	VERB
sc-156	240	8	at	at	ADP
sc-156	240	9	varying	vary	VERB
sc-156	240	10	rates	rate	NOUN
sc-156	240	11	and	and	CCONJ
sc-156	240	12	may	may	AUX
sc-156	240	13	also	also	ADV
sc-156	240	14	differ	differ	VERB
sc-156	240	15	in	in	ADP
sc-156	240	16	the	the	DET
sc-156	240	17	number	number	NOUN
sc-156	240	18	of	of	ADP
sc-156	240	19	agents	agent	NOUN
sc-156	240	20	/	/	SYM
sc-156	240	21	time	time	NOUN
sc-156	240	22	-	-	PUNCT
sc-156	240	23	lines	line	NOUN
sc-156	240	24	expected	expect	VERB
sc-156	240	25	for	for	ADP
sc-156	240	26	completion	completion	NOUN
sc-156	240	27	.	.	PUNCT
sc-156	241	1	we	we	PRON
sc-156	241	2	formulate	formulate	VERB
sc-156	241	3	this	this	DET
sc-156	241	4	problem	problem	NOUN
sc-156	241	5	as	as	ADP
sc-156	241	6	via	via	ADP
sc-156	241	7	decentralized	decentralized	ADJ
sc-156	241	8	bidding	bidding	NOUN
sc-156	241	9	–	–	PUNCT
sc-156	241	10	the	the	DET
sc-156	241	11	factory	factory	NOUN
sc-156	241	12	/	/	SYM
sc-156	241	13	warehouse	warehouse	NOUN
sc-156	241	14	can	can	AUX
sc-156	241	15	only	only	ADV
sc-156	241	16	publish	publish	VERB
sc-156	241	17	tasks	task	NOUN
sc-156	241	18	;	;	PUNCT
sc-156	241	19	agents	agent	NOUN
sc-156	241	20	that	that	PRON
sc-156	241	21	may	may	AUX
sc-156	241	22	be	be	AUX
sc-156	241	23	managed	manage	VERB
sc-156	241	24	by	by	ADP
sc-156	241	25	multiple	multiple	ADJ
sc-156	241	26	vendors	vendor	NOUN
sc-156	241	27	bid	bid	VERB
sc-156	241	28	on	on	ADP
sc-156	241	29	tasks	task	NOUN
sc-156	241	30	.	.	PUNCT
sc-156	242	1	each	each	DET
sc-156	242	2	agent	agent	NOUN
sc-156	242	3	is	be	AUX
sc-156	242	4	a	a	DET
sc-156	242	5	potential	potential	ADJ
sc-156	242	6	bidder	bidder	NOUN
sc-156	242	7	–	–	PUNCT
sc-156	242	8	bidders	bidder	NOUN
sc-156	242	9	will	will	AUX
sc-156	242	10	place	place	VERB
sc-156	242	11	bids	bid	NOUN
sc-156	242	12	on	on	ADP
sc-156	242	13	any	any	DET
sc-156	242	14	subset	subset	NOUN
sc-156	242	15	of	of	ADP
sc-156	242	16	tasks	task	NOUN
sc-156	242	17	they	they	PRON
sc-156	242	18	want	want	VERB
sc-156	242	19	to	to	PART
sc-156	242	20	complete	complete	VERB
sc-156	242	21	.	.	PUNCT
sc-156	243	1	for	for	ADP
sc-156	243	2	each	each	DET
sc-156	243	3	bidding	bidding	NOUN
sc-156	243	4	horizon	horizon	NOUN
sc-156	243	5	,	,	PUNCT
sc-156	243	6	we	we	PRON
sc-156	243	7	assume	assume	VERB
sc-156	243	8	there	there	PRON
sc-156	243	9	are	be	VERB
sc-156	243	10	n	n	PRON
sc-156	243	11	agents	agent	NOUN
sc-156	243	12	and	and	CCONJ
sc-156	243	13	m	m	NOUN
sc-156	243	14	tasks	task	NOUN
sc-156	243	15	.	.	PUNCT
sc-156	244	1	agents	agent	NOUN
sc-156	244	2	charge	charge	VERB
sc-156	244	3	a	a	DET
sc-156	244	4	certain	certain	ADJ
sc-156	244	5	amount	amount	NOUN
sc-156	244	6	to	to	PART
sc-156	244	7	complete	complete	VERB
sc-156	244	8	a	a	DET
sc-156	244	9	task	task	NOUN
sc-156	244	10	–	–	PUNCT
sc-156	244	11	these	these	DET
sc-156	244	12	points	point	NOUN
sc-156	244	13	may	may	AUX
sc-156	244	14	be	be	AUX
sc-156	244	15	traded	trade	VERB
sc-156	244	16	for	for	ADP
sc-156	244	17	charging	charge	VERB
sc-156	244	18	times	time	NOUN
sc-156	244	19	at	at	ADP
sc-156	244	20	stations	station	NOUN
sc-156	244	21	(	(	PUNCT
sc-156	244	22	akin	akin	ADJ
sc-156	244	23	to	to	ADP
sc-156	244	24	remuneration	remuneration	NOUN
sc-156	244	25	provided	provide	VERB
sc-156	244	26	to	to	ADP
sc-156	244	27	human	human	ADJ
sc-156	244	28	agents	agent	NOUN
sc-156	244	29	for	for	ADP
sc-156	244	30	task	task	NOUN
sc-156	244	31	completion	completion	NOUN
sc-156	244	32	)	)	PUNCT
sc-156	244	33	.	.	PUNCT
sc-156	245	1	a	a	DET
sc-156	245	2	central	central	ADJ
sc-156	245	3	system	system	NOUN
sc-156	245	4	receives	receive	VERB
sc-156	245	5	all	all	DET
sc-156	245	6	the	the	DET
sc-156	245	7	bids	bid	NOUN
sc-156	245	8	,	,	PUNCT
sc-156	245	9	processes	process	VERB
sc-156	245	10	them	they	PRON
sc-156	245	11	and	and	CCONJ
sc-156	245	12	allocates	allocate	VERB
sc-156	245	13	the	the	DET
sc-156	245	14	tasks	task	NOUN
sc-156	245	15	in	in	ADP
sc-156	245	16	an	an	DET
sc-156	245	17	optimal	optimal	ADJ
sc-156	245	18	way	way	NOUN
sc-156	245	19	.	.	PUNCT
sc-156	246	1	the	the	DET
sc-156	246	2	charging	charge	VERB
sc-156	246	3	mechanism	mechanism	NOUN
sc-156	246	4	ensures	ensure	VERB
sc-156	246	5	that	that	SCONJ
sc-156	246	6	bidders	bidder	NOUN
sc-156	246	7	bid	bid	VERB
sc-156	246	8	truthfully	truthfully	ADV
sc-156	246	9	.	.	PUNCT
sc-156	247	1	table	table	NOUN
sc-156	247	2	2	2	NUM
sc-156	247	3	provides	provide	VERB
sc-156	247	4	the	the	DET
sc-156	247	5	notations	notation	NOUN
sc-156	247	6	for	for	ADP
sc-156	247	7	the	the	DET
sc-156	247	8	agents	agent	NOUN
sc-156	247	9	and	and	CCONJ
sc-156	247	10	tasks	task	NOUN
sc-156	247	11	in	in	ADP
sc-156	247	12	the	the	DET
sc-156	247	13	industry	industry	NOUN
sc-156	247	14	4.0	4.0	NUM
sc-156	247	15	warehouse	warehouse	NOUN
sc-156	247	16	scenario	scenario	NOUN
sc-156	247	17	.	.	PUNCT
sc-156	248	1	agents	agent	NOUN
sc-156	248	2	are	be	AUX
sc-156	248	3	provided	provide	VERB
sc-156	248	4	additional	additional	ADJ
sc-156	248	5	labels	label	NOUN
sc-156	248	6	to	to	PART
sc-156	248	7	specify	specify	VERB
sc-156	248	8	their	their	PRON
sc-156	248	9	location	location	NOUN
sc-156	248	10	coordinates	coordinate	NOUN
sc-156	248	11	,	,	PUNCT
sc-156	248	12	battery	battery	NOUN
sc-156	248	13	life	life	NOUN
sc-156	248	14	,	,	PUNCT
sc-156	248	15	carrying	carry	VERB
sc-156	248	16	capacities	capacity	NOUN
sc-156	248	17	and	and	CCONJ
sc-156	248	18	bidding	bid	VERB
sc-156	248	19	information	information	NOUN
sc-156	248	20	.	.	PUNCT
sc-156	249	1	an	an	DET
sc-156	249	2	important	important	ADJ
sc-156	249	3	point	point	NOUN
sc-156	249	4	to	to	PART
sc-156	249	5	note	note	VERB
sc-156	249	6	here	here	ADV
sc-156	249	7	is	be	AUX
sc-156	249	8	that	that	SCONJ
sc-156	249	9	the	the	DET
sc-156	249	10	agents	agent	NOUN
sc-156	249	11	will	will	AUX
sc-156	249	12	bid	bid	VERB
sc-156	249	13	based	base	VERB
sc-156	249	14	on	on	ADP
sc-156	249	15	estimation	estimation	NOUN
sc-156	249	16	algorithms	algorithm	NOUN
sc-156	249	17	,	,	PUNCT
sc-156	249	18	that	that	PRON
sc-156	249	19	determine	determine	VERB
sc-156	249	20	the	the	DET
sc-156	249	21	cost	cost	NOUN
sc-156	249	22	(	(	PUNCT
sc-156	249	23	in	in	ADP
sc-156	249	24	terms	term	NOUN
sc-156	249	25	of	of	ADP
sc-156	249	26	latency	latency	NOUN
sc-156	249	27	,	,	PUNCT
sc-156	249	28	battery	battery	NOUN
sc-156	249	29	deletion	deletion	NOUN
sc-156	249	30	rates	rate	NOUN
sc-156	249	31	)	)	PUNCT
sc-156	249	32	used	use	VERB
sc-156	249	33	for	for	ADP
sc-156	249	34	valuing	value	VERB
sc-156	249	35	the	the	DET
sc-156	249	36	bids	bid	NOUN
sc-156	249	37	.	.	PUNCT
sc-156	250	1	there	there	PRON
sc-156	250	2	may	may	AUX
sc-156	250	3	be	be	AUX
sc-156	250	4	agents	agent	NOUN
sc-156	250	5	who	who	PRON
sc-156	250	6	provide	provide	VERB
sc-156	250	7	gross	gross	ADJ
sc-156	250	8	under	under	ADP
sc-156	250	9	/	/	SYM
sc-156	250	10	over	over	ADP
sc-156	250	11	erroneous	erroneous	ADJ
sc-156	250	12	estimates	estimate	NOUN
sc-156	250	13	of	of	ADP
sc-156	250	14	the	the	DET
sc-156	250	15	valuations	valuation	NOUN
sc-156	250	16	(	(	PUNCT
sc-156	250	17	akin	akin	ADJ
sc-156	250	18	to	to	ADP
sc-156	250	19	human	human	ADJ
sc-156	250	20	agents	agent	NOUN
sc-156	250	21	lying	lie	VERB
sc-156	250	22	)	)	PUNCT
sc-156	250	23	.	.	PUNCT
sc-156	251	1	it	it	PRON
sc-156	251	2	is	be	AUX
sc-156	251	3	the	the	DET
sc-156	251	4	ability	ability	NOUN
sc-156	251	5	of	of	ADP
sc-156	251	6	the	the	DET
sc-156	251	7	mechanism	mechanism	NOUN
sc-156	251	8	to	to	PART
sc-156	251	9	handle	handle	VERB
sc-156	251	10	such	such	ADJ
sc-156	251	11	cases	case	NOUN
sc-156	251	12	that	that	PRON
sc-156	251	13	determines	determine	VERB
sc-156	251	14	efficacy	efficacy	NOUN
sc-156	251	15	in	in	ADP
sc-156	251	16	practical	practical	ADJ
sc-156	251	17	deployments	deployment	NOUN
sc-156	251	18	.	.	PUNCT
sc-156	252	1	on	on	ADP
sc-156	252	2	receipt	receipt	NOUN
sc-156	252	3	of	of	ADP
sc-156	252	4	orders	order	NOUN
sc-156	252	5	to	to	PART
sc-156	252	6	be	be	AUX
sc-156	252	7	procured	procure	VERB
sc-156	252	8	from	from	ADP
sc-156	252	9	the	the	DET
sc-156	252	10	warehouse	warehouse	NOUN
sc-156	252	11	,	,	PUNCT
sc-156	252	12	the	the	DET
sc-156	252	13	agents	agent	NOUN
sc-156	252	14	coordinate	coordinate	VERB
sc-156	252	15	to	to	PART
sc-156	252	16	ensure	ensure	VERB
sc-156	252	17	timely	timely	ADJ
sc-156	252	18	completion	completion	NOUN
sc-156	252	19	of	of	ADP
sc-156	252	20	the	the	DET
sc-156	252	21	procurement	procurement	NOUN
sc-156	252	22	process	process	NOUN
sc-156	252	23	.	.	PUNCT
sc-156	253	1	this	this	PRON
sc-156	253	2	can	can	AUX
sc-156	253	3	be	be	AUX
sc-156	253	4	delayed	delay	VERB
sc-156	253	5	by	by	ADP
sc-156	253	6	order	order	NOUN
sc-156	253	7	congestion	congestion	NOUN
sc-156	253	8	or	or	CCONJ
sc-156	253	9	unavailability	unavailability	NOUN
sc-156	253	10	of	of	ADP
sc-156	253	11	sufficient	sufficient	ADJ
sc-156	253	12	agent	agent	NOUN
sc-156	253	13	resources	resource	NOUN
sc-156	253	14	.	.	PUNCT
sc-156	254	1	the	the	DET
sc-156	254	2	process	process	NOUN
sc-156	254	3	of	of	ADP
sc-156	254	4	auctioning	auctioning	NOUN
sc-156	254	5	tasks	task	NOUN
sc-156	254	6	among	among	ADP
sc-156	254	7	autonomous	autonomous	ADJ
sc-156	254	8	agents	agent	NOUN
sc-156	254	9	can	can	AUX
sc-156	254	10	be	be	AUX
sc-156	254	11	broken	break	VERB
sc-156	254	12	into	into	ADP
sc-156	254	13	three	three	NUM
sc-156	254	14	parts	part	NOUN
sc-156	254	15	:	:	PUNCT
sc-156	254	16	(	(	PUNCT
sc-156	254	17	i	i	NOUN
sc-156	254	18	)	)	PUNCT
sc-156	254	19	bidding	bidding	NOUN
sc-156	254	20	process	process	NOUN
sc-156	254	21	:	:	PUNCT
sc-156	254	22	the	the	DET
sc-156	254	23	input	input	NOUN
sc-156	254	24	given	give	VERB
sc-156	254	25	to	to	ADP
sc-156	254	26	the	the	DET
sc-156	254	27	auctioning	auctioning	NOUN
sc-156	254	28	problem	problem	NOUN
sc-156	254	29	would	would	AUX
sc-156	254	30	be	be	AUX
sc-156	254	31	the	the	DET
sc-156	254	32	vector	vector	NOUN
sc-156	254	33	of	of	ADP
sc-156	254	34	bidder	bidder	PROPN
sc-156	254	35	’s	’s	PART
sc-156	254	36	valuation	valuation	NOUN
sc-156	254	37	and	and	CCONJ
sc-156	254	38	the	the	DET
sc-156	254	39	number	number	NOUN
sc-156	254	40	of	of	ADP
sc-156	254	41	combinations	combination	NOUN
sc-156	254	42	permitted	permit	VERB
sc-156	254	43	per	per	ADP
sc-156	254	44	bidder	bidder	NOUN
sc-156	254	45	.	.	PUNCT
sc-156	255	1	(	(	PUNCT
sc-156	255	2	ii	ii	NOUN
sc-156	255	3	)	)	PUNCT
sc-156	255	4	allocation	allocation	NOUN
sc-156	255	5	of	of	ADP
sc-156	255	6	the	the	DET
sc-156	255	7	winners	winner	NOUN
sc-156	255	8	:	:	PUNCT
sc-156	255	9	an	an	DET
sc-156	255	10	optimization	optimization	NOUN
sc-156	255	11	problem	problem	NOUN
sc-156	255	12	that	that	PRON
sc-156	255	13	can	can	AUX
sc-156	255	14	be	be	AUX
sc-156	255	15	posed	pose	VERB
sc-156	255	16	as	as	ADP
sc-156	255	17	a	a	DET
sc-156	255	18	knapsack	knapsack	NOUN
sc-156	255	19	problem	problem	NOUN
sc-156	255	20	–	–	PUNCT
sc-156	255	21	relaxations	relaxation	NOUN
sc-156	255	22	in	in	ADP
sc-156	255	23	conditions	condition	NOUN
sc-156	255	24	may	may	AUX
sc-156	255	25	be	be	AUX
sc-156	255	26	needed	need	VERB
sc-156	255	27	to	to	PART
sc-156	255	28	compute	compute	VERB
sc-156	255	29	the	the	DET
sc-156	255	30	allocation	allocation	NOUN
sc-156	255	31	.	.	PUNCT
sc-156	256	1	(	(	PUNCT
sc-156	256	2	iii	iii	NOUN
sc-156	256	3	)	)	PUNCT
sc-156	256	4	paying	pay	VERB
sc-156	256	5	the	the	DET
sc-156	256	6	winners	winner	NOUN
sc-156	256	7	:	:	PUNCT
sc-156	256	8	the	the	DET
sc-156	256	9	amount	amount	NOUN
sc-156	256	10	that	that	PRON
sc-156	256	11	a	a	DET
sc-156	256	12	winner	winner	NOUN
sc-156	256	13	pays	pay	VERB
sc-156	256	14	that	that	PRON
sc-156	256	15	is	be	AUX
sc-156	256	16	socially	socially	ADV
sc-156	256	17	optimal	optimal	ADJ
sc-156	256	18	must	must	AUX
sc-156	256	19	be	be	AUX
sc-156	256	20	determined	determine	VERB
sc-156	256	21	by	by	ADP
sc-156	256	22	the	the	DET
sc-156	256	23	mechanism	mechanism	NOUN
sc-156	256	24	.	.	PUNCT
sc-156	257	1	5.1	5.1	NUM
sc-156	257	2	.	.	PUNCT
sc-156	258	1	task	task	NOUN
sc-156	258	2	auctions	auction	NOUN
sc-156	258	3	the	the	DET
sc-156	258	4	process	process	NOUN
sc-156	258	5	for	for	ADP
sc-156	258	6	task	task	NOUN
sc-156	258	7	auctioning	auctioning	NOUN
sc-156	258	8	starts	start	NOUN
sc-156	258	9	by	by	ADP
sc-156	258	10	the	the	DET
sc-156	258	11	server	server	NOUN
sc-156	258	12	agents	agent	NOUN
sc-156	258	13	displaying	display	VERB
sc-156	258	14	the	the	DET
sc-156	258	15	task	task	NOUN
sc-156	258	16	,	,	PUNCT
sc-156	258	17	time	time	NOUN
sc-156	258	18	constraints	constraint	NOUN
sc-156	258	19	(	(	PUNCT
sc-156	258	20	if	if	SCONJ
sc-156	258	21	any	any	PRON
sc-156	258	22	)	)	PUNCT
sc-156	258	23	and	and	CCONJ
sc-156	258	24	baseline	baseline	VERB
sc-156	258	25	scores	score	NOUN
sc-156	258	26	for	for	ADP
sc-156	258	27	task	task	NOUN
sc-156	258	28	completion	completion	NOUN
sc-156	258	29	(	(	PUNCT
sc-156	258	30	fig	fig	NOUN
sc-156	258	31	.	.	PUNCT
sc-156	259	1	1	1	NUM
sc-156	259	2	)	)	PUNCT
sc-156	259	3	.	.	PUNCT
sc-156	260	1	if	if	SCONJ
sc-156	260	2	the	the	DET
sc-156	260	3	delivery	delivery	NOUN
sc-156	260	4	agents	agent	NOUN
sc-156	260	5	bid	bid	VERB
sc-156	260	6	for	for	ADP
sc-156	260	7	a	a	DET
sc-156	260	8	subset	subset	NOUN
sc-156	260	9	s	s	NOUN
sc-156	260	10	of	of	ADP
sc-156	260	11	tasks	task	NOUN
sc-156	260	12	(	(	PUNCT
sc-156	260	13	s1	s1	NOUN
sc-156	260	14	,	,	PUNCT
sc-156	260	15	s2	s2	NOUN
sc-156	260	16	,	,	PUNCT
sc-156	260	17	.	.	PUNCT
sc-156	260	18	.	.	PUNCT
sc-156	261	1	.	.	PUNCT
sc-156	262	1	,	,	PUNCT
sc-156	262	2	sk	sk	PROPN
sc-156	262	3	)	)	PUNCT
sc-156	262	4	then	then	ADV
sc-156	262	5	his	his	PRON
sc-156	262	6	true	true	ADJ
sc-156	262	7	valuation	valuation	NOUN
sc-156	262	8	of	of	ADP
sc-156	262	9	this	this	DET
sc-156	262	10	subset	subset	NOUN
sc-156	262	11	is	be	AUX
sc-156	262	12	the	the	DET
sc-156	262	13	sum	sum	NOUN
sc-156	262	14	of	of	ADP
sc-156	262	15	the	the	DET
sc-156	262	16	distances	distance	NOUN
sc-156	262	17	between	between	ADP
sc-156	262	18	agent	agent	NOUN
sc-156	262	19	’s	’s	PART
sc-156	262	20	current	current	ADJ
sc-156	262	21	location	location	NOUN
sc-156	262	22	and	and	CCONJ
sc-156	262	23	each	each	DET
sc-156	262	24	task	task	NOUN
sc-156	262	25	’s	’s	PART
sc-156	262	26	location	location	NOUN
sc-156	262	27	.	.	PUNCT
sc-156	263	1	the	the	DET
sc-156	263	2	actual	actual	ADJ
sc-156	263	3	bid	bid	NOUN
sc-156	263	4	might	might	AUX
sc-156	263	5	be	be	AUX
sc-156	263	6	greater	great	ADJ
sc-156	263	7	than	than	ADP
sc-156	263	8	the	the	DET
sc-156	263	9	true	true	ADJ
sc-156	263	10	valuation	valuation	NOUN
sc-156	263	11	,	,	PUNCT
sc-156	263	12	when	when	SCONJ
sc-156	263	13	the	the	DET
sc-156	263	14	agent	agent	NOUN
sc-156	263	15	is	be	AUX
sc-156	263	16	greedy	greedy	ADJ
sc-156	263	17	to	to	PART
sc-156	263	18	gain	gain	VERB
sc-156	263	19	more	more	ADJ
sc-156	263	20	point	point	NOUN
sc-156	263	21	scores	score	NOUN
sc-156	263	22	.	.	PUNCT
sc-156	264	1	depletion	depletion	NOUN
sc-156	264	2	in	in	ADP
sc-156	264	3	the	the	DET
sc-156	264	4	battery	battery	NOUN
sc-156	264	5	is	be	AUX
sc-156	264	6	a	a	DET
sc-156	264	7	function	function	NOUN
sc-156	264	8	of	of	ADP
sc-156	264	9	the	the	DET
sc-156	264	10	task	task	NOUN
sc-156	264	11	valuation	valuation	NOUN
sc-156	264	12	to	to	PART
sc-156	264	13	be	be	AUX
sc-156	264	14	performed	perform	VERB
sc-156	264	15	.	.	PUNCT
sc-156	265	1	thus	thus	ADV
sc-156	265	2	,	,	PUNCT
sc-156	265	3	each	each	DET
sc-156	265	4	bid	bid	NOUN
sc-156	265	5	is	be	AUX
sc-156	265	6	of	of	ADP
sc-156	265	7	the	the	DET
sc-156	265	8	type	type	NOUN
sc-156	265	9	(	(	PUNCT
sc-156	265	10	si	si	NOUN
sc-156	265	11	,	,	PUNCT
sc-156	265	12	bidsi	bidsi	NOUN
sc-156	265	13	)	)	PUNCT
sc-156	265	14	where	where	SCONJ
sc-156	265	15	si	si	PROPN
sc-156	265	16	is	be	AUX
sc-156	265	17	the	the	DET
sc-156	265	18	subset	subset	NOUN
sc-156	265	19	of	of	ADP
sc-156	265	20	the	the	DET
sc-156	265	21	tasks	task	NOUN
sc-156	265	22	considered	consider	VERB
sc-156	265	23	for	for	ADP
sc-156	265	24	the	the	DET
sc-156	265	25	ith	ith	PROPN
sc-156	265	26	bid	bid	NOUN
sc-156	265	27	and	and	CCONJ
sc-156	265	28	bidsi	bidsi	NOUN
sc-156	265	29	the	the	DET
sc-156	265	30	value	value	NOUN
sc-156	265	31	of	of	ADP
sc-156	265	32	the	the	DET
sc-156	265	33	bid	bid	NOUN
