id	sid	tid	token	lemma	pos
easat-10756	1	1	edelweiss	edelweiss	PROPN
easat-10756	1	2	applied	apply	VERB
easat-10756	1	3	science	science	NOUN
easat-10756	1	4	and	and	CCONJ
easat-10756	1	5	technology	technology	NOUN
easat-10756	1	6	issn	issn	PROPN
easat-10756	1	7	:	:	PUNCT
easat-10756	1	8	2576	2576	NUM
easat-10756	1	9	-	-	SYM
easat-10756	1	10	8484	8484	NUM
easat-10756	1	11	vol	vol	NOUN
easat-10756	1	12	.	.	PROPN
easat-10756	2	1	9	9	NUM
easat-10756	2	2	,	,	PUNCT
easat-10756	2	3	no	no	INTJ
easat-10756	2	4	.	.	NOUN
easat-10756	2	5	11	11	NUM
easat-10756	2	6	,	,	PUNCT
easat-10756	2	7	57	57	NUM
easat-10756	2	8	-	-	SYM
easat-10756	2	9	70	70	NUM
easat-10756	2	10	2025	2025	NUM
easat-10756	2	11	publisher	publisher	NOUN
easat-10756	2	12	:	:	PUNCT
easat-10756	2	13	learning	learn	VERB
easat-10756	2	14	gate	gate	NOUN
easat-10756	2	15	doi	doi	PROPN
easat-10756	2	16	:	:	PUNCT
easat-10756	2	17	10.55214/2576	10.55214/2576	NUM
easat-10756	2	18	-	-	SYM
easat-10756	2	19	8484.v9i11.10756	8484.v9i11.10756	NUM
easat-10756	2	20	©	©	PROPN
easat-10756	2	21	2025	2025	NUM
easat-10756	2	22	by	by	ADP
easat-10756	2	23	the	the	DET
easat-10756	2	24	authors	author	NOUN
easat-10756	2	25	;	;	PUNCT
easat-10756	2	26	licensee	licensee	PROPN
easat-10756	2	27	learning	learning	NOUN
easat-10756	2	28	gate	gate	NOUN
easat-10756	3	1	©	©	PROPN
easat-10756	3	2	2025	2025	NUM
easat-10756	3	3	by	by	ADP
easat-10756	3	4	the	the	DET
easat-10756	3	5	authors	author	NOUN
easat-10756	3	6	;	;	PUNCT
easat-10756	3	7	licensee	licensee	PROPN
easat-10756	3	8	learning	learning	NOUN
easat-10756	3	9	gate	gate	NOUN
easat-10756	3	10	history	history	NOUN
easat-10756	3	11	:	:	PUNCT
easat-10756	3	12	received	receive	VERB
easat-10756	3	13	:	:	PUNCT
easat-10756	3	14	21	21	NUM
easat-10756	3	15	august	august	PROPN
easat-10756	3	16	2025	2025	NUM
easat-10756	3	17	;	;	PUNCT
easat-10756	3	18	revised	revise	VERB
easat-10756	3	19	:	:	PUNCT
easat-10756	3	20	16	16	NUM
easat-10756	3	21	october	october	PROPN
easat-10756	3	22	2025	2025	NUM
easat-10756	3	23	;	;	PUNCT
easat-10756	3	24	accepted	accept	VERB
easat-10756	3	25	:	:	PUNCT
easat-10756	3	26	19	19	NUM
easat-10756	3	27	october	october	NOUN
easat-10756	3	28	2025	2025	NUM
easat-10756	3	29	;	;	PUNCT
easat-10756	3	30	published	publish	VERB
easat-10756	3	31	:	:	PUNCT
easat-10756	3	32	28	28	NUM
easat-10756	3	33	october	october	NOUN
easat-10756	3	34	2025	2025	NUM
easat-10756	3	35	*	*	PUNCT
easat-10756	3	36	correspondence	correspondence	NOUN
easat-10756	3	37	:	:	PUNCT
easat-10756	3	38	sungjinkim@hanbat.ac.kr	sungjinkim@hanbat.ac.kr	PUNCT
easat-10756	3	39	a	a	DET
easat-10756	3	40	review	review	NOUN
easat-10756	3	41	for	for	ADP
easat-10756	3	42	analyzing	analyze	VERB
easat-10756	3	43	critical	critical	ADJ
easat-10756	3	44	factors	factor	NOUN
easat-10756	3	45	affecting	affect	VERB
easat-10756	3	46	indoor	indoor	ADJ
easat-10756	3	47	robot	robot	NOUN
easat-10756	3	48	operation	operation	NOUN
easat-10756	3	49	:	:	PUNCT
easat-10756	3	50	evidence	evidence	NOUN
easat-10756	3	51	-	-	PUNCT
easat-10756	3	52	based	base	VERB
easat-10756	3	53	design	design	NOUN
easat-10756	3	54	approaches	approach	NOUN
easat-10756	3	55	hojeong	hojeong	PROPN
easat-10756	3	56	jeong1	jeong1	PROPN
easat-10756	3	57	,	,	PUNCT
easat-10756	3	58	seungha	seungha	PROPN
easat-10756	3	59	seo1	seo1	PROPN
easat-10756	3	60	,	,	PUNCT
easat-10756	3	61	sungjin	sungjin	NOUN
easat-10756	3	62	kim2	kim2	PROPN
easat-10756	3	63	*	*	PROPN
easat-10756	3	64	1,2department	1,2department	NUM
easat-10756	3	65	of	of	ADP
easat-10756	3	66	architectural	architectural	ADJ
easat-10756	3	67	engineering	engineering	NOUN
easat-10756	3	68	,	,	PUNCT
easat-10756	3	69	hanbat	hanbat	PROPN
easat-10756	3	70	national	national	PROPN
easat-10756	3	71	university	university	PROPN
easat-10756	3	72	,	,	PUNCT
easat-10756	3	73	daejeon	daejeon	NOUN
easat-10756	3	74	34158	34158	NUM
easat-10756	3	75	,	,	PUNCT
easat-10756	3	76	republic	republic	NOUN
easat-10756	3	77	of	of	ADP
easat-10756	3	78	korea	korea	PROPN
easat-10756	3	79	;	;	PUNCT
easat-10756	3	80	ine2427@naver.com	ine2427@naver.com	X
easat-10756	3	81	(	(	PUNCT
easat-10756	3	82	h.j	h.j	PROPN
easat-10756	3	83	.	.	PROPN
easat-10756	3	84	)	)	PUNCT
easat-10756	3	85	shseo060329@gmail.com	shseo060329@gmail.com	X
easat-10756	4	1	(	(	PUNCT
easat-10756	4	2	s.s	s.s	PROPN
easat-10756	4	3	.	.	PUNCT
easat-10756	4	4	)	)	PUNCT
easat-10756	5	1	sungjinkim@hanbat.ac.kr	sungjinkim@hanbat.ac.kr	PUNCT
easat-10756	5	2	(	(	PUNCT
easat-10756	5	3	s.k	s.k	PROPN
easat-10756	5	4	.	.	PUNCT
easat-10756	5	5	)	)	PUNCT
easat-10756	5	6	.	.	PUNCT
easat-10756	6	1	abstract	abstract	ADV
easat-10756	6	2	:	:	PUNCT
easat-10756	6	3	this	this	DET
easat-10756	6	4	study	study	NOUN
easat-10756	6	5	addresses	address	VERB
easat-10756	6	6	the	the	DET
easat-10756	6	7	growing	grow	VERB
easat-10756	6	8	need	need	NOUN
easat-10756	6	9	for	for	ADP
easat-10756	6	10	architectural	architectural	ADJ
easat-10756	6	11	environments	environment	NOUN
easat-10756	6	12	that	that	PRON
easat-10756	6	13	support	support	VERB
easat-10756	6	14	stable	stable	ADJ
easat-10756	6	15	navigation	navigation	NOUN
easat-10756	6	16	and	and	CCONJ
easat-10756	6	17	perception	perception	NOUN
easat-10756	6	18	performance	performance	NOUN
easat-10756	6	19	of	of	ADP
easat-10756	6	20	service	service	NOUN
easat-10756	6	21	robots	robot	NOUN
easat-10756	6	22	as	as	SCONJ
easat-10756	6	23	their	their	PRON
easat-10756	6	24	deployment	deployment	NOUN
easat-10756	6	25	expands	expand	VERB
easat-10756	6	26	.	.	PUNCT
easat-10756	7	1	based	base	VERB
easat-10756	7	2	on	on	ADP
easat-10756	7	3	the	the	DET
easat-10756	7	4	principles	principle	NOUN
easat-10756	7	5	of	of	ADP
easat-10756	7	6	evidence	evidence	NOUN
easat-10756	7	7	-	-	PUNCT
easat-10756	7	8	based	base	VERB
easat-10756	7	9	design	design	NOUN
easat-10756	7	10	(	(	PUNCT
easat-10756	7	11	ebd	ebd	PROPN
easat-10756	7	12	)	)	PUNCT
easat-10756	7	13	,	,	PUNCT
easat-10756	7	14	the	the	DET
easat-10756	7	15	research	research	NOUN
easat-10756	7	16	investigates	investigate	VERB
easat-10756	7	17	correlations	correlation	NOUN
easat-10756	7	18	between	between	ADP
easat-10756	7	19	robotic	robotic	ADJ
easat-10756	7	20	performance	performance	NOUN
easat-10756	7	21	and	and	CCONJ
easat-10756	7	22	the	the	DET
easat-10756	7	23	physical	physical	ADJ
easat-10756	7	24	properties	property	NOUN
easat-10756	7	25	of	of	ADP
easat-10756	7	26	architectural	architectural	ADJ
easat-10756	7	27	finishing	finish	VERB
easat-10756	7	28	materials	material	NOUN
easat-10756	7	29	.	.	PUNCT
easat-10756	8	1	while	while	SCONJ
easat-10756	8	2	conventional	conventional	ADJ
easat-10756	8	3	ebd	ebd	PROPN
easat-10756	8	4	has	have	AUX
easat-10756	8	5	focused	focus	VERB
easat-10756	8	6	on	on	ADP
easat-10756	8	7	human	human	ADJ
easat-10756	8	8	responses	response	NOUN
easat-10756	8	9	,	,	PUNCT
easat-10756	8	10	evidence	evidence	NOUN
easat-10756	8	11	concerning	concern	VERB
easat-10756	8	12	environmental	environmental	ADJ
easat-10756	8	13	factors	factor	NOUN
easat-10756	8	14	that	that	PRON
easat-10756	8	15	influence	influence	VERB
easat-10756	8	16	robotic	robotic	ADJ
easat-10756	8	17	sensors	sensor	NOUN
easat-10756	8	18	and	and	CCONJ
easat-10756	8	19	locomotion	locomotion	NOUN
easat-10756	8	20	remains	remain	VERB
easat-10756	8	21	limited	limited	ADJ
easat-10756	8	22	.	.	PUNCT
easat-10756	9	1	this	this	DET
easat-10756	9	2	study	study	NOUN
easat-10756	9	3	examines	examine	VERB
easat-10756	9	4	service	service	NOUN
easat-10756	9	5	robot	robot	NOUN
easat-10756	9	6	performance	performance	NOUN
easat-10756	9	7	indicators	indicator	NOUN
easat-10756	9	8	,	,	PUNCT
easat-10756	9	9	perception	perception	NOUN
easat-10756	9	10	accuracy	accuracy	NOUN
easat-10756	9	11	,	,	PUNCT
easat-10756	9	12	path	path	NOUN
easat-10756	9	13	stability	stability	NOUN
easat-10756	9	14	,	,	PUNCT
easat-10756	9	15	and	and	CCONJ
easat-10756	9	16	collision	collision	NOUN
easat-10756	9	17	rate	rate	NOUN
easat-10756	9	18	and	and	CCONJ
easat-10756	9	19	relates	relate	VERB
easat-10756	9	20	them	they	PRON
easat-10756	9	21	to	to	PART
easat-10756	9	22	material	material	VERB
easat-10756	9	23	properties	property	NOUN
easat-10756	9	24	such	such	ADJ
easat-10756	9	25	as	as	ADP
easat-10756	9	26	reflectance	reflectance	NOUN
easat-10756	9	27	,	,	PUNCT
easat-10756	9	28	coefficient	coefficient	NOUN
easat-10756	9	29	of	of	ADP
easat-10756	9	30	friction	friction	NOUN
easat-10756	9	31	,	,	PUNCT
easat-10756	9	32	surface	surface	NOUN
easat-10756	9	33	roughness	roughness	NOUN
easat-10756	9	34	,	,	PUNCT
easat-10756	9	35	illuminance	illuminance	NOUN
easat-10756	9	36	uniformity	uniformity	NOUN
easat-10756	9	37	,	,	PUNCT
easat-10756	9	38	and	and	CCONJ
easat-10756	9	39	transparency	transparency	NOUN
easat-10756	9	40	.	.	PUNCT
easat-10756	10	1	the	the	DET
easat-10756	10	2	findings	finding	NOUN
easat-10756	10	3	indicate	indicate	VERB
easat-10756	10	4	that	that	SCONJ
easat-10756	10	5	reflectance	reflectance	NOUN
easat-10756	10	6	and	and	CCONJ
easat-10756	10	7	lighting	lighting	NOUN
easat-10756	10	8	uniformity	uniformity	NOUN
easat-10756	10	9	are	be	AUX
easat-10756	10	10	critical	critical	ADJ
easat-10756	10	11	determinants	determinant	NOUN
easat-10756	10	12	of	of	ADP
easat-10756	10	13	sensor	sensor	NOUN
easat-10756	10	14	recognition	recognition	NOUN
easat-10756	10	15	,	,	PUNCT
easat-10756	10	16	while	while	SCONJ
easat-10756	10	17	friction	friction	NOUN
easat-10756	10	18	and	and	CCONJ
easat-10756	10	19	surface	surface	NOUN
easat-10756	10	20	roughness	roughness	NOUN
easat-10756	10	21	strongly	strongly	ADV
easat-10756	10	22	affect	affect	VERB
easat-10756	10	23	navigation	navigation	NOUN
easat-10756	10	24	stability	stability	NOUN
easat-10756	10	25	.	.	PUNCT
easat-10756	11	1	in	in	ADP
easat-10756	11	2	addition	addition	NOUN
easat-10756	11	3	,	,	PUNCT
easat-10756	11	4	transparent	transparent	ADJ
easat-10756	11	5	obstacles	obstacle	NOUN
easat-10756	11	6	and	and	CCONJ
easat-10756	11	7	lighting	lighting	NOUN
easat-10756	11	8	conditions	condition	NOUN
easat-10756	11	9	act	act	VERB
easat-10756	11	10	as	as	ADP
easat-10756	11	11	moderating	moderate	VERB
easat-10756	11	12	factors	factor	NOUN
easat-10756	11	13	that	that	PRON
easat-10756	11	14	impact	impact	VERB
easat-10756	11	15	both	both	DET
easat-10756	11	16	perception	perception	NOUN
easat-10756	11	17	and	and	CCONJ
easat-10756	11	18	mobility	mobility	NOUN
easat-10756	11	19	.	.	PUNCT
easat-10756	12	1	as	as	ADP
easat-10756	12	2	a	a	DET
easat-10756	12	3	foundational	foundational	ADJ
easat-10756	12	4	investigation	investigation	NOUN
easat-10756	12	5	,	,	PUNCT
easat-10756	12	6	this	this	DET
easat-10756	12	7	study	study	NOUN
easat-10756	12	8	provides	provide	VERB
easat-10756	12	9	baseline	baseline	ADJ
easat-10756	12	10	evidence	evidence	NOUN
easat-10756	12	11	for	for	ADP
easat-10756	12	12	a	a	DET
easat-10756	12	13	correlation	correlation	NOUN
easat-10756	12	14	-	-	PUNCT
easat-10756	12	15	based	base	VERB
easat-10756	12	16	evaluation	evaluation	NOUN
easat-10756	12	17	framework	framework	NOUN
easat-10756	12	18	that	that	PRON
easat-10756	12	19	can	can	AUX
easat-10756	12	20	inform	inform	VERB
easat-10756	12	21	future	future	ADJ
easat-10756	12	22	design	design	NOUN
easat-10756	12	23	,	,	PUNCT
easat-10756	12	24	construction	construction	NOUN
easat-10756	12	25	,	,	PUNCT
easat-10756	12	26	and	and	CCONJ
easat-10756	12	27	operational	operational	ADJ
easat-10756	12	28	guidelines	guideline	NOUN
easat-10756	12	29	for	for	ADP
easat-10756	12	30	robot	robot	NOUN
easat-10756	12	31	-	-	PUNCT
easat-10756	12	32	friendly	friendly	ADJ
easat-10756	12	33	built	build	VERB
easat-10756	12	34	environments	environment	NOUN
easat-10756	12	35	.	.	PUNCT
easat-10756	13	1	keywords	keyword	NOUN
easat-10756	13	2	:	:	PUNCT
easat-10756	13	3	evidence	evidence	NOUN
easat-10756	13	4	-	-	PUNCT
easat-10756	13	5	based	base	VERB
easat-10756	13	6	design	design	NOUN
easat-10756	13	7	(	(	PUNCT
easat-10756	13	8	ebd	ebd	PROPN
easat-10756	13	9	)	)	PUNCT
easat-10756	13	10	,	,	PUNCT
easat-10756	13	11	human	human	ADJ
easat-10756	13	12	-	-	PUNCT
easat-10756	13	13	robot	robot	NOUN
easat-10756	13	14	-	-	PUNCT
easat-10756	13	15	environment	environment	NOUN
easat-10756	13	16	interaction	interaction	NOUN
easat-10756	13	17	,	,	PUNCT
easat-10756	13	18	robot	robot	NOUN
easat-10756	13	19	-	-	PUNCT
easat-10756	13	20	friendly	friendly	ADJ
easat-10756	13	21	buildings	building	NOUN
easat-10756	13	22	,	,	PUNCT
easat-10756	13	23	service	service	NOUN
easat-10756	13	24	robot	robot	NOUN
easat-10756	13	25	.	.	PUNCT
easat-10756	14	1	1	1	X
easat-10756	14	2	.	.	X
easat-10756	14	3	introduction	introduction	NOUN
easat-10756	14	4	labor	labor	NOUN
easat-10756	14	5	shortages	shortage	NOUN
easat-10756	14	6	caused	cause	VERB
easat-10756	14	7	by	by	ADP
easat-10756	14	8	low	low	ADJ
easat-10756	14	9	birth	birth	NOUN
easat-10756	14	10	rates	rate	NOUN
easat-10756	14	11	and	and	CCONJ
easat-10756	14	12	an	an	DET
easat-10756	14	13	aging	age	VERB
easat-10756	14	14	population	population	NOUN
easat-10756	14	15	,	,	PUNCT
easat-10756	14	16	along	along	ADP
easat-10756	14	17	with	with	ADP
easat-10756	14	18	the	the	DET
easat-10756	14	19	growing	grow	VERB
easat-10756	14	20	reluctance	reluctance	NOUN
easat-10756	14	21	to	to	PART
easat-10756	14	22	work	work	VERB
easat-10756	14	23	in	in	ADP
easat-10756	14	24	the	the	DET
easat-10756	14	25	construction	construction	NOUN
easat-10756	14	26	sector	sector	NOUN
easat-10756	14	27	,	,	PUNCT
easat-10756	14	28	have	have	AUX
easat-10756	14	29	exacerbated	exacerbate	VERB
easat-10756	14	30	the	the	DET
easat-10756	14	31	structural	structural	ADJ
easat-10756	14	32	crisis	crisis	NOUN
easat-10756	14	33	of	of	ADP
easat-10756	14	34	the	the	DET
easat-10756	14	35	domestic	domestic	ADJ
easat-10756	14	36	construction	construction	NOUN
easat-10756	14	37	industry	industry	NOUN
easat-10756	14	38	.	.	PUNCT
easat-10756	15	1	consequently	consequently	ADV
easat-10756	15	2	,	,	PUNCT
easat-10756	15	3	the	the	DET
easat-10756	15	4	demand	demand	NOUN
easat-10756	15	5	for	for	ADP
easat-10756	15	6	improving	improve	VERB
easat-10756	15	7	operational	operational	ADJ
easat-10756	15	8	efficiency	efficiency	NOUN
easat-10756	15	9	and	and	CCONJ
easat-10756	15	10	ensuring	ensure	VERB
easat-10756	15	11	safety	safety	NOUN
easat-10756	15	12	in	in	ADP
easat-10756	15	13	building	build	VERB
easat-10756	15	14	management	management	NOUN
easat-10756	15	15	through	through	ADP
easat-10756	15	16	the	the	DET
easat-10756	15	17	utilization	utilization	NOUN
easat-10756	15	18	of	of	ADP
easat-10756	15	19	service	service	NOUN
easat-10756	15	20	robots	robot	NOUN
easat-10756	15	21	has	have	AUX
easat-10756	15	22	been	be	AUX
easat-10756	15	23	rapidly	rapidly	ADV
easat-10756	15	24	expanding	expand	VERB
easat-10756	15	25	[	[	X
easat-10756	15	26	1	1	NUM
easat-10756	15	27	]	]	PUNCT
easat-10756	15	28	.	.	PUNCT
easat-10756	16	1	in	in	ADP
easat-10756	16	2	public	public	ADJ
easat-10756	16	3	and	and	CCONJ
easat-10756	16	4	commercial	commercial	ADJ
easat-10756	16	5	facilities	facility	NOUN
easat-10756	16	6	such	such	ADJ
easat-10756	16	7	as	as	ADP
easat-10756	16	8	hospitals	hospital	NOUN
easat-10756	16	9	,	,	PUNCT
easat-10756	16	10	airports	airport	NOUN
easat-10756	16	11	,	,	PUNCT
easat-10756	16	12	logistics	logistic	NOUN
easat-10756	16	13	centers	center	NOUN
easat-10756	16	14	,	,	PUNCT
easat-10756	16	15	hotels	hotel	NOUN
easat-10756	16	16	,	,	PUNCT
easat-10756	16	17	and	and	CCONJ
easat-10756	16	18	large	large	ADJ
easat-10756	16	19	office	office	NOUN
easat-10756	16	20	complexes	complex	NOUN
easat-10756	16	21	,	,	PUNCT
easat-10756	16	22	the	the	DET
easat-10756	16	23	commercialization	commercialization	NOUN
easat-10756	16	24	of	of	ADP
easat-10756	16	25	service	service	NOUN
easat-10756	16	26	robots	robot	NOUN
easat-10756	16	27	capable	capable	ADJ
easat-10756	16	28	of	of	ADP
easat-10756	16	29	performing	perform	VERB
easat-10756	16	30	diverse	diverse	ADJ
easat-10756	16	31	functions	function	NOUN
easat-10756	16	32	such	such	ADJ
easat-10756	16	33	as	as	ADP
easat-10756	16	34	guidance	guidance	NOUN
easat-10756	16	35	,	,	PUNCT
easat-10756	16	36	cleaning	cleaning	NOUN
easat-10756	16	37	,	,	PUNCT
easat-10756	16	38	transportation	transportation	NOUN
easat-10756	16	39	,	,	PUNCT
easat-10756	16	40	and	and	CCONJ
easat-10756	16	41	security	security	NOUN
easat-10756	16	42	has	have	AUX
easat-10756	16	43	been	be	AUX
easat-10756	16	44	steadily	steadily	ADV
easat-10756	16	45	increasing	increase	VERB
easat-10756	16	46	[	[	PUNCT
easat-10756	16	47	2	2	NUM
easat-10756	16	48	]	]	PUNCT
easat-10756	16	49	.	.	PUNCT
easat-10756	17	1	the	the	DET
easat-10756	17	2	naver	naver	PROPN
easat-10756	17	3	1784	1784	NUM
easat-10756	17	4	headquarters	headquarter	NOUN
easat-10756	17	5	serves	serve	VERB
easat-10756	17	6	as	as	ADP
easat-10756	17	7	a	a	DET
easat-10756	17	8	representative	representative	ADJ
easat-10756	17	9	example	example	NOUN
easat-10756	17	10	of	of	ADP
easat-10756	17	11	a	a	DET
easat-10756	17	12	robot	robot	NOUN
easat-10756	17	13	-	-	PUNCT
easat-10756	17	14	friendly	friendly	ADJ
easat-10756	17	15	building	building	NOUN
easat-10756	17	16	,	,	PUNCT
easat-10756	17	17	equipped	equip	VERB
easat-10756	17	18	with	with	ADP
easat-10756	17	19	robotdedicated	robotdedicate	VERB
easat-10756	17	20	elevators	elevator	NOUN
easat-10756	17	21	,	,	PUNCT
easat-10756	17	22	a	a	DET
easat-10756	17	23	centralized	centralized	ADJ
easat-10756	17	24	robotic	robotic	ADJ
easat-10756	17	25	operation	operation	NOUN
easat-10756	17	26	management	management	NOUN
easat-10756	17	27	system	system	NOUN
easat-10756	17	28	,	,	PUNCT
easat-10756	17	29	and	and	CCONJ
easat-10756	17	30	high	high	ADJ
easat-10756	17	31	-	-	PUNCT
easat-10756	17	32	performance	performance	NOUN
easat-10756	17	33	network	network	NOUN
easat-10756	17	34	infrastructure	infrastructure	NOUN
easat-10756	17	35	,	,	PUNCT
easat-10756	17	36	realizing	realize	VERB
easat-10756	17	37	an	an	DET
easat-10756	17	38	architectural	architectural	ADJ
easat-10756	17	39	environment	environment	NOUN
easat-10756	17	40	in	in	ADP
easat-10756	17	41	which	which	PRON
easat-10756	17	42	dozens	dozen	NOUN
easat-10756	17	43	of	of	ADP
easat-10756	17	44	robots	robot	NOUN
easat-10756	17	45	operate	operate	VERB
easat-10756	17	46	continuously	continuously	ADV
easat-10756	17	47	[	[	X
easat-10756	17	48	2	2	NUM
easat-10756	17	49	]	]	PUNCT
easat-10756	17	50	.	.	PUNCT
easat-10756	18	1	however	however	ADV
easat-10756	18	2	,	,	PUNCT
easat-10756	18	3	most	most	ADJ
easat-10756	18	4	existing	exist	VERB
easat-10756	18	5	buildings	building	NOUN
easat-10756	18	6	reveal	reveal	VERB
easat-10756	18	7	critical	critical	ADJ
easat-10756	18	8	limitations	limitation	NOUN
easat-10756	18	9	in	in	ADP
easat-10756	18	10	robotic	robotic	ADJ
easat-10756	18	11	operation	operation	NOUN
easat-10756	18	12	due	due	ADP
easat-10756	18	13	to	to	ADP
easat-10756	18	14	designs	design	NOUN
easat-10756	18	15	that	that	PRON
easat-10756	18	16	did	do	AUX
easat-10756	18	17	not	not	PART
easat-10756	18	18	account	account	VERB
easat-10756	18	19	for	for	ADP
easat-10756	18	20	robotic	robotic	ADJ
easat-10756	18	21	functionality	functionality	NOUN
easat-10756	18	22	,	,	PUNCT
easat-10756	18	23	where	where	SCONJ
easat-10756	18	24	physical	physical	ADJ
easat-10756	18	25	environmental	environmental	ADJ
easat-10756	18	26	factors	factor	NOUN
easat-10756	18	27	such	such	ADJ
easat-10756	18	28	as	as	ADP
easat-10756	18	29	flooring	flooring	NOUN
easat-10756	18	30	,	,	PUNCT
easat-10756	18	31	wall	wall	NOUN
easat-10756	18	32	surfaces	surface	NOUN
easat-10756	18	33	,	,	PUNCT
easat-10756	18	34	and	and	CCONJ
easat-10756	18	35	lighting	lighting	NOUN
easat-10756	18	36	conditions	condition	NOUN
easat-10756	18	37	adversely	adversely	ADV
easat-10756	18	38	affect	affect	VERB
easat-10756	18	39	robotic	robotic	ADJ
easat-10756	18	40	perception	perception	NOUN
easat-10756	18	41	and	and	CCONJ
easat-10756	18	42	navigational	navigational	ADJ
easat-10756	18	43	performance	performance	NOUN
easat-10756	18	44	.	.	PUNCT
easat-10756	19	1	for	for	ADP
easat-10756	19	2	instance	instance	NOUN
easat-10756	19	3	,	,	PUNCT
easat-10756	19	4	highly	highly	ADV
easat-10756	19	5	reflective	reflective	ADJ
easat-10756	19	6	floor	floor	NOUN
easat-10756	19	7	finishes	finish	NOUN
easat-10756	19	8	or	or	CCONJ
easat-10756	19	9	transparent	transparent	ADJ
easat-10756	19	10	glass	glass	NOUN
easat-10756	19	11	partitions	partition	NOUN
easat-10756	19	12	can	can	AUX
easat-10756	19	13	induce	induce	VERB
easat-10756	19	14	recognition	recognition	NOUN
easat-10756	19	15	errors	error	NOUN
easat-10756	19	16	in	in	ADP
easat-10756	19	17	lidar	lidar	NOUN
easat-10756	19	18	and	and	CCONJ
easat-10756	19	19	vision	vision	NOUN
easat-10756	19	20	-	-	PUNCT
easat-10756	19	21	based	base	VERB
easat-10756	19	22	sensors	sensor	NOUN
easat-10756	19	23	,	,	PUNCT
easat-10756	19	24	while	while	SCONJ
easat-10756	19	25	uneven	uneven	ADJ
easat-10756	19	26	illuminance	illuminance	NOUN
easat-10756	19	27	and	and	CCONJ
easat-10756	19	28	shadow	shadow	NOUN
easat-10756	19	29	patterns	pattern	NOUN
easat-10756	19	30	degrade	degrade	VERB
easat-10756	19	31	the	the	DET
easat-10756	19	32	accuracy	accuracy	NOUN
easat-10756	19	33	of	of	ADP
easat-10756	19	34	robotic	robotic	ADJ
easat-10756	19	35	autonomous	autonomous	ADJ
easat-10756	19	36	navigation	navigation	NOUN
easat-10756	19	37	and	and	CCONJ
easat-10756	19	38	obstacle	obstacle	NOUN
easat-10756	19	39	avoidance	avoidance	NOUN
easat-10756	19	40	algorithms	algorithm	NOUN
easat-10756	19	41	[	[	X
easat-10756	19	42	3	3	NUM
easat-10756	19	43	,	,	PUNCT
easat-10756	19	44	4	4	NUM
easat-10756	19	45	]	]	PUNCT
easat-10756	19	46	.	.	PUNCT
easat-10756	20	1	such	such	ADJ
easat-10756	20	2	issues	issue	NOUN
easat-10756	20	3	negatively	negatively	ADV
easat-10756	20	4	influence	influence	VERB
easat-10756	20	5	not	not	PART
easat-10756	20	6	only	only	ADV
easat-10756	20	7	the	the	DET
easat-10756	20	8	robot	robot	NOUN
easat-10756	20	9	’s	’s	PART
easat-10756	20	10	locomotion	locomotion	NOUN
easat-10756	20	11	stability	stability	NOUN
easat-10756	20	12	but	but	CCONJ
easat-10756	20	13	also	also	ADV
easat-10756	20	14	its	its	PRON
easat-10756	20	15	interactive	interactive	ADJ
easat-10756	20	16	performance	performance	NOUN
easat-10756	20	17	with	with	ADP
easat-10756	20	18	human	human	ADJ
easat-10756	20	19	occupants	occupant	NOUN
easat-10756	20	20	.	.	PUNCT
easat-10756	21	1	https://orcid.org/0009-0005-8569-8835	https://orcid.org/0009-0005-8569-8835	NOUN
easat-10756	21	2	https://orcid.org/0000-0002-4768-4206	https://orcid.org/0000-0002-4768-4206	PROPN
easat-10756	21	3	58	58	NUM
easat-10756	21	4	edelweiss	edelweiss	PROPN
easat-10756	21	5	applied	apply	VERB
easat-10756	21	6	science	science	NOUN
easat-10756	21	7	and	and	CCONJ
easat-10756	21	8	technology	technology	NOUN
easat-10756	21	9	issn	issn	PROPN
easat-10756	21	10	:	:	PUNCT
easat-10756	21	11	2576	2576	NUM
easat-10756	21	12	-	-	SYM
easat-10756	21	13	8484	8484	NUM
easat-10756	21	14	vol	vol	NOUN
easat-10756	21	15	.	.	PROPN
easat-10756	22	1	9	9	NUM
easat-10756	22	2	,	,	PUNCT
easat-10756	22	3	no	no	INTJ
easat-10756	22	4	.	.	NOUN
easat-10756	22	5	11	11	NUM
easat-10756	22	6	:	:	PUNCT
easat-10756	22	7	57	57	NUM
easat-10756	22	8	-	-	SYM
easat-10756	22	9	70	70	NUM
easat-10756	22	10	,	,	PUNCT
easat-10756	22	11	2025	2025	NUM
easat-10756	22	12	doi	doi	NOUN
easat-10756	22	13	:	:	PUNCT
easat-10756	22	14	10.55214/2576	10.55214/2576	NUM
easat-10756	22	15	-	-	SYM
easat-10756	22	16	8484.v9i11.10756	8484.v9i11.10756	NUM
easat-10756	22	17	©	©	PROPN
easat-10756	22	18	2025	2025	NUM
easat-10756	22	19	by	by	ADP
easat-10756	22	20	the	the	DET
easat-10756	22	21	authors	author	NOUN
easat-10756	22	22	;	;	PUNCT
easat-10756	22	23	licensee	licensee	PROPN
easat-10756	22	24	learning	learning	NOUN
easat-10756	22	25	gate	gate	PROPN
easat-10756	22	26	previous	previous	ADJ
easat-10756	22	27	studies	study	NOUN
easat-10756	22	28	have	have	AUX
easat-10756	22	29	primarily	primarily	ADV
easat-10756	22	30	focused	focus	VERB
easat-10756	22	31	on	on	ADP
easat-10756	22	32	the	the	DET
easat-10756	22	33	behavioral	behavioral	ADJ
easat-10756	22	34	aspects	aspect	NOUN
easat-10756	22	35	of	of	ADP
easat-10756	22	36	service	service	NOUN
easat-10756	22	37	robots	robot	NOUN
easat-10756	22	38	,	,	PUNCT
easat-10756	22	39	including	include	VERB
easat-10756	22	40	social	social	ADJ
easat-10756	22	41	acceptability	acceptability	NOUN
easat-10756	22	42	,	,	PUNCT
easat-10756	22	43	user	user	NOUN
easat-10756	22	44	trust	trust	PROPN
easat-10756	22	45	,	,	PUNCT
easat-10756	22	46	and	and	CCONJ
easat-10756	22	47	safety	safety	NOUN
easat-10756	22	48	;	;	PUNCT
easat-10756	22	49	however	however	ADV
easat-10756	22	50	,	,	PUNCT
easat-10756	22	51	evidence	evidence	NOUN
easat-10756	22	52	-	-	PUNCT
easat-10756	22	53	based	base	VERB
easat-10756	22	54	analyses	analysis	NOUN
easat-10756	22	55	examining	examine	VERB
easat-10756	22	56	the	the	DET
easat-10756	22	57	correlation	correlation	NOUN
easat-10756	22	58	between	between	ADP
easat-10756	22	59	robotic	robotic	ADJ
easat-10756	22	60	performance	performance	NOUN
easat-10756	22	61	and	and	CCONJ
easat-10756	22	62	the	the	DET
easat-10756	22	63	physical	physical	ADJ
easat-10756	22	64	properties	property	NOUN
easat-10756	22	65	of	of	ADP
easat-10756	22	66	architectural	architectural	ADJ
easat-10756	22	67	finishing	finish	VERB
easat-10756	22	68	materials	material	NOUN
easat-10756	22	69	remain	remain	VERB
easat-10756	22	70	highly	highly	ADV
easat-10756	22	71	limited	limited	ADJ
easat-10756	22	72	[	[	X
easat-10756	22	73	5	5	NUM
easat-10756	22	74	]	]	PUNCT
easat-10756	22	75	.	.	PUNCT
easat-10756	23	1	in	in	ADP
easat-10756	23	2	contrast	contrast	NOUN
easat-10756	23	3	,	,	PUNCT
easat-10756	23	4	evidence	evidence	NOUN
easat-10756	23	5	-	-	PUNCT
easat-10756	23	6	based	base	VERB
easat-10756	23	7	design	design	NOUN
easat-10756	23	8	(	(	PUNCT
easat-10756	23	9	ebd	ebd	PROPN
easat-10756	23	10	)	)	PUNCT
easat-10756	23	11	,	,	PUNCT
easat-10756	23	12	which	which	PRON
easat-10756	23	13	has	have	AUX
easat-10756	23	14	evolved	evolve	VERB
easat-10756	23	15	within	within	ADP
easat-10756	23	16	the	the	DET
easat-10756	23	17	field	field	NOUN
easat-10756	23	18	of	of	ADP
easat-10756	23	19	architecture	architecture	NOUN
easat-10756	23	20	,	,	PUNCT
easat-10756	23	21	provides	provide	VERB
easat-10756	23	22	a	a	DET
easat-10756	23	23	methodological	methodological	ADJ
easat-10756	23	24	framework	framework	NOUN
easat-10756	23	25	for	for	ADP
easat-10756	23	26	empirically	empirically	ADV
easat-10756	23	27	identifying	identify	VERB
easat-10756	23	28	the	the	DET
easat-10756	23	29	relationships	relationship	NOUN
easat-10756	23	30	between	between	ADP
easat-10756	23	31	physical	physical	ADJ
easat-10756	23	32	environmental	environmental	ADJ
easat-10756	23	33	factors	factor	NOUN
easat-10756	23	34	and	and	CCONJ
easat-10756	23	35	user	user	NOUN
easat-10756	23	36	responses	response	NOUN
easat-10756	23	37	,	,	PUNCT
easat-10756	23	38	thereby	thereby	ADV
easat-10756	23	39	serving	serve	VERB
easat-10756	23	40	as	as	ADP
easat-10756	23	41	a	a	DET
easat-10756	23	42	promising	promising	ADJ
easat-10756	23	43	approach	approach	NOUN
easat-10756	23	44	to	to	PART
easat-10756	23	45	address	address	VERB
easat-10756	23	46	these	these	DET
easat-10756	23	47	challenges	challenge	NOUN
easat-10756	23	48	.	.	PUNCT
easat-10756	24	1	ebd	ebd	PROPN
easat-10756	24	2	has	have	AUX
easat-10756	24	3	evolved	evolve	VERB
easat-10756	24	4	into	into	ADP
easat-10756	24	5	a	a	DET
easat-10756	24	6	systematic	systematic	ADJ
easat-10756	24	7	design	design	NOUN
easat-10756	24	8	framework	framework	NOUN
easat-10756	24	9	that	that	PRON
easat-10756	24	10	objectively	objectively	ADV
easat-10756	24	11	verifies	verify	VERB
easat-10756	24	12	spatial	spatial	ADJ
easat-10756	24	13	performance	performance	NOUN
easat-10756	24	14	by	by	ADP
easat-10756	24	15	incorporating	incorporate	VERB
easat-10756	24	16	scientific	scientific	ADJ
easat-10756	24	17	evidence	evidence	NOUN
easat-10756	24	18	into	into	ADP
easat-10756	24	19	the	the	DET
easat-10756	24	20	architectural	architectural	ADJ
easat-10756	24	21	decision	decision	NOUN
easat-10756	24	22	-	-	PUNCT
easat-10756	24	23	making	make	VERB
easat-10756	24	24	process	process	NOUN
easat-10756	24	25	[	[	X
easat-10756	24	26	6	6	NUM
easat-10756	24	27	-	-	SYM
easat-10756	24	28	8	8	NUM
easat-10756	24	29	]	]	PUNCT
easat-10756	24	30	.	.	PUNCT
easat-10756	25	1	ulrich	ulrich	PROPN
easat-10756	26	1	[	[	X
easat-10756	26	2	6	6	NUM
easat-10756	26	3	]	]	PUNCT
easat-10756	26	4	provided	provide	VERB
easat-10756	26	5	empirical	empirical	ADJ
easat-10756	26	6	evidence	evidence	NOUN
easat-10756	26	7	demonstrating	demonstrate	VERB
easat-10756	26	8	that	that	SCONJ
easat-10756	26	9	natural	natural	ADJ
easat-10756	26	10	views	view	NOUN
easat-10756	26	11	through	through	ADP
easat-10756	26	12	patient	patient	ADJ
easat-10756	26	13	room	room	NOUN
easat-10756	26	14	windows	window	NOUN
easat-10756	26	15	positively	positively	ADV
easat-10756	26	16	influence	influence	VERB
easat-10756	26	17	recovery	recovery	NOUN
easat-10756	26	18	rates	rate	NOUN
easat-10756	26	19	,	,	PUNCT
easat-10756	26	20	and	and	CCONJ
easat-10756	26	21	subsequently	subsequently	ADV
easat-10756	26	22	,	,	PUNCT
easat-10756	26	23	hamilton	hamilton	PROPN
easat-10756	26	24	and	and	CCONJ
easat-10756	26	25	watkins	watkin	VERB
easat-10756	27	1	[	[	X
easat-10756	27	2	7	7	X
easat-10756	27	3	]	]	PUNCT
easat-10756	27	4	established	establish	VERB
easat-10756	27	5	a	a	DET
easat-10756	27	6	systematic	systematic	ADJ
easat-10756	27	7	process	process	NOUN
easat-10756	27	8	consisting	consist	VERB
easat-10756	27	9	of	of	ADP
easat-10756	27	10	problem	problem	NOUN
easat-10756	27	11	definition	definition	NOUN
easat-10756	27	12	,	,	PUNCT
easat-10756	27	13	evidence	evidence	NOUN
easat-10756	27	14	collection	collection	NOUN
easat-10756	27	15	,	,	PUNCT
easat-10756	27	16	application	application	NOUN
easat-10756	27	17	,	,	PUNCT
easat-10756	27	18	and	and	CCONJ
easat-10756	27	19	evaluation	evaluation	NOUN
easat-10756	28	1	[	[	X
easat-10756	28	2	6	6	NUM
easat-10756	28	3	,	,	PUNCT
easat-10756	28	4	7	7	NUM
easat-10756	28	5	]	]	PUNCT
easat-10756	28	6	.	.	PUNCT
easat-10756	29	1	furthermore	furthermore	ADV
easat-10756	29	2	,	,	PUNCT
easat-10756	29	3	zimring	zimring	PROPN
easat-10756	29	4	et	et	PROPN
easat-10756	29	5	al	al	PROPN
easat-10756	29	6	.	.	PUNCT
easat-10756	30	1	[	[	X
easat-10756	30	2	8	8	NUM
easat-10756	30	3	]	]	PUNCT
easat-10756	30	4	proposed	propose	VERB
easat-10756	30	5	a	a	DET
easat-10756	30	6	transition	transition	NOUN
easat-10756	30	7	from	from	ADP
easat-10756	30	8	a	a	DET
easat-10756	30	9	procedural	procedural	ADJ
easat-10756	30	10	approach	approach	NOUN
easat-10756	30	11	to	to	ADP
easat-10756	30	12	an	an	DET
easat-10756	30	13	outcomeoriented	outcomeoriente	VERB
easat-10756	30	14	design	design	NOUN
easat-10756	30	15	system	system	NOUN
easat-10756	30	16	that	that	PRON
easat-10756	30	17	enables	enable	VERB
easat-10756	30	18	the	the	DET
easat-10756	30	19	prediction	prediction	NOUN
easat-10756	30	20	and	and	CCONJ
easat-10756	30	21	evaluation	evaluation	NOUN
easat-10756	30	22	of	of	ADP
easat-10756	30	23	design	design	NOUN
easat-10756	30	24	results	result	NOUN
easat-10756	30	25	based	base	VERB
easat-10756	30	26	on	on	ADP
easat-10756	30	27	scientific	scientific	ADJ
easat-10756	30	28	evidence	evidence	NOUN
easat-10756	30	29	[	[	X
easat-10756	30	30	8	8	NUM
easat-10756	30	31	]	]	PUNCT
easat-10756	30	32	.	.	PUNCT
easat-10756	31	1	this	this	DET
easat-10756	31	2	concept	concept	NOUN
easat-10756	31	3	has	have	AUX
easat-10756	31	4	recently	recently	ADV
easat-10756	31	5	expanded	expand	VERB
easat-10756	31	6	into	into	ADP
easat-10756	31	7	a	a	DET
easat-10756	31	8	data	data	NOUN
easat-10756	31	9	-	-	PUNCT
easat-10756	31	10	driven	drive	VERB
easat-10756	31	11	design	design	NOUN
easat-10756	31	12	framework	framework	NOUN
easat-10756	31	13	capable	capable	ADJ
easat-10756	31	14	of	of	ADP
easat-10756	31	15	predicting	predict	VERB
easat-10756	31	16	and	and	CCONJ
easat-10756	31	17	optimizing	optimize	VERB
easat-10756	31	18	spatial	spatial	ADJ
easat-10756	31	19	performance	performance	NOUN
easat-10756	31	20	through	through	ADP
easat-10756	31	21	the	the	DET
easat-10756	31	22	integration	integration	NOUN
easat-10756	31	23	of	of	ADP
easat-10756	31	24	technologies	technology	NOUN
easat-10756	31	25	such	such	ADJ
easat-10756	31	26	as	as	ADP
easat-10756	31	27	bim	bim	NOUN
easat-10756	31	28	,	,	PUNCT
easat-10756	31	29	iot	iot	PROPN
easat-10756	31	30	,	,	PUNCT
easat-10756	31	31	ai	ai	VERB
easat-10756	31	32	,	,	PUNCT
easat-10756	31	33	and	and	CCONJ
easat-10756	31	34	digital	digital	ADJ
easat-10756	31	35	twin	twin	NOUN
easat-10756	31	36	[	[	X
easat-10756	31	37	9	9	NUM
easat-10756	31	38	]	]	PUNCT
easat-10756	31	39	.	.	PUNCT
easat-10756	32	1	meanwhile	meanwhile	ADV
easat-10756	32	2	,	,	PUNCT
easat-10756	32	3	robot	robot	NOUN
easat-10756	32	4	-	-	PUNCT
easat-10756	32	5	friendly	friendly	ADJ
easat-10756	32	6	architectural	architectural	ADJ
easat-10756	32	7	environments	environment	NOUN
easat-10756	32	8	require	require	VERB
easat-10756	32	9	a	a	DET
easat-10756	32	10	new	new	ADJ
easat-10756	32	11	design	design	NOUN
easat-10756	32	12	paradigm	paradigm	NOUN
easat-10756	32	13	that	that	PRON
easat-10756	32	14	extends	extend	VERB
easat-10756	32	15	beyond	beyond	ADP
easat-10756	32	16	human	human	NOUN
easat-10756	32	17	-	-	PUNCT
easat-10756	32	18	centered	center	VERB
easat-10756	32	19	approaches	approach	NOUN
easat-10756	32	20	,	,	PUNCT
easat-10756	32	21	recognizing	recognize	VERB
easat-10756	32	22	robots	robot	NOUN
easat-10756	32	23	as	as	ADP
easat-10756	32	24	active	active	ADJ
easat-10756	32	25	agents	agent	NOUN
easat-10756	32	26	that	that	PRON
easat-10756	32	27	interact	interact	VERB
easat-10756	32	28	with	with	ADP
easat-10756	32	29	the	the	DET
easat-10756	32	30	physical	physical	ADJ
easat-10756	32	31	properties	property	NOUN
easat-10756	32	32	of	of	ADP
easat-10756	32	33	space	space	NOUN
easat-10756	32	34	.	.	PUNCT
easat-10756	33	1	mohan	mohan	PROPN
easat-10756	33	2	et	et	PROPN
easat-10756	33	3	al	al	PROPN
easat-10756	33	4	.	.	PUNCT
easat-10756	34	1	[	[	X
easat-10756	34	2	10	10	NUM
easat-10756	34	3	]	]	PUNCT
easat-10756	34	4	introduced	introduce	VERB
easat-10756	34	5	the	the	DET
easat-10756	34	6	concept	concept	NOUN
easat-10756	34	7	of	of	ADP
easat-10756	34	8	robot	robot	NOUN
easat-10756	34	9	-	-	PUNCT
easat-10756	34	10	inclusive	inclusive	ADJ
easat-10756	34	11	space	space	NOUN
easat-10756	34	12	,	,	PUNCT
easat-10756	34	13	emphasizing	emphasize	VERB
easat-10756	34	14	the	the	DET
easat-10756	34	15	mutual	mutual	ADJ
easat-10756	34	16	influence	influence	NOUN
easat-10756	34	17	between	between	ADP
easat-10756	34	18	robotic	robotic	ADJ
easat-10756	34	19	navigation	navigation	NOUN
easat-10756	34	20	characteristics	characteristic	NOUN
easat-10756	34	21	and	and	CCONJ
easat-10756	34	22	spatial	spatial	ADJ
easat-10756	34	23	configuration	configuration	NOUN
easat-10756	34	24	,	,	PUNCT
easat-10756	34	25	and	and	CCONJ
easat-10756	34	26	reported	report	VERB
easat-10756	34	27	that	that	PRON
easat-10756	34	28	surface	surface	NOUN
easat-10756	34	29	reflectance	reflectance	NOUN
easat-10756	34	30	,	,	PUNCT
easat-10756	34	31	illuminance	illuminance	NOUN
easat-10756	34	32	,	,	PUNCT
easat-10756	34	33	and	and	CCONJ
easat-10756	34	34	texture	texture	ADJ
easat-10756	34	35	irregularity	irregularity	NOUN
easat-10756	34	36	directly	directly	ADV
easat-10756	34	37	affect	affect	VERB
easat-10756	34	38	robotic	robotic	ADJ
easat-10756	34	39	perception	perception	NOUN
easat-10756	34	40	performance	performance	NOUN
easat-10756	34	41	[	[	X
easat-10756	34	42	10	10	NUM
easat-10756	34	43	]	]	PUNCT
easat-10756	34	44	.	.	PUNCT
easat-10756	35	1	similarly	similarly	ADV
easat-10756	35	2	,	,	PUNCT
easat-10756	35	3	farkas	farkas	PROPN
easat-10756	35	4	et	et	PROPN
easat-10756	35	5	al	al	PROPN
easat-10756	35	6	.	.	PUNCT
easat-10756	36	1	[	[	X
easat-10756	36	2	11	11	NUM
easat-10756	36	3	]	]	PUNCT
easat-10756	36	4	provided	provide	VERB
easat-10756	36	5	experimental	experimental	ADJ
easat-10756	36	6	evidence	evidence	NOUN
easat-10756	36	7	demonstrating	demonstrate	VERB
easat-10756	36	8	that	that	DET
easat-10756	36	9	surface	surface	NOUN
easat-10756	36	10	reflectance	reflectance	NOUN
easat-10756	36	11	,	,	PUNCT
easat-10756	36	12	transparency	transparency	NOUN
easat-10756	36	13	,	,	PUNCT
easat-10756	36	14	and	and	CCONJ
easat-10756	36	15	illumination	illumination	NOUN
easat-10756	36	16	significantly	significantly	ADV
easat-10756	36	17	influence	influence	VERB
easat-10756	36	18	the	the	DET
easat-10756	36	19	robotic	robotic	ADJ
easat-10756	36	20	perceptibility	perceptibility	NOUN
easat-10756	36	21	of	of	ADP
easat-10756	36	22	architectural	architectural	ADJ
easat-10756	36	23	environments	environment	NOUN
easat-10756	37	1	[	[	X
easat-10756	37	2	11	11	NUM
easat-10756	37	3	]	]	PUNCT
easat-10756	37	4	.	.	PUNCT
easat-10756	38	1	therefore	therefore	ADV
easat-10756	38	2	,	,	PUNCT
easat-10756	38	3	it	it	PRON
easat-10756	38	4	is	be	AUX
easat-10756	38	5	necessary	necessary	ADJ
easat-10756	38	6	to	to	PART
easat-10756	38	7	conduct	conduct	VERB
easat-10756	38	8	evidence	evidence	NOUN
easat-10756	38	9	-	-	PUNCT
easat-10756	38	10	based	base	VERB
easat-10756	38	11	research	research	NOUN
easat-10756	38	12	that	that	PRON
easat-10756	38	13	links	link	VERB
easat-10756	38	14	the	the	DET
easat-10756	38	15	sensing	sensing	NOUN
easat-10756	38	16	and	and	CCONJ
easat-10756	38	17	navigation	navigation	NOUN
easat-10756	38	18	performance	performance	NOUN
easat-10756	38	19	of	of	ADP
easat-10756	38	20	robots	robot	NOUN
easat-10756	38	21	with	with	ADP
easat-10756	38	22	the	the	DET
easat-10756	38	23	physical	physical	ADJ
easat-10756	38	24	properties	property	NOUN
easat-10756	38	25	of	of	ADP
easat-10756	38	26	architectural	architectural	ADJ
easat-10756	38	27	finishing	finish	VERB
easat-10756	38	28	materials	material	NOUN
easat-10756	38	29	.	.	PUNCT
easat-10756	39	1	in	in	ADP
easat-10756	39	2	other	other	ADJ
easat-10756	39	3	words	word	NOUN
easat-10756	39	4	,	,	PUNCT
easat-10756	39	5	the	the	DET
easat-10756	39	6	conventional	conventional	ADJ
easat-10756	39	7	human	human	NOUN
easat-10756	39	8	-	-	PUNCT
easat-10756	39	9	centered	center	VERB
easat-10756	39	10	concept	concept	NOUN
easat-10756	39	11	of	of	ADP
easat-10756	39	12	ebd	ebd	PROPN
easat-10756	39	13	should	should	AUX
easat-10756	39	14	be	be	AUX
easat-10756	39	15	extended	extend	VERB
easat-10756	39	16	to	to	PART
easat-10756	39	17	derive	derive	VERB
easat-10756	39	18	correlation	correlation	NOUN
easat-10756	39	19	factors	factor	NOUN
easat-10756	39	20	between	between	ADP
easat-10756	39	21	robots	robot	NOUN
easat-10756	39	22	and	and	CCONJ
easat-10756	39	23	building	building	NOUN
easat-10756	39	24	materials	material	NOUN
easat-10756	39	25	,	,	PUNCT
easat-10756	39	26	thereby	thereby	ADV
easat-10756	39	27	establishing	establish	VERB
easat-10756	39	28	empirical	empirical	ADJ
easat-10756	39	29	evidence	evidence	NOUN
easat-10756	39	30	for	for	ADP
easat-10756	39	31	the	the	DET
easat-10756	39	32	development	development	NOUN
easat-10756	39	33	of	of	ADP
easat-10756	39	34	robot	robot	NOUN
easat-10756	39	35	-	-	PUNCT
easat-10756	39	36	friendly	friendly	ADJ
easat-10756	39	37	architectural	architectural	ADJ
