id	sid	tid	token	lemma	pos
easat-6650	1	1	edelweiss	edelweiss	PROPN
easat-6650	1	2	applied	apply	VERB
easat-6650	1	3	science	science	NOUN
easat-6650	1	4	and	and	CCONJ
easat-6650	1	5	technology	technology	NOUN
easat-6650	1	6	issn	issn	PROPN
easat-6650	1	7	:	:	PUNCT
easat-6650	1	8	2576	2576	NUM
easat-6650	1	9	-	-	SYM
easat-6650	1	10	8484	8484	NUM
easat-6650	1	11	vol	vol	NOUN
easat-6650	1	12	.	.	PROPN
easat-6650	2	1	9	9	NUM
easat-6650	2	2	,	,	PUNCT
easat-6650	2	3	no	no	INTJ
easat-6650	2	4	.	.	NOUN
easat-6650	2	5	4	4	NUM
easat-6650	2	6	,	,	PUNCT
easat-6650	2	7	2751	2751	NUM
easat-6650	2	8	-	-	SYM
easat-6650	2	9	2767	2767	NUM
easat-6650	2	10	2025	2025	NUM
easat-6650	2	11	publisher	publisher	NOUN
easat-6650	2	12	:	:	PUNCT
easat-6650	2	13	learning	learn	VERB
easat-6650	2	14	gate	gate	NOUN
easat-6650	2	15	doi	doi	PROPN
easat-6650	2	16	:	:	PUNCT
easat-6650	2	17	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	2	18	©	©	ADP
easat-6650	2	19	2025	2025	NUM
easat-6650	2	20	by	by	ADP
easat-6650	2	21	the	the	DET
easat-6650	2	22	author	author	NOUN
easat-6650	2	23	;	;	PUNCT
easat-6650	2	24	licensee	licensee	PROPN
easat-6650	2	25	learning	learning	NOUN
easat-6650	2	26	gate	gate	NOUN
easat-6650	3	1	©	©	PROPN
easat-6650	3	2	2025	2025	NUM
easat-6650	3	3	by	by	ADP
easat-6650	3	4	the	the	DET
easat-6650	3	5	author	author	NOUN
easat-6650	3	6	;	;	PUNCT
easat-6650	3	7	licensee	licensee	PROPN
easat-6650	3	8	learning	learning	NOUN
easat-6650	3	9	gate	gate	NOUN
easat-6650	3	10	history	history	NOUN
easat-6650	3	11	:	:	PUNCT
easat-6650	3	12	received	receive	VERB
easat-6650	3	13	:	:	PUNCT
easat-6650	3	14	7	7	NUM
easat-6650	3	15	february	february	NOUN
easat-6650	3	16	2025	2025	NUM
easat-6650	3	17	;	;	PUNCT
easat-6650	3	18	revised	revise	VERB
easat-6650	3	19	:	:	PUNCT
easat-6650	3	20	11	11	NUM
easat-6650	3	21	april	april	PROPN
easat-6650	3	22	2025	2025	NUM
easat-6650	3	23	;	;	PUNCT
easat-6650	3	24	accepted	accept	VERB
easat-6650	3	25	:	:	PUNCT
easat-6650	3	26	15	15	NUM
easat-6650	3	27	april	april	PROPN
easat-6650	3	28	2025	2025	NUM
easat-6650	3	29	;	;	PUNCT
easat-6650	3	30	published	publish	VERB
easat-6650	3	31	:	:	PUNCT
easat-6650	3	32	28	28	NUM
easat-6650	3	33	april	april	PROPN
easat-6650	3	34	2025	2025	NUM
easat-6650	3	35	*	*	PUNCT
easat-6650	3	36	correspondence	correspondence	NOUN
easat-6650	3	37	:	:	PUNCT
easat-6650	3	38	xhy000017@gmail.com	xhy000017@gmail.com	X
easat-6650	4	1	intelligent	intelligent	ADJ
easat-6650	4	2	uav	uav	PROPN
easat-6650	4	3	swarm	swarm	NOUN
easat-6650	4	4	scheduling	scheduling	NOUN
easat-6650	4	5	algorithm	algorithm	NOUN
easat-6650	4	6	for	for	ADP
easat-6650	4	7	urban	urban	ADJ
easat-6650	4	8	inspection	inspection	NOUN
easat-6650	4	9	task	task	PROPN
easat-6650	4	10	haoyu	haoyu	PROPN
easat-6650	4	11	xu1	xu1	PROPN
easat-6650	4	12	*	*	PROPN
easat-6650	4	13	1department	1department	NUM
easat-6650	4	14	of	of	ADP
easat-6650	4	15	physics	physics	NOUN
easat-6650	4	16	and	and	CCONJ
easat-6650	4	17	mathematics	mathematics	PROPN
easat-6650	4	18	,	,	PUNCT
easat-6650	4	19	university	university	PROPN
easat-6650	4	20	of	of	ADP
easat-6650	4	21	toronto	toronto	PROPN
easat-6650	4	22	,	,	PUNCT
easat-6650	4	23	canada	canada	PROPN
easat-6650	4	24	;	;	PUNCT
easat-6650	4	25	xhy000017@gmail.com	xhy000017@gmail.com	X
easat-6650	4	26	(	(	PUNCT
easat-6650	4	27	h.x	h.x	PROPN
easat-6650	4	28	.	.	PROPN
easat-6650	4	29	)	)	PUNCT
easat-6650	4	30	.	.	PUNCT
easat-6650	5	1	abstract	abstract	ADV
easat-6650	5	2	:	:	PUNCT
easat-6650	5	3	this	this	DET
easat-6650	5	4	research	research	NOUN
easat-6650	5	5	develops	develop	VERB
easat-6650	5	6	an	an	DET
easat-6650	5	7	intelligent	intelligent	ADJ
easat-6650	5	8	uav	uav	PROPN
easat-6650	5	9	swarm	swarm	NOUN
easat-6650	5	10	scheduling	scheduling	NOUN
easat-6650	5	11	algorithm	algorithm	NOUN
easat-6650	5	12	to	to	PART
easat-6650	5	13	optimize	optimize	VERB
easat-6650	5	14	urban	urban	ADJ
easat-6650	5	15	infrastructure	infrastructure	NOUN
easat-6650	5	16	inspection	inspection	NOUN
easat-6650	5	17	processes	process	NOUN
easat-6650	5	18	by	by	ADP
easat-6650	5	19	minimizing	minimize	VERB
easat-6650	5	20	inspection	inspection	NOUN
easat-6650	5	21	time	time	NOUN
easat-6650	5	22	while	while	SCONJ
easat-6650	5	23	ensuring	ensure	VERB
easat-6650	5	24	comprehensive	comprehensive	ADJ
easat-6650	5	25	coverage	coverage	NOUN
easat-6650	5	26	.	.	PUNCT
easat-6650	6	1	we	we	PRON
easat-6650	6	2	formulate	formulate	VERB
easat-6650	6	3	the	the	DET
easat-6650	6	4	challenge	challenge	NOUN
easat-6650	6	5	as	as	ADP
easat-6650	6	6	a	a	DET
easat-6650	6	7	mixed	mixed	ADJ
easat-6650	6	8	integer	integer	NOUN
easat-6650	6	9	non	non	ADJ
easat-6650	6	10	-	-	ADJ
easat-6650	6	11	linear	linear	ADJ
easat-6650	6	12	programming	programming	NOUN
easat-6650	6	13	problem	problem	NOUN
easat-6650	6	14	and	and	CCONJ
easat-6650	6	15	propose	propose	VERB
easat-6650	6	16	a	a	DET
easat-6650	6	17	decomposition	decomposition	NOUN
easat-6650	6	18	approach	approach	NOUN
easat-6650	6	19	addressing	address	VERB
easat-6650	6	20	three	three	NUM
easat-6650	6	21	critical	critical	ADJ
easat-6650	6	22	components	component	NOUN
easat-6650	6	23	:	:	PUNCT
easat-6650	6	24	structure	structure	NOUN
easat-6650	6	25	-	-	PUNCT
easat-6650	6	26	specific	specific	ADJ
easat-6650	6	27	path	path	NOUN
easat-6650	6	28	planning	planning	NOUN
easat-6650	6	29	,	,	PUNCT
easat-6650	6	30	market	market	NOUN
easat-6650	6	31	-	-	PUNCT
easat-6650	6	32	based	base	VERB
easat-6650	6	33	task	task	NOUN
easat-6650	6	34	allocation	allocation	NOUN
easat-6650	6	35	,	,	PUNCT
easat-6650	6	36	and	and	CCONJ
easat-6650	6	37	conflict	conflict	NOUN
easat-6650	6	38	-	-	PUNCT
easat-6650	6	39	free	free	ADJ
easat-6650	6	40	scheduling	scheduling	NOUN
easat-6650	6	41	.	.	PUNCT
easat-6650	7	1	our	our	PRON
easat-6650	7	2	methodology	methodology	NOUN
easat-6650	7	3	integrates	integrate	VERB
easat-6650	7	4	these	these	DET
easat-6650	7	5	components	component	NOUN
easat-6650	7	6	through	through	ADP
easat-6650	7	7	an	an	DET
easat-6650	7	8	iterative	iterative	NOUN
easat-6650	7	9	process	process	NOUN
easat-6650	7	10	within	within	ADP
easat-6650	7	11	a	a	DET
easat-6650	7	12	hybrid	hybrid	ADJ
easat-6650	7	13	centralized	centralize	VERB
easat-6650	7	14	-	-	PUNCT
easat-6650	7	15	decentralized	decentralize	VERB
easat-6650	7	16	architecture	architecture	NOUN
easat-6650	7	17	tailored	tailor	VERB
easat-6650	7	18	for	for	ADP
easat-6650	7	19	urban	urban	ADJ
easat-6650	7	20	environments	environment	NOUN
easat-6650	7	21	.	.	PUNCT
easat-6650	8	1	simulation	simulation	NOUN
easat-6650	8	2	results	result	NOUN
easat-6650	8	3	demonstrate	demonstrate	VERB
easat-6650	8	4	that	that	SCONJ
easat-6650	8	5	our	our	PRON
easat-6650	8	6	algorithm	algorithm	NOUN
easat-6650	8	7	reduces	reduce	VERB
easat-6650	8	8	inspection	inspection	NOUN
easat-6650	8	9	time	time	NOUN
easat-6650	8	10	by	by	ADP
easat-6650	8	11	35	35	NUM
easat-6650	8	12	%	%	NOUN
easat-6650	8	13	compared	compare	VERB
easat-6650	8	14	to	to	ADP
easat-6650	8	15	single	single	ADJ
easat-6650	8	16	-	-	PUNCT
easat-6650	8	17	uav	uav	PROPN
easat-6650	8	18	approaches	approach	NOUN
easat-6650	8	19	while	while	SCONJ
easat-6650	8	20	maintaining	maintain	VERB
easat-6650	8	21	98	98	NUM
easat-6650	8	22	%	%	NOUN
easat-6650	8	23	coverage	coverage	NOUN
easat-6650	8	24	completeness	completeness	NOUN
easat-6650	8	25	.	.	PUNCT
easat-6650	9	1	the	the	DET
easat-6650	9	2	approach	approach	NOUN
easat-6650	9	3	exhibits	exhibit	VERB
easat-6650	9	4	40	40	NUM
easat-6650	9	5	%	%	NOUN
easat-6650	9	6	improved	improve	VERB
easat-6650	9	7	energy	energy	NOUN
easat-6650	9	8	efficiency	efficiency	NOUN
easat-6650	9	9	in	in	ADP
easat-6650	9	10	limited	limited	ADJ
easat-6650	9	11	-	-	PUNCT
easat-6650	9	12	battery	battery	NOUN
easat-6650	9	13	scenarios	scenario	NOUN
easat-6650	9	14	and	and	CCONJ
easat-6650	9	15	polynomial	polynomial	ADJ
easat-6650	9	16	-	-	PUNCT
easat-6650	9	17	time	time	NOUN
easat-6650	9	18	computational	computational	ADJ
easat-6650	9	19	complexity	complexity	NOUN
easat-6650	9	20	that	that	PRON
easat-6650	9	21	scales	scale	VERB
easat-6650	9	22	efficiently	efficiently	ADV
easat-6650	9	23	with	with	ADP
easat-6650	9	24	increasing	increase	VERB
easat-6650	9	25	swarm	swarm	NOUN
easat-6650	9	26	size	size	NOUN
easat-6650	9	27	.	.	PUNCT
easat-6650	10	1	the	the	DET
easat-6650	10	2	algorithm	algorithm	NOUN
easat-6650	10	3	typically	typically	ADV
easat-6650	10	4	converges	converge	VERB
easat-6650	10	5	within	within	ADP
easat-6650	10	6	3	3	NUM
easat-6650	10	7	-	-	SYM
easat-6650	10	8	5	5	NUM
easat-6650	10	9	iterations	iteration	NOUN
easat-6650	10	10	to	to	ADP
easat-6650	10	11	near	near	ADV
easat-6650	10	12	-	-	PUNCT
easat-6650	10	13	optimal	optimal	ADJ
easat-6650	10	14	solutions	solution	NOUN
easat-6650	10	15	.	.	PUNCT
easat-6650	11	1	the	the	DET
easat-6650	11	2	proposed	propose	VERB
easat-6650	11	3	framework	framework	NOUN
easat-6650	11	4	successfully	successfully	ADV
easat-6650	11	5	balances	balance	VERB
easat-6650	11	6	inspection	inspection	NOUN
easat-6650	11	7	quality	quality	NOUN
easat-6650	11	8	and	and	CCONJ
easat-6650	11	9	resource	resource	NOUN
easat-6650	11	10	efficiency	efficiency	NOUN
easat-6650	11	11	while	while	SCONJ
easat-6650	11	12	adapting	adapt	VERB
easat-6650	11	13	to	to	ADP
easat-6650	11	14	urban	urban	ADJ
easat-6650	11	15	-	-	PUNCT
easat-6650	11	16	specific	specific	ADJ
easat-6650	11	17	challenges	challenge	NOUN
easat-6650	11	18	,	,	PUNCT
easat-6650	11	19	including	include	VERB
easat-6650	11	20	gps	gps	PROPN
easat-6650	11	21	degradation	degradation	NOUN
easat-6650	11	22	,	,	PUNCT
easat-6650	11	23	obstacle	obstacle	NOUN
easat-6650	11	24	avoidance	avoidance	NOUN
easat-6650	11	25	,	,	PUNCT
easat-6650	11	26	and	and	CCONJ
easat-6650	11	27	structural	structural	ADJ
easat-6650	11	28	complexity	complexity	NOUN
easat-6650	11	29	.	.	PUNCT
easat-6650	12	1	structure	structure	NOUN
easat-6650	12	2	-	-	PUNCT
easat-6650	12	3	specific	specific	ADJ
easat-6650	12	4	inspection	inspection	NOUN
easat-6650	12	5	patterns	pattern	NOUN
easat-6650	12	6	significantly	significantly	ADV
easat-6650	12	7	enhance	enhance	VERB
easat-6650	12	8	efficiency	efficiency	NOUN
easat-6650	12	9	across	across	ADP
easat-6650	12	10	different	different	ADJ
easat-6650	12	11	infrastructure	infrastructure	NOUN
easat-6650	12	12	elements	element	NOUN
easat-6650	12	13	.	.	PUNCT
easat-6650	13	1	this	this	DET
easat-6650	13	2	research	research	NOUN
easat-6650	13	3	advances	advance	VERB
easat-6650	13	4	uavbased	uavbased	ADJ
easat-6650	13	5	infrastructure	infrastructure	NOUN
easat-6650	13	6	monitoring	monitor	VERB
easat-6650	13	7	capabilities	capability	NOUN
easat-6650	13	8	,	,	PUNCT
easat-6650	13	9	offering	offer	VERB
easat-6650	13	10	potential	potential	ADJ
easat-6650	13	11	benefits	benefit	NOUN
easat-6650	13	12	for	for	ADP
easat-6650	13	13	maintenance	maintenance	NOUN
easat-6650	13	14	planning	planning	NOUN
easat-6650	13	15	,	,	PUNCT
easat-6650	13	16	public	public	ADJ
easat-6650	13	17	safety	safety	NOUN
easat-6650	13	18	,	,	PUNCT
easat-6650	13	19	and	and	CCONJ
easat-6650	13	20	urban	urban	ADJ
easat-6650	13	21	resilience	resilience	NOUN
easat-6650	13	22	.	.	PUNCT
easat-6650	14	1	the	the	DET
easat-6650	14	2	computational	computational	ADJ
easat-6650	14	3	efficiency	efficiency	NOUN
easat-6650	14	4	makes	make	VERB
easat-6650	14	5	the	the	DET
easat-6650	14	6	solution	solution	NOUN
easat-6650	14	7	suitable	suitable	ADJ
easat-6650	14	8	for	for	ADP
easat-6650	14	9	deployment	deployment	NOUN
easat-6650	14	10	on	on	ADP
easat-6650	14	11	resource	resource	NOUN
easat-6650	14	12	-	-	PUNCT
easat-6650	14	13	constrained	constrain	VERB
easat-6650	14	14	platforms	platform	NOUN
easat-6650	14	15	typical	typical	ADJ
easat-6650	14	16	in	in	ADP
easat-6650	14	17	uav	uav	PROPN
easat-6650	14	18	applications	application	NOUN
easat-6650	14	19	.	.	PUNCT
easat-6650	15	1	keywords	keyword	NOUN
easat-6650	15	2	:	:	PUNCT
easat-6650	15	3	energy	energy	NOUN
easat-6650	15	4	efficiency	efficiency	NOUN
easat-6650	15	5	,	,	PUNCT
easat-6650	15	6	infrastructure	infrastructure	NOUN
easat-6650	15	7	monitoring	monitoring	NOUN
easat-6650	15	8	,	,	PUNCT
easat-6650	15	9	optimization	optimization	NOUN
easat-6650	15	10	,	,	PUNCT
easat-6650	15	11	path	path	NOUN
easat-6650	15	12	planning	planning	NOUN
easat-6650	15	13	,	,	PUNCT
easat-6650	15	14	scheduling	scheduling	NOUN
easat-6650	15	15	algorithm	algorithm	NOUN
easat-6650	15	16	,	,	PUNCT
easat-6650	15	17	task	task	NOUN
easat-6650	15	18	allocation	allocation	NOUN
easat-6650	15	19	,	,	PUNCT
easat-6650	15	20	uav	uav	PROPN
easat-6650	15	21	swarm	swarm	NOUN
easat-6650	15	22	,	,	PUNCT
easat-6650	15	23	urban	urban	ADJ
easat-6650	15	24	inspection	inspection	NOUN
easat-6650	15	25	.	.	PUNCT
easat-6650	16	1	1	1	X
easat-6650	16	2	.	.	X
easat-6650	16	3	introduction	introduction	NOUN
easat-6650	16	4	the	the	DET
easat-6650	16	5	assessment	assessment	NOUN
easat-6650	16	6	of	of	ADP
easat-6650	16	7	urban	urban	ADJ
easat-6650	16	8	infrastructure	infrastructure	NOUN
easat-6650	16	9	integrity	integrity	NOUN
easat-6650	16	10	poses	pose	VERB
easat-6650	16	11	significant	significant	ADJ
easat-6650	16	12	challenges	challenge	NOUN
easat-6650	16	13	for	for	ADP
easat-6650	16	14	municipal	municipal	ADJ
easat-6650	16	15	authorities	authority	NOUN
easat-6650	16	16	and	and	CCONJ
easat-6650	16	17	engineering	engineering	NOUN
easat-6650	16	18	firms	firm	NOUN
easat-6650	16	19	worldwide	worldwide	ADV
easat-6650	16	20	.	.	PUNCT
easat-6650	17	1	traditional	traditional	ADJ
easat-6650	17	2	inspection	inspection	NOUN
easat-6650	17	3	methodologies	methodology	NOUN
easat-6650	17	4	relying	rely	VERB
easat-6650	17	5	on	on	ADP
easat-6650	17	6	manual	manual	ADJ
easat-6650	17	7	techniques	technique	NOUN
easat-6650	17	8	frequently	frequently	ADV
easat-6650	17	9	encounter	encounter	VERB
easat-6650	17	10	limitations	limitation	NOUN
easat-6650	17	11	regarding	regard	VERB
easat-6650	17	12	accessibility	accessibility	NOUN
easat-6650	17	13	,	,	PUNCT
easat-6650	17	14	cost	cost	NOUN
easat-6650	17	15	-	-	PUNCT
easat-6650	17	16	effectiveness	effectiveness	NOUN
easat-6650	17	17	,	,	PUNCT
easat-6650	17	18	safety	safety	NOUN
easat-6650	17	19	considerations	consideration	NOUN
easat-6650	17	20	,	,	PUNCT
easat-6650	17	21	and	and	CCONJ
easat-6650	17	22	temporal	temporal	ADJ
easat-6650	17	23	efficiency	efficiency	NOUN
easat-6650	17	24	[	[	X
easat-6650	17	25	1	1	NUM
easat-6650	17	26	]	]	PUNCT
easat-6650	17	27	.	.	PUNCT
easat-6650	18	1	the	the	DET
easat-6650	18	2	emergence	emergence	NOUN
easat-6650	18	3	and	and	CCONJ
easat-6650	18	4	evolution	evolution	NOUN
easat-6650	18	5	of	of	ADP
easat-6650	18	6	unmanned	unmanned	ADJ
easat-6650	18	7	aerial	aerial	ADJ
easat-6650	18	8	vehicle	vehicle	NOUN
easat-6650	18	9	(	(	PUNCT
easat-6650	18	10	uav	uav	PROPN
easat-6650	18	11	)	)	PUNCT
easat-6650	18	12	technology	technology	NOUN
easat-6650	18	13	has	have	AUX
easat-6650	18	14	revolutionized	revolutionize	VERB
easat-6650	18	15	infrastructure	infrastructure	NOUN
easat-6650	18	16	monitoring	monitoring	NOUN
easat-6650	18	17	capabilities	capability	NOUN
easat-6650	18	18	by	by	ADP
easat-6650	18	19	enabling	enable	VERB
easat-6650	18	20	remote	remote	ADJ
easat-6650	18	21	visual	visual	ADJ
easat-6650	18	22	and	and	CCONJ
easat-6650	18	23	sensor	sensor	NOUN
easat-6650	18	24	-	-	PUNCT
easat-6650	18	25	based	base	VERB
easat-6650	18	26	examination	examination	NOUN
easat-6650	18	27	of	of	ADP
easat-6650	18	28	structures	structure	NOUN
easat-6650	18	29	that	that	PRON
easat-6650	18	30	would	would	AUX
easat-6650	18	31	otherwise	otherwise	ADV
easat-6650	18	32	require	require	VERB
easat-6650	18	33	scaffolding	scaffolding	NOUN
easat-6650	18	34	,	,	PUNCT
easat-6650	18	35	specialized	specialized	ADJ
easat-6650	18	36	equipment	equipment	NOUN
easat-6650	18	37	,	,	PUNCT
easat-6650	18	38	or	or	CCONJ
easat-6650	18	39	service	service	NOUN
easat-6650	18	40	interruptions	interruption	NOUN
easat-6650	18	41	[	[	X
easat-6650	18	42	2	2	NUM
easat-6650	18	43	]	]	PUNCT
easat-6650	18	44	.	.	PUNCT
easat-6650	19	1	contemporary	contemporary	PROPN
easat-6650	19	2	uav	uav	PROPN
easat-6650	19	3	platforms	platform	NOUN
easat-6650	19	4	equipped	equip	VERB
easat-6650	19	5	with	with	ADP
easat-6650	19	6	high	high	ADJ
easat-6650	19	7	-	-	PUNCT
easat-6650	19	8	resolution	resolution	NOUN
easat-6650	19	9	cameras	camera	NOUN
easat-6650	19	10	,	,	PUNCT
easat-6650	19	11	thermal	thermal	ADJ
easat-6650	19	12	sensors	sensor	NOUN
easat-6650	19	13	,	,	PUNCT
easat-6650	19	14	and	and	CCONJ
easat-6650	19	15	lidar	lidar	NOUN
easat-6650	19	16	systems	system	NOUN
easat-6650	19	17	can	can	AUX
easat-6650	19	18	capture	capture	VERB
easat-6650	19	19	comprehensive	comprehensive	ADJ
easat-6650	19	20	structural	structural	ADJ
easat-6650	19	21	data	datum	NOUN
easat-6650	19	22	from	from	ADP
easat-6650	19	23	previously	previously	ADV
easat-6650	19	24	inaccessible	inaccessible	ADJ
easat-6650	19	25	perspectives	perspective	NOUN
easat-6650	19	26	,	,	PUNCT
easat-6650	19	27	substantially	substantially	ADV
easat-6650	19	28	enhancing	enhance	VERB
easat-6650	19	29	inspection	inspection	NOUN
easat-6650	19	30	thoroughness	thoroughness	NOUN
easat-6650	19	31	and	and	CCONJ
easat-6650	19	32	defect	defect	VERB
easat-6650	19	33	detection	detection	NOUN
easat-6650	19	34	capabilities	capability	NOUN
easat-6650	19	35	[	[	X
easat-6650	19	36	3	3	NUM
easat-6650	19	37	]	]	PUNCT
easat-6650	19	38	.	.	PUNCT
easat-6650	20	1	despite	despite	SCONJ
easat-6650	20	2	their	their	PRON
easat-6650	20	3	transformative	transformative	ADJ
easat-6650	20	4	potential	potential	NOUN
easat-6650	20	5	,	,	PUNCT
easat-6650	20	6	conventional	conventional	ADJ
easat-6650	20	7	single	single	ADJ
easat-6650	20	8	-	-	PUNCT
easat-6650	20	9	uav	uav	PROPN
easat-6650	20	10	deployment	deployment	NOUN
easat-6650	20	11	scenarios	scenario	NOUN
easat-6650	20	12	face	face	VERB
easat-6650	20	13	inherent	inherent	ADJ
easat-6650	20	14	limitations	limitation	NOUN
easat-6650	20	15	when	when	SCONJ
easat-6650	20	16	tasked	task	VERB
easat-6650	20	17	with	with	ADP
easat-6650	20	18	examining	examine	VERB
easat-6650	20	19	extensive	extensive	ADJ
easat-6650	20	20	infrastructure	infrastructure	NOUN
easat-6650	20	21	networks	network	NOUN
easat-6650	20	22	or	or	CCONJ
easat-6650	20	23	complex	complex	ADJ
easat-6650	20	24	urban	urban	ADJ
easat-6650	20	25	structures	structure	NOUN
easat-6650	20	26	.	.	PUNCT
easat-6650	21	1	foremost	foremost	ADV
easat-6650	21	2	among	among	ADP
easat-6650	21	3	these	these	DET
easat-6650	21	4	constraints	constraint	NOUN
easat-6650	21	5	is	be	AUX
easat-6650	21	6	operational	operational	ADJ
easat-6650	21	7	duration	duration	NOUN
easat-6650	21	8	,	,	PUNCT
easat-6650	21	9	as	as	SCONJ
easat-6650	21	10	battery	battery	NOUN
easat-6650	21	11	capacity	capacity	NOUN
easat-6650	21	12	restrictions	restriction	NOUN
easat-6650	21	13	typically	typically	ADV
easat-6650	21	14	confine	confine	VERB
easat-6650	21	15	mission	mission	NOUN
easat-6650	21	16	lengths	length	NOUN
easat-6650	21	17	to	to	ADP
easat-6650	21	18	20	20	NUM
easat-6650	21	19	-	-	SYM
easat-6650	21	20	30	30	NUM
easat-6650	21	21	minutes	minute	NOUN
easat-6650	21	22	,	,	PUNCT
easat-6650	21	23	necessitating	necessitate	VERB
easat-6650	21	24	multiple	multiple	ADJ
easat-6650	21	25	deployments	deployment	NOUN
easat-6650	21	26	for	for	ADP
easat-6650	21	27	comprehensive	comprehensive	ADJ
easat-6650	21	28	assessment	assessment	NOUN
easat-6650	21	29	of	of	ADP
easat-6650	21	30	large	large	ADJ
easat-6650	21	31	structures	structure	NOUN
easat-6650	21	32	[	[	X
easat-6650	21	33	4	4	NUM
easat-6650	21	34	]	]	PUNCT
easat-6650	21	35	.	.	PUNCT
easat-6650	22	1	additionally	additionally	ADV
easat-6650	22	2	,	,	PUNCT
easat-6650	22	3	single	single	ADJ
easat-6650	22	4	-	-	PUNCT
easat-6650	22	5	vehicle	vehicle	NOUN
easat-6650	22	6	approaches	approach	NOUN
easat-6650	22	7	create	create	VERB
easat-6650	22	8	single	single	ADJ
easat-6650	22	9	points	point	NOUN
easat-6650	22	10	of	of	ADP
easat-6650	22	11	failure	failure	NOUN
easat-6650	22	12	,	,	PUNCT
easat-6650	22	13	introducing	introduce	VERB
easat-6650	22	14	vulnerability	vulnerability	NOUN
easat-6650	22	15	to	to	ADP
easat-6650	22	16	equipment	equipment	NOUN
easat-6650	22	17	malfunctions	malfunction	NOUN
easat-6650	22	18	or	or	CCONJ
easat-6650	22	19	environmental	environmental	ADJ
easat-6650	22	20	disruptions	disruption	NOUN
easat-6650	22	21	[	[	X
easat-6650	22	22	5	5	NUM
easat-6650	22	23	]	]	PUNCT
easat-6650	22	24	.	.	PUNCT
easat-6650	23	1	these	these	DET
easat-6650	23	2	limitations	limitation	NOUN
easat-6650	23	3	have	have	AUX
easat-6650	23	4	catalyzed	catalyze	VERB
easat-6650	23	5	research	research	NOUN
easat-6650	23	6	interest	interest	NOUN
easat-6650	23	7	in	in	ADP
easat-6650	23	8	multi	multi	ADJ
easat-6650	23	9	-	-	ADJ
easat-6650	23	10	uav	uav	PROPN
easat-6650	23	11	collaborative	collaborative	PROPN
easat-6650	23	12	systems	system	NOUN
easat-6650	23	13	—	—	PUNCT
easat-6650	23	14	often	often	ADV
easat-6650	23	15	2752	2752	NUM
easat-6650	23	16	edelweiss	edelweiss	PROPN
easat-6650	23	17	applied	apply	VERB
easat-6650	23	18	science	science	NOUN
easat-6650	23	19	and	and	CCONJ
easat-6650	23	20	technology	technology	NOUN
easat-6650	23	21	issn	issn	PROPN
easat-6650	23	22	:	:	PUNCT
easat-6650	23	23	2576	2576	NUM
easat-6650	23	24	-	-	SYM
easat-6650	23	25	8484	8484	NUM
easat-6650	23	26	vol	vol	NOUN
easat-6650	23	27	.	.	PROPN
easat-6650	24	1	9	9	NUM
easat-6650	24	2	,	,	PUNCT
easat-6650	24	3	no	no	INTJ
easat-6650	24	4	.	.	NOUN
easat-6650	24	5	4	4	NUM
easat-6650	24	6	:	:	SYM
easat-6650	24	7	2751	2751	NUM
easat-6650	24	8	-	-	SYM
easat-6650	24	9	2767	2767	NUM
easat-6650	24	10	,	,	PUNCT
easat-6650	24	11	2025	2025	NUM
easat-6650	24	12	doi	doi	NOUN
easat-6650	24	13	:	:	PUNCT
easat-6650	24	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	24	15	©	©	ADP
easat-6650	24	16	2025	2025	NUM
easat-6650	24	17	by	by	ADP
easat-6650	24	18	the	the	DET
easat-6650	24	19	author	author	NOUN
easat-6650	24	20	;	;	PUNCT
easat-6650	24	21	licensee	licensee	PROPN
easat-6650	24	22	learning	learning	PROPN
easat-6650	24	23	gate	gate	PROPN
easat-6650	24	24	termed	term	VERB
easat-6650	24	25	swarms	swarm	NOUN
easat-6650	24	26	—	—	PUNCT
easat-6650	24	27	wherein	wherein	SCONJ
easat-6650	24	28	multiple	multiple	ADJ
easat-6650	24	29	vehicles	vehicle	NOUN
easat-6650	24	30	operate	operate	VERB
easat-6650	24	31	in	in	ADP
easat-6650	24	32	coordinated	coordinate	VERB
easat-6650	24	33	patterns	pattern	NOUN
easat-6650	24	34	to	to	PART
easat-6650	24	35	distribute	distribute	VERB
easat-6650	24	36	workload	workload	NOUN
easat-6650	24	37	,	,	PUNCT
easat-6650	24	38	enhance	enhance	VERB
easat-6650	24	39	reliability	reliability	NOUN
easat-6650	24	40	through	through	ADP
easat-6650	24	41	redundancy	redundancy	NOUN
easat-6650	24	42	,	,	PUNCT
easat-6650	24	43	and	and	CCONJ
easat-6650	24	44	dramatically	dramatically	ADV
easat-6650	24	45	reduce	reduce	VERB
easat-6650	24	46	total	total	ADJ
easat-6650	24	47	inspection	inspection	NOUN
easat-6650	24	48	duration	duration	NOUN
easat-6650	25	1	[	[	X
easat-6650	25	2	6	6	NUM
easat-6650	25	3	]	]	PUNCT
easat-6650	25	4	.	.	PUNCT
easat-6650	26	1	engineering	engineering	NOUN
easat-6650	26	2	literature	literature	NOUN
easat-6650	26	3	distinguishes	distinguish	VERB
easat-6650	26	4	between	between	ADP
easat-6650	26	5	two	two	NUM
easat-6650	26	6	fundamental	fundamental	ADJ
easat-6650	26	7	uav	uav	PROPN
easat-6650	26	8	deployment	deployment	PROPN
easat-6650	26	9	paradigms	paradigm	NOUN
easat-6650	26	10	for	for	ADP
easat-6650	26	11	infrastructure	infrastructure	NOUN
easat-6650	26	12	assessment	assessment	NOUN
easat-6650	26	13	:	:	PUNCT
easat-6650	26	14	isolated	isolated	ADJ
easat-6650	26	15	single	single	ADJ
easat-6650	26	16	-	-	PUNCT
easat-6650	26	17	uav	uav	PROPN
easat-6650	26	18	inspection	inspection	NOUN
easat-6650	26	19	systems	system	NOUN
easat-6650	26	20	(	(	PUNCT
easat-6650	26	21	isuis	isuis	PROPN
easat-6650	26	22	)	)	PUNCT
easat-6650	26	23	and	and	CCONJ
easat-6650	26	24	collaborative	collaborative	PROPN
easat-6650	26	25	uav	uav	PROPN
easat-6650	26	26	swarm	swarm	NOUN
easat-6650	26	27	inspection	inspection	NOUN
easat-6650	26	28	systems	system	NOUN
easat-6650	26	29	(	(	PUNCT
easat-6650	26	30	cusis	cusis	PROPN
easat-6650	26	31	)	)	PUNCT
easat-6650	27	1	[	[	X
easat-6650	27	2	7	7	NUM
easat-6650	27	3	]	]	PUNCT
easat-6650	27	4	.	.	PUNCT
easat-6650	28	1	isuis	isuis	PROPN
easat-6650	28	2	configurations	configuration	NOUN
easat-6650	28	3	employ	employ	VERB
easat-6650	28	4	a	a	DET
easat-6650	28	5	solitary	solitary	ADJ
easat-6650	28	6	vehicle	vehicle	NOUN
easat-6650	28	7	to	to	PART
easat-6650	28	8	sequentially	sequentially	ADV
easat-6650	28	9	examine	examine	VERB
easat-6650	28	10	structural	structural	ADJ
easat-6650	28	11	elements	element	NOUN
easat-6650	28	12	,	,	PUNCT
easat-6650	28	13	offering	offer	VERB
easat-6650	28	14	operational	operational	ADJ
easat-6650	28	15	simplicity	simplicity	NOUN