sc-156	265	34	.	.	PUNCT
sc-156	266	1	as	as	SCONJ
sc-156	266	2	already	already	ADV
sc-156	266	3	mentioned	mention	VERB
sc-156	266	4	we	we	PRON
sc-156	266	5	have	have	VERB
sc-156	266	6	a	a	DET
sc-156	266	7	total	total	NOUN
sc-156	266	8	of	of	ADP
sc-156	266	9	l	l	NOUN
sc-156	266	10	bids	bid	NOUN
sc-156	266	11	.	.	PUNCT
sc-156	267	1	the	the	DET
sc-156	267	2	python3	python3	PROPN
sc-156	267	3	code	code	PROPN
sc-156	267	4	snapshot	snapshot	NOUN
sc-156	267	5	of	of	ADP
sc-156	267	6	bid	bid	NOUN
sc-156	267	7	allocation	allocation	NOUN
sc-156	267	8	to	to	ADP
sc-156	267	9	tasks	task	NOUN
sc-156	267	10	is	be	AUX
sc-156	267	11	provided	provide	VERB
sc-156	267	12	below	below	ADP
sc-156	267	13	:	:	PUNCT
sc-156	267	14	1	1	NUM
sc-156	267	15	def	def	ADJ
sc-156	267	16	assign_bids	assign_bid	NOUN
sc-156	267	17	(	(	PUNCT
sc-156	267	18	bids	bid	NOUN
sc-156	267	19	,	,	PUNCT
sc-156	267	20	erroneous	erroneous	ADJ
sc-156	267	21	,	,	PUNCT
sc-156	267	22	n	n	CCONJ
sc-156	267	23	,	,	PUNCT
sc-156	267	24	m	m	PROPN
sc-156	267	25	):	):	PUNCT
sc-156	267	26	2	2	NUM
sc-156	267	27	cnt	cnt	X
sc-156	267	28	=	=	SYM
sc-156	267	29	0	0	NUM
sc-156	267	30	3	3	NUM
sc-156	267	31	for	for	ADP
sc-156	267	32	i	i	PRON
sc-156	267	33	in	in	ADP
sc-156	267	34	range	range	NOUN
sc-156	267	35	(	(	PUNCT
sc-156	267	36	erroneous	erroneous	ADJ
sc-156	267	37	):	):	PUNCT
sc-156	267	38	4	4	NUM
sc-156	267	39	for	for	ADP
sc-156	267	40	j	j	PROPN
sc-156	267	41	in	in	ADP
sc-156	267	42	range	range	PROPN
sc-156	267	43	(	(	PUNCT
sc-156	267	44	m	m	PROPN
sc-156	267	45	):	):	PUNCT
sc-156	267	46	5	5	NUM
sc-156	267	47	if(i	if(i	ADP
sc-156	267	48	<	<	X
sc-156	267	49	erroneous	erroneous	ADJ
sc-156	267	50	):	):	PUNCT
sc-156	267	51	6	6	NUM
sc-156	267	52	bids[cnt	bids[cnt	NOUN
sc-156	267	53	]	]	X
sc-156	267	54	=	=	SYM
sc-156	267	55	(	(	PUNCT
sc-156	267	56	int)(bids[cnt	int)(bids[cnt	NOUN
sc-156	267	57	]	]	PUNCT
sc-156	267	58	*	*	PUNCT
sc-156	267	59	(	(	PUNCT
sc-156	267	60	1	1	NUM
sc-156	267	61	+	+	NUM
sc-156	267	62	abs	ab	NOUN
sc-156	267	63	(	(	PUNCT
sc-156	267	64	np	np	INTJ
sc-156	267	65	.	.	NOUN
sc-156	267	66	random	random	ADJ
sc-156	267	67	.	.	PUNCT
sc-156	268	1	normal	normal	ADJ
sc-156	268	2	(	(	PUNCT
sc-156	268	3	0	0	NUM
sc-156	268	4	,	,	PUNCT
sc-156	268	5	1	1	NUM
sc-156	268	6	)	)	PUNCT
sc-156	268	7	)	)	PUNCT
sc-156	268	8	)	)	PUNCT
sc-156	268	9	)	)	PUNCT
sc-156	268	10	7	7	NUM
sc-156	268	11	cnt	cnt	X
sc-156	268	12	=	=	SYM
sc-156	268	13	cnt	cnt	PROPN
sc-156	268	14	+1	+1	ADJ
sc-156	268	15	8	8	NUM
sc-156	268	16	return	return	NOUN
sc-156	268	17	bids	bid	NOUN
sc-156	268	18	9	9	NUM
sc-156	268	19	10	10	NUM
sc-156	268	20	def	def	ADJ
sc-156	268	21	solve	solve	NOUN
sc-156	268	22	(	(	PUNCT
sc-156	268	23	agents	agent	NOUN
sc-156	268	24	,	,	PUNCT
sc-156	268	25	task	task	NOUN
sc-156	268	26	,	,	PUNCT
sc-156	268	27	discharge_rate	discharge_rate	ADJ
sc-156	268	28	,	,	PUNCT
sc-156	268	29	n	n	CCONJ
sc-156	268	30	,	,	PUNCT
sc-156	268	31	m	m	PROPN
sc-156	268	32	,	,	PUNCT
sc-156	268	33	erroneous	erroneous	ADJ
sc-156	268	34	)	)	PUNCT
sc-156	268	35	:	:	PUNCT
sc-156	268	36	11	11	NUM
sc-156	268	37	bids	bid	NOUN
sc-156	268	38	=	=	PUNCT
sc-156	269	1	[	[	X
sc-156	269	2	0	0	NUM
sc-156	269	3	for	for	ADP
sc-156	269	4	x	x	PUNCT
sc-156	269	5	in	in	ADP
sc-156	269	6	range	range	NOUN
sc-156	269	7	(	(	PUNCT
sc-156	269	8	m*n	m*n	PROPN
sc-156	269	9	)	)	PUNCT
sc-156	269	10	]	]	PUNCT
sc-156	269	11	12	12	NUM
sc-156	269	12	dist	dist	NOUN
sc-156	269	13	=	=	PUNCT
sc-156	270	1	[	[	X
sc-156	270	2	0	0	NUM
sc-156	270	3	for	for	ADP
sc-156	270	4	x	x	PUNCT
sc-156	270	5	in	in	ADP
sc-156	270	6	range	range	NOUN
sc-156	270	7	(	(	PUNCT
sc-156	270	8	m*n	m*n	PROPN
sc-156	270	9	)	)	PUNCT
sc-156	270	10	]	]	PUNCT
sc-156	270	11	13	13	NUM
sc-156	270	12	cnt	cnt	X
sc-156	270	13	=	=	SYM
sc-156	270	14	0	0	NUM
sc-156	270	15	14	14	NUM
sc-156	270	16	for	for	ADP
sc-156	270	17	j	j	PROPN
sc-156	270	18	in	in	ADP
sc-156	270	19	range	range	NOUN
sc-156	270	20	(	(	PUNCT
sc-156	270	21	n	n	CCONJ
sc-156	270	22	):	):	PUNCT
sc-156	270	23	15	15	NUM
sc-156	270	24	for	for	ADP
sc-156	270	25	k	k	PROPN
sc-156	270	26	in	in	ADP
sc-156	270	27	range	range	PROPN
sc-156	270	28	(	(	PUNCT
sc-156	270	29	m	m	PROPN
sc-156	270	30	):	):	PUNCT
sc-156	270	31	16	16	NUM
sc-156	270	32	dist[cnt	dist[cnt	ADJ
sc-156	270	33	]	]	X
sc-156	270	34	=	=	SYM
sc-156	270	35	(	(	PUNCT
sc-156	270	36	agents	agent	NOUN
sc-156	270	37	[	[	X
sc-156	270	38	j	j	X
sc-156	270	39	]	]	X
sc-156	270	40	.	.	PUNCT
sc-156	271	1	pos	pos	NOUN
sc-156	271	2	)	)	PUNCT
sc-156	271	3	.	.	PUNCT
sc-156	272	1	comp_dis	comp_dis	PROPN
sc-156	272	2	(	(	PUNCT
sc-156	272	3	task[k	task[k	NOUN
sc-156	272	4	]	]	PUNCT
sc-156	272	5	)	)	PUNCT
sc-156	272	6	17	17	NUM
sc-156	272	7	bids[cnt	bids[cnt	NOUN
sc-156	272	8	]	]	X
sc-156	272	9	=	=	SYM
sc-156	272	10	agents	agent	NOUN
sc-156	273	1	[	[	X
sc-156	273	2	j	j	X
sc-156	273	3	]	]	X
sc-156	273	4	.	.	PUNCT
sc-156	274	1	bidding_func	bidding_func	X
sc-156	274	2	(	(	PUNCT
sc-156	274	3	dist[cnt	dist[cnt	ADV
sc-156	274	4	]	]	PUNCT
sc-156	274	5	*	*	PUNCT
sc-156	274	6	discharge_rate	discharge_rate	ADJ
sc-156	274	7	)	)	PUNCT
sc-156	274	8	18	18	NUM
sc-156	274	9	cnt	cnt	X
sc-156	274	10	=	=	SYM
sc-156	274	11	cnt	cnt	PROPN
sc-156	274	12	+1	+1	ADJ
sc-156	274	13	19	19	NUM
sc-156	274	14	bids	bid	NOUN
sc-156	274	15	=	=	SYM
sc-156	274	16	assign_bids	assign_bid	NOUN
sc-156	274	17	(	(	PUNCT
sc-156	274	18	bids	bid	NOUN
sc-156	274	19	,	,	PUNCT
sc-156	274	20	erroneous	erroneous	ADJ
sc-156	274	21	,	,	PUNCT
sc-156	274	22	n	n	CCONJ
sc-156	274	23	,	,	PUNCT
sc-156	274	24	m	m	VERB
sc-156	274	25	)	)	PUNCT
sc-156	274	26	we	we	PRON
sc-156	274	27	notice	notice	VERB
sc-156	274	28	that	that	SCONJ
sc-156	274	29	the	the	DET
sc-156	274	30	bids	bid	NOUN
sc-156	274	31	are	be	AUX
sc-156	274	32	a	a	DET
sc-156	274	33	function	function	NOUN
sc-156	274	34	of	of	ADP
sc-156	274	35	the	the	DET
sc-156	274	36	dist	dist	NOUN
sc-156	274	37	distance	distance	NOUN
sc-156	274	38	to	to	PART
sc-156	274	39	perform	perform	VERB
sc-156	274	40	the	the	DET
sc-156	274	41	task	task	NOUN
sc-156	274	42	and	and	CCONJ
sc-156	274	43	discharge_rate	discharge_rate	VERB
sc-156	274	44	the	the	DET
sc-156	274	45	battery	battery	NOUN
sc-156	274	46	discharge	discharge	NOUN
sc-156	274	47	rate	rate	NOUN
sc-156	274	48	.	.	PUNCT
sc-156	275	1	bids	bid	NOUN
sc-156	275	2	that	that	PRON
sc-156	275	3	are	be	AUX
sc-156	275	4	provided	provide	VERB
sc-156	275	5	by	by	ADP
sc-156	275	6	agents	agent	NOUN
sc-156	275	7	3https://www.python.org/	3https://www.python.org/	NUM
sc-156	275	8	7	7	NUM
sc-156	275	9	eai	eai	NOUN
sc-156	275	10	endorsed	endorse	VERB
sc-156	275	11	transactions	transaction	NOUN
sc-156	275	12	on	on	ADP
sc-156	275	13	smart	smart	ADJ
sc-156	275	14	cities	city	NOUN
sc-156	275	15	10	10	NUM
sc-156	275	16	2021	2021	NUM
sc-156	275	17	03	03	NUM
sc-156	275	18	2022	2022	NUM
sc-156	275	19	|	|	ADV
sc-156	275	20	volume	volume	NOUN
sc-156	275	21	6	6	NUM
sc-156	275	22	|	|	NOUN
sc-156	275	23	issue	issue	NOUN
sc-156	275	24	17	17	NUM
sc-156	275	25	|	|	NOUN
sc-156	275	26	e2	e2	PROPN
sc-156	275	27	ajay	ajay	PROPN
sc-156	275	28	kattepur	kattepur	PROPN
sc-156	275	29	,	,	PUNCT
sc-156	275	30	sourav	sourav	PROPN
sc-156	275	31	khemkha	khemkha	PROPN
sc-156	275	32	table	table	NOUN
sc-156	275	33	2	2	NUM
sc-156	275	34	.	.	PUNCT
sc-156	275	35	notations	notation	NOUN
sc-156	275	36	for	for	ADP
sc-156	275	37	task	task	NOUN
sc-156	275	38	auctioning	auctioning	NOUN
sc-156	275	39	.	.	PUNCT
sc-156	276	1	n	n	PRON
sc-156	276	2	number	number	NOUN
sc-156	276	3	of	of	ADP
sc-156	276	4	agents	agent	NOUN
sc-156	276	5	agent	agent	NOUN
sc-156	276	6	i	i	PROPN
sc-156	276	7	d	d	PROPN
sc-156	276	8	agent	agent	NOUN
sc-156	276	9	identity	identity	NOUN
sc-156	276	10	bids	bid	VERB
sc-156	276	11	a	a	DET
sc-156	276	12	set	set	NOUN
sc-156	276	13	consisting	consist	VERB
sc-156	276	14	of	of	ADP
sc-156	276	15	all	all	DET
sc-156	276	16	the	the	DET
sc-156	276	17	bids	bid	NOUN
sc-156	276	18	v	v	PRON
sc-156	276	19	represent	represent	VERB
sc-156	276	20	the	the	DET
sc-156	276	21	true	true	ADJ
sc-156	276	22	valuation	valuation	NOUN
sc-156	276	23	to	to	ADP
sc-156	276	24	corresponding	correspond	VERB
sc-156	276	25	bid	bid	NOUN
sc-156	276	26	agent	agent	NOUN
sc-156	276	27	l	l	NOUN
sc-156	276	28	total	total	ADJ
sc-156	276	29	number	number	NOUN
sc-156	276	30	of	of	ADP
sc-156	276	31	bids	bid	NOUN
sc-156	276	32	per	per	ADP
sc-156	276	33	task	task	NOUN
sc-156	276	34	attributes	attribute	VERB
sc-156	276	35	n′error	n′error	NOUN
sc-156	276	36	number	number	NOUN
sc-156	276	37	of	of	ADP
sc-156	276	38	agents	agent	NOUN
sc-156	276	39	who	who	PRON
sc-156	276	40	provide	provide	VERB
sc-156	276	41	erroneous	erroneous	ADJ
sc-156	276	42	estimates	estimate	NOUN
sc-156	276	43	n′′light	n′′light	ADJ
sc-156	276	44	number	number	NOUN
sc-156	276	45	of	of	ADP
sc-156	276	46	agents	agent	NOUN
sc-156	276	47	who	who	PRON
sc-156	276	48	can	can	AUX
sc-156	276	49	pick	pick	VERB
sc-156	276	50	up	up	ADP
sc-156	276	51	only	only	ADV
sc-156	276	52	light	light	ADJ
sc-156	276	53	objects	object	NOUN
sc-156	276	54	score	score	NOUN
sc-156	276	55	total	total	ADJ
sc-156	276	56	amount	amount	NOUN
sc-156	276	57	charged	charge	VERB
sc-156	276	58	/	/	PUNCT
sc-156	276	59	gained	gain	VERB
sc-156	276	60	for	for	ADP
sc-156	276	61	a	a	DET
sc-156	276	62	completed	complete	VERB
sc-156	276	63	task	task	NOUN
sc-156	276	64	life	life	NOUN
sc-156	276	65	battery	battery	NOUN
sc-156	276	66	capacity	capacity	NOUN
sc-156	276	67	remaining	remain	VERB
sc-156	276	68	on	on	ADP
sc-156	276	69	the	the	DET
sc-156	276	70	agent	agent	NOUN
sc-156	276	71	pos	pos	NOUN
sc-156	276	72	agent	agent	NOUN
sc-156	276	73	position	position	NOUN
sc-156	276	74	m	m	NOUN
sc-156	276	75	number	number	NOUN
sc-156	276	76	of	of	ADP
sc-156	276	77	tasks	task	NOUN
sc-156	276	78	task	task	PROPN
sc-156	276	79	task	task	NOUN
sc-156	276	80	i	i	PROPN
sc-156	276	81	d	d	AUX
sc-156	276	82	representing	represent	VERB
sc-156	276	83	the	the	DET
sc-156	276	84	task	task	NOUN
sc-156	276	85	attributes	attribute	NOUN
sc-156	276	86	pos	pos	NOUN
sc-156	276	87	location	location	NOUN
sc-156	276	88	of	of	ADP
sc-156	276	89	the	the	DET
sc-156	276	90	tasks	task	NOUN
sc-156	276	91	type	type	VERB
sc-156	276	92	0	0	PUNCT
sc-156	277	1	if	if	SCONJ
sc-156	277	2	task	task	NOUN
sc-156	277	3	if	if	SCONJ
sc-156	277	4	light	light	ADJ
sc-156	277	5	weight	weight	NOUN
sc-156	277	6	,	,	PUNCT
sc-156	277	7	1	1	NUM
sc-156	277	8	if	if	SCONJ
sc-156	277	9	task	task	NOUN
sc-156	277	10	if	if	SCONJ
sc-156	277	11	heavy	heavy	ADJ
sc-156	277	12	weight	weight	NOUN
sc-156	277	13	with	with	ADP
sc-156	277	14	erroneous	erroneous	ADJ
sc-156	277	15	estimates	estimate	NOUN
sc-156	277	16	are	be	AUX
sc-156	277	17	incremented	incremente	VERB
sc-156	277	18	by	by	ADP
sc-156	277	19	a	a	DET
sc-156	277	20	normally	normally	ADV
sc-156	277	21	distributed	distribute	VERB
sc-156	277	22	random	random	ADJ
sc-156	277	23	value	value	NOUN
sc-156	277	24	.	.	PUNCT
sc-156	278	1	5.2	5.2	NUM
sc-156	278	2	.	.	PUNCT
sc-156	278	3	allocation	allocation	NOUN
sc-156	278	4	of	of	ADP
sc-156	278	5	the	the	DET
sc-156	278	6	winners	winner	NOUN
sc-156	278	7	given	give	VERB
sc-156	278	8	a	a	DET
sc-156	278	9	set	set	NOUN
sc-156	278	10	of	of	ADP
sc-156	278	11	bids	bid	NOUN
sc-156	278	12	in	in	ADP
sc-156	278	13	a	a	DET
sc-156	278	14	combinatorial	combinatorial	ADJ
sc-156	278	15	auction	auction	NOUN
sc-156	278	16	,	,	PUNCT
sc-156	278	17	the	the	DET
sc-156	278	18	objective	objective	NOUN
sc-156	278	19	is	be	AUX
sc-156	278	20	to	to	PART
sc-156	278	21	find	find	VERB
sc-156	278	22	an	an	DET
sc-156	278	23	allocation	allocation	NOUN
sc-156	278	24	of	of	ADP
sc-156	278	25	items	item	NOUN
sc-156	278	26	to	to	ADP
sc-156	278	27	bidders	bidder	NOUN
sc-156	278	28	that	that	PRON
sc-156	278	29	maximizes	maximize	VERB
sc-156	278	30	the	the	DET
sc-156	278	31	auctioneer	auctioneer	NOUN
sc-156	278	32	’s	’s	PART
sc-156	278	33	revenue	revenue	NOUN
sc-156	278	34	.	.	PUNCT
sc-156	279	1	the	the	DET
sc-156	279	2	bids	bid	NOUN
sc-156	279	3	are	be	AUX
sc-156	279	4	expressions	expression	NOUN
sc-156	279	5	in	in	ADP
sc-156	279	6	a	a	DET
sc-156	279	7	bidding	bidding	NOUN
sc-156	279	8	language	language	NOUN
sc-156	279	9	(	(	PUNCT
sc-156	279	10	section	section	NOUN
sc-156	279	11	4.1	4.1	NUM
sc-156	279	12	)	)	PUNCT
sc-156	279	13	,	,	PUNCT
sc-156	279	14	by	by	ADP
sc-156	279	15	which	which	PRON
sc-156	279	16	bidders	bidder	NOUN
sc-156	279	17	report	report	VERB
sc-156	279	18	valuations	valuation	NOUN
sc-156	279	19	for	for	ADP
sc-156	279	20	subsets	subset	NOUN
sc-156	279	21	of	of	ADP
sc-156	279	22	items	item	NOUN
sc-156	279	23	the	the	DET
sc-156	279	24	auctioneer	auctioneer	NOUN
sc-156	279	25	’s	’s	PART
sc-156	279	26	revenue	revenue	NOUN
sc-156	279	27	is	be	AUX
sc-156	279	28	maximized	maximize	VERB
sc-156	279	29	by	by	ADP
sc-156	279	30	choosing	choose	VERB
sc-156	279	31	an	an	DET
sc-156	279	32	allocation	allocation	NOUN
sc-156	279	33	that	that	PRON
sc-156	279	34	maximizes	maximize	VERB
sc-156	279	35	the	the	DET
sc-156	279	36	sum	sum	NOUN
sc-156	279	37	of	of	ADP
sc-156	279	38	the	the	DET
sc-156	279	39	bidders	bidder	NOUN
sc-156	279	40	’	’	PART
sc-156	279	41	valuations	valuation	NOUN
sc-156	279	42	for	for	ADP
sc-156	279	43	the	the	DET
sc-156	279	44	subset	subset	NOUN
sc-156	279	45	of	of	ADP
sc-156	279	46	items	item	NOUN
sc-156	279	47	that	that	PRON
sc-156	279	48	they	they	PRON
sc-156	279	49	receive	receive	VERB
sc-156	279	50	.	.	PUNCT
sc-156	280	1	definition	definition	NOUN
sc-156	280	2	6	6	NUM
sc-156	280	3	.	.	PUNCT
sc-156	280	4	winner	winner	NOUN
sc-156	280	5	determination	determination	NOUN
sc-156	280	6	problem	problem	NOUN
sc-156	280	7	:	:	PUNCT
sc-156	280	8	given	give	VERB
sc-156	280	9	bids	bid	NOUN
sc-156	280	10	bidsi	bidsi	NOUN
sc-156	280	11	,	,	PUNCT
sc-156	280	12	i	i	PRON
sc-156	280	13	=	=	NOUN
sc-156	280	14	1	1	NUM
sc-156	280	15	,	,	PUNCT
sc-156	280	16	.	.	PUNCT
sc-156	280	17	.	.	PUNCT
sc-156	281	1	.	.	PUNCT
sc-156	282	1	,	,	PUNCT
sc-156	282	2	n	n	CCONJ
sc-156	282	3	,	,	PUNCT
sc-156	282	4	the	the	DET
sc-156	282	5	winner	winner	NOUN
sc-156	282	6	determination	determination	NOUN
sc-156	282	7	problem	problem	NOUN
sc-156	282	8	is	be	AUX
sc-156	282	9	the	the	DET
sc-156	282	10	problem	problem	NOUN
sc-156	282	11	to	to	PART
sc-156	282	12	compute	compute	VERB
sc-156	282	13	:	:	PUNCT
sc-156	282	14	x	x	SYM
sc-156	282	15	∈	∈	NOUN
sc-156	282	16	argmax	argmax	PRON
sc-156	282	17	∑	∑	PUNCT
sc-156	282	18	i∈n	i∈n	NOUN
sc-156	282	19	bidsi(s)xi(s)|x	bidsi(s)xi(s)|x	NOUN
sc-156	282	20	is	be	AUX
sc-156	282	21	a	a	DET
sc-156	282	22	feasible	feasible	ADJ
sc-156	282	23	solution	solution	NOUN
sc-156	282	24	)	)	PUNCT
sc-156	282	25	(	(	PUNCT
sc-156	282	26	3	3	X
sc-156	282	27	)	)	PUNCT
sc-156	282	28	we	we	PRON
sc-156	282	29	have	have	VERB
sc-156	282	30	a	a	DET
sc-156	282	31	total	total	NOUN
sc-156	282	32	of	of	ADP
sc-156	282	33	l	l	NOUN
sc-156	282	34	bids	bid	NOUN
sc-156	282	35	of	of	ADP
sc-156	282	36	the	the	DET
sc-156	282	37	form	form	NOUN
sc-156	282	38	(	(	PUNCT
sc-156	282	39	si	si	NOUN
sc-156	282	40	,	,	PUNCT
sc-156	282	41	bidsi	bidsi	NOUN
sc-156	282	42	)	)	PUNCT
sc-156	282	43	,	,	PUNCT
sc-156	282	44	and	and	CCONJ
sc-156	282	45	the	the	DET
sc-156	282	46	allocating	allocate	VERB
sc-156	282	47	the	the	DET
sc-156	282	48	best	good	ADJ
sc-156	282	49	bids	bid	NOUN
sc-156	282	50	could	could	AUX
sc-156	282	51	be	be	AUX
sc-156	282	52	thought	think	VERB
sc-156	282	53	of	of	ADP
sc-156	282	54	as	as	ADP
sc-156	282	55	a	a	DET
sc-156	282	56	multidimensional	multidimensional	ADJ
sc-156	282	57	knapsack	knapsack	NOUN
sc-156	282	58	problem	problem	NOUN
sc-156	282	59	[	[	X
sc-156	282	60	20	20	NUM
sc-156	282	61	]	]	PUNCT
sc-156	282	62	.	.	PUNCT
sc-156	283	1	we	we	PRON
sc-156	283	2	denote	denote	VERB
sc-156	283	3	xi	xi	PROPN
sc-156	283	4	as	as	ADP
sc-156	283	5	binary	binary	PROPN
sc-156	283	6	variable	variable	NOUN
sc-156	283	7	which	which	PRON
sc-156	283	8	is	be	AUX
sc-156	283	9	equal	equal	ADJ
sc-156	283	10	to	to	ADP
sc-156	283	11	1	1	NUM
sc-156	283	12	if	if	SCONJ
sc-156	283	13	the	the	DET
sc-156	283	14	ith	ith	PROPN
sc-156	283	15	bid	bid	NOUN
sc-156	283	16	has	have	AUX
sc-156	283	17	won	win	VERB
sc-156	283	18	else	else	ADV
sc-156	283	19	0	0	NUM
sc-156	283	20	,	,	PUNCT
sc-156	283	21	and	and	CCONJ
sc-156	283	22	we	we	PRON
sc-156	283	23	also	also	ADV
sc-156	283	24	denote	denote	VERB
sc-156	283	25	k	k	PROPN
sc-156	283	26	as	as	SCONJ
sc-156	283	27	the	the	DET
sc-156	283	28	maximum	maximum	ADJ
sc-156	283	29	no	no	PRON
sc-156	283	30	of	of	ADP
sc-156	283	31	bids	bid	NOUN
sc-156	283	32	any	any	DET
sc-156	283	33	agent	agent	NOUN
sc-156	283	34	can	can	AUX
sc-156	283	35	win	win	VERB
sc-156	283	36	.	.	PUNCT
sc-156	284	1	this	this	PRON
sc-156	284	2	is	be	AUX
sc-156	284	3	formulated	formulate	VERB
sc-156	284	4	as	as	ADP
sc-156	284	5	:	:	PUNCT
sc-156	284	6	min	min	NOUN
sc-156	284	7	:	:	PUNCT
sc-156	284	8	∑l	∑l	VERB
sc-156	284	9	i=1	i=1	PROPN
sc-156	284	10	xi	xi	PROPN
sc-156	284	11	·	·	PUNCT
sc-156	284	12	bidsi	bidsi	PROPN
sc-156	284	13	s.t	s.t	PROPN
sc-156	284	14	.	.	PROPN
sc-156	284	15	:	:	PUNCT
sc-156	284	16	∑	∑	PUNCT
sc-156	284	17	i|j∈si	i|j∈si	NOUN
sc-156	284	18	xi	xi	X
sc-156	284	19	≤	≤	NUM
sc-156	284	20	1	1	NUM
sc-156	284	21	∀j	∀j	NOUN
sc-156	284	22	=	=	SYM
sc-156	284	23	0	0	NUM
sc-156	284	24	,	,	PUNCT
sc-156	284	25	1	1	NUM
sc-156	284	26	,	,	PUNCT
sc-156	284	27	2	2	NUM
sc-156	284	28	,	,	PUNCT
sc-156	284	29	.	.	PUNCT
sc-156	284	30	.	.	PUNCT
sc-156	284	31	.	.	PUNCT
sc-156	285	1	,	,	PUNCT
sc-156	285	2	m−	m−	PROPN
sc-156	285	3	1∑	1∑	NUM
sc-156	285	4	i|jthagent	i|jthagent	NOUN
sc-156	285	5	bids	bid	NOUN
sc-156	285	6	xi	xi	ADP
sc-156	285	7	≤	≤	NOUN
sc-156	286	1	k	k	NOUN
sc-156	286	2	∀j	∀j	NOUN
sc-156	286	3	=	=	SYM
sc-156	286	4	0	0	NUM
sc-156	286	5	,	,	PUNCT
sc-156	286	6	1	1	NUM
sc-156	286	7	,	,	PUNCT
sc-156	286	8	2	2	NUM
sc-156	286	9	,	,	PUNCT
sc-156	286	10	.	.	PUNCT
sc-156	286	11	.	.	PUNCT
sc-156	287	1	.	.	PUNCT
sc-156	288	1	,	,	PUNCT
sc-156	288	2	n−	n−	NOUN
sc-156	288	3	1	1	NUM
sc-156	288	4	xi	xi	ADP
sc-156	288	5	∈	∈	PROPN
sc-156	288	6	{	{	PUNCT
sc-156	288	7	0	0	NUM
sc-156	288	8	,	,	PUNCT
sc-156	288	9	1	1	NUM
sc-156	288	10	}	}	PUNCT
sc-156	288	11	∀i	∀i	NOUN
sc-156	288	12	=	=	SYM
sc-156	288	13	1	1	NUM
sc-156	288	14	,	,	PUNCT
sc-156	288	15	2	2	NUM
sc-156	288	16	,	,	PUNCT
sc-156	288	17	.	.	PUNCT
sc-156	288	18	.	.	PUNCT
sc-156	289	1	.	.	PUNCT
sc-156	290	1	,	,	PUNCT
sc-156	290	2	l	l	X
sc-156	290	3	(	(	PUNCT
sc-156	290	4	4	4	X
sc-156	290	5	)	)	PUNCT
sc-156	290	6	the	the	DET
sc-156	290	7	first	first	ADJ
sc-156	290	8	constraint	constraint	NOUN
sc-156	290	9	ensures	ensure	VERB
sc-156	290	10	that	that	SCONJ
sc-156	290	11	every	every	DET
sc-156	290	12	task	task	NOUN
sc-156	290	13	is	be	AUX
sc-156	290	14	allocated	allocate	VERB
sc-156	290	15	at	at	ADP
sc-156	290	16	most	most	ADV
sc-156	290	17	once	once	ADV
sc-156	290	18	as	as	SCONJ
sc-156	290	19	the	the	DET
sc-156	290	20	tasks	task	NOUN
sc-156	290	21	are	be	AUX
sc-156	290	22	indivisible	indivisible	ADJ
sc-156	290	23	,	,	PUNCT
sc-156	290	24	while	while	SCONJ
sc-156	290	25	the	the	DET
sc-156	290	26	second	second	ADJ
sc-156	290	27	constraint	constraint	NOUN
sc-156	290	28	denotes	denote	NOUN
sc-156	290	29	that	that	PRON
sc-156	290	30	every	every	DET
sc-156	290	31	agent	agent	NOUN
sc-156	290	32	can	can	AUX
sc-156	290	33	win	win	VERB
sc-156	290	34	at	at	ADP
sc-156	290	35	most	most	ADJ
sc-156	290	36	k	k	PROPN
sc-156	290	37	bids	bid	NOUN
sc-156	290	38	.	.	PUNCT
sc-156	291	1	since	since	SCONJ
sc-156	291	2	the	the	DET
sc-156	291	3	multi	multi	ADJ
sc-156	291	4	-	-	ADJ
sc-156	291	5	dimensional	dimensional	ADJ
sc-156	291	6	knapsack	knapsack	NOUN
sc-156	291	7	problem	problem	NOUN
sc-156	291	8	is	be	AUX
sc-156	291	9	np	np	NOUN
sc-156	291	10	-	-	PUNCT
sc-156	291	11	complete	complete	ADJ
sc-156	291	12	,	,	PUNCT
sc-156	291	13	we	we	PRON
sc-156	291	14	use	use	VERB
sc-156	291	15	branch	branch	NOUN
sc-156	291	16	and	and	CCONJ
sc-156	291	17	bound	bind	VERB
sc-156	291	18	heuristics	heuristic	NOUN
sc-156	291	19	to	to	PART
sc-156	291	20	generate	generate	VERB
sc-156	291	21	feasible	feasible	ADJ
sc-156	291	22	solutions	solution	NOUN
sc-156	291	23	[	[	X
sc-156	291	24	20	20	NUM
sc-156	291	25	]	]	PUNCT
sc-156	291	26	.	.	PUNCT
sc-156	292	1	5.3	5.3	NUM
sc-156	292	2	.	.	PUNCT
sc-156	293	1	winner	winner	NOUN
sc-156	293	2	scores	score	NOUN
sc-156	293	3	we	we	PRON
sc-156	293	4	use	use	VERB
sc-156	293	5	the	the	DET
sc-156	293	6	vcg	vcg	NOUN
sc-156	293	7	mechanism	mechanism	NOUN
sc-156	293	8	to	to	PART
sc-156	293	9	pay	pay	VERB
sc-156	293	10	the	the	DET
sc-156	293	11	winners	winner	NOUN
sc-156	293	12	(	(	PUNCT
sc-156	293	13	price	price	NOUN
sc-156	293	14	scores	score	NOUN
sc-156	293	15	)	)	PUNCT
sc-156	293	16	,	,	PUNCT
sc-156	293	17	which	which	PRON
sc-156	293	18	ensures	ensure	VERB
sc-156	293	19	truthful	truthful	ADJ
sc-156	293	20	bidding	bidding	NOUN
sc-156	293	21	.	.	PUNCT
sc-156	294	1	we	we	PRON
sc-156	294	2	will	will	AUX
sc-156	294	3	later	later	ADV
sc-156	294	4	see	see	VERB
sc-156	294	5	that	that	SCONJ
sc-156	294	6	if	if	SCONJ
sc-156	294	7	bidders	bidder	NOUN
sc-156	294	8	lie	lie	VERB
sc-156	294	9	they	they	PRON
sc-156	294	10	would	would	AUX
sc-156	294	11	suffer	suffer	VERB
sc-156	294	12	relative	relative	ADJ
sc-156	294	13	losses	loss	NOUN
sc-156	294	14	,	,	PUNCT
sc-156	294	15	given	give	VERB
sc-156	294	16	this	this	DET
sc-156	294	17	mechanism	mechanism	NOUN
sc-156	294	18	.	.	PUNCT
sc-156	295	1	the	the	DET
sc-156	295	2	total	total	ADJ
sc-156	295	3	amount	amount	NOUN
sc-156	295	4	paid	pay	VERB
sc-156	295	5	to	to	ADP
sc-156	295	6	the	the	DET
sc-156	295	7	agenti	agenti	NOUN
sc-156	295	8	:	:	PUNCT
sc-156	295	9	(	(	PUNCT
sc-156	295	10	social	social	ADJ
sc-156	295	11	welfare	welfare	NOUN
sc-156	295	12	of	of	ADP
sc-156	295	13	others	other	NOUN
sc-156	295	14	if	if	SCONJ
sc-156	295	15	agent	agent	NOUN
sc-156	295	16	i	i	PRON
sc-156	295	17	was	be	AUX
sc-156	295	18	absent	absent	ADJ
sc-156	295	19	)	)	PUNCT
sc-156	295	20	(	(	PUNCT
sc-156	295	21	social	social	ADJ
sc-156	295	22	welfare	welfare	NOUN
sc-156	295	23	of	of	ADP
sc-156	295	24	others	other	NOUN
sc-156	295	25	if	if	SCONJ
sc-156	295	26	agent	agent	NOUN
sc-156	295	27	i	i	PRON
sc-156	295	28	was	be	AUX
sc-156	295	29	present	present	ADJ
sc-156	295	30	)	)	PUNCT
sc-156	295	31	(	(	PUNCT
sc-156	295	32	5	5	NUM
sc-156	295	33	)	)	PUNCT
sc-156	295	34	where	where	SCONJ
sc-156	295	35	,	,	PUNCT
sc-156	295	36	social	social	ADJ
sc-156	295	37	welfare	welfare	NOUN
sc-156	295	38	of	of	ADP
sc-156	295	39	all	all	DET
sc-156	295	40	players	player	NOUN
sc-156	295	41	=	=	PUNCT
sc-156	295	42	∑l	∑l	VERB
sc-156	295	43	i=1	i=1	X
sc-156	295	44	xi	xi	X
sc-156	295	45	·	·	PUNCT
sc-156	295	46	bidsi	bidsi	NOUN
sc-156	295	47	.	.	PUNCT
sc-156	296	1	the	the	DET
sc-156	296	2	code	code	NOUN
sc-156	296	3	snipped	snip	VERB
sc-156	296	4	provided	provide	VERB
sc-156	296	5	below	below	ADP
sc-156	296	6	with	with	ADP
sc-156	296	7	the	the	DET
sc-156	296	8	winning	win	VERB
sc-156	296	9	agents	agent	NOUN
sc-156	296	10	provided	provide	VERB
sc-156	296	11	a	a	DET
sc-156	296	12	pricing	pricing	NOUN
sc-156	296	13	score	score	NOUN
sc-156	296	14	(	(	PUNCT
sc-156	296	15	agents[winner].score	agents[winner].score	NUM
sc-156	296	16	)	)	PUNCT
sc-156	296	17	,	,	PUNCT
sc-156	296	18	updating	update	VERB
sc-156	296	19	the	the	DET
sc-156	296	20	battery	battery	NOUN
sc-156	296	21	discharge	discharge	NOUN
sc-156	296	22	rate	rate	NOUN
sc-156	296	23	(	(	PUNCT
sc-156	296	24	agents[winner].life	agents[winner].life	NUM
sc-156	296	25	)	)	PUNCT
sc-156	296	26	and	and	CCONJ
sc-156	296	27	current	current	ADJ
sc-156	296	28	position	position	NOUN
sc-156	296	29	(	(	PUNCT
sc-156	296	30	agents[winner].pos	agents[winner].pos	NOUN
sc-156	296	31	)	)	PUNCT
sc-156	296	32	.	.	PUNCT
sc-156	297	1	1	1	NUM
sc-156	297	2	winning_bids	winning_bid	NOUN
sc-156	297	3	,	,	PUNCT
sc-156	297	4	s=	s=	NOUN
sc-156	297	5	knapsack	knapsack	NOUN
sc-156	297	6	(	(	PUNCT
sc-156	297	7	bids	bid	NOUN
sc-156	297	8	,	,	PUNCT
sc-156	297	9	weights	weight	NOUN
sc-156	297	10	,	,	PUNCT
sc-156	297	11	n	n	CCONJ
sc-156	297	12	,	,	PUNCT
sc-156	297	13	m	m	NOUN
sc-156	297	14	)	)	PUNCT
sc-156	297	15	2	2	NUM
sc-156	297	16	print	print	NOUN
sc-156	297	17	(	(	PUNCT
sc-156	297	18	s	s	NOUN
sc-156	297	19	)	)	PUNCT
sc-156	297	20	3	3	NUM
sc-156	297	21	for	for	ADP
sc-156	297	22	i	i	PRON
sc-156	297	23	in	in	ADP
sc-156	297	24	winning_bids	winning_bids	PROPN
sc-156	297	25	:	:	PUNCT
sc-156	297	26	4	4	NUM
sc-156	297	27	winner	winner	NOUN
sc-156	297	28	=	=	NOUN
sc-156	297	29	i//m	i//m	NOUN
sc-156	297	30	5	5	NUM
sc-156	297	31	new_bids	new_bid	VERB
sc-156	297	32	=[	=[	NOUN
sc-156	297	33	0	0	NUM
sc-156	297	34	for	for	ADP
sc-156	297	35	x	x	PUNCT
sc-156	297	36	in	in	ADP
sc-156	297	37	range	range	NOUN
sc-156	297	38	(	(	PUNCT
sc-156	297	39	m*(n	m*(n	ADJ
sc-156	297	40	-1	-1	NOUN
sc-156	297	41	)	)	PUNCT
sc-156	297	42	)	)	PUNCT
sc-156	297	43	]	]	PUNCT
sc-156	297	44	6	6	NUM
sc-156	297	45	c1	c1	NOUN
sc-156	297	46	=	=	PROPN
sc-156	297	47	0	0	PROPN
sc-156	297	48	;	;	PUNCT
sc-156	297	49	c2	c2	PROPN
sc-156	297	50	=	=	PROPN
sc-156	297	51	0	0	NUM
sc-156	297	52	;	;	PUNCT
sc-156	297	53	7	7	NUM
sc-156	297	54	for	for	ADP
sc-156	297	55	j	j	PROPN
sc-156	297	56	in	in	ADP
sc-156	297	57	range	range	NOUN
sc-156	297	58	(	(	PUNCT
sc-156	297	59	n	n	CCONJ
sc-156	297	60	):	):	PUNCT
sc-156	297	61	8	8	NUM
sc-156	297	62	if	if	SCONJ
sc-156	297	63	j==	j==	PROPN
sc-156	297	64	winner	winner	VERB
sc-156	297	65	:	:	PUNCT
sc-156	297	66	9	9	NUM
sc-156	297	67	c2	c2	PROPN
sc-156	297	68	=	=	SYM
sc-156	297	69	c2+m	c2+m	PROPN
sc-156	297	70	10	10	NUM
sc-156	297	71	continue	continue	VERB
sc-156	297	72	11	11	NUM
sc-156	297	73	for	for	ADP
sc-156	297	74	k	k	PROPN
sc-156	297	75	in	in	ADP
sc-156	297	76	range	range	NOUN
sc-156	297	77	(	(	PUNCT
sc-156	297	78	m	m	NOUN
sc-156	297	79	):	):	PUNCT
sc-156	297	80	12	12	NUM
sc-156	297	81	new_bids	new_bid	NOUN
sc-156	297	82	[	[	X
sc-156	297	83	c1	c1	NOUN
sc-156	297	84	]=	]=	X
sc-156	297	85	bids[c2	bids[c2	PROPN
sc-156	297	86	]	]	X
sc-156	297	87	13	13	NUM
sc-156	297	88	c1	c1	NOUN
sc-156	297	89	=	=	PROPN
sc-156	297	90	c1	c1	PROPN
sc-156	297	91	+1	+1	PROPN
sc-156	297	92	14	14	NUM
sc-156	297	93	c2	c2	PROPN
sc-156	297	94	=	=	PROPN
sc-156	297	95	c2	c2	PROPN
sc-156	297	96	+1	+1	PROPN
sc-156	297	97	15	15	NUM
sc-156	297	98	new_weights	new_weight	NOUN
sc-156	297	99	=	=	SYM
sc-156	297	100	assign_weights	assign_weight	NOUN
sc-156	297	101	(	(	PUNCT
sc-156	297	102	len	len	PROPN
sc-156	297	103	(	(	PUNCT
sc-156	297	104	new_bids	new_bid	NOUN
sc-156	297	105	)	)	PUNCT
sc-156	297	106	,	,	PUNCT
sc-156	297	107	n	n	PROPN
sc-156	297	108	-1,m	-1,m	NOUN
sc-156	297	109	)	)	PUNCT
sc-156	297	110	16	16	NUM
sc-156	298	1	_	_	NOUN
sc-156	298	2	,	,	PUNCT
sc-156	298	3	s1=	s1=	PROPN
sc-156	298	4	knapsack	knapsack	NOUN
sc-156	298	5	(	(	PUNCT
sc-156	298	6	new_bids	new_bid	NOUN
sc-156	298	7	,	,	PUNCT
sc-156	298	8	new_weights	new_weight	NOUN
sc-156	298	9	,	,	PUNCT
sc-156	298	10	n-1,m	n-1,m	NUM
sc-156	298	11	)	)	PUNCT
sc-156	298	12	17	17	NUM
sc-156	298	13	18	18	NUM
sc-156	298	14	agents	agent	NOUN
sc-156	298	15	[	[	PUNCT
sc-156	298	16	winner	winner	NOUN
sc-156	298	17	]	]	PUNCT
sc-156	298	18	.	.	PUNCT
sc-156	299	1	score	score	VERB
sc-156	300	1	+	+	NOUN
sc-156	300	2	=	=	SYM
sc-156	300	3	s1+bids[i]-s	s1+bids[i]-s	NUM
sc-156	300	4	19	19	NUM
sc-156	300	5	agents	agent	NOUN
sc-156	300	6	[	[	PUNCT
sc-156	300	7	winner	winner	NOUN
sc-156	300	8	]	]	PUNCT
sc-156	300	9	.	.	PUNCT
sc-156	301	1	life	life	NOUN
sc-156	301	2	-=	-=	VERB
sc-156	301	3	dist[i	dist[i	PROPN
sc-156	301	4	]	]	X
sc-156	301	5	*	*	PUNCT
sc-156	301	6	discharge_rate	discharge_rate	ADJ
sc-156	301	7	20	20	NUM
sc-156	301	8	agents	agent	NOUN
sc-156	301	9	[	[	PUNCT
sc-156	301	10	winner	winner	NOUN
sc-156	301	11	]	]	PUNCT
sc-156	301	12	.	.	PUNCT
sc-156	302	1	pos	po	NOUN
sc-156	302	2	=	=	PRON
sc-156	302	3	task[i%m	task[i%m	X
sc-156	302	4	]	]	X
sc-156	302	5	the	the	DET
sc-156	302	6	pricing	pricing	NOUN
sc-156	302	7	score	score	NOUN
sc-156	302	8	attained	attain	VERB
sc-156	302	9	after	after	SCONJ
sc-156	302	10	multiple	multiple	ADJ
sc-156	302	11	rounds	round	NOUN
sc-156	302	12	may	may	AUX
sc-156	302	13	be	be	AUX
sc-156	302	14	used	use	VERB
sc-156	302	15	by	by	ADP
sc-156	302	16	agents	agent	NOUN
sc-156	302	17	to	to	PART
sc-156	302	18	re	re	VERB
sc-156	302	19	-	-	NOUN
sc-156	302	20	charge	charge	ADJ
sc-156	302	21	batteries	battery	NOUN
sc-156	302	22	at	at	ADP
sc-156	302	23	the	the	DET
sc-156	302	24	battery	battery	NOUN
sc-156	302	25	charging	charge	VERB
sc-156	302	26	stations	station	NOUN
sc-156	302	27	(	(	PUNCT
sc-156	302	28	fig	fig	NOUN
sc-156	302	29	.	.	PUNCT
sc-156	303	1	1	1	NUM
sc-156	303	2	)	)	PUNCT
sc-156	303	3	.	.	PUNCT
sc-156	304	1	it	it	PRON
sc-156	304	2	would	would	AUX
sc-156	304	3	be	be	AUX
sc-156	304	4	advantageous	advantageous	ADJ
sc-156	304	5	for	for	SCONJ
sc-156	304	6	individual	individual	ADJ
sc-156	304	7	agents	agent	NOUN
sc-156	304	8	to	to	PART
sc-156	304	9	secure	secure	VERB
sc-156	304	10	maximum	maximum	ADJ
sc-156	304	11	pricing	pricing	NOUN
sc-156	304	12	scores	score	NOUN
sc-156	304	13	for	for	ADP
sc-156	304	14	8	8	NUM
sc-156	304	15	eai	eai	NOUN
sc-156	304	16	endorsed	endorse	VERB
sc-156	304	17	transactions	transaction	NOUN
sc-156	304	18	on	on	ADP
sc-156	304	19	smart	smart	ADJ
sc-156	304	20	cities	city	NOUN
sc-156	304	21	10	10	NUM
sc-156	304	22	2021	2021	NUM
sc-156	304	23	03	03	NUM
sc-156	304	24	2022	2022	NUM
sc-156	304	25	|	|	ADV
sc-156	304	26	volume	volume	NOUN
sc-156	304	27	6	6	NUM
sc-156	304	28	|	|	NOUN
sc-156	304	29	issue	issue	NOUN
sc-156	304	30	17	17	NUM
sc-156	304	31	|	|	NOUN
sc-156	304	32	e2	e2	NOUN
sc-156	304	33	aspects	aspect	NOUN
sc-156	304	34	of	of	ADP
sc-156	304	35	mechanism	mechanism	NOUN
sc-156	304	36	design	design	NOUN
sc-156	304	37	for	for	ADP
sc-156	304	38	industry	industry	NOUN
sc-156	304	39	4.0	4.0	NUM
sc-156	304	40	multi	multi	ADJ
sc-156	304	41	-	-	ADJ
sc-156	304	42	robot	robot	ADJ
sc-156	304	43	task	task	NOUN
sc-156	304	44	auctioning	auction	VERB
sc-156	304	45	minimal	minimal	ADJ
sc-156	304	46	work	work	NOUN
sc-156	304	47	done	do	VERB
sc-156	304	48	;	;	PUNCT
sc-156	304	49	it	it	PRON
sc-156	304	50	is	be	AUX
sc-156	304	51	the	the	DET
sc-156	304	52	responsibility	responsibility	NOUN
sc-156	304	53	of	of	ADP
sc-156	304	54	a	a	DET
sc-156	304	55	good	good	ADJ
sc-156	304	56	mechanism	mechanism	NOUN
sc-156	304	57	to	to	PART
sc-156	304	58	identify	identify	VERB
sc-156	304	59	these	these	DET
sc-156	304	60	scenarios	scenario	NOUN
sc-156	304	61	and	and	CCONJ
sc-156	304	62	award	award	NOUN
sc-156	304	63	scores	score	NOUN
sc-156	304	64	fairly	fairly	ADV
sc-156	304	65	.	.	PUNCT
sc-156	305	1	multiple	multiple	ADJ
sc-156	305	2	scenarios	scenario	NOUN
sc-156	305	3	involving	involve	VERB
sc-156	305	4	such	such	ADJ
sc-156	305	5	multi	multi	ADJ
sc-156	305	6	-	-	ADJ
sc-156	305	7	agent	agent	ADJ
sc-156	305	8	task	task	NOUN
sc-156	305	9	auctions	auction	NOUN
sc-156	305	10	are	be	AUX
sc-156	305	11	analyzed	analyze	VERB
sc-156	305	12	via	via	ADP
sc-156	305	13	simulations	simulation	NOUN
sc-156	305	14	in	in	ADP
sc-156	305	15	the	the	DET
sc-156	305	16	next	next	ADJ
sc-156	305	17	section	section	NOUN
sc-156	305	18	.	.	PUNCT
sc-156	306	1	in	in	ADP
sc-156	306	2	the	the	DET
sc-156	306	3	case	case	NOUN
sc-156	306	4	of	of	ADP
sc-156	306	5	our	our	PRON
sc-156	306	6	mechanism	mechanism	NOUN
sc-156	306	7	design	design	NOUN
sc-156	306	8	,	,	PUNCT
sc-156	306	9	the	the	DET
sc-156	306	10	agents	agent	NOUN
sc-156	306	11	can	can	AUX
sc-156	306	12	bid	bid	VERB
sc-156	306	13	for	for	ADP
sc-156	306	14	tasks	task	NOUN
sc-156	306	15	using	use	VERB
sc-156	306	16	their	their	PRON
sc-156	306	17	estimates	estimate	NOUN
sc-156	306	18	of	of	ADP
sc-156	306	19	bid	bid	NOUN
sc-156	306	20	valuations	valuation	NOUN
sc-156	306	21	.	.	PUNCT
sc-156	307	1	an	an	DET
sc-156	307	2	awarded	award	VERB
sc-156	307	3	bid	bid	NOUN
sc-156	307	4	results	result	NOUN
sc-156	307	5	in	in	ADP
sc-156	307	6	payment	payment	NOUN
sc-156	307	7	in	in	ADP
sc-156	307	8	the	the	DET
sc-156	307	9	form	form	NOUN
sc-156	307	10	of	of	ADP
sc-156	307	11	point	point	NOUN
sc-156	307	12	scores	score	NOUN
sc-156	307	13	–	–	PUNCT
sc-156	307	14	this	this	PRON
sc-156	307	15	may	may	AUX
sc-156	307	16	be	be	AUX
sc-156	307	17	redeemed	redeem	VERB
sc-156	307	18	by	by	ADP
sc-156	307	19	agents	agent	NOUN
sc-156	307	20	to	to	PART
sc-156	307	21	charge	charge	VERB
sc-156	307	22	batteries	battery	NOUN
sc-156	307	23	(	(	PUNCT
sc-156	307	24	readers	reader	NOUN
sc-156	307	25	may	may	AUX
sc-156	307	26	notice	notice	VERB
sc-156	307	27	similarity	similarity	NOUN
sc-156	307	28	with	with	ADP
sc-156	307	29	prices	price	NOUN
sc-156	307	30	paid	pay	VERB
sc-156	307	31	to	to	ADP
sc-156	307	32	human	human	ADJ
sc-156	307	33	agents	agent	NOUN
sc-156	307	34	for	for	ADP
sc-156	307	35	tasks	task	NOUN
sc-156	307	36	)	)	PUNCT
sc-156	307	37	.	.	PUNCT
sc-156	308	1	our	our	PRON
sc-156	308	2	approach	approach	NOUN
sc-156	308	3	is	be	AUX
sc-156	308	4	decentralized	decentralize	VERB
sc-156	308	5	,	,	PUNCT
sc-156	308	6	wherein	wherein	SCONJ
sc-156	308	7	all	all	DET
sc-156	308	8	the	the	DET
sc-156	308	9	bidders	bidder	NOUN
sc-156	308	10	compute	compute	VERB
sc-156	308	11	their	their	PRON
sc-156	308	12	bids	bid	NOUN
sc-156	308	13	in	in	ADP
sc-156	308	14	parallel	parallel	NOUN
sc-156	308	15	and	and	CCONJ
sc-156	308	16	then	then	ADV
sc-156	308	17	pass	pass	VERB
sc-156	308	18	it	it	PRON
sc-156	308	19	to	to	ADP
sc-156	308	20	the	the	DET
sc-156	308	21	central	central	ADJ
sc-156	308	22	system	system	NOUN
sc-156	308	23	.	.	PUNCT
sc-156	309	1	this	this	PRON
sc-156	309	2	is	be	AUX
sc-156	309	3	different	different	ADJ
sc-156	309	4	when	when	SCONJ
sc-156	309	5	compared	compare	VERB
sc-156	309	6	to	to	ADP
sc-156	309	7	a	a	DET
sc-156	309	8	centralized	centralized	ADJ
sc-156	309	9	task	task	NOUN
sc-156	309	10	allocation	allocation	NOUN
sc-156	309	11	process	process	NOUN
sc-156	309	12	,	,	PUNCT
sc-156	309	13	where	where	SCONJ
sc-156	309	14	it	it	PRON
sc-156	309	15	would	would	AUX
sc-156	309	16	be	be	AUX
sc-156	309	17	the	the	DET
sc-156	309	18	central	central	ADJ
sc-156	309	19	system	system	NOUN
sc-156	309	20	’s	’s	PART
sc-156	309	21	responsibility	responsibility	NOUN
sc-156	309	22	to	to	PART
sc-156	309	23	compute	compute	VERB
sc-156	309	24	these	these	DET
sc-156	309	25	allocations	allocation	NOUN
sc-156	309	26	in	in	ADP
sc-156	309	27	a	a	DET
sc-156	309	28	sequential	sequential	ADJ
sc-156	309	29	manner	manner	NOUN
sc-156	309	30	.	.	PUNCT
sc-156	310	1	if	if	SCONJ
sc-156	310	2	t1(m	t1(m	PROPN
sc-156	310	3	)	)	PUNCT
sc-156	310	4	denotes	denote	NOUN
sc-156	310	5	the	the	DET
sc-156	310	6	time	time	NOUN
sc-156	310	7	taken	take	VERB
sc-156	310	8	to	to	PART
sc-156	310	9	calculate	calculate	VERB
sc-156	310	10	the	the	DET
sc-156	310	11	bids	bid	NOUN
sc-156	310	12	(	(	PUNCT
sc-156	310	13	optimization	optimization	NOUN
sc-156	310	14	problem	problem	NOUN
sc-156	310	15	for	for	ADP
sc-156	310	16	a	a	DET
sc-156	310	17	particular	particular	ADJ
sc-156	310	18	agent	agent	NOUN
sc-156	310	19	)	)	PUNCT
sc-156	310	20	and	and	CCONJ
sc-156	310	21	t2(l	t2(l	PROPN
sc-156	310	22	,	,	PUNCT
sc-156	310	23	n	n	CCONJ
sc-156	310	24	,	,	PUNCT
sc-156	310	25	m	m	VERB
sc-156	310	26	)	)	PUNCT
sc-156	310	27	be	be	VERB
sc-156	310	28	the	the	DET
sc-156	310	29	time	time	NOUN
sc-156	310	30	taken	take	VERB
sc-156	310	31	to	to	PART
sc-156	310	32	solve	solve	VERB
sc-156	310	33	the	the	DET
sc-156	310	34	winner	winner	NOUN
sc-156	310	35	determination	determination	NOUN
sc-156	310	36	problem	problem	NOUN
sc-156	310	37	,	,	PUNCT
sc-156	310	38	then	then	ADV
sc-156	310	39	the	the	DET
sc-156	310	40	overall	overall	ADJ
sc-156	310	41	time	time	NOUN
sc-156	310	42	complexity	complexity	NOUN
sc-156	310	43	for	for	ADP
sc-156	310	44	the	the	DET
sc-156	310	45	two	two	NUM
sc-156	310	46	approaches	approach	NOUN
sc-156	310	47	are	be	AUX
sc-156	310	48	:	:	PUNCT
sc-156	310	49	1	1	X
sc-156	310	50	.	.	X
sc-156	310	51	centralized	centralize	VERB
sc-156	310	52	:	:	PUNCT
sc-156	310	53	n×	n×	PROPN
sc-156	310	54	t1(m	t1(m	NOUN
sc-156	310	55	)	)	PUNCT
sc-156	310	56	+	+	X
sc-156	311	1	t2(l	t2(l	PROPN
sc-156	311	2	,	,	PUNCT
sc-156	311	3	n	n	CCONJ
sc-156	311	4	,	,	PUNCT
sc-156	311	5	m	m	NOUN
sc-156	311	6	)	)	PUNCT
sc-156	311	7	2	2	NUM
sc-156	311	8	.	.	PUNCT
sc-156	311	9	decentralized	decentralize	VERB
sc-156	311	10	:	:	PUNCT
sc-156	312	1	t1(m	t1(m	X
sc-156	312	2	)	)	PUNCT
sc-156	312	3	+	+	CCONJ
sc-156	312	4	t2(l	t2(l	PROPN
sc-156	312	5	,	,	PUNCT
sc-156	312	6	n	n	CCONJ
sc-156	312	7	,	,	PUNCT
sc-156	312	8	m	m	NOUN
sc-156	312	9	)	)	PUNCT
sc-156	312	10	thus	thus	ADV
sc-156	312	11	,	,	PUNCT
sc-156	312	12	the	the	DET
sc-156	312	13	computational	computational	ADJ
sc-156	312	14	time	time	NOUN
sc-156	312	15	complexity	complexity	NOUN
sc-156	312	16	reduces	reduce	VERB
sc-156	312	17	significantly	significantly	ADV
sc-156	312	18	for	for	ADP
sc-156	312	19	higher	high	ADJ
sc-156	312	20	number	number	NOUN
sc-156	312	21	of	of	ADP
sc-156	312	22	agents	agent	NOUN
sc-156	312	23	.	.	PUNCT
sc-156	313	1	6	6	X
sc-156	313	2	.	.	X
sc-156	313	3	simulation	simulation	NOUN
sc-156	313	4	results	result	NOUN
sc-156	313	5	we	we	PRON
sc-156	313	6	study	study	VERB
sc-156	313	7	the	the	DET
sc-156	313	8	effects	effect	NOUN
sc-156	313	9	of	of	ADP
sc-156	313	10	varying	vary	VERB
sc-156	313	11	mechanism	mechanism	NOUN
sc-156	313	12	designs	design	NOUN
sc-156	313	13	on	on	ADP
sc-156	313	14	the	the	DET
sc-156	313	15	industry	industry	NOUN
sc-156	313	16	4.0	4.0	NUM
sc-156	313	17	warehouse	warehouse	NOUN
sc-156	313	18	demand	demand	NOUN
sc-156	313	19	auctioning	auctioning	NOUN
sc-156	313	20	process	process	NOUN
sc-156	313	21	(	(	PUNCT
sc-156	313	22	fig	fig	NOUN
sc-156	313	23	.	.	PUNCT
sc-156	314	1	1	1	NUM
sc-156	314	2	)	)	PUNCT
sc-156	314	3	.	.	PUNCT
sc-156	315	1	we	we	PRON
sc-156	315	2	have	have	AUX
sc-156	315	3	considered	consider	VERB
sc-156	315	4	a	a	DET
sc-156	315	5	grid	grid	NOUN
sc-156	315	6	size	size	NOUN
sc-156	315	7	of	of	ADP
sc-156	315	8	100×	100×	PROPN
sc-156	315	9	100	100	NUM
sc-156	315	10	m.	m.	NOUN
sc-156	315	11	in	in	ADP
sc-156	315	12	all	all	DET
sc-156	315	13	our	our	PRON
sc-156	315	14	simulations	simulation	NOUN
sc-156	315	15	we	we	PRON
sc-156	315	16	consider	consider	VERB
sc-156	315	17	50	50	NUM
sc-156	315	18	iterations(unless	iterations(unless	ADV
sc-156	315	19	specified	specify	VERB
sc-156	315	20	)	)	PUNCT
sc-156	315	21	.	.	PUNCT
sc-156	316	1	in	in	ADP
sc-156	316	2	each	each	DET
sc-156	316	3	iteration	iteration	NOUN
sc-156	316	4	there	there	PRON
sc-156	316	5	are	be	VERB
sc-156	316	6	m	m	PROPN
sc-156	316	7	task	task	NOUN
sc-156	316	8	locations	location	NOUN
sc-156	316	9	generated	generate	VERB
sc-156	316	10	from	from	ADP
sc-156	316	11	a	a	DET
sc-156	316	12	uniform	uniform	ADJ
sc-156	316	13	distribution	distribution	NOUN
sc-156	316	14	.	.	PUNCT
sc-156	317	1	the	the	DET
sc-156	317	2	initial	initial	ADJ
sc-156	317	3	battery	battery	NOUN
sc-156	317	4	capacity	capacity	NOUN
sc-156	317	5	is	be	AUX
sc-156	317	6	100	100	NUM
sc-156	317	7	%	%	NOUN
sc-156	317	8	and	and	CCONJ
sc-156	317	9	the	the	DET
sc-156	317	10	discharge	discharge	NOUN
sc-156	317	11	rate	rate	NOUN
sc-156	317	12	of	of	ADP
sc-156	317	13	the	the	DET
sc-156	317	14	battery	battery	NOUN
sc-156	317	15	is	be	AUX
sc-156	317	16	0.1	0.1	NUM
sc-156	317	17	/	/	SYM
sc-156	317	18	m.	m.	NOUN
sc-156	317	19	if	if	SCONJ
sc-156	317	20	there	there	PRON
sc-156	317	21	is	be	VERB
sc-156	317	22	a	a	DET
sc-156	317	23	particular	particular	ADJ
sc-156	317	24	task	task	NOUN
sc-156	317	25	which	which	PRON
sc-156	317	26	a	a	DET
sc-156	317	27	agent	agent	NOUN
sc-156	317	28	will	will	AUX
sc-156	317	29	not	not	PART
sc-156	317	30	be	be	AUX
sc-156	317	31	able	able	ADJ
sc-156	317	32	to	to	PART
sc-156	317	33	complete	complete	VERB
sc-156	317	34	(	(	PUNCT
sc-156	317	35	due	due	ADP
sc-156	317	36	to	to	ADP
sc-156	317	37	its	its	PRON
sc-156	317	38	low	low	ADJ
sc-156	317	39	battery	battery	NOUN
sc-156	317	40	)	)	PUNCT
sc-156	317	41	,	,	PUNCT
sc-156	317	42	it	it	PRON
sc-156	317	43	does	do	AUX
sc-156	317	44	not	not	PART
sc-156	317	45	participate	participate	VERB
sc-156	317	46	in	in	ADP
sc-156	317	47	the	the	DET
sc-156	317	48	auctioning	auctioning	NOUN
sc-156	317	49	process	process	NOUN
sc-156	317	50	.	.	PUNCT
sc-156	318	1	only	only	ADV
sc-156	318	2	after	after	ADP
sc-156	318	3	exchanging	exchange	VERB
sc-156	318	4	obtained	obtain	VERB
sc-156	318	5	processing	processing	NOUN
sc-156	318	6	scores	score	NOUN
sc-156	318	7	for	for	ADP
sc-156	318	8	re	re	VERB
sc-156	318	9	-	-	VERB
sc-156	318	10	charging	charge	VERB
sc-156	318	11	battery	battery	NOUN
sc-156	318	12	station	station	NOUN
sc-156	318	13	times	time	NOUN
sc-156	318	14	can	can	AUX
sc-156	318	15	the	the	DET
sc-156	318	16	discharged	discharge	VERB
sc-156	318	17	agent	agent	NOUN
sc-156	318	18	participate	participate	VERB
sc-156	318	19	in	in	ADP
sc-156	318	20	the	the	DET
sc-156	318	21	bidding	bidding	NOUN
sc-156	318	22	process	process	NOUN
sc-156	318	23	.	.	PUNCT
sc-156	319	1	thus	thus	ADV
sc-156	319	2	,	,	PUNCT
sc-156	319	3	it	it	PRON
sc-156	319	4	is	be	AUX
sc-156	319	5	imperative	imperative	ADJ
sc-156	319	6	for	for	SCONJ
sc-156	319	7	agents	agent	NOUN
sc-156	319	8	to	to	PART
sc-156	319	9	have	have	VERB
sc-156	319	10	sufficient	sufficient	ADJ
sc-156	319	11	battery	battery	NOUN
sc-156	319	12	capacities	capacity	NOUN
sc-156	319	13	to	to	PART
sc-156	319	14	complete	complete	VERB
sc-156	319	15	tasks	task	NOUN
sc-156	319	16	.	.	PUNCT
sc-156	320	1	every	every	DET
sc-156	320	2	simulated	simulate	VERB
sc-156	320	3	case	case	NOUN
sc-156	320	4	has	have	VERB
sc-156	320	5	two	two	NUM
sc-156	320	6	sub	sub	NOUN
sc-156	320	7	-	-	NOUN
sc-156	320	8	parts	part	NOUN
sc-156	320	9	:	:	PUNCT
sc-156	320	10	(	(	PUNCT
sc-156	320	11	i	i	NOUN
sc-156	320	12	)	)	PUNCT
sc-156	320	13	each	each	DET
sc-156	320	14	agent	agent	NOUN
sc-156	320	15	bids	bid	VERB
sc-156	320	16	the	the	DET
sc-156	320	17	truthful	truthful	ADJ
sc-156	320	18	valuation	valuation	NOUN
sc-156	320	19	that	that	PRON
sc-156	320	20	is	be	AUX
sc-156	320	21	estimated	estimate	VERB
sc-156	320	22	–	–	PUNCT
sc-156	320	23	this	this	PRON
sc-156	320	24	is	be	AUX
sc-156	320	25	an	an	DET
sc-156	320	26	estimate	estimate	NOUN
sc-156	320	27	of	of	ADP
sc-156	320	28	the	the	DET
sc-156	320	29	line	line	NOUN
sc-156	320	30	of	of	ADP
sc-156	320	31	sight	sight	NOUN
sc-156	320	32	distance	distance	NOUN
sc-156	320	33	needed	need	VERB
sc-156	320	34	to	to	PART
sc-156	320	35	move	move	VERB
sc-156	320	36	to	to	ADP
sc-156	320	37	the	the	DET
sc-156	320	38	task	task	NOUN
sc-156	320	39	location	location	NOUN
sc-156	320	40	and	and	CCONJ
sc-156	320	41	corresponding	correspond	VERB
sc-156	320	42	battery	battery	NOUN
sc-156	320	43	usage	usage	NOUN
sc-156	320	44	(	(	PUNCT
sc-156	320	45	ii	ii	NOUN
sc-156	320	46	)	)	PUNCT
sc-156	320	47	some	some	DET
sc-156	320	48	agents	agent	NOUN
sc-156	320	49	provide	provide	VERB
sc-156	320	50	erroneous	erroneous	ADJ
sc-156	320	51	bids	bid	NOUN
sc-156	320	52	–	–	PUNCT
sc-156	320	53	under	under	ADV
sc-156	320	54	/	/	PUNCT
sc-156	320	55	overestimating	overestimate	VERB
sc-156	320	56	the	the	DET
sc-156	320	57	tasks	task	NOUN
sc-156	320	58	so	so	SCONJ
sc-156	320	59	as	as	SCONJ
sc-156	320	60	to	to	PART
sc-156	320	61	gain	gain	VERB
sc-156	320	62	a	a	DET
sc-156	320	63	foothold	foothold	NOUN
sc-156	320	64	on	on	ADP
sc-156	320	65	the	the	DET
sc-156	320	66	auction	auction	NOUN
sc-156	320	67	.	.	PUNCT
sc-156	321	1	it	it	PRON
sc-156	321	2	is	be	AUX
sc-156	321	3	the	the	DET
sc-156	321	4	goal	goal	NOUN
sc-156	321	5	of	of	ADP
sc-156	321	6	the	the	DET
sc-156	321	7	mechanism	mechanism	NOUN
sc-156	321	8	design	design	NOUN
sc-156	321	9	to	to	PART
sc-156	321	10	study	study	VERB
sc-156	321	11	and	and	CCONJ
sc-156	321	12	analyse	analyse	VERB
sc-156	321	13	varied	varied	ADJ
sc-156	321	14	situations	situation	NOUN
sc-156	321	15	that	that	PRON
sc-156	321	16	can	can	AUX
sc-156	321	17	occur	occur	VERB
sc-156	321	18	in	in	ADP
sc-156	321	19	industry	industry	NOUN
sc-156	321	20	4.0	4.0	NUM
sc-156	321	21	autonomous	autonomous	ADJ
sc-156	321	22	task	task	NOUN
sc-156	321	23	auctions	auction	NOUN
sc-156	321	24	.	.	PUNCT
sc-156	322	1	6.1	6.1	NUM
sc-156	322	2	.	.	PUNCT
sc-156	322	3	case	case	NOUN
sc-156	322	4	1	1	NUM
sc-156	322	5	:	:	PUNCT
sc-156	322	6	homogeneous	homogeneous	ADJ
sc-156	322	7	agent	agent	NOUN
sc-156	322	8	capacities	capacity	NOUN
sc-156	322	9	–	–	PUNCT
sc-156	322	10	individual	individual	ADJ
sc-156	322	11	task	task	NOUN
sc-156	322	12	bids	bid	NOUN
sc-156	322	13	.	.	PUNCT
sc-156	323	1	the	the	DET
sc-156	323	2	first	first	ADJ
sc-156	323	3	case	case	NOUN
sc-156	323	4	considered	consider	VERB
sc-156	323	5	is	be	AUX
sc-156	323	6	with	with	ADP
sc-156	323	7	homogeneous	homogeneous	ADJ
sc-156	323	8	agent	agent	NOUN
sc-156	323	9	task	task	NOUN
sc-156	323	10	capacities	capacity	NOUN
sc-156	323	11	.	.	PUNCT
sc-156	324	1	the	the	DET
sc-156	324	2	agents	agent	NOUN
sc-156	324	3	bid	bid	VERB
sc-156	324	4	individually	individually	ADV
sc-156	324	5	for	for	ADP
sc-156	324	6	all	all	DET
sc-156	324	7	tasks	task	NOUN
sc-156	324	8	,	,	PUNCT
sc-156	324	9	resulting	result	VERB
sc-156	324	10	in	in	ADP
sc-156	324	11	a	a	DET
sc-156	324	12	total	total	NOUN
sc-156	324	13	of	of	ADP
sc-156	324	14	m×	m×	PROPN
sc-156	324	15	n	n	PRON
sc-156	324	16	bids	bid	NOUN
sc-156	324	17	.	.	PUNCT
sc-156	325	1	fig	fig	NOUN
sc-156	325	2	.	.	PUNCT
sc-156	326	1	2	2	NUM
sc-156	326	2	(	(	PUNCT
sc-156	326	3	a)(b	a)(b	ADJ
sc-156	326	4	)	)	PUNCT
sc-156	326	5	show	show	VERB
sc-156	326	6	the	the	DET
sc-156	326	7	final	final	ADJ
sc-156	326	8	scores	score	NOUN
sc-156	326	9	of	of	ADP
sc-156	326	10	10	10	NUM
sc-156	326	11	agents	agent	NOUN
sc-156	326	12	after	after	ADP
sc-156	326	13	50	50	NUM
sc-156	326	14	iterations	iteration	NOUN
sc-156	326	15	of	of	ADP
sc-156	326	16	task	task	NOUN
sc-156	326	17	bids	bid	NOUN
sc-156	326	18	.	.	PUNCT
sc-156	327	1	when	when	SCONJ
sc-156	327	2	all	all	DET
sc-156	327	3	agents	agent	NOUN
sc-156	327	4	provide	provide	VERB
sc-156	327	5	accurate	accurate	ADJ
sc-156	327	6	bids	bid	NOUN
sc-156	327	7	,	,	PUNCT
sc-156	327	8	the	the	DET
sc-156	327	9	final	final	ADJ
sc-156	327	10	scores	score	NOUN
sc-156	327	11	of	of	ADP
sc-156	327	12	all	all	DET
sc-156	327	13	agents	agent	NOUN
sc-156	327	14	are	be	AUX
sc-156	327	15	uniformly	uniformly	ADV
sc-156	327	16	distributed	distribute	VERB
sc-156	327	17	,	,	PUNCT
sc-156	327	18	and	and	CCONJ
sc-156	327	19	the	the	DET
sc-156	327	20	difference	difference	NOUN
sc-156	327	21	between	between	ADP
sc-156	327	22	min	min	ADJ
sc-156	327	23	-	-	ADJ
sc-156	327	24	median	median	ADJ
sc-156	327	25	-	-	PUNCT
sc-156	327	26	max	max	PROPN
sc-156	327	27	agent	agent	NOUN
sc-156	327	28	’s	’s	PART
sc-156	327	29	cumulative	cumulative	ADJ
sc-156	327	30	scores	score	NOUN
sc-156	327	31	are	be	AUX
sc-156	327	32	also	also	ADV
sc-156	327	33	uniformly	uniformly	ADV
sc-156	327	34	distributed	distribute	VERB
sc-156	327	35	.	.	PUNCT
sc-156	328	1	on	on	ADP
sc-156	328	2	the	the	DET
sc-156	328	3	other	other	ADJ
sc-156	328	4	hand	hand	NOUN
sc-156	328	5	,	,	PUNCT
sc-156	328	6	in	in	ADP
sc-156	328	7	fig	fig	NOUN
sc-156	328	8	.	.	PUNCT
sc-156	328	9	2	2	NUM
sc-156	328	10	(	(	PUNCT
sc-156	328	11	c)(d	c)(d	NOUN
sc-156	328	12	)	)	PUNCT
sc-156	328	13	when	when	SCONJ
sc-156	328	14	there	there	PRON
sc-156	328	15	are	be	VERB
sc-156	328	16	5	5	NUM
sc-156	328	17	agents	agent	NOUN
sc-156	328	18	providing	provide	VERB
sc-156	328	19	erroneous	erroneous	ADJ
sc-156	328	20	estimates	estimate	NOUN
sc-156	328	21	.	.	PUNCT
sc-156	329	1	we	we	PRON
sc-156	329	2	notice	notice	VERB
sc-156	329	3	that	that	SCONJ
sc-156	329	4	there	there	PRON
sc-156	329	5	is	be	VERB
sc-156	329	6	a	a	DET
sc-156	329	7	clear	clear	ADJ
sc-156	329	8	separation	separation	NOUN
sc-156	329	9	in	in	ADP
sc-156	329	10	agent	agent	NOUN
sc-156	329	11	scores	score	NOUN
sc-156	329	12	–	–	PUNCT
sc-156	329	13	the	the	DET
sc-156	329	14	agents	agent	NOUN
sc-156	329	15	who	who	PRON
sc-156	329	16	provide	provide	VERB
sc-156	329	17	erroneous	erroneous	ADJ
sc-156	329	18	estimates	estimate	NOUN
sc-156	329	19	have	have	VERB
sc-156	329	20	a	a	DET
sc-156	329	21	relatively	relatively	ADV
sc-156	329	22	lower	low	ADJ
sc-156	329	23	score	score	NOUN
sc-156	329	24	after	after	ADP
sc-156	329	25	50	50	NUM
sc-156	329	26	iterations	iteration	NOUN
sc-156	329	27	.	.	PUNCT
sc-156	330	1	this	this	PRON
sc-156	330	2	clearly	clearly	ADV
sc-156	330	3	demonstrates	demonstrate	VERB
sc-156	330	4	the	the	DET
sc-156	330	5	efficacy	efficacy	NOUN
sc-156	330	6	of	of	ADP
sc-156	330	7	the	the	DET
sc-156	330	8	vcg	vcg	NOUN
sc-156	330	9	mechanism	mechanism	NOUN
sc-156	330	10	–	–	PUNCT
sc-156	330	11	agents	agent	NOUN
sc-156	330	12	have	have	VERB
sc-156	330	13	an	an	DET
sc-156	330	14	incentive	incentive	NOUN
sc-156	330	15	to	to	PART
sc-156	330	16	provide	provide	VERB
sc-156	330	17	correct	correct	ADJ
sc-156	330	18	(	(	PUNCT
sc-156	330	19	truthful	truthful	ADJ
sc-156	330	20	)	)	PUNCT
sc-156	330	21	estimates	estimate	NOUN
sc-156	330	22	in	in	ADP
sc-156	330	23	order	order	NOUN
sc-156	330	24	to	to	PART
sc-156	330	25	obtain	obtain	VERB
sc-156	330	26	better	well	ADJ
sc-156	330	27	scores	score	NOUN
sc-156	330	28	.	.	PUNCT
sc-156	331	1	6.2	6.2	NUM
sc-156	331	2	.	.	PUNCT
sc-156	331	3	case	case	NOUN
sc-156	331	4	2	2	NUM
sc-156	331	5	:	:	PUNCT
sc-156	331	6	heterogeneous	heterogeneous	ADJ
sc-156	331	7	agent	agent	NOUN
sc-156	331	8	capacities	capacity	NOUN
sc-156	331	9	–	–	PUNCT
sc-156	331	10	individual	individual	ADJ
sc-156	331	11	task	task	NOUN
sc-156	331	12	bids	bid	NOUN
sc-156	331	13	.	.	PUNCT
sc-156	332	1	in	in	ADP
sc-156	332	2	this	this	DET
sc-156	332	3	case	case	NOUN
sc-156	332	4	,	,	PUNCT
sc-156	332	5	we	we	PRON
sc-156	332	6	introduce	introduce	VERB
sc-156	332	7	heterogeneous	heterogeneous	ADJ
sc-156	332	8	tasks	task	NOUN
sc-156	332	9	–	–	PUNCT
sc-156	332	10	there	there	PRON
sc-156	332	11	are	be	VERB
sc-156	332	12	two	two	NUM
sc-156	332	13	types	type	NOUN
sc-156	332	14	of	of	ADP
sc-156	332	15	tasks	task	NOUN
sc-156	332	16	,	,	PUNCT
sc-156	332	17	light	light	ADJ
sc-156	332	18	-	-	PUNCT
sc-156	332	19	weight	weight	NOUN
sc-156	332	20	and	and	CCONJ
sc-156	332	21	heavy	heavy	ADJ
sc-156	332	22	-	-	PUNCT
sc-156	332	23	weight	weight	NOUN
sc-156	332	24	.	.	PUNCT
sc-156	333	1	the	the	DET
sc-156	333	2	agents	agent	NOUN
sc-156	333	3	are	be	AUX
sc-156	333	4	also	also	ADV
sc-156	333	5	divided	divide	VERB
sc-156	333	6	into	into	ADP
sc-156	333	7	types	type	NOUN
sc-156	333	8	one	one	NUM
sc-156	333	9	who	who	PRON
sc-156	333	10	can	can	AUX
sc-156	333	11	perform	perform	VERB
sc-156	333	12	only	only	ADV
sc-156	333	13	light	light	ADJ
sc-156	333	14	-	-	PUNCT
sc-156	333	15	weight	weight	NOUN
sc-156	333	16	tasks	task	NOUN
sc-156	333	17	and	and	CCONJ
sc-156	333	18	the	the	DET
sc-156	333	19	others	other	NOUN
sc-156	333	20	who	who	PRON
sc-156	333	21	can	can	AUX
sc-156	333	22	do	do	VERB
sc-156	333	23	both	both	PRON
sc-156	333	24	.	.	PUNCT
sc-156	334	1	we	we	PRON
sc-156	334	2	consider	consider	VERB
sc-156	334	3	that	that	SCONJ
sc-156	334	4	the	the	DET
sc-156	334	5	first	first	ADJ
sc-156	334	6	five	five	NUM
sc-156	334	7	agents	agent	NOUN
sc-156	334	8	can	can	AUX
sc-156	334	9	do	do	VERB
sc-156	334	10	only	only	ADV
sc-156	334	11	lightweight	lightweight	VERB
sc-156	334	12	tasks	task	NOUN
sc-156	334	13	,	,	PUNCT
sc-156	334	14	and	and	CCONJ
sc-156	334	15	others	other	NOUN
sc-156	334	16	that	that	PRON
sc-156	334	17	can	can	AUX
sc-156	334	18	do	do	VERB
sc-156	334	19	both	both	PRON
sc-156	334	20	.	.	PUNCT
sc-156	335	1	we	we	PRON
sc-156	335	2	can	can	AUX
sc-156	335	3	see	see	VERB
sc-156	335	4	in	in	ADP
sc-156	335	5	fig	fig	NOUN
sc-156	335	6	.	.	PUNCT
sc-156	336	1	3	3	NUM
sc-156	336	2	,	,	PUNCT
sc-156	336	3	the	the	DET
sc-156	336	4	mechanism	mechanism	NOUN
sc-156	336	5	ensures	ensure	VERB
sc-156	336	6	that	that	SCONJ
sc-156	336	7	the	the	DET
sc-156	336	8	agents	agent	NOUN
sc-156	336	9	who	who	PRON
sc-156	336	10	can	can	AUX
sc-156	336	11	do	do	VERB
sc-156	336	12	both	both	DET
sc-156	336	13	tasks	task	NOUN
sc-156	336	14	receive	receive	VERB
sc-156	336	15	superior	superior	ADJ
sc-156	336	16	scores	score	NOUN
sc-156	336	17	compared	compare	VERB
sc-156	336	18	to	to	ADP
sc-156	336	19	agents	agent	NOUN
sc-156	336	20	who	who	PRON
sc-156	336	21	do	do	VERB
sc-156	336	22	less	less	ADJ
sc-156	336	23	tasks	task	NOUN
sc-156	336	24	.	.	PUNCT
sc-156	337	1	6.3	6.3	NUM
sc-156	337	2	.	.	PUNCT
sc-156	337	3	case	case	NOUN
sc-156	337	4	3	3	NUM
sc-156	337	5	:	:	PUNCT
sc-156	337	6	homogeneous	homogeneous	ADJ
sc-156	337	7	agents	agent	NOUN
sc-156	337	8	bids	bid	NOUN
sc-156	337	9	for	for	ADP
sc-156	337	10	combinatorial	combinatorial	ADJ
sc-156	337	11	subsets	subset	NOUN
sc-156	337	12	of	of	ADP
sc-156	337	13	items	item	NOUN
sc-156	337	14	.	.	PUNCT
sc-156	338	1	we	we	PRON
sc-156	338	2	now	now	ADV
sc-156	338	3	introduce	introduce	VERB
sc-156	338	4	bidding	bidding	NOUN
sc-156	338	5	for	for	ADP
sc-156	338	6	a	a	DET
sc-156	338	7	combinatorial	combinatorial	ADJ
sc-156	338	8	subset	subset	NOUN
sc-156	338	9	of	of	ADP
sc-156	338	10	tasks	task	NOUN
sc-156	338	11	.	.	PUNCT
sc-156	339	1	there	there	PRON
sc-156	339	2	are	be	VERB
sc-156	339	3	at	at	ADP
sc-156	339	4	total	total	NOUN
sc-156	339	5	of	of	ADP
sc-156	339	6	m	m	PROPN
sc-156	339	7	available	available	ADJ
sc-156	339	8	tasks	task	NOUN
sc-156	339	9	resulting	result	VERB
sc-156	339	10	in	in	ADP
sc-156	339	11	2m−1	2m−1	NUM
sc-156	339	12	non	non	PRON
sc-156	339	13	empty	empty	ADJ
sc-156	339	14	subsets	subset	NOUN
sc-156	339	15	of	of	ADP
sc-156	339	16	tasks	task	NOUN
sc-156	339	17	.	.	PUNCT
sc-156	340	1	for	for	ADP
sc-156	340	2	each	each	DET
sc-156	340	3	agent	agent	NOUN
sc-156	340	4	we	we	PRON
sc-156	340	5	randomly	randomly	ADV
sc-156	340	6	choose	choose	VERB
sc-156	340	7	5	5	NUM
sc-156	340	8	possible	possible	ADJ
sc-156	340	9	subsets	subset	NOUN
sc-156	340	10	,	,	PUNCT
sc-156	340	11	and	and	CCONJ
sc-156	340	12	make	make	VERB
sc-156	340	13	the	the	DET
sc-156	340	14	agent	agent	NOUN
sc-156	340	15	bid	bid	NOUN
sc-156	340	16	for	for	ADP
sc-156	340	17	it	it	PRON
sc-156	340	18	.	.	PUNCT
sc-156	341	1	the	the	DET
sc-156	341	2	vcg	vcg	PROPN
sc-156	341	3	mechanism	mechanism	NOUN
sc-156	341	4	described	describe	VERB
sc-156	341	5	in	in	ADP
sc-156	341	6	section	section	NOUN
sc-156	341	7	5	5	NUM
sc-156	341	8	determines	determine	VERB
sc-156	341	9	the	the	DET
sc-156	341	10	winner	winner	NOUN
sc-156	341	11	.	.	PUNCT
sc-156	342	1	as	as	SCONJ
sc-156	342	2	seen	see	VERB
sc-156	342	3	in	in	ADP
sc-156	342	4	fig	fig	NOUN
sc-156	342	5	.	.	PUNCT
sc-156	343	1	4	4	NUM
sc-156	343	2	(	(	PUNCT
sc-156	343	3	a)(b	a)(b	NOUN
sc-156	343	4	)	)	PUNCT
sc-156	343	5	,	,	PUNCT
sc-156	343	6	the	the	DET
sc-156	343	7	total	total	ADJ
sc-156	343	8	score	score	NOUN
sc-156	343	9	of	of	ADP
sc-156	343	10	all	all	DET
sc-156	343	11	agents	agent	NOUN
sc-156	343	12	provided	provide	VERB
sc-156	343	13	due	due	ADP
sc-156	343	14	to	to	ADP
sc-156	343	15	the	the	DET
sc-156	343	16	composite	composite	ADJ
sc-156	343	17	nature	nature	NOUN
sc-156	343	18	of	of	ADP
sc-156	343	19	bids	bid	NOUN
sc-156	343	20	rises	rise	VERB
sc-156	343	21	,	,	PUNCT
sc-156	343	22	when	when	SCONJ
sc-156	343	23	compared	compare	VERB
sc-156	343	24	to	to	ADP
sc-156	343	25	fig	fig	NOUN
sc-156	343	26	.	.	PUNCT
sc-156	344	1	2	2	X
sc-156	344	2	.	.	X
sc-156	344	3	we	we	PRON
sc-156	344	4	also	also	ADV
sc-156	344	5	notice	notice	VERB
sc-156	344	6	similar	similar	ADJ
sc-156	344	7	results	result	NOUN
sc-156	344	8	when	when	SCONJ
sc-156	344	9	agents	agent	NOUN
sc-156	344	10	provide	provide	VERB
sc-156	344	11	erroneous	erroneous	ADJ
sc-156	344	12	estimates	estimate	NOUN
sc-156	344	13	in	in	ADP
sc-156	344	14	fig	fig	NOUN
sc-156	344	15	.	.	PUNCT
sc-156	345	1	4	4	NUM
sc-156	345	2	(	(	PUNCT
sc-156	345	3	c)(d	c)(d	PROPN
sc-156	345	4	)	)	PUNCT
sc-156	345	5	,	,	PUNCT
sc-156	345	6	with	with	ADP
sc-156	345	7	overbidding	overbid	VERB
sc-156	345	8	agents	agent	NOUN
sc-156	345	9	provided	provide	VERB
sc-156	345	10	lower	low	ADJ
sc-156	345	11	scores	score	NOUN
sc-156	345	12	.	.	PUNCT
sc-156	346	1	6.4	6.4	NUM
sc-156	346	2	.	.	PUNCT
sc-156	346	3	case	case	NOUN
sc-156	346	4	4	4	NUM
sc-156	346	5	:	:	PUNCT
sc-156	346	6	erroneous	erroneous	ADJ
sc-156	346	7	estimates	estimate	NOUN
sc-156	346	8	with	with	ADP
sc-156	346	9	collusion	collusion	NOUN
sc-156	346	10	.	.	PUNCT
sc-156	347	1	there	there	PRON
sc-156	347	2	are	be	VERB
sc-156	347	3	scenarios	scenario	NOUN
sc-156	347	4	where	where	SCONJ
sc-156	347	5	agents	agent	NOUN
sc-156	347	6	collude	collude	VERB
sc-156	347	7	together	together	ADV
sc-156	347	8	to	to	PART
sc-156	347	9	provide	provide	VERB
sc-156	347	10	erroneous	erroneous	ADJ
sc-156	347	11	estimates	estimate	NOUN
sc-156	347	12	[	[	X
sc-156	347	13	5	5	NUM
sc-156	347	14	]	]	PUNCT
sc-156	347	15	.	.	PUNCT
sc-156	348	1	this	this	PRON
sc-156	348	2	is	be	AUX
sc-156	348	3	akin	akin	ADJ
sc-156	348	4	to	to	ADP
sc-156	348	5	human	human	ADJ
sc-156	348	6	agents	agent	NOUN
sc-156	348	7	inflating	inflate	VERB
sc-156	348	8	the	the	DET
sc-156	348	9	market	market	NOUN
sc-156	348	10	with	with	ADP
sc-156	348	11	higher	high	ADJ
sc-156	348	12	rates	rate	NOUN
sc-156	348	13	for	for	ADP
sc-156	348	14	lower	low	ADJ
sc-156	348	15	level	level	NOUN
sc-156	348	16	of	of	ADP
sc-156	348	17	services	service	NOUN
sc-156	348	18	.	.	PUNCT
sc-156	349	1	we	we	PRON
sc-156	349	2	see	see	VERB
sc-156	349	3	this	this	PRON
sc-156	349	4	in	in	ADP
sc-156	349	5	fig	fig	NOUN
sc-156	349	6	.	.	PUNCT
sc-156	350	1	5	5	NUM
sc-156	350	2	,	,	PUNCT
sc-156	350	3	wherein	wherein	SCONJ
sc-156	350	4	differences	difference	NOUN
sc-156	350	5	between	between	ADP
sc-156	350	6	cases	case	NOUN
sc-156	350	7	where	where	SCONJ
sc-156	350	8	there	there	PRON
sc-156	350	9	is	be	VERB
sc-156	350	10	accurate	accurate	ADJ
sc-156	350	11	bidding	bidding	NOUN
sc-156	350	12	vs.	vs.	ADP
sc-156	350	13	collusion	collusion	NOUN
sc-156	350	14	–	–	PUNCT
sc-156	350	15	this	this	PRON
sc-156	350	16	implies	imply	VERB
sc-156	350	17	that	that	SCONJ
sc-156	350	18	the	the	DET
sc-156	350	19	the	the	DET
sc-156	350	20	auctioneer	auctioneer	NOUN
sc-156	350	21	has	have	VERB
sc-156	350	22	to	to	PART
sc-156	350	23	pay	pay	VERB
sc-156	350	24	more	more	ADJ
sc-156	350	25	scores	score	NOUN
sc-156	350	26	for	for	ADP
sc-156	350	27	similar	similar	ADJ
sc-156	350	28	tasks	task	NOUN
sc-156	350	29	.	.	PUNCT
sc-156	351	1	by	by	ADP
sc-156	351	2	colluding	collude	VERB
sc-156	351	3	,	,	PUNCT
sc-156	351	4	the	the	DET
sc-156	351	5	agents	agent	NOUN
sc-156	351	6	9	9	NUM
sc-156	351	7	eai	eai	NOUN
sc-156	351	8	endorsed	endorse	VERB
sc-156	351	9	transactions	transaction	NOUN
sc-156	351	10	on	on	ADP
sc-156	351	11	smart	smart	ADJ
sc-156	351	12	cities	city	NOUN
sc-156	351	13	10	10	NUM
sc-156	351	14	2021	2021	NUM
sc-156	351	15	03	03	NUM
sc-156	351	16	2022	2022	NUM
sc-156	351	17	|	|	ADV
sc-156	351	18	volume	volume	NOUN
sc-156	351	19	6	6	NUM
sc-156	351	20	|	|	NOUN
sc-156	351	21	issue	issue	NOUN
sc-156	351	22	17	17	NUM
sc-156	351	23	|	|	NOUN
sc-156	351	24	e2	e2	PROPN
sc-156	351	25	ajay	ajay	PROPN
sc-156	351	26	kattepur	kattepur	PROPN
sc-156	351	27	,	,	PUNCT
sc-156	351	28	sourav	sourav	PROPN
sc-156	351	29	khemkha	khemkha	PROPN
sc-156	351	30	(	(	PUNCT
sc-156	351	31	a	a	NOUN
sc-156	351	32	)	)	PUNCT
sc-156	351	33	final	final	ADJ
sc-156	351	34	score	score	NOUN
sc-156	351	35	of	of	ADP
sc-156	351	36	all	all	DET
sc-156	351	37	agents	agent	NOUN
sc-156	351	38	.	.	PUNCT
sc-156	352	1	(	(	PUNCT
sc-156	352	2	b	b	X
sc-156	352	3	)	)	PUNCT
sc-156	352	4	max	max	PROPN
sc-156	352	5	-	-	PUNCT
sc-156	352	6	median	median	ADJ
sc-156	352	7	-	-	PUNCT
sc-156	352	8	min	min	NOUN
sc-156	352	9	score	score	NOUN
sc-156	352	10	.	.	PUNCT
sc-156	353	1	(	(	PUNCT
sc-156	353	2	c	c	X
sc-156	353	3	)	)	PUNCT
sc-156	353	4	final	final	ADJ
sc-156	353	5	score	score	NOUN
sc-156	353	6	of	of	ADP
sc-156	353	7	all	all	DET
sc-156	353	8	agents	agent	NOUN
sc-156	353	9	.	.	PUNCT
sc-156	354	1	(	(	PUNCT
sc-156	354	2	d	d	X
sc-156	354	3	)	)	PUNCT
sc-156	354	4	max	max	PROPN
sc-156	354	5	-	-	PUNCT
sc-156	354	6	median	median	ADJ
sc-156	354	7	-	-	PUNCT
sc-156	354	8	min	min	NOUN
sc-156	354	9	score	score	NOUN
sc-156	354	10	.	.	PUNCT
sc-156	355	1	figure	figure	NOUN
sc-156	355	2	2	2	NUM
sc-156	355	3	.	.	PUNCT
sc-156	355	4	homogeneous	homogeneous	ADJ
sc-156	355	5	agent	agent	NOUN
sc-156	355	6	bidders	bidder	NOUN
sc-156	355	7	with	with	ADP
sc-156	355	8	accurate	accurate	ADJ
sc-156	355	9	estimates	estimate	NOUN
sc-156	355	10	(	(	PUNCT
sc-156	355	11	a)(b	a)(b	ADJ
sc-156	355	12	)	)	PUNCT
sc-156	355	13	and	and	CCONJ
sc-156	355	14	erroneous	erroneous	ADJ
sc-156	355	15	estimates	estimate	NOUN
sc-156	355	16	of	of	ADP
sc-156	355	17	5	5	NUM
sc-156	355	18	agents	agent	NOUN
sc-156	355	19	(	(	PUNCT
sc-156	355	20	c)(d	c)(d	NOUN
sc-156	355	21	)	)	PUNCT
sc-156	355	22	.	.	PUNCT
sc-156	356	1	(	(	PUNCT
sc-156	356	2	a	a	X
sc-156	356	3	)	)	PUNCT
sc-156	356	4	final	final	ADJ
sc-156	356	5	score	score	NOUN
sc-156	356	6	of	of	ADP
sc-156	356	7	all	all	DET
sc-156	356	8	agents	agent	NOUN
sc-156	356	9	.	.	PUNCT
sc-156	357	1	(	(	PUNCT
sc-156	357	2	b	b	X
sc-156	357	3	)	)	PUNCT
sc-156	357	4	max	max	PROPN
sc-156	357	5	-	-	PUNCT
sc-156	357	6	median	median	ADJ
sc-156	357	7	-	-	PUNCT
sc-156	357	8	min	min	NOUN
sc-156	357	9	score	score	NOUN
sc-156	357	10	.	.	PUNCT
sc-156	358	1	figure	figure	VERB
sc-156	358	2	3	3	NUM
sc-156	358	3	.	.	PUNCT
sc-156	358	4	heterogeneous	heterogeneous	ADJ
sc-156	358	5	agents	agent	NOUN
sc-156	358	6	with	with	ADP
sc-156	358	7	accurate	accurate	ADJ
sc-156	358	8	estimates	estimate	NOUN
sc-156	358	9	.	.	PUNCT
sc-156	359	1	receive	receive	VERB
sc-156	359	2	higher	high	ADJ
sc-156	359	3	scores	score	NOUN
sc-156	359	4	for	for	ADP
sc-156	359	5	task	task	NOUN
sc-156	359	6	,	,	PUNCT
sc-156	359	7	thus	thus	ADV
sc-156	359	8	enabling	enable	VERB
sc-156	359	9	them	they	PRON
sc-156	359	10	to	to	PART
sc-156	359	11	recharge	recharge	VERB
sc-156	359	12	their	their	PRON
sc-156	359	13	batteries	battery	NOUN
sc-156	359	14	in	in	ADP
sc-156	359	15	order	order	NOUN
sc-156	359	16	to	to	PART
sc-156	359	17	prevent	prevent	VERB
sc-156	359	18	such	such	DET
sc-156	359	19	a	a	DET
sc-156	359	20	situation	situation	NOUN
sc-156	359	21	,	,	PUNCT
sc-156	359	22	we	we	PRON
sc-156	359	23	can	can	AUX
sc-156	359	24	set	set	VERB
sc-156	359	25	an	an	DET
sc-156	359	26	upper	upper	ADV
sc-156	359	27	-	-	PUNCT
sc-156	359	28	bound	bind	VERB
sc-156	359	29	on	on	ADP
sc-156	359	30	the	the	DET
sc-156	359	31	bidding	bidding	NOUN
sc-156	359	32	value	value	NOUN
sc-156	359	33	,	,	PUNCT
sc-156	359	34	and	and	CCONJ
sc-156	359	35	dismiss	dismiss	VERB
sc-156	359	36	bids	bid	NOUN
sc-156	359	37	having	have	VERB
sc-156	359	38	a	a	DET
sc-156	359	39	value	value	NOUN
sc-156	359	40	more	more	ADJ
sc-156	359	41	than	than	ADP
sc-156	359	42	the	the	DET
sc-156	359	43	upper	upper	ADJ
sc-156	359	44	bound	bind	VERB
sc-156	359	45	.	.	PUNCT
sc-156	360	1	an	an	DET
sc-156	360	2	upperbound	upperbound	NOUN
sc-156	360	3	for	for	ADP
sc-156	360	4	a	a	DET
sc-156	360	5	particular	particular	ADJ
sc-156	360	6	task	task	NOUN
sc-156	360	7	could	could	AUX
sc-156	360	8	be	be	AUX
sc-156	360	9	calculated	calculate	VERB
sc-156	360	10	by	by	ADP
sc-156	360	11	taking	take	VERB
sc-156	360	12	the	the	DET
sc-156	360	13	maximum	maximum	ADJ
sc-156	360	14	distance	distance	NOUN
sc-156	360	15	from	from	ADP
sc-156	360	16	all	all	DET
sc-156	360	17	the	the	DET
sc-156	360	18	four	four	NUM
sc-156	360	19	corners	corner	NOUN
sc-156	360	20	of	of	ADP
sc-156	360	21	the	the	DET
sc-156	360	22	map	map	NOUN
sc-156	360	23	grid	grid	NOUN
sc-156	360	24	–	–	PUNCT
sc-156	360	25	any	any	DET
sc-156	360	26	accurate	accurate	ADJ
sc-156	360	27	estimate	estimate	NOUN
sc-156	360	28	of	of	ADP
sc-156	360	29	the	the	DET
sc-156	360	30	task	task	NOUN
sc-156	360	31	should	should	AUX
sc-156	360	32	not	not	PART
sc-156	360	33	cross	cross	VERB
sc-156	360	34	this	this	PRON
sc-156	360	35	bound	bind	VERB
sc-156	360	36	ub	ub	ADP
sc-156	360	37	.	.	PUNCT
sc-156	361	1	while	while	SCONJ
sc-156	361	2	ub	ub	NOUN
sc-156	361	3	might	might	AUX
sc-156	361	4	not	not	PART
sc-156	361	5	be	be	AUX
sc-156	361	6	a	a	DET
sc-156	361	7	tight	tight	ADJ
sc-156	361	8	upper	upper	ADV
sc-156	361	9	-	-	PUNCT
sc-156	361	10	bound	bind	VERB
sc-156	361	11	,	,	PUNCT
sc-156	361	12	it	it	PRON
sc-156	361	13	should	should	AUX
sc-156	361	14	be	be	AUX
sc-156	361	15	reasonable	reasonable	ADJ
sc-156	361	16	enough	enough	ADV
sc-156	361	17	to	to	PART
sc-156	361	18	detect	detect	VERB
sc-156	361	19	if	if	SCONJ
sc-156	361	20	all	all	PRON
sc-156	361	21	of	of	ADP
sc-156	361	22	them	they	PRON
sc-156	361	23	are	be	AUX
sc-156	361	24	colluding	collude	VERB
sc-156	361	25	.	.	PUNCT
sc-156	362	1	we	we	PRON
sc-156	362	2	simulate	simulate	VERB
sc-156	362	3	the	the	DET
sc-156	362	4	effect	effect	NOUN
sc-156	362	5	of	of	ADP
sc-156	362	6	three	three	NUM
sc-156	362	7	upper	upper	ADJ
sc-156	362	8	bounds	bound	NOUN
sc-156	362	9	in	in	ADP
sc-156	362	10	fig	fig	NOUN
sc-156	362	11	.	.	PUNCT
sc-156	363	1	6	6	NUM
sc-156	363	2	–	–	PUNCT
sc-156	363	3	ub	ub	ADP
sc-156	363	4	,	,	PUNCT
sc-156	363	5	ub	ub	INTJ
sc-156	363	6	×	×	NOUN
sc-156	363	7	(	(	PUNCT
sc-156	363	8	1	1	NUM
sc-156	363	9	+	+	CCONJ
sc-156	363	10	x	x	X
sc-156	363	11	)	)	PUNCT
sc-156	363	12	,	,	PUNCT
sc-156	363	13	ub	ub	ADP
sc-156	363	14	×	×	NOUN
sc-156	363	15	(	(	PUNCT
sc-156	363	16	1−	1−	NUM
sc-156	363	17	x	x	NOUN
sc-156	363	18	)	)	PUNCT
sc-156	363	19	where	where	SCONJ
sc-156	363	20	x	x	PRON
sc-156	363	21	is	be	AUX
sc-156	363	22	a	a	DET
sc-156	363	23	random	random	ADJ
sc-156	363	24	variable	variable	NOUN
sc-156	363	25	taken	take	VERB
sc-156	363	26	from	from	ADP
sc-156	363	27	a	a	DET
sc-156	363	28	uniform	uniform	ADJ
sc-156	363	29	distribution	distribution	NOUN
sc-156	363	30	with	with	ADP
sc-156	363	31	mean	mean	PROPN
sc-156	363	32	0	0	NUM
sc-156	363	33	and	and	CCONJ
sc-156	363	34	standard	standard	ADJ
sc-156	363	35	deviation	deviation	NOUN
sc-156	363	36	1	1	NUM
sc-156	363	37	.	.	PUNCT
sc-156	363	38	fig	fig	NOUN
sc-156	363	39	.	.	PUNCT
sc-156	364	1	6	6	NUM
sc-156	364	2	simulates	simulate	VERB
sc-156	364	3	the	the	DET
sc-156	364	4	failure	failure	NOUN
sc-156	364	5	rate	rate	NOUN
sc-156	364	6	(	(	PUNCT
sc-156	364	7	number	number	NOUN
sc-156	364	8	of	of	ADP
sc-156	364	9	tasks	task	NOUN
sc-156	364	10	that	that	PRON
sc-156	364	11	were	be	AUX
sc-156	364	12	not	not	PART
sc-156	364	13	allocated	allocate	VERB
sc-156	364	14	)	)	PUNCT
sc-156	364	15	when	when	SCONJ
sc-156	364	16	30	30	NUM
sc-156	364	17	%	%	NOUN
sc-156	364	18	agent	agent	NOUN
sc-156	364	19	lie	lie	NOUN
sc-156	364	20	(	(	PUNCT
sc-156	364	21	provide	provide	VERB
sc-156	364	22	erroneous	erroneous	ADJ
sc-156	364	23	estimates	estimate	NOUN
sc-156	364	24	)	)	PUNCT
sc-156	364	25	,	,	PUNCT
sc-156	364	26	70	70	NUM
sc-156	364	27	%	%	NOUN
sc-156	364	28	agent	agent	NOUN
sc-156	364	29	lie	lie	NOUN
sc-156	364	30	and	and	CCONJ
sc-156	364	31	all	all	DET
sc-156	364	32	agents	agent	NOUN
sc-156	364	33	lie	lie	VERB
sc-156	364	34	.	.	PUNCT
sc-156	365	1	fig	fig	NOUN
sc-156	365	2	.	.	PUNCT
sc-156	366	1	6	6	NUM
sc-156	366	2	demonstrates	demonstrate	VERB
sc-156	366	3	that	that	SCONJ
sc-156	366	4	an	an	DET
sc-156	366	5	upper	upper	ADV
sc-156	366	6	-	-	PUNCT
sc-156	366	7	bound	bind	VERB
sc-156	366	8	of	of	ADP
sc-156	366	9	ub	ub	NOUN
sc-156	366	10	or	or	CCONJ
sc-156	366	11	ub	ub	INTJ
sc-156	366	12	×	×	NOUN
sc-156	366	13	(	(	PUNCT
sc-156	366	14	1	1	NUM
sc-156	366	15	+	+	CCONJ
sc-156	366	16	x	x	X
sc-156	366	17	)	)	PUNCT
sc-156	366	18	(	(	PUNCT
sc-156	366	19	optimistic	optimistic	ADJ
sc-156	366	20	values	value	NOUN
sc-156	366	21	)	)	PUNCT
sc-156	366	22	may	may	AUX
sc-156	366	23	be	be	AUX
sc-156	366	24	preferable	preferable	ADJ
sc-156	366	25	,	,	PUNCT
sc-156	366	26	as	as	ADP
sc-156	366	27	the	the	DET
sc-156	366	28	pessimistic	pessimistic	ADJ
sc-156	366	29	upper	upper	ADJ
sc-156	366	30	bound	bind	VERB
sc-156	366	31	of	of	ADP
sc-156	366	32	ub	ub	INTJ
sc-156	366	33	×	×	PROPN
sc-156	366	34	(	(	PUNCT
sc-156	366	35	1−	1−	NUM
sc-156	366	36	x	x	NOUN
sc-156	366	37	)	)	PUNCT
sc-156	366	38	,	,	PUNCT
sc-156	366	39	that	that	PRON
sc-156	366	40	produces	produce	VERB
sc-156	366	41	a	a	DET
sc-156	366	42	high	high	ADJ
sc-156	366	43	failure	failure	NOUN
sc-156	366	44	rate	rate	NOUN
sc-156	366	45	irrespective	irrespective	ADV
sc-156	366	46	of	of	ADP
sc-156	366	47	the	the	DET
sc-156	366	48	number	number	NOUN
sc-156	366	49	of	of	ADP
sc-156	366	50	colluding	collude	VERB
sc-156	366	51	agents	agent	NOUN
sc-156	366	52	.	.	PUNCT
sc-156	367	1	fig	fig	NOUN
sc-156	367	2	.	.	PUNCT
sc-156	367	3	?	?	PUNCT
sc-156	367	4	?	?	PUNCT
sc-156	368	1	summarises	summarise	VERB
sc-156	368	2	the	the	DET
sc-156	368	3	findings	finding	NOUN
sc-156	368	4	of	of	ADP
sc-156	368	5	the	the	DET
sc-156	368	6	simulated	simulate	VERB
sc-156	368	7	cases	case	NOUN
sc-156	368	8	under	under	ADP
sc-156	368	9	various	various	ADJ
sc-156	368	10	mechanism	mechanism	NOUN
sc-156	368	11	design	design	NOUN
sc-156	368	12	schemes	scheme	NOUN
sc-156	368	13	.	.	PUNCT
sc-156	369	1	while	while	SCONJ
sc-156	369	2	the	the	DET
sc-156	369	3	scores	score	NOUN
sc-156	369	4	may	may	AUX
sc-156	369	5	vary	vary	VERB
sc-156	369	6	based	base	VERB
sc-156	369	7	on	on	ADP
sc-156	369	8	the	the	DET
sc-156	369	9	task	task	NOUN
sc-156	369	10	distributions	distribution	NOUN
sc-156	369	11	and	and	CCONJ
sc-156	369	12	rewards	reward	NOUN
sc-156	369	13	,	,	PUNCT
sc-156	369	14	the	the	DET
sc-156	369	15	general	general	ADJ
sc-156	369	16	trend	trend	NOUN
sc-156	369	17	may	may	AUX
sc-156	369	18	be	be	AUX
sc-156	369	19	applied	apply	VERB
sc-156	369	20	to	to	ADP
sc-156	369	21	multiple	multiple	ADJ
sc-156	369	22	use	use	NOUN
sc-156	369	23	cases	case	NOUN
sc-156	369	24	involving	involve	VERB
sc-156	369	25	combinations	combination	NOUN
sc-156	369	26	of	of	ADP
sc-156	369	27	multiple	multiple	ADJ
sc-156	369	28	agents	agent	NOUN
sc-156	369	29	in	in	ADP
sc-156	369	30	an	an	DET
sc-156	369	31	auction	auction	NOUN
sc-156	369	32	setting	setting	NOUN
sc-156	369	33	.	.	PUNCT
sc-156	370	1	in	in	ADP
sc-156	370	2	summary	summary	NOUN
sc-156	370	3	,	,	PUNCT
sc-156	370	4	revisiting	revisit	VERB
sc-156	370	5	the	the	DET
sc-156	370	6	principal	principal	ADJ
sc-156	370	7	contributions	contribution	NOUN
sc-156	370	8	of	of	ADP
sc-156	370	9	the	the	DET
sc-156	370	10	paper	paper	NOUN
sc-156	370	11	:	:	PUNCT
sc-156	370	12	1	1	X
sc-156	370	13	.	.	X
sc-156	370	14	porting	port	VERB
sc-156	370	15	the	the	DET
sc-156	370	16	industry	industry	NOUN
sc-156	370	17	4.0	4.0	NUM
sc-156	370	18	autonomous	autonomous	ADJ
sc-156	370	19	agent	agent	NOUN
sc-156	370	20	task	task	NOUN
sc-156	370	21	allocation	allocation	NOUN
sc-156	370	22	problem	problem	NOUN
sc-156	370	23	into	into	ADP
sc-156	370	24	a	a	DET
sc-156	370	25	game	game	NOUN
sc-156	370	26	theoretic	theoretic	NOUN
sc-156	370	27	mechanism	mechanism	NOUN
sc-156	370	28	formulation	formulation	NOUN
sc-156	370	29	.	.	PUNCT
sc-156	371	1	the	the	DET
sc-156	371	2	general	general	ADJ
sc-156	371	3	structure	structure	NOUN
sc-156	371	4	of	of	ADP
sc-156	371	5	mechanism	mechanism	NOUN
sc-156	371	6	auctions	auction	NOUN
sc-156	371	7	have	have	AUX
sc-156	371	8	been	be	AUX
sc-156	371	9	described	describe	VERB
sc-156	371	10	in	in	ADP
sc-156	371	11	section	section	NOUN
sc-156	371	12	4	4	NUM
sc-156	371	13	with	with	ADP
sc-156	371	14	specific	specific	ADJ
sc-156	371	15	instances	instance	NOUN
sc-156	371	16	of	of	ADP
sc-156	371	17	industry	industry	NOUN
sc-156	371	18	4.0	4.0	NUM
sc-156	371	19	multi	multi	ADJ
sc-156	371	20	-	-	ADJ
sc-156	371	21	robot	robot	ADJ
sc-156	371	22	task	task	NOUN
sc-156	371	23	allocation	allocation	NOUN
sc-156	371	24	covered	cover	VERB
sc-156	371	25	in	in	ADP
sc-156	371	26	section	section	NOUN
sc-156	371	27	5	5	NUM
sc-156	371	28	.	.	NOUN
sc-156	371	29	10	10	NUM
sc-156	371	30	eai	eai	PROPN
sc-156	371	31	endorsed	endorse	VERB
sc-156	371	32	transactions	transaction	NOUN
sc-156	371	33	on	on	ADP
sc-156	371	34	smart	smart	ADJ
sc-156	371	35	cities	city	NOUN
sc-156	371	36	10	10	NUM
sc-156	371	37	2021	2021	NUM
sc-156	371	38	03	03	NUM
sc-156	371	39	2022	2022	NUM
sc-156	371	40	|	|	ADV
sc-156	371	41	volume	volume	NOUN
sc-156	371	42	6	6	NUM
sc-156	371	43	|	|	NOUN
sc-156	371	44	issue	issue	NOUN
sc-156	371	45	17	17	NUM
sc-156	371	46	|	|	NOUN
sc-156	371	47	e2	e2	NOUN
sc-156	371	48	aspects	aspect	NOUN
sc-156	371	49	of	of	ADP
sc-156	371	50	mechanism	mechanism	NOUN
sc-156	371	51	design	design	NOUN
sc-156	371	52	for	for	ADP
sc-156	371	53	industry	industry	NOUN
sc-156	371	54	4.0	4.0	NUM
sc-156	371	55	multi	multi	ADJ
sc-156	371	56	-	-	ADJ
sc-156	371	57	robot	robot	ADJ
sc-156	371	58	task	task	NOUN
sc-156	371	59	auctioning	auctioning	NOUN
sc-156	371	60	(	(	PUNCT
sc-156	371	61	a	a	PRON
sc-156	371	62	)	)	PUNCT
sc-156	371	63	final	final	ADJ
sc-156	371	64	score	score	NOUN
sc-156	371	65	of	of	ADP
sc-156	371	66	all	all	DET
sc-156	371	67	agents	agent	NOUN
sc-156	371	68	.	.	PUNCT
sc-156	372	1	(	(	PUNCT
sc-156	372	2	b	b	X
sc-156	372	3	)	)	PUNCT
sc-156	372	4	max	max	PROPN
sc-156	372	5	-	-	PUNCT
sc-156	372	6	median	median	ADJ
sc-156	372	7	-	-	PUNCT
sc-156	372	8	min	min	NOUN
sc-156	372	9	score	score	NOUN
sc-156	372	10	.	.	PUNCT
sc-156	373	1	(	(	PUNCT
sc-156	373	2	c	c	X
sc-156	373	3	)	)	PUNCT
sc-156	373	4	final	final	ADJ
sc-156	373	5	score	score	NOUN
sc-156	373	6	of	of	ADP
sc-156	373	7	all	all	DET
sc-156	373	8	agents	agent	NOUN
sc-156	373	9	.	.	PUNCT
sc-156	374	1	(	(	PUNCT
sc-156	374	2	d	d	X
sc-156	374	3	)	)	PUNCT
sc-156	374	4	max	max	PROPN
sc-156	374	5	-	-	PUNCT
sc-156	374	6	median	median	ADJ
sc-156	374	7	-	-	PUNCT
sc-156	374	8	min	min	NOUN
sc-156	374	9	score	score	NOUN
sc-156	374	10	.	.	PUNCT
sc-156	375	1	figure	figure	VERB
sc-156	375	2	4	4	NUM
sc-156	375	3	.	.	PUNCT
sc-156	375	4	composite	composite	ADJ
sc-156	375	5	bids	bid	NOUN
sc-156	375	6	with	with	ADP
sc-156	375	7	accurate	accurate	ADJ
sc-156	375	8	estimates	estimate	NOUN
sc-156	375	9	(	(	PUNCT
sc-156	375	10	a)(b	a)(b	ADJ
sc-156	375	11	)	)	PUNCT
sc-156	375	12	and	and	CCONJ
sc-156	375	13	erroneous	erroneous	ADJ
sc-156	375	14	estimates	estimate	NOUN
sc-156	375	15	of	of	ADP
sc-156	375	16	5	5	NUM
sc-156	375	17	agents	agent	NOUN
sc-156	375	18	(	(	PUNCT
sc-156	375	19	c)(d	c)(d	NOUN
sc-156	375	20	)	)	PUNCT
sc-156	375	21	.	.	PUNCT
sc-156	376	1	(	(	PUNCT
sc-156	376	2	a	a	X
sc-156	376	3	)	)	PUNCT
sc-156	376	4	accurate	accurate	ADJ
sc-156	376	5	estimates	estimate	NOUN
sc-156	376	6	.	.	PUNCT
sc-156	377	1	(	(	PUNCT
sc-156	377	2	b	b	X
sc-156	377	3	)	)	PUNCT
sc-156	377	4	collusion	collusion	NOUN
sc-156	377	5	of	of	ADP
sc-156	377	6	erroneous	erroneous	ADJ
sc-156	377	7	estimates	estimate	NOUN
sc-156	377	8	.	.	PUNCT
sc-156	378	1	figure	figure	NOUN
sc-156	378	2	5	5	NUM
sc-156	378	3	.	.	PUNCT
sc-156	378	4	final	final	ADJ
sc-156	378	5	scores	score	NOUN
sc-156	378	6	of	of	ADP
sc-156	378	7	agents	agent	NOUN
sc-156	378	8	.	.	PUNCT
sc-156	379	1	(	(	PUNCT
sc-156	379	2	a	a	X
sc-156	379	3	)	)	PUNCT
sc-156	379	4	upper	upper	ADV
sc-156	379	5	-	-	PUNCT
sc-156	379	6	bound	bind	VERB
sc-156	379	7	is	be	AUX
sc-156	379	8	ub	ub	ADJ
sc-156	379	9	.	.	PUNCT
sc-156	380	1	(	(	PUNCT
sc-156	380	2	b	b	X
sc-156	380	3	)	)	PUNCT
sc-156	380	4	upper	upper	ADV
sc-156	380	5	-	-	PUNCT
sc-156	380	6	bound	bind	VERB
sc-156	380	7	is	be	AUX
sc-156	380	8	ub	ub	INTJ
sc-156	380	9	×	×	NOUN
sc-156	380	10	(	(	PUNCT
sc-156	380	11	1	1	NUM
sc-156	380	12	+	+	CCONJ
sc-156	380	13	x	x	NOUN
sc-156	380	14	)	)	PUNCT
sc-156	380	15	.	.	PUNCT
sc-156	381	1	(	(	PUNCT
sc-156	381	2	c	c	X
sc-156	381	3	)	)	PUNCT
sc-156	381	4	upper	upper	ADV
sc-156	381	5	-	-	PUNCT
sc-156	381	6	bound	bind	VERB
sc-156	381	7	is	be	AUX
sc-156	381	8	ub	ub	INTJ
sc-156	381	9	×	×	NOUN
sc-156	381	10	(	(	PUNCT
sc-156	381	11	1−	1−	NUM
sc-156	381	12	x	x	NOUN
sc-156	381	13	)	)	PUNCT
sc-156	381	14	.	.	PUNCT
sc-156	382	1	figure	figure	VERB
sc-156	382	2	6	6	NUM
sc-156	382	3	.	.	PUNCT
sc-156	383	1	cumulative	cumulative	ADJ
sc-156	383	2	failure	failure	NOUN
sc-156	383	3	rates	rate	NOUN
sc-156	383	4	with	with	ADP
sc-156	383	5	varied	varied	ADJ
sc-156	383	6	upper	upper	ADJ
sc-156	383	7	-	-	PUNCT
sc-156	383	8	bounds	bound	NOUN
sc-156	383	9	of	of	ADP
sc-156	383	10	bids	bid	NOUN
sc-156	383	11	.	.	PUNCT
sc-156	384	1	2	2	X
sc-156	384	2	.	.	X
sc-156	384	3	evaluating	evaluate	VERB
sc-156	384	4	the	the	DET
sc-156	384	5	use	use	NOUN
sc-156	384	6	of	of	ADP
sc-156	384	7	vcg	vcg	NOUN
sc-156	384	8	auctioning	auctioning	NOUN
sc-156	384	9	mechanism	mechanism	NOUN
sc-156	384	10	designs	design	NOUN
sc-156	384	11	for	for	ADP
sc-156	384	12	combinatorial	combinatorial	ADJ
sc-156	384	13	auctions	auction	NOUN
sc-156	384	14	in	in	ADP
sc-156	384	15	cooperative	cooperative	ADJ
sc-156	384	16	tasks	task	NOUN
sc-156	384	17	.	.	PUNCT
sc-156	385	1	this	this	PRON
sc-156	385	2	has	have	AUX
sc-156	385	3	been	be	AUX
sc-156	385	4	evaluated	evaluate	VERB
sc-156	385	5	in	in	ADP
sc-156	385	6	the	the	DET
sc-156	385	7	simulations	simulation	NOUN
sc-156	385	8	in	in	ADP
sc-156	385	9	section	section	NOUN
sc-156	385	10	6	6	NUM
sc-156	385	11	.	.	NOUN
sc-156	386	1	3	3	X
sc-156	386	2	.	.	X
sc-156	386	3	consider	consider	VERB
sc-156	386	4	auctions	auction	NOUN
sc-156	386	5	under	under	ADP
sc-156	386	6	multiple	multiple	ADJ
sc-156	386	7	scenarios	scenario	NOUN
sc-156	386	8	with	with	ADP
sc-156	386	9	homogeneous	homogeneous	ADJ
sc-156	386	10	/	/	SYM
sc-156	386	11	heterogeneous	heterogeneous	ADJ
sc-156	386	12	agents	agent	NOUN
sc-156	386	13	,	,	PUNCT
sc-156	386	14	single	single	ADJ
sc-156	386	15	/	/	SYM
sc-156	386	16	combinatorial	combinatorial	ADJ
sc-156	386	17	tasks	task	NOUN
sc-156	386	18	and	and	CCONJ
sc-156	386	19	truthful	truthful	ADJ
sc-156	386	20	/	/	SYM
sc-156	386	21	erroneous	erroneous	ADJ
sc-156	386	22	bids	bid	NOUN
sc-156	386	23	.	.	PUNCT
sc-156	387	1	figures	figure	NOUN
sc-156	387	2	2	2	NUM
sc-156	387	3	to	to	PART
sc-156	387	4	6	6	NUM
sc-156	387	5	demonstrate	demonstrate	VERB
sc-156	387	6	the	the	DET
sc-156	387	7	efficacy	efficacy	NOUN
sc-156	387	8	of	of	ADP
sc-156	387	9	the	the	DET
sc-156	387	10	technique	technique	NOUN
sc-156	387	11	under	under	ADP
sc-156	387	12	a	a	DET
sc-156	387	13	variety	variety	NOUN
sc-156	387	14	of	of	ADP
sc-156	387	15	scenarios	scenario	NOUN
sc-156	387	16	.	.	PUNCT
sc-156	388	1	11	11	NUM
sc-156	388	2	eai	eai	PROPN
sc-156	388	3	endorsed	endorse	VERB
sc-156	388	4	transactions	transaction	NOUN
sc-156	388	5	on	on	ADP
sc-156	388	6	smart	smart	ADJ
sc-156	388	7	cities	city	NOUN
sc-156	388	8	10	10	NUM
sc-156	388	9	2021	2021	NUM
sc-156	388	10	03	03	NUM
sc-156	388	11	2022	2022	NUM
sc-156	388	12	|	|	ADV
sc-156	388	13	volume	volume	NOUN
sc-156	388	14	6	6	NUM
sc-156	388	15	|	|	NOUN
sc-156	388	16	issue	issue	NOUN
sc-156	388	17	17	17	NUM
sc-156	388	18	|	|	NOUN
sc-156	388	19	e2	e2	PROPN
sc-156	388	20	ajay	ajay	PROPN
sc-156	388	21	kattepur	kattepur	PROPN
sc-156	388	22	,	,	PUNCT
sc-156	388	23	sourav	sourav	PROPN
sc-156	388	24	khemkha	khemkha	ADJ
sc-156	388	25	figure	figure	NOUN
sc-156	388	26	7	7	NUM
sc-156	388	27	.	.	PUNCT
sc-156	388	28	findings	finding	NOUN
sc-156	388	29	for	for	ADP
sc-156	388	30	various	various	ADJ
sc-156	388	31	simulations	simulation	NOUN
sc-156	388	32	on	on	ADP
sc-156	388	33	combinatorial	combinatorial	ADJ
sc-156	388	34	task	task	NOUN
sc-156	388	35	auctions	auction	NOUN
sc-156	388	36	.	.	PUNCT
sc-156	389	1	such	such	DET
sc-156	389	2	a	a	DET
sc-156	389	3	systematic	systematic	ADJ
sc-156	389	4	evaluation	evaluation	NOUN
sc-156	389	5	of	of	ADP
sc-156	389	6	mechanism	mechanism	NOUN
sc-156	389	7	design	design	NOUN
sc-156	389	8	theory	theory	NOUN
sc-156	389	9	would	would	AUX
sc-156	389	10	prove	prove	VERB
sc-156	389	11	useful	useful	ADJ
sc-156	389	12	across	across	ADP
sc-156	389	13	multiple	multiple	ADJ
sc-156	389	14	industry	industry	NOUN
sc-156	389	15	4.0	4.0	NUM
sc-156	389	16	robotic	robotic	ADJ
sc-156	389	17	deployments	deployment	NOUN
sc-156	389	18	.	.	PUNCT
sc-156	390	1	7	7	X
sc-156	390	2	.	.	X
sc-156	390	3	conclusions	conclusion	NOUN
sc-156	390	4	the	the	DET
sc-156	390	5	advent	advent	NOUN
sc-156	390	6	of	of	ADP
sc-156	390	7	industry	industry	NOUN
sc-156	390	8	4.0	4.0	NUM
sc-156	390	9	automation	automation	NOUN
sc-156	390	10	necessitates	necessitate	VERB
sc-156	390	11	intelligent	intelligent	ADJ
sc-156	390	12	,	,	PUNCT
sc-156	390	13	autonomous	autonomous	ADJ
sc-156	390	14	and	and	CCONJ
sc-156	390	15	collaborative	collaborative	ADJ
sc-156	390	16	robotic	robotic	ADJ
sc-156	390	17	agents	agent	NOUN
sc-156	390	18	.	.	PUNCT
sc-156	391	1	specially	specially	ADV
sc-156	391	2	in	in	ADP
sc-156	391	3	task	task	NOUN
sc-156	391	4	allocation	allocation	NOUN
sc-156	391	5	amongst	amongst	ADP
sc-156	391	6	collaborative	collaborative	ADJ
sc-156	391	7	agents	agent	NOUN
sc-156	391	8	,	,	PUNCT
sc-156	391	9	there	there	PRON
sc-156	391	10	is	be	VERB
sc-156	391	11	a	a	DET
sc-156	391	12	need	need	NOUN
sc-156	391	13	to	to	PART
sc-156	391	14	move	move	VERB
sc-156	391	15	away	away	ADV
sc-156	391	16	from	from	ADP
sc-156	391	17	centralized	centralized	ADJ
sc-156	391	18	task	task	NOUN
sc-156	391	19	allocation	allocation	NOUN
sc-156	391	20	to	to	ADP
sc-156	391	21	decentralized	decentralize	VERB
sc-156	391	22	multi	multi	ADJ
sc-156	391	23	-	-	ADJ
sc-156	391	24	agent	agent	ADJ
sc-156	391	25	coordination	coordination	NOUN
sc-156	391	26	.	.	PUNCT
sc-156	392	1	this	this	PRON
sc-156	392	2	is	be	AUX
sc-156	392	3	specifically	specifically	ADV
sc-156	392	4	needed	need	VERB
sc-156	392	5	when	when	SCONJ
sc-156	392	6	vendors	vendor	NOUN
sc-156	392	7	are	be	AUX
sc-156	392	8	outsourced	outsource	VERB
sc-156	392	9	to	to	PART
sc-156	392	10	manage	manage	VERB
sc-156	392	11	specialized	specialized	ADJ
sc-156	392	12	robotic	robotic	ADJ
sc-156	392	13	agents	agent	NOUN
sc-156	392	14	.	.	PUNCT
sc-156	393	1	in	in	ADP
sc-156	393	2	this	this	DET
sc-156	393	3	paper	paper	NOUN
sc-156	393	4	,	,	PUNCT
sc-156	393	5	we	we	PRON
sc-156	393	6	have	have	AUX
sc-156	393	7	made	make	VERB
sc-156	393	8	use	use	NOUN
sc-156	393	9	of	of	ADP
sc-156	393	10	combinatorial	combinatorial	ADJ
sc-156	393	11	auctioning	auctioning	NOUN
sc-156	393	12	mechanisms	mechanism	NOUN
sc-156	393	13	to	to	PART
sc-156	393	14	allocate	allocate	VERB
sc-156	393	15	tasks	task	NOUN
sc-156	393	16	to	to	ADP
sc-156	393	17	autonomous	autonomous	ADJ
sc-156	393	18	robotic	robotic	ADJ
sc-156	393	19	agents	agent	NOUN
sc-156	393	20	.	.	PUNCT
sc-156	394	1	to	to	PART
sc-156	394	2	ensure	ensure	VERB
sc-156	394	3	fairness	fairness	NOUN
sc-156	394	4	in	in	ADP
sc-156	394	5	the	the	DET
sc-156	394	6	auctioning	auctioning	NOUN
sc-156	394	7	mechanism	mechanism	NOUN
sc-156	394	8	despite	despite	SCONJ
sc-156	394	9	heterogeneity	heterogeneity	NOUN
sc-156	394	10	,	,	PUNCT
sc-156	394	11	erroneous	erroneous	ADJ
sc-156	394	12	bidding	bidding	NOUN
sc-156	394	13	estimates	estimate	NOUN
sc-156	394	14	,	,	PUNCT
sc-156	394	15	agent	agent	NOUN
sc-156	394	16	collusion	collusion	NOUN
sc-156	394	17	or	or	CCONJ
sc-156	394	18	combinatorial	combinatorial	ADJ
sc-156	394	19	bids	bid	NOUN
sc-156	394	20	,	,	PUNCT
sc-156	394	21	we	we	PRON
sc-156	394	22	utilize	utilize	VERB
sc-156	394	23	the	the	DET
sc-156	394	24	vickeryclarkes	vickeryclarke	NOUN
sc-156	394	25	-	-	PUNCT
sc-156	394	26	groves	grove	NOUN
sc-156	394	27	(	(	PUNCT
sc-156	394	28	vcg	vcg	NOUN
sc-156	394	29	)	)	PUNCT
sc-156	394	30	mechanism	mechanism	NOUN
sc-156	394	31	.	.	PUNCT
sc-156	395	1	these	these	DET
sc-156	395	2	aspects	aspect	NOUN
sc-156	395	3	are	be	AUX
sc-156	395	4	demonstrated	demonstrate	VERB
sc-156	395	5	over	over	ADP
sc-156	395	6	a	a	DET
sc-156	395	7	realistic	realistic	ADJ
sc-156	395	8	case	case	NOUN
sc-156	395	9	study	study	NOUN
sc-156	395	10	in	in	ADP
sc-156	395	11	industry	industry	NOUN
sc-156	395	12	4.0	4.0	NUM
sc-156	395	13	warehouses	warehouse	NOUN
sc-156	395	14	,	,	PUNCT
sc-156	395	15	where	where	SCONJ
sc-156	395	16	the	the	DET
sc-156	395	17	use	use	NOUN
sc-156	395	18	of	of	ADP
sc-156	395	19	appropriate	appropriate	ADJ
sc-156	395	20	mechanisms	mechanism	NOUN
sc-156	395	21	ensures	ensure	VERB
sc-156	395	22	appropriate	appropriate	ADJ
sc-156	395	23	allocation	allocation	NOUN
sc-156	395	24	of	of	ADP
sc-156	395	25	warehouse	warehouse	NOUN
sc-156	395	26	pickup	pickup	NOUN
sc-156	395	27	–	–	PUNCT
sc-156	395	28	delivery	delivery	NOUN
sc-156	395	29	tasks	task	NOUN
sc-156	395	30	.	.	PUNCT
sc-156	396	1	such	such	DET
sc-156	396	2	a	a	DET
sc-156	396	3	model	model	NOUN
sc-156	396	4	for	for	ADP
sc-156	396	5	mechanism	mechanism	NOUN
sc-156	396	6	design	design	NOUN
sc-156	396	7	with	with	ADP
sc-156	396	8	combinatorial	combinatorial	ADJ
sc-156	396	9	auctions	auction	NOUN
sc-156	396	10	would	would	AUX
sc-156	396	11	prove	prove	VERB
sc-156	396	12	useful	useful	ADJ
sc-156	396	13	across	across	ADP
sc-156	396	14	a	a	DET
sc-156	396	15	host	host	NOUN
sc-156	396	16	of	of	ADP
sc-156	396	17	deployments	deployment	NOUN
sc-156	396	18	involving	involve	VERB
sc-156	396	19	multiple	multiple	ADJ
sc-156	396	20	autonomous	autonomous	ADJ
sc-156	396	21	robots	robot	NOUN
sc-156	396	22	.	.	PUNCT
sc-156	397	1	references	reference	NOUN
sc-156	397	2	[	[	X
sc-156	397	3	1	1	NUM
sc-156	397	4	]	]	PUNCT
sc-156	397	5	m.	m.	PROPN
sc-156	397	6	hermann	hermann	PROPN
sc-156	397	7	,	,	PUNCT
sc-156	397	8	t.	t.	PROPN
sc-156	397	9	pentek	pentek	PROPN
sc-156	397	10	&	&	CCONJ
sc-156	397	11	b.	b.	PROPN
sc-156	397	12	otto	otto	PROPN
sc-156	397	13	,	,	PUNCT
sc-156	397	14	“	"	PUNCT
sc-156	397	15	design	design	NOUN
sc-156	397	16	principles	principle	NOUN
sc-156	397	17	for	for	ADP
sc-156	397	18	industrie	industrie	NOUN
sc-156	397	19	4.0	4.0	NUM
sc-156	397	20	scenarios	scenario	NOUN
sc-156	397	21	”	"	PUNCT
sc-156	397	22	,	,	PUNCT
sc-156	397	23	49th	49th	ADJ
sc-156	397	24	hawaii	hawaii	PROPN
sc-156	397	25	intl	intl	PROPN
sc-156	397	26	.	.	PUNCT
sc-156	398	1	conf	conf	PROPN
sc-156	398	2	.	.	PUNCT
sc-156	399	1	on	on	ADP
sc-156	399	2	system	system	NOUN
sc-156	399	3	sciences	science	NOUN
sc-156	399	4	,	,	PUNCT
sc-156	399	5	2016	2016	NUM
sc-156	399	6	.	.	PUNCT
sc-156	400	1	[	[	X
sc-156	400	2	2	2	X
sc-156	400	3	]	]	PUNCT
sc-156	400	4	s.	s.	PROPN
sc-156	400	5	greengard	greengard	PROPN
sc-156	400	6	,	,	PUNCT
sc-156	400	7	“	"	PUNCT
sc-156	400	8	the	the	DET
sc-156	400	9	internet	internet	NOUN
sc-156	400	10	of	of	ADP
sc-156	400	11	things	thing	NOUN
sc-156	400	12	”	"	PUNCT
sc-156	400	13	,	,	PUNCT
sc-156	400	14	mit	mit	NOUN
sc-156	400	15	,	,	PUNCT
sc-156	400	16	2015	2015	NUM
sc-156	400	17	.	.	PUNCT
sc-156	401	1	[	[	X
sc-156	401	2	3	3	X
sc-156	401	3	]	]	X
sc-156	401	4	m.	m.	PROPN
sc-156	401	5	jackson	jackson	PROPN
sc-156	401	6	,	,	PUNCT
sc-156	401	7	“	"	PUNCT
sc-156	401	8	mechanism	mechanism	NOUN
sc-156	401	9	theory	theory	NOUN
sc-156	401	10	”	"	PUNCT
sc-156	401	11	,	,	PUNCT
sc-156	401	12	optimization	optimization	NOUN
sc-156	401	13	and	and	CCONJ
sc-156	401	14	operations	operation	NOUN
sc-156	401	15	research	research	NOUN
sc-156	401	16	,	,	PUNCT
sc-156	401	17	encyclopedia	encyclopedia	NOUN
sc-156	401	18	of	of	ADP
sc-156	401	19	life	life	NOUN
sc-156	401	20	support	support	NOUN
sc-156	401	21	systems	system	NOUN
sc-156	401	22	,	,	PUNCT
sc-156	401	23	oxford	oxford	PROPN
sc-156	401	24	uk	uk	PROPN
sc-156	401	25	,	,	PUNCT
sc-156	401	26	2003	2003	NUM
sc-156	401	27	.	.	PUNCT
sc-156	402	1	[	[	X
sc-156	402	2	4	4	X
sc-156	402	3	]	]	X
sc-156	402	4	n.	n.	PROPN
sc-156	402	5	nisan	nisan	PROPN
sc-156	402	6	,	,	PUNCT
sc-156	402	7	“	"	PUNCT
sc-156	402	8	algorithmic	algorithmic	ADJ
sc-156	402	9	mechanism	mechanism	NOUN
sc-156	402	10	design	design	NOUN
sc-156	402	11	:	:	PUNCT
sc-156	402	12	through	through	ADP
sc-156	402	13	the	the	DET
sc-156	402	14	lens	lens	NOUN
sc-156	402	15	of	of	ADP
sc-156	402	16	multiunit	multiunit	ADJ
sc-156	402	17	auctions	auction	NOUN
sc-156	402	18	”	"	PUNCT
sc-156	402	19	,	,	PUNCT
sc-156	402	20	handbook	handbook	NOUN
sc-156	402	21	of	of	ADP
sc-156	402	22	game	game	NOUN
sc-156	402	23	theory	theory	NOUN
sc-156	402	24	with	with	ADP
sc-156	402	25	economic	economic	ADJ
sc-156	402	26	applications	application	NOUN
sc-156	402	27	,	,	PUNCT
sc-156	402	28	vol	vol	NOUN
sc-156	402	29	.	.	PROPN
sc-156	402	30	4	4	NUM
sc-156	402	31	,	,	PUNCT
sc-156	402	32	pp	pp	ADJ
sc-156	402	33	.	.	PUNCT
sc-156	403	1	477–515	477–515	NUM
sc-156	403	2	,	,	PUNCT
sc-156	403	3	2015	2015	NUM
sc-156	403	4	.	.	PUNCT
sc-156	404	1	[	[	X
sc-156	404	2	5	5	X
sc-156	404	3	]	]	X
sc-156	404	4	y.	y.	PROPN
sc-156	404	5	narahari	narahari	PROPN
sc-156	404	6	,	,	PUNCT
sc-156	404	7	“	"	PUNCT
sc-156	404	8	game	game	NOUN
sc-156	404	9	theory	theory	NOUN
sc-156	404	10	and	and	CCONJ
sc-156	404	11	mechanism	mechanism	NOUN
sc-156	404	12	design	design	NOUN
sc-156	404	13	”	"	PUNCT
sc-156	404	14	,	,	PUNCT
sc-156	404	15	iisc	iisc	PROPN
sc-156	404	16	press	press	PROPN
sc-156	404	17	and	and	CCONJ
sc-156	404	18	the	the	DET
sc-156	404	19	world	world	NOUN
sc-156	404	20	scientific	scientific	ADJ
sc-156	404	21	publishing	publishing	NOUN
sc-156	404	22	,	,	PUNCT
sc-156	404	23	2014	2014	NUM
sc-156	404	24	.	.	PUNCT
sc-156	405	1	[	[	X
sc-156	405	2	6	6	NUM
sc-156	405	3	]	]	PUNCT
sc-156	405	4	p.	p.	NOUN
sc-156	405	5	wurman	wurman	NOUN
sc-156	405	6	,	,	PUNCT
sc-156	405	7	r.	r.	PROPN
sc-156	405	8	d’andrea	d’andrea	PROPN
sc-156	405	9	&	&	CCONJ
sc-156	405	10	m.	m.	PROPN
sc-156	405	11	mountz	mountz	PROPN
sc-156	405	12	,	,	PUNCT
sc-156	405	13	“	"	PUNCT
sc-156	405	14	coordinating	coordinate	VERB
sc-156	405	15	hundreds	hundred	NOUN
sc-156	405	16	of	of	ADP
sc-156	405	17	cooperative	cooperative	ADJ
sc-156	405	18	,	,	PUNCT
sc-156	405	19	autonomous	autonomous	ADJ
sc-156	405	20	vehicles	vehicle	NOUN
sc-156	405	21	in	in	ADP
sc-156	405	22	warehouses	warehouse	NOUN
sc-156	405	23	”	"	PUNCT
sc-156	405	24	,	,	PUNCT
sc-156	405	25	aaai	aaai	PROPN
sc-156	405	26	artificial	artificial	ADJ
sc-156	405	27	intelligence	intelligence	NOUN
sc-156	405	28	mag	mag	PROPN
sc-156	405	29	.	.	PROPN
sc-156	405	30	,	,	PUNCT
sc-156	405	31	vol	vol	NOUN
sc-156	405	32	.	.	PROPN
sc-156	405	33	29	29	NUM
sc-156	405	34	,	,	PUNCT
sc-156	405	35	no	no	INTJ
sc-156	405	36	.	.	NOUN
sc-156	405	37	1	1	NUM
sc-156	405	38	,	,	PUNCT
sc-156	405	39	pp	pp	ADJ
sc-156	405	40	.	.	PUNCT
sc-156	406	1	9–19	9–19	NOUN
sc-156	406	2	,	,	PUNCT
sc-156	406	3	2008	2008	NUM
sc-156	406	4	.	.	PUNCT
sc-156	407	1	[	[	X
sc-156	407	2	7	7	X
sc-156	407	3	]	]	X
sc-156	407	4	y.	y.	NOUN
sc-156	407	5	shoham	shoham	PROPN
sc-156	407	6	&	&	CCONJ
sc-156	407	7	k.	k.	PROPN
sc-156	407	8	leyton	leyton	PROPN
sc-156	407	9	-	-	PUNCT
sc-156	407	10	brown	brown	PROPN
sc-156	407	11	,	,	PUNCT
sc-156	407	12	“	"	PUNCT
sc-156	407	13	multiagent	multiagent	NOUN
sc-156	407	14	systems	system	NOUN
sc-156	407	15	:	:	PUNCT
sc-156	407	16	algorithmic	algorithmic	ADJ
sc-156	407	17	,	,	PUNCT
sc-156	407	18	game	game	NOUN
sc-156	407	19	-	-	PUNCT
sc-156	407	20	theoretic	theoretic	NOUN
sc-156	407	21	,	,	PUNCT
sc-156	407	22	and	and	CCONJ
sc-156	407	23	logical	logical	ADJ
sc-156	407	24	foundations	foundation	NOUN
sc-156	407	25	”	"	PUNCT
sc-156	407	26	,	,	PUNCT
sc-156	407	27	cambridge	cambridge	PROPN
sc-156	407	28	university	university	PROPN
sc-156	407	29	press	press	NOUN
sc-156	407	30	,	,	PUNCT
sc-156	407	31	2009	2009	NUM
sc-156	407	32	.	.	PUNCT
sc-156	408	1	[	[	X
sc-156	408	2	8	8	NUM
sc-156	408	3	]	]	X
sc-156	408	4	n.	n.	PROPN
sc-156	408	5	nisan	nisan	PROPN
sc-156	408	6	,	,	PUNCT
sc-156	408	7	“	"	PUNCT
sc-156	408	8	bidding	bidding	NOUN
sc-156	408	9	and	and	CCONJ
sc-156	408	10	allocation	allocation	NOUN
sc-156	408	11	in	in	ADP
sc-156	408	12	combinatorial	combinatorial	ADJ
sc-156	408	13	auctions	auction	NOUN
sc-156	408	14	”	"	PUNCT
sc-156	408	15	,	,	PUNCT
sc-156	408	16	hebrew	hebrew	ADJ
sc-156	408	17	university	university	NOUN
sc-156	408	18	,	,	PUNCT
sc-156	408	19	2000	2000	NUM
sc-156	408	20	.	.	PUNCT
sc-156	409	1	[	[	X
sc-156	409	2	9	9	NUM
sc-156	409	3	]	]	PUNCT
sc-156	409	4	w.	w.	PROPN
sc-156	409	5	elmaghraby	elmaghraby	PROPN
sc-156	409	6	&	&	CCONJ
sc-156	409	7	p.	p.	PROPN
sc-156	409	8	keskinocak	keskinocak	PROPN
sc-156	409	9	,	,	PUNCT
sc-156	409	10	“	"	PUNCT
sc-156	409	11	combinatorial	combinatorial	ADJ
sc-156	409	12	auctions	auction	NOUN
sc-156	409	13	in	in	ADP
sc-156	409	14	procurement	procurement	NOUN
sc-156	409	15	”	"	PUNCT
sc-156	409	16	,	,	PUNCT
sc-156	409	17	georgia	georgia	PROPN
sc-156	409	18	tech	tech	NOUN
sc-156	409	19	,	,	PUNCT
sc-156	409	20	2002	2002	NUM
sc-156	409	21	.	.	PUNCT
sc-156	410	1	[	[	X
sc-156	410	2	10	10	NUM
sc-156	410	3	]	]	X
sc-156	410	4	a.	a.	NOUN
sc-156	410	5	lam	lam	PROPN
sc-156	410	6	,	,	PUNCT
sc-156	410	7	“	"	PUNCT
sc-156	410	8	combinatorial	combinatorial	ADJ
sc-156	410	9	auction	auction	NOUN
sc-156	410	10	-	-	PUNCT
sc-156	410	11	based	base	VERB
sc-156	410	12	pricing	pricing	NOUN
sc-156	410	13	for	for	ADP
sc-156	410	14	multi	multi	ADJ
sc-156	410	15	-	-	ADJ
sc-156	410	16	tenant	tenant	ADJ
sc-156	410	17	autonomous	autonomous	ADJ
sc-156	410	18	vehicle	vehicle	NOUN
sc-156	410	19	public	public	ADJ
sc-156	410	20	transportation	transportation	NOUN
sc-156	410	21	system	system	NOUN
sc-156	410	22	”	"	PUNCT
sc-156	410	23	,	,	PUNCT
sc-156	410	24	ieee	ieee	NOUN
sc-156	410	25	transactions	transaction	NOUN
sc-156	410	26	on	on	ADP
sc-156	410	27	intelligent	intelligent	ADJ
sc-156	410	28	transportation	transportation	NOUN
sc-156	410	29	systems	system	NOUN
sc-156	410	30	,	,	PUNCT
sc-156	410	31	vol	vol	NOUN
sc-156	410	32	.	.	PROPN
sc-156	410	33	17	17	NUM
sc-156	410	34	,	,	PUNCT
sc-156	410	35	no	no	INTJ
sc-156	410	36	.	.	NOUN
sc-156	410	37	3	3	NUM
sc-156	410	38	,	,	PUNCT
sc-156	410	39	2016	2016	NUM
sc-156	410	40	.	.	PUNCT
sc-156	411	1	[	[	X
sc-156	411	2	11	11	NUM
sc-156	411	3	]	]	X
sc-156	411	4	r.	r.	NOUN
sc-156	411	5	dash	dash	NOUN
sc-156	411	6	,	,	PUNCT
sc-156	411	7	n.	n.	PROPN
sc-156	411	8	jennings	jennings	PROPN
sc-156	411	9	&	&	CCONJ
sc-156	411	10	d.	d.	PROPN
sc-156	411	11	parkes	parkes	PROPN
sc-156	411	12	,	,	PUNCT
sc-156	411	13	“	"	PUNCT
sc-156	411	14	computationalmechanism	computationalmechanism	NOUN
sc-156	411	15	design	design	NOUN
sc-156	411	16	:	:	PUNCT
sc-156	411	17	a	a	DET
sc-156	411	18	call	call	NOUN
sc-156	411	19	to	to	ADP
sc-156	411	20	arms	arm	NOUN
sc-156	411	21	”	"	PUNCT
sc-156	411	22	,	,	PUNCT
sc-156	411	23	ieee	ieee	NOUN
sc-156	411	24	intelligent	intelligent	ADJ
sc-156	411	25	12	12	NUM
sc-156	411	26	eai	eai	NOUN
sc-156	411	27	endorsed	endorse	VERB
sc-156	411	28	transactions	transaction	NOUN
sc-156	411	29	on	on	ADP
sc-156	411	30	smart	smart	ADJ
sc-156	411	31	cities	city	NOUN
sc-156	411	32	10	10	NUM
sc-156	411	33	2021	2021	NUM
sc-156	411	34	03	03	NUM
sc-156	411	35	2022	2022	NUM
sc-156	411	36	|	|	ADV
sc-156	411	37	volume	volume	NOUN
sc-156	411	38	6	6	NUM
sc-156	411	39	|	|	NOUN
sc-156	411	40	issue	issue	NOUN
sc-156	411	41	17	17	NUM
sc-156	411	42	|	|	NOUN
sc-156	411	43	e2	e2	NOUN
sc-156	411	44	aspects	aspect	NOUN
sc-156	411	45	of	of	ADP
sc-156	411	46	mechanism	mechanism	NOUN
sc-156	411	47	design	design	NOUN
sc-156	411	48	for	for	ADP
sc-156	411	49	industry	industry	NOUN
sc-156	411	50	4.0	4.0	NUM
sc-156	411	51	multi	multi	ADJ
sc-156	411	52	-	-	ADJ
sc-156	411	53	robot	robot	ADJ
sc-156	411	54	task	task	NOUN
sc-156	411	55	auctioning	auctioning	NOUN
sc-156	411	56	systems	system	NOUN
sc-156	411	57	,	,	PUNCT
sc-156	411	58	vol	vol	NOUN
sc-156	411	59	.	.	PROPN
sc-156	411	60	3	3	NUM
sc-156	411	61	,	,	PUNCT
sc-156	411	62	2003	2003	NUM
sc-156	411	63	.	.	PUNCT
sc-156	412	1	[	[	X
sc-156	412	2	12	12	NUM
sc-156	412	3	]	]	X
sc-156	412	4	j.	j.	PROPN
sc-156	412	5	bartholdi	bartholdi	PROPN
sc-156	412	6	&	&	CCONJ
sc-156	412	7	s.	s.	PROPN
sc-156	412	8	hackman	hackman	PROPN
sc-156	412	9	,	,	PUNCT
sc-156	412	10	“	"	PUNCT
sc-156	412	11	warehouse	warehouse	NOUN
sc-156	412	12	and	and	CCONJ
sc-156	412	13	distribution	distribution	NOUN
sc-156	412	14	science	science	NOUN
sc-156	412	15	”	"	PUNCT
sc-156	412	16	,	,	PUNCT
sc-156	412	17	the	the	DET
sc-156	412	18	supply	supply	NOUN
sc-156	412	19	chain	chain	NOUN
sc-156	412	20	and	and	CCONJ
sc-156	412	21	logistics	logistics	PROPN
sc-156	412	22	institute	institute	PROPN
sc-156	412	23	,	,	PUNCT
sc-156	412	24	georgia	georgia	PROPN
sc-156	412	25	institute	institute	PROPN
sc-156	412	26	of	of	ADP
sc-156	412	27	technology	technology	PROPN
sc-156	412	28	,	,	PUNCT
sc-156	412	29	2016	2016	NUM
sc-156	412	30	.	.	PUNCT
sc-156	413	1	[	[	X
sc-156	413	2	13	13	NUM
sc-156	413	3	]	]	PUNCT
sc-156	413	4	m.	m.	NOUN
sc-156	413	5	huebscher	huebscher	PROPN
sc-156	413	6	&	&	CCONJ
sc-156	413	7	j.	j.	PROPN
sc-156	413	8	mccann	mccann	PROPN
sc-156	413	9	,	,	PUNCT
sc-156	413	10	“	"	PUNCT
sc-156	413	11	a	a	DET
sc-156	413	12	survey	survey	NOUN
sc-156	413	13	of	of	ADP
sc-156	413	14	autonomic	autonomic	ADJ
sc-156	413	15	computing	computing	NOUN
sc-156	413	16	–	–	PUNCT
sc-156	413	17	degrees	degree	NOUN
sc-156	413	18	,	,	PUNCT
sc-156	413	19	models	model	NOUN
sc-156	413	20	,	,	PUNCT
sc-156	413	21	and	and	CCONJ
sc-156	413	22	applications	application	NOUN
sc-156	413	23	”	"	PUNCT
sc-156	413	24	,	,	PUNCT
sc-156	413	25	acm	acm	PROPN
sc-156	413	26	computing	computing	NOUN
sc-156	413	27	surveys	survey	NOUN
sc-156	413	28	,	,	PUNCT
sc-156	413	29	vol	vol	NOUN
sc-156	413	30	.	.	PROPN
sc-156	413	31	40	40	NUM
sc-156	413	32	,	,	PUNCT
sc-156	413	33	no	no	INTJ
sc-156	413	34	.	.	NOUN
sc-156	413	35	3	3	NUM
sc-156	413	36	,	,	PUNCT
sc-156	413	37	2008	2008	NUM
sc-156	413	38	.	.	PUNCT
sc-156	414	1	[	[	X
sc-156	414	2	14	14	NUM
sc-156	414	3	]	]	X
sc-156	414	4	f.	f.	PROPN
sc-156	414	5	faniyi	faniyi	PROPN
sc-156	414	6	,	,	PUNCT
sc-156	414	7	p.	p.	PROPN
sc-156	414	8	r.	r.	PROPN
sc-156	414	9	lewis	lewis	PROPN
sc-156	414	10	,	,	PUNCT
sc-156	414	11	r.	r.	PROPN
sc-156	414	12	bahsoon	bahsoon	PROPN
sc-156	414	13	&	&	CCONJ
sc-156	414	14	x.	x.	PROPN
sc-156	414	15	yao	yao	PROPN
sc-156	414	16	,	,	PUNCT
sc-156	414	17	“	"	PUNCT
sc-156	414	18	architecting	architecte	VERB
sc-156	414	19	self	self	NOUN
sc-156	414	20	-	-	PUNCT
sc-156	414	21	aware	aware	ADJ
sc-156	414	22	software	software	NOUN
sc-156	414	23	systems	system	NOUN
sc-156	414	24	”	"	PUNCT
sc-156	414	25	,	,	PUNCT
sc-156	414	26	ieee	ieee	NOUN
sc-156	414	27	/	/	SYM
sc-156	414	28	ifip	ifip	PROPN
sc-156	414	29	conf	conf	NOUN
sc-156	414	30	.	.	PUNCT
sc-156	415	1	on	on	ADP
sc-156	415	2	software	software	NOUN
sc-156	415	3	architecture	architecture	NOUN
sc-156	415	4	,	,	PUNCT
sc-156	415	5	2014	2014	NUM
sc-156	415	6	.	.	PUNCT
sc-156	416	1	[	[	X
sc-156	416	2	15	15	NUM
sc-156	416	3	]	]	X
sc-156	416	4	g.	g.	PROPN
sc-156	416	5	hu	hu	PROPN
sc-156	416	6	,	,	PUNCT
sc-156	416	7	w.	w.	PROPN
sc-156	416	8	tay	tay	PROPN
sc-156	416	9	&	&	CCONJ
sc-156	416	10	y.	y.	PROPN
sc-156	416	11	wen	wen	PROPN
sc-156	416	12	,	,	PUNCT
sc-156	416	13	“	"	PUNCT
sc-156	416	14	cloud	cloud	ADJ
sc-156	416	15	robotics	robotic	NOUN
sc-156	416	16	:	:	PUNCT
sc-156	416	17	architecture	architecture	NOUN
sc-156	416	18	,	,	PUNCT
sc-156	416	19	challenges	challenge	NOUN
sc-156	416	20	and	and	CCONJ
sc-156	416	21	applications	application	NOUN
sc-156	416	22	”	"	PUNCT
sc-156	416	23	,	,	PUNCT
sc-156	416	24	ieee	ieee	NOUN
sc-156	416	25	network	network	NOUN
sc-156	416	26	,	,	PUNCT
sc-156	416	27	vol	vol	NOUN
sc-156	416	28	.	.	PROPN
sc-156	416	29	26	26	NUM
sc-156	416	30	,	,	PUNCT
sc-156	416	31	no	no	INTJ
sc-156	416	32	.	.	NOUN
sc-156	416	33	3	3	NUM
sc-156	416	34	,	,	PUNCT
sc-156	416	35	pp	pp	ADJ
sc-156	416	36	.	.	PUNCT
sc-156	417	1	21–28	21–28	NUM
sc-156	417	2	,	,	PUNCT
sc-156	417	3	2012	2012	NUM
sc-156	417	4	.	.	PUNCT
sc-156	418	1	[	[	X
sc-156	418	2	16	16	NUM
sc-156	418	3	]	]	X
sc-156	418	4	s.	s.	PROPN
sc-156	418	5	wang	wang	PROPN
sc-156	418	6	,	,	PUNCT
sc-156	418	7	j.	j.	PROPN
sc-156	418	8	wan	wan	PROPN
sc-156	418	9	,	,	PUNCT
sc-156	418	10	d.	d.	PROPN
sc-156	418	11	zhang	zhang	PROPN
sc-156	418	12	,	,	PUNCT
sc-156	418	13	d.	d.	PROPN
sc-156	418	14	li	li	PROPN
sc-156	418	15	&	&	CCONJ
sc-156	418	16	c.	c.	PROPN
sc-156	418	17	zhang	zhang	PROPN
sc-156	418	18	,	,	PUNCT
sc-156	418	19	“	"	PUNCT
sc-156	418	20	towards	towards	ADP
sc-156	418	21	smart	smart	ADJ
sc-156	418	22	factory	factory	NOUN
sc-156	418	23	for	for	ADP
sc-156	418	24	industry	industry	NOUN
sc-156	418	25	4.0	4.0	NUM
sc-156	418	26	:	:	PUNCT
sc-156	418	27	a	a	DET
sc-156	418	28	self	self	NOUN
sc-156	418	29	-	-	PUNCT
sc-156	418	30	organized	organize	VERB
sc-156	418	31	multi	multi	ADJ
sc-156	418	32	-	-	ADJ
sc-156	418	33	agent	agent	ADJ
sc-156	418	34	system	system	NOUN
sc-156	418	35	with	with	ADP
sc-156	418	36	big	big	ADJ
sc-156	418	37	data	datum	NOUN
sc-156	418	38	based	base	VERB
sc-156	418	39	feedback	feedback	NOUN
sc-156	418	40	and	and	CCONJ
sc-156	418	41	coordination	coordination	NOUN
sc-156	418	42	”	"	PUNCT
sc-156	418	43	,	,	PUNCT
sc-156	418	44	computer	computer	NOUN
sc-156	418	45	networks	network	NOUN
sc-156	418	46	,	,	PUNCT
sc-156	418	47	vol	vol	NOUN
sc-156	418	48	.	.	PROPN
sc-156	419	1	101	101	NUM
sc-156	419	2	,	,	PUNCT
sc-156	419	3	2016	2016	NUM
sc-156	419	4	.	.	PUNCT
sc-156	420	1	[	[	X
sc-156	420	2	17	17	NUM
sc-156	420	3	]	]	X
sc-156	420	4	f.	f.	PROPN
sc-156	420	5	basile	basile	PROPN
sc-156	420	6	,	,	PUNCT
sc-156	420	7	p.	p.	NOUN
sc-156	420	8	chiacchio	chiacchio	PROPN
sc-156	420	9	and	and	CCONJ
sc-156	420	10	e.	e.	PROPN
sc-156	420	11	di	di	PROPN
sc-156	420	12	marino	marino	PROPN
sc-156	420	13	,	,	PUNCT
sc-156	420	14	“	"	PUNCT
sc-156	420	15	an	an	DET
sc-156	420	16	auction	auction	NOUN
sc-156	420	17	-	-	PUNCT
sc-156	420	18	based	base	VERB
sc-156	420	19	approach	approach	NOUN
sc-156	420	20	for	for	ADP
sc-156	420	21	the	the	DET
sc-156	420	22	coordination	coordination	NOUN
sc-156	420	23	of	of	ADP
sc-156	420	24	vehicles	vehicle	NOUN
sc-156	420	25	in	in	ADP
sc-156	420	26	automated	automate	VERB
sc-156	420	27	warehouse	warehouse	NOUN
sc-156	420	28	systems	system	NOUN
sc-156	420	29	”	"	PUNCT
sc-156	420	30	,	,	PUNCT
sc-156	420	31	ieee	ieee	PROPN
sc-156	420	32	international	international	ADJ
sc-156	420	33	conference	conference	NOUN
sc-156	420	34	on	on	ADP
sc-156	420	35	service	service	NOUN
sc-156	420	36	operations	operation	NOUN
sc-156	420	37	and	and	CCONJ
sc-156	420	38	logistics	logistic	NOUN
sc-156	420	39	,	,	PUNCT
sc-156	420	40	and	and	CCONJ
sc-156	420	41	informatics	informatics	PROPN
sc-156	420	42	(	(	PUNCT
sc-156	420	43	soli	soli	ADJ
sc-156	420	44	)	)	PUNCT
sc-156	420	45	,	,	PUNCT
sc-156	420	46	2017	2017	NUM
sc-156	420	47	.	.	PUNCT
sc-156	421	1	[	[	X
sc-156	421	2	18	18	NUM
sc-156	421	3	]	]	PUNCT
sc-156	421	4	a.	a.	NOUN
sc-156	421	5	kattepur	kattepur	PROPN
sc-156	421	6	,	,	PUNCT
sc-156	421	7	h.	h.	PROPN
sc-156	421	8	kumar	kumar	PROPN
sc-156	421	9	rath	rath	PROPN
sc-156	421	10	,	,	PUNCT
sc-156	421	11	a.	a.	NOUN
sc-156	421	12	simha	simha	PROPN
sc-156	421	13	and	and	CCONJ
sc-156	421	14	a.	a.	NOUN
sc-156	421	15	mukherjee	mukherjee	PROPN
sc-156	421	16	,	,	PUNCT
sc-156	421	17	“	"	PUNCT
sc-156	421	18	distributed	distribute	VERB
sc-156	421	19	optimization	optimization	NOUN
sc-156	421	20	in	in	ADP
sc-156	421	21	multi	multi	ADJ
sc-156	421	22	-	-	ADJ
sc-156	421	23	agent	agent	ADJ
sc-156	421	24	robotics	robotic	NOUN
sc-156	421	25	for	for	ADP
sc-156	421	26	industry	industry	NOUN
sc-156	421	27	4.0	4.0	NUM
sc-156	421	28	warehouses	warehouse	NOUN
sc-156	421	29	”	"	PUNCT
sc-156	421	30	,	,	PUNCT
sc-156	421	31	proceedings	proceeding	NOUN
sc-156	421	32	of	of	ADP
sc-156	421	33	the	the	DET
sc-156	421	34	33rd	33rd	ADJ
sc-156	421	35	annual	annual	ADJ
sc-156	421	36	acm	acm	NOUN
sc-156	421	37	symposium	symposium	NOUN
sc-156	421	38	on	on	ADP
sc-156	421	39	applied	apply	VERB
sc-156	421	40	computing	computing	NOUN
sc-156	421	41	,	,	PUNCT
sc-156	421	42	2018	2018	NUM
sc-156	421	43	.	.	PUNCT
sc-156	422	1	[	[	X
sc-156	422	2	19	19	NUM
sc-156	422	3	]	]	PUNCT
sc-156	422	4	s.	s.	PROPN
sc-156	422	5	russell	russell	PROPN
sc-156	422	6	&	&	CCONJ
sc-156	422	7	p.	p.	PROPN
sc-156	422	8	norvig	norvig	NOUN
sc-156	422	9	,	,	PUNCT
sc-156	422	10	“	"	PUNCT
sc-156	422	11	artificial	artificial	ADJ
sc-156	422	12	intelligence	intelligence	NOUN
sc-156	422	13	:	:	PUNCT
sc-156	422	14	a	a	DET
sc-156	422	15	modern	modern	ADJ
sc-156	422	16	approach	approach	NOUN
sc-156	422	17	”	"	PUNCT
sc-156	422	18	,	,	PUNCT
sc-156	422	19	pearson	pearson	PROPN
sc-156	422	20	,	,	PUNCT
sc-156	422	21	2015	2015	NUM
sc-156	422	22	.	.	PUNCT
sc-156	423	1	[	[	X
sc-156	423	2	20	20	NUM
sc-156	423	3	]	]	PUNCT
sc-156	423	4	m.	m.	NOUN
sc-156	423	5	hifi	hifi	PROPN
sc-156	423	6	,	,	PUNCT
sc-156	423	7	m.	m.	NOUN
sc-156	423	8	michrafy	michrafy	PROPN
sc-156	423	9	&	&	CCONJ
sc-156	423	10	a.	a.	PROPN
sc-156	423	11	sbihi	sbihi	PROPN
sc-156	423	12	,	,	PUNCT
sc-156	423	13	“	"	PUNCT
sc-156	423	14	heuristic	heuristic	ADJ
sc-156	423	15	algorithms	algorithm	NOUN
sc-156	423	16	for	for	ADP
sc-156	423	17	the	the	DET
sc-156	423	18	multiple	multiple	ADJ
sc-156	423	19	-	-	PUNCT
sc-156	423	20	choice	choice	NOUN
sc-156	423	21	multidimensional	multidimensional	ADJ
sc-156	423	22	knapsack	knapsack	NOUN
sc-156	423	23	problem	problem	NOUN
sc-156	423	24	”	"	PUNCT
sc-156	423	25	,	,	PUNCT
sc-156	423	26	j.	j.	PROPN
sc-156	423	27	of	of	ADP
sc-156	423	28	the	the	DET
sc-156	423	29	operational	operational	ADJ
sc-156	423	30	research	research	NOUN
sc-156	423	31	society	society	NOUN
sc-156	423	32	,	,	PUNCT
sc-156	423	33	vol	vol	NOUN
sc-156	423	34	.	.	PROPN
sc-156	424	1	55	55	NUM
sc-156	424	2	,	,	PUNCT
sc-156	424	3	no	no	INTJ
sc-156	424	4	.	.	NOUN
sc-156	424	5	12	12	NUM
sc-156	424	6	,	,	PUNCT
sc-156	424	7	pp	pp	ADJ
sc-156	424	8	.	.	PUNCT
sc-156	425	1	1323	1323	NUM
sc-156	425	2	-	-	SYM
sc-156	425	3	1332	1332	NUM
sc-156	425	4	,	,	PUNCT
sc-156	425	5	2004	2004	NUM
sc-156	425	6	.	.	PUNCT
sc-156	426	1	[	[	X
sc-156	426	2	21	21	NUM
sc-156	426	3	]	]	X
sc-156	426	4	marin	marin	NOUN
sc-156	426	5	lujak	lujak	PROPN
sc-156	426	6	,	,	PUNCT
sc-156	426	7	alberto	alberto	PROPN
sc-156	426	8	fernandez	fernandez	PROPN
sc-156	426	9	&	&	CCONJ
sc-156	426	10	eva	eva	PROPN
sc-156	426	11	onaindia	onaindia	PROPN
sc-156	426	12	,	,	PUNCT
sc-156	426	13	“	"	PUNCT
sc-156	426	14	spillover	spillover	VERB
sc-156	426	15	algorithm	algorithm	NOUN
sc-156	426	16	:	:	PUNCT
sc-156	426	17	a	a	DET
sc-156	426	18	decentralised	decentralise	VERB
sc-156	426	19	coordination	coordination	NOUN
sc-156	426	20	approach	approach	NOUN
sc-156	426	21	for	for	ADP
sc-156	426	22	multi	multi	ADJ
sc-156	426	23	-	-	ADJ
sc-156	426	24	robot	robot	ADJ
sc-156	426	25	production	production	NOUN
sc-156	426	26	planning	planning	NOUN
sc-156	426	27	in	in	ADP
sc-156	426	28	open	open	ADJ
sc-156	426	29	shared	share	VERB
sc-156	426	30	factories	factory	NOUN
sc-156	426	31	”	"	PUNCT
sc-156	426	32	,	,	PUNCT
sc-156	426	33	robotics	robotic	NOUN
sc-156	426	34	and	and	CCONJ
sc-156	426	35	computer	computer	NOUN
sc-156	426	36	-	-	PUNCT
sc-156	426	37	integrated	integrate	VERB
sc-156	426	38	manufacturing	manufacturing	NOUN
sc-156	426	39	,	,	PUNCT
sc-156	426	40	vol	vol	NOUN
sc-156	426	41	.	.	PROPN
sc-156	426	42	70	70	NUM
sc-156	426	43	,	,	PUNCT
sc-156	426	44	2021	2021	NUM
sc-156	426	45	.	.	PUNCT
sc-156	427	1	[	[	X
sc-156	427	2	22	22	NUM
sc-156	427	3	]	]	X
sc-156	427	4	c.	c.	PROPN
sc-156	427	5	amato	amato	PROPN
sc-156	427	6	,	,	PUNCT
sc-156	427	7	“	"	PUNCT
sc-156	427	8	decision	decision	NOUN
sc-156	427	9	-	-	PUNCT
sc-156	427	10	making	making	NOUN
sc-156	427	11	under	under	ADP
sc-156	427	12	uncertainty	uncertainty	NOUN
sc-156	427	13	in	in	ADP
sc-156	427	14	multi	multi	ADJ
sc-156	427	15	-	-	ADJ
sc-156	427	16	agent	agent	ADJ
sc-156	427	17	and	and	CCONJ
sc-156	427	18	multi	multi	ADJ
sc-156	427	19	-	-	ADJ
sc-156	427	20	robot	robot	ADJ
sc-156	427	21	systems	system	NOUN
sc-156	427	22	:	:	PUNCT
sc-156	427	23	planning	planning	NOUN
sc-156	427	24	and	and	CCONJ
sc-156	427	25	learning	learning	NOUN
sc-156	427	26	”	"	PUNCT
sc-156	427	27	,	,	PUNCT
sc-156	427	28	twenty	twenty	NUM
sc-156	427	29	-	-	PUNCT
sc-156	427	30	seventh	seventh	ADJ
sc-156	427	31	international	international	ADJ
sc-156	427	32	joint	joint	ADJ
sc-156	427	33	conference	conference	NOUN
sc-156	427	34	on	on	ADP
sc-156	427	35	artificial	artificial	ADJ
sc-156	427	36	intelligence	intelligence	NOUN
sc-156	427	37	,	,	PUNCT
sc-156	427	38	2018	2018	NUM
sc-156	427	39	.	.	PUNCT
sc-156	428	1	[	[	X
sc-156	428	2	23	23	NUM
sc-156	428	3	]	]	X
sc-156	428	4	h.	h.	PROPN
sc-156	428	5	hu	hu	PROPN
sc-156	428	6	,	,	PUNCT
sc-156	428	7	x.	x.	PROPN
sc-156	428	8	jia	jia	PROPN
sc-156	428	9	,	,	PUNCT
sc-156	428	10	k.	k.	PROPN
sc-156	428	11	liu	liu	PROPN
sc-156	428	12	and	and	CCONJ
sc-156	428	13	b.	b.	PROPN
sc-156	428	14	sun	sun	PROPN
sc-156	428	15	,	,	PUNCT
sc-156	428	16	“	"	PUNCT
sc-156	428	17	self	self	NOUN
sc-156	428	18	-	-	PUNCT
sc-156	428	19	adaptive	adaptive	ADJ
sc-156	428	20	traffic	traffic	NOUN
sc-156	428	21	control	control	NOUN
sc-156	428	22	model	model	NOUN
sc-156	428	23	with	with	ADP
sc-156	428	24	behavior	behavior	NOUN
sc-156	428	25	trees	tree	NOUN
sc-156	428	26	and	and	CCONJ
sc-156	428	27	reinforcement	reinforcement	NOUN
sc-156	428	28	learning	learning	NOUN
sc-156	428	29	for	for	ADP
sc-156	428	30	agv	agv	NOUN
sc-156	428	31	in	in	ADP
sc-156	428	32	industry	industry	NOUN
sc-156	428	33	4.0	4.0	NUM
sc-156	428	34	”	"	PUNCT
sc-156	428	35	,	,	PUNCT
sc-156	428	36	ieee	ieee	NOUN
sc-156	428	37	transactions	transaction	NOUN
sc-156	428	38	on	on	ADP
sc-156	428	39	industrial	industrial	ADJ
sc-156	428	40	informatics	informatic	NOUN
sc-156	428	41	,	,	PUNCT
sc-156	428	42	2021	2021	NUM
sc-156	428	43	.	.	PUNCT
sc-156	429	1	13	13	NUM
sc-156	429	2	eai	eai	PROPN
sc-156	429	3	endorsed	endorse	VERB
sc-156	429	4	transactions	transaction	NOUN
sc-156	429	5	on	on	ADP
sc-156	429	6	smart	smart	ADJ
sc-156	429	7	cities	city	NOUN
sc-156	429	8	10	10	NUM
sc-156	429	9	2021	2021	NUM
sc-156	429	10	03	03	NUM
sc-156	429	11	2022	2022	NUM
sc-156	429	12	|	|	ADV
sc-156	429	13	volume	volume	NOUN
sc-156	429	14	6	6	NUM
sc-156	429	15	|	|	NOUN
sc-156	429	16	issue	issue	NOUN
sc-156	429	17	17	17	NUM
sc-156	429	18	|	|	NOUN
sc-156	429	19	e2	e2	PROPN
sc-156	429	20	1	1	NUM
sc-156	429	21	introduction	introduction	NOUN
sc-156	429	22	2	2	NUM
sc-156	429	23	related	relate	VERB
sc-156	429	24	work	work	NOUN
sc-156	429	25	2.1	2.1	NUM
sc-156	429	26	mechanism	mechanism	NOUN
sc-156	429	27	designs	design	NOUN
sc-156	429	28	and	and	CCONJ
sc-156	429	29	auctions	auction	NOUN
sc-156	429	30	2.2	2.2	NUM
sc-156	429	31	industry	industry	NOUN
sc-156	429	32	4.0	4.0	NUM
sc-156	429	33	automation	automation	NOUN
sc-156	429	34	3	3	NUM
sc-156	429	35	automated	automate	VERB
sc-156	429	36	task	task	NOUN
sc-156	429	37	procurement	procurement	NOUN
sc-156	429	38	process	process	NOUN
sc-156	429	39	3.1	3.1	NUM
sc-156	429	40	intelligent	intelligent	ADJ
sc-156	429	41	agents	agent	NOUN
sc-156	429	42	3.2	3.2	NUM
sc-156	429	43	industry	industry	NOUN
sc-156	429	44	4.0	4.0	NUM
sc-156	429	45	warehouse	warehouse	NOUN
sc-156	429	46	tasks	task	NOUN
sc-156	429	47	4	4	NUM
sc-156	429	48	mechanism	mechanism	NOUN
sc-156	429	49	design	design	NOUN
sc-156	429	50	and	and	CCONJ
sc-156	429	51	auctions	auction	NOUN
sc-156	429	52	4.1	4.1	NUM
sc-156	429	53	combinatorial	combinatorial	ADJ
sc-156	429	54	task	task	NOUN
sc-156	429	55	auctions	auction	NOUN
sc-156	429	56	4.2	4.2	NUM
sc-156	429	57	mechanism	mechanism	NOUN
sc-156	429	58	design	design	NOUN
sc-156	429	59	5	5	NUM
sc-156	429	60	industry	industry	NOUN
sc-156	429	61	4.0	4.0	NUM
sc-156	429	62	automation	automation	NOUN
sc-156	429	63	task	task	NOUN
sc-156	429	64	auctions	auction	NOUN
sc-156	429	65	5.1	5.1	NUM
sc-156	429	66	task	task	NOUN
sc-156	429	67	auctions	auction	NOUN
sc-156	429	68	5.2	5.2	NUM
sc-156	429	69	allocation	allocation	NOUN
sc-156	429	70	of	of	ADP
sc-156	429	71	the	the	DET
sc-156	429	72	winners	winner	NOUN
sc-156	429	73	5.3	5.3	NUM
sc-156	429	74	winner	winner	NOUN
sc-156	429	75	scores	score	NOUN
sc-156	429	76	6	6	NUM
sc-156	429	77	simulation	simulation	NOUN
sc-156	429	78	results	result	VERB
sc-156	429	79	6.1	6.1	NUM
sc-156	429	80	case	case	NOUN
sc-156	429	81	1	1	NUM
sc-156	429	82	:	:	PUNCT
sc-156	429	83	homogeneous	homogeneous	ADJ
sc-156	429	84	agent	agent	NOUN
sc-156	429	85	capacities	capacity	NOUN
sc-156	429	86	–	–	PUNCT
sc-156	429	87	individual	individual	ADJ
sc-156	429	88	task	task	NOUN
sc-156	429	89	bids	bid	NOUN
sc-156	429	90	.	.	PUNCT
sc-156	430	1	6.2	6.2	NUM
sc-156	430	2	case	case	NOUN
sc-156	430	3	2	2	NUM
sc-156	430	4	:	:	PUNCT
sc-156	430	5	heterogeneous	heterogeneous	ADJ
sc-156	430	6	agent	agent	NOUN
sc-156	430	7	capacities	capacity	NOUN
sc-156	430	8	–	–	PUNCT
sc-156	430	9	individual	individual	ADJ
sc-156	430	10	task	task	NOUN
sc-156	430	11	bids	bid	NOUN
sc-156	430	12	.	.	PUNCT
sc-156	431	1	6.3	6.3	NUM
sc-156	431	2	case	case	NOUN
sc-156	431	3	3	3	NUM
sc-156	431	4	:	:	PUNCT
sc-156	431	5	homogeneous	homogeneous	ADJ
sc-156	431	6	agents	agent	NOUN
sc-156	431	7	bids	bid	NOUN
sc-156	431	8	for	for	ADP
sc-156	431	9	combinatorial	combinatorial	ADJ
sc-156	431	10	subsets	subset	NOUN
sc-156	431	11	of	of	ADP
sc-156	431	12	items	item	NOUN
sc-156	431	13	.	.	PUNCT
sc-156	432	1	6.4	6.4	NUM
sc-156	432	2	case	case	NOUN
sc-156	432	3	4	4	NUM
sc-156	432	4	:	:	PUNCT
sc-156	432	5	erroneous	erroneous	ADJ
sc-156	432	6	estimates	estimate	NOUN
sc-156	432	7	with	with	ADP
sc-156	432	8	collusion	collusion	NOUN
sc-156	432	9	.	.	PUNCT
sc-156	433	1	7	7	NUM
sc-156	433	2	conclusions	conclusion	NOUN