id	sid	tid	token	lemma	pos
sc-2649	1	1	this	this	PRON
sc-2649	1	2	is	be	AUX
sc-2649	1	3	a	a	DET
sc-2649	1	4	title	title	NOUN
sc-2649	1	5	this	this	DET
sc-2649	1	6	paper	paper	NOUN
sc-2649	1	7	proposes	propose	VERB
sc-2649	1	8	an	an	DET
sc-2649	1	9	optimised	optimise	VERB
sc-2649	1	10	design	design	NOUN
sc-2649	1	11	of	of	ADP
sc-2649	1	12	an	an	DET
sc-2649	1	13	autonomous	autonomous	ADJ
sc-2649	1	14	delivery	delivery	NOUN
sc-2649	1	15	robot	robot	NOUN
sc-2649	1	16	while	while	SCONJ
sc-2649	1	17	adopting	adopt	VERB
sc-2649	1	18	the	the	DET
sc-2649	1	19	latest	late	ADJ
sc-2649	1	20	technologies	technology	NOUN
sc-2649	1	21	from	from	ADP
sc-2649	1	22	the	the	DET
sc-2649	1	23	different	different	ADJ
sc-2649	1	24	branching	branch	VERB
sc-2649	1	25	fields	field	NOUN
sc-2649	1	26	of	of	ADP
sc-2649	1	27	robotics	robotic	NOUN
sc-2649	1	28	,	,	PUNCT
sc-2649	1	29	artificial	artificial	ADJ
sc-2649	1	30	intelligence	intelligence	NOUN
sc-2649	1	31	,	,	PUNCT
sc-2649	1	32	and	and	CCONJ
sc-2649	1	33	tele	tele	NOUN
sc-2649	1	34	-	-	PUNCT
sc-2649	1	35	communication	communication	NOUN
sc-2649	1	36	.	.	PUNCT
sc-2649	2	1	as	as	ADP
sc-2649	2	2	a	a	DET
sc-2649	2	3	prospective	prospective	ADJ
sc-2649	2	4	representation	representation	NOUN
sc-2649	2	5	of	of	ADP
sc-2649	2	6	a	a	DET
sc-2649	2	7	user	user	NOUN
sc-2649	2	8	-	-	PUNCT
sc-2649	2	9	centric	centric	ADJ
sc-2649	2	10	robot	robot	NOUN
sc-2649	2	11	design	design	NOUN
sc-2649	2	12	,	,	PUNCT
sc-2649	2	13	the	the	DET
sc-2649	2	14	proposal	proposal	NOUN
sc-2649	2	15	is	be	AUX
sc-2649	2	16	design	design	NOUN
sc-2649	2	17	with	with	ADP
sc-2649	2	18	the	the	DET
sc-2649	2	19	major	major	ADJ
sc-2649	2	20	focus	focus	NOUN
sc-2649	2	21	on	on	ADP
sc-2649	2	22	maximizing	maximize	VERB
sc-2649	2	23	users	user	NOUN
sc-2649	2	24	’	'	PUNCT
sc-2649	2	25	satisfaction	satisfaction	NOUN
sc-2649	2	26	throughout	throughout	ADP
sc-2649	2	27	every	every	DET
sc-2649	2	28	human	human	ADJ
sc-2649	2	29	–	–	PUNCT
sc-2649	2	30	robot	robot	NOUN
sc-2649	2	31	interaction	interaction	NOUN
sc-2649	2	32	(	(	PUNCT
sc-2649	2	33	hri	hri	NOUN
sc-2649	2	34	)	)	PUNCT
sc-2649	2	35	touchpoints	touchpoint	NOUN
sc-2649	2	36	.	.	PUNCT
sc-2649	3	1	by	by	ADP
sc-2649	3	2	the	the	DET
sc-2649	3	3	use	use	NOUN
sc-2649	3	4	of	of	ADP
sc-2649	3	5	sensor	sensor	NOUN
sc-2649	3	6	fusion	fusion	NOUN
sc-2649	3	7	techniques	technique	NOUN
sc-2649	3	8	along	along	ADP
sc-2649	3	9	with	with	ADP
sc-2649	3	10	the	the	DET
sc-2649	3	11	deployment	deployment	NOUN
sc-2649	3	12	of	of	ADP
sc-2649	3	13	an	an	DET
sc-2649	3	14	image	image	NOUN
sc-2649	3	15	detection	detection	NOUN
sc-2649	3	16	-	-	PUNCT
sc-2649	3	17	based	base	VERB
sc-2649	3	18	technique	technique	NOUN
sc-2649	3	19	accompanying	accompany	VERB
sc-2649	3	20	the	the	DET
sc-2649	3	21	point	point	NOUN
sc-2649	3	22	-	-	PUNCT
sc-2649	3	23	cloud	cloud	NOUN
sc-2649	3	24	-	-	PUNCT
sc-2649	3	25	detection	detection	NOUN
sc-2649	3	26	-	-	PUNCT
sc-2649	3	27	based	base	VERB
sc-2649	3	28	path	path	NOUN
sc-2649	3	29	-	-	PUNCT
sc-2649	3	30	planning	planning	NOUN
sc-2649	3	31	methodology	methodology	NOUN
sc-2649	3	32	,	,	PUNCT
sc-2649	3	33	the	the	DET
sc-2649	3	34	robot	robot	NOUN
sc-2649	3	35	delivery	delivery	NOUN
sc-2649	3	36	would	would	AUX
sc-2649	3	37	be	be	AUX
sc-2649	3	38	optimised	optimise	VERB
sc-2649	3	39	with	with	ADP
sc-2649	3	40	effective	effective	ADJ
sc-2649	3	41	path	path	NOUN
sc-2649	3	42	-	-	PUNCT
sc-2649	3	43	planning	planning	NOUN
sc-2649	3	44	and	and	CCONJ
sc-2649	3	45	obstacle	obstacle	NOUN
sc-2649	3	46	avoidance	avoidance	NOUN
sc-2649	3	47	capability	capability	NOUN
sc-2649	3	48	.	.	PUNCT
sc-2649	4	1	with	with	ADP
sc-2649	4	2	the	the	DET
sc-2649	4	3	extension	extension	NOUN
sc-2649	4	4	of	of	ADP
sc-2649	4	5	5	5	NUM
sc-2649	4	6	g	g	NOUN
sc-2649	4	7	connectivity	connectivity	NOUN
sc-2649	4	8	,	,	PUNCT
sc-2649	4	9	it	it	PRON
sc-2649	4	10	is	be	AUX
sc-2649	4	11	proposed	propose	VERB
sc-2649	4	12	that	that	SCONJ
sc-2649	4	13	the	the	DET
sc-2649	4	14	real	real	ADJ
sc-2649	4	15	-	-	PUNCT
sc-2649	4	16	time	time	NOUN
sc-2649	4	17	status	status	NOUN
sc-2649	4	18	update	update	NOUN
sc-2649	4	19	and	and	CCONJ
sc-2649	4	20	video	video	NOUN
sc-2649	4	21	stream	stream	NOUN
sc-2649	4	22	would	would	AUX
sc-2649	4	23	enable	enable	VERB
sc-2649	4	24	greater	great	ADJ
sc-2649	4	25	efficiency	efficiency	NOUN
sc-2649	4	26	in	in	ADP
sc-2649	4	27	terms	term	NOUN
sc-2649	4	28	of	of	ADP
sc-2649	4	29	remote	remote	ADJ
sc-2649	4	30	monitoring	monitoring	NOUN
sc-2649	4	31	and	and	CCONJ
sc-2649	4	32	centralised	centralised	ADJ
sc-2649	4	33	robot	robot	NOUN
sc-2649	4	34	administration	administration	NOUN
sc-2649	4	35	.	.	PUNCT
sc-2649	5	1	eai	eai	PROPN
sc-2649	5	2	endorsed	endorse	VERB
sc-2649	5	3	transactions	transaction	NOUN
sc-2649	5	4	on	on	ADP
sc-2649	5	5	smart	smart	ADJ
sc-2649	5	6	cities	city	NOUN
sc-2649	5	7	research	research	NOUN
sc-2649	5	8	article	article	NOUN
sc-2649	5	9	applied	apply	VERB
sc-2649	5	10	design	design	NOUN
sc-2649	5	11	and	and	CCONJ
sc-2649	5	12	methodology	methodology	NOUN
sc-2649	5	13	of	of	ADP
sc-2649	5	14	delivery	delivery	NOUN
sc-2649	5	15	robots	robot	NOUN
sc-2649	5	16	based	base	VERB
sc-2649	5	17	on	on	ADP
sc-2649	5	18	human	human	ADJ
sc-2649	5	19	–	–	PUNCT
sc-2649	5	20	robot	robot	NOUN
sc-2649	5	21	interaction	interaction	NOUN
sc-2649	5	22	in	in	ADP
sc-2649	5	23	smart	smart	ADJ
sc-2649	5	24	cities	city	NOUN
sc-2649	5	25	wing	wing	NOUN
sc-2649	5	26	ting	ting	PROPN
sc-2649	5	27	law1	law1	PROPN
sc-2649	5	28	*	*	PROPN
sc-2649	5	29	,	,	PUNCT
sc-2649	5	30	kam	kam	PROPN
sc-2649	5	31	wah	wah	PROPN
sc-2649	5	32	fan	fan	PROPN
sc-2649	5	33	2	2	NUM
sc-2649	5	34	,	,	PUNCT
sc-2649	5	35	ki	ki	PROPN
sc-2649	5	36	sing	sing	VERB
sc-2649	5	37	li	li	PROPN
sc-2649	5	38	3	3	NUM
sc-2649	5	39	,	,	PUNCT
sc-2649	5	40	and	and	CCONJ
sc-2649	5	41	tiande	tiande	ADP
sc-2649	5	42	mo4	mo4	NOUN
sc-2649	5	43	1,2,3,4	1,2,3,4	NUM
sc-2649	5	44	hong	hong	PROPN
sc-2649	5	45	kong	kong	PROPN
sc-2649	5	46	productivity	productivity	PROPN
sc-2649	5	47	council	council	PROPN
sc-2649	5	48	,	,	PUNCT
sc-2649	5	49	hong	hong	PROPN
sc-2649	5	50	kong	kong	PROPN
sc-2649	5	51	abstract	abstract	ADJ
sc-2649	5	52	keywords	keyword	NOUN
sc-2649	5	53	:	:	PUNCT
sc-2649	5	54	smart	smart	ADJ
sc-2649	5	55	cities	city	NOUN
sc-2649	5	56	,	,	PUNCT
sc-2649	5	57	smart	smart	ADJ
sc-2649	5	58	mobility	mobility	NOUN
sc-2649	5	59	,	,	PUNCT
sc-2649	5	60	robotics	robotic	NOUN
sc-2649	5	61	,	,	PUNCT
sc-2649	5	62	robot	robot	NOUN
sc-2649	5	63	,	,	PUNCT
sc-2649	5	64	human	human	ADJ
sc-2649	5	65	-	-	PUNCT
sc-2649	5	66	robot	robot	NOUN
sc-2649	5	67	interaction	interaction	NOUN
sc-2649	5	68	;	;	PUNCT
sc-2649	5	69	hri	hri	PROPN
sc-2649	5	70	;	;	PUNCT
sc-2649	5	71	human	human	ADJ
sc-2649	5	72	-	-	PUNCT
sc-2649	5	73	centric	centric	NOUN
sc-2649	5	74	computing	computing	NOUN
sc-2649	5	75	;	;	PUNCT
sc-2649	5	76	interaction	interaction	NOUN
sc-2649	5	77	design	design	NOUN
sc-2649	5	78	;	;	PUNCT
sc-2649	5	79	user	user	NOUN
sc-2649	5	80	centric	centric	PROPN
sc-2649	5	81	design	design	NOUN
sc-2649	5	82	;	;	PUNCT
sc-2649	5	83	robot	robot	NOUN
sc-2649	5	84	design	design	NOUN
sc-2649	5	85	;	;	PUNCT
sc-2649	5	86	robot	robot	NOUN
sc-2649	5	87	methodology	methodology	NOUN
sc-2649	5	88	.	.	PUNCT
sc-2649	6	1	received	receive	VERB
sc-2649	6	2	on	on	ADP
sc-2649	6	3	30	30	NUM
sc-2649	6	4	august	august	PROPN
sc-2649	6	5	2022	2022	NUM
sc-2649	6	6	,	,	PUNCT
sc-2649	6	7	accepted	accept	VERB
sc-2649	6	8	on	on	ADP
sc-2649	6	9	02	02	NUM
sc-2649	6	10	april	april	PROPN
sc-2649	6	11	2023	2023	NUM
sc-2649	6	12	,	,	PUNCT
sc-2649	6	13	published	publish	VERB
sc-2649	6	14	on	on	ADP
sc-2649	6	15	26	26	NUM
sc-2649	6	16	june	june	PROPN
sc-2649	6	17	2023	2023	NUM
sc-2649	6	18	copyright	copyright	NOUN
sc-2649	6	19	©	©	PROPN
sc-2649	6	20	2023	2023	NUM
sc-2649	6	21	law	law	NOUN
sc-2649	6	22	et	et	NOUN
sc-2649	6	23	al	al	PROPN
sc-2649	6	24	.	.	PROPN
sc-2649	6	25	,	,	PUNCT
sc-2649	6	26	licensed	license	VERB
sc-2649	6	27	to	to	ADP
sc-2649	6	28	eai	eai	PROPN
sc-2649	6	29	.	.	PUNCT
sc-2649	7	1	this	this	PRON
sc-2649	7	2	is	be	AUX
sc-2649	7	3	an	an	DET
sc-2649	7	4	open	open	ADJ
sc-2649	7	5	access	access	NOUN
sc-2649	7	6	article	article	NOUN
sc-2649	7	7	distributed	distribute	VERB
sc-2649	7	8	under	under	ADP
sc-2649	7	9	the	the	DET
sc-2649	7	10	terms	term	NOUN
sc-2649	7	11	of	of	ADP
sc-2649	7	12	the	the	DET
sc-2649	7	13	cc	cc	PROPN
sc-2649	7	14	by	by	ADP
sc-2649	7	15	-	-	PUNCT
sc-2649	7	16	nc	nc	PROPN
sc-2649	7	17	-	-	PUNCT
sc-2649	7	18	sa	sa	PROPN
sc-2649	7	19	4.0	4.0	NUM
sc-2649	7	20	,	,	PUNCT
sc-2649	7	21	which	which	PRON
sc-2649	7	22	permits	permit	VERB
sc-2649	7	23	copying	copy	VERB
sc-2649	7	24	,	,	PUNCT
sc-2649	7	25	redistributing	redistributing	NOUN
sc-2649	7	26	,	,	PUNCT
sc-2649	7	27	remixing	remixing	NOUN
sc-2649	7	28	,	,	PUNCT
sc-2649	7	29	transformation	transformation	NOUN
sc-2649	7	30	,	,	PUNCT
sc-2649	7	31	and	and	CCONJ
sc-2649	7	32	building	build	VERB
sc-2649	7	33	upon	upon	SCONJ
sc-2649	7	34	the	the	DET
sc-2649	7	35	material	material	NOUN
sc-2649	7	36	in	in	ADP
sc-2649	7	37	any	any	DET
sc-2649	7	38	medium	medium	NOUN
sc-2649	7	39	so	so	ADV
sc-2649	7	40	long	long	ADV
sc-2649	7	41	as	as	SCONJ
sc-2649	7	42	the	the	DET
sc-2649	7	43	original	original	ADJ
sc-2649	7	44	work	work	NOUN
sc-2649	7	45	is	be	AUX
sc-2649	7	46	properly	properly	ADV
sc-2649	7	47	cited	cite	VERB
sc-2649	7	48	.	.	PUNCT
sc-2649	8	1	doi	doi	NOUN
sc-2649	8	2	:	:	PUNCT
sc-2649	8	3	10.4108/	10.4108/	NUM
sc-2649	8	4	eetsc.2649	eetsc.2649	SYM
sc-2649	8	5	1	1	NUM
sc-2649	8	6	.	.	PUNCT
sc-2649	9	1	introduction	introduction	NOUN
sc-2649	9	2	adapting	adapt	VERB
sc-2649	9	3	to	to	ADP
sc-2649	9	4	the	the	DET
sc-2649	9	5	shift	shift	NOUN
sc-2649	9	6	of	of	ADP
sc-2649	9	7	the	the	DET
sc-2649	9	8	modern	modern	ADJ
sc-2649	9	9	world	world	NOUN
sc-2649	9	10	with	with	ADP
sc-2649	9	11	increasing	increase	VERB
sc-2649	9	12	traffic	traffic	NOUN
sc-2649	9	13	of	of	ADP
sc-2649	9	14	goods	good	NOUN
sc-2649	9	15	and	and	CCONJ
sc-2649	9	16	a	a	DET
sc-2649	9	17	severe	severe	ADJ
sc-2649	9	18	labour	labour	NOUN
sc-2649	9	19	shortage	shortage	NOUN
sc-2649	9	20	,	,	PUNCT
sc-2649	9	21	it	it	PRON
sc-2649	9	22	is	be	AUX
sc-2649	9	23	foreseeable	foreseeable	ADJ
sc-2649	9	24	that	that	SCONJ
sc-2649	9	25	the	the	DET
sc-2649	9	26	trend	trend	NOUN
sc-2649	9	27	of	of	ADP
sc-2649	9	28	robot	robot	NOUN
sc-2649	9	29	delivery	delivery	NOUN
sc-2649	9	30	would	would	AUX
sc-2649	9	31	be	be	AUX
sc-2649	9	32	much	much	ADV
sc-2649	9	33	popular	popular	ADJ
sc-2649	9	34	in	in	ADP
sc-2649	9	35	order	order	NOUN
sc-2649	9	36	to	to	PART
sc-2649	9	37	serve	serve	VERB
sc-2649	9	38	as	as	ADP
sc-2649	9	39	a	a	DET
sc-2649	9	40	versatile	versatile	ADJ
sc-2649	9	41	alternative	alternative	NOUN
sc-2649	9	42	for	for	ADP
sc-2649	9	43	human	human	ADJ
sc-2649	9	44	labour	labour	NOUN
sc-2649	9	45	in	in	ADP
sc-2649	9	46	cities	city	NOUN
sc-2649	10	1	[	[	X
sc-2649	10	2	1][2][3][4	1][2][3][4	NUM
sc-2649	10	3	]	]	X
sc-2649	10	4	.	.	PUNCT
sc-2649	11	1	by	by	ADP
sc-2649	11	2	having	have	VERB
sc-2649	11	3	robots	robot	NOUN
sc-2649	11	4	take	take	VERB
sc-2649	11	5	part	part	NOUN
sc-2649	11	6	in	in	ADP
sc-2649	11	7	labour	labour	NOUN
sc-2649	11	8	-	-	PUNCT
sc-2649	11	9	intensive	intensive	ADJ
sc-2649	11	10	tasks	task	NOUN
sc-2649	11	11	,	,	PUNCT
sc-2649	11	12	the	the	DET
sc-2649	11	13	automation	automation	NOUN
sc-2649	11	14	in	in	ADP
sc-2649	11	15	various	various	ADJ
sc-2649	11	16	industries	industry	NOUN
sc-2649	11	17	allows	allow	VERB
sc-2649	11	18	the	the	DET
sc-2649	11	19	precious	precious	ADJ
sc-2649	11	20	labour	labour	NOUN
sc-2649	11	21	resources	resource	NOUN
sc-2649	11	22	to	to	PART
sc-2649	11	23	re	re	AUX
sc-2649	11	24	allocated	allocate	VERB
sc-2649	11	25	on	on	ADP
sc-2649	11	26	the	the	DET
sc-2649	11	27	important	important	ADJ
sc-2649	11	28	value	value	NOUN
sc-2649	11	29	-	-	PUNCT
sc-2649	11	30	added	add	VERB
sc-2649	11	31	tasks	task	NOUN
sc-2649	11	32	.	.	PUNCT
sc-2649	12	1	in	in	ADP
sc-2649	12	2	recent	recent	ADJ
sc-2649	12	3	years	year	NOUN
sc-2649	12	4	,	,	PUNCT
sc-2649	12	5	on	on	ADP
sc-2649	12	6	-	-	PUNCT
sc-2649	12	7	demand	demand	NOUN
sc-2649	12	8	delivery	delivery	NOUN
sc-2649	12	9	robots	robot	NOUN
sc-2649	12	10	in	in	ADP
sc-2649	12	11	buildings	building	NOUN
sc-2649	12	12	have	have	AUX
sc-2649	12	13	been	be	AUX
sc-2649	12	14	a	a	DET
sc-2649	12	15	welcomed	welcome	VERB
sc-2649	12	16	substitution	substitution	NOUN
sc-2649	12	17	over	over	ADP
sc-2649	12	18	human	human	ADJ
sc-2649	12	19	delivery	delivery	NOUN
sc-2649	12	20	in	in	ADP
sc-2649	12	21	most	most	ADJ
sc-2649	12	22	business	business	NOUN
sc-2649	12	23	.	.	PUNCT
sc-2649	13	1	this	this	DET
sc-2649	13	2	paper	paper	NOUN
sc-2649	13	3	,	,	PUNCT
sc-2649	13	4	therefore	therefore	ADV
sc-2649	13	5	,	,	PUNCT
sc-2649	13	6	aims	aim	VERB
sc-2649	13	7	to	to	PART
sc-2649	13	8	demonstrate	demonstrate	VERB
sc-2649	13	9	a	a	DET
sc-2649	13	10	user	user	NOUN
sc-2649	13	11	-	-	PUNCT
sc-2649	13	12	centric	centric	ADJ
sc-2649	13	13	idea	idea	NOUN
sc-2649	13	14	on	on	ADP
sc-2649	13	15	human	human	ADJ
sc-2649	13	16	-	-	PUNCT
sc-2649	13	17	robot	robot	NOUN
sc-2649	13	18	interaction	interaction	NOUN
sc-2649	13	19	[	[	X
sc-2649	13	20	5	5	NUM
sc-2649	13	21	]	]	PUNCT
sc-2649	13	22	(	(	PUNCT
sc-2649	13	23	hereafter	hereafter	ADV
sc-2649	13	24	called	call	VERB
sc-2649	13	25	hri	hri	PROPN
sc-2649	13	26	)	)	PUNCT
sc-2649	13	27	using	use	VERB
sc-2649	13	28	various	various	ADJ
sc-2649	13	29	design	design	NOUN
sc-2649	13	30	and	and	CCONJ
sc-2649	13	31	methodologies	methodology	NOUN
sc-2649	13	32	that	that	PRON
sc-2649	13	33	adopt	adopt	VERB
sc-2649	13	34	the	the	DET
sc-2649	13	35	latest	late	ADJ
sc-2649	13	36	technology	technology	NOUN
sc-2649	13	37	among	among	ADP
sc-2649	13	38	the	the	DET
sc-2649	13	39	fields	field	NOUN
sc-2649	13	40	of	of	ADP
sc-2649	13	41	robotics	robotic	NOUN
sc-2649	13	42	,	,	PUNCT
sc-2649	13	43	artificial	artificial	ADJ
sc-2649	13	44	intelligence	intelligence	NOUN
sc-2649	13	45	,	,	PUNCT
sc-2649	13	46	and	and	CCONJ
sc-2649	13	47	tele	tele	PROPN
sc-2649	13	48	communication	communication	NOUN
sc-2649	13	49	in	in	ADP
sc-2649	13	50	real	real	ADJ
sc-2649	13	51	-	-	PUNCT
sc-2649	13	52	life	life	NOUN
sc-2649	13	53	applications	application	NOUN
sc-2649	13	54	.	.	PUNCT
sc-2649	14	1	throughout	throughout	ADP
sc-2649	14	2	the	the	DET
sc-2649	14	3	adoption	adoption	NOUN
sc-2649	14	4	of	of	ADP
sc-2649	14	5	the	the	DET
sc-2649	14	6	different	different	ADJ
sc-2649	14	7	types	type	NOUN
sc-2649	14	8	of	of	ADP
sc-2649	14	9	technology	technology	NOUN
sc-2649	14	10	,	,	PUNCT
sc-2649	14	11	it	it	PRON
sc-2649	14	12	is	be	AUX
sc-2649	14	13	realised	realise	VERB
sc-2649	14	14	that	that	SCONJ
sc-2649	14	15	various	various	ADJ
sc-2649	14	16	hri	hri	PROPN
sc-2649	14	17	considerations	consideration	NOUN
sc-2649	14	18	could	could	AUX
sc-2649	14	19	be	be	AUX
sc-2649	14	20	taken	take	VERB
sc-2649	14	21	into	into	ADP
sc-2649	14	22	account	account	NOUN
sc-2649	14	23	in	in	ADP
sc-2649	14	24	order	order	NOUN
sc-2649	14	25	to	to	PART
sc-2649	14	26	enhance	enhance	VERB
sc-2649	14	27	the	the	DET
sc-2649	14	28	overall	overall	ADJ
sc-2649	14	29	user	user	NOUN
sc-2649	14	30	experience	experience	NOUN
sc-2649	14	31	by	by	ADP
sc-2649	14	32	revamping	revamp	VERB
sc-2649	14	33	human	human	ADJ
sc-2649	14	34	-	-	PUNCT
sc-2649	14	35	robot	robot	NOUN
sc-2649	14	36	touchpoints	touchpoint	NOUN
sc-2649	14	37	.	.	PUNCT
sc-2649	15	1	with	with	ADP
sc-2649	15	2	careful	careful	ADJ
sc-2649	15	3	considerations	consideration	NOUN
sc-2649	15	4	on	on	ADP
sc-2649	15	5	the	the	DET
sc-2649	15	6	planned	plan	VERB
sc-2649	15	7	usage	usage	NOUN
sc-2649	15	8	and	and	CCONJ
sc-2649	15	9	optimised	optimise	VERB
sc-2649	15	10	user	user	NOUN
sc-2649	15	11	experience	experience	NOUN
sc-2649	15	12	,	,	PUNCT
sc-2649	15	13	hardware	hardware	NOUN
sc-2649	15	14	design	design	NOUN
sc-2649	15	15	,	,	PUNCT
sc-2649	15	16	and	and	CCONJ
sc-2649	15	17	software	software	NOUN
sc-2649	15	18	design	design	NOUN
sc-2649	15	19	,	,	PUNCT
sc-2649	15	20	the	the	DET
sc-2649	15	21	research	research	NOUN
sc-2649	15	22	team	team	NOUN
sc-2649	15	23	proposes	propose	VERB
sc-2649	15	24	the	the	DET
sc-2649	15	25	development	development	NOUN
sc-2649	15	26	of	of	ADP
sc-2649	15	27	an	an	DET
sc-2649	15	28	advanced	advanced	ADJ
sc-2649	15	29	delivery	delivery	NOUN
sc-2649	15	30	robot	robot	NOUN
sc-2649	15	31	that	that	PRON
sc-2649	15	32	grants	grant	VERB
sc-2649	15	33	the	the	DET
sc-2649	15	34	advantages	advantage	NOUN
sc-2649	15	35	of	of	ADP
sc-2649	15	36	“	"	PUNCT
sc-2649	15	37	user	user	NOUN
sc-2649	15	38	-	-	PUNCT
sc-2649	15	39	friendly	friendly	ADJ
sc-2649	15	40	”	"	PUNCT
sc-2649	15	41	system	system	NOUN
sc-2649	15	42	flow	flow	NOUN
sc-2649	15	43	,	,	PUNCT
sc-2649	15	44	well	well	ADV
sc-2649	15	45	-	-	PUNCT
sc-2649	15	46	compartmentalised	compartmentalise	VERB
sc-2649	15	47	hardware	hardware	NOUN
sc-2649	15	48	architecture	architecture	NOUN
sc-2649	15	49	,	,	PUNCT
sc-2649	15	50	advanced	advanced	ADJ
sc-2649	15	51	sensor	sensor	NOUN
sc-2649	15	52	-	-	PUNCT
sc-2649	15	53	fusion	fusion	NOUN
sc-2649	15	54	that	that	PRON
sc-2649	15	55	enables	enable	VERB
sc-2649	15	56	the	the	DET
sc-2649	15	57	deployment	deployment	NOUN
sc-2649	15	58	of	of	ADP
sc-2649	15	59	an	an	DET
sc-2649	15	60	image	image	NOUN
sc-2649	15	61	-	-	PUNCT
sc-2649	15	62	detection	detection	NOUN
sc-2649	15	63	-	-	PUNCT
sc-2649	15	64	based	base	VERB
sc-2649	15	65	trajectories	trajectory	NOUN
sc-2649	15	66	prediction	prediction	NOUN
sc-2649	15	67	technique	technique	NOUN
sc-2649	15	68	accompanying	accompany	VERB
sc-2649	15	69	the	the	DET
sc-2649	15	70	point	point	NOUN
sc-2649	15	71	-	-	PUNCT
sc-2649	15	72	cloud	cloud	NOUN
sc-2649	15	73	*	*	PUNCT
sc-2649	15	74	corresponding	correspond	VERB
sc-2649	15	75	author	author	NOUN
sc-2649	15	76	.	.	PUNCT
sc-2649	16	1	email	email	NOUN
sc-2649	16	2	:	:	PUNCT
sc-2649	17	1	cadencelaw@hkpc.org	cadencelaw@hkpc.org	PROPN
sc-2649	17	2	1	1	NUM
sc-2649	17	3	eai	eai	NOUN
sc-2649	17	4	endorsed	endorse	VERB
sc-2649	17	5	transactions	transaction	NOUN
sc-2649	17	6	on	on	ADP
sc-2649	17	7	smart	smart	ADJ
sc-2649	17	8	cities	city	NOUN
sc-2649	17	9	volume	volume	NOUN
sc-2649	17	10	7	7	NUM
sc-2649	18	1	|	|	NOUN
sc-2649	18	2	issue	issue	NOUN
sc-2649	18	3	2	2	NUM
sc-2649	18	4	1	1	NUM
sc-2649	18	5	eai	eai	NOUN
sc-2649	18	6	endorsed	endorse	VERB
sc-2649	18	7	transactions	transaction	NOUN
sc-2649	18	8	on	on	ADP
sc-2649	18	9	smart	smart	ADJ
sc-2649	18	10	cities	city	NOUN
sc-2649	18	11	volume	volume	NOUN
sc-2649	18	12	7	7	NUM
sc-2649	18	13	|	|	NOUN
sc-2649	18	14	issue	issue	VERB
sc-2649	18	15	2	2	NUM
sc-2649	18	16	https://creativecommons.org/licenses/by-nc-sa/4.0/	https://creativecommons.org/licenses/by-nc-sa/4.0/	NOUN
sc-2649	18	17	https://creativecommons.org/licenses/by-nc-sa/4.0/	https://creativecommons.org/licenses/by-nc-sa/4.0/	PROPN
sc-2649	18	18	mailto:cadencelaw@hkpc.org	mailto:cadencelaw@hkpc.org	PROPN
sc-2649	18	19	w.	w.	PROPN
sc-2649	18	20	t.	t.	PROPN
sc-2649	18	21	law	law	PROPN
sc-2649	18	22	et	et	PROPN
sc-2649	18	23	al	al	PROPN
sc-2649	18	24	.	.	PROPN
sc-2649	18	25	figure	figure	NOUN
sc-2649	18	26	1	1	NUM
sc-2649	18	27	.	.	PUNCT
sc-2649	19	1	a	a	DET
sc-2649	19	2	general	general	ADJ
sc-2649	19	3	user	user	NOUN
sc-2649	19	4	journey	journey	NOUN
sc-2649	19	5	map	map	VERB
sc-2649	19	6	for	for	ADP
sc-2649	19	7	using	use	VERB
sc-2649	19	8	a	a	DET
sc-2649	19	9	delivery	delivery	NOUN
sc-2649	19	10	robot	robot	NOUN
sc-2649	19	11	detection	detection	NOUN
sc-2649	19	12	-	-	PUNCT
sc-2649	19	13	based	base	VERB
sc-2649	19	14	path	path	NOUN
sc-2649	19	15	-	-	PUNCT
sc-2649	19	16	planning	planning	NOUN
sc-2649	19	17	methodology	methodology	NOUN
sc-2649	19	18	,	,	PUNCT
sc-2649	19	19	as	as	ADV
sc-2649	19	20	well	well	ADV
sc-2649	19	21	as	as	ADP
sc-2649	19	22	a	a	DET
sc-2649	19	23	5	5	NUM
sc-2649	19	24	g	g	NOUN
sc-2649	19	25	compatible	compatible	ADJ
sc-2649	19	26	low	low	ADJ
sc-2649	19	27	-	-	PUNCT
sc-2649	19	28	latency	latency	NOUN
sc-2649	19	29	server	server	NOUN
sc-2649	19	30	-	-	PUNCT
sc-2649	19	31	robot	robot	NOUN
sc-2649	19	32	connectivity	connectivity	NOUN
sc-2649	19	33	for	for	ADP
sc-2649	19	34	real	real	ADJ
sc-2649	19	35	-	-	PUNCT
sc-2649	19	36	time	time	NOUN
sc-2649	19	37	monitoring	monitoring	NOUN
sc-2649	19	38	and	and	CCONJ
sc-2649	19	39	streaming	streaming	NOUN
sc-2649	19	40	.	.	PUNCT
sc-2649	20	1	2	2	X
sc-2649	20	2	.	.	X
sc-2649	20	3	general	general	PROPN
sc-2649	20	4	hri	hri	PROPN
sc-2649	20	5	considerations	consideration	NOUN
sc-2649	20	6	in	in	ADP
sc-2649	20	7	delivery	delivery	NOUN
sc-2649	20	8	robots	robot	NOUN
sc-2649	20	9	according	accord	VERB
sc-2649	20	10	to	to	ADP
sc-2649	20	11	the	the	DET
sc-2649	20	12	research	research	NOUN
sc-2649	20	13	from	from	ADP
sc-2649	20	14	patric	patric	PROPN
sc-2649	20	15	r.	r.	PROPN
sc-2649	20	16	spence	spence	PROPN
sc-2649	20	17	,	,	PUNCT
sc-2649	20	18	negative	negative	ADJ
sc-2649	20	19	feelings	feeling	NOUN
sc-2649	20	20	would	would	AUX
sc-2649	20	21	be	be	AUX
sc-2649	20	22	easily	easily	ADV
sc-2649	20	23	expressed	express	VERB
sc-2649	20	24	if	if	SCONJ
sc-2649	20	25	the	the	DET
sc-2649	20	26	robot	robot	NOUN
sc-2649	20	27	is	be	AUX
sc-2649	20	28	perceived	perceive	VERB
sc-2649	20	29	as	as	ADP
sc-2649	20	30	useless	useless	ADJ
sc-2649	20	31	,	,	PUNCT
sc-2649	20	32	such	such	ADJ
sc-2649	20	33	that	that	SCONJ
sc-2649	20	34	the	the	DET
sc-2649	20	35	users	user	NOUN
sc-2649	20	36	would	would	AUX
sc-2649	20	37	then	then	ADV
sc-2649	20	38	be	be	AUX
sc-2649	20	39	encouraged	encourage	VERB
sc-2649	20	40	to	to	PART
sc-2649	20	41	isolate	isolate	VERB
sc-2649	20	42	themselves	themselves	PRON
sc-2649	20	43	from	from	ADP
sc-2649	20	44	the	the	DET
sc-2649	20	45	use	use	NOUN
sc-2649	20	46	of	of	ADP
sc-2649	20	47	the	the	DET
sc-2649	20	48	robot	robot	NOUN
sc-2649	20	49	[	[	X
sc-2649	20	50	6	6	NUM
sc-2649	20	51	]	]	PUNCT
sc-2649	20	52	.	.	PUNCT
sc-2649	21	1	as	as	ADP
sc-2649	21	2	a	a	DET
sc-2649	21	3	matter	matter	NOUN
sc-2649	21	4	of	of	ADP
sc-2649	21	5	fact	fact	NOUN
sc-2649	21	6	,	,	PUNCT
sc-2649	21	7	it	it	PRON
sc-2649	21	8	is	be	AUX
sc-2649	21	9	perfectly	perfectly	ADV
sc-2649	21	10	common	common	ADJ
sc-2649	21	11	for	for	SCONJ
sc-2649	21	12	users	user	NOUN
sc-2649	21	13	to	to	PART
sc-2649	21	14	avoid	avoid	VERB
sc-2649	21	15	solutions	solution	NOUN
sc-2649	21	16	that	that	PRON
sc-2649	21	17	are	be	AUX
sc-2649	21	18	perceived	perceive	VERB
sc-2649	21	19	to	to	PART
sc-2649	21	20	be	be	AUX
sc-2649	21	21	less	less	ADV
sc-2649	21	22	efficient	efficient	ADJ
sc-2649	21	23	or	or	CCONJ
sc-2649	21	24	effective	effective	ADJ
sc-2649	21	25	when	when	SCONJ
sc-2649	21	26	the	the	DET
sc-2649	21	27	users	user	NOUN
sc-2649	21	28	believe	believe	VERB
sc-2649	21	29	they	they	PRON
sc-2649	21	30	could	could	AUX
sc-2649	21	31	outperform	outperform	VERB
sc-2649	21	32	those	those	DET
sc-2649	21	33	solutions	solution	NOUN
sc-2649	21	34	themselves	themselves	PRON
sc-2649	21	35	.	.	PUNCT
sc-2649	22	1	this	this	DET
sc-2649	22	2	observation	observation	NOUN
sc-2649	22	3	gives	give	VERB
sc-2649	22	4	the	the	DET
sc-2649	22	5	insight	insight	NOUN
sc-2649	22	6	to	to	ADP
sc-2649	22	7	the	the	DET
sc-2649	22	8	research	research	NOUN
sc-2649	22	9	team	team	NOUN
sc-2649	22	10	that	that	SCONJ
sc-2649	22	11	it	it	PRON
sc-2649	22	12	is	be	AUX
sc-2649	22	13	crucial	crucial	ADJ
sc-2649	22	14	to	to	PART
sc-2649	22	15	enlighten	enlighten	VERB
sc-2649	22	16	users	user	NOUN
sc-2649	22	17	with	with	ADP
sc-2649	22	18	the	the	DET
sc-2649	22	19	perception	perception	NOUN
sc-2649	22	20	that	that	SCONJ
sc-2649	22	21	the	the	DET
sc-2649	22	22	robot	robot	NOUN
sc-2649	22	23	has	have	AUX
sc-2649	22	24	to	to	PART
sc-2649	22	25	be	be	AUX
sc-2649	22	26	cognitively	cognitively	ADV
sc-2649	22	27	effective	effective	ADJ
sc-2649	22	28	and	and	CCONJ
sc-2649	22	29	efficient	efficient	ADJ
sc-2649	22	30	in	in	ADP
sc-2649	22	31	terms	term	NOUN
sc-2649	22	32	of	of	ADP
sc-2649	22	33	the	the	DET
sc-2649	22	34	quality	quality	NOUN
sc-2649	22	35	of	of	ADP
sc-2649	22	36	the	the	DET
sc-2649	22	37	robot	robot	NOUN
sc-2649	22	38	performance	performance	NOUN
sc-2649	22	39	both	both	CCONJ
sc-2649	22	40	tangibly	tangibly	ADV
sc-2649	22	41	and	and	CCONJ
sc-2649	22	42	intangibly	intangibly	ADV
sc-2649	22	43	.	.	PUNCT
sc-2649	23	1	this	this	DET
sc-2649	23	2	very	very	ADV
sc-2649	23	3	insight	insight	NOUN
sc-2649	23	4	originates	originate	VERB
sc-2649	23	5	the	the	DET
sc-2649	23	6	research	research	NOUN
sc-2649	23	7	team	team	NOUN
sc-2649	23	8	’s	’s	PART
sc-2649	23	9	initial	initial	ADJ
sc-2649	23	10	understanding	understanding	NOUN
sc-2649	23	11	to	to	ADP
sc-2649	23	12	hri	hri	PROPN
sc-2649	23	13	.	.	PUNCT
sc-2649	24	1	the	the	DET
sc-2649	24	2	rawest	raw	ADJ
sc-2649	24	3	concepts	concept	NOUN
sc-2649	24	4	of	of	ADP
sc-2649	24	5	general	general	PROPN
sc-2649	24	6	hri	hri	PROPN
sc-2649	24	7	originated	originate	VERB
sc-2649	24	8	from	from	ADP
sc-2649	24	9	the	the	DET
sc-2649	24	10	novel	novel	ADJ
sc-2649	24	11	robot	robot	NOUN
sc-2649	24	12	of	of	ADP
sc-2649	24	13	isaac	isaac	PROPN
sc-2649	24	14	asimov	asimov	PROPN
sc-2649	24	15	in	in	ADP
sc-2649	24	16	1941	1941	NUM
sc-2649	24	17	,	,	PUNCT
sc-2649	24	18	which	which	PRON
sc-2649	24	19	stated	state	VERB
sc-2649	24	20	that	that	SCONJ
sc-2649	24	21	a	a	DET
sc-2649	24	22	robot	robot	NOUN
sc-2649	24	23	shall	shall	AUX
sc-2649	24	24	not	not	PART
sc-2649	24	25	injure	injure	VERB
sc-2649	24	26	a	a	DET
sc-2649	24	27	man	man	NOUN
sc-2649	24	28	being	be	AUX
sc-2649	24	29	,	,	PUNCT
sc-2649	24	30	or	or	CCONJ
sc-2649	24	31	through	through	ADP
sc-2649	24	32	inaction	inaction	NOUN
sc-2649	24	33	,	,	PUNCT
sc-2649	24	34	allow	allow	VERB
sc-2649	24	35	a	a	DET
sc-2649	24	36	human	human	NOUN
sc-2649	24	37	being	being	NOUN
sc-2649	24	38	to	to	PART
sc-2649	24	39	come	come	VERB
sc-2649	24	40	to	to	ADP
sc-2649	24	41	harm	harm	NOUN
sc-2649	24	42	.	.	PUNCT
sc-2649	25	1	it	it	PRON
sc-2649	25	2	is	be	AUX
sc-2649	25	3	one	one	NUM
sc-2649	25	4	of	of	ADP
sc-2649	25	5	the	the	DET
sc-2649	25	6	later	later	ADJ
sc-2649	25	7	interceptions	interception	NOUN
sc-2649	25	8	in	in	ADP
sc-2649	25	9	1994	1994	NUM
sc-2649	25	10	that	that	SCONJ
sc-2649	25	11	if	if	SCONJ
sc-2649	25	12	a	a	DET
sc-2649	25	13	robot	robot	NOUN
sc-2649	25	14	-	-	PUNCT
sc-2649	25	15	based	base	VERB
sc-2649	25	16	economy	economy	NOUN
sc-2649	25	17	develops	develop	VERB