easat-6650	28	16	but	but	CCONJ
easat-6650	28	17	limited	limited	ADJ
easat-6650	28	18	efficiency	efficiency	NOUN
easat-6650	28	19	.	.	PUNCT
easat-6650	29	1	conversely	conversely	ADV
easat-6650	29	2	,	,	PUNCT
easat-6650	29	3	cusis	cusi	NOUN
easat-6650	29	4	approaches	approach	NOUN
easat-6650	29	5	distribute	distribute	VERB
easat-6650	29	6	inspection	inspection	NOUN
easat-6650	29	7	responsibilities	responsibility	NOUN
easat-6650	29	8	across	across	ADP
easat-6650	29	9	multiple	multiple	ADJ
easat-6650	29	10	vehicles	vehicle	NOUN
easat-6650	29	11	operating	operate	VERB
easat-6650	29	12	in	in	ADP
easat-6650	29	13	parallel	parallel	NOUN
easat-6650	29	14	,	,	PUNCT
easat-6650	29	15	enabling	enable	VERB
easat-6650	29	16	simultaneous	simultaneous	ADJ
easat-6650	29	17	assessment	assessment	NOUN
easat-6650	29	18	of	of	ADP
easat-6650	29	19	different	different	ADJ
easat-6650	29	20	structural	structural	ADJ
easat-6650	29	21	components	component	NOUN
easat-6650	29	22	and	and	CCONJ
easat-6650	29	23	thereby	thereby	ADV
easat-6650	29	24	achieving	achieve	VERB
easat-6650	29	25	substantial	substantial	ADJ
easat-6650	29	26	reductions	reduction	NOUN
easat-6650	29	27	in	in	ADP
easat-6650	29	28	total	total	ADJ
easat-6650	29	29	mission	mission	NOUN
easat-6650	29	30	duration	duration	NOUN
easat-6650	29	31	[	[	X
easat-6650	29	32	8	8	NUM
easat-6650	29	33	]	]	PUNCT
easat-6650	29	34	.	.	PUNCT
easat-6650	30	1	comparative	comparative	ADJ
easat-6650	30	2	studies	study	NOUN
easat-6650	30	3	demonstrate	demonstrate	VERB
easat-6650	30	4	that	that	SCONJ
easat-6650	30	5	properly	properly	ADV
easat-6650	30	6	coordinated	coordinate	VERB
easat-6650	30	7	uav	uav	PROPN
easat-6650	30	8	swarms	swarm	NOUN
easat-6650	30	9	can	can	AUX
easat-6650	30	10	accomplish	accomplish	VERB
easat-6650	30	11	inspection	inspection	NOUN
easat-6650	30	12	tasks	task	NOUN
easat-6650	30	13	in	in	ADP
easat-6650	30	14	approximately	approximately	ADV
easat-6650	30	15	one	one	NUM
easat-6650	30	16	-	-	PUNCT
easat-6650	30	17	third	third	NOUN
easat-6650	30	18	the	the	DET
easat-6650	30	19	time	time	NOUN
easat-6650	30	20	required	require	VERB
easat-6650	30	21	by	by	ADP
easat-6650	30	22	singlevehicle	singlevehicle	NOUN
easat-6650	30	23	approaches	approach	NOUN
easat-6650	30	24	while	while	SCONJ
easat-6650	30	25	maintaining	maintain	VERB
easat-6650	30	26	or	or	CCONJ
easat-6650	30	27	improving	improve	VERB
easat-6650	30	28	data	datum	NOUN
easat-6650	30	29	quality	quality	NOUN
easat-6650	30	30	metrics	metric	NOUN
easat-6650	30	31	[	[	X
easat-6650	30	32	9	9	NUM
easat-6650	30	33	]	]	PUNCT
easat-6650	30	34	.	.	PUNCT
easat-6650	31	1	the	the	DET
easat-6650	31	2	deployment	deployment	NOUN
easat-6650	31	3	of	of	ADP
easat-6650	31	4	uav	uav	PROPN
easat-6650	31	5	swarms	swarm	NOUN
easat-6650	31	6	within	within	ADP
easat-6650	31	7	complex	complex	ADJ
easat-6650	31	8	urban	urban	ADJ
easat-6650	31	9	environments	environment	NOUN
easat-6650	31	10	introduces	introduce	VERB
easat-6650	31	11	multidimensional	multidimensional	ADJ
easat-6650	31	12	challenges	challenge	NOUN
easat-6650	31	13	exceeding	exceed	VERB
easat-6650	31	14	those	those	PRON
easat-6650	31	15	encountered	encounter	VERB
easat-6650	31	16	in	in	ADP
easat-6650	31	17	rural	rural	ADJ
easat-6650	31	18	or	or	CCONJ
easat-6650	31	19	controlled	control	VERB
easat-6650	31	20	settings	setting	NOUN
easat-6650	31	21	.	.	PUNCT
easat-6650	32	1	urban	urban	ADJ
easat-6650	32	2	infrastructures	infrastructure	NOUN
easat-6650	32	3	feature	feature	VERB
easat-6650	32	4	intricate	intricate	ADJ
easat-6650	32	5	geometries	geometry	NOUN
easat-6650	32	6	,	,	PUNCT
easat-6650	32	7	constrained	constrain	VERB
easat-6650	32	8	operational	operational	ADJ
easat-6650	32	9	spaces	space	NOUN
easat-6650	32	10	,	,	PUNCT
easat-6650	32	11	regulatory	regulatory	ADJ
easat-6650	32	12	restrictions	restriction	NOUN
easat-6650	32	13	,	,	PUNCT
easat-6650	32	14	electromagnetic	electromagnetic	ADJ
easat-6650	32	15	interference	interference	NOUN
easat-6650	32	16	patterns	pattern	NOUN
easat-6650	32	17	,	,	PUNCT
easat-6650	32	18	and	and	CCONJ
easat-6650	32	19	gps	gps	PROPN
easat-6650	32	20	signal	signal	NOUN
easat-6650	32	21	degradation	degradation	NOUN
easat-6650	32	22	zones	zone	NOUN
easat-6650	32	23	[	[	X
easat-6650	32	24	10	10	NUM
easat-6650	32	25	]	]	PUNCT
easat-6650	32	26	.	.	PUNCT
easat-6650	33	1	additionally	additionally	ADV
easat-6650	33	2	,	,	PUNCT
easat-6650	33	3	operation	operation	NOUN
easat-6650	33	4	in	in	ADP
easat-6650	33	5	proximity	proximity	NOUN
easat-6650	33	6	to	to	ADP
easat-6650	33	7	civilian	civilian	ADJ
easat-6650	33	8	populations	population	NOUN
easat-6650	33	9	,	,	PUNCT
easat-6650	33	10	private	private	ADJ
easat-6650	33	11	properties	property	NOUN
easat-6650	33	12	,	,	PUNCT
easat-6650	33	13	and	and	CCONJ
easat-6650	33	14	critical	critical	ADJ
easat-6650	33	15	service	service	NOUN
easat-6650	33	16	facilities	facility	NOUN
easat-6650	33	17	introduces	introduce	NOUN
easat-6650	33	18	heightened	heighten	VERB
easat-6650	33	19	safety	safety	NOUN
easat-6650	33	20	requirements	requirement	NOUN
easat-6650	33	21	and	and	CCONJ
easat-6650	33	22	operational	operational	ADJ
easat-6650	33	23	restrictions	restriction	NOUN
easat-6650	33	24	[	[	X
easat-6650	33	25	11	11	NUM
easat-6650	33	26	]	]	PUNCT
easat-6650	33	27	.	.	PUNCT
easat-6650	34	1	these	these	DET
easat-6650	34	2	factors	factor	NOUN
easat-6650	34	3	necessitate	necessitate	ADJ
easat-6650	34	4	sophisticated	sophisticated	ADJ
easat-6650	34	5	scheduling	scheduling	NOUN
easat-6650	34	6	algorithms	algorithm	NOUN
easat-6650	34	7	capable	capable	ADJ
easat-6650	34	8	of	of	ADP
easat-6650	34	9	optimizing	optimize	VERB
easat-6650	34	10	swarm	swarm	NOUN
easat-6650	34	11	behavior	behavior	NOUN
easat-6650	34	12	while	while	SCONJ
easat-6650	34	13	adhering	adhere	VERB
easat-6650	34	14	to	to	ADP
easat-6650	34	15	multifaceted	multifaceted	ADJ
easat-6650	34	16	constraints	constraint	NOUN
easat-6650	34	17	and	and	CCONJ
easat-6650	34	18	prioritizing	prioritize	VERB
easat-6650	34	19	public	public	ADJ
easat-6650	34	20	safety	safety	NOUN
easat-6650	35	1	[	[	X
easat-6650	35	2	11	11	NUM
easat-6650	35	3	]	]	PUNCT
easat-6650	35	4	.	.	PUNCT
easat-6650	36	1	research	research	NOUN
easat-6650	36	2	trajectories	trajectory	NOUN
easat-6650	36	3	addressing	address	VERB
easat-6650	36	4	uav	uav	PROPN
easat-6650	36	5	-	-	PUNCT
easat-6650	36	6	based	base	VERB
easat-6650	36	7	infrastructure	infrastructure	NOUN
easat-6650	36	8	inspection	inspection	NOUN
easat-6650	36	9	have	have	AUX
easat-6650	36	10	evolved	evolve	VERB
easat-6650	36	11	across	across	ADP
easat-6650	36	12	several	several	ADJ
easat-6650	36	13	interconnected	interconnected	ADJ
easat-6650	36	14	domains	domain	NOUN
easat-6650	36	15	.	.	PUNCT
easat-6650	37	1	initial	initial	ADJ
easat-6650	37	2	investigations	investigation	NOUN
easat-6650	37	3	concentrated	concentrate	VERB
easat-6650	37	4	primarily	primarily	ADV
easat-6650	37	5	on	on	ADP
easat-6650	37	6	path	path	NOUN
easat-6650	37	7	planning	planning	NOUN
easat-6650	37	8	optimizations	optimization	NOUN
easat-6650	37	9	for	for	ADP
easat-6650	37	10	individual	individual	ADJ
easat-6650	37	11	vehicles	vehicle	NOUN
easat-6650	37	12	,	,	PUNCT
easat-6650	37	13	focusing	focus	VERB
easat-6650	37	14	on	on	ADP
easat-6650	37	15	coverage	coverage	NOUN
easat-6650	37	16	completeness	completeness	NOUN
easat-6650	37	17	,	,	PUNCT
easat-6650	37	18	energy	energy	NOUN
easat-6650	37	19	efficiency	efficiency	NOUN
easat-6650	37	20	,	,	PUNCT
easat-6650	37	21	and	and	CCONJ
easat-6650	37	22	data	datum	NOUN
easat-6650	37	23	acquisition	acquisition	NOUN
easat-6650	37	24	quality	quality	NOUN
easat-6650	37	25	[	[	X
easat-6650	37	26	12	12	NUM
easat-6650	37	27	]	]	PUNCT
easat-6650	37	28	.	.	PUNCT
easat-6650	38	1	as	as	SCONJ
easat-6650	38	2	multi	multi	ADJ
easat-6650	38	3	-	-	ADJ
easat-6650	38	4	vehicle	vehicle	NOUN
easat-6650	38	5	systems	system	NOUN
easat-6650	38	6	gained	gain	VERB
easat-6650	38	7	prominence	prominence	NOUN
easat-6650	38	8	,	,	PUNCT
easat-6650	38	9	research	research	NOUN
easat-6650	38	10	emphasis	emphasis	NOUN
easat-6650	38	11	expanded	expand	VERB
easat-6650	38	12	to	to	PART
easat-6650	38	13	encompass	encompass	VERB
easat-6650	38	14	task	task	NOUN
easat-6650	38	15	allocation	allocation	NOUN
easat-6650	38	16	methodologies	methodology	NOUN
easat-6650	38	17	determining	determine	VERB
easat-6650	38	18	optimal	optimal	ADJ
easat-6650	38	19	assignment	assignment	NOUN
easat-6650	38	20	of	of	ADP
easat-6650	38	21	inspection	inspection	NOUN
easat-6650	38	22	responsibilities	responsibility	NOUN
easat-6650	38	23	based	base	VERB
easat-6650	38	24	on	on	ADP
easat-6650	38	25	vehicle	vehicle	NOUN
easat-6650	38	26	capabilities	capability	NOUN
easat-6650	38	27	,	,	PUNCT
easat-6650	38	28	spatial	spatial	ADJ
easat-6650	38	29	distribution	distribution	NOUN
easat-6650	38	30	,	,	PUNCT
easat-6650	38	31	and	and	CCONJ
easat-6650	38	32	resource	resource	NOUN
easat-6650	38	33	constraints	constraint	NOUN
easat-6650	38	34	[	[	X
easat-6650	38	35	13	13	NUM
easat-6650	38	36	]	]	PUNCT
easat-6650	38	37	.	.	PUNCT
easat-6650	39	1	recent	recent	ADJ
easat-6650	39	2	studies	study	NOUN
easat-6650	39	3	have	have	AUX
easat-6650	39	4	further	far	ADV
easat-6650	39	5	incorporated	incorporate	VERB
easat-6650	39	6	temporal	temporal	ADJ
easat-6650	39	7	coordination	coordination	NOUN
easat-6650	39	8	dimensions	dimension	NOUN
easat-6650	39	9	through	through	ADP
easat-6650	39	10	scheduling	scheduling	NOUN
easat-6650	39	11	algorithms	algorithm	NOUN
easat-6650	39	12	that	that	PRON
easat-6650	39	13	sequence	sequence	NOUN
easat-6650	39	14	inspection	inspection	NOUN
easat-6650	39	15	activities	activity	NOUN
easat-6650	39	16	to	to	PART
easat-6650	39	17	maximize	maximize	VERB
easat-6650	39	18	parallel	parallel	ADJ
easat-6650	39	19	operations	operation	NOUN
easat-6650	39	20	while	while	SCONJ
easat-6650	39	21	preventing	prevent	VERB
easat-6650	39	22	inter	inter	ADJ
easat-6650	39	23	-	-	NOUN
easat-6650	39	24	vehicle	vehicle	NOUN
easat-6650	39	25	conflicts	conflict	NOUN
easat-6650	39	26	[	[	X
easat-6650	39	27	14	14	NUM
easat-6650	39	28	]	]	PUNCT
easat-6650	39	29	.	.	PUNCT
easat-6650	40	1	inspection	inspection	NOUN
easat-6650	40	2	approaches	approach	NOUN
easat-6650	40	3	have	have	AUX
easat-6650	40	4	similarly	similarly	ADV
easat-6650	40	5	developed	develop	VERB
easat-6650	40	6	along	along	ADP
easat-6650	40	7	two	two	NUM
easat-6650	40	8	principal	principal	ADJ
easat-6650	40	9	methodologies	methodology	NOUN
easat-6650	40	10	:	:	PUNCT
easat-6650	40	11	comprehensive	comprehensive	ADJ
easat-6650	40	12	coverage	coverage	NOUN
easat-6650	40	13	strategies	strategy	NOUN
easat-6650	40	14	systematically	systematically	ADV
easat-6650	40	15	examining	examine	VERB
easat-6650	40	16	entire	entire	ADJ
easat-6650	40	17	structural	structural	ADJ
easat-6650	40	18	surfaces	surface	NOUN
easat-6650	40	19	,	,	PUNCT
easat-6650	40	20	and	and	CCONJ
easat-6650	40	21	targeted	target	VERB
easat-6650	40	22	inspection	inspection	NOUN
easat-6650	40	23	protocols	protocol	NOUN
easat-6650	40	24	focusing	focus	VERB
easat-6650	40	25	sensing	sense	VERB
easat-6650	40	26	resources	resource	NOUN
easat-6650	40	27	on	on	ADP
easat-6650	40	28	predefined	predefine	VERB
easat-6650	40	29	points	point	NOUN
easat-6650	40	30	of	of	ADP
easat-6650	40	31	interest	interest	NOUN
easat-6650	40	32	or	or	CCONJ
easat-6650	40	33	areas	area	NOUN
easat-6650	40	34	of	of	ADP
easat-6650	40	35	suspected	suspect	VERB
easat-6650	40	36	deterioration	deterioration	NOUN
easat-6650	40	37	[	[	X
easat-6650	40	38	15	15	NUM
easat-6650	40	39	]	]	PUNCT
easat-6650	40	40	.	.	PUNCT
easat-6650	41	1	selection	selection	NOUN
easat-6650	41	2	between	between	ADP
easat-6650	41	3	these	these	DET
easat-6650	41	4	approaches	approach	NOUN
easat-6650	41	5	significantly	significantly	ADV
easat-6650	41	6	impacts	impact	VERB
easat-6650	41	7	mission	mission	NOUN
easat-6650	41	8	planning	planning	NOUN
easat-6650	41	9	parameters	parameter	NOUN
easat-6650	41	10	,	,	PUNCT
easat-6650	41	11	resource	resource	NOUN
easat-6650	41	12	allocation	allocation	NOUN
easat-6650	41	13	decisions	decision	NOUN
easat-6650	41	14	,	,	PUNCT
easat-6650	41	15	and	and	CCONJ
easat-6650	41	16	algorithm	algorithm	NOUN
easat-6650	41	17	design	design	NOUN
easat-6650	41	18	considerations	consideration	NOUN
easat-6650	41	19	.	.	PUNCT
easat-6650	42	1	current	current	ADJ
easat-6650	42	2	research	research	NOUN
easat-6650	42	3	indicates	indicate	VERB
easat-6650	42	4	that	that	SCONJ
easat-6650	42	5	hybrid	hybrid	ADJ
easat-6650	42	6	methodologies	methodology	NOUN
easat-6650	42	7	combining	combine	VERB
easat-6650	42	8	elements	element	NOUN
easat-6650	42	9	of	of	ADP
easat-6650	42	10	both	both	DET
easat-6650	42	11	approaches	approach	NOUN
easat-6650	42	12	may	may	AUX
easat-6650	42	13	deliver	deliver	VERB
easat-6650	42	14	optimal	optimal	ADJ
easat-6650	42	15	results	result	NOUN
easat-6650	42	16	for	for	ADP
easat-6650	42	17	complex	complex	ADJ
easat-6650	42	18	urban	urban	ADJ
easat-6650	42	19	infrastructure	infrastructure	NOUN
easat-6650	42	20	systems	system	NOUN
easat-6650	42	21	,	,	PUNCT
easat-6650	42	22	particularly	particularly	ADV
easat-6650	42	23	when	when	SCONJ
easat-6650	42	24	historical	historical	ADJ
easat-6650	42	25	inspection	inspection	NOUN
easat-6650	42	26	data	datum	NOUN
easat-6650	42	27	or	or	CCONJ
easat-6650	42	28	structural	structural	ADJ
easat-6650	42	29	health	health	NOUN
easat-6650	42	30	monitoring	monitoring	NOUN
easat-6650	42	31	inputs	input	NOUN
easat-6650	42	32	are	be	AUX
easat-6650	42	33	available	available	ADJ
easat-6650	42	34	to	to	PART
easat-6650	42	35	guide	guide	VERB
easat-6650	42	36	resource	resource	NOUN
easat-6650	42	37	prioritization	prioritization	NOUN
easat-6650	42	38	[	[	X
easat-6650	42	39	16	16	NUM
easat-6650	42	40	]	]	PUNCT
easat-6650	42	41	.	.	PUNCT
easat-6650	43	1	the	the	DET
easat-6650	43	2	urban	urban	PROPN
easat-6650	43	3	environment	environment	NOUN
easat-6650	43	4	introduces	introduce	VERB
easat-6650	43	5	unique	unique	ADJ
easat-6650	43	6	challenges	challenge	NOUN
easat-6650	43	7	for	for	ADP
easat-6650	43	8	uav	uav	PROPN
easat-6650	43	9	operations	operation	NOUN
easat-6650	43	10	that	that	PRON
easat-6650	43	11	must	must	AUX
easat-6650	43	12	be	be	AUX
easat-6650	43	13	addressed	address	VERB
easat-6650	43	14	through	through	ADP
easat-6650	43	15	specialized	specialized	ADJ
easat-6650	43	16	scheduling	scheduling	NOUN
easat-6650	43	17	and	and	CCONJ
easat-6650	43	18	coordination	coordination	NOUN
easat-6650	43	19	mechanisms	mechanism	NOUN
easat-6650	43	20	.	.	PUNCT
easat-6650	44	1	tall	tall	ADJ
easat-6650	44	2	buildings	building	NOUN
easat-6650	44	3	create	create	VERB
easat-6650	44	4	urban	urban	ADJ
easat-6650	44	5	canyons	canyon	NOUN
easat-6650	44	6	that	that	PRON
easat-6650	44	7	disrupt	disrupt	VERB
easat-6650	44	8	gps	gps	PROPN
easat-6650	44	9	signals	signal	NOUN
easat-6650	44	10	and	and	CCONJ
easat-6650	44	11	communication	communication	NOUN
easat-6650	44	12	links	link	NOUN
easat-6650	44	13	,	,	PUNCT
easat-6650	44	14	necessitating	necessitate	VERB
easat-6650	44	15	robust	robust	ADJ
easat-6650	44	16	positioning	positioning	NOUN
easat-6650	44	17	alternatives	alternative	NOUN
easat-6650	44	18	and	and	CCONJ
easat-6650	44	19	mesh	mesh	NOUN
easat-6650	44	20	communication	communication	NOUN
easat-6650	44	21	networks	network	NOUN
easat-6650	44	22	[	[	X
easat-6650	44	23	17	17	NUM
easat-6650	44	24	]	]	PUNCT
easat-6650	44	25	.	.	PUNCT
easat-6650	45	1	variable	variable	ADJ
easat-6650	45	2	wind	wind	NOUN
easat-6650	45	3	patterns	pattern	NOUN
easat-6650	45	4	around	around	ADP
easat-6650	45	5	structures	structure	NOUN
easat-6650	45	6	generate	generate	VERB
easat-6650	45	7	turbulence	turbulence	NOUN
easat-6650	45	8	requiring	require	VERB
easat-6650	45	9	dynamic	dynamic	ADJ
easat-6650	45	10	flight	flight	NOUN
easat-6650	45	11	adjustments	adjustment	NOUN
easat-6650	45	12	and	and	CCONJ
easat-6650	45	13	energy	energy	NOUN
easat-6650	45	14	reserve	reserve	NOUN
easat-6650	45	15	management	management	NOUN
easat-6650	45	16	[	[	X
easat-6650	45	17	18	18	NUM
easat-6650	45	18	]	]	PUNCT
easat-6650	45	19	.	.	PUNCT
easat-6650	46	1	regulatory	regulatory	ADJ
easat-6650	46	2	restrictions	restriction	NOUN
easat-6650	46	3	establishing	establish	VERB
easat-6650	46	4	no	no	DET
easat-6650	46	5	-	-	PUNCT
easat-6650	46	6	fly	fly	NOUN
easat-6650	46	7	zones	zone	NOUN
easat-6650	46	8	,	,	PUNCT
easat-6650	46	9	altitude	altitude	NOUN
easat-6650	46	10	limitations	limitation	NOUN
easat-6650	46	11	,	,	PUNCT
easat-6650	46	12	and	and	CCONJ
easat-6650	46	13	operational	operational	ADJ
easat-6650	46	14	windows	window	NOUN
easat-6650	46	15	must	must	AUX
easat-6650	46	16	be	be	AUX
easat-6650	46	17	incorporated	incorporate	VERB
easat-6650	46	18	within	within	ADP
easat-6650	46	19	planning	plan	VERB
easat-6650	46	20	algorithms	algorithm	NOUN
easat-6650	46	21	to	to	PART
easat-6650	46	22	ensure	ensure	VERB
easat-6650	46	23	compliance	compliance	NOUN
easat-6650	46	24	[	[	X
easat-6650	46	25	19	19	NUM
easat-6650	46	26	]	]	PUNCT
easat-6650	46	27	.	.	PUNCT
easat-6650	47	1	these	these	DET
easat-6650	47	2	factors	factor	NOUN
easat-6650	47	3	collectively	collectively	ADV
easat-6650	47	4	necessitate	necessitate	ADJ
easat-6650	47	5	urban	urban	ADJ
easat-6650	47	6	-	-	PUNCT
easat-6650	47	7	specific	specific	ADJ
easat-6650	47	8	optimization	optimization	NOUN
easat-6650	47	9	approaches	approach	NOUN
easat-6650	47	10	that	that	PRON
easat-6650	47	11	extend	extend	VERB
easat-6650	47	12	beyond	beyond	ADP
easat-6650	47	13	techniques	technique	NOUN
easat-6650	47	14	developed	develop	VERB
easat-6650	47	15	for	for	ADP
easat-6650	47	16	open	open	ADJ
easat-6650	47	17	or	or	CCONJ
easat-6650	47	18	rural	rural	ADJ
easat-6650	47	19	environments	environment	NOUN
easat-6650	47	20	.	.	PUNCT
easat-6650	48	1	structure	structure	NOUN
easat-6650	48	2	-	-	PUNCT
easat-6650	48	3	specific	specific	ADJ
easat-6650	48	4	inspection	inspection	NOUN
easat-6650	48	5	patterns	pattern	NOUN
easat-6650	48	6	represent	represent	VERB
easat-6650	48	7	a	a	DET
easat-6650	48	8	particularly	particularly	ADV
easat-6650	48	9	promising	promising	ADJ
easat-6650	48	10	direction	direction	NOUN
easat-6650	48	11	for	for	ADP
easat-6650	48	12	optimization	optimization	NOUN
easat-6650	48	13	,	,	PUNCT
easat-6650	48	14	as	as	SCONJ
easat-6650	48	15	different	different	ADJ
easat-6650	48	16	infrastructure	infrastructure	NOUN
easat-6650	48	17	elements	element	NOUN
easat-6650	48	18	benefit	benefit	VERB
easat-6650	48	19	from	from	ADP
easat-6650	48	20	tailored	tailor	VERB
easat-6650	48	21	approach	approach	NOUN
easat-6650	48	22	strategies	strategy	NOUN
easat-6650	48	23	[	[	X
easat-6650	48	24	20	20	NUM
easat-6650	48	25	]	]	PUNCT
easat-6650	48	26	.	.	PUNCT
easat-6650	49	1	bridge	bridge	NOUN
easat-6650	49	2	decks	deck	NOUN
easat-6650	49	3	are	be	AUX
easat-6650	49	4	efficiently	efficiently	ADV
easat-6650	49	5	examined	examine	VERB
easat-6650	49	6	using	use	VERB
easat-6650	49	7	parallel	parallel	ADJ
easat-6650	49	8	transect	transect	NOUN
easat-6650	49	9	patterns	pattern	NOUN
easat-6650	49	10	with	with	ADP
easat-6650	49	11	predefined	predefined	ADJ
easat-6650	49	12	overlap	overlap	NOUN
easat-6650	49	13	parameters	parameter	NOUN
easat-6650	49	14	,	,	PUNCT
easat-6650	49	15	while	while	SCONJ
easat-6650	49	16	support	support	NOUN
easat-6650	49	17	columns	column	NOUN
easat-6650	49	18	benefit	benefit	VERB
easat-6650	49	19	from	from	ADP
easat-6650	49	20	spiral	spiral	ADJ
easat-6650	49	21	trajectories	trajectory	NOUN
easat-6650	49	22	maintaining	maintain	VERB
easat-6650	49	23	consistent	consistent	ADJ
easat-6650	49	24	sensor	sensor	NOUN
easat-6650	49	25	-	-	PUNCT
easat-6650	49	26	to	to	ADP
easat-6650	49	27	-	-	PUNCT
easat-6650	49	28	surface	surface	NOUN
easat-6650	49	29	distances	distance	NOUN
easat-6650	50	1	[	[	X
easat-6650	50	2	21	21	NUM
easat-6650	50	3	]	]	PUNCT
easat-6650	50	4	.	.	PUNCT
easat-6650	51	1	building	build	VERB
easat-6650	51	2	facades	facade	NOUN
easat-6650	51	3	are	be	AUX
easat-6650	51	4	effectively	effectively	ADV
easat-6650	51	5	covered	cover	VERB
easat-6650	51	6	through	through	ADP
easat-6650	51	7	grid	grid	NOUN
easat-6650	51	8	-	-	PUNCT
easat-6650	51	9	based	base	VERB
easat-6650	51	10	patterns	pattern	NOUN
easat-6650	51	11	that	that	PRON
easat-6650	51	12	systematically	systematically	ADV
easat-6650	51	13	capture	capture	VERB
easat-6650	51	14	surface	surface	NOUN
easat-6650	51	15	conditions	condition	NOUN
easat-6650	51	16	,	,	PUNCT
easat-6650	51	17	while	while	SCONJ
easat-6650	51	18	cable	cable	NOUN
easat-6650	51	19	systems	system	NOUN
easat-6650	51	20	require	require	VERB
easat-6650	51	21	specialized	specialized	ADJ
easat-6650	51	22	linear	linear	ADJ
easat-6650	51	23	paths	path	NOUN
easat-6650	51	24	with	with	ADP
easat-6650	51	25	multiple	multiple	ADJ
easat-6650	51	26	viewing	view	VERB
easat-6650	51	27	angles	angle	NOUN
easat-6650	52	1	[	[	X
easat-6650	52	2	22	22	NUM
easat-6650	52	3	]	]	PUNCT
easat-6650	52	4	.	.	PUNCT
easat-6650	53	1	integration	integration	NOUN
easat-6650	53	2	of	of	ADP
easat-6650	53	3	these	these	DET
easat-6650	53	4	specialized	specialized	ADJ
easat-6650	53	5	patterns	pattern	NOUN
easat-6650	53	6	within	within	ADP
easat-6650	53	7	comprehensive	comprehensive	ADJ
easat-6650	53	8	mission	mission	NOUN
easat-6650	53	9	planning	planning	NOUN
easat-6650	53	10	frameworks	framework	NOUN
easat-6650	53	11	enables	enable	VERB
easat-6650	53	12	system	system	NOUN
easat-6650	53	13	-	-	PUNCT
easat-6650	53	14	wide	wide	ADJ
easat-6650	53	15	optimization	optimization	NOUN
easat-6650	53	16	exceeding	exceed	VERB
easat-6650	53	17	what	what	PRON
easat-6650	53	18	general	general	ADJ
easat-6650	53	19	-	-	PUNCT
easat-6650	53	20	purpose	purpose	NOUN
easat-6650	53	21	approaches	approach	NOUN
easat-6650	53	22	can	can	AUX
easat-6650	53	23	achieve	achieve	VERB
easat-6650	53	24	.	.	PUNCT
easat-6650	54	1	2753	2753	NUM
easat-6650	54	2	edelweiss	edelweiss	PROPN
easat-6650	54	3	applied	apply	VERB
easat-6650	54	4	science	science	NOUN
easat-6650	54	5	and	and	CCONJ
easat-6650	54	6	technology	technology	NOUN
easat-6650	54	7	issn	issn	PROPN
easat-6650	54	8	:	:	PUNCT
easat-6650	54	9	2576	2576	NUM
easat-6650	54	10	-	-	SYM
easat-6650	54	11	8484	8484	NUM
easat-6650	54	12	vol	vol	NOUN
easat-6650	54	13	.	.	PROPN
easat-6650	55	1	9	9	NUM
easat-6650	55	2	,	,	PUNCT
easat-6650	55	3	no	no	INTJ
easat-6650	55	4	.	.	NOUN
easat-6650	55	5	4	4	NUM
easat-6650	55	6	:	:	SYM
easat-6650	55	7	2751	2751	NUM
easat-6650	55	8	-	-	SYM
easat-6650	55	9	2767	2767	NUM
easat-6650	55	10	,	,	PUNCT
easat-6650	55	11	2025	2025	NUM
easat-6650	55	12	doi	doi	NOUN
easat-6650	55	13	:	:	PUNCT
easat-6650	55	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	55	15	©	©	ADP
easat-6650	55	16	2025	2025	NUM
easat-6650	55	17	by	by	ADP
easat-6650	55	18	the	the	DET
easat-6650	55	19	author	author	NOUN
easat-6650	55	20	;	;	PUNCT
easat-6650	55	21	licensee	licensee	PROPN
easat-6650	55	22	learning	learning	NOUN
easat-6650	55	23	gate	gate	NOUN
easat-6650	55	24	recent	recent	ADJ
easat-6650	55	25	research	research	NOUN
easat-6650	55	26	has	have	AUX
easat-6650	55	27	demonstrated	demonstrate	VERB
easat-6650	55	28	promising	promising	ADJ
easat-6650	55	29	results	result	NOUN
easat-6650	55	30	in	in	ADP
easat-6650	55	31	addressing	address	VERB
easat-6650	55	32	components	component	NOUN
easat-6650	55	33	of	of	ADP
easat-6650	55	34	the	the	DET
easat-6650	55	35	uav	uav	PROPN
easat-6650	55	36	swarm	swarm	NOUN
easat-6650	55	37	inspection	inspection	NOUN
easat-6650	55	38	challenge	challenge	NOUN
easat-6650	55	39	,	,	PUNCT
easat-6650	55	40	yet	yet	CCONJ
easat-6650	55	41	few	few	ADJ
easat-6650	55	42	studies	study	NOUN
easat-6650	55	43	have	have	AUX
easat-6650	55	44	successfully	successfully	ADV
easat-6650	55	45	integrated	integrate	VERB
easat-6650	55	46	path	path	NOUN
easat-6650	55	47	planning	planning	NOUN
easat-6650	55	48	,	,	PUNCT
easat-6650	55	49	task	task	NOUN
easat-6650	55	50	allocation	allocation	NOUN
easat-6650	55	51	,	,	PUNCT
easat-6650	55	52	and	and	CCONJ
easat-6650	55	53	scheduling	schedule	VERB
easat-6650	55	54	into	into	ADP
easat-6650	55	55	cohesive	cohesive	ADJ
easat-6650	55	56	frameworks	framework	NOUN
easat-6650	55	57	capable	capable	ADJ
easat-6650	55	58	of	of	ADP
easat-6650	55	59	addressing	address	VERB
easat-6650	55	60	the	the	DET
easat-6650	55	61	full	full	ADJ
easat-6650	55	62	complexity	complexity	NOUN
easat-6650	55	63	of	of	ADP
easat-6650	55	64	urban	urban	ADJ
easat-6650	55	65	environments	environment	NOUN
easat-6650	55	66	[	[	X
easat-6650	55	67	18	18	NUM
easat-6650	55	68	]	]	PUNCT
easat-6650	55	69	.	.	PUNCT
easat-6650	56	1	current	current	ADJ
easat-6650	56	2	approaches	approach	NOUN
easat-6650	56	3	frequently	frequently	ADV
easat-6650	56	4	employ	employ	VERB
easat-6650	56	5	simplified	simplified	ADJ
easat-6650	56	6	energy	energy	NOUN