easat-10756	39	38	environments	environment	NOUN
easat-10756	39	39	.	.	PUNCT
easat-10756	40	1	accordingly	accordingly	ADV
easat-10756	40	2	,	,	PUNCT
easat-10756	40	3	this	this	DET
easat-10756	40	4	study	study	NOUN
easat-10756	40	5	analyzes	analyze	VERB
easat-10756	40	6	the	the	DET
easat-10756	40	7	correlation	correlation	NOUN
easat-10756	40	8	between	between	ADP
easat-10756	40	9	service	service	NOUN
easat-10756	40	10	robot	robot	NOUN
easat-10756	40	11	performance	performance	NOUN
easat-10756	40	12	indicators	indicator	NOUN
easat-10756	40	13	,	,	PUNCT
easat-10756	40	14	such	such	ADJ
easat-10756	40	15	as	as	ADP
easat-10756	40	16	perception	perception	NOUN
easat-10756	40	17	accuracy	accuracy	NOUN
easat-10756	40	18	and	and	CCONJ
easat-10756	40	19	navigational	navigational	ADJ
easat-10756	40	20	stability	stability	NOUN
easat-10756	40	21	,	,	PUNCT
easat-10756	40	22	and	and	CCONJ
easat-10756	40	23	the	the	DET
easat-10756	40	24	physical	physical	ADJ
easat-10756	40	25	properties	property	NOUN
easat-10756	40	26	of	of	ADP
easat-10756	40	27	architectural	architectural	ADJ
easat-10756	40	28	finishing	finish	VERB
easat-10756	40	29	materials	material	NOUN
easat-10756	40	30	,	,	PUNCT
easat-10756	40	31	including	include	VERB
easat-10756	40	32	reflectance	reflectance	NOUN
easat-10756	40	33	,	,	PUNCT
easat-10756	40	34	friction	friction	NOUN
easat-10756	40	35	coefficient	coefficient	NOUN
easat-10756	40	36	,	,	PUNCT
easat-10756	40	37	illuminance	illuminance	NOUN
easat-10756	40	38	,	,	PUNCT
easat-10756	40	39	and	and	CCONJ
easat-10756	40	40	transparency	transparency	NOUN
easat-10756	40	41	,	,	PUNCT
easat-10756	40	42	based	base	VERB
easat-10756	40	43	on	on	ADP
easat-10756	40	44	previous	previous	ADJ
easat-10756	40	45	ebd	ebd	PROPN
easat-10756	40	46	-	-	PUNCT
easat-10756	40	47	related	relate	VERB
easat-10756	40	48	research	research	NOUN
easat-10756	40	49	associated	associate	VERB
easat-10756	40	50	with	with	ADP
easat-10756	40	51	robot	robot	NOUN
easat-10756	40	52	-	-	PUNCT
easat-10756	40	53	friendly	friendly	ADJ
easat-10756	40	54	architecture	architecture	NOUN
easat-10756	40	55	.	.	PUNCT
easat-10756	41	1	through	through	ADP
easat-10756	41	2	this	this	DET
easat-10756	41	3	analysis	analysis	NOUN
easat-10756	41	4	,	,	PUNCT
easat-10756	41	5	the	the	DET
easat-10756	41	6	study	study	NOUN
easat-10756	41	7	aims	aim	VERB
easat-10756	41	8	to	to	PART
easat-10756	41	9	identify	identify	VERB
easat-10756	41	10	key	key	ADJ
easat-10756	41	11	evidence	evidence	NOUN
easat-10756	41	12	-	-	PUNCT
easat-10756	41	13	based	base	VERB
easat-10756	41	14	factors	factor	NOUN
easat-10756	41	15	applicable	applicable	ADJ
easat-10756	41	16	to	to	ADP
easat-10756	41	17	the	the	DET
easat-10756	41	18	design	design	NOUN
easat-10756	41	19	,	,	PUNCT
easat-10756	41	20	construction	construction	NOUN
easat-10756	41	21	,	,	PUNCT
easat-10756	41	22	and	and	CCONJ
easat-10756	41	23	operation	operation	NOUN
easat-10756	41	24	phases	phase	NOUN
easat-10756	41	25	of	of	ADP
easat-10756	41	26	robot	robot	NOUN
easat-10756	41	27	-	-	PUNCT
easat-10756	41	28	friendly	friendly	ADJ
easat-10756	41	29	buildings	building	NOUN
easat-10756	41	30	,	,	PUNCT
easat-10756	41	31	and	and	CCONJ
easat-10756	41	32	to	to	PART
easat-10756	41	33	provide	provide	VERB
easat-10756	41	34	foundational	foundational	ADJ
easat-10756	41	35	data	datum	NOUN
easat-10756	41	36	for	for	ADP
easat-10756	41	37	developing	develop	VERB
easat-10756	41	38	a	a	DET
easat-10756	41	39	future	future	ADJ
easat-10756	41	40	evaluation	evaluation	NOUN
easat-10756	41	41	system	system	NOUN
easat-10756	41	42	that	that	PRON
easat-10756	41	43	assesses	assess	VERB
easat-10756	41	44	the	the	DET
easat-10756	41	45	correlation	correlation	NOUN
easat-10756	41	46	between	between	ADP
easat-10756	41	47	robotic	robotic	ADJ
easat-10756	41	48	performance	performance	NOUN
easat-10756	41	49	and	and	CCONJ
easat-10756	41	50	material	material	NOUN
easat-10756	41	51	characteristics	characteristic	NOUN
easat-10756	41	52	.	.	PUNCT
easat-10756	42	1	2	2	X
easat-10756	42	2	.	.	X
easat-10756	42	3	concept	concept	NOUN
easat-10756	42	4	of	of	ADP
easat-10756	42	5	evidence	evidence	NOUN
easat-10756	42	6	-	-	PUNCT
easat-10756	42	7	based	base	VERB
easat-10756	42	8	design	design	NOUN
easat-10756	42	9	evidence	evidence	NOUN
easat-10756	42	10	-	-	PUNCT
easat-10756	42	11	based	base	VERB
easat-10756	42	12	design	design	NOUN
easat-10756	42	13	(	(	PUNCT
easat-10756	42	14	ebd	ebd	PROPN
easat-10756	42	15	)	)	PUNCT
easat-10756	42	16	is	be	AUX
easat-10756	42	17	a	a	DET
easat-10756	42	18	design	design	NOUN
easat-10756	42	19	approach	approach	NOUN
easat-10756	42	20	that	that	PRON
easat-10756	42	21	supports	support	VERB
easat-10756	42	22	architectural	architectural	ADJ
easat-10756	42	23	decision	decision	NOUN
easat-10756	42	24	-	-	PUNCT
easat-10756	42	25	making	making	NOUN
easat-10756	42	26	based	base	VERB
easat-10756	42	27	on	on	ADP
easat-10756	42	28	scientific	scientific	ADJ
easat-10756	42	29	evidence	evidence	NOUN
easat-10756	42	30	,	,	PUNCT
easat-10756	42	31	emphasizing	emphasize	VERB
easat-10756	42	32	the	the	DET
easat-10756	42	33	quantitative	quantitative	ADJ
easat-10756	42	34	and	and	CCONJ
easat-10756	42	35	qualitative	qualitative	ADJ
easat-10756	42	36	verification	verification	NOUN
easat-10756	42	37	of	of	ADP
easat-10756	42	38	user	user	NOUN
easat-10756	42	39	experience	experience	NOUN
easat-10756	42	40	and	and	CCONJ
easat-10756	42	41	environmental	environmental	ADJ
easat-10756	42	42	performance	performance	NOUN
easat-10756	42	43	.	.	PUNCT
easat-10756	43	1	as	as	SCONJ
easat-10756	43	2	illustrated	illustrate	VERB
easat-10756	43	3	in	in	ADP
easat-10756	43	4	the	the	DET
easat-10756	43	5	framework	framework	NOUN
easat-10756	43	6	shown	show	VERB
easat-10756	43	7	in	in	ADP
easat-10756	43	8	figure	figure	NOUN
easat-10756	43	9	1	1	NUM
easat-10756	43	10	,	,	PUNCT
easat-10756	43	11	the	the	DET
easat-10756	43	12	ebd	ebd	PROPN
easat-10756	43	13	process	process	NOUN
easat-10756	43	14	proceeds	proceed	VERB
easat-10756	43	15	sequentially	sequentially	ADV
easat-10756	43	16	through	through	ADP
easat-10756	43	17	the	the	DET
easat-10756	43	18	stages	stage	NOUN
easat-10756	43	19	of	of	ADP
easat-10756	43	20	pre	pre	NOUN
easat-10756	43	21	-	-	NOUN
easat-10756	43	22	design	design	ADJ
easat-10756	43	23	,	,	PUNCT
easat-10756	43	24	design	design	NOUN
easat-10756	43	25	,	,	PUNCT
easat-10756	43	26	construction	construction	NOUN
easat-10756	43	27	,	,	PUNCT
easat-10756	43	28	occupancy	occupancy	NOUN
easat-10756	43	29	,	,	PUNCT
easat-10756	43	30	and	and	CCONJ
easat-10756	43	31	organizational	organizational	ADJ
easat-10756	43	32	readiness	readiness	NOUN
easat-10756	43	33	.	.	PUNCT
easat-10756	44	1	59	59	NUM
easat-10756	44	2	edelweiss	edelweiss	PROPN
easat-10756	44	3	applied	apply	VERB
easat-10756	44	4	science	science	NOUN
easat-10756	44	5	and	and	CCONJ
easat-10756	44	6	technology	technology	NOUN
easat-10756	44	7	issn	issn	PROPN
easat-10756	44	8	:	:	PUNCT
easat-10756	44	9	2576	2576	NUM
easat-10756	44	10	-	-	SYM
easat-10756	44	11	8484	8484	NUM
easat-10756	44	12	vol	vol	NOUN
easat-10756	44	13	.	.	PROPN
easat-10756	45	1	9	9	NUM
easat-10756	45	2	,	,	PUNCT
easat-10756	45	3	no	no	INTJ
easat-10756	45	4	.	.	NOUN
easat-10756	45	5	11	11	NUM
easat-10756	45	6	:	:	PUNCT
easat-10756	45	7	57	57	NUM
easat-10756	45	8	-	-	SYM
easat-10756	45	9	70	70	NUM
easat-10756	45	10	,	,	PUNCT
easat-10756	45	11	2025	2025	NUM
easat-10756	45	12	doi	doi	NOUN
easat-10756	45	13	:	:	PUNCT
easat-10756	45	14	10.55214/2576	10.55214/2576	NUM
easat-10756	45	15	-	-	SYM
easat-10756	45	16	8484.v9i11.10756	8484.v9i11.10756	NUM
easat-10756	45	17	©	©	PROPN
easat-10756	45	18	2025	2025	NUM
easat-10756	45	19	by	by	ADP
easat-10756	45	20	the	the	DET
easat-10756	45	21	authors	author	NOUN
easat-10756	45	22	;	;	PUNCT
easat-10756	45	23	licensee	licensee	PROPN
easat-10756	45	24	learning	learn	VERB
easat-10756	45	25	gate	gate	NOUN
easat-10756	45	26	figure	figure	NOUN
easat-10756	45	27	1	1	NUM
easat-10756	45	28	.	.	PUNCT
easat-10756	45	29	evidence	evidence	NOUN
easat-10756	45	30	-	-	PUNCT
easat-10756	45	31	based	base	VERB
easat-10756	45	32	design	design	NOUN
easat-10756	45	33	framework	framework	NOUN
easat-10756	45	34	.	.	PUNCT
easat-10756	46	1	in	in	ADP
easat-10756	46	2	the	the	DET
easat-10756	46	3	field	field	NOUN
easat-10756	46	4	of	of	ADP
easat-10756	46	5	architecture	architecture	NOUN
easat-10756	46	6	,	,	PUNCT
easat-10756	46	7	the	the	DET
easat-10756	46	8	concept	concept	NOUN
easat-10756	46	9	of	of	ADP
easat-10756	46	10	ebd	ebd	PROPN
easat-10756	46	11	was	be	AUX
easat-10756	46	12	actively	actively	ADV
easat-10756	46	13	introduced	introduce	VERB
easat-10756	46	14	through	through	ADP
easat-10756	46	15	studies	study	NOUN
easat-10756	46	16	investigating	investigate	VERB
easat-10756	46	17	the	the	DET
easat-10756	46	18	effects	effect	NOUN
easat-10756	46	19	of	of	ADP
easat-10756	46	20	environmental	environmental	ADJ
easat-10756	46	21	factors	factor	NOUN
easat-10756	46	22	in	in	ADP
easat-10756	46	23	healthcare	healthcare	NOUN
easat-10756	46	24	facilities	facility	NOUN
easat-10756	46	25	on	on	ADP
easat-10756	46	26	patients	patient	NOUN
easat-10756	46	27	’	’	PART
easat-10756	46	28	health	health	NOUN
easat-10756	46	29	and	and	CCONJ
easat-10756	46	30	psychological	psychological	ADJ
easat-10756	46	31	well	well	ADV
easat-10756	46	32	-	-	PUNCT
easat-10756	46	33	being	be	AUX
easat-10756	46	34	[	[	X
easat-10756	46	35	6	6	NUM
easat-10756	46	36	]	]	PUNCT
easat-10756	46	37	.	.	PUNCT
easat-10756	47	1	the	the	DET
easat-10756	47	2	conceptual	conceptual	ADJ
easat-10756	47	3	development	development	NOUN
easat-10756	47	4	of	of	ADP
easat-10756	47	5	ebd	ebd	PROPN
easat-10756	47	6	in	in	ADP
easat-10756	47	7	this	this	DET
easat-10756	47	8	context	context	NOUN
easat-10756	47	9	has	have	AUX
easat-10756	47	10	been	be	AUX
easat-10756	47	11	summarized	summarize	VERB
easat-10756	47	12	in	in	ADP
easat-10756	47	13	table	table	NOUN
easat-10756	47	14	1	1	NUM
easat-10756	47	15	.	.	PUNCT
easat-10756	47	16	table	table	NOUN
easat-10756	47	17	1	1	NUM
easat-10756	47	18	.	.	PUNCT
easat-10756	48	1	evolution	evolution	NOUN
easat-10756	48	2	of	of	ADP
easat-10756	48	3	evidence	evidence	NOUN
easat-10756	48	4	-	-	PUNCT
easat-10756	48	5	based	base	VERB
easat-10756	48	6	design	design	NOUN
easat-10756	48	7	(	(	PUNCT
easat-10756	48	8	ebd	ebd	PROPN
easat-10756	48	9	)	)	PUNCT
easat-10756	48	10	.	.	PUNCT
easat-10756	49	1	generation	generation	NOUN
easat-10756	49	2	key	key	ADJ
easat-10756	49	3	focus	focus	NOUN
easat-10756	49	4	main	main	ADJ
easat-10756	49	5	contributions	contribution	NOUN
easat-10756	49	6	reference	reference	NOUN
easat-10756	49	7	1st	1st	PROPN
easat-10756	49	8	gen	gen	PROPN
easat-10756	49	9	–	–	PUNCT
easat-10756	49	10	empirical	empirical	ADJ
easat-10756	49	11	foundation	foundation	NOUN
easat-10756	49	12	empirical	empirical	ADJ
easat-10756	49	13	verification	verification	NOUN
easat-10756	49	14	of	of	ADP
easat-10756	49	15	environmental	environmental	ADJ
easat-10756	49	16	effects	effect	NOUN
easat-10756	49	17	on	on	ADP
easat-10756	49	18	human	human	ADJ
easat-10756	49	19	health	health	NOUN
easat-10756	49	20	and	and	CCONJ
easat-10756	49	21	recovery	recovery	NOUN
easat-10756	49	22	demonstrated	demonstrate	VERB
easat-10756	49	23	that	that	SCONJ
easat-10756	49	24	natural	natural	ADJ
easat-10756	49	25	views	view	NOUN
easat-10756	49	26	from	from	ADP
easat-10756	49	27	hospital	hospital	NOUN
easat-10756	49	28	windows	window	NOUN
easat-10756	49	29	positively	positively	ADV
easat-10756	49	30	influence	influence	VERB
easat-10756	49	31	patient	patient	NOUN
easat-10756	49	32	recovery	recovery	NOUN
easat-10756	49	33	speed	speed	NOUN
easat-10756	49	34	,	,	PUNCT
easat-10756	49	35	providing	provide	VERB
easat-10756	49	36	the	the	DET
easat-10756	49	37	first	first	ADJ
easat-10756	49	38	evidence	evidence	NOUN
easat-10756	49	39	-	-	PUNCT
easat-10756	49	40	based	base	VERB
easat-10756	49	41	linkage	linkage	NOUN
easat-10756	49	42	between	between	ADP
easat-10756	49	43	architectural	architectural	ADJ
easat-10756	49	44	design	design	NOUN
easat-10756	49	45	and	and	CCONJ
easat-10756	49	46	medical	medical	ADJ
easat-10756	49	47	outcomes	outcome	NOUN
easat-10756	49	48	.	.	PUNCT
easat-10756	50	1	ulrich	ulrich	PROPN
easat-10756	51	1	[	[	X
easat-10756	51	2	6	6	NUM
easat-10756	51	3	]	]	X
easat-10756	51	4	2nd	2nd	ADJ
easat-10756	51	5	gen	gen	PROPN
easat-10756	51	6	–	–	PUNCT
easat-10756	51	7	procedural	procedural	ADJ
easat-10756	51	8	structuring	structuring	NOUN
easat-10756	51	9	establishment	establishment	NOUN
easat-10756	51	10	of	of	ADP
easat-10756	51	11	a	a	DET
easat-10756	51	12	systematic	systematic	ADJ
easat-10756	51	13	design	design	NOUN
easat-10756	51	14	process	process	NOUN
easat-10756	51	15	integrating	integrate	VERB
easat-10756	51	16	evidence	evidence	NOUN
easat-10756	51	17	into	into	ADP
easat-10756	51	18	decisionmaking	decisionmake	VERB
easat-10756	51	19	defined	define	VERB
easat-10756	51	20	the	the	DET
easat-10756	51	21	four	four	NUM
easat-10756	51	22	-	-	PUNCT
easat-10756	51	23	stage	stage	NOUN
easat-10756	51	24	ebd	ebd	NOUN
easat-10756	51	25	procedure	procedure	NOUN
easat-10756	51	26	:	:	PUNCT
easat-10756	51	27	problem	problem	NOUN
easat-10756	51	28	definition	definition	NOUN
easat-10756	51	29	,	,	PUNCT
easat-10756	51	30	evidence	evidence	NOUN
easat-10756	51	31	gathering	gathering	NOUN
easat-10756	51	32	,	,	PUNCT
easat-10756	51	33	application	application	NOUN
easat-10756	51	34	,	,	PUNCT
easat-10756	51	35	and	and	CCONJ
easat-10756	51	36	evaluation	evaluation	NOUN
easat-10756	51	37	to	to	PART
easat-10756	51	38	guide	guide	VERB
easat-10756	51	39	evidence	evidence	NOUN
easat-10756	51	40	-	-	PUNCT
easat-10756	51	41	driven	drive	VERB
easat-10756	51	42	design	design	NOUN
easat-10756	51	43	practice	practice	NOUN
easat-10756	51	44	.	.	PUNCT
easat-10756	52	1	hamilton	hamilton	PROPN
easat-10756	52	2	and	and	CCONJ
easat-10756	52	3	watkins	watkin	VERB
easat-10756	53	1	[	[	X
easat-10756	53	2	7	7	NUM
easat-10756	53	3	]	]	X
easat-10756	53	4	3rd	3rd	ADJ
easat-10756	53	5	gen	gen	PROPN
easat-10756	53	6	–	–	PUNCT
easat-10756	53	7	outcomeoriented	outcomeoriente	VERB
easat-10756	53	8	approach	approach	NOUN
easat-10756	53	9	transition	transition	NOUN
easat-10756	53	10	from	from	ADP
easat-10756	53	11	procedural	procedural	ADJ
easat-10756	53	12	to	to	ADP
easat-10756	53	13	outcomebased	outcomebase	VERB
easat-10756	53	14	validation	validation	NOUN
easat-10756	53	15	proposed	propose	VERB
easat-10756	53	16	that	that	SCONJ
easat-10756	53	17	ebd	ebd	PROPN
easat-10756	53	18	should	should	AUX
easat-10756	53	19	aim	aim	VERB
easat-10756	53	20	to	to	PART
easat-10756	53	21	predict	predict	VERB
easat-10756	53	22	and	and	CCONJ
easat-10756	53	23	evaluate	evaluate	VERB
easat-10756	53	24	measurable	measurable	ADJ
easat-10756	53	25	outcomes	outcome	NOUN
easat-10756	53	26	(	(	PUNCT
easat-10756	53	27	user	user	NOUN
easat-10756	53	28	satisfaction	satisfaction	NOUN
easat-10756	53	29	,	,	PUNCT
easat-10756	53	30	safety	safety	NOUN
easat-10756	53	31	,	,	PUNCT
easat-10756	53	32	efficiency	efficiency	NOUN
easat-10756	53	33	)	)	PUNCT
easat-10756	53	34	through	through	ADP
easat-10756	53	35	scientific	scientific	ADJ
easat-10756	53	36	evidence	evidence	NOUN
easat-10756	53	37	,	,	PUNCT
easat-10756	53	38	expanding	expand	VERB
easat-10756	53	39	ebd	ebd	NOUN
easat-10756	53	40	from	from	ADP
easat-10756	53	41	process	process	NOUN
easat-10756	53	42	-	-	PUNCT
easat-10756	53	43	based	base	VERB
easat-10756	53	44	to	to	ADP
easat-10756	53	45	results	result	NOUN
easat-10756	53	46	-	-	PUNCT
easat-10756	53	47	driven	drive	VERB
easat-10756	53	48	design	design	NOUN
easat-10756	53	49	.	.	PUNCT
easat-10756	54	1	zimring	zimring	PROPN
easat-10756	54	2	et	et	PROPN
easat-10756	54	3	al	al	PROPN
easat-10756	54	4	.	.	PUNCT
easat-10756	55	1	[	[	X
easat-10756	55	2	8	8	NUM
easat-10756	55	3	]	]	X
easat-10756	55	4	4th	4th	ADJ
easat-10756	55	5	gen	gen	PROPN
easat-10756	55	6	–	–	PUNCT
easat-10756	55	7	datadriven	datadriven	ADJ
easat-10756	55	8	and	and	CCONJ
easat-10756	55	9	technological	technological	ADJ
easat-10756	55	10	integration	integration	NOUN
easat-10756	55	11	integration	integration	NOUN
easat-10756	55	12	of	of	ADP
easat-10756	55	13	digital	digital	ADJ
easat-10756	55	14	and	and	CCONJ
easat-10756	55	15	intelligent	intelligent	ADJ
easat-10756	55	16	technologies	technology	NOUN
easat-10756	55	17	into	into	ADP
easat-10756	55	18	evidence	evidence	NOUN
easat-10756	55	19	-	-	PUNCT
easat-10756	55	20	based	base	VERB
easat-10756	55	21	design	design	NOUN
easat-10756	55	22	emphasized	emphasize	VERB
easat-10756	55	23	convergence	convergence	NOUN
easat-10756	55	24	of	of	ADP
easat-10756	55	25	bim	bim	NOUN
easat-10756	55	26	,	,	PUNCT
easat-10756	55	27	iot	iot	PROPN
easat-10756	55	28	,	,	PUNCT
easat-10756	55	29	ai	ai	VERB
easat-10756	55	30	,	,	PUNCT
easat-10756	55	31	and	and	CCONJ
easat-10756	55	32	digital	digital	ADJ
easat-10756	55	33	twin	twin	ADJ
easat-10756	55	34	technologies	technology	NOUN
easat-10756	55	35	to	to	PART
easat-10756	55	36	enable	enable	VERB
easat-10756	55	37	real	real	ADJ
easat-10756	55	38	-	-	PUNCT
easat-10756	55	39	time	time	NOUN
easat-10756	55	40	performance	performance	NOUN
easat-10756	55	41	prediction	prediction	NOUN
easat-10756	55	42	,	,	PUNCT
easat-10756	55	43	optimization	optimization	NOUN
easat-10756	55	44	,	,	PUNCT
easat-10756	55	45	and	and	CCONJ
easat-10756	55	46	feedback	feedback	NOUN
easat-10756	55	47	within	within	ADP
easat-10756	55	48	the	the	DET
easat-10756	55	49	design	design	NOUN
easat-10756	55	50	process	process	NOUN
easat-10756	55	51	.	.	PUNCT
easat-10756	56	1	andrade	andrade	PROPN
easat-10756	56	2	et	et	PROPN
easat-10756	56	3	al	al	PROPN
easat-10756	56	4	.	.	PUNCT
easat-10756	57	1	[	[	X
easat-10756	57	2	12	12	NUM
easat-10756	57	3	]	]	SYM
easat-10756	57	4	60	60	NUM
easat-10756	57	5	edelweiss	edelweiss	PROPN
easat-10756	57	6	applied	apply	VERB
easat-10756	57	7	science	science	NOUN
easat-10756	57	8	and	and	CCONJ
easat-10756	57	9	technology	technology	NOUN
easat-10756	57	10	issn	issn	PROPN
easat-10756	57	11	:	:	PUNCT
easat-10756	57	12	2576	2576	NUM
easat-10756	57	13	-	-	SYM
easat-10756	57	14	8484	8484	NUM
easat-10756	57	15	vol	vol	NOUN
easat-10756	57	16	.	.	PROPN
easat-10756	58	1	9	9	NUM
easat-10756	58	2	,	,	PUNCT
easat-10756	58	3	no	no	INTJ
easat-10756	58	4	.	.	NOUN
easat-10756	58	5	11	11	NUM
easat-10756	58	6	:	:	PUNCT
easat-10756	58	7	57	57	NUM
easat-10756	58	8	-	-	SYM
easat-10756	58	9	70	70	NUM
easat-10756	58	10	,	,	PUNCT
easat-10756	58	11	2025	2025	NUM
easat-10756	58	12	doi	doi	NOUN
easat-10756	58	13	:	:	PUNCT
easat-10756	58	14	10.55214/2576	10.55214/2576	NUM
easat-10756	58	15	-	-	SYM
easat-10756	58	16	8484.v9i11.10756	8484.v9i11.10756	NUM
easat-10756	58	17	©	©	PROPN
easat-10756	58	18	2025	2025	NUM
easat-10756	58	19	by	by	ADP
easat-10756	58	20	the	the	DET
easat-10756	58	21	authors	author	NOUN
easat-10756	58	22	;	;	PUNCT
easat-10756	58	23	licensee	licensee	PROPN
easat-10756	58	24	learning	learning	PROPN
easat-10756	58	25	gate	gate	PROPN
easat-10756	58	26	representative	representative	PROPN
easat-10756	58	27	studies	study	NOUN
easat-10756	58	28	include	include	VERB
easat-10756	58	29	ulrich	ulrich	PROPN
easat-10756	58	30	[	[	X
easat-10756	58	31	6	6	NUM
easat-10756	58	32	]	]	PUNCT
easat-10756	58	33	,	,	PUNCT
easat-10756	58	34	who	who	PRON
easat-10756	58	35	demonstrated	demonstrate	VERB
easat-10756	58	36	that	that	DET
easat-10756	58	37	exposure	exposure	NOUN
easat-10756	58	38	to	to	ADP
easat-10756	58	39	natural	natural	ADJ
easat-10756	58	40	scenery	scenery	NOUN
easat-10756	58	41	through	through	ADP
easat-10756	58	42	patient	patient	ADJ
easat-10756	58	43	room	room	NOUN
easat-10756	58	44	windows	window	NOUN
easat-10756	58	45	positively	positively	ADV
easat-10756	58	46	influences	influence	VERB
easat-10756	58	47	recovery	recovery	NOUN
easat-10756	58	48	speed	speed	NOUN
easat-10756	58	49	and	and	CCONJ
easat-10756	58	50	stress	stress	NOUN
easat-10756	58	51	reduction	reduction	NOUN
easat-10756	58	52	,	,	PUNCT
easat-10756	58	53	thereby	thereby	ADV
easat-10756	58	54	introducing	introduce	VERB
easat-10756	58	55	a	a	DET
easat-10756	58	56	new	new	ADJ
easat-10756	58	57	paradigm	paradigm	NOUN
easat-10756	58	58	of	of	ADP
easat-10756	58	59	design	design	NOUN
easat-10756	58	60	grounded	ground	VERB
easat-10756	58	61	in	in	ADP
easat-10756	58	62	empirical	empirical	ADJ
easat-10756	58	63	rather	rather	ADV
easat-10756	58	64	than	than	ADP
easat-10756	58	65	intuitive	intuitive	ADJ
easat-10756	58	66	evidence	evidence	NOUN
easat-10756	58	67	[	[	X
easat-10756	58	68	6	6	NUM
easat-10756	58	69	]	]	PUNCT
easat-10756	58	70	.	.	PUNCT
easat-10756	59	1	subsequently	subsequently	ADV
easat-10756	59	2	,	,	PUNCT
easat-10756	59	3	hamilton	hamilton	PROPN
easat-10756	59	4	and	and	CCONJ
easat-10756	59	5	watkins	watkin	VERB
easat-10756	59	6	[	[	X
easat-10756	59	7	7	7	X
easat-10756	59	8	]	]	PUNCT
easat-10756	59	9	expanded	expand	VERB
easat-10756	59	10	this	this	DET
easat-10756	59	11	concept	concept	NOUN
easat-10756	59	12	into	into	ADP
easat-10756	59	13	a	a	DET
easat-10756	59	14	comprehensive	comprehensive	ADJ
easat-10756	59	15	design	design	NOUN
easat-10756	59	16	process	process	NOUN
easat-10756	59	17	,	,	PUNCT
easat-10756	59	18	proposing	propose	VERB
easat-10756	59	19	an	an	DET
easat-10756	59	20	evidence	evidence	NOUN
easat-10756	59	21	-	-	PUNCT
easat-10756	59	22	based	base	VERB
easat-10756	59	23	decision	decision	NOUN
easat-10756	59	24	-	-	PUNCT
easat-10756	59	25	making	make	VERB
easat-10756	59	26	framework	framework	NOUN
easat-10756	59	27	in	in	ADP
easat-10756	59	28	which	which	PRON
easat-10756	59	29	designers	designer	NOUN
easat-10756	59	30	define	define	VERB
easat-10756	59	31	problems	problem	NOUN
easat-10756	59	32	,	,	PUNCT
easat-10756	59	33	collect	collect	NOUN
easat-10756	59	34	,	,	PUNCT
easat-10756	59	35	interpret	interpret	VERB
easat-10756	59	36	,	,	PUNCT
easat-10756	59	37	apply	apply	VERB
easat-10756	59	38	,	,	PUNCT
easat-10756	59	39	and	and	CCONJ
easat-10756	59	40	evaluate	evaluate	VERB
easat-10756	59	41	evidence	evidence	NOUN
easat-10756	59	42	throughout	throughout	ADP
easat-10756	59	43	the	the	DET
easat-10756	59	44	entire	entire	ADJ
easat-10756	59	45	design	design	NOUN
easat-10756	59	46	cycle	cycle	NOUN
easat-10756	60	1	[	[	X
easat-10756	60	2	7	7	NUM
easat-10756	60	3	]	]	PUNCT
easat-10756	60	4	.	.	PUNCT
easat-10756	61	1	as	as	ADP
easat-10756	61	2	a	a	DET
easat-10756	61	3	result	result	NOUN
easat-10756	61	4	,	,	PUNCT
easat-10756	61	5	ebd	ebd	PROPN
easat-10756	61	6	evolved	evolve	VERB
easat-10756	61	7	beyond	beyond	ADP
easat-10756	61	8	a	a	DET
easat-10756	61	9	reference	reference	NOUN
easat-10756	61	10	-	-	PUNCT
easat-10756	61	11	based	base	VERB
easat-10756	61	12	approach	approach	NOUN
easat-10756	61	13	into	into	ADP
easat-10756	61	14	a	a	DET
easat-10756	61	15	systematic	systematic	ADJ
easat-10756	61	16	methodology	methodology	NOUN
easat-10756	61	17	that	that	PRON
easat-10756	61	18	transforms	transform	VERB
easat-10756	61	19	measurable	measurable	ADJ
easat-10756	61	20	evidence	evidence	NOUN
easat-10756	61	21	into	into	ADP
easat-10756	61	22	data	datum	NOUN
easat-10756	61	23	and	and	CCONJ
easat-10756	61	24	validates	validate	VERB
easat-10756	61	25	the	the	DET
easat-10756	61	26	legitimacy	legitimacy	NOUN
easat-10756	61	27	of	of	ADP
easat-10756	61	28	design	design	NOUN
easat-10756	61	29	outcomes	outcome	NOUN
easat-10756	61	30	.	.	PUNCT
easat-10756	62	1	zimring	zimring	PROPN
easat-10756	62	2	et	et	PROPN
easat-10756	62	3	al	al	PROPN
easat-10756	62	4	.	.	PUNCT
easat-10756	63	1	[	[	X
easat-10756	63	2	8	8	NUM
easat-10756	63	3	]	]	PUNCT
easat-10756	63	4	further	far	ADV
easat-10756	63	5	developed	develop	VERB
easat-10756	63	6	an	an	DET
easat-10756	63	7	ebd	ebd	NOUN
easat-10756	63	8	performance	performance	NOUN
easat-10756	63	9	evaluation	evaluation	NOUN
easat-10756	63	10	framework	framework	NOUN
easat-10756	63	11	linking	link	VERB
easat-10756	63	12	objective	objective	ADJ
easat-10756	63	13	data	datum	NOUN
easat-10756	63	14	derived	derive	VERB
easat-10756	63	15	from	from	ADP
easat-10756	63	16	experimental	experimental	ADJ
easat-10756	63	17	studies	study	NOUN
easat-10756	63	18	to	to	ADP
easat-10756	63	19	actual	actual	ADJ
easat-10756	63	20	building	building	NOUN
easat-10756	63	21	outcomes	outcome	NOUN
easat-10756	63	22	.	.	PUNCT
easat-10756	64	1	while	while	SCONJ
easat-10756	64	2	andrade	andrade	PROPN
easat-10756	64	3	et	et	PROPN
easat-10756	64	4	al	al	PROPN
easat-10756	64	5	.	.	PUNCT
easat-10756	65	1	[	[	X
easat-10756	65	2	12	12	NUM
easat-10756	65	3	]	]	PUNCT
easat-10756	65	4	empirically	empirically	ADV
easat-10756	65	5	examined	examine	VERB
easat-10756	65	6	the	the	DET
easat-10756	65	7	relationships	relationship	NOUN
easat-10756	65	8	among	among	ADP
easat-10756	65	9	user	user	NOUN
easat-10756	65	10	satisfaction	satisfaction	NOUN
easat-10756	65	11	,	,	PUNCT
easat-10756	65	12	safety	safety	NOUN
easat-10756	65	13	,	,	PUNCT
easat-10756	65	14	and	and	CCONJ
easat-10756	65	15	healing	healing	NOUN
easat-10756	65	16	effects	effect	NOUN
easat-10756	65	17	in	in	ADP
easat-10756	65	18	hospital	hospital	NOUN
easat-10756	65	19	architecture	architecture	NOUN
easat-10756	65	20	,	,	PUNCT
easat-10756	65	21	demonstrating	demonstrate	VERB
easat-10756	65	22	that	that	SCONJ
easat-10756	65	23	ebd	ebd	PROPN
easat-10756	65	24	can	can	AUX
easat-10756	65	25	function	function	VERB
easat-10756	65	26	as	as	ADP
easat-10756	65	27	an	an	DET
easat-10756	65	28	effective	effective	ADJ
easat-10756	65	29	tool	tool	NOUN
easat-10756	65	30	for	for	ADP
easat-10756	65	31	evaluating	evaluate	VERB
easat-10756	65	32	architectural	architectural	ADJ
easat-10756	65	33	quality	quality	NOUN
easat-10756	65	34	[	[	X
easat-10756	65	35	8	8	NUM
easat-10756	65	36	,	,	PUNCT
easat-10756	65	37	12	12	NUM
easat-10756	65	38	]	]	PUNCT
easat-10756	65	39	.	.	PUNCT
easat-10756	66	1	recently	recently	ADV
easat-10756	66	2	,	,	PUNCT
easat-10756	66	3	the	the	DET
easat-10756	66	4	integration	integration	NOUN
easat-10756	66	5	of	of	ADP
easat-10756	66	6	digital	digital	ADJ
easat-10756	66	7	technologies	technology	NOUN
easat-10756	66	8	such	such	ADJ
easat-10756	66	9	as	as	ADP
easat-10756	66	10	ai	ai	NOUN
easat-10756	66	11	,	,	PUNCT
easat-10756	66	12	iot	iot	NOUN
easat-10756	66	13	,	,	PUNCT
easat-10756	66	14	sensor	sensor	NOUN
easat-10756	66	15	networks	network	NOUN
easat-10756	66	16	,	,	PUNCT
easat-10756	66	17	and	and	CCONJ
easat-10756	66	18	bim	bim	NOUN
easat-10756	66	19	has	have	AUX
easat-10756	66	20	led	lead	VERB
easat-10756	66	21	to	to	ADP
easat-10756	66	22	the	the	DET
easat-10756	66	23	automation	automation	NOUN
easat-10756	66	24	and	and	CCONJ
easat-10756	66	25	intelligence	intelligence	NOUN
easat-10756	66	26	of	of	ADP
easat-10756	66	27	ebd	ebd	PROPN
easat-10756	66	28	’s	’s	PART
easat-10756	66	29	data	data	PROPN
easat-10756	66	30	collection	collection	NOUN
easat-10756	66	31	and	and	CCONJ
easat-10756	66	32	analysis	analysis	NOUN
easat-10756	66	33	processes	process	NOUN
easat-10756	66	34	.	.	PUNCT
easat-10756	67	1	through	through	ADP
easat-10756	67	2	this	this	DET
easat-10756	67	3	convergence	convergence	NOUN
easat-10756	67	4	,	,	PUNCT
easat-10756	67	5	environmental	environmental	ADJ
easat-10756	67	6	performance	performance	NOUN
easat-10756	67	7	data	datum	NOUN
easat-10756	67	8	of	of	ADP
easat-10756	67	9	buildings	building	NOUN
easat-10756	67	10	and	and	CCONJ
easat-10756	67	11	user	user	NOUN
easat-10756	67	12	response	response	NOUN
easat-10756	67	13	metrics	metric	NOUN
easat-10756	67	14	can	can	AUX
easat-10756	67	15	be	be	AUX
easat-10756	67	16	analyzed	analyze	VERB
easat-10756	67	17	in	in	ADP
easat-10756	67	18	real	real	ADJ
easat-10756	67	19	time	time	NOUN
easat-10756	67	20	,	,	PUNCT
easat-10756	67	21	enabling	enable	VERB
easat-10756	67	22	the	the	DET
easat-10756	67	23	prediction	prediction	NOUN
easat-10756	67	24	and	and	CCONJ
easat-10756	67	25	optimization	optimization	NOUN
easat-10756	67	26	of	of	ADP
easat-10756	67	27	spatial	spatial	ADJ
easat-10756	67	28	performance	performance	NOUN
easat-10756	67	29	during	during	ADP
easat-10756	67	30	the	the	DET
easat-10756	67	31	design	design	NOUN
easat-10756	67	32	phase	phase	NOUN
easat-10756	67	33	.	.	PUNCT
easat-10756	68	1	consequently	consequently	ADV
easat-10756	68	2	,	,	PUNCT
easat-10756	68	3	ebd	ebd	PROPN
easat-10756	68	4	is	be	AUX
easat-10756	68	5	evolving	evolve	VERB
easat-10756	68	6	into	into	ADP
easat-10756	68	7	an	an	DET
easat-10756	68	8	evidence	evidence	NOUN
easat-10756	68	9	–	–	PUNCT
easat-10756	68	10	data	data	NOUN
easat-10756	68	11	loop	loop	NOUN
easat-10756	68	12	design	design	NOUN
easat-10756	68	13	framework	framework	NOUN
easat-10756	68	14	that	that	PRON
easat-10756	68	15	continuously	continuously	ADV
easat-10756	68	16	links	link	VERB
easat-10756	68	17	evidence	evidence	NOUN
easat-10756	68	18	-	-	PUNCT
easat-10756	68	19	based	base	VERB
easat-10756	68	20	reasoning	reasoning	NOUN
easat-10756	68	21	with	with	ADP
easat-10756	68	22	data	data	NOUN
easat-10756	68	23	-	-	PUNCT
easat-10756	68	24	driven	drive	VERB
easat-10756	68	25	decision	decision	NOUN
easat-10756	68	26	-	-	PUNCT
easat-10756	68	27	making	making	NOUN
easat-10756	68	28	[	[	X
easat-10756	68	29	9	9	NUM
easat-10756	68	30	,	,	PUNCT
easat-10756	68	31	13	13	NUM
easat-10756	68	32	]	]	PUNCT
easat-10756	68	33	.	.	PUNCT
easat-10756	69	1	in	in	ADP
easat-10756	69	2	domestic	domestic	ADJ
easat-10756	69	3	research	research	NOUN
easat-10756	69	4	,	,	PUNCT
easat-10756	69	5	lee	lee	PROPN
easat-10756	69	6	and	and	CCONJ
easat-10756	69	7	noh	noh	PROPN
easat-10756	69	8	[	[	X
easat-10756	69	9	14	14	NUM
easat-10756	69	10	]	]	PUNCT
easat-10756	69	11	emphasized	emphasize	VERB
easat-10756	69	12	the	the	DET
easat-10756	69	13	need	need	NOUN
easat-10756	69	14	to	to	PART
easat-10756	69	15	promote	promote	VERB
easat-10756	69	16	the	the	DET
easat-10756	69	17	activation	activation	NOUN
easat-10756	69	18	of	of	ADP
easat-10756	69	19	ebd	ebd	PROPN
easat-10756	69	20	and	and	CCONJ
easat-10756	69	21	to	to	PART
easat-10756	69	22	introduce	introduce	VERB
easat-10756	69	23	the	the	DET
easat-10756	69	24	evidence	evidence	NOUN
easat-10756	69	25	-	-	PUNCT
easat-10756	69	26	based	base	VERB
easat-10756	69	27	design	design	NOUN
easat-10756	69	28	accreditation	accreditation	NOUN
easat-10756	69	29	and	and	CCONJ
easat-10756	69	30	certification	certification	NOUN
easat-10756	69	31	(	(	PUNCT
easat-10756	69	32	edac	edac	NOUN
easat-10756	69	33	)	)	PUNCT
easat-10756	69	34	system	system	NOUN
easat-10756	69	35	,	,	PUNCT
easat-10756	69	36	proposing	propose	VERB
easat-10756	69	37	the	the	DET
easat-10756	69	38	establishment	establishment	NOUN
easat-10756	69	39	of	of	ADP
easat-10756	69	40	an	an	DET
easat-10756	69	41	institutional	institutional	ADJ
easat-10756	69	42	framework	framework	NOUN
easat-10756	69	43	to	to	PART
easat-10756	69	44	certify	certify	VERB
easat-10756	69	45	the	the	DET
easat-10756	69	46	expertise	expertise	NOUN
easat-10756	69	47	of	of	ADP
easat-10756	69	48	designers	designer	NOUN
easat-10756	69	49	,	,	PUNCT
easat-10756	69	50	researchers	researcher	NOUN
easat-10756	69	51	,	,	PUNCT
easat-10756	69	52	and	and	CCONJ
easat-10756	69	53	facility	facility	NOUN
easat-10756	69	54	managers	manager	NOUN
easat-10756	69	55	,	,	PUNCT
easat-10756	69	56	particularly	particularly	ADV
easat-10756	69	57	in	in	ADP
easat-10756	69	58	healthcare	healthcare	NOUN
easat-10756	69	59	architecture	architecture	NOUN
easat-10756	69	60	[	[	X
easat-10756	69	61	14	14	NUM
easat-10756	69	62	]	]	PUNCT
easat-10756	69	63	.	.	PUNCT
easat-10756	70	1	edac	edac	PROPN
easat-10756	70	2	is	be	AUX
easat-10756	70	3	an	an	DET
easat-10756	70	4	international	international	ADJ
easat-10756	70	5	qualification	qualification	NOUN
easat-10756	70	6	system	system	NOUN
easat-10756	70	7	administered	administer	VERB
easat-10756	70	8	by	by	ADP
easat-10756	70	9	the	the	DET
easat-10756	70	10	center	center	NOUN
easat-10756	70	11	for	for	ADP
easat-10756	70	12	health	health	NOUN
easat-10756	70	13	design	design	NOUN
easat-10756	70	14	(	(	PUNCT
easat-10756	70	15	chd	chd	NOUN
easat-10756	70	16	)	)	PUNCT
easat-10756	70	17	in	in	ADP
easat-10756	70	18	the	the	DET
easat-10756	70	19	united	united	PROPN
easat-10756	70	20	states	states	PROPN
easat-10756	70	21	,	,	PUNCT
easat-10756	70	22	which	which	PRON
easat-10756	70	23	formally	formally	ADV
easat-10756	70	24	verifies	verify	VERB
easat-10756	70	25	a	a	DET
easat-10756	70	26	designer	designer	NOUN
easat-10756	70	27	’s	’s	PART
easat-10756	70	28	competency	competency	NOUN
easat-10756	70	29	in	in	ADP
easat-10756	70	30	evidence	evidence	NOUN
easat-10756	70	31	collection	collection	NOUN
easat-10756	70	32	,	,	PUNCT
easat-10756	70	33	application	application	NOUN
easat-10756	70	34	,	,	PUNCT
easat-10756	70	35	and	and	CCONJ
easat-10756	70	36	evaluation	evaluation	NOUN
easat-10756	70	37	[	[	X
easat-10756	70	38	14	14	NUM
easat-10756	70	39	]	]	PUNCT
easat-10756	70	40	.	.	PUNCT
easat-10756	71	1	such	such	ADJ
easat-10756	71	2	institutional	institutional	ADJ
easat-10756	71	3	expansion	expansion	NOUN
easat-10756	71	4	indicates	indicate	VERB
easat-10756	71	5	that	that	SCONJ
easat-10756	71	6	ebd	ebd	PROPN
easat-10756	71	7	has	have	AUX
easat-10756	71	8	evolved	evolve	VERB
easat-10756	71	9	beyond	beyond	ADP
easat-10756	71	10	a	a	DET
easat-10756	71	11	mere	mere	ADJ
easat-10756	71	12	design	design	NOUN
easat-10756	71	13	methodology	methodology	NOUN
easat-10756	71	14	into	into	ADP
easat-10756	71	15	a	a	DET
easat-10756	71	16	data	data	NOUN
easat-10756	71	17	-	-	PUNCT
easat-10756	71	18	driven	drive	VERB
easat-10756	71	19	design	design	NOUN
easat-10756	71	20	paradigm	paradigm	NOUN
easat-10756	71	21	grounded	ground	VERB
easat-10756	71	22	in	in	ADP
easat-10756	71	23	quantitative	quantitative	ADJ
easat-10756	71	24	evidence	evidence	NOUN
easat-10756	71	25	.	.	PUNCT
easat-10756	72	1	the	the	DET
easat-10756	72	2	application	application	NOUN
easat-10756	72	3	scope	scope	NOUN
easat-10756	72	4	of	of	ADP
easat-10756	72	5	ebd	ebd	PROPN
easat-10756	72	6	,	,	PUNCT
easat-10756	72	7	which	which	PRON
easat-10756	72	8	initially	initially	ADV
easat-10756	72	9	focused	focus	VERB
easat-10756	72	10	on	on	ADP
easat-10756	72	11	healthcare	healthcare	NOUN
easat-10756	72	12	facilities	facility	NOUN
easat-10756	72	13	,	,	PUNCT
easat-10756	72	14	has	have	AUX
easat-10756	72	15	expanded	expand	VERB
easat-10756	72	16	to	to	PART
easat-10756	72	17	include	include	VERB
easat-10756	72	18	schools	school	NOUN
easat-10756	72	19	,	,	PUNCT
easat-10756	72	20	offices	office	NOUN
easat-10756	72	21	,	,	PUNCT
easat-10756	72	22	residential	residential	ADJ
easat-10756	72	23	buildings	building	NOUN
easat-10756	72	24	,	,	PUNCT
easat-10756	72	25	and	and	CCONJ
easat-10756	72	26	public	public	ADJ
easat-10756	72	27	facilities	facility	NOUN
easat-10756	72	28	.	.	PUNCT
easat-10756	73	1	along	along	ADP
easat-10756	73	2	with	with	ADP
easat-10756	73	3	the	the	DET
easat-10756	73	4	integration	integration	NOUN
easat-10756	73	5	of	of	ADP
easat-10756	73	6	environmental	environmental	ADJ
easat-10756	73	7	psychology	psychology	NOUN
easat-10756	73	8	,	,	PUNCT
easat-10756	73	9	user	user	NOUN
easat-10756	73	10	experience	experience	NOUN
easat-10756	73	11	(	(	PUNCT
easat-10756	73	12	ux	ux	NOUN
easat-10756	73	13	)	)	PUNCT
easat-10756	73	14	,	,	PUNCT
easat-10756	73	15	and	and	CCONJ
easat-10756	73	16	human	human	ADJ
easat-10756	73	17	–	–	PUNCT
easat-10756	73	18	robot	robot	NOUN
easat-10756	73	19	interaction	interaction	NOUN
easat-10756	73	20	(	(	PUNCT
easat-10756	73	21	hri	hri	PROPN
easat-10756	73	22	)	)	PUNCT
easat-10756	73	23	,	,	PUNCT
easat-10756	73	24	ebd	ebd	PROPN
easat-10756	73	25	has	have	AUX
easat-10756	73	26	evolved	evolve	VERB
easat-10756	73	27	into	into	ADP
easat-10756	73	28	a	a	DET
easat-10756	73	29	user	user	NOUN
easat-10756	73	30	-	-	PUNCT
easat-10756	73	31	centered	center	VERB
easat-10756	73	32	,	,	PUNCT
easat-10756	73	33	performance	performance	NOUN
easat-10756	73	34	-	-	PUNCT
easat-10756	73	35	based	base	VERB
easat-10756	73	36	design	design	NOUN
easat-10756	73	37	approach	approach	NOUN
easat-10756	73	38	[	[	X
easat-10756	73	39	6	6	NUM
easat-10756	73	40	-	-	SYM
easat-10756	73	41	9	9	NUM
easat-10756	73	42	,	,	PUNCT
easat-10756	73	43	12	12	NUM
easat-10756	73	44	-	-	SYM
easat-10756	73	45	14	14	NUM
easat-10756	73	46	]	]	PUNCT
easat-10756	73	47	.	.	PUNCT
easat-10756	74	1	this	this	DET
easat-10756	74	2	expansion	expansion	NOUN
easat-10756	74	3	provides	provide	VERB
easat-10756	74	4	the	the	DET
easat-10756	74	5	theoretical	theoretical	ADJ
easat-10756	74	6	foundation	foundation	NOUN
easat-10756	74	7	for	for	ADP
easat-10756	74	8	research	research	NOUN
easat-10756	74	9	on	on	ADP
easat-10756	74	10	robot	robot	NOUN
easat-10756	74	11	-	-	PUNCT
easat-10756	74	12	friendly	friendly	ADJ
easat-10756	74	13	architecture	architecture	NOUN
easat-10756	74	14	that	that	PRON
easat-10756	74	15	incorporates	incorporate	VERB
easat-10756	74	16	robots	robot	NOUN
easat-10756	74	17	as	as	ADP
easat-10756	74	18	new	new	ADJ
easat-10756	74	19	agents	agent	NOUN
easat-10756	74	20	within	within	ADP
easat-10756	74	21	the	the	DET
easat-10756	74	22	built	build	VERB
easat-10756	74	23	environment	environment	NOUN
easat-10756	74	24	,	,	PUNCT
easat-10756	74	25	further	far	ADV
easat-10756	74	26	emphasizing	emphasize	VERB
easat-10756	74	27	the	the	DET
easat-10756	74	28	need	need	NOUN
easat-10756	74	29	for	for	ADP
easat-10756	74	30	an	an	DET
easat-10756	74	31	evidence	evidence	NOUN
easat-10756	74	32	-	-	PUNCT
easat-10756	74	33	based	base	VERB
easat-10756	74	34	framework	framework	NOUN
easat-10756	74	35	capable	capable	ADJ
easat-10756	74	36	of	of	ADP
easat-10756	74	37	quantitatively	quantitatively	ADV
easat-10756	74	38	and	and	CCONJ
easat-10756	74	39	qualitatively	qualitatively	ADV
easat-10756	74	40	verifying	verify	VERB
easat-10756	74	41	interactions	interaction	NOUN
easat-10756	74	42	between	between	ADP
easat-10756	74	43	architectural	architectural	ADJ
easat-10756	74	44	environments	environment	NOUN
easat-10756	74	45	and	and	CCONJ
easat-10756	74	46	robotic	robotic	ADJ
easat-10756	74	47	systems	system	NOUN
easat-10756	74	48	.	.	PUNCT
easat-10756	75	1	ultimately	ultimately	ADV
easat-10756	75	2	,	,	PUNCT
easat-10756	75	3	ebd	ebd	PROPN
easat-10756	75	4	has	have	AUX
easat-10756	75	5	evolved	evolve	VERB
easat-10756	75	6	from	from	ADP
easat-10756	75	7	a	a	DET
easat-10756	75	8	traditional	traditional	ADJ
easat-10756	75	9	design	design	NOUN
easat-10756	75	10	approach	approach	NOUN
easat-10756	75	11	based	base	VERB
easat-10756	75	12	on	on	ADP
easat-10756	75	13	experience	experience	NOUN
easat-10756	75	14	and	and	CCONJ
easat-10756	75	15	intuition	intuition	NOUN
easat-10756	75	16	into	into	ADP
easat-10756	75	17	a	a	DET
easat-10756	75	18	rational	rational	ADJ
easat-10756	75	19	decision	decision	NOUN
easat-10756	75	20	-	-	PUNCT
easat-10756	75	21	making	make	VERB
easat-10756	75	22	tool	tool	NOUN
easat-10756	75	23	grounded	ground	VERB
easat-10756	75	24	in	in	ADP
easat-10756	75	25	scientific	scientific	ADJ
easat-10756	75	26	evidence	evidence	NOUN
easat-10756	75	27	and	and	CCONJ
easat-10756	75	28	data	datum	NOUN
easat-10756	75	29	.	.	PUNCT
easat-10756	76	1	this	this	DET
easat-10756	76	2	transformation	transformation	NOUN
easat-10756	76	3	provides	provide	VERB
easat-10756	76	4	a	a	DET
easat-10756	76	5	theoretical	theoretical	ADJ
easat-10756	76	6	foundation	foundation	NOUN
easat-10756	76	7	for	for	ADP
easat-10756	76	8	evaluating	evaluate	VERB
easat-10756	76	9	and	and	CCONJ
easat-10756	76	10	optimizing	optimize	VERB
easat-10756	76	11	the	the	DET
easat-10756	76	12	safety	safety	NOUN
easat-10756	76	13	,	,	PUNCT
easat-10756	76	14	perceptibility	perceptibility	NOUN
easat-10756	76	15	,	,	PUNCT
easat-10756	76	16	and	and	CCONJ
easat-10756	76	17	accessibility	accessibility	NOUN
easat-10756	76	18	of	of	ADP
easat-10756	76	19	indoor	indoor	ADJ
easat-10756	76	20	environments	environment	NOUN
easat-10756	76	21	in	in	ADP
easat-10756	76	22	which	which	PRON
easat-10756	76	23	robots	robot	NOUN
easat-10756	76	24	operate	operate	VERB
easat-10756	76	25	.	.	PUNCT
easat-10756	77	1	3	3	X
easat-10756	77	2	.	.	X
easat-10756	77	3	research	research	NOUN
easat-10756	77	4	methodology	methodology	NOUN
easat-10756	77	5	this	this	DET
easat-10756	77	6	study	study	NOUN
easat-10756	77	7	aims	aim	VERB
easat-10756	77	8	to	to	PART
easat-10756	77	9	identify	identify	VERB
easat-10756	77	10	key	key	ADJ
easat-10756	77	11	evidence	evidence	NOUN
easat-10756	77	12	factors	factor	NOUN
easat-10756	77	13	for	for	ADP
easat-10756	77	14	establishing	establish	VERB
easat-10756	77	15	robot	robot	NOUN
easat-10756	77	16	-	-	PUNCT
easat-10756	77	17	friendly	friendly	ADJ
easat-10756	77	18	architectural	architectural	ADJ
easat-10756	77	19	environments	environment	NOUN
easat-10756	77	20	by	by	ADP
easat-10756	77	21	examining	examine	VERB
easat-10756	77	22	architectural	architectural	ADJ
easat-10756	77	23	and	and	CCONJ
easat-10756	77	24	material	material	NOUN
easat-10756	77	25	parameters	parameter	NOUN
easat-10756	77	26	that	that	PRON
easat-10756	77	27	influence	influence	VERB
easat-10756	77	28	the	the	DET
easat-10756	77	29	operational	operational	ADJ
easat-10756	77	30	performance	performance	NOUN
easat-10756	77	31	of	of	ADP
easat-10756	77	32	service	service	NOUN
easat-10756	77	33	robots	robot	NOUN
easat-10756	77	34	within	within	ADP
easat-10756	77	35	the	the	DET
easat-10756	77	36	theoretical	theoretical	ADJ
easat-10756	77	37	framework	framework	NOUN
easat-10756	77	38	of	of	ADP
easat-10756	77	39	evidence	evidence	NOUN
easat-10756	77	40	-	-	PUNCT
easat-10756	77	41	based	base	VERB
easat-10756	77	42	design	design	NOUN
easat-10756	77	43	(	(	PUNCT
easat-10756	77	44	ebd	ebd	PROPN
easat-10756	77	45	)	)	PUNCT
easat-10756	77	46	.	.	PUNCT
easat-10756	78	1	the	the	DET
easat-10756	78	2	main	main	ADJ
easat-10756	78	3	research	research	NOUN
easat-10756	78	4	procedure	procedure	NOUN
easat-10756	78	5	is	be	AUX
easat-10756	78	6	structured	structure	VERB
easat-10756	78	7	as	as	SCONJ
easat-10756	78	8	illustrated	illustrate	VERB
easat-10756	78	9	in	in	ADP
easat-10756	78	10	figure	figure	NOUN
easat-10756	78	11	2	2	NUM
easat-10756	78	12	.	.	SYM
easat-10756	78	13	61	61	NUM
easat-10756	78	14	edelweiss	edelweiss	PROPN
easat-10756	78	15	applied	apply	VERB
easat-10756	78	16	science	science	NOUN
easat-10756	78	17	and	and	CCONJ
easat-10756	78	18	technology	technology	NOUN
easat-10756	78	19	issn	issn	PROPN
easat-10756	78	20	:	:	PUNCT
easat-10756	78	21	2576	2576	NUM
easat-10756	78	22	-	-	SYM
easat-10756	78	23	8484	8484	NUM
easat-10756	78	24	vol	vol	NOUN
easat-10756	78	25	.	.	PROPN
easat-10756	79	1	9	9	NUM
easat-10756	79	2	,	,	PUNCT
easat-10756	79	3	no	no	INTJ
easat-10756	79	4	.	.	NOUN
easat-10756	79	5	11	11	NUM
easat-10756	79	6	:	:	PUNCT
easat-10756	79	7	57	57	NUM
easat-10756	79	8	-	-	SYM
easat-10756	79	9	70	70	NUM
easat-10756	79	10	,	,	PUNCT
easat-10756	79	11	2025	2025	NUM
easat-10756	79	12	doi	doi	NOUN
easat-10756	79	13	:	:	PUNCT
easat-10756	79	14	10.55214/2576	10.55214/2576	NUM
easat-10756	79	15	-	-	SYM
easat-10756	79	16	8484.v9i11.10756	8484.v9i11.10756	NUM
easat-10756	79	17	©	©	PROPN
easat-10756	79	18	2025	2025	NUM
easat-10756	79	19	by	by	ADP
easat-10756	79	20	the	the	DET
easat-10756	79	21	authors	author	NOUN
easat-10756	79	22	;	;	PUNCT
easat-10756	79	23	licensee	licensee	PROPN
easat-10756	79	24	learning	learn	VERB
easat-10756	79	25	gate	gate	NOUN
easat-10756	79	26	figure	figure	NOUN
easat-10756	79	27	2	2	NUM
easat-10756	79	28	.	.	PUNCT
easat-10756	79	29	research	research	NOUN
easat-10756	79	30	process	process	NOUN
easat-10756	79	31	.	.	PUNCT
easat-10756	80	1	first	first	ADV
easat-10756	80	2	,	,	PUNCT
easat-10756	80	3	this	this	DET
easat-10756	80	4	study	study	NOUN
easat-10756	80	5	aims	aim	VERB
easat-10756	80	6	to	to	PART
easat-10756	80	7	identify	identify	VERB
easat-10756	80	8	environmental	environmental	ADJ
easat-10756	80	9	factors	factor	NOUN
easat-10756	80	10	among	among	ADP
easat-10756	80	11	the	the	DET
easat-10756	80	12	architectural	architectural	ADJ
easat-10756	80	13	variables	variable	NOUN
easat-10756	80	14	addressed	address	VERB
easat-10756	80	15	in	in	ADP
easat-10756	80	16	previous	previous	ADJ
easat-10756	80	17	ebd	ebd	PROPN
easat-10756	80	18	studies	study	NOUN
easat-10756	80	19	that	that	PRON
easat-10756	80	20	may	may	AUX
easat-10756	80	21	influence	influence	VERB
easat-10756	80	22	the	the	DET
easat-10756	80	23	perception	perception	NOUN
easat-10756	80	24	(	(	PUNCT
easat-10756	80	25	sensing	sense	VERB
easat-10756	80	26	)	)	PUNCT
easat-10756	80	27	and	and	CCONJ
easat-10756	80	28	navigation	navigation	NOUN
easat-10756	80	29	performance	performance	NOUN
easat-10756	80	30	of	of	ADP
easat-10756	80	31	service	service	NOUN
easat-10756	80	32	robots	robot	NOUN
easat-10756	80	33	.	.	PUNCT
easat-10756	81	1	subsequently	subsequently	ADV
easat-10756	81	2	,	,	PUNCT
easat-10756	81	3	a	a	DET
easat-10756	81	4	literature	literature	NOUN
easat-10756	81	5	search	search	NOUN
easat-10756	81	6	is	be	AUX
easat-10756	81	7	conducted	conduct	VERB
easat-10756	81	8	using	use	VERB
easat-10756	81	9	major	major	ADJ
easat-10756	81	10	academic	academic	ADJ
easat-10756	81	11	databases	database	NOUN
easat-10756	81	12	such	such	ADJ
easat-10756	81	13	as	as	ADP
easat-10756	81	14	scopus	scopus	NOUN
easat-10756	81	15	,	,	PUNCT
easat-10756	81	16	web	web	NOUN
easat-10756	81	17	of	of	ADP
easat-10756	81	18	science	science	NOUN
easat-10756	81	19	,	,	PUNCT
easat-10756	81	20	kci	kci	PROPN
easat-10756	81	21	,	,	PUNCT
easat-10756	81	22	and	and	CCONJ
easat-10756	81	23	sciencedirect	sciencedirect	NOUN
easat-10756	81	24	,	,	PUNCT
easat-10756	81	25	focusing	focus	VERB
easat-10756	81	26	on	on	ADP
easat-10756	81	27	papers	paper	NOUN
easat-10756	81	28	published	publish	VERB
easat-10756	81	29	between	between	ADP
easat-10756	81	30	2000	2000	NUM
easat-10756	81	31	and	and	CCONJ
easat-10756	81	32	2024	2024	NUM
easat-10756	81	33	.	.	PUNCT
easat-10756	82	1	the	the	DET
easat-10756	82	2	search	search	NOUN
easat-10756	82	3	employs	employ	VERB
easat-10756	82	4	a	a	DET
easat-10756	82	5	combination	combination	NOUN
easat-10756	82	6	of	of	ADP
easat-10756	82	7	keywords	keyword	NOUN
easat-10756	82	8	,	,	PUNCT
easat-10756	82	9	including	include	VERB
easat-10756	82	10	evidence	evidence	NOUN
easat-10756	82	11	-	-	PUNCT
easat-10756	82	12	based	base	VERB
easat-10756	82	13	design	design	NOUN
easat-10756	82	14	(	(	PUNCT
easat-10756	82	15	ebd	ebd	PROPN
easat-10756	82	16	)	)	PUNCT
easat-10756	82	17	,	,	PUNCT
easat-10756	82	18	robot	robot	NOUN
easat-10756	82	19	-	-	PUNCT
easat-10756	82	20	friendly	friendly	ADJ
easat-10756	82	21	,	,	PUNCT
easat-10756	82	22	service	service	NOUN
easat-10756	82	23	robot	robot	NOUN
easat-10756	82	24	,	,	PUNCT
easat-10756	82	25	material	material	NOUN
easat-10756	82	26	properties	property	NOUN
easat-10756	82	27	,	,	PUNCT
easat-10756	82	28	and	and	CCONJ
easat-10756	82	29	indoor	indoor	ADJ
easat-10756	82	30	environment	environment	NOUN
easat-10756	82	31	.	.	PUNCT
easat-10756	83	1	after	after	ADP
easat-10756	83	2	removing	remove	VERB
easat-10756	83	3	duplicate	duplicate	ADJ
easat-10756	83	4	records	record	NOUN
easat-10756	83	5	,	,	PUNCT
easat-10756	83	6	the	the	DET
easat-10756	83	7	abstracts	abstract	NOUN
easat-10756	83	8	and	and	CCONJ
easat-10756	83	9	full	full	ADJ
easat-10756	83	10	texts	text	NOUN
easat-10756	83	11	are	be	AUX
easat-10756	83	12	reviewed	review	VERB
easat-10756	83	13	to	to	PART
easat-10756	83	14	select	select	VERB
easat-10756	83	15	studies	study	NOUN
easat-10756	83	16	related	relate	VERB
easat-10756	83	17	to	to	ADP
easat-10756	83	18	the	the	DET
easat-10756	83	19	physical	physical	ADJ
easat-10756	83	20	characteristics	characteristic	NOUN
easat-10756	83	21	of	of	ADP
easat-10756	83	22	finishing	finish	VERB
easat-10756	83	23	materials	material	NOUN
easat-10756	83	24	and	and	CCONJ
easat-10756	83	25	the	the	DET
easat-10756	83	26	operational	operational	ADJ
easat-10756	83	27	environments	environment	NOUN
easat-10756	83	28	of	of	ADP
easat-10756	83	29	robots	robot	NOUN
easat-10756	83	30	.	.	PUNCT
easat-10756	84	1	the	the	DET
easat-10756	84	2	inclusion	inclusion	NOUN
easat-10756	84	3	criteria	criterion	NOUN
easat-10756	84	4	for	for	ADP
easat-10756	84	5	the	the	DET
easat-10756	84	6	literature	literature	NOUN
easat-10756	84	7	selection	selection	NOUN
easat-10756	84	8	are	be	AUX
easat-10756	84	9	as	as	SCONJ
easat-10756	84	10	follows	follow	VERB
easat-10756	84	11	:	:	PUNCT
easat-10756	84	12	(	(	PUNCT
easat-10756	84	13	1	1	X
easat-10756	84	14	)	)	PUNCT
easat-10756	84	15	studies	study	NOUN
easat-10756	84	16	that	that	PRON
easat-10756	84	17	investigate	investigate	VERB
easat-10756	84	18	how	how	SCONJ
easat-10756	84	19	architectural	architectural	ADJ
easat-10756	84	20	environments	environment	NOUN
easat-10756	84	21	affect	affect	VERB
easat-10756	84	22	the	the	DET
easat-10756	84	23	perception	perception	NOUN
easat-10756	84	24	and	and	CCONJ
easat-10756	84	25	navigation	navigation	NOUN
easat-10756	84	26	performance	performance	NOUN
easat-10756	84	27	of	of	ADP
easat-10756	84	28	robots	robot	NOUN
easat-10756	84	29	;	;	PUNCT
easat-10756	84	30	(	(	PUNCT
easat-10756	84	31	2	2	X
easat-10756	84	32	)	)	PUNCT
easat-10756	84	33	studies	study	NOUN
easat-10756	84	34	examining	examine	VERB
easat-10756	84	35	how	how	SCONJ
easat-10756	84	36	the	the	DET
easat-10756	84	37	properties	property	NOUN
easat-10756	84	38	of	of	ADP
easat-10756	84	39	finishing	finish	VERB
easat-10756	84	40	materials	material	NOUN
easat-10756	84	41	,	,	PUNCT
easat-10756	84	42	such	such	ADJ
easat-10756	84	43	as	as	ADP
easat-10756	84	44	reflectance	reflectance	NOUN
easat-10756	84	45	,	,	PUNCT
easat-10756	84	46	friction	friction	NOUN
easat-10756	84	47	coefficient	coefficient	NOUN
easat-10756	84	48	,	,	PUNCT
easat-10756	84	49	illuminance	illuminance	NOUN
easat-10756	84	50	,	,	PUNCT
easat-10756	84	51	surface	surface	NOUN
easat-10756	84	52	roughness	roughness	NOUN
easat-10756	84	53	,	,	PUNCT
easat-10756	84	54	and	and	CCONJ
easat-10756	84	55	transparency	transparency	NOUN
easat-10756	84	56	,	,	PUNCT
easat-10756	84	57	impact	impact	VERB
easat-10756	84	58	the	the	DET
easat-10756	84	59	sensing	sense	VERB
easat-10756	84	60	accuracy	accuracy	NOUN
easat-10756	84	61	or	or	CCONJ
easat-10756	84	62	navigational	navigational	ADJ
easat-10756	84	63	stability	stability	NOUN
easat-10756	84	64	of	of	ADP
easat-10756	84	65	indoor	indoor	ADJ
easat-10756	84	66	service	service	NOUN
easat-10756	84	67	robots	robot	NOUN
easat-10756	84	68	;	;	PUNCT
easat-10756	84	69	and	and	CCONJ
easat-10756	84	70	(	(	PUNCT
easat-10756	84	71	3	3	X
easat-10756	84	72	)	)	PUNCT
easat-10756	84	73	studies	study	NOUN
easat-10756	84	74	that	that	PRON
easat-10756	84	75	apply	apply	VERB
easat-10756	84	76	ebd	ebd	PROPN
easat-10756	84	77	or	or	CCONJ
easat-10756	84	78	data	datum	NOUN
easat-10756	84	79	-	-	PUNCT
easat-10756	84	80	driven	drive	VERB
easat-10756	84	81	approaches	approach	NOUN
easat-10756	84	82	to	to	PART
easat-10756	84	83	analyze	analyze	VERB
easat-10756	84	84	environmental	environmental	ADJ
easat-10756	84	85	factors	factor	NOUN
easat-10756	84	86	.	.	PUNCT
easat-10756	85	1	papers	paper	NOUN
easat-10756	85	2	that	that	PRON
easat-10756	85	3	do	do	AUX
easat-10756	85	4	not	not	PART
easat-10756	85	5	meet	meet	VERB
easat-10756	85	6	these	these	DET
easat-10756	85	7	criteria	criterion	NOUN
easat-10756	85	8	,	,	PUNCT
easat-10756	85	9	such	such	ADJ
easat-10756	85	10	as	as	ADP
easat-10756	85	11	those	those	PRON
easat-10756	85	12	focusing	focus	VERB
easat-10756	85	13	solely	solely	ADV
easat-10756	85	14	on	on	ADP
easat-10756	85	15	robotic	robotic	ADJ
easat-10756	85	16	control	control	NOUN
easat-10756	85	17	or	or	CCONJ
easat-10756	85	18	algorithmic	algorithmic	ADJ
easat-10756	85	19	optimization	optimization	NOUN
easat-10756	85	20	,	,	PUNCT
easat-10756	85	21	or	or	CCONJ
easat-10756	85	22	those	those	PRON
easat-10756	85	23	dealing	deal	VERB
easat-10756	85	24	primarily	primarily	ADV
easat-10756	85	25	with	with	ADP
easat-10756	85	26	outdoor	outdoor	ADJ
easat-10756	85	27	environments	environment	NOUN
easat-10756	85	28	,	,	PUNCT
easat-10756	85	29	are	be	AUX
easat-10756	85	30	excluded	exclude	VERB
easat-10756	85	31	from	from	ADP
easat-10756	85	32	the	the	DET
easat-10756	85	33	analysis	analysis	NOUN
easat-10756	85	34	.	.	PUNCT
easat-10756	86	1	the	the	DET
easat-10756	86	2	selected	select	VERB
easat-10756	86	3	literature	literature	NOUN
easat-10756	86	4	is	be	AUX
easat-10756	86	5	analyzed	analyze	VERB
easat-10756	86	6	through	through	ADP
easat-10756	86	7	a	a	DET
easat-10756	86	8	qualitative	qualitative	ADJ
easat-10756	86	9	data	data	NOUN
easat-10756	86	10	charting	charting	NOUN
easat-10756	86	11	process	process	NOUN
easat-10756	86	12	.	.	PUNCT
easat-10756	87	1	the	the	DET
easat-10756	87	2	key	key	ADJ
easat-10756	87	3	variables	variable	NOUN
easat-10756	87	4	identified	identify	VERB
easat-10756	87	5	in	in	ADP
easat-10756	87	6	each	each	DET
easat-10756	87	7	study	study	NOUN
easat-10756	87	8	are	be	AUX
easat-10756	87	9	categorized	categorize	VERB
easat-10756	87	10	into	into	ADP
easat-10756	87	11	environmental	environmental	ADJ
easat-10756	87	12	factors	factor	NOUN
easat-10756	87	13	and	and	CCONJ
easat-10756	87	14	performance	performance	NOUN
easat-10756	87	15	indicators	indicator	NOUN
easat-10756	87	16	.	.	PUNCT
easat-10756	88	1	the	the	DET
easat-10756	88	2	former	former	ADJ
easat-10756	88	3	includes	include	VERB
easat-10756	88	4	characteristics	characteristic	NOUN
easat-10756	88	5	of	of	ADP
easat-10756	88	6	finishing	finish	VERB
easat-10756	88	7	materials	material	NOUN
easat-10756	88	8	such	such	ADJ
easat-10756	88	9	as	as	ADP
easat-10756	88	10	reflectance	reflectance	NOUN
easat-10756	88	11	,	,	PUNCT
easat-10756	88	12	friction	friction	NOUN
easat-10756	88	13	coefficient	coefficient	NOUN
easat-10756	88	14	,	,	PUNCT
easat-10756	88	15	illuminance	illuminance	NOUN
easat-10756	88	16	,	,	PUNCT
easat-10756	88	17	transparency	transparency	NOUN
easat-10756	88	18	,	,	PUNCT
easat-10756	88	19	and	and	CCONJ
easat-10756	88	20	surface	surface	NOUN
easat-10756	88	21	roughness	roughness	NOUN
easat-10756	88	22	,	,	PUNCT
easat-10756	88	23	as	as	ADV
easat-10756	88	24	well	well	ADV
easat-10756	88	25	as	as	ADP
easat-10756	88	26	spatial	spatial	ADJ
easat-10756	88	27	conditions	condition	NOUN
easat-10756	88	28	,	,	PUNCT
easat-10756	88	29	while	while	SCONJ
easat-10756	88	30	the	the	DET
easat-10756	88	31	latter	latter	NOUN
easat-10756	88	32	encompasses	encompass	VERB
easat-10756	88	33	performance	performance	NOUN
easat-10756	88	34	metrics	metric	NOUN
easat-10756	88	35	such	such	ADJ
easat-10756	88	36	as	as	ADP
easat-10756	88	37	sensor	sensor	NOUN
easat-10756	88	38	detection	detection	NOUN
easat-10756	88	39	rate	rate	NOUN
easat-10756	88	40	,	,	PUNCT
easat-10756	88	41	perception	perception	NOUN
easat-10756	88	42	accuracy	accuracy	NOUN
easat-10756	88	43	,	,	PUNCT
easat-10756	88	44	navigational	navigational	ADJ
easat-10756	88	45	stability	stability	NOUN
easat-10756	88	46	,	,	PUNCT
easat-10756	88	47	and	and	CCONJ
easat-10756	88	48	collision	collision	NOUN
easat-10756	88	49	rate	rate	NOUN
easat-10756	88	50	of	of	ADP
easat-10756	88	51	robots	robot	NOUN
easat-10756	88	52	.	.	PUNCT
easat-10756	89	1	the	the	DET
easat-10756	89	2	frequency	frequency	NOUN
easat-10756	89	3	and	and	CCONJ
easat-10756	89	4	directional	directional	ADJ
easat-10756	89	5	relationships	relationship	NOUN
easat-10756	89	6	between	between	ADP
easat-10756	89	7	these	these	DET
easat-10756	89	8	variables	variable	NOUN
easat-10756	89	9	are	be	AUX
easat-10756	89	10	examined	examine	VERB
easat-10756	89	11	to	to	PART
easat-10756	89	12	identify	identify	VERB
easat-10756	89	13	patterns	pattern	NOUN
easat-10756	89	14	of	of	ADP
easat-10756	89	15	correlation	correlation	NOUN
easat-10756	89	16	,	,	PUNCT
easat-10756	89	17	and	and	CCONJ
easat-10756	89	18	recurring	recur	VERB
easat-10756	89	19	elements	element	NOUN
easat-10756	89	20	are	be	AUX
easat-10756	89	21	synthesized	synthesize	VERB
easat-10756	89	22	to	to	PART
easat-10756	89	23	derive	derive	VERB
easat-10756	89	24	ebdbased	ebdbased	ADJ
easat-10756	89	25	evidence	evidence	NOUN
easat-10756	89	26	factors	factor	NOUN
easat-10756	89	27	relevant	relevant	ADJ
easat-10756	89	28	to	to	ADP
easat-10756	89	29	robot	robot	NOUN
easat-10756	89	30	-	-	PUNCT
easat-10756	89	31	friendly	friendly	ADJ
easat-10756	89	32	architectural	architectural	ADJ
easat-10756	89	33	environments	environment	NOUN
easat-10756	89	34	.	.	PUNCT
easat-10756	90	1	4	4	X
easat-10756	90	2	.	.	X
easat-10756	90	3	review	review	NOUN
easat-10756	90	4	of	of	ADP
easat-10756	90	5	ebd	ebd	NOUN
easat-10756	90	6	-	-	PUNCT
easat-10756	90	7	based	base	VERB
easat-10756	90	8	approaches	approach	NOUN
easat-10756	90	9	to	to	ADP
easat-10756	90	10	robot	robot	NOUN
easat-10756	90	11	-	-	PUNCT
easat-10756	90	12	friendly	friendly	ADJ
easat-10756	90	13	buildings	building	NOUN
easat-10756	90	14	4.1	4.1	NUM
easat-10756	90	15	.	.	PUNCT
easat-10756	91	1	overview	overview	NOUN
easat-10756	91	2	of	of	ADP
easat-10756	91	3	ebd	ebd	PROPN
easat-10756	91	4	review	review	NOUN
easat-10756	91	5	results	result	NOUN
easat-10756	91	6	based	base	VERB
easat-10756	91	7	on	on	ADP
easat-10756	91	8	the	the	DET
easat-10756	91	9	theoretical	theoretical	ADJ
easat-10756	91	10	framework	framework	NOUN
easat-10756	91	11	of	of	ADP
easat-10756	91	12	evidence	evidence	NOUN
easat-10756	91	13	-	-	PUNCT
easat-10756	91	14	based	base	VERB
easat-10756	91	15	design	design	NOUN
easat-10756	91	16	(	(	PUNCT
easat-10756	91	17	ebd	ebd	PROPN
easat-10756	91	18	)	)	PUNCT
easat-10756	91	19	,	,	PUNCT
easat-10756	91	20	this	this	DET
easat-10756	91	21	study	study	NOUN
easat-10756	91	22	aims	aim	VERB
easat-10756	91	23	to	to	PART
easat-10756	91	24	identify	identify	VERB
easat-10756	91	25	the	the	DET
easat-10756	91	26	correlation	correlation	NOUN
easat-10756	91	27	factors	factor	NOUN
easat-10756	91	28	between	between	ADP
easat-10756	91	29	the	the	DET
easat-10756	91	30	physical	physical	ADJ
easat-10756	91	31	properties	property	NOUN
easat-10756	91	32	of	of	ADP
easat-10756	91	33	architectural	architectural	ADJ
easat-10756	91	34	finishing	finish	VERB
easat-10756	91	35	materials	material	NOUN
easat-10756	91	36	and	and	CCONJ
easat-10756	91	37	the	the	DET
easat-10756	91	38	perception	perception	NOUN
easat-10756	91	39	and	and	CCONJ
easat-10756	91	40	navigation	navigation	NOUN
easat-10756	91	41	performance	performance	NOUN
easat-10756	91	42	of	of	ADP
easat-10756	91	43	service	service	NOUN
easat-10756	91	44	robots	robot	NOUN
easat-10756	91	45	.	.	PUNCT
easat-10756	92	1	previous	previous	ADJ
easat-10756	92	2	ebd	ebd	PROPN
easat-10756	92	3	research	research	NOUN
easat-10756	92	4	has	have	AUX
easat-10756	92	5	primarily	primarily	ADV
easat-10756	92	6	focused	focus	VERB
easat-10756	92	7	on	on	ADP
easat-10756	92	8	verifying	verify	VERB
easat-10756	92	9	how	how	SCONJ
easat-10756	92	10	physical	physical	ADJ
easat-10756	92	11	parameters	parameter	NOUN
easat-10756	92	12	such	such	ADJ
easat-10756	92	13	as	as	ADP
easat-10756	92	14	lighting	lighting	NOUN
easat-10756	92	15	,	,	PUNCT
easat-10756	92	16	color	color	NOUN
easat-10756	92	17	,	,	PUNCT
easat-10756	92	18	reflectance	reflectance	NOUN
easat-10756	92	19	,	,	PUNCT
easat-10756	92	20	texture	texture	NOUN
easat-10756	92	21	,	,	PUNCT
easat-10756	92	22	friction	friction	NOUN
easat-10756	92	23	coefficient	coefficient	NOUN
easat-10756	92	24	,	,	PUNCT
easat-10756	92	25	noise	noise	NOUN
easat-10756	92	26	,	,	PUNCT
easat-10756	92	27	and	and	CCONJ
easat-10756	92	28	thermal	thermal	ADJ
easat-10756	92	29	conditions	condition	NOUN
easat-10756	92	30	affect	affect	VERB
easat-10756	92	31	users	user	NOUN
easat-10756	92	32	’	'	PUNCT
easat-10756	92	33	cognitive	cognitive	ADJ
easat-10756	92	34	,	,	PUNCT
easat-10756	92	35	behavioral	behavioral	ADJ
easat-10756	92	36	,	,	PUNCT
easat-10756	92	37	and	and	CCONJ
easat-10756	92	38	safety	safety	NOUN
easat-10756	92	39	-	-	PUNCT
easat-10756	92	40	related	relate	VERB
easat-10756	92	41	responses	response	NOUN
easat-10756	92	42	within	within	ADP
easat-10756	92	43	62	62	NUM
easat-10756	92	44	edelweiss	edelweiss	PROPN
easat-10756	92	45	applied	apply	VERB
easat-10756	92	46	science	science	NOUN
easat-10756	92	47	and	and	CCONJ
easat-10756	92	48	technology	technology	NOUN
easat-10756	92	49	issn	issn	PROPN
easat-10756	92	50	:	:	PUNCT
easat-10756	92	51	2576	2576	NUM
easat-10756	92	52	-	-	SYM
easat-10756	92	53	8484	8484	NUM
easat-10756	92	54	vol	vol	NOUN
easat-10756	92	55	.	.	PROPN
easat-10756	93	1	9	9	NUM
easat-10756	93	2	,	,	PUNCT
easat-10756	93	3	no	no	INTJ
easat-10756	93	4	.	.	NOUN
easat-10756	93	5	11	11	NUM
easat-10756	93	6	:	:	PUNCT
easat-10756	93	7	57	57	NUM
easat-10756	93	8	-	-	SYM
easat-10756	93	9	70	70	NUM
easat-10756	93	10	,	,	PUNCT
easat-10756	93	11	2025	2025	NUM
easat-10756	93	12	doi	doi	NOUN
easat-10756	93	13	:	:	PUNCT
easat-10756	93	14	10.55214/2576	10.55214/2576	NUM
easat-10756	93	15	-	-	SYM
easat-10756	93	16	8484.v9i11.10756	8484.v9i11.10756	NUM
easat-10756	93	17	©	©	PROPN
easat-10756	93	18	2025	2025	NUM
easat-10756	93	19	by	by	ADP
easat-10756	93	20	the	the	DET
easat-10756	93	21	authors	author	NOUN
easat-10756	93	22	;	;	PUNCT
easat-10756	93	23	licensee	licensee	PROPN
easat-10756	93	24	learning	learn	VERB
easat-10756	93	25	gate	gate	NOUN
easat-10756	93	26	architectural	architectural	ADJ
easat-10756	93	27	spaces	space	NOUN
easat-10756	94	1	[	[	X
easat-10756	94	2	6	6	NUM
easat-10756	94	3	-	-	SYM
easat-10756	94	4	9	9	NUM
easat-10756	94	5	,	,	PUNCT
easat-10756	94	6	12	12	NUM
easat-10756	94	7	]	]	PUNCT
easat-10756	94	8	.	.	PUNCT
easat-10756	95	1	however	however	ADV
easat-10756	95	2	,	,	PUNCT
easat-10756	95	3	as	as	SCONJ
easat-10756	95	4	robots	robot	NOUN
easat-10756	95	5	emerge	emerge	VERB
easat-10756	95	6	as	as	ADP
easat-10756	95	7	autonomous	autonomous	ADJ
easat-10756	95	8	agents	agent	NOUN
easat-10756	95	9	capable	capable	ADJ
easat-10756	95	10	of	of	ADP
easat-10756	95	11	perceiving	perceive	VERB
easat-10756	95	12	and	and	CCONJ
easat-10756	95	13	navigating	navigate	VERB
easat-10756	95	14	within	within	ADP
easat-10756	95	15	built	build	VERB
easat-10756	95	16	environments	environment	NOUN
easat-10756	95	17	,	,	PUNCT
easat-10756	95	18	similar	similar	ADJ
easat-10756	95	19	physical	physical	ADJ
easat-10756	95	20	factors	factor	NOUN
easat-10756	95	21	are	be	AUX
easat-10756	95	22	increasingly	increasingly	ADV
easat-10756	95	23	recognized	recognize	VERB
easat-10756	95	24	as	as	ADP
easat-10756	95	25	influencing	influence	VERB
easat-10756	95	26	robotic	robotic	ADJ
easat-10756	95	27	sensing	sensing	NOUN
easat-10756	95	28	,	,	PUNCT
easat-10756	95	29	navigational	navigational	ADJ
easat-10756	95	30	stability	stability	NOUN
easat-10756	95	31	,	,	PUNCT
easat-10756	95	32	and	and	CCONJ
easat-10756	95	33	perception	perception	NOUN
easat-10756	95	34	accuracy	accuracy	NOUN
easat-10756	95	35	[	[	X
easat-10756	95	36	11	11	NUM
easat-10756	95	37	,	,	PUNCT
easat-10756	95	38	15	15	NUM
easat-10756	95	39	]	]	PUNCT
easat-10756	95	40	.	.	PUNCT
easat-10756	96	1	from	from	ADP
easat-10756	96	2	this	this	DET
easat-10756	96	3	perspective	perspective	NOUN
easat-10756	96	4	,	,	PUNCT
easat-10756	96	5	the	the	DET
easat-10756	96	6	present	present	ADJ
easat-10756	96	7	study	study	NOUN
easat-10756	96	8	extends	extend	VERB
easat-10756	96	9	the	the	DET
easat-10756	96	10	conventional	conventional	ADJ
easat-10756	96	11	human	human	NOUN
easat-10756	96	12	-	-	PUNCT
easat-10756	96	13	centered	center	VERB
easat-10756	96	14	ebd	ebd	NOUN
easat-10756	96	15	approach	approach	NOUN
easat-10756	96	16	into	into	ADP
easat-10756	96	17	a	a	DET
easat-10756	96	18	robot	robot	NOUN
easat-10756	96	19	-	-	PUNCT
easat-10756	96	20	centered	center	VERB
easat-10756	96	21	framework	framework	NOUN
easat-10756	96	22	,	,	PUNCT
easat-10756	96	23	reinterpreting	reinterpret	VERB
easat-10756	96	24	the	the	DET
easat-10756	96	25	key	key	ADJ
easat-10756	96	26	factors	factor	NOUN
easat-10756	96	27	identified	identify	VERB
easat-10756	96	28	in	in	ADP
easat-10756	96	29	previous	previous	ADJ
easat-10756	96	30	studies	study	NOUN
easat-10756	96	31	,	,	PUNCT
easat-10756	96	32	as	as	SCONJ
easat-10756	96	33	summarized	summarize	VERB
easat-10756	96	34	in	in	ADP
easat-10756	96	35	table	table	NOUN
easat-10756	96	36	2	2	NUM
easat-10756	96	37	.	.	PUNCT
easat-10756	96	38	table	table	NOUN
easat-10756	96	39	2	2	NUM
easat-10756	96	40	.	.	PUNCT
easat-10756	96	41	key	key	ADJ
easat-10756	96	42	factors	factor	NOUN
easat-10756	96	43	affecting	affect	VERB
easat-10756	96	44	robot	robot	NOUN
easat-10756	96	45	perception	perception	NOUN
easat-10756	96	46	performance	performance	NOUN
easat-10756	96	47	.	.	PUNCT
easat-10756	97	1	category	category	NOUN
easat-10756	97	2	material	material	NOUN
easat-10756	97	3	characteristics	characteristic	NOUN
easat-10756	97	4	effect	effect	NOUN
easat-10756	97	5	on	on	ADP
easat-10756	97	6	robot	robot	NOUN
easat-10756	97	7	perception	perception	NOUN
easat-10756	97	8	observed	observe	VERB
easat-10756	97	9	influence	influence	NOUN
easat-10756	97	10	in	in	ADP
easat-10756	97	11	previous	previous	ADJ
easat-10756	97	12	studies	study	NOUN
easat-10756	97	13	reference	reference	NOUN
easat-10756	97	14	illuminance	illuminance	NOUN
easat-10756	97	15	light	light	NOUN
easat-10756	97	16	intensity	intensity	NOUN
easat-10756	97	17	,	,	PUNCT
easat-10756	97	18	uniformity	uniformity	NOUN
easat-10756	97	19	,	,	PUNCT
easat-10756	97	20	directionality	directionality	NOUN
easat-10756	97	21	influences	influence	VERB
easat-10756	97	22	camera	camera	NOUN
easat-10756	97	23	and	and	CCONJ
easat-10756	97	24	lidar	lidar	NOUN
easat-10756	97	25	recognition	recognition	NOUN
easat-10756	97	26	;	;	PUNCT
easat-10756	97	27	low	low	ADJ
easat-10756	97	28	or	or	CCONJ
easat-10756	97	29	uneven	uneven	ADJ
easat-10756	97	30	lighting	lighting	NOUN
easat-10756	97	31	causes	cause	VERB
easat-10756	97	32	false	false	ADJ
easat-10756	97	33	detection	detection	NOUN
easat-10756	97	34	and	and	CCONJ
easat-10756	97	35	slam	slam	NOUN
easat-10756	97	36	drift	drift	NOUN
easat-10756	97	37	.	.	PUNCT
easat-10756	98	1	imbalanced	imbalanced	ADJ
easat-10756	98	2	lighting	lighting	NOUN
easat-10756	98	3	reduces	reduce	VERB
easat-10756	98	4	object	object	NOUN
easat-10756	98	5	detection	detection	NOUN
easat-10756	98	6	accuracy	accuracy	NOUN
easat-10756	98	7	ng	ng	PROPN
easat-10756	98	8	et	et	PROPN
easat-10756	98	9	al	al	PROPN
easat-10756	98	10	.	.	PUNCT
easat-10756	99	1	[	[	X
easat-10756	99	2	3	3	NUM
easat-10756	99	3	]	]	PUNCT
easat-10756	99	4	;	;	PUNCT
easat-10756	99	5	farkas	farkas	PROPN
easat-10756	99	6	et	et	PROPN
easat-10756	99	7	al	al	PROPN
easat-10756	99	8	.	.	PUNCT
easat-10756	100	1	[	[	X
easat-10756	100	2	11	11	NUM
easat-10756	100	3	]	]	PUNCT
easat-10756	100	4	,	,	PUNCT
easat-10756	100	5	wang	wang	PROPN
easat-10756	100	6	et	et	PROPN
easat-10756	100	7	al	al	PROPN
easat-10756	100	8	.	.	PUNCT
easat-10756	101	1	[	[	X
easat-10756	101	2	16	16	NUM
easat-10756	101	3	]	]	PUNCT
easat-10756	101	4	and	and	CCONJ
easat-10756	101	5	ezhilarasu	ezhilarasu	VERB
easat-10756	101	6	et	et	PROPN
easat-10756	101	7	al	al	PROPN
easat-10756	101	8	.	.	PUNCT
easat-10756	102	1	[	[	X
easat-10756	102	2	15	15	NUM
easat-10756	102	3	]	]	X
easat-10756	102	4	reflectance	reflectance	NOUN
easat-10756	102	5	surface	surface	NOUN
easat-10756	102	6	gloss	gloss	NOUN
easat-10756	102	7	,	,	PUNCT
easat-10756	102	8	specular	specular	ADJ
easat-10756	102	9	reflection	reflection	NOUN
easat-10756	102	10	,	,	PUNCT
easat-10756	102	11	and	and	CCONJ
easat-10756	102	12	material	material	NOUN
easat-10756	102	13	finish	finish	NOUN
easat-10756	102	14	type	type	NOUN
easat-10756	102	15	alters	alter	VERB
easat-10756	102	16	lidar	lidar	NOUN
easat-10756	102	17	return	return	NOUN
easat-10756	102	18	rate	rate	NOUN
easat-10756	102	19	and	and	CCONJ
easat-10756	102	20	vision	vision	NOUN
easat-10756	102	21	-	-	PUNCT
easat-10756	102	22	based	base	VERB
easat-10756	102	23	distance	distance	NOUN
easat-10756	102	24	estimation	estimation	NOUN
easat-10756	102	25	;	;	PUNCT
easat-10756	102	26	high	high	ADJ
easat-10756	102	27	reflectance	reflectance	NOUN
easat-10756	102	28	or	or	CCONJ
easat-10756	102	29	transparency	transparency	NOUN
easat-10756	102	30	leads	lead	VERB
easat-10756	102	31	to	to	ADP
easat-10756	102	32	misdetection	misdetection	NOUN
easat-10756	102	33	.	.	PUNCT
easat-10756	103	1	reflective	reflective	ADJ
easat-10756	103	2	surfaces	surface	NOUN
easat-10756	103	3	cause	cause	VERB
easat-10756	103	4	recognition	recognition	NOUN
easat-10756	103	5	instability	instability	NOUN
easat-10756	103	6	and	and	CCONJ
easat-10756	103	7	distance	distance	NOUN
easat-10756	103	8	estimation	estimation	NOUN
easat-10756	103	9	errors	error	NOUN
easat-10756	103	10	mohan	mohan	PROPN
easat-10756	103	11	et	et	PROPN
easat-10756	103	12	al	al	PROPN
easat-10756	103	13	.	.	PUNCT
easat-10756	104	1	[	[	X
easat-10756	104	2	4	4	X
easat-10756	104	3	]	]	PUNCT
easat-10756	104	4	and	and	CCONJ
easat-10756	104	5	farkas	farkas	PROPN
easat-10756	104	6	et	et	PROPN
easat-10756	104	7	al	al	PROPN
easat-10756	104	8	.	.	PUNCT
easat-10756	105	1	[	[	X
easat-10756	105	2	11	11	NUM
easat-10756	105	3	]	]	SYM
easat-10756	105	4	texture	texture	NOUN
easat-10756	105	5	&	&	CCONJ
easat-10756	105	6	friction	friction	NOUN
easat-10756	105	7	surface	surface	NOUN
easat-10756	105	8	roughness	roughness	NOUN
easat-10756	105	9	,	,	PUNCT
easat-10756	105	10	pattern	pattern	NOUN
easat-10756	105	11	density	density	NOUN
easat-10756	105	12	,	,	PUNCT
easat-10756	105	13	and	and	CCONJ
easat-10756	105	14	friction	friction	NOUN
easat-10756	105	15	coefficient	coefficient	NOUN
easat-10756	105	16	affects	affect	VERB
easat-10756	105	17	both	both	DET
easat-10756	105	18	perception	perception	NOUN
easat-10756	105	19	and	and	CCONJ
easat-10756	105	20	motion	motion	NOUN
easat-10756	105	21	stability	stability	NOUN
easat-10756	105	22	;	;	PUNCT
easat-10756	105	23	low	low	ADJ
easat-10756	105	24	-	-	PUNCT
easat-10756	105	25	friction	friction	NOUN
easat-10756	105	26	surfaces	surface	NOUN
easat-10756	105	27	cause	cause	VERB
easat-10756	105	28	localization	localization	NOUN
easat-10756	105	29	drift	drift	NOUN
easat-10756	105	30	and	and	CCONJ
easat-10756	105	31	wheel	wheel	NOUN
easat-10756	105	32	slip	slip	NOUN
easat-10756	105	33	.	.	PUNCT
easat-10756	106	1	surfaces	surface	NOUN
easat-10756	106	2	with	with	ADP
easat-10756	106	3	higher	high	ADJ
easat-10756	106	4	roughness	roughness	NOUN
easat-10756	106	5	improve	improve	VERB
easat-10756	106	6	traction	traction	NOUN
easat-10756	106	7	and	and	CCONJ
easat-10756	106	8	mapping	mapping	NOUN
easat-10756	106	9	accuracy	accuracy	NOUN
easat-10756	106	10	andrade	andrade	PROPN
easat-10756	106	11	et	et	PROPN
easat-10756	106	12	al	al	PROPN
easat-10756	106	13	.	.	PUNCT
easat-10756	107	1	[	[	X
easat-10756	107	2	12	12	NUM
easat-10756	107	3	]	]	X
easat-10756	107	4	;	;	PUNCT
easat-10756	107	5	farkas	farkas	PROPN
easat-10756	107	6	et	et	PROPN
easat-10756	107	7	al	al	PROPN
easat-10756	107	8	.	.	PUNCT
easat-10756	108	1	[	[	X
easat-10756	108	2	11	11	NUM
easat-10756	108	3	]	]	PUNCT
easat-10756	108	4	;	;	PUNCT
easat-10756	108	5	wang	wang	PROPN
easat-10756	108	6	et	et	PROPN
easat-10756	108	7	al	al	PROPN
easat-10756	108	8	.	.	PUNCT
easat-10756	109	1	[	[	X
easat-10756	109	2	16	16	NUM
easat-10756	109	3	]	]	PUNCT
easat-10756	109	4	and	and	CCONJ
easat-10756	109	5	ezhilarasu	ezhilarasu	VERB
easat-10756	109	6	et	et	PROPN
easat-10756	109	7	al	al	PROPN
easat-10756	109	8	.	.	PUNCT
easat-10756	110	1	[	[	X
easat-10756	110	2	15	15	NUM
easat-10756	110	3	]	]	X
easat-10756	110	4	color	color	NOUN
easat-10756	110	5	&	&	CCONJ
easat-10756	110	6	contrast	contrast	NOUN
easat-10756	110	7	color	color	NOUN
easat-10756	110	8	tone	tone	NOUN
easat-10756	110	9	,	,	PUNCT
easat-10756	110	10	saturation	saturation	NOUN
easat-10756	110	11	,	,	PUNCT
easat-10756	110	12	contrast	contrast	NOUN
easat-10756	110	13	ratio	ratio	NOUN
easat-10756	110	14	influences	influence	VERB
easat-10756	110	15	visual	visual	ADJ
easat-10756	110	16	feature	feature	NOUN
easat-10756	110	17	extraction	extraction	NOUN
easat-10756	110	18	and	and	CCONJ
easat-10756	110	19	boundary	boundary	ADJ
easat-10756	110	20	recognition	recognition	NOUN
easat-10756	110	21	;	;	PUNCT
easat-10756	110	22	low	low	ADJ
easat-10756	110	23	contrast	contrast	NOUN
easat-10756	110	24	reduces	reduce	VERB
easat-10756	110	25	perception	perception	NOUN
easat-10756	110	26	reliability	reliability	NOUN
easat-10756	110	27	.	.	PUNCT
easat-10756	111	1	balanced	balanced	ADJ
easat-10756	111	2	contrast	contrast	NOUN
easat-10756	111	3	enhances	enhance	VERB
easat-10756	111	4	visual	visual	ADJ
easat-10756	111	5	marker	marker	NOUN
easat-10756	111	6	recognition	recognition	NOUN
easat-10756	111	7	and	and	CCONJ
easat-10756	111	8	spatial	spatial	ADJ
easat-10756	111	9	distinction	distinction	NOUN
easat-10756	111	10	ng	ng	PROPN
easat-10756	111	11	et	et	PROPN
easat-10756	111	12	al	al	PROPN
easat-10756	111	13	.	.	PUNCT
easat-10756	112	1	[	[	X
easat-10756	112	2	3	3	NUM
easat-10756	112	3	]	]	PUNCT
easat-10756	112	4	;	;	PUNCT
easat-10756	112	5	wang	wang	PROPN
easat-10756	112	6	et	et	PROPN
easat-10756	112	7	al	al	PROPN
easat-10756	112	8	.	.	PUNCT
easat-10756	113	1	[	[	X
easat-10756	113	2	16	16	NUM
easat-10756	113	3	]	]	PUNCT
easat-10756	113	4	and	and	CCONJ
easat-10756	113	5	ezhilarasu	ezhilarasu	VERB
easat-10756	113	6	et	et	PROPN
easat-10756	113	7	al	al	PROPN
easat-10756	113	8	.	.	PUNCT
easat-10756	114	1	[	[	X
easat-10756	114	2	15	15	NUM
easat-10756	114	3	]	]	X
easat-10756	114	4	luminance	luminance	NOUN
easat-10756	114	5	is	be	AUX
easat-10756	114	6	one	one	NUM
easat-10756	114	7	of	of	ADP
easat-10756	114	8	the	the	DET
easat-10756	114	9	most	most	ADV
easat-10756	114	10	representative	representative	ADJ
easat-10756	114	11	visual	visual	ADJ
easat-10756	114	12	factors	factor	NOUN
easat-10756	114	13	and	and	CCONJ
easat-10756	114	14	is	be	AUX
easat-10756	114	15	known	know	VERB
easat-10756	114	16	to	to	PART
easat-10756	114	17	directly	directly	ADV
easat-10756	114	18	affect	affect	VERB
easat-10756	114	19	human	human	ADJ
easat-10756	114	20	visual	visual	ADJ
easat-10756	114	21	fatigue	fatigue	NOUN
easat-10756	114	22	and	and	CCONJ
easat-10756	114	23	cognitive	cognitive	ADJ
easat-10756	114	24	accuracy	accuracy	NOUN
easat-10756	114	25	.	.	PUNCT
easat-10756	115	1	ulrich	ulrich	PROPN
easat-10756	116	1	[	[	X
easat-10756	116	2	6	6	NUM
easat-10756	116	3	]	]	PUNCT
easat-10756	116	4	and	and	CCONJ
easat-10756	116	5	andrade	andrade	PROPN
easat-10756	116	6	et	et	PROPN
easat-10756	116	7	al	al	PROPN
easat-10756	116	8	.	.	PUNCT
easat-10756	117	1	[	[	X
easat-10756	117	2	12	12	NUM
easat-10756	117	3	]	]	PUNCT
easat-10756	117	4	reported	report	VERB
easat-10756	117	5	that	that	SCONJ
easat-10756	117	6	the	the	DET
easat-10756	117	7	ratio	ratio	NOUN
easat-10756	117	8	of	of	ADP
easat-10756	117	9	natural	natural	ADJ
easat-10756	117	10	to	to	ADP
easat-10756	117	11	artificial	artificial	ADJ
easat-10756	117	12	light	light	NOUN
easat-10756	117	13	,	,	PUNCT
easat-10756	117	14	color	color	NOUN
easat-10756	117	15	temperature	temperature	NOUN
easat-10756	117	16	,	,	PUNCT
easat-10756	117	17	and	and	CCONJ
easat-10756	117	18	luminance	luminance	NOUN
easat-10756	117	19	contrast	contrast	NOUN
easat-10756	117	20	significantly	significantly	ADV
easat-10756	117	21	influence	influence	VERB
easat-10756	117	22	user	user	NOUN
easat-10756	117	23	satisfaction	satisfaction	NOUN
easat-10756	117	24	and	and	CCONJ
easat-10756	117	25	concentration	concentration	NOUN
easat-10756	117	26	[	[	X
easat-10756	117	27	6	6	NUM
easat-10756	117	28	,	,	PUNCT
easat-10756	117	29	12	12	NUM
easat-10756	117	30	]	]	PUNCT
easat-10756	117	31	.	.	PUNCT
easat-10756	118	1	these	these	DET
easat-10756	118	2	lighting	lighting	NOUN
easat-10756	118	3	conditions	condition	NOUN
easat-10756	118	4	similarly	similarly	ADV
easat-10756	118	5	affect	affect	VERB
easat-10756	118	6	the	the	DET
easat-10756	118	7	optical	optical	ADJ
easat-10756	118	8	sensors	sensor	NOUN
easat-10756	118	9	of	of	ADP
easat-10756	118	10	robots	robot	NOUN
easat-10756	118	11	,	,	PUNCT
easat-10756	118	12	such	such	ADJ
easat-10756	118	13	as	as	ADP
easat-10756	118	14	vision	vision	NOUN
easat-10756	118	15	and	and	CCONJ
easat-10756	118	16	lidar	lidar	NOUN
easat-10756	118	17	systems	system	NOUN
easat-10756	118	18	.	.	PUNCT
easat-10756	119	1	farkas	farkas	PROPN
easat-10756	119	2	et	et	PROPN
easat-10756	119	3	al	al	PROPN
easat-10756	119	4	.	.	PUNCT
easat-10756	120	1	[	[	X
easat-10756	120	2	11	11	NUM
easat-10756	120	3	]	]	PUNCT
easat-10756	120	4	demonstrated	demonstrate	VERB
easat-10756	120	5	that	that	SCONJ
easat-10756	120	6	an	an	DET
easat-10756	120	7	imbalance	imbalance	NOUN
easat-10756	120	8	in	in	ADP
easat-10756	120	9	luminance	luminance	NOUN
easat-10756	120	10	can	can	AUX
easat-10756	120	11	reduce	reduce	VERB
easat-10756	120	12	lidar	lidar	NOUN
easat-10756	120	13	distance	distance	NOUN
easat-10756	120	14	measurement	measurement	NOUN
easat-10756	120	15	accuracy	accuracy	NOUN
easat-10756	120	16	by	by	ADP
easat-10756	120	17	more	more	ADJ
easat-10756	120	18	than	than	ADP
easat-10756	120	19	15	15	NUM
easat-10756	120	20	%	%	NOUN
easat-10756	120	21	while	while	SCONJ
easat-10756	120	22	ezhilarasu	ezhilarasu	VERB
easat-10756	120	23	et	et	PROPN
easat-10756	120	24	al	al	PROPN
easat-10756	120	25	.	.	PUNCT
easat-10756	121	1	[	[	X
easat-10756	121	2	15	15	NUM
easat-10756	121	3	]	]	PUNCT
easat-10756	121	4	experimentally	experimentally	ADV
easat-10756	121	5	verified	verify	VERB
easat-10756	121	6	that	that	SCONJ
easat-10756	121	7	differences	difference	NOUN
easat-10756	121	8	in	in	ADP
easat-10756	121	9	light	light	ADJ
easat-10756	121	10	intensity	intensity	NOUN
easat-10756	121	11	directly	directly	ADV
easat-10756	121	12	impact	impact	VERB
easat-10756	121	13	object	object	NOUN
easat-10756	121	14	detection	detection	NOUN
easat-10756	121	15	confidence	confidence	NOUN
easat-10756	121	16	in	in	ADP
easat-10756	121	17	vision	vision	NOUN
easat-10756	121	18	sensor	sensor	NOUN
easat-10756	121	19	–	–	PUNCT
easat-10756	121	20	based	base	VERB
easat-10756	121	21	recognition	recognition	NOUN
easat-10756	121	22	tasks	task	NOUN
easat-10756	121	23	[	[	X
easat-10756	121	24	11	11	NUM
easat-10756	121	25	,	,	PUNCT
easat-10756	121	26	15	15	NUM
easat-10756	121	27	]	]	PUNCT
easat-10756	121	28	.	.	PUNCT
easat-10756	122	1	in	in	ADP
easat-10756	122	2	other	other	ADJ
easat-10756	122	3	words	word	NOUN
easat-10756	122	4	,	,	PUNCT
easat-10756	122	5	luminance	luminance	NOUN
easat-10756	122	6	imbalance	imbalance	NOUN
easat-10756	122	7	that	that	PRON
easat-10756	122	8	induces	induce	VERB
easat-10756	122	9	cognitive	cognitive	ADJ
easat-10756	122	10	fatigue	fatigue	NOUN
easat-10756	122	11	in	in	ADP
easat-10756	122	12	humans	human	NOUN
easat-10756	122	13	translates	translate	VERB
easat-10756	122	14	into	into	ADP
easat-10756	122	15	perception	perception	NOUN
easat-10756	122	16	errors	error	NOUN
easat-10756	122	17	in	in	ADP
easat-10756	122	18	robots	robot	NOUN
easat-10756	122	19	,	,	PUNCT
easat-10756	122	20	and	and	CCONJ
easat-10756	122	21	this	this	DET
easat-10756	122	22	effect	effect	NOUN
easat-10756	122	23	becomes	become	VERB
easat-10756	122	24	more	more	ADV
easat-10756	122	25	complex	complex	ADJ
easat-10756	122	26	when	when	SCONJ
easat-10756	122	27	combined	combine	VERB
easat-10756	122	28	with	with	ADP
easat-10756	122	29	the	the	DET
easat-10756	122	30	reflective	reflective	ADJ
easat-10756	122	31	properties	property	NOUN
easat-10756	122	32	of	of	ADP
easat-10756	122	33	surface	surface	NOUN
easat-10756	122	34	finishing	finish	VERB
easat-10756	122	35	materials	material	NOUN
easat-10756	122	36	.	.	PUNCT
easat-10756	123	1	reflectance	reflectance	NOUN
easat-10756	123	2	is	be	AUX
easat-10756	123	3	another	another	DET
easat-10756	123	4	critical	critical	ADJ
easat-10756	123	5	factor	factor	NOUN
easat-10756	123	6	.	.	PUNCT
easat-10756	124	1	zimring	zimring	PROPN
easat-10756	124	2	et	et	PROPN
easat-10756	124	3	al	al	PROPN
easat-10756	124	4	.	.	PUNCT
easat-10756	125	1	[	[	X
easat-10756	125	2	8	8	NUM
easat-10756	125	3	]	]	PUNCT
easat-10756	125	4	experimentally	experimentally	ADV
easat-10756	125	5	demonstrated	demonstrate	VERB
easat-10756	125	6	that	that	SCONJ
easat-10756	125	7	highreflectance	highreflectance	NOUN
easat-10756	125	8	materials	material	NOUN
easat-10756	125	9	in	in	ADP
easat-10756	125	10	indoor	indoor	ADJ
easat-10756	125	11	environments	environment	NOUN
easat-10756	125	12	can	can	AUX
easat-10756	125	13	cause	cause	VERB
easat-10756	125	14	visual	visual	ADJ
easat-10756	125	15	discomfort	discomfort	NOUN
easat-10756	125	16	and	and	CCONJ
easat-10756	125	17	potentially	potentially	ADV
easat-10756	125	18	compromise	compromise	VERB
easat-10756	125	19	safety	safety	NOUN
easat-10756	125	20	[	[	X
easat-10756	125	21	8	8	NUM
easat-10756	125	22	]	]	PUNCT
easat-10756	125	23	.	.	PUNCT
easat-10756	126	1	this	this	DET
easat-10756	126	2	finding	finding	NOUN
easat-10756	126	3	is	be	AUX
easat-10756	126	4	directly	directly	ADV
easat-10756	126	5	related	relate	VERB
easat-10756	126	6	to	to	ADP
easat-10756	126	7	robotic	robotic	ADJ
easat-10756	126	8	optical	optical	ADJ
easat-10756	126	9	sensing	sense	VERB
easat-10756	126	10	performance	performance	NOUN
easat-10756	126	11	.	.	PUNCT
easat-10756	127	1	mohan	mohan	PROPN
easat-10756	127	2	et	et	PROPN
easat-10756	127	3	al	al	PROPN
easat-10756	127	4	.	.	PUNCT
easat-10756	128	1	[	[	X
easat-10756	128	2	4	4	X
easat-10756	128	3	]	]	PUNCT
easat-10756	128	4	using	use	VERB
easat-10756	128	5	a	a	DET
easat-10756	128	6	roomba	roomba	NOUN
easat-10756	128	7	-	-	PUNCT
easat-10756	128	8	based	base	VERB
easat-10756	128	9	experimental	experimental	ADJ
easat-10756	128	10	setup	setup	NOUN
easat-10756	128	11	,	,	PUNCT
easat-10756	128	12	it	it	PRON
easat-10756	128	13	was	be	AUX
easat-10756	128	14	reported	report	VERB
easat-10756	128	15	that	that	SCONJ
easat-10756	128	16	increased	increase	VERB
easat-10756	128	17	floor	floor	NOUN
easat-10756	128	18	reflectance	reflectance	NOUN
easat-10756	128	19	led	lead	VERB
easat-10756	128	20	to	to	ADP
easat-10756	128	21	higher	high	ADJ
easat-10756	128	22	detection	detection	NOUN
easat-10756	128	23	errors	error	NOUN
easat-10756	128	24	in	in	ADP
easat-10756	128	25	infrared	infrared	ADJ
easat-10756	128	26	sensors	sensor	NOUN
easat-10756	128	27	and	and	CCONJ
easat-10756	128	28	reduced	reduced	ADJ
easat-10756	128	29	accuracy	accuracy	NOUN
easat-10756	128	30	in	in	ADP
easat-10756	128	31	path	path	NOUN
easat-10756	128	32	-	-	PUNCT
easat-10756	128	33	tracking	track	VERB
easat-10756	128	34	algorithms	algorithm	NOUN
easat-10756	128	35	[	[	X
easat-10756	128	36	4	4	NUM
easat-10756	128	37	]	]	PUNCT
easat-10756	128	38	.	.	PUNCT
easat-10756	129	1	furthermore	furthermore	ADV
easat-10756	129	2	,	,	PUNCT
easat-10756	129	3	farkas	farkas	PROPN
easat-10756	129	4	et	et	PROPN
easat-10756	129	5	al	al	PROPN
easat-10756	129	6	.	.	PUNCT
easat-10756	130	1	[	[	X
easat-10756	130	2	11	11	NUM
easat-10756	130	3	]	]	PUNCT
easat-10756	130	4	observed	observe	VERB
easat-10756	130	5	that	that	SCONJ
easat-10756	130	6	lidar	lidar	NOUN
easat-10756	130	7	detection	detection	NOUN
easat-10756	130	8	errors	error	NOUN
easat-10756	130	9	increased	increase	VERB
easat-10756	130	10	by	by	ADP
easat-10756	130	11	an	an	DET
easat-10756	130	12	average	average	NOUN
easat-10756	130	13	of	of	ADP
easat-10756	130	14	0.18	0.18	NUM
easat-10756	130	15	m	m	NOUN
easat-10756	130	16	on	on	ADP
easat-10756	130	17	surfaces	surface	NOUN
easat-10756	130	18	with	with	ADP
easat-10756	130	19	reflectance	reflectance	NOUN
easat-10756	130	20	exceeding	exceed	VERB
easat-10756	130	21	70	70	NUM
easat-10756	130	22	%	%	NOUN
easat-10756	130	23	,	,	PUNCT
easat-10756	130	24	identifying	identify	VERB
easat-10756	130	25	this	this	PRON
easat-10756	130	26	as	as	ADP
easat-10756	130	27	a	a	DET
easat-10756	130	28	key	key	ADJ
easat-10756	130	29	design	design	NOUN
easat-10756	130	30	constraint	constraint	NOUN
easat-10756	130	31	in	in	ADP
easat-10756	130	32	developing	develop	VERB
easat-10756	130	33	robot	robot	NOUN
easat-10756	130	34	-	-	PUNCT
easat-10756	130	35	friendly	friendly	ADJ
easat-10756	130	36	environments	environment	NOUN
easat-10756	131	1	[	[	X
easat-10756	131	2	11	11	NUM
easat-10756	131	3	]	]	PUNCT
easat-10756	131	4	.	.	PUNCT
easat-10756	132	1	texture	texture	NOUN
easat-10756	132	2	and	and	CCONJ
easat-10756	132	3	friction	friction	NOUN
easat-10756	132	4	coefficient	coefficient	NOUN
easat-10756	132	5	are	be	AUX
easat-10756	132	6	also	also	ADV
easat-10756	132	7	critical	critical	ADJ
easat-10756	132	8	physical	physical	ADJ
easat-10756	132	9	factors	factor	NOUN
easat-10756	132	10	that	that	PRON
easat-10756	132	11	affect	affect	VERB
easat-10756	132	12	both	both	DET
easat-10756	132	13	humans	human	NOUN
easat-10756	132	14	and	and	CCONJ
easat-10756	132	15	robots	robot	NOUN
easat-10756	132	16	.	.	PUNCT
easat-10756	133	1	chen	chen	PROPN
easat-10756	133	2	et	et	PROPN
easat-10756	133	3	al	al	PROPN
easat-10756	133	4	.	.	PUNCT
easat-10756	134	1	[	[	X
easat-10756	134	2	9	9	NUM
easat-10756	134	3	]	]	PUNCT
easat-10756	134	4	analyzed	analyze	VERB
easat-10756	134	5	the	the	DET
easat-10756	134	6	influence	influence	NOUN
easat-10756	134	7	of	of	ADP
easat-10756	134	8	surface	surface	NOUN
easat-10756	134	9	roughness	roughness	NOUN
easat-10756	134	10	and	and	CCONJ
easat-10756	134	11	texture	texture	NOUN
easat-10756	134	12	on	on	ADP
easat-10756	134	13	walking	walk	VERB
easat-10756	134	14	stability	stability	NOUN
easat-10756	134	15	and	and	CCONJ
easat-10756	134	16	fatigue	fatigue	NOUN
easat-10756	134	17	,	,	PUNCT
easat-10756	134	18	reporting	report	VERB
easat-10756	134	19	that	that	SCONJ
easat-10756	134	20	the	the	DET
easat-10756	134	21	risk	risk	NOUN
easat-10756	134	22	of	of	ADP
easat-10756	134	23	slipping	slip	VERB
easat-10756	134	24	increases	increase	NOUN
easat-10756	134	25	sharply	sharply	ADV
easat-10756	134	26	when	when	SCONJ
easat-10756	134	27	the	the	DET
easat-10756	134	28	friction	friction	NOUN
easat-10756	134	29	coefficient	coefficient	NOUN
easat-10756	134	30	falls	fall	VERB
easat-10756	134	31	below	below	ADP
easat-10756	134	32	0.4	0.4	NUM
easat-10756	135	1	[	[	X
easat-10756	135	2	9	9	NUM
easat-10756	135	3	]	]	PUNCT
easat-10756	135	4	.	.	PUNCT
easat-10756	136	1	in	in	ADP
easat-10756	136	2	a	a	DET
easat-10756	136	3	similar	similar	ADJ
easat-10756	136	4	context	context	NOUN
easat-10756	136	5	,	,	PUNCT
easat-10756	136	6	ezhilarasu	ezhilarasu	VERB
easat-10756	136	7	et	et	PROPN
easat-10756	136	8	al	al	PROPN
easat-10756	136	9	.	.	PUNCT
easat-10756	137	1	[	[	X
easat-10756	137	2	15	15	NUM
easat-10756	137	3	]	]	PUNCT
easat-10756	137	4	found	find	VERB
easat-10756	137	5	that	that	SCONJ
easat-10756	137	6	variations	variation	NOUN
easat-10756	137	7	in	in	ADP
easat-10756	137	8	the	the	DET
easat-10756	137	9	friction	friction	NOUN
easat-10756	137	10	coefficient	coefficient	NOUN
easat-10756	137	11	caused	cause	VERB
easat-10756	137	12	trajectory	trajectory	NOUN
easat-10756	137	13	63	63	NUM
easat-10756	137	14	edelweiss	edelweiss	PROPN
easat-10756	137	15	applied	apply	VERB
easat-10756	137	16	science	science	NOUN
easat-10756	137	17	and	and	CCONJ
easat-10756	137	18	technology	technology	NOUN
easat-10756	137	19	issn	issn	PROPN
easat-10756	137	20	:	:	PUNCT
easat-10756	137	21	2576	2576	NUM
easat-10756	137	22	-	-	SYM
easat-10756	137	23	8484	8484	NUM
easat-10756	137	24	vol	vol	NOUN
easat-10756	137	25	.	.	PROPN
easat-10756	138	1	9	9	NUM
easat-10756	138	2	,	,	PUNCT
easat-10756	138	3	no	no	INTJ
easat-10756	138	4	.	.	NOUN
easat-10756	138	5	11	11	NUM
easat-10756	138	6	:	:	PUNCT
easat-10756	138	7	57	57	NUM
easat-10756	138	8	-	-	SYM
easat-10756	138	9	70	70	NUM
easat-10756	138	10	,	,	PUNCT
easat-10756	138	11	2025	2025	NUM
easat-10756	138	12	doi	doi	NOUN
easat-10756	138	13	:	:	PUNCT
easat-10756	138	14	10.55214/2576	10.55214/2576	NUM
easat-10756	138	15	-	-	SYM
easat-10756	138	16	8484.v9i11.10756	8484.v9i11.10756	NUM
easat-10756	138	17	©	©	PROPN
easat-10756	138	18	2025	2025	NUM
easat-10756	138	19	by	by	ADP
easat-10756	138	20	the	the	DET
easat-10756	138	21	authors	author	NOUN
easat-10756	138	22	;	;	PUNCT
easat-10756	138	23	licensee	licensee	PROPN
easat-10756	138	24	learning	learning	NOUN
easat-10756	138	25	gate	gate	NOUN
easat-10756	138	26	error	error	NOUN
easat-10756	138	27	rates	rate	NOUN
easat-10756	138	28	to	to	PART
easat-10756	138	29	increase	increase	VERB
easat-10756	138	30	by	by	ADP
easat-10756	138	31	8–12	8–12	PROPN
easat-10756	138	32	%	%	NOUN
easat-10756	138	33	during	during	ADP
easat-10756	138	34	robot	robot	NOUN
easat-10756	138	35	navigation	navigation	NOUN
easat-10756	139	1	[	[	X
easat-10756	139	2	15	15	NUM
easat-10756	139	3	]	]	PUNCT
easat-10756	139	4	.	.	PUNCT
easat-10756	140	1	these	these	DET
easat-10756	140	2	findings	finding	NOUN
easat-10756	140	3	indicate	indicate	VERB
easat-10756	140	4	that	that	SCONJ
easat-10756	140	5	differences	difference	NOUN
easat-10756	140	6	in	in	ADP
easat-10756	140	7	surface	surface	NOUN
easat-10756	140	8	roughness	roughness	NOUN
easat-10756	140	9	or	or	CCONJ
easat-10756	140	10	texture	texture	NOUN
easat-10756	140	11	of	of	ADP
easat-10756	140	12	finishing	finish	VERB
easat-10756	140	13	materials	material	NOUN
easat-10756	140	14	substantially	substantially	ADV
easat-10756	140	15	influence	influence	VERB
easat-10756	140	16	motor	motor	NOUN
easat-10756	140	17	torque	torque	NOUN
easat-10756	140	18	fluctuation	fluctuation	NOUN
easat-10756	140	19	,	,	PUNCT
easat-10756	140	20	locomotion	locomotion	NOUN
easat-10756	140	21	efficiency	efficiency	NOUN
easat-10756	140	22	,	,	PUNCT
easat-10756	140	23	and	and	CCONJ
easat-10756	140	24	control	control	VERB
easat-10756	140	25	stability	stability	NOUN
easat-10756	140	26	in	in	ADP
easat-10756	140	27	robotic	robotic	ADJ
easat-10756	140	28	operations	operation	NOUN
easat-10756	140	29	.	.	PUNCT
easat-10756	141	1	color	color	NOUN
easat-10756	141	2	and	and	CCONJ
easat-10756	141	3	contrast	contrast	NOUN
easat-10756	141	4	are	be	AUX
easat-10756	141	5	also	also	ADV
easat-10756	141	6	critical	critical	ADJ
easat-10756	141	7	factors	factor	NOUN
easat-10756	141	8	directly	directly	ADV
easat-10756	141	9	related	relate	VERB
easat-10756	141	10	to	to	ADP
easat-10756	141	11	vision	vision	NOUN
easat-10756	141	12	-	-	PUNCT
easat-10756	141	13	based	base	VERB
easat-10756	141	14	perception	perception	NOUN
easat-10756	141	15	.	.	PUNCT
easat-10756	142	1	andrade	andrade	PROPN
easat-10756	142	2	et	et	PROPN
easat-10756	142	3	al	al	PROPN
easat-10756	142	4	.	.	PUNCT
easat-10756	143	1	[	[	X
easat-10756	143	2	12	12	NUM
easat-10756	143	3	]	]	PUNCT
easat-10756	143	4	demonstrated	demonstrate	VERB
easat-10756	143	5	that	that	SCONJ
easat-10756	143	6	color	color	NOUN
easat-10756	143	7	contrast	contrast	NOUN
easat-10756	143	8	influences	influence	VERB
easat-10756	143	9	spatial	spatial	ADJ
easat-10756	143	10	recognition	recognition	NOUN
easat-10756	143	11	and	and	CCONJ
easat-10756	143	12	psychological	psychological	ADJ
easat-10756	143	13	comfort	comfort	NOUN
easat-10756	143	14	in	in	ADP
easat-10756	143	15	humans	human	NOUN
easat-10756	143	16	,	,	PUNCT
easat-10756	143	17	while	while	SCONJ
easat-10756	143	18	ruo	ruo	PROPN
easat-10756	143	19	et	et	PROPN
easat-10756	143	20	al	al	PROPN
easat-10756	143	21	.	.	PUNCT
easat-10756	144	1	[	[	X
easat-10756	144	2	5	5	NUM
easat-10756	144	3	]	]	PUNCT
easat-10756	144	4	reported	report	VERB
easat-10756	144	5	that	that	SCONJ
easat-10756	144	6	color	color	NOUN
easat-10756	144	7	contrast	contrast	NOUN
easat-10756	144	8	affects	affect	VERB
easat-10756	144	9	the	the	DET
easat-10756	144	10	emotional	emotional	ADJ
easat-10756	144	11	inference	inference	NOUN
easat-10756	144	12	accuracy	accuracy	NOUN
easat-10756	144	13	of	of	ADP
easat-10756	144	14	vision	vision	NOUN
easat-10756	144	15	-	-	PUNCT
easat-10756	144	16	based	base	VERB
easat-10756	144	17	classifiers	classifier	NOUN
easat-10756	144	18	in	in	ADP
easat-10756	144	19	their	their	PRON
easat-10756	144	20	study	study	NOUN
easat-10756	144	21	on	on	ADP
easat-10756	144	22	the	the	DET
easat-10756	144	23	social	social	ADJ
easat-10756	144	24	acceptability	acceptability	NOUN
easat-10756	144	25	of	of	ADP
easat-10756	144	26	robots	robot	NOUN
easat-10756	144	27	[	[	X
easat-10756	144	28	5	5	NUM
easat-10756	144	29	,	,	PUNCT
easat-10756	144	30	12	12	NUM
easat-10756	144	31	]	]	PUNCT
easat-10756	144	32	.	.	PUNCT
easat-10756	145	1	these	these	DET
easat-10756	145	2	findings	finding	NOUN
easat-10756	145	3	suggest	suggest	VERB
easat-10756	145	4	that	that	SCONJ
easat-10756	145	5	the	the	DET
easat-10756	145	6	color	color	NOUN
easat-10756	145	7	and	and	CCONJ
easat-10756	145	8	reflective	reflective	ADJ
easat-10756	145	9	properties	property	NOUN
easat-10756	145	10	of	of	ADP
easat-10756	145	11	architectural	architectural	ADJ
easat-10756	145	12	finishing	finish	VERB
easat-10756	145	13	materials	material	NOUN
easat-10756	145	14	can	can	AUX
easat-10756	145	15	indirectly	indirectly	ADV
easat-10756	145	16	influence	influence	VERB
easat-10756	145	17	the	the	DET
easat-10756	145	18	performance	performance	NOUN
easat-10756	145	19	of	of	ADP
easat-10756	145	20	robotic	robotic	ADJ
easat-10756	145	21	object	object	NOUN
easat-10756	145	22	detection	detection	NOUN
easat-10756	145	23	algorithms	algorithm	NOUN
easat-10756	145	24	such	such	ADJ
easat-10756	145	25	as	as	ADP
easat-10756	145	26	cnn	cnn	PROPN
easat-10756	145	27	and	and	CCONJ
easat-10756	145	28	yolo	yolo	PROPN
easat-10756	145	29	.	.	PUNCT
easat-10756	146	1	in	in	ADP
easat-10756	146	2	summary	summary	NOUN
easat-10756	146	3	,	,	PUNCT
easat-10756	146	4	previous	previous	ADJ
easat-10756	146	5	studies	study	NOUN
easat-10756	146	6	indicate	indicate	VERB
easat-10756	146	7	that	that	SCONJ
easat-10756	146	8	physical	physical	ADJ
easat-10756	146	9	environmental	environmental	ADJ
easat-10756	146	10	factors	factor	NOUN
easat-10756	146	11	validated	validate	VERB
easat-10756	146	12	through	through	ADP
easat-10756	146	13	ebd	ebd	PROPN
easat-10756	146	14	,	,	PUNCT
easat-10756	146	15	such	such	ADJ
easat-10756	146	16	as	as	ADP
easat-10756	146	17	luminance	luminance	NOUN
easat-10756	146	18	,	,	PUNCT
easat-10756	146	19	reflectance	reflectance	NOUN
easat-10756	146	20	,	,	PUNCT
easat-10756	146	21	color	color	NOUN
easat-10756	146	22	,	,	PUNCT
easat-10756	146	23	texture	texture	NOUN
easat-10756	146	24	,	,	PUNCT
easat-10756	146	25	and	and	CCONJ
easat-10756	146	26	friction	friction	NOUN
easat-10756	146	27	coefficient	coefficient	NOUN
easat-10756	146	28	,	,	PUNCT
easat-10756	146	29	mutually	mutually	ADV
easat-10756	146	30	influence	influence	VERB
easat-10756	146	31	robotic	robotic	ADJ
easat-10756	146	32	perception	perception	NOUN
easat-10756	146	33	accuracy	accuracy	NOUN
easat-10756	146	34	,	,	PUNCT
easat-10756	146	35	navigational	navigational	ADJ
easat-10756	146	36	stability	stability	NOUN
easat-10756	146	37	,	,	PUNCT
easat-10756	146	38	and	and	CCONJ
easat-10756	146	39	response	response	NOUN
easat-10756	146	40	efficiency	efficiency	NOUN
easat-10756	146	41	.	.	PUNCT
easat-10756	147	1	in	in	ADP
easat-10756	147	2	other	other	ADJ
easat-10756	147	3	words	word	NOUN
easat-10756	147	4	,	,	PUNCT
easat-10756	147	5	the	the	DET
easat-10756	147	6	factors	factor	NOUN
easat-10756	147	7	that	that	PRON
easat-10756	147	8	define	define	VERB
easat-10756	147	9	users	user	NOUN
easat-10756	147	10	’	’	PART
easat-10756	147	11	cognitive	cognitive	ADJ
easat-10756	147	12	and	and	CCONJ
easat-10756	147	13	behavioral	behavioral	ADJ
easat-10756	147	14	responses	response	NOUN
easat-10756	147	15	in	in	ADP
easat-10756	147	16	human	human	NOUN
easat-10756	147	17	-	-	PUNCT
easat-10756	147	18	centered	center	VERB
easat-10756	147	19	ebd	ebd	PROPN
easat-10756	147	20	correspond	correspond	VERB
easat-10756	147	21	to	to	PART
easat-10756	147	22	sensor	sensor	NOUN
easat-10756	147	23	detection	detection	NOUN
easat-10756	147	24	rate	rate	NOUN
easat-10756	147	25	,	,	PUNCT
easat-10756	147	26	navigation	navigation	NOUN
easat-10756	147	27	stability	stability	NOUN
easat-10756	147	28	,	,	PUNCT
easat-10756	147	29	and	and	CCONJ
easat-10756	147	30	data	datum	NOUN
easat-10756	147	31	recognition	recognition	NOUN
easat-10756	147	32	confidence	confidence	NOUN
easat-10756	147	33	in	in	ADP
easat-10756	147	34	robot	robot	NOUN
easat-10756	147	35	-	-	PUNCT
easat-10756	147	36	centered	center	VERB
easat-10756	147	37	analyses	analysis	NOUN
easat-10756	147	38	.	.	PUNCT
easat-10756	148	1	therefore	therefore	ADV
easat-10756	148	2	,	,	PUNCT
easat-10756	148	3	this	this	DET
easat-10756	148	4	study	study	NOUN
easat-10756	148	5	redefines	redefine	VERB
easat-10756	148	6	ebd	ebd	PROPN
easat-10756	148	7	environmental	environmental	ADJ
easat-10756	148	8	factors	factor	NOUN
easat-10756	148	9	from	from	ADP
easat-10756	148	10	the	the	DET
easat-10756	148	11	perspective	perspective	NOUN
easat-10756	148	12	of	of	ADP
easat-10756	148	13	robotic	robotic	ADJ
easat-10756	148	14	operational	operational	ADJ
easat-10756	148	15	performance	performance	NOUN
easat-10756	148	16	and	and	CCONJ
easat-10756	148	17	presents	present	VERB
easat-10756	148	18	correlation	correlation	NOUN
easat-10756	148	19	analysis	analysis	NOUN
easat-10756	148	20	results	result	NOUN
easat-10756	148	21	for	for	ADP
easat-10756	148	22	each	each	DET
easat-10756	148	23	factor	factor	NOUN
easat-10756	148	24	accordingly	accordingly	ADV
easat-10756	148	25	.	.	PUNCT
easat-10756	149	1	4.2	4.2	NUM
easat-10756	149	2	.	.	PUNCT
easat-10756	150	1	critical	critical	ADJ
easat-10756	150	2	factors	factor	NOUN
easat-10756	150	3	affecting	affect	VERB
easat-10756	150	4	robot	robot	NOUN
easat-10756	150	5	operation	operation	NOUN
easat-10756	150	6	in	in	ADP
easat-10756	150	7	buildings	building	NOUN
easat-10756	150	8	by	by	ADP
easat-10756	150	9	integrating	integrate	VERB
easat-10756	150	10	previous	previous	ADJ
easat-10756	150	11	studies	study	NOUN
easat-10756	150	12	on	on	ADP
easat-10756	150	13	evidence	evidence	NOUN
easat-10756	150	14	-	-	PUNCT
easat-10756	150	15	based	base	VERB
easat-10756	150	16	design	design	NOUN
easat-10756	150	17	(	(	PUNCT
easat-10756	150	18	ebd	ebd	PROPN
easat-10756	150	19	)	)	PUNCT
easat-10756	150	20	and	and	CCONJ
easat-10756	150	21	robotic	robotic	ADJ
easat-10756	150	22	operation	operation	NOUN
easat-10756	150	23	,	,	PUNCT
easat-10756	150	24	this	this	DET
easat-10756	150	25	study	study	NOUN
easat-10756	150	26	identified	identify	VERB
easat-10756	150	27	architectural	architectural	ADJ
easat-10756	150	28	environmental	environmental	ADJ
easat-10756	150	29	factors	factor	NOUN
easat-10756	150	30	that	that	PRON
easat-10756	150	31	influence	influence	VERB
easat-10756	150	32	the	the	DET
easat-10756	150	33	perception	perception	NOUN
easat-10756	150	34	and	and	CCONJ
easat-10756	150	35	navigation	navigation	NOUN
easat-10756	150	36	performance	performance	NOUN
easat-10756	150	37	of	of	ADP
easat-10756	150	38	service	service	NOUN
easat-10756	150	39	robots	robot	NOUN
easat-10756	150	40	.	.	PUNCT
easat-10756	151	1	as	as	SCONJ
easat-10756	151	2	summarized	summarize	VERB
easat-10756	151	3	in	in	ADP
easat-10756	151	4	table	table	NOUN
easat-10756	151	5	3	3	NUM
easat-10756	151	6	,	,	PUNCT
easat-10756	151	7	the	the	DET
easat-10756	151	8	derived	derive	VERB
easat-10756	151	9	factors	factor	NOUN
easat-10756	151	10	are	be	AUX
easat-10756	151	11	categorized	categorize	VERB
easat-10756	151	12	into	into	ADP
easat-10756	151	13	three	three	NUM
easat-10756	151	14	domains	domain	NOUN
easat-10756	151	15	:	:	PUNCT
easat-10756	151	16	environmental	environmental	ADJ
easat-10756	151	17	,	,	PUNCT
easat-10756	151	18	behavioral	behavioral	ADJ
easat-10756	151	19	,	,	PUNCT
easat-10756	151	20	and	and	CCONJ
easat-10756	151	21	technological	technological	ADJ
easat-10756	151	22	.	.	PUNCT
easat-10756	152	1	table	table	NOUN
easat-10756	152	2	3	3	NUM
easat-10756	152	3	.	.	PUNCT
easat-10756	153	1	factors	factor	NOUN
easat-10756	153	2	affecting	affect	VERB
easat-10756	153	3	robot	robot	NOUN
easat-10756	153	4	performance	performance	NOUN
easat-10756	153	5	by	by	ADP
easat-10756	153	6	3	3	NUM
easat-10756	153	7	domains	domain	NOUN
easat-10756	153	8	.	.	PUNCT
easat-10756	154	1	domains	domain	NOUN
easat-10756	154	2	material	material	NOUN
easat-10756	154	3	factors	factor	NOUN
easat-10756	154	4	effect	effect	VERB
easat-10756	154	5	on	on	ADP
easat-10756	154	6	robot	robot	NOUN
easat-10756	154	7	observed	observe	VERB
easat-10756	154	8	influence	influence	NOUN
easat-10756	154	9	in	in	ADP
easat-10756	154	10	prior	prior	ADJ
easat-10756	154	11	studies	study	NOUN
easat-10756	154	12	reference	reference	VERB
easat-10756	154	13	environmental	environmental	ADJ
easat-10756	154	14	factors	factor	NOUN
easat-10756	154	15	lighting	light	VERB
easat-10756	154	16	condition	condition	NOUN
easat-10756	154	17	,	,	PUNCT
easat-10756	154	18	surface	surface	NOUN
easat-10756	154	19	reflectance	reflectance	NOUN
easat-10756	154	20	,	,	PUNCT
easat-10756	154	21	friction	friction	NOUN
easat-10756	154	22	coefficient	coefficient	NOUN
easat-10756	154	23	,	,	PUNCT
easat-10756	154	24	texture	texture	ADJ
easat-10756	154	25	physical	physical	ADJ
easat-10756	154	26	properties	property	NOUN
easat-10756	154	27	influencing	influence	VERB
easat-10756	154	28	sensor	sensor	NOUN
easat-10756	154	29	accuracy	accuracy	NOUN
easat-10756	154	30	and	and	CCONJ
easat-10756	154	31	motion	motion	NOUN
easat-10756	154	32	stability	stability	NOUN
easat-10756	154	33	high	high	ADJ
easat-10756	154	34	reflectance	reflectance	NOUN
easat-10756	154	35	or	or	CCONJ
easat-10756	154	36	low	low	ADJ
easat-10756	154	37	friction	friction	NOUN
easat-10756	154	38	decreases	decrease	VERB
easat-10756	154	39	wheel	wheel	NOUN
easat-10756	154	40	traction	traction	NOUN
easat-10756	154	41	and	and	CCONJ
easat-10756	154	42	path	path	NOUN
easat-10756	154	43	consistency	consistency	NOUN
easat-10756	154	44	andrade	andrade	PROPN
easat-10756	154	45	et	et	PROPN
easat-10756	154	46	al	al	PROPN
easat-10756	154	47	.	.	PUNCT
easat-10756	155	1	[	[	X
easat-10756	155	2	12	12	NUM
easat-10756	155	3	]	]	X
easat-10756	155	4	;	;	PUNCT
easat-10756	155	5	farkas	farkas	PROPN
easat-10756	155	6	et	et	PROPN
easat-10756	155	7	al	al	PROPN
easat-10756	155	8	.	.	PUNCT
easat-10756	156	1	[	[	X
easat-10756	156	2	11	11	NUM
easat-10756	156	3	]	]	PUNCT
easat-10756	156	4	;	;	PUNCT
easat-10756	156	5	wang	wang	PROPN
easat-10756	156	6	et	et	PROPN
easat-10756	156	7	al	al	PROPN
easat-10756	156	8	.	.	PUNCT
easat-10756	157	1	[	[	X
easat-10756	157	2	16	16	NUM
easat-10756	157	3	]	]	PUNCT
easat-10756	157	4	and	and	CCONJ
easat-10756	157	5	ezhilarasu	ezhilarasu	VERB
easat-10756	157	6	et	et	PROPN
easat-10756	157	7	al	al	PROPN
easat-10756	157	8	.	.	PUNCT
easat-10756	158	1	[	[	X
easat-10756	158	2	15	15	NUM
easat-10756	158	3	]	]	X
easat-10756	158	4	behavioral	behavioral	ADJ
easat-10756	158	5	factors	factor	NOUN
easat-10756	158	6	corridor	corridor	ADJ
easat-10756	158	7	width	width	NOUN
easat-10756	158	8	,	,	PUNCT
easat-10756	158	9	turning	turn	VERB
easat-10756	158	10	radius	radius	NOUN
easat-10756	158	11	,	,	PUNCT
easat-10756	158	12	visibility	visibility	NOUN
easat-10756	158	13	of	of	ADP
easat-10756	158	14	markers	marker	NOUN
easat-10756	158	15	,	,	PUNCT
easat-10756	158	16	path	path	NOUN
easat-10756	158	17	continuity	continuity	NOUN
easat-10756	158	18	spatial	spatial	ADJ
easat-10756	158	19	configuration	configuration	NOUN
easat-10756	158	20	affecting	affect	VERB
easat-10756	158	21	movement	movement	NOUN
easat-10756	158	22	efficiency	efficiency	NOUN
easat-10756	158	23	and	and	CCONJ
easat-10756	158	24	collision	collision	NOUN
easat-10756	158	25	frequency	frequency	NOUN
easat-10756	158	26	narrow	narrow	ADJ
easat-10756	158	27	passages	passage	NOUN
easat-10756	158	28	and	and	CCONJ
easat-10756	158	29	poor	poor	ADJ
easat-10756	158	30	visual	visual	ADJ
easat-10756	158	31	continuity	continuity	NOUN
easat-10756	158	32	increase	increase	NOUN
easat-10756	158	33	deviation	deviation	NOUN
easat-10756	158	34	and	and	CCONJ
easat-10756	158	35	collision	collision	NOUN
easat-10756	158	36	rate	rate	NOUN
easat-10756	158	37	lee	lee	PROPN
easat-10756	159	1	[	[	X
easat-10756	159	2	1	1	X
easat-10756	159	3	]	]	PUNCT
easat-10756	159	4	and	and	CCONJ
easat-10756	159	5	ruo	ruo	PROPN
easat-10756	159	6	et	et	PROPN
easat-10756	159	7	al	al	PROPN
easat-10756	159	8	.	.	PUNCT
easat-10756	160	1	[	[	X
easat-10756	160	2	5	5	NUM
easat-10756	160	3	]	]	X
easat-10756	160	4	technological	technological	ADJ
easat-10756	160	5	factors	factor	NOUN
easat-10756	160	6	illumination	illumination	NOUN
easat-10756	160	7	uniformity	uniformity	NOUN
easat-10756	160	8	,	,	PUNCT
easat-10756	160	9	signal	signal	ADJ
easat-10756	160	10	interference	interference	NOUN
easat-10756	160	11	,	,	PUNCT
easat-10756	160	12	and	and	CCONJ
easat-10756	160	13	sensor	sensor	NOUN
easat-10756	160	14	calibration	calibration	NOUN
easat-10756	160	15	hardware	hardware	NOUN
easat-10756	160	16	–	–	PUNCT
easat-10756	160	17	environmental	environmental	ADJ
easat-10756	160	18	consistency	consistency	NOUN
easat-10756	160	19	,	,	PUNCT
easat-10756	160	20	determining	determine	VERB
easat-10756	160	21	control	control	NOUN
easat-10756	160	22	precision	precision	NOUN
easat-10756	160	23	,	,	PUNCT
easat-10756	160	24	and	and	CCONJ
easat-10756	160	25	navigation	navigation	NOUN
easat-10756	160	26	reliability	reliability	NOUN
easat-10756	160	27	proper	proper	ADJ
easat-10756	160	28	calibration	calibration	NOUN
easat-10756	160	29	reduces	reduce	VERB
easat-10756	160	30	slam	slam	NOUN
easat-10756	160	31	drift	drift	NOUN
easat-10756	160	32	and	and	CCONJ
easat-10756	160	33	sensor	sensor	NOUN
easat-10756	160	34	misdetection	misdetection	NOUN
easat-10756	160	35	under	under	ADP
easat-10756	160	36	high	high	ADJ
easat-10756	160	37	reflectance	reflectance	NOUN
easat-10756	160	38	farkas	farka	NOUN
easat-10756	160	39	et	et	PROPN
easat-10756	160	40	al	al	PROPN
easat-10756	160	41	.	.	PUNCT
easat-10756	161	1	[	[	X
easat-10756	161	2	11	11	NUM
easat-10756	161	3	]	]	PUNCT
easat-10756	161	4	;	;	PUNCT
easat-10756	161	5	wang	wang	PROPN
easat-10756	161	6	et	et	PROPN
easat-10756	161	7	al	al	PROPN
easat-10756	161	8	.	.	PUNCT
easat-10756	162	1	[	[	X
easat-10756	162	2	16	16	NUM
easat-10756	162	3	]	]	PUNCT
easat-10756	162	4	and	and	CCONJ
easat-10756	162	5	ezhilarasu	ezhilarasu	VERB
easat-10756	162	6	et	et	PROPN
easat-10756	162	7	al	al	PROPN
easat-10756	162	8	.	.	PUNCT
easat-10756	163	1	[	[	X
easat-10756	163	2	15	15	NUM
easat-10756	163	3	]	]	PUNCT
easat-10756	163	4	this	this	DET
easat-10756	163	5	classification	classification	NOUN
easat-10756	163	6	extends	extend	VERB
easat-10756	163	7	the	the	DET
easat-10756	163	8	core	core	NOUN
easat-10756	163	9	principle	principle	NOUN
easat-10756	163	10	of	of	ADP
easat-10756	163	11	ebd	ebd	PROPN
easat-10756	163	12	,	,	PUNCT
easat-10756	163	13	linking	link	VERB
easat-10756	163	14	physical	physical	ADJ
easat-10756	163	15	environments	environment	NOUN
easat-10756	163	16	,	,	PUNCT
easat-10756	163	17	behavioral	behavioral	ADJ
easat-10756	163	18	responses	response	NOUN
easat-10756	163	19	,	,	PUNCT
easat-10756	163	20	and	and	CCONJ
easat-10756	163	21	performance	performance	NOUN
easat-10756	163	22	outcomes	outcome	NOUN
easat-10756	163	23	into	into	ADP
easat-10756	163	24	a	a	DET
easat-10756	163	25	robot	robot	NOUN
easat-10756	163	26	-	-	PUNCT
easat-10756	163	27	centered	center	VERB
easat-10756	163	28	analytical	analytical	ADJ
easat-10756	163	29	framework	framework	NOUN
easat-10756	163	30	[	[	X
easat-10756	163	31	7	7	NUM
easat-10756	163	32	,	,	PUNCT
easat-10756	163	33	8	8	NUM
easat-10756	163	34	,	,	PUNCT
easat-10756	163	35	12	12	NUM
easat-10756	163	36	]	]	PUNCT
easat-10756	163	37	.	.	PUNCT
easat-10756	164	1	while	while	SCONJ
easat-10756	164	2	conventional	conventional	ADJ
easat-10756	164	3	human	human	NOUN
easat-10756	164	4	-	-	PUNCT
easat-10756	164	5	centered	center	VERB
easat-10756	164	6	ebd	ebd	PROPN
easat-10756	164	7	derives	derive	VERB
easat-10756	164	8	design	design	NOUN
easat-10756	164	9	factors	factor	NOUN
easat-10756	164	10	from	from	ADP
easat-10756	164	11	users	user	NOUN
easat-10756	164	12	’	’	PART
easat-10756	164	13	cognitive	cognitive	ADJ
easat-10756	164	14	and	and	CCONJ
easat-10756	164	15	behavioral	behavioral	ADJ
easat-10756	164	16	responses	response	NOUN
easat-10756	164	17	within	within	ADP
easat-10756	164	18	a	a	DET
easat-10756	164	19	space	space	NOUN
easat-10756	164	20	,	,	PUNCT
easat-10756	164	21	the	the	DET
easat-10756	164	22	present	present	ADJ
easat-10756	164	23	study	study	NOUN
easat-10756	164	24	reinterprets	reinterpret	VERB
easat-10756	164	25	environmental	environmental	ADJ
easat-10756	164	26	variables	variable	NOUN
easat-10756	164	27	through	through	ADP
easat-10756	164	28	the	the	DET
easat-10756	164	29	lens	lens	NOUN
easat-10756	164	30	of	of	ADP
easat-10756	164	31	robotic	robotic	ADJ
easat-10756	164	32	perception	perception	NOUN
easat-10756	164	33	,	,	PUNCT
easat-10756	164	34	navigation	navigation	NOUN
easat-10756	164	35	,	,	PUNCT
easat-10756	164	36	and	and	CCONJ
easat-10756	164	37	interaction	interaction	NOUN
easat-10756	164	38	processes	process	NOUN
easat-10756	164	39	,	,	PUNCT
easat-10756	164	40	focusing	focus	VERB
easat-10756	164	41	on	on	ADP
easat-10756	164	42	the	the	DET
easat-10756	164	43	corresponding	corresponding	ADJ
easat-10756	164	44	physical	physical	ADJ
easat-10756	164	45	and	and	CCONJ
easat-10756	164	46	technological	technological	ADJ
easat-10756	164	47	responses	response	NOUN
easat-10756	164	48	.	.	PUNCT
easat-10756	165	1	environmental	environmental	ADJ
easat-10756	165	2	factors	factor	NOUN
easat-10756	165	3	refer	refer	VERB
easat-10756	165	4	to	to	ADP
easat-10756	165	5	the	the	DET
easat-10756	165	6	physical	physical	ADJ
easat-10756	165	7	attributes	attribute	NOUN
easat-10756	165	8	of	of	ADP
easat-10756	165	9	space	space	NOUN
easat-10756	165	10	,	,	PUNCT
easat-10756	165	11	such	such	ADJ
easat-10756	165	12	as	as	ADP
easat-10756	165	13	lighting	lighting	NOUN
easat-10756	165	14	,	,	PUNCT
easat-10756	165	15	reflectance	reflectance	NOUN
easat-10756	165	16	,	,	PUNCT
easat-10756	165	17	friction	friction	NOUN
easat-10756	165	18	coefficient	coefficient	NOUN
easat-10756	165	19	,	,	PUNCT
easat-10756	165	20	and	and	CCONJ
easat-10756	165	21	material	material	PROPN
easat-10756	165	22	texture	texture	NOUN
easat-10756	165	23	,	,	PUNCT
easat-10756	165	24	that	that	PRON
easat-10756	165	25	directly	directly	ADV
easat-10756	165	26	affect	affect	VERB
easat-10756	165	27	the	the	DET
easat-10756	165	28	sensing	sense	VERB
easat-10756	165	29	accuracy	accuracy	NOUN
easat-10756	165	30	and	and	CCONJ
easat-10756	165	31	navigational	navigational	ADJ
easat-10756	165	32	stability	stability	NOUN
easat-10756	165	33	of	of	ADP
easat-10756	165	34	robots	robot	NOUN
easat-10756	165	35	[	[	X
easat-10756	165	36	9	9	NUM
easat-10756	165	37	,	,	PUNCT
easat-10756	165	38	11	11	NUM
easat-10756	165	39	,	,	PUNCT
easat-10756	165	40	15	15	NUM
easat-10756	165	41	]	]	PUNCT
easat-10756	165	42	.	.	PUNCT
easat-10756	166	1	behavioral	behavioral	ADJ
easat-10756	166	2	factors	factor	NOUN
easat-10756	166	3	describe	describe	VERB
easat-10756	166	4	the	the	DET
easat-10756	166	5	response	response	NOUN
easat-10756	166	6	characteristics	characteristic	NOUN
easat-10756	166	7	observed	observe	VERB
easat-10756	166	8	as	as	ADP
easat-10756	166	9	robots	robot	NOUN
easat-10756	166	10	plan	plan	NOUN
easat-10756	166	11	paths	path	NOUN
easat-10756	166	12	,	,	PUNCT
easat-10756	166	13	avoid	avoid	VERB
easat-10756	166	14	obstacles	obstacle	NOUN
easat-10756	166	15	,	,	PUNCT
easat-10756	166	16	and	and	CCONJ
easat-10756	166	17	interact	interact	VERB
easat-10756	166	18	with	with	ADP
easat-10756	166	19	humans	human	NOUN
easat-10756	166	20	or	or	CCONJ
easat-10756	166	21	other	other	ADJ
easat-10756	166	22	robots	robot	NOUN
easat-10756	166	23	within	within	ADP
easat-10756	166	24	a	a	DET
easat-10756	166	25	space	space	NOUN
easat-10756	166	26	.	.	PUNCT
easat-10756	167	1	for	for	ADP
easat-10756	167	2	example	example	NOUN
easat-10756	167	3	,	,	PUNCT
easat-10756	167	4	corridor	corridor	PROPN
easat-10756	167	5	64	64	NUM
easat-10756	167	6	edelweiss	edelweiss	PROPN
easat-10756	167	7	applied	apply	VERB
easat-10756	167	8	science	science	NOUN
easat-10756	167	9	and	and	CCONJ
easat-10756	167	10	technology	technology	NOUN
easat-10756	167	11	issn	issn	PROPN
easat-10756	167	12	:	:	PUNCT
easat-10756	167	13	2576	2576	NUM
easat-10756	167	14	-	-	SYM
easat-10756	167	15	8484	8484	NUM
easat-10756	167	16	vol	vol	NOUN
easat-10756	167	17	.	.	PROPN
easat-10756	168	1	9	9	NUM
easat-10756	168	2	,	,	PUNCT
easat-10756	168	3	no	no	INTJ
easat-10756	168	4	.	.	NOUN
easat-10756	168	5	11	11	NUM
easat-10756	168	6	:	:	PUNCT
easat-10756	168	7	57	57	NUM
easat-10756	168	8	-	-	SYM
easat-10756	168	9	70	70	NUM
easat-10756	168	10	,	,	PUNCT
easat-10756	168	11	2025	2025	NUM
easat-10756	168	12	doi	doi	NOUN
easat-10756	168	13	:	:	PUNCT
easat-10756	168	14	10.55214/2576	10.55214/2576	NUM
easat-10756	168	15	-	-	SYM
easat-10756	168	16	8484.v9i11.10756	8484.v9i11.10756	NUM
easat-10756	168	17	©	©	PROPN
easat-10756	168	18	2025	2025	NUM
easat-10756	168	19	by	by	ADP
easat-10756	168	20	the	the	DET
easat-10756	168	21	authors	author	NOUN
easat-10756	168	22	;	;	PUNCT
easat-10756	168	23	licensee	licensee	PROPN
easat-10756	168	24	learning	learn	VERB
easat-10756	168	25	gate	gate	NOUN
easat-10756	168	26	width	width	NOUN
easat-10756	168	27	,	,	PUNCT
easat-10756	168	28	turning	turn	VERB
easat-10756	168	29	radius	radius	NOUN
easat-10756	168	30	,	,	PUNCT
easat-10756	168	31	and	and	CCONJ
easat-10756	168	32	visibility	visibility	NOUN
easat-10756	168	33	of	of	ADP
easat-10756	168	34	markings	marking	NOUN
easat-10756	168	35	act	act	VERB
easat-10756	168	36	as	as	ADP
easat-10756	168	37	determinants	determinant	NOUN
easat-10756	168	38	of	of	ADP
easat-10756	168	39	mobility	mobility	NOUN
easat-10756	168	40	efficiency	efficiency	NOUN
easat-10756	168	41	and	and	CCONJ
easat-10756	168	42	interaction	interaction	NOUN
easat-10756	168	43	stability	stability	NOUN
easat-10756	169	1	[	[	X
easat-10756	169	2	1	1	NUM
easat-10756	169	3	,	,	PUNCT
easat-10756	169	4	5	5	NUM
easat-10756	169	5	]	]	PUNCT
easat-10756	169	6	.	.	PUNCT
easat-10756	170	1	technological	technological	ADJ
easat-10756	170	2	factors	factor	NOUN
easat-10756	170	3	represent	represent	VERB
easat-10756	170	4	environmental	environmental	ADJ
easat-10756	170	5	requirements	requirement	NOUN
easat-10756	170	6	closely	closely	ADV
easat-10756	170	7	related	relate	VERB
easat-10756	170	8	to	to	ADP
easat-10756	170	9	robotic	robotic	ADJ
easat-10756	170	10	hardware	hardware	NOUN
easat-10756	170	11	and	and	CCONJ
easat-10756	170	12	sensor	sensor	NOUN
easat-10756	170	13	characteristics	characteristic	NOUN
easat-10756	170	14	,	,	PUNCT
easat-10756	170	15	including	include	VERB
easat-10756	170	16	luminance	luminance	NOUN
easat-10756	170	17	uniformity	uniformity	NOUN
easat-10756	170	18	,	,	PUNCT
easat-10756	170	19	surface	surface	NOUN
easat-10756	170	20	reflectance	reflectance	NOUN
easat-10756	170	21	thresholds	threshold	NOUN
easat-10756	170	22	,	,	PUNCT
easat-10756	170	23	and	and	CCONJ
easat-10756	170	24	potential	potential	ADJ
easat-10756	170	25	signal	signal	NOUN
easat-10756	170	26	interference	interference	NOUN
easat-10756	170	27	[	[	X
easat-10756	170	28	11	11	NUM
easat-10756	170	29	,	,	PUNCT
easat-10756	170	30	15	15	NUM
easat-10756	170	31	]	]	PUNCT
easat-10756	170	32	.	.	PUNCT
easat-10756	171	1	the	the	DET
easat-10756	171	2	classification	classification	NOUN
easat-10756	171	3	of	of	ADP
easat-10756	171	4	these	these	DET
easat-10756	171	5	three	three	NUM
easat-10756	171	6	domains	domain	NOUN
easat-10756	171	7	is	be	AUX
easat-10756	171	8	not	not	PART
easat-10756	171	9	merely	merely	ADV
easat-10756	171	10	intended	intend	VERB
easat-10756	171	11	for	for	ADP
easat-10756	171	12	categorization	categorization	NOUN
easat-10756	171	13	but	but	CCONJ
easat-10756	171	14	rather	rather	ADV
easat-10756	171	15	serves	serve	VERB
easat-10756	171	16	as	as	ADP
easat-10756	171	17	a	a	DET
easat-10756	171	18	multilayered	multilayered	ADJ
easat-10756	171	19	analytical	analytical	ADJ
easat-10756	171	20	framework	framework	NOUN
easat-10756	171	21	for	for	ADP
easat-10756	171	22	understanding	understand	VERB
easat-10756	171	23	how	how	SCONJ
easat-10756	171	24	robots	robot	NOUN
easat-10756	171	25	perceive	perceive	VERB
easat-10756	171	26	and	and	CCONJ
easat-10756	171	27	adapt	adapt	VERB
easat-10756	171	28	to	to	ADP
easat-10756	171	29	their	their	PRON
easat-10756	171	30	built	build	VERB
easat-10756	171	31	environments	environment	NOUN
easat-10756	171	32	.	.	PUNCT
easat-10756	172	1	according	accord	VERB
easat-10756	172	2	to	to	ADP
easat-10756	172	3	the	the	DET
easat-10756	172	4	literature	literature	PROPN
easat-10756	172	5	review	review	PROPN
easat-10756	172	6	,	,	PUNCT
easat-10756	172	7	the	the	DET
easat-10756	172	8	factors	factor	NOUN
easat-10756	172	9	most	most	ADV
easat-10756	172	10	strongly	strongly	ADV
easat-10756	172	11	correlated	correlate	VERB
easat-10756	172	12	with	with	ADP
easat-10756	172	13	robotic	robotic	ADJ
easat-10756	172	14	performance	performance	NOUN
easat-10756	172	15	can	can	AUX
easat-10756	172	16	be	be	AUX
easat-10756	172	17	broadly	broadly	ADV
easat-10756	172	18	categorized	categorize	VERB
easat-10756	172	19	into	into	ADP
easat-10756	172	20	three	three	NUM
easat-10756	172	21	groups	group	NOUN
easat-10756	172	22	:	:	PUNCT
easat-10756	172	23	visual	visual	ADJ
easat-10756	172	24	perception	perception	NOUN
easat-10756	172	25	–	–	PUNCT
easat-10756	172	26	related	relate	VERB
easat-10756	172	27	factors	factor	NOUN
easat-10756	172	28	,	,	PUNCT
easat-10756	172	29	surface	surface	NOUN
easat-10756	172	30	and	and	CCONJ
easat-10756	172	31	locomotion	locomotion	NOUN
easat-10756	172	32	–	–	PUNCT
easat-10756	172	33	related	relate	VERB
easat-10756	172	34	factors	factor	NOUN
easat-10756	172	35	,	,	PUNCT
easat-10756	172	36	and	and	CCONJ
easat-10756	172	37	spatial	spatial	ADJ
easat-10756	172	38	configuration	configuration	NOUN
easat-10756	172	39	and	and	CCONJ
easat-10756	172	40	interaction	interaction	NOUN
easat-10756	172	41	factors	factor	NOUN
easat-10756	172	42	.	.	PUNCT
easat-10756	173	1	the	the	DET
easat-10756	173	2	visual	visual	ADJ
easat-10756	173	3	perception	perception	NOUN
easat-10756	173	4	–	–	PUNCT
easat-10756	173	5	related	relate	VERB
easat-10756	173	6	variables	variable	NOUN
easat-10756	173	7	include	include	VERB
easat-10756	173	8	luminance	luminance	NOUN
easat-10756	173	9	,	,	PUNCT
easat-10756	173	10	reflectance	reflectance	NOUN
easat-10756	173	11	,	,	PUNCT
easat-10756	173	12	color	color	NOUN
easat-10756	173	13	contrast	contrast	NOUN
easat-10756	173	14	,	,	PUNCT
easat-10756	173	15	and	and	CCONJ
easat-10756	173	16	transparency	transparency	NOUN
easat-10756	173	17	,	,	PUNCT
easat-10756	173	18	all	all	PRON
easat-10756	173	19	of	of	ADP
easat-10756	173	20	which	which	PRON
easat-10756	173	21	directly	directly	ADV
easat-10756	173	22	affect	affect	VERB
easat-10756	173	23	the	the	DET
easat-10756	173	24	sensing	sense	VERB
easat-10756	173	25	accuracy	accuracy	NOUN
easat-10756	173	26	of	of	ADP
easat-10756	173	27	vision	vision	NOUN
easat-10756	173	28	and	and	CCONJ
easat-10756	173	29	lidar	lidar	NOUN
easat-10756	173	30	sensors	sensor	NOUN
easat-10756	173	31	in	in	ADP
easat-10756	173	32	robots	robot	NOUN
easat-10756	173	33	.	.	PUNCT
easat-10756	174	1	farkas	farkas	PROPN
easat-10756	174	2	et	et	PROPN
easat-10756	174	3	al	al	PROPN
easat-10756	174	4	.	.	PUNCT
easat-10756	175	1	[	[	X
easat-10756	175	2	11	11	NUM
easat-10756	175	3	]	]	PUNCT
easat-10756	175	4	and	and	CCONJ
easat-10756	175	5	ezhilarasu	ezhilarasu	VERB
easat-10756	175	6	et	et	PROPN
easat-10756	175	7	al	al	PROPN
easat-10756	175	8	.	.	PUNCT
easat-10756	176	1	[	[	X
easat-10756	176	2	15	15	NUM
easat-10756	176	3	]	]	PUNCT
easat-10756	176	4	reported	report	VERB
easat-10756	176	5	that	that	SCONJ
easat-10756	176	6	luminance	luminance	NOUN
easat-10756	176	7	imbalance	imbalance	NOUN
easat-10756	176	8	and	and	CCONJ
easat-10756	176	9	surface	surface	NOUN
easat-10756	176	10	reflectance	reflectance	NOUN
easat-10756	176	11	influence	influence	NOUN
easat-10756	176	12	the	the	DET
easat-10756	176	13	accuracy	accuracy	NOUN
easat-10756	176	14	of	of	ADP
easat-10756	176	15	distance	distance	NOUN
easat-10756	176	16	measurement	measurement	NOUN
easat-10756	176	17	and	and	CCONJ
easat-10756	176	18	object	object	VERB
easat-10756	176	19	detection	detection	NOUN
easat-10756	176	20	while	while	SCONJ
easat-10756	176	21	mohan	mohan	PROPN
easat-10756	176	22	et	et	PROPN
easat-10756	176	23	al	al	PROPN
easat-10756	176	24	.	.	PUNCT
easat-10756	177	1	[	[	X
easat-10756	177	2	4	4	X
easat-10756	177	3	]	]	PUNCT
easat-10756	177	4	and	and	CCONJ
easat-10756	177	5	ng	ng	PROPN
easat-10756	177	6	et	et	PROPN
easat-10756	177	7	al	al	PROPN
easat-10756	177	8	.	.	PUNCT
easat-10756	178	1	[	[	X
easat-10756	178	2	3	3	X
easat-10756	178	3	]	]	PUNCT
easat-10756	178	4	experimentally	experimentally	ADV
easat-10756	178	5	verified	verify	VERB
easat-10756	178	6	that	that	SCONJ
easat-10756	178	7	variations	variation	NOUN
easat-10756	178	8	in	in	ADP
easat-10756	178	9	reflectance	reflectance	NOUN
easat-10756	178	10	and	and	CCONJ
easat-10756	178	11	transparency	transparency	NOUN
easat-10756	178	12	serve	serve	VERB
easat-10756	178	13	as	as	ADP
easat-10756	178	14	major	major	ADJ
easat-10756	178	15	causes	cause	NOUN
easat-10756	178	16	of	of	ADP
easat-10756	178	17	obstacle	obstacle	NOUN
easat-10756	178	18	detection	detection	NOUN
easat-10756	178	19	failures	failure	NOUN
easat-10756	178	20	and	and	CCONJ
easat-10756	178	21	path	path	NOUN
easat-10756	178	22	planning	planning	NOUN
easat-10756	178	23	errors	error	NOUN
easat-10756	178	24	[	[	X
easat-10756	178	25	3	3	NUM
easat-10756	178	26	,	,	PUNCT
easat-10756	178	27	4	4	NUM
easat-10756	178	28	,	,	PUNCT
easat-10756	178	29	11	11	NUM
easat-10756	178	30	,	,	PUNCT
easat-10756	178	31	15	15	NUM
easat-10756	178	32	]	]	PUNCT
easat-10756	178	33	.	.	PUNCT
easat-10756	179	1	surface	surface	NOUN
easat-10756	179	2	and	and	CCONJ
easat-10756	179	3	locomotion	locomotion	NOUN
easat-10756	179	4	-	-	PUNCT
easat-10756	179	5	related	relate	VERB
easat-10756	179	6	factors	factor	NOUN
easat-10756	179	7	include	include	VERB
easat-10756	179	8	friction	friction	NOUN
easat-10756	179	9	coefficient	coefficient	NOUN
easat-10756	179	10	,	,	PUNCT
easat-10756	179	11	roughness	roughness	NOUN
easat-10756	179	12	,	,	PUNCT
easat-10756	179	13	flatness	flatness	NOUN
easat-10756	179	14	,	,	PUNCT
easat-10756	179	15	and	and	CCONJ
easat-10756	179	16	slope	slope	NOUN
easat-10756	179	17	.	.	PUNCT
easat-10756	180	1	chen	chen	PROPN
easat-10756	180	2	et	et	PROPN
easat-10756	180	3	al	al	PROPN
easat-10756	180	4	.	.	PUNCT
easat-10756	181	1	[	[	X
easat-10756	181	2	9	9	NUM
easat-10756	181	3	]	]	PUNCT
easat-10756	181	4	reported	report	VERB
easat-10756	181	5	that	that	SCONJ
easat-10756	181	6	when	when	SCONJ
easat-10756	181	7	the	the	DET
easat-10756	181	8	friction	friction	NOUN
easat-10756	181	9	coefficient	coefficient	NOUN
easat-10756	181	10	of	of	ADP
easat-10756	181	11	finishing	finish	VERB
easat-10756	181	12	materials	material	NOUN
easat-10756	181	13	falls	fall	VERB
easat-10756	181	14	below	below	ADP
easat-10756	181	15	0.4	0.4	NUM
easat-10756	181	16	,	,	PUNCT
easat-10756	181	17	human	human	ADJ
easat-10756	181	18	walking	walk	VERB
easat-10756	181	19	stability	stability	NOUN
easat-10756	181	20	decreases	decrease	VERB
easat-10756	181	21	significantly	significantly	ADV
easat-10756	181	22	,	,	PUNCT
easat-10756	181	23	while	while	SCONJ
easat-10756	181	24	ezhilarasu	ezhilarasu	VERB
easat-10756	181	25	et	et	PROPN
easat-10756	181	26	al	al	PROPN
easat-10756	181	27	.	.	PUNCT
easat-10756	182	1	[	[	X
easat-10756	182	2	15	15	NUM
easat-10756	182	3	]	]	PUNCT
easat-10756	182	4	demonstrated	demonstrate	VERB
easat-10756	182	5	that	that	SCONJ
easat-10756	182	6	the	the	DET
easat-10756	182	7	same	same	ADJ
easat-10756	182	8	factor	factor	NOUN
easat-10756	182	9	directly	directly	ADV
easat-10756	182	10	affects	affect	VERB
easat-10756	182	11	the	the	DET
easat-10756	182	12	trajectory	trajectory	NOUN
easat-10756	182	13	deviation	deviation	NOUN
easat-10756	182	14	rate	rate	NOUN
easat-10756	182	15	and	and	CCONJ
easat-10756	182	16	locomotion	locomotion	NOUN
easat-10756	182	17	efficiency	efficiency	NOUN
easat-10756	182	18	of	of	ADP
easat-10756	182	19	robot	robot	NOUN
easat-10756	182	20	navigation	navigation	NOUN
easat-10756	183	1	[	[	X
easat-10756	183	2	9	9	NUM
easat-10756	183	3	,	,	PUNCT
easat-10756	183	4	15	15	NUM
easat-10756	183	5	]	]	PUNCT
easat-10756	184	1	[	[	X
easat-10756	184	2	9,15	9,15	X
easat-10756	184	3	]	]	PUNCT
easat-10756	184	4	.	.	PUNCT
easat-10756	185	1	in	in	ADP
easat-10756	185	2	addition	addition	NOUN
easat-10756	185	3	,	,	PUNCT
easat-10756	185	4	farkas	farkas	PROPN
easat-10756	185	5	et	et	PROPN
easat-10756	185	6	al	al	PROPN
easat-10756	185	7	.	.	PUNCT
easat-10756	186	1	[	[	X
easat-10756	186	2	11	11	NUM
easat-10756	186	3	]	]	PUNCT
easat-10756	186	4	analyzed	analyze	VERB
easat-10756	186	5	that	that	SCONJ
easat-10756	186	6	surface	surface	NOUN
easat-10756	186	7	flatness	flatness	NOUN
easat-10756	186	8	and	and	CCONJ
easat-10756	186	9	obstacle	obstacle	VERB
easat-10756	186	10	height	height	NOUN
easat-10756	186	11	exhibit	exhibit	NOUN
easat-10756	186	12	proportional	proportional	ADJ
easat-10756	186	13	correlations	correlation	NOUN
easat-10756	186	14	with	with	ADP
easat-10756	186	15	the	the	DET
easat-10756	186	16	accuracy	accuracy	NOUN
easat-10756	186	17	of	of	ADP
easat-10756	186	18	autonomous	autonomous	ADJ
easat-10756	186	19	path	path	NOUN
easat-10756	186	20	tracking	tracking	NOUN
easat-10756	186	21	and	and	CCONJ
easat-10756	186	22	travel	travel	NOUN
easat-10756	186	23	time	time	NOUN
easat-10756	186	24	in	in	ADP
easat-10756	186	25	robotic	robotic	ADJ
easat-10756	186	26	operations	operation	NOUN
easat-10756	186	27	[	[	X
easat-10756	186	28	11	11	NUM
easat-10756	186	29	]	]	PUNCT
easat-10756	186	30	.	.	PUNCT
easat-10756	187	1	spatial	spatial	ADJ
easat-10756	187	2	configuration	configuration	NOUN
easat-10756	187	3	and	and	CCONJ
easat-10756	187	4	interaction	interaction	NOUN
easat-10756	187	5	factors	factor	NOUN
easat-10756	187	6	include	include	VERB
easat-10756	187	7	corridor	corridor	ADJ
easat-10756	187	8	width	width	NOUN
easat-10756	187	9	,	,	PUNCT
easat-10756	187	10	turning	turn	VERB
easat-10756	187	11	radius	radius	NOUN
easat-10756	187	12	,	,	PUNCT
easat-10756	187	13	obstacle	obstacle	NOUN
easat-10756	187	14	placement	placement	NOUN
easat-10756	187	15	,	,	PUNCT
easat-10756	187	16	and	and	CCONJ
easat-10756	187	17	visibility	visibility	NOUN
easat-10756	187	18	of	of	ADP
easat-10756	187	19	markings	marking	NOUN
easat-10756	187	20	.	.	PUNCT
easat-10756	188	1	ruo	ruo	PROPN
easat-10756	188	2	et	et	PROPN
easat-10756	188	3	al	al	PROPN
easat-10756	188	4	.	.	PUNCT
easat-10756	189	1	[	[	X
easat-10756	189	2	5	5	NUM
easat-10756	189	3	]	]	PUNCT
easat-10756	189	4	emphasized	emphasize	VERB
easat-10756	189	5	that	that	SCONJ
easat-10756	189	6	both	both	CCONJ
easat-10756	189	7	spatial	spatial	ADJ
easat-10756	189	8	visibility	visibility	NOUN
easat-10756	189	9	and	and	CCONJ
easat-10756	189	10	corridor	corridor	ADJ
easat-10756	189	11	configuration	configuration	NOUN
easat-10756	189	12	must	must	AUX
easat-10756	189	13	be	be	AUX
easat-10756	189	14	considered	consider	VERB
easat-10756	189	15	simultaneously	simultaneously	ADV
easat-10756	189	16	to	to	PART
easat-10756	189	17	ensure	ensure	VERB
easat-10756	189	18	social	social	ADJ
easat-10756	189	19	acceptability	acceptability	NOUN
easat-10756	189	20	in	in	ADP
easat-10756	189	21	indoor	indoor	ADJ
easat-10756	189	22	environments	environment	NOUN
easat-10756	189	23	shared	share	VERB
easat-10756	189	24	by	by	ADP
easat-10756	189	25	humans	human	NOUN
easat-10756	189	26	and	and	CCONJ
easat-10756	189	27	robots	robot	NOUN
easat-10756	189	28	[	[	X
easat-10756	189	29	5	5	NUM
easat-10756	189	30	]	]	PUNCT
easat-10756	189	31	.	.	PUNCT
easat-10756	190	1	similar	similar	ADJ
easat-10756	190	2	findings	finding	NOUN
easat-10756	190	3	were	be	AUX
easat-10756	190	4	consistently	consistently	ADV
easat-10756	190	5	reported	report	VERB
easat-10756	190	6	by	by	ADP
easat-10756	190	7	[	[	X
easat-10756	190	8	2	2	X
easat-10756	190	9	]	]	PUNCT
easat-10756	190	10	in	in	ADP
easat-10756	190	11	a	a	DET
easat-10756	190	12	study	study	NOUN
easat-10756	190	13	on	on	ADP
easat-10756	190	14	automated	automate	VERB
easat-10756	190	15	logistics	logistic	NOUN
easat-10756	190	16	centers	center	NOUN
easat-10756	190	17	and	and	CCONJ
easat-10756	190	18	by	by	ADP
easat-10756	190	19	lee	lee	PROPN
easat-10756	191	1	[	[	X
easat-10756	191	2	1	1	X
easat-10756	191	3	]	]	PUNCT
easat-10756	191	4	in	in	ADP
easat-10756	191	5	research	research	NOUN
easat-10756	191	6	on	on	ADP
easat-10756	191	7	human	human	ADJ
easat-10756	191	8	–	–	PUNCT
easat-10756	191	9	robot	robot	NOUN
easat-10756	191	10	collaborative	collaborative	ADJ
easat-10756	191	11	spaces	space	NOUN
easat-10756	191	12	,	,	PUNCT
easat-10756	191	13	lee	lee	PROPN
easat-10756	192	1	[	[	X
easat-10756	192	2	1	1	X
easat-10756	192	3	]	]	PUNCT
easat-10756	192	4	and	and	CCONJ
easat-10756	192	5	jo	jo	X
easat-10756	193	1	[	[	X
easat-10756	193	2	2	2	NUM
easat-10756	193	3	]	]	PUNCT
easat-10756	193	4	.	.	PUNCT
easat-10756	194	1	jo	jo	PROPN
easat-10756	195	1	[	[	X
easat-10756	195	2	2	2	NUM
easat-10756	195	3	]	]	PUNCT
easat-10756	195	4	highlights	highlight	NOUN
easat-10756	195	5	that	that	SCONJ
easat-10756	195	6	simplifying	simplify	VERB
easat-10756	195	7	floor	floor	NOUN
easat-10756	195	8	layouts	layout	NOUN
easat-10756	195	9	,	,	PUNCT
easat-10756	195	10	securing	secure	VERB
easat-10756	195	11	sufficient	sufficient	ADJ
easat-10756	195	12	turning	turning	NOUN
easat-10756	195	13	radii	radii	NOUN
easat-10756	195	14	,	,	PUNCT
easat-10756	195	15	and	and	CCONJ
easat-10756	195	16	maintaining	maintain	VERB
easat-10756	195	17	surface	surface	NOUN
easat-10756	195	18	flatness	flatness	NOUN
easat-10756	195	19	are	be	AUX
easat-10756	195	20	essential	essential	ADJ
easat-10756	195	21	for	for	ADP
easat-10756	195	22	improving	improve	VERB
easat-10756	195	23	the	the	DET
easat-10756	195	24	mobility	mobility	NOUN
easat-10756	195	25	efficiency	efficiency	NOUN
easat-10756	195	26	of	of	ADP
easat-10756	195	27	robots	robot	NOUN
easat-10756	195	28	in	in	ADP
easat-10756	195	29	logistics	logistic	NOUN
easat-10756	195	30	environments	environment	NOUN
easat-10756	195	31	.	.	PUNCT
easat-10756	196	1	lee	lee	PROPN
easat-10756	197	1	[	[	X
easat-10756	197	2	1	1	NUM
easat-10756	197	3	]	]	PUNCT
easat-10756	197	4	further	far	ADV
easat-10756	197	5	identified	identify	VERB
easat-10756	197	6	that	that	SCONJ
easat-10756	197	7	ensuring	ensure	VERB
easat-10756	197	8	luminance	luminance	NOUN
easat-10756	197	9	uniformity	uniformity	NOUN
easat-10756	197	10	,	,	PUNCT
easat-10756	197	11	controlling	control	VERB
easat-10756	197	12	surface	surface	NOUN
easat-10756	197	13	reflectance	reflectance	NOUN
easat-10756	197	14	,	,	PUNCT
easat-10756	197	15	and	and	CCONJ
easat-10756	197	16	enhancing	enhance	VERB
easat-10756	197	17	the	the	DET
easat-10756	197	18	visibility	visibility	NOUN
easat-10756	197	19	of	of	ADP
easat-10756	197	20	spatial	spatial	ADJ
easat-10756	197	21	markings	marking	NOUN
easat-10756	197	22	are	be	AUX
easat-10756	197	23	key	key	ADJ
easat-10756	197	24	design	design	NOUN
easat-10756	197	25	factors	factor	NOUN
easat-10756	197	26	that	that	PRON
easat-10756	197	27	reduce	reduce	VERB
easat-10756	197	28	recognition	recognition	NOUN
easat-10756	197	29	errors	error	NOUN
easat-10756	197	30	in	in	ADP
easat-10756	197	31	collaborative	collaborative	ADJ
easat-10756	197	32	human	human	ADJ
easat-10756	197	33	–	–	PUNCT
easat-10756	197	34	robot	robot	NOUN
easat-10756	197	35	spaces	space	NOUN
easat-10756	197	36	[	[	X
easat-10756	197	37	1	1	NUM
easat-10756	197	38	,	,	PUNCT
easat-10756	197	39	2	2	NUM
easat-10756	197	40	]	]	PUNCT
easat-10756	197	41	.	.	PUNCT
easat-10756	198	1	both	both	DET
easat-10756	198	2	studies	study	NOUN
easat-10756	198	3	underscore	underscore	VERB
easat-10756	198	4	that	that	SCONJ
easat-10756	198	5	the	the	DET
easat-10756	198	6	integrated	integrate	VERB
easat-10756	198	7	consideration	consideration	NOUN
easat-10756	198	8	of	of	ADP
easat-10756	198	9	spatial	spatial	ADJ
easat-10756	198	10	configuration	configuration	NOUN
easat-10756	198	11	and	and	CCONJ
easat-10756	198	12	visual	visual	ADJ
easat-10756	198	13	marking	marking	NOUN
easat-10756	198	14	factors	factor	NOUN
easat-10756	198	15	is	be	AUX
easat-10756	198	16	a	a	DET
easat-10756	198	17	critical	critical	ADJ
easat-10756	198	18	condition	condition	NOUN
easat-10756	198	19	for	for	ADP
easat-10756	198	20	improving	improve	VERB
easat-10756	198	21	robotic	robotic	ADJ
easat-10756	198	22	navigational	navigational	ADJ
easat-10756	198	23	stability	stability	NOUN
easat-10756	198	24	,	,	PUNCT
easat-10756	198	25	thereby	thereby	ADV
easat-10756	198	26	supporting	support	VERB
easat-10756	198	27	the	the	DET
easat-10756	198	28	notion	notion	NOUN
easat-10756	198	29	that	that	SCONJ
easat-10756	198	30	the	the	DET
easat-10756	198	31	physical	physical	ADJ
easat-10756	198	32	factors	factor	NOUN
easat-10756	198	33	derived	derive	VERB
easat-10756	198	34	from	from	ADP
easat-10756	198	35	ebd	ebd	PROPN
easat-10756	198	36	have	have	AUX
easat-10756	198	37	tangible	tangible	ADJ
easat-10756	198	38	effects	effect	NOUN
easat-10756	198	39	on	on	ADP
easat-10756	198	40	robotic	robotic	ADJ
easat-10756	198	41	perception	perception	NOUN
easat-10756	198	42	,	,	PUNCT
easat-10756	198	43	navigation	navigation	NOUN
easat-10756	198	44	,	,	PUNCT
easat-10756	198	45	and	and	CCONJ
easat-10756	198	46	interaction	interaction	NOUN
easat-10756	198	47	performance	performance	NOUN
easat-10756	198	48	.	.	PUNCT
easat-10756	199	1	in	in	ADP
easat-10756	199	2	summary	summary	NOUN
easat-10756	199	3	,	,	PUNCT
easat-10756	199	4	the	the	DET
easat-10756	199	5	results	result	NOUN
easat-10756	199	6	indicate	indicate	VERB
easat-10756	199	7	that	that	SCONJ
easat-10756	199	8	environmental	environmental	ADJ
easat-10756	199	9	factors	factor	NOUN
easat-10756	199	10	exert	exert	VERB
easat-10756	199	11	multilayered	multilayere	VERB
easat-10756	199	12	influences	influence	NOUN
easat-10756	199	13	across	across	ADP
easat-10756	199	14	the	the	DET
easat-10756	199	15	entire	entire	ADJ
easat-10756	199	16	process	process	NOUN
easat-10756	199	17	of	of	ADP
easat-10756	199	18	robotic	robotic	ADJ
easat-10756	199	19	perception	perception	NOUN
easat-10756	199	20	,	,	PUNCT
easat-10756	199	21	mobility	mobility	NOUN
easat-10756	199	22	,	,	PUNCT
easat-10756	199	23	and	and	CCONJ
easat-10756	199	24	interaction	interaction	NOUN
easat-10756	199	25	.	.	PUNCT
easat-10756	200	1	visual	visual	ADJ
easat-10756	200	2	factors	factor	NOUN
easat-10756	200	3	such	such	ADJ
easat-10756	200	4	as	as	ADP
easat-10756	200	5	luminance	luminance	NOUN
easat-10756	200	6	,	,	PUNCT
easat-10756	200	7	reflectance	reflectance	NOUN
easat-10756	200	8	,	,	PUNCT
easat-10756	200	9	color	color	NOUN
easat-10756	200	10	,	,	PUNCT
easat-10756	200	11	and	and	CCONJ
easat-10756	200	12	transparency	transparency	NOUN
easat-10756	200	13	affect	affect	VERB
easat-10756	200	14	sensor	sensor	NOUN
easat-10756	200	15	perception	perception	NOUN
easat-10756	200	16	accuracy	accuracy	NOUN
easat-10756	200	17	,	,	PUNCT
easat-10756	200	18	while	while	SCONJ
easat-10756	200	19	physical	physical	ADJ
easat-10756	200	20	factors	factor	NOUN
easat-10756	200	21	,	,	PUNCT
easat-10756	200	22	including	include	VERB
easat-10756	200	23	friction	friction	NOUN
easat-10756	200	24	coefficient	coefficient	NOUN
easat-10756	200	25	,	,	PUNCT
easat-10756	200	26	flatness	flatness	NOUN
easat-10756	200	27	,	,	PUNCT
easat-10756	200	28	and	and	CCONJ
easat-10756	200	29	slope	slope	NOUN
easat-10756	200	30	,	,	PUNCT
easat-10756	200	31	influence	influence	NOUN
easat-10756	200	32	navigational	navigational	ADJ
easat-10756	200	33	stability	stability	NOUN
easat-10756	200	34	.	.	PUNCT
easat-10756	201	1	moreover	moreover	ADV
easat-10756	201	2	,	,	PUNCT
easat-10756	201	3	spatial	spatial	ADJ
easat-10756	201	4	parameters	parameter	NOUN
easat-10756	201	5	such	such	ADJ
easat-10756	201	6	as	as	ADP
easat-10756	201	7	corridor	corridor	ADJ
easat-10756	201	8	width	width	NOUN
easat-10756	201	9	,	,	PUNCT
easat-10756	201	10	visibility	visibility	NOUN
easat-10756	201	11	,	,	PUNCT
easat-10756	201	12	and	and	CCONJ
easat-10756	201	13	spatial	spatial	ADJ
easat-10756	201	14	configuration	configuration	NOUN
easat-10756	201	15	determine	determine	VERB
easat-10756	201	16	the	the	DET
easat-10756	201	17	safety	safety	NOUN
easat-10756	201	18	and	and	CCONJ
easat-10756	201	19	efficiency	efficiency	NOUN
easat-10756	201	20	of	of	ADP
easat-10756	201	21	human	human	ADJ
easat-10756	201	22	–	–	PUNCT
easat-10756	201	23	robot	robot	NOUN
easat-10756	201	24	interactions	interaction	NOUN
easat-10756	201	25	.	.	PUNCT
easat-10756	202	1	through	through	ADP
easat-10756	202	2	this	this	DET
easat-10756	202	3	analysis	analysis	NOUN
easat-10756	202	4	,	,	PUNCT
easat-10756	202	5	the	the	DET
easat-10756	202	6	present	present	ADJ
easat-10756	202	7	study	study	NOUN
easat-10756	202	8	maps	map	VERB
easat-10756	202	9	these	these	DET
easat-10756	202	10	factors	factor	NOUN
easat-10756	202	11	to	to	ADP
easat-10756	202	12	corresponding	correspond	VERB
easat-10756	202	13	robotic	robotic	ADJ
easat-10756	202	14	performance	performance	NOUN
easat-10756	202	15	indicators	indicator	NOUN
easat-10756	202	16	and	and	CCONJ
easat-10756	202	17	seeks	seek	VERB
easat-10756	202	18	to	to	PART
easat-10756	202	19	structure	structure	VERB
easat-10756	202	20	them	they	PRON
easat-10756	202	21	into	into	ADP
easat-10756	202	22	quantitative	quantitative	ADJ
easat-10756	202	23	criteria	criterion	NOUN
easat-10756	202	24	such	such	ADJ
easat-10756	202	25	as	as	ADP
easat-10756	202	26	perception	perception	NOUN
easat-10756	202	27	accuracy	accuracy	NOUN
easat-10756	202	28	,	,	PUNCT
easat-10756	202	29	trajectory	trajectory	NOUN
easat-10756	202	30	deviation	deviation	NOUN
easat-10756	202	31	,	,	PUNCT
easat-10756	202	32	locomotion	locomotion	NOUN
easat-10756	202	33	efficiency	efficiency	NOUN
easat-10756	202	34	,	,	PUNCT
easat-10756	202	35	and	and	CCONJ
easat-10756	202	36	travel	travel	NOUN
easat-10756	202	37	time	time	NOUN
easat-10756	202	38	.	.	PUNCT
easat-10756	203	1	4.3	4.3	NUM
easat-10756	203	2	.	.	PUNCT
easat-10756	203	3	correlation	correlation	NOUN
easat-10756	203	4	between	between	ADP
easat-10756	203	5	building	building	NOUN
easat-10756	203	6	finishes	finish	NOUN
easat-10756	203	7	and	and	CCONJ
easat-10756	203	8	robot	robot	NOUN
easat-10756	203	9	performance	performance	NOUN
easat-10756	203	10	indicators	indicator	NOUN
easat-10756	203	11	based	base	VERB
easat-10756	203	12	on	on	ADP
easat-10756	203	13	key	key	ADJ
easat-10756	203	14	literature	literature	NOUN
easat-10756	203	15	related	relate	VERB
easat-10756	203	16	to	to	ADP
easat-10756	203	17	indoor	indoor	ADJ
easat-10756	203	18	robotics	robotic	NOUN
easat-10756	203	19	,	,	PUNCT
easat-10756	203	20	this	this	DET
easat-10756	203	21	study	study	NOUN
easat-10756	203	22	analyzed	analyze	VERB
easat-10756	203	23	the	the	DET
easat-10756	203	24	correlations	correlation	NOUN
easat-10756	203	25	between	between	ADP
easat-10756	203	26	architectural	architectural	ADJ
easat-10756	203	27	finishing	finishing	NOUN
easat-10756	203	28	and	and	CCONJ
easat-10756	203	29	environmental	environmental	ADJ
easat-10756	203	30	characteristics	characteristic	NOUN
easat-10756	203	31	and	and	CCONJ
easat-10756	203	32	the	the	DET
easat-10756	203	33	performance	performance	NOUN
easat-10756	203	34	of	of	ADP
easat-10756	203	35	robots	robot	NOUN
easat-10756	203	36	in	in	ADP
easat-10756	203	37	perception	perception	NOUN
easat-10756	203	38	,	,	PUNCT
easat-10756	203	39	mobility	mobility	NOUN
easat-10756	203	40	,	,	PUNCT
easat-10756	203	41	and	and	CCONJ
easat-10756	203	42	interaction	interaction	NOUN
easat-10756	203	43	.	.	PUNCT
easat-10756	204	1	each	each	DET
easat-10756	204	2	reviewed	review	VERB
easat-10756	204	3	study	study	NOUN
easat-10756	204	4	,	,	PUNCT
easat-10756	204	5	from	from	ADP
easat-10756	204	6	the	the	DET
easat-10756	204	7	perspective	perspective	NOUN
easat-10756	204	8	of	of	ADP
easat-10756	204	9	evidence	evidence	NOUN
easat-10756	204	10	-	-	PUNCT
easat-10756	204	11	based	base	VERB
easat-10756	204	12	design	design	NOUN
easat-10756	204	13	(	(	PUNCT
easat-10756	204	14	ebd	ebd	PROPN
easat-10756	204	15	)	)	PUNCT
easat-10756	204	16	,	,	PUNCT
easat-10756	204	17	proposed	propose	VERB
easat-10756	204	18	environmental	environmental	ADJ
easat-10756	204	19	factors	factor	NOUN
easat-10756	204	20	conducive	conducive	ADJ
easat-10756	204	21	to	to	ADP
easat-10756	204	22	robot	robot	NOUN
easat-10756	204	23	-	-	PUNCT
easat-10756	204	24	friendly	friendly	ADJ
easat-10756	204	25	architecture	architecture	NOUN
easat-10756	204	26	and	and	CCONJ
easat-10756	204	27	specifically	specifically	ADV
easat-10756	204	28	discussed	discuss	VERB
easat-10756	204	29	how	how	SCONJ
easat-10756	204	30	65	65	NUM
easat-10756	204	31	edelweiss	edelweiss	PROPN
easat-10756	204	32	applied	apply	VERB
easat-10756	204	33	science	science	NOUN
easat-10756	204	34	and	and	CCONJ
easat-10756	204	35	technology	technology	NOUN
easat-10756	204	36	issn	issn	PROPN
easat-10756	204	37	:	:	PUNCT
easat-10756	204	38	2576	2576	NUM
easat-10756	204	39	-	-	SYM
easat-10756	204	40	8484	8484	NUM
easat-10756	204	41	vol	vol	NOUN
easat-10756	204	42	.	.	PROPN
easat-10756	205	1	9	9	NUM
easat-10756	205	2	,	,	PUNCT
easat-10756	205	3	no	no	INTJ
easat-10756	205	4	.	.	NOUN
easat-10756	205	5	11	11	NUM
easat-10756	205	6	:	:	PUNCT
easat-10756	205	7	57	57	NUM
easat-10756	205	8	-	-	SYM
easat-10756	205	9	70	70	NUM
easat-10756	205	10	,	,	PUNCT
easat-10756	205	11	2025	2025	NUM
easat-10756	205	12	doi	doi	NOUN
easat-10756	205	13	:	:	PUNCT
easat-10756	205	14	10.55214/2576	10.55214/2576	NUM
easat-10756	205	15	-	-	SYM
easat-10756	205	16	8484.v9i11.10756	8484.v9i11.10756	NUM
easat-10756	205	17	©	©	PROPN
easat-10756	205	18	2025	2025	NUM
easat-10756	205	19	by	by	ADP
easat-10756	205	20	the	the	DET
easat-10756	205	21	authors	author	NOUN
easat-10756	205	22	;	;	PUNCT
easat-10756	205	23	licensee	licensee	PROPN
easat-10756	205	24	learning	learning	NOUN
easat-10756	205	25	gate	gate	NOUN
easat-10756	205	26	material	material	NOUN
easat-10756	205	27	properties	property	NOUN
easat-10756	205	28	such	such	ADJ
easat-10756	205	29	as	as	ADP
easat-10756	205	30	luminance	luminance	NOUN
easat-10756	205	31	,	,	PUNCT
easat-10756	205	32	reflectance	reflectance	NOUN
easat-10756	205	33	,	,	PUNCT
easat-10756	205	34	texture	texture	NOUN
easat-10756	205	35	,	,	PUNCT
easat-10756	205	36	and	and	CCONJ
easat-10756	205	37	friction	friction	NOUN
easat-10756	205	38	coefficient	coefficient	NOUN
easat-10756	205	39	influence	influence	NOUN
easat-10756	205	40	perception	perception	NOUN
easat-10756	205	41	accuracy	accuracy	NOUN
easat-10756	205	42	,	,	PUNCT
easat-10756	205	43	navigational	navigational	ADJ
easat-10756	205	44	stability	stability	NOUN
easat-10756	205	45	,	,	PUNCT
easat-10756	205	46	and	and	CCONJ
easat-10756	205	47	interaction	interaction	NOUN
easat-10756	205	48	success	success	NOUN
easat-10756	205	49	rate	rate	NOUN
easat-10756	205	50	.	.	PUNCT
easat-10756	206	1	the	the	DET
easat-10756	206	2	findings	finding	NOUN
easat-10756	206	3	are	be	AUX
easat-10756	206	4	summarized	summarize	VERB
easat-10756	206	5	in	in	ADP
easat-10756	206	6	table	table	NOUN
easat-10756	206	7	4	4	NUM
easat-10756	206	8	.	.	PUNCT
easat-10756	206	9	table	table	NOUN
easat-10756	206	10	4	4	NUM
easat-10756	206	11	.	.	PUNCT
easat-10756	206	12	correlation	correlation	NOUN
easat-10756	206	13	between	between	ADP
easat-10756	206	14	building	building	NOUN
easat-10756	206	15	finishes	finish	NOUN
easat-10756	206	16	and	and	CCONJ
easat-10756	206	17	robot	robot	NOUN
easat-10756	206	18	performance	performance	NOUN
easat-10756	206	19	indicators	indicator	NOUN
easat-10756	206	20	.	.	PUNCT
easat-10756	207	1	category	category	NOUN
easat-10756	207	2	representative	representative	NOUN
easat-10756	207	3	factors	factor	NOUN
easat-10756	207	4	(	(	PUNCT
easat-10756	207	5	finishes	finish	NOUN
easat-10756	207	6	)	)	PUNCT
easat-10756	207	7	effect	effect	NOUN
easat-10756	207	8	on	on	ADP
easat-10756	207	9	robot	robot	NOUN
easat-10756	207	10	performance	performance	NOUN
easat-10756	207	11	findings	finding	NOUN
easat-10756	207	12	from	from	ADP
easat-10756	207	13	prior	prior	ADJ
easat-10756	207	14	studies	study	NOUN
easat-10756	207	15	reference	reference	NOUN
easat-10756	207	16	spatial	spatial	ADJ
easat-10756	207	17	/	/	SYM
easat-10756	207	18	structural	structural	ADJ
easat-10756	207	19	factors	factor	NOUN
easat-10756	207	20	path	path	NOUN
easat-10756	207	21	width	width	NOUN
easat-10756	207	22	,	,	PUNCT
easat-10756	207	23	grid	grid	NOUN
easat-10756	207	24	layout	layout	NOUN
easat-10756	207	25	,	,	PUNCT
easat-10756	207	26	corner	corner	NOUN
easat-10756	207	27	radius	radius	NOUN
easat-10756	207	28	,	,	PUNCT
easat-10756	207	29	dock	dock	NOUN
easat-10756	207	30	precision	precision	NOUN
easat-10756	207	31	determine	determine	NOUN
easat-10756	207	32	route	route	NOUN
easat-10756	207	33	stability	stability	NOUN
easat-10756	207	34	,	,	PUNCT
easat-10756	207	35	turning	turn	VERB
easat-10756	207	36	efficiency	efficiency	NOUN
easat-10756	207	37	,	,	PUNCT
easat-10756	207	38	and	and	CCONJ
easat-10756	207	39	motion	motion	NOUN
easat-10756	207	40	accuracy	accuracy	NOUN
easat-10756	207	41	;	;	PUNCT
easat-10756	207	42	inadequate	inadequate	ADJ
easat-10756	207	43	path	path	NOUN
easat-10756	207	44	width	width	NOUN
easat-10756	207	45	or	or	CCONJ
easat-10756	207	46	complex	complex	ADJ
easat-10756	207	47	layout	layout	NOUN
easat-10756	207	48	increases	increase	VERB
easat-10756	207	49	collision	collision	NOUN
easat-10756	207	50	and	and	CCONJ
easat-10756	207	51	deviation	deviation	NOUN
easat-10756	207	52	.	.	PUNCT
easat-10756	208	1	simplified	simplify	VERB
easat-10756	208	2	layout	layout	NOUN
easat-10756	208	3	and	and	CCONJ
easat-10756	208	4	sufficient	sufficient	ADJ
easat-10756	208	5	turning	turning	NOUN
easat-10756	208	6	radius	radius	NOUN
easat-10756	208	7	improve	improve	VERB
easat-10756	208	8	path	path	NOUN
easat-10756	208	9	tracking	tracking	NOUN
easat-10756	208	10	and	and	CCONJ
easat-10756	208	11	mission	mission	NOUN
easat-10756	208	12	efficiency	efficiency	NOUN
easat-10756	208	13	in	in	ADP
easat-10756	208	14	automated	automate	VERB
easat-10756	208	15	logistics	logistic	NOUN
easat-10756	208	16	centers	center	NOUN
easat-10756	208	17	.	.	PUNCT
easat-10756	209	1	jo	jo	PROPN
easat-10756	210	1	[	[	X
easat-10756	210	2	2	2	NUM
easat-10756	210	3	]	]	X
easat-10756	210	4	surface	surface	NOUN
easat-10756	210	5	/	/	SYM
easat-10756	210	6	material	material	NOUN
easat-10756	210	7	factors	factor	NOUN
easat-10756	210	8	coefficient	coefficient	NOUN
easat-10756	210	9	of	of	ADP
easat-10756	210	10	friction	friction	NOUN
easat-10756	210	11	(	(	PUNCT
easat-10756	210	12	cof	cof	PROPN
easat-10756	210	13	)	)	PUNCT
easat-10756	210	14	,	,	PUNCT
easat-10756	210	15	surface	surface	NOUN
easat-10756	210	16	roughness	roughness	NOUN
easat-10756	210	17	,	,	PUNCT
easat-10756	210	18	reflectance	reflectance	NOUN
easat-10756	210	19	ratio	ratio	NOUN
easat-10756	210	20	,	,	PUNCT
easat-10756	210	21	and	and	CCONJ
easat-10756	210	22	transparency	transparency	NOUN
easat-10756	210	23	affect	affect	VERB
easat-10756	210	24	sensor	sensor	NOUN
easat-10756	210	25	detection	detection	NOUN
easat-10756	210	26	and	and	CCONJ
easat-10756	210	27	driving	drive	VERB
easat-10756	210	28	stability	stability	NOUN
easat-10756	210	29	;	;	PUNCT
easat-10756	210	30	low	low	ADJ
easat-10756	210	31	friction	friction	NOUN
easat-10756	210	32	and	and	CCONJ
easat-10756	210	33	high	high	ADJ
easat-10756	210	34	reflectance	reflectance	NOUN
easat-10756	210	35	increase	increase	NOUN
easat-10756	210	36	path	path	NOUN
easat-10756	210	37	error	error	NOUN
easat-10756	210	38	and	and	CCONJ
easat-10756	210	39	wheel	wheel	NOUN
easat-10756	210	40	slip	slip	NOUN
easat-10756	210	41	.	.	PUNCT
easat-10756	211	1	uniform	uniform	ADJ
easat-10756	211	2	illumination	illumination	NOUN
easat-10756	211	3	and	and	CCONJ
easat-10756	211	4	controlled	control	VERB
easat-10756	211	5	reflectance	reflectance	NOUN
easat-10756	211	6	reduce	reduce	VERB
easat-10756	211	7	recognition	recognition	NOUN
easat-10756	211	8	errors	error	NOUN
easat-10756	211	9	and	and	CCONJ
easat-10756	211	10	improve	improve	VERB
easat-10756	211	11	stability	stability	NOUN
easat-10756	211	12	on	on	ADP
easat-10756	211	13	corners	corner	NOUN
easat-10756	211	14	and	and	CCONJ
easat-10756	211	15	slopes	slope	NOUN
easat-10756	211	16	.	.	PUNCT
easat-10756	212	1	lee	lee	PROPN
easat-10756	213	1	[	[	X
easat-10756	213	2	1	1	NUM
easat-10756	213	3	]	]	PUNCT
easat-10756	213	4	,	,	PUNCT
easat-10756	213	5	ng	ng	PROPN
easat-10756	213	6	et	et	PROPN
easat-10756	213	7	al	al	PROPN
easat-10756	213	8	.	.	PUNCT
easat-10756	214	1	[	[	X
easat-10756	214	2	3	3	X
easat-10756	214	3	]	]	PUNCT
easat-10756	214	4	and	and	CCONJ
easat-10756	214	5	mohan	mohan	PROPN
easat-10756	214	6	et	et	PROPN
easat-10756	214	7	al	al	PROPN
easat-10756	214	8	.	.	PUNCT
easat-10756	215	1	[	[	X
easat-10756	215	2	4	4	NUM
easat-10756	215	3	]	]	X
easat-10756	215	4	perceptual	perceptual	ADJ
easat-10756	215	5	/	/	SYM
easat-10756	215	6	cognitive	cognitive	ADJ
easat-10756	215	7	factors	factor	NOUN
easat-10756	215	8	illuminance	illuminance	NOUN
easat-10756	215	9	uniformity	uniformity	NOUN
easat-10756	215	10	,	,	PUNCT
easat-10756	215	11	contrast	contrast	NOUN
easat-10756	215	12	ratio	ratio	NOUN
easat-10756	215	13	,	,	PUNCT
easat-10756	215	14	and	and	CCONJ
easat-10756	215	15	pattern	pattern	NOUN
easat-10756	215	16	visibility	visibility	NOUN
easat-10756	215	17	determine	determine	NOUN
easat-10756	215	18	recognition	recognition	NOUN
easat-10756	215	19	accuracy	accuracy	NOUN
easat-10756	215	20	and	and	CCONJ
easat-10756	215	21	slam	slam	NOUN
easat-10756	215	22	precision	precision	NOUN
easat-10756	215	23	;	;	PUNCT
easat-10756	215	24	uneven	uneven	ADJ
easat-10756	215	25	lighting	lighting	NOUN
easat-10756	215	26	and	and	CCONJ
easat-10756	215	27	poor	poor	ADJ
easat-10756	215	28	contrast	contrast	NOUN
easat-10756	215	29	lead	lead	NOUN
easat-10756	215	30	to	to	ADP
easat-10756	215	31	misdetection	misdetection	NOUN
easat-10756	215	32	and	and	CCONJ
easat-10756	215	33	deviation	deviation	NOUN
easat-10756	215	34	.	.	PUNCT
easat-10756	216	1	bio	bio	ADJ
easat-10756	216	2	-	-	PUNCT
easat-10756	216	3	inspired	inspire	VERB
easat-10756	216	4	sensor	sensor	NOUN
easat-10756	216	5	systems	system	NOUN
easat-10756	216	6	demonstrate	demonstrate	VERB
easat-10756	216	7	that	that	SCONJ
easat-10756	216	8	balanced	balanced	ADJ
easat-10756	216	9	lighting	lighting	NOUN
easat-10756	216	10	and	and	CCONJ
easat-10756	216	11	texture	texture	ADJ
easat-10756	216	12	readability	readability	NOUN
easat-10756	216	13	enhance	enhance	VERB
easat-10756	216	14	navigation	navigation	NOUN
easat-10756	216	15	and	and	CCONJ
easat-10756	216	16	avoidance	avoidance	NOUN
easat-10756	216	17	performance	performance	NOUN
easat-10756	216	18	.	.	PUNCT
easat-10756	217	1	wang	wang	PROPN
easat-10756	217	2	et	et	PROPN
easat-10756	217	3	al	al	PROPN
easat-10756	217	4	.	.	PUNCT
easat-10756	218	1	[	[	X
easat-10756	218	2	16	16	NUM
easat-10756	218	3	]	]	X
easat-10756	218	4	behavioral	behavioral	ADJ
easat-10756	218	5	/	/	SYM
easat-10756	218	6	interaction	interaction	NOUN
easat-10756	218	7	factors	factor	VERB
easat-10756	218	8	human	human	ADJ
easat-10756	218	9	proximity	proximity	NOUN
easat-10756	218	10	,	,	PUNCT
easat-10756	218	11	safety	safety	NOUN
easat-10756	218	12	distance	distance	NOUN
easat-10756	218	13	,	,	PUNCT
easat-10756	218	14	motion	motion	NOUN
easat-10756	218	15	response	response	NOUN
easat-10756	218	16	time	time	NOUN
easat-10756	218	17	affect	affect	VERB
easat-10756	218	18	interaction	interaction	NOUN
easat-10756	218	19	success	success	NOUN
easat-10756	218	20	rate	rate	NOUN
easat-10756	218	21	and	and	CCONJ
easat-10756	218	22	social	social	ADJ
easat-10756	218	23	acceptability	acceptability	NOUN
easat-10756	218	24	;	;	PUNCT
easat-10756	218	25	delayed	delay	VERB
easat-10756	218	26	responses	response	NOUN
easat-10756	218	27	or	or	CCONJ
easat-10756	218	28	unsafe	unsafe	ADJ
easat-10756	218	29	distance	distance	NOUN
easat-10756	218	30	reduce	reduce	VERB
easat-10756	218	31	trust	trust	NOUN
easat-10756	218	32	and	and	CCONJ
easat-10756	218	33	usability	usability	NOUN
easat-10756	218	34	.	.	PUNCT
easat-10756	219	1	environmental	environmental	ADJ
easat-10756	219	2	factors	factor	NOUN
easat-10756	219	3	such	such	ADJ
easat-10756	219	4	as	as	ADP
easat-10756	219	5	lighting	lighting	NOUN
easat-10756	219	6	and	and	CCONJ
easat-10756	219	7	noise	noise	NOUN
easat-10756	219	8	influence	influence	NOUN
easat-10756	219	9	interaction	interaction	NOUN
easat-10756	219	10	success	success	NOUN
easat-10756	219	11	and	and	CCONJ
easat-10756	219	12	user	user	NOUN
easat-10756	219	13	comfort	comfort	NOUN
easat-10756	219	14	.	.	PUNCT
easat-10756	220	1	ruo	ruo	PROPN
easat-10756	220	2	et	et	PROPN
easat-10756	220	3	al	al	PROPN
easat-10756	220	4	.	.	PUNCT
easat-10756	221	1	[	[	X
easat-10756	221	2	5	5	NUM
easat-10756	221	3	]	]	PUNCT
easat-10756	221	4	sensor	sensor	NOUN
easat-10756	221	5	fusion	fusion	NOUN
easat-10756	221	6	/	/	SYM
easat-10756	221	7	technical	technical	ADJ
easat-10756	221	8	factors	factor	NOUN
easat-10756	221	9	lidar	lidar	VERB
easat-10756	221	10	–	–	PUNCT
easat-10756	221	11	depth	depth	NOUN
easat-10756	221	12	fusion	fusion	NOUN
easat-10756	221	13	accuracy	accuracy	NOUN
easat-10756	221	14	,	,	PUNCT
easat-10756	221	15	hdol	hdol	PROPN
easat-10756	221	16	detection	detection	NOUN
easat-10756	221	17	ratio	ratio	NOUN
easat-10756	221	18	,	,	PUNCT
easat-10756	221	19	coverage	coverage	NOUN
easat-10756	221	20	completeness	completeness	NOUN
easat-10756	221	21	determine	determine	VERB
easat-10756	221	22	precision	precision	NOUN
easat-10756	221	23	in	in	ADP
easat-10756	221	24	detecting	detect	VERB
easat-10756	221	25	transparent	transparent	ADJ
easat-10756	221	26	and	and	CCONJ
easat-10756	221	27	slender	slender	ADJ
easat-10756	221	28	objects	object	NOUN
easat-10756	221	29	;	;	PUNCT
easat-10756	221	30	improve	improve	VERB
easat-10756	221	31	coverage	coverage	NOUN
easat-10756	221	32	and	and	CCONJ
easat-10756	221	33	reduce	reduce	VERB
easat-10756	221	34	missed	miss	VERB
easat-10756	221	35	detections	detection	NOUN
easat-10756	221	36	through	through	ADP
easat-10756	221	37	multisensor	multisensor	NOUN
easat-10756	221	38	mapping	mapping	NOUN
easat-10756	221	39	.	.	PUNCT
easat-10756	222	1	fusion	fusion	NOUN
easat-10756	222	2	of	of	ADP
easat-10756	222	3	lidar	lidar	NOUN
easat-10756	222	4	and	and	CCONJ
easat-10756	222	5	depth	depth	NOUN
easat-10756	222	6	camera	camera	NOUN
easat-10756	222	7	increases	increase	VERB
easat-10756	222	8	iou	iou	VERB
easat-10756	222	9	and	and	CCONJ
easat-10756	222	10	reduces	reduce	VERB
easat-10756	222	11	route	route	NOUN
easat-10756	222	12	loss	loss	NOUN
easat-10756	222	13	in	in	ADP
easat-10756	222	14	hard	hard	ADJ
easat-10756	222	15	-	-	PUNCT
easat-10756	222	16	todetect	todetect	NOUN
easat-10756	222	17	obstacle	obstacle	NOUN
easat-10756	222	18	mapping	mapping	NOUN
easat-10756	222	19	.	.	PUNCT
easat-10756	223	1	jeyabal	jeyabal	PROPN
easat-10756	223	2	et	et	PROPN
easat-10756	223	3	al	al	PROPN
easat-10756	223	4	.	.	PUNCT
easat-10756	224	1	[	[	X
easat-10756	224	2	17	17	NUM
easat-10756	224	3	]	]	X
easat-10756	224	4	jo	jo	NOUN
easat-10756	225	1	[	[	X
easat-10756	225	2	2	2	NUM
easat-10756	225	3	]	]	PUNCT
easat-10756	225	4	analyzed	analyze	VERB
easat-10756	225	5	spatial	spatial	ADJ
easat-10756	225	6	structural	structural	ADJ
easat-10756	225	7	changes	change	NOUN
easat-10756	225	8	resulting	result	VERB
easat-10756	225	9	from	from	ADP
easat-10756	225	10	the	the	DET
easat-10756	225	11	large	large	ADJ
easat-10756	225	12	-	-	PUNCT
easat-10756	225	13	scale	scale	NOUN
easat-10756	225	14	and	and	CCONJ
easat-10756	225	15	vertical	vertical	ADJ
easat-10756	225	16	expansion	expansion	NOUN
easat-10756	225	17	of	of	ADP
easat-10756	225	18	automated	automate	VERB
easat-10756	225	19	logistics	logistic	NOUN
easat-10756	225	20	centers	center	NOUN
easat-10756	225	21	and	and	CCONJ
easat-10756	225	22	identified	identify	VERB
easat-10756	225	23	key	key	ADJ
easat-10756	225	24	design	design	NOUN
easat-10756	225	25	parameters	parameter	NOUN
easat-10756	225	26	such	such	ADJ
easat-10756	225	27	as	as	ADP
easat-10756	225	28	pathway	pathway	NOUN
easat-10756	225	29	width	width	NOUN
easat-10756	225	30	,	,	PUNCT
easat-10756	225	31	grid	grid	NOUN
easat-10756	225	32	module	module	NOUN
easat-10756	225	33	dimensions	dimension	NOUN
easat-10756	225	34	,	,	PUNCT
easat-10756	225	35	and	and	CCONJ
easat-10756	225	36	docking	docking	NOUN
easat-10756	225	37	and	and	CCONJ
easat-10756	225	38	handover	handover	NOUN
easat-10756	225	39	precision	precision	NOUN
easat-10756	225	40	to	to	PART
easat-10756	225	41	enhance	enhance	VERB
easat-10756	225	42	the	the	DET
easat-10756	225	43	efficiency	efficiency	NOUN
easat-10756	225	44	of	of	ADP
easat-10756	225	45	logistics	logistic	NOUN
easat-10756	225	46	flow	flow	NOUN
easat-10756	225	47	[	[	X
easat-10756	225	48	2	2	NUM
easat-10756	225	49	]	]	PUNCT
easat-10756	225	50	.	.	PUNCT
easat-10756	226	1	these	these	DET
easat-10756	226	2	parameters	parameter	NOUN
easat-10756	226	3	are	be	AUX
easat-10756	226	4	directly	directly	ADV
easat-10756	226	5	associated	associate	VERB
easat-10756	226	6	with	with	ADP
easat-10756	226	7	robotic	robotic	ADJ
easat-10756	226	8	path	path	NOUN
easat-10756	226	9	stability	stability	NOUN
easat-10756	226	10	,	,	PUNCT
easat-10756	226	11	repeatability	repeatability	NOUN
easat-10756	226	12	of	of	ADP
easat-10756	226	13	navigation	navigation	NOUN
easat-10756	226	14	,	,	PUNCT
easat-10756	226	15	and	and	CCONJ
easat-10756	226	16	turning	turn	VERB
easat-10756	226	17	efficiency	efficiency	NOUN
easat-10756	226	18	,	,	PUNCT
easat-10756	226	19	demonstrating	demonstrate	VERB
easat-10756	226	20	that	that	SCONJ
easat-10756	226	21	architectural	architectural	ADJ
easat-10756	226	22	dimensional	dimensional	ADJ
easat-10756	226	23	elements	element	NOUN
easat-10756	226	24	can	can	AUX
easat-10756	226	25	be	be	AUX
easat-10756	226	26	translated	translate	VERB
easat-10756	226	27	into	into	ADP
easat-10756	226	28	measurable	measurable	ADJ
easat-10756	226	29	performance	performance	NOUN
easat-10756	226	30	indicators	indicator	NOUN
easat-10756	226	31	for	for	ADP
easat-10756	226	32	robotic	robotic	ADJ
easat-10756	226	33	operations	operation	NOUN
easat-10756	226	34	.	.	PUNCT
easat-10756	227	1	lee	lee	PROPN
easat-10756	228	1	[	[	X
easat-10756	228	2	1	1	X
easat-10756	228	3	]	]	PUNCT
easat-10756	228	4	in	in	ADP
easat-10756	228	5	a	a	DET
easat-10756	228	6	study	study	NOUN
easat-10756	228	7	on	on	ADP
easat-10756	228	8	human	human	ADJ
easat-10756	228	9	–	–	PUNCT
easat-10756	228	10	robot	robot	NOUN
easat-10756	228	11	collaboration	collaboration	NOUN
easat-10756	228	12	(	(	PUNCT
easat-10756	228	13	hrc	hrc	NOUN
easat-10756	228	14	)	)	PUNCT
easat-10756	228	15	environments	environment	NOUN
easat-10756	228	16	,	,	PUNCT
easat-10756	228	17	proposed	propose	VERB
easat-10756	228	18	strategies	strategy	NOUN
easat-10756	228	19	involving	involve	VERB
easat-10756	228	20	dedicated	dedicated	ADJ
easat-10756	228	21	pathways	pathway	NOUN
easat-10756	228	22	,	,	PUNCT
easat-10756	228	23	designated	designate	VERB
easat-10756	228	24	zones	zone	NOUN
easat-10756	228	25	,	,	PUNCT
easat-10756	228	26	and	and	CCONJ
easat-10756	228	27	sectional	sectional	ADJ
easat-10756	228	28	spatial	spatial	ADJ
easat-10756	228	29	utilization	utilization	NOUN
easat-10756	228	30	demonstrate	demonstrate	VERB
easat-10756	228	31	that	that	SCONJ
easat-10756	228	32	operational	operational	ADJ
easat-10756	228	33	stability	stability	NOUN
easat-10756	228	34	can	can	AUX
easat-10756	228	35	be	be	AUX
easat-10756	228	36	enhanced	enhance	VERB
easat-10756	228	37	by	by	ADP
easat-10756	228	38	spatially	spatially	ADV
easat-10756	228	39	separating	separate	VERB
easat-10756	228	40	robot	robot	NOUN
easat-10756	228	41	standby	standby	VERB
easat-10756	228	42	and	and	CCONJ
easat-10756	228	43	charging	charge	VERB
easat-10756	228	44	areas	area	NOUN
easat-10756	228	45	from	from	ADP
easat-10756	228	46	human	human	ADJ
easat-10756	228	47	circulation	circulation	NOUN
easat-10756	228	48	flows	flow	VERB
easat-10756	228	49	[	[	X
easat-10756	228	50	1	1	NUM
easat-10756	228	51	]	]	PUNCT
easat-10756	228	52	.	.	PUNCT
easat-10756	229	1	in	in	ADP
easat-10756	229	2	particular	particular	ADJ
easat-10756	229	3	,	,	PUNCT
easat-10756	229	4	the	the	DET
easat-10756	229	5	coefficient	coefficient	NOUN
easat-10756	229	6	of	of	ADP
easat-10756	229	7	friction	friction	NOUN
easat-10756	229	8	(	(	PUNCT
easat-10756	229	9	cof	cof	PROPN
easat-10756	229	10	)	)	PUNCT
easat-10756	229	11	of	of	ADP
easat-10756	229	12	finishing	finish	VERB
easat-10756	229	13	materials	material	NOUN
easat-10756	229	14	was	be	AUX
easat-10756	229	15	identified	identify	VERB
easat-10756	229	16	as	as	ADP
easat-10756	229	17	essential	essential	ADJ
easat-10756	229	18	for	for	ADP
easat-10756	229	19	ensuring	ensure	VERB
easat-10756	229	20	stability	stability	NOUN
easat-10756	229	21	during	during	ADP
easat-10756	229	22	inclined	inclined	ADJ
easat-10756	229	23	or	or	CCONJ
easat-10756	229	24	corner	corner	NOUN
easat-10756	229	25	navigation	navigation	NOUN
easat-10756	229	26	,	,	PUNCT
easat-10756	229	27	while	while	SCONJ
easat-10756	229	28	the	the	DET
easat-10756	229	29	legibility	legibility	NOUN
easat-10756	229	30	of	of	ADP
easat-10756	229	31	markings	marking	NOUN
easat-10756	229	32	and	and	CCONJ
easat-10756	229	33	the	the	DET
easat-10756	229	34	application	application	NOUN
easat-10756	229	35	of	of	ADP
easat-10756	229	36	visibility	visibility	NOUN
easat-10756	229	37	bands	band	NOUN
easat-10756	229	38	on	on	ADP
easat-10756	229	39	glass	glass	NOUN
easat-10756	229	40	surfaces	surface	NOUN
easat-10756	229	41	were	be	AUX
easat-10756	229	42	found	find	VERB
easat-10756	229	43	to	to	PART
easat-10756	229	44	be	be	AUX
easat-10756	229	45	key	key	ADJ
easat-10756	229	46	factors	factor	NOUN
easat-10756	229	47	that	that	PRON
easat-10756	229	48	improve	improve	VERB
easat-10756	229	49	sensor	sensor	NOUN
easat-10756	229	50	detection	detection	NOUN
easat-10756	229	51	accuracy	accuracy	NOUN
easat-10756	230	1	[	[	X
easat-10756	230	2	1	1	NUM
easat-10756	230	3	]	]	PUNCT
easat-10756	230	4	.	.	PUNCT
easat-10756	231	1	ruo	ruo	PROPN
easat-10756	231	2	et	et	PROPN
easat-10756	231	3	al	al	PROPN
easat-10756	231	4	.	.	PUNCT
easat-10756	232	1	[	[	X
easat-10756	232	2	5	5	X
easat-10756	232	3	]	]	PUNCT
easat-10756	232	4	systematically	systematically	ADV
easat-10756	232	5	identified	identify	VERB
easat-10756	232	6	the	the	DET
easat-10756	232	7	requirements	requirement	NOUN
easat-10756	232	8	for	for	ADP
easat-10756	232	9	socially	socially	ADV
easat-10756	232	10	acceptable	acceptable	ADJ
easat-10756	232	11	service	service	NOUN
easat-10756	232	12	robots	robot	NOUN
easat-10756	232	13	,	,	PUNCT
easat-10756	232	14	presenting	present	VERB
easat-10756	232	15	safe	safe	ADJ
easat-10756	232	16	navigation	navigation	NOUN
easat-10756	232	17	,	,	PUNCT
easat-10756	232	18	obstacle	obstacle	NOUN
easat-10756	232	19	avoidance	avoidance	NOUN
easat-10756	232	20	,	,	PUNCT
easat-10756	232	21	perception	perception	NOUN
easat-10756	232	22	accuracy	accuracy	NOUN
easat-10756	232	23	,	,	PUNCT
easat-10756	232	24	and	and	CCONJ
easat-10756	232	25	interaction	interaction	NOUN
easat-10756	232	26	success	success	NOUN
easat-10756	232	27	rate	rate	NOUN
easat-10756	232	28	as	as	ADP
easat-10756	232	29	the	the	DET
easat-10756	232	30	primary	primary	ADJ
easat-10756	232	31	performance	performance	NOUN
easat-10756	232	32	indicators	indicator	NOUN
easat-10756	232	33	[	[	X
easat-10756	232	34	5	5	NUM
easat-10756	232	35	]	]	PUNCT
easat-10756	232	36	.	.	PUNCT
easat-10756	233	1	the	the	DET
easat-10756	233	2	study	study	NOUN
easat-10756	233	3	empirically	empirically	ADV
easat-10756	233	4	demonstrated	demonstrate	VERB
easat-10756	233	5	that	that	SCONJ
easat-10756	233	6	environmental	environmental	ADJ
easat-10756	233	7	factors	factor	NOUN
easat-10756	233	8	such	such	ADJ
easat-10756	233	9	as	as	ADP
easat-10756	233	10	lighting	lighting	NOUN
easat-10756	233	11	,	,	PUNCT
easat-10756	233	12	noise	noise	NOUN
easat-10756	233	13	,	,	PUNCT
easat-10756	233	14	and	and	CCONJ
easat-10756	233	15	spatial	spatial	ADJ
easat-10756	233	16	arrangement	arrangement	NOUN
easat-10756	233	17	significantly	significantly	ADV
easat-10756	233	18	affect	affect	VERB
easat-10756	233	19	both	both	DET
easat-10756	233	20	robotic	robotic	ADJ
easat-10756	233	21	sensing	sense	VERB
easat-10756	233	22	stability	stability	NOUN
easat-10756	233	23	and	and	CCONJ
easat-10756	233	24	the	the	DET
easat-10756	233	25	success	success	NOUN
easat-10756	233	26	rate	rate	NOUN
easat-10756	233	27	of	of	ADP
easat-10756	233	28	human	human	ADJ
easat-10756	233	29	–	–	PUNCT
easat-10756	233	30	robot	robot	NOUN
easat-10756	233	31	interactions	interaction	NOUN
easat-10756	233	32	[	[	X
easat-10756	233	33	5	5	NUM
easat-10756	233	34	]	]	PUNCT
easat-10756	233	35	.	.	PUNCT
easat-10756	234	1	these	these	DET
easat-10756	234	2	findings	finding	NOUN
easat-10756	234	3	reinforce	reinforce	VERB
easat-10756	234	4	the	the	DET
easat-10756	234	5	necessity	necessity	NOUN
easat-10756	234	6	of	of	ADP
easat-10756	234	7	an	an	DET
easat-10756	234	8	integrated	integrated	ADJ
easat-10756	234	9	66	66	NUM
easat-10756	234	10	edelweiss	edelweiss	PROPN
easat-10756	234	11	applied	apply	VERB
easat-10756	234	12	science	science	NOUN
easat-10756	234	13	and	and	CCONJ
easat-10756	234	14	technology	technology	NOUN
easat-10756	234	15	issn	issn	PROPN
easat-10756	234	16	:	:	PUNCT
easat-10756	234	17	2576	2576	NUM
easat-10756	234	18	-	-	SYM
easat-10756	234	19	8484	8484	NUM
easat-10756	234	20	vol	vol	NOUN
easat-10756	234	21	.	.	PROPN
easat-10756	235	1	9	9	NUM
easat-10756	235	2	,	,	PUNCT
easat-10756	235	3	no	no	INTJ
easat-10756	235	4	.	.	NOUN
easat-10756	235	5	11	11	NUM
easat-10756	235	6	:	:	PUNCT
easat-10756	235	7	57	57	NUM
easat-10756	235	8	-	-	SYM
easat-10756	235	9	70	70	NUM
easat-10756	235	10	,	,	PUNCT
easat-10756	235	11	2025	2025	NUM
easat-10756	235	12	doi	doi	NOUN
easat-10756	235	13	:	:	PUNCT
easat-10756	235	14	10.55214/2576	10.55214/2576	NUM
easat-10756	235	15	-	-	SYM
easat-10756	235	16	8484.v9i11.10756	8484.v9i11.10756	NUM
easat-10756	235	17	©	©	PROPN
easat-10756	235	18	2025	2025	NUM
easat-10756	235	19	by	by	ADP
easat-10756	235	20	the	the	DET
easat-10756	235	21	authors	author	NOUN
easat-10756	235	22	;	;	PUNCT
easat-10756	235	23	licensee	licensee	PROPN
easat-10756	235	24	learning	learning	NOUN
easat-10756	235	25	gate	gate	PROPN
easat-10756	235	26	design	design	NOUN
easat-10756	235	27	approach	approach	NOUN
easat-10756	235	28	that	that	PRON
easat-10756	235	29	concurrently	concurrently	ADV
easat-10756	235	30	considers	consider	VERB
easat-10756	235	31	robotic	robotic	ADJ
easat-10756	235	32	operational	operational	ADJ
easat-10756	235	33	performance	performance	NOUN
easat-10756	235	34	and	and	CCONJ
easat-10756	235	35	architectural	architectural	ADJ
easat-10756	235	36	environmental	environmental	ADJ
easat-10756	235	37	parameters	parameter	NOUN
easat-10756	235	38	.	.	PUNCT
easat-10756	236	1	wang	wang	PROPN
easat-10756	236	2	et	et	PROPN
easat-10756	236	3	al	al	PROPN
easat-10756	236	4	.	.	PUNCT
easat-10756	237	1	[	[	X
easat-10756	237	2	16	16	NUM
easat-10756	237	3	]	]	PUNCT
easat-10756	237	4	analyzed	analyze	VERB
easat-10756	237	5	bioinspired	bioinspired	ADJ
easat-10756	237	6	perception	perception	NOUN
easat-10756	237	7	and	and	CCONJ
easat-10756	237	8	navigation	navigation	NOUN
easat-10756	237	9	systems	system	NOUN
easat-10756	237	10	,	,	PUNCT
easat-10756	237	11	emphasizing	emphasize	VERB
easat-10756	237	12	that	that	DET
easat-10756	237	13	luminance	luminance	NOUN
easat-10756	237	14	uniformity	uniformity	NOUN
easat-10756	237	15	,	,	PUNCT
easat-10756	237	16	glare	glare	NOUN
easat-10756	237	17	and	and	CCONJ
easat-10756	237	18	reflectance	reflectance	NOUN
easat-10756	237	19	control	control	NOUN
easat-10756	237	20	,	,	PUNCT
easat-10756	237	21	and	and	CCONJ
easat-10756	237	22	the	the	DET
easat-10756	237	23	legibility	legibility	NOUN
easat-10756	237	24	of	of	ADP
easat-10756	237	25	surface	surface	NOUN
easat-10756	237	26	textures	texture	NOUN
easat-10756	237	27	and	and	CCONJ
easat-10756	237	28	patterns	pattern	NOUN
easat-10756	237	29	are	be	AUX
easat-10756	237	30	critical	critical	ADJ
easat-10756	237	31	conditions	condition	NOUN
easat-10756	237	32	for	for	ADP
easat-10756	237	33	sensor	sensor	NOUN
easat-10756	237	34	-	-	PUNCT
easat-10756	237	35	based	base	VERB
easat-10756	237	36	navigation	navigation	NOUN
easat-10756	237	37	[	[	X
easat-10756	237	38	16	16	NUM
easat-10756	237	39	]	]	PUNCT
easat-10756	237	40	.	.	PUNCT
easat-10756	238	1	the	the	DET
easat-10756	238	2	study	study	NOUN
easat-10756	238	3	revealed	reveal	VERB
easat-10756	238	4	that	that	SCONJ
easat-10756	238	5	robots	robot	NOUN
easat-10756	238	6	respond	respond	VERB
easat-10756	238	7	sensitively	sensitively	ADV
easat-10756	238	8	to	to	ADP
easat-10756	238	9	luminance	luminance	NOUN
easat-10756	238	10	imbalance	imbalance	NOUN
easat-10756	238	11	,	,	PUNCT
easat-10756	238	12	excessive	excessive	ADJ
easat-10756	238	13	reflectance	reflectance	NOUN
easat-10756	238	14	,	,	PUNCT
easat-10756	238	15	and	and	CCONJ
easat-10756	238	16	variations	variation	NOUN
easat-10756	238	17	in	in	ADP
easat-10756	238	18	surface	surface	NOUN
easat-10756	238	19	texture	texture	NOUN
easat-10756	238	20	,	,	PUNCT
easat-10756	238	21	with	with	ADP
easat-10756	238	22	these	these	DET
easat-10756	238	23	factors	factor	NOUN
easat-10756	238	24	directly	directly	ADV
easat-10756	238	25	affecting	affect	VERB
easat-10756	238	26	slam	slam	NOUN
easat-10756	238	27	accuracy	accuracy	NOUN
easat-10756	238	28	and	and	CCONJ
easat-10756	238	29	obstacle	obstacle	NOUN
easat-10756	238	30	avoidance	avoidance	NOUN
easat-10756	238	31	performance	performance	NOUN
easat-10756	238	32	metrics	metric	NOUN
easat-10756	238	33	[	[	X
easat-10756	238	34	16	16	NUM
easat-10756	238	35	]	]	PUNCT
easat-10756	238	36	.	.	PUNCT
easat-10756	239	1	in	in	ADP
easat-10756	239	2	addition	addition	NOUN
easat-10756	239	3	,	,	PUNCT
easat-10756	239	4	the	the	DET
easat-10756	239	5	authors	author	NOUN
easat-10756	239	6	recommended	recommend	VERB
easat-10756	239	7	interior	interior	ADJ
easat-10756	239	8	environmental	environmental	ADJ
easat-10756	239	9	designs	design	NOUN
easat-10756	239	10	with	with	ADP
easat-10756	239	11	consistent	consistent	ADJ
easat-10756	239	12	sound	sound	NOUN
easat-10756	239	13	absorption	absorption	NOUN
easat-10756	239	14	and	and	CCONJ
easat-10756	239	15	scattering	scatter	VERB
easat-10756	239	16	properties	property	NOUN
easat-10756	239	17	to	to	PART
easat-10756	239	18	minimize	minimize	VERB
easat-10756	239	19	distortion	distortion	NOUN
easat-10756	239	20	in	in	ADP
easat-10756	239	21	acoustic	acoustic	ADJ
easat-10756	239	22	and	and	CCONJ
easat-10756	239	23	ultrasonic	ultrasonic	ADJ
easat-10756	239	24	sensing	sensing	NOUN
easat-10756	239	25	[	[	X
easat-10756	239	26	16	16	NUM
easat-10756	239	27	]	]	PUNCT
easat-10756	239	28	.	.	PUNCT
easat-10756	240	1	ng	ng	PROPN
easat-10756	240	2	et	et	PROPN
easat-10756	240	3	al	al	PROPN
easat-10756	240	4	.	.	PUNCT
easat-10756	241	1	[	[	X
easat-10756	241	2	3	3	NUM
easat-10756	241	3	]	]	PUNCT
easat-10756	241	4	applied	apply	VERB
easat-10756	241	5	the	the	DET
easat-10756	241	6	failure	failure	NOUN
easat-10756	241	7	mode	mode	NOUN
easat-10756	241	8	and	and	CCONJ
easat-10756	241	9	effect	effect	VERB
easat-10756	241	10	analysis	analysis	NOUN
easat-10756	241	11	(	(	PUNCT
easat-10756	241	12	fmea	fmea	NOUN
easat-10756	241	13	)	)	PUNCT
easat-10756	241	14	framework	framework	NOUN
easat-10756	241	15	to	to	PART
easat-10756	241	16	evaluate	evaluate	VERB
easat-10756	241	17	robotfriendly	robotfriendly	ADV
easat-10756	241	18	building	build	VERB
easat-10756	241	19	environments	environment	NOUN
easat-10756	241	20	and	and	CCONJ
easat-10756	241	21	identified	identify	VERB
easat-10756	241	22	high	high	ADJ
easat-10756	241	23	-	-	PUNCT
easat-10756	241	24	risk	risk	NOUN
easat-10756	241	25	elements	element	NOUN
easat-10756	241	26	such	such	ADJ
easat-10756	241	27	as	as	ADP
easat-10756	241	28	glass	glass	NOUN
easat-10756	241	29	and	and	CCONJ
easat-10756	241	30	transparent	transparent	ADJ
easat-10756	241	31	surfaces	surface	NOUN
easat-10756	241	32	,	,	PUNCT
easat-10756	241	33	slender	slender	ADJ
easat-10756	241	34	objects	object	NOUN
easat-10756	241	35	,	,	PUNCT
easat-10756	241	36	narrow	narrow	ADJ
easat-10756	241	37	zones	zone	NOUN
easat-10756	241	38	,	,	PUNCT
easat-10756	241	39	and	and	CCONJ
easat-10756	241	40	exposed	expose	VERB
easat-10756	241	41	cabling	cable	VERB
easat-10756	241	42	using	use	VERB
easat-10756	241	43	the	the	DET
easat-10756	241	44	risk	risk	NOUN
easat-10756	241	45	priority	priority	NOUN
easat-10756	241	46	number	number	NOUN
easat-10756	241	47	(	(	PUNCT
easat-10756	241	48	rpn	rpn	PROPN
easat-10756	241	49	)	)	PUNCT
easat-10756	241	50	method	method	NOUN
easat-10756	241	51	[	[	X
easat-10756	241	52	3	3	NUM
easat-10756	241	53	]	]	PUNCT
easat-10756	241	54	.	.	PUNCT
easat-10756	242	1	these	these	DET
easat-10756	242	2	elements	element	NOUN
easat-10756	242	3	were	be	AUX
easat-10756	242	4	found	find	VERB
easat-10756	242	5	to	to	PART
easat-10756	242	6	correlate	correlate	VERB
easat-10756	242	7	with	with	ADP
easat-10756	242	8	failure	failure	NOUN
easat-10756	242	9	rates	rate	NOUN
easat-10756	242	10	in	in	ADP
easat-10756	242	11	transparent	transparent	ADJ
easat-10756	242	12	object	object	NOUN
easat-10756	242	13	detection	detection	NOUN
easat-10756	242	14	,	,	PUNCT
easat-10756	242	15	docking	dock	VERB
easat-10756	242	16	stability	stability	NOUN
easat-10756	242	17	,	,	PUNCT
easat-10756	242	18	and	and	CCONJ
easat-10756	242	19	path	path	NOUN
easat-10756	242	20	deviation	deviation	NOUN
easat-10756	242	21	accuracy	accuracy	NOUN
easat-10756	242	22	.	.	PUNCT
easat-10756	243	1	accordingly	accordingly	ADV
easat-10756	243	2	,	,	PUNCT
easat-10756	243	3	the	the	DET
easat-10756	243	4	study	study	NOUN
easat-10756	243	5	highlighted	highlight	VERB
easat-10756	243	6	that	that	SCONJ
easat-10756	243	7	design	design	NOUN
easat-10756	243	8	measures	measure	NOUN
easat-10756	243	9	such	such	ADJ
easat-10756	243	10	as	as	ADP
easat-10756	243	11	controlling	control	VERB
easat-10756	243	12	surface	surface	NOUN
easat-10756	243	13	reflectance	reflectance	NOUN
easat-10756	243	14	,	,	PUNCT
easat-10756	243	15	applying	apply	VERB
easat-10756	243	16	visibility	visibility	NOUN
easat-10756	243	17	bands	band	NOUN
easat-10756	243	18	to	to	ADP
easat-10756	243	19	transparent	transparent	ADJ
easat-10756	243	20	materials	material	NOUN
easat-10756	243	21	,	,	PUNCT
easat-10756	243	22	and	and	CCONJ
easat-10756	243	23	embedding	embed	VERB
easat-10756	243	24	cables	cable	NOUN
easat-10756	243	25	within	within	ADP
easat-10756	243	26	architectural	architectural	ADJ
easat-10756	243	27	finishes	finish	NOUN
easat-10756	243	28	are	be	AUX
easat-10756	243	29	essential	essential	ADJ
easat-10756	243	30	for	for	ADP
easat-10756	243	31	ensuring	ensure	VERB
easat-10756	243	32	robotic	robotic	ADJ
easat-10756	243	33	perception	perception	NOUN
easat-10756	243	34	stability	stability	NOUN
easat-10756	244	1	[	[	X
easat-10756	244	2	3	3	NUM
easat-10756	244	3	]	]	PUNCT
easat-10756	244	4	.	.	PUNCT
easat-10756	245	1	mohan	mohan	PROPN
easat-10756	245	2	et	et	PROPN
easat-10756	245	3	al	al	PROPN
easat-10756	245	4	.	.	PUNCT
easat-10756	246	1	[	[	X
easat-10756	246	2	4	4	X
easat-10756	246	3	]	]	PUNCT
easat-10756	246	4	proposed	propose	VERB
easat-10756	246	5	spatial	spatial	ADJ
easat-10756	246	6	design	design	NOUN
easat-10756	246	7	principles	principle	NOUN
easat-10756	246	8	for	for	ADP
easat-10756	246	9	robot	robot	NOUN
easat-10756	246	10	-	-	PUNCT
easat-10756	246	11	oriented	orient	VERB
easat-10756	246	12	environments	environment	NOUN
easat-10756	246	13	through	through	ADP
easat-10756	246	14	a	a	DET
easat-10756	246	15	roomba	roomba	NOUN
easat-10756	246	16	-	-	PUNCT
easat-10756	246	17	based	base	VERB
easat-10756	246	18	experimental	experimental	ADJ
easat-10756	246	19	study	study	NOUN
easat-10756	246	20	,	,	PUNCT
easat-10756	246	21	demonstrating	demonstrate	VERB
easat-10756	246	22	that	that	DET
easat-10756	246	23	uniform	uniform	ADJ
easat-10756	246	24	luminance	luminance	NOUN
easat-10756	246	25	,	,	PUNCT
easat-10756	246	26	high	high	ADJ
easat-10756	246	27	color	color	NOUN
easat-10756	246	28	contrast	contrast	NOUN
easat-10756	246	29	,	,	PUNCT
easat-10756	246	30	and	and	CCONJ
easat-10756	246	31	clearly	clearly	ADV
easat-10756	246	32	defined	define	VERB
easat-10756	246	33	marking	mark	VERB
easat-10756	246	34	systems	system	NOUN
easat-10756	246	35	enhance	enhance	VERB
easat-10756	246	36	robotic	robotic	ADJ
easat-10756	246	37	perception	perception	NOUN
easat-10756	246	38	performance	performance	NOUN
easat-10756	246	39	[	[	X
easat-10756	246	40	4	4	NUM
easat-10756	246	41	]	]	PUNCT
easat-10756	246	42	.	.	PUNCT
easat-10756	247	1	the	the	DET
easat-10756	247	2	study	study	NOUN
easat-10756	247	3	also	also	ADV
easat-10756	247	4	found	find	VERB
easat-10756	247	5	that	that	SCONJ
easat-10756	247	6	maintaining	maintain	VERB
easat-10756	247	7	floor	floor	NOUN
easat-10756	247	8	flatness	flatness	NOUN
easat-10756	247	9	,	,	PUNCT
easat-10756	247	10	sufficient	sufficient	ADJ
easat-10756	247	11	corridor	corridor	ADJ
easat-10756	247	12	width	width	NOUN
easat-10756	247	13	,	,	PUNCT
easat-10756	247	14	adequate	adequate	ADJ
easat-10756	247	15	corner	corner	NOUN
easat-10756	247	16	radius	radius	NOUN
easat-10756	247	17	,	,	PUNCT
easat-10756	247	18	and	and	CCONJ
easat-10756	247	19	clearance	clearance	NOUN
easat-10756	247	20	beneath	beneath	ADP
easat-10756	247	21	furniture	furniture	NOUN
easat-10756	247	22	effectively	effectively	ADV
easat-10756	247	23	reduced	reduce	VERB
easat-10756	247	24	collision	collision	NOUN
easat-10756	247	25	and	and	CCONJ
easat-10756	247	26	stop	stop	VERB
easat-10756	247	27	event	event	NOUN
easat-10756	247	28	rates	rate	NOUN
easat-10756	247	29	while	while	SCONJ
easat-10756	247	30	shortening	shorten	VERB
easat-10756	247	31	task	task	NOUN
easat-10756	247	32	completion	completion	NOUN
easat-10756	247	33	times	time	NOUN
easat-10756	247	34	[	[	X
easat-10756	247	35	4	4	NUM
easat-10756	247	36	]	]	PUNCT
easat-10756	247	37	.	.	PUNCT
easat-10756	248	1	these	these	DET
easat-10756	248	2	results	result	NOUN
easat-10756	248	3	indicate	indicate	VERB
easat-10756	248	4	that	that	SCONJ
easat-10756	248	5	finishing	finish	VERB
easat-10756	248	6	materials	material	NOUN
easat-10756	248	7	and	and	CCONJ
easat-10756	248	8	lighting	lighting	NOUN
easat-10756	248	9	conditions	condition	NOUN
easat-10756	248	10	are	be	AUX
easat-10756	248	11	quantitatively	quantitatively	ADV
easat-10756	248	12	correlated	correlate	VERB
easat-10756	248	13	with	with	ADP
easat-10756	248	14	robotic	robotic	ADJ
easat-10756	248	15	operational	operational	ADJ
easat-10756	248	16	range	range	NOUN
easat-10756	248	17	,	,	PUNCT
easat-10756	248	18	collision	collision	NOUN
easat-10756	248	19	frequency	frequency	NOUN
easat-10756	248	20	,	,	PUNCT
easat-10756	248	21	and	and	CCONJ
easat-10756	248	22	task	task	NOUN
easat-10756	248	23	efficiency	efficiency	NOUN
easat-10756	248	24	.	.	PUNCT
easat-10756	249	1	jeyabal	jeyabal	PROPN
easat-10756	249	2	et	et	PROPN
easat-10756	249	3	al	al	PROPN
easat-10756	249	4	.	.	PUNCT
easat-10756	250	1	[	[	X
easat-10756	250	2	17	17	NUM
easat-10756	250	3	]	]	PUNCT
easat-10756	250	4	proposed	propose	VERB
easat-10756	250	5	a	a	DET
easat-10756	250	6	high	high	ADJ
easat-10756	250	7	-	-	PUNCT
easat-10756	250	8	difficulty	difficulty	NOUN
easat-10756	250	9	obstacle	obstacle	NOUN
easat-10756	250	10	localization	localization	NOUN
easat-10756	250	11	(	(	PUNCT
easat-10756	250	12	hdol	hdol	NOUN
easat-10756	250	13	)	)	PUNCT
easat-10756	250	14	technique	technique	NOUN
easat-10756	250	15	integrating	integrate	VERB
easat-10756	250	16	lidar	lidar	NOUN
easat-10756	250	17	and	and	CCONJ
easat-10756	250	18	depth	depth	NOUN
easat-10756	250	19	cameras	camera	NOUN
easat-10756	250	20	to	to	PART
easat-10756	250	21	improve	improve	VERB
easat-10756	250	22	the	the	DET
easat-10756	250	23	detection	detection	NOUN
easat-10756	250	24	of	of	ADP
easat-10756	250	25	transparent	transparent	ADJ
easat-10756	250	26	and	and	CCONJ
easat-10756	250	27	slender	slender	ADJ
easat-10756	250	28	objects	object	NOUN
easat-10756	250	29	[	[	X
easat-10756	250	30	17	17	NUM
easat-10756	250	31	]	]	PUNCT
easat-10756	250	32	.	.	PUNCT
easat-10756	251	1	experimental	experimental	ADJ
easat-10756	251	2	results	result	NOUN
easat-10756	251	3	showed	show	VERB
easat-10756	251	4	enhanced	enhance	VERB
easat-10756	251	5	hdol	hdol	NOUN
easat-10756	251	6	mapping	mapping	NOUN
easat-10756	251	7	accuracy	accuracy	NOUN
easat-10756	251	8	(	(	PUNCT
easat-10756	251	9	iou	iou	NOUN
easat-10756	251	10	)	)	PUNCT
easat-10756	251	11	,	,	PUNCT
easat-10756	251	12	coverage	coverage	NOUN
easat-10756	251	13	completeness	completeness	NOUN
easat-10756	251	14	,	,	PUNCT
easat-10756	251	15	and	and	CCONJ
easat-10756	251	16	reduced	reduce	VERB
easat-10756	251	17	detour	detour	NOUN
easat-10756	251	18	occurrence	occurrence	NOUN
easat-10756	251	19	rates	rate	NOUN
easat-10756	251	20	,	,	PUNCT
easat-10756	251	21	empirically	empirically	ADV
easat-10756	251	22	demonstrating	demonstrate	VERB
easat-10756	251	23	that	that	DET
easat-10756	251	24	surface	surface	NOUN
easat-10756	251	25	reflectance	reflectance	NOUN
easat-10756	251	26	,	,	PUNCT
easat-10756	251	27	transparency	transparency	NOUN
easat-10756	251	28	,	,	PUNCT
easat-10756	251	29	and	and	CCONJ
easat-10756	251	30	slope	slope	NOUN
easat-10756	251	31	conditions	condition	NOUN
easat-10756	251	32	of	of	ADP
easat-10756	251	33	finishing	finish	VERB
easat-10756	251	34	materials	material	NOUN
easat-10756	251	35	are	be	AUX
easat-10756	251	36	directly	directly	ADV
easat-10756	251	37	correlated	correlate	VERB
easat-10756	251	38	with	with	ADP
easat-10756	251	39	recognition	recognition	NOUN
easat-10756	251	40	error	error	NOUN
easat-10756	251	41	rates	rate	NOUN
easat-10756	251	42	[	[	X
easat-10756	251	43	17	17	NUM
easat-10756	251	44	]	]	PUNCT
easat-10756	251	45	.	.	PUNCT
easat-10756	252	1	in	in	ADP
easat-10756	252	2	summary	summary	NOUN
easat-10756	252	3	,	,	PUNCT
easat-10756	252	4	the	the	DET
easat-10756	252	5	physical	physical	ADJ
easat-10756	252	6	properties	property	NOUN
easat-10756	252	7	of	of	ADP
easat-10756	252	8	architectural	architectural	ADJ
easat-10756	252	9	finishing	finish	VERB
easat-10756	252	10	materials	material	NOUN
easat-10756	252	11	,	,	PUNCT
easat-10756	252	12	such	such	ADJ
easat-10756	252	13	as	as	ADP
easat-10756	252	14	luminance	luminance	NOUN
easat-10756	252	15	,	,	PUNCT
easat-10756	252	16	reflectance	reflectance	NOUN
easat-10756	252	17	,	,	PUNCT
easat-10756	252	18	friction	friction	NOUN
easat-10756	252	19	coefficient	coefficient	NOUN
easat-10756	252	20	,	,	PUNCT
easat-10756	252	21	texture	texture	ADJ
easat-10756	252	22	,	,	PUNCT
easat-10756	252	23	and	and	CCONJ
easat-10756	252	24	transparency	transparency	NOUN
easat-10756	252	25	,	,	PUNCT
easat-10756	252	26	have	have	VERB
easat-10756	252	27	a	a	DET
easat-10756	252	28	direct	direct	ADJ
easat-10756	252	29	influence	influence	NOUN
easat-10756	252	30	on	on	ADP
easat-10756	252	31	the	the	DET
easat-10756	252	32	sensor	sensor	NOUN
easat-10756	252	33	-	-	PUNCT
easat-10756	252	34	based	base	VERB
easat-10756	252	35	perception	perception	NOUN
easat-10756	252	36	and	and	CCONJ
easat-10756	252	37	path	path	NOUN
easat-10756	252	38	stability	stability	NOUN
easat-10756	252	39	of	of	ADP
easat-10756	252	40	service	service	NOUN
easat-10756	252	41	robots	robot	NOUN
easat-10756	252	42	.	.	PUNCT
easat-10756	253	1	specifically	specifically	ADV
easat-10756	253	2	,	,	PUNCT
easat-10756	253	3	low	low	ADJ
easat-10756	253	4	-	-	PUNCT
easat-10756	253	5	reflectance	reflectance	NOUN
easat-10756	253	6	surfaces	surface	NOUN
easat-10756	253	7	and	and	CCONJ
easat-10756	253	8	uniformly	uniformly	ADV
easat-10756	253	9	illuminated	illuminated	ADJ
easat-10756	253	10	environments	environment	NOUN
easat-10756	253	11	improve	improve	VERB
easat-10756	253	12	the	the	DET
easat-10756	253	13	detection	detection	NOUN
easat-10756	253	14	accuracy	accuracy	NOUN
easat-10756	253	15	of	of	ADP
easat-10756	253	16	lidar	lidar	NOUN
easat-10756	253	17	and	and	CCONJ
easat-10756	253	18	vision	vision	NOUN
easat-10756	253	19	sensors	sensor	NOUN
easat-10756	253	20	;	;	PUNCT
easat-10756	253	21	floors	floor	NOUN
easat-10756	253	22	with	with	ADP
easat-10756	253	23	a	a	DET
easat-10756	253	24	friction	friction	NOUN
easat-10756	253	25	coefficient	coefficient	NOUN
easat-10756	253	26	above	above	ADP
easat-10756	253	27	0.4	0.4	NUM
easat-10756	253	28	and	and	CCONJ
easat-10756	253	29	level	level	NOUN
easat-10756	253	30	transitions	transition	NOUN
easat-10756	253	31	enhance	enhance	VERB
easat-10756	253	32	driving	drive	VERB
easat-10756	253	33	stability	stability	NOUN
easat-10756	253	34	and	and	CCONJ
easat-10756	253	35	obstacle	obstacle	NOUN
easat-10756	253	36	avoidance	avoidance	NOUN
easat-10756	253	37	performance	performance	NOUN
easat-10756	253	38	;	;	PUNCT
easat-10756	253	39	and	and	CCONJ
easat-10756	253	40	visibility	visibility	NOUN
easat-10756	253	41	bands	band	NOUN
easat-10756	253	42	or	or	CCONJ
easat-10756	253	43	clear	clear	ADJ
easat-10756	253	44	markings	marking	NOUN
easat-10756	253	45	reduce	reduce	VERB
easat-10756	253	46	localization	localization	NOUN
easat-10756	253	47	error	error	NOUN
easat-10756	253	48	rates	rate	NOUN
easat-10756	253	49	.	.	PUNCT
easat-10756	254	1	therefore	therefore	ADV
easat-10756	254	2	,	,	PUNCT
easat-10756	254	3	this	this	DET
easat-10756	254	4	study	study	NOUN
easat-10756	254	5	confirms	confirm	VERB
easat-10756	254	6	the	the	DET
easat-10756	254	7	necessity	necessity	NOUN
easat-10756	254	8	of	of	ADP
easat-10756	254	9	establishing	establish	VERB
easat-10756	254	10	an	an	DET
easat-10756	254	11	ebd	ebd	NOUN
easat-10756	254	12	-	-	PUNCT
easat-10756	254	13	based	base	VERB
easat-10756	254	14	robot	robot	NOUN
easat-10756	254	15	-	-	PUNCT
easat-10756	254	16	friendly	friendly	ADJ
easat-10756	254	17	design	design	NOUN
easat-10756	254	18	indicator	indicator	NOUN
easat-10756	254	19	system	system	NOUN
easat-10756	254	20	that	that	PRON
easat-10756	254	21	integratively	integratively	ADV
easat-10756	254	22	considers	consider	VERB
easat-10756	254	23	these	these	DET
easat-10756	254	24	performance	performance	NOUN
easat-10756	254	25	factors	factor	NOUN
easat-10756	254	26	during	during	ADP
easat-10756	254	27	architectural	architectural	ADJ
easat-10756	254	28	finishing	finish	VERB
easat-10756	254	29	design	design	NOUN
easat-10756	254	30	.	.	PUNCT
easat-10756	255	1	4.4	4.4	NUM
easat-10756	255	2	.	.	PUNCT
easat-10756	255	3	implications	implication	NOUN
easat-10756	255	4	based	base	VERB
easat-10756	255	5	on	on	ADP
easat-10756	255	6	the	the	DET
easat-10756	255	7	review	review	NOUN
easat-10756	255	8	of	of	ADP
easat-10756	255	9	previous	previous	ADJ
easat-10756	255	10	studies	study	NOUN
easat-10756	255	11	and	and	CCONJ
easat-10756	255	12	the	the	DET
easat-10756	255	13	analysis	analysis	NOUN
easat-10756	255	14	of	of	ADP
easat-10756	255	15	indoor	indoor	ADJ
easat-10756	255	16	-	-	PUNCT
easat-10756	255	17	robot	robot	NOUN
easat-10756	255	18	-	-	PUNCT
easat-10756	255	19	related	relate	VERB
easat-10756	255	20	literature	literature	NOUN
easat-10756	255	21	,	,	PUNCT
easat-10756	255	22	this	this	DET
easat-10756	255	23	study	study	NOUN
easat-10756	255	24	comprehensively	comprehensively	ADV
easat-10756	255	25	examined	examine	VERB
easat-10756	255	26	architectural	architectural	ADJ
easat-10756	255	27	factors	factor	NOUN
easat-10756	255	28	affecting	affect	VERB
easat-10756	255	29	robotic	robotic	ADJ
easat-10756	255	30	perception	perception	NOUN
easat-10756	255	31	and	and	CCONJ
easat-10756	255	32	mobility	mobility	NOUN
easat-10756	255	33	performance	performance	NOUN
easat-10756	255	34	[	[	X
easat-10756	255	35	1	1	NUM
easat-10756	255	36	-	-	SYM
easat-10756	255	37	5	5	NUM
easat-10756	255	38	,	,	PUNCT
easat-10756	255	39	16	16	NUM
easat-10756	255	40	,	,	PUNCT
easat-10756	255	41	17	17	NUM
easat-10756	255	42	]	]	PUNCT
easat-10756	255	43	.	.	PUNCT
easat-10756	256	1	in	in	ADP
easat-10756	256	2	particular	particular	ADJ
easat-10756	256	3	,	,	PUNCT
easat-10756	256	4	the	the	DET
easat-10756	256	5	performance	performance	NOUN
easat-10756	256	6	indicators	indicator	NOUN
easat-10756	256	7	repeatedly	repeatedly	ADV
easat-10756	256	8	emphasized	emphasize	VERB
easat-10756	256	9	across	across	ADP
easat-10756	256	10	multiple	multiple	ADJ
easat-10756	256	11	studies	study	NOUN
easat-10756	256	12	such	such	ADJ
easat-10756	256	13	as	as	ADP
easat-10756	256	14	path	path	NOUN
easat-10756	256	15	tracking	tracking	NOUN
easat-10756	256	16	accuracy	accuracy	NOUN
easat-10756	256	17	,	,	PUNCT
easat-10756	256	18	map	map	VERB
easat-10756	256	19	deviation	deviation	NOUN
easat-10756	256	20	,	,	PUNCT
easat-10756	256	21	detection	detection	NOUN
easat-10756	256	22	range	range	NOUN
easat-10756	256	23	,	,	PUNCT
easat-10756	256	24	time	time	NOUN
easat-10756	256	25	delay	delay	NOUN
easat-10756	256	26	,	,	PUNCT
easat-10756	256	27	speed	speed	NOUN
easat-10756	256	28	reduction	reduction	NOUN
easat-10756	256	29	factor	factor	NOUN
easat-10756	256	30	,	,	PUNCT
easat-10756	256	31	coverage	coverage	NOUN
easat-10756	256	32	completeness	completeness	NOUN
easat-10756	256	33	,	,	PUNCT
easat-10756	256	34	and	and	CCONJ
easat-10756	256	35	detection	detection	NOUN
easat-10756	256	36	of	of	ADP
easat-10756	256	37	hard	hard	ADJ
easat-10756	256	38	-	-	PUNCT
easat-10756	256	39	to	to	ADP
easat-10756	256	40	-	-	PUNCT
easat-10756	256	41	detect	detect	VERB
easat-10756	256	42	obstacles	obstacle	NOUN
easat-10756	256	43	(	(	PUNCT
easat-10756	256	44	hdol	hdol	PROPN
easat-10756	256	45	)	)	PUNCT
easat-10756	256	46	were	be	AUX
easat-10756	256	47	identified	identify	VERB
easat-10756	256	48	as	as	ADP
easat-10756	256	49	the	the	DET
easat-10756	256	50	key	key	ADJ
easat-10756	256	51	determinants	determinant	NOUN
easat-10756	256	52	governing	govern	VERB
easat-10756	256	53	a	a	DET
easat-10756	256	54	robot	robot	NOUN
easat-10756	256	55	’s	’s	PART
easat-10756	256	56	spatial	spatial	ADJ
easat-10756	256	57	perception	perception	NOUN
easat-10756	256	58	and	and	CCONJ
easat-10756	256	59	stable	stable	ADJ
easat-10756	256	60	navigation	navigation	NOUN
easat-10756	256	61	within	within	ADP
easat-10756	256	62	built	build	VERB
easat-10756	256	63	environments	environment	NOUN
easat-10756	256	64	.	.	PUNCT
easat-10756	257	1	these	these	DET
easat-10756	257	2	factors	factor	NOUN
easat-10756	257	3	can	can	AUX
easat-10756	257	4	be	be	AUX
easat-10756	257	5	interpreted	interpret	VERB
easat-10756	257	6	from	from	ADP
easat-10756	257	7	three	three	NUM
easat-10756	257	8	perspectives	perspective	NOUN
easat-10756	257	9	.	.	PUNCT
easat-10756	258	1	first	first	ADV
easat-10756	258	2	,	,	PUNCT
easat-10756	258	3	path	path	NOUN
easat-10756	258	4	stability	stability	NOUN
easat-10756	258	5	is	be	AUX
easat-10756	258	6	directly	directly	ADV
easat-10756	258	7	associated	associate	VERB
easat-10756	258	8	with	with	ADP
easat-10756	258	9	the	the	DET
easat-10756	258	10	robot	robot	NOUN
easat-10756	258	11	’s	’s	PART
easat-10756	258	12	driving	drive	VERB
easat-10756	258	13	stability	stability	NOUN
easat-10756	258	14	along	along	ADP
easat-10756	258	15	corridors	corridor	NOUN
easat-10756	258	16	and	and	CCONJ
easat-10756	258	17	corner	corner	NOUN
easat-10756	258	18	sections	section	NOUN
easat-10756	258	19	,	,	PUNCT
easat-10756	258	20	which	which	PRON
easat-10756	258	21	is	be	AUX
easat-10756	258	22	significantly	significantly	ADV
easat-10756	258	23	affected	affect	VERB
easat-10756	258	24	by	by	ADP
easat-10756	258	25	the	the	DET
easat-10756	258	26	surface	surface	NOUN
easat-10756	258	27	friction	friction	NOUN
easat-10756	258	28	coefficient	coefficient	NOUN
easat-10756	258	29	,	,	PUNCT
easat-10756	258	30	level	level	NOUN
easat-10756	258	31	differences	difference	NOUN
easat-10756	258	32	,	,	PUNCT
easat-10756	258	33	and	and	CCONJ
easat-10756	258	34	curvature	curvature	NOUN
easat-10756	258	35	of	of	ADP
easat-10756	258	36	floor	floor	NOUN
easat-10756	258	37	finishes	finish	NOUN
easat-10756	258	38	.	.	PUNCT
easat-10756	259	1	67	67	NUM
easat-10756	259	2	edelweiss	edelweiss	PROPN
easat-10756	259	3	applied	apply	VERB
easat-10756	259	4	science	science	NOUN
easat-10756	259	5	and	and	CCONJ
easat-10756	259	6	technology	technology	NOUN
easat-10756	259	7	issn	issn	PROPN
easat-10756	259	8	:	:	PUNCT
easat-10756	259	9	2576	2576	NUM
easat-10756	259	10	-	-	SYM
easat-10756	259	11	8484	8484	NUM
easat-10756	259	12	vol	vol	NOUN
easat-10756	259	13	.	.	PROPN
easat-10756	260	1	9	9	NUM
easat-10756	260	2	,	,	PUNCT
easat-10756	260	3	no	no	INTJ
easat-10756	260	4	.	.	NOUN
easat-10756	260	5	11	11	NUM
easat-10756	260	6	:	:	PUNCT
easat-10756	260	7	57	57	NUM
easat-10756	260	8	-	-	SYM
easat-10756	260	9	70	70	NUM
easat-10756	260	10	,	,	PUNCT
easat-10756	260	11	2025	2025	NUM
easat-10756	260	12	doi	doi	NOUN
easat-10756	260	13	:	:	PUNCT
easat-10756	260	14	10.55214/2576	10.55214/2576	NUM
easat-10756	260	15	-	-	SYM
easat-10756	260	16	8484.v9i11.10756	8484.v9i11.10756	NUM
easat-10756	260	17	©	©	PROPN
easat-10756	260	18	2025	2025	NUM
easat-10756	260	19	by	by	ADP
easat-10756	260	20	the	the	DET
easat-10756	260	21	authors	author	NOUN
easat-10756	260	22	;	;	PUNCT
easat-10756	260	23	licensee	licensee	PROPN
easat-10756	260	24	learning	learning	NOUN
easat-10756	260	25	gate	gate	PROPN
easat-10756	260	26	second	second	ADV
easat-10756	260	27	,	,	PUNCT
easat-10756	260	28	obstacle	obstacle	VERB
easat-10756	260	29	perception	perception	NOUN
easat-10756	260	30	and	and	CCONJ
easat-10756	260	31	avoidance	avoidance	NOUN
easat-10756	260	32	are	be	AUX
easat-10756	260	33	closely	closely	ADV
easat-10756	260	34	linked	link	VERB
easat-10756	260	35	to	to	ADP
easat-10756	260	36	safe	safe	ADJ
easat-10756	260	37	navigation	navigation	NOUN
easat-10756	260	38	and	and	CCONJ
easat-10756	260	39	user	user	NOUN
easat-10756	260	40	acceptability	acceptability	NOUN
easat-10756	260	41	,	,	PUNCT
easat-10756	260	42	being	be	AUX
easat-10756	260	43	influenced	influence	VERB
easat-10756	260	44	by	by	ADP
easat-10756	260	45	the	the	DET
easat-10756	260	46	visual	visual	ADJ
easat-10756	260	47	and	and	CCONJ
easat-10756	260	48	optical	optical	ADJ
easat-10756	260	49	characteristics	characteristic	NOUN
easat-10756	260	50	of	of	ADP
easat-10756	260	51	materials	material	NOUN
easat-10756	260	52	such	such	ADJ
easat-10756	260	53	as	as	ADP
easat-10756	260	54	reflectance	reflectance	NOUN
easat-10756	260	55	and	and	CCONJ
easat-10756	260	56	transparency	transparency	NOUN
easat-10756	260	57	.	.	PUNCT
easat-10756	261	1	third	third	ADJ
easat-10756	261	2	,	,	PUNCT
easat-10756	261	3	slam	slam	NOUN
easat-10756	261	4	and	and	CCONJ
easat-10756	261	5	localization	localization	NOUN
easat-10756	261	6	accuracy	accuracy	NOUN
easat-10756	261	7	are	be	AUX
easat-10756	261	8	related	relate	VERB
easat-10756	261	9	to	to	ADP
easat-10756	261	10	the	the	DET
easat-10756	261	11	reliability	reliability	NOUN
easat-10756	261	12	of	of	ADP
easat-10756	261	13	environmental	environmental	ADJ
easat-10756	261	14	recognition	recognition	NOUN
easat-10756	261	15	algorithms	algorithm	NOUN
easat-10756	261	16	and	and	CCONJ
easat-10756	261	17	are	be	AUX
easat-10756	261	18	strongly	strongly	ADV
easat-10756	261	19	affected	affect	VERB
easat-10756	261	20	by	by	ADP
easat-10756	261	21	environmental	environmental	ADJ
easat-10756	261	22	conditions	condition	NOUN
easat-10756	261	23	,	,	PUNCT
easat-10756	261	24	including	include	VERB
easat-10756	261	25	luminance	luminance	NOUN
easat-10756	261	26	,	,	PUNCT
easat-10756	261	27	color	color	NOUN
easat-10756	261	28	contrast	contrast	NOUN
easat-10756	261	29	,	,	PUNCT
easat-10756	261	30	and	and	CCONJ
easat-10756	261	31	acoustic	acoustic	ADJ
easat-10756	261	32	reflectivity	reflectivity	NOUN
easat-10756	261	33	.	.	PUNCT
easat-10756	262	1	meanwhile	meanwhile	ADV
easat-10756	262	2	,	,	PUNCT
easat-10756	262	3	jeyabal	jeyabal	PROPN
easat-10756	262	4	et	et	PROPN
easat-10756	262	5	al	al	PROPN
easat-10756	262	6	.	.	PUNCT
easat-10756	263	1	[	[	X
easat-10756	263	2	17	17	NUM
easat-10756	263	3	]	]	PUNCT
easat-10756	263	4	proposed	propose	VERB
easat-10756	263	5	a	a	DET
easat-10756	263	6	multi	multi	ADJ
easat-10756	263	7	-	-	ADJ
easat-10756	263	8	sensor	sensor	ADJ
easat-10756	263	9	fusion	fusion	NOUN
easat-10756	263	10	-	-	PUNCT
easat-10756	263	11	based	base	VERB
easat-10756	263	12	approach	approach	NOUN
easat-10756	263	13	for	for	ADP
easat-10756	263	14	mapping	map	VERB
easat-10756	263	15	hard	hard	ADJ
easat-10756	263	16	-	-	PUNCT
easat-10756	263	17	todetect	todetect	NOUN
easat-10756	263	18	obstacles	obstacle	NOUN
easat-10756	263	19	(	(	PUNCT
easat-10756	263	20	hdol	hdol	PROPN
easat-10756	263	21	)	)	PUNCT
easat-10756	263	22	,	,	PUNCT
easat-10756	263	23	which	which	PRON
easat-10756	263	24	improved	improve	VERB
easat-10756	263	25	coverage	coverage	NOUN
easat-10756	263	26	completeness	completeness	NOUN
easat-10756	263	27	through	through	ADP
easat-10756	263	28	integrated	integrate	VERB
easat-10756	263	29	sensing	sense	VERB
easat-10756	263	30	data	datum	NOUN
easat-10756	263	31	[	[	X
easat-10756	263	32	17	17	NUM
easat-10756	263	33	]	]	PUNCT
easat-10756	263	34	.	.	PUNCT
easat-10756	264	1	this	this	DET
easat-10756	264	2	finding	finding	NOUN
easat-10756	264	3	demonstrates	demonstrate	VERB
easat-10756	264	4	that	that	SCONJ
easat-10756	264	5	,	,	PUNCT
easat-10756	264	6	beyond	beyond	ADP
easat-10756	264	7	enhancing	enhance	VERB
easat-10756	264	8	individual	individual	ADJ
easat-10756	264	9	sensor	sensor	NOUN
easat-10756	264	10	precision	precision	NOUN
easat-10756	264	11	,	,	PUNCT
easat-10756	264	12	the	the	DET
easat-10756	264	13	integration	integration	NOUN
easat-10756	264	14	of	of	ADP
easat-10756	264	15	environment	environment	NOUN
easat-10756	264	16	–	–	PUNCT
easat-10756	264	17	robot	robot	NOUN
easat-10756	264	18	interaction	interaction	NOUN
easat-10756	264	19	data	datum	NOUN
easat-10756	264	20	aligned	align	VERB
easat-10756	264	21	with	with	ADP
easat-10756	264	22	the	the	DET
easat-10756	264	23	evidence	evidence	NOUN
easat-10756	264	24	-	-	PUNCT
easat-10756	264	25	based	base	VERB
easat-10756	264	26	design	design	NOUN
easat-10756	264	27	(	(	PUNCT
easat-10756	264	28	ebd	ebd	NOUN
easat-10756	264	29	)	)	PUNCT
easat-10756	264	30	causal	causal	ADJ
easat-10756	264	31	framework	framework	NOUN
easat-10756	264	32	is	be	AUX
easat-10756	264	33	essential	essential	ADJ
easat-10756	264	34	for	for	ADP
easat-10756	264	35	improving	improve	VERB
easat-10756	264	36	robotic	robotic	ADJ
easat-10756	264	37	operability	operability	NOUN
easat-10756	264	38	.	.	PUNCT
easat-10756	265	1	furthermore	furthermore	ADV
easat-10756	265	2	,	,	PUNCT
easat-10756	265	3	wang	wang	PROPN
easat-10756	265	4	et	et	PROPN
easat-10756	265	5	al	al	PROPN
easat-10756	265	6	.	.	PUNCT
easat-10756	266	1	[	[	X
easat-10756	266	2	16	16	NUM
easat-10756	266	3	]	]	PUNCT
easat-10756	266	4	employed	employ	VERB
easat-10756	266	5	a	a	DET
easat-10756	266	6	bioinspired	bioinspire	VERB
easat-10756	266	7	sensor	sensor	NOUN
easat-10756	266	8	system	system	NOUN
easat-10756	266	9	to	to	PART
easat-10756	266	10	mitigate	mitigate	VERB
easat-10756	266	11	recognition	recognition	NOUN
easat-10756	266	12	degradation	degradation	NOUN
easat-10756	266	13	caused	cause	VERB
easat-10756	266	14	by	by	ADP
easat-10756	266	15	variations	variation	NOUN
easat-10756	266	16	in	in	ADP
easat-10756	266	17	luminance	luminance	NOUN
easat-10756	266	18	and	and	CCONJ
easat-10756	266	19	surface	surface	NOUN
easat-10756	266	20	materials	material	NOUN
easat-10756	266	21	,	,	PUNCT
easat-10756	266	22	providing	provide	VERB
easat-10756	266	23	empirical	empirical	ADJ
easat-10756	266	24	evidence	evidence	NOUN
easat-10756	266	25	that	that	SCONJ
easat-10756	266	26	the	the	DET
easat-10756	266	27	physical	physical	ADJ
easat-10756	266	28	properties	property	NOUN
easat-10756	266	29	of	of	ADP
easat-10756	266	30	architectural	architectural	ADJ
easat-10756	266	31	finishes	finish	NOUN
easat-10756	266	32	directly	directly	ADV
easat-10756	266	33	affect	affect	VERB
easat-10756	266	34	the	the	DET
easat-10756	266	35	reliability	reliability	NOUN
easat-10756	266	36	of	of	ADP
easat-10756	266	37	robotic	robotic	ADJ
easat-10756	266	38	perception	perception	NOUN
easat-10756	266	39	[	[	X
easat-10756	266	40	16	16	NUM
easat-10756	266	41	]	]	PUNCT
easat-10756	266	42	.	.	PUNCT
easat-10756	267	1	in	in	ADP
easat-10756	267	2	summary	summary	NOUN
easat-10756	267	3	,	,	PUNCT
easat-10756	267	4	the	the	DET
easat-10756	267	5	findings	finding	NOUN
easat-10756	267	6	indicate	indicate	VERB
easat-10756	267	7	that	that	SCONJ
easat-10756	267	8	evidence	evidence	NOUN
easat-10756	267	9	-	-	PUNCT
easat-10756	267	10	based	base	VERB
easat-10756	267	11	design	design	NOUN
easat-10756	267	12	(	(	PUNCT
easat-10756	267	13	ebd	ebd	PROPN
easat-10756	267	14	)	)	PUNCT
easat-10756	267	15	should	should	AUX
easat-10756	267	16	evolve	evolve	VERB
easat-10756	267	17	beyond	beyond	ADP
easat-10756	267	18	humancentered	humancentere	VERB
easat-10756	267	19	evaluation	evaluation	NOUN
easat-10756	267	20	of	of	ADP
easat-10756	267	21	spatial	spatial	ADJ
easat-10756	267	22	effects	effect	NOUN
easat-10756	267	23	to	to	PART
easat-10756	267	24	encompass	encompass	VERB
easat-10756	267	25	the	the	DET
easat-10756	267	26	performance	performance	NOUN
easat-10756	267	27	data	datum	NOUN
easat-10756	267	28	of	of	ADP
easat-10756	267	29	non	non	ADJ
easat-10756	267	30	-	-	ADJ
easat-10756	267	31	human	human	ADJ
easat-10756	267	32	agents	agent	NOUN
easat-10756	267	33	such	such	ADJ
easat-10756	267	34	as	as	ADP
easat-10756	267	35	robots	robot	NOUN
easat-10756	267	36	.	.	PUNCT
easat-10756	268	1	therefore	therefore	ADV
easat-10756	268	2	,	,	PUNCT
easat-10756	268	3	future	future	ADJ
easat-10756	268	4	research	research	NOUN
easat-10756	268	5	should	should	AUX
easat-10756	268	6	establish	establish	VERB
easat-10756	268	7	a	a	DET
easat-10756	268	8	correlation	correlation	NOUN
easat-10756	268	9	evaluation	evaluation	NOUN
easat-10756	268	10	framework	framework	NOUN
easat-10756	268	11	that	that	PRON
easat-10756	268	12	integrates	integrate	VERB
easat-10756	268	13	material	material	NOUN
easat-10756	268	14	characteristics	characteristic	NOUN
easat-10756	268	15	such	such	ADJ
easat-10756	268	16	as	as	ADP
easat-10756	268	17	reflectance	reflectance	NOUN
easat-10756	268	18	,	,	PUNCT
easat-10756	268	19	friction	friction	NOUN
easat-10756	268	20	coefficient	coefficient	NOUN
easat-10756	268	21	,	,	PUNCT
easat-10756	268	22	and	and	CCONJ
easat-10756	268	23	color	color	NOUN
easat-10756	268	24	contrast	contrast	NOUN
easat-10756	268	25	with	with	ADP
easat-10756	268	26	robotic	robotic	ADJ
easat-10756	268	27	perception	perception	NOUN
easat-10756	268	28	and	and	CCONJ
easat-10756	268	29	navigation	navigation	NOUN
easat-10756	268	30	data	datum	NOUN
easat-10756	268	31	,	,	PUNCT
easat-10756	268	32	including	include	VERB
easat-10756	268	33	sensor	sensor	NOUN
easat-10756	268	34	error	error	NOUN
easat-10756	268	35	rates	rate	NOUN
easat-10756	268	36	and	and	CCONJ
easat-10756	268	37	path	path	NOUN
easat-10756	268	38	deviation	deviation	NOUN
easat-10756	268	39	.	.	PUNCT
easat-10756	269	1	this	this	DET
easat-10756	269	2	framework	framework	NOUN
easat-10756	269	3	would	would	AUX
easat-10756	269	4	provide	provide	VERB
easat-10756	269	5	an	an	DET
easat-10756	269	6	empirical	empirical	ADJ
easat-10756	269	7	,	,	PUNCT
easat-10756	269	8	evidence	evidence	NOUN
easat-10756	269	9	-	-	PUNCT
easat-10756	269	10	based	base	VERB
easat-10756	269	11	foundation	foundation	NOUN
easat-10756	269	12	for	for	ADP
easat-10756	269	13	designing	design	VERB
easat-10756	269	14	and	and	CCONJ
easat-10756	269	15	validating	validate	VERB
easat-10756	269	16	robot	robot	NOUN
easat-10756	269	17	-	-	PUNCT
easat-10756	269	18	friendly	friendly	ADJ
easat-10756	269	19	architectural	architectural	ADJ
easat-10756	269	20	environments	environment	NOUN
easat-10756	269	21	.	.	PUNCT
easat-10756	270	1	5	5	X
easat-10756	270	2	.	.	X
easat-10756	270	3	discussion	discussion	NOUN
easat-10756	270	4	based	base	VERB
easat-10756	270	5	on	on	ADP
easat-10756	270	6	the	the	DET
easat-10756	270	7	results	result	NOUN
easat-10756	270	8	derived	derive	VERB
easat-10756	270	9	above	above	ADV
easat-10756	270	10	,	,	PUNCT
easat-10756	270	11	this	this	DET
easat-10756	270	12	section	section	NOUN
easat-10756	270	13	discusses	discuss	VERB
easat-10756	270	14	the	the	DET
easat-10756	270	15	development	development	NOUN
easat-10756	270	16	direction	direction	NOUN
easat-10756	270	17	of	of	ADP
easat-10756	270	18	a	a	DET
easat-10756	270	19	performance	performance	NOUN
easat-10756	270	20	correlation	correlation	NOUN
easat-10756	270	21	evaluation	evaluation	NOUN
easat-10756	270	22	system	system	NOUN
easat-10756	270	23	between	between	ADP
easat-10756	270	24	robots	robot	NOUN
easat-10756	270	25	and	and	CCONJ
easat-10756	270	26	architectural	architectural	ADJ
easat-10756	270	27	finishes	finish	NOUN
easat-10756	270	28	,	,	PUNCT
easat-10756	270	29	as	as	ADV
easat-10756	270	30	well	well	ADV
easat-10756	270	31	as	as	ADP
easat-10756	270	32	the	the	DET
easat-10756	270	33	potential	potential	ADJ
easat-10756	270	34	expansion	expansion	NOUN
easat-10756	270	35	of	of	ADP
easat-10756	270	36	evidence	evidence	NOUN
easat-10756	270	37	-	-	PUNCT
easat-10756	270	38	based	base	VERB
easat-10756	270	39	design	design	NOUN
easat-10756	270	40	(	(	PUNCT
easat-10756	270	41	ebd	ebd	PROPN
easat-10756	270	42	)	)	PUNCT
easat-10756	270	43	toward	toward	ADP
easat-10756	270	44	robot	robot	NOUN
easat-10756	270	45	-	-	PUNCT
easat-10756	270	46	integrated	integrate	VERB
easat-10756	270	47	built	build	VERB
easat-10756	270	48	environment	environment	NOUN
easat-10756	270	49	research	research	NOUN
easat-10756	270	50	.	.	PUNCT
easat-10756	271	1	first	first	ADV
easat-10756	271	2	,	,	PUNCT
easat-10756	271	3	the	the	DET
easat-10756	271	4	primary	primary	ADJ
easat-10756	271	5	causes	cause	NOUN
easat-10756	271	6	of	of	ADP
easat-10756	271	7	robotic	robotic	ADJ
easat-10756	271	8	perception	perception	NOUN
easat-10756	271	9	errors	error	NOUN
easat-10756	271	10	and	and	CCONJ
easat-10756	271	11	navigation	navigation	NOUN
easat-10756	271	12	instability	instability	NOUN
easat-10756	271	13	arise	arise	VERB
easat-10756	271	14	from	from	ADP
easat-10756	271	15	mismatches	mismatch	NOUN
easat-10756	271	16	between	between	ADP
easat-10756	271	17	the	the	DET
easat-10756	271	18	physical	physical	ADJ
easat-10756	271	19	properties	property	NOUN
easat-10756	271	20	of	of	ADP
easat-10756	271	21	finishing	finish	VERB
easat-10756	271	22	materials	material	NOUN
easat-10756	271	23	and	and	CCONJ
easat-10756	271	24	the	the	DET
easat-10756	271	25	sensitivity	sensitivity	NOUN
easat-10756	271	26	limits	limit	NOUN
easat-10756	271	27	of	of	ADP
easat-10756	271	28	robotic	robotic	ADJ
easat-10756	271	29	sensors	sensor	NOUN
easat-10756	271	30	.	.	PUNCT
easat-10756	272	1	ng	ng	PROPN
easat-10756	272	2	et	et	PROPN
easat-10756	272	3	al	al	PROPN
easat-10756	272	4	.	.	PUNCT
easat-10756	273	1	[	[	X
easat-10756	273	2	3	3	NUM
easat-10756	273	3	]	]	PUNCT
easat-10756	273	4	analyzed	analyze	VERB
easat-10756	273	5	sensor	sensor	NOUN
easat-10756	273	6	misrecognition	misrecognition	NOUN
easat-10756	273	7	(	(	PUNCT
easat-10756	273	8	failure	failure	NOUN
easat-10756	273	9	modes	mode	NOUN
easat-10756	273	10	)	)	PUNCT
easat-10756	273	11	occurring	occur	VERB
easat-10756	273	12	on	on	ADP
easat-10756	273	13	transparent	transparent	ADJ
easat-10756	273	14	glass	glass	NOUN
easat-10756	273	15	,	,	PUNCT
easat-10756	273	16	slender	slender	ADJ
easat-10756	273	17	metal	metal	NOUN
easat-10756	273	18	components	component	NOUN
easat-10756	273	19	,	,	PUNCT
easat-10756	273	20	and	and	CCONJ
easat-10756	273	21	reflective	reflective	ADJ
easat-10756	273	22	surfaces	surface	NOUN
easat-10756	273	23	,	,	PUNCT
easat-10756	273	24	identifying	identify	VERB
easat-10756	273	25	material	material	NOUN
easat-10756	273	26	reflectance	reflectance	NOUN
easat-10756	273	27	and	and	CCONJ
easat-10756	273	28	transmittance	transmittance	NOUN
easat-10756	273	29	as	as	ADP
easat-10756	273	30	the	the	DET
easat-10756	273	31	major	major	ADJ
easat-10756	273	32	factors	factor	NOUN
easat-10756	273	33	influencing	influence	VERB
easat-10756	273	34	detection	detection	NOUN
easat-10756	273	35	failures	failure	NOUN
easat-10756	273	36	[	[	X
easat-10756	273	37	3	3	NUM
easat-10756	273	38	]	]	PUNCT
easat-10756	273	39	.	.	PUNCT
easat-10756	274	1	these	these	DET
easat-10756	274	2	findings	finding	NOUN
easat-10756	274	3	suggest	suggest	VERB
easat-10756	274	4	the	the	DET
easat-10756	274	5	necessity	necessity	NOUN
easat-10756	274	6	of	of	ADP
easat-10756	274	7	establishing	establish	VERB
easat-10756	274	8	quantitative	quantitative	ADJ
easat-10756	274	9	correlation	correlation	NOUN
easat-10756	274	10	models	model	NOUN
easat-10756	274	11	between	between	ADP
easat-10756	274	12	the	the	DET
easat-10756	274	13	optical	optical	ADJ
easat-10756	274	14	characteristics	characteristic	NOUN
easat-10756	274	15	of	of	ADP
easat-10756	274	16	materials	material	NOUN
easat-10756	274	17	(	(	PUNCT
easat-10756	274	18	e.g.	e.g.	ADV
easat-10756	274	19	,	,	PUNCT
easat-10756	274	20	reflectance	reflectance	NOUN
easat-10756	274	21	,	,	PUNCT
easat-10756	274	22	transmittance	transmittance	NOUN
easat-10756	274	23	)	)	PUNCT
easat-10756	274	24	and	and	CCONJ
easat-10756	274	25	the	the	DET
easat-10756	274	26	sensitivity	sensitivity	NOUN
easat-10756	274	27	of	of	ADP
easat-10756	274	28	detection	detection	NOUN
easat-10756	274	29	sensors	sensor	NOUN
easat-10756	274	30	.	.	PUNCT
easat-10756	275	1	therefore	therefore	ADV
easat-10756	275	2	,	,	PUNCT
easat-10756	275	3	future	future	ADJ
easat-10756	275	4	systems	system	NOUN
easat-10756	275	5	should	should	AUX
easat-10756	275	6	be	be	AUX
easat-10756	275	7	designed	design	VERB
easat-10756	275	8	to	to	PART
easat-10756	275	9	integrate	integrate	VERB
easat-10756	275	10	and	and	CCONJ
easat-10756	275	11	analyze	analyze	VERB
easat-10756	275	12	material	material	NOUN
easat-10756	275	13	property	property	NOUN
easat-10756	275	14	data	datum	NOUN
easat-10756	275	15	,	,	PUNCT
easat-10756	275	16	including	include	VERB
easat-10756	275	17	reflectance	reflectance	NOUN
easat-10756	275	18	,	,	PUNCT
easat-10756	275	19	color	color	NOUN
easat-10756	275	20	contrast	contrast	NOUN
easat-10756	275	21	,	,	PUNCT
easat-10756	275	22	surface	surface	NOUN
easat-10756	275	23	roughness	roughness	NOUN
easat-10756	275	24	,	,	PUNCT
easat-10756	275	25	and	and	CCONJ
easat-10756	275	26	texture	texture	NOUN
easat-10756	275	27	,	,	PUNCT
easat-10756	275	28	with	with	ADP
easat-10756	275	29	robotic	robotic	ADJ
easat-10756	275	30	sensor	sensor	NOUN
easat-10756	275	31	response	response	NOUN
easat-10756	275	32	data	datum	NOUN
easat-10756	275	33	,	,	PUNCT
easat-10756	275	34	enabling	enable	VERB
easat-10756	275	35	comprehensive	comprehensive	ADJ
easat-10756	275	36	evaluation	evaluation	NOUN
easat-10756	275	37	of	of	ADP
easat-10756	275	38	perception	perception	NOUN
easat-10756	275	39	reliability	reliability	NOUN
easat-10756	275	40	within	within	ADP
easat-10756	275	41	architectural	architectural	ADJ
easat-10756	275	42	environments	environment	NOUN
easat-10756	275	43	.	.	PUNCT
easat-10756	276	1	second	second	ADJ
easat-10756	276	2	,	,	PUNCT
easat-10756	276	3	the	the	DET
easat-10756	276	4	concept	concept	NOUN
easat-10756	276	5	of	of	ADP
easat-10756	276	6	the	the	DET
easat-10756	276	7	robot	robot	NOUN
easat-10756	276	8	-	-	PUNCT
easat-10756	276	9	compatible	compatible	ADJ
easat-10756	276	10	environment	environment	NOUN
easat-10756	276	11	(	(	PUNCT
easat-10756	276	12	rce	rce	NOUN
easat-10756	276	13	)	)	PUNCT
easat-10756	276	14	proposed	propose	VERB
easat-10756	276	15	by	by	ADP
easat-10756	276	16	farkas	farkas	PROPN
easat-10756	276	17	et	et	PROPN
easat-10756	276	18	al	al	PROPN
easat-10756	276	19	.	.	PUNCT
easat-10756	277	1	[	[	X
easat-10756	277	2	11	11	NUM
easat-10756	277	3	]	]	PUNCT
easat-10756	277	4	emphasizes	emphasize	VERB
easat-10756	277	5	evaluating	evaluate	VERB
easat-10756	277	6	the	the	DET
easat-10756	277	7	interaction	interaction	NOUN
easat-10756	277	8	mechanisms	mechanism	NOUN
easat-10756	277	9	between	between	ADP
easat-10756	277	10	environmental	environmental	ADJ
easat-10756	277	11	factors	factor	NOUN
easat-10756	277	12	and	and	CCONJ
easat-10756	277	13	robotic	robotic	ADJ
easat-10756	277	14	responses	response	NOUN
easat-10756	277	15	,	,	PUNCT
easat-10756	277	16	rather	rather	ADV
easat-10756	277	17	than	than	ADP
easat-10756	277	18	merely	merely	ADV
easat-10756	277	19	controlling	control	VERB
easat-10756	277	20	the	the	DET
easat-10756	277	21	physical	physical	ADJ
easat-10756	277	22	environment	environment	NOUN
easat-10756	278	1	[	[	X
easat-10756	278	2	11	11	NUM
easat-10756	278	3	]	]	PUNCT
easat-10756	278	4	.	.	PUNCT
easat-10756	279	1	this	this	DET
easat-10756	279	2	approach	approach	NOUN
easat-10756	279	3	aligns	align	VERB
easat-10756	279	4	with	with	ADP
easat-10756	279	5	the	the	DET
easat-10756	279	6	evaluation	evaluation	NOUN
easat-10756	279	7	system	system	NOUN
easat-10756	279	8	developed	develop	VERB
easat-10756	279	9	in	in	ADP
easat-10756	279	10	the	the	DET
easat-10756	279	11	present	present	ADJ
easat-10756	279	12	study	study	NOUN
easat-10756	279	13	,	,	PUNCT
easat-10756	279	14	as	as	SCONJ
easat-10756	279	15	it	it	PRON
easat-10756	279	16	adopts	adopt	VERB
easat-10756	279	17	a	a	DET
easat-10756	279	18	quantitative	quantitative	ADJ
easat-10756	279	19	mapping	mapping	NOUN
easat-10756	279	20	framework	framework	NOUN
easat-10756	279	21	between	between	ADP
easat-10756	279	22	environmental	environmental	ADJ
easat-10756	279	23	parameters	parameter	NOUN
easat-10756	279	24	and	and	CCONJ
easat-10756	279	25	performance	performance	NOUN
easat-10756	279	26	indicators	indicator	NOUN
easat-10756	279	27	rather	rather	ADV
easat-10756	279	28	than	than	ADP
easat-10756	279	29	a	a	DET
easat-10756	279	30	conventional	conventional	ADJ
easat-10756	279	31	geometrycentered	geometrycentere	VERB
easat-10756	279	32	design	design	NOUN
easat-10756	279	33	perspective	perspective	NOUN
easat-10756	279	34	.	.	PUNCT
easat-10756	280	1	in	in	ADP
easat-10756	280	2	this	this	DET
easat-10756	280	3	context	context	NOUN
easat-10756	280	4	,	,	PUNCT
easat-10756	280	5	the	the	DET
easat-10756	280	6	stability	stability	NOUN
easat-10756	280	7	of	of	ADP
easat-10756	280	8	robotic	robotic	ADJ
easat-10756	280	9	mobility	mobility	NOUN
easat-10756	280	10	should	should	AUX
easat-10756	280	11	be	be	AUX
easat-10756	280	12	expressed	express	VERB
easat-10756	280	13	as	as	ADP
easat-10756	280	14	a	a	DET
easat-10756	280	15	functional	functional	ADJ
easat-10756	280	16	relationship	relationship	NOUN
easat-10756	280	17	of	of	ADP
easat-10756	280	18	surface	surface	NOUN
easat-10756	280	19	properties	property	NOUN
easat-10756	280	20	such	such	ADJ
easat-10756	280	21	as	as	ADP
easat-10756	280	22	friction	friction	NOUN
easat-10756	280	23	coefficient	coefficient	NOUN
easat-10756	280	24	,	,	PUNCT
easat-10756	280	25	level	level	NOUN
easat-10756	280	26	difference	difference	NOUN
easat-10756	280	27	,	,	PUNCT
easat-10756	280	28	and	and	CCONJ
easat-10756	280	29	smoothness	smoothness	ADJ
easat-10756	280	30	rather	rather	ADV
easat-10756	280	31	than	than	ADP
easat-10756	280	32	spatial	spatial	ADJ
easat-10756	280	33	form	form	NOUN
easat-10756	280	34	.	.	PUNCT
easat-10756	281	1	through	through	ADP
easat-10756	281	2	this	this	DET
easat-10756	281	3	relationship	relationship	NOUN
easat-10756	281	4	,	,	PUNCT
easat-10756	281	5	a	a	DET
easat-10756	281	6	regression	regression	NOUN
easat-10756	281	7	model	model	NOUN
easat-10756	281	8	can	can	AUX
easat-10756	281	9	be	be	AUX
easat-10756	281	10	established	establish	VERB
easat-10756	281	11	to	to	PART
easat-10756	281	12	quantitatively	quantitatively	ADV
easat-10756	281	13	represent	represent	VERB
easat-10756	281	14	the	the	DET
easat-10756	281	15	correlations	correlation	NOUN
easat-10756	281	16	between	between	ADP
easat-10756	281	17	material	material	NOUN
easat-10756	281	18	properties	property	NOUN
easat-10756	281	19	and	and	CCONJ
easat-10756	281	20	robotic	robotic	ADJ
easat-10756	281	21	performance	performance	NOUN
easat-10756	281	22	outcomes	outcome	NOUN
easat-10756	281	23	.	.	PUNCT
easat-10756	282	1	third	third	ADJ
easat-10756	282	2	,	,	PUNCT
easat-10756	282	3	evidence	evidence	NOUN
easat-10756	282	4	-	-	PUNCT
easat-10756	282	5	based	base	VERB
easat-10756	282	6	robot	robot	NOUN
easat-10756	282	7	-	-	PUNCT
easat-10756	282	8	friendly	friendly	ADJ
easat-10756	282	9	design	design	NOUN
easat-10756	282	10	(	(	PUNCT
easat-10756	282	11	ebrfd	ebrfd	PROPN
easat-10756	282	12	)	)	PUNCT
easat-10756	282	13	extends	extend	VERB
easat-10756	282	14	the	the	DET
easat-10756	282	15	human	human	NOUN
easat-10756	282	16	-	-	PUNCT
easat-10756	282	17	centered	center	VERB
easat-10756	282	18	feedback	feedback	NOUN
easat-10756	282	19	loop	loop	NOUN
easat-10756	282	20	of	of	ADP
easat-10756	282	21	conventional	conventional	ADJ
easat-10756	282	22	ebd	ebd	NOUN
easat-10756	282	23	by	by	ADP
easat-10756	282	24	incorporating	incorporate	VERB
easat-10756	282	25	robotic	robotic	ADJ
easat-10756	282	26	operational	operational	ADJ
easat-10756	282	27	data	datum	NOUN
easat-10756	282	28	(	(	PUNCT
easat-10756	282	29	log	log	PROPN
easat-10756	282	30	data	data	PROPN
easat-10756	282	31	)	)	PUNCT
easat-10756	282	32	as	as	ADP
easat-10756	282	33	design	design	NOUN
easat-10756	282	34	evidence	evidence	NOUN
easat-10756	282	35	[	[	X
easat-10756	282	36	6	6	NUM
easat-10756	282	37	-	-	SYM
easat-10756	282	38	8	8	NUM
easat-10756	282	39	,	,	PUNCT
easat-10756	282	40	12	12	NUM
easat-10756	282	41	]	]	PUNCT
easat-10756	282	42	.	.	PUNCT
easat-10756	283	1	quantitative	quantitative	ADJ
easat-10756	283	2	metrics	metric	NOUN
easat-10756	283	3	such	such	ADJ
easat-10756	283	4	as	as	ADP
easat-10756	283	5	slam	slam	NOUN
easat-10756	283	6	(	(	PUNCT
easat-10756	283	7	simultaneous	simultaneous	ADJ
easat-10756	283	8	localization	localization	NOUN
easat-10756	283	9	and	and	CCONJ
easat-10756	283	10	mapping	mapping	NOUN
easat-10756	283	11	)	)	PUNCT
easat-10756	283	12	error	error	NOUN
easat-10756	283	13	rate	rate	NOUN
easat-10756	283	14	,	,	PUNCT
easat-10756	283	15	speed	speed	NOUN
easat-10756	283	16	68	68	NUM
easat-10756	283	17	edelweiss	edelweiss	PROPN
easat-10756	283	18	applied	apply	VERB
easat-10756	283	19	science	science	NOUN
easat-10756	283	20	and	and	CCONJ
easat-10756	283	21	technology	technology	NOUN
easat-10756	283	22	issn	issn	PROPN
easat-10756	283	23	:	:	PUNCT
easat-10756	283	24	2576	2576	NUM
easat-10756	283	25	-	-	SYM
easat-10756	283	26	8484	8484	NUM
easat-10756	283	27	vol	vol	NOUN
easat-10756	283	28	.	.	PROPN
easat-10756	284	1	9	9	NUM
easat-10756	284	2	,	,	PUNCT
easat-10756	284	3	no	no	INTJ
easat-10756	284	4	.	.	NOUN
easat-10756	284	5	11	11	NUM
easat-10756	284	6	:	:	PUNCT
easat-10756	284	7	57	57	NUM
easat-10756	284	8	-	-	SYM
easat-10756	284	9	70	70	NUM
easat-10756	284	10	,	,	PUNCT
easat-10756	284	11	2025	2025	NUM
easat-10756	284	12	doi	doi	NOUN
easat-10756	284	13	:	:	PUNCT
easat-10756	284	14	10.55214/2576	10.55214/2576	NUM
easat-10756	284	15	-	-	SYM
easat-10756	284	16	8484.v9i11.10756	8484.v9i11.10756	NUM
easat-10756	284	17	©	©	PROPN
easat-10756	284	18	2025	2025	NUM
easat-10756	284	19	by	by	ADP
easat-10756	284	20	the	the	DET
easat-10756	284	21	authors	author	NOUN
easat-10756	284	22	;	;	PUNCT
easat-10756	284	23	licensee	licensee	PROPN
easat-10756	284	24	learning	learn	VERB
easat-10756	284	25	gate	gate	NOUN
easat-10756	284	26	reduction	reduction	NOUN
easat-10756	284	27	factor	factor	NOUN
easat-10756	284	28	,	,	PUNCT
easat-10756	284	29	and	and	CCONJ
easat-10756	284	30	avoidance	avoidance	NOUN
easat-10756	284	31	reaction	reaction	NOUN
easat-10756	284	32	frequency	frequency	NOUN
easat-10756	284	33	provide	provide	VERB
easat-10756	284	34	empirical	empirical	ADJ
easat-10756	284	35	datasets	dataset	NOUN
easat-10756	284	36	that	that	PRON
easat-10756	284	37	explain	explain	VERB
easat-10756	284	38	the	the	DET
easat-10756	284	39	correlations	correlation	NOUN
easat-10756	284	40	between	between	ADP
easat-10756	284	41	robotic	robotic	ADJ
easat-10756	284	42	performance	performance	NOUN
easat-10756	284	43	and	and	CCONJ
easat-10756	284	44	environmental	environmental	ADJ
easat-10756	284	45	variables	variable	NOUN
easat-10756	284	46	,	,	PUNCT
easat-10756	284	47	serving	serve	VERB
easat-10756	284	48	as	as	ADP
easat-10756	284	49	essential	essential	ADJ
easat-10756	284	50	evidence	evidence	NOUN
easat-10756	284	51	for	for	ADP
easat-10756	284	52	finish	finish	NOUN
easat-10756	284	53	-	-	PUNCT
easat-10756	284	54	material	material	NOUN
easat-10756	284	55	evaluation	evaluation	NOUN
easat-10756	284	56	.	.	PUNCT
easat-10756	285	1	for	for	ADP
easat-10756	285	2	instance	instance	NOUN
easat-10756	285	3	,	,	PUNCT
easat-10756	285	4	when	when	SCONJ
easat-10756	285	5	perception	perception	NOUN
easat-10756	285	6	error	error	NOUN
easat-10756	285	7	rates	rate	NOUN
easat-10756	285	8	increase	increase	VERB
easat-10756	285	9	under	under	ADP
easat-10756	285	10	uneven	uneven	ADJ
easat-10756	285	11	illuminance	illuminance	NOUN
easat-10756	285	12	or	or	CCONJ
easat-10756	285	13	highly	highly	ADV
easat-10756	285	14	reflective	reflective	ADJ
easat-10756	285	15	floor	floor	NOUN
easat-10756	285	16	conditions	condition	NOUN
easat-10756	285	17	,	,	PUNCT
easat-10756	285	18	the	the	DET
easat-10756	285	19	system	system	NOUN
easat-10756	285	20	can	can	AUX
easat-10756	285	21	automatically	automatically	ADV
easat-10756	285	22	record	record	VERB
easat-10756	285	23	the	the	DET
easat-10756	285	24	corresponding	corresponding	ADJ
easat-10756	285	25	material	material	NOUN
easat-10756	285	26	property	property	NOUN
easat-10756	285	27	values	value	NOUN
easat-10756	285	28	and	and	CCONJ
easat-10756	285	29	convert	convert	VERB
easat-10756	285	30	them	they	PRON
easat-10756	285	31	into	into	ADP
easat-10756	285	32	a	a	DET
easat-10756	285	33	credibility	credibility	NOUN
easat-10756	285	34	index	index	NOUN
easat-10756	285	35	representing	represent	VERB
easat-10756	285	36	sensor	sensor	NOUN
easat-10756	285	37	reliability	reliability	NOUN
easat-10756	285	38	.	.	PUNCT
easat-10756	286	1	fourth	fourth	ADJ
easat-10756	286	2	,	,	PUNCT
easat-10756	286	3	the	the	DET
easat-10756	286	4	studies	study	NOUN
easat-10756	286	5	by	by	ADP
easat-10756	286	6	jo	jo	PROPN
easat-10756	287	1	[	[	X
easat-10756	287	2	2	2	NUM
easat-10756	287	3	]	]	PUNCT
easat-10756	287	4	and	and	CCONJ
easat-10756	287	5	lee	lee	PROPN
easat-10756	288	1	[	[	X
easat-10756	288	2	1	1	X
easat-10756	288	3	]	]	PUNCT
easat-10756	288	4	quantitatively	quantitatively	ADV
easat-10756	288	5	evaluated	evaluate	VERB
easat-10756	288	6	path	path	NOUN
easat-10756	288	7	efficiency	efficiency	NOUN
easat-10756	288	8	and	and	CCONJ
easat-10756	288	9	recognition	recognition	NOUN
easat-10756	288	10	error	error	NOUN
easat-10756	288	11	rates	rate	NOUN
easat-10756	288	12	in	in	ADP
easat-10756	288	13	logistics	logistic	NOUN
easat-10756	288	14	and	and	CCONJ
easat-10756	288	15	collaborative	collaborative	ADJ
easat-10756	288	16	environments	environment	NOUN
easat-10756	288	17	,	,	PUNCT
easat-10756	288	18	respectively	respectively	ADV
easat-10756	288	19	,	,	PUNCT
easat-10756	288	20	by	by	ADP
easat-10756	288	21	utilizing	utilize	VERB
easat-10756	288	22	robotic	robotic	ADJ
easat-10756	288	23	operational	operational	ADJ
easat-10756	288	24	data	datum	NOUN
easat-10756	288	25	[	[	X
easat-10756	288	26	1	1	NUM
easat-10756	288	27	,	,	PUNCT
easat-10756	288	28	2	2	NUM
easat-10756	288	29	]	]	PUNCT
easat-10756	288	30	.	.	PUNCT
easat-10756	289	1	their	their	PRON
easat-10756	289	2	approaches	approach	NOUN
easat-10756	289	3	are	be	AUX
easat-10756	289	4	significant	significant	ADJ
easat-10756	289	5	in	in	SCONJ
easat-10756	289	6	that	that	SCONJ
easat-10756	289	7	they	they	PRON
easat-10756	289	8	go	go	VERB
easat-10756	289	9	beyond	beyond	ADP
easat-10756	289	10	spatial	spatial	ADJ
easat-10756	289	11	design	design	NOUN
easat-10756	289	12	optimization	optimization	NOUN
easat-10756	289	13	to	to	PART
easat-10756	289	14	reveal	reveal	VERB
easat-10756	289	15	the	the	DET
easat-10756	289	16	statistical	statistical	ADJ
easat-10756	289	17	correlations	correlation	NOUN
easat-10756	289	18	between	between	ADP
easat-10756	289	19	actual	actual	ADJ
easat-10756	289	20	robotic	robotic	ADJ
easat-10756	289	21	trajectory	trajectory	NOUN
easat-10756	289	22	data	datum	NOUN
easat-10756	289	23	and	and	CCONJ
easat-10756	289	24	environmental	environmental	ADJ
easat-10756	289	25	variables	variable	NOUN
easat-10756	289	26	.	.	PUNCT
easat-10756	290	1	building	build	VERB
easat-10756	290	2	upon	upon	SCONJ
easat-10756	290	3	this	this	DET
easat-10756	290	4	direction	direction	NOUN
easat-10756	290	5	,	,	PUNCT
easat-10756	290	6	the	the	DET
easat-10756	290	7	present	present	ADJ
easat-10756	290	8	study	study	NOUN
easat-10756	290	9	aims	aim	VERB
easat-10756	290	10	to	to	PART
easat-10756	290	11	develop	develop	VERB
easat-10756	290	12	a	a	DET
easat-10756	290	13	performance	performance	NOUN
easat-10756	290	14	–	–	PUNCT
easat-10756	290	15	material	material	NOUN
easat-10756	290	16	correlation	correlation	NOUN
easat-10756	290	17	evaluation	evaluation	NOUN
easat-10756	290	18	system	system	NOUN
easat-10756	290	19	that	that	PRON
easat-10756	290	20	analyzes	analyze	VERB
easat-10756	290	21	the	the	DET
easat-10756	290	22	relationship	relationship	NOUN
easat-10756	290	23	between	between	ADP
easat-10756	290	24	robotic	robotic	ADJ
easat-10756	290	25	performance	performance	NOUN
easat-10756	290	26	data	datum	NOUN
easat-10756	290	27	(	(	PUNCT
easat-10756	290	28	e.g.	e.g.	ADV
easat-10756	290	29	,	,	PUNCT
easat-10756	290	30	perception	perception	NOUN
easat-10756	290	31	accuracy	accuracy	NOUN
easat-10756	290	32	,	,	PUNCT
easat-10756	290	33	path	path	NOUN
easat-10756	290	34	stability	stability	NOUN
easat-10756	290	35	)	)	PUNCT
easat-10756	290	36	and	and	CCONJ
easat-10756	290	37	material	material	NOUN
easat-10756	290	38	property	property	NOUN
easat-10756	290	39	data	datum	NOUN
easat-10756	290	40	(	(	PUNCT
easat-10756	290	41	e.g.	e.g.	ADV
easat-10756	290	42	,	,	PUNCT
easat-10756	290	43	reflectance	reflectance	NOUN
easat-10756	290	44	,	,	PUNCT
easat-10756	290	45	friction	friction	NOUN
easat-10756	290	46	coefficient	coefficient	NOUN
easat-10756	290	47	,	,	PUNCT
easat-10756	290	48	surface	surface	NOUN
easat-10756	290	49	roughness	roughness	NOUN
easat-10756	290	50	)	)	PUNCT
easat-10756	290	51	.	.	PUNCT
easat-10756	291	1	this	this	DET
easat-10756	291	2	integrated	integrate	VERB
easat-10756	291	3	framework	framework	NOUN
easat-10756	291	4	ultimately	ultimately	ADV
easat-10756	291	5	seeks	seek	VERB
easat-10756	291	6	to	to	PART
easat-10756	291	7	establish	establish	VERB
easat-10756	291	8	an	an	DET
easat-10756	291	9	evidence	evidence	NOUN
easat-10756	291	10	-	-	PUNCT
easat-10756	291	11	based	base	VERB
easat-10756	291	12	foundation	foundation	NOUN
easat-10756	291	13	for	for	ADP
easat-10756	291	14	evaluating	evaluate	VERB
easat-10756	291	15	and	and	CCONJ
easat-10756	291	16	optimizing	optimize	VERB
easat-10756	291	17	robot	robot	NOUN
easat-10756	291	18	–	–	PUNCT
easat-10756	291	19	material	material	NOUN
easat-10756	291	20	interaction	interaction	NOUN
easat-10756	291	21	within	within	ADP
easat-10756	291	22	built	build	VERB
easat-10756	291	23	environments	environment	NOUN
easat-10756	291	24	.	.	PUNCT
easat-10756	292	1	this	this	DET
easat-10756	292	2	system	system	NOUN
easat-10756	292	3	functions	function	NOUN
easat-10756	292	4	as	as	ADP
easat-10756	292	5	a	a	DET
easat-10756	292	6	decision	decision	NOUN
easat-10756	292	7	support	support	NOUN
easat-10756	292	8	tool	tool	NOUN
easat-10756	292	9	that	that	PRON
easat-10756	292	10	statistically	statistically	ADV
easat-10756	292	11	links	link	VERB
easat-10756	292	12	robotic	robotic	ADJ
easat-10756	292	13	performance	performance	NOUN
easat-10756	292	14	indicators	indicator	NOUN
easat-10756	292	15	such	such	ADJ
easat-10756	292	16	as	as	ADP
easat-10756	292	17	perception	perception	NOUN
easat-10756	292	18	accuracy	accuracy	NOUN
easat-10756	292	19	,	,	PUNCT
easat-10756	292	20	path	path	NOUN
easat-10756	292	21	stability	stability	NOUN
easat-10756	292	22	,	,	PUNCT
easat-10756	292	23	and	and	CCONJ
easat-10756	292	24	avoidance	avoidance	NOUN
easat-10756	292	25	frequency	frequency	NOUN
easat-10756	292	26	with	with	ADP
easat-10756	292	27	material	material	NOUN
easat-10756	292	28	properties	property	NOUN
easat-10756	292	29	,	,	PUNCT
easat-10756	292	30	including	include	VERB
easat-10756	292	31	reflectance	reflectance	NOUN
easat-10756	292	32	,	,	PUNCT
easat-10756	292	33	friction	friction	NOUN
easat-10756	292	34	coefficient	coefficient	NOUN
easat-10756	292	35	,	,	PUNCT
easat-10756	292	36	and	and	CCONJ
easat-10756	292	37	surface	surface	NOUN
easat-10756	292	38	smoothness	smoothness	NOUN
easat-10756	292	39	.	.	PUNCT
easat-10756	293	1	by	by	ADP
easat-10756	293	2	establishing	establish	VERB
easat-10756	293	3	these	these	DET
easat-10756	293	4	correlations	correlation	NOUN
easat-10756	293	5	,	,	PUNCT
easat-10756	293	6	the	the	DET
easat-10756	293	7	system	system	NOUN
easat-10756	293	8	can	can	AUX
easat-10756	293	9	recommend	recommend	VERB
easat-10756	293	10	optimal	optimal	ADJ
easat-10756	293	11	combinations	combination	NOUN
easat-10756	293	12	of	of	ADP
easat-10756	293	13	robot	robot	NOUN
easat-10756	293	14	platforms	platform	NOUN
easat-10756	293	15	and	and	CCONJ
easat-10756	293	16	finish	finish	VERB
easat-10756	293	17	materials	material	NOUN
easat-10756	293	18	suitable	suitable	ADJ
easat-10756	293	19	for	for	ADP
easat-10756	293	20	specific	specific	ADJ
easat-10756	293	21	environmental	environmental	ADJ
easat-10756	293	22	conditions	condition	NOUN
easat-10756	293	23	.	.	PUNCT
easat-10756	294	1	for	for	ADP
easat-10756	294	2	example	example	NOUN
easat-10756	294	3	,	,	PUNCT
easat-10756	294	4	if	if	SCONJ
easat-10756	294	5	an	an	DET
easat-10756	294	6	autonomous	autonomous	ADJ
easat-10756	294	7	mobile	mobile	ADJ
easat-10756	294	8	robot	robot	NOUN
easat-10756	294	9	with	with	ADP
easat-10756	294	10	a	a	DET
easat-10756	294	11	particular	particular	ADJ
easat-10756	294	12	wheel	wheel	NOUN
easat-10756	294	13	diameter	diameter	NOUN
easat-10756	294	14	exhibits	exhibit	VERB
easat-10756	294	15	recurrent	recurrent	ADJ
easat-10756	294	16	trajectory	trajectory	NOUN
easat-10756	294	17	deviations	deviation	NOUN
easat-10756	294	18	on	on	ADP
easat-10756	294	19	a	a	DET
easat-10756	294	20	glossy	glossy	ADJ
easat-10756	294	21	tile	tile	NOUN
easat-10756	294	22	floor	floor	NOUN
easat-10756	294	23	with	with	ADP
easat-10756	294	24	a	a	DET
easat-10756	294	25	low	low	ADJ
easat-10756	294	26	friction	friction	NOUN
easat-10756	294	27	coefficient	coefficient	NOUN
easat-10756	294	28	,	,	PUNCT
easat-10756	294	29	the	the	DET
easat-10756	294	30	system	system	NOUN
easat-10756	294	31	can	can	AUX
easat-10756	294	32	interpret	interpret	VERB
easat-10756	294	33	this	this	PRON
easat-10756	294	34	as	as	ADP
easat-10756	294	35	either	either	CCONJ
easat-10756	294	36	a	a	DET
easat-10756	294	37	limitation	limitation	NOUN
easat-10756	294	38	of	of	ADP
easat-10756	294	39	the	the	DET
easat-10756	294	40	robot	robot	NOUN
easat-10756	294	41	’s	’s	PART
easat-10756	294	42	drive	drive	ADJ
easat-10756	294	43	mechanism	mechanism	NOUN
easat-10756	294	44	or	or	CCONJ
easat-10756	294	45	an	an	DET
easat-10756	294	46	incompatibility	incompatibility	NOUN
easat-10756	294	47	of	of	ADP
easat-10756	294	48	the	the	DET
easat-10756	294	49	surface	surface	NOUN
easat-10756	294	50	material	material	NOUN
easat-10756	294	51	,	,	PUNCT
easat-10756	294	52	subsequently	subsequently	ADV
easat-10756	294	53	suggesting	suggest	VERB
easat-10756	294	54	alternative	alternative	ADJ
easat-10756	294	55	material	material	NOUN
easat-10756	294	56	specifications	specification	NOUN
easat-10756	294	57	or	or	CCONJ
easat-10756	294	58	robot	robot	NOUN
easat-10756	294	59	configurations	configuration	NOUN
easat-10756	294	60	.	.	PUNCT
easat-10756	295	1	accordingly	accordingly	ADV
easat-10756	295	2	,	,	PUNCT
easat-10756	295	3	the	the	DET
easat-10756	295	4	ultimate	ultimate	ADJ
easat-10756	295	5	objective	objective	NOUN
easat-10756	295	6	of	of	ADP
easat-10756	295	7	this	this	DET
easat-10756	295	8	study	study	NOUN
easat-10756	295	9	is	be	AUX
easat-10756	295	10	not	not	PART
easat-10756	295	11	merely	merely	ADV
easat-10756	295	12	to	to	PART
easat-10756	295	13	evaluate	evaluate	VERB
easat-10756	295	14	surface	surface	NOUN
easat-10756	295	15	materials	material	NOUN
easat-10756	295	16	or	or	CCONJ
easat-10756	295	17	accumulate	accumulate	VERB
easat-10756	295	18	robotic	robotic	ADJ
easat-10756	295	19	data	datum	NOUN
easat-10756	295	20	,	,	PUNCT
easat-10756	295	21	but	but	CCONJ
easat-10756	295	22	to	to	PART
easat-10756	295	23	develop	develop	VERB
easat-10756	295	24	a	a	DET
easat-10756	295	25	system	system	NOUN
easat-10756	295	26	capable	capable	ADJ
easat-10756	295	27	of	of	ADP
easat-10756	295	28	learning	learn	VERB
easat-10756	295	29	and	and	CCONJ
easat-10756	295	30	modeling	model	VERB
easat-10756	295	31	quantitative	quantitative	ADJ
easat-10756	295	32	relationships	relationship	NOUN
easat-10756	295	33	between	between	ADP
easat-10756	295	34	environmental	environmental	ADJ
easat-10756	295	35	factors	factor	NOUN
easat-10756	295	36	and	and	CCONJ
easat-10756	295	37	robotic	robotic	ADJ
easat-10756	295	38	performance	performance	NOUN
easat-10756	295	39	in	in	ADP
easat-10756	295	40	order	order	NOUN
easat-10756	295	41	to	to	PART
easat-10756	295	42	analyze	analyze	VERB
easat-10756	295	43	their	their	PRON
easat-10756	295	44	mutual	mutual	ADJ
easat-10756	295	45	compatibility	compatibility	NOUN
easat-10756	295	46	.	.	PUNCT
easat-10756	296	1	through	through	ADP
easat-10756	296	2	this	this	DET
easat-10756	296	3	approach	approach	NOUN
easat-10756	296	4	,	,	PUNCT
easat-10756	296	5	the	the	DET
easat-10756	296	6	system	system	NOUN
easat-10756	296	7	aims	aim	VERB
easat-10756	296	8	to	to	PART
easat-10756	296	9	propose	propose	VERB
easat-10756	296	10	optimal	optimal	ADJ
easat-10756	296	11	combinations	combination	NOUN
easat-10756	296	12	of	of	ADP
easat-10756	296	13	robots	robot	NOUN
easat-10756	296	14	and	and	CCONJ
easat-10756	296	15	finish	finish	NOUN
easat-10756	296	16	materials	material	NOUN
easat-10756	296	17	tailored	tailor	VERB
easat-10756	296	18	to	to	ADP
easat-10756	296	19	various	various	ADJ
easat-10756	296	20	indoor	indoor	ADJ
easat-10756	296	21	service	service	NOUN
easat-10756	296	22	environments	environment	NOUN
easat-10756	296	23	such	such	ADJ
easat-10756	296	24	as	as	ADP
easat-10756	296	25	hospitals	hospital	NOUN
easat-10756	296	26	,	,	PUNCT
easat-10756	296	27	logistics	logistic	NOUN
easat-10756	296	28	centers	center	NOUN
easat-10756	296	29	,	,	PUNCT
easat-10756	296	30	and	and	CCONJ
easat-10756	296	31	office	office	NOUN
easat-10756	296	32	buildings	building	NOUN
easat-10756	296	33	and	and	CCONJ
easat-10756	296	34	to	to	PART
easat-10756	296	35	support	support	VERB
easat-10756	296	36	rational	rational	ADJ
easat-10756	296	37	material	material	NOUN
easat-10756	296	38	robot	robot	NOUN
easat-10756	296	39	selection	selection	NOUN
easat-10756	296	40	during	during	ADP
easat-10756	296	41	the	the	DET
easat-10756	296	42	early	early	ADJ
easat-10756	296	43	design	design	NOUN
easat-10756	296	44	phase	phase	NOUN
easat-10756	296	45	of	of	ADP
easat-10756	296	46	robotfriendly	robotfriendly	ADJ
easat-10756	296	47	architecture	architecture	NOUN
easat-10756	296	48	.	.	PUNCT
easat-10756	297	1	6	6	X
easat-10756	297	2	.	.	X
easat-10756	297	3	conclusion	conclusion	NOUN
easat-10756	297	4	this	this	DET
easat-10756	297	5	study	study	NOUN
easat-10756	297	6	analyzed	analyze	VERB
easat-10756	297	7	the	the	DET
easat-10756	297	8	architectural	architectural	ADJ
easat-10756	297	9	factors	factor	NOUN
easat-10756	297	10	and	and	CCONJ
easat-10756	297	11	material	material	NOUN
easat-10756	297	12	characteristics	characteristic	NOUN
easat-10756	297	13	that	that	PRON
easat-10756	297	14	may	may	AUX
easat-10756	297	15	affect	affect	VERB
easat-10756	297	16	the	the	DET
easat-10756	297	17	sensing	sense	VERB
easat-10756	297	18	and	and	CCONJ
easat-10756	297	19	navigation	navigation	NOUN
easat-10756	297	20	performance	performance	NOUN
easat-10756	297	21	of	of	ADP
easat-10756	297	22	service	service	NOUN
easat-10756	297	23	robots	robot	NOUN
easat-10756	297	24	,	,	PUNCT
easat-10756	297	25	based	base	VERB
easat-10756	297	26	on	on	ADP
easat-10756	297	27	an	an	DET
easat-10756	297	28	extensive	extensive	ADJ
easat-10756	297	29	review	review	NOUN
easat-10756	297	30	of	of	ADP
easat-10756	297	31	existing	exist	VERB
easat-10756	297	32	literature	literature	NOUN
easat-10756	297	33	on	on	ADP
easat-10756	297	34	evidence	evidence	NOUN
easat-10756	297	35	-	-	PUNCT
easat-10756	297	36	based	base	VERB
easat-10756	297	37	design	design	NOUN
easat-10756	297	38	(	(	PUNCT
easat-10756	297	39	ebd	ebd	PROPN
easat-10756	297	40	)	)	PUNCT
easat-10756	297	41	.	.	PUNCT
easat-10756	298	1	through	through	ADP
easat-10756	298	2	this	this	DET
easat-10756	298	3	analysis	analysis	NOUN
easat-10756	298	4	,	,	PUNCT
easat-10756	298	5	the	the	DET
easat-10756	298	6	research	research	NOUN
easat-10756	298	7	systematically	systematically	ADV
easat-10756	298	8	examined	examine	VERB
easat-10756	298	9	the	the	DET
easat-10756	298	10	current	current	ADJ
easat-10756	298	11	evidence	evidence	NOUN
easat-10756	298	12	-	-	PUNCT
easat-10756	298	13	based	base	VERB
easat-10756	298	14	design	design	NOUN
easat-10756	298	15	trends	trend	NOUN
easat-10756	298	16	for	for	ADP
easat-10756	298	17	developing	develop	VERB
easat-10756	298	18	a	a	DET
easat-10756	298	19	robot	robot	NOUN
easat-10756	298	20	-	-	PUNCT
easat-10756	298	21	friendly	friendly	ADJ
easat-10756	298	22	built	build	VERB
easat-10756	298	23	environment	environment	NOUN
easat-10756	298	24	(	(	PUNCT
easat-10756	298	25	rfbe	rfbe	PROPN
easat-10756	298	26	)	)	PUNCT
easat-10756	298	27	,	,	PUNCT
easat-10756	298	28	providing	provide	VERB
easat-10756	298	29	a	a	DET
easat-10756	298	30	theoretical	theoretical	ADJ
easat-10756	298	31	foundation	foundation	NOUN
easat-10756	298	32	for	for	ADP
easat-10756	298	33	integrating	integrate	VERB
easat-10756	298	34	robotic	robotic	ADJ
easat-10756	298	35	performance	performance	NOUN
easat-10756	298	36	data	datum	NOUN
easat-10756	298	37	into	into	ADP
easat-10756	298	38	architectural	architectural	ADJ
easat-10756	298	39	decision	decision	NOUN
easat-10756	298	40	-	-	PUNCT
easat-10756	298	41	making	making	NOUN
easat-10756	298	42	.	.	PUNCT
easat-10756	299	1	the	the	DET
easat-10756	299	2	literature	literature	NOUN
easat-10756	299	3	analysis	analysis	NOUN
easat-10756	299	4	revealed	reveal	VERB
easat-10756	299	5	that	that	SCONJ
easat-10756	299	6	most	most	ADJ
easat-10756	299	7	evidence	evidence	NOUN
easat-10756	299	8	-	-	PUNCT
easat-10756	299	9	based	base	VERB
easat-10756	299	10	design	design	NOUN
easat-10756	299	11	(	(	PUNCT
easat-10756	299	12	ebd	ebd	PROPN
easat-10756	299	13	)	)	PUNCT
easat-10756	299	14	studies	study	NOUN
easat-10756	299	15	have	have	AUX
easat-10756	299	16	traditionally	traditionally	ADV
easat-10756	299	17	focused	focus	VERB
easat-10756	299	18	on	on	ADP
easat-10756	299	19	human	human	ADJ
easat-10756	299	20	cognitive	cognitive	ADJ
easat-10756	299	21	and	and	CCONJ
easat-10756	299	22	behavioral	behavioral	ADJ
easat-10756	299	23	responses	response	NOUN
easat-10756	299	24	;	;	PUNCT
easat-10756	299	25	however	however	ADV
easat-10756	299	26	,	,	PUNCT
easat-10756	299	27	recent	recent	ADJ
easat-10756	299	28	research	research	NOUN
easat-10756	299	29	trends	trend	NOUN
easat-10756	299	30	indicate	indicate	VERB
easat-10756	299	31	emerging	emerge	VERB
easat-10756	299	32	attempts	attempt	NOUN
easat-10756	299	33	to	to	PART
easat-10756	299	34	utilize	utilize	VERB
easat-10756	299	35	operational	operational	ADJ
easat-10756	299	36	data	datum	NOUN
easat-10756	299	37	from	from	ADP
easat-10756	299	38	non	non	ADJ
easat-10756	299	39	-	-	ADJ
easat-10756	299	40	human	human	ADJ
easat-10756	299	41	agents	agent	NOUN
easat-10756	299	42	,	,	PUNCT
easat-10756	299	43	such	such	ADJ
easat-10756	299	44	as	as	ADP
easat-10756	299	45	robots	robot	NOUN
easat-10756	299	46	,	,	PUNCT
easat-10756	299	47	as	as	ADP
easat-10756	299	48	new	new	ADJ
easat-10756	299	49	forms	form	NOUN
easat-10756	299	50	of	of	ADP
easat-10756	299	51	design	design	NOUN
easat-10756	299	52	feedback	feedback	NOUN
easat-10756	299	53	evidence	evidence	NOUN
easat-10756	299	54	[	[	X
easat-10756	299	55	3	3	NUM
easat-10756	299	56	,	,	PUNCT
easat-10756	299	57	9	9	NUM
easat-10756	299	58	,	,	PUNCT
easat-10756	299	59	11	11	NUM
easat-10756	299	60	,	,	PUNCT
easat-10756	299	61	15	15	NUM
easat-10756	299	62	]	]	PUNCT
easat-10756	299	63	.	.	PUNCT
easat-10756	300	1	within	within	ADP
easat-10756	300	2	this	this	DET
easat-10756	300	3	context	context	NOUN
easat-10756	300	4	,	,	PUNCT
easat-10756	300	5	numerous	numerous	ADJ
easat-10756	300	6	previous	previous	ADJ
easat-10756	300	7	studies	study	NOUN
easat-10756	300	8	have	have	AUX
easat-10756	300	9	demonstrated	demonstrate	VERB
easat-10756	300	10	that	that	SCONJ
easat-10756	300	11	the	the	DET
easat-10756	300	12	physical	physical	ADJ
easat-10756	300	13	properties	property	NOUN
easat-10756	300	14	of	of	ADP
easat-10756	300	15	finish	finish	NOUN
easat-10756	300	16	materials	material	NOUN
easat-10756	300	17	such	such	ADJ
easat-10756	300	18	as	as	ADP
easat-10756	300	19	luminance	luminance	NOUN
easat-10756	300	20	,	,	PUNCT
easat-10756	300	21	reflectance	reflectance	NOUN
easat-10756	300	22	,	,	PUNCT
easat-10756	300	23	friction	friction	NOUN
easat-10756	300	24	coefficient	coefficient	NOUN
easat-10756	300	25	,	,	PUNCT
easat-10756	300	26	and	and	CCONJ
easat-10756	300	27	surface	surface	NOUN
easat-10756	300	28	texture	texture	NOUN
easat-10756	300	29	can	can	AUX
easat-10756	300	30	exhibit	exhibit	VERB
easat-10756	300	31	significant	significant	ADJ
easat-10756	300	32	correlations	correlation	NOUN
easat-10756	300	33	with	with	ADP
easat-10756	300	34	robotic	robotic	ADJ
easat-10756	300	35	performance	performance	NOUN
easat-10756	300	36	indicators	indicator	NOUN
easat-10756	300	37	,	,	PUNCT
easat-10756	300	38	including	include	VERB
easat-10756	300	39	perception	perception	NOUN
easat-10756	300	40	accuracy	accuracy	NOUN
easat-10756	300	41	,	,	PUNCT
easat-10756	300	42	navigation	navigation	NOUN
easat-10756	300	43	stability	stability	NOUN
easat-10756	300	44	,	,	PUNCT
easat-10756	300	45	and	and	CCONJ
easat-10756	300	46	obstacle	obstacle	VERB
easat-10756	300	47	avoidance	avoidance	NOUN
easat-10756	300	48	efficiency	efficiency	NOUN
easat-10756	300	49	.	.	PUNCT
easat-10756	301	1	furthermore	furthermore	ADV
easat-10756	301	2	,	,	PUNCT
easat-10756	301	3	studies	study	NOUN
easat-10756	301	4	by	by	ADP
easat-10756	301	5	jo	jo	PROPN
easat-10756	301	6	[	[	X
easat-10756	301	7	2	2	NUM
easat-10756	301	8	]	]	PUNCT
easat-10756	301	9	and	and	CCONJ
easat-10756	301	10	lee	lee	PROPN
easat-10756	302	1	[	[	X
easat-10756	302	2	1	1	NUM
easat-10756	302	3	]	]	PUNCT
easat-10756	302	4	analyzed	analyze	VERB
easat-10756	302	5	environmental	environmental	ADJ
easat-10756	302	6	factors	factor	NOUN
easat-10756	302	7	using	use	VERB
easat-10756	302	8	robotic	robotic	ADJ
easat-10756	302	9	trajectory	trajectory	NOUN
easat-10756	302	10	log	log	NOUN
easat-10756	302	11	data	datum	NOUN
easat-10756	302	12	,	,	PUNCT
easat-10756	302	13	demonstrating	demonstrate	VERB
easat-10756	302	14	that	that	SCONJ
easat-10756	302	15	the	the	DET
easat-10756	302	16	performance	performance	NOUN
easat-10756	302	17	interactions	interaction	NOUN
easat-10756	302	18	between	between	ADP
easat-10756	302	19	finish	finish	NOUN
easat-10756	302	20	materials	material	NOUN
easat-10756	302	21	and	and	CCONJ
easat-10756	302	22	robots	robot	NOUN
easat-10756	302	23	can	can	AUX
easat-10756	302	24	be	be	AUX
easat-10756	302	25	practically	practically	ADV
easat-10756	302	26	assessed	assess	VERB
easat-10756	302	27	and	and	CCONJ
easat-10756	302	28	validated	validate	VERB
easat-10756	302	29	in	in	ADP
easat-10756	302	30	real	real	ADJ
easat-10756	302	31	-	-	PUNCT
easat-10756	302	32	world	world	NOUN
easat-10756	302	33	architectural	architectural	ADJ
easat-10756	302	34	settings	setting	NOUN
easat-10756	302	35	[	[	X
easat-10756	302	36	1	1	NUM
easat-10756	302	37	,	,	PUNCT
easat-10756	302	38	2	2	NUM
easat-10756	302	39	]	]	PUNCT
easat-10756	302	40	.	.	PUNCT
easat-10756	303	1	the	the	DET
easat-10756	303	2	key	key	ADJ
easat-10756	303	3	implications	implication	NOUN
easat-10756	303	4	identified	identify	VERB
easat-10756	303	5	through	through	ADP
easat-10756	303	6	this	this	DET
easat-10756	303	7	review	review	NOUN
easat-10756	303	8	are	be	AUX
easat-10756	303	9	as	as	SCONJ
easat-10756	303	10	follows	follow	VERB
easat-10756	303	11	.	.	PUNCT
easat-10756	304	1	first	first	ADV
easat-10756	304	2	,	,	PUNCT
easat-10756	304	3	to	to	PART
easat-10756	304	4	extend	extend	VERB
easat-10756	304	5	the	the	DET
easat-10756	304	6	conventional	conventional	ADJ
easat-10756	304	7	human	human	NOUN
easat-10756	304	8	-	-	PUNCT
easat-10756	304	9	centered	center	VERB
easat-10756	304	10	evidence	evidence	NOUN
easat-10756	304	11	-	-	PUNCT
easat-10756	304	12	based	base	VERB
easat-10756	304	13	design	design	NOUN
easat-10756	304	14	(	(	PUNCT
easat-10756	304	15	ebd	ebd	NOUN
easat-10756	304	16	)	)	PUNCT
easat-10756	304	17	framework	framework	NOUN
easat-10756	304	18	to	to	ADP
easat-10756	304	19	robotic	robotic	ADJ
easat-10756	304	20	operating	operating	NOUN
easat-10756	304	21	environments	environment	NOUN
easat-10756	304	22	,	,	PUNCT
easat-10756	304	23	it	it	PRON
easat-10756	304	24	is	be	AUX
easat-10756	304	25	necessary	necessary	ADJ
easat-10756	304	26	to	to	PART
easat-10756	304	27	establish	establish	VERB
easat-10756	304	28	a	a	DET
easat-10756	304	29	systematic	systematic	ADJ
easat-10756	304	30	correlation	correlation	NOUN
easat-10756	304	31	analysis	analysis	NOUN
easat-10756	304	32	between	between	ADP
easat-10756	304	33	69	69	NUM
easat-10756	304	34	edelweiss	edelweiss	PROPN
easat-10756	304	35	applied	apply	VERB
easat-10756	304	36	science	science	NOUN
easat-10756	304	37	and	and	CCONJ
easat-10756	304	38	technology	technology	NOUN
easat-10756	304	39	issn	issn	PROPN
easat-10756	304	40	:	:	PUNCT
easat-10756	304	41	2576	2576	NUM
easat-10756	304	42	-	-	SYM
easat-10756	304	43	8484	8484	NUM
easat-10756	304	44	vol	vol	NOUN
easat-10756	304	45	.	.	PROPN
easat-10756	305	1	9	9	NUM
easat-10756	305	2	,	,	PUNCT
easat-10756	305	3	no	no	INTJ
easat-10756	305	4	.	.	NOUN
easat-10756	305	5	11	11	NUM
easat-10756	305	6	:	:	PUNCT
easat-10756	305	7	57	57	NUM
easat-10756	305	8	-	-	SYM
easat-10756	305	9	70	70	NUM
easat-10756	305	10	,	,	PUNCT
easat-10756	305	11	2025	2025	NUM
easat-10756	305	12	doi	doi	NOUN
easat-10756	305	13	:	:	PUNCT
easat-10756	305	14	10.55214/2576	10.55214/2576	NUM
easat-10756	305	15	-	-	SYM
easat-10756	305	16	8484.v9i11.10756	8484.v9i11.10756	NUM
easat-10756	305	17	©	©	PROPN
easat-10756	305	18	2025	2025	NUM
easat-10756	305	19	by	by	ADP
easat-10756	305	20	the	the	DET
easat-10756	305	21	authors	author	NOUN
easat-10756	305	22	;	;	PUNCT
easat-10756	305	23	licensee	licensee	PROPN
easat-10756	305	24	learning	learning	NOUN
easat-10756	305	25	gate	gate	NOUN
easat-10756	305	26	material	material	NOUN
easat-10756	305	27	properties	property	NOUN
easat-10756	305	28	(	(	PUNCT
easat-10756	305	29	e.g.	e.g.	ADV
easat-10756	305	30	,	,	PUNCT
easat-10756	305	31	luminance	luminance	NOUN
easat-10756	305	32	,	,	PUNCT
easat-10756	305	33	friction	friction	NOUN
easat-10756	305	34	)	)	PUNCT
easat-10756	305	35	and	and	CCONJ
easat-10756	305	36	robotic	robotic	ADJ
easat-10756	305	37	performance	performance	NOUN
easat-10756	305	38	indicators	indicator	NOUN
easat-10756	305	39	(	(	PUNCT
easat-10756	305	40	e.g.	e.g.	ADV
easat-10756	305	41	,	,	PUNCT
easat-10756	305	42	perception	perception	NOUN
easat-10756	305	43	accuracy	accuracy	NOUN
easat-10756	305	44	,	,	PUNCT
easat-10756	305	45	mobility	mobility	NOUN
easat-10756	305	46	efficiency	efficiency	NOUN
easat-10756	305	47	)	)	PUNCT
easat-10756	305	48	.	.	PUNCT
easat-10756	306	1	second	second	ADV
easat-10756	306	2	,	,	PUNCT
easat-10756	306	3	the	the	DET
easat-10756	306	4	standardization	standardization	NOUN
easat-10756	306	5	of	of	ADP
easat-10756	306	6	performance	performance	NOUN
easat-10756	306	7	indicators	indicator	NOUN
easat-10756	306	8	for	for	ADP
easat-10756	306	9	evaluating	evaluate	VERB
easat-10756	306	10	robot	robot	NOUN
easat-10756	306	11	-	-	PUNCT
easat-10756	306	12	operating	operate	VERB
easat-10756	306	13	environments	environment	NOUN
easat-10756	306	14	has	have	AUX
easat-10756	306	15	not	not	PART
easat-10756	306	16	yet	yet	ADV
easat-10756	306	17	been	be	AUX
easat-10756	306	18	established	establish	VERB
easat-10756	306	19	;	;	PUNCT
easat-10756	306	20	thus	thus	ADV
easat-10756	306	21	,	,	PUNCT
easat-10756	306	22	future	future	ADJ
easat-10756	306	23	studies	study	NOUN
easat-10756	306	24	should	should	AUX
easat-10756	306	25	develop	develop	VERB
easat-10756	306	26	comparable	comparable	ADJ
easat-10756	306	27	criteria	criterion	NOUN
easat-10756	306	28	that	that	PRON
easat-10756	306	29	account	account	VERB
easat-10756	306	30	for	for	ADP
easat-10756	306	31	variations	variation	NOUN
easat-10756	306	32	in	in	ADP
easat-10756	306	33	robot	robot	NOUN
easat-10756	306	34	type	type	NOUN
easat-10756	306	35	,	,	PUNCT
easat-10756	306	36	sensor	sensor	NOUN
easat-10756	306	37	characteristics	characteristic	NOUN
easat-10756	306	38	,	,	PUNCT
easat-10756	306	39	and	and	CCONJ
easat-10756	306	40	surface	surface	NOUN
easat-10756	306	41	material	material	NOUN
easat-10756	306	42	properties	property	NOUN
easat-10756	306	43	.	.	PUNCT
easat-10756	307	1	third	third	ADJ
easat-10756	307	2	,	,	PUNCT
easat-10756	307	3	subsequent	subsequent	ADJ
easat-10756	307	4	research	research	NOUN
easat-10756	307	5	should	should	AUX
easat-10756	307	6	empirically	empirically	ADV
easat-10756	307	7	verify	verify	VERB
easat-10756	307	8	the	the	DET
easat-10756	307	9	correlations	correlation	NOUN
easat-10756	307	10	between	between	ADP
easat-10756	307	11	robotic	robotic	ADJ
easat-10756	307	12	navigation	navigation	NOUN
easat-10756	307	13	data	datum	NOUN
easat-10756	307	14	and	and	CCONJ
easat-10756	307	15	architectural	architectural	ADJ
easat-10756	307	16	surface	surface	NOUN
easat-10756	307	17	characteristics	characteristic	NOUN
easat-10756	307	18	across	across	ADP
easat-10756	307	19	diverse	diverse	ADJ
easat-10756	307	20	service	service	NOUN
easat-10756	307	21	environments	environment	NOUN
easat-10756	307	22	such	such	ADJ
easat-10756	307	23	as	as	ADP
easat-10756	307	24	hospitals	hospital	NOUN
easat-10756	307	25	,	,	PUNCT
easat-10756	307	26	logistics	logistic	NOUN
easat-10756	307	27	facilities	facility	NOUN
easat-10756	307	28	,	,	PUNCT
easat-10756	307	29	and	and	CCONJ
easat-10756	307	30	public	public	ADJ
easat-10756	307	31	buildings	building	NOUN
easat-10756	307	32	to	to	PART
easat-10756	307	33	achieve	achieve	VERB
easat-10756	307	34	the	the	DET
easat-10756	307	35	practical	practical	ADJ
easat-10756	307	36	expansion	expansion	NOUN
easat-10756	307	37	of	of	ADP
easat-10756	307	38	ebd	ebd	PROPN
easat-10756	307	39	principles	principle	NOUN
easat-10756	307	40	into	into	ADP
easat-10756	307	41	robotfriendly	robotfriendly	ADJ
easat-10756	307	42	architectural	architectural	ADJ
easat-10756	307	43	design	design	NOUN
easat-10756	307	44	.	.	PUNCT
easat-10756	308	1	consequently	consequently	ADV
easat-10756	308	2	,	,	PUNCT
easat-10756	308	3	this	this	DET
easat-10756	308	4	study	study	NOUN
easat-10756	308	5	serves	serve	VERB
easat-10756	308	6	as	as	ADP
easat-10756	308	7	a	a	DET
easat-10756	308	8	review	review	NOUN
easat-10756	308	9	-	-	PUNCT
easat-10756	308	10	based	base	VERB
easat-10756	308	11	groundwork	groundwork	NOUN
easat-10756	308	12	that	that	PRON
easat-10756	308	13	extends	extend	VERB
easat-10756	308	14	the	the	DET
easat-10756	308	15	conceptual	conceptual	ADJ
easat-10756	308	16	framework	framework	NOUN
easat-10756	308	17	of	of	ADP
easat-10756	308	18	conventional	conventional	ADJ
easat-10756	308	19	human	human	NOUN
easat-10756	308	20	-	-	PUNCT
easat-10756	308	21	centered	center	VERB
easat-10756	308	22	evidence	evidence	NOUN
easat-10756	308	23	-	-	PUNCT
easat-10756	308	24	based	base	VERB
easat-10756	308	25	design	design	NOUN
easat-10756	308	26	(	(	PUNCT
easat-10756	308	27	ebd	ebd	PROPN
easat-10756	308	28	)	)	PUNCT
easat-10756	308	29	to	to	ADP
easat-10756	308	30	robotic	robotic	ADJ
easat-10756	308	31	operating	operating	NOUN
easat-10756	308	32	environments	environment	NOUN
easat-10756	308	33	,	,	PUNCT
easat-10756	308	34	emphasizing	emphasize	VERB
easat-10756	308	35	the	the	DET
easat-10756	308	36	necessity	necessity	NOUN
easat-10756	308	37	of	of	ADP
easat-10756	308	38	research	research	NOUN
easat-10756	308	39	on	on	ADP
easat-10756	308	40	performance	performance	NOUN
easat-10756	308	41	interactions	interaction	NOUN
easat-10756	308	42	between	between	ADP
easat-10756	308	43	robots	robot	NOUN
easat-10756	308	44	and	and	CCONJ
easat-10756	308	45	building	building	NOUN
easat-10756	308	46	finish	finish	NOUN
easat-10756	308	47	materials	material	NOUN
easat-10756	308	48	.	.	PUNCT
easat-10756	309	1	through	through	ADP
easat-10756	309	2	this	this	DET
easat-10756	309	3	approach	approach	NOUN
easat-10756	309	4	,	,	PUNCT
easat-10756	309	5	the	the	DET
easat-10756	309	6	study	study	NOUN
easat-10756	309	7	is	be	AUX
easat-10756	309	8	expected	expect	VERB
easat-10756	309	9	to	to	PART
easat-10756	309	10	provide	provide	VERB
easat-10756	309	11	a	a	DET
easat-10756	309	12	theoretical	theoretical	ADJ
easat-10756	309	13	foundation	foundation	NOUN
easat-10756	309	14	for	for	ADP
easat-10756	309	15	establishing	establish	VERB
easat-10756	309	16	evaluation	evaluation	NOUN
easat-10756	309	17	criteria	criterion	NOUN
easat-10756	309	18	and	and	CCONJ
easat-10756	309	19	developing	develop	VERB
easat-10756	309	20	a	a	DET
easat-10756	309	21	performance	performance	NOUN
easat-10756	309	22	-	-	PUNCT
easat-10756	309	23	based	base	VERB
easat-10756	309	24	correlation	correlation	NOUN
easat-10756	309	25	assessment	assessment	NOUN
easat-10756	309	26	system	system	NOUN
easat-10756	309	27	for	for	ADP
easat-10756	309	28	future	future	ADJ
easat-10756	309	29	robot	robot	NOUN
easat-10756	309	30	-	-	PUNCT
easat-10756	309	31	friendly	friendly	ADJ
easat-10756	309	32	architectural	architectural	ADJ
easat-10756	309	33	design	design	NOUN
easat-10756	309	34	.	.	PUNCT
easat-10756	310	1	funding	funding	NOUN
easat-10756	310	2	:	:	PUNCT
easat-10756	310	3	this	this	DET
easat-10756	310	4	work	work	NOUN
easat-10756	310	5	is	be	AUX
easat-10756	310	6	supported	support	VERB
easat-10756	310	7	by	by	ADP
easat-10756	310	8	the	the	DET
easat-10756	310	9	korea	korea	PROPN
easat-10756	310	10	agency	agency	PROPN
easat-10756	310	11	for	for	ADP
easat-10756	310	12	infrastructure	infrastructure	NOUN
easat-10756	310	13	technology	technology	NOUN
easat-10756	310	14	advancement	advancement	NOUN
easat-10756	310	15	(	(	PUNCT
easat-10756	310	16	kaia	kaia	PROPN
easat-10756	310	17	)	)	PUNCT
easat-10756	310	18	grant	grant	NOUN
easat-10756	310	19	funded	fund	VERB
easat-10756	310	20	by	by	ADP
easat-10756	310	21	the	the	DET
easat-10756	310	22	ministry	ministry	PROPN
easat-10756	310	23	of	of	ADP
easat-10756	310	24	land	land	PROPN
easat-10756	310	25	,	,	PUNCT
easat-10756	310	26	infrastructure	infrastructure	NOUN
easat-10756	310	27	and	and	CCONJ
easat-10756	310	28	transport	transport	NOUN
easat-10756	310	29	(	(	PUNCT
easat-10756	310	30	grant	grant	NOUN
easat-10756	310	31	number	number	NOUN
easat-10756	310	32	:	:	PUNCT
easat-10756	310	33	rs-2025	rs-2025	NOUN
easat-10756	310	34	-	-	PUNCT
easat-10756	310	35	02532980	02532980	NUM
easat-10756	310	36	)	)	PUNCT
easat-10756	310	37	.	.	PUNCT
easat-10756	311	1	transparency	transparency	NOUN
easat-10756	311	2	:	:	PUNCT
easat-10756	311	3	the	the	DET
easat-10756	311	4	authors	author	NOUN
easat-10756	311	5	confirm	confirm	VERB
easat-10756	311	6	that	that	SCONJ
easat-10756	311	7	the	the	DET
easat-10756	311	8	manuscript	manuscript	NOUN
easat-10756	311	9	is	be	AUX
easat-10756	311	10	an	an	DET
easat-10756	311	11	honest	honest	ADJ
easat-10756	311	12	,	,	PUNCT
easat-10756	311	13	accurate	accurate	ADJ
easat-10756	311	14	,	,	PUNCT
easat-10756	311	15	and	and	CCONJ
easat-10756	311	16	transparent	transparent	ADJ
easat-10756	311	17	account	account	NOUN
easat-10756	311	18	of	of	ADP
easat-10756	311	19	the	the	DET
easat-10756	311	20	study	study	NOUN
easat-10756	311	21	;	;	PUNCT
easat-10756	311	22	that	that	SCONJ
easat-10756	311	23	no	no	DET
easat-10756	311	24	vital	vital	ADJ
easat-10756	311	25	features	feature	NOUN
easat-10756	311	26	of	of	ADP
easat-10756	311	27	the	the	DET
easat-10756	311	28	study	study	NOUN
easat-10756	311	29	have	have	AUX
easat-10756	311	30	been	be	AUX
easat-10756	311	31	omitted	omit	VERB
easat-10756	311	32	;	;	PUNCT
easat-10756	311	33	and	and	CCONJ
easat-10756	311	34	that	that	SCONJ
easat-10756	311	35	any	any	DET
easat-10756	311	36	discrepancies	discrepancy	NOUN
easat-10756	311	37	from	from	ADP
easat-10756	311	38	the	the	DET
easat-10756	311	39	study	study	NOUN
easat-10756	311	40	as	as	SCONJ
easat-10756	311	41	planned	plan	VERB
easat-10756	311	42	have	have	AUX
easat-10756	311	43	been	be	AUX
easat-10756	311	44	explained	explain	VERB
easat-10756	311	45	.	.	PUNCT
easat-10756	312	1	this	this	DET
easat-10756	312	2	study	study	NOUN
easat-10756	312	3	followed	follow	VERB
easat-10756	312	4	all	all	DET
easat-10756	312	5	ethical	ethical	ADJ
easat-10756	312	6	practices	practice	NOUN
easat-10756	312	7	during	during	ADP
easat-10756	312	8	writing	writing	NOUN
easat-10756	312	9	.	.	PUNCT
easat-10756	313	1	copyright	copyright	NOUN
easat-10756	313	2	:	:	PUNCT
easat-10756	313	3	©	©	PROPN
easat-10756	313	4	2025	2025	NUM
easat-10756	313	5	by	by	ADP
easat-10756	313	6	the	the	DET
easat-10756	313	7	authors	author	NOUN
easat-10756	313	8	.	.	PUNCT
easat-10756	314	1	this	this	DET
easat-10756	314	2	article	article	NOUN
easat-10756	314	3	is	be	AUX
easat-10756	314	4	an	an	DET
easat-10756	314	5	open	open	ADJ
easat-10756	314	6	-	-	PUNCT
easat-10756	314	7	access	access	NOUN
easat-10756	314	8	article	article	NOUN
easat-10756	314	9	distributed	distribute	VERB
easat-10756	314	10	under	under	ADP
easat-10756	314	11	the	the	DET
easat-10756	314	12	terms	term	NOUN
easat-10756	314	13	and	and	CCONJ
easat-10756	314	14	conditions	condition	NOUN
easat-10756	314	15	of	of	ADP
easat-10756	314	16	the	the	DET
easat-10756	314	17	creative	creative	ADJ
easat-10756	314	18	commons	common	NOUN
easat-10756	314	19	attribution	attribution	NOUN
easat-10756	314	20	(	(	PUNCT
easat-10756	314	21	cc	cc	NOUN
easat-10756	314	22	by	by	ADP
easat-10756	314	23	)	)	PUNCT
easat-10756	314	24	license	license	NOUN
easat-10756	314	25	(	(	PUNCT
easat-10756	314	26	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
easat-10756	314	27	)	)	PUNCT
easat-10756	314	28	.	.	PUNCT
easat-10756	315	1	references	reference	NOUN
easat-10756	315	2	[	[	X
easat-10756	315	3	1	1	X
easat-10756	315	4	]	]	PUNCT
easat-10756	315	5	s.	s.	PROPN
easat-10756	315	6	w.	w.	PROPN
easat-10756	315	7	lee	lee	PROPN
easat-10756	315	8	,	,	PUNCT
easat-10756	315	9	"	"	PUNCT
easat-10756	315	10	architectural	architectural	ADJ
easat-10756	315	11	research	research	NOUN
easat-10756	315	12	on	on	ADP
easat-10756	315	13	human	human	ADJ
easat-10756	315	14	-	-	PUNCT
easat-10756	315	15	robot	robot	NOUN
easat-10756	315	16	collaboration	collaboration	NOUN
easat-10756	315	17	,	,	PUNCT
easat-10756	315	18	"	"	PUNCT
easat-10756	315	19	master	master	NOUN
easat-10756	315	20	’s	’s	PART
easat-10756	315	21	thesis	thesis	NOUN
easat-10756	315	22	,	,	PUNCT
easat-10756	315	23	seoul	seoul	PROPN
easat-10756	315	24	national	national	PROPN
easat-10756	315	25	university	university	PROPN
easat-10756	315	26	.	.	PUNCT
easat-10756	316	1	seoul	seoul	PROPN
easat-10756	316	2	,	,	PUNCT
easat-10756	316	3	south	south	PROPN
easat-10756	316	4	korea	korea	PROPN
easat-10756	316	5	,	,	PUNCT
easat-10756	316	6	2024	2024	NUM
easat-10756	316	7	.	.	PUNCT
easat-10756	317	1	[	[	X
easat-10756	317	2	2	2	X
easat-10756	317	3	]	]	X
easat-10756	317	4	y.	y.	PROPN
easat-10756	317	5	h.	h.	PROPN
easat-10756	317	6	jo	jo	PROPN
easat-10756	317	7	,	,	PUNCT
easat-10756	317	8	"	"	PUNCT
easat-10756	317	9	a	a	DET
easat-10756	317	10	study	study	NOUN
easat-10756	317	11	on	on	ADP
easat-10756	317	12	the	the	DET
easat-10756	317	13	architectural	architectural	ADJ
easat-10756	317	14	changes	change	NOUN
easat-10756	317	15	of	of	ADP
easat-10756	317	16	the	the	DET
easat-10756	317	17	logistics	logistic	NOUN
easat-10756	317	18	center	center	NOUN
easat-10756	317	19	due	due	ADP
easat-10756	317	20	to	to	ADP
easat-10756	317	21	automation	automation	NOUN
easat-10756	317	22	and	and	CCONJ
easat-10756	317	23	enlargement	enlargement	NOUN
easat-10756	317	24	,	,	PUNCT
easat-10756	317	25	"	"	PUNCT
easat-10756	317	26	master	master	NOUN
easat-10756	317	27	’s	’s	PART
easat-10756	317	28	thesis	thesis	NOUN
easat-10756	317	29	.	.	PUNCT
easat-10756	318	1	seoul	seoul	PROPN
easat-10756	318	2	national	national	PROPN
easat-10756	318	3	university	university	PROPN
easat-10756	318	4	,	,	PUNCT
easat-10756	318	5	2020	2020	NUM
easat-10756	318	6	.	.	PUNCT
easat-10756	319	1	[	[	X
easat-10756	319	2	3	3	X
easat-10756	319	3	]	]	X
easat-10756	319	4	y.	y.	PROPN
easat-10756	319	5	ng	ng	PROPN
easat-10756	319	6	et	et	PROPN
easat-10756	319	7	al	al	PROPN
easat-10756	319	8	.	.	PROPN
easat-10756	319	9	,	,	PUNCT
easat-10756	319	10	"	"	PUNCT
easat-10756	319	11	application	application	NOUN
easat-10756	319	12	of	of	ADP
easat-10756	319	13	an	an	DET
easat-10756	319	14	adapted	adapt	VERB
easat-10756	319	15	fmea	fmea	NOUN
easat-10756	319	16	framework	framework	NOUN
easat-10756	319	17	for	for	ADP
easat-10756	319	18	robot	robot	NOUN
easat-10756	319	19	-	-	PUNCT
easat-10756	319	20	inclusivity	inclusivity	NOUN
easat-10756	319	21	of	of	ADP
easat-10756	319	22	built	build	VERB
easat-10756	319	23	environments	environment	NOUN
easat-10756	319	24	,	,	PUNCT
easat-10756	319	25	"	"	PUNCT
easat-10756	319	26	scientific	scientific	ADJ
easat-10756	319	27	reports	report	NOUN
easat-10756	319	28	,	,	PUNCT
easat-10756	319	29	vol	vol	NOUN
easat-10756	319	30	.	.	PROPN
easat-10756	319	31	12	12	NUM
easat-10756	319	32	,	,	PUNCT
easat-10756	319	33	no	no	INTJ
easat-10756	319	34	.	.	NOUN
easat-10756	319	35	1	1	NUM
easat-10756	319	36	,	,	PUNCT
easat-10756	319	37	p.	p.	NOUN
easat-10756	319	38	3408	3408	NUM
easat-10756	319	39	,	,	PUNCT
easat-10756	319	40	2022	2022	NUM
easat-10756	319	41	.	.	PUNCT
easat-10756	320	1	https://doi.org/10.1038/s41598-022-06902-4	https://doi.org/10.1038/s41598-022-06902-4	NUM
easat-10756	320	2	[	[	X
easat-10756	320	3	4	4	NUM
easat-10756	320	4	]	]	PUNCT
easat-10756	320	5	r.	r.	PROPN
easat-10756	320	6	e.	e.	PROPN
easat-10756	320	7	mohan	mohan	PROPN
easat-10756	320	8	,	,	PUNCT
easat-10756	320	9	n.	n.	PROPN
easat-10756	320	10	rojas	rojas	PROPN
easat-10756	320	11	,	,	PUNCT
easat-10756	320	12	and	and	CCONJ
easat-10756	320	13	a.	a.	PROPN
easat-10756	320	14	chua	chua	PROPN
easat-10756	320	15	,	,	PUNCT
easat-10756	320	16	"	"	PUNCT
easat-10756	320	17	design	design	NOUN
easat-10756	320	18	principles	principle	NOUN
easat-10756	320	19	for	for	ADP
easat-10756	320	20	robot	robot	NOUN
easat-10756	320	21	inclusive	inclusive	ADJ
easat-10756	320	22	spaces	space	NOUN
easat-10756	320	23	:	:	PUNCT
easat-10756	320	24	a	a	DET
easat-10756	320	25	case	case	NOUN
easat-10756	320	26	study	study	NOUN
easat-10756	320	27	with	with	ADP
easat-10756	320	28	roomba	roomba	NOUN
easat-10756	320	29	,	,	PUNCT
easat-10756	320	30	"	"	PUNCT
easat-10756	320	31	in	in	ADP
easat-10756	320	32	proceedings	proceeding	NOUN
easat-10756	320	33	of	of	ADP
easat-10756	320	34	the	the	DET
easat-10756	320	35	ieee	ieee	NOUN
easat-10756	320	36	international	international	PROPN
easat-10756	320	37	conference	conference	NOUN
easat-10756	320	38	on	on	ADP
easat-10756	320	39	robotics	robotic	NOUN
easat-10756	320	40	and	and	CCONJ
easat-10756	320	41	automation	automation	NOUN
easat-10756	320	42	(	(	PUNCT
easat-10756	320	43	icra	icra	PROPN
easat-10756	320	44	)	)	PUNCT
easat-10756	320	45	(	(	PUNCT
easat-10756	320	46	pp	pp	NOUN
easat-10756	320	47	.	.	PUNCT
easat-10756	321	1	5593	5593	NUM
easat-10756	321	2	-	-	SYM
easat-10756	321	3	5599	5599	NUM
easat-10756	321	4	)	)	PUNCT
easat-10756	321	5	.	.	PUNCT
easat-10756	322	1	hong	hong	PROPN
easat-10756	322	2	kong	kong	PROPN
easat-10756	322	3	,	,	PUNCT
easat-10756	322	4	china	china	PROPN
easat-10756	322	5	,	,	PUNCT
easat-10756	322	6	2014	2014	NUM
easat-10756	322	7	.	.	PUNCT
easat-10756	323	1	[	[	X
easat-10756	323	2	5	5	NUM
easat-10756	323	3	]	]	PUNCT
easat-10756	323	4	a.	a.	NOUN
easat-10756	323	5	ruo	ruo	PROPN
easat-10756	323	6	et	et	PROPN
easat-10756	323	7	al	al	PROPN
easat-10756	323	8	.	.	PROPN
easat-10756	323	9	,	,	PUNCT
easat-10756	323	10	"	"	PUNCT
easat-10756	323	11	systematic	systematic	ADJ
easat-10756	323	12	analysis	analysis	NOUN
easat-10756	323	13	of	of	ADP
easat-10756	323	14	requirements	requirement	NOUN
easat-10756	323	15	for	for	ADP
easat-10756	323	16	socially	socially	ADV
easat-10756	323	17	acceptable	acceptable	ADJ
easat-10756	323	18	service	service	NOUN
easat-10756	323	19	robots	robot	NOUN
easat-10756	323	20	,	,	PUNCT
easat-10756	323	21	"	"	PUNCT
easat-10756	323	22	frontiers	frontier	NOUN
easat-10756	323	23	in	in	ADP
easat-10756	323	24	robotics	robotic	NOUN
easat-10756	323	25	and	and	CCONJ
easat-10756	323	26	ai	ai	VERB
easat-10756	323	27	,	,	PUNCT
easat-10756	323	28	vol	vol	NOUN
easat-10756	323	29	.	.	PROPN
easat-10756	323	30	10	10	NUM
easat-10756	323	31	,	,	PUNCT
easat-10756	323	32	p.	p.	NOUN
easat-10756	323	33	1108848	1108848	NUM
easat-10756	323	34	,	,	PUNCT
easat-10756	323	35	2023	2023	NUM
easat-10756	323	36	.	.	PUNCT
easat-10756	324	1	[	[	X
easat-10756	324	2	6	6	NUM
easat-10756	324	3	]	]	PUNCT
easat-10756	324	4	r.	r.	PROPN
easat-10756	324	5	s.	s.	PROPN
easat-10756	324	6	ulrich	ulrich	PROPN
easat-10756	324	7	,	,	PUNCT
easat-10756	324	8	"	"	PUNCT
easat-10756	324	9	view	view	VERB
easat-10756	324	10	through	through	ADP
easat-10756	324	11	a	a	DET
easat-10756	324	12	window	window	NOUN
easat-10756	324	13	may	may	AUX
easat-10756	324	14	influence	influence	VERB
easat-10756	324	15	recovery	recovery	NOUN
easat-10756	324	16	from	from	ADP
easat-10756	324	17	surgery	surgery	NOUN
easat-10756	324	18	,	,	PUNCT
easat-10756	324	19	"	"	PUNCT
easat-10756	324	20	science	science	NOUN
easat-10756	324	21	,	,	PUNCT
easat-10756	324	22	vol	vol	NOUN
easat-10756	324	23	.	.	PROPN
easat-10756	325	1	224	224	NUM
easat-10756	325	2	,	,	PUNCT
easat-10756	325	3	no	no	INTJ
easat-10756	325	4	.	.	NOUN
easat-10756	325	5	4647	4647	NUM
easat-10756	325	6	,	,	PUNCT
easat-10756	325	7	pp	pp	ADJ
easat-10756	325	8	.	.	PUNCT
easat-10756	326	1	420	420	NUM
easat-10756	326	2	-	-	SYM
easat-10756	326	3	421	421	NUM
easat-10756	326	4	,	,	PUNCT
easat-10756	326	5	1984	1984	NUM
easat-10756	326	6	.	.	PUNCT
easat-10756	327	1	[	[	X
easat-10756	327	2	7	7	X
easat-10756	327	3	]	]	X
easat-10756	327	4	d.	d.	PROPN
easat-10756	327	5	k.	k.	PROPN
easat-10756	327	6	hamilton	hamilton	PROPN
easat-10756	327	7	and	and	CCONJ
easat-10756	327	8	d.	d.	PROPN
easat-10756	327	9	h.	h.	PROPN
easat-10756	327	10	watkins	watkins	PROPN
easat-10756	327	11	,	,	PUNCT
easat-10756	327	12	evidence	evidence	NOUN
easat-10756	327	13	-	-	PUNCT
easat-10756	327	14	based	base	VERB
easat-10756	327	15	design	design	NOUN
easat-10756	327	16	for	for	ADP
easat-10756	327	17	multiple	multiple	ADJ
easat-10756	327	18	building	building	NOUN
easat-10756	327	19	types	type	NOUN
easat-10756	327	20	.	.	PUNCT
easat-10756	328	1	hoboken	hoboken	PROPN
easat-10756	328	2	,	,	PUNCT
easat-10756	328	3	nj	nj	PROPN
easat-10756	328	4	:	:	PUNCT
easat-10756	328	5	wiley	wiley	PROPN
easat-10756	328	6	,	,	PUNCT
easat-10756	328	7	2009	2009	NUM
easat-10756	328	8	.	.	PUNCT
easat-10756	329	1	[	[	X
easat-10756	329	2	8	8	NUM
easat-10756	329	3	]	]	X
easat-10756	329	4	c.	c.	PROPN
easat-10756	329	5	zimring	zimring	PROPN
easat-10756	329	6	,	,	PUNCT
easat-10756	329	7	a.	a.	PROPN
easat-10756	329	8	joseph	joseph	PROPN
easat-10756	329	9	,	,	PUNCT
easat-10756	329	10	and	and	CCONJ
easat-10756	329	11	r.	r.	PROPN
easat-10756	329	12	choudhary	choudhary	PROPN
easat-10756	329	13	,	,	PUNCT
easat-10756	329	14	"	"	PUNCT
easat-10756	329	15	designing	design	VERB
easat-10756	329	16	for	for	ADP
easat-10756	329	17	evidence	evidence	NOUN
easat-10756	329	18	-	-	PUNCT
easat-10756	329	19	based	base	VERB
easat-10756	329	20	outcomes	outcome	NOUN
easat-10756	329	21	,	,	PUNCT
easat-10756	329	22	"	"	PUNCT
easat-10756	329	23	health	health	NOUN
easat-10756	329	24	environments	environment	NOUN
easat-10756	329	25	research	research	PROPN
easat-10756	329	26	&	&	CCONJ
easat-10756	329	27	design	design	PROPN
easat-10756	329	28	journal	journal	PROPN
easat-10756	329	29	,	,	PUNCT
easat-10756	329	30	vol	vol	NOUN
easat-10756	329	31	.	.	PROPN
easat-10756	329	32	3	3	NUM
easat-10756	329	33	,	,	PUNCT
easat-10756	329	34	no	no	INTJ
easat-10756	329	35	.	.	NOUN
easat-10756	329	36	3	3	NUM
easat-10756	329	37	,	,	PUNCT
easat-10756	329	38	pp	pp	ADJ
easat-10756	329	39	.	.	PUNCT
easat-10756	330	1	75	75	NUM
easat-10756	330	2	-	-	SYM
easat-10756	330	3	92	92	NUM
easat-10756	330	4	,	,	PUNCT
easat-10756	330	5	2010	2010	NUM
easat-10756	330	6	.	.	PUNCT
easat-10756	331	1	[	[	X
easat-10756	331	2	9	9	NUM
easat-10756	331	3	]	]	PUNCT
easat-10756	331	4	p.	p.	NOUN
easat-10756	331	5	chen	chen	PROPN
easat-10756	331	6	,	,	PUNCT
easat-10756	331	7	y.	y.	PROPN
easat-10756	331	8	li	li	PROPN
easat-10756	331	9	,	,	PUNCT
easat-10756	331	10	and	and	CCONJ
easat-10756	331	11	x.	x.	PROPN
easat-10756	331	12	ma	ma	PROPN
easat-10756	331	13	,	,	PUNCT
easat-10756	331	14	"	"	PUNCT
easat-10756	331	15	integrating	integrate	VERB
easat-10756	331	16	ebd	ebd	NOUN
easat-10756	331	17	with	with	ADP
easat-10756	331	18	smart	smart	ADJ
easat-10756	331	19	building	building	NOUN
easat-10756	331	20	technologies	technology	NOUN
easat-10756	331	21	for	for	ADP
easat-10756	331	22	performance	performance	NOUN
easat-10756	331	23	optimization	optimization	NOUN
easat-10756	331	24	,	,	PUNCT
easat-10756	331	25	"	"	PUNCT
easat-10756	331	26	automation	automation	NOUN
easat-10756	331	27	in	in	ADP
easat-10756	331	28	construction	construction	NOUN
easat-10756	331	29	,	,	PUNCT
easat-10756	331	30	vol	vol	NOUN
easat-10756	331	31	.	.	PROPN
easat-10756	331	32	136	136	NUM
easat-10756	331	33	,	,	PUNCT
easat-10756	331	34	p.	p.	NOUN
easat-10756	331	35	104205	104205	NUM
easat-10756	331	36	,	,	PUNCT
easat-10756	331	37	2022	2022	NUM
easat-10756	331	38	.	.	PUNCT
easat-10756	332	1	[	[	X
easat-10756	332	2	10	10	NUM
easat-10756	332	3	]	]	X
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easat-10756	332	26	"	"	PUNCT
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easat-10756	332	29	and	and	CCONJ
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easat-10756	332	39	,	,	PUNCT
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easat-10756	332	41	.	.	PUNCT
easat-10756	333	1	267	267	NUM
easat-10756	333	2	-	-	SYM
easat-10756	333	3	274	274	NUM
easat-10756	333	4	,	,	PUNCT
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easat-10756	333	6	.	.	PUNCT
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easat-10756	334	3	11	11	NUM
easat-10756	334	4	]	]	PUNCT
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easat-10756	334	11	,	,	PUNCT
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easat-10756	334	18	,	,	PUNCT
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easat-10756	334	20	robot	robot	NOUN
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easat-10756	334	22	environment	environment	NOUN
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easat-10756	334	41	.	.	PUNCT
easat-10756	335	1	784	784	NUM
easat-10756	335	2	-	-	SYM
easat-10756	335	3	791	791	NUM
easat-10756	335	4	,	,	PUNCT
easat-10756	335	5	2021	2021	NUM
easat-10756	335	6	.	.	PUNCT
easat-10756	336	1	https://doi.org/10.3311/ppci.17495	https://doi.org/10.3311/ppci.17495	PROPN
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easat-10756	336	15	-	-	SYM
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easat-10756	337	6	:	:	PUNCT
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easat-10756	337	8	-	-	SYM
easat-10756	337	9	70	70	NUM
easat-10756	337	10	,	,	PUNCT
easat-10756	337	11	2025	2025	NUM
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easat-10756	337	15	-	-	SYM
easat-10756	337	16	8484.v9i11.10756	8484.v9i11.10756	NUM
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easat-10756	338	2	12	12	NUM
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easat-10756	338	33	,	,	PUNCT
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easat-10756	339	4	.	.	PUNCT
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easat-10756	340	2	13	13	NUM
easat-10756	340	3	]	]	PUNCT
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easat-10756	340	18	data	data	NOUN
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easat-10756	340	40	,	,	PUNCT
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easat-10756	340	42	.	.	PUNCT
easat-10756	341	1	[	[	X
easat-10756	341	2	14	14	NUM
easat-10756	341	3	]	]	PUNCT
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easat-10756	345	39	,	,	PUNCT
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easat-10756	345	42	,	,	PUNCT
easat-10756	345	43	2023	2023	NUM
easat-10756	345	44	.	.	PUNCT
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easat-10756	347	34	and	and	CCONJ
easat-10756	347	35	depth	depth	NOUN
easat-10756	347	36	camera	camera	NOUN
easat-10756	347	37	,	,	PUNCT
easat-10756	347	38	"	"	PUNCT
easat-10756	347	39	ieee	ieee	NOUN
easat-10756	347	40	sensors	sensor	NOUN
easat-10756	347	41	journal	journal	PROPN
easat-10756	347	42	,	,	PUNCT
easat-10756	347	43	vol	vol	NOUN
easat-10756	347	44	.	.	PROPN
easat-10756	347	45	24	24	NUM
easat-10756	347	46	,	,	PUNCT
easat-10756	347	47	no	no	INTJ
easat-10756	347	48	.	.	NOUN
easat-10756	347	49	15	15	NUM
easat-10756	347	50	,	,	PUNCT
easat-10756	347	51	pp	pp	ADJ
easat-10756	347	52	.	.	PUNCT
easat-10756	348	1	24690	24690	NUM
easat-10756	348	2	-	-	SYM
easat-10756	348	3	24698	24698	NUM
easat-10756	348	4	,	,	PUNCT
easat-10756	348	5	2024	2024	NUM
easat-10756	348	6	.	.	PUNCT
easat-10756	349	1	https://doi.org/10.1109/jsen.2024.3409623	https://doi.org/10.1109/jsen.2024.3409623	PROPN
easat-10756	349	2	https://doi.org/10.3390/buildings14051193	https://doi.org/10.3390/buildings14051193	PROPN
easat-10756	349	3	https://doi.org/10.3390/biomimetics8040350	https://doi.org/10.3390/biomimetics8040350	VERB
easat-10756	349	4	https://doi.org/10.1109/jsen.2024.3409623	https://doi.org/10.1109/jsen.2024.3409623	PROPN