sc-2649	25	18	without	without	ADP
sc-2649	25	19	equitable	equitable	ADJ
sc-2649	25	20	adjustments	adjustment	NOUN
sc-2649	25	21	,	,	PUNCT
sc-2649	25	22	the	the	DET
sc-2649	25	23	backlash	backlash	NOUN
sc-2649	25	24	could	could	AUX
sc-2649	25	25	be	be	AUX
sc-2649	25	26	considerable	considerable	ADJ
sc-2649	25	27	[	[	X
sc-2649	25	28	7	7	NUM
sc-2649	25	29	]	]	PUNCT
sc-2649	25	30	.	.	PUNCT
sc-2649	26	1	therefore	therefore	ADV
sc-2649	26	2	,	,	PUNCT
sc-2649	26	3	it	it	PRON
sc-2649	26	4	is	be	AUX
sc-2649	26	5	the	the	DET
sc-2649	26	6	interpretation	interpretation	NOUN
sc-2649	26	7	of	of	ADP
sc-2649	26	8	the	the	DET
sc-2649	26	9	research	research	NOUN
sc-2649	26	10	team	team	NOUN
sc-2649	26	11	that	that	PRON
sc-2649	26	12	,	,	PUNCT
sc-2649	26	13	it	it	PRON
sc-2649	26	14	is	be	AUX
sc-2649	26	15	important	important	ADJ
sc-2649	26	16	to	to	PART
sc-2649	26	17	create	create	VERB
sc-2649	26	18	a	a	DET
sc-2649	26	19	robot	robot	NOUN
sc-2649	26	20	paradigm	paradigm	NOUN
sc-2649	26	21	that	that	PRON
sc-2649	26	22	balance	balance	NOUN
sc-2649	26	23	between	between	ADP
sc-2649	26	24	the	the	DET
sc-2649	26	25	economic	economic	ADJ
sc-2649	26	26	or	or	CCONJ
sc-2649	26	27	technological	technological	ADJ
sc-2649	26	28	advantages	advantage	NOUN
sc-2649	26	29	provided	provide	VERB
sc-2649	26	30	by	by	ADP
sc-2649	26	31	the	the	DET
sc-2649	26	32	robots	robot	NOUN
sc-2649	26	33	and	and	CCONJ
sc-2649	26	34	the	the	DET
sc-2649	26	35	overall	overall	ADJ
sc-2649	26	36	drawbacks	drawback	NOUN
sc-2649	26	37	led	lead	VERB
sc-2649	26	38	by	by	ADP
sc-2649	26	39	the	the	DET
sc-2649	26	40	deployment	deployment	NOUN
sc-2649	26	41	of	of	ADP
sc-2649	26	42	the	the	DET
sc-2649	26	43	robots	robot	NOUN
sc-2649	26	44	.	.	PUNCT
sc-2649	27	1	it	it	PRON
sc-2649	27	2	is	be	AUX
sc-2649	27	3	in	in	ADP
sc-2649	27	4	the	the	DET
sc-2649	27	5	consensus	consensus	NOUN
sc-2649	27	6	of	of	ADP
sc-2649	27	7	later	later	ADJ
sc-2649	27	8	hri	hri	PROPN
sc-2649	27	9	considerations	consideration	NOUN
sc-2649	27	10	that	that	SCONJ
sc-2649	27	11	the	the	DET
sc-2649	27	12	goal	goal	NOUN
sc-2649	27	13	of	of	ADP
sc-2649	27	14	hri	hri	PROPN
sc-2649	27	15	is	be	AUX
sc-2649	27	16	to	to	PART
sc-2649	27	17	allow	allow	VERB
sc-2649	27	18	comfortable	comfortable	ADJ
sc-2649	27	19	and	and	CCONJ
sc-2649	27	20	acceptable	acceptable	ADJ
sc-2649	27	21	interactions	interaction	NOUN
sc-2649	27	22	[	[	X
sc-2649	27	23	5][8	5][8	NOUN
sc-2649	27	24	]	]	PUNCT
sc-2649	27	25	.	.	PUNCT
sc-2649	28	1	it	it	PRON
sc-2649	28	2	is	be	AUX
sc-2649	28	3	common	common	ADJ
sc-2649	28	4	that	that	SCONJ
sc-2649	28	5	users	user	NOUN
sc-2649	28	6	might	might	AUX
sc-2649	28	7	have	have	VERB
sc-2649	28	8	uncertain	uncertain	ADJ
sc-2649	28	9	feelings	feeling	NOUN
sc-2649	28	10	when	when	SCONJ
sc-2649	28	11	considering	consider	VERB
sc-2649	28	12	the	the	DET
sc-2649	28	13	interaction	interaction	NOUN
sc-2649	28	14	with	with	ADP
sc-2649	28	15	robots	robot	NOUN
sc-2649	28	16	in	in	ADP
sc-2649	28	17	contrary	contrary	ADJ
sc-2649	28	18	to	to	ADP
sc-2649	28	19	the	the	DET
sc-2649	28	20	face	face	NOUN
sc-2649	28	21	-	-	PUNCT
sc-2649	28	22	to	to	ADP
sc-2649	28	23	-	-	PUNCT
sc-2649	28	24	face	face	NOUN
sc-2649	28	25	communication	communication	NOUN
sc-2649	28	26	among	among	ADP
sc-2649	28	27	actual	actual	ADJ
sc-2649	28	28	human	human	ADJ
sc-2649	28	29	beings	being	NOUN
sc-2649	28	30	.	.	PUNCT
sc-2649	29	1	as	as	ADP
sc-2649	29	2	such	such	ADJ
sc-2649	29	3	,	,	PUNCT
sc-2649	29	4	this	this	DET
sc-2649	29	5	paper	paper	NOUN
sc-2649	29	6	focuses	focus	VERB
sc-2649	29	7	on	on	ADP
sc-2649	29	8	enabling	enable	VERB
sc-2649	29	9	user	user	NOUN
sc-2649	29	10	-	-	PUNCT
sc-2649	29	11	centric	centric	NOUN
sc-2649	29	12	hri	hri	PROPN
sc-2649	29	13	by	by	ADP
sc-2649	29	14	optimised	optimise	VERB
sc-2649	29	15	designs	design	NOUN
sc-2649	29	16	and	and	CCONJ
sc-2649	29	17	methodologies	methodology	NOUN
sc-2649	29	18	.	.	PUNCT
sc-2649	30	1	in	in	ADP
sc-2649	30	2	the	the	DET
sc-2649	30	3	proposed	propose	VERB
sc-2649	30	4	use	use	NOUN
sc-2649	30	5	-	-	PUNCT
sc-2649	30	6	case	case	NOUN
sc-2649	30	7	,	,	PUNCT
sc-2649	30	8	there	there	PRON
sc-2649	30	9	would	would	AUX
sc-2649	30	10	be	be	AUX
sc-2649	30	11	numerous	numerous	ADJ
sc-2649	30	12	touchpoints	touchpoint	NOUN
sc-2649	30	13	between	between	ADP
sc-2649	30	14	humans	human	NOUN
sc-2649	30	15	and	and	CCONJ
sc-2649	30	16	robots	robot	NOUN
sc-2649	30	17	during	during	ADP
sc-2649	30	18	the	the	DET
sc-2649	30	19	user	user	NOUN
sc-2649	30	20	journey	journey	NOUN
sc-2649	30	21	of	of	ADP
sc-2649	30	22	the	the	DET
sc-2649	30	23	delivery	delivery	NOUN
sc-2649	30	24	robot	robot	NOUN
sc-2649	30	25	.	.	PUNCT
sc-2649	31	1	3	3	X
sc-2649	31	2	.	.	NUM
sc-2649	31	3	planned	plan	VERB
sc-2649	31	4	usage	usage	NOUN
sc-2649	31	5	and	and	CCONJ
sc-2649	31	6	optimised	optimise	VERB
sc-2649	31	7	user	user	NOUN
sc-2649	31	8	experience	experience	NOUN
sc-2649	31	9	for	for	ADP
sc-2649	31	10	general	general	ADJ
sc-2649	31	11	documents/	documents/	NOUN
sc-2649	31	12	samples	sample	NOUN
sc-2649	31	13	delivery	delivery	NOUN
sc-2649	31	14	tasks	task	NOUN
sc-2649	32	1	,	,	PUNCT
sc-2649	32	2	it	it	PRON
sc-2649	32	3	is	be	AUX
sc-2649	32	4	commonly	commonly	ADV
sc-2649	32	5	believed	believe	VERB
sc-2649	32	6	that	that	SCONJ
sc-2649	32	7	the	the	DET
sc-2649	32	8	system	system	NOUN
sc-2649	32	9	performance	performance	NOUN
sc-2649	32	10	in	in	ADP
sc-2649	32	11	terms	term	NOUN
sc-2649	32	12	of	of	ADP
sc-2649	32	13	stability	stability	NOUN
sc-2649	32	14	and	and	CCONJ
sc-2649	32	15	reliability	reliability	NOUN
sc-2649	32	16	are	be	AUX
sc-2649	32	17	the	the	DET
sc-2649	32	18	major	major	NOUN
sc-2649	32	19	focuses	focus	VERB
sc-2649	32	20	from	from	ADP
sc-2649	32	21	an	an	DET
sc-2649	32	22	engineering	engineering	NOUN
sc-2649	32	23	standpoint	standpoint	NOUN
sc-2649	32	24	.	.	PUNCT
sc-2649	33	1	however	however	ADV
sc-2649	33	2	,	,	PUNCT
sc-2649	33	3	in	in	ADP
sc-2649	33	4	the	the	DET
sc-2649	33	5	perspectives	perspective	NOUN
sc-2649	33	6	of	of	ADP
sc-2649	33	7	hri	hri	PROPN
sc-2649	33	8	,	,	PUNCT
sc-2649	33	9	the	the	DET
sc-2649	33	10	importance	importance	NOUN
sc-2649	33	11	of	of	ADP
sc-2649	33	12	having	have	VERB
sc-2649	33	13	an	an	DET
sc-2649	33	14	intuitive	intuitive	ADJ
sc-2649	33	15	and	and	CCONJ
sc-2649	33	16	fool	fool	NOUN
sc-2649	33	17	-	-	PUNCT
sc-2649	33	18	proof	proof	NOUN
sc-2649	33	19	system	system	NOUN
sc-2649	33	20	design	design	NOUN
sc-2649	33	21	that	that	PRON
sc-2649	33	22	could	could	AUX
sc-2649	33	23	optimise	optimise	VERB
sc-2649	33	24	user	user	NOUN
sc-2649	33	25	experience	experience	NOUN
sc-2649	33	26	outweighs	outweigh	VERB
sc-2649	33	27	every	every	DET
sc-2649	33	28	quantitative	quantitative	ADJ
sc-2649	33	29	study	study	NOUN
sc-2649	33	30	on	on	ADP
sc-2649	33	31	system	system	NOUN
sc-2649	33	32	performance	performance	NOUN
sc-2649	33	33	.	.	PUNCT
sc-2649	34	1	in	in	ADP
sc-2649	34	2	short	short	ADJ
sc-2649	34	3	,	,	PUNCT
sc-2649	34	4	the	the	DET
sc-2649	34	5	common	common	ADJ
sc-2649	34	6	users	user	NOUN
sc-2649	34	7	would	would	AUX
sc-2649	34	8	always	always	ADV
sc-2649	34	9	appreciate	appreciate	VERB
sc-2649	34	10	a	a	DET
sc-2649	34	11	simple	simple	ADJ
sc-2649	34	12	robot	robot	NOUN
sc-2649	34	13	that	that	PRON
sc-2649	34	14	could	could	AUX
sc-2649	34	15	be	be	AUX
sc-2649	34	16	interacted	interact	VERB
sc-2649	34	17	and	and	CCONJ
sc-2649	34	18	controlled	control	VERB
sc-2649	34	19	easily	easily	ADV
sc-2649	34	20	and	and	CCONJ
sc-2649	34	21	intuitively	intuitively	ADV
sc-2649	34	22	,	,	PUNCT
sc-2649	34	23	over	over	ADP
sc-2649	34	24	a	a	DET
sc-2649	34	25	flawless	flawless	ADJ
sc-2649	34	26	but	but	CCONJ
sc-2649	34	27	complicated	complicated	ADJ
sc-2649	34	28	robot	robot	NOUN
sc-2649	34	29	with	with	ADP
sc-2649	34	30	rigid	rigid	ADJ
sc-2649	34	31	and	and	CCONJ
sc-2649	34	32	exhaustive	exhaustive	ADJ
sc-2649	34	33	control	control	NOUN
sc-2649	34	34	measures	measure	NOUN
sc-2649	34	35	.	.	PUNCT
sc-2649	35	1	as	as	SCONJ
sc-2649	35	2	suggested	suggest	VERB
sc-2649	35	3	by	by	ADP
sc-2649	35	4	valeria	valeria	PROPN
sc-2649	35	5	villani	villani	PROPN
sc-2649	35	6	,	,	PUNCT
sc-2649	35	7	the	the	DET
sc-2649	35	8	effective	effective	ADJ
sc-2649	35	9	physical	physical	ADJ
sc-2649	35	10	and	and	CCONJ
sc-2649	35	11	cognitive	cognitive	ADJ
sc-2649	35	12	interaction	interaction	NOUN
sc-2649	35	13	on	on	ADP
sc-2649	35	14	robotic	robotic	ADJ
sc-2649	35	15	solution	solution	NOUN
sc-2649	35	16	not	not	PART
sc-2649	35	17	only	only	ADV
sc-2649	35	18	promotes	promote	VERB
sc-2649	35	19	efficiency	efficiency	NOUN
sc-2649	35	20	,	,	PUNCT
sc-2649	35	21	but	but	CCONJ
sc-2649	35	22	also	also	ADV
sc-2649	35	23	grant	grant	VERB
sc-2649	35	24	safety	safety	NOUN
sc-2649	35	25	and	and	CCONJ
sc-2649	35	26	intuitive	intuitive	ADJ
sc-2649	35	27	ways	way	NOUN
sc-2649	35	28	to	to	PART
sc-2649	35	29	program	program	VERB
sc-2649	35	30	and	and	CCONJ
sc-2649	35	31	interact	interact	VERB
sc-2649	35	32	with	with	ADP
sc-2649	35	33	robots	robot	NOUN
sc-2649	35	34	[	[	X
sc-2649	35	35	9	9	NUM
sc-2649	35	36	]	]	PUNCT
sc-2649	35	37	.	.	PUNCT
sc-2649	36	1	it	it	PRON
sc-2649	36	2	is	be	AUX
sc-2649	36	3	therefore	therefore	ADV
sc-2649	36	4	the	the	DET
sc-2649	36	5	sense	sense	NOUN
sc-2649	36	6	of	of	ADP
sc-2649	36	7	intuitiveness	intuitiveness	NOUN
sc-2649	36	8	in	in	ADP
sc-2649	36	9	user	user	NOUN
sc-2649	36	10	experience	experience	NOUN
sc-2649	36	11	that	that	PRON
sc-2649	36	12	drives	drive	VERB
sc-2649	36	13	the	the	DET
sc-2649	36	14	research	research	NOUN
sc-2649	36	15	team	team	NOUN
sc-2649	36	16	to	to	PART
sc-2649	36	17	develop	develop	VERB
sc-2649	36	18	a	a	DET
sc-2649	36	19	“	"	PUNCT
sc-2649	36	20	user	user	NOUN
sc-2649	36	21	-	-	PUNCT
sc-2649	36	22	friendly	friendly	ADJ
sc-2649	36	23	”	"	PUNCT
sc-2649	36	24	user	user	NOUN
sc-2649	36	25	journey	journey	NOUN
sc-2649	36	26	as	as	ADP
sc-2649	36	27	the	the	DET
sc-2649	36	28	key	key	ADJ
sc-2649	36	29	foundation	foundation	NOUN
sc-2649	36	30	toward	toward	ADP
sc-2649	36	31	an	an	DET
sc-2649	36	32	optimised	optimise	VERB
sc-2649	36	33	user	user	NOUN
sc-2649	36	34	journey	journey	NOUN
sc-2649	36	35	,	,	PUNCT
sc-2649	36	36	as	as	SCONJ
sc-2649	36	37	shown	show	VERB
sc-2649	36	38	in	in	ADP
sc-2649	36	39	figure	figure	NOUN
sc-2649	36	40	1	1	NUM
sc-2649	36	41	which	which	PRON
sc-2649	36	42	lays	lay	VERB
sc-2649	36	43	out	out	ADP
sc-2649	36	44	all	all	DET
sc-2649	36	45	touchpoints	touchpoint	NOUN
sc-2649	36	46	between	between	ADP
sc-2649	36	47	the	the	DET
sc-2649	36	48	users	user	NOUN
sc-2649	36	49	and	and	CCONJ
sc-2649	36	50	the	the	DET
sc-2649	36	51	robot	robot	NOUN
sc-2649	36	52	.	.	PUNCT
sc-2649	37	1	from	from	ADP
sc-2649	37	2	the	the	DET
sc-2649	37	3	perspective	perspective	NOUN
sc-2649	37	4	of	of	ADP
sc-2649	37	5	general	general	ADJ
sc-2649	37	6	users	user	NOUN
sc-2649	37	7	,	,	PUNCT
sc-2649	37	8	the	the	DET
sc-2649	37	9	journey	journey	NOUN
sc-2649	37	10	of	of	ADP
sc-2649	37	11	the	the	DET
sc-2649	37	12	delivery	delivery	NOUN
sc-2649	37	13	task	task	NOUN
sc-2649	37	14	always	always	ADV
sc-2649	37	15	starts	start	VERB
sc-2649	37	16	from	from	ADP
sc-2649	37	17	the	the	DET
sc-2649	37	18	need	need	NOUN
sc-2649	37	19	for	for	ADP
sc-2649	37	20	having	have	VERB
sc-2649	37	21	something	something	PRON
sc-2649	37	22	delivered	deliver	VERB
sc-2649	37	23	,	,	PUNCT
sc-2649	37	24	which	which	PRON
sc-2649	37	25	is	be	AUX
sc-2649	37	26	a	a	DET
sc-2649	37	27	very	very	ADV
sc-2649	37	28	typical	typical	ADJ
sc-2649	37	29	scenario	scenario	NOUN
sc-2649	37	30	in	in	ADV
sc-2649	37	31	in	in	ADP
sc-2649	37	32	building	build	VERB
sc-2649	37	33	use	use	NOUN
sc-2649	37	34	-	-	PUNCT
sc-2649	37	35	cases	case	NOUN
sc-2649	37	36	.	.	PUNCT
sc-2649	38	1	then	then	ADV
sc-2649	38	2	,	,	PUNCT
sc-2649	38	3	as	as	ADP
sc-2649	38	4	an	an	DET
sc-2649	38	5	automated	automate	VERB
sc-2649	38	6	delivery	delivery	NOUN
sc-2649	38	7	service	service	NOUN
sc-2649	38	8	,	,	PUNCT
sc-2649	38	9	the	the	DET
sc-2649	38	10	item	item	NOUN
sc-2649	38	11	sender	sender	NOUN
sc-2649	38	12	would	would	AUX
sc-2649	38	13	call	call	VERB
sc-2649	38	14	the	the	DET
sc-2649	38	15	robot	robot	NOUN
sc-2649	38	16	for	for	ADP
sc-2649	38	17	delivery	delivery	NOUN
sc-2649	38	18	service	service	NOUN
sc-2649	38	19	,	,	PUNCT
sc-2649	38	20	which	which	PRON
sc-2649	38	21	should	should	AUX
sc-2649	38	22	be	be	AUX
sc-2649	38	23	at	at	ADP
sc-2649	38	24	its	its	PRON
sc-2649	38	25	best	good	ADJ
sc-2649	38	26	availability	availability	NOUN
sc-2649	38	27	to	to	PART
sc-2649	38	28	response	response	VERB
sc-2649	38	29	to	to	ADP
sc-2649	38	30	the	the	DET
sc-2649	38	31	sender	sender	NOUN
sc-2649	38	32	’s	’s	PART
sc-2649	38	33	call	call	NOUN
sc-2649	38	34	.	.	PUNCT
sc-2649	39	1	once	once	SCONJ
sc-2649	39	2	the	the	DET
sc-2649	39	3	sender	sender	NOUN
sc-2649	39	4	drops	drop	VERB
sc-2649	39	5	off	off	ADP
sc-2649	39	6	the	the	DET
sc-2649	39	7	item	item	NOUN
sc-2649	39	8	to	to	ADP
sc-2649	39	9	the	the	DET
sc-2649	39	10	robot	robot	NOUN
sc-2649	39	11	,	,	PUNCT
sc-2649	39	12	the	the	DET
sc-2649	39	13	robot	robot	NOUN
sc-2649	39	14	would	would	AUX
sc-2649	39	15	then	then	ADV
sc-2649	39	16	begin	begin	VERB
sc-2649	39	17	its	its	PRON
sc-2649	39	18	delivery	delivery	NOUN
sc-2649	39	19	in	in	ADP
sc-2649	39	20	a	a	DET
sc-2649	39	21	secure	secure	ADJ
sc-2649	39	22	,	,	PUNCT
sc-2649	39	23	careful	careful	ADJ
sc-2649	39	24	and	and	CCONJ
sc-2649	39	25	promising	promise	VERB
sc-2649	39	26	fashion	fashion	NOUN
sc-2649	39	27	.	.	PUNCT
sc-2649	40	1	eventually	eventually	ADV
sc-2649	40	2	,	,	PUNCT
sc-2649	40	3	the	the	DET
sc-2649	40	4	robot	robot	NOUN
sc-2649	40	5	should	should	AUX
sc-2649	40	6	arrive	arrive	VERB
sc-2649	40	7	at	at	ADP
sc-2649	40	8	the	the	DET
sc-2649	40	9	destination	destination	NOUN
sc-2649	40	10	,	,	PUNCT
sc-2649	40	11	so	so	SCONJ
sc-2649	40	12	that	that	SCONJ
sc-2649	40	13	the	the	DET
sc-2649	40	14	item	item	NOUN
sc-2649	40	15	receiver	receiver	NOUN
sc-2649	40	16	could	could	AUX
sc-2649	40	17	collect	collect	VERB
sc-2649	40	18	the	the	DET
sc-2649	40	19	delivered	deliver	VERB
sc-2649	40	20	item	item	NOUN
sc-2649	40	21	in	in	ADP
sc-2649	40	22	its	its	PRON
sc-2649	40	23	perfect	perfect	ADJ
sc-2649	40	24	condition	condition	NOUN
sc-2649	40	25	.	.	PUNCT
sc-2649	41	1	simple	simple	ADJ
sc-2649	41	2	as	as	SCONJ
sc-2649	41	3	the	the	DET
sc-2649	41	4	below	below	ADJ
sc-2649	41	5	logic	logic	NOUN
sc-2649	41	6	flow	flow	NOUN
sc-2649	41	7	might	might	AUX
sc-2649	41	8	sound	sound	VERB
sc-2649	41	9	,	,	PUNCT
sc-2649	41	10	the	the	DET
sc-2649	41	11	research	research	NOUN
sc-2649	41	12	team	team	NOUN
sc-2649	41	13	believes	believe	VERB
sc-2649	41	14	that	that	SCONJ
sc-2649	41	15	the	the	DET
sc-2649	41	16	best	good	ADJ
sc-2649	41	17	user	user	NOUN
sc-2649	41	18	experience	experience	NOUN
sc-2649	41	19	that	that	PRON
sc-2649	41	20	could	could	AUX
sc-2649	41	21	ever	ever	ADV
sc-2649	41	22	be	be	AUX
sc-2649	41	23	provided	provide	VERB
sc-2649	41	24	,	,	PUNCT
sc-2649	41	25	must	must	AUX
sc-2649	41	26	be	be	AUX
sc-2649	41	27	a	a	DET
sc-2649	41	28	well	well	ADV
sc-2649	41	29	-	-	PUNCT
sc-2649	41	30	planned	plan	VERB
sc-2649	41	31	and	and	CCONJ
sc-2649	41	32	comfortable	comfortable	ADJ
sc-2649	41	33	experience	experience	NOUN
sc-2649	41	34	,	,	PUNCT
sc-2649	41	35	i.e.	i.e.	X
sc-2649	41	36	“	"	PUNCT
sc-2649	41	37	user	user	NOUN
sc-2649	41	38	-	-	PUNCT
sc-2649	41	39	friendly	friendly	ADJ
sc-2649	41	40	”	"	PUNCT
sc-2649	41	41	.	.	PUNCT
sc-2649	42	1	it	it	PRON
sc-2649	42	2	is	be	AUX
sc-2649	42	3	therefore	therefore	ADV
sc-2649	42	4	obvious	obvious	ADJ
sc-2649	42	5	that	that	SCONJ
sc-2649	42	6	there	there	PRON
sc-2649	42	7	would	would	AUX
sc-2649	42	8	be	be	AUX
sc-2649	42	9	numerous	numerous	ADJ
sc-2649	42	10	touchpoints	touchpoint	NOUN
sc-2649	42	11	between	between	ADP
sc-2649	42	12	the	the	DET
sc-2649	42	13	robot	robot	NOUN
sc-2649	42	14	and	and	CCONJ
sc-2649	42	15	the	the	DET
sc-2649	42	16	users	user	NOUN
sc-2649	42	17	,	,	PUNCT
sc-2649	42	18	such	such	ADJ
sc-2649	42	19	as	as	ADP
sc-2649	42	20	the	the	DET
sc-2649	42	21	user	user	NOUN
sc-2649	42	22	interface	interface	NOUN
sc-2649	42	23	,	,	PUNCT
sc-2649	42	24	the	the	DET
sc-2649	42	25	storage	storage	NOUN
sc-2649	42	26	cabinet	cabinet	NOUN
sc-2649	42	27	,	,	PUNCT
sc-2649	42	28	2	2	NUM
sc-2649	42	29	eai	eai	NOUN
sc-2649	42	30	endorsed	endorse	VERB
sc-2649	42	31	transactions	transaction	NOUN
sc-2649	42	32	on	on	ADP
sc-2649	42	33	smart	smart	ADJ
sc-2649	42	34	cities	city	NOUN
sc-2649	42	35	volume	volume	NOUN
sc-2649	42	36	7	7	NUM
sc-2649	43	1	|	|	NOUN
sc-2649	43	2	issue	issue	VERB
sc-2649	43	3	2	2	NUM
sc-2649	43	4	applied	apply	VERB
sc-2649	43	5	design	design	NOUN
sc-2649	43	6	and	and	CCONJ
sc-2649	43	7	methodology	methodology	NOUN
sc-2649	43	8	of	of	ADP
sc-2649	43	9	delivery	delivery	NOUN
sc-2649	43	10	robots	robot	NOUN
sc-2649	43	11	based	base	VERB
sc-2649	43	12	on	on	ADP
sc-2649	43	13	human	human	ADJ
sc-2649	43	14	–	–	PUNCT
sc-2649	43	15	robot	robot	NOUN
sc-2649	43	16	interaction	interaction	NOUN
sc-2649	43	17	in	in	ADP
sc-2649	43	18	smart	smart	ADJ
sc-2649	43	19	cities	city	NOUN
sc-2649	43	20	figure	figure	VERB
sc-2649	43	21	2	2	NUM
sc-2649	43	22	.	.	PUNCT
sc-2649	43	23	system	system	NOUN
sc-2649	43	24	architecture	architecture	NOUN
sc-2649	43	25	of	of	ADP
sc-2649	43	26	the	the	DET
sc-2649	43	27	proposed	propose	VERB
sc-2649	43	28	delivery	delivery	NOUN
sc-2649	43	29	robot	robot	NOUN
sc-2649	43	30	the	the	DET
sc-2649	43	31	visual	visual	ADJ
sc-2649	43	32	appearance	appearance	NOUN
sc-2649	43	33	and	and	CCONJ
sc-2649	43	34	attraction	attraction	NOUN
sc-2649	43	35	,	,	PUNCT
sc-2649	43	36	as	as	ADV
sc-2649	43	37	well	well	ADV
sc-2649	43	38	as	as	ADP
sc-2649	43	39	the	the	DET
sc-2649	43	40	audible	audible	ADJ
sc-2649	43	41	alerts	alert	NOUN
sc-2649	43	42	for	for	ADP
sc-2649	43	43	notifications	notification	NOUN
sc-2649	43	44	.	.	PUNCT
sc-2649	44	1	in	in	ADP
sc-2649	44	2	the	the	DET
sc-2649	44	3	expected	expect	VERB
sc-2649	44	4	use	use	NOUN
sc-2649	44	5	-	-	PUNCT
sc-2649	44	6	case	case	NOUN
sc-2649	44	7	of	of	ADP
sc-2649	44	8	the	the	DET
sc-2649	44	9	delivery	delivery	NOUN
sc-2649	44	10	robot	robot	NOUN
sc-2649	44	11	,	,	PUNCT
sc-2649	44	12	it	it	PRON
sc-2649	44	13	is	be	AUX
sc-2649	44	14	assumed	assume	VERB
sc-2649	44	15	that	that	SCONJ
sc-2649	44	16	the	the	DET
sc-2649	44	17	robot	robot	NOUN
sc-2649	44	18	would	would	AUX
sc-2649	44	19	have	have	VERB
sc-2649	44	20	to	to	PART
sc-2649	44	21	be	be	AUX
sc-2649	44	22	able	able	ADJ
sc-2649	44	23	to	to	PART
sc-2649	44	24	freely	freely	ADV
sc-2649	44	25	travel	travel	VERB
sc-2649	44	26	within	within	ADP
sc-2649	44	27	the	the	DET
sc-2649	44	28	different	different	ADJ
sc-2649	44	29	floors	floor	NOUN
sc-2649	44	30	of	of	ADP
sc-2649	44	31	the	the	DET
sc-2649	44	32	building	building	NOUN
sc-2649	44	33	with	with	ADP
sc-2649	44	34	reasonable	reasonable	ADJ
sc-2649	44	35	passage	passage	NOUN
sc-2649	44	36	space	space	NOUN
sc-2649	44	37	and	and	CCONJ
sc-2649	44	38	crowdedness	crowdedness	NOUN
sc-2649	44	39	of	of	ADP
sc-2649	44	40	obstacles	obstacle	NOUN
sc-2649	44	41	.	.	PUNCT
sc-2649	45	1	in	in	ADP
sc-2649	45	2	terms	term	NOUN
sc-2649	45	3	of	of	ADP
sc-2649	45	4	free	free	ADJ
sc-2649	45	5	travel	travel	NOUN
sc-2649	45	6	,	,	PUNCT
sc-2649	45	7	the	the	DET
sc-2649	45	8	access	access	NOUN
sc-2649	45	9	towards	towards	ADP
sc-2649	45	10	elevators	elevator	NOUN
sc-2649	45	11	and	and	CCONJ
sc-2649	45	12	door	door	NOUN
sc-2649	45	13	would	would	AUX
sc-2649	45	14	also	also	ADV
sc-2649	45	15	have	have	VERB
sc-2649	45	16	to	to	PART
sc-2649	45	17	be	be	AUX
sc-2649	45	18	interactable	interactable	ADJ
sc-2649	45	19	with	with	ADP
sc-2649	45	20	the	the	DET
sc-2649	45	21	robot	robot	NOUN
sc-2649	45	22	,	,	PUNCT
sc-2649	45	23	such	such	ADJ
sc-2649	45	24	that	that	SCONJ
sc-2649	45	25	the	the	DET
sc-2649	45	26	robot	robot	NOUN
sc-2649	45	27	would	would	AUX
sc-2649	45	28	be	be	AUX
sc-2649	45	29	able	able	ADJ
sc-2649	45	30	to	to	PART
sc-2649	45	31	communicate	communicate	VERB
sc-2649	45	32	and	and	CCONJ
sc-2649	45	33	interact	interact	VERB
sc-2649	45	34	with	with	ADP
sc-2649	45	35	the	the	DET
sc-2649	45	36	elevators	elevator	NOUN
sc-2649	45	37	and	and	CCONJ
sc-2649	45	38	doors	door	NOUN
sc-2649	45	39	in	in	ADP
sc-2649	45	40	order	order	NOUN
sc-2649	45	41	to	to	PART
sc-2649	45	42	get	get	VERB
sc-2649	45	43	access	access	NOUN
sc-2649	45	44	towards	towards	ADP
sc-2649	45	45	the	the	DET
sc-2649	45	46	designated	designate	VERB
sc-2649	45	47	areas	area	NOUN
sc-2649	45	48	inside	inside	ADP
sc-2649	45	49	the	the	DET
sc-2649	45	50	building	building	NOUN
sc-2649	45	51	.	.	PUNCT
sc-2649	46	1	4	4	X
sc-2649	46	2	.	.	X
sc-2649	46	3	hardware	hardware	NOUN
sc-2649	46	4	design	design	NOUN
sc-2649	46	5	with	with	ADP
sc-2649	46	6	the	the	DET
sc-2649	46	7	aim	aim	NOUN
sc-2649	46	8	to	to	PART
sc-2649	46	9	design	design	VERB
sc-2649	46	10	a	a	DET
sc-2649	46	11	robust	robust	ADJ
sc-2649	46	12	delivery	delivery	NOUN
sc-2649	46	13	robot	robot	NOUN
sc-2649	46	14	as	as	ADP
sc-2649	46	15	a	a	DET
sc-2649	46	16	potential	potential	ADJ
sc-2649	46	17	alternative	alternative	NOUN
sc-2649	46	18	for	for	ADP
sc-2649	46	19	human	human	ADJ
sc-2649	46	20	labour	labour	NOUN
sc-2649	46	21	that	that	PRON
sc-2649	46	22	facilitates	facilitate	VERB
sc-2649	46	23	and	and	CCONJ
sc-2649	46	24	encourages	encourage	VERB
sc-2649	46	25	smooth	smooth	ADJ
sc-2649	46	26	and	and	CCONJ
sc-2649	46	27	comfortable	comfortable	ADJ
sc-2649	46	28	user	user	NOUN
sc-2649	46	29	experience	experience	NOUN
sc-2649	46	30	regarding	regard	VERB
sc-2649	46	31	user	user	NOUN
sc-2649	46	32	perception	perception	NOUN
sc-2649	46	33	,	,	PUNCT
sc-2649	46	34	interaction	interaction	NOUN
sc-2649	46	35	and	and	CCONJ
sc-2649	46	36	engagement	engagement	NOUN
sc-2649	46	37	,	,	PUNCT
sc-2649	46	38	the	the	DET
sc-2649	46	39	development	development	NOUN
sc-2649	46	40	of	of	ADP
sc-2649	46	41	a	a	DET
sc-2649	46	42	versatile	versatile	ADJ
sc-2649	46	43	robot	robot	NOUN
sc-2649	46	44	would	would	AUX
sc-2649	46	45	be	be	AUX
sc-2649	46	46	necessary	necessary	ADJ
sc-2649	46	47	,	,	PUNCT
sc-2649	46	48	such	such	ADJ
sc-2649	46	49	that	that	SCONJ
sc-2649	46	50	the	the	DET
sc-2649	46	51	robot	robot	NOUN
sc-2649	46	52	would	would	AUX
sc-2649	46	53	have	have	VERB
sc-2649	46	54	to	to	PART
sc-2649	46	55	have	have	VERB
sc-2649	46	56	an	an	DET
sc-2649	46	57	industrial	industrial	ADJ
sc-2649	46	58	design	design	NOUN
sc-2649	46	59	that	that	PRON
sc-2649	46	60	emphasises	emphasise	VERB
sc-2649	46	61	on	on	ADP
sc-2649	46	62	the	the	DET
sc-2649	46	63	robot	robot	NOUN
sc-2649	46	64	’s	’s	PART
sc-2649	46	65	physical	physical	ADJ
sc-2649	46	66	appearance	appearance	NOUN
sc-2649	46	67	and	and	CCONJ
sc-2649	46	68	functionality	functionality	NOUN
sc-2649	46	69	,	,	PUNCT
sc-2649	46	70	let	let	VERB
sc-2649	46	71	alone	alone	ADJ
sc-2649	46	72	well	well	ADV
sc-2649	46	73	-	-	PUNCT
sc-2649	46	74	designed	design	VERB
sc-2649	46	75	compartmentalisation	compartmentalisation	NOUN
sc-2649	46	76	.	.	PUNCT
sc-2649	47	1	in	in	ADP
sc-2649	47	2	general	general	ADJ
sc-2649	47	3	,	,	PUNCT
sc-2649	47	4	there	there	PRON
sc-2649	47	5	are	be	VERB
sc-2649	47	6	proposed	propose	VERB
sc-2649	47	7	to	to	PART
sc-2649	47	8	be	be	AUX
sc-2649	47	9	six	six	NUM
sc-2649	47	10	different	different	ADJ
sc-2649	47	11	units	unit	NOUN
sc-2649	47	12	in	in	ADP
sc-2649	47	13	the	the	DET
sc-2649	47	14	delivery	delivery	NOUN
sc-2649	47	15	robot	robot	NOUN
sc-2649	47	16	,	,	PUNCT
sc-2649	47	17	including	include	VERB
sc-2649	47	18	power	power	NOUN
sc-2649	47	19	unit	unit	NOUN
sc-2649	47	20	,	,	PUNCT
sc-2649	47	21	internet	internet	NOUN
sc-2649	47	22	unit	unit	NOUN
sc-2649	47	23	,	,	PUNCT
sc-2649	47	24	sensor	sensor	NOUN
sc-2649	47	25	unit	unit	NOUN
sc-2649	47	26	,	,	PUNCT
sc-2649	47	27	i	i	PROPN
sc-2649	47	28	/	/	SYM
sc-2649	47	29	o	o	NOUN
sc-2649	47	30	unit	unit	NOUN
sc-2649	47	31	,	,	PUNCT
sc-2649	47	32	storage	storage	NOUN
sc-2649	47	33	unit	unit	NOUN
sc-2649	47	34	and	and	CCONJ
sc-2649	47	35	the	the	DET
sc-2649	47	36	driving	drive	VERB
sc-2649	47	37	unit	unit	NOUN
sc-2649	47	38	as	as	SCONJ
sc-2649	47	39	illustrated	illustrate	VERB
sc-2649	47	40	in	in	ADP
sc-2649	47	41	figure	figure	NOUN
sc-2649	47	42	2	2	NUM
sc-2649	47	43	.	.	PUNCT
sc-2649	48	1	the	the	DET
sc-2649	48	2	power	power	NOUN
sc-2649	48	3	unit	unit	NOUN
sc-2649	48	4	that	that	PRON
sc-2649	48	5	lives	live	VERB
sc-2649	48	6	up	up	ADP
sc-2649	48	7	all	all	DET
sc-2649	48	8	parts	part	NOUN
sc-2649	48	9	,	,	PUNCT
sc-2649	48	10	like	like	ADP
sc-2649	48	11	the	the	DET
sc-2649	48	12	heart	heart	NOUN
sc-2649	48	13	of	of	ADP
sc-2649	48	14	a	a	DET
sc-2649	48	15	human	human	NOUN
sc-2649	48	16	,	,	PUNCT
sc-2649	48	17	contains	contain	VERB
sc-2649	48	18	the	the	DET
sc-2649	48	19	rechargeable	rechargeable	ADJ
sc-2649	48	20	lithium	lithium	NOUN
sc-2649	48	21	-	-	PUNCT
sc-2649	48	22	ion	ion	NOUN
sc-2649	48	23	battery	battery	NOUN
sc-2649	48	24	for	for	ADP
sc-2649	48	25	providing	provide	VERB
sc-2649	48	26	dense	dense	ADJ
sc-2649	48	27	and	and	CCONJ
sc-2649	48	28	efficient	efficient	ADJ
sc-2649	48	29	energy	energy	NOUN
sc-2649	48	30	,	,	PUNCT
sc-2649	48	31	and	and	CCONJ
sc-2649	48	32	the	the	DET
sc-2649	48	33	battery	battery	NOUN
sc-2649	48	34	management	management	NOUN
sc-2649	48	35	system	system	NOUN
sc-2649	48	36	(	(	PUNCT
sc-2649	48	37	bms	bms	PROPN
sc-2649	48	38	)	)	PUNCT
sc-2649	48	39	for	for	ADP
sc-2649	48	40	protecting	protect	VERB
sc-2649	48	41	the	the	DET
sc-2649	48	42	battery	battery	NOUN
sc-2649	48	43	from	from	ADP
sc-2649	48	44	operating	operate	VERB
sc-2649	48	45	outside	outside	ADP
sc-2649	48	46	its	its	PRON
sc-2649	48	47	safe	safe	ADJ
sc-2649	48	48	operating	operating	NOUN
sc-2649	48	49	status	status	NOUN
sc-2649	48	50	,	,	PUNCT
sc-2649	48	51	monitoring	monitor	VERB
sc-2649	48	52	and	and	CCONJ
sc-2649	48	53	reporting	report	VERB
sc-2649	48	54	the	the	DET
sc-2649	48	55	usage	usage	NOUN
sc-2649	48	56	and	and	CCONJ
sc-2649	48	57	current	current	ADJ
sc-2649	48	58	information	information	NOUN
sc-2649	48	59	.	.	PUNCT
sc-2649	49	1	to	to	PART
sc-2649	49	2	ensure	ensure	VERB
sc-2649	49	3	safety	safety	NOUN
sc-2649	49	4	,	,	PUNCT
sc-2649	49	5	the	the	DET
sc-2649	49	6	emergency	emergency	NOUN
sc-2649	49	7	stop	stop	NOUN
sc-2649	49	8	(	(	PUNCT
sc-2649	49	9	e	e	NOUN
sc-2649	49	10	-	-	NOUN
sc-2649	49	11	stop	stop	VERB
sc-2649	49	12	)	)	PUNCT
sc-2649	49	13	is	be	AUX
sc-2649	49	14	also	also	ADV
sc-2649	49	15	included	include	VERB
sc-2649	49	16	as	as	ADP
sc-2649	49	17	a	a	DET
sc-2649	49	18	part	part	NOUN
sc-2649	49	19	of	of	ADP
sc-2649	49	20	the	the	DET
sc-2649	49	21	power	power	NOUN
sc-2649	49	22	unit	unit	NOUN
sc-2649	49	23	to	to	PART
sc-2649	49	24	sever	sever	VERB
sc-2649	49	25	all	all	DET
sc-2649	49	26	power	power	NOUN
sc-2649	49	27	immediately	immediately	ADV
sc-2649	49	28	if	if	SCONJ
sc-2649	49	29	needed	need	VERB
sc-2649	49	30	.	.	PUNCT
sc-2649	50	1	the	the	DET
sc-2649	50	2	sensor	sensor	NOUN
sc-2649	50	3	suite	suite	NOUN
sc-2649	50	4	,	,	PUNCT
sc-2649	50	5	as	as	SCONJ
sc-2649	50	6	depicted	depict	VERB
sc-2649	50	7	as	as	ADP
sc-2649	50	8	the	the	DET
sc-2649	50	9	eyes	eye	NOUN
sc-2649	50	10	of	of	ADP
sc-2649	50	11	the	the	DET
sc-2649	50	12	robot	robot	NOUN
sc-2649	50	13	,	,	PUNCT
sc-2649	50	14	helps	help	VERB
sc-2649	50	15	gathering	gather	VERB
sc-2649	50	16	all	all	DET
sc-2649	50	17	environment	environment	NOUN
sc-2649	50	18	data	datum	NOUN
sc-2649	50	19	that	that	PRON
sc-2649	50	20	enables	enable	VERB
sc-2649	50	21	the	the	DET
sc-2649	50	22	robot	robot	NOUN
sc-2649	50	23	to	to	PART
sc-2649	50	24	have	have	VERB
sc-2649	50	25	the	the	DET
sc-2649	50	26	correct	correct	ADJ
sc-2649	50	27	moving	moving	NOUN
sc-2649	50	28	directives	directive	NOUN
sc-2649	50	29	when	when	SCONJ
sc-2649	50	30	performing	perform	VERB
sc-2649	50	31	its	its	PRON
sc-2649	50	32	task	task	NOUN
sc-2649	50	33	.	.	PUNCT
sc-2649	51	1	the	the	DET
sc-2649	51	2	inertial	inertial	ADJ
sc-2649	51	3	measurement	measurement	NOUN
sc-2649	51	4	unit	unit	NOUN
sc-2649	51	5	(	(	PUNCT
sc-2649	51	6	imu	imu	NOUN
sc-2649	51	7	)	)	PUNCT
sc-2649	51	8	measures	measure	NOUN
sc-2649	51	9	and	and	CCONJ
sc-2649	51	10	reports	report	VERB
sc-2649	51	11	the	the	DET
sc-2649	51	12	orientation	orientation	NOUN
sc-2649	51	13	of	of	ADP
sc-2649	51	14	the	the	DET
sc-2649	51	15	robot	robot	NOUN
sc-2649	51	16	by	by	ADP
sc-2649	51	17	using	use	VERB
sc-2649	51	18	a	a	DET
sc-2649	51	19	combination	combination	NOUN
sc-2649	51	20	of	of	ADP
sc-2649	51	21	accelerometers	accelerometer	NOUN
sc-2649	51	22	and	and	CCONJ
sc-2649	51	23	gyroscopes	gyroscope	NOUN
sc-2649	51	24	.	.	PUNCT
sc-2649	52	1	the	the	DET
sc-2649	52	2	ultrasonic	ultrasonic	ADJ
sc-2649	52	3	sensors	sensor	NOUN
sc-2649	52	4	and	and	CCONJ
sc-2649	52	5	2d	2d	NUM
sc-2649	52	6	lidar	lidar	NOUN
sc-2649	52	7	are	be	AUX
sc-2649	52	8	used	use	VERB
sc-2649	52	9	to	to	PART
sc-2649	52	10	support	support	VERB
sc-2649	52	11	collision	collision	NOUN
sc-2649	52	12	avoidance	avoidance	NOUN
sc-2649	52	13	by	by	ADP
sc-2649	52	14	detecting	detect	VERB
sc-2649	52	15	nearby	nearby	ADJ
sc-2649	52	16	objects	object	NOUN
sc-2649	52	17	.	.	PUNCT
sc-2649	53	1	similarly	similarly	ADV
sc-2649	53	2	,	,	PUNCT
sc-2649	53	3	the	the	DET
sc-2649	53	4	3d	3d	PROPN
sc-2649	53	5	lidar	lidar	NOUN
sc-2649	53	6	is	be	AUX
sc-2649	53	7	used	use	VERB
sc-2649	53	8	to	to	PART
sc-2649	53	9	detect	detect	VERB
sc-2649	53	10	objects	object	NOUN
sc-2649	53	11	in	in	ADP
sc-2649	53	12	a	a	DET
sc-2649	53	13	greater	great	ADJ
sc-2649	53	14	range	range	NOUN
sc-2649	53	15	to	to	PART
sc-2649	53	16	achieve	achieve	VERB
sc-2649	53	17	accurate	accurate	ADJ
sc-2649	53	18	localization	localization	NOUN
sc-2649	53	19	and	and	CCONJ
sc-2649	53	20	navigation	navigation	NOUN
sc-2649	53	21	.	.	PUNCT
sc-2649	54	1	moreover	moreover	ADV
sc-2649	54	2	,	,	PUNCT
sc-2649	54	3	the	the	DET
sc-2649	54	4	camera	camera	NOUN
sc-2649	54	5	captures	capture	VERB
sc-2649	54	6	image	image	NOUN
sc-2649	54	7	and	and	CCONJ
sc-2649	54	8	videos	video	NOUN
sc-2649	54	9	for	for	ADP
sc-2649	54	10	further	further	ADJ
sc-2649	54	11	visual	visual	ADJ
sc-2649	54	12	analytics	analytic	NOUN
sc-2649	54	13	.	.	PUNCT
sc-2649	55	1	the	the	DET
sc-2649	55	2	driving	drive	VERB
sc-2649	55	3	unit	unit	NOUN
sc-2649	55	4	,	,	PUNCT
sc-2649	55	5	as	as	ADP
sc-2649	55	6	depicted	depict	VERB
sc-2649	55	7	as	as	ADP
sc-2649	55	8	the	the	DET
sc-2649	55	9	feet	foot	NOUN
sc-2649	55	10	of	of	ADP
sc-2649	55	11	the	the	DET
sc-2649	55	12	robot	robot	NOUN
sc-2649	55	13	,	,	PUNCT
sc-2649	55	14	includes	include	VERB
sc-2649	55	15	the	the	DET
sc-2649	55	16	wheels	wheel	NOUN
sc-2649	55	17	,	,	PUNCT
sc-2649	55	18	motor	motor	NOUN
sc-2649	55	19	drivers	driver	NOUN
sc-2649	55	20	and	and	CCONJ
sc-2649	55	21	bumper	bumper	NOUN
sc-2649	55	22	,	,	PUNCT
sc-2649	55	23	which	which	PRON
sc-2649	55	24	allow	allow	VERB
sc-2649	55	25	the	the	DET
sc-2649	55	26	robot	robot	NOUN
sc-2649	55	27	to	to	PART
sc-2649	55	28	perform	perform	VERB
sc-2649	55	29	physical	physical	ADJ
sc-2649	55	30	movements	movement	NOUN
sc-2649	55	31	.	.	PUNCT
sc-2649	56	1	to	to	PART
sc-2649	56	2	enhance	enhance	VERB
sc-2649	56	3	its	its	PRON
sc-2649	56	4	mobility	mobility	NOUN
sc-2649	56	5	,	,	PUNCT
sc-2649	56	6	the	the	DET
sc-2649	56	7	robot	robot	NOUN
sc-2649	56	8	is	be	AUX
sc-2649	56	9	configured	configure	VERB
sc-2649	56	10	to	to	PART
sc-2649	56	11	be	be	AUX
sc-2649	56	12	front	front	ADJ
sc-2649	56	13	wheel	wheel	NOUN
sc-2649	56	14	-	-	PUNCT
sc-2649	56	15	drive	drive	NOUN
sc-2649	56	16	with	with	ADP
sc-2649	56	17	omni	omni	ADJ
sc-2649	56	18	wheels	wheel	NOUN
sc-2649	56	19	so	so	SCONJ
sc-2649	56	20	that	that	SCONJ
sc-2649	56	21	omni	omni	ADJ
sc-2649	56	22	-	-	PUNCT
sc-2649	56	23	directional	directional	ADJ
sc-2649	56	24	manoeuvring	manoeuvring	NOUN
sc-2649	56	25	through	through	ADP
sc-2649	56	26	crowds	crowd	NOUN
sc-2649	56	27	could	could	AUX
sc-2649	56	28	be	be	AUX
sc-2649	56	29	achieved	achieve	VERB
sc-2649	56	30	.	.	PUNCT
sc-2649	57	1	the	the	DET
sc-2649	57	2	i	i	PROPN
sc-2649	57	3	/	/	SYM
sc-2649	57	4	o	o	NOUN
sc-2649	57	5	unit	unit	NOUN
sc-2649	57	6	,	,	PUNCT
sc-2649	57	7	as	as	ADP
sc-2649	57	8	depicted	depict	VERB
sc-2649	57	9	as	as	ADP
sc-2649	57	10	the	the	DET
sc-2649	57	11	mouthful	mouthful	ADJ
sc-2649	57	12	and	and	CCONJ
sc-2649	57	13	facial	facial	ADJ
sc-2649	57	14	expression	expression	NOUN
sc-2649	57	15	of	of	ADP
sc-2649	57	16	the	the	DET
sc-2649	57	17	robot	robot	NOUN
sc-2649	57	18	,	,	PUNCT
sc-2649	57	19	serves	serve	VERB
sc-2649	57	20	as	as	ADP
sc-2649	57	21	a	a	DET
sc-2649	57	22	communication	communication	NOUN
sc-2649	57	23	pathway	pathway	NOUN
sc-2649	57	24	with	with	ADP
sc-2649	57	25	other	other	ADJ
sc-2649	57	26	road	road	NOUN
sc-2649	57	27	-	-	PUNCT
sc-2649	57	28	users	user	NOUN
sc-2649	57	29	,	,	PUNCT
sc-2649	57	30	enabling	enable	VERB
sc-2649	57	31	multiple	multiple	ADJ
sc-2649	57	32	touchpoints	touchpoint	NOUN
sc-2649	57	33	.	.	PUNCT
sc-2649	58	1	the	the	DET
sc-2649	58	2	on	on	ADP
sc-2649	58	3	-	-	PUNCT
sc-2649	58	4	board	board	NOUN
sc-2649	58	5	touchscreen	touchscreen	NOUN
sc-2649	58	6	with	with	ADP
sc-2649	58	7	intuitive	intuitive	ADJ
sc-2649	58	8	and	and	CCONJ
sc-2649	58	9	relatable	relatable	ADJ
sc-2649	58	10	ui	ui	PROPN
sc-2649	58	11	,	,	PUNCT
sc-2649	58	12	two	two	NUM
sc-2649	58	13	-	-	PUNCT
sc-2649	58	14	way	way	NOUN
sc-2649	58	15	communication	communication	NOUN
sc-2649	58	16	system	system	NOUN
sc-2649	58	17	and	and	CCONJ
sc-2649	58	18	the	the	DET
sc-2649	58	19	led	lead	VERB
sc-2649	58	20	visual	visual	ADJ
sc-2649	58	21	indicator	indicator	NOUN
sc-2649	58	22	visualise	visualise	VERB
sc-2649	58	23	the	the	DET
sc-2649	58	24	current	current	ADJ
sc-2649	58	25	status	status	NOUN
sc-2649	58	26	of	of	ADP
sc-2649	58	27	the	the	DET
sc-2649	58	28	robot	robot	NOUN
sc-2649	58	29	with	with	ADP
sc-2649	58	30	the	the	DET
sc-2649	58	31	road	road	NOUN
sc-2649	58	32	users	user	NOUN
sc-2649	58	33	with	with	ADP
sc-2649	58	34	messages	message	NOUN
sc-2649	58	35	like	like	ADP
sc-2649	58	36	,	,	PUNCT
sc-2649	58	37	“	"	PUNCT
sc-2649	58	38	i	i	PRON
sc-2649	58	39	am	be	AUX
sc-2649	58	40	idle	idle	ADJ
sc-2649	58	41	”	"	PUNCT
sc-2649	58	42	or	or	CCONJ
sc-2649	58	43	“	"	PUNCT
sc-2649	58	44	i	i	PRON
sc-2649	58	45	am	be	AUX
sc-2649	58	46	in	in	ADP
sc-2649	58	47	a	a	DET
sc-2649	58	48	task	task	NOUN
sc-2649	58	49	”	"	PUNCT
sc-2649	58	50	.	.	PUNCT
sc-2649	59	1	the	the	DET
sc-2649	59	2	storage	storage	NOUN
sc-2649	59	3	unit	unit	NOUN
sc-2649	59	4	is	be	AUX
sc-2649	59	5	a	a	DET
sc-2649	59	6	value	value	NOUN
sc-2649	59	7	-	-	PUNCT
sc-2649	59	8	added	add	VERB
sc-2649	59	9	unit	unit	NOUN
sc-2649	59	10	,	,	PUNCT
sc-2649	59	11	acting	act	VERB
sc-2649	59	12	like	like	ADP
sc-2649	59	13	the	the	DET
sc-2649	59	14	weight	weight	NOUN
sc-2649	59	15	-	-	PUNCT
sc-2649	59	16	bearing	bear	VERB
sc-2649	59	17	hands	hand	NOUN
sc-2649	59	18	of	of	ADP
sc-2649	59	19	a	a	DET
sc-2649	59	20	human	human	NOUN
sc-2649	59	21	,	,	PUNCT
sc-2649	59	22	allowing	allow	VERB
sc-2649	59	23	users	user	NOUN
sc-2649	59	24	to	to	PART
sc-2649	59	25	deliver	deliver	VERB
sc-2649	59	26	goods	good	NOUN
sc-2649	59	27	in	in	ADP
sc-2649	59	28	a	a	DET
sc-2649	59	29	secure	secure	ADJ
sc-2649	59	30	way	way	NOUN
sc-2649	59	31	by	by	ADP
sc-2649	59	32	adopting	adopt	VERB
sc-2649	59	33	the	the	DET
sc-2649	59	34	use	use	NOUN
sc-2649	59	35	of	of	ADP
sc-2649	59	36	nfc	nfc	NOUN
sc-2649	59	37	readers	reader	NOUN
sc-2649	59	38	and	and	CCONJ
sc-2649	59	39	cards	card	NOUN
sc-2649	59	40	,	,	PUNCT
sc-2649	59	41	and	and	CCONJ
sc-2649	59	42	an	an	DET
sc-2649	59	43	electric	electric	ADJ
sc-2649	59	44	lock	lock	NOUN
sc-2649	59	45	.	.	PUNCT
sc-2649	60	1	the	the	DET
sc-2649	60	2	internet	internet	NOUN
sc-2649	60	3	unit	unit	NOUN
sc-2649	60	4	,	,	PUNCT
sc-2649	60	5	as	as	ADP
sc-2649	60	6	the	the	DET
sc-2649	60	7	metaphorical	metaphorical	ADJ
sc-2649	60	8	representation	representation	NOUN
sc-2649	60	9	of	of	ADP
sc-2649	60	10	the	the	DET
sc-2649	60	11	human	human	ADJ
sc-2649	60	12	mind	mind	NOUN
sc-2649	60	13	,	,	PUNCT
sc-2649	60	14	provides	provide	VERB
sc-2649	60	15	access	access	NOUN
sc-2649	60	16	to	to	ADP
sc-2649	60	17	the	the	DET
sc-2649	60	18	internet	internet	NOUN
sc-2649	60	19	and	and	CCONJ
sc-2649	60	20	further	far	ADV
sc-2649	60	21	expands	expand	VERB
sc-2649	60	22	the	the	DET
sc-2649	60	23	touchpoints	touchpoint	NOUN
sc-2649	60	24	of	of	ADP
sc-2649	60	25	the	the	DET
sc-2649	60	26	robot	robot	NOUN
sc-2649	60	27	.	.	PUNCT
sc-2649	61	1	last	last	ADJ
sc-2649	61	2	but	but	CCONJ
sc-2649	61	3	not	not	PART
sc-2649	61	4	least	least	ADJ
sc-2649	61	5	,	,	PUNCT
sc-2649	61	6	the	the	DET
sc-2649	61	7	centre	centre	NOUN
sc-2649	61	8	processing	processing	NOUN
sc-2649	61	9	unit	unit	NOUN
sc-2649	61	10	,	,	PUNCT
sc-2649	61	11	as	as	SCONJ
sc-2649	61	12	depicted	depict	VERB
sc-2649	61	13	as	as	ADP
sc-2649	61	14	the	the	DET
sc-2649	61	15	brain	brain	NOUN
sc-2649	61	16	of	of	ADP
sc-2649	61	17	the	the	DET
sc-2649	61	18	robot	robot	NOUN
sc-2649	61	19	,	,	PUNCT
sc-2649	61	20	links	link	VERB
sc-2649	61	21	up	up	ADP
sc-2649	61	22	all	all	DET
sc-2649	61	23	the	the	DET
sc-2649	61	24	above	above	ADJ
sc-2649	61	25	units	unit	NOUN
sc-2649	61	26	to	to	ADP
sc-2649	61	27	3	3	NUM
sc-2649	61	28	eai	eai	NOUN
sc-2649	61	29	endorsed	endorse	VERB
sc-2649	61	30	transactions	transaction	NOUN
sc-2649	61	31	on	on	ADP
sc-2649	61	32	smart	smart	ADJ
sc-2649	61	33	cities	city	NOUN
sc-2649	61	34	volume	volume	NOUN
sc-2649	61	35	7	7	NUM
sc-2649	61	36	|	|	NOUN
sc-2649	61	37	issue	issue	VERB
sc-2649	61	38	2	2	NUM
sc-2649	61	39	w.	w.	NOUN
sc-2649	61	40	t.	t.	PROPN
sc-2649	61	41	law	law	PROPN
sc-2649	61	42	et	et	PROPN
sc-2649	61	43	al	al	PROPN
sc-2649	61	44	.	.	PROPN
sc-2649	62	1	centralise	centralise	VERB
sc-2649	62	2	the	the	DET
sc-2649	62	3	control	control	NOUN
sc-2649	62	4	over	over	ADP
sc-2649	62	5	all	all	DET
sc-2649	62	6	the	the	DET
sc-2649	62	7	computational	computational	ADJ
sc-2649	62	8	processes	process	NOUN
sc-2649	62	9	and	and	CCONJ
sc-2649	62	10	coordinates	coordinate	VERB
sc-2649	62	11	all	all	DET
sc-2649	62	12	components	component	NOUN
sc-2649	62	13	to	to	PART
sc-2649	62	14	perform	perform	VERB
sc-2649	62	15	tasks	task	NOUN
sc-2649	62	16	.	.	PUNCT
sc-2649	63	1	in	in	ADP
sc-2649	63	2	terms	term	NOUN
sc-2649	63	3	of	of	ADP
sc-2649	63	4	visual	visual	ADJ
sc-2649	63	5	and	and	CCONJ
sc-2649	63	6	audio	audio	NOUN
sc-2649	63	7	design	design	NOUN
sc-2649	63	8	,	,	PUNCT
sc-2649	63	9	to	to	PART
sc-2649	63	10	increase	increase	VERB
sc-2649	63	11	touchpoints	touchpoint	NOUN
sc-2649	63	12	and	and	CCONJ
sc-2649	63	13	communicate	communicate	VERB
sc-2649	63	14	with	with	ADP
sc-2649	63	15	users	user	NOUN
sc-2649	63	16	throughout	throughout	ADP
sc-2649	63	17	the	the	DET
sc-2649	63	18	delivery	delivery	NOUN
sc-2649	63	19	task	task	NOUN
sc-2649	63	20	,	,	PUNCT
sc-2649	63	21	the	the	DET
sc-2649	63	22	robot	robot	NOUN
sc-2649	63	23	would	would	AUX
sc-2649	63	24	provide	provide	VERB
sc-2649	63	25	signals	signal	NOUN
sc-2649	63	26	through	through	ADP
sc-2649	63	27	visual	visual	ADJ
sc-2649	63	28	and	and	CCONJ
sc-2649	63	29	audible	audible	ADJ
sc-2649	63	30	indicators	indicator	NOUN
sc-2649	63	31	,	,	PUNCT
sc-2649	63	32	including	include	VERB
sc-2649	63	33	lcd	lcd	NOUN
sc-2649	63	34	display	display	NOUN
sc-2649	63	35	,	,	PUNCT
sc-2649	63	36	led	lead	VERB
sc-2649	63	37	lighting	lighting	NOUN
sc-2649	63	38	,	,	PUNCT
sc-2649	63	39	and	and	CCONJ
sc-2649	63	40	audible	audible	ADJ
sc-2649	63	41	alerts	alert	NOUN
sc-2649	63	42	and	and	CCONJ
sc-2649	63	43	prompts	prompt	NOUN
sc-2649	63	44	through	through	ADP
sc-2649	63	45	speaker	speaker	NOUN
sc-2649	63	46	.	.	PUNCT
sc-2649	64	1	it	it	PRON
sc-2649	64	2	is	be	AUX
sc-2649	64	3	believed	believe	VERB
sc-2649	64	4	that	that	SCONJ
sc-2649	64	5	the	the	DET
sc-2649	64	6	with	with	ADP
sc-2649	64	7	the	the	DET
sc-2649	64	8	help	help	NOUN
sc-2649	64	9	of	of	ADP
sc-2649	64	10	the	the	DET
sc-2649	64	11	visual	visual	ADJ
sc-2649	64	12	outputs	output	NOUN
sc-2649	64	13	in	in	ADP
sc-2649	64	14	the	the	DET
sc-2649	64	15	forms	form	NOUN
sc-2649	64	16	of	of	ADP
sc-2649	64	17	graphics	graphic	NOUN
sc-2649	64	18	and	and	CCONJ
sc-2649	64	19	texts	text	NOUN
sc-2649	64	20	that	that	PRON
sc-2649	64	21	are	be	AUX
sc-2649	64	22	shown	show	VERB
sc-2649	64	23	on	on	ADP
sc-2649	64	24	the	the	DET
sc-2649	64	25	lcd	lcd	NOUN
sc-2649	64	26	display	display	NOUN
sc-2649	64	27	as	as	ADV
sc-2649	64	28	well	well	ADV
sc-2649	64	29	as	as	ADP
sc-2649	64	30	eye	eye	NOUN
sc-2649	64	31	-	-	PUNCT
sc-2649	64	32	catching	catch	VERB
sc-2649	64	33	led	lead	VERB
sc-2649	64	34	lighting	lighting	NOUN
sc-2649	64	35	for	for	ADP
sc-2649	64	36	status	status	NOUN
sc-2649	64	37	indication	indication	NOUN
sc-2649	64	38	,	,	PUNCT
sc-2649	64	39	along	along	ADP
sc-2649	64	40	with	with	ADP
sc-2649	64	41	comprehensive	comprehensive	ADJ
sc-2649	64	42	voice	voice	NOUN
sc-2649	64	43	prompts	prompt	NOUN
sc-2649	64	44	and	and	CCONJ
sc-2649	64	45	attractive	attractive	ADJ
sc-2649	64	46	audible	audible	ADJ
sc-2649	64	47	alerts	alert	NOUN
sc-2649	64	48	,	,	PUNCT
sc-2649	64	49	users	user	NOUN
sc-2649	64	50	and	and	CCONJ
sc-2649	64	51	passers	passer	NOUN
sc-2649	64	52	-	-	PUNCT
sc-2649	64	53	by	by	NOUN
sc-2649	64	54	could	could	AUX
sc-2649	64	55	have	have	VERB
sc-2649	64	56	a	a	DET
sc-2649	64	57	more	more	ADV
sc-2649	64	58	intuitive	intuitive	ADJ
sc-2649	64	59	understanding	understanding	NOUN
sc-2649	64	60	to	to	ADP
sc-2649	64	61	the	the	DET
sc-2649	64	62	robot	robot	NOUN
sc-2649	64	63	and	and	CCONJ
sc-2649	64	64	its	its	PRON
sc-2649	64	65	status	status	NOUN
sc-2649	64	66	to	to	PART
sc-2649	64	67	avoid	avoid	VERB
sc-2649	64	68	accidents	accident	NOUN
sc-2649	64	69	,	,	PUNCT
sc-2649	64	70	and	and	CCONJ
sc-2649	64	71	increase	increase	VERB
sc-2649	64	72	the	the	DET
sc-2649	64	73	sense	sense	NOUN
sc-2649	64	74	of	of	ADP
sc-2649	64	75	user	user	NOUN
sc-2649	64	76	-	-	PUNCT
sc-2649	64	77	friendliness	friendliness	NOUN
sc-2649	64	78	.	.	PUNCT
sc-2649	65	1	details	detail	NOUN
sc-2649	65	2	of	of	ADP
sc-2649	65	3	visual	visual	ADJ
sc-2649	65	4	led	lead	VERB
sc-2649	65	5	and	and	CCONJ
sc-2649	65	6	audible	audible	ADJ
sc-2649	65	7	indictors	indictor	NOUN
sc-2649	65	8	are	be	AUX
sc-2649	65	9	as	as	SCONJ
sc-2649	65	10	described	describe	VERB
sc-2649	65	11	in	in	ADP
sc-2649	65	12	table	table	NOUN
sc-2649	65	13	1	1	NUM
sc-2649	65	14	.	.	PUNCT
sc-2649	65	15	table	table	NOUN
sc-2649	65	16	1	1	NUM
sc-2649	65	17	robotics	robotic	NOUN
sc-2649	65	18	language	language	NOUN
sc-2649	65	19	visual	visual	ADJ
sc-2649	65	20	and	and	CCONJ
sc-2649	65	21	audible	audible	ADJ
sc-2649	65	22	indicators	indicator	NOUN
sc-2649	65	23	5	5	NUM
sc-2649	65	24	.	.	PUNCT
sc-2649	65	25	software	software	NOUN
sc-2649	65	26	design	design	NOUN
sc-2649	65	27	as	as	ADP
sc-2649	65	28	an	an	DET
sc-2649	65	29	autonomous	autonomous	ADJ
sc-2649	65	30	delivery	delivery	NOUN
sc-2649	65	31	robot	robot	NOUN
sc-2649	65	32	with	with	ADP
sc-2649	65	33	the	the	DET
sc-2649	65	34	primary	primary	ADJ
sc-2649	65	35	duty	duty	NOUN
sc-2649	65	36	of	of	ADP
sc-2649	65	37	in	in	ADP
sc-2649	65	38	-	-	PUNCT
sc-2649	65	39	building	building	NOUN
sc-2649	65	40	delivery	delivery	NOUN
sc-2649	65	41	,	,	PUNCT
sc-2649	65	42	successful	successful	ADJ
sc-2649	65	43	navigation	navigation	NOUN
sc-2649	65	44	among	among	ADP
sc-2649	65	45	in	in	ADP
sc-2649	65	46	building	build	VERB
sc-2649	65	47	structures	structure	NOUN
sc-2649	65	48	is	be	AUX
sc-2649	65	49	the	the	DET
sc-2649	65	50	most	most	ADV
sc-2649	65	51	vital	vital	ADJ
sc-2649	65	52	part	part	NOUN
sc-2649	65	53	for	for	ADP
sc-2649	65	54	the	the	DET
sc-2649	65	55	performance	performance	NOUN
sc-2649	65	56	of	of	ADP
sc-2649	65	57	the	the	DET
sc-2649	65	58	delivery	delivery	NOUN
sc-2649	65	59	robot	robot	NOUN
sc-2649	65	60	,	,	PUNCT
sc-2649	65	61	in	in	ADP
sc-2649	65	62	terms	term	NOUN
sc-2649	65	63	of	of	ADP
sc-2649	65	64	navigation	navigation	NOUN
sc-2649	65	65	robutness	robutness	ADJ
sc-2649	65	66	and	and	CCONJ
sc-2649	65	67	simultaneous	simultaneous	ADJ
sc-2649	65	68	localization	localization	NOUN
sc-2649	65	69	and	and	CCONJ
sc-2649	65	70	mapping	mapping	NOUN
sc-2649	65	71	(	(	PUNCT
sc-2649	65	72	slam	slam	NOUN
sc-2649	65	73	)	)	PUNCT
sc-2649	66	1	[	[	X
sc-2649	66	2	10][11	10][11	NUM
sc-2649	66	3	]	]	PUNCT
sc-2649	66	4	.	.	PUNCT
sc-2649	67	1	therefore	therefore	ADV
sc-2649	67	2	,	,	PUNCT
sc-2649	67	3	it	it	PRON
sc-2649	67	4	is	be	AUX
sc-2649	67	5	crucial	crucial	ADJ
sc-2649	67	6	to	to	PART
sc-2649	67	7	organise	organise	VERB
sc-2649	67	8	all	all	DET
sc-2649	67	9	the	the	DET
sc-2649	67	10	related	related	ADJ
sc-2649	67	11	processes	process	NOUN
sc-2649	67	12	in	in	ADP
sc-2649	67	13	a	a	DET
sc-2649	67	14	comprehensive	comprehensive	ADJ
sc-2649	67	15	manner	manner	NOUN
sc-2649	67	16	.	.	PUNCT
sc-2649	68	1	figure	figure	NOUN
sc-2649	68	2	3	3	NUM
sc-2649	68	3	above	above	ADV
sc-2649	68	4	illustrates	illustrate	VERB
sc-2649	68	5	the	the	DET
sc-2649	68	6	entire	entire	ADJ
sc-2649	68	7	navigation	navigation	NOUN
sc-2649	68	8	process	process	NOUN
sc-2649	68	9	from	from	ADP
sc-2649	68	10	sensor	sensor	NOUN
sc-2649	68	11	information	information	NOUN
sc-2649	68	12	inputs	input	NOUN
sc-2649	68	13	to	to	ADP
sc-2649	68	14	hardware	hardware	NOUN
sc-2649	68	15	actuations	actuation	NOUN
sc-2649	68	16	,	,	PUNCT
sc-2649	68	17	such	such	ADJ
sc-2649	68	18	that	that	SCONJ
sc-2649	68	19	the	the	DET
sc-2649	68	20	robot	robot	NOUN
sc-2649	68	21	could	could	AUX
sc-2649	68	22	fully	fully	ADV
sc-2649	68	23	utilise	utilise	VERB
sc-2649	68	24	the	the	DET
sc-2649	68	25	technology	technology	NOUN
sc-2649	68	26	advancement	advancement	NOUN
sc-2649	68	27	in	in	ADP
sc-2649	68	28	sensor	sensor	NOUN
sc-2649	68	29	fusion	fusion	NOUN
sc-2649	68	30	,	,	PUNCT
sc-2649	68	31	slam	slam	NOUN
sc-2649	68	32	,	,	PUNCT
sc-2649	68	33	and	and	CCONJ
sc-2649	68	34	5	5	NUM
sc-2649	68	35	g.	g.	NOUN
sc-2649	68	36	5.1	5.1	NUM
sc-2649	68	37	sensor	sensor	NOUN
sc-2649	68	38	fusion	fusion	NOUN
sc-2649	68	39	–	–	PUNCT
sc-2649	68	40	obstacle	obstacle	NOUN
sc-2649	68	41	detection	detection	NOUN
sc-2649	68	42	and	and	CCONJ
sc-2649	68	43	path	path	NOUN
sc-2649	68	44	planning	planning	NOUN
sc-2649	68	45	as	as	SCONJ
sc-2649	68	46	mentioned	mention	VERB
sc-2649	68	47	,	,	PUNCT
sc-2649	68	48	this	this	DET
sc-2649	68	49	delivery	delivery	NOUN
sc-2649	68	50	robot	robot	NOUN
sc-2649	68	51	would	would	AUX
sc-2649	68	52	be	be	AUX
sc-2649	68	53	equipped	equip	VERB
sc-2649	68	54	with	with	ADP
sc-2649	68	55	various	various	ADJ
sc-2649	68	56	kinds	kind	NOUN
sc-2649	68	57	of	of	ADP
sc-2649	68	58	sensors	sensor	NOUN
sc-2649	68	59	,	,	PUNCT
sc-2649	68	60	including	include	VERB
sc-2649	68	61	inertial	inertial	ADJ
sc-2649	68	62	measurement	measurement	NOUN
sc-2649	68	63	unit	unit	NOUN
sc-2649	68	64	(	(	PUNCT
sc-2649	68	65	imu	imu	NOUN
sc-2649	68	66	)	)	PUNCT
sc-2649	68	67	for	for	ADP
sc-2649	68	68	acceleration	acceleration	NOUN
sc-2649	68	69	measurements	measurement	NOUN
sc-2649	68	70	,	,	PUNCT
sc-2649	68	71	motor	motor	NOUN
sc-2649	68	72	drivers	driver	NOUN
sc-2649	68	73	for	for	ADP
sc-2649	68	74	odometry	odometry	NOUN
sc-2649	68	75	measurements	measurement	NOUN
sc-2649	68	76	,	,	PUNCT
sc-2649	68	77	2d	2d	NOUN
sc-2649	68	78	and	and	CCONJ
sc-2649	68	79	3d	3d	NUM
sc-2649	68	80	lidar	lidar	NOUN
sc-2649	68	81	for	for	ADP
sc-2649	68	82	real	real	ADJ
sc-2649	68	83	time	time	NOUN
sc-2649	68	84	simultaneous	simultaneous	ADJ
sc-2649	68	85	localization	localization	NOUN
sc-2649	68	86	and	and	CCONJ
sc-2649	68	87	mapping	mapping	NOUN
sc-2649	68	88	(	(	PUNCT
sc-2649	68	89	slam	slam	PROPN
sc-2649	68	90	)	)	PUNCT
sc-2649	68	91	,	,	PUNCT
sc-2649	68	92	camera	camera	NOUN
sc-2649	68	93	for	for	ADP
sc-2649	68	94	object	object	NOUN
sc-2649	68	95	recognition	recognition	NOUN
sc-2649	68	96	,	,	PUNCT
sc-2649	68	97	and	and	CCONJ
sc-2649	68	98	ultrasonic	ultrasonic	ADJ
sc-2649	68	99	sensors	sensor	NOUN
sc-2649	68	100	for	for	ADP
sc-2649	68	101	collision	collision	NOUN
sc-2649	68	102	detection	detection	NOUN
sc-2649	68	103	.	.	PUNCT
sc-2649	69	1	whenever	whenever	SCONJ
sc-2649	69	2	a	a	DET
sc-2649	69	3	navigation	navigation	NOUN
sc-2649	69	4	task	task	NOUN
sc-2649	69	5	is	be	AUX
sc-2649	69	6	initiated	initiate	VERB
sc-2649	69	7	,	,	PUNCT
sc-2649	69	8	the	the	DET
sc-2649	69	9	inputs	input	NOUN
sc-2649	69	10	from	from	ADP
sc-2649	69	11	all	all	DET
sc-2649	69	12	the	the	DET
sc-2649	69	13	sensors	sensor	NOUN
sc-2649	69	14	would	would	AUX
sc-2649	69	15	be	be	AUX
sc-2649	69	16	firstly	firstly	ADV
sc-2649	69	17	combined	combine	VERB
sc-2649	69	18	in	in	ADP
sc-2649	69	19	the	the	DET
sc-2649	69	20	sensor	sensor	NOUN
sc-2649	69	21	fusion	fusion	NOUN
sc-2649	69	22	process	process	NOUN
sc-2649	69	23	to	to	PART
sc-2649	69	24	enhance	enhance	VERB
sc-2649	69	25	the	the	DET
sc-2649	69	26	pose	pose	NOUN
sc-2649	69	27	estimation	estimation	NOUN
sc-2649	69	28	accuracy	accuracy	NOUN
sc-2649	69	29	of	of	ADP
sc-2649	69	30	the	the	DET
sc-2649	69	31	robot	robot	NOUN
sc-2649	69	32	.	.	PUNCT
sc-2649	70	1	after	after	ADP
sc-2649	70	2	that	that	PRON
sc-2649	70	3	,	,	PUNCT
sc-2649	70	4	the	the	DET
sc-2649	70	5	more	more	ADV
sc-2649	70	6	complete	complete	ADJ
sc-2649	70	7	and	and	CCONJ
sc-2649	70	8	accurate	accurate	ADJ
sc-2649	70	9	data	datum	NOUN
sc-2649	70	10	would	would	AUX
sc-2649	70	11	be	be	AUX
sc-2649	70	12	used	use	VERB
sc-2649	70	13	to	to	PART
sc-2649	70	14	localise	localise	VERB
sc-2649	70	15	the	the	DET
sc-2649	70	16	actual	actual	ADJ
sc-2649	70	17	location	location	NOUN
sc-2649	70	18	of	of	ADP
sc-2649	70	19	the	the	DET
sc-2649	70	20	robot	robot	NOUN
sc-2649	70	21	in	in	ADP
sc-2649	70	22	the	the	DET
sc-2649	70	23	environment	environment	NOUN
sc-2649	70	24	through	through	ADP
sc-2649	70	25	the	the	DET
sc-2649	70	26	localization	localization	NOUN
sc-2649	70	27	process	process	NOUN
sc-2649	70	28	,	,	PUNCT
sc-2649	70	29	through	through	ADP
sc-2649	70	30	the	the	DET
sc-2649	70	31	use	use	NOUN
sc-2649	70	32	of	of	ADP
sc-2649	70	33	different	different	ADJ
sc-2649	70	34	localization	localization	NOUN
sc-2649	70	35	algorithms	algorithm	NOUN
sc-2649	71	1	[	[	X
sc-2649	71	2	12][13	12][13	X
sc-2649	71	3	]	]	PUNCT
sc-2649	71	4	.	.	PUNCT
sc-2649	72	1	at	at	ADP
sc-2649	72	2	the	the	DET
sc-2649	72	3	same	same	ADJ
sc-2649	72	4	time	time	NOUN
sc-2649	72	5	,	,	PUNCT
sc-2649	72	6	the	the	DET
sc-2649	72	7	data	datum	NOUN
sc-2649	72	8	from	from	ADP
sc-2649	72	9	the	the	DET
sc-2649	72	10	camera	camera	NOUN
sc-2649	72	11	would	would	AUX
sc-2649	72	12	also	also	ADV
sc-2649	72	13	be	be	AUX
sc-2649	72	14	adopted	adopt	VERB
sc-2649	72	15	in	in	ADP
sc-2649	72	16	the	the	DET
sc-2649	72	17	object	object	NOUN
sc-2649	72	18	recognition	recognition	NOUN
sc-2649	72	19	process	process	NOUN
sc-2649	72	20	to	to	PART
sc-2649	72	21	identify	identify	VERB
sc-2649	72	22	the	the	DET
sc-2649	72	23	category	category	NOUN
sc-2649	72	24	of	of	ADP
sc-2649	72	25	the	the	DET
sc-2649	72	26	filmed	film	VERB
sc-2649	72	27	objects	object	NOUN
sc-2649	72	28	from	from	ADP
sc-2649	72	29	the	the	DET
sc-2649	72	30	visual	visual	ADJ
sc-2649	72	31	feed	feed	NOUN
sc-2649	72	32	,	,	PUNCT
sc-2649	72	33	so	so	SCONJ
sc-2649	72	34	that	that	SCONJ
sc-2649	72	35	the	the	DET
sc-2649	72	36	later	later	ADJ
sc-2649	72	37	obstacle	obstacle	NOUN
sc-2649	72	38	avoidance	avoidance	NOUN
sc-2649	72	39	process	process	NOUN
sc-2649	72	40	could	could	AUX
sc-2649	72	41	make	make	VERB
sc-2649	72	42	reasonable	reasonable	ADJ
sc-2649	72	43	reflections	reflection	NOUN
sc-2649	72	44	for	for	ADP
sc-2649	72	45	optimal	optimal	ADJ
sc-2649	72	46	path	path	NOUN
sc-2649	72	47	planning	planning	NOUN
sc-2649	72	48	.	.	PUNCT
sc-2649	73	1	likewise	likewise	ADV
sc-2649	73	2	,	,	PUNCT
sc-2649	73	3	the	the	DET
sc-2649	73	4	data	datum	NOUN
sc-2649	73	5	from	from	ADP
sc-2649	73	6	the	the	DET
sc-2649	73	7	ultrasonic	ultrasonic	ADJ
sc-2649	73	8	sensors	sensor	NOUN
sc-2649	73	9	would	would	AUX
sc-2649	73	10	be	be	AUX
sc-2649	73	11	used	use	VERB
sc-2649	73	12	for	for	ADP
sc-2649	73	13	the	the	DET
sc-2649	73	14	real	real	ADJ
sc-2649	73	15	-	-	PUNCT
sc-2649	73	16	time	time	NOUN
sc-2649	73	17	collision	collision	NOUN
sc-2649	73	18	detection	detection	NOUN
sc-2649	73	19	process	process	NOUN
sc-2649	73	20	,	,	PUNCT
sc-2649	73	21	such	such	ADJ
sc-2649	73	22	that	that	SCONJ
sc-2649	73	23	imminent	imminent	ADJ
sc-2649	73	24	collisions	collision	NOUN
sc-2649	73	25	figure	figure	VERB
sc-2649	73	26	3	3	NUM
sc-2649	73	27	.	.	PUNCT
sc-2649	73	28	simultaneous	simultaneous	ADJ
sc-2649	73	29	localization	localization	NOUN
sc-2649	73	30	and	and	CCONJ
sc-2649	73	31	mapping	mapping	NOUN
sc-2649	73	32	(	(	PUNCT
sc-2649	73	33	slam	slam	NOUN
sc-2649	73	34	)	)	PUNCT
sc-2649	73	35	figure	figure	NOUN
sc-2649	73	36	4	4	NUM
sc-2649	73	37	.	.	PUNCT
sc-2649	73	38	software	software	NOUN
sc-2649	73	39	operation	operation	NOUN
sc-2649	73	40	main	main	ADJ
sc-2649	73	41	flow	flow	NOUN
sc-2649	73	42	from	from	ADP
sc-2649	73	43	perception	perception	NOUN
sc-2649	73	44	to	to	PART
sc-2649	73	45	actuation	actuation	VERB
sc-2649	73	46	4	4	NUM
sc-2649	73	47	eai	eai	NOUN
sc-2649	73	48	endorsed	endorse	VERB
sc-2649	73	49	transactions	transaction	NOUN
sc-2649	73	50	on	on	ADP
sc-2649	73	51	smart	smart	ADJ
sc-2649	73	52	cities	city	NOUN
sc-2649	73	53	volume	volume	NOUN
sc-2649	73	54	7	7	NUM
sc-2649	73	55	|	|	NOUN
sc-2649	73	56	issue	issue	VERB
sc-2649	73	57	2	2	NUM
sc-2649	73	58	applied	apply	VERB
sc-2649	73	59	design	design	NOUN
sc-2649	73	60	and	and	CCONJ
sc-2649	73	61	methodology	methodology	NOUN
sc-2649	73	62	of	of	ADP
sc-2649	73	63	delivery	delivery	NOUN
sc-2649	73	64	robots	robot	NOUN
sc-2649	73	65	based	base	VERB
sc-2649	73	66	on	on	ADP
sc-2649	73	67	human	human	ADJ
sc-2649	73	68	–	–	PUNCT
sc-2649	73	69	robot	robot	NOUN
sc-2649	73	70	interaction	interaction	NOUN
sc-2649	73	71	in	in	ADP
sc-2649	73	72	smart	smart	ADJ
sc-2649	73	73	cities	city	NOUN
sc-2649	73	74	figure	figure	VERB
sc-2649	73	75	5	5	NUM
sc-2649	73	76	.	.	PUNCT
sc-2649	74	1	sensor	sensor	NOUN
sc-2649	74	2	fusion	fusion	NOUN
sc-2649	74	3	–	–	PUNCT
sc-2649	74	4	object	object	NOUN
sc-2649	74	5	recognition	recognition	NOUN
sc-2649	74	6	in	in	ADP
sc-2649	74	7	distance	distance	NOUN
sc-2649	74	8	would	would	AUX
sc-2649	74	9	be	be	AUX
sc-2649	74	10	detected	detect	VERB
sc-2649	74	11	and	and	CCONJ
sc-2649	74	12	address	address	VERB
sc-2649	74	13	corresponding	corresponding	ADJ
sc-2649	74	14	response	response	NOUN
sc-2649	74	15	,	,	PUNCT
sc-2649	74	16	as	as	SCONJ
sc-2649	74	17	illustrated	illustrate	VERB
sc-2649	74	18	in	in	ADP
sc-2649	74	19	figure	figure	NOUN
sc-2649	74	20	4	4	NUM
sc-2649	74	21	and	and	CCONJ
sc-2649	74	22	figure	figure	VERB
sc-2649	74	23	5	5	NUM
sc-2649	74	24	figure	figure	NOUN
sc-2649	74	25	3	3	NUM
sc-2649	74	26	and	and	CCONJ
sc-2649	74	27	figure	figure	VERB
sc-2649	74	28	4	4	NUM
sc-2649	74	29	are	be	AUX
sc-2649	74	30	the	the	DET
sc-2649	74	31	expected	expect	VERB
sc-2649	74	32	visual	visual	ADJ
sc-2649	74	33	representation	representation	NOUN
sc-2649	74	34	of	of	ADP
sc-2649	74	35	the	the	DET
sc-2649	74	36	navigation	navigation	NOUN
sc-2649	74	37	and	and	CCONJ
sc-2649	74	38	localisation	localisation	NOUN
sc-2649	74	39	methodology	methodology	NOUN
sc-2649	74	40	.	.	PUNCT
sc-2649	75	1	it	it	PRON
sc-2649	75	2	should	should	AUX
sc-2649	75	3	be	be	AUX
sc-2649	75	4	the	the	DET
sc-2649	75	5	core	core	NOUN
sc-2649	75	6	value	value	NOUN
sc-2649	75	7	of	of	ADP
sc-2649	75	8	this	this	DET
sc-2649	75	9	sensor	sensor	NOUN
sc-2649	75	10	-	-	PUNCT
sc-2649	75	11	fused	fuse	VERB
sc-2649	75	12	integration	integration	NOUN
sc-2649	75	13	to	to	PART
sc-2649	75	14	be	be	AUX
sc-2649	75	15	able	able	ADJ
sc-2649	75	16	to	to	PART
sc-2649	75	17	understand	understand	VERB
sc-2649	75	18	the	the	DET
sc-2649	75	19	environment	environment	NOUN
sc-2649	75	20	in	in	ADP
sc-2649	75	21	terms	term	NOUN
sc-2649	75	22	of	of	ADP
sc-2649	75	23	the	the	DET
sc-2649	75	24	existence	existence	NOUN
sc-2649	75	25	of	of	ADP
sc-2649	75	26	surrounding	surround	VERB
sc-2649	75	27	obstacles	obstacle	NOUN
sc-2649	75	28	.	.	PUNCT
sc-2649	76	1	as	as	SCONJ
sc-2649	76	2	depicted	depict	VERB
sc-2649	76	3	in	in	ADP
sc-2649	76	4	figure	figure	NOUN
sc-2649	76	5	4	4	NUM
sc-2649	76	6	,	,	PUNCT
sc-2649	76	7	if	if	SCONJ
sc-2649	76	8	the	the	DET
sc-2649	76	9	point	point	NOUN
sc-2649	76	10	cloud	cloud	NOUN
sc-2649	76	11	data	datum	NOUN
sc-2649	76	12	from	from	ADP
sc-2649	76	13	lidar	lidar	NOUN
sc-2649	76	14	is	be	AUX
sc-2649	76	15	obtained	obtain	VERB
sc-2649	76	16	as	as	ADP
sc-2649	76	17	the	the	DET
sc-2649	76	18	sole	sole	ADJ
sc-2649	76	19	input	input	NOUN
sc-2649	76	20	,	,	PUNCT
sc-2649	76	21	accurate	accurate	ADJ
sc-2649	76	22	size	size	NOUN
sc-2649	76	23	and	and	CCONJ
sc-2649	76	24	distance	distance	NOUN
sc-2649	76	25	information	information	NOUN
sc-2649	76	26	would	would	AUX
sc-2649	76	27	be	be	AUX
sc-2649	76	28	complete	complete	ADJ
sc-2649	76	29	for	for	ADP
sc-2649	76	30	only	only	ADJ
sc-2649	76	31	items	item	NOUN
sc-2649	76	32	that	that	PRON
sc-2649	76	33	exists	exist	VERB
sc-2649	76	34	in	in	ADP
sc-2649	76	35	the	the	DET
sc-2649	76	36	most	most	ADV
sc-2649	76	37	effective	effective	ADJ
sc-2649	76	38	region	region	NOUN
sc-2649	76	39	of	of	ADP
sc-2649	76	40	the	the	DET
sc-2649	76	41	lidar	lidar	NOUN
sc-2649	76	42	range	range	NOUN
sc-2649	76	43	.	.	PUNCT
sc-2649	77	1	on	on	ADP
sc-2649	77	2	the	the	DET
sc-2649	77	3	other	other	ADJ
sc-2649	77	4	hand	hand	NOUN
sc-2649	77	5	,	,	PUNCT
sc-2649	77	6	with	with	ADP
sc-2649	77	7	the	the	DET
sc-2649	77	8	use	use	NOUN
sc-2649	77	9	of	of	ADP
sc-2649	77	10	sensor	sensor	NOUN
sc-2649	77	11	fusion	fusion	NOUN
sc-2649	77	12	techniques	technique	NOUN
sc-2649	77	13	,	,	PUNCT
sc-2649	77	14	as	as	SCONJ
sc-2649	77	15	depicted	depict	VERB
sc-2649	77	16	in	in	ADP
sc-2649	77	17	figure	figure	NOUN
sc-2649	77	18	4	4	NUM
sc-2649	77	19	,	,	PUNCT
sc-2649	77	20	from	from	ADP
sc-2649	77	21	the	the	DET
sc-2649	77	22	image	image	NOUN
sc-2649	77	23	feed	feed	NOUN
sc-2649	77	24	from	from	ADP
sc-2649	77	25	the	the	DET
sc-2649	77	26	front	front	ADJ
sc-2649	77	27	camera	camera	NOUN
sc-2649	77	28	,	,	PUNCT
sc-2649	77	29	the	the	DET
sc-2649	77	30	use	use	NOUN
sc-2649	77	31	of	of	ADP
sc-2649	77	32	the	the	DET
sc-2649	77	33	detection	detection	NOUN
sc-2649	77	34	models	model	NOUN
sc-2649	77	35	allows	allow	VERB
sc-2649	77	36	the	the	DET
sc-2649	77	37	robot	robot	NOUN
sc-2649	77	38	to	to	PART
sc-2649	77	39	clearly	clearly	ADV
sc-2649	77	40	identify	identify	VERB
sc-2649	77	41	every	every	DET
sc-2649	77	42	visibly	visibly	ADV
sc-2649	77	43	detected	detect	VERB
sc-2649	77	44	obstacle	obstacle	NOUN
sc-2649	77	45	in	in	ADP
sc-2649	77	46	terms	term	NOUN
sc-2649	77	47	of	of	ADP
sc-2649	77	48	size	size	NOUN
sc-2649	77	49	and	and	CCONJ
sc-2649	77	50	distance	distance	NOUN
sc-2649	77	51	.	.	PUNCT
sc-2649	78	1	this	this	DET
sc-2649	78	2	enhancement	enhancement	NOUN
sc-2649	78	3	in	in	ADP
sc-2649	78	4	obstacle	obstacle	NOUN
sc-2649	78	5	detection	detection	NOUN
sc-2649	78	6	facilitates	facilitate	VERB
sc-2649	78	7	further	further	ADJ
sc-2649	78	8	decision	decision	NOUN
sc-2649	78	9	-	-	PUNCT
sc-2649	78	10	making	making	NOUN
sc-2649	78	11	on	on	ADP
sc-2649	78	12	the	the	DET
sc-2649	78	13	path	path	NOUN
sc-2649	78	14	-	-	PUNCT
sc-2649	78	15	planning	planning	NOUN
sc-2649	78	16	logics	logic	NOUN
sc-2649	78	17	.	.	PUNCT
sc-2649	79	1	for	for	ADP
sc-2649	79	2	instance	instance	NOUN
sc-2649	79	3	,	,	PUNCT
sc-2649	79	4	for	for	ADP
sc-2649	79	5	static	static	ADJ
sc-2649	79	6	obstacles	obstacle	NOUN
sc-2649	79	7	like	like	ADP
sc-2649	79	8	chairs	chair	NOUN
sc-2649	79	9	and	and	CCONJ
sc-2649	79	10	desk	desk	NOUN
sc-2649	79	11	,	,	PUNCT
sc-2649	79	12	the	the	DET
sc-2649	79	13	delivery	delivery	NOUN
sc-2649	79	14	robot	robot	NOUN
sc-2649	79	15	should	should	AUX
sc-2649	79	16	plan	plan	VERB
sc-2649	79	17	for	for	ADP
sc-2649	79	18	alternative	alternative	ADJ
sc-2649	79	19	paths	path	NOUN
sc-2649	79	20	as	as	SCONJ
sc-2649	79	21	these	these	DET
sc-2649	79	22	types	type	NOUN
sc-2649	79	23	of	of	ADP
sc-2649	79	24	objects	object	NOUN
sc-2649	79	25	would	would	AUX
sc-2649	79	26	always	always	ADV
sc-2649	79	27	stay	stay	VERB
sc-2649	79	28	in	in	ADP
sc-2649	79	29	their	their	PRON
sc-2649	79	30	existing	exist	VERB
sc-2649	79	31	position	position	NOUN
sc-2649	79	32	;	;	PUNCT
sc-2649	79	33	while	while	SCONJ
sc-2649	79	34	if	if	SCONJ
sc-2649	79	35	non	non	ADJ
sc-2649	79	36	-	-	ADJ
sc-2649	79	37	static	static	ADJ
sc-2649	79	38	obstacles	obstacle	NOUN
sc-2649	79	39	like	like	ADP
sc-2649	79	40	pedestrians	pedestrian	NOUN
sc-2649	79	41	are	be	AUX
sc-2649	79	42	detected	detect	VERB
sc-2649	79	43	,	,	PUNCT
sc-2649	79	44	the	the	DET
sc-2649	79	45	delivery	delivery	NOUN
sc-2649	79	46	robot	robot	NOUN
sc-2649	79	47	could	could	AUX
sc-2649	79	48	try	try	VERB
sc-2649	79	49	to	to	PART
sc-2649	79	50	eliminate	eliminate	VERB
sc-2649	79	51	the	the	DET
sc-2649	79	52	chance	chance	NOUN
sc-2649	79	53	of	of	ADP
sc-2649	79	54	collision	collision	NOUN
sc-2649	79	55	by	by	ADP
sc-2649	79	56	playing	play	VERB
sc-2649	79	57	voice	voice	NOUN
sc-2649	79	58	prompt	prompt	NOUN
sc-2649	79	59	to	to	PART
sc-2649	79	60	alert	alert	VERB
sc-2649	79	61	those	those	DET
sc-2649	79	62	pedestrians	pedestrian	NOUN
sc-2649	79	63	or	or	CCONJ
sc-2649	79	64	just	just	ADV
sc-2649	79	65	wait	wait	VERB
sc-2649	79	66	a	a	DET
sc-2649	79	67	while	while	NOUN
sc-2649	79	68	in	in	ADP
sc-2649	79	69	a	a	DET
sc-2649	79	70	safe	safe	ADJ
sc-2649	79	71	position	position	NOUN
sc-2649	79	72	until	until	SCONJ
sc-2649	79	73	the	the	DET
sc-2649	79	74	obstacle	obstacle	NOUN
sc-2649	79	75	is	be	AUX
sc-2649	79	76	clear	clear	ADJ
sc-2649	79	77	from	from	ADP
sc-2649	79	78	the	the	DET
sc-2649	79	79	path	path	NOUN
sc-2649	79	80	.	.	PUNCT
sc-2649	80	1	it	it	PRON
sc-2649	80	2	is	be	AUX
sc-2649	80	3	believed	believe	VERB
sc-2649	80	4	that	that	SCONJ
sc-2649	80	5	such	such	ADJ
sc-2649	80	6	soft	soft	ADJ
sc-2649	80	7	handling	handling	NOUN
sc-2649	80	8	would	would	AUX
sc-2649	80	9	make	make	VERB
sc-2649	80	10	the	the	DET
sc-2649	80	11	delivery	delivery	NOUN
sc-2649	80	12	robot	robot	NOUN
sc-2649	80	13	more	more	ADV
sc-2649	80	14	like	like	ADP
sc-2649	80	15	a	a	DET
sc-2649	80	16	human	human	ADJ
sc-2649	80	17	and	and	CCONJ
sc-2649	80	18	enable	enable	ADJ
sc-2649	80	19	dynamic	dynamic	ADJ
sc-2649	80	20	and	and	CCONJ
sc-2649	80	21	case	case	NOUN
sc-2649	80	22	-	-	PUNCT
sc-2649	80	23	based	base	VERB
sc-2649	80	24	decision	decision	NOUN
sc-2649	80	25	.	.	PUNCT
sc-2649	81	1	5.2	5.2	NUM
sc-2649	81	2	motion	motion	NOUN
sc-2649	81	3	planning	planning	NOUN
sc-2649	81	4	flow	flow	NOUN
sc-2649	81	5	of	of	ADP
sc-2649	81	6	an	an	DET
sc-2649	81	7	in	in	ADP
sc-2649	81	8	-	-	PUNCT
sc-2649	81	9	building	building	NOUN
sc-2649	81	10	delivery	delivery	NOUN
sc-2649	81	11	task	task	NOUN
sc-2649	81	12	as	as	ADP
sc-2649	81	13	the	the	DET
sc-2649	81	14	core	core	NOUN
sc-2649	81	15	component	component	NOUN
sc-2649	81	16	of	of	ADP
sc-2649	81	17	an	an	DET
sc-2649	81	18	in	in	ADP
sc-2649	81	19	-	-	PUNCT
sc-2649	81	20	building	building	NOUN
sc-2649	81	21	delivery	delivery	NOUN
sc-2649	81	22	robot	robot	NOUN
sc-2649	81	23	,	,	PUNCT
sc-2649	81	24	the	the	DET
sc-2649	81	25	functionalities	functionality	NOUN
sc-2649	81	26	of	of	ADP
sc-2649	81	27	navigation	navigation	NOUN
sc-2649	81	28	and	and	CCONJ
sc-2649	81	29	localization	localization	NOUN
sc-2649	81	30	have	have	AUX
sc-2649	81	31	been	be	AUX
sc-2649	81	32	given	give	VERB
sc-2649	81	33	special	special	ADJ
sc-2649	81	34	focuses	focus	NOUN
sc-2649	81	35	in	in	ADP
sc-2649	81	36	terms	term	NOUN
sc-2649	81	37	of	of	ADP
sc-2649	81	38	collision	collision	NOUN
sc-2649	81	39	avoidance	avoidance	NOUN
sc-2649	81	40	,	,	PUNCT
sc-2649	81	41	path	path	NOUN
sc-2649	81	42	planning	planning	NOUN
sc-2649	81	43	,	,	PUNCT
sc-2649	81	44	and	and	CCONJ
sc-2649	81	45	cross	cross	ADJ
sc-2649	81	46	-	-	ADJ
sc-2649	81	47	floor	floor	ADJ
sc-2649	81	48	travel	travel	NOUN
sc-2649	81	49	handling	handling	NOUN
sc-2649	81	50	.	.	PUNCT
sc-2649	82	1	in	in	ADP
sc-2649	82	2	the	the	DET
sc-2649	82	3	traditional	traditional	ADJ
sc-2649	82	4	approach	approach	NOUN
sc-2649	82	5	for	for	ADP
sc-2649	82	6	collision	collision	NOUN
sc-2649	82	7	avoidance	avoidance	NOUN
sc-2649	82	8	,	,	PUNCT
sc-2649	82	9	the	the	DET
sc-2649	82	10	algorithm	algorithm	NOUN
sc-2649	82	11	simply	simply	ADV
sc-2649	82	12	stops	stop	VERB
sc-2649	82	13	the	the	DET
sc-2649	82	14	robot	robot	NOUN
sc-2649	82	15	until	until	SCONJ
sc-2649	82	16	the	the	DET
sc-2649	82	17	obstacle	obstacle	NOUN
sc-2649	82	18	is	be	AUX
sc-2649	82	19	out	out	ADP
sc-2649	82	20	of	of	ADP
sc-2649	82	21	the	the	DET
sc-2649	82	22	detection	detection	NOUN
sc-2649	82	23	range	range	NOUN
sc-2649	82	24	.	.	PUNCT
sc-2649	83	1	alternatively	alternatively	ADV
sc-2649	83	2	,	,	PUNCT
sc-2649	83	3	it	it	PRON
sc-2649	83	4	is	be	AUX
sc-2649	83	5	a	a	DET
sc-2649	83	6	more	more	ADV
sc-2649	83	7	advanced	advanced	ADJ
sc-2649	83	8	method	method	NOUN
sc-2649	83	9	is	be	AUX
sc-2649	83	10	to	to	PART
sc-2649	83	11	perform	perform	VERB
sc-2649	83	12	path	path	NOUN
sc-2649	83	13	-	-	PUNCT
sc-2649	83	14	planning	planning	NOUN
sc-2649	83	15	based	base	VERB
sc-2649	83	16	on	on	ADP
sc-2649	83	17	the	the	DET
sc-2649	83	18	result	result	NOUN
sc-2649	83	19	of	of	ADP
sc-2649	83	20	model	model	NOUN
sc-2649	83	21	-	-	PUNCT
sc-2649	83	22	based	base	VERB
sc-2649	83	23	trajectory	trajectory	NOUN
sc-2649	83	24	predictions	prediction	NOUN
sc-2649	83	25	on	on	ADP
sc-2649	83	26	the	the	DET
sc-2649	83	27	movement	movement	NOUN
sc-2649	83	28	of	of	ADP
sc-2649	83	29	moving	move	VERB
sc-2649	83	30	obstacles	obstacle	NOUN
sc-2649	83	31	like	like	ADP
sc-2649	83	32	walking	walk	VERB
sc-2649	83	33	pedestrian	pedestrian	NOUN
sc-2649	83	34	.	.	PUNCT
sc-2649	84	1	while	while	SCONJ
sc-2649	84	2	the	the	DET
sc-2649	84	3	traditional	traditional	ADJ
sc-2649	84	4	approaches	approach	NOUN
sc-2649	84	5	are	be	AUX
sc-2649	84	6	less	less	ADV
sc-2649	84	7	desirable	desirable	ADJ
sc-2649	84	8	in	in	ADP
sc-2649	84	9	densely	densely	ADV
sc-2649	84	10	populated	populated	ADJ
sc-2649	84	11	environments	environment	NOUN
sc-2649	84	12	such	such	ADJ
sc-2649	84	13	as	as	ADP
sc-2649	84	14	streets	street	NOUN
sc-2649	84	15	and	and	CCONJ
sc-2649	84	16	parks	park	NOUN
sc-2649	84	17	given	give	VERB
sc-2649	84	18	the	the	DET
sc-2649	84	19	constant	constant	ADJ
sc-2649	84	20	crowdedness	crowdedness	NOUN
sc-2649	84	21	,	,	PUNCT
sc-2649	84	22	the	the	DET
sc-2649	84	23	latter	latter	ADJ
sc-2649	84	24	approach	approach	NOUN
sc-2649	84	25	performs	perform	VERB
sc-2649	84	26	much	much	ADV
sc-2649	84	27	effectively	effectively	ADV
sc-2649	84	28	on	on	ADP
sc-2649	84	29	those	those	DET
sc-2649	84	30	situations	situation	NOUN
sc-2649	84	31	with	with	ADP
sc-2649	84	32	reasonable	reasonable	ADJ
sc-2649	84	33	traffics	traffic	NOUN
sc-2649	84	34	.	.	PUNCT
sc-2649	85	1	as	as	SCONJ
sc-2649	85	2	depicted	depict	VERB
sc-2649	85	3	in	in	ADP
sc-2649	85	4	figure	figure	NOUN
sc-2649	85	5	6	6	NUM
sc-2649	85	6	and	and	CCONJ
sc-2649	85	7	figure	figure	VERB
sc-2649	85	8	7	7	NUM
sc-2649	85	9	,	,	PUNCT
sc-2649	85	10	the	the	DET
sc-2649	85	11	trajectory	trajectory	NOUN
sc-2649	85	12	prediction	prediction	NOUN
sc-2649	85	13	model	model	NOUN
sc-2649	85	14	uses	use	VERB
sc-2649	85	15	the	the	DET
sc-2649	85	16	gathered	gather	VERB
sc-2649	85	17	information	information	NOUN
sc-2649	85	18	from	from	ADP
sc-2649	85	19	the	the	DET
sc-2649	85	20	sensor	sensor	NOUN
sc-2649	85	21	fusion	fusion	NOUN
sc-2649	85	22	process	process	NOUN
sc-2649	85	23	,	,	PUNCT
sc-2649	85	24	such	such	ADJ
sc-2649	85	25	as	as	ADP
sc-2649	85	26	current	current	ADJ
sc-2649	85	27	distance	distance	NOUN
sc-2649	85	28	,	,	PUNCT
sc-2649	85	29	and	and	CCONJ
sc-2649	85	30	current	current	ADJ
sc-2649	85	31	linear	linear	NOUN
sc-2649	85	32	and	and	CCONJ
sc-2649	85	33	angular	angular	ADJ
sc-2649	85	34	velocity	velocity	NOUN
sc-2649	85	35	to	to	PART
sc-2649	85	36	serve	serve	VERB
sc-2649	85	37	the	the	DET
sc-2649	85	38	purpose	purpose	NOUN
sc-2649	85	39	of	of	ADP
sc-2649	85	40	object	object	NOUN
sc-2649	85	41	tracking	tracking	NOUN
sc-2649	85	42	.	.	PUNCT
sc-2649	86	1	with	with	ADP
sc-2649	86	2	the	the	DET
sc-2649	86	3	aid	aid	NOUN
sc-2649	86	4	of	of	ADP
sc-2649	86	5	sensor	sensor	NOUN
sc-2649	86	6	fusion	fusion	NOUN
sc-2649	86	7	technology	technology	NOUN
sc-2649	86	8	,	,	PUNCT
sc-2649	86	9	the	the	DET
sc-2649	86	10	research	research	NOUN
sc-2649	86	11	team	team	NOUN
sc-2649	86	12	has	have	AUX
sc-2649	86	13	adopted	adopt	VERB
sc-2649	86	14	the	the	DET
sc-2649	86	15	image	image	NOUN
sc-2649	86	16	-	-	PUNCT
sc-2649	86	17	detection	detection	NOUN
sc-2649	86	18	-	-	PUNCT
sc-2649	86	19	based	base	VERB
sc-2649	86	20	trajectories	trajectory	NOUN
sc-2649	86	21	prediction	prediction	NOUN
sc-2649	86	22	technique	technique	NOUN
sc-2649	86	23	along	along	ADP
sc-2649	86	24	with	with	ADP
sc-2649	86	25	the	the	DET
sc-2649	86	26	point	point	NOUN
sc-2649	86	27	-	-	PUNCT
sc-2649	86	28	cloud	cloud	NOUN
sc-2649	86	29	-	-	PUNCT
sc-2649	86	30	detection	detection	NOUN
sc-2649	86	31	based	base	VERB
sc-2649	86	32	path	path	NOUN
sc-2649	86	33	-	-	PUNCT
sc-2649	86	34	planning	planning	NOUN
sc-2649	86	35	methodology	methodology	NOUN
sc-2649	86	36	enabled	enable	VERB
sc-2649	86	37	by	by	ADP
sc-2649	86	38	the	the	DET
sc-2649	86	39	use	use	NOUN
sc-2649	86	40	3d	3d	NOUN
sc-2649	86	41	and	and	CCONJ
sc-2649	86	42	2d	2d	NUM
sc-2649	86	43	lidar	lidar	NOUN
sc-2649	86	44	,	,	PUNCT
sc-2649	86	45	such	such	ADJ
sc-2649	86	46	that	that	SCONJ
sc-2649	86	47	the	the	DET
sc-2649	86	48	object	object	NOUN
sc-2649	86	49	trajectories	trajectorie	VERB
sc-2649	86	50	information	information	NOUN
sc-2649	86	51	on	on	ADP
sc-2649	86	52	each	each	PRON
sc-2649	86	53	of	of	ADP
sc-2649	86	54	the	the	DET
sc-2649	86	55	individually	individually	ADV
sc-2649	86	56	tracked	track	VERB
sc-2649	86	57	obstacle	obstacle	NOUN
sc-2649	86	58	would	would	AUX
sc-2649	86	59	be	be	AUX
sc-2649	86	60	imported	import	VERB
sc-2649	86	61	to	to	ADP
sc-2649	86	62	the	the	DET
sc-2649	86	63	prediction	prediction	NOUN
sc-2649	86	64	algorithm	algorithm	NOUN
sc-2649	86	65	to	to	PART
sc-2649	86	66	perform	perform	VERB
sc-2649	86	67	movement	movement	NOUN
sc-2649	86	68	prediction	prediction	NOUN
sc-2649	86	69	with	with	ADP
sc-2649	86	70	a	a	DET
sc-2649	86	71	fair	fair	ADJ
sc-2649	86	72	confidence	confidence	NOUN
sc-2649	86	73	level	level	NOUN
sc-2649	86	74	,	,	PUNCT
sc-2649	86	75	which	which	PRON
sc-2649	86	76	would	would	AUX
sc-2649	86	77	then	then	ADV
sc-2649	86	78	be	be	AUX
sc-2649	86	79	combined	combine	VERB
sc-2649	86	80	with	with	ADP
sc-2649	86	81	the	the	DET
sc-2649	86	82	point	point	NOUN
sc-2649	86	83	-	-	PUNCT
sc-2649	86	84	cloud	cloud	NOUN
sc-2649	86	85	-	-	PUNCT
sc-2649	86	86	based	base	VERB
sc-2649	86	87	navigation	navigation	NOUN
sc-2649	86	88	algorithms	algorithm	NOUN
sc-2649	86	89	to	to	PART
sc-2649	86	90	plan	plan	VERB
sc-2649	86	91	for	for	ADP
sc-2649	86	92	an	an	DET
sc-2649	86	93	optimal	optimal	ADJ
sc-2649	86	94	and	and	CCONJ
sc-2649	86	95	obstacle	obstacle	VERB
sc-2649	86	96	free	free	ADJ
sc-2649	86	97	path	path	NOUN
sc-2649	86	98	.	.	PUNCT
sc-2649	87	1	to	to	PART
sc-2649	87	2	be	be	AUX
sc-2649	87	3	specific	specific	ADJ
sc-2649	87	4	on	on	ADP
sc-2649	87	5	the	the	DET
sc-2649	87	6	main	main	ADJ
sc-2649	87	7	motion	motion	NOUN
sc-2649	87	8	planning	planning	NOUN
sc-2649	87	9	flow	flow	NOUN
sc-2649	87	10	of	of	ADP
sc-2649	87	11	the	the	DET
sc-2649	87	12	delivery	delivery	NOUN
sc-2649	87	13	robot	robot	NOUN
sc-2649	87	14	,	,	PUNCT
sc-2649	87	15	each	each	DET
sc-2649	87	16	delivery	delivery	NOUN
sc-2649	87	17	task	task	NOUN
sc-2649	87	18	the	the	DET
sc-2649	87	19	robot	robot	NOUN
sc-2649	87	20	handles	handle	NOUN
sc-2649	87	21	involve	involve	VERB
sc-2649	87	22	three	three	NUM
sc-2649	87	23	major	major	ADJ
sc-2649	87	24	iterative	iterative	NOUN
sc-2649	87	25	steps	step	NOUN
sc-2649	87	26	,	,	PUNCT
sc-2649	87	27	namely	namely	ADV
sc-2649	87	28	the	the	DET
sc-2649	87	29	“	"	PUNCT
sc-2649	87	30	handshakes	handshake	NOUN
sc-2649	87	31	”	"	PUNCT
sc-2649	87	32	,	,	PUNCT
sc-2649	87	33	the	the	DET
sc-2649	87	34	“	"	PUNCT
sc-2649	87	35	walk	walk	NOUN
sc-2649	87	36	”	"	PUNCT
sc-2649	87	37	,	,	PUNCT
sc-2649	87	38	and	and	CCONJ
sc-2649	87	39	the	the	DET
sc-2649	87	40	“	"	PUNCT
sc-2649	87	41	ride	ride	NOUN
sc-2649	87	42	”	"	PUNCT
sc-2649	87	43	,	,	PUNCT
sc-2649	87	44	as	as	SCONJ
sc-2649	87	45	illustrated	illustrate	VERB
sc-2649	87	46	in	in	ADP
sc-2649	87	47	figure	figure	NOUN
sc-2649	87	48	8	8	NUM
sc-2649	87	49	.	.	PUNCT
sc-2649	88	1	every	every	DET
sc-2649	88	2	delivery	delivery	NOUN
sc-2649	88	3	task	task	NOUN
sc-2649	88	4	starts	start	VERB
sc-2649	88	5	with	with	ADP
sc-2649	88	6	the	the	DET
sc-2649	88	7	first	first	ADJ
sc-2649	88	8	simple	simple	ADJ
sc-2649	88	9	“	"	PUNCT
sc-2649	88	10	handshake	handshake	NOUN
sc-2649	88	11	”	"	PUNCT
sc-2649	88	12	,	,	PUNCT
sc-2649	88	13	where	where	SCONJ
sc-2649	88	14	the	the	DET
sc-2649	88	15	users	user	NOUN
sc-2649	88	16	would	would	AUX
sc-2649	88	17	entrust	entrust	VERB
sc-2649	88	18	items	item	NOUN
sc-2649	88	19	to	to	ADP
sc-2649	88	20	the	the	DET
sc-2649	88	21	robot	robot	NOUN
sc-2649	88	22	’s	’s	PART
sc-2649	88	23	cabinet	cabinet	PROPN
sc-2649	88	24	figure	figure	NOUN
sc-2649	88	25	6	6	NUM
sc-2649	88	26	.	.	PUNCT
sc-2649	88	27	illustration	illustration	NOUN
sc-2649	88	28	on	on	ADP
sc-2649	88	29	object	object	NOUN
sc-2649	88	30	tracking	tracking	NOUN
sc-2649	88	31	figure	figure	NOUN
sc-2649	88	32	5	5	NUM
sc-2649	88	33	.	.	PUNCT
sc-2649	88	34	illustration	illustration	NOUN
sc-2649	88	35	on	on	ADP
sc-2649	88	36	trajectory	trajectory	NOUN
sc-2649	88	37	prediction	prediction	NOUN
sc-2649	88	38	5	5	NUM
sc-2649	88	39	eai	eai	NOUN
sc-2649	88	40	endorsed	endorse	VERB
sc-2649	88	41	transactions	transaction	NOUN
sc-2649	88	42	on	on	ADP
sc-2649	88	43	smart	smart	ADJ
sc-2649	88	44	cities	city	NOUN
sc-2649	88	45	volume	volume	NOUN
sc-2649	88	46	7	7	NUM
sc-2649	88	47	|	|	NOUN
sc-2649	88	48	issue	issue	VERB
sc-2649	89	1	2	2	NUM
sc-2649	89	2	w.t	w.t	PROPN
sc-2649	89	3	.	.	PUNCT
sc-2649	89	4	law	law	NOUN
sc-2649	89	5	et	et	PROPN
sc-2649	89	6	al	al	PROPN
sc-2649	89	7	.	.	PROPN
sc-2649	89	8	figure	figure	NOUN
sc-2649	89	9	6	6	NUM
sc-2649	89	10	.	.	PUNCT
sc-2649	89	11	proposed	propose	VERB
sc-2649	89	12	motion	motion	NOUN
sc-2649	89	13	planning	planning	NOUN
sc-2649	89	14	flow	flow	NOUN
sc-2649	89	15	using	use	VERB
sc-2649	89	16	the	the	DET
sc-2649	89	17	nfc	nfc	NOUN
sc-2649	89	18	card	card	NOUN
sc-2649	89	19	reader	reader	NOUN
sc-2649	89	20	and	and	CCONJ
sc-2649	89	21	initiate	initiate	VERB
sc-2649	89	22	the	the	DET
sc-2649	89	23	delivery	delivery	NOUN
sc-2649	89	24	task	task	NOUN
sc-2649	89	25	by	by	ADP
sc-2649	89	26	pressing	press	VERB
sc-2649	89	27	one	one	NUM
sc-2649	89	28	single	single	ADJ
sc-2649	89	29	button	button	NOUN
sc-2649	89	30	on	on	ADP
sc-2649	89	31	the	the	DET
sc-2649	89	32	robot	robot	NOUN
sc-2649	89	33	,	,	PUNCT
sc-2649	89	34	which	which	PRON
sc-2649	89	35	would	would	AUX
sc-2649	89	36	then	then	ADV
sc-2649	89	37	acknowledge	acknowledge	VERB
sc-2649	89	38	the	the	DET
sc-2649	89	39	delivery	delivery	NOUN
sc-2649	89	40	task	task	NOUN
sc-2649	89	41	by	by	ADP
sc-2649	89	42	audible	audible	ADJ
sc-2649	89	43	alerts	alert	NOUN
sc-2649	89	44	.	.	PUNCT
sc-2649	90	1	this	this	DET
sc-2649	90	2	action	action	NOUN
sc-2649	90	3	-	-	PUNCT
sc-2649	90	4	and	and	CCONJ
sc-2649	90	5	-	-	PUNCT
sc-2649	90	6	reaction	reaction	NOUN
sc-2649	90	7	-	-	PUNCT
sc-2649	90	8	based	base	VERB
sc-2649	90	9	“	"	PUNCT
sc-2649	90	10	handshake	handshake	ADJ
sc-2649	90	11	”	"	PUNCT
sc-2649	90	12	aims	aim	VERB
sc-2649	90	13	to	to	PART
sc-2649	90	14	work	work	VERB
sc-2649	90	15	as	as	ADP
sc-2649	90	16	the	the	DET
sc-2649	90	17	initial	initial	ADJ
sc-2649	90	18	basic	basic	ADJ
sc-2649	90	19	contact	contact	NOUN
sc-2649	90	20	that	that	PRON
sc-2649	90	21	would	would	AUX
sc-2649	90	22	establish	establish	VERB
sc-2649	90	23	a	a	DET
sc-2649	90	24	sense	sense	NOUN
sc-2649	90	25	of	of	ADP
sc-2649	90	26	trustworthiness	trustworthiness	NOUN
sc-2649	90	27	towards	towards	ADP
sc-2649	90	28	the	the	DET
sc-2649	90	29	users	user	NOUN
sc-2649	90	30	.	.	PUNCT
sc-2649	91	1	when	when	SCONJ
sc-2649	91	2	the	the	DET
sc-2649	91	3	delivery	delivery	NOUN
sc-2649	91	4	task	task	NOUN
sc-2649	91	5	is	be	AUX
sc-2649	91	6	initiated	initiate	VERB
sc-2649	91	7	,	,	PUNCT
sc-2649	91	8	the	the	DET
sc-2649	91	9	“	"	PUNCT
sc-2649	91	10	walk	walk	NOUN
sc-2649	91	11	”	"	PUNCT
sc-2649	91	12	is	be	AUX
sc-2649	91	13	begun	begin	VERB
sc-2649	91	14	,	,	PUNCT
sc-2649	91	15	where	where	SCONJ
sc-2649	91	16	a	a	DET
sc-2649	91	17	smooth	smooth	ADJ
sc-2649	91	18	melody	melody	NOUN
sc-2649	91	19	would	would	AUX
sc-2649	91	20	be	be	AUX
sc-2649	91	21	played	play	VERB
sc-2649	91	22	to	to	PART
sc-2649	91	23	indicate	indicate	VERB
sc-2649	91	24	the	the	DET
sc-2649	91	25	robot	robot	NOUN
sc-2649	91	26	’s	’s	PART
sc-2649	91	27	presence	presence	NOUN
sc-2649	91	28	,	,	PUNCT
sc-2649	91	29	and	and	CCONJ
sc-2649	91	30	a	a	DET
sc-2649	91	31	vivid	vivid	ADJ
sc-2649	91	32	led	lead	VERB
sc-2649	91	33	lighting	lighting	NOUN
sc-2649	91	34	and	and	CCONJ
sc-2649	91	35	display	display	NOUN
sc-2649	91	36	would	would	AUX
sc-2649	91	37	be	be	AUX
sc-2649	91	38	used	use	VERB
sc-2649	91	39	to	to	PART
sc-2649	91	40	notify	notify	VERB
sc-2649	91	41	near	near	ADP
sc-2649	91	42	pedestrians	pedestrian	NOUN
sc-2649	91	43	,	,	PUNCT
sc-2649	91	44	just	just	ADV
sc-2649	91	45	like	like	ADP
sc-2649	91	46	taking	take	VERB
sc-2649	91	47	a	a	DET
sc-2649	91	48	good	good	ADJ
sc-2649	91	49	walk	walk	NOUN
sc-2649	91	50	together	together	ADV
sc-2649	91	51	in	in	ADP
sc-2649	91	52	music	music	NOUN
sc-2649	91	53	and	and	CCONJ
sc-2649	91	54	glares	glare	NOUN
sc-2649	91	55	.	.	PUNCT
sc-2649	92	1	in	in	ADP
sc-2649	92	2	details	detail	NOUN
sc-2649	92	3	,	,	PUNCT
sc-2649	92	4	the	the	DET
sc-2649	92	5	“	"	PUNCT
sc-2649	92	6	walk	walk	NOUN
sc-2649	92	7	”	"	PUNCT
sc-2649	92	8	is	be	AUX
sc-2649	92	9	actually	actually	ADV
sc-2649	92	10	a	a	DET
sc-2649	92	11	check	check	NOUN
sc-2649	92	12	-	-	PUNCT
sc-2649	92	13	point	point	NOUN
sc-2649	92	14	-	-	PUNCT
sc-2649	92	15	based	base	VERB
sc-2649	92	16	path	path	NOUN
sc-2649	92	17	where	where	SCONJ
sc-2649	92	18	the	the	DET
sc-2649	92	19	robot	robot	NOUN
sc-2649	92	20	proceeds	proceed	VERB
sc-2649	92	21	to	to	ADP
sc-2649	92	22	the	the	DET
sc-2649	92	23	next	next	ADJ
sc-2649	92	24	check	check	NOUN
sc-2649	92	25	-	-	PUNCT
sc-2649	92	26	point	point	NOUN
sc-2649	92	27	after	after	ADP
sc-2649	92	28	reaching	reach	VERB
sc-2649	92	29	one	one	NUM
sc-2649	92	30	.	.	PUNCT
sc-2649	93	1	the	the	DET
sc-2649	93	2	process	process	NOUN
sc-2649	93	3	of	of	ADP
sc-2649	93	4	path	path	NOUN
sc-2649	93	5	-	-	PUNCT
sc-2649	93	6	planning	planning	NOUN
sc-2649	93	7	,	,	PUNCT
sc-2649	93	8	as	as	SCONJ
sc-2649	93	9	mentioned	mention	VERB
sc-2649	93	10	beforehand	beforehand	ADV
sc-2649	93	11	,	,	PUNCT
sc-2649	93	12	consists	consist	VERB
sc-2649	93	13	of	of	ADP
sc-2649	93	14	two	two	NUM
sc-2649	93	15	major	major	ADJ
sc-2649	93	16	parts	part	NOUN
sc-2649	93	17	,	,	PUNCT
sc-2649	93	18	including	include	VERB
sc-2649	93	19	the	the	DET
sc-2649	93	20	image	image	NOUN
sc-2649	93	21	-	-	PUNCT
sc-2649	93	22	based	base	VERB
sc-2649	93	23	obstacle	obstacle	NOUN
sc-2649	93	24	detection	detection	NOUN
sc-2649	93	25	and	and	CCONJ
sc-2649	93	26	the	the	DET
sc-2649	93	27	point	point	NOUN
sc-2649	93	28	-	-	PUNCT
sc-2649	93	29	cloud	cloud	NOUN
sc-2649	93	30	-	-	PUNCT
sc-2649	93	31	based	base	VERB
sc-2649	93	32	navigation	navigation	NOUN
sc-2649	93	33	,	,	PUNCT
sc-2649	93	34	such	such	ADJ
sc-2649	93	35	that	that	SCONJ
sc-2649	93	36	the	the	DET
sc-2649	93	37	obstacle	obstacle	NOUN
sc-2649	93	38	detection	detection	NOUN
sc-2649	93	39	model	model	NOUN
sc-2649	93	40	would	would	AUX
sc-2649	93	41	provide	provide	VERB
sc-2649	93	42	trajectory	trajectory	NOUN
sc-2649	93	43	prediction	prediction	NOUN
sc-2649	93	44	upon	upon	SCONJ
sc-2649	93	45	moving	move	VERB
sc-2649	93	46	obstacle	obstacle	NOUN
sc-2649	93	47	while	while	SCONJ
sc-2649	93	48	the	the	DET
sc-2649	93	49	navigation	navigation	NOUN
sc-2649	93	50	stack	stack	NOUN
sc-2649	93	51	would	would	AUX
sc-2649	93	52	provide	provide	VERB
sc-2649	93	53	distancing	distance	VERB
sc-2649	93	54	information	information	NOUN
sc-2649	93	55	about	about	ADP
sc-2649	93	56	static	static	ADJ
sc-2649	93	57	obstacles	obstacle	NOUN
sc-2649	93	58	.	.	PUNCT
sc-2649	94	1	to	to	PART
sc-2649	94	2	facilitate	facilitate	VERB
sc-2649	94	3	effective	effective	ADJ
sc-2649	94	4	path	path	NOUN
sc-2649	94	5	-	-	PUNCT
sc-2649	94	6	planning	planning	NOUN
sc-2649	94	7	,	,	PUNCT
sc-2649	94	8	the	the	DET
sc-2649	94	9	robot	robot	NOUN
sc-2649	94	10	takes	take	VERB
sc-2649	94	11	into	into	ADP
sc-2649	94	12	concern	concern	ADJ
sc-2649	94	13	information	information	NOUN
sc-2649	94	14	from	from	ADP
sc-2649	94	15	both	both	DET
sc-2649	94	16	ends	end	NOUN
sc-2649	94	17	and	and	CCONJ
sc-2649	94	18	output	output	VERB
sc-2649	94	19	the	the	DET
sc-2649	94	20	optimal	optimal	ADJ
sc-2649	94	21	obstacle	obstacle	NOUN
sc-2649	94	22	-	-	PUNCT
sc-2649	94	23	free	free	ADJ
sc-2649	94	24	path	path	NOUN
sc-2649	94	25	for	for	SCONJ
sc-2649	94	26	the	the	DET
sc-2649	94	27	robot	robot	NOUN
sc-2649	94	28	to	to	PART
sc-2649	94	29	travel	travel	VERB
sc-2649	94	30	.	.	PUNCT
sc-2649	95	1	then	then	ADV
sc-2649	95	2	,	,	PUNCT
sc-2649	95	3	the	the	DET
sc-2649	95	4	“	"	PUNCT
sc-2649	95	5	ride	ride	NOUN
sc-2649	95	6	”	"	PUNCT
sc-2649	95	7	begins	begin	VERB
sc-2649	95	8	when	when	SCONJ
sc-2649	95	9	the	the	DET
sc-2649	95	10	robot	robot	NOUN
sc-2649	95	11	has	have	VERB
sc-2649	95	12	to	to	PART
sc-2649	95	13	travel	travel	VERB
sc-2649	95	14	in	in	ADP
sc-2649	95	15	floors	floor	NOUN
sc-2649	95	16	with	with	ADP
sc-2649	95	17	elevator	elevator	NOUN
sc-2649	95	18	,	,	PUNCT
sc-2649	95	19	such	such	ADJ
sc-2649	95	20	that	that	SCONJ
sc-2649	95	21	the	the	DET
sc-2649	95	22	robot	robot	NOUN
sc-2649	95	23	would	would	AUX
sc-2649	95	24	communicate	communicate	VERB
sc-2649	95	25	with	with	ADP
sc-2649	95	26	the	the	DET
sc-2649	95	27	elevator	elevator	NOUN
sc-2649	95	28	server	server	NOUN
sc-2649	95	29	wirelessly	wirelessly	ADV
sc-2649	95	30	to	to	PART
sc-2649	95	31	acquire	acquire	VERB
sc-2649	95	32	the	the	DET
sc-2649	95	33	current	current	ADJ
sc-2649	95	34	status	status	NOUN
sc-2649	95	35	of	of	ADP
sc-2649	95	36	each	each	DET
sc-2649	95	37	elevator	elevator	NOUN
sc-2649	95	38	,	,	PUNCT
sc-2649	95	39	so	so	SCONJ
sc-2649	95	40	that	that	SCONJ
sc-2649	95	41	the	the	DET
sc-2649	95	42	robot	robot	NOUN
sc-2649	95	43	could	could	AUX
sc-2649	95	44	call	call	VERB
sc-2649	95	45	for	for	ADP
sc-2649	95	46	elevators	elevator	NOUN
sc-2649	95	47	that	that	PRON
sc-2649	95	48	are	be	AUX
sc-2649	95	49	currently	currently	ADV
sc-2649	95	50	idle	idle	ADJ
sc-2649	95	51	and	and	CCONJ
sc-2649	95	52	allow	allow	VERB
sc-2649	95	53	the	the	DET
sc-2649	95	54	elevators	elevator	NOUN
sc-2649	95	55	to	to	PART
sc-2649	95	56	prioritise	prioritise	VERB
sc-2649	95	57	the	the	DET
sc-2649	95	58	needs	need	NOUN
sc-2649	95	59	of	of	ADP
sc-2649	95	60	human	human	ADJ
sc-2649	95	61	passengers	passenger	NOUN
sc-2649	95	62	.	.	PUNCT
sc-2649	96	1	once	once	ADV
sc-2649	96	2	,	,	PUNCT
sc-2649	96	3	the	the	DET
sc-2649	96	4	elevator	elevator	NOUN
sc-2649	96	5	has	have	AUX
sc-2649	96	6	been	be	AUX
sc-2649	96	7	called	call	VERB
sc-2649	96	8	and	and	CCONJ
sc-2649	96	9	with	with	SCONJ
sc-2649	96	10	the	the	DET
sc-2649	96	11	elevator	elevator	NOUN
sc-2649	96	12	door	door	NOUN
sc-2649	96	13	opened	open	VERB
sc-2649	96	14	,	,	PUNCT
sc-2649	96	15	another	another	DET
sc-2649	96	16	detection	detection	NOUN
sc-2649	96	17	model	model	NOUN
sc-2649	96	18	would	would	AUX
sc-2649	96	19	be	be	AUX
sc-2649	96	20	used	use	VERB
sc-2649	96	21	to	to	PART
sc-2649	96	22	search	search	VERB
sc-2649	96	23	for	for	ADP
sc-2649	96	24	passengers	passenger	NOUN
sc-2649	96	25	and	and	CCONJ
sc-2649	96	26	pedestrians	pedestrian	NOUN
sc-2649	96	27	,	,	PUNCT
sc-2649	96	28	just	just	ADV
sc-2649	96	29	to	to	PART
sc-2649	96	30	ensure	ensure	VERB
sc-2649	96	31	the	the	DET
sc-2649	96	32	robot	robot	NOUN
sc-2649	96	33	would	would	AUX
sc-2649	96	34	be	be	AUX
sc-2649	96	35	able	able	ADJ
sc-2649	96	36	to	to	PART
sc-2649	96	37	enter	enter	VERB
sc-2649	96	38	the	the	DET
sc-2649	96	39	elevator	elevator	NOUN
sc-2649	96	40	safely	safely	ADV
sc-2649	96	41	.	.	PUNCT
sc-2649	97	1	right	right	ADV
sc-2649	97	2	before	before	ADP
sc-2649	97	3	entering	enter	VERB
sc-2649	97	4	the	the	DET
sc-2649	97	5	elevator	elevator	NOUN
sc-2649	97	6	,	,	PUNCT
sc-2649	97	7	the	the	DET
sc-2649	97	8	robot	robot	NOUN
sc-2649	97	9	would	would	AUX
sc-2649	97	10	even	even	ADV
sc-2649	97	11	notify	notify	VERB
sc-2649	97	12	pedestrians	pedestrian	NOUN
sc-2649	97	13	by	by	ADP
sc-2649	97	14	clear	clear	ADJ
sc-2649	97	15	audible	audible	ADJ
sc-2649	97	16	alerts	alert	NOUN
sc-2649	97	17	.	.	PUNCT
sc-2649	98	1	once	once	SCONJ
sc-2649	98	2	the	the	DET
sc-2649	98	3	destination	destination	NOUN
sc-2649	98	4	floor	floor	NOUN
sc-2649	98	5	is	be	AUX
sc-2649	98	6	reached	reach	VERB
sc-2649	98	7	,	,	PUNCT
sc-2649	98	8	the	the	DET
sc-2649	98	9	“	"	PUNCT
sc-2649	98	10	walk	walk	NOUN
sc-2649	98	11	”	"	PUNCT
sc-2649	98	12	resumes	resume	VERB
sc-2649	98	13	and	and	CCONJ
sc-2649	98	14	continues	continue	VERB
sc-2649	98	15	until	until	SCONJ
sc-2649	98	16	the	the	DET
sc-2649	98	17	robot	robot	NOUN
sc-2649	98	18	arrives	arrive	VERB
sc-2649	98	19	at	at	ADP
sc-2649	98	20	the	the	DET
sc-2649	98	21	final	final	ADJ
sc-2649	98	22	checkpoint	checkpoint	NOUN
sc-2649	98	23	for	for	ADP
sc-2649	98	24	the	the	DET
sc-2649	98	25	delivery	delivery	NOUN
sc-2649	98	26	.	.	PUNCT
sc-2649	99	1	the	the	DET
sc-2649	99	2	whole	whole	ADJ
sc-2649	99	3	delivery	delivery	NOUN
sc-2649	99	4	task	task	NOUN
sc-2649	99	5	would	would	AUX
sc-2649	99	6	then	then	ADV
sc-2649	99	7	be	be	AUX
sc-2649	99	8	completed	complete	VERB
sc-2649	99	9	by	by	ADP
sc-2649	99	10	one	one	NUM
sc-2649	99	11	last	last	ADJ
sc-2649	99	12	“	"	PUNCT
sc-2649	99	13	handshake	handshake	NOUN
sc-2649	99	14	”	"	PUNCT
sc-2649	99	15	where	where	SCONJ
sc-2649	99	16	the	the	DET
sc-2649	99	17	users	user	NOUN
sc-2649	99	18	would	would	AUX
sc-2649	99	19	retrieve	retrieve	VERB
sc-2649	99	20	the	the	DET
sc-2649	99	21	entrusted	entrust	VERB
sc-2649	99	22	items	item	NOUN
sc-2649	99	23	from	from	ADP
sc-2649	99	24	the	the	DET
sc-2649	99	25	locked	locked	ADJ
sc-2649	99	26	cabinet	cabinet	NOUN
sc-2649	99	27	using	use	VERB
sc-2649	99	28	the	the	DET
sc-2649	99	29	nfc	nfc	NOUN
sc-2649	99	30	card	card	NOUN
sc-2649	99	31	reader	reader	NOUN
sc-2649	99	32	and	and	CCONJ
sc-2649	99	33	the	the	DET
sc-2649	99	34	robot	robot	NOUN
sc-2649	99	35	would	would	AUX
sc-2649	99	36	acknowledge	acknowledge	VERB
sc-2649	99	37	its	its	PRON
sc-2649	99	38	completion	completion	NOUN
sc-2649	99	39	in	in	ADP
sc-2649	99	40	delivery	delivery	NOUN
sc-2649	99	41	with	with	ADP
sc-2649	99	42	another	another	DET
sc-2649	99	43	audible	audible	ADJ
sc-2649	99	44	alert	alert	NOUN
sc-2649	99	45	.	.	PUNCT
sc-2649	100	1	from	from	ADP
sc-2649	100	2	an	an	DET
sc-2649	100	3	engineering	engineering	NOUN
sc-2649	100	4	perspective	perspective	NOUN
sc-2649	100	5	,	,	PUNCT
sc-2649	100	6	this	this	PRON
sc-2649	100	7	might	might	AUX
sc-2649	100	8	have	have	AUX
sc-2649	100	9	been	be	AUX
sc-2649	100	10	one	one	NUM
sc-2649	100	11	simple	simple	ADJ
sc-2649	100	12	flow	flow	NOUN
sc-2649	100	13	design	design	NOUN
sc-2649	100	14	for	for	ADP
sc-2649	100	15	a	a	DET
sc-2649	100	16	basic	basic	ADJ
sc-2649	100	17	delivery	delivery	NOUN
sc-2649	100	18	task	task	NOUN
sc-2649	100	19	.	.	PUNCT
sc-2649	101	1	as	as	ADP
sc-2649	101	2	a	a	DET
sc-2649	101	3	matter	matter	NOUN
sc-2649	101	4	of	of	ADP
sc-2649	101	5	fact	fact	NOUN
sc-2649	101	6	,	,	PUNCT
sc-2649	101	7	the	the	DET
sc-2649	101	8	major	major	ADJ
sc-2649	101	9	emphasis	emphasis	NOUN
sc-2649	101	10	in	in	ADP
sc-2649	101	11	this	this	DET
sc-2649	101	12	flow	flow	NOUN
sc-2649	101	13	design	design	NOUN
sc-2649	101	14	,	,	PUNCT
sc-2649	101	15	as	as	ADV
sc-2649	101	16	well	well	ADV
sc-2649	101	17	as	as	ADP
sc-2649	101	18	the	the	DET
sc-2649	101	19	industrial	industrial	ADJ
sc-2649	101	20	design	design	NOUN
sc-2649	101	21	of	of	ADP
sc-2649	101	22	the	the	DET
sc-2649	101	23	robot	robot	NOUN
sc-2649	101	24	,	,	PUNCT
sc-2649	101	25	has	have	AUX
sc-2649	101	26	been	be	AUX
sc-2649	101	27	the	the	DET
sc-2649	101	28	intractability	intractability	NOUN
sc-2649	101	29	with	with	ADP
sc-2649	101	30	pedestrians	pedestrian	NOUN
sc-2649	101	31	,	,	PUNCT
sc-2649	101	32	such	such	ADJ
sc-2649	101	33	that	that	SCONJ
sc-2649	101	34	numerous	numerous	ADJ
sc-2649	101	35	touch	touch	NOUN
sc-2649	101	36	points	point	NOUN
sc-2649	101	37	were	be	AUX
sc-2649	101	38	provided	provide	VERB
sc-2649	101	39	throughout	throughout	ADP
sc-2649	101	40	the	the	DET
sc-2649	101	41	“	"	PUNCT
sc-2649	101	42	handshakes	handshake	NOUN
sc-2649	101	43	”	"	PUNCT
sc-2649	101	44	,	,	PUNCT
sc-2649	101	45	the	the	DET
sc-2649	101	46	“	"	PUNCT
sc-2649	101	47	walk	walk	NOUN
sc-2649	101	48	”	"	PUNCT
sc-2649	101	49	,	,	PUNCT
sc-2649	101	50	and	and	CCONJ
sc-2649	101	51	the	the	DET
sc-2649	101	52	“	"	PUNCT
sc-2649	101	53	ride	ride	NOUN
sc-2649	101	54	”	"	PUNCT
sc-2649	101	55	in	in	ADP
sc-2649	101	56	terms	term	NOUN
sc-2649	101	57	of	of	ADP
sc-2649	101	58	audio	audio	NOUN
sc-2649	101	59	,	,	PUNCT
sc-2649	101	60	visual	visual	ADJ
sc-2649	101	61	and	and	CCONJ
sc-2649	101	62	interface	interface	NOUN
sc-2649	101	63	interactions	interaction	NOUN
sc-2649	101	64	as	as	SCONJ
sc-2649	101	65	mentioned	mention	VERB
sc-2649	101	66	in	in	ADP
sc-2649	101	67	previous	previous	ADJ
sc-2649	101	68	sections	section	NOUN
sc-2649	101	69	.	.	PUNCT
sc-2649	102	1	5.3	5.3	NUM
sc-2649	102	2	backend	backend	NOUN
sc-2649	102	3	server	server	NOUN
sc-2649	102	4	connection	connection	NOUN
sc-2649	102	5	and	and	CCONJ
sc-2649	102	6	5	5	NUM
sc-2649	102	7	g	g	NOUN
sc-2649	102	8	extensibility	extensibility	NOUN
sc-2649	102	9	throughout	throughout	ADP
sc-2649	102	10	the	the	DET
sc-2649	102	11	design	design	NOUN
sc-2649	102	12	of	of	ADP
sc-2649	102	13	the	the	DET
sc-2649	102	14	delivery	delivery	NOUN
sc-2649	102	15	robot	robot	NOUN
sc-2649	102	16	,	,	PUNCT
sc-2649	102	17	various	various	ADJ
sc-2649	102	18	security	security	NOUN
sc-2649	102	19	,	,	PUNCT
sc-2649	102	20	safety	safety	NOUN
sc-2649	102	21	and	and	CCONJ
sc-2649	102	22	administrative	administrative	ADJ
sc-2649	102	23	considerations	consideration	NOUN
sc-2649	102	24	were	be	AUX
sc-2649	102	25	also	also	ADV
sc-2649	102	26	involved	involve	VERB
sc-2649	102	27	,	,	PUNCT
sc-2649	102	28	such	such	ADJ
sc-2649	102	29	that	that	SCONJ
sc-2649	102	30	a	a	DET
sc-2649	102	31	backend	backend	NOUN
sc-2649	102	32	server	server	NOUN
sc-2649	102	33	was	be	AUX
sc-2649	102	34	developed	develop	VERB
sc-2649	102	35	for	for	ADP
sc-2649	102	36	the	the	DET
sc-2649	102	37	purpose	purpose	NOUN
sc-2649	102	38	of	of	ADP
sc-2649	102	39	centralised	centralised	ADJ
sc-2649	102	40	robot	robot	NOUN
sc-2649	102	41	control	control	NOUN
sc-2649	102	42	,	,	PUNCT
sc-2649	102	43	especially	especially	ADV
sc-2649	102	44	for	for	ADP
sc-2649	102	45	those	those	PRON
sc-2649	102	46	requiring	require	VERB
sc-2649	102	47	low	low	ADJ
sc-2649	102	48	tolerance	tolerance	NOUN
sc-2649	102	49	in	in	ADP
sc-2649	102	50	latency	latency	NOUN
sc-2649	102	51	for	for	ADP
sc-2649	102	52	high	high	ADJ
sc-2649	102	53	-	-	PUNCT
sc-2649	102	54	speed	speed	NOUN
sc-2649	102	55	data	data	NOUN
sc-2649	102	56	transmission	transmission	NOUN
sc-2649	103	1	[	[	X
sc-2649	103	2	14	14	NUM
sc-2649	103	3	]	]	PUNCT
sc-2649	103	4	.	.	PUNCT
sc-2649	104	1	it	it	PRON
sc-2649	104	2	is	be	AUX
sc-2649	104	3	the	the	DET
sc-2649	104	4	experience	experience	NOUN
sc-2649	104	5	of	of	ADP
sc-2649	104	6	the	the	DET
sc-2649	104	7	research	research	NOUN
sc-2649	104	8	team	team	NOUN
sc-2649	104	9	that	that	PRON
sc-2649	104	10	enlightens	enlighten	VERB
sc-2649	104	11	the	the	DET
sc-2649	104	12	importance	importance	NOUN
sc-2649	104	13	of	of	ADP
sc-2649	104	14	remote	remote	ADJ
sc-2649	104	15	monitoring	monitoring	NOUN
sc-2649	104	16	and	and	CCONJ
sc-2649	104	17	control	control	NOUN
sc-2649	104	18	of	of	ADP
sc-2649	104	19	robots	robot	NOUN
sc-2649	104	20	.	.	PUNCT
sc-2649	105	1	the	the	DET
sc-2649	105	2	backend	backend	NOUN
sc-2649	105	3	server	server	NOUN
sc-2649	105	4	acts	act	VERB
sc-2649	105	5	a	a	DET
sc-2649	105	6	remote	remote	ADJ
sc-2649	105	7	data	data	NOUN
sc-2649	105	8	logger	logger	NOUN
sc-2649	105	9	that	that	PRON
sc-2649	105	10	stores	store	NOUN
sc-2649	105	11	and	and	CCONJ
sc-2649	105	12	reflects	reflect	VERB
sc-2649	105	13	the	the	DET
sc-2649	105	14	current	current	ADJ
sc-2649	105	15	status	status	NOUN
sc-2649	105	16	of	of	ADP
sc-2649	105	17	the	the	DET
sc-2649	105	18	robot	robot	NOUN
sc-2649	105	19	,	,	PUNCT
sc-2649	105	20	i.e.	i.e.	X
sc-2649	105	21	battery	battery	NOUN
sc-2649	105	22	consumption	consumption	NOUN
sc-2649	105	23	,	,	PUNCT
sc-2649	105	24	locational	locational	ADJ
sc-2649	105	25	information	information	NOUN
sc-2649	105	26	,	,	PUNCT
sc-2649	105	27	task	task	NOUN
sc-2649	105	28	status	status	NOUN
sc-2649	105	29	,	,	PUNCT
sc-2649	105	30	task	task	NOUN
sc-2649	105	31	history	history	NOUN
sc-2649	105	32	,	,	PUNCT
sc-2649	105	33	and	and	CCONJ
sc-2649	105	34	any	any	DET
sc-2649	105	35	alert	alert	NOUN
sc-2649	105	36	produced	produce	VERB
sc-2649	105	37	.	.	PUNCT
sc-2649	106	1	besides	besides	SCONJ
sc-2649	106	2	data	data	NOUN
sc-2649	106	3	-	-	PUNCT
sc-2649	106	4	logging	log	VERB
sc-2649	106	5	,	,	PUNCT
sc-2649	106	6	for	for	ADP
sc-2649	106	7	security	security	NOUN
sc-2649	106	8	and	and	CCONJ
sc-2649	106	9	safety	safety	NOUN
sc-2649	106	10	reasons	reason	NOUN
sc-2649	106	11	,	,	PUNCT
sc-2649	106	12	the	the	DET
sc-2649	106	13	backend	backend	NOUN
sc-2649	106	14	server	server	NOUN
sc-2649	106	15	also	also	ADV
sc-2649	106	16	acts	act	VERB
sc-2649	106	17	as	as	ADP
sc-2649	106	18	a	a	DET
sc-2649	106	19	remote	remote	ADJ
sc-2649	106	20	control	control	NOUN
sc-2649	106	21	-	-	PUNCT
sc-2649	106	22	panel	panel	NOUN
sc-2649	106	23	that	that	PRON
sc-2649	106	24	allows	allow	VERB
sc-2649	106	25	authorised	authorise	VERB
sc-2649	106	26	personnel	personnel	NOUN
sc-2649	106	27	to	to	PART
sc-2649	106	28	control	control	VERB
sc-2649	106	29	the	the	DET
sc-2649	106	30	robot	robot	NOUN
sc-2649	106	31	in	in	ADP
sc-2649	106	32	terms	term	NOUN
sc-2649	106	33	of	of	ADP
sc-2649	106	34	check	check	NOUN
sc-2649	106	35	-	-	PUNCT
sc-2649	106	36	point	point	NOUN
sc-2649	106	37	assignment	assignment	NOUN
sc-2649	106	38	,	,	PUNCT
sc-2649	106	39	task	task	NOUN
sc-2649	106	40	initiation	initiation	NOUN
sc-2649	106	41	and	and	CCONJ
sc-2649	106	42	termination	termination	NOUN
sc-2649	106	43	,	,	PUNCT
sc-2649	106	44	and	and	CCONJ
sc-2649	106	45	real	real	ADJ
sc-2649	106	46	-	-	PUNCT
sc-2649	106	47	time	time	NOUN
sc-2649	106	48	video	video	NOUN
sc-2649	106	49	feed	feed	NOUN
sc-2649	106	50	from	from	ADP
sc-2649	106	51	the	the	DET
sc-2649	106	52	robot	robot	NOUN
sc-2649	106	53	’s	’s	PART
sc-2649	106	54	front	front	ADJ
sc-2649	106	55	camera	camera	NOUN
sc-2649	106	56	.	.	PUNCT
sc-2649	107	1	it	it	PRON
sc-2649	107	2	is	be	AUX
sc-2649	107	3	fully	fully	ADV
sc-2649	107	4	understood	understand	VERB
sc-2649	107	5	that	that	SCONJ
sc-2649	107	6	the	the	PRON
sc-2649	107	7	more	more	ADV
sc-2649	107	8	important	important	ADJ
sc-2649	107	9	and	and	CCONJ
sc-2649	107	10	powerful	powerful	ADJ
sc-2649	107	11	the	the	DET
sc-2649	107	12	backend	backend	NOUN
sc-2649	107	13	server	server	NOUN
sc-2649	107	14	is	be	AUX
sc-2649	107	15	,	,	PUNCT
sc-2649	107	16	the	the	PRON
sc-2649	107	17	higher	high	ADJ
sc-2649	107	18	the	the	DET
sc-2649	107	19	risk	risk	NOUN
sc-2649	107	20	associated	associate	VERB
sc-2649	107	21	with	with	ADP
sc-2649	107	22	the	the	DET
sc-2649	107	23	server	server	NOUN
sc-2649	107	24	-	-	PUNCT
sc-2649	107	25	robot	robot	NOUN
sc-2649	107	26	communication	communication	NOUN
sc-2649	107	27	is	be	AUX
sc-2649	107	28	intercepted	intercept	VERB
sc-2649	107	29	,	,	PUNCT
sc-2649	107	30	eavesdropped	eavesdrop	VERB
sc-2649	107	31	or	or	CCONJ
sc-2649	107	32	even	even	ADV
sc-2649	107	33	altered	alter	VERB
sc-2649	107	34	.	.	PUNCT
sc-2649	108	1	therefore	therefore	ADV
sc-2649	108	2	,	,	PUNCT
sc-2649	108	3	the	the	DET
sc-2649	108	4	communication	communication	NOUN
sc-2649	108	5	architecture	architecture	NOUN
sc-2649	108	6	between	between	ADP
sc-2649	108	7	the	the	DET
sc-2649	108	8	server	server	NOUN
sc-2649	108	9	and	and	CCONJ
sc-2649	108	10	robot	robot	NOUN
sc-2649	108	11	6	6	NUM
sc-2649	108	12	eai	eai	PROPN
sc-2649	108	13	endorsed	endorse	VERB
sc-2649	108	14	transactions	transaction	NOUN
sc-2649	108	15	on	on	ADP
sc-2649	108	16	smart	smart	ADJ
sc-2649	108	17	cities	city	NOUN
sc-2649	108	18	volume	volume	NOUN
sc-2649	108	19	7	7	NUM
sc-2649	108	20	|	|	NOUN
sc-2649	108	21	issue	issue	VERB
sc-2649	108	22	2	2	NUM
sc-2649	108	23	applied	apply	VERB
sc-2649	108	24	design	design	NOUN
sc-2649	108	25	and	and	CCONJ
sc-2649	108	26	methodology	methodology	NOUN
sc-2649	108	27	of	of	ADP
sc-2649	108	28	delivery	delivery	NOUN
sc-2649	108	29	robots	robot	NOUN
sc-2649	108	30	based	base	VERB
sc-2649	108	31	on	on	ADP
sc-2649	108	32	human	human	ADJ
sc-2649	108	33	–	–	PUNCT
sc-2649	108	34	robot	robot	NOUN
sc-2649	108	35	interaction	interaction	NOUN
sc-2649	108	36	in	in	ADP
sc-2649	108	37	smart	smart	ADJ
sc-2649	108	38	cities	city	NOUN
sc-2649	108	39	is	be	AUX
sc-2649	108	40	reinforced	reinforce	VERB
sc-2649	108	41	in	in	ADP
sc-2649	108	42	both	both	DET
sc-2649	108	43	software	software	NOUN
sc-2649	108	44	and	and	CCONJ
sc-2649	108	45	hardware	hardware	NOUN
sc-2649	108	46	levels	level	NOUN
sc-2649	108	47	.	.	PUNCT
sc-2649	109	1	in	in	ADP
sc-2649	109	2	terms	term	NOUN
sc-2649	109	3	of	of	ADP
sc-2649	109	4	software	software	NOUN
sc-2649	109	5	,	,	PUNCT
sc-2649	109	6	the	the	DET
sc-2649	109	7	content	content	NOUN
sc-2649	109	8	for	for	ADP
sc-2649	109	9	every	every	DET
sc-2649	109	10	outgoing	outgoing	ADJ
sc-2649	109	11	communication	communication	NOUN
sc-2649	109	12	would	would	AUX
sc-2649	109	13	be	be	AUX
sc-2649	109	14	encrypted	encrypt	VERB
sc-2649	109	15	with	with	ADP
sc-2649	109	16	aes	aes	NOUN
sc-2649	109	17	format	format	NOUN
sc-2649	109	18	,	,	PUNCT
sc-2649	109	19	such	such	ADJ
sc-2649	109	20	that	that	SCONJ
sc-2649	109	21	every	every	DET
sc-2649	109	22	status	status	NOUN
sc-2649	109	23	information	information	NOUN
sc-2649	109	24	and	and	CCONJ
sc-2649	109	25	each	each	DET
sc-2649	109	26	frame	frame	NOUN
sc-2649	109	27	from	from	ADP
sc-2649	109	28	the	the	DET
sc-2649	109	29	video	video	NOUN
sc-2649	109	30	feed	feed	NOUN
sc-2649	109	31	would	would	AUX
sc-2649	109	32	be	be	AUX
sc-2649	109	33	masked	mask	VERB
sc-2649	109	34	.	.	PUNCT
sc-2649	110	1	however	however	ADV
sc-2649	110	2	,	,	PUNCT
sc-2649	110	3	with	with	ADP
sc-2649	110	4	the	the	DET
sc-2649	110	5	increased	increase	VERB
sc-2649	110	6	processing	processing	NOUN
sc-2649	110	7	time	time	NOUN
sc-2649	110	8	for	for	ADP
sc-2649	110	9	the	the	DET
sc-2649	110	10	status	status	NOUN
sc-2649	110	11	update	update	NOUN
sc-2649	110	12	and	and	CCONJ
sc-2649	110	13	video	video	NOUN
sc-2649	110	14	stream	stream	NOUN
sc-2649	110	15	,	,	PUNCT
sc-2649	110	16	it	it	PRON
sc-2649	110	17	would	would	AUX
sc-2649	110	18	be	be	AUX
sc-2649	110	19	much	much	ADV
sc-2649	110	20	difficult	difficult	ADJ
sc-2649	110	21	to	to	PART
sc-2649	110	22	establish	establish	VERB
sc-2649	110	23	a	a	DET
sc-2649	110	24	real	real	ADJ
sc-2649	110	25	-	-	PUNCT
sc-2649	110	26	time	time	NOUN
sc-2649	110	27	connection	connection	NOUN
sc-2649	110	28	.	.	PUNCT
sc-2649	111	1	thus	thus	ADV
sc-2649	111	2	,	,	PUNCT
sc-2649	111	3	the	the	DET
sc-2649	111	4	5	5	NUM
sc-2649	111	5	g	g	NOUN
sc-2649	111	6	technology	technology	NOUN
sc-2649	111	7	has	have	AUX
sc-2649	111	8	been	be	AUX
sc-2649	111	9	adopted	adopt	VERB
sc-2649	111	10	to	to	PART
sc-2649	111	11	enhance	enhance	VERB
sc-2649	111	12	the	the	DET
sc-2649	111	13	speed	speed	NOUN
sc-2649	111	14	as	as	ADV
sc-2649	111	15	well	well	ADV
sc-2649	111	16	as	as	ADP
sc-2649	111	17	the	the	DET
sc-2649	111	18	security	security	NOUN
sc-2649	111	19	level	level	NOUN
sc-2649	111	20	for	for	ADP
sc-2649	111	21	the	the	PRON
sc-2649	111	22	of	of	ADP
sc-2649	111	23	the	the	DET
sc-2649	111	24	data	data	NOUN
sc-2649	111	25	transmission	transmission	NOUN
sc-2649	111	26	.	.	PUNCT
sc-2649	112	1	the	the	DET
sc-2649	112	2	use	use	NOUN
sc-2649	112	3	of	of	ADP
sc-2649	112	4	5	5	NUM
sc-2649	112	5	g	g	NOUN
sc-2649	112	6	technology	technology	NOUN
sc-2649	112	7	gives	give	VERB
sc-2649	112	8	three	three	NUM
sc-2649	112	9	major	major	ADJ
sc-2649	112	10	benefits	benefit	NOUN
sc-2649	112	11	to	to	ADP
sc-2649	112	12	the	the	DET
sc-2649	112	13	communication	communication	NOUN
sc-2649	112	14	architecture	architecture	NOUN
sc-2649	112	15	,	,	PUNCT
sc-2649	112	16	including	include	VERB
sc-2649	112	17	high	high	ADJ
sc-2649	112	18	data	data	NOUN
sc-2649	112	19	transmission	transmission	NOUN
sc-2649	112	20	speed	speed	NOUN
sc-2649	112	21	,	,	PUNCT
sc-2649	112	22	large	large	ADJ
sc-2649	112	23	maximum	maximum	ADJ
sc-2649	112	24	carrier	carrier	NOUN
sc-2649	112	25	bandwidth	bandwidth	NOUN
sc-2649	112	26	,	,	PUNCT
sc-2649	112	27	and	and	CCONJ
sc-2649	112	28	mass	mass	NOUN
sc-2649	112	29	connectivity	connectivity	NOUN
sc-2649	112	30	.	.	PUNCT
sc-2649	113	1	in	in	ADP
sc-2649	113	2	terms	term	NOUN
sc-2649	113	3	of	of	ADP
sc-2649	113	4	the	the	DET
sc-2649	113	5	expected	expect	VERB
sc-2649	113	6	use	use	NOUN
sc-2649	113	7	-	-	PUNCT
sc-2649	113	8	case	case	NOUN
sc-2649	113	9	,	,	PUNCT
sc-2649	113	10	the	the	DET
sc-2649	113	11	high	high	ADJ
sc-2649	113	12	data	data	NOUN
sc-2649	113	13	transmission	transmission	NOUN
sc-2649	113	14	speed	speed	NOUN
sc-2649	113	15	allows	allow	VERB
sc-2649	113	16	the	the	DET
sc-2649	113	17	robot	robot	NOUN
sc-2649	113	18	to	to	PART
sc-2649	113	19	upload	upload	VERB
sc-2649	113	20	the	the	DET
sc-2649	113	21	loads	load	NOUN
sc-2649	113	22	of	of	ADP
sc-2649	113	23	status	status	NOUN
sc-2649	113	24	messages	message	NOUN
sc-2649	113	25	and	and	CCONJ
sc-2649	113	26	streams	stream	NOUN
sc-2649	113	27	of	of	ADP
sc-2649	113	28	video	video	NOUN
sc-2649	113	29	feed	feed	NOUN
sc-2649	113	30	to	to	ADP
sc-2649	113	31	the	the	DET
sc-2649	113	32	server	server	NOUN
sc-2649	113	33	with	with	ADP
sc-2649	113	34	a	a	DET
sc-2649	113	35	very	very	ADV
sc-2649	113	36	low	low	ADJ
sc-2649	113	37	latency	latency	NOUN
sc-2649	113	38	,	,	PUNCT
sc-2649	113	39	so	so	SCONJ
sc-2649	113	40	that	that	SCONJ
sc-2649	113	41	real	real	ADJ
sc-2649	113	42	-	-	PUNCT
sc-2649	113	43	time	time	NOUN
sc-2649	113	44	monitoring	monitoring	NOUN
sc-2649	113	45	of	of	ADP
sc-2649	113	46	the	the	DET
sc-2649	113	47	robot	robot	NOUN
sc-2649	113	48	could	could	AUX
sc-2649	113	49	be	be	AUX
sc-2649	113	50	achieved	achieve	VERB
sc-2649	113	51	.	.	PUNCT
sc-2649	114	1	to	to	PART
sc-2649	114	2	be	be	AUX
sc-2649	114	3	specific	specific	ADJ
sc-2649	114	4	,	,	PUNCT
sc-2649	114	5	the	the	DET
sc-2649	114	6	5	5	NUM
sc-2649	114	7	g	g	NOUN
sc-2649	114	8	architecture	architecture	NOUN
sc-2649	114	9	uses	use	VERB
sc-2649	114	10	ultra	ultra	ADJ
sc-2649	114	11	-	-	ADJ
sc-2649	114	12	reliable	reliable	ADJ
sc-2649	114	13	and	and	CCONJ
sc-2649	114	14	low	low	ADJ
sc-2649	114	15	latency	latency	NOUN
sc-2649	114	16	communications	communication	NOUN
sc-2649	114	17	(	(	PUNCT
sc-2649	114	18	urllc	urllc	ADJ
sc-2649	114	19	)	)	PUNCT
sc-2649	114	20	to	to	PART
sc-2649	114	21	allow	allow	VERB
sc-2649	114	22	the	the	DET
sc-2649	114	23	travelling	travel	VERB
sc-2649	114	24	network	network	NOUN
sc-2649	114	25	to	to	PART
sc-2649	114	26	be	be	AUX
sc-2649	114	27	optimised	optimise	VERB
sc-2649	114	28	for	for	ADP
sc-2649	114	29	processing	process	VERB
sc-2649	114	30	incredibly	incredibly	ADV
sc-2649	114	31	large	large	ADJ
sc-2649	114	32	amounts	amount	NOUN
sc-2649	114	33	of	of	ADP
sc-2649	114	34	data	datum	NOUN
sc-2649	114	35	with	with	ADP
sc-2649	114	36	minimal	minimal	ADJ
sc-2649	114	37	delay	delay	NOUN
sc-2649	114	38	so	so	SCONJ
sc-2649	114	39	as	as	SCONJ
sc-2649	114	40	to	to	PART
sc-2649	114	41	support	support	VERB
sc-2649	114	42	end	end	NOUN
sc-2649	114	43	-	-	PUNCT
sc-2649	114	44	to	to	ADP
sc-2649	114	45	-	-	PUNCT
sc-2649	114	46	end	end	NOUN
sc-2649	114	47	latencies	latency	NOUN
sc-2649	114	48	as	as	ADV
sc-2649	114	49	low	low	ADJ
sc-2649	114	50	as	as	ADP
sc-2649	114	51	5ms	5ms	ADJ
sc-2649	114	52	[	[	X
sc-2649	114	53	15	15	NUM
sc-2649	114	54	]	]	PUNCT
sc-2649	114	55	.	.	PUNCT
sc-2649	115	1	this	this	PRON
sc-2649	115	2	is	be	AUX
sc-2649	115	3	achieved	achieve	VERB
sc-2649	115	4	by	by	ADP
sc-2649	115	5	implementing	implement	VERB
sc-2649	115	6	a	a	DET
sc-2649	115	7	new	new	ADJ
sc-2649	115	8	approach	approach	NOUN
sc-2649	115	9	to	to	PART
sc-2649	115	10	handle	handle	VERB
sc-2649	115	11	radio	radio	NOUN
sc-2649	115	12	frame	frame	NOUN
sc-2649	115	13	slots	slot	NOUN
sc-2649	115	14	.	.	PUNCT
sc-2649	116	1	instead	instead	ADV
sc-2649	116	2	of	of	ADP
sc-2649	116	3	fixed	fix	VERB
sc-2649	116	4	radio	radio	NOUN
sc-2649	116	5	slots	slot	NOUN
sc-2649	116	6	of	of	ADP
sc-2649	116	7	1ms	1ms	NOUN
sc-2649	116	8	in	in	ADP
sc-2649	116	9	4	4	NUM
sc-2649	116	10	g	g	NOUN
sc-2649	116	11	,	,	PUNCT
sc-2649	116	12	5	5	NUM
sc-2649	116	13	g	g	NOUN
sc-2649	116	14	uses	use	VERB
sc-2649	116	15	a	a	DET
sc-2649	116	16	multi	multi	ADJ
sc-2649	116	17	numerology	numerology	NOUN
sc-2649	116	18	approach	approach	NOUN
sc-2649	116	19	to	to	PART
sc-2649	116	20	allow	allow	VERB
sc-2649	116	21	flexible	flexible	ADJ
sc-2649	116	22	definition	definition	NOUN
sc-2649	116	23	of	of	ADP
sc-2649	116	24	radio	radio	NOUN
sc-2649	116	25	slots	slot	NOUN
sc-2649	116	26	,	,	PUNCT
sc-2649	116	27	so	so	SCONJ
sc-2649	116	28	that	that	SCONJ
sc-2649	116	29	radio	radio	NOUN
sc-2649	116	30	slots	slot	NOUN
sc-2649	116	31	with	with	ADP
sc-2649	116	32	shorter	short	ADJ
sc-2649	116	33	timespan	timespan	NOUN
sc-2649	116	34	would	would	AUX
sc-2649	116	35	be	be	AUX
sc-2649	116	36	allows	allow	NOUN
sc-2649	116	37	,	,	PUNCT
sc-2649	116	38	in	in	ADP
sc-2649	116	39	returns	return	NOUN
sc-2649	116	40	of	of	ADP
sc-2649	116	41	a	a	DET
sc-2649	116	42	lower	low	ADJ
sc-2649	116	43	latency	latency	NOUN
sc-2649	116	44	.	.	PUNCT
sc-2649	117	1	in	in	ADP
sc-2649	117	2	addition	addition	NOUN
sc-2649	117	3	,	,	PUNCT
sc-2649	117	4	the	the	DET
sc-2649	117	5	large	large	ADJ
sc-2649	117	6	maximum	maximum	ADJ
sc-2649	117	7	carrier	carrier	NOUN
sc-2649	117	8	bandwidth	bandwidth	NOUN
sc-2649	117	9	benefited	benefit	VERB
sc-2649	117	10	from	from	ADP
sc-2649	117	11	the	the	DET
sc-2649	117	12	5	5	NUM
sc-2649	117	13	g	g	NOUN
sc-2649	117	14	technology	technology	NOUN
sc-2649	117	15	makes	make	VERB
sc-2649	117	16	the	the	DET
sc-2649	117	17	streaming	streaming	NOUN
sc-2649	117	18	of	of	ADP
sc-2649	117	19	4k	4k	NUM
sc-2649	117	20	resolution	resolution	NOUN
sc-2649	117	21	video	video	NOUN
sc-2649	117	22	possible	possible	ADJ
sc-2649	117	23	in	in	ADP
sc-2649	117	24	real	real	ADJ
sc-2649	117	25	-	-	PUNCT
sc-2649	117	26	time	time	NOUN
sc-2649	117	27	.	.	PUNCT
sc-2649	118	1	with	with	SCONJ
sc-2649	118	2	the	the	DET
sc-2649	118	3	use	use	NOUN
sc-2649	118	4	of	of	ADP
sc-2649	118	5	enhanced	enhanced	ADJ
sc-2649	118	6	mobile	mobile	ADJ
sc-2649	118	7	broadband	broadband	NOUN
sc-2649	118	8	(	(	PUNCT
sc-2649	118	9	embb	embb	ADJ
sc-2649	118	10	)	)	PUNCT
sc-2649	118	11	,	,	PUNCT
sc-2649	118	12	a	a	DET
sc-2649	118	13	greater	great	ADJ
sc-2649	118	14	data	datum	NOUN
sc-2649	118	15	bandwidth	bandwidth	NOUN
sc-2649	118	16	complemented	complement	VERB
sc-2649	118	17	by	by	ADP
sc-2649	118	18	moderate	moderate	ADJ
sc-2649	118	19	latency	latency	NOUN
sc-2649	118	20	improvements	improvement	NOUN
sc-2649	118	21	on	on	ADP
sc-2649	118	22	both	both	DET
sc-2649	118	23	5	5	NUM
sc-2649	118	24	g	g	NOUN
sc-2649	118	25	nr	nr	PROPN
sc-2649	118	26	and	and	CCONJ
sc-2649	118	27	4	4	NUM
sc-2649	118	28	g	g	NOUN
sc-2649	118	29	lte	lte	PROPN
sc-2649	118	30	could	could	AUX
sc-2649	118	31	be	be	AUX
sc-2649	118	32	provided	provide	VERB
sc-2649	118	33	,	,	PUNCT
sc-2649	118	34	such	such	ADJ
sc-2649	118	35	that	that	SCONJ
sc-2649	118	36	the	the	DET
sc-2649	118	37	actual	actual	ADJ
sc-2649	118	38	latency	latency	NOUN
sc-2649	118	39	between	between	ADP
sc-2649	118	40	image	image	NOUN
sc-2649	118	41	capturing	capturing	NOUN
sc-2649	118	42	and	and	CCONJ
sc-2649	118	43	video	video	NOUN
sc-2649	118	44	presentation	presentation	NOUN
sc-2649	118	45	on	on	ADP
sc-2649	118	46	the	the	DET
sc-2649	118	47	server	server	NOUN
sc-2649	118	48	for	for	ADP
sc-2649	118	49	high	high	ADJ
sc-2649	118	50	resolution	resolution	NOUN
sc-2649	118	51	videos	video	NOUN
sc-2649	118	52	,	,	PUNCT
sc-2649	118	53	like	like	ADP
sc-2649	118	54	4k	4k	NOUN
sc-2649	118	55	or	or	CCONJ
sc-2649	118	56	omnidirectional	omnidirectional	ADJ
sc-2649	118	57	vr	vr	PROPN
sc-2649	118	58	video	video	NOUN
sc-2649	118	59	,	,	PUNCT
sc-2649	118	60	could	could	AUX
sc-2649	118	61	be	be	AUX
sc-2649	118	62	less	less	ADJ
sc-2649	118	63	than	than	ADP
sc-2649	118	64	0.3	0.3	NUM
sc-2649	118	65	seconds	second	NOUN
sc-2649	118	66	even	even	ADV
sc-2649	118	67	after	after	ADP
sc-2649	118	68	the	the	DET
sc-2649	118	69	implementation	implementation	NOUN
sc-2649	118	70	of	of	ADP
sc-2649	118	71	the	the	DET
sc-2649	118	72	required	require	VERB
sc-2649	118	73	data	data	NOUN
sc-2649	118	74	compression	compression	NOUN
sc-2649	118	75	,	,	PUNCT
sc-2649	118	76	and	and	CCONJ
sc-2649	118	77	data	datum	NOUN
sc-2649	118	78	encryption	encryption	NOUN
sc-2649	118	79	and	and	CCONJ
sc-2649	118	80	decryption	decryption	NOUN
sc-2649	118	81	as	as	SCONJ
sc-2649	118	82	mentioned	mention	VERB
sc-2649	118	83	.	.	PUNCT
sc-2649	119	1	last	last	ADJ
sc-2649	119	2	but	but	CCONJ
sc-2649	119	3	not	not	PART
sc-2649	119	4	least	least	ADJ
sc-2649	119	5	,	,	PUNCT
sc-2649	119	6	the	the	DET
sc-2649	119	7	advantage	advantage	NOUN
sc-2649	119	8	of	of	ADP
sc-2649	119	9	mass	mass	NOUN
sc-2649	119	10	connectivity	connectivity	NOUN
sc-2649	119	11	provided	provide	VERB
sc-2649	119	12	by	by	ADP
sc-2649	119	13	the	the	DET
sc-2649	119	14	adoption	adoption	NOUN
sc-2649	119	15	of	of	ADP
sc-2649	119	16	massive	massive	ADJ
sc-2649	119	17	machinetype	machinetype	ADJ
sc-2649	119	18	communication	communication	NOUN
sc-2649	119	19	(	(	PUNCT
sc-2649	119	20	mmtc	mmtc	NOUN
sc-2649	119	21	)	)	PUNCT
sc-2649	119	22	allows	allow	VERB
sc-2649	119	23	extremely	extremely	ADV
sc-2649	119	24	high	high	ADJ
sc-2649	119	25	connection	connection	NOUN
sc-2649	119	26	density	density	NOUN
sc-2649	119	27	of	of	ADP
sc-2649	119	28	online	online	ADJ
sc-2649	119	29	devices	device	NOUN
sc-2649	119	30	,	,	PUNCT
sc-2649	119	31	and	and	CCONJ
sc-2649	119	32	thus	thus	ADV
sc-2649	119	33	enables	enable	VERB
sc-2649	119	34	the	the	DET
sc-2649	119	35	deployment	deployment	NOUN
sc-2649	119	36	of	of	ADP
sc-2649	119	37	robot	robot	NOUN
sc-2649	119	38	fleets	fleet	NOUN
sc-2649	119	39	and	and	CCONJ
sc-2649	119	40	the	the	DET
sc-2649	119	41	potential	potential	ADJ
sc-2649	119	42	migration	migration	NOUN
sc-2649	119	43	of	of	ADP
sc-2649	119	44	sensors	sensor	NOUN
sc-2649	119	45	or	or	CCONJ
sc-2649	119	46	processes	process	NOUN
sc-2649	119	47	through	through	ADP
sc-2649	119	48	cloud	cloud	NOUN
sc-2649	119	49	computing	computing	NOUN
sc-2649	119	50	in	in	ADP
sc-2649	119	51	the	the	DET
sc-2649	119	52	future	future	NOUN
sc-2649	119	53	,	,	PUNCT
sc-2649	119	54	where	where	SCONJ
sc-2649	119	55	the	the	DET
sc-2649	119	56	large	large	ADJ
sc-2649	119	57	number	number	NOUN
sc-2649	119	58	of	of	ADP
sc-2649	119	59	robots	robot	NOUN
sc-2649	119	60	and	and	CCONJ
sc-2649	119	61	independent	independent	ADJ
sc-2649	119	62	sensors	sensor	NOUN
sc-2649	119	63	would	would	AUX
sc-2649	119	64	no	no	ADV
sc-2649	119	65	longer	long	ADV
sc-2649	119	66	be	be	AUX
sc-2649	119	67	the	the	DET
sc-2649	119	68	limitation	limitation	NOUN
sc-2649	119	69	for	for	ADP
sc-2649	119	70	real	real	ADJ
sc-2649	119	71	-	-	PUNCT
sc-2649	119	72	time	time	NOUN
sc-2649	119	73	data	datum	NOUN
sc-2649	119	74	transmission	transmission	NOUN
sc-2649	119	75	and	and	CCONJ
sc-2649	119	76	processing	processing	NOUN
sc-2649	119	77	,	,	PUNCT
sc-2649	119	78	even	even	ADV
sc-2649	119	79	in	in	ADP
sc-2649	119	80	conditions	condition	NOUN
sc-2649	119	81	of	of	ADP
sc-2649	119	82	limited	limited	ADJ
sc-2649	119	83	communication	communication	NOUN
sc-2649	119	84	resource	resource	NOUN
sc-2649	119	85	[	[	X
sc-2649	119	86	16	16	NUM
sc-2649	119	87	]	]	PUNCT
sc-2649	119	88	.	.	PUNCT
sc-2649	120	1	it	it	PRON
sc-2649	120	2	has	have	AUX
sc-2649	120	3	been	be	AUX
sc-2649	120	4	one	one	NUM
sc-2649	120	5	of	of	ADP
sc-2649	120	6	the	the	DET
sc-2649	120	7	biggest	big	ADJ
sc-2649	120	8	challenges	challenge	NOUN
sc-2649	120	9	for	for	ADP
sc-2649	120	10	traditional	traditional	ADJ
sc-2649	120	11	indoor	indoor	ADJ
sc-2649	120	12	-	-	PUNCT
sc-2649	120	13	deploying	deploy	VERB
sc-2649	120	14	robots	robot	NOUN
sc-2649	120	15	to	to	PART
sc-2649	120	16	face	face	VERB
sc-2649	120	17	internet	internet	NOUN
sc-2649	120	18	instability	instability	NOUN
sc-2649	120	19	due	due	ADP
sc-2649	120	20	to	to	ADP
sc-2649	120	21	the	the	DET
sc-2649	120	22	complex	complex	ADJ
sc-2649	120	23	indoor	indoor	ADJ
sc-2649	120	24	environment	environment	NOUN
sc-2649	120	25	.	.	PUNCT
sc-2649	121	1	therefore	therefore	ADV
sc-2649	121	2	,	,	PUNCT
sc-2649	121	3	to	to	PART
sc-2649	121	4	encounter	encounter	VERB
sc-2649	121	5	this	this	DET
sc-2649	121	6	challenge	challenge	NOUN
sc-2649	121	7	,	,	PUNCT
sc-2649	121	8	numerous	numerous	ADJ
sc-2649	121	9	5g	5g	NUM
sc-2649	121	10	-	-	PUNCT
sc-2649	121	11	enabling	enable	VERB
sc-2649	121	12	antennas	antenna	NOUN
sc-2649	121	13	and	and	CCONJ
sc-2649	121	14	transceivers	transceiver	NOUN
sc-2649	121	15	have	have	AUX
sc-2649	121	16	been	be	AUX
sc-2649	121	17	deployed	deploy	VERB
sc-2649	121	18	throughout	throughout	ADP
sc-2649	121	19	the	the	DET
sc-2649	121	20	building	building	NOUN
sc-2649	121	21	,	,	PUNCT
sc-2649	121	22	such	such	ADJ
sc-2649	121	23	that	that	SCONJ
sc-2649	121	24	the	the	DET
sc-2649	121	25	robot	robot	NOUN
sc-2649	121	26	would	would	AUX
sc-2649	121	27	have	have	AUX
sc-2649	121	28	guaranteed	guarantee	VERB
sc-2649	121	29	full	full	ADJ
sc-2649	121	30	internet	internet	NOUN
sc-2649	121	31	connection	connection	NOUN
sc-2649	121	32	while	while	SCONJ
sc-2649	121	33	traveling	travel	VERB
sc-2649	121	34	among	among	ADP
sc-2649	121	35	the	the	DET
sc-2649	121	36	designated	designate	VERB
sc-2649	121	37	deployment	deployment	NOUN
sc-2649	121	38	areas	area	NOUN
sc-2649	121	39	of	of	ADP
sc-2649	121	40	the	the	DET
sc-2649	121	41	delivery	delivery	NOUN
sc-2649	121	42	tasks	task	NOUN
sc-2649	121	43	.	.	PUNCT
sc-2649	122	1	as	as	ADP
sc-2649	122	2	a	a	DET
sc-2649	122	3	matter	matter	NOUN
sc-2649	122	4	of	of	ADP
sc-2649	122	5	fact	fact	NOUN
sc-2649	122	6	,	,	PUNCT
sc-2649	122	7	the	the	DET
sc-2649	122	8	adoption	adoption	NOUN
sc-2649	122	9	of	of	ADP
sc-2649	122	10	the	the	DET
sc-2649	122	11	3.5ghz	3.5ghz	NUM
sc-2649	122	12	(	(	PUNCT
sc-2649	122	13	sub-6	sub-6	NUM
sc-2649	122	14	)	)	PUNCT
sc-2649	122	15	spectrum	spectrum	NOUN
sc-2649	122	16	has	have	AUX
sc-2649	122	17	enabled	enable	VERB
sc-2649	122	18	a	a	DET
sc-2649	122	19	cost	cost	NOUN
sc-2649	122	20	-	-	PUNCT
sc-2649	122	21	efficient	efficient	ADJ
sc-2649	122	22	deployment	deployment	NOUN
sc-2649	122	23	of	of	ADP
sc-2649	122	24	the	the	DET
sc-2649	122	25	large	large	ADJ
sc-2649	122	26	number	number	NOUN
sc-2649	122	27	of	of	ADP
sc-2649	122	28	transceivers	transceiver	NOUN
sc-2649	122	29	such	such	ADJ
sc-2649	122	30	that	that	SCONJ
sc-2649	122	31	the	the	DET
sc-2649	122	32	3.5ghz	3.5ghz	NUM
sc-2649	122	33	spectrum	spectrum	NOUN
sc-2649	122	34	allows	allow	VERB
sc-2649	122	35	a	a	DET
sc-2649	122	36	satisfying	satisfying	ADJ
sc-2649	122	37	transmission	transmission	NOUN
sc-2649	122	38	rate	rate	NOUN
sc-2649	122	39	from	from	ADP
sc-2649	122	40	193	193	NUM
sc-2649	122	41	to	to	PART
sc-2649	122	42	430	430	NUM
sc-2649	122	43	mbit	mbit	NOUN
sc-2649	122	44	/	/	SYM
sc-2649	122	45	s	s	NOUN
sc-2649	122	46	down	down	ADV
sc-2649	122	47	,	,	PUNCT
sc-2649	122	48	while	while	SCONJ
sc-2649	122	49	having	have	VERB
sc-2649	122	50	a	a	DET
sc-2649	122	51	reasonable	reasonable	ADJ
sc-2649	122	52	sensing	sense	VERB
sc-2649	122	53	range	range	NOUN
sc-2649	122	54	of	of	ADP
sc-2649	122	55	in	in	ADP
sc-2649	122	56	the	the	DET
sc-2649	122	57	building	building	NOUN
sc-2649	122	58	complex	complex	NOUN
sc-2649	122	59	,	,	PUNCT
sc-2649	122	60	when	when	SCONJ
sc-2649	122	61	compared	compare	VERB
sc-2649	122	62	to	to	ADP
sc-2649	122	63	the	the	DET
sc-2649	122	64	two	two	NUM
sc-2649	122	65	other	other	ADJ
sc-2649	122	66	expensive	expensive	ADJ
sc-2649	122	67	and	and	CCONJ
sc-2649	122	68	range	range	NOUN
sc-2649	122	69	-	-	PUNCT
sc-2649	122	70	limiting	limit	VERB
sc-2649	122	71	spectrums	spectrum	NOUN
sc-2649	122	72	of	of	ADP
sc-2649	122	73	26	26	NUM
sc-2649	122	74	-	-	PUNCT
sc-2649	122	75	28ghz	28ghz	NOUN
sc-2649	122	76	and	and	CCONJ
sc-2649	122	77	4.9ghz	4.9ghz	NUM
sc-2649	123	1	[	[	X
sc-2649	123	2	17	17	NUM
sc-2649	123	3	]	]	SYM
sc-2649	123	4	.	.	PUNCT
sc-2649	124	1	6	6	X
sc-2649	124	2	.	.	X
sc-2649	124	3	conclusion	conclusion	NOUN
sc-2649	124	4	it	it	PRON
sc-2649	124	5	is	be	AUX
sc-2649	124	6	obvious	obvious	ADJ
sc-2649	124	7	that	that	SCONJ
sc-2649	124	8	the	the	DET
sc-2649	124	9	business	business	NOUN
sc-2649	124	10	model	model	NOUN
sc-2649	124	11	of	of	ADP
sc-2649	124	12	modern	modern	ADJ
sc-2649	124	13	companies	company	NOUN
sc-2649	124	14	is	be	AUX
sc-2649	124	15	experiencing	experience	VERB
sc-2649	124	16	a	a	DET
sc-2649	124	17	huge	huge	ADJ
sc-2649	124	18	change	change	NOUN
sc-2649	124	19	towards	towards	ADP
sc-2649	124	20	automation	automation	NOUN
sc-2649	124	21	in	in	ADP
sc-2649	124	22	recent	recent	ADJ
sc-2649	124	23	years	year	NOUN
sc-2649	124	24	.	.	PUNCT
sc-2649	125	1	it	it	PRON
sc-2649	125	2	is	be	AUX
sc-2649	125	3	inevitable	inevitable	ADJ
sc-2649	125	4	for	for	SCONJ
sc-2649	125	5	business	business	NOUN
sc-2649	125	6	to	to	PART
sc-2649	125	7	accompany	accompany	VERB
sc-2649	125	8	this	this	DET
sc-2649	125	9	shift	shift	NOUN
sc-2649	125	10	in	in	ADP
sc-2649	125	11	paradigm	paradigm	NOUN
sc-2649	125	12	by	by	ADP
sc-2649	125	13	adjusting	adjust	VERB
sc-2649	125	14	their	their	PRON
sc-2649	125	15	business	business	NOUN
sc-2649	125	16	strategy	strategy	NOUN
sc-2649	125	17	and	and	CCONJ
sc-2649	125	18	even	even	ADV
sc-2649	125	19	business	business	NOUN
sc-2649	125	20	model	model	NOUN
sc-2649	125	21	to	to	PART
sc-2649	125	22	introduce	introduce	VERB
sc-2649	125	23	a	a	DET
sc-2649	125	24	higher	high	ADJ
sc-2649	125	25	level	level	NOUN
sc-2649	125	26	of	of	ADP
sc-2649	125	27	business	business	NOUN
sc-2649	125	28	automation	automation	NOUN
sc-2649	125	29	.	.	PUNCT
sc-2649	126	1	as	as	ADP
sc-2649	126	2	a	a	DET
sc-2649	126	3	result	result	NOUN
sc-2649	126	4	,	,	PUNCT
sc-2649	126	5	citizens	citizen	NOUN
sc-2649	126	6	would	would	AUX
sc-2649	126	7	have	have	VERB
sc-2649	126	8	a	a	DET
sc-2649	126	9	greater	great	ADJ
sc-2649	126	10	and	and	CCONJ
sc-2649	126	11	more	more	ADV
sc-2649	126	12	frequent	frequent	ADJ
sc-2649	126	13	exposure	exposure	NOUN
sc-2649	126	14	towards	towards	ADP
sc-2649	126	15	the	the	DET
sc-2649	126	16	different	different	ADJ
sc-2649	126	17	types	type	NOUN
sc-2649	126	18	of	of	ADP
sc-2649	126	19	robots	robot	NOUN
sc-2649	126	20	in	in	ADP
sc-2649	126	21	workspace	workspace	NOUN
sc-2649	126	22	.	.	PUNCT
sc-2649	127	1	it	it	PRON
sc-2649	127	2	is	be	AUX
sc-2649	127	3	therefore	therefore	ADV
sc-2649	127	4	a	a	DET
sc-2649	127	5	crucial	crucial	ADJ
sc-2649	127	6	issue	issue	NOUN
sc-2649	127	7	to	to	PART
sc-2649	127	8	design	design	VERB
sc-2649	127	9	new	new	ADJ
sc-2649	127	10	robot	robot	NOUN
sc-2649	127	11	morphologies	morphology	NOUN
sc-2649	127	12	,	,	PUNCT
sc-2649	127	13	appearances	appearance	NOUN
sc-2649	127	14	,	,	PUNCT
sc-2649	127	15	behaviour	behaviour	NOUN
sc-2649	127	16	paradigms	paradigm	VERB
sc-2649	127	17	,	,	PUNCT
sc-2649	127	18	interaction	interaction	NOUN
sc-2649	127	19	techniques	technique	NOUN
sc-2649	127	20	to	to	PART
sc-2649	127	21	encourage	encourage	VERB
sc-2649	127	22	a	a	DET
sc-2649	127	23	smooth	smooth	ADJ
sc-2649	127	24	and	and	CCONJ
sc-2649	127	25	reassuring	reassuring	ADJ
sc-2649	127	26	interaction	interaction	NOUN
sc-2649	127	27	between	between	ADP
sc-2649	127	28	human	human	NOUN
sc-2649	127	29	and	and	CCONJ
sc-2649	127	30	robots	robot	NOUN
sc-2649	127	31	,	,	PUNCT
sc-2649	127	32	let	let	VERB
sc-2649	127	33	alone	alone	ADV
sc-2649	127	34	the	the	DET
sc-2649	127	35	design	design	NOUN
sc-2649	127	36	of	of	ADP
sc-2649	127	37	systems	system	NOUN
sc-2649	127	38	,	,	PUNCT
sc-2649	127	39	algorithms	algorithm	NOUN
sc-2649	127	40	,	,	PUNCT
sc-2649	127	41	interface	interface	NOUN
sc-2649	127	42	technologies	technology	NOUN
sc-2649	127	43	,	,	PUNCT
sc-2649	127	44	and	and	CCONJ
sc-2649	127	45	computational	computational	ADJ
sc-2649	127	46	methods	method	NOUN
sc-2649	127	47	that	that	PRON
sc-2649	127	48	supports	support	VERB
sc-2649	127	49	such	such	ADJ
sc-2649	127	50	human	human	ADJ
sc-2649	127	51	-	-	PUNCT
sc-2649	127	52	robot	robot	NOUN
sc-2649	127	53	interaction	interaction	NOUN
sc-2649	127	54	.	.	PUNCT
sc-2649	128	1	as	as	ADP
sc-2649	128	2	a	a	DET
sc-2649	128	3	prospective	prospective	ADJ
sc-2649	128	4	representation	representation	NOUN
sc-2649	128	5	,	,	PUNCT
sc-2649	128	6	the	the	DET
sc-2649	128	7	research	research	NOUN
sc-2649	128	8	team	team	NOUN
sc-2649	128	9	proposes	propose	VERB
sc-2649	128	10	the	the	DET
sc-2649	128	11	development	development	NOUN
sc-2649	128	12	of	of	ADP
sc-2649	128	13	a	a	DET
sc-2649	128	14	user	user	NOUN
sc-2649	128	15	-	-	PUNCT
sc-2649	128	16	centric	centric	ADJ
sc-2649	128	17	design	design	NOUN
sc-2649	128	18	of	of	ADP
sc-2649	128	19	a	a	DET
sc-2649	128	20	delivery	delivery	NOUN
sc-2649	128	21	robot	robot	NOUN
sc-2649	128	22	that	that	PRON
sc-2649	128	23	could	could	AUX
sc-2649	128	24	optimise	optimise	VERB
sc-2649	128	25	user	user	NOUN
sc-2649	128	26	experience	experience	NOUN
sc-2649	128	27	.	.	PUNCT
sc-2649	129	1	by	by	ADP
sc-2649	129	2	adopting	adopt	VERB
sc-2649	129	3	the	the	DET
sc-2649	129	4	latest	late	ADJ
sc-2649	129	5	technologies	technology	NOUN
sc-2649	129	6	from	from	ADP
sc-2649	129	7	the	the	DET
sc-2649	129	8	different	different	ADJ
sc-2649	129	9	branching	branch	VERB
sc-2649	129	10	fields	field	NOUN
sc-2649	129	11	of	of	ADP
sc-2649	129	12	robotics	robotic	NOUN
sc-2649	129	13	,	,	PUNCT
sc-2649	129	14	artificial	artificial	ADJ
sc-2649	129	15	intelligence	intelligence	NOUN
sc-2649	129	16	,	,	PUNCT
sc-2649	129	17	and	and	CCONJ
sc-2649	129	18	tele	tele	PROPN
sc-2649	129	19	communication	communication	NOUN
sc-2649	129	20	,	,	PUNCT
sc-2649	129	21	the	the	DET
sc-2649	129	22	proposed	propose	VERB
sc-2649	129	23	delivery	delivery	NOUN
sc-2649	129	24	robot	robot	NOUN
sc-2649	129	25	is	be	AUX
sc-2649	129	26	intended	intend	VERB
sc-2649	129	27	to	to	PART
sc-2649	129	28	maximise	maximise	VERB
sc-2649	129	29	users	user	NOUN
sc-2649	129	30	’	'	PUNCT
sc-2649	129	31	satisfaction	satisfaction	NOUN
sc-2649	129	32	throughout	throughout	ADP
sc-2649	129	33	every	every	DET
sc-2649	129	34	hri	hri	PROPN
sc-2649	129	35	touchpoints	touchpoint	NOUN
sc-2649	129	36	.	.	PUNCT
sc-2649	130	1	as	as	ADP
sc-2649	130	2	a	a	DET
sc-2649	130	3	delivery	delivery	NOUN
sc-2649	130	4	robot	robot	NOUN
sc-2649	130	5	,	,	PUNCT
sc-2649	130	6	the	the	DET
sc-2649	130	7	proposed	propose	VERB
sc-2649	130	8	hardware	hardware	NOUN
sc-2649	130	9	design	design	NOUN
sc-2649	130	10	follows	follow	VERB
sc-2649	130	11	the	the	DET
sc-2649	130	12	foundational	foundational	ADJ
sc-2649	130	13	design	design	NOUN
sc-2649	130	14	concept	concept	NOUN
sc-2649	130	15	of	of	ADP
sc-2649	130	16	a	a	DET
sc-2649	130	17	last	last	ADJ
sc-2649	130	18	-	-	PUNCT
sc-2649	130	19	mile	mile	NOUN
sc-2649	130	20	autonomous	autonomous	ADJ
sc-2649	130	21	delivery	delivery	NOUN
sc-2649	130	22	robot	robot	NOUN
sc-2649	130	23	,	,	PUNCT
sc-2649	130	24	such	such	ADJ
sc-2649	130	25	that	that	SCONJ
sc-2649	130	26	this	this	DET
sc-2649	130	27	robust	robust	ADJ
sc-2649	130	28	robot	robot	NOUN
sc-2649	130	29	would	would	AUX
sc-2649	130	30	be	be	AUX
sc-2649	130	31	able	able	ADJ
sc-2649	130	32	to	to	PART
sc-2649	130	33	provide	provide	VERB
sc-2649	130	34	a	a	DET
sc-2649	130	35	welcoming	welcoming	ADJ
sc-2649	130	36	visual	visual	ADJ
sc-2649	130	37	and	and	CCONJ
sc-2649	130	38	audio	audio	ADJ
sc-2649	130	39	appearance	appearance	NOUN
sc-2649	130	40	,	,	PUNCT
sc-2649	130	41	as	as	ADV
sc-2649	130	42	well	well	ADV
sc-2649	130	43	as	as	ADP
sc-2649	130	44	a	a	DET
sc-2649	130	45	reliable	reliable	ADJ
sc-2649	130	46	architectural	architectural	ADJ
sc-2649	130	47	framework	framework	NOUN
sc-2649	130	48	with	with	ADP
sc-2649	130	49	the	the	DET
sc-2649	130	50	six	six	NUM
sc-2649	130	51	core	core	NOUN
sc-2649	130	52	units	unit	NOUN
sc-2649	130	53	of	of	ADP
sc-2649	130	54	power	power	NOUN
sc-2649	130	55	unit	unit	NOUN
sc-2649	130	56	,	,	PUNCT
sc-2649	130	57	internet	internet	NOUN
sc-2649	130	58	unit	unit	NOUN
sc-2649	130	59	,	,	PUNCT
sc-2649	130	60	sensor	sensor	NOUN
sc-2649	130	61	unit	unit	NOUN
sc-2649	130	62	,	,	PUNCT
sc-2649	130	63	i	i	PROPN
sc-2649	130	64	/	/	SYM
sc-2649	130	65	o	o	NOUN
sc-2649	130	66	unit	unit	NOUN
sc-2649	130	67	,	,	PUNCT
sc-2649	130	68	storage	storage	NOUN
sc-2649	130	69	unit	unit	NOUN
sc-2649	130	70	and	and	CCONJ
sc-2649	130	71	the	the	DET
sc-2649	130	72	driving	drive	VERB
sc-2649	130	73	unit	unit	NOUN
sc-2649	130	74	,	,	PUNCT
sc-2649	130	75	to	to	PART
sc-2649	130	76	metaphorically	metaphorically	ADV
sc-2649	130	77	serve	serve	VERB
sc-2649	130	78	as	as	ADP
sc-2649	130	79	the	the	DET
sc-2649	130	80	heart	heart	NOUN
sc-2649	130	81	,	,	PUNCT
sc-2649	130	82	mind	mind	NOUN
sc-2649	130	83	,	,	PUNCT
sc-2649	130	84	eyes	eye	NOUN
sc-2649	130	85	,	,	PUNCT
sc-2649	130	86	mouth	mouth	NOUN
sc-2649	130	87	,	,	PUNCT
sc-2649	130	88	hands	hand	NOUN
sc-2649	130	89	,	,	PUNCT
sc-2649	130	90	and	and	CCONJ
sc-2649	130	91	feet	foot	NOUN
sc-2649	130	92	of	of	ADP
sc-2649	130	93	a	a	DET
sc-2649	130	94	human	human	NOUN
sc-2649	130	95	.	.	PUNCT
sc-2649	131	1	as	as	ADP
sc-2649	131	2	the	the	DET
sc-2649	131	3	major	major	ADJ
sc-2649	131	4	attraction	attraction	NOUN
sc-2649	131	5	,	,	PUNCT
sc-2649	131	6	the	the	DET
sc-2649	131	7	proposed	propose	VERB
sc-2649	131	8	robot	robot	NOUN
sc-2649	131	9	adopts	adopt	VERB
sc-2649	131	10	the	the	DET
sc-2649	131	11	latest	late	ADJ
sc-2649	131	12	techniques	technique	NOUN
sc-2649	131	13	in	in	ADP
sc-2649	131	14	artificial	artificial	ADJ
sc-2649	131	15	intelligence	intelligence	NOUN
sc-2649	131	16	to	to	PART
sc-2649	131	17	perform	perform	VERB
sc-2649	131	18	real	real	ADJ
sc-2649	131	19	-	-	PUNCT
sc-2649	131	20	time	time	NOUN
sc-2649	131	21	slam	slam	NOUN
sc-2649	131	22	with	with	ADP
sc-2649	131	23	both	both	PRON
sc-2649	131	24	image	image	NOUN
sc-2649	131	25	-	-	PUNCT
sc-2649	131	26	detection	detection	NOUN
sc-2649	131	27	-	-	PUNCT
sc-2649	131	28	based	base	VERB
sc-2649	131	29	trajectories	trajectory	NOUN
sc-2649	131	30	prediction	prediction	NOUN
sc-2649	131	31	technique	technique	NOUN
sc-2649	131	32	and	and	CCONJ
sc-2649	131	33	the	the	DET
sc-2649	131	34	point	point	NOUN
sc-2649	131	35	-	-	PUNCT
sc-2649	131	36	cloud	cloud	NOUN
sc-2649	131	37	-	-	PUNCT
sc-2649	131	38	detection	detection	NOUN
sc-2649	131	39	-	-	PUNCT
sc-2649	131	40	based	base	VERB
sc-2649	131	41	pathplanning	pathplanning	NOUN
sc-2649	131	42	methodology	methodology	NOUN
sc-2649	131	43	for	for	ADP
sc-2649	131	44	effective	effective	ADJ
sc-2649	131	45	navigation	navigation	NOUN
sc-2649	131	46	and	and	CCONJ
sc-2649	131	47	obstacle	obstacle	NOUN
sc-2649	131	48	avoidance	avoidance	NOUN
sc-2649	131	49	.	.	PUNCT
sc-2649	132	1	as	as	ADP
sc-2649	132	2	the	the	DET
sc-2649	132	3	major	major	ADJ
sc-2649	132	4	duty	duty	NOUN
sc-2649	132	5	of	of	ADP
sc-2649	132	6	the	the	DET
sc-2649	132	7	delivery	delivery	NOUN
sc-2649	132	8	robot	robot	NOUN
sc-2649	132	9	,	,	PUNCT
sc-2649	132	10	a	a	DET
sc-2649	132	11	cross	cross	ADJ
sc-2649	132	12	-	-	ADJ
sc-2649	132	13	floor	floor	ADJ
sc-2649	132	14	travelling	travel	VERB
sc-2649	132	15	flow	flow	NOUN
sc-2649	132	16	has	have	AUX
sc-2649	132	17	also	also	ADV
sc-2649	132	18	been	be	AUX
sc-2649	132	19	proposed	propose	VERB
sc-2649	132	20	to	to	PART
sc-2649	132	21	enable	enable	VERB
sc-2649	132	22	and	and	CCONJ
sc-2649	132	23	facilitate	facilitate	VERB
sc-2649	132	24	effective	effective	ADJ
sc-2649	132	25	path	path	NOUN
sc-2649	132	26	-	-	PUNCT
sc-2649	132	27	planning	planning	NOUN
sc-2649	132	28	,	,	PUNCT
sc-2649	132	29	communication	communication	NOUN
sc-2649	132	30	between	between	ADP
sc-2649	132	31	the	the	DET
sc-2649	132	32	robot	robot	NOUN
sc-2649	132	33	and	and	CCONJ
sc-2649	132	34	elevator	elevator	NOUN
sc-2649	132	35	/	/	SYM
sc-2649	132	36	doors	door	NOUN
sc-2649	132	37	.	.	PUNCT
sc-2649	133	1	it	it	PRON
sc-2649	133	2	is	be	AUX
sc-2649	133	3	another	another	DET
sc-2649	133	4	design	design	NOUN
sc-2649	133	5	attraction	attraction	NOUN
sc-2649	133	6	that	that	SCONJ
sc-2649	133	7	the	the	DET
sc-2649	133	8	internet	internet	NOUN
sc-2649	133	9	unit	unit	NOUN
sc-2649	133	10	is	be	AUX
sc-2649	133	11	proposed	propose	VERB
sc-2649	133	12	to	to	PART
sc-2649	133	13	be	be	AUX
sc-2649	133	14	deployed	deploy	VERB
sc-2649	133	15	with	with	ADP
sc-2649	133	16	5	5	NUM
sc-2649	133	17	g	g	NOUN
sc-2649	133	18	compatibility	compatibility	NOUN
sc-2649	133	19	in	in	ADP
sc-2649	133	20	the	the	DET
sc-2649	133	21	3.5ghz	3.5ghz	NUM
sc-2649	133	22	(	(	PUNCT
sc-2649	133	23	sub	sub	NOUN
sc-2649	133	24	6	6	NUM
sc-2649	133	25	)	)	PUNCT
sc-2649	133	26	spectrum	spectrum	NOUN
sc-2649	133	27	,	,	PUNCT
sc-2649	133	28	so	so	SCONJ
sc-2649	133	29	that	that	SCONJ
sc-2649	133	30	the	the	DET
sc-2649	133	31	server	server	NOUN
sc-2649	133	32	-	-	PUNCT
sc-2649	133	33	robot	robot	NOUN
sc-2649	133	34	connection	connection	NOUN
sc-2649	133	35	would	would	AUX
sc-2649	133	36	be	be	AUX
sc-2649	133	37	7	7	NUM
sc-2649	133	38	eai	eai	NOUN
sc-2649	133	39	endorsed	endorse	VERB
sc-2649	133	40	transactions	transaction	NOUN
sc-2649	133	41	on	on	ADP
sc-2649	133	42	smart	smart	ADJ
sc-2649	133	43	cities	city	NOUN
sc-2649	133	44	volume	volume	NOUN
sc-2649	133	45	7	7	NUM
sc-2649	133	46	|	|	NOUN
sc-2649	133	47	issue	issue	VERB
sc-2649	133	48	2	2	NUM
sc-2649	133	49	w.	w.	NOUN
sc-2649	133	50	t.	t.	PROPN
sc-2649	133	51	law	law	PROPN
sc-2649	133	52	et	et	PROPN
sc-2649	133	53	al	al	PROPN
sc-2649	133	54	.	.	PROPN
sc-2649	133	55	of	of	ADP
sc-2649	133	56	higher	high	ADJ
sc-2649	133	57	speed	speed	NOUN
sc-2649	133	58	and	and	CCONJ
sc-2649	133	59	security	security	NOUN
sc-2649	133	60	,	,	PUNCT
sc-2649	133	61	enabling	enable	VERB
sc-2649	133	62	stable	stable	ADJ
sc-2649	133	63	status	status	NOUN
sc-2649	133	64	monitoring	monitoring	NOUN
sc-2649	133	65	and	and	CCONJ
sc-2649	133	66	video	video	NOUN
sc-2649	133	67	streaming	streaming	NOUN
sc-2649	133	68	.	.	PUNCT
sc-2649	134	1	it	it	PRON
sc-2649	134	2	is	be	AUX
sc-2649	134	3	believed	believe	VERB
sc-2649	134	4	that	that	SCONJ
sc-2649	134	5	the	the	DET
sc-2649	134	6	proposed	propose	VERB
sc-2649	134	7	robot	robot	NOUN
sc-2649	134	8	design	design	NOUN
sc-2649	134	9	would	would	AUX
sc-2649	134	10	be	be	AUX
sc-2649	134	11	able	able	ADJ
sc-2649	134	12	to	to	PART
sc-2649	134	13	serve	serve	VERB
sc-2649	134	14	as	as	ADP
sc-2649	134	15	a	a	DET
sc-2649	134	16	viable	viable	ADJ
sc-2649	134	17	proposal	proposal	NOUN
sc-2649	134	18	for	for	ADP
sc-2649	134	19	a	a	DET
sc-2649	134	20	new	new	ADJ
sc-2649	134	21	generation	generation	NOUN
sc-2649	134	22	autonomous	autonomous	ADJ
sc-2649	134	23	delivery	delivery	NOUN
sc-2649	134	24	robot	robot	NOUN
sc-2649	134	25	,	,	PUNCT
sc-2649	134	26	with	with	ADP
sc-2649	134	27	the	the	DET
sc-2649	134	28	major	major	ADJ
sc-2649	134	29	software	software	NOUN
sc-2649	134	30	design	design	NOUN
sc-2649	134	31	focus	focus	NOUN
sc-2649	134	32	on	on	ADP
sc-2649	134	33	sensor	sensor	NOUN
sc-2649	134	34	fusion	fusion	NOUN
sc-2649	134	35	,	,	PUNCT
sc-2649	134	36	advanced	advanced	ADJ
sc-2649	134	37	motion	motion	NOUN
sc-2649	134	38	planning	planning	NOUN
sc-2649	134	39	,	,	PUNCT
sc-2649	134	40	5	5	NUM
sc-2649	134	41	g	g	NOUN
sc-2649	134	42	based	base	VERB
sc-2649	134	43	high	high	ADJ
sc-2649	134	44	-	-	PUNCT
sc-2649	134	45	speed	speed	NOUN
sc-2649	134	46	backend	backend	NOUN
sc-2649	134	47	server	server	NOUN
sc-2649	134	48	communication	communication	NOUN
sc-2649	134	49	and	and	CCONJ
sc-2649	134	50	streaming	streaming	NOUN
sc-2649	134	51	.	.	PUNCT
sc-2649	135	1	it	it	PRON
sc-2649	135	2	is	be	AUX
sc-2649	135	3	the	the	DET
sc-2649	135	4	research	research	NOUN
sc-2649	135	5	team	team	NOUN
sc-2649	135	6	’s	’s	PART
sc-2649	135	7	next	next	ADJ
sc-2649	135	8	action	action	NOUN
sc-2649	135	9	to	to	PART
sc-2649	135	10	build	build	VERB
sc-2649	135	11	the	the	DET
sc-2649	135	12	actual	actual	ADJ
sc-2649	135	13	prototype	prototype	NOUN
sc-2649	135	14	that	that	PRON
sc-2649	135	15	employs	employ	VERB
sc-2649	135	16	the	the	DET
sc-2649	135	17	proposed	propose	VERB
sc-2649	135	18	design	design	NOUN
sc-2649	135	19	and	and	CCONJ
sc-2649	135	20	methodologies	methodology	NOUN
sc-2649	135	21	.	.	PUNCT
sc-2649	136	1	it	it	PRON
sc-2649	136	2	is	be	AUX
sc-2649	136	3	hoped	hope	VERB
sc-2649	136	4	that	that	SCONJ
sc-2649	136	5	with	with	ADP
sc-2649	136	6	such	such	ADJ
sc-2649	136	7	design	design	NOUN
sc-2649	136	8	specification	specification	NOUN
sc-2649	136	9	,	,	PUNCT
sc-2649	136	10	the	the	DET
sc-2649	136	11	user	user	NOUN
sc-2649	136	12	-	-	PUNCT
sc-2649	136	13	friendly	friendly	ADJ
sc-2649	136	14	delivery	delivery	NOUN
sc-2649	136	15	flow	flow	NOUN
sc-2649	136	16	and	and	CCONJ
sc-2649	136	17	comfortable	comfortable	ADJ
sc-2649	136	18	user	user	NOUN
sc-2649	136	19	experience	experience	NOUN
sc-2649	136	20	provided	provide	VERB
sc-2649	136	21	would	would	AUX
sc-2649	136	22	be	be	AUX
sc-2649	136	23	able	able	ADJ
sc-2649	136	24	to	to	PART
sc-2649	136	25	encourage	encourage	VERB
sc-2649	136	26	a	a	DET
sc-2649	136	27	closer	close	ADJ
sc-2649	136	28	and	and	CCONJ
sc-2649	136	29	sophisticated	sophisticated	ADJ
sc-2649	136	30	human	human	ADJ
sc-2649	136	31	-	-	PUNCT
sc-2649	136	32	robot	robot	NOUN
sc-2649	136	33	interaction	interaction	NOUN
sc-2649	136	34	.	.	PUNCT
sc-2649	137	1	7	7	X
sc-2649	137	2	.	.	X
sc-2649	137	3	further	further	ADJ
sc-2649	137	4	development	development	NOUN
sc-2649	137	5	while	while	SCONJ
sc-2649	137	6	serving	serve	VERB
sc-2649	137	7	with	with	ADP
sc-2649	137	8	a	a	DET
sc-2649	137	9	vital	vital	ADJ
sc-2649	137	10	proposal	proposal	NOUN
sc-2649	137	11	,	,	PUNCT
sc-2649	137	12	the	the	DET
sc-2649	137	13	research	research	NOUN
sc-2649	137	14	team	team	NOUN
sc-2649	137	15	believes	believe	VERB
sc-2649	137	16	that	that	SCONJ
sc-2649	137	17	,	,	PUNCT
sc-2649	137	18	as	as	ADP
sc-2649	137	19	a	a	DET
sc-2649	137	20	further	further	ADJ
sc-2649	137	21	enhancement	enhancement	NOUN
sc-2649	137	22	or	or	CCONJ
sc-2649	137	23	a	a	DET
sc-2649	137	24	design	design	NOUN
sc-2649	137	25	re	re	NOUN
sc-2649	137	26	deployment	deployment	NOUN
sc-2649	137	27	with	with	ADP
sc-2649	137	28	customised	customised	ADJ
sc-2649	137	29	use	use	NOUN
sc-2649	137	30	-	-	PUNCT
sc-2649	137	31	cases	case	NOUN
sc-2649	137	32	,	,	PUNCT
sc-2649	137	33	more	more	ADJ
sc-2649	137	34	reinforcement	reinforcement	NOUN
sc-2649	137	35	and	and	CCONJ
sc-2649	137	36	alternative	alternative	ADJ
sc-2649	137	37	design	design	NOUN
sc-2649	137	38	could	could	AUX
sc-2649	137	39	have	have	AUX
sc-2649	137	40	been	be	AUX
sc-2649	137	41	made	make	VERB
sc-2649	137	42	with	with	ADP
sc-2649	137	43	the	the	DET
sc-2649	137	44	latest	late	ADJ
sc-2649	137	45	technological	technological	ADJ
sc-2649	137	46	advancement	advancement	NOUN
sc-2649	137	47	.	.	PUNCT
sc-2649	138	1	the	the	DET
sc-2649	138	2	first	first	ADJ
sc-2649	138	3	enhancement	enhancement	NOUN
sc-2649	138	4	proposal	proposal	NOUN
sc-2649	138	5	would	would	AUX
sc-2649	138	6	be	be	AUX
sc-2649	138	7	the	the	DET
sc-2649	138	8	adoption	adoption	NOUN
sc-2649	138	9	and	and	CCONJ
sc-2649	138	10	integration	integration	NOUN
sc-2649	138	11	of	of	ADP
sc-2649	138	12	natural	natural	ADJ
sc-2649	138	13	language	language	NOUN
sc-2649	138	14	processing	processing	NOUN
sc-2649	138	15	(	(	PUNCT
sc-2649	138	16	nlp	nlp	NOUN
sc-2649	138	17	)	)	PUNCT
sc-2649	138	18	technology	technology	NOUN
sc-2649	138	19	,	,	PUNCT
sc-2649	138	20	like	like	ADP
sc-2649	138	21	chatgpt	chatgpt	NOUN
sc-2649	138	22	[	[	X
sc-2649	138	23	18	18	NUM
sc-2649	138	24	]	]	PUNCT
sc-2649	138	25	,	,	PUNCT
sc-2649	138	26	which	which	PRON
sc-2649	138	27	could	could	AUX
sc-2649	138	28	be	be	AUX
sc-2649	138	29	applied	apply	VERB
sc-2649	138	30	to	to	PART
sc-2649	138	31	allow	allow	VERB
sc-2649	138	32	natural	natural	ADJ
sc-2649	138	33	and	and	CCONJ
sc-2649	138	34	human	human	ADJ
sc-2649	138	35	-	-	PUNCT
sc-2649	138	36	esque	esque	ADJ
sc-2649	138	37	interaction	interaction	NOUN
sc-2649	138	38	so	so	SCONJ
sc-2649	138	39	that	that	SCONJ
sc-2649	138	40	verbal	verbal	ADJ
sc-2649	138	41	human	human	NOUN
sc-2649	138	42	-	-	PUNCT
sc-2649	138	43	to	to	ADP
sc-2649	138	44	-	-	PUNCT
sc-2649	138	45	human	human	ADJ
sc-2649	138	46	interaction	interaction	NOUN
sc-2649	138	47	could	could	AUX
sc-2649	138	48	be	be	AUX
sc-2649	138	49	extended	extend	VERB
sc-2649	138	50	to	to	ADP
sc-2649	138	51	a	a	DET
sc-2649	138	52	human	human	NOUN
sc-2649	138	53	-	-	PUNCT
sc-2649	138	54	to	to	ADP
sc-2649	138	55	-	-	PUNCT
sc-2649	138	56	robot	robot	NOUN
sc-2649	138	57	level	level	NOUN
sc-2649	138	58	.	.	PUNCT
sc-2649	139	1	the	the	DET
sc-2649	139	2	touchpoints	touchpoint	NOUN
sc-2649	139	3	between	between	ADP
sc-2649	139	4	the	the	DET
sc-2649	139	5	delivery	delivery	NOUN
sc-2649	139	6	robot	robot	NOUN
sc-2649	139	7	would	would	AUX
sc-2649	139	8	have	have	AUX
sc-2649	139	9	been	be	AUX
sc-2649	139	10	evolved	evolve	VERB
sc-2649	139	11	to	to	ADP
sc-2649	139	12	a	a	DET
sc-2649	139	13	whole	whole	ADJ
sc-2649	139	14	different	different	ADJ
sc-2649	139	15	level	level	NOUN
sc-2649	139	16	,	,	PUNCT
sc-2649	139	17	by	by	ADP
sc-2649	139	18	expanding	expand	VERB
sc-2649	139	19	communication	communication	NOUN
sc-2649	139	20	capabilities	capability	NOUN
sc-2649	139	21	with	with	ADP
sc-2649	139	22	contextual	contextual	ADJ
sc-2649	139	23	understanding	understanding	NOUN
sc-2649	139	24	and	and	CCONJ
sc-2649	139	25	abstract	abstract	ADJ
sc-2649	139	26	command	command	NOUN
sc-2649	139	27	processing	processing	NOUN
sc-2649	139	28	,	,	PUNCT
sc-2649	139	29	and	and	CCONJ
sc-2649	139	30	dynamic	dynamic	ADJ
sc-2649	139	31	command	command	NOUN
sc-2649	139	32	adaption	adaption	NOUN
sc-2649	139	33	,	,	PUNCT
sc-2649	139	34	such	such	ADJ
sc-2649	139	35	that	that	SCONJ
sc-2649	139	36	causal	causal	ADJ
sc-2649	139	37	verbal	verbal	ADJ
sc-2649	139	38	command	command	NOUN
sc-2649	139	39	could	could	AUX
sc-2649	139	40	be	be	AUX
sc-2649	139	41	actually	actually	ADV
sc-2649	139	42	used	use	VERB
sc-2649	139	43	to	to	PART
sc-2649	139	44	control	control	VERB
sc-2649	139	45	the	the	DET
sc-2649	139	46	flow	flow	NOUN
sc-2649	139	47	of	of	ADP
sc-2649	139	48	the	the	DET
sc-2649	139	49	delivery	delivery	NOUN
sc-2649	139	50	task	task	NOUN
sc-2649	139	51	,	,	PUNCT
sc-2649	139	52	e.g.	e.g.	ADV
sc-2649	139	53	specifying	specify	VERB
sc-2649	139	54	the	the	DET
sc-2649	139	55	destination	destination	NOUN
sc-2649	139	56	with	with	ADP
sc-2649	139	57	abstract	abstract	ADJ
sc-2649	139	58	verbal	verbal	ADJ
sc-2649	139	59	description	description	NOUN
sc-2649	139	60	,	,	PUNCT
sc-2649	139	61	pausing	pause	VERB
sc-2649	139	62	the	the	DET
sc-2649	139	63	robot	robot	NOUN
sc-2649	139	64	movement	movement	NOUN
sc-2649	139	65	by	by	ADP
sc-2649	139	66	saying	say	VERB
sc-2649	139	67	a	a	DET
sc-2649	139	68	simple	simple	ADJ
sc-2649	139	69	“	"	PUNCT
sc-2649	139	70	stop	stop	NOUN
sc-2649	139	71	”	"	PUNCT
sc-2649	139	72	,	,	PUNCT
sc-2649	139	73	and	and	CCONJ
sc-2649	139	74	re	re	VERB
sc-2649	139	75	-	-	VERB
sc-2649	139	76	defining	define	VERB
sc-2649	139	77	checkpoints	checkpoint	NOUN
sc-2649	139	78	or	or	CCONJ
sc-2649	139	79	directions	direction	NOUN
sc-2649	139	80	by	by	ADP
sc-2649	139	81	tipping	tip	VERB
sc-2649	139	82	the	the	DET
sc-2649	139	83	robot	robot	NOUN
sc-2649	139	84	“	"	PUNCT
sc-2649	139	85	turn	turn	VERB
sc-2649	139	86	left	left	ADJ
sc-2649	139	87	”	"	PUNCT
sc-2649	139	88	or	or	CCONJ
sc-2649	139	89	“	"	PUNCT
sc-2649	139	90	turn	turn	VERB
sc-2649	139	91	right	right	ADV
sc-2649	139	92	”	"	PUNCT
sc-2649	139	93	,	,	PUNCT
sc-2649	139	94	or	or	CCONJ
sc-2649	139	95	even	even	ADV
sc-2649	139	96	“	"	PUNCT
sc-2649	139	97	take	take	VERB
sc-2649	139	98	this	this	DET
sc-2649	139	99	package	package	NOUN
sc-2649	139	100	to	to	ADP
sc-2649	139	101	the	the	DET
sc-2649	139	102	café	café	NOUN
sc-2649	139	103	near	near	ADP
sc-2649	139	104	the	the	DET
sc-2649	139	105	entrance	entrance	NOUN
sc-2649	139	106	”	"	PUNCT
sc-2649	139	107	.	.	PUNCT
sc-2649	140	1	another	another	DET
sc-2649	140	2	interesting	interesting	ADJ
sc-2649	140	3	enhancement	enhancement	NOUN
sc-2649	140	4	would	would	AUX
sc-2649	140	5	be	be	AUX
sc-2649	140	6	the	the	DET
sc-2649	140	7	implementation	implementation	NOUN
sc-2649	140	8	of	of	ADP
sc-2649	140	9	multi	multi	ADJ
sc-2649	140	10	robot	robot	NOUN
sc-2649	140	11	-	-	PUNCT
sc-2649	140	12	to	to	ADP
sc-2649	140	13	-	-	PUNCT
sc-2649	140	14	robot	robot	NOUN
sc-2649	140	15	communication	communication	NOUN
sc-2649	140	16	,	,	PUNCT
sc-2649	140	17	for	for	ADP
sc-2649	140	18	instance	instance	NOUN
sc-2649	140	19	the	the	DET
sc-2649	140	20	concept	concept	NOUN
sc-2649	140	21	of	of	ADP
sc-2649	140	22	collaborative	collaborative	ADJ
sc-2649	140	23	multi	multi	ADJ
sc-2649	140	24	-	-	ADJ
sc-2649	140	25	robotic	robotic	ADJ
sc-2649	140	26	tasks	task	NOUN
sc-2649	140	27	in	in	ADP
sc-2649	140	28	the	the	DET
sc-2649	140	29	complex	complex	ADJ
sc-2649	140	30	development	development	NOUN
sc-2649	140	31	[	[	X
sc-2649	140	32	19	19	NUM
sc-2649	140	33	]	]	PUNCT
sc-2649	140	34	,	,	PUNCT
sc-2649	140	35	and	and	CCONJ
sc-2649	140	36	hence	hence	ADV
sc-2649	140	37	the	the	DET
sc-2649	140	38	development	development	NOUN
sc-2649	140	39	of	of	ADP
sc-2649	140	40	multi	multi	ADJ
sc-2649	140	41	agent	agent	NOUN
sc-2649	140	42	systems	system	NOUN
sc-2649	140	43	[	[	X
sc-2649	140	44	20	20	NUM
sc-2649	140	45	]	]	PUNCT
sc-2649	140	46	.	.	PUNCT
sc-2649	141	1	it	it	PRON
sc-2649	141	2	is	be	AUX
sc-2649	141	3	like	like	ADP
sc-2649	141	4	the	the	DET
sc-2649	141	5	sociological	sociological	ADJ
sc-2649	141	6	paradigm	paradigm	NOUN
sc-2649	141	7	of	of	ADP
sc-2649	141	8	social	social	ADJ
sc-2649	141	9	collaboration	collaboration	NOUN
sc-2649	141	10	,	,	PUNCT
sc-2649	141	11	where	where	SCONJ
sc-2649	141	12	multiple	multiple	ADJ
sc-2649	141	13	people	people	NOUN
sc-2649	141	14	,	,	PUNCT
sc-2649	141	15	groups	group	NOUN
sc-2649	141	16	,	,	PUNCT
sc-2649	141	17	or	or	CCONJ
sc-2649	141	18	departments	department	NOUN
sc-2649	141	19	could	could	AUX
sc-2649	141	20	interact	interact	VERB
sc-2649	141	21	with	with	ADP
sc-2649	141	22	each	each	DET
sc-2649	141	23	other	other	ADJ
sc-2649	141	24	to	to	PART
sc-2649	141	25	achieve	achieve	VERB
sc-2649	141	26	common	common	ADJ
sc-2649	141	27	goals	goal	NOUN
sc-2649	141	28	,	,	PUNCT
sc-2649	141	29	a	a	DET
sc-2649	141	30	fleet	fleet	NOUN
sc-2649	141	31	of	of	ADP
sc-2649	141	32	robots	robot	NOUN
sc-2649	141	33	could	could	AUX
sc-2649	141	34	apply	apply	VERB
sc-2649	141	35	the	the	DET
sc-2649	141	36	same	same	ADJ
sc-2649	141	37	paradigm	paradigm	NOUN
sc-2649	141	38	to	to	PART
sc-2649	141	39	accomplish	accomplish	VERB
sc-2649	141	40	a	a	DET
sc-2649	141	41	much	much	ADV
sc-2649	141	42	intensive	intensive	ADJ
sc-2649	141	43	task	task	NOUN
sc-2649	141	44	.	.	PUNCT
sc-2649	142	1	for	for	ADP
sc-2649	142	2	example	example	NOUN
sc-2649	142	3	,	,	PUNCT
sc-2649	142	4	in	in	ADP
sc-2649	142	5	terms	term	NOUN
sc-2649	142	6	of	of	ADP
sc-2649	142	7	items	item	NOUN
sc-2649	142	8	delivery	delivery	NOUN
sc-2649	142	9	,	,	PUNCT
sc-2649	142	10	when	when	SCONJ
sc-2649	142	11	the	the	DET
sc-2649	142	12	items	item	NOUN
sc-2649	142	13	to	to	PART
sc-2649	142	14	be	be	AUX
sc-2649	142	15	delivered	deliver	VERB
sc-2649	142	16	is	be	AUX
sc-2649	142	17	way	way	ADV
sc-2649	142	18	too	too	ADV
sc-2649	142	19	many	many	ADJ
sc-2649	142	20	or	or	CCONJ
sc-2649	142	21	too	too	ADV
sc-2649	142	22	big	big	ADJ
sc-2649	142	23	for	for	ADP
sc-2649	142	24	one	one	NUM
sc-2649	142	25	single	single	ADJ
sc-2649	142	26	robot	robot	NOUN
sc-2649	142	27	,	,	PUNCT
sc-2649	142	28	it	it	PRON
sc-2649	142	29	might	might	AUX
sc-2649	142	30	be	be	AUX
sc-2649	142	31	possible	possible	ADJ
sc-2649	142	32	for	for	SCONJ
sc-2649	142	33	the	the	DET
sc-2649	142	34	fleet	fleet	NOUN
sc-2649	142	35	of	of	ADP
sc-2649	142	36	robots	robot	NOUN
sc-2649	142	37	to	to	PART
sc-2649	142	38	collaboratively	collaboratively	ADV
sc-2649	142	39	deliver	deliver	VERB
sc-2649	142	40	parts	part	NOUN
sc-2649	142	41	of	of	ADP
sc-2649	142	42	the	the	DET
sc-2649	142	43	big	big	ADJ
sc-2649	142	44	group	group	NOUN
sc-2649	142	45	of	of	ADP
sc-2649	142	46	items	item	NOUN
sc-2649	142	47	or	or	CCONJ
sc-2649	142	48	move	move	VERB
sc-2649	142	49	in	in	ADP
sc-2649	142	50	synchronous	synchronous	ADJ
sc-2649	142	51	movement	movement	NOUN
sc-2649	142	52	to	to	PART
sc-2649	142	53	deliver	deliver	VERB
sc-2649	142	54	the	the	DET
sc-2649	142	55	single	single	ADJ
sc-2649	142	56	big	big	ADJ
sc-2649	142	57	item	item	NOUN
sc-2649	142	58	.	.	PUNCT
sc-2649	143	1	if	if	SCONJ
sc-2649	143	2	a	a	DET
sc-2649	143	3	reliable	reliable	ADJ
sc-2649	143	4	and	and	CCONJ
sc-2649	143	5	self	self	NOUN
sc-2649	143	6	-	-	PUNCT
sc-2649	143	7	sustaining	sustain	VERB
sc-2649	143	8	robot	robot	NOUN
sc-2649	143	9	-	-	PUNCT
sc-2649	143	10	to	to	ADP
sc-2649	143	11	-	-	PUNCT
sc-2649	143	12	robot	robot	NOUN
sc-2649	143	13	communication	communication	NOUN
sc-2649	143	14	framework	framework	NOUN
sc-2649	143	15	could	could	AUX
sc-2649	143	16	be	be	AUX
sc-2649	143	17	developed	develop	VERB
sc-2649	143	18	for	for	ADP
sc-2649	143	19	general	general	ADJ
sc-2649	143	20	robot	robot	NOUN
sc-2649	143	21	collaborations	collaboration	NOUN
sc-2649	143	22	,	,	PUNCT
sc-2649	143	23	it	it	PRON
sc-2649	143	24	is	be	AUX
sc-2649	143	25	believed	believe	VERB
sc-2649	143	26	that	that	SCONJ
sc-2649	143	27	the	the	DET
sc-2649	143	28	level	level	NOUN
sc-2649	143	29	of	of	ADP
sc-2649	143	30	automation	automation	NOUN
sc-2649	143	31	could	could	AUX
sc-2649	143	32	be	be	AUX
sc-2649	143	33	vastly	vastly	ADV
sc-2649	143	34	improved	improve	VERB
sc-2649	143	35	,	,	PUNCT
sc-2649	143	36	which	which	PRON
sc-2649	143	37	could	could	AUX
sc-2649	143	38	thus	thus	ADV
sc-2649	143	39	further	far	ADV
sc-2649	143	40	enhance	enhance	VERB
sc-2649	143	41	the	the	DET
sc-2649	143	42	economic	economic	ADJ
sc-2649	143	43	and	and	CCONJ
sc-2649	143	44	technological	technological	ADJ
sc-2649	143	45	advancement	advancement	NOUN
sc-2649	143	46	for	for	ADP
sc-2649	143	47	the	the	DET
sc-2649	143	48	realm	realm	NOUN
sc-2649	143	49	of	of	ADP
sc-2649	143	50	hri	hri	PROPN
sc-2649	143	51	.	.	PUNCT
sc-2649	144	1	references	reference	NOUN
sc-2649	144	2	[	[	X
sc-2649	144	3	1	1	NUM
sc-2649	144	4	]	]	PUNCT
sc-2649	144	5	bilge	bilge	PROPN
sc-2649	144	6	mutlu	mutlu	PROPN
sc-2649	144	7	and	and	CCONJ
sc-2649	144	8	jodi	jodi	PROPN
sc-2649	144	9	forlizzi	forlizzi	PROPN
sc-2649	144	10	.	.	PUNCT
sc-2649	145	1	2008	2008	NUM
sc-2649	145	2	.	.	PUNCT
sc-2649	146	1	robots	robot	NOUN
sc-2649	146	2	in	in	ADP
sc-2649	146	3	organizations	organization	NOUN
sc-2649	146	4	:	:	PUNCT
sc-2649	146	5	the	the	DET
sc-2649	146	6	role	role	NOUN
sc-2649	146	7	of	of	ADP
sc-2649	146	8	workflow	workflow	NOUN
sc-2649	146	9	,	,	PUNCT
sc-2649	146	10	social	social	ADJ
sc-2649	146	11	,	,	PUNCT
sc-2649	146	12	and	and	CCONJ
sc-2649	146	13	envi	envi	ADJ
sc-2649	146	14	ronmental	ronmental	ADJ
sc-2649	146	15	factors	factor	NOUN
sc-2649	146	16	in	in	ADP
sc-2649	146	17	human	human	ADJ
sc-2649	146	18	-	-	PUNCT
sc-2649	146	19	robot	robot	NOUN
sc-2649	146	20	interaction	interaction	NOUN
sc-2649	146	21	.	.	PUNCT
sc-2649	147	1	in	in	ADP
sc-2649	147	2	pro	pro	ADJ
sc-2649	147	3	ceedings	ceeding	NOUN
sc-2649	147	4	of	of	ADP
sc-2649	147	5	the	the	DET
sc-2649	147	6	3rd	3rd	PROPN
sc-2649	147	7	acm	acm	PROPN
sc-2649	147	8	/	/	SYM
sc-2649	147	9	ieee	ieee	PROPN
sc-2649	147	10	international	international	ADJ
sc-2649	147	11	conference	conference	NOUN
sc-2649	147	12	on	on	ADP
sc-2649	147	13	human	human	ADJ
sc-2649	147	14	robot	robot	NOUN
sc-2649	147	15	interaction	interaction	NOUN
sc-2649	147	16	(	(	PUNCT
sc-2649	147	17	hri	hri	PROPN
sc-2649	147	18	'	'	NUM
sc-2649	147	19	08	08	NUM
sc-2649	147	20	)	)	PUNCT
sc-2649	147	21	,	,	PUNCT
sc-2649	147	22	march	march	PROPN
sc-2649	147	23	12	12	NUM
sc-2649	147	24	–	–	PUNCT
sc-2649	147	25	15	15	NUM
sc-2649	147	26	,	,	PUNCT
sc-2649	147	27	2008	2008	NUM
sc-2649	147	28	,	,	PUNCT
sc-2649	147	29	amsterdam	amsterdam	PROPN
sc-2649	147	30	,	,	PUNCT
sc-2649	147	31	the	the	DET
sc-2649	147	32	netherlands	netherlands	PROPN
sc-2649	147	33	.	.	PUNCT
sc-2649	147	34	acm	acm	PROPN
sc-2649	147	35	inc	inc	PROPN
sc-2649	147	36	.	.	PROPN
sc-2649	147	37	,	,	PUNCT
sc-2649	147	38	new	new	PROPN
sc-2649	147	39	york	york	PROPN
sc-2649	147	40	,	,	PUNCT
sc-2649	147	41	ny	ny	PROPN
sc-2649	147	42	,	,	PUNCT
sc-2649	147	43	287–294	287–294	NUM
sc-2649	147	44	.	.	PUNCT
sc-2649	147	45	https://doi.org/10.1145/1349822.1349860	https://doi.org/10.1145/1349822.1349860	NOUN
sc-2649	148	1	[	[	X
sc-2649	148	2	2	2	NUM
sc-2649	148	3	]	]	PUNCT
sc-2649	148	4	madoka	madoka	PROPN
sc-2649	148	5	inoue	inoue	PROPN
sc-2649	148	6	,	,	PUNCT
sc-2649	148	7	kensuke	kensuke	PROPN
sc-2649	148	8	koda	koda	PROPN
sc-2649	148	9	,	,	PUNCT
sc-2649	148	10	kelvin	kelvin	PROPN
sc-2649	148	11	cheng	cheng	PROPN
sc-2649	148	12	,	,	PUNCT
sc-2649	148	13	toshimasa	toshimasa	PROPN
sc-2649	148	14	yamanaka	yamanaka	PROPN
sc-2649	148	15	,	,	PUNCT
sc-2649	148	16	and	and	CCONJ
sc-2649	148	17	soh	soh	PROPN
sc-2649	148	18	masuko	masuko	PROPN
sc-2649	148	19	.	.	PUNCT
sc-2649	149	1	2022	2022	NUM
sc-2649	149	2	.	.	PUNCT
sc-2649	150	1	improving	improve	VERB
sc-2649	150	2	pedestrian	pedestrian	NOUN
sc-2649	150	3	safety	safety	NOUN
sc-2649	150	4	around	around	ADP
sc-2649	150	5	autonomous	autonomous	ADJ
sc-2649	150	6	delivery	delivery	NOUN
sc-2649	150	7	robots	robot	NOUN
sc-2649	150	8	in	in	ADP
sc-2649	150	9	real	real	ADJ
sc-2649	150	10	environment	environment	NOUN
sc-2649	150	11	with	with	ADP
sc-2649	150	12	augmented	augment	VERB
sc-2649	150	13	reality	reality	NOUN
sc-2649	150	14	.	.	PUNCT
sc-2649	151	1	in	in	ADP
sc-2649	151	2	proceedings	proceeding	NOUN
sc-2649	151	3	of	of	ADP
sc-2649	151	4	the	the	DET
sc-2649	151	5	28th	28th	ADJ
sc-2649	151	6	acm	acm	NOUN
sc-2649	151	7	symposium	symposium	NOUN
sc-2649	151	8	on	on	ADP
sc-2649	151	9	virtual	virtual	ADJ
sc-2649	151	10	reality	reality	NOUN
sc-2649	151	11	software	software	NOUN
sc-2649	151	12	and	and	CCONJ
sc-2649	151	13	technology	technology	NOUN
sc-2649	151	14	(	(	PUNCT
sc-2649	151	15	vrst	vrst	PROPN
sc-2649	151	16	'	'	NUM
sc-2649	151	17	22	22	NUM
sc-2649	151	18	)	)	PUNCT
sc-2649	151	19	,	,	PUNCT
sc-2649	151	20	november	november	PROPN
sc-2649	151	21	29	29	NUM
sc-2649	151	22	–	–	PUNCT
sc-2649	151	23	december	december	PROPN
sc-2649	151	24	1	1	NUM
sc-2649	151	25	,	,	PUNCT
sc-2649	151	26	2022	2022	NUM
sc-2649	151	27	,	,	PUNCT
sc-2649	151	28	tsukuba	tsukuba	PROPN
sc-2649	151	29	,	,	PUNCT
sc-2649	151	30	japan	japan	PROPN
sc-2649	151	31	.	.	PROPN
sc-2649	151	32	acm	acm	PROPN
sc-2649	151	33	inc	inc	PROPN
sc-2649	151	34	.	.	PROPN
sc-2649	151	35	,	,	PUNCT
sc-2649	151	36	new	new	PROPN
sc-2649	151	37	york	york	PROPN
sc-2649	151	38	,	,	PUNCT
sc-2649	151	39	ny	ny	PROPN
sc-2649	151	40	,	,	PUNCT
sc-2649	151	41	1–2	1–2	NUM
sc-2649	151	42	.	.	PUNCT
sc-2649	151	43	https://doi.org/10.1145/3562939.3565644	https://doi.org/10.1145/3562939.3565644	NOUN
sc-2649	152	1	[	[	X
sc-2649	152	2	3	3	X
sc-2649	152	3	]	]	X
sc-2649	152	4	shuxiang	shuxiang	PROPN
sc-2649	152	5	yao	yao	PROPN
sc-2649	152	6	.	.	PUNCT
sc-2649	152	7	2022	2022	NUM
sc-2649	152	8	.	.	PUNCT
sc-2649	153	1	research	research	NOUN
sc-2649	153	2	on	on	ADP
sc-2649	153	3	automatic	automatic	ADJ
sc-2649	153	4	delivery	delivery	NOUN
sc-2649	153	5	robot	robot	NOUN
sc-2649	153	6	control	control	NOUN
sc-2649	153	7	based	base	VERB
sc-2649	153	8	on	on	ADP
sc-2649	153	9	multi	multi	ADJ
sc-2649	153	10	-	-	ADJ
sc-2649	153	11	sensor	sensor	ADJ
sc-2649	153	12	fusion	fusion	NOUN
sc-2649	153	13	.	.	PUNCT
sc-2649	154	1	in	in	ADP
sc-2649	154	2	proceedings	proceeding	NOUN
sc-2649	154	3	of	of	ADP
sc-2649	154	4	the	the	DET
sc-2649	154	5	2022	2022	NUM
sc-2649	154	6	international	international	ADJ
sc-2649	154	7	workshop	workshop	NOUN
sc-2649	154	8	on	on	ADP
sc-2649	154	9	control	control	NOUN
sc-2649	154	10	sciences	sciences	PROPN
sc-2649	154	11	and	and	CCONJ
sc-2649	154	12	auto	auto	NOUN
sc-2649	154	13	-	-	PUNCT
sc-2649	154	14	mation	mation	NOUN
sc-2649	154	15	(	(	PUNCT
sc-2649	154	16	wcsa	wcsa	VERB
sc-2649	154	17	'	'	NUM
sc-2649	154	18	22	22	NUM
sc-2649	154	19	)	)	PUNCT
sc-2649	154	20	,	,	PUNCT
sc-2649	154	21	april	april	PROPN
sc-2649	154	22	8	8	NUM
sc-2649	154	23	–	–	PUNCT
sc-2649	154	24	10	10	NUM
sc-2649	154	25	,	,	PUNCT
sc-2649	154	26	2022	2022	NUM
sc-2649	154	27	,	,	PUNCT
sc-2649	154	28	xiamen	xiamen	PROPN
sc-2649	154	29	,	,	PUNCT
sc-2649	154	30	china	china	PROPN
sc-2649	154	31	.	.	PROPN
sc-2649	154	32	acm	acm	PROPN
sc-2649	154	33	inc	inc	PROPN
sc-2649	154	34	.	.	PROPN
sc-2649	154	35	,	,	PUNCT
sc-2649	154	36	new	new	PROPN
sc-2649	154	37	york	york	PROPN
sc-2649	154	38	,	,	PUNCT
sc-2649	154	39	ny	ny	PROPN
sc-2649	154	40	,	,	PUNCT
sc-2649	154	41	19	19	NUM
sc-2649	154	42	–	–	PUNCT
sc-2649	154	43	24.https://doi.org/10.1145/3543303.3543307	24.https://doi.org/10.1145/3543303.3543307	NUM
sc-2649	155	1	[	[	SYM
sc-2649	155	2	4	4	NUM
sc-2649	155	3	]	]	X
sc-2649	155	4	yan	yan	PROPN
sc-2649	155	5	zhang	zhang	PROPN
sc-2649	155	6	,	,	PUNCT
sc-2649	155	7	yunhuai	yunhuai	PROPN
sc-2649	155	8	liu	liu	PROPN
sc-2649	155	9	,	,	PUNCT
sc-2649	155	10	genjian	genjian	PROPN
sc-2649	155	11	li	li	PROPN
sc-2649	155	12	,	,	PUNCT
sc-2649	155	13	yi	yi	PROPN
sc-2649	155	14	ding	ding	NOUN
sc-2649	155	15	,	,	PUNCT
sc-2649	155	16	ning	ning	PROPN
sc-2649	155	17	chen	chen	PROPN
sc-2649	155	18	,	,	PUNCT
sc-2649	155	19	hao	hao	PROPN
sc-2649	155	20	zhang	zhang	PROPN
sc-2649	155	21	,	,	PUNCT
sc-2649	155	22	tian	tian	PROPN
sc-2649	155	23	he	he	PRON
sc-2649	155	24	,	,	PUNCT
sc-2649	155	25	and	and	CCONJ
sc-2649	155	26	desheng	desheng	PROPN
sc-2649	155	27	zhang	zhang	PROPN
sc-2649	155	28	.	.	PROPN
sc-2649	155	29	2019	2019	NUM
sc-2649	155	30	.	.	PUNCT
sc-2649	156	1	route	route	NOUN
sc-2649	156	2	prediction	prediction	NOUN
sc-2649	156	3	for	for	ADP
sc-2649	156	4	instant	instant	ADJ
sc-2649	156	5	delivery	delivery	NOUN
sc-2649	156	6	.	.	PUNCT
sc-2649	157	1	proc	proc	NOUN
sc-2649	157	2	.	.	PUNCT
sc-2649	157	3	acm	acm	PROPN
sc-2649	157	4	interact	interact	PROPN
sc-2649	157	5	.	.	PUNCT
sc-2649	158	1	mob	mob	NOUN
sc-2649	158	2	.	.	PUNCT
sc-2649	159	1	wearable	wearable	ADJ
sc-2649	159	2	ubiqui	ubiqui	NOUN
sc-2649	159	3	-	-	PUNCT
sc-2649	159	4	tous	tous	ADJ
sc-2649	159	5	technol	technol	NOUN
sc-2649	159	6	.	.	PROPN
sc-2649	160	1	3	3	NUM
sc-2649	160	2	,	,	PUNCT
sc-2649	160	3	3	3	NUM
sc-2649	160	4	,	,	PUNCT
sc-2649	160	5	article	article	NOUN
sc-2649	160	6	124	124	NUM
sc-2649	160	7	(	(	PUNCT
sc-2649	160	8	sep	sep	PROPN
sc-2649	160	9	.	.	PROPN
sc-2649	160	10	2019	2019	NUM
sc-2649	160	11	)	)	PUNCT
sc-2649	160	12	,	,	PUNCT
sc-2649	160	13	25	25	NUM
sc-2649	160	14	pages	page	NOUN
sc-2649	160	15	.	.	PUNCT
sc-2649	161	1	doi	doi	NOUN
sc-2649	161	2	:	:	PUNCT
sc-2649	161	3	https://doi.org/10.1145/3351282	https://doi.org/10.1145/3351282	PROPN
sc-2649	161	4	[	[	X
sc-2649	161	5	5	5	NUM
sc-2649	161	6	]	]	PUNCT
sc-2649	161	7	thomas	thomas	PROPN
sc-2649	161	8	b.	b.	PROPN
sc-2649	161	9	sheridan	sheridan	PROPN
sc-2649	161	10	.	.	PROPN
sc-2649	162	1	2016	2016	NUM
sc-2649	162	2	.	.	PUNCT
sc-2649	163	1	human	human	ADJ
sc-2649	163	2	–	–	PUNCT
sc-2649	163	3	robot	robot	NOUN
sc-2649	163	4	interaction	interaction	NOUN
sc-2649	163	5	:	:	PUNCT
sc-2649	163	6	status	status	NOUN
sc-2649	163	7	and	and	CCONJ
sc-2649	163	8	challenges	challenge	NOUN
sc-2649	163	9	.	.	PUNCT
sc-2649	164	1	human	human	ADJ
sc-2649	164	2	factors	factor	NOUN
sc-2649	164	3	58	58	NUM
sc-2649	164	4	,	,	PUNCT
sc-2649	164	5	4	4	NUM
sc-2649	164	6	(	(	PUNCT
sc-2649	164	7	april	april	PROPN
sc-2649	164	8	2016	2016	NUM
sc-2649	164	9	)	)	PUNCT
sc-2649	164	10	,	,	PUNCT
sc-2649	164	11	525–532	525–532	NUM
sc-2649	164	12	.	.	PUNCT
sc-2649	164	13	doi	doi	NOUN
sc-2649	164	14	:	:	PUNCT
sc-2649	164	15	https://doi.org/10.1177/001872081664436	https://doi.org/10.1177/001872081664436	NOUN
sc-2649	164	16	4	4	NUM
sc-2649	165	1	[	[	X
sc-2649	165	2	6	6	NUM
sc-2649	165	3	]	]	X
sc-2649	165	4	patric	patric	PROPN
sc-2649	165	5	r.	r.	PROPN
sc-2649	165	6	spence	spence	PROPN
sc-2649	165	7	,	,	PUNCT
sc-2649	165	8	david	david	PROPN
sc-2649	165	9	westerman	westerman	PROPN
sc-2649	165	10	,	,	PUNCT
sc-2649	165	11	chad	chad	PROPN
sc-2649	165	12	edwards	edwards	PROPN
sc-2649	165	13	,	,	PUNCT
sc-2649	165	14	and	and	CCONJ
sc-2649	165	15	autumn	autumn	PROPN
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sc-2649	165	17	.	.	PROPN
sc-2649	165	18	2014	2014	NUM
sc-2649	165	19	.	.	PUNCT
sc-2649	166	1	welcoming	welcome	VERB
sc-2649	166	2	our	our	PRON
sc-2649	166	3	robot	robot	NOUN
sc-2649	166	4	overlords	overlord	NOUN
sc-2649	166	5	:	:	PUNCT
sc-2649	166	6	initial	initial	ADJ
sc-2649	166	7	expectations	expectation	NOUN
sc-2649	166	8	about	about	ADP
sc-2649	166	9	interaction	interaction	NOUN
sc-2649	166	10	with	with	ADP
sc-2649	166	11	a	a	DET
sc-2649	166	12	robot	robot	NOUN
sc-2649	166	13	.	.	PUNCT
sc-2649	167	1	communication	communication	NOUN
sc-2649	167	2	research	research	NOUN
sc-2649	167	3	reports	report	VERB
sc-2649	167	4	31	31	NUM
sc-2649	167	5	,	,	PUNCT
sc-2649	167	6	3	3	NUM
sc-2649	167	7	(	(	PUNCT
sc-2649	167	8	july	july	PROPN
sc-2649	167	9	2014	2014	NUM
sc-2649	167	10	)	)	PUNCT
sc-2649	167	11	,	,	PUNCT
sc-2649	168	1	272–280	272–280	NUM
sc-2649	168	2	.	.	PUNCT
sc-2649	168	3	doi	doi	NOUN
sc-2649	168	4	:	:	PUNCT
sc-2649	168	5	https://doi.org/10.1080/08824096.2014.92	https://doi.org/10.1080/08824096.2014.92	PROPN
sc-2649	168	6	4337	4337	NUM
sc-2649	168	7	[	[	X
sc-2649	168	8	7	7	X
sc-2649	168	9	]	]	X
sc-2649	168	10	r.	r.	PROPN
sc-2649	168	11	clarke	clarke	PROPN
sc-2649	168	12	.	.	PROPN
sc-2649	168	13	1994	1994	NUM
sc-2649	168	14	.	.	PUNCT
sc-2649	169	1	asimov	asimov	PROPN
sc-2649	169	2	's	's	PART
sc-2649	169	3	laws	law	NOUN
sc-2649	169	4	of	of	ADP
sc-2649	169	5	robotics	robotic	NOUN
sc-2649	169	6	:	:	PUNCT
sc-2649	169	7	impli	impli	PROPN
sc-2649	169	8	cations	cation	NOUN
sc-2649	169	9	for	for	ADP
sc-2649	169	10	information	information	NOUN
sc-2649	169	11	technology	technology	NOUN
sc-2649	169	12	.	.	PUNCT
sc-2649	170	1	2	2	X
sc-2649	170	2	.	.	X
sc-2649	170	3	computer	computer	NOUN
sc-2649	170	4	27	27	NUM
sc-2649	170	5	,	,	PUNCT
sc-2649	170	6	1	1	NUM
sc-2649	170	7	(	(	PUNCT
sc-2649	170	8	jan	jan	PROPN
sc-2649	170	9	.	.	PROPN
sc-2649	170	10	1994	1994	NUM
sc-2649	170	11	)	)	PUNCT
sc-2649	170	12	,	,	PUNCT
sc-2649	170	13	57–66	57–66	NUM
sc-2649	170	14	.	.	PUNCT
sc-2649	171	1	doi	doi	NOUN
sc-2649	171	2	:	:	PUNCT
sc-2649	171	3	hhtps://doi.org/10.1109/2.248881	hhtps://doi.org/10.1109/2.248881	PROPN
sc-2649	172	1	[	[	X
sc-2649	172	2	8	8	NUM
sc-2649	172	3	]	]	X
sc-2649	172	4	kerstin	kerstin	PROPN
sc-2649	172	5	dautenhahn	dautenhahn	PROPN
sc-2649	172	6	.	.	PUNCT
sc-2649	173	1	2007	2007	NUM
sc-2649	173	2	.	.	PUNCT
sc-2649	174	1	socially	socially	ADV
sc-2649	174	2	intelligent	intelligent	ADJ
sc-2649	174	3	robots	robot	NOUN
sc-2649	174	4	:	:	PUNCT
sc-2649	174	5	dimensions	dimension	NOUN
sc-2649	174	6	of	of	ADP
sc-2649	174	7	human	human	ADJ
sc-2649	174	8	–	–	PUNCT
sc-2649	174	9	robot	robot	NOUN
sc-2649	174	10	interaction	interaction	NOUN
sc-2649	174	11	.	.	PUNCT
sc-2649	175	1	philosophical	philosophical	ADJ
sc-2649	175	2	transactions	transaction	NOUN
sc-2649	175	3	of	of	ADP
sc-2649	175	4	the	the	DET
sc-2649	175	5	royal	royal	ADJ
sc-2649	175	6	society	society	NOUN
sc-2649	175	7	b	b	NOUN
sc-2649	175	8	:	:	PUNCT
sc-2649	175	9	biological	biological	ADJ
sc-2649	175	10	sciences	science	NOUN
sc-2649	175	11	362	362	NUM
sc-2649	175	12	,	,	PUNCT
sc-2649	175	13	1480	1480	NUM
sc-2649	175	14	(	(	PUNCT
sc-2649	175	15	feb	feb	PROPN
sc-2649	175	16	.	.	PROPN
sc-2649	175	17	2007	2007	NUM
sc-2649	175	18	)	)	PUNCT
sc-2649	175	19	,	,	PUNCT
sc-2649	175	20	679–704	679–704	NUM
sc-2649	175	21	.	.	PUNCT
sc-2649	176	1	doi	doi	NOUN
sc-2649	176	2	:	:	PUNCT
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sc-2649	176	4	/rstb.2006.2004	/rstb.2006.2004	PUNCT
sc-2649	176	5	8	8	NUM
sc-2649	176	6	eai	eai	NOUN
sc-2649	176	7	endorsed	endorse	VERB
sc-2649	176	8	transactions	transaction	NOUN
sc-2649	176	9	on	on	ADP
sc-2649	176	10	smart	smart	ADJ
sc-2649	176	11	cities	city	NOUN
sc-2649	176	12	volume	volume	NOUN
sc-2649	176	13	7	7	NUM
sc-2649	177	1	|	|	NOUN
sc-2649	177	2	issue	issue	VERB
sc-2649	177	3	2	2	NUM
sc-2649	177	4	applied	apply	VERB
sc-2649	177	5	design	design	NOUN
sc-2649	177	6	and	and	CCONJ
sc-2649	177	7	methodology	methodology	NOUN
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sc-2649	177	9	delivery	delivery	NOUN
sc-2649	177	10	robots	robot	NOUN
sc-2649	177	11	based	base	VERB
sc-2649	177	12	on	on	ADP
sc-2649	177	13	human	human	ADJ
sc-2649	177	14	–	–	PUNCT
sc-2649	177	15	robot	robot	NOUN
sc-2649	177	16	interaction	interaction	NOUN
sc-2649	177	17	in	in	ADP
sc-2649	177	18	smart	smart	ADJ
sc-2649	177	19	cities	city	NOUN
sc-2649	178	1	[	[	X
sc-2649	178	2	9	9	X
sc-2649	178	3	]	]	X
sc-2649	178	4	valeria	valeria	PROPN
sc-2649	178	5	villani	villani	PROPN
sc-2649	178	6	,	,	PUNCT
sc-2649	178	7	fabio	fabio	PROPN
sc-2649	178	8	pini	pini	PROPN
sc-2649	178	9	,	,	PUNCT
sc-2649	178	10	francesco	francesco	PROPN
sc-2649	178	11	leali	leali	PROPN
sc-2649	178	12	,	,	PUNCT
sc-2649	178	13	and	and	CCONJ
sc-2649	178	14	cristian	cristian	PROPN
sc-2649	178	15	secchi	secchi	PROPN
sc-2649	178	16	.	.	PROPN
sc-2649	178	17	2018	2018	NUM
sc-2649	178	18	.	.	PUNCT
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sc-2649	179	4	-	-	PUNCT
sc-2649	179	5	robot	robot	NOUN
sc-2649	179	6	collabo	collabo	ADJ
sc-2649	179	7	ration	ration	NOUN
sc-2649	179	8	in	in	ADP
sc-2649	179	9	industrial	industrial	ADJ
sc-2649	179	10	settings	setting	NOUN
sc-2649	179	11	:	:	PUNCT
sc-2649	179	12	safety	safety	NOUN
sc-2649	179	13	,	,	PUNCT
sc-2649	179	14	intuitive	intuitive	ADJ
sc-2649	179	15	interfaces	interface	NOUN
sc-2649	179	16	and	and	CCONJ
sc-2649	179	17	applications	application	NOUN
sc-2649	179	18	.	.	PUNCT
sc-2649	180	1	mechat	mechat	PROPN
sc-2649	180	2	-	-	PUNCT
sc-2649	180	3	ronics	ronic	NOUN
sc-2649	180	4	55	55	NUM
sc-2649	180	5	(	(	PUNCT
sc-2649	180	6	nov	nov	PROPN
sc-2649	180	7	.	.	PROPN
sc-2649	180	8	2018	2018	NUM
sc-2649	180	9	)	)	PUNCT
sc-2649	180	10	,	,	PUNCT
sc-2649	180	11	248–266	248–266	NUM
sc-2649	180	12	.	.	PUNCT
sc-2649	181	1	doi	doi	NOUN
sc-2649	181	2	:	:	PUNCT
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sc-2649	181	4	[	[	X
sc-2649	181	5	10	10	NUM
sc-2649	181	6	]	]	X
sc-2649	181	7	eitan	eitan	PROPN
sc-2649	181	8	marder	marder	PROPN
sc-2649	181	9	-	-	PUNCT
sc-2649	181	10	eppstein	eppstein	PROPN
sc-2649	181	11	,	,	PUNCT
sc-2649	181	12	eric	eric	PROPN
sc-2649	181	13	berger	berger	PROPN
sc-2649	181	14	,	,	PUNCT
sc-2649	181	15	tully	tully	NOUN
sc-2649	181	16	foote	foote	NOUN
sc-2649	181	17	,	,	PUNCT
sc-2649	181	18	brian	brian	PROPN
sc-2649	181	19	gerkey	gerkey	PROPN
sc-2649	181	20	,	,	PUNCT
sc-2649	181	21	and	and	CCONJ
sc-2649	181	22	kurt	kurt	PROPN
sc-2649	181	23	konolige	konolige	PROPN
sc-2649	181	24	.	.	PUNCT
sc-2649	182	1	2010	2010	NUM
sc-2649	182	2	.	.	PUNCT
sc-2649	183	1	the	the	DET
sc-2649	183	2	office	office	NOUN
sc-2649	183	3	marathon	marathon	NOUN
sc-2649	183	4	:	:	PUNCT
sc-2649	183	5	robust	robust	ADJ
sc-2649	183	6	navigation	navigation	NOUN
sc-2649	183	7	in	in	ADP
sc-2649	183	8	an	an	DET
sc-2649	183	9	indoor	indoor	ADJ
sc-2649	183	10	office	office	NOUN
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sc-2649	183	12	.	.	PUNCT
sc-2649	184	1	in	in	ADP
sc-2649	184	2	2010	2010	NUM
sc-2649	184	3	ieee	ieee	NOUN
sc-2649	184	4	international	international	ADJ
sc-2649	184	5	conference	conference	NOUN
sc-2649	184	6	on	on	ADP
sc-2649	184	7	robotics	robotic	NOUN
sc-2649	184	8	and	and	CCONJ
sc-2649	184	9	automation	automation	NOUN
sc-2649	184	10	,	,	PUNCT
sc-2649	184	11	may	may	AUX
sc-2649	184	12	5	5	NUM
sc-2649	184	13	–	–	PUNCT
sc-2649	184	14	10	10	NUM
sc-2649	184	15	,	,	PUNCT
sc-2649	184	16	2010	2010	NUM
sc-2649	184	17	,	,	PUNCT
sc-2649	184	18	anchorage	anchorage	PROPN
sc-2649	184	19	,	,	PUNCT
sc-2649	184	20	ak	ak	PROPN
sc-2649	184	21	.	.	PROPN
sc-2649	184	22	ieee	ieee	PROPN
sc-2649	184	23	,	,	PUNCT
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sc-2649	184	26	,	,	PUNCT
sc-2649	184	27	ny	ny	PROPN
sc-2649	184	28	,	,	PUNCT
sc-2649	184	29	300–307	300–307	NUM
sc-2649	184	30	.	.	PUNCT
sc-2649	185	1	https://doi.org/10	https://doi.org/10	PROPN
sc-2649	185	2	.	.	PUNCT
sc-2649	186	1	1109	1109	NUM
sc-2649	186	2	/	/	SYM
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sc-2649	186	4	[	[	X
sc-2649	186	5	11	11	NUM
sc-2649	186	6	]	]	X
sc-2649	186	7	josep	josep	PROPN
sc-2649	186	8	aulinas	aulinas	PROPN
sc-2649	186	9	,	,	PUNCT
sc-2649	186	10	yvan	yvan	PROPN
sc-2649	186	11	petillot	petillot	PROPN
sc-2649	186	12	,	,	PUNCT
sc-2649	186	13	joaquim	joaquim	PROPN
sc-2649	186	14	salvi	salvi	PROPN
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sc-2649	186	16	and	and	CCONJ
sc-2649	186	17	xavier	xavier	PROPN
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sc-2649	186	19	.	.	PUNCT
sc-2649	187	1	2008	2008	NUM
sc-2649	187	2	.	.	PUNCT
sc-2649	188	1	the	the	DET
sc-2649	188	2	slam	slam	NOUN
sc-2649	188	3	problem	problem	NOUN
sc-2649	188	4	:	:	PUNCT
sc-2649	188	5	a	a	DET
sc-2649	188	6	survey	survey	NOUN
sc-2649	188	7	.	.	PUNCT
sc-2649	189	1	artificial	artificial	ADJ
sc-2649	189	2	intelligence	intelligence	NOUN
sc-2649	189	3	research	research	NOUN
sc-2649	189	4	and	and	CCONJ
sc-2649	189	5	development	development	NOUN
sc-2649	189	6	184	184	NUM
sc-2649	189	7	(	(	PUNCT
sc-2649	189	8	2008	2008	NUM
sc-2649	189	9	)	)	PUNCT
sc-2649	189	10	,	,	PUNCT
sc-2649	189	11	363–371	363–371	NUM
sc-2649	189	12	.	.	PUNCT
sc-2649	190	1	doi	doi	PROPN
sc-2649	190	2	:	:	PUNCT
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sc-2649	190	5	-	-	SYM
sc-2649	190	6	925	925	NUM
sc-2649	190	7	-	-	PUNCT
sc-2649	190	8	7	7	NUM
sc-2649	190	9	-	-	SYM
sc-2649	190	10	363	363	NUM
sc-2649	190	11	[	[	NOUN
sc-2649	190	12	12	12	NUM
sc-2649	190	13	]	]	PUNCT
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sc-2649	190	16	,	,	PUNCT
sc-2649	190	17	novera	novera	PROPN
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sc-2649	190	19	,	,	PUNCT
sc-2649	190	20	i	i	PRON
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sc-2649	190	23	trisnawan	trisnawan	PROPN
sc-2649	190	24	,	,	PUNCT
sc-2649	190	25	and	and	CCONJ
sc-2649	190	26	agung	agung	PROPN
sc-2649	190	27	nugroho	nugroho	PROPN
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sc-2649	190	29	.	.	PUNCT
sc-2649	191	1	2019	2019	NUM
sc-2649	191	2	.	.	PUNCT
sc-2649	192	1	implemen	impleman	NOUN
sc-2649	192	2	tation	tation	NOUN
sc-2649	192	3	of	of	ADP
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sc-2649	192	5	sensor	sensor	NOUN
sc-2649	192	6	navigation	navigation	NOUN
sc-2649	192	7	system	system	NOUN
sc-2649	192	8	based	base	VERB
sc-2649	192	9	on	on	ADP
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sc-2649	192	11	monte	monte	PROPN
sc-2649	192	12	carlo	carlo	NOUN
sc-2649	192	13	localization	localization	NOUN
sc-2649	192	14	.	.	PUNCT
sc-2649	193	1	in	in	ADP
sc-2649	193	2	2019	2019	NUM
sc-2649	193	3	international	international	ADJ
sc-2649	193	4	conference	conference	NOUN
sc-2649	193	5	on	on	ADP
sc-2649	193	6	computer	computer	NOUN
sc-2649	193	7	,	,	PUNCT
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sc-2649	193	9	,	,	PUNCT
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sc-2649	193	11	-	-	PUNCT
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sc-2649	193	24	,	,	PUNCT
sc-2649	193	25	2019	2019	NUM
sc-2649	193	26	,	,	PUNCT
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sc-2649	193	28	,	,	PUNCT
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sc-2649	193	30	,	,	PUNCT
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sc-2649	193	32	,	,	PUNCT
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sc-2649	193	35	,	,	PUNCT
sc-2649	193	36	ny	ny	PROPN
sc-2649	193	37	,	,	PUNCT
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sc-2649	193	39	-	-	SYM
sc-2649	193	40	192	192	NUM
sc-2649	193	41	.	.	PUNCT
sc-2649	194	1	https://doi	https://doi	PROPN
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sc-2649	194	4	/	/	SYM
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sc-2649	194	6	[	[	PUNCT
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sc-2649	194	8	]	]	PUNCT
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sc-2649	194	18	.	.	PUNCT
sc-2649	195	1	2019	2019	NUM
sc-2649	195	2	.	.	PUNCT
sc-2649	196	1	a	a	DET
sc-2649	196	2	portable	portable	ADJ
sc-2649	196	3	three	three	NUM
sc-2649	196	4	-	-	PUNCT
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sc-2649	196	7	-	-	PUNCT
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sc-2649	196	9	system	system	NOUN
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sc-2649	196	12	-	-	PUNCT
sc-2649	196	13	term	term	NOUN
sc-2649	196	14	and	and	CCONJ
sc-2649	196	15	wide	wide	ADJ
sc-2649	196	16	-	-	PUNCT
sc-2649	196	17	area	area	NOUN
sc-2649	196	18	people	people	NOUN
sc-2649	196	19	behavior	behavior	NOUN
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sc-2649	196	21	.	.	PUNCT
sc-2649	197	1	international	international	ADJ
sc-2649	197	2	journal	journal	PROPN
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sc-2649	197	4	advanced	advanced	ADJ
sc-2649	197	5	robotic	robotic	ADJ
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sc-2649	197	7	16	16	NUM
sc-2649	197	8	,	,	PUNCT
sc-2649	197	9	2	2	NUM
sc-2649	197	10	(	(	PUNCT
sc-2649	197	11	april	april	PROPN
sc-2649	197	12	2019	2019	NUM
sc-2649	197	13	)	)	PUNCT
sc-2649	197	14	,	,	PUNCT
sc-2649	197	15	1729881419841532	1729881419841532	NUM
sc-2649	197	16	.	.	PUNCT
sc-2649	198	1	doi	doi	NOUN
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sc-2649	198	3	https://doi.org/10	https://doi.org/10	PROPN
sc-2649	198	4	.	.	PUNCT
sc-2649	198	5	1177/1729881419841532	1177/1729881419841532	NUM
sc-2649	199	1	[	[	X
sc-2649	199	2	14	14	NUM
sc-2649	199	3	]	]	PUNCT
sc-2649	199	4	wing	wing	NOUN
sc-2649	199	5	-	-	PUNCT
sc-2649	199	6	ting	te	VERB
sc-2649	199	7	law	law	NOUN
sc-2649	199	8	,	,	PUNCT
sc-2649	199	9	ki	ki	PROPN
sc-2649	199	10	-	-	PUNCT
sc-2649	199	11	sing	sing	VERB
sc-2649	199	12	li	li	PROPN
sc-2649	199	13	,	,	PUNCT
sc-2649	199	14	kam	kam	PROPN
sc-2649	199	15	-	-	PUNCT
sc-2649	199	16	wah	wah	PROPN
sc-2649	199	17	fan	fan	PROPN
sc-2649	199	18	,	,	PUNCT
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sc-2649	199	20	-	-	PUNCT
sc-2649	199	21	hon	hon	PROPN
sc-2649	199	22	ko	ko	PROPN
sc-2649	199	23	,	,	PUNCT
sc-2649	199	24	tiande	tiande	PROPN
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sc-2649	199	26	,	,	PUNCT
sc-2649	199	27	and	and	CCONJ
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sc-2649	199	29	-	-	PUNCT
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sc-2649	199	32	.	.	PUNCT
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sc-2649	200	2	.	.	PUNCT
sc-2649	201	1	two	two	NUM
sc-2649	201	2	-	-	PUNCT
sc-2649	201	3	way	way	NOUN
sc-2649	201	4	human	human	ADJ
sc-2649	201	5	-	-	PUNCT
sc-2649	201	6	robot	robot	NOUN
sc-2649	201	7	interaction	interaction	NOUN
sc-2649	201	8	in	in	ADP
sc-2649	201	9	5	5	NUM
sc-2649	201	10	g	g	NOUN
sc-2649	201	11	tele	tele	NOUN
sc-2649	201	12	-	-	PUNCT
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sc-2649	201	14	.	.	PUNCT
sc-2649	202	1	in	in	ADP
sc-2649	202	2	pro	pro	ADJ
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sc-2649	202	7	acm	acm	PROPN
sc-2649	202	8	/	/	SYM
sc-2649	202	9	ieee	ieee	PROPN
sc-2649	202	10	international	international	ADJ
sc-2649	202	11	conference	conference	NOUN
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sc-2649	202	14	-	-	PUNCT
sc-2649	202	15	robot	robot	NOUN
sc-2649	202	16	inter	inter	NOUN
sc-2649	202	17	-	-	NOUN
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sc-2649	202	19	(	(	PUNCT
sc-2649	202	20	hri	hri	PROPN
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sc-2649	202	22	22	22	NUM
sc-2649	202	23	)	)	PUNCT
sc-2649	202	24	,	,	PUNCT
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sc-2649	202	26	7	7	NUM
sc-2649	202	27	–	–	PUNCT
sc-2649	202	28	10	10	NUM
sc-2649	202	29	,	,	PUNCT
sc-2649	202	30	2022	2022	NUM
sc-2649	202	31	,	,	PUNCT
sc-2649	202	32	sapporo	sapporo	PROPN
sc-2649	202	33	,	,	PUNCT
sc-2649	202	34	hokkaido	hokkaido	PROPN
sc-2649	202	35	,	,	PUNCT
sc-2649	202	36	japan	japan	PROPN
sc-2649	202	37	.	.	PUNCT
sc-2649	203	1	ieee	ieee	PROPN
sc-2649	203	2	press	press	PROPN
sc-2649	203	3	,	,	PUNCT
sc-2649	203	4	new	new	PROPN
sc-2649	203	5	york	york	PROPN
sc-2649	203	6	,	,	PUNCT
sc-2649	203	7	ny	ny	PROPN
sc-2649	203	8	,	,	PUNCT
sc-2649	203	9	1198–1199	1198–1199	NUM
sc-2649	203	10	.	.	PUNCT
sc-2649	204	1	https://doi.org/10.1109/hri53351.2022	https://doi.org/10.1109/hri53351.2022	X
sc-2649	204	2	.	.	PUNCT
sc-2649	205	1	9889509	9889509	NUM
sc-2649	205	2	[	[	X
sc-2649	205	3	15	15	NUM
sc-2649	205	4	]	]	X
sc-2649	205	5	rashid	rashid	PROPN
sc-2649	205	6	ali	ali	PROPN
sc-2649	205	7	,	,	PUNCT
sc-2649	205	8	yousaf	yousaf	PROPN
sc-2649	205	9	bin	bin	PROPN
sc-2649	205	10	zikria	zikria	PROPN
sc-2649	205	11	,	,	PUNCT
sc-2649	205	12	ali	ali	PROPN
sc-2649	205	13	kashif	kashif	PROPN
sc-2649	205	14	bashir	bashir	PROPN
sc-2649	205	15	,	,	PUNCT
sc-2649	205	16	sahil	sahil	PROPN
sc-2649	205	17	garg	garg	PROPN
sc-2649	205	18	,	,	PUNCT
sc-2649	205	19	and	and	CCONJ
sc-2649	205	20	hyung	hyung	PROPN
sc-2649	205	21	seok	seok	PROPN
sc-2649	205	22	kim	kim	PROPN
sc-2649	205	23	.	.	PROPN
sc-2649	205	24	2021	2021	NUM
sc-2649	205	25	.	.	PUNCT
sc-2649	206	1	urllc	urllc	VERB
sc-2649	206	2	for	for	ADP
sc-2649	206	3	5	5	NUM
sc-2649	206	4	g	g	NOUN
sc-2649	206	5	and	and	CCONJ
sc-2649	206	6	beyond	beyond	ADP
sc-2649	206	7	:	:	PUNCT
sc-2649	206	8	requirements	requirement	NOUN
sc-2649	206	9	,	,	PUNCT
sc-2649	206	10	enabling	enable	VERB
sc-2649	206	11	incumbent	incumbent	ADJ
sc-2649	206	12	tech	tech	NOUN
sc-2649	206	13	nologies	nologie	NOUN
sc-2649	206	14	and	and	CCONJ
sc-2649	206	15	network	network	NOUN
sc-2649	206	16	intelligence	intelligence	NOUN
sc-2649	206	17	.	.	PUNCT
sc-2649	207	1	ieee	ieee	NOUN
sc-2649	207	2	access	access	NOUN
sc-2649	207	3	9	9	NUM
sc-2649	207	4	(	(	PUNCT
sc-2649	207	5	april	april	PROPN
sc-2649	207	6	2021	2021	NUM
sc-2649	207	7	)	)	PUNCT
sc-2649	207	8	,	,	PUNCT
sc-2649	207	9	67064–67095	67064–67095	NOUN
sc-2649	207	10	.	.	PUNCT
sc-2649	208	1	doi	doi	PROPN
sc-2649	208	2	:	:	PUNCT
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sc-2649	209	1	[	[	X
sc-2649	209	2	16	16	NUM
sc-2649	209	3	]	]	PUNCT
sc-2649	209	4	viacheslav	viacheslav	PROPN
sc-2649	209	5	kovtun	kovtun	PROPN
sc-2649	209	6	and	and	CCONJ
sc-2649	209	7	krzysztof	krzysztof	PROPN
sc-2649	209	8	grochla	grochla	PROPN
sc-2649	209	9	.	.	PUNCT
sc-2649	209	10	2022	2022	NUM
sc-2649	209	11	.	.	PUNCT
sc-2649	210	1	investigation	investigation	NOUN
sc-2649	210	2	of	of	ADP
sc-2649	210	3	the	the	DET
sc-2649	210	4	competitive	competitive	ADJ
sc-2649	210	5	nature	nature	NOUN
sc-2649	210	6	of	of	ADP
sc-2649	210	7	embb	embb	ADJ
sc-2649	210	8	and	and	CCONJ
sc-2649	210	9	mmtc	mmtc	NOUN
sc-2649	210	10	5	5	NUM
sc-2649	210	11	g	g	NOUN
sc-2649	210	12	services	service	NOUN
sc-2649	210	13	in	in	ADP
sc-2649	210	14	conditions	condition	NOUN
sc-2649	210	15	of	of	ADP
sc-2649	210	16	limited	limited	ADJ
sc-2649	210	17	communi	communi	NOUN
sc-2649	210	18	cation	cation	NOUN
sc-2649	210	19	resource	resource	NOUN
sc-2649	210	20	.	.	PUNCT
sc-2649	211	1	scientific	scientific	ADJ
sc-2649	211	2	reports	report	NOUN
sc-2649	211	3	12	12	NUM
sc-2649	211	4	,	,	PUNCT
sc-2649	211	5	1	1	NUM
sc-2649	211	6	(	(	PUNCT
sc-2649	211	7	sep	sep	PROPN
sc-2649	211	8	.	.	PROPN
sc-2649	211	9	2022	2022	NUM
sc-2649	211	10	)	)	PUNCT
sc-2649	211	11	,	,	PUNCT
sc-2649	211	12	16050	16050	NUM
sc-2649	211	13	.	.	PUNCT
sc-2649	212	1	doi	doi	NOUN
sc-2649	212	2	:	:	PUNCT
sc-2649	212	3	https://doi.org/10.1038/s41598-022-20135-5	https://doi.org/10.1038/s41598-022-20135-5	NUM
sc-2649	213	1	[	[	X
sc-2649	213	2	17	17	NUM
sc-2649	213	3	]	]	X
sc-2649	213	4	yi	yi	PROPN
sc-2649	213	5	zeng	zeng	PROPN
sc-2649	213	6	,	,	PUNCT
sc-2649	213	7	haofan	haofan	PROPN
sc-2649	213	8	yi	yi	PROPN
sc-2649	213	9	,	,	PUNCT
sc-2649	213	10	zijie	zijie	PROPN
sc-2649	213	11	xia	xia	PROPN
sc-2649	213	12	,	,	PUNCT
sc-2649	213	13	shaoshi	shaoshi	PROPN
sc-2649	213	14	wang	wang	PROPN
sc-2649	213	15	,	,	PUNCT
sc-2649	213	16	bo	bo	PROPN
sc-2649	213	17	ai	ai	PROPN
sc-2649	213	18	,	,	PUNCT
sc-2649	213	19	dan	dan	PROPN
sc-2649	213	20	fei	fei	PROPN
sc-2649	213	21	,	,	PUNCT
sc-2649	213	22	weidan	weidan	PROPN
sc-2649	213	23	li	li	PROPN
sc-2649	213	24	,	,	PUNCT
sc-2649	213	25	and	and	CCONJ
sc-2649	213	26	ke	ke	PROPN
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sc-2649	213	28	.	.	PUNCT
sc-2649	214	1	2020	2020	NUM
sc-2649	214	2	.	.	PUNCT
sc-2649	215	1	measurement	measurement	NOUN
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sc-2649	215	3	simulation	simulation	NOUN
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sc-2649	215	5	vehicle	vehicle	NOUN
sc-2649	215	6	-	-	PUNCT
sc-2649	215	7	to	to	ADP
sc-2649	215	8	-	-	PUNCT
sc-2649	215	9	infrastructure	infrastructure	NOUN
sc-2649	215	10	communications	communication	NOUN
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sc-2649	215	15	5	5	NUM
sc-2649	215	16	g.	g.	NOUN
sc-2649	215	17	wireless	wireless	NOUN
sc-2649	215	18	communications	communication	NOUN
sc-2649	215	19	and	and	CCONJ
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sc-2649	215	21	computing	computing	NOUN
sc-2649	215	22	2020	2020	NUM
sc-2649	215	23	,	,	PUNCT
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sc-2649	215	26	(	(	PUNCT
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sc-2649	215	28	.	.	PROPN
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sc-2649	215	30	)	)	PUNCT
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sc-2649	215	34	.	.	PUNCT
sc-2649	216	1	doi	doi	NOUN
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sc-2649	217	1	[	[	X
sc-2649	217	2	18	18	NUM
sc-2649	217	3	]	]	X
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sc-2649	217	6	,	,	PUNCT
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sc-2649	217	8	bonatti	bonatti	PROPN
sc-2649	217	9	,	,	PUNCT
sc-2649	217	10	arthur	arthur	PROPN
sc-2649	217	11	bucker	bucker	PROPN
sc-2649	217	12	,	,	PUNCT
sc-2649	217	13	and	and	CCONJ
sc-2649	217	14	ashish	ashish	PROPN
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sc-2649	217	16	.	.	PUNCT
sc-2649	218	1	2023	2023	NUM
sc-2649	218	2	.	.	PUNCT
sc-2649	219	1	chatgpt	chatgpt	NOUN
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sc-2649	219	4	:	:	PUNCT
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sc-2649	219	7	and	and	CCONJ
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sc-2649	219	9	abilities	ability	NOUN
sc-2649	219	10	.	.	PUNCT
sc-2649	220	1	microsoft	microsoft	PROPN
sc-2649	220	2	.	.	PROPN
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sc-2649	220	4	from	from	ADP
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sc-2649	220	7	/	/	SYM
sc-2649	220	8	chatgpt	chatgpt	NOUN
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sc-2649	220	10	[	[	X
sc-2649	220	11	19	19	NUM
sc-2649	220	12	]	]	X
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sc-2649	220	14	,	,	PUNCT
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sc-2649	220	21	.	.	PUNCT
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sc-2649	223	2	,	,	PUNCT
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sc-2649	223	9	,	,	PUNCT
sc-2649	223	10	e2	e2	PROPN
sc-2649	223	11	.	.	PUNCT
sc-2649	224	1	doi	doi	PROPN
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sc-2649	224	8	.	.	PUNCT
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sc-2649	225	3	]	]	PUNCT
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sc-2649	225	7	,	,	PUNCT
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sc-2649	225	9	,	,	PUNCT
sc-2649	225	10	m.	m.	NOUN
sc-2649	225	11	,	,	PUNCT
sc-2649	225	12	zahadat	zahadat	NOUN
sc-2649	225	13	,	,	PUNCT
sc-2649	225	14	p.	p.	NOUN
sc-2649	225	15	and	and	CCONJ
sc-2649	225	16	schmickl	schmickl	NOUN
sc-2649	225	17	,	,	PUNCT
sc-2649	225	18	t.	t.	PROPN
sc-2649	225	19	2016	2016	NUM
sc-2649	225	20	.	.	PUNCT
sc-2649	225	21	evolving	evolve	VERB
sc-2649	225	22	mixed	mixed	ADJ
sc-2649	225	23	societies	society	NOUN
sc-2649	225	24	:	:	PUNCT
sc-2649	225	25	a	a	DET
sc-2649	225	26	one	one	NUM
sc-2649	225	27	-	-	PUNCT
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sc-2649	225	31	.	.	PUNCT
sc-2649	226	1	eai	eai	PROPN
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sc-2649	226	3	transactions	transaction	NOUN
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sc-2649	226	5	smart	smart	ADJ
sc-2649	226	6	cities	city	NOUN
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sc-2649	227	1	1	1	NUM
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sc-2649	227	3	3	3	NUM
sc-2649	227	4	(	(	PUNCT
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sc-2649	227	6	2016	2016	NUM
sc-2649	227	7	)	)	PUNCT
sc-2649	227	8	,	,	PUNCT
sc-2649	227	9	e5	e5	PROPN
sc-2649	227	10	.	.	PUNCT
sc-2649	228	1	doi	doi	PROPN
sc-2649	228	2	:	:	PUNCT
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sc-2649	228	4	.	.	NOUN
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sc-2649	228	8	transactions	transaction	NOUN
sc-2649	228	9	on	on	ADP
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sc-2649	228	11	cities	city	NOUN
sc-2649	228	12	volume	volume	NOUN
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sc-2649	229	1	|	|	NOUN
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sc-2649	229	13	2	2	NUM
sc-2649	229	14	,	,	PUNCT
sc-2649	229	15	ki	ki	PROPN
sc-2649	229	16	sing	sing	VERB
sc-2649	229	17	li	li	PROPN
sc-2649	229	18	3	3	NUM
sc-2649	229	19	,	,	PUNCT
sc-2649	229	20	and	and	CCONJ
sc-2649	229	21	tiande	tiande	VERB
sc-2649	229	22	mo4	mo4	NOUN
sc-2649	230	1	abstract	abstract	ADJ
sc-2649	230	2	1	1	NUM
sc-2649	230	3	.	.	PUNCT
sc-2649	230	4	introduction	introduction	NOUN
sc-2649	230	5	2	2	NUM
sc-2649	230	6	.	.	PUNCT
sc-2649	230	7	general	general	PROPN
sc-2649	230	8	hri	hri	PROPN
sc-2649	230	9	considerations	consideration	NOUN
sc-2649	230	10	in	in	ADP
sc-2649	230	11	delivery	delivery	NOUN
sc-2649	230	12	robots	robot	NOUN
sc-2649	230	13	3	3	NUM
sc-2649	230	14	.	.	PUNCT
sc-2649	230	15	planned	plan	VERB
sc-2649	230	16	usage	usage	NOUN
sc-2649	230	17	and	and	CCONJ
sc-2649	230	18	optimised	optimise	VERB
sc-2649	230	19	user	user	NOUN
sc-2649	230	20	experience	experience	NOUN
sc-2649	230	21	4	4	NUM
sc-2649	230	22	.	.	PUNCT
sc-2649	230	23	hardware	hardware	NOUN
sc-2649	230	24	design	design	PROPN
sc-2649	230	25	5	5	NUM
sc-2649	230	26	.	.	PUNCT
sc-2649	230	27	software	software	NOUN
sc-2649	230	28	design	design	VERB
sc-2649	230	29	5.1	5.1	NUM
sc-2649	230	30	sensor	sensor	NOUN
sc-2649	230	31	fusion	fusion	NOUN
sc-2649	230	32	–	–	PUNCT
sc-2649	230	33	obstacle	obstacle	NOUN
sc-2649	230	34	detection	detection	NOUN
sc-2649	230	35	and	and	CCONJ
sc-2649	230	36	path	path	NOUN
sc-2649	230	37	planning	plan	VERB
sc-2649	230	38	5.2	5.2	NUM
sc-2649	230	39	motion	motion	NOUN
sc-2649	230	40	planning	planning	NOUN
sc-2649	230	41	flow	flow	NOUN
sc-2649	230	42	of	of	ADP
sc-2649	230	43	an	an	DET
sc-2649	230	44	in	in	ADP
sc-2649	230	45	-	-	PUNCT
sc-2649	230	46	building	building	NOUN
sc-2649	230	47	delivery	delivery	NOUN
sc-2649	230	48	task	task	NOUN
sc-2649	230	49	5.3	5.3	NUM
sc-2649	230	50	backend	backend	NOUN
sc-2649	230	51	server	server	NOUN
sc-2649	230	52	connection	connection	NOUN
sc-2649	230	53	and	and	CCONJ
sc-2649	230	54	5	5	NUM
sc-2649	230	55	g	g	NOUN
sc-2649	230	56	extensibility	extensibility	NOUN
sc-2649	230	57	6	6	NUM
sc-2649	230	58	.	.	PUNCT
sc-2649	230	59	conclusion	conclusion	NOUN
sc-2649	230	60	7	7	NUM
sc-2649	230	61	.	.	PUNCT
sc-2649	230	62	further	further	ADJ
sc-2649	230	63	development	development	NOUN
sc-2649	230	64	references	reference	NOUN