easat-6650	56	7	consumption	consumption	NOUN
easat-6650	56	8	models	model	NOUN
easat-6650	56	9	that	that	PRON
easat-6650	56	10	inadequately	inadequately	ADV
easat-6650	56	11	represent	represent	VERB
easat-6650	56	12	real	real	ADJ
easat-6650	56	13	-	-	PUNCT
easat-6650	56	14	world	world	NOUN
easat-6650	56	15	uav	uav	PROPN
easat-6650	56	16	behavior	behavior	PROPN
easat-6650	56	17	,	,	PUNCT
easat-6650	56	18	particularly	particularly	ADV
easat-6650	56	19	during	during	ADP
easat-6650	56	20	complex	complex	ADJ
easat-6650	56	21	maneuvers	maneuver	NOUN
easat-6650	56	22	or	or	CCONJ
easat-6650	56	23	when	when	SCONJ
easat-6650	56	24	operating	operate	VERB
easat-6650	56	25	in	in	ADP
easat-6650	56	26	variable	variable	ADJ
easat-6650	56	27	urban	urban	ADJ
easat-6650	56	28	wind	wind	NOUN
easat-6650	56	29	conditions	condition	NOUN
easat-6650	56	30	[	[	X
easat-6650	56	31	23	23	NUM
easat-6650	56	32	]	]	PUNCT
easat-6650	56	33	.	.	PUNCT
easat-6650	57	1	furthermore	furthermore	ADV
easat-6650	57	2	,	,	PUNCT
easat-6650	57	3	computational	computational	ADJ
easat-6650	57	4	complexity	complexity	NOUN
easat-6650	57	5	considerations	consideration	NOUN
easat-6650	57	6	often	often	ADV
easat-6650	57	7	receive	receive	VERB
easat-6650	57	8	insufficient	insufficient	ADJ
easat-6650	57	9	attention	attention	NOUN
easat-6650	57	10	,	,	PUNCT
easat-6650	57	11	resulting	result	VERB
easat-6650	57	12	in	in	ADP
easat-6650	57	13	theoretically	theoretically	ADV
easat-6650	57	14	sound	sound	ADJ
easat-6650	57	15	but	but	CCONJ
easat-6650	57	16	practically	practically	ADV
easat-6650	57	17	unimplementable	unimplementable	ADJ
easat-6650	57	18	solutions	solution	NOUN
easat-6650	57	19	given	give	VERB
easat-6650	57	20	processing	processing	NOUN
easat-6650	57	21	resources	resource	NOUN
easat-6650	57	22	typically	typically	ADV
easat-6650	57	23	available	available	ADJ
easat-6650	57	24	on	on	ADP
easat-6650	57	25	commercial	commercial	ADJ
easat-6650	57	26	uav	uav	PROPN
easat-6650	57	27	platforms	platform	NOUN
easat-6650	57	28	or	or	CCONJ
easat-6650	57	29	portable	portable	ADJ
easat-6650	57	30	ground	ground	NOUN
easat-6650	57	31	control	control	NOUN
easat-6650	57	32	stations	station	NOUN
easat-6650	57	33	[	[	X
easat-6650	57	34	24	24	NUM
easat-6650	57	35	]	]	PUNCT
easat-6650	57	36	.	.	PUNCT
easat-6650	58	1	this	this	DET
easat-6650	58	2	research	research	NOUN
easat-6650	58	3	addresses	address	VERB
easat-6650	58	4	these	these	DET
easat-6650	58	5	critical	critical	ADJ
easat-6650	58	6	gaps	gap	NOUN
easat-6650	58	7	by	by	ADP
easat-6650	58	8	introducing	introduce	VERB
easat-6650	58	9	a	a	DET
easat-6650	58	10	comprehensive	comprehensive	ADJ
easat-6650	58	11	optimization	optimization	NOUN
easat-6650	58	12	framework	framework	NOUN
easat-6650	58	13	for	for	ADP
easat-6650	58	14	uav	uav	PROPN
easat-6650	58	15	swarm	swarm	NOUN
easat-6650	58	16	-	-	PUNCT
easat-6650	58	17	based	base	VERB
easat-6650	58	18	urban	urban	ADJ
easat-6650	58	19	infrastructure	infrastructure	NOUN
easat-6650	58	20	inspection	inspection	NOUN
easat-6650	58	21	.	.	PUNCT
easat-6650	59	1	we	we	PRON
easat-6650	59	2	propose	propose	VERB
easat-6650	59	3	a	a	DET
easat-6650	59	4	novel	novel	ADJ
easat-6650	59	5	algorithmic	algorithmic	ADJ
easat-6650	59	6	approach	approach	NOUN
easat-6650	59	7	integrating	integrate	VERB
easat-6650	59	8	structure	structure	NOUN
easat-6650	59	9	-	-	PUNCT
easat-6650	59	10	specific	specific	ADJ
easat-6650	59	11	path	path	NOUN
easat-6650	59	12	planning	planning	NOUN
easat-6650	59	13	,	,	PUNCT
easat-6650	59	14	efficient	efficient	ADJ
easat-6650	59	15	task	task	NOUN
easat-6650	59	16	allocation	allocation	NOUN
easat-6650	59	17	,	,	PUNCT
easat-6650	59	18	and	and	CCONJ
easat-6650	59	19	dynamic	dynamic	ADJ
easat-6650	59	20	scheduling	scheduling	NOUN
easat-6650	59	21	within	within	ADP
easat-6650	59	22	a	a	DET
easat-6650	59	23	unified	unified	ADJ
easat-6650	59	24	solution	solution	NOUN
easat-6650	59	25	designed	design	VERB
easat-6650	59	26	to	to	PART
easat-6650	59	27	minimize	minimize	VERB
easat-6650	59	28	total	total	ADJ
easat-6650	59	29	inspection	inspection	NOUN
easat-6650	59	30	time	time	NOUN
easat-6650	59	31	while	while	SCONJ
easat-6650	59	32	ensuring	ensure	VERB
easat-6650	59	33	complete	complete	ADJ
easat-6650	59	34	coverage	coverage	NOUN
easat-6650	59	35	and	and	CCONJ
easat-6650	59	36	adherence	adherence	NOUN
easat-6650	59	37	to	to	ADP
easat-6650	59	38	operational	operational	ADJ
easat-6650	59	39	constraints	constraint	NOUN
easat-6650	59	40	.	.	PUNCT
easat-6650	60	1	our	our	PRON
easat-6650	60	2	contribution	contribution	NOUN
easat-6650	60	3	advances	advance	VERB
easat-6650	60	4	beyond	beyond	ADP
easat-6650	60	5	existing	exist	VERB
easat-6650	60	6	work	work	NOUN
easat-6650	60	7	through	through	ADP
easat-6650	60	8	several	several	ADJ
easat-6650	60	9	key	key	ADJ
easat-6650	60	10	innovations	innovation	NOUN
easat-6650	60	11	:	:	PUNCT
easat-6650	60	12	(	(	PUNCT
easat-6650	60	13	1	1	X
easat-6650	60	14	)	)	PUNCT
easat-6650	60	15	incorporation	incorporation	NOUN
easat-6650	60	16	of	of	ADP
easat-6650	60	17	a	a	DET
easat-6650	60	18	practical	practical	ADJ
easat-6650	60	19	non	non	ADJ
easat-6650	60	20	-	-	ADJ
easat-6650	60	21	linear	linear	ADJ
easat-6650	60	22	energy	energy	NOUN
easat-6650	60	23	consumption	consumption	NOUN
easat-6650	60	24	model	model	NOUN
easat-6650	60	25	accurately	accurately	ADV
easat-6650	60	26	reflecting	reflect	VERB
easat-6650	60	27	uav	uav	PROPN
easat-6650	60	28	behavior	behavior	NOUN
easat-6650	60	29	during	during	ADP
easat-6650	60	30	complex	complex	ADJ
easat-6650	60	31	inspection	inspection	NOUN
easat-6650	60	32	maneuvers	maneuver	NOUN
easat-6650	60	33	,	,	PUNCT
easat-6650	60	34	(	(	PUNCT
easat-6650	60	35	2	2	X
easat-6650	60	36	)	)	PUNCT
easat-6650	60	37	development	development	NOUN
easat-6650	60	38	of	of	ADP
easat-6650	60	39	structure	structure	NOUN
easat-6650	60	40	-	-	PUNCT
easat-6650	60	41	specific	specific	ADJ
easat-6650	60	42	inspection	inspection	NOUN
easat-6650	60	43	patterns	pattern	NOUN
easat-6650	60	44	optimized	optimize	VERB
easat-6650	60	45	for	for	ADP
easat-6650	60	46	different	different	ADJ
easat-6650	60	47	urban	urban	ADJ
easat-6650	60	48	infrastructure	infrastructure	NOUN
easat-6650	60	49	elements	element	NOUN
easat-6650	60	50	,	,	PUNCT
easat-6650	60	51	and	and	CCONJ
easat-6650	60	52	(	(	PUNCT
easat-6650	60	53	3	3	X
easat-6650	60	54	)	)	PUNCT
easat-6650	60	55	implementation	implementation	NOUN
easat-6650	60	56	of	of	ADP
easat-6650	60	57	a	a	DET
easat-6650	60	58	computationally	computationally	ADV
easat-6650	60	59	efficient	efficient	ADJ
easat-6650	60	60	heuristic	heuristic	ADJ
easat-6650	60	61	algorithm	algorithm	NOUN
easat-6650	60	62	delivering	deliver	VERB
easat-6650	60	63	near	near	ADP
easat-6650	60	64	-	-	PUNCT
easat-6650	60	65	optimal	optimal	ADJ
easat-6650	60	66	solutions	solution	NOUN
easat-6650	60	67	with	with	ADP
easat-6650	60	68	polynomial	polynomial	ADJ
easat-6650	60	69	time	time	NOUN
easat-6650	60	70	complexity	complexity	NOUN
easat-6650	60	71	.	.	PUNCT
easat-6650	61	1	we	we	PRON
easat-6650	61	2	formulate	formulate	VERB
easat-6650	61	3	the	the	DET
easat-6650	61	4	challenge	challenge	NOUN
easat-6650	61	5	as	as	ADP
easat-6650	61	6	a	a	DET
easat-6650	61	7	mixed	mixed	ADJ
easat-6650	61	8	integer	integer	NOUN
easat-6650	61	9	non	non	ADJ
easat-6650	61	10	-	-	ADJ
easat-6650	61	11	linear	linear	ADJ
easat-6650	61	12	programming	programming	NOUN
easat-6650	61	13	(	(	PUNCT
easat-6650	61	14	minlp	minlp	PROPN
easat-6650	61	15	)	)	PUNCT
easat-6650	61	16	problem	problem	NOUN
easat-6650	61	17	with	with	ADP
easat-6650	61	18	the	the	DET
easat-6650	61	19	primary	primary	ADJ
easat-6650	61	20	objective	objective	NOUN
easat-6650	61	21	of	of	ADP
easat-6650	61	22	minimizing	minimize	VERB
easat-6650	61	23	total	total	ADJ
easat-6650	61	24	inspection	inspection	NOUN
easat-6650	61	25	duration	duration	NOUN
easat-6650	61	26	while	while	SCONJ
easat-6650	61	27	satisfying	satisfy	VERB
easat-6650	61	28	coverage	coverage	NOUN
easat-6650	61	29	requirements	requirement	NOUN
easat-6650	61	30	and	and	CCONJ
easat-6650	61	31	respecting	respect	VERB
easat-6650	61	32	energy	energy	NOUN
easat-6650	61	33	constraints	constraint	NOUN
easat-6650	61	34	[	[	X
easat-6650	61	35	24	24	NUM
easat-6650	61	36	]	]	PUNCT
easat-6650	61	37	.	.	PUNCT
easat-6650	62	1	recognizing	recognize	VERB
easat-6650	62	2	the	the	DET
easat-6650	62	3	computational	computational	ADJ
easat-6650	62	4	complexity	complexity	NOUN
easat-6650	62	5	of	of	ADP
easat-6650	62	6	directly	directly	ADV
easat-6650	62	7	solving	solve	VERB
easat-6650	62	8	this	this	DET
easat-6650	62	9	minlp	minlp	ADJ
easat-6650	62	10	formulation	formulation	NOUN
easat-6650	62	11	,	,	PUNCT
easat-6650	62	12	we	we	PRON
easat-6650	62	13	decompose	decompose	VERB
easat-6650	62	14	the	the	DET
easat-6650	62	15	problem	problem	NOUN
easat-6650	62	16	into	into	ADP
easat-6650	62	17	three	three	NUM
easat-6650	62	18	manageable	manageable	ADJ
easat-6650	62	19	sub	sub	NOUN
easat-6650	62	20	-	-	NOUN
easat-6650	62	21	problems	problem	NOUN
easat-6650	62	22	:	:	PUNCT
easat-6650	62	23	the	the	DET
easat-6650	62	24	path	path	NOUN
easat-6650	62	25	planning	planning	NOUN
easat-6650	62	26	problem	problem	NOUN
easat-6650	62	27	(	(	PUNCT
easat-6650	62	28	ppp	ppp	NOUN
easat-6650	62	29	)	)	PUNCT
easat-6650	62	30	,	,	PUNCT
easat-6650	62	31	which	which	PRON
easat-6650	62	32	determines	determine	VERB
easat-6650	62	33	optimal	optimal	ADJ
easat-6650	62	34	inspection	inspection	NOUN
easat-6650	62	35	trajectories	trajectory	NOUN
easat-6650	62	36	for	for	ADP
easat-6650	62	37	specific	specific	ADJ
easat-6650	62	38	structural	structural	ADJ
easat-6650	62	39	elements	element	NOUN
easat-6650	62	40	;	;	PUNCT
easat-6650	62	41	the	the	DET
easat-6650	62	42	task	task	PROPN
easat-6650	62	43	allocation	allocation	NOUN
easat-6650	62	44	problem	problem	NOUN
easat-6650	62	45	(	(	PUNCT
easat-6650	62	46	tap	tap	NOUN
easat-6650	62	47	)	)	PUNCT
easat-6650	62	48	,	,	PUNCT
easat-6650	62	49	which	which	PRON
easat-6650	62	50	assigns	assign	VERB
easat-6650	62	51	inspection	inspection	NOUN
easat-6650	62	52	responsibilities	responsibility	NOUN
easat-6650	62	53	to	to	ADP
easat-6650	62	54	specific	specific	ADJ
easat-6650	62	55	vehicles	vehicle	NOUN
easat-6650	62	56	based	base	VERB
easat-6650	62	57	on	on	ADP
easat-6650	62	58	capability	capability	NOUN
easat-6650	62	59	matching	matching	NOUN
easat-6650	62	60	and	and	CCONJ
easat-6650	62	61	spatial	spatial	ADJ
easat-6650	62	62	distribution	distribution	NOUN
easat-6650	62	63	;	;	PUNCT
easat-6650	62	64	and	and	CCONJ
easat-6650	62	65	the	the	DET
easat-6650	62	66	scheduling	scheduling	NOUN
easat-6650	62	67	problem	problem	NOUN
easat-6650	62	68	(	(	PUNCT
easat-6650	62	69	sp	sp	NOUN
easat-6650	62	70	)	)	PUNCT
easat-6650	62	71	,	,	PUNCT
easat-6650	62	72	which	which	PRON
easat-6650	62	73	establishes	establish	VERB
easat-6650	62	74	optimal	optimal	ADJ
easat-6650	62	75	execution	execution	NOUN
easat-6650	62	76	sequences	sequence	NOUN
easat-6650	62	77	to	to	PART
easat-6650	62	78	maximize	maximize	VERB
easat-6650	62	79	parallel	parallel	ADJ
easat-6650	62	80	operations	operation	NOUN
easat-6650	62	81	while	while	SCONJ
easat-6650	62	82	preventing	prevent	VERB
easat-6650	62	83	conflicts	conflict	NOUN
easat-6650	62	84	.	.	PUNCT
easat-6650	63	1	for	for	ADP
easat-6650	63	2	each	each	DET
easat-6650	63	3	sub	sub	NOUN
easat-6650	63	4	-	-	NOUN
easat-6650	63	5	problem	problem	NOUN
easat-6650	63	6	,	,	PUNCT
easat-6650	63	7	we	we	PRON
easat-6650	63	8	derive	derive	VERB
easat-6650	63	9	targeted	target	VERB
easat-6650	63	10	solution	solution	NOUN
easat-6650	63	11	approaches	approach	NOUN
easat-6650	63	12	and	and	CCONJ
easat-6650	63	13	subsequently	subsequently	ADV
easat-6650	63	14	integrate	integrate	VERB
easat-6650	63	15	these	these	DET
easat-6650	63	16	components	component	NOUN
easat-6650	63	17	through	through	ADP
easat-6650	63	18	an	an	DET
easat-6650	63	19	iterative	iterative	ADJ
easat-6650	63	20	heuristic	heuristic	ADJ
easat-6650	63	21	algorithm	algorithm	NOUN
easat-6650	63	22	that	that	PRON
easat-6650	63	23	delivers	deliver	VERB
easat-6650	63	24	high	high	ADJ
easat-6650	63	25	-	-	PUNCT
easat-6650	63	26	quality	quality	NOUN
easat-6650	63	27	solutions	solution	NOUN
easat-6650	63	28	with	with	ADP
easat-6650	63	29	practical	practical	ADJ
easat-6650	63	30	computational	computational	ADJ
easat-6650	63	31	requirements	requirement	NOUN
easat-6650	63	32	.	.	PUNCT
easat-6650	64	1	through	through	ADP
easat-6650	64	2	extensive	extensive	ADJ
easat-6650	64	3	simulation	simulation	NOUN
easat-6650	64	4	testing	testing	NOUN
easat-6650	64	5	and	and	CCONJ
easat-6650	64	6	comparative	comparative	ADJ
easat-6650	64	7	analysis	analysis	NOUN
easat-6650	64	8	,	,	PUNCT
easat-6650	64	9	we	we	PRON
easat-6650	64	10	demonstrate	demonstrate	VERB
easat-6650	64	11	that	that	SCONJ
easat-6650	64	12	our	our	PRON
easat-6650	64	13	proposed	propose	VERB
easat-6650	64	14	approach	approach	NOUN
easat-6650	64	15	achieves	achieve	VERB
easat-6650	64	16	significant	significant	ADJ
easat-6650	64	17	performance	performance	NOUN
easat-6650	64	18	improvements	improvement	NOUN
easat-6650	64	19	compared	compare	VERB
easat-6650	64	20	to	to	ADP
easat-6650	64	21	existing	exist	VERB
easat-6650	64	22	methodologies	methodology	NOUN
easat-6650	64	23	across	across	ADP
easat-6650	64	24	multiple	multiple	ADJ
easat-6650	64	25	evaluation	evaluation	NOUN
easat-6650	64	26	metrics	metric	NOUN
easat-6650	64	27	,	,	PUNCT
easat-6650	64	28	including	include	VERB
easat-6650	64	29	inspection	inspection	NOUN
easat-6650	64	30	time	time	NOUN
easat-6650	64	31	reduction	reduction	NOUN
easat-6650	64	32	,	,	PUNCT
easat-6650	64	33	coverage	coverage	NOUN
easat-6650	64	34	completeness	completeness	NOUN
easat-6650	64	35	,	,	PUNCT
easat-6650	64	36	energy	energy	NOUN
easat-6650	64	37	efficiency	efficiency	NOUN
easat-6650	64	38	,	,	PUNCT
easat-6650	64	39	and	and	CCONJ
easat-6650	64	40	computational	computational	ADJ
easat-6650	64	41	scalability	scalability	NOUN
easat-6650	64	42	[	[	X
easat-6650	64	43	25	25	NUM
easat-6650	64	44	]	]	PUNCT
easat-6650	64	45	.	.	PUNCT
easat-6650	65	1	the	the	DET
easat-6650	65	2	research	research	NOUN
easat-6650	65	3	provides	provide	VERB
easat-6650	65	4	both	both	DET
easat-6650	65	5	theoretical	theoretical	ADJ
easat-6650	65	6	contributions	contribution	NOUN
easat-6650	65	7	to	to	ADP
easat-6650	65	8	the	the	DET
easat-6650	65	9	uav	uav	PROPN
easat-6650	65	10	swarm	swarm	NOUN
easat-6650	65	11	optimization	optimization	NOUN
easat-6650	65	12	domain	domain	NOUN
easat-6650	65	13	and	and	CCONJ
easat-6650	65	14	practical	practical	ADJ
easat-6650	65	15	insights	insight	NOUN
easat-6650	65	16	applicable	applicable	ADJ
easat-6650	65	17	to	to	ADP
easat-6650	65	18	real	real	ADJ
easat-6650	65	19	-	-	PUNCT
easat-6650	65	20	world	world	NOUN
easat-6650	65	21	urban	urban	ADJ
easat-6650	65	22	infrastructure	infrastructure	NOUN
easat-6650	65	23	inspection	inspection	NOUN
easat-6650	65	24	programs	program	NOUN
easat-6650	65	25	,	,	PUNCT
easat-6650	65	26	with	with	ADP
easat-6650	65	27	potential	potential	ADJ
easat-6650	65	28	extensions	extension	NOUN
easat-6650	65	29	to	to	ADP
easat-6650	65	30	other	other	ADJ
easat-6650	65	31	multi	multi	ADJ
easat-6650	65	32	-	-	ADJ
easat-6650	65	33	uav	uav	ADJ
easat-6650	65	34	coordination	coordination	NOUN
easat-6650	65	35	challenges	challenge	NOUN
easat-6650	65	36	in	in	ADP
easat-6650	65	37	smart	smart	ADJ
easat-6650	65	38	city	city	NOUN
easat-6650	65	39	applications	application	NOUN
easat-6650	65	40	[	[	X
easat-6650	65	41	26	26	NUM
easat-6650	65	42	]	]	PUNCT
easat-6650	65	43	.	.	PUNCT
easat-6650	66	1	2	2	X
easat-6650	66	2	.	.	X
easat-6650	66	3	system	system	NOUN
easat-6650	66	4	model	model	NOUN
easat-6650	66	5	and	and	CCONJ
easat-6650	66	6	assumptions	assumption	NOUN
easat-6650	66	7	we	we	PRON
easat-6650	66	8	consider	consider	VERB
easat-6650	66	9	an	an	DET
easat-6650	66	10	urban	urban	ADJ
easat-6650	66	11	infrastructure	infrastructure	NOUN
easat-6650	66	12	inspection	inspection	NOUN
easat-6650	66	13	system	system	NOUN
easat-6650	66	14	consisting	consist	VERB
easat-6650	66	15	of	of	ADP
easat-6650	66	16	a	a	DET
easat-6650	66	17	set	set	NOUN
easat-6650	66	18	of	of	ADP
easat-6650	66	19	unmanned	unmanned	ADJ
easat-6650	66	20	aerial	aerial	ADJ
easat-6650	66	21	vehicles	vehicle	NOUN
easat-6650	66	22	(	(	PUNCT
easat-6650	66	23	uavs	uavs	NOUN
easat-6650	66	24	)	)	PUNCT
easat-6650	67	1	𝒰	𝒰	PROPN
easat-6650	67	2	=	=	SYM
easat-6650	67	3	{	{	PUNCT
easat-6650	67	4	𝑢1	𝑢1	PROPN
easat-6650	67	5	,	,	PUNCT
easat-6650	67	6	𝑢2	𝑢2	PROPN
easat-6650	67	7	,	,	PUNCT
easat-6650	67	8	…	…	PUNCT
easat-6650	67	9	,	,	PUNCT
easat-6650	67	10	𝑢𝑁	𝑢𝑁	NOUN
easat-6650	67	11	}	}	PUNCT
easat-6650	67	12	and	and	CCONJ
easat-6650	67	13	a	a	DET
easat-6650	67	14	set	set	NOUN
easat-6650	67	15	of	of	ADP
easat-6650	67	16	inspection	inspection	NOUN
easat-6650	67	17	zones	zone	NOUN
easat-6650	67	18	𝒵	𝒵	NOUN
easat-6650	67	19	=	=	SYM
easat-6650	67	20	{	{	PUNCT
easat-6650	67	21	𝑧1	𝑧1	PROPN
easat-6650	67	22	,	,	PUNCT
easat-6650	67	23	𝑧2	𝑧2	PROPN
easat-6650	67	24	,	,	PUNCT
easat-6650	67	25	…	…	PUNCT
easat-6650	67	26	,	,	PUNCT
easat-6650	67	27	𝑧𝐾	𝑧𝐾	PROPN
easat-6650	67	28	)	)	PUNCT
easat-6650	67	29	representing	represent	VERB
easat-6650	67	30	different	different	ADJ
easat-6650	67	31	structural	structural	ADJ
easat-6650	67	32	elements	element	NOUN
easat-6650	67	33	.	.	PUNCT
easat-6650	68	1	each	each	DET
easat-6650	68	2	uav	uav	PROPN
easat-6650	68	3	𝑢𝑖	𝑢𝑖	ADP
easat-6650	68	4	∈	∈	PROPN
easat-6650	68	5	𝒰	𝒰	PROPN
easat-6650	68	6	is	be	AUX
easat-6650	68	7	characterized	characterize	VERB
easat-6650	68	8	by	by	ADP
easat-6650	68	9	a	a	DET
easat-6650	68	10	tuple	tuple	NOUN
easat-6650	68	11	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	68	12	=	=	PUNCT
easat-6650	68	13	(	(	PUNCT
easat-6650	68	14	𝐵𝑖	𝐵𝑖	PROPN
easat-6650	68	15	,	,	PUNCT
easat-6650	68	16	𝑆𝑖	𝑆𝑖	PROPN
easat-6650	68	17	,	,	PUNCT
easat-6650	68	18	𝑉𝑖	𝑉𝑖	PROPN
easat-6650	68	19	,	,	PUNCT
easat-6650	68	20	𝑃𝑖	𝑃𝑖	PROPN
easat-6650	68	21	)	)	PUNCT
easat-6650	68	22	where	where	SCONJ
easat-6650	68	23	𝐵𝑖	𝐵𝑖	PROPN
easat-6650	68	24	represents	represent	VERB
easat-6650	68	25	the	the	DET
easat-6650	68	26	initial	initial	ADJ
easat-6650	68	27	battery	battery	NOUN
easat-6650	68	28	capacity	capacity	NOUN
easat-6650	68	29	(	(	PUNCT
easat-6650	68	30	in	in	ADP
easat-6650	68	31	percentage	percentage	NOUN
easat-6650	68	32	)	)	PUNCT
easat-6650	68	33	,	,	PUNCT
easat-6650	68	34	𝑆𝑖	𝑆𝑖	PROPN
easat-6650	68	35	denotes	denote	VERB
easat-6650	68	36	the	the	DET
easat-6650	68	37	set	set	NOUN
easat-6650	68	38	of	of	ADP
easat-6650	68	39	equipped	equipped	ADJ
easat-6650	68	40	sensors	sensor	NOUN
easat-6650	68	41	,	,	PUNCT
easat-6650	68	42	𝑉𝑖	𝑉𝑖	PROPN
easat-6650	68	43	is	be	AUX
easat-6650	68	44	the	the	DET
easat-6650	68	45	maximum	maximum	ADJ
easat-6650	68	46	velocity	velocity	NOUN
easat-6650	68	47	,	,	PUNCT
easat-6650	68	48	and	and	CCONJ
easat-6650	68	49	𝑃𝑖	𝑃𝑖	SCONJ
easat-6650	68	50	is	be	AUX
easat-6650	68	51	the	the	DET
easat-6650	68	52	power	power	NOUN
easat-6650	68	53	consumption	consumption	NOUN
easat-6650	68	54	rate	rate	NOUN
easat-6650	68	55	during	during	ADP
easat-6650	68	56	flight	flight	NOUN
easat-6650	68	57	operations	operation	NOUN
easat-6650	68	58	.	.	PUNCT
easat-6650	69	1	each	each	DET
easat-6650	69	2	inspection	inspection	NOUN
easat-6650	69	3	zone	zone	NOUN
easat-6650	69	4	𝑧𝑘	𝑧𝑘	ADP
easat-6650	69	5	∈	∈	PROPN
easat-6650	69	6	𝒵	𝒵	PROPN
easat-6650	69	7	is	be	AUX
easat-6650	69	8	defined	define	VERB
easat-6650	69	9	by	by	ADP
easat-6650	69	10	𝑧𝑘	𝑧𝑘	X
easat-6650	69	11	=	=	SYM
easat-6650	69	12	(	(	PUNCT
easat-6650	69	13	𝐿𝑘	𝐿𝑘	PROPN
easat-6650	69	14	,	,	PUNCT
easat-6650	69	15	𝐴𝑘	𝐴𝑘	PROPN
easat-6650	69	16	,	,	PUNCT
easat-6650	69	17	𝑇𝑘	𝑇𝑘	PROPN
easat-6650	69	18	,	,	PUNCT
easat-6650	69	19	𝐷𝑘	𝐷𝑘	PROPN
easat-6650	69	20	,	,	PUNCT
easat-6650	69	21	𝐼𝑘	𝐼𝑘	PROPN
easat-6650	69	22	)	)	PUNCT
easat-6650	69	23	where	where	SCONJ
easat-6650	69	24	𝐿𝑘	𝐿𝑘	PROPN
easat-6650	69	25	∈	∈	PROPN
easat-6650	69	26	ℝ3	ℝ3	PROPN
easat-6650	69	27	represents	represent	VERB
easat-6650	69	28	the	the	DET
easat-6650	69	29	location	location	NOUN
easat-6650	69	30	in	in	ADP
easat-6650	69	31	3d	3d	PROPN
easat-6650	69	32	space	space	NOUN
easat-6650	69	33	,	,	PUNCT
easat-6650	69	34	𝐴𝑘	𝐴𝑘	PROPN
easat-6650	69	35	denotes	denote	VERB
easat-6650	69	36	the	the	DET
easat-6650	69	37	surface	surface	NOUN
easat-6650	69	38	area	area	NOUN
easat-6650	69	39	requiring	require	VERB
easat-6650	69	40	inspection	inspection	NOUN
easat-6650	69	41	,	,	PUNCT
easat-6650	69	42	𝑇𝑘	𝑇𝑘	PROPN
easat-6650	69	43	∈	∈	PROPN
easat-6650	69	44	{	{	PUNCT
easat-6650	69	45	𝐷𝐸𝐶𝐾	𝐷𝐸𝐶𝐾	PROPN
easat-6650	69	46	,	,	PUNCT
easat-6650	69	47	𝐹𝐴𝐶𝐴𝐷𝐸	𝐹𝐴𝐶𝐴𝐷𝐸	PROPN
easat-6650	69	48	,	,	PUNCT
easat-6650	69	49	𝐶𝑂𝐿𝑈𝑀𝑁	𝐶𝑂𝐿𝑈𝑀𝑁	PROPN
easat-6650	69	50	,	,	PUNCT
easat-6650	69	51	𝐶𝐴𝐵𝐿𝐸	𝐶𝐴𝐵𝐿𝐸	PROPN
easat-6650	69	52	}	}	PUNCT
easat-6650	69	53	indicates	indicate	VERB
easat-6650	69	54	the	the	DET
easat-6650	69	55	structural	structural	ADJ
easat-6650	69	56	type	type	NOUN
easat-6650	69	57	,	,	PUNCT
easat-6650	69	58	𝐷𝑘	𝐷𝑘	PROPN
easat-6650	69	59	specifies	specify	VERB
easat-6650	69	60	the	the	DET
easat-6650	69	61	required	require	VERB
easat-6650	69	62	inspection	inspection	NOUN
easat-6650	69	63	coverage	coverage	NOUN
easat-6650	69	64	density	density	NOUN
easat-6650	69	65	,	,	PUNCT
easat-6650	69	66	and	and	CCONJ
easat-6650	69	67	𝐼𝑘	𝐼𝑘	PROPN
easat-6650	69	68	∈	∈	PROPN
easat-6650	70	1	[	[	X
easat-6650	70	2	0,1	0,1	NUM
easat-6650	70	3	]	]	PUNCT
easat-6650	70	4	represents	represent	VERB
easat-6650	70	5	the	the	DET
easat-6650	70	6	importance	importance	NOUN
easat-6650	70	7	factor	factor	NOUN
easat-6650	70	8	of	of	ADP
easat-6650	70	9	the	the	DET
easat-6650	70	10	zone	zone	NOUN
easat-6650	70	11	.	.	PUNCT
easat-6650	71	1	we	we	PRON
easat-6650	71	2	model	model	VERB
easat-6650	71	3	uav	uav	PROPN
easat-6650	71	4	energy	energy	NOUN
easat-6650	71	5	consumption	consumption	NOUN
easat-6650	71	6	using	use	VERB
easat-6650	71	7	a	a	DET
easat-6650	71	8	non	non	ADJ
easat-6650	71	9	-	-	ADJ
easat-6650	71	10	linear	linear	ADJ
easat-6650	71	11	function	function	NOUN
easat-6650	71	12	that	that	PRON
easat-6650	71	13	accounts	account	VERB
easat-6650	71	14	for	for	ADP
easat-6650	71	15	different	different	ADJ
easat-6650	71	16	flight	flight	NOUN
easat-6650	71	17	patterns	pattern	NOUN
easat-6650	71	18	and	and	CCONJ
easat-6650	71	19	maneuvers	maneuver	NOUN
easat-6650	71	20	:	:	PUNCT
easat-6650	71	21	2754	2754	NUM
easat-6650	71	22	edelweiss	edelweiss	PROPN
easat-6650	71	23	applied	apply	VERB
easat-6650	71	24	science	science	NOUN
easat-6650	71	25	and	and	CCONJ
easat-6650	71	26	technology	technology	NOUN
easat-6650	71	27	issn	issn	PROPN
easat-6650	71	28	:	:	PUNCT
easat-6650	71	29	2576	2576	NUM
easat-6650	71	30	-	-	SYM
easat-6650	71	31	8484	8484	NUM
easat-6650	71	32	vol	vol	NOUN
easat-6650	71	33	.	.	PROPN
easat-6650	72	1	9	9	NUM
easat-6650	72	2	,	,	PUNCT
easat-6650	72	3	no	no	INTJ
easat-6650	72	4	.	.	NOUN
easat-6650	72	5	4	4	NUM
easat-6650	72	6	:	:	SYM
easat-6650	72	7	2751	2751	NUM
easat-6650	72	8	-	-	SYM
easat-6650	72	9	2767	2767	NUM
easat-6650	72	10	,	,	PUNCT
easat-6650	72	11	2025	2025	NUM
easat-6650	72	12	doi	doi	NOUN
easat-6650	72	13	:	:	PUNCT
easat-6650	72	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	72	15	©	©	ADP
easat-6650	72	16	2025	2025	NUM
easat-6650	72	17	by	by	ADP
easat-6650	72	18	the	the	DET
easat-6650	72	19	author	author	NOUN
easat-6650	72	20	;	;	PUNCT
easat-6650	72	21	licensee	licensee	PROPN
easat-6650	72	22	learning	learning	PROPN
easat-6650	72	23	gate	gate	PROPN
easat-6650	72	24	𝐸𝑖(𝑣	𝐸𝑖(𝑣	PROPN
easat-6650	72	25	,	,	PUNCT
easat-6650	72	26	𝑎	𝑎	PROPN
easat-6650	72	27	,	,	PUNCT
easat-6650	72	28	𝑡	𝑡	NOUN
easat-6650	72	29	)	)	PUNCT
easat-6650	72	30	=	=	NOUN
easat-6650	72	31	𝑃0	𝑃0	NOUN
easat-6650	72	32	(	(	PUNCT
easat-6650	72	33	1	1	NUM
easat-6650	72	34	+	+	NUM
easat-6650	72	35	3𝑣2	3𝑣2	NUM
easat-6650	72	36	𝑈𝑡𝑖𝑝	𝑈𝑡𝑖𝑝	PROPN
easat-6650	72	37	2	2	NUM
easat-6650	72	38	)	)	PUNCT
easat-6650	72	39	+	+	CCONJ
easat-6650	73	1	𝑃𝑖	𝑃𝑖	ADP
easat-6650	73	2	(	(	PUNCT
easat-6650	73	3	√1	√1	PROPN
easat-6650	73	4	+	+	NUM
easat-6650	73	5	𝑣4	𝑣4	NOUN
easat-6650	73	6	4𝑣0	4𝑣0	NOUN
easat-6650	73	7	4	4	NUM
easat-6650	73	8	−	−	NOUN
easat-6650	73	9	𝑣2	𝑣2	X
easat-6650	73	10	2𝑣0	2𝑣0	NUM
easat-6650	73	11	2	2	NUM
easat-6650	73	12	)	)	PUNCT
easat-6650	73	13	1	1	NUM
easat-6650	73	14	2	2	NUM
easat-6650	73	15	+	+	CCONJ
easat-6650	73	16	1	1	NUM
easat-6650	73	17	2	2	NUM
easat-6650	73	18	𝑑0𝜌𝑠𝐴𝑣3	𝑑0𝜌𝑠𝐴𝑣3	NUM
easat-6650	73	19	+	+	CCONJ
easat-6650	73	20	𝑚|𝑎|𝑣	𝑚|𝑎|𝑣	PROPN
easat-6650	73	21	where	where	SCONJ
easat-6650	73	22	𝑃0	𝑃0	NOUN
easat-6650	73	23	and	and	CCONJ
easat-6650	73	24	𝑃𝑖	𝑃𝑖	PROPN
easat-6650	73	25	are	be	AUX
easat-6650	73	26	the	the	DET
easat-6650	73	27	base	base	NOUN
easat-6650	73	28	and	and	CCONJ
easat-6650	73	29	induced	induced	ADJ
easat-6650	73	30	power	power	NOUN
easat-6650	73	31	,	,	PUNCT
easat-6650	73	32	𝑈tip	𝑈tip	PROPN
easat-6650	73	33	is	be	AUX
easat-6650	73	34	the	the	DET
easat-6650	73	35	tip	tip	NOUN
easat-6650	73	36	speed	speed	NOUN
easat-6650	73	37	of	of	ADP
easat-6650	73	38	the	the	DET
easat-6650	73	39	rotor	rotor	NOUN
easat-6650	73	40	blade	blade	NOUN
easat-6650	73	41	,	,	PUNCT
easat-6650	73	42	𝑣0	𝑣0	PROPN
easat-6650	73	43	is	be	AUX
easat-6650	73	44	the	the	DET
easat-6650	73	45	mean	mean	ADJ
easat-6650	73	46	rotor	rotor	NOUN
easat-6650	73	47	induced	induce	VERB
easat-6650	73	48	velocity	velocity	NOUN
easat-6650	73	49	,	,	PUNCT
easat-6650	73	50	𝑑0	𝑑0	NOUN
easat-6650	73	51	is	be	AUX
easat-6650	73	52	the	the	DET
easat-6650	73	53	fuselage	fuselage	NOUN
easat-6650	73	54	drag	drag	NOUN
easat-6650	73	55	ratio	ratio	NOUN
easat-6650	73	56	,	,	PUNCT
easat-6650	73	57	ρ	ρ	PROPN
easat-6650	73	58	is	be	AUX
easat-6650	73	59	air	air	NOUN
easat-6650	73	60	density	density	NOUN
easat-6650	73	61	,	,	PUNCT
easat-6650	73	62	s	s	VERB
easat-6650	73	63	is	be	AUX
easat-6650	73	64	the	the	DET
easat-6650	73	65	rotor	rotor	NOUN
easat-6650	73	66	solidity	solidity	NOUN
easat-6650	73	67	,	,	PUNCT
easat-6650	73	68	a	a	PRON
easat-6650	73	69	is	be	AUX
easat-6650	73	70	the	the	DET
easat-6650	73	71	rotor	rotor	NOUN
easat-6650	73	72	disc	disc	NOUN
easat-6650	73	73	area	area	NOUN
easat-6650	73	74	,	,	PUNCT
easat-6650	73	75	m	m	VERB
easat-6650	73	76	is	be	AUX
easat-6650	73	77	the	the	DET
easat-6650	73	78	uav	uav	PROPN
easat-6650	73	79	mass	mass	PROPN
easat-6650	73	80	,	,	PUNCT
easat-6650	73	81	v	v	PROPN
easat-6650	73	82	is	be	AUX
easat-6650	73	83	velocity	velocity	NOUN
easat-6650	73	84	,	,	PUNCT
easat-6650	73	85	and	and	CCONJ
easat-6650	73	86	a	a	PRON
easat-6650	73	87	is	be	AUX
easat-6650	73	88	acceleration	acceleration	NOUN
easat-6650	73	89	.	.	PUNCT
easat-6650	74	1	for	for	ADP
easat-6650	74	2	inspection	inspection	NOUN
easat-6650	74	3	tasks	task	NOUN
easat-6650	74	4	,	,	PUNCT
easat-6650	74	5	we	we	PRON
easat-6650	74	6	define	define	VERB
easat-6650	74	7	the	the	DET
easat-6650	74	8	coverage	coverage	NOUN
easat-6650	74	9	rate	rate	NOUN
easat-6650	74	10	𝜒𝑖,𝑘	𝜒𝑖,𝑘	PUNCT
easat-6650	74	11	for	for	ADP
easat-6650	74	12	uav	uav	PROPN
easat-6650	74	13	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	74	14	inspecting	inspect	VERB
easat-6650	74	15	zone	zone	NOUN
easat-6650	74	16	𝑧𝑘	𝑧𝑘	PRON
easat-6650	74	17	as	as	ADP
easat-6650	74	18	:	:	PUNCT
easat-6650	74	19	𝜒𝑖,𝑘	𝜒𝑖,𝑘	PUNCT
easat-6650	74	20	=	=	PUNCT
easat-6650	74	21	𝑊𝑖	𝑊𝑖	PROPN
easat-6650	74	22	⋅	⋅	PROPN
easat-6650	74	23	𝑣𝑖,𝑘	𝑣𝑖,𝑘	X
easat-6650	74	24	⋅	⋅	X
easat-6650	74	25	(	(	PUNCT
easat-6650	74	26	1	1	NUM
easat-6650	74	27	−	−	PROPN
easat-6650	74	28	𝑜	𝑜	NOUN
easat-6650	74	29	)	)	PUNCT
easat-6650	74	30	ℎ𝑖,𝑘	ℎ𝑖,𝑘	NOUN
easat-6650	74	31	where	where	SCONJ
easat-6650	74	32	𝑊𝑖	𝑊𝑖	PROPN
easat-6650	74	33	is	be	AUX
easat-6650	74	34	the	the	DET
easat-6650	74	35	sensor	sensor	NOUN
easat-6650	74	36	width	width	NOUN
easat-6650	74	37	,	,	PUNCT
easat-6650	74	38	𝑣𝑖,𝑘	𝑣𝑖,𝑘	X
easat-6650	74	39	is	be	AUX
easat-6650	74	40	the	the	DET
easat-6650	74	41	inspection	inspection	NOUN
easat-6650	74	42	velocity	velocity	NOUN
easat-6650	74	43	,	,	PUNCT
easat-6650	74	44	𝑜	𝑜	NOUN
easat-6650	74	45	is	be	AUX
easat-6650	74	46	the	the	DET
easat-6650	74	47	required	require	VERB
easat-6650	74	48	overlap	overlap	NOUN
easat-6650	74	49	between	between	ADP
easat-6650	74	50	consecutive	consecutive	ADJ
easat-6650	74	51	sensor	sensor	NOUN
easat-6650	74	52	captures	capture	NOUN
easat-6650	74	53	(	(	PUNCT
easat-6650	74	54	typically	typically	ADV
easat-6650	74	55	60	60	NUM
easat-6650	74	56	-	-	SYM
easat-6650	74	57	70	70	NUM
easat-6650	74	58	%	%	NOUN
easat-6650	74	59	)	)	PUNCT
easat-6650	74	60	,	,	PUNCT
easat-6650	74	61	and	and	CCONJ
easat-6650	74	62	ℎ𝑖,𝑘	ℎ𝑖,𝑘	PUNCT
easat-6650	74	63	is	be	AUX
easat-6650	74	64	the	the	DET
easat-6650	74	65	inspection	inspection	NOUN
easat-6650	74	66	height	height	NOUN
easat-6650	74	67	.	.	PUNCT
easat-6650	75	1	the	the	DET
easat-6650	75	2	inspection	inspection	NOUN
easat-6650	75	3	time	time	NOUN
easat-6650	75	4	𝜏𝑖,𝑘	𝜏𝑖,𝑘	PUNCT
easat-6650	75	5	required	require	VERB
easat-6650	75	6	for	for	ADP
easat-6650	75	7	uav	uav	PROPN
easat-6650	75	8	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	75	9	to	to	PART
easat-6650	75	10	complete	complete	VERB
easat-6650	75	11	zone	zone	NOUN
easat-6650	75	12	𝑧𝑘	𝑧𝑘	PRON
easat-6650	75	13	is	be	AUX
easat-6650	75	14	:	:	PUNCT
easat-6650	75	15	𝜏𝑖,𝑘	𝜏𝑖,𝑘	PUNCT
easat-6650	75	16	=	=	SYM
easat-6650	76	1	𝐴𝑘	𝐴𝑘	PRON
easat-6650	76	2	⋅	⋅	PROPN
easat-6650	76	3	𝐷𝑘	𝐷𝑘	PROPN
easat-6650	76	4	𝜒𝑖,𝑘	𝜒𝑖,𝑘	PUNCT
easat-6650	76	5	we	we	PRON
easat-6650	76	6	define	define	VERB
easat-6650	76	7	a	a	DET
easat-6650	76	8	binary	binary	ADJ
easat-6650	76	9	decision	decision	NOUN
easat-6650	76	10	variable	variable	NOUN
easat-6650	76	11	𝑥𝑖,𝑘	𝑥𝑖,𝑘	PUNCT
easat-6650	76	12	indicating	indicate	VERB
easat-6650	76	13	whether	whether	SCONJ
easat-6650	76	14	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	76	15	is	be	AUX
easat-6650	76	16	assigned	assign	VERB
easat-6650	76	17	to	to	PART
easat-6650	76	18	inspect	inspect	VERB
easat-6650	76	19	zone	zone	NOUN
easat-6650	76	20	𝑧𝑘.	𝑧𝑘.	VERB
easat-6650	76	21	additionally	additionally	ADV
easat-6650	76	22	,	,	PUNCT
easat-6650	76	23	we	we	PRON
easat-6650	76	24	use	use	VERB
easat-6650	76	25	binary	binary	ADJ
easat-6650	76	26	variables	variable	NOUN
easat-6650	76	27	𝑦𝑖,𝑗,𝑘,𝑙	𝑦𝑖,𝑗,𝑘,𝑙	PROPN
easat-6650	76	28	∈	∈	PROPN
easat-6650	76	29	{	{	PUNCT
easat-6650	76	30	0,1	0,1	NOUN
easat-6650	76	31	}	}	PUNCT
easat-6650	76	32	to	to	PART
easat-6650	76	33	represent	represent	VERB
easat-6650	76	34	precedence	precedence	NOUN
easat-6650	76	35	relationships	relationship	NOUN
easat-6650	76	36	,	,	PUNCT
easat-6650	76	37	where	where	SCONJ
easat-6650	76	38	𝑦𝑖,𝑗,𝑘,𝑙	𝑦𝑖,𝑗,𝑘,𝑙	PROPN
easat-6650	76	39	=	=	SYM
easat-6650	76	40	1	1	NUM
easat-6650	76	41	means	mean	VERB
easat-6650	76	42	uav	uav	PROPN
easat-6650	76	43	𝑢𝑖	𝑢𝑖	ADP
easat-6650	76	44	inspecting	inspect	VERB
easat-6650	76	45	zone	zone	NOUN
easat-6650	76	46	𝑧𝑘	𝑧𝑘	PRON
easat-6650	76	47	precedes	precede	VERB
easat-6650	76	48	uav	uav	PROPN
easat-6650	76	49	𝑢𝑗	𝑢𝑗	PROPN
easat-6650	76	50	inspecting	inspect	VERB
easat-6650	76	51	zone	zone	PROPN
easat-6650	76	52	𝑧𝑙	𝑧𝑙	PROPN
easat-6650	76	53	.	.	PUNCT
easat-6650	77	1	the	the	DET
easat-6650	77	2	travel	travel	NOUN
easat-6650	77	3	time	time	NOUN
easat-6650	77	4	between	between	ADP
easat-6650	77	5	zones	zone	NOUN
easat-6650	77	6	is	be	AUX
easat-6650	77	7	calculated	calculate	VERB
easat-6650	77	8	as	as	ADP
easat-6650	77	9	:	:	PUNCT
easat-6650	77	10	𝑡𝑖,𝑘,𝑙	𝑡𝑖,𝑘,𝑙	PROPN
easat-6650	77	11	=	=	PUNCT
easat-6650	77	12	‖𝐿𝑘	‖𝐿𝑘	VERB
easat-6650	77	13	−	−	NOUN
easat-6650	77	14	𝐿𝑙‖	𝐿𝑙‖	PROPN
easat-6650	78	1	𝑉𝑖	𝑉𝑖	PROPN
easat-6650	78	2	for	for	ADP
easat-6650	78	3	structure	structure	NOUN
easat-6650	78	4	-	-	PUNCT
easat-6650	78	5	specific	specific	ADJ
easat-6650	78	6	inspection	inspection	NOUN
easat-6650	78	7	patterns	pattern	NOUN
easat-6650	78	8	,	,	PUNCT
easat-6650	78	9	we	we	PRON
easat-6650	78	10	define	define	VERB
easat-6650	78	11	specialized	specialized	ADJ
easat-6650	78	12	path	path	NOUN
easat-6650	78	13	functions	function	NOUN
easat-6650	78	14	(	(	PUNCT
easat-6650	78	15	𝒫𝑇(𝑧𝑘	𝒫𝑇(𝑧𝑘	NOUN
easat-6650	78	16	)	)	PUNCT
easat-6650	78	17	that	that	PRON
easat-6650	78	18	generate	generate	VERB
easat-6650	78	19	optimized	optimize	VERB
easat-6650	78	20	waypoint	waypoint	NOUN
easat-6650	78	21	sequences	sequence	NOUN
easat-6650	78	22	based	base	VERB
easat-6650	78	23	on	on	ADP
easat-6650	78	24	structural	structural	ADJ
easat-6650	78	25	type	type	NOUN
easat-6650	78	26	𝑇.	𝑇.	PROPN
easat-6650	78	27	these	these	DET
easat-6650	78	28	functions	function	NOUN
easat-6650	78	29	incorporate	incorporate	VERB
easat-6650	78	30	parameters	parameter	NOUN
easat-6650	78	31	such	such	ADJ
easat-6650	78	32	as	as	ADP
easat-6650	78	33	lane	lane	NOUN
easat-6650	78	34	spacing	spacing	NOUN
easat-6650	78	35	,	,	PUNCT
easat-6650	78	36	spiral	spiral	ADJ
easat-6650	78	37	radius	radius	NOUN
easat-6650	78	38	,	,	PUNCT
easat-6650	78	39	or	or	CCONJ
easat-6650	78	40	grid	grid	NOUN
easat-6650	78	41	density	density	NOUN
easat-6650	78	42	based	base	VERB
easat-6650	78	43	on	on	ADP
easat-6650	78	44	the	the	DET
easat-6650	78	45	specific	specific	ADJ
easat-6650	78	46	inspection	inspection	NOUN
easat-6650	78	47	requirements	requirement	NOUN
easat-6650	78	48	.	.	PUNCT
easat-6650	79	1	3	3	X
easat-6650	79	2	.	.	NOUN
easat-6650	79	3	problem	problem	NOUN
easat-6650	79	4	formulation	formulation	NOUN
easat-6650	79	5	building	building	NOUN
easat-6650	79	6	upon	upon	SCONJ
easat-6650	79	7	the	the	DET
easat-6650	79	8	system	system	NOUN
easat-6650	79	9	model	model	NOUN
easat-6650	79	10	and	and	CCONJ
easat-6650	79	11	assumptions	assumption	NOUN
easat-6650	79	12	,	,	PUNCT
easat-6650	79	13	we	we	PRON
easat-6650	79	14	now	now	ADV
easat-6650	79	15	formulate	formulate	VERB
easat-6650	79	16	the	the	DET
easat-6650	79	17	uav	uav	PROPN
easat-6650	79	18	swarm	swarm	NOUN
easat-6650	79	19	scheduling	scheduling	NOUN
easat-6650	79	20	problem	problem	NOUN
easat-6650	79	21	for	for	ADP
easat-6650	79	22	urban	urban	ADJ
easat-6650	79	23	infrastructure	infrastructure	NOUN
easat-6650	79	24	inspection	inspection	NOUN
easat-6650	79	25	as	as	ADP
easat-6650	79	26	a	a	DET
easat-6650	79	27	mixed	mixed	ADJ
easat-6650	79	28	integer	integer	NOUN
easat-6650	79	29	non	non	ADJ
easat-6650	79	30	-	-	ADJ
easat-6650	79	31	linear	linear	ADJ
easat-6650	79	32	programming	programming	NOUN
easat-6650	79	33	(	(	PUNCT
easat-6650	79	34	minlp	minlp	ADJ
easat-6650	79	35	)	)	PUNCT
easat-6650	79	36	problem	problem	NOUN
easat-6650	79	37	.	.	PUNCT
easat-6650	80	1	our	our	PRON
easat-6650	80	2	primary	primary	ADJ
easat-6650	80	3	objective	objective	NOUN
easat-6650	80	4	is	be	AUX
easat-6650	80	5	to	to	PART
easat-6650	80	6	minimize	minimize	VERB
easat-6650	80	7	the	the	DET
easat-6650	80	8	total	total	ADJ
easat-6650	80	9	inspection	inspection	NOUN
easat-6650	80	10	time	time	NOUN
easat-6650	80	11	while	while	SCONJ
easat-6650	80	12	ensuring	ensure	VERB
easat-6650	80	13	comprehensive	comprehensive	ADJ
easat-6650	80	14	coverage	coverage	NOUN
easat-6650	80	15	of	of	ADP
easat-6650	80	16	all	all	DET
easat-6650	80	17	structural	structural	ADJ
easat-6650	80	18	elements	element	NOUN
easat-6650	80	19	and	and	CCONJ
easat-6650	80	20	adhering	adhere	VERB
easat-6650	80	21	to	to	ADP
easat-6650	80	22	energy	energy	NOUN
easat-6650	80	23	constraints	constraint	NOUN
easat-6650	80	24	.	.	PUNCT
easat-6650	81	1	we	we	PRON
easat-6650	81	2	define	define	VERB
easat-6650	81	3	the	the	DET
easat-6650	81	4	following	follow	VERB
easat-6650	81	5	decision	decision	NOUN
easat-6650	81	6	variables	variable	NOUN
easat-6650	81	7	:	:	PUNCT
easat-6650	81	8	a.	a.	NOUN
easat-6650	81	9	𝑥𝑖,𝑘	𝑥𝑖,𝑘	PUNCT
easat-6650	81	10	∈	∈	PROPN
easat-6650	81	11	{	{	PUNCT
easat-6650	81	12	0,1	0,1	NOUN
easat-6650	81	13	}	}	PUNCT
easat-6650	81	14	∶	∶	NOUN
easat-6650	81	15	binary	binary	ADJ
easat-6650	81	16	variable	variable	NOUN
easat-6650	81	17	indicating	indicate	VERB
easat-6650	81	18	if	if	SCONJ
easat-6650	81	19	uav	uav	PROPN
easat-6650	81	20	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	81	21	is	be	AUX
easat-6650	81	22	assigned	assign	VERB
easat-6650	81	23	to	to	PART
easat-6650	81	24	inspect	inspect	VERB
easat-6650	81	25	zone	zone	PROPN
easat-6650	81	26	𝑧𝑘.	𝑧𝑘.	PROPN
easat-6650	81	27	b.	b.	PROPN
easat-6650	81	28	𝑦𝑖,𝑗,𝑘,𝑙	𝑦𝑖,𝑗,𝑘,𝑙	PROPN
easat-6650	81	29	∈	∈	PROPN
easat-6650	81	30	{	{	PUNCT
easat-6650	81	31	0,1	0,1	NOUN
easat-6650	81	32	}	}	PUNCT
easat-6650	81	33	:	:	PUNCT
easat-6650	81	34	binary	binary	ADJ
easat-6650	81	35	variable	variable	NOUN
easat-6650	81	36	representing	represent	VERB
easat-6650	81	37	precedence	precedence	NOUN
easat-6650	81	38	relationships	relationship	NOUN
easat-6650	81	39	.	.	PUNCT
easat-6650	82	1	c.	c.	PROPN
easat-6650	82	2	𝜏𝑖,𝑘	𝜏𝑖,𝑘	PUNCT
easat-6650	82	3	≥	≥	NOUN
easat-6650	82	4	0	0	NUM
easat-6650	82	5	:	:	PUNCT
easat-6650	82	6	continuous	continuous	ADJ
easat-6650	82	7	variable	variable	ADJ
easat-6650	82	8	representing	represent	VERB
easat-6650	82	9	inspection	inspection	NOUN
easat-6650	82	10	time	time	NOUN
easat-6650	82	11	of	of	ADP
easat-6650	82	12	uav	uav	PROPN
easat-6650	82	13	𝑢𝑖	𝑢𝑖	PROPN
easat-6650	82	14	for	for	ADP
easat-6650	82	15	zone	zone	PROPN
easat-6650	82	16	𝑧𝑘.	𝑧𝑘.	PROPN
easat-6650	82	17	d.	d.	PROPN
easat-6650	82	18	𝑡𝑖,𝑘	𝑡𝑖,𝑘	PUNCT
easat-6650	82	19	start	start	VERB
easat-6650	82	20	≥	≥	NOUN
easat-6650	82	21	0	0	NUM
easat-6650	82	22	:	:	PUNCT
easat-6650	82	23	continuous	continuous	ADJ
easat-6650	82	24	variable	variable	NOUN
easat-6650	82	25	indicating	indicate	VERB
easat-6650	82	26	the	the	DET
easat-6650	82	27	start	start	ADJ
easat-6650	82	28	time	time	NOUN
easat-6650	82	29	of	of	ADP
easat-6650	82	30	uav	uav	PROPN
easat-6650	82	31	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	82	32	inspecting	inspect	VERB
easat-6650	82	33	zone	zone	NOUN
easat-6650	82	34	𝑧𝑘.	𝑧𝑘.	NOUN
easat-6650	82	35	the	the	DET
easat-6650	82	36	objective	objective	ADJ
easat-6650	82	37	function	function	NOUN
easat-6650	82	38	aims	aim	VERB
easat-6650	82	39	to	to	PART
easat-6650	82	40	minimize	minimize	VERB
easat-6650	82	41	the	the	DET
easat-6650	82	42	total	total	ADJ
easat-6650	82	43	mission	mission	NOUN
easat-6650	82	44	completion	completion	NOUN
easat-6650	82	45	time	time	NOUN
easat-6650	82	46	.	.	PUNCT
easat-6650	83	1	𝑇total	𝑇total	ADJ
easat-6650	83	2	=	=	PUNCT
easat-6650	83	3	𝑚𝑎𝑥	𝑚𝑎𝑥	ADJ
easat-6650	83	4	𝑖∈{1,	𝑖∈{1,	PROPN
easat-6650	83	5	…	…	SYM
easat-6650	83	6	,𝑁	,𝑁	ADJ
easat-6650	83	7	}	}	PUNCT
easat-6650	83	8	(	(	PUNCT
easat-6650	83	9	𝑇𝑖	𝑇𝑖	ADP
easat-6650	83	10	complete	complete	ADJ
easat-6650	83	11	)	)	PUNCT
easat-6650	83	12	where	where	SCONJ
easat-6650	83	13	𝑇𝑖	𝑇𝑖	PROPN
easat-6650	83	14	complete	complete	ADJ
easat-6650	83	15	represents	represent	VERB
easat-6650	83	16	the	the	DET
easat-6650	83	17	time	time	NOUN
easat-6650	83	18	at	at	ADP
easat-6650	83	19	which	which	PRON
easat-6650	83	20	uav	uav	PROPN
easat-6650	83	21	𝑢𝑖	𝑢𝑖	VERB
easat-6650	83	22	completes	complete	VERB
easat-6650	83	23	its	its	PRON
easat-6650	83	24	last	last	ADJ
easat-6650	83	25	assigned	assign	VERB
easat-6650	83	26	inspection	inspection	NOUN
easat-6650	83	27	task	task	NOUN
easat-6650	83	28	.	.	PUNCT
easat-6650	84	1	energy	energy	NOUN
easat-6650	84	2	constraints	constraint	NOUN
easat-6650	84	3	ensure	ensure	VERB
easat-6650	84	4	that	that	SCONJ
easat-6650	84	5	the	the	DET
easat-6650	84	6	total	total	ADJ
easat-6650	84	7	energy	energy	NOUN
easat-6650	84	8	consumption	consumption	NOUN
easat-6650	84	9	for	for	ADP
easat-6650	84	10	each	each	DET
easat-6650	84	11	uav	uav	PROPN
easat-6650	84	12	does	do	AUX
easat-6650	84	13	not	not	PART
easat-6650	84	14	exceed	exceed	VERB
easat-6650	84	15	its	its	PRON
easat-6650	84	16	available	available	ADJ
easat-6650	84	17	battery	battery	NOUN
easat-6650	84	18	capacity	capacity	NOUN
easat-6650	84	19	:	:	PUNCT
easat-6650	84	20	∑	∑	PUNCT
easat-6650	84	21	𝑥𝑖,𝑘	𝑥𝑖,𝑘	PUNCT
easat-6650	84	22	𝐾	𝐾	PROPN
easat-6650	84	23	𝑘=1	𝑘=1	PROPN
easat-6650	84	24	⋅	⋅	PROPN
easat-6650	84	25	𝐸𝑖(𝒫𝑇𝑘	𝐸𝑖(𝒫𝑇𝑘	NOUN
easat-6650	84	26	(	(	PUNCT
easat-6650	84	27	𝑧𝑘	𝑧𝑘	NOUN
easat-6650	84	28	)	)	PUNCT
easat-6650	84	29	)	)	PUNCT
easat-6650	85	1	+	+	CCONJ
easat-6650	85	2	∑.	∑.	NOUN
easat-6650	85	3	𝐾	𝐾	PROPN
easat-6650	85	4	𝑘=1	𝑘=1	NOUN
easat-6650	85	5	∑	∑	PROPN
easat-6650	85	6	𝑦𝑖,𝑖,𝑘,𝑙	𝑦𝑖,𝑖,𝑘,𝑙	PROPN
easat-6650	85	7	𝐾	𝐾	PROPN
easat-6650	85	8	𝑙=1,𝑙≠𝑘	𝑙=1,𝑙≠𝑘	PROPN
easat-6650	85	9	⋅	⋅	PROPN
easat-6650	85	10	𝐸𝑖(𝑡𝑖,𝑘,𝑙	𝐸𝑖(𝑡𝑖,𝑘,𝑙	NOUN
easat-6650	85	11	)	)	PUNCT
easat-6650	85	12	≤	≤	PUNCT
easat-6650	86	1	𝐵𝑖	𝐵𝑖	PROPN
easat-6650	86	2	⋅	⋅	PROPN
easat-6650	86	3	𝐸𝑖	𝐸𝑖	PROPN
easat-6650	86	4	𝑚𝑎𝑥	𝑚𝑎𝑥	NOUN
easat-6650	86	5	,	,	PUNCT
easat-6650	86	6	∀𝑖	∀𝑖	PROPN
easat-6650	86	7	∈	∈	PROPN
easat-6650	86	8	{	{	PUNCT
easat-6650	86	9	1,2	1,2	NUM
easat-6650	86	10	,	,	PUNCT
easat-6650	86	11	…	…	PUNCT
easat-6650	86	12	,	,	PUNCT
easat-6650	86	13	𝑁	𝑁	NOUN
easat-6650	86	14	}	}	PUNCT
easat-6650	86	15	where	where	SCONJ
easat-6650	86	16	𝐸𝑖	𝐸𝑖	PROPN
easat-6650	86	17	𝑚𝑎𝑥	𝑚𝑎𝑥	PRON
easat-6650	86	18	is	be	AUX
easat-6650	86	19	the	the	DET
easat-6650	86	20	maximum	maximum	ADJ
easat-6650	86	21	energy	energy	NOUN
easat-6650	86	22	capacity	capacity	NOUN
easat-6650	86	23	of	of	ADP
easat-6650	86	24	uav	uav	PROPN
easat-6650	86	25	𝑢𝑖.	𝑢𝑖.	PROPN
easat-6650	86	26	for	for	ADP
easat-6650	86	27	sequential	sequential	ADJ
easat-6650	86	28	tasks	task	NOUN
easat-6650	86	29	assigned	assign	VERB
easat-6650	86	30	to	to	ADP
easat-6650	86	31	the	the	DET
easat-6650	86	32	same	same	ADJ
easat-6650	86	33	uav	uav	PROPN
easat-6650	86	34	.	.	PUNCT
easat-6650	87	1	2755	2755	NUM
easat-6650	87	2	edelweiss	edelweiss	PROPN
easat-6650	87	3	applied	apply	VERB
easat-6650	87	4	science	science	NOUN
easat-6650	87	5	and	and	CCONJ
easat-6650	87	6	technology	technology	NOUN
easat-6650	87	7	issn	issn	PROPN
easat-6650	87	8	:	:	PUNCT
easat-6650	87	9	2576	2576	NUM
easat-6650	87	10	-	-	SYM
easat-6650	87	11	8484	8484	NUM
easat-6650	87	12	vol	vol	NOUN
easat-6650	87	13	.	.	PROPN
easat-6650	88	1	9	9	NUM
easat-6650	88	2	,	,	PUNCT
easat-6650	88	3	no	no	INTJ
easat-6650	88	4	.	.	NOUN
easat-6650	88	5	4	4	NUM
easat-6650	88	6	:	:	SYM
easat-6650	88	7	2751	2751	NUM
easat-6650	88	8	-	-	SYM
easat-6650	88	9	2767	2767	NUM
easat-6650	88	10	,	,	PUNCT
easat-6650	88	11	2025	2025	NUM
easat-6650	88	12	doi	doi	NOUN
easat-6650	88	13	:	:	PUNCT
easat-6650	88	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	88	15	©	©	ADP
easat-6650	88	16	2025	2025	NUM
easat-6650	88	17	by	by	ADP
easat-6650	88	18	the	the	DET
easat-6650	88	19	author	author	NOUN
easat-6650	88	20	;	;	PUNCT
easat-6650	88	21	licensee	licensee	PROPN
easat-6650	88	22	learning	learning	PROPN
easat-6650	88	23	gate	gate	PROPN
easat-6650	88	24	𝑡𝑖,𝑙	𝑡𝑖,𝑙	PROPN
easat-6650	88	25	start	start	VERB
easat-6650	88	26	≥	≥	PRON
easat-6650	88	27	𝑡𝑖,𝑘	𝑡𝑖,𝑘	PUNCT
easat-6650	88	28	start	start	VERB
easat-6650	88	29	+	+	X
easat-6650	88	30	𝜏𝑖,𝑘	𝜏𝑖,𝑘	PUNCT
easat-6650	88	31	+	+	CCONJ
easat-6650	88	32	𝑡𝑖,𝑘,𝑙	𝑡𝑖,𝑘,𝑙	ADV
easat-6650	88	33	,	,	PUNCT
easat-6650	88	34	∀𝑖	∀𝑖	PROPN
easat-6650	88	35	∈	∈	PROPN
easat-6650	88	36	{	{	PUNCT
easat-6650	88	37	1,2	1,2	NUM
easat-6650	88	38	,	,	PUNCT
easat-6650	88	39	…	…	PUNCT
easat-6650	88	40	,	,	PUNCT
easat-6650	88	41	𝑁	𝑁	PROPN
easat-6650	88	42	}	}	PUNCT
easat-6650	88	43	,	,	PUNCT
easat-6650	88	44	∀𝑘	∀𝑘	X
easat-6650	88	45	,	,	PUNCT
easat-6650	88	46	𝑙	𝑙	PROPN
easat-6650	88	47	∈	∈	PROPN
easat-6650	88	48	{	{	PUNCT
easat-6650	88	49	1,2	1,2	NUM
easat-6650	88	50	,	,	PUNCT
easat-6650	88	51	…	…	PUNCT
easat-6650	88	52	,	,	PUNCT
easat-6650	88	53	𝐾	𝐾	PROPN
easat-6650	88	54	}	}	PUNCT
easat-6650	88	55	,	,	PUNCT
easat-6650	88	56	𝑘	𝑘	DET
easat-6650	88	57	≠	≠	PROPN
easat-6650	88	58	𝑙	𝑙	NOUN
easat-6650	88	59	,	,	PUNCT
easat-6650	88	60	𝑥𝑖,𝑘	𝑥𝑖,𝑘	PUNCT
easat-6650	88	61	=	=	PUNCT
easat-6650	88	62	𝑥𝑖,𝑙	𝑥𝑖,𝑙	PUNCT
easat-6650	88	63	=	=	PUNCT
easat-6650	88	64	1	1	NUM
easat-6650	88	65	for	for	ADP
easat-6650	88	66	conflict	conflict	NOUN
easat-6650	88	67	avoidance	avoidance	NOUN
easat-6650	88	68	between	between	ADP
easat-6650	88	69	different	different	ADJ
easat-6650	88	70	uavs	uavs	NOUN
easat-6650	88	71	:	:	PUNCT
easat-6650	89	1	𝑦𝑖,𝑗,𝑘,𝑙	𝑦𝑖,𝑗,𝑘,𝑙	PROPN
easat-6650	89	2	+	+	NUM
easat-6650	89	3	𝑦𝑗,𝑖,𝑙,𝑘	𝑦𝑗,𝑖,𝑙,𝑘	PROPN
easat-6650	89	4	=	=	SYM
easat-6650	89	5	1	1	NUM
easat-6650	89	6	,	,	PUNCT
easat-6650	89	7	∀𝑖	∀𝑖	PROPN
easat-6650	89	8	,	,	PUNCT
easat-6650	89	9	𝑗	𝑗	PROPN
easat-6650	89	10	∈	∈	NOUN
easat-6650	89	11	{	{	PUNCT
easat-6650	89	12	1,2	1,2	NUM
easat-6650	89	13	,	,	PUNCT
easat-6650	89	14	…	…	PUNCT
easat-6650	89	15	,	,	PUNCT
easat-6650	89	16	𝑁	𝑁	PROPN
easat-6650	89	17	}	}	PUNCT
easat-6650	89	18	,	,	PUNCT
easat-6650	89	19	𝑖	𝑖	PROPN
easat-6650	89	20	≠	≠	PROPN
easat-6650	89	21	𝑗	𝑗	PROPN
easat-6650	89	22	,	,	PUNCT
easat-6650	89	23	∀𝑘	∀𝑘	X
easat-6650	89	24	,	,	PUNCT
easat-6650	89	25	𝑙	𝑙	PROPN
easat-6650	89	26	∈	∈	PROPN
easat-6650	89	27	{	{	PUNCT
easat-6650	89	28	1,2	1,2	NUM
easat-6650	89	29	,	,	PUNCT
easat-6650	89	30	…	…	PUNCT
easat-6650	89	31	,	,	PUNCT
easat-6650	89	32	𝐾	𝐾	PROPN
easat-6650	89	33	}	}	PUNCT
easat-6650	89	34	,	,	PUNCT
easat-6650	89	35	𝑥𝑖,𝑘	𝑥𝑖,𝑘	PUNCT
easat-6650	89	36	=	=	SYM
easat-6650	89	37	𝑥𝑗,𝑙	𝑥𝑗,𝑙	X
easat-6650	89	38	=	=	SYM
easat-6650	89	39	1	1	X
easat-6650	89	40	𝑡𝑗,𝑙	𝑡𝑗,𝑙	X
easat-6650	89	41	start	start	VERB
easat-6650	89	42	≥	≥	NUM
easat-6650	89	43	𝑡𝑖,𝑘	𝑡𝑖,𝑘	PUNCT
easat-6650	89	44	start	start	VERB
easat-6650	89	45	+	+	X
easat-6650	89	46	𝜏𝑖,𝑘	𝜏𝑖,𝑘	PUNCT
easat-6650	90	1	−	−	PRON
easat-6650	90	2	𝑀(1	𝑀(1	NOUN
easat-6650	90	3	−	−	PROPN
easat-6650	91	1	𝑦𝑖,𝑗,𝑘,𝑙	𝑦𝑖,𝑗,𝑘,𝑙	PROPN
easat-6650	91	2	)	)	PUNCT
easat-6650	91	3	,	,	PUNCT
easat-6650	91	4	∀𝑖	∀𝑖	PROPN
easat-6650	91	5	,	,	PUNCT
easat-6650	91	6	𝑗	𝑗	PROPN
easat-6650	91	7	∈	∈	NOUN
easat-6650	91	8	{	{	PUNCT
easat-6650	91	9	1,2	1,2	NUM
easat-6650	91	10	,	,	PUNCT
easat-6650	91	11	…	…	PUNCT
easat-6650	91	12	,	,	PUNCT
easat-6650	91	13	𝑁	𝑁	PROPN
easat-6650	91	14	}	}	PUNCT
easat-6650	91	15	,	,	PUNCT
easat-6650	91	16	𝑖	𝑖	PROPN
easat-6650	91	17	≠	≠	PROPN
easat-6650	91	18	𝑗	𝑗	PROPN
easat-6650	91	19	,	,	PUNCT
easat-6650	91	20	∀𝑘	∀𝑘	X
easat-6650	91	21	,	,	PUNCT
easat-6650	91	22	𝑙	𝑙	PROPN
easat-6650	91	23	∈	∈	PROPN
easat-6650	91	24	{	{	PUNCT
easat-6650	91	25	1,2	1,2	NUM
easat-6650	91	26	,	,	PUNCT
easat-6650	91	27	…	…	PUNCT
easat-6650	91	28	,	,	PUNCT
easat-6650	91	29	𝐾	𝐾	PROPN
easat-6650	91	30	}	}	PUNCT
easat-6650	91	31	,	,	PUNCT
easat-6650	91	32	𝑥𝑖,𝑘	𝑥𝑖,𝑘	PUNCT
easat-6650	91	33	=	=	SYM
easat-6650	91	34	𝑥𝑗,𝑙	𝑥𝑗,𝑙	X
easat-6650	91	35	=	=	SYM
easat-6650	91	36	1	1	NUM
easat-6650	91	37	where	where	SCONJ
easat-6650	91	38	𝑀	𝑀	PROPN
easat-6650	91	39	is	be	AUX
easat-6650	91	40	a	a	DET
easat-6650	91	41	large	large	ADJ
easat-6650	91	42	constant	constant	ADJ
easat-6650	91	43	.	.	PUNCT
easat-6650	92	1	completion	completion	NOUN
easat-6650	92	2	time	time	NOUN
easat-6650	92	3	constraint	constraint	NOUN
easat-6650	92	4	.	.	PUNCT
easat-6650	93	1	𝑇𝑖	𝑇𝑖	ADP
easat-6650	93	2	complete	complete	ADJ
easat-6650	93	3	≥	≥	NOUN
easat-6650	93	4	𝑡𝑖,𝑘	𝑡𝑖,𝑘	PUNCT
easat-6650	93	5	start	start	VERB
easat-6650	93	6	+	+	CCONJ
easat-6650	93	7	𝜏𝑖,𝑘	𝜏𝑖,𝑘	NOUN
easat-6650	93	8	,	,	PUNCT
easat-6650	93	9	∀𝑖	∀𝑖	PROPN
easat-6650	93	10	∈	∈	PROPN
easat-6650	93	11	{	{	PUNCT
easat-6650	93	12	1,2	1,2	NUM
easat-6650	93	13	,	,	PUNCT
easat-6650	93	14	…	…	PUNCT
easat-6650	93	15	,	,	PUNCT
easat-6650	93	16	𝑁	𝑁	PROPN
easat-6650	93	17	}	}	PUNCT
easat-6650	93	18	,	,	PUNCT
easat-6650	93	19	∀𝑘	∀𝑘	X
easat-6650	93	20	∈	∈	PROPN
easat-6650	93	21	{	{	PUNCT
easat-6650	93	22	1,2	1,2	NUM
easat-6650	93	23	,	,	PUNCT
easat-6650	93	24	…	…	PUNCT
easat-6650	93	25	,	,	PUNCT
easat-6650	93	26	𝐾	𝐾	PROPN
easat-6650	93	27	}	}	PUNCT
easat-6650	93	28	,	,	PUNCT
easat-6650	93	29	𝑥𝑖,𝑘	𝑥𝑖,𝑘	PUNCT
easat-6650	93	30	=	=	SYM
easat-6650	93	31	1	1	NUM
easat-6650	93	32	𝑇total	𝑇total	PROPN
easat-6650	93	33	≥	≥	NOUN
easat-6650	93	34	𝑇𝑖	𝑇𝑖	ADP
easat-6650	93	35	complete	complete	ADJ
easat-6650	93	36	,	,	PUNCT
easat-6650	93	37	∀𝑖	∀𝑖	PROPN
easat-6650	93	38	∈	∈	PROPN
easat-6650	93	39	{	{	PUNCT
easat-6650	93	40	1,2	1,2	NUM
easat-6650	93	41	,	,	PUNCT
easat-6650	93	42	…	…	PUNCT
easat-6650	93	43	,	,	PUNCT
easat-6650	94	1	𝑁	𝑁	PROPN
easat-6650	94	2	due	due	ADP
easat-6650	94	3	to	to	ADP
easat-6650	94	4	the	the	DET
easat-6650	94	5	computational	computational	ADJ
easat-6650	94	6	complexity	complexity	NOUN
easat-6650	94	7	of	of	ADP
easat-6650	94	8	directly	directly	ADV
easat-6650	94	9	solving	solve	VERB
easat-6650	94	10	the	the	DET
easat-6650	94	11	minlp	minlp	ADJ
easat-6650	94	12	formulation	formulation	NOUN
easat-6650	94	13	,	,	PUNCT
easat-6650	94	14	we	we	PRON
easat-6650	94	15	decompose	decompose	VERB
easat-6650	94	16	the	the	DET
easat-6650	94	17	problem	problem	NOUN
easat-6650	94	18	into	into	ADP
easat-6650	94	19	three	three	NUM
easat-6650	94	20	sub	sub	NOUN
easat-6650	94	21	-	-	NOUN
easat-6650	94	22	problems	problem	NOUN
easat-6650	94	23	:	:	PUNCT
easat-6650	94	24	1	1	X
easat-6650	94	25	.	.	X
easat-6650	94	26	path	path	NOUN
easat-6650	94	27	planning	planning	NOUN
easat-6650	94	28	problem	problem	NOUN
easat-6650	94	29	(	(	PUNCT
easat-6650	94	30	ppp	ppp	NOUN
easat-6650	94	31	):	):	PUNCT
easat-6650	94	32	determining	determine	VERB
easat-6650	94	33	optimal	optimal	ADJ
easat-6650	94	34	inspection	inspection	NOUN
easat-6650	94	35	trajectories	trajectory	NOUN
easat-6650	94	36	for	for	ADP
easat-6650	94	37	specific	specific	ADJ
easat-6650	94	38	structural	structural	ADJ
easat-6650	94	39	elements	element	NOUN
easat-6650	94	40	,	,	PUNCT
easat-6650	94	41	minimizing	minimize	VERB
easat-6650	94	42	𝜏𝑖,𝑘	𝜏𝑖,𝑘	PUNCT
easat-6650	94	43	while	while	SCONJ
easat-6650	94	44	ensuring	ensure	VERB
easat-6650	94	45	coverage	coverage	NOUN
easat-6650	94	46	requirements	requirement	NOUN
easat-6650	94	47	.	.	PUNCT
easat-6650	95	1	2	2	X
easat-6650	95	2	.	.	X
easat-6650	95	3	task	task	NOUN
easat-6650	95	4	allocation	allocation	NOUN
easat-6650	95	5	problem	problem	NOUN
easat-6650	95	6	(	(	PUNCT
easat-6650	95	7	tap	tap	NOUN
easat-6650	95	8	):	):	PUNCT
easat-6650	95	9	assigning	assign	VERB
easat-6650	95	10	inspection	inspection	NOUN
easat-6650	95	11	zones	zone	NOUN
easat-6650	95	12	to	to	PART
easat-6650	95	13	uavs	uavs	VERB
easat-6650	95	14	to	to	PART
easat-6650	95	15	minimize	minimize	VERB
easat-6650	95	16	the	the	DET
easat-6650	95	17	maximum	maximum	ADJ
easat-6650	95	18	workload	workload	NOUN
easat-6650	95	19	,	,	PUNCT
easat-6650	95	20	with	with	ADP
easat-6650	95	21	fixed	fix	VERB
easat-6650	95	22	inspection	inspection	NOUN
easat-6650	95	23	patterns	pattern	NOUN
easat-6650	95	24	.	.	PUNCT
easat-6650	96	1	3	3	X
easat-6650	96	2	.	.	X
easat-6650	96	3	scheduling	scheduling	NOUN
easat-6650	96	4	problem	problem	NOUN
easat-6650	96	5	(	(	PUNCT
easat-6650	96	6	sp	sp	NOUN
easat-6650	96	7	):	):	PUNCT
easat-6650	96	8	establishing	establish	VERB
easat-6650	96	9	execution	execution	NOUN
easat-6650	96	10	sequences	sequence	NOUN
easat-6650	96	11	to	to	PART
easat-6650	96	12	minimize	minimize	VERB
easat-6650	96	13	total	total	ADJ
easat-6650	96	14	mission	mission	NOUN
easat-6650	96	15	time	time	NOUN
easat-6650	96	16	with	with	ADP
easat-6650	96	17	fixed	fix	VERB
easat-6650	96	18	assignments	assignment	NOUN
easat-6650	96	19	and	and	CCONJ
easat-6650	96	20	paths	path	NOUN
easat-6650	96	21	.	.	PUNCT
easat-6650	97	1	the	the	DET
easat-6650	97	2	solutions	solution	NOUN
easat-6650	97	3	to	to	ADP
easat-6650	97	4	these	these	DET
easat-6650	97	5	sub	sub	NOUN
easat-6650	97	6	-	-	NOUN
easat-6650	97	7	problems	problem	NOUN
easat-6650	97	8	are	be	AUX
easat-6650	97	9	then	then	ADV
easat-6650	97	10	integrated	integrate	VERB
easat-6650	97	11	through	through	ADP
easat-6650	97	12	an	an	DET
easat-6650	97	13	iterative	iterative	ADJ
easat-6650	97	14	algorithm	algorithm	NOUN
easat-6650	97	15	to	to	PART
easat-6650	97	16	solve	solve	VERB
easat-6650	97	17	the	the	DET
easat-6650	97	18	overall	overall	ADJ
easat-6650	97	19	optimization	optimization	NOUN
easat-6650	97	20	problem	problem	NOUN
easat-6650	97	21	efficiently	efficiently	ADV
easat-6650	97	22	as	as	SCONJ
easat-6650	97	23	presented	present	VERB
easat-6650	97	24	in	in	ADP
easat-6650	97	25	figure	figure	NOUN
easat-6650	97	26	1	1	NUM
easat-6650	97	27	.	.	NOUN
easat-6650	97	28	2756	2756	NUM
easat-6650	98	1	edelweiss	edelweiss	PROPN
easat-6650	98	2	applied	apply	VERB
easat-6650	98	3	science	science	NOUN
easat-6650	98	4	and	and	CCONJ
easat-6650	98	5	technology	technology	NOUN
easat-6650	98	6	issn	issn	PROPN
easat-6650	98	7	:	:	PUNCT
easat-6650	98	8	2576	2576	NUM
easat-6650	98	9	-	-	SYM
easat-6650	98	10	8484	8484	NUM
easat-6650	98	11	vol	vol	NOUN
easat-6650	98	12	.	.	PROPN
easat-6650	99	1	9	9	NUM
easat-6650	99	2	,	,	PUNCT
easat-6650	99	3	no	no	INTJ
easat-6650	99	4	.	.	NOUN
easat-6650	99	5	4	4	NUM
easat-6650	99	6	:	:	SYM
easat-6650	99	7	2751	2751	NUM
easat-6650	99	8	-	-	SYM
easat-6650	99	9	2767	2767	NUM
easat-6650	99	10	,	,	PUNCT
easat-6650	99	11	2025	2025	NUM
easat-6650	99	12	doi	doi	NOUN
easat-6650	99	13	:	:	PUNCT
easat-6650	99	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	99	15	©	©	ADP
easat-6650	99	16	2025	2025	NUM
easat-6650	99	17	by	by	ADP
easat-6650	99	18	the	the	DET
easat-6650	99	19	author	author	NOUN
easat-6650	99	20	;	;	PUNCT
easat-6650	99	21	licensee	licensee	PROPN
easat-6650	99	22	learning	learn	VERB
easat-6650	99	23	gate	gate	NOUN
easat-6650	99	24	figure	figure	NOUN
easat-6650	99	25	1	1	NUM
easat-6650	99	26	.	.	PUNCT
easat-6650	100	1	uav	uav	PROPN
easat-6650	100	2	swarm	swarm	PROPN
easat-6650	100	3	scheduling	scheduling	NOUN
easat-6650	100	4	algorithm	algorithm	NOUN
easat-6650	100	5	process	process	NOUN
easat-6650	100	6	flow	flow	NOUN
easat-6650	100	7	.	.	PUNCT
easat-6650	101	1	4	4	X
easat-6650	101	2	.	.	NOUN
easat-6650	101	3	path	path	NOUN
easat-6650	101	4	planning	planning	NOUN
easat-6650	101	5	problem	problem	NOUN
easat-6650	101	6	algorithm	algorithm	VERB
easat-6650	101	7	the	the	DET
easat-6650	101	8	path	path	NOUN
easat-6650	101	9	planning	planning	NOUN
easat-6650	101	10	problem	problem	NOUN
easat-6650	101	11	(	(	PUNCT
easat-6650	101	12	ppp	ppp	NOUN
easat-6650	101	13	)	)	PUNCT
easat-6650	101	14	represents	represent	VERB
easat-6650	101	15	a	a	DET
easat-6650	101	16	critical	critical	ADJ
easat-6650	101	17	component	component	NOUN
easat-6650	101	18	of	of	ADP
easat-6650	101	19	our	our	PRON
easat-6650	101	20	uav	uav	PROPN
easat-6650	101	21	swarm	swarm	NOUN
easat-6650	101	22	scheduling	scheduling	NOUN
easat-6650	101	23	framework	framework	NOUN
easat-6650	101	24	for	for	ADP
easat-6650	101	25	urban	urban	ADJ
easat-6650	101	26	infrastructure	infrastructure	NOUN
easat-6650	101	27	inspection	inspection	NOUN
easat-6650	101	28	.	.	PUNCT
easat-6650	102	1	given	give	VERB
easat-6650	102	2	the	the	DET
easat-6650	102	3	varying	vary	VERB
easat-6650	102	4	geometrical	geometrical	ADJ
easat-6650	102	5	characteristics	characteristic	NOUN
easat-6650	102	6	of	of	ADP
easat-6650	102	7	different	different	ADJ
easat-6650	102	8	structural	structural	ADJ
easat-6650	102	9	elements	element	NOUN
easat-6650	102	10	,	,	PUNCT
easat-6650	102	11	generic	generic	ADJ
easat-6650	102	12	path	path	NOUN
easat-6650	102	13	planning	planning	NOUN
easat-6650	102	14	approaches	approach	NOUN
easat-6650	102	15	often	often	ADV
easat-6650	102	16	prove	prove	VERB
easat-6650	102	17	inefficient	inefficient	ADJ
easat-6650	102	18	.	.	PUNCT
easat-6650	103	1	our	our	PRON
easat-6650	103	2	contribution	contribution	NOUN
easat-6650	103	3	addresses	address	VERB
easat-6650	103	4	this	this	DET
easat-6650	103	5	limitation	limitation	NOUN
easat-6650	103	6	by	by	ADP
easat-6650	103	7	developing	develop	VERB
easat-6650	103	8	structure	structure	NOUN
easat-6650	103	9	-	-	PUNCT
easat-6650	103	10	specific	specific	ADJ
easat-6650	103	11	path	path	NOUN
easat-6650	103	12	planning	planning	NOUN
easat-6650	103	13	strategies	strategy	NOUN
easat-6650	103	14	that	that	PRON
easat-6650	103	15	optimize	optimize	VERB
easat-6650	103	16	coverage	coverage	NOUN
easat-6650	103	17	patterns	pattern	NOUN
easat-6650	103	18	while	while	SCONJ
easat-6650	103	19	minimizing	minimize	VERB
easat-6650	103	20	inspection	inspection	NOUN
easat-6650	103	21	time	time	NOUN
easat-6650	103	22	and	and	CCONJ
easat-6650	103	23	energy	energy	NOUN
easat-6650	103	24	consumption	consumption	NOUN
easat-6650	103	25	.	.	PUNCT
easat-6650	104	1	the	the	DET
easat-6650	104	2	ppp	ppp	NOUN
easat-6650	104	3	assumes	assume	VERB
easat-6650	104	4	that	that	SCONJ
easat-6650	104	5	task	task	NOUN
easat-6650	104	6	allocation	allocation	NOUN
easat-6650	104	7	and	and	CCONJ
easat-6650	104	8	scheduling	scheduling	NOUN
easat-6650	104	9	decisions	decision	NOUN
easat-6650	104	10	are	be	AUX
easat-6650	104	11	fixed	fix	VERB
easat-6650	104	12	,	,	PUNCT
easat-6650	104	13	focusing	focus	VERB
easat-6650	104	14	solely	solely	ADV
easat-6650	104	15	on	on	ADP
easat-6650	104	16	determining	determine	VERB
easat-6650	104	17	optimal	optimal	ADJ
easat-6650	104	18	inspection	inspection	NOUN
easat-6650	104	19	trajectories	trajectory	NOUN
easat-6650	104	20	for	for	ADP
easat-6650	104	21	each	each	DET
easat-6650	104	22	uav	uav	PROPN
easat-6650	104	23	-	-	PUNCT
easat-6650	104	24	zone	zone	NOUN
easat-6650	104	25	pair	pair	NOUN
easat-6650	104	26	.	.	PUNCT
easat-6650	105	1	mathematical	mathematical	ADJ
easat-6650	105	2	formulation	formulation	NOUN
easat-6650	105	3	:	:	PUNCT
easat-6650	105	4	for	for	ADP
easat-6650	105	5	a	a	DET
easat-6650	105	6	specific	specific	ADJ
easat-6650	105	7	uav	uav	PROPN
easat-6650	105	8	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	105	9	assigned	assign	VERB
easat-6650	105	10	to	to	PART
easat-6650	105	11	inspect	inspect	VERB
easat-6650	105	12	zone	zone	NOUN
easat-6650	105	13	(	(	PUNCT
easat-6650	105	14	𝑧𝑘	𝑧𝑘	PROPN
easat-6650	105	15	,	,	PUNCT
easat-6650	105	16	the	the	DET
easat-6650	105	17	path	path	NOUN
easat-6650	105	18	planning	planning	NOUN
easat-6650	105	19	problem	problem	NOUN
easat-6650	105	20	is	be	AUX
easat-6650	105	21	formulated	formulate	VERB
easat-6650	105	22	as	as	ADP
easat-6650	105	23	.	.	PROPN
easat-6650	105	24	2757	2757	NUM
easat-6650	105	25	edelweiss	edelweiss	PROPN
easat-6650	105	26	applied	apply	VERB
easat-6650	105	27	science	science	NOUN
easat-6650	105	28	and	and	CCONJ
easat-6650	105	29	technology	technology	NOUN
easat-6650	105	30	issn	issn	PROPN
easat-6650	105	31	:	:	PUNCT
easat-6650	105	32	2576	2576	NUM
easat-6650	105	33	-	-	SYM
easat-6650	105	34	8484	8484	NUM
easat-6650	105	35	vol	vol	NOUN
easat-6650	105	36	.	.	PROPN
easat-6650	106	1	9	9	NUM
easat-6650	106	2	,	,	PUNCT
easat-6650	106	3	no	no	INTJ
easat-6650	106	4	.	.	NOUN
easat-6650	106	5	4	4	NUM
easat-6650	106	6	:	:	SYM
easat-6650	106	7	2751	2751	NUM
easat-6650	106	8	-	-	SYM
easat-6650	106	9	2767	2767	NUM
easat-6650	106	10	,	,	PUNCT
easat-6650	106	11	2025	2025	NUM
easat-6650	106	12	doi	doi	NOUN
easat-6650	106	13	:	:	PUNCT
easat-6650	106	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	106	15	©	©	ADP
easat-6650	106	16	2025	2025	NUM
easat-6650	106	17	by	by	ADP
easat-6650	106	18	the	the	DET
easat-6650	106	19	author	author	NOUN
easat-6650	106	20	;	;	PUNCT
easat-6650	106	21	licensee	licensee	NOUN
easat-6650	106	22	learning	learn	VERB
easat-6650	106	23	gate	gate	NOUN
easat-6650	106	24	minimize	minimize	VERB
easat-6650	106	25	𝜏𝑖,𝑘	𝜏𝑖,𝑘	PUNCT
easat-6650	106	26	=	=	SYM
easat-6650	106	27	length(𝒫𝑖,𝑘	length(𝒫𝑖,𝑘	PROPN
easat-6650	106	28	)	)	PUNCT
easat-6650	106	29	𝑣𝑖,𝑘	𝑣𝑖,𝑘	PUNCT
easat-6650	106	30	subject	subject	VERB
easat-6650	106	31	to	to	ADP
easat-6650	106	32	:	:	PUNCT
easat-6650	106	33	coverage(𝒫𝑖,𝑘	coverage(𝒫𝑖,𝑘	PROPN
easat-6650	106	34	)	)	PUNCT
easat-6650	106	35	≥	≥	NOUN
easat-6650	107	1	𝐷𝑘	𝐷𝑘	PROPN
easat-6650	107	2	⋅	⋅	PROPN
easat-6650	107	3	𝐴𝑘	𝐴𝑘	PROPN
easat-6650	107	4	𝐸𝑖(𝒫𝑖,𝑘	𝐸𝑖(𝒫𝑖,𝑘	PROPN
easat-6650	107	5	)	)	PUNCT
easat-6650	107	6	≤	≤	PUNCT
easat-6650	108	1	𝐵𝑖	𝐵𝑖	PROPN
easat-6650	108	2	⋅	⋅	PROPN
easat-6650	108	3	𝐸𝑖	𝐸𝑖	ADJ
easat-6650	108	4	𝑚𝑎𝑥	𝑚𝑎𝑥	ADJ
easat-6650	108	5	𝑣𝑚𝑖𝑛	𝑣𝑚𝑖𝑛	NOUN
easat-6650	108	6	≤	≤	ADV
easat-6650	108	7	𝑣𝑖,𝑘	𝑣𝑖,𝑘	PUNCT
easat-6650	108	8	≤	≤	ADJ
easat-6650	108	9	𝑣𝑚𝑎𝑥	𝑣𝑚𝑎𝑥	NOUN
easat-6650	108	10	ℎ𝑚𝑖𝑛	ℎ𝑚𝑖𝑛	NOUN
easat-6650	108	11	≤	≤	NUM
easat-6650	108	12	ℎ𝑖,𝑘	ℎ𝑖,𝑘	PUNCT
easat-6650	108	13	≤	≤	NUM
easat-6650	108	14	ℎ𝑚𝑎𝑥	ℎ𝑚𝑎𝑥	NOUN
easat-6650	108	15	where	where	SCONJ
easat-6650	108	16	𝒫𝑖,𝑘	𝒫𝑖,𝑘	PROPN
easat-6650	108	17	represents	represent	VERB
easat-6650	108	18	the	the	DET
easat-6650	108	19	inspection	inspection	NOUN
easat-6650	108	20	path	path	NOUN
easat-6650	108	21	,	,	PUNCT
easat-6650	108	22	length	length	PROPN
easat-6650	108	23	𝒫𝑖,𝑘	𝒫𝑖,𝑘	PROPN
easat-6650	108	24	is	be	AUX
easat-6650	108	25	the	the	DET
easat-6650	108	26	total	total	ADJ
easat-6650	108	27	path	path	NOUN
easat-6650	108	28	length	length	NOUN
easat-6650	108	29	,	,	PUNCT
easat-6650	108	30	𝑣𝑖,𝑘	𝑣𝑖,𝑘	X
easat-6650	108	31	is	be	AUX
easat-6650	108	32	the	the	DET
easat-6650	108	33	inspection	inspection	NOUN
easat-6650	108	34	velocity	velocity	NOUN
easat-6650	108	35	,	,	PUNCT
easat-6650	108	36	coverage(𝒫𝑖,𝑘	coverage(𝒫𝑖,𝑘	NOUN
easat-6650	108	37	)	)	PUNCT
easat-6650	108	38	is	be	AUX
easat-6650	108	39	the	the	DET
easat-6650	108	40	coverage	coverage	NOUN
easat-6650	108	41	area	area	NOUN
easat-6650	108	42	achieved	achieve	VERB
easat-6650	108	43	by	by	ADP
easat-6650	108	44	following	follow	VERB
easat-6650	108	45	the	the	DET
easat-6650	108	46	path	path	NOUN
easat-6650	108	47	,	,	PUNCT
easat-6650	108	48	𝐸𝑖(𝒫𝑖,𝑘	𝐸𝑖(𝒫𝑖,𝑘	PROPN
easat-6650	108	49	is	be	AUX
easat-6650	108	50	the	the	DET
easat-6650	108	51	energy	energy	NOUN
easat-6650	108	52	consumed	consume	VERB
easat-6650	108	53	,	,	PUNCT
easat-6650	108	54	and	and	CCONJ
easat-6650	108	55	ℎ𝑖,𝑘	ℎ𝑖,𝑘	NUM
easat-6650	108	56	is	be	AUX
easat-6650	108	57	the	the	DET
easat-6650	108	58	inspection	inspection	NOUN
easat-6650	108	59	height	height	NOUN
easat-6650	108	60	.	.	PUNCT
easat-6650	109	1	we	we	PRON
easat-6650	109	2	develop	develop	VERB
easat-6650	109	3	specialized	specialized	ADJ
easat-6650	109	4	path	path	NOUN
easat-6650	109	5	planning	planning	NOUN
easat-6650	109	6	algorithms	algorithm	NOUN
easat-6650	109	7	for	for	ADP
easat-6650	109	8	four	four	NUM
easat-6650	109	9	common	common	ADJ
easat-6650	109	10	structural	structural	ADJ
easat-6650	109	11	elements	element	NOUN
easat-6650	109	12	in	in	ADP
easat-6650	109	13	urban	urban	ADJ
easat-6650	109	14	environments	environment	NOUN
easat-6650	109	15	:	:	PUNCT
easat-6650	109	16	bridge	bridge	NOUN
easat-6650	109	17	decks	deck	NOUN
easat-6650	109	18	,	,	PUNCT
easat-6650	109	19	building	building	NOUN
easat-6650	109	20	facades	facade	NOUN
easat-6650	109	21	,	,	PUNCT
easat-6650	109	22	support	support	NOUN
easat-6650	109	23	columns	column	NOUN
easat-6650	109	24	,	,	PUNCT
easat-6650	109	25	and	and	CCONJ
easat-6650	109	26	cable	cable	NOUN
easat-6650	109	27	systems	system	NOUN
easat-6650	109	28	.	.	PUNCT
easat-6650	110	1	each	each	DET
easat-6650	110	2	algorithm	algorithm	NOUN
easat-6650	110	3	generates	generate	VERB
easat-6650	110	4	optimized	optimize	VERB
easat-6650	110	5	waypoint	waypoint	NOUN
easat-6650	110	6	sequences	sequence	NOUN
easat-6650	110	7	tailored	tailor	VERB
easat-6650	110	8	to	to	ADP
easat-6650	110	9	the	the	DET
easat-6650	110	10	specific	specific	ADJ
easat-6650	110	11	geometric	geometric	ADJ
easat-6650	110	12	characteristics	characteristic	NOUN
easat-6650	110	13	of	of	ADP
easat-6650	110	14	the	the	DET
easat-6650	110	15	structure	structure	NOUN
easat-6650	110	16	.	.	PUNCT
easat-6650	111	1	4.1	4.1	NUM
easat-6650	111	2	.	.	PUNCT
easat-6650	111	3	bridge	bridge	NOUN
easat-6650	111	4	deck	deck	NOUN
easat-6650	111	5	inspection	inspection	NOUN
easat-6650	111	6	(	(	PUNCT
easat-6650	111	7	parallel	parallel	ADJ
easat-6650	111	8	transect	transect	NOUN
easat-6650	111	9	pattern	pattern	NOUN
easat-6650	111	10	)	)	PUNCT
easat-6650	111	11	for	for	ADP
easat-6650	111	12	bridge	bridge	NOUN
easat-6650	111	13	deck	deck	NOUN
easat-6650	111	14	inspection	inspection	NOUN
easat-6650	111	15	,	,	PUNCT
easat-6650	111	16	we	we	PRON
easat-6650	111	17	implement	implement	VERB
easat-6650	111	18	a	a	DET
easat-6650	111	19	parallel	parallel	ADJ
easat-6650	111	20	transect	transect	NOUN
easat-6650	111	21	pattern	pattern	NOUN
easat-6650	111	22	that	that	PRON
easat-6650	111	23	systematically	systematically	ADV
easat-6650	111	24	covers	cover	VERB
easat-6650	111	25	the	the	DET
easat-6650	111	26	rectangular	rectangular	ADJ
easat-6650	111	27	surface	surface	NOUN
easat-6650	111	28	area	area	NOUN
easat-6650	111	29	.	.	PUNCT
easat-6650	112	1	the	the	DET
easat-6650	112	2	algorithm	algorithm	NOUN
easat-6650	112	3	generates	generate	VERB
easat-6650	112	4	parallel	parallel	ADJ
easat-6650	112	5	path	path	NOUN
easat-6650	112	6	segments	segment	NOUN
easat-6650	112	7	with	with	ADP
easat-6650	112	8	specified	specified	ADJ
easat-6650	112	9	overlap	overlap	NOUN
easat-6650	112	10	to	to	PART
easat-6650	112	11	ensure	ensure	VERB
easat-6650	112	12	comprehensive	comprehensive	ADJ
easat-6650	112	13	coverage	coverage	NOUN
easat-6650	112	14	.	.	PUNCT
easat-6650	113	1	𝒫deck	𝒫deck	PROPN
easat-6650	113	2	(	(	PUNCT
easat-6650	113	3	𝑧𝑘	𝑧𝑘	NOUN
easat-6650	113	4	)	)	PUNCT
easat-6650	113	5	=	=	PRON
easat-6650	113	6	{	{	PUNCT
easat-6650	113	7	(	(	PUNCT
easat-6650	113	8	𝑥𝑘	𝑥𝑘	NOUN
easat-6650	113	9	+	+	CCONJ
easat-6650	113	10	𝑖	𝑖	ADP
easat-6650	113	11	⋅	⋅	PROPN
easat-6650	113	12	𝑑	𝑑	PROPN
easat-6650	113	13	,	,	PUNCT
easat-6650	113	14	𝑦𝑚𝑖𝑛	𝑦𝑚𝑖𝑛	PROPN
easat-6650	113	15	+	+	CCONJ
easat-6650	113	16	𝑗	𝑗	PRON
easat-6650	113	17	⋅	⋅	PROPN
easat-6650	113	18	𝑤𝑒𝑓𝑓	𝑤𝑒𝑓𝑓	NOUN
easat-6650	113	19	,	,	PUNCT
easat-6650	113	20	ℎ𝑖,𝑘	ℎ𝑖,𝑘	NUM
easat-6650	113	21	)	)	PUNCT
easat-6650	113	22	∣	∣	PROPN
easat-6650	113	23	𝑖	𝑖	SYM
easat-6650	113	24	∈	∈	PROPN
easat-6650	113	25	{	{	PUNCT
easat-6650	113	26	0	0	NUM
easat-6650	113	27	,	,	PUNCT
easat-6650	113	28	…	…	PUNCT
easat-6650	113	29	,	,	PUNCT
easat-6650	113	30	𝑛𝑥	𝑛𝑥	ADP
easat-6650	113	31	}	}	PUNCT
easat-6650	113	32	,	,	PUNCT
easat-6650	113	33	𝑗	𝑗	PROPN
easat-6650	113	34	∈	∈	PROPN
easat-6650	113	35	{	{	PUNCT
easat-6650	113	36	0	0	NUM
easat-6650	113	37	,	,	PUNCT
easat-6650	113	38	…	…	PUNCT
easat-6650	113	39	,	,	PUNCT
easat-6650	113	40	𝑛𝑦	𝑛𝑦	NOUN
easat-6650	113	41	}	}	PUNCT
easat-6650	113	42	}	}	PUNCT
easat-6650	113	43	where	where	SCONJ
easat-6650	113	44	dd	dd	NOUN
easat-6650	113	45	d	d	NOUN
easat-6650	113	46	is	be	AUX
easat-6650	113	47	the	the	DET
easat-6650	113	48	lane	lane	NOUN
easat-6650	113	49	spacing	spacing	NOUN
easat-6650	113	50	,	,	PUNCT
easat-6650	113	51	𝑤eff	𝑤eff	NOUN
easat-6650	113	52	=	=	PUNCT
easat-6650	114	1	𝑊𝑖	𝑊𝑖	PROPN
easat-6650	114	2	⋅	⋅	PROPN
easat-6650	114	3	(	(	PUNCT
easat-6650	114	4	1	1	NUM
easat-6650	114	5	−	−	PROPN
easat-6650	114	6	𝑜	𝑜	NOUN
easat-6650	114	7	)	)	PUNCT
easat-6650	114	8	is	be	AUX
easat-6650	114	9	the	the	DET
easat-6650	114	10	effective	effective	ADJ
easat-6650	114	11	sensor	sensor	NOUN
easat-6650	114	12	width	width	ADJ
easat-6650	114	13	accounting	account	VERB
easat-6650	114	14	for	for	ADP
easat-6650	114	15	overlap	overlap	NOUN
easat-6650	114	16	o	o	NOUN
easat-6650	114	17	,	,	PUNCT
easat-6650	114	18	and	and	CCONJ
easat-6650	114	19	𝑛𝑥	𝑛𝑥	PROPN
easat-6650	114	20	,	,	PUNCT
easat-6650	114	21	𝑛𝑦	𝑛𝑦	PROPN
easat-6650	114	22	are	be	AUX
easat-6650	114	23	the	the	DET
easat-6650	114	24	number	number	NOUN
easat-6650	114	25	of	of	ADP
easat-6650	114	26	required	require	VERB
easat-6650	114	27	passes	pass	NOUN
easat-6650	114	28	in	in	ADP
easat-6650	114	29	each	each	DET
easat-6650	114	30	direction	direction	NOUN
easat-6650	114	31	.	.	PUNCT
easat-6650	115	1	the	the	DET
easat-6650	115	2	lane	lane	NOUN
easat-6650	115	3	spacing	spacing	NOUN
easat-6650	115	4	is	be	AUX
easat-6650	115	5	calculated	calculate	VERB
easat-6650	115	6	as	as	ADP
easat-6650	115	7	.	.	PUNCT
easat-6650	116	1	𝑑	𝑑	PROPN
easat-6650	116	2	=	=	SYM
easat-6650	116	3	𝑊𝑖	𝑊𝑖	PROPN
easat-6650	116	4	⋅	⋅	PROPN
easat-6650	116	5	ℎ𝑖,𝑘	ℎ𝑖,𝑘	X
easat-6650	116	6	⋅	⋅	X
easat-6650	116	7	(	(	PUNCT
easat-6650	116	8	1	1	NUM
easat-6650	116	9	−	−	PROPN
easat-6650	116	10	𝑜	𝑜	NOUN
easat-6650	116	11	)	)	PUNCT
easat-6650	116	12	𝑓	𝑓	PRON
easat-6650	116	13	where	where	SCONJ
easat-6650	116	14	𝑓	𝑓	PRON
easat-6650	116	15	is	be	AUX
easat-6650	116	16	the	the	DET
easat-6650	116	17	camera	camera	NOUN
easat-6650	116	18	focal	focal	ADJ
easat-6650	116	19	length	length	NOUN
easat-6650	116	20	.	.	PUNCT
easat-6650	117	1	this	this	DET
easat-6650	117	2	pattern	pattern	NOUN
easat-6650	117	3	achieves	achieve	VERB
easat-6650	117	4	optimal	optimal	ADJ
easat-6650	117	5	coverage	coverage	NOUN
easat-6650	117	6	while	while	SCONJ
easat-6650	117	7	minimizing	minimize	VERB
easat-6650	117	8	path	path	NOUN
easat-6650	117	9	length	length	NOUN
easat-6650	117	10	and	and	CCONJ
easat-6650	117	11	turning	turn	VERB
easat-6650	117	12	maneuvers	maneuver	NOUN
easat-6650	117	13	,	,	PUNCT
easat-6650	117	14	which	which	PRON
easat-6650	117	15	are	be	AUX
easat-6650	117	16	energy	energy	NOUN
easat-6650	117	17	-	-	PUNCT
easat-6650	117	18	intensive	intensive	ADJ
easat-6650	117	19	for	for	ADP
easat-6650	117	20	uavs	uavs	NOUN
easat-6650	117	21	.	.	PUNCT
easat-6650	118	1	4.2	4.2	NUM
easat-6650	118	2	.	.	PUNCT
easat-6650	119	1	building	build	VERB
easat-6650	119	2	facade	facade	NOUN
easat-6650	119	3	inspection	inspection	NOUN
easat-6650	119	4	(	(	PUNCT
easat-6650	119	5	grid	grid	NOUN
easat-6650	119	6	pattern	pattern	NOUN
easat-6650	119	7	)	)	PUNCT
easat-6650	119	8	for	for	ADP
easat-6650	119	9	building	build	VERB
easat-6650	119	10	facades	facade	NOUN
easat-6650	119	11	,	,	PUNCT
easat-6650	119	12	we	we	PRON
easat-6650	119	13	implement	implement	VERB
easat-6650	119	14	a	a	DET
easat-6650	119	15	grid	grid	NOUN
easat-6650	119	16	-	-	PUNCT
easat-6650	119	17	based	base	VERB
easat-6650	119	18	coverage	coverage	NOUN
easat-6650	119	19	pattern	pattern	NOUN
easat-6650	119	20	with	with	ADP
easat-6650	119	21	vertical	vertical	ADJ
easat-6650	119	22	and	and	CCONJ
easat-6650	119	23	horizontal	horizontal	ADJ
easat-6650	119	24	passes	pass	NOUN
easat-6650	119	25	.	.	PUNCT
easat-6650	120	1	𝒫facade	𝒫facade	PROPN
easat-6650	120	2	(	(	PUNCT
easat-6650	120	3	𝑧𝑘	𝑧𝑘	NOUN
easat-6650	120	4	)	)	PUNCT
easat-6650	120	5	=	=	SYM
easat-6650	120	6	{	{	PUNCT
easat-6650	120	7	(	(	PUNCT
easat-6650	120	8	𝑥𝑘	𝑥𝑘	X
easat-6650	120	9	+	+	CCONJ
easat-6650	120	10	𝑠𝑥	𝑠𝑥	ADP
easat-6650	120	11	⋅	⋅	PROPN
easat-6650	120	12	𝑖	𝑖	PROPN
easat-6650	120	13	,	,	PUNCT
easat-6650	120	14	𝑦𝑘	𝑦𝑘	X
easat-6650	120	15	+	+	CCONJ
easat-6650	120	16	𝑠𝑦	𝑠𝑦	ADP
easat-6650	120	17	⋅	⋅	PROPN
easat-6650	120	18	𝑗	𝑗	PROPN
easat-6650	120	19	,	,	PUNCT
easat-6650	120	20	ℎ𝑖,𝑘	ℎ𝑖,𝑘	NUM
easat-6650	120	21	)	)	PUNCT
easat-6650	120	22	∣	∣	PROPN
easat-6650	120	23	𝑖	𝑖	SYM
easat-6650	120	24	∈	∈	PROPN
easat-6650	120	25	{	{	PUNCT
easat-6650	120	26	0	0	NUM
easat-6650	120	27	,	,	PUNCT
easat-6650	120	28	…	…	PUNCT
easat-6650	120	29	,	,	PUNCT
easat-6650	120	30	𝑚𝑥	𝑚𝑥	INTJ
easat-6650	120	31	}	}	PUNCT
easat-6650	120	32	,	,	PUNCT
easat-6650	120	33	𝑗	𝑗	PROPN
easat-6650	120	34	∈	∈	PROPN
easat-6650	120	35	{	{	PUNCT
easat-6650	120	36	0	0	NUM
easat-6650	120	37	,	,	PUNCT
easat-6650	120	38	…	…	PUNCT
easat-6650	120	39	,	,	PUNCT
easat-6650	120	40	𝑚𝑦	𝑚𝑦	ADP
easat-6650	120	41	}	}	PUNCT
easat-6650	120	42	}	}	PUNCT
easat-6650	120	43	where	where	SCONJ
easat-6650	120	44	𝑠𝑥	𝑠𝑥	NOUN
easat-6650	120	45	and	and	CCONJ
easat-6650	120	46	𝑠𝑦	𝑠𝑦	PROPN
easat-6650	120	47	are	be	AUX
easat-6650	120	48	the	the	DET
easat-6650	120	49	horizontal	horizontal	ADJ
easat-6650	120	50	and	and	CCONJ
easat-6650	120	51	vertical	vertical	ADJ
easat-6650	120	52	step	step	NOUN
easat-6650	120	53	sizes	size	NOUN
easat-6650	120	54	,	,	PUNCT
easat-6650	120	55	calculated	calculate	VERB
easat-6650	120	56	based	base	VERB
easat-6650	120	57	on	on	ADP
easat-6650	120	58	sensor	sensor	NOUN
easat-6650	120	59	properties	property	NOUN
easat-6650	120	60	and	and	CCONJ
easat-6650	120	61	required	required	ADJ
easat-6650	120	62	overlap	overlap	NOUN
easat-6650	120	63	.	.	PUNCT
easat-6650	121	1	the	the	DET
easat-6650	121	2	inspection	inspection	NOUN
easat-6650	121	3	height	height	NOUN
easat-6650	121	4	ℎ𝑖,𝑘	ℎ𝑖,𝑘	PUNCT
easat-6650	121	5	is	be	AUX
easat-6650	121	6	maintained	maintain	VERB
easat-6650	121	7	at	at	ADP
easat-6650	121	8	a	a	DET
easat-6650	121	9	constant	constant	ADJ
easat-6650	121	10	distance	distance	NOUN
easat-6650	121	11	from	from	ADP
easat-6650	121	12	the	the	DET
easat-6650	121	13	facade	facade	NOUN
easat-6650	121	14	to	to	PART
easat-6650	121	15	ensure	ensure	VERB
easat-6650	121	16	uniform	uniform	ADJ
easat-6650	121	17	image	image	NOUN
easat-6650	121	18	resolution	resolution	NOUN
easat-6650	121	19	.	.	PUNCT
easat-6650	122	1	4.3	4.3	NUM
easat-6650	122	2	.	.	PUNCT
easat-6650	122	3	column	column	PROPN
easat-6650	122	4	/	/	SYM
easat-6650	122	5	pier	pier	NOUN
easat-6650	122	6	inspection	inspection	NOUN
easat-6650	122	7	(	(	PUNCT
easat-6650	122	8	spiral	spiral	ADJ
easat-6650	122	9	pattern	pattern	NOUN
easat-6650	122	10	)	)	PUNCT
easat-6650	122	11	we	we	PRON
easat-6650	122	12	implement	implement	VERB
easat-6650	122	13	a	a	DET
easat-6650	122	14	spiral	spiral	ADJ
easat-6650	122	15	trajectory	trajectory	NOUN
easat-6650	122	16	that	that	PRON
easat-6650	122	17	maintains	maintain	VERB
easat-6650	122	18	a	a	DET
easat-6650	122	19	consistent	consistent	ADJ
easat-6650	122	20	distance	distance	NOUN
easat-6650	122	21	from	from	ADP
easat-6650	122	22	the	the	DET
easat-6650	122	23	surface	surface	NOUN
easat-6650	122	24	while	while	SCONJ
easat-6650	122	25	minimizing	minimize	VERB
easat-6650	122	26	energy	energy	NOUN
easat-6650	122	27	consumption	consumption	NOUN
easat-6650	122	28	.	.	PUNCT
easat-6650	123	1	𝒫column	𝒫column	PROPN
easat-6650	123	2	(	(	PUNCT
easat-6650	123	3	𝑧𝑘	𝑧𝑘	PROPN
easat-6650	123	4	)	)	PUNCT
easat-6650	123	5	=	=	PRON
easat-6650	123	6	{	{	PUNCT
easat-6650	123	7	(	(	PUNCT
easat-6650	123	8	𝑥𝑘	𝑥𝑘	X
easat-6650	123	9	+	+	X
easat-6650	123	10	𝑟cos	𝑟cos	X
easat-6650	123	11	(	(	PUNCT
easat-6650	123	12	𝜃	𝜃	NOUN
easat-6650	123	13	)	)	PUNCT
easat-6650	123	14	,	,	PUNCT
easat-6650	123	15	𝑦𝑘	𝑦𝑘	ADP
easat-6650	123	16	+	+	NUM
easat-6650	123	17	𝑟sin	𝑟sin	NOUN
easat-6650	123	18	(	(	PUNCT
easat-6650	123	19	𝜃	𝜃	NOUN
easat-6650	123	20	)	)	PUNCT
easat-6650	123	21	,	,	PUNCT
easat-6650	123	22	ℎ𝑘	ℎ𝑘	PROPN
easat-6650	123	23	+	+	SYM
easat-6650	123	24	𝛼𝜃	𝛼𝜃	X
easat-6650	123	25	)	)	PUNCT
easat-6650	123	26	∣	∣	VERB
easat-6650	123	27	𝜃	𝜃	NUM
easat-6650	123	28	∈	∈	NOUN
easat-6650	124	1	[	[	X
easat-6650	124	2	0,2𝜋𝑛𝑠	0,2𝜋𝑛𝑠	NUM
easat-6650	124	3	]	]	X
easat-6650	124	4	}	}	PUNCT
easat-6650	124	5	where	where	SCONJ
easat-6650	124	6	𝑟	𝑟	NOUN
easat-6650	124	7	is	be	AUX
easat-6650	124	8	the	the	DET
easat-6650	124	9	column	column	NOUN
easat-6650	124	10	radius	radius	NOUN
easat-6650	124	11	plus	plus	CCONJ
easat-6650	124	12	inspection	inspection	NOUN
easat-6650	124	13	distance	distance	NOUN
easat-6650	124	14	,	,	PUNCT
easat-6650	124	15	𝛼	𝛼	PROPN
easat-6650	124	16	controls	control	VERB
easat-6650	124	17	the	the	DET
easat-6650	124	18	vertical	vertical	ADJ
easat-6650	124	19	rise	rise	NOUN
easat-6650	124	20	per	per	ADP
easat-6650	124	21	revolution	revolution	NOUN
easat-6650	124	22	,	,	PUNCT
easat-6650	124	23	and	and	CCONJ
easat-6650	124	24	𝑛𝑠	𝑛𝑠	VERB
easat-6650	124	25	is	be	AUX
easat-6650	124	26	the	the	DET
easat-6650	124	27	number	number	NOUN
easat-6650	124	28	of	of	ADP
easat-6650	124	29	complete	complete	ADJ
easat-6650	124	30	spirals	spiral	NOUN
easat-6650	124	31	required	require	VERB
easat-6650	124	32	to	to	PART
easat-6650	124	33	cover	cover	VERB
easat-6650	124	34	the	the	DET
easat-6650	124	35	column	column	NOUN
easat-6650	124	36	height	height	NOUN
easat-6650	124	37	.	.	PUNCT
easat-6650	125	1	this	this	DET
easat-6650	125	2	pattern	pattern	NOUN
easat-6650	125	3	ensures	ensure	VERB
easat-6650	125	4	comprehensive	comprehensive	ADJ
easat-6650	125	5	coverage	coverage	NOUN
easat-6650	125	6	of	of	ADP
easat-6650	125	7	the	the	DET
easat-6650	125	8	curved	curved	ADJ
easat-6650	125	9	surface	surface	NOUN
easat-6650	125	10	with	with	ADP
easat-6650	125	11	minimal	minimal	ADJ
easat-6650	125	12	path	path	NOUN
easat-6650	125	13	length	length	NOUN
easat-6650	125	14	.	.	PUNCT
easat-6650	126	1	2758	2758	NUM
easat-6650	126	2	edelweiss	edelweiss	PROPN
easat-6650	126	3	applied	apply	VERB
easat-6650	126	4	science	science	NOUN
easat-6650	126	5	and	and	CCONJ
easat-6650	126	6	technology	technology	NOUN
easat-6650	126	7	issn	issn	PROPN
easat-6650	126	8	:	:	PUNCT
easat-6650	126	9	2576	2576	NUM
easat-6650	126	10	-	-	SYM
easat-6650	126	11	8484	8484	NUM
easat-6650	126	12	vol	vol	NOUN
easat-6650	126	13	.	.	PROPN
easat-6650	127	1	9	9	NUM
easat-6650	127	2	,	,	PUNCT
easat-6650	127	3	no	no	INTJ
easat-6650	127	4	.	.	NOUN
easat-6650	127	5	4	4	NUM
easat-6650	127	6	:	:	SYM
easat-6650	127	7	2751	2751	NUM
easat-6650	127	8	-	-	SYM
easat-6650	127	9	2767	2767	NUM
easat-6650	127	10	,	,	PUNCT
easat-6650	127	11	2025	2025	NUM
easat-6650	127	12	doi	doi	NOUN
easat-6650	127	13	:	:	PUNCT
easat-6650	127	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	127	15	©	©	ADP
easat-6650	127	16	2025	2025	NUM
easat-6650	127	17	by	by	ADP
easat-6650	127	18	the	the	DET
easat-6650	127	19	author	author	NOUN
easat-6650	127	20	;	;	PUNCT
easat-6650	127	21	licensee	licensee	PROPN
easat-6650	127	22	learning	learning	NOUN
easat-6650	127	23	gate	gate	PROPN
easat-6650	127	24	4.4	4.4	NUM
easat-6650	127	25	.	.	PUNCT
easat-6650	128	1	cable	cable	NOUN
easat-6650	128	2	inspection	inspection	NOUN
easat-6650	128	3	(	(	PUNCT
easat-6650	128	4	linear	linear	PROPN
easat-6650	128	5	multi	multi	ADJ
easat-6650	128	6	-	-	ADJ
easat-6650	128	7	angle	angle	NOUN
easat-6650	128	8	pattern	pattern	NOUN
easat-6650	128	9	)	)	PUNCT
easat-6650	128	10	for	for	ADP
easat-6650	128	11	cable	cable	NOUN
easat-6650	128	12	systems	system	NOUN
easat-6650	128	13	,	,	PUNCT
easat-6650	128	14	we	we	PRON
easat-6650	128	15	implement	implement	VERB
easat-6650	128	16	a	a	DET
easat-6650	128	17	linear	linear	ADJ
easat-6650	128	18	path	path	NOUN
easat-6650	128	19	with	with	ADP
easat-6650	128	20	multiple	multiple	ADJ
easat-6650	128	21	viewing	view	VERB
easat-6650	128	22	angles	angle	NOUN
easat-6650	128	23	.	.	PUNCT
easat-6650	129	1	𝒫column	𝒫column	PROPN
easat-6650	129	2	(	(	PUNCT
easat-6650	129	3	𝑧𝑘	𝑧𝑘	PROPN
easat-6650	129	4	)	)	PUNCT
easat-6650	129	5	=	=	PRON
easat-6650	129	6	{	{	PUNCT
easat-6650	129	7	(	(	PUNCT
easat-6650	129	8	𝑥𝑘	𝑥𝑘	X
easat-6650	129	9	+	+	X
easat-6650	129	10	𝑟cos	𝑟cos	X
easat-6650	129	11	(	(	PUNCT
easat-6650	129	12	𝜃	𝜃	NOUN
easat-6650	129	13	)	)	PUNCT
easat-6650	129	14	,	,	PUNCT
easat-6650	129	15	𝑦𝑘	𝑦𝑘	ADP
easat-6650	129	16	+	+	NUM
easat-6650	129	17	𝑟sin	𝑟sin	NOUN
easat-6650	129	18	(	(	PUNCT
easat-6650	129	19	𝜃	𝜃	NOUN
easat-6650	129	20	)	)	PUNCT
easat-6650	129	21	,	,	PUNCT
easat-6650	129	22	ℎ𝑘	ℎ𝑘	PROPN
easat-6650	129	23	+	+	SYM
easat-6650	129	24	𝛼𝜃	𝛼𝜃	X
easat-6650	129	25	)	)	PUNCT
easat-6650	129	26	∣	∣	VERB
easat-6650	129	27	𝜃	𝜃	NUM
easat-6650	129	28	∈	∈	NOUN
easat-6650	130	1	[	[	X
easat-6650	130	2	0,2𝜋𝑛𝑠	0,2𝜋𝑛𝑠	NUM
easat-6650	130	3	]	]	X
easat-6650	130	4	}	}	PUNCT
easat-6650	130	5	where	where	SCONJ
easat-6650	130	6	𝑑	𝑑	PROPN
easat-6650	130	7	→	→	PROPN
easat-6650	130	8	is	be	AUX
easat-6650	130	9	the	the	DET
easat-6650	130	10	direction	direction	NOUN
easat-6650	130	11	vector	vector	NOUN
easat-6650	130	12	of	of	ADP
easat-6650	130	13	the	the	DET
easat-6650	130	14	cable	cable	NOUN
easat-6650	130	15	,	,	PUNCT
easat-6650	130	16	𝑟	𝑟	PRON
easat-6650	130	17	is	be	AUX
easat-6650	130	18	the	the	DET
easat-6650	130	19	inspection	inspection	NOUN
easat-6650	130	20	distance	distance	NOUN
easat-6650	130	21	,	,	PUNCT
easat-6650	130	22	and	and	CCONJ
easat-6650	130	23	𝜙𝑗	𝜙𝑗	PROPN
easat-6650	130	24	represents	represent	VERB
easat-6650	130	25	different	different	ADJ
easat-6650	130	26	viewing	view	VERB
easat-6650	130	27	angles	angle	NOUN
easat-6650	130	28	around	around	ADP
easat-6650	130	29	the	the	DET
easat-6650	130	30	cable	cable	NOUN
easat-6650	130	31	.	.	PUNCT
easat-6650	131	1	this	this	DET
easat-6650	131	2	pattern	pattern	NOUN
easat-6650	131	3	enables	enable	VERB
easat-6650	131	4	inspection	inspection	NOUN
easat-6650	131	5	from	from	ADP
easat-6650	131	6	multiple	multiple	ADJ
easat-6650	131	7	perspectives	perspective	NOUN
easat-6650	131	8	to	to	PART
easat-6650	131	9	detect	detect	VERB
easat-6650	131	10	defects	defect	NOUN
easat-6650	131	11	that	that	PRON
easat-6650	131	12	might	might	AUX
easat-6650	131	13	be	be	AUX
easat-6650	131	14	visible	visible	ADJ
easat-6650	131	15	only	only	ADV
easat-6650	131	16	from	from	ADP
easat-6650	131	17	certain	certain	ADJ
easat-6650	131	18	angles	angle	NOUN
easat-6650	131	19	.	.	PUNCT
easat-6650	132	1	4.5	4.5	NUM
easat-6650	132	2	.	.	PUNCT
easat-6650	133	1	path	path	NOUN
easat-6650	133	2	optimization	optimization	NOUN
easat-6650	133	3	after	after	ADP
easat-6650	133	4	generating	generate	VERB
easat-6650	133	5	the	the	DET
easat-6650	133	6	basic	basic	ADJ
easat-6650	133	7	structure	structure	NOUN
easat-6650	133	8	-	-	PUNCT
easat-6650	133	9	specific	specific	ADJ
easat-6650	133	10	patterns	pattern	NOUN
easat-6650	134	1	,	,	PUNCT
easat-6650	134	2	we	we	PRON
easat-6650	134	3	apply	apply	VERB
easat-6650	134	4	several	several	ADJ
easat-6650	134	5	optimization	optimization	NOUN
easat-6650	134	6	techniques	technique	NOUN
easat-6650	134	7	to	to	PART
easat-6650	134	8	enhance	enhance	VERB
easat-6650	134	9	efficiency	efficiency	NOUN
easat-6650	134	10	.	.	PUNCT
easat-6650	135	1	4.5.1	4.5.1	X
easat-6650	135	2	.	.	PUNCT
easat-6650	135	3	trajectory	trajectory	NOUN
easat-6650	135	4	smoothing	smooth	VERB
easat-6650	135	5	we	we	PRON
easat-6650	135	6	implement	implement	VERB
easat-6650	135	7	b	b	X
easat-6650	135	8	-	-	PUNCT
easat-6650	135	9	spline	spline	NOUN
easat-6650	135	10	smoothing	smoothing	NOUN
easat-6650	135	11	to	to	PART
easat-6650	135	12	minimize	minimize	VERB
easat-6650	135	13	abrupt	abrupt	ADJ
easat-6650	135	14	direction	direction	NOUN
easat-6650	135	15	changes	change	NOUN
easat-6650	135	16	.	.	PUNCT
easat-6650	136	1	𝒫smooth	𝒫smooth	PROPN
easat-6650	136	2	=	=	SYM
easat-6650	136	3	∑	∑	PUNCT
easat-6650	136	4	𝑁𝑖,𝑝(𝑡	𝑁𝑖,𝑝(𝑡	NOUN
easat-6650	136	5	)	)	PUNCT
easat-6650	137	1	𝑛	𝑛	DET
easat-6650	137	2	𝑖=0	𝑖=0	PROPN
easat-6650	137	3	𝒫𝑖	𝒫𝑖	PROPN
easat-6650	137	4	where	where	SCONJ
easat-6650	137	5	𝑁𝑖,𝑝(𝑡	𝑁𝑖,𝑝(𝑡	NOUN
easat-6650	137	6	)	)	PUNCT
easat-6650	137	7	are	be	AUX
easat-6650	137	8	b	b	NUM
easat-6650	137	9	-	-	PUNCT
easat-6650	137	10	spline	spline	NOUN
easat-6650	137	11	basis	basis	NOUN
easat-6650	137	12	functions	function	NOUN
easat-6650	137	13	of	of	ADP
easat-6650	137	14	degree	degree	NOUN
easat-6650	137	15	𝑝.	𝑝.	NOUN
easat-6650	137	16	4.5.2	4.5.2	NUM
easat-6650	137	17	.	.	PUNCT
easat-6650	138	1	velocity	velocity	NOUN
easat-6650	138	2	profile	profile	NOUN
easat-6650	138	3	optimization	optimization	NOUN
easat-6650	138	4	we	we	PRON
easat-6650	138	5	generate	generate	VERB
easat-6650	138	6	an	an	DET
easat-6650	138	7	optimal	optimal	ADJ
easat-6650	138	8	velocity	velocity	NOUN
easat-6650	138	9	profile	profile	NOUN
easat-6650	138	10	along	along	ADP
easat-6650	138	11	the	the	DET
easat-6650	138	12	path	path	NOUN
easat-6650	138	13	.	.	PUNCT
easat-6650	139	1	𝑣opt	𝑣opt	VERB
easat-6650	139	2	(	(	PUNCT
easat-6650	139	3	𝑡	𝑡	NOUN
easat-6650	139	4	)	)	PUNCT
easat-6650	139	5	=	=	PUNCT
easat-6650	139	6	𝑚𝑖𝑛(𝑣𝑚𝑎𝑥	𝑚𝑖𝑛(𝑣𝑚𝑎𝑥	NUM
easat-6650	139	7	,	,	PUNCT
easat-6650	139	8	√	√	NUM
easat-6650	139	9	𝑎𝑚𝑎𝑥	𝑎𝑚𝑎𝑥	NOUN
easat-6650	139	10	⋅	⋅	PROPN
easat-6650	139	11	𝑟𝑚𝑖𝑛(𝑡	𝑟𝑚𝑖𝑛(𝑡	PROPN
easat-6650	139	12	)	)	PUNCT
easat-6650	139	13	|𝜅(𝑡)|	|𝜅(𝑡)|	NOUN
easat-6650	139	14	where	where	SCONJ
easat-6650	139	15	𝜅(𝑡	𝜅(𝑡	VERB
easat-6650	139	16	)	)	PUNCT
easat-6650	139	17	is	be	AUX
easat-6650	139	18	the	the	DET
easat-6650	139	19	path	path	NOUN
easat-6650	139	20	curvature	curvature	NOUN
easat-6650	139	21	at	at	ADP
easat-6650	139	22	position	position	NOUN
easat-6650	139	23	𝑡	𝑡	PROPN
easat-6650	139	24	,	,	PUNCT
easat-6650	139	25	𝑟𝑚𝑖𝑛(𝑡	𝑟𝑚𝑖𝑛(𝑡	NOUN
easat-6650	139	26	)	)	PUNCT
easat-6650	139	27	is	be	AUX
easat-6650	139	28	the	the	DET
easat-6650	139	29	minimum	minimum	ADJ
easat-6650	139	30	turning	turning	NOUN
easat-6650	139	31	radius	radius	NOUN
easat-6650	139	32	,	,	PUNCT
easat-6650	139	33	and	and	CCONJ
easat-6650	139	34	𝑎𝑚𝑎𝑥	𝑎𝑚𝑎𝑥	NOUN
easat-6650	139	35	is	be	AUX
easat-6650	139	36	the	the	DET
easat-6650	139	37	maximum	maximum	ADJ
easat-6650	139	38	allowable	allowable	ADJ
easat-6650	139	39	acceleration	acceleration	NOUN
easat-6650	139	40	.	.	PUNCT
easat-6650	140	1	4.5.3	4.5.3	X
easat-6650	140	2	.	.	PUNCT
easat-6650	141	1	energy	energy	NOUN
easat-6650	141	2	-	-	PUNCT
easat-6650	141	3	aware	aware	ADJ
easat-6650	141	4	path	path	NOUN
easat-6650	141	5	adjustment	adjustment	NOUN
easat-6650	141	6	in	in	ADP
easat-6650	141	7	energy	energy	NOUN
easat-6650	141	8	-	-	PUNCT
easat-6650	141	9	constrained	constrain	VERB
easat-6650	141	10	scenarios	scenario	NOUN
easat-6650	141	11	,	,	PUNCT
easat-6650	141	12	we	we	PRON
easat-6650	141	13	modify	modify	VERB
easat-6650	141	14	the	the	DET
easat-6650	141	15	path	path	NOUN
easat-6650	141	16	to	to	PART
easat-6650	141	17	prioritize	prioritize	VERB
easat-6650	141	18	energy	energy	NOUN
easat-6650	141	19	efficiency	efficiency	NOUN
easat-6650	141	20	:	:	PUNCT
easat-6650	142	1	𝒫energy	𝒫energy	PROPN
easat-6650	142	2	=	=	PUNCT
easat-6650	142	3	arg	arg	NOUN
easat-6650	142	4	𝑚𝑖𝑛	𝑚𝑖𝑛	NOUN
easat-6650	142	5	𝒫	𝒫	NOUN
easat-6650	142	6	∫	∫	NOUN
easat-6650	142	7	𝐸𝑖	𝐸𝑖	PROPN
easat-6650	142	8	𝑇	𝑇	PROPN
easat-6650	142	9	0	0	NUM
easat-6650	142	10	(	(	PUNCT
easat-6650	142	11	𝑣(𝑡	𝑣(𝑡	NOUN
easat-6650	142	12	)	)	PUNCT
easat-6650	142	13	,	,	PUNCT
easat-6650	142	14	𝑎(𝑡	𝑎(𝑡	PROPN
easat-6650	142	15	)	)	PUNCT
easat-6650	142	16	,	,	PUNCT
easat-6650	142	17	𝑡)𝑑𝑡	𝑡)𝑑𝑡	PROPN
easat-6650	142	18	subject	subject	NOUN
easat-6650	142	19	to	to	ADP
easat-6650	142	20	maintaining	maintain	VERB
easat-6650	142	21	the	the	DET
easat-6650	142	22	required	require	VERB
easat-6650	142	23	coverage	coverage	NOUN
easat-6650	142	24	.	.	PUNCT
easat-6650	143	1	4.5.4	4.5.4	X
easat-6650	143	2	.	.	PROPN
easat-6650	143	3	algorithm	algorithm	PROPN
easat-6650	143	4	implementation	implementation	NOUN
easat-6650	143	5	we	we	PRON
easat-6650	143	6	implement	implement	VERB
easat-6650	143	7	the	the	DET
easat-6650	143	8	structure	structure	NOUN
easat-6650	143	9	-	-	PUNCT
easat-6650	143	10	specific	specific	ADJ
easat-6650	143	11	path	path	NOUN
easat-6650	143	12	planning	planning	NOUN
easat-6650	143	13	as	as	ADP
easat-6650	143	14	a	a	DET
easat-6650	143	15	two	two	NUM
easat-6650	143	16	-	-	PUNCT
easat-6650	143	17	phase	phase	NOUN
easat-6650	143	18	process	process	NOUN
easat-6650	143	19	:	:	PUNCT
easat-6650	143	20	a.	a.	NOUN
easat-6650	143	21	pattern	pattern	NOUN
easat-6650	143	22	generation	generation	NOUN
easat-6650	143	23	:	:	PUNCT
easat-6650	143	24	based	base	VERB
easat-6650	143	25	on	on	ADP
easat-6650	143	26	the	the	DET
easat-6650	143	27	structural	structural	ADJ
easat-6650	143	28	type	type	NOUN
easat-6650	143	29	𝑇𝑘	𝑇𝑘	PROPN
easat-6650	143	30	,	,	PUNCT
easat-6650	143	31	generate	generate	VERB
easat-6650	143	32	the	the	DET
easat-6650	143	33	appropriate	appropriate	ADJ
easat-6650	143	34	base	base	NOUN
easat-6650	143	35	pattern	pattern	NOUN
easat-6650	143	36	.	.	PUNCT
easat-6650	144	1	b.	b.	PROPN
easat-6650	144	2	path	path	PROPN
easat-6650	144	3	optimization	optimization	PROPN
easat-6650	144	4	:	:	PUNCT
easat-6650	144	5	apply	apply	VERB
easat-6650	144	6	trajectory	trajectory	NOUN
easat-6650	144	7	smoothing	smoothing	NOUN
easat-6650	144	8	,	,	PUNCT
easat-6650	144	9	velocity	velocity	NOUN
easat-6650	144	10	optimization	optimization	NOUN
easat-6650	144	11	,	,	PUNCT
easat-6650	144	12	and	and	CCONJ
easat-6650	144	13	energy	energy	NOUN
easat-6650	144	14	-	-	PUNCT
easat-6650	144	15	aware	aware	ADJ
easat-6650	144	16	adjustments	adjustment	NOUN
easat-6650	144	17	.	.	PUNCT
easat-6650	145	1	the	the	DET
easat-6650	145	2	computational	computational	ADJ
easat-6650	145	3	complexity	complexity	NOUN
easat-6650	145	4	is	be	AUX
easat-6650	145	5	𝑂(𝑛𝑤	𝑂(𝑛𝑤	NOUN
easat-6650	145	6	)	)	PUNCT
easat-6650	145	7	,	,	PUNCT
easat-6650	145	8	where	where	SCONJ
easat-6650	145	9	𝑛𝑤	𝑛𝑤	ADV
easat-6650	145	10	is	be	VERB
easat-6650	145	11	the	the	DET
easat-6650	145	12	number	number	NOUN
easat-6650	145	13	of	of	ADP
easat-6650	145	14	waypoints	waypoint	NOUN
easat-6650	145	15	in	in	ADP
easat-6650	145	16	the	the	DET
easat-6650	145	17	path	path	NOUN
easat-6650	145	18	,	,	PUNCT
easat-6650	145	19	making	make	VERB
easat-6650	145	20	it	it	PRON
easat-6650	145	21	efficient	efficient	ADJ
easat-6650	145	22	for	for	ADP
easat-6650	145	23	real	real	ADJ
easat-6650	145	24	-	-	PUNCT
easat-6650	145	25	time	time	NOUN
easat-6650	145	26	applications	application	NOUN
easat-6650	145	27	.	.	PUNCT
easat-6650	146	1	through	through	ADP
easat-6650	146	2	this	this	DET
easat-6650	146	3	approach	approach	NOUN
easat-6650	146	4	,	,	PUNCT
easat-6650	146	5	our	our	PRON
easat-6650	146	6	path	path	NOUN
easat-6650	146	7	planning	planning	NOUN
easat-6650	146	8	component	component	NOUN
easat-6650	146	9	generates	generate	VERB
easat-6650	146	10	optimized	optimize	VERB
easat-6650	146	11	,	,	PUNCT
easat-6650	146	12	structure	structure	NOUN
easat-6650	146	13	-	-	PUNCT
easat-6650	146	14	specific	specific	ADJ
easat-6650	146	15	inspection	inspection	NOUN
easat-6650	146	16	trajectories	trajectory	NOUN
easat-6650	146	17	that	that	PRON
easat-6650	146	18	minimize	minimize	VERB
easat-6650	146	19	inspection	inspection	NOUN
easat-6650	146	20	time	time	NOUN
easat-6650	146	21	while	while	SCONJ
easat-6650	146	22	ensuring	ensure	VERB
easat-6650	146	23	comprehensive	comprehensive	ADJ
easat-6650	146	24	coverage	coverage	NOUN
easat-6650	146	25	and	and	CCONJ
easat-6650	146	26	respecting	respect	VERB
easat-6650	146	27	energy	energy	NOUN
easat-6650	146	28	constraints	constraint	NOUN
easat-6650	146	29	.	.	PUNCT
easat-6650	147	1	these	these	DET
easat-6650	147	2	optimized	optimize	VERB
easat-6650	147	3	paths	path	NOUN
easat-6650	147	4	serve	serve	VERB
easat-6650	147	5	as	as	ADP
easat-6650	147	6	inputs	input	NOUN
easat-6650	147	7	to	to	ADP
easat-6650	147	8	the	the	DET
easat-6650	147	9	subsequent	subsequent	ADJ
easat-6650	147	10	task	task	NOUN
easat-6650	147	11	allocation	allocation	NOUN
easat-6650	147	12	and	and	CCONJ
easat-6650	147	13	scheduling	scheduling	NOUN
easat-6650	147	14	components	component	NOUN
easat-6650	147	15	of	of	ADP
easat-6650	147	16	our	our	PRON
easat-6650	147	17	overall	overall	ADJ
easat-6650	147	18	uav	uav	PROPN
easat-6650	147	19	swarm	swarm	NOUN
easat-6650	147	20	scheduling	scheduling	NOUN
easat-6650	147	21	framework	framework	NOUN
easat-6650	147	22	.	.	PUNCT
easat-6650	148	1	2759	2759	NUM
easat-6650	148	2	edelweiss	edelweiss	PROPN
easat-6650	148	3	applied	apply	VERB
easat-6650	148	4	science	science	NOUN
easat-6650	148	5	and	and	CCONJ
easat-6650	148	6	technology	technology	NOUN
easat-6650	148	7	issn	issn	PROPN
easat-6650	148	8	:	:	PUNCT
easat-6650	148	9	2576	2576	NUM
easat-6650	148	10	-	-	SYM
easat-6650	148	11	8484	8484	NUM
easat-6650	148	12	vol	vol	NOUN
easat-6650	148	13	.	.	PROPN
easat-6650	149	1	9	9	NUM
easat-6650	149	2	,	,	PUNCT
easat-6650	149	3	no	no	INTJ
easat-6650	149	4	.	.	NOUN
easat-6650	149	5	4	4	NUM
easat-6650	149	6	:	:	SYM
easat-6650	149	7	2751	2751	NUM
easat-6650	149	8	-	-	SYM
easat-6650	149	9	2767	2767	NUM
easat-6650	149	10	,	,	PUNCT
easat-6650	149	11	2025	2025	NUM
easat-6650	149	12	doi	doi	NOUN
easat-6650	149	13	:	:	PUNCT
easat-6650	149	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	149	15	©	©	ADP
easat-6650	149	16	2025	2025	NUM
easat-6650	149	17	by	by	ADP
easat-6650	149	18	the	the	DET
easat-6650	149	19	author	author	NOUN
easat-6650	149	20	;	;	PUNCT
easat-6650	149	21	licensee	licensee	PROPN
easat-6650	149	22	learning	learning	NOUN
easat-6650	149	23	gate	gate	NOUN
easat-6650	149	24	5	5	NUM
easat-6650	149	25	.	.	PUNCT
easat-6650	149	26	scheduling	scheduling	NOUN
easat-6650	149	27	problem	problem	NOUN
easat-6650	149	28	algorithm	algorithm	VERB
easat-6650	149	29	the	the	DET
easat-6650	149	30	scheduling	scheduling	NOUN
easat-6650	149	31	problem	problem	NOUN
easat-6650	149	32	(	(	PUNCT
easat-6650	149	33	sp	sp	NOUN
easat-6650	149	34	)	)	PUNCT
easat-6650	149	35	constitutes	constitute	VERB
easat-6650	149	36	a	a	DET
easat-6650	149	37	critical	critical	ADJ
easat-6650	149	38	component	component	NOUN
easat-6650	149	39	of	of	ADP
easat-6650	149	40	our	our	PRON
easat-6650	149	41	uav	uav	PROPN
easat-6650	149	42	swarm	swarm	NOUN
easat-6650	149	43	scheduling	scheduling	NOUN
easat-6650	149	44	framework	framework	NOUN
easat-6650	149	45	for	for	ADP
easat-6650	149	46	urban	urban	ADJ
easat-6650	149	47	infrastructure	infrastructure	NOUN
easat-6650	149	48	inspection	inspection	NOUN
easat-6650	149	49	.	.	PUNCT
easat-6650	150	1	this	this	DET
easat-6650	150	2	problem	problem	NOUN
easat-6650	150	3	focuses	focus	VERB
easat-6650	150	4	on	on	ADP
easat-6650	150	5	determining	determine	VERB
easat-6650	150	6	the	the	DET
easat-6650	150	7	optimal	optimal	ADJ
easat-6650	150	8	sequence	sequence	NOUN
easat-6650	150	9	of	of	ADP
easat-6650	150	10	inspection	inspection	NOUN
easat-6650	150	11	tasks	task	NOUN
easat-6650	150	12	for	for	ADP
easat-6650	150	13	each	each	DET
easat-6650	150	14	uav	uav	PROPN
easat-6650	150	15	,	,	PUNCT
easat-6650	150	16	assuming	assume	VERB
easat-6650	150	17	that	that	SCONJ
easat-6650	150	18	task	task	NOUN
easat-6650	150	19	allocation	allocation	NOUN
easat-6650	150	20	decisions	decision	NOUN
easat-6650	150	21	and	and	CCONJ
easat-6650	150	22	path	path	NOUN
easat-6650	150	23	planning	planning	NOUN
easat-6650	150	24	have	have	AUX
easat-6650	150	25	been	be	AUX
easat-6650	150	26	predetermined	predetermine	VERB
easat-6650	150	27	.	.	PUNCT
easat-6650	151	1	an	an	DET
easat-6650	151	2	effective	effective	ADJ
easat-6650	151	3	schedule	schedule	NOUN
easat-6650	151	4	minimizes	minimize	VERB
easat-6650	151	5	the	the	DET
easat-6650	151	6	total	total	ADJ
easat-6650	151	7	mission	mission	NOUN
easat-6650	151	8	time	time	NOUN
easat-6650	151	9	by	by	ADP
easat-6650	151	10	optimizing	optimize	VERB
easat-6650	151	11	the	the	DET
easat-6650	151	12	temporal	temporal	ADJ
easat-6650	151	13	coordination	coordination	NOUN
easat-6650	151	14	of	of	ADP
easat-6650	151	15	multiple	multiple	ADJ
easat-6650	151	16	uavs	uavs	NOUN
easat-6650	151	17	while	while	SCONJ
easat-6650	151	18	preventing	prevent	VERB
easat-6650	151	19	resource	resource	NOUN
easat-6650	151	20	conflicts	conflict	NOUN
easat-6650	151	21	and	and	CCONJ
easat-6650	151	22	adhering	adhere	VERB
easat-6650	151	23	to	to	ADP
easat-6650	151	24	operational	operational	ADJ
easat-6650	151	25	constraints	constraint	NOUN
easat-6650	151	26	.	.	PUNCT
easat-6650	152	1	5.1	5.1	NUM
easat-6650	152	2	.	.	PUNCT
easat-6650	153	1	mathematical	mathematical	ADJ
easat-6650	153	2	formulation	formulation	NOUN
easat-6650	153	3	given	give	VERB
easat-6650	153	4	a	a	DET
easat-6650	153	5	set	set	NOUN
easat-6650	153	6	of	of	ADP
easat-6650	153	7	uavs	uavs	NOUN
easat-6650	153	8	𝒰	𝒰	PROPN
easat-6650	153	9	=	=	SYM
easat-6650	153	10	{	{	PUNCT
easat-6650	153	11	𝑢1	𝑢1	PROPN
easat-6650	153	12	,	,	PUNCT
easat-6650	153	13	𝑢2	𝑢2	PROPN
easat-6650	153	14	,	,	PUNCT
easat-6650	153	15	…	…	PUNCT
easat-6650	153	16	,	,	PUNCT
easat-6650	153	17	𝑢𝑁	𝑢𝑁	NOUN
easat-6650	153	18	}	}	PUNCT
easat-6650	153	19	and	and	CCONJ
easat-6650	153	20	a	a	DET
easat-6650	153	21	set	set	NOUN
easat-6650	153	22	of	of	ADP
easat-6650	153	23	inspection	inspection	NOUN
easat-6650	153	24	zones	zone	NOUN
easat-6650	153	25	𝒵	𝒵	NOUN
easat-6650	153	26	=	=	SYM
easat-6650	153	27	{	{	PUNCT
easat-6650	153	28	𝑧1	𝑧1	PROPN
easat-6650	153	29	,	,	PUNCT
easat-6650	153	30	𝑧2	𝑧2	PROPN
easat-6650	153	31	,	,	PUNCT
easat-6650	153	32	…	…	PUNCT
easat-6650	153	33	,	,	PUNCT
easat-6650	153	34	𝑧𝐾	𝑧𝐾	PROPN
easat-6650	153	35	}	}	PUNCT
easat-6650	153	36	with	with	ADP
easat-6650	153	37	predetermined	predetermine	VERB
easat-6650	153	38	assignments	assignment	NOUN
easat-6650	153	39	𝑥𝑖,𝑘	𝑥𝑖,𝑘	PUNCT
easat-6650	153	40	indicating	indicate	VERB
easat-6650	153	41	whether	whether	SCONJ
easat-6650	153	42	uav	uav	PROPN
easat-6650	153	43	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	153	44	is	be	AUX
easat-6650	153	45	assigned	assign	VERB
easat-6650	153	46	to	to	PART
easat-6650	153	47	inspect	inspect	VERB
easat-6650	153	48	zone	zone	NOUN
easat-6650	153	49	𝑧𝑘	𝑧𝑘	PRON
easat-6650	153	50	,	,	PUNCT
easat-6650	153	51	the	the	DET
easat-6650	153	52	scheduling	scheduling	NOUN
easat-6650	153	53	problem	problem	NOUN
easat-6650	153	54	can	can	AUX
easat-6650	153	55	be	be	AUX
easat-6650	153	56	formulated	formulate	VERB
easat-6650	153	57	as	as	ADP
easat-6650	153	58	.	.	PUNCT
easat-6650	153	59	minimize	minimize	VERB
easat-6650	153	60	𝑇total	𝑇total	PROPN
easat-6650	153	61	=	=	PUNCT
easat-6650	153	62	𝑚𝑎𝑥	𝑚𝑎𝑥	NOUN
easat-6650	153	63	𝑖∈{1,	𝑖∈{1,	PROPN
easat-6650	153	64	…	…	SYM
easat-6650	153	65	,𝑁	,𝑁	ADJ
easat-6650	153	66	}	}	PUNCT
easat-6650	153	67	(	(	PUNCT
easat-6650	153	68	𝑇𝑖	𝑇𝑖	ADP
easat-6650	153	69	complete	complete	ADJ
easat-6650	153	70	)	)	PUNCT
easat-6650	153	71	subject	subject	ADJ
easat-6650	153	72	to	to	ADP
easat-6650	153	73	:	:	PUNCT
easat-6650	153	74	𝑇𝑖	𝑇𝑖	ADP
easat-6650	153	75	complete	complete	ADJ
easat-6650	153	76	=	=	PUNCT
easat-6650	153	77	𝑚𝑎𝑥	𝑚𝑎𝑥	ADJ
easat-6650	153	78	𝑘∈{1,	𝑘∈{1,	NOUN
easat-6650	153	79	…	…	PUNCT
easat-6650	153	80	,𝐾	,𝐾	ADJ
easat-6650	153	81	}	}	PUNCT
easat-6650	153	82	{	{	PUNCT
easat-6650	153	83	𝑡𝑖,𝑘	𝑡𝑖,𝑘	PUNCT
easat-6650	153	84	start	start	VERB
easat-6650	153	85	+	+	X
easat-6650	153	86	𝜏𝑖,𝑘	𝜏𝑖,𝑘	PUNCT
easat-6650	153	87	∣∣	∣∣	X
easat-6650	153	88	𝑥𝑖,𝑘	𝑥𝑖,𝑘	X
easat-6650	153	89	=	=	NOUN
easat-6650	153	90	1	1	X
easat-6650	153	91	}	}	PUNCT
easat-6650	153	92	,	,	PUNCT
easat-6650	153	93	∀𝑖	∀𝑖	PROPN
easat-6650	153	94	∈	∈	PROPN
easat-6650	153	95	{	{	PUNCT
easat-6650	153	96	1	1	NUM
easat-6650	153	97	,	,	PUNCT
easat-6650	153	98	…	…	PUNCT
easat-6650	153	99	,	,	PUNCT
easat-6650	153	100	𝑁	𝑁	PROPN
easat-6650	153	101	}	}	PUNCT
easat-6650	153	102	𝑡𝑖,𝑙	𝑡𝑖,𝑙	X
easat-6650	153	103	start	start	VERB
easat-6650	153	104	≥	≥	NUM
easat-6650	153	105	𝑡𝑖,𝑘	𝑡𝑖,𝑘	PUNCT
easat-6650	153	106	finish	finish	VERB
easat-6650	153	107	+	+	CCONJ
easat-6650	153	108	𝑡𝑖,𝑘,𝑙	𝑡𝑖,𝑘,𝑙	ADV
easat-6650	153	109	,	,	PUNCT
easat-6650	153	110	∀𝑖	∀𝑖	PROPN
easat-6650	153	111	∈	∈	PROPN
easat-6650	153	112	{	{	PUNCT
easat-6650	153	113	1	1	NUM
easat-6650	153	114	,	,	PUNCT
easat-6650	153	115	…	…	PUNCT
easat-6650	153	116	,	,	PUNCT
easat-6650	153	117	𝑁	𝑁	PROPN
easat-6650	153	118	}	}	PUNCT
easat-6650	153	119	,	,	PUNCT
easat-6650	153	120	∀𝑘	∀𝑘	X
easat-6650	153	121	,	,	PUNCT
easat-6650	153	122	𝑙	𝑙	PROPN
easat-6650	153	123	∈	∈	PROPN
easat-6650	153	124	{	{	PUNCT
easat-6650	153	125	1	1	NUM
easat-6650	153	126	,	,	PUNCT
easat-6650	153	127	…	…	PUNCT
easat-6650	153	128	,	,	PUNCT
easat-6650	153	129	𝐾	𝐾	PROPN
easat-6650	153	130	}	}	PUNCT
easat-6650	153	131	,	,	PUNCT
easat-6650	153	132	𝑥𝑖,𝑘	𝑥𝑖,𝑘	PUNCT
easat-6650	153	133	=	=	PUNCT
easat-6650	153	134	𝑥𝑖,𝑙	𝑥𝑖,𝑙	PUNCT
easat-6650	154	1	=	=	PUNCT
easat-6650	154	2	1	1	NUM
easat-6650	154	3	,	,	PUNCT
easat-6650	154	4	𝑜𝑖,𝑘,𝑙	𝑜𝑖,𝑘,𝑙	PROPN
easat-6650	154	5	=	=	SYM
easat-6650	154	6	1	1	X
easat-6650	154	7	𝑡𝑗,𝑙	𝑡𝑗,𝑙	X
easat-6650	154	8	start	start	VERB
easat-6650	154	9	≥	≥	NUM
easat-6650	154	10	𝑡𝑖,𝑘	𝑡𝑖,𝑘	PUNCT
easat-6650	154	11	finish	finish	VERB
easat-6650	154	12	−	−	PROPN
easat-6650	154	13	𝑀(1	𝑀(1	NOUN
easat-6650	154	14	−	−	PROPN
easat-6650	154	15	𝑦𝑖,𝑗,𝑘,𝑙	𝑦𝑖,𝑗,𝑘,𝑙	PROPN
easat-6650	154	16	)	)	PUNCT
easat-6650	154	17	,	,	PUNCT
easat-6650	154	18	∀𝑖	∀𝑖	PROPN
easat-6650	154	19	,	,	PUNCT
easat-6650	154	20	𝑗	𝑗	PROPN
easat-6650	154	21	∈	∈	NOUN
easat-6650	154	22	{	{	PUNCT
easat-6650	154	23	1	1	NUM
easat-6650	154	24	,	,	PUNCT
easat-6650	154	25	…	…	PUNCT
easat-6650	154	26	,	,	PUNCT
easat-6650	154	27	𝑁	𝑁	PROPN
easat-6650	154	28	}	}	PUNCT
easat-6650	154	29	,	,	PUNCT
easat-6650	154	30	𝑖	𝑖	PROPN
easat-6650	154	31	≠	≠	PROPN
easat-6650	154	32	𝑗	𝑗	PROPN
easat-6650	154	33	,	,	PUNCT
easat-6650	154	34	∀𝑘	∀𝑘	X
easat-6650	154	35	,	,	PUNCT
easat-6650	154	36	𝑙	𝑙	PROPN
easat-6650	154	37	∈	∈	PROPN
easat-6650	154	38	{	{	PUNCT
easat-6650	154	39	1	1	NUM
easat-6650	154	40	,	,	PUNCT
easat-6650	154	41	…	…	PUNCT
easat-6650	154	42	,	,	PUNCT
easat-6650	154	43	𝐾	𝐾	PROPN
easat-6650	154	44	}	}	PUNCT
easat-6650	154	45	,	,	PUNCT
easat-6650	154	46	𝑥𝑖,𝑘	𝑥𝑖,𝑘	PUNCT
easat-6650	154	47	=	=	SYM
easat-6650	154	48	𝑥𝑗,𝑙	𝑥𝑗,𝑙	X
easat-6650	154	49	=	=	SYM
easat-6650	154	50	1	1	NUM
easat-6650	154	51	𝑦𝑖,𝑗,𝑘,𝑙	𝑦𝑖,𝑗,𝑘,𝑙	PROPN
easat-6650	154	52	+	+	NUM
easat-6650	154	53	𝑦𝑗,𝑖,𝑙,𝑘	𝑦𝑗,𝑖,𝑙,𝑘	PROPN
easat-6650	154	54	=	=	SYM
easat-6650	154	55	1	1	NUM
easat-6650	154	56	,	,	PUNCT
easat-6650	154	57	∀𝑖	∀𝑖	PROPN
easat-6650	154	58	,	,	PUNCT
easat-6650	154	59	𝑗	𝑗	PROPN
easat-6650	154	60	∈	∈	NOUN
easat-6650	154	61	{	{	PUNCT
easat-6650	154	62	1	1	NUM
easat-6650	154	63	,	,	PUNCT
easat-6650	154	64	…	…	PUNCT
easat-6650	154	65	,	,	PUNCT
easat-6650	154	66	𝑁	𝑁	PROPN
easat-6650	154	67	}	}	PUNCT
easat-6650	154	68	,	,	PUNCT
easat-6650	154	69	𝑖	𝑖	PROPN
easat-6650	154	70	≠	≠	PROPN
easat-6650	154	71	𝑗	𝑗	PROPN
easat-6650	154	72	,	,	PUNCT
easat-6650	154	73	∀𝑘	∀𝑘	X
easat-6650	154	74	,	,	PUNCT
easat-6650	154	75	𝑙	𝑙	PROPN
easat-6650	154	76	∈	∈	PROPN
easat-6650	154	77	{	{	PUNCT
easat-6650	154	78	1	1	NUM
easat-6650	154	79	,	,	PUNCT
easat-6650	154	80	…	…	PUNCT
easat-6650	154	81	,	,	PUNCT
easat-6650	154	82	𝐾	𝐾	PROPN
easat-6650	154	83	}	}	PUNCT
easat-6650	154	84	,	,	PUNCT
easat-6650	154	85	𝑥𝑖,𝑘	𝑥𝑖,𝑘	PUNCT
easat-6650	154	86	=	=	SYM
easat-6650	154	87	𝑥𝑗,𝑙	𝑥𝑗,𝑙	X
easat-6650	154	88	=	=	SYM
easat-6650	154	89	1	1	X
easat-6650	154	90	𝑡𝑖,𝑘	𝑡𝑖,𝑘	PUNCT
easat-6650	154	91	finish	finish	NOUN
easat-6650	154	92	=	=	PUNCT
easat-6650	154	93	𝑡𝑖,𝑘	𝑡𝑖,𝑘	PUNCT
easat-6650	154	94	start	start	VERB
easat-6650	154	95	+	+	CCONJ
easat-6650	154	96	𝜏𝑖,𝑘	𝜏𝑖,𝑘	NOUN
easat-6650	154	97	,	,	PUNCT
easat-6650	154	98	∀𝑖	∀𝑖	PROPN
easat-6650	154	99	∈	∈	PROPN
easat-6650	154	100	{	{	PUNCT
easat-6650	154	101	1	1	NUM
easat-6650	154	102	,	,	PUNCT
easat-6650	154	103	…	…	PUNCT
easat-6650	154	104	,	,	PUNCT
easat-6650	154	105	𝑁	𝑁	PROPN
easat-6650	154	106	}	}	PUNCT
easat-6650	154	107	,	,	PUNCT
easat-6650	154	108	∀𝑘	∀𝑘	X
easat-6650	154	109	∈	∈	PROPN
easat-6650	154	110	{	{	PUNCT
easat-6650	154	111	1	1	NUM
easat-6650	154	112	,	,	PUNCT
easat-6650	154	113	…	…	PUNCT
easat-6650	154	114	,	,	PUNCT
easat-6650	154	115	𝐾	𝐾	PROPN
easat-6650	154	116	}	}	PUNCT
easat-6650	154	117	,	,	PUNCT
easat-6650	154	118	𝑥𝑖,𝑘	𝑥𝑖,𝑘	PUNCT
easat-6650	154	119	=	=	SYM
easat-6650	154	120	1	1	X
easat-6650	154	121	𝑡𝑖,𝑘	𝑡𝑖,𝑘	PUNCT
easat-6650	154	122	start	start	VERB
easat-6650	154	123	≥	≥	NOUN
easat-6650	154	124	0	0	NUM
easat-6650	154	125	,	,	PUNCT
easat-6650	154	126	∀𝑖	∀𝑖	PROPN
easat-6650	154	127	∈	∈	PROPN
easat-6650	154	128	{	{	PUNCT
easat-6650	154	129	1	1	NUM
easat-6650	154	130	,	,	PUNCT
easat-6650	154	131	…	…	PUNCT
easat-6650	154	132	,	,	PUNCT
easat-6650	154	133	𝑁	𝑁	PROPN
easat-6650	154	134	}	}	PUNCT
easat-6650	154	135	,	,	PUNCT
easat-6650	154	136	∀𝑘	∀𝑘	X
easat-6650	154	137	∈	∈	PROPN
easat-6650	154	138	{	{	PUNCT
easat-6650	154	139	1	1	NUM
easat-6650	154	140	,	,	PUNCT
easat-6650	154	141	…	…	PUNCT
easat-6650	154	142	,	,	PUNCT
easat-6650	154	143	𝐾	𝐾	NOUN
easat-6650	154	144	}	}	PUNCT
easat-6650	154	145	where	where	SCONJ
easat-6650	154	146	𝑡𝑖,𝑘	𝑡𝑖,𝑘	PUNCT
easat-6650	154	147	start	start	VERB
easat-6650	154	148	and	and	CCONJ
easat-6650	154	149	𝑡𝑖,𝑘	𝑡𝑖,𝑘	PUNCT
easat-6650	154	150	finish	finish	AUX
easat-6650	154	151	represent	represent	VERB
easat-6650	154	152	the	the	DET
easat-6650	154	153	start	start	NOUN
easat-6650	154	154	and	and	CCONJ
easat-6650	154	155	finish	finish	NOUN
easat-6650	154	156	times	time	NOUN
easat-6650	154	157	of	of	ADP
easat-6650	154	158	uav	uav	PROPN
easat-6650	154	159	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	154	160	inspecting	inspect	VERB
easat-6650	154	161	zone	zone	NOUN
easat-6650	154	162	𝑧𝑘	𝑧𝑘	PRON
easat-6650	154	163	,	,	PUNCT
easat-6650	154	164	𝜏𝑖,𝑘	𝜏𝑖,𝑘	PUNCT
easat-6650	154	165	is	be	AUX
easat-6650	154	166	the	the	DET
easat-6650	154	167	inspection	inspection	NOUN
easat-6650	154	168	time	time	NOUN
easat-6650	154	169	,	,	PUNCT
easat-6650	154	170	𝑡𝑖,𝑘,𝑙	𝑡𝑖,𝑘,𝑙	PRON
easat-6650	154	171	is	be	AUX
easat-6650	154	172	the	the	DET
easat-6650	154	173	travel	travel	NOUN
easat-6650	154	174	time	time	NOUN
easat-6650	154	175	from	from	ADP
easat-6650	154	176	zone	zone	NOUN
easat-6650	154	177	𝑧𝑘	𝑧𝑘	PRON
easat-6650	154	178	to	to	PART
easat-6650	154	179	zone	zone	VERB
easat-6650	154	180	𝑧𝑙	𝑧𝑙	PROPN
easat-6650	154	181	for	for	ADP
easat-6650	154	182	uav	uav	PROPN
easat-6650	154	183	𝑢𝑖	𝑢𝑖	PROPN
easat-6650	154	184	,	,	PUNCT
easat-6650	154	185	𝑜𝑖,𝑘,𝑙	𝑜𝑖,𝑘,𝑙	PROPN
easat-6650	154	186	indicates	indicate	VERB
easat-6650	154	187	the	the	DET
easat-6650	154	188	inspection	inspection	NOUN
easat-6650	154	189	order	order	NOUN
easat-6650	154	190	for	for	ADP
easat-6650	154	191	uav	uav	PROPN
easat-6650	154	192	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	154	193	(	(	PUNCT
easat-6650	154	194	whether	whether	SCONJ
easat-6650	154	195	zone	zone	NOUN
easat-6650	154	196	𝑧𝑘	𝑧𝑘	PRON
easat-6650	154	197	is	be	AUX
easat-6650	154	198	inspected	inspect	VERB
easat-6650	154	199	before	before	ADP
easat-6650	154	200	zone	zone	NOUN
easat-6650	154	201	𝑧𝑙	𝑧𝑙	PROPN
easat-6650	154	202	)	)	PUNCT
easat-6650	154	203	,	,	PUNCT
easat-6650	154	204	and	and	CCONJ
easat-6650	154	205	𝑦𝑖,𝑗,𝑘,𝑙	𝑦𝑖,𝑗,𝑘,𝑙	PROPN
easat-6650	154	206	represents	represent	VERB
easat-6650	154	207	precedence	precedence	NOUN
easat-6650	154	208	relationships	relationship	NOUN
easat-6650	154	209	between	between	ADP
easat-6650	154	210	different	different	ADJ
easat-6650	154	211	uavs	uavs	NOUN
easat-6650	154	212	(	(	PUNCT
easat-6650	154	213	whether	whether	SCONJ
easat-6650	154	214	uav	uav	PROPN
easat-6650	154	215	𝑢𝑖	𝑢𝑖	VERB
easat-6650	154	216	inspecting	inspect	VERB
easat-6650	154	217	zone	zone	NOUN
easat-6650	154	218	𝑧𝑘	𝑧𝑘	PRON
easat-6650	154	219	precedes	precede	VERB
easat-6650	154	220	uav	uav	PROPN
easat-6650	154	221	𝑢𝑗	𝑢𝑗	PROPN
easat-6650	154	222	inspecting	inspect	VERB
easat-6650	154	223	zone	zone	PROPN
easat-6650	154	224	𝑧𝑙	𝑧𝑙	PROPN
easat-6650	154	225	)	)	PUNCT
easat-6650	154	226	.	.	PUNCT
easat-6650	155	1	to	to	PART
easat-6650	155	2	solve	solve	VERB
easat-6650	155	3	the	the	DET
easat-6650	155	4	scheduling	scheduling	NOUN
easat-6650	155	5	problem	problem	NOUN
easat-6650	155	6	efficiently	efficiently	ADV
easat-6650	155	7	,	,	PUNCT
easat-6650	155	8	we	we	PRON
easat-6650	155	9	propose	propose	VERB
easat-6650	155	10	a	a	DET
easat-6650	155	11	two	two	NUM
easat-6650	155	12	-	-	PUNCT
easat-6650	155	13	stage	stage	NOUN
easat-6650	155	14	approach	approach	NOUN
easat-6650	155	15	,	,	PUNCT
easat-6650	155	16	5.2	5.2	NUM
easat-6650	155	17	.	.	PUNCT
easat-6650	156	1	single	single	ADJ
easat-6650	156	2	-	-	PUNCT
easat-6650	156	3	uav	uav	PROPN
easat-6650	156	4	schedule	schedule	NOUN
easat-6650	156	5	optimization	optimization	NOUN
easat-6650	156	6	for	for	ADP
easat-6650	156	7	each	each	DET
easat-6650	156	8	uav	uav	PROPN
easat-6650	156	9	with	with	ADP
easat-6650	156	10	its	its	PRON
easat-6650	156	11	assigned	assign	VERB
easat-6650	156	12	inspection	inspection	NOUN
easat-6650	156	13	tasks	task	NOUN
easat-6650	157	1	,	,	PUNCT
easat-6650	157	2	we	we	PRON
easat-6650	157	3	determine	determine	VERB
easat-6650	157	4	the	the	DET
easat-6650	157	5	optimal	optimal	ADJ
easat-6650	157	6	sequence	sequence	NOUN
easat-6650	157	7	to	to	PART
easat-6650	157	8	minimize	minimize	VERB
easat-6650	157	9	the	the	DET
easat-6650	157	10	completion	completion	NOUN
easat-6650	157	11	time	time	NOUN
easat-6650	157	12	:	:	PUNCT
easat-6650	157	13	a.	a.	NOUN
easat-6650	157	14	construct	construct	VERB
easat-6650	157	15	a	a	DET
easat-6650	157	16	complete	complete	ADJ
easat-6650	157	17	directed	direct	VERB
easat-6650	157	18	graph	graph	NOUN
easat-6650	157	19	where	where	SCONJ
easat-6650	157	20	nodes	node	NOUN
easat-6650	157	21	represent	represent	VERB
easat-6650	157	22	inspection	inspection	NOUN
easat-6650	157	23	zones	zone	NOUN
easat-6650	157	24	and	and	CCONJ
easat-6650	157	25	edge	edge	NOUN
easat-6650	157	26	weights	weight	NOUN
easat-6650	157	27	represent	represent	VERB
easat-6650	157	28	the	the	DET
easat-6650	157	29	sum	sum	NOUN
easat-6650	157	30	of	of	ADP
easat-6650	157	31	inspection	inspection	NOUN
easat-6650	157	32	time	time	NOUN
easat-6650	157	33	and	and	CCONJ
easat-6650	157	34	travel	travel	NOUN
easat-6650	157	35	time	time	NOUN
easat-6650	157	36	.	.	PUNCT
easat-6650	158	1	b.	b.	PROPN
easat-6650	158	2	solve	solve	VERB
easat-6650	158	3	the	the	DET
easat-6650	158	4	resulting	result	VERB
easat-6650	158	5	traveling	travel	VERB
easat-6650	158	6	salesman	salesman	ADJ
easat-6650	158	7	problem	problem	NOUN
easat-6650	158	8	(	(	PUNCT
easat-6650	158	9	tsp	tsp	NOUN
easat-6650	158	10	)	)	PUNCT
easat-6650	158	11	to	to	PART
easat-6650	158	12	find	find	VERB
easat-6650	158	13	the	the	DET
easat-6650	158	14	optimal	optimal	ADJ
easat-6650	158	15	visitation	visitation	NOUN
easat-6650	158	16	sequence	sequence	NOUN
easat-6650	158	17	.	.	PUNCT
easat-6650	159	1	c.	c.	PROPN
easat-6650	159	2	apply	apply	VERB
easat-6650	159	3	dynamic	dynamic	ADJ
easat-6650	159	4	programming	programming	NOUN
easat-6650	159	5	to	to	PART
easat-6650	159	6	handle	handle	VERB
easat-6650	159	7	time	time	NOUN
easat-6650	159	8	-	-	PUNCT
easat-6650	159	9	dependent	dependent	ADJ
easat-6650	159	10	travel	travel	NOUN
easat-6650	159	11	costs	cost	NOUN
easat-6650	159	12	if	if	SCONJ
easat-6650	159	13	necessary	necessary	ADJ
easat-6650	159	14	.	.	PUNCT
easat-6650	160	1	the	the	DET
easat-6650	160	2	mathematical	mathematical	ADJ
easat-6650	160	3	formulation	formulation	NOUN
easat-6650	160	4	for	for	ADP
easat-6650	160	5	the	the	DET
easat-6650	160	6	single	single	ADJ
easat-6650	160	7	-	-	PUNCT
easat-6650	160	8	uav	uav	PROPN
easat-6650	160	9	optimization	optimization	NOUN
easat-6650	160	10	is	be	AUX
easat-6650	160	11	:	:	PUNCT
easat-6650	160	12	minimize	minimize	VERB
easat-6650	160	13	∑	∑	ADV
easat-6650	160	14	.𝐾	.𝐾	PROPN
easat-6650	160	15	𝑘=1	𝑘=1	X
easat-6650	160	16	∑	∑	PUNCT
easat-6650	160	17	𝑜𝑖,𝑘,𝑙	𝑜𝑖,𝑘,𝑙	PROPN
easat-6650	160	18	𝐾	𝐾	PROPN
easat-6650	160	19	𝑙=1,𝑙≠𝑘	𝑙=1,𝑙≠𝑘	PROPN
easat-6650	160	20	⋅	⋅	PROPN
easat-6650	160	21	(	(	PUNCT
easat-6650	160	22	𝑡𝑖,𝑘,𝑙	𝑡𝑖,𝑘,𝑙	ADV
easat-6650	160	23	+	+	ADJ
easat-6650	160	24	𝜏𝑖,𝑘	𝜏𝑖,𝑘	X
easat-6650	160	25	)	)	PUNCT
easat-6650	160	26	subject	subject	ADJ
easat-6650	160	27	to	to	ADP
easat-6650	160	28	:	:	PUNCT
easat-6650	160	29	∑	∑	PUNCT
easat-6650	160	30	𝑜𝑖,𝑘,𝑙	𝑜𝑖,𝑘,𝑙	PROPN
easat-6650	160	31	𝐾	𝐾	PROPN
easat-6650	160	32	𝑙=1,𝑙≠𝑘	𝑙=1,𝑙≠𝑘	PROPN
easat-6650	160	33	=	=	SYM
easat-6650	160	34	𝑥𝑖,𝑘	𝑥𝑖,𝑘	PROPN
easat-6650	160	35	,	,	PUNCT
easat-6650	160	36	∀𝑘	∀𝑘	PUNCT
easat-6650	160	37	∈	∈	PROPN
easat-6650	160	38	{	{	PUNCT
easat-6650	160	39	1	1	NUM
easat-6650	160	40	,	,	PUNCT
easat-6650	160	41	…	…	PUNCT
easat-6650	160	42	,	,	PUNCT
easat-6650	160	43	𝐾	𝐾	PROPN
easat-6650	160	44	}	}	PUNCT
easat-6650	160	45	∑	∑	ADP
easat-6650	160	46	𝑜𝑖,𝑘,𝑙	𝑜𝑖,𝑘,𝑙	PROPN
easat-6650	160	47	𝐾	𝐾	PROPN
easat-6650	160	48	𝑘=1,𝑘≠𝑙	𝑘=1,𝑘≠𝑙	NOUN
easat-6650	160	49	=	=	SYM
easat-6650	160	50	𝑥𝑖,𝑙	𝑥𝑖,𝑙	NOUN
easat-6650	160	51	,	,	PUNCT
easat-6650	160	52	∀𝑙	∀𝑙	PROPN
easat-6650	160	53	∈	∈	PROPN
easat-6650	160	54	{	{	PUNCT
easat-6650	160	55	1	1	NUM
easat-6650	160	56	,	,	PUNCT
easat-6650	160	57	…	…	PUNCT
easat-6650	160	58	,	,	PUNCT
easat-6650	160	59	𝐾	𝐾	PROPN
easat-6650	160	60	}	}	PUNCT
easat-6650	160	61	∑.	∑.	NOUN
easat-6650	160	62	𝑘∈𝑆	𝑘∈𝑆	PROPN
easat-6650	160	63	∑	∑	PROPN
easat-6650	160	64	𝑜𝑖,𝑘,𝑙	𝑜𝑖,𝑘,𝑙	PROPN
easat-6650	160	65	𝑙∉𝑆,𝑙≠𝑘	𝑙∉𝑆,𝑙≠𝑘	PROPN
easat-6650	160	66	≥	≥	NUM
easat-6650	160	67	1	1	NUM
easat-6650	160	68	,	,	PUNCT
easat-6650	160	69	∀𝑆	∀𝑆	PUNCT
easat-6650	160	70	⊂	⊂	X
easat-6650	160	71	{	{	PUNCT
easat-6650	160	72	1	1	NUM
easat-6650	160	73	,	,	PUNCT
easat-6650	160	74	…	…	PUNCT
easat-6650	160	75	,	,	PUNCT
easat-6650	160	76	𝐾	𝐾	PROPN
easat-6650	160	77	}	}	PUNCT
easat-6650	160	78	,	,	PUNCT
easat-6650	160	79	𝑆	𝑆	PROPN
easat-6650	160	80	≠	≠	PROPN
easat-6650	160	81	∅	∅	NOUN
easat-6650	160	82	where	where	SCONJ
easat-6650	160	83	the	the	DET
easat-6650	160	84	last	last	ADJ
easat-6650	160	85	constraint	constraint	NOUN
easat-6650	160	86	eliminates	eliminate	VERB
easat-6650	160	87	subtours	subtour	NOUN
easat-6650	160	88	.	.	PUNCT
easat-6650	161	1	2760	2760	NUM
easat-6650	161	2	edelweiss	edelweiss	PROPN
easat-6650	161	3	applied	apply	VERB
easat-6650	161	4	science	science	NOUN
easat-6650	161	5	and	and	CCONJ
easat-6650	161	6	technology	technology	NOUN
easat-6650	161	7	issn	issn	PROPN
easat-6650	161	8	:	:	PUNCT
easat-6650	161	9	2576	2576	NUM
easat-6650	161	10	-	-	SYM
easat-6650	161	11	8484	8484	NUM
easat-6650	161	12	vol	vol	NOUN
easat-6650	161	13	.	.	PROPN
easat-6650	162	1	9	9	NUM
easat-6650	162	2	,	,	PUNCT
easat-6650	162	3	no	no	INTJ
easat-6650	162	4	.	.	NOUN
easat-6650	162	5	4	4	NUM
easat-6650	162	6	:	:	SYM
easat-6650	162	7	2751	2751	NUM
easat-6650	162	8	-	-	SYM
easat-6650	162	9	2767	2767	NUM
easat-6650	162	10	,	,	PUNCT
easat-6650	162	11	2025	2025	NUM
easat-6650	162	12	doi	doi	NOUN
easat-6650	162	13	:	:	PUNCT
easat-6650	162	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	162	15	©	©	ADP
easat-6650	162	16	2025	2025	NUM
easat-6650	162	17	by	by	ADP
easat-6650	162	18	the	the	DET
easat-6650	162	19	author	author	NOUN
easat-6650	162	20	;	;	PUNCT
easat-6650	162	21	licensee	licensee	PROPN
easat-6650	162	22	learning	learning	NOUN
easat-6650	162	23	gate	gate	VERB
easat-6650	162	24	5.3	5.3	NUM
easat-6650	162	25	.	.	PUNCT
easat-6650	163	1	multi	multi	ADJ
easat-6650	163	2	-	-	PROPN
easat-6650	163	3	uav	uav	ADJ
easat-6650	163	4	coordination	coordination	NOUN
easat-6650	163	5	after	after	ADP
easat-6650	163	6	determining	determine	VERB
easat-6650	163	7	individual	individual	ADJ
easat-6650	163	8	uav	uav	PROPN
easat-6650	163	9	schedules	schedule	NOUN
easat-6650	163	10	,	,	PUNCT
easat-6650	163	11	we	we	PRON
easat-6650	163	12	resolve	resolve	VERB
easat-6650	163	13	temporal	temporal	ADJ
easat-6650	163	14	conflicts	conflict	NOUN
easat-6650	163	15	between	between	ADP
easat-6650	163	16	different	different	ADJ
easat-6650	163	17	uavs	uavs	NOUN
easat-6650	163	18	:	:	PUNCT
easat-6650	163	19	construct	construct	VERB
easat-6650	163	20	a	a	DET
easat-6650	163	21	precedence	precedence	NOUN
easat-6650	163	22	graph	graph	NOUN
easat-6650	163	23	where	where	SCONJ
easat-6650	163	24	nodes	node	NOUN
easat-6650	163	25	represent	represent	VERB
easat-6650	163	26	uav	uav	PROPN
easat-6650	163	27	-	-	PUNCT
easat-6650	163	28	zone	zone	NOUN
easat-6650	163	29	pairs	pair	NOUN
easat-6650	163	30	and	and	CCONJ
easat-6650	163	31	edges	edge	NOUN
easat-6650	163	32	represent	represent	VERB
easat-6650	163	33	required	require	VERB
easat-6650	163	34	precedence	precedence	NOUN
easat-6650	163	35	relationships	relationship	NOUN
easat-6650	163	36	.	.	PUNCT
easat-6650	164	1	apply	apply	VERB
easat-6650	164	2	a	a	DET
easat-6650	164	3	priority	priority	NOUN
easat-6650	164	4	-	-	PUNCT
easat-6650	164	5	based	base	VERB
easat-6650	164	6	scheduling	scheduling	NOUN
easat-6650	164	7	algorithm	algorithm	NOUN
easat-6650	164	8	where	where	SCONJ
easat-6650	164	9	higher	high	ADJ
easat-6650	164	10	priority	priority	NOUN
easat-6650	164	11	is	be	AUX
easat-6650	164	12	given	give	VERB
easat-6650	164	13	to	to	ADP
easat-6650	164	14	tasks	task	NOUN
easat-6650	164	15	with	with	ADP
easat-6650	164	16	greater	great	ADJ
easat-6650	164	17	impact	impact	NOUN
easat-6650	164	18	on	on	ADP
easat-6650	164	19	the	the	DET
easat-6650	164	20	overall	overall	ADJ
easat-6650	164	21	mission	mission	NOUN
easat-6650	164	22	time	time	NOUN
easat-6650	164	23	.	.	PUNCT
easat-6650	165	1	use	use	VERB
easat-6650	165	2	a	a	DET
easat-6650	165	3	greedy	greedy	ADJ
easat-6650	165	4	conflict	conflict	NOUN
easat-6650	165	5	resolution	resolution	NOUN
easat-6650	165	6	approach	approach	NOUN
easat-6650	165	7	to	to	PART
easat-6650	165	8	iteratively	iteratively	ADV
easat-6650	165	9	adjust	adjust	VERB
easat-6650	165	10	start	start	NOUN
easat-6650	165	11	times	time	NOUN
easat-6650	165	12	while	while	SCONJ
easat-6650	165	13	maintaining	maintain	VERB
easat-6650	165	14	precedence	precedence	NOUN
easat-6650	165	15	constraints	constraint	NOUN
easat-6650	165	16	.	.	PUNCT
easat-6650	166	1	5.4	5.4	NUM
easat-6650	166	2	.	.	PUNCT
easat-6650	167	1	lemma	lemma	PROPN
easat-6650	167	2	:	:	PUNCT
easat-6650	167	3	optimal	optimal	ADJ
easat-6650	167	4	scheduling	scheduling	NOUN
easat-6650	167	5	property	property	NOUN
easat-6650	167	6	for	for	ADP
easat-6650	167	7	inspection	inspection	NOUN
easat-6650	167	8	tasks	task	NOUN
easat-6650	167	9	with	with	ADP
easat-6650	167	10	fixed	fix	VERB
easat-6650	167	11	durations	duration	NOUN
easat-6650	167	12	and	and	CCONJ
easat-6650	167	13	travel	travel	NOUN
easat-6650	167	14	times	time	NOUN
easat-6650	167	15	,	,	PUNCT
easat-6650	167	16	the	the	DET
easat-6650	167	17	total	total	ADJ
easat-6650	167	18	mission	mission	NOUN
easat-6650	167	19	time	time	NOUN
easat-6650	167	20	is	be	AUX
easat-6650	167	21	minimized	minimize	VERB
easat-6650	167	22	when	when	SCONJ
easat-6650	167	23	uavs	uavs	NOUN
easat-6650	167	24	with	with	ADP
easat-6650	167	25	longer	long	ADJ
easat-6650	167	26	remaining	remain	VERB
easat-6650	167	27	inspection	inspection	NOUN
easat-6650	167	28	times	time	NOUN
easat-6650	167	29	are	be	AUX
easat-6650	167	30	scheduled	schedule	VERB
easat-6650	167	31	first	first	ADV
easat-6650	167	32	.	.	PUNCT
easat-6650	168	1	proof	proof	NOUN
easat-6650	168	2	:	:	PUNCT
easat-6650	168	3	consider	consider	VERB
easat-6650	168	4	two	two	NUM
easat-6650	168	5	uavs	uavs	NOUN
easat-6650	168	6	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	168	7	and	and	CCONJ
easat-6650	168	8	𝑢𝑗	𝑢𝑗	NOUN
easat-6650	168	9	with	with	ADP
easat-6650	168	10	remaining	remain	VERB
easat-6650	168	11	inspection	inspection	NOUN
easat-6650	168	12	times	time	NOUN
easat-6650	168	13	𝑇𝑖	𝑇𝑖	PROPN
easat-6650	168	14	and	and	CCONJ
easat-6650	168	15	𝑇𝑗	𝑇𝑗	PROPN
easat-6650	168	16	where	where	SCONJ
easat-6650	168	17	𝑇𝑖	𝑇𝑖	PROPN
easat-6650	168	18	>	>	SYM
easat-6650	168	19	𝑇𝑗.	𝑇𝑗.	PROPN
easat-6650	168	20	if𝑢𝑗	if𝑢𝑗	PROPN
easat-6650	168	21	is	be	AUX
easat-6650	168	22	scheduled	schedule	VERB
easat-6650	168	23	before	before	ADP
easat-6650	168	24	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	168	25	,	,	PUNCT
easat-6650	168	26	the	the	DET
easat-6650	168	27	completion	completion	NOUN
easat-6650	168	28	time	time	NOUN
easat-6650	168	29	would	would	AUX
easat-6650	168	30	be	be	AUX
easat-6650	168	31	𝑚𝑎𝑥(𝑡𝑗	𝑚𝑎𝑥(𝑡𝑗	X
easat-6650	168	32	+	+	CCONJ
easat-6650	169	1	𝑇𝑗	𝑇𝑗	NOUN
easat-6650	169	2	,	,	PUNCT
easat-6650	169	3	𝑡𝑖	𝑡𝑖	NOUN
easat-6650	169	4	+	+	X
easat-6650	169	5	𝑇𝑖	𝑇𝑖	PROPN
easat-6650	169	6	)	)	PUNCT
easat-6650	169	7	.	.	PUNCT
easat-6650	170	1	since	since	SCONJ
easat-6650	170	2	𝑡𝑖	𝑡𝑖	NOUN
easat-6650	170	3	≥	≥	PRON
easat-6650	170	4	𝑡𝑗	𝑡𝑗	PRON
easat-6650	170	5	+	+	CCONJ
easat-6650	170	6	𝑇𝑗	𝑇𝑗	PROPN
easat-6650	170	7	(	(	PUNCT
easat-6650	170	8	uav	uav	PROPN
easat-6650	170	9	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	170	10	must	must	AUX
easat-6650	170	11	wait	wait	VERB
easat-6650	170	12	for	for	SCONJ
easat-6650	170	13	𝑢𝑗	𝑢𝑗	NOUN
easat-6650	170	14	to	to	PART
easat-6650	170	15	complete	complete	VERB
easat-6650	170	16	)	)	PUNCT
easat-6650	170	17	and	and	CCONJ
easat-6650	170	18	𝑇𝑖	𝑇𝑖	ADP
easat-6650	170	19	>	>	X
easat-6650	170	20	𝑇𝑗	𝑇𝑗	PROPN
easat-6650	170	21	,	,	PUNCT
easat-6650	170	22	the	the	DET
easat-6650	170	23	completion	completion	NOUN
easat-6650	170	24	time	time	NOUN
easat-6650	170	25	becomes	become	VERB
easat-6650	170	26	𝑡𝑖	𝑡𝑖	NOUN
easat-6650	170	27	+	+	ADJ
easat-6650	171	1	𝑇𝑖	𝑇𝑖	PROPN
easat-6650	171	2	=	=	PUNCT
easat-6650	171	3	𝑡𝑗	𝑡𝑗	PROPN
easat-6650	171	4	+	+	CCONJ
easat-6650	171	5	𝑇𝑗	𝑇𝑗	NOUN
easat-6650	171	6	+	+	CCONJ
easat-6650	171	7	(	(	PUNCT
easat-6650	171	8	𝑡𝑖	𝑡𝑖	NOUN
easat-6650	171	9	−	−	PROPN
easat-6650	171	10	𝑡𝑗	𝑡𝑗	NOUN
easat-6650	171	11	−	−	PROPN
easat-6650	171	12	𝑇𝑗	𝑇𝑗	NOUN
easat-6650	171	13	)	)	PUNCT
easat-6650	172	1	+	+	CCONJ
easat-6650	172	2	𝑇𝑖	𝑇𝑖	ADP
easat-6650	172	3	>	>	X
easat-6650	172	4	𝑡𝑗	𝑡𝑗	PROPN
easat-6650	172	5	+	+	CCONJ
easat-6650	172	6	𝑇𝑖.	𝑇𝑖.	PROPN
easat-6650	172	7	by	by	ADP
easat-6650	172	8	scheduling	schedule	VERB
easat-6650	172	9	𝑢𝑖	𝑢𝑖	NOUN
easat-6650	172	10	first	first	ADV
easat-6650	172	11	,	,	PUNCT
easat-6650	172	12	the	the	DET
easat-6650	172	13	completion	completion	NOUN
easat-6650	172	14	time	time	NOUN
easat-6650	172	15	reduces	reduce	VERB
easat-6650	172	16	to	to	PART
easat-6650	172	17	𝑚𝑎𝑥(𝑡𝑗	𝑚𝑎𝑥(𝑡𝑗	VERB
easat-6650	172	18	+	+	CCONJ
easat-6650	173	1	𝑇𝑗	𝑇𝑗	NOUN
easat-6650	173	2	,	,	PUNCT
easat-6650	173	3	𝑡𝑖	𝑡𝑖	NOUN
easat-6650	173	4	+	+	ADJ
easat-6650	173	5	𝑇𝑖	𝑇𝑖	PROPN
easat-6650	173	6	)	)	PUNCT
easat-6650	173	7	=	=	PUNCT
easat-6650	173	8	𝑚𝑎𝑥(𝑡𝑗	𝑚𝑎𝑥(𝑡𝑗	X
easat-6650	173	9	+	+	CCONJ
easat-6650	173	10	𝑇𝑗	𝑇𝑗	NOUN
easat-6650	173	11	,	,	PUNCT
easat-6650	173	12	𝑡𝑖	𝑡𝑖	NOUN
easat-6650	173	13	+	+	X
easat-6650	173	14	𝑇𝑖	𝑇𝑖	PROPN
easat-6650	173	15	,	,	PUNCT
easat-6650	173	16	which	which	PRON
easat-6650	173	17	is	be	AUX
easat-6650	173	18	not	not	PART
easat-6650	173	19	worse	bad	ADJ
easat-6650	173	20	than	than	ADP
easat-6650	173	21	the	the	DET
easat-6650	173	22	previous	previous	ADJ
easat-6650	173	23	case	case	NOUN
easat-6650	173	24	and	and	CCONJ
easat-6650	173	25	may	may	AUX
easat-6650	173	26	be	be	AUX
easat-6650	173	27	better	well	ADJ
easat-6650	173	28	if	if	SCONJ
easat-6650	173	29	𝑡𝑗	𝑡𝑗	ADP
easat-6650	173	30	+	+	CCONJ
easat-6650	173	31	𝑇𝑗	𝑇𝑗	PROPN
easat-6650	173	32	>	>	X
easat-6650	173	33	𝑡𝑖	𝑡𝑖	X
easat-6650	173	34	+	+	CCONJ
easat-6650	173	35	𝑇𝑖.	𝑇𝑖.	PROPN
easat-6650	173	36	the	the	DET
easat-6650	173	37	single	single	ADJ
easat-6650	173	38	-	-	PUNCT
easat-6650	173	39	uav	uav	PROPN
easat-6650	173	40	scheduling	scheduling	NOUN
easat-6650	173	41	component	component	NOUN
easat-6650	173	42	has	have	VERB
easat-6650	173	43	a	a	DET
easat-6650	173	44	complexity	complexity	NOUN
easat-6650	173	45	of	of	ADP
easat-6650	173	46	o(k²·2ᴷ	o(k²·2ᴷ	PROPN
easat-6650	173	47	)	)	PUNCT
easat-6650	173	48	due	due	ADP
easat-6650	173	49	to	to	ADP
easat-6650	173	50	the	the	DET
easat-6650	173	51	dynamic	dynamic	ADJ
easat-6650	173	52	programming	programming	NOUN
easat-6650	173	53	approach	approach	NOUN
easat-6650	173	54	for	for	ADP
easat-6650	173	55	solving	solve	VERB
easat-6650	173	56	the	the	DET
easat-6650	173	57	tsp	tsp	NOUN
easat-6650	173	58	.	.	PUNCT
easat-6650	174	1	the	the	DET
easat-6650	174	2	multi	multi	ADJ
easat-6650	174	3	-	-	PROPN
easat-6650	174	4	uav	uav	ADJ
easat-6650	174	5	coordination	coordination	NOUN
easat-6650	174	6	has	have	VERB
easat-6650	174	7	a	a	DET
easat-6650	174	8	complexity	complexity	NOUN
easat-6650	174	9	of	of	ADP
easat-6650	174	10	o(n²·k²	o(n²·k²	NOUN
easat-6650	174	11	)	)	PUNCT
easat-6650	174	12	for	for	ADP
easat-6650	174	13	conflict	conflict	NOUN
easat-6650	174	14	resolution	resolution	NOUN
easat-6650	174	15	.	.	PUNCT
easat-6650	175	1	for	for	ADP
easat-6650	175	2	practical	practical	ADJ
easat-6650	175	3	scenarios	scenario	NOUN
easat-6650	175	4	with	with	ADP
easat-6650	175	5	a	a	DET
easat-6650	175	6	moderate	moderate	ADJ
easat-6650	175	7	number	number	NOUN
easat-6650	175	8	of	of	ADP
easat-6650	175	9	uavs	uavs	NOUN
easat-6650	175	10	and	and	CCONJ
easat-6650	175	11	inspection	inspection	NOUN
easat-6650	175	12	zones	zone	NOUN
easat-6650	175	13	,	,	PUNCT
easat-6650	175	14	this	this	DET
easat-6650	175	15	approach	approach	NOUN
easat-6650	175	16	provides	provide	VERB
easat-6650	175	17	efficient	efficient	ADJ
easat-6650	175	18	solutions	solution	NOUN
easat-6650	175	19	within	within	ADP
easat-6650	175	20	reasonable	reasonable	ADJ
easat-6650	175	21	computational	computational	ADJ
easat-6650	175	22	time	time	NOUN
easat-6650	175	23	.	.	PUNCT
easat-6650	176	1	through	through	ADP
easat-6650	176	2	this	this	DET
easat-6650	176	3	scheduling	scheduling	NOUN
easat-6650	176	4	component	component	NOUN
easat-6650	176	5	,	,	PUNCT
easat-6650	176	6	our	our	PRON
easat-6650	176	7	framework	framework	NOUN
easat-6650	176	8	ensures	ensure	VERB
easat-6650	176	9	efficient	efficient	ADJ
easat-6650	176	10	temporal	temporal	ADJ
easat-6650	176	11	coordination	coordination	NOUN
easat-6650	176	12	of	of	ADP
easat-6650	176	13	multiple	multiple	ADJ
easat-6650	176	14	uavs	uavs	NOUN
easat-6650	176	15	,	,	PUNCT
easat-6650	176	16	minimizing	minimize	VERB
easat-6650	176	17	the	the	DET
easat-6650	176	18	overall	overall	ADJ
easat-6650	176	19	mission	mission	NOUN
easat-6650	176	20	time	time	NOUN
easat-6650	176	21	while	while	SCONJ
easat-6650	176	22	respecting	respect	VERB
easat-6650	176	23	precedence	precedence	NOUN
easat-6650	176	24	constraints	constraint	NOUN
easat-6650	176	25	and	and	CCONJ
easat-6650	176	26	preventing	prevent	VERB
easat-6650	176	27	conflicts	conflict	NOUN
easat-6650	176	28	.	.	PUNCT
easat-6650	177	1	6	6	X
easat-6650	177	2	.	.	X
easat-6650	177	3	performance	performance	NOUN
easat-6650	177	4	analysis	analysis	NOUN
easat-6650	177	5	6.1	6.1	NUM
easat-6650	177	6	.	.	PUNCT
easat-6650	177	7	simulation	simulation	NOUN
easat-6650	177	8	setup	setup	NOUN
easat-6650	177	9	to	to	PART
easat-6650	177	10	evaluate	evaluate	VERB
easat-6650	177	11	the	the	DET
easat-6650	177	12	performance	performance	NOUN
easat-6650	177	13	of	of	ADP
easat-6650	177	14	our	our	PRON
easat-6650	177	15	proposed	propose	VERB
easat-6650	177	16	uav	uav	PROPN
easat-6650	177	17	swarm	swarm	PROPN
easat-6650	177	18	scheduling	scheduling	NOUN
easat-6650	177	19	algorithm	algorithm	NOUN
easat-6650	177	20	,	,	PUNCT
easat-6650	177	21	we	we	PRON
easat-6650	177	22	conducted	conduct	VERB
easat-6650	177	23	extensive	extensive	ADJ
easat-6650	177	24	simulations	simulation	NOUN
easat-6650	177	25	across	across	ADP
easat-6650	177	26	various	various	ADJ
easat-6650	177	27	scenarios	scenario	NOUN
easat-6650	177	28	representative	representative	NOUN
easat-6650	177	29	of	of	ADP
easat-6650	177	30	typical	typical	ADJ
easat-6650	177	31	urban	urban	ADJ
easat-6650	177	32	infrastructure	infrastructure	NOUN
easat-6650	177	33	inspection	inspection	NOUN
easat-6650	177	34	tasks	task	NOUN
easat-6650	177	35	.	.	PUNCT
easat-6650	178	1	the	the	DET
easat-6650	178	2	simulation	simulation	NOUN
easat-6650	178	3	environment	environment	NOUN
easat-6650	178	4	was	be	AUX
easat-6650	178	5	implemented	implement	VERB
easat-6650	178	6	in	in	ADP
easat-6650	178	7	python	python	PROPN
easat-6650	178	8	,	,	PUNCT
easat-6650	178	9	with	with	ADP
easat-6650	178	10	the	the	DET
easat-6650	178	11	core	core	NOUN
easat-6650	178	12	algorithm	algorithm	NOUN
easat-6650	178	13	using	use	VERB
easat-6650	178	14	pulp	pulp	NOUN
easat-6650	178	15	for	for	ADP
easat-6650	178	16	linear	linear	NOUN
easat-6650	178	17	programming	programming	NOUN
easat-6650	178	18	components	component	NOUN
easat-6650	178	19	and	and	CCONJ
easat-6650	178	20	networkx	networkx	NOUN
easat-6650	178	21	for	for	ADP
easat-6650	178	22	graph	graph	NOUN
easat-6650	178	23	-	-	PUNCT
easat-6650	178	24	based	base	VERB
easat-6650	178	25	computations	computation	NOUN
easat-6650	178	26	.	.	PUNCT
easat-6650	179	1	the	the	DET
easat-6650	179	2	physical	physical	ADJ
easat-6650	179	3	dynamics	dynamic	NOUN
easat-6650	179	4	of	of	ADP
easat-6650	179	5	uavs	uavs	PROPN
easat-6650	179	6	were	be	AUX
easat-6650	179	7	simulated	simulate	VERB
easat-6650	179	8	using	use	VERB
easat-6650	179	9	a	a	DET
easat-6650	179	10	realistic	realistic	ADJ
easat-6650	179	11	energy	energy	NOUN
easat-6650	179	12	consumption	consumption	NOUN
easat-6650	179	13	model	model	NOUN
easat-6650	179	14	that	that	PRON
easat-6650	179	15	accurately	accurately	ADV
easat-6650	179	16	represents	represent	VERB
easat-6650	179	17	the	the	DET
easat-6650	179	18	nonlinear	nonlinear	ADJ
easat-6650	179	19	relationship	relationship	NOUN
easat-6650	179	20	between	between	ADP
easat-6650	179	21	flight	flight	NOUN
easat-6650	179	22	patterns	pattern	NOUN
easat-6650	179	23	and	and	CCONJ
easat-6650	179	24	energy	energy	NOUN
easat-6650	179	25	usage	usage	NOUN
easat-6650	179	26	.	.	PUNCT
easat-6650	180	1	the	the	DET
easat-6650	180	2	simulation	simulation	NOUN
easat-6650	180	3	parameters	parameter	NOUN
easat-6650	180	4	were	be	AUX
easat-6650	180	5	carefully	carefully	ADV
easat-6650	180	6	configured	configure	VERB
easat-6650	180	7	to	to	PART
easat-6650	180	8	reflect	reflect	VERB
easat-6650	180	9	realistic	realistic	ADJ
easat-6650	180	10	operational	operational	ADJ
easat-6650	180	11	conditions	condition	NOUN
easat-6650	180	12	.	.	PUNCT
easat-6650	181	1	the	the	DET
easat-6650	181	2	number	number	NOUN
easat-6650	181	3	of	of	ADP
easat-6650	181	4	uavs	uavs	PROPN
easat-6650	181	5	deployed	deploy	VERB
easat-6650	181	6	ranged	range	VERB
easat-6650	181	7	from	from	ADP
easat-6650	181	8	1	1	NUM
easat-6650	181	9	to	to	ADP
easat-6650	181	10	6	6	NUM
easat-6650	181	11	,	,	PUNCT
easat-6650	181	12	operating	operate	VERB
easat-6650	181	13	across	across	ADP
easat-6650	181	14	10	10	NUM
easat-6650	181	15	to	to	PART
easat-6650	181	16	30	30	NUM
easat-6650	181	17	inspection	inspection	NOUN
easat-6650	181	18	zones	zone	NOUN
easat-6650	181	19	.	.	PUNCT
easat-6650	182	1	each	each	DET
easat-6650	182	2	uav	uav	PROPN
easat-6650	182	3	had	have	VERB
easat-6650	182	4	a	a	DET
easat-6650	182	5	battery	battery	NOUN
easat-6650	182	6	capacity	capacity	NOUN
easat-6650	182	7	varying	vary	VERB
easat-6650	182	8	between	between	ADP
easat-6650	182	9	20	20	NUM
easat-6650	182	10	%	%	NOUN
easat-6650	182	11	and	and	CCONJ
easat-6650	182	12	100	100	NUM
easat-6650	182	13	%	%	NOUN
easat-6650	182	14	of	of	ADP
easat-6650	182	15	full	full	ADJ
easat-6650	182	16	charge	charge	NOUN
easat-6650	182	17	to	to	PART
easat-6650	182	18	simulate	simulate	VERB
easat-6650	182	19	different	different	ADJ
easat-6650	182	20	endurance	endurance	NOUN
easat-6650	182	21	scenarios	scenario	NOUN
easat-6650	182	22	.	.	PUNCT
easat-6650	183	1	the	the	DET
easat-6650	183	2	zones	zone	NOUN
easat-6650	183	3	featured	feature	VERB
easat-6650	183	4	complexity	complexity	NOUN
easat-6650	183	5	levels	level	NOUN
easat-6650	183	6	from	from	ADP
easat-6650	183	7	1	1	NUM
easat-6650	183	8	to	to	ADP
easat-6650	183	9	5	5	NUM
easat-6650	183	10	,	,	PUNCT
easat-6650	183	11	representing	represent	VERB
easat-6650	183	12	increasing	increase	VERB
easat-6650	183	13	levels	level	NOUN
easat-6650	183	14	of	of	ADP
easat-6650	183	15	inspection	inspection	NOUN
easat-6650	183	16	difficulty	difficulty	NOUN
easat-6650	183	17	.	.	PUNCT
easat-6650	184	1	various	various	ADJ
easat-6650	184	2	structure	structure	NOUN
easat-6650	184	3	types	type	NOUN
easat-6650	184	4	were	be	AUX
easat-6650	184	5	considered	consider	VERB
easat-6650	184	6	,	,	PUNCT
easat-6650	184	7	including	include	VERB
easat-6650	184	8	bridge	bridge	NOUN
easat-6650	184	9	decks	deck	NOUN
easat-6650	184	10	,	,	PUNCT
easat-6650	184	11	building	building	NOUN
easat-6650	184	12	facades	facade	NOUN
easat-6650	184	13	,	,	PUNCT
easat-6650	184	14	columns	column	NOUN
easat-6650	184	15	,	,	PUNCT
easat-6650	184	16	and	and	CCONJ
easat-6650	184	17	cable	cable	NOUN
easat-6650	184	18	systems	system	NOUN
easat-6650	184	19	.	.	PUNCT
easat-6650	185	1	the	the	DET
easat-6650	185	2	communication	communication	NOUN
easat-6650	185	3	range	range	NOUN
easat-6650	185	4	was	be	AUX
easat-6650	185	5	limited	limit	VERB
easat-6650	185	6	to	to	ADP
easat-6650	185	7	1	1	NUM
easat-6650	185	8	km	km	NOUN
easat-6650	185	9	,	,	PUNCT
easat-6650	185	10	while	while	SCONJ
easat-6650	185	11	uavs	uavs	PROPN
easat-6650	185	12	operated	operate	VERB
easat-6650	185	13	at	at	ADP
easat-6650	185	14	a	a	DET
easat-6650	185	15	maximum	maximum	ADJ
easat-6650	185	16	velocity	velocity	NOUN
easat-6650	185	17	of	of	ADP
easat-6650	185	18	5	5	NUM
easat-6650	185	19	to	to	PART
easat-6650	185	20	10	10	NUM
easat-6650	185	21	meters	meter	NOUN
easat-6650	185	22	per	per	ADP
easat-6650	185	23	second	second	NOUN
easat-6650	185	24	.	.	PUNCT
easat-6650	186	1	the	the	DET
easat-6650	186	2	onboard	onboard	ADJ
easat-6650	186	3	sensors	sensor	NOUN
easat-6650	186	4	had	have	VERB
easat-6650	186	5	a	a	DET
easat-6650	186	6	field	field	NOUN
easat-6650	186	7	of	of	ADP
easat-6650	186	8	view	view	NOUN
easat-6650	186	9	of	of	ADP
easat-6650	186	10	70	70	NUM
easat-6650	186	11	°	°	NOUN
easat-6650	186	12	horizontally	horizontally	ADV
easat-6650	186	13	and	and	CCONJ
easat-6650	186	14	50	50	NUM
easat-6650	186	15	°	°	NOUN
easat-6650	186	16	vertically	vertically	ADV
easat-6650	186	17	,	,	PUNCT
easat-6650	186	18	with	with	ADP
easat-6650	186	19	a	a	DET
easat-6650	186	20	required	require	VERB
easat-6650	186	21	image	image	NOUN
easat-6650	186	22	overlap	overlap	NOUN
easat-6650	186	23	of	of	ADP
easat-6650	186	24	60	60	NUM
easat-6650	186	25	%	%	NOUN
easat-6650	186	26	to	to	PART
easat-6650	186	27	ensure	ensure	VERB
easat-6650	186	28	sufficient	sufficient	ADJ
easat-6650	186	29	coverage	coverage	NOUN
easat-6650	186	30	for	for	ADP
easat-6650	186	31	accurate	accurate	ADJ
easat-6650	186	32	inspection	inspection	NOUN
easat-6650	186	33	and	and	CCONJ
easat-6650	186	34	analysis	analysis	NOUN
easat-6650	186	35	.	.	PUNCT
easat-6650	187	1	we	we	PRON
easat-6650	187	2	evaluated	evaluate	VERB
easat-6650	187	3	the	the	DET
easat-6650	187	4	performance	performance	NOUN
easat-6650	187	5	of	of	ADP
easat-6650	187	6	our	our	PRON
easat-6650	187	7	scheduling	scheduling	NOUN
easat-6650	187	8	and	and	CCONJ
easat-6650	187	9	task	task	NOUN
easat-6650	187	10	allocation	allocation	NOUN
easat-6650	187	11	(	(	PUNCT
easat-6650	187	12	sta	sta	NOUN
easat-6650	187	13	)	)	PUNCT
easat-6650	187	14	algorithm	algorithm	NOUN
easat-6650	187	15	by	by	ADP
easat-6650	187	16	comparing	compare	VERB
easat-6650	187	17	it	it	PRON
easat-6650	187	18	with	with	ADP
easat-6650	187	19	four	four	NUM
easat-6650	187	20	alternative	alternative	ADJ
easat-6650	187	21	approaches	approach	NOUN
easat-6650	187	22	.	.	PUNCT
easat-6650	188	1	the	the	DET
easat-6650	188	2	first	first	ADJ
easat-6650	188	3	,	,	PUNCT
easat-6650	188	4	path	path	NOUN
easat-6650	188	5	planning	planning	NOUN
easat-6650	188	6	(	(	PUNCT
easat-6650	188	7	pp	pp	ADJ
easat-6650	188	8	)	)	PUNCT
easat-6650	188	9	,	,	PUNCT
easat-6650	188	10	focuses	focus	VERB
easat-6650	188	11	solely	solely	ADV
easat-6650	188	12	on	on	ADP
easat-6650	188	13	optimizing	optimize	VERB
easat-6650	188	14	the	the	DET
easat-6650	188	15	inspection	inspection	NOUN
easat-6650	188	16	paths	path	NOUN
easat-6650	188	17	without	without	ADP
easat-6650	188	18	considering	consider	VERB
easat-6650	188	19	task	task	NOUN
easat-6650	188	20	allocation	allocation	NOUN
easat-6650	188	21	or	or	CCONJ
easat-6650	188	22	scheduling	scheduling	NOUN
easat-6650	188	23	.	.	PUNCT
easat-6650	189	1	the	the	DET
easat-6650	189	2	second	second	ADJ
easat-6650	189	3	,	,	PUNCT
easat-6650	189	4	task	task	NOUN
easat-6650	189	5	allocation	allocation	NOUN
easat-6650	189	6	(	(	PUNCT
easat-6650	189	7	ta	ta	NOUN
easat-6650	189	8	)	)	PUNCT
easat-6650	189	9	,	,	PUNCT
easat-6650	189	10	optimizes	optimize	VERB
easat-6650	189	11	uav	uav	PROPN
easat-6650	189	12	-	-	PUNCT
easat-6650	189	13	to	to	ADP
easat-6650	189	14	-	-	PUNCT
easat-6650	189	15	zone	zone	NOUN
easat-6650	189	16	assignments	assignment	NOUN
easat-6650	189	17	but	but	CCONJ
easat-6650	189	18	does	do	AUX
easat-6650	189	19	not	not	PART
easat-6650	189	20	consider	consider	VERB
easat-6650	189	21	the	the	DET
easat-6650	189	22	execution	execution	NOUN
easat-6650	189	23	sequence	sequence	NOUN
easat-6650	189	24	of	of	ADP
easat-6650	189	25	tasks	task	NOUN
easat-6650	189	26	.	.	PUNCT
easat-6650	190	1	the	the	DET
easat-6650	190	2	third	third	ADJ
easat-6650	190	3	approach	approach	NOUN
easat-6650	190	4	,	,	PUNCT
easat-6650	190	5	scheduling	scheduling	NOUN
easat-6650	190	6	(	(	PUNCT
easat-6650	190	7	sch	sch	PROPN
easat-6650	190	8	)	)	PUNCT
easat-6650	190	9	,	,	PUNCT
easat-6650	190	10	determines	determine	VERB
easat-6650	190	11	the	the	DET
easat-6650	190	12	optimal	optimal	ADJ
easat-6650	190	13	order	order	NOUN
easat-6650	190	14	of	of	ADP
easat-6650	190	15	task	task	NOUN
easat-6650	190	16	execution	execution	NOUN
easat-6650	190	17	while	while	SCONJ
easat-6650	190	18	keeping	keep	VERB
easat-6650	190	19	uav	uav	PROPN
easat-6650	190	20	assignments	assignment	NOUN
easat-6650	190	21	fixed	fix	VERB
easat-6650	190	22	.	.	PUNCT
easat-6650	191	1	lastly	lastly	ADV
easat-6650	191	2	,	,	PUNCT
easat-6650	191	3	the	the	DET
easat-6650	191	4	optimal	optimal	ADJ
easat-6650	191	5	(	(	PUNCT
easat-6650	191	6	opt	opt	PROPN
easat-6650	191	7	)	)	PUNCT
easat-6650	191	8	method	method	NOUN
easat-6650	191	9	uses	use	VERB
easat-6650	191	10	an	an	DET
easat-6650	191	11	exhaustive	exhaustive	ADJ
easat-6650	191	12	search	search	NOUN
easat-6650	191	13	to	to	PART
easat-6650	191	14	identify	identify	VERB
easat-6650	191	15	the	the	DET
easat-6650	191	16	globally	globally	ADV
easat-6650	191	17	optimal	optimal	ADJ
easat-6650	191	18	solution	solution	NOUN
easat-6650	191	19	,	,	PUNCT
easat-6650	191	20	though	though	SCONJ
easat-6650	191	21	it	it	PRON
easat-6650	191	22	is	be	AUX
easat-6650	191	23	only	only	ADV
easat-6650	191	24	feasible	feasible	ADJ
easat-6650	191	25	for	for	ADP
easat-6650	191	26	small	small	ADJ
easat-6650	191	27	-	-	PUNCT
easat-6650	191	28	scale	scale	NOUN
easat-6650	191	29	problem	problem	NOUN
easat-6650	191	30	instances	instance	NOUN
easat-6650	191	31	due	due	ADP
easat-6650	191	32	to	to	ADP
easat-6650	191	33	its	its	PRON
easat-6650	191	34	computational	computational	ADJ
easat-6650	191	35	intensity	intensity	NOUN
easat-6650	191	36	.	.	PUNCT
easat-6650	192	1	to	to	PART
easat-6650	192	2	ensure	ensure	VERB
easat-6650	192	3	statistical	statistical	ADJ
easat-6650	192	4	robustness	robustness	NOUN
easat-6650	192	5	,	,	PUNCT
easat-6650	192	6	each	each	DET
easat-6650	192	7	simulation	simulation	NOUN
easat-6650	192	8	scenario	scenario	NOUN
easat-6650	192	9	was	be	AUX
easat-6650	192	10	run	run	VERB
easat-6650	192	11	30	30	NUM
easat-6650	192	12	times	time	NOUN
easat-6650	192	13	with	with	ADP
easat-6650	192	14	2761	2761	NUM
easat-6650	192	15	edelweiss	edelweiss	PROPN
easat-6650	192	16	applied	apply	VERB
easat-6650	192	17	science	science	NOUN
easat-6650	192	18	and	and	CCONJ
easat-6650	192	19	technology	technology	NOUN
easat-6650	192	20	issn	issn	PROPN
easat-6650	192	21	:	:	PUNCT
easat-6650	192	22	2576	2576	NUM
easat-6650	192	23	-	-	SYM
easat-6650	192	24	8484	8484	NUM
easat-6650	192	25	vol	vol	NOUN
easat-6650	192	26	.	.	PROPN
easat-6650	193	1	9	9	NUM
easat-6650	193	2	,	,	PUNCT
easat-6650	193	3	no	no	INTJ
easat-6650	193	4	.	.	NOUN
easat-6650	193	5	4	4	NUM
easat-6650	193	6	:	:	SYM
easat-6650	193	7	2751	2751	NUM
easat-6650	193	8	-	-	SYM
easat-6650	193	9	2767	2767	NUM
easat-6650	193	10	,	,	PUNCT
easat-6650	193	11	2025	2025	NUM
easat-6650	193	12	doi	doi	NOUN
easat-6650	193	13	:	:	PUNCT
easat-6650	193	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	193	15	©	©	ADP
easat-6650	193	16	2025	2025	NUM
easat-6650	193	17	by	by	ADP
easat-6650	193	18	the	the	DET
easat-6650	193	19	author	author	NOUN
easat-6650	193	20	;	;	PUNCT
easat-6650	193	21	licensee	licensee	PROPN
easat-6650	193	22	learning	learn	VERB
easat-6650	193	23	gate	gate	NOUN
easat-6650	193	24	varying	vary	VERB
easat-6650	193	25	random	random	ADJ
easat-6650	193	26	initial	initial	ADJ
easat-6650	193	27	conditions	condition	NOUN
easat-6650	193	28	,	,	PUNCT
easat-6650	193	29	and	and	CCONJ
easat-6650	193	30	the	the	DET
easat-6650	193	31	results	result	NOUN
easat-6650	193	32	were	be	AUX
easat-6650	193	33	averaged	average	VERB
easat-6650	193	34	to	to	PART
easat-6650	193	35	produce	produce	VERB
easat-6650	193	36	consistent	consistent	ADJ
easat-6650	193	37	and	and	CCONJ
easat-6650	193	38	reliable	reliable	ADJ
easat-6650	193	39	performance	performance	NOUN
easat-6650	193	40	metrics	metric	NOUN
easat-6650	193	41	.	.	PUNCT
easat-6650	194	1	6.2	6.2	NUM
easat-6650	194	2	.	.	PUNCT
easat-6650	194	3	impact	impact	NOUN
easat-6650	194	4	of	of	ADP
easat-6650	194	5	uav	uav	PROPN
easat-6650	194	6	swarm	swarm	NOUN
easat-6650	194	7	size	size	NOUN
easat-6650	194	8	below	below	ADP
easat-6650	194	9	figure	figure	NOUN
easat-6650	194	10	2	2	NUM
easat-6650	194	11	illustrates	illustrate	VERB
easat-6650	194	12	how	how	SCONJ
easat-6650	194	13	inspection	inspection	NOUN
easat-6650	194	14	time	time	NOUN
easat-6650	194	15	varies	vary	VERB
easat-6650	194	16	with	with	ADP
easat-6650	194	17	the	the	DET
easat-6650	194	18	number	number	NOUN
easat-6650	194	19	of	of	ADP
easat-6650	194	20	uavs	uavs	NOUN
easat-6650	194	21	deployed	deploy	VERB
easat-6650	194	22	.	.	PUNCT
easat-6650	195	1	as	as	SCONJ
easat-6650	195	2	expected	expect	VERB
easat-6650	195	3	,	,	PUNCT
easat-6650	195	4	increasing	increase	VERB
easat-6650	195	5	the	the	DET
easat-6650	195	6	swarm	swarm	NOUN
easat-6650	195	7	size	size	NOUN
easat-6650	195	8	reduces	reduce	VERB
easat-6650	195	9	the	the	DET
easat-6650	195	10	total	total	ADJ
easat-6650	195	11	inspection	inspection	NOUN
easat-6650	195	12	time	time	NOUN
easat-6650	195	13	across	across	ADP
easat-6650	195	14	all	all	DET
easat-6650	195	15	algorithms	algorithm	NOUN
easat-6650	195	16	due	due	ADP
easat-6650	195	17	to	to	ADP
easat-6650	195	18	the	the	DET
easat-6650	195	19	inherent	inherent	ADJ
easat-6650	195	20	parallelism	parallelism	NOUN
easat-6650	195	21	.	.	PUNCT
easat-6650	196	1	however	however	ADV
easat-6650	196	2	,	,	PUNCT
easat-6650	196	3	our	our	PRON
easat-6650	196	4	sta	sta	NOUN
easat-6650	196	5	algorithm	algorithm	NOUN
easat-6650	196	6	demonstrates	demonstrate	VERB
easat-6650	196	7	superior	superior	ADJ
easat-6650	196	8	performance	performance	NOUN
easat-6650	196	9	,	,	PUNCT
easat-6650	196	10	achieving	achieve	VERB
easat-6650	196	11	a	a	DET
easat-6650	196	12	35	35	NUM
easat-6650	196	13	%	%	NOUN
easat-6650	196	14	reduction	reduction	NOUN
easat-6650	196	15	in	in	ADP
easat-6650	196	16	inspection	inspection	NOUN
easat-6650	196	17	time	time	NOUN
easat-6650	196	18	compared	compare	VERB
easat-6650	196	19	to	to	ADP
easat-6650	196	20	the	the	DET
easat-6650	196	21	pp	pp	ADJ
easat-6650	196	22	approach	approach	NOUN
easat-6650	196	23	when	when	SCONJ
easat-6650	196	24	using	use	VERB
easat-6650	196	25	six	six	NUM
easat-6650	196	26	uavs	uavs	NOUN
easat-6650	196	27	.	.	PUNCT
easat-6650	197	1	the	the	DET
easat-6650	197	2	diminishing	diminish	VERB
easat-6650	197	3	returns	return	NOUN
easat-6650	197	4	observed	observe	VERB
easat-6650	197	5	beyond	beyond	ADP
easat-6650	197	6	four	four	NUM
easat-6650	197	7	uavs	uavs	NOUN
easat-6650	197	8	suggest	suggest	VERB
easat-6650	197	9	that	that	SCONJ
easat-6650	197	10	for	for	ADP
easat-6650	197	11	typical	typical	ADJ
easat-6650	197	12	urban	urban	ADJ
easat-6650	197	13	inspection	inspection	NOUN
easat-6650	197	14	scenarios	scenario	NOUN
easat-6650	197	15	with	with	ADP
easat-6650	197	16	the	the	DET
easat-6650	197	17	given	give	VERB
easat-6650	197	18	parameters	parameter	NOUN
easat-6650	197	19	,	,	PUNCT
easat-6650	197	20	a	a	DET
easat-6650	197	21	swarm	swarm	NOUN
easat-6650	197	22	size	size	NOUN
easat-6650	197	23	of	of	ADP
easat-6650	197	24	4	4	NUM
easat-6650	197	25	-	-	SYM
easat-6650	197	26	5	5	NUM
easat-6650	197	27	uavs	uavs	NOUN
easat-6650	197	28	represents	represent	VERB
easat-6650	197	29	the	the	DET
easat-6650	197	30	optimal	optimal	ADJ
easat-6650	197	31	balance	balance	NOUN
easat-6650	197	32	between	between	ADP
easat-6650	197	33	performance	performance	NOUN
easat-6650	197	34	gain	gain	NOUN
easat-6650	197	35	and	and	CCONJ
easat-6650	197	36	system	system	NOUN
easat-6650	197	37	complexity	complexity	NOUN
easat-6650	197	38	.	.	PUNCT
easat-6650	198	1	the	the	DET
easat-6650	198	2	sta	sta	PROPN
easat-6650	198	3	algorithm	algorithm	PROPN
easat-6650	198	4	approaches	approach	VERB
easat-6650	198	5	the	the	DET
easat-6650	198	6	performance	performance	NOUN
easat-6650	198	7	of	of	ADP
easat-6650	198	8	the	the	DET
easat-6650	198	9	optimal	optimal	ADJ
easat-6650	198	10	solution	solution	NOUN
easat-6650	198	11	(	(	PUNCT
easat-6650	198	12	within	within	ADP
easat-6650	198	13	7	7	NUM
easat-6650	198	14	%	%	NOUN
easat-6650	198	15	)	)	PUNCT
easat-6650	198	16	while	while	SCONJ
easat-6650	198	17	requiring	require	VERB
easat-6650	198	18	only	only	ADV
easat-6650	198	19	a	a	DET
easat-6650	198	20	fraction	fraction	NOUN
easat-6650	198	21	of	of	ADP
easat-6650	198	22	the	the	DET
easat-6650	198	23	computational	computational	ADJ
easat-6650	198	24	resources	resource	NOUN
easat-6650	198	25	.	.	PUNCT
easat-6650	199	1	figure	figure	NOUN
easat-6650	199	2	2	2	NUM
easat-6650	199	3	.	.	PUNCT
easat-6650	199	4	effect	effect	NOUN
easat-6650	199	5	of	of	ADP
easat-6650	199	6	uav	uav	PROPN
easat-6650	199	7	swarm	swarm	NOUN
easat-6650	199	8	size	size	NOUN
easat-6650	199	9	on	on	ADP
easat-6650	199	10	inspection	inspection	NOUN
easat-6650	199	11	time	time	NOUN
easat-6650	199	12	.	.	PUNCT
easat-6650	200	1	6.3	6.3	NUM
easat-6650	200	2	.	.	PUNCT
easat-6650	200	3	effect	effect	NOUN
easat-6650	200	4	of	of	ADP
easat-6650	200	5	battery	battery	NOUN
easat-6650	200	6	capacity	capacity	NOUN
easat-6650	200	7	figure	figure	NOUN
easat-6650	200	8	3	3	NUM
easat-6650	200	9	demonstrates	demonstrate	VERB
easat-6650	200	10	how	how	SCONJ
easat-6650	200	11	initial	initial	ADJ
easat-6650	200	12	battery	battery	NOUN
easat-6650	200	13	capacity	capacity	NOUN
easat-6650	200	14	affects	affect	VERB
easat-6650	200	15	the	the	DET
easat-6650	200	16	inspection	inspection	NOUN
easat-6650	200	17	time	time	NOUN
easat-6650	200	18	.	.	PUNCT
easat-6650	201	1	lower	low	ADJ
easat-6650	201	2	battery	battery	NOUN
easat-6650	201	3	levels	level	NOUN
easat-6650	201	4	significantly	significantly	ADV
easat-6650	201	5	impact	impact	VERB
easat-6650	201	6	performance	performance	NOUN
easat-6650	201	7	,	,	PUNCT
easat-6650	201	8	particularly	particularly	ADV
easat-6650	201	9	for	for	ADP
easat-6650	201	10	simpler	simple	ADJ
easat-6650	201	11	algorithms	algorithm	NOUN
easat-6650	201	12	that	that	PRON
easat-6650	201	13	lack	lack	VERB
easat-6650	201	14	energy	energy	NOUN
easat-6650	201	15	-	-	PUNCT
easat-6650	201	16	aware	aware	ADJ
easat-6650	201	17	planning	planning	NOUN
easat-6650	201	18	capabilities	capability	NOUN
easat-6650	201	19	.	.	PUNCT
easat-6650	202	1	at	at	ADP
easat-6650	202	2	20	20	NUM
easat-6650	202	3	%	%	NOUN
easat-6650	202	4	initial	initial	ADJ
easat-6650	202	5	capacity	capacity	NOUN
easat-6650	202	6	,	,	PUNCT
easat-6650	202	7	our	our	PRON
easat-6650	202	8	sta	sta	NOUN
easat-6650	202	9	algorithm	algorithm	NOUN
easat-6650	202	10	outperforms	outperform	VERB
easat-6650	202	11	the	the	DET
easat-6650	202	12	ta	ta	PROPN
easat-6650	202	13	approach	approach	NOUN
easat-6650	202	14	by	by	ADP
easat-6650	202	15	38	38	NUM
easat-6650	202	16	%	%	NOUN
easat-6650	202	17	and	and	CCONJ
easat-6650	202	18	the	the	DET
easat-6650	202	19	pp	pp	ADJ
easat-6650	202	20	approach	approach	NOUN
easat-6650	202	21	by	by	ADP
easat-6650	202	22	50	50	NUM
easat-6650	202	23	%	%	NOUN
easat-6650	202	24	.	.	PUNCT
easat-6650	203	1	this	this	DET
easat-6650	203	2	substantial	substantial	ADJ
easat-6650	203	3	improvement	improvement	NOUN
easat-6650	203	4	stems	stem	VERB
easat-6650	203	5	from	from	ADP
easat-6650	203	6	our	our	PRON
easat-6650	203	7	algorithm	algorithm	NOUN
easat-6650	203	8	's	's	PART
easat-6650	203	9	ability	ability	NOUN
easat-6650	203	10	to	to	PART
easat-6650	203	11	intelligently	intelligently	ADV
easat-6650	203	12	schedule	schedule	VERB
easat-6650	203	13	tasks	task	NOUN
easat-6650	203	14	based	base	VERB
easat-6650	203	15	on	on	ADP
easat-6650	203	16	energy	energy	NOUN
easat-6650	203	17	constraints	constraint	NOUN
easat-6650	203	18	,	,	PUNCT
easat-6650	203	19	delaying	delay	VERB
easat-6650	203	20	energy	energy	NOUN
easat-6650	203	21	-	-	PUNCT
easat-6650	203	22	intensive	intensive	ADJ
easat-6650	203	23	tasks	task	NOUN
easat-6650	203	24	until	until	SCONJ
easat-6650	203	25	uavs	uavs	PROPN
easat-6650	203	26	have	have	AUX
easat-6650	203	27	completed	complete	VERB
easat-6650	203	28	fewer	few	ADJ
easat-6650	203	29	demanding	demand	VERB
easat-6650	203	30	inspections	inspection	NOUN
easat-6650	203	31	.	.	PUNCT
easat-6650	204	1	the	the	DET
easat-6650	204	2	performance	performance	NOUN
easat-6650	204	3	gap	gap	NOUN
easat-6650	204	4	narrows	narrow	VERB
easat-6650	204	5	at	at	ADP
easat-6650	204	6	higher	high	ADJ
easat-6650	204	7	battery	battery	NOUN
easat-6650	204	8	levels	level	NOUN
easat-6650	204	9	but	but	CCONJ
easat-6650	204	10	remains	remain	VERB
easat-6650	204	11	significant	significant	ADJ
easat-6650	204	12	even	even	ADV
easat-6650	204	13	at	at	ADP
easat-6650	204	14	100	100	NUM
easat-6650	204	15	%	%	NOUN
easat-6650	204	16	capacity	capacity	NOUN
easat-6650	204	17	,	,	PUNCT
easat-6650	204	18	highlighting	highlight	VERB
easat-6650	204	19	the	the	DET
easat-6650	204	20	importance	importance	NOUN
easat-6650	204	21	of	of	ADP
easat-6650	204	22	energy	energy	NOUN
easat-6650	204	23	-	-	PUNCT
easat-6650	204	24	aware	aware	ADJ
easat-6650	204	25	scheduling	scheduling	NOUN
easat-6650	204	26	even	even	ADV
easat-6650	204	27	when	when	SCONJ
easat-6650	204	28	energy	energy	NOUN
easat-6650	204	29	constraints	constraint	NOUN
easat-6650	204	30	are	be	AUX
easat-6650	204	31	less	less	ADV
easat-6650	204	32	stringent	stringent	ADJ
easat-6650	204	33	.	.	PUNCT
easat-6650	205	1	2762	2762	NUM
easat-6650	205	2	edelweiss	edelweiss	PROPN
easat-6650	205	3	applied	apply	VERB
easat-6650	205	4	science	science	NOUN
easat-6650	205	5	and	and	CCONJ
easat-6650	205	6	technology	technology	NOUN
easat-6650	205	7	issn	issn	PROPN
easat-6650	205	8	:	:	PUNCT
easat-6650	205	9	2576	2576	NUM
easat-6650	205	10	-	-	SYM
easat-6650	205	11	8484	8484	NUM
easat-6650	205	12	vol	vol	NOUN
easat-6650	205	13	.	.	PROPN
easat-6650	206	1	9	9	NUM
easat-6650	206	2	,	,	PUNCT
easat-6650	206	3	no	no	INTJ
easat-6650	206	4	.	.	NOUN
easat-6650	206	5	4	4	NUM
easat-6650	206	6	:	:	SYM
easat-6650	206	7	2751	2751	NUM
easat-6650	206	8	-	-	SYM
easat-6650	206	9	2767	2767	NUM
easat-6650	206	10	,	,	PUNCT
easat-6650	206	11	2025	2025	NUM
easat-6650	206	12	doi	doi	NOUN
easat-6650	206	13	:	:	PUNCT
easat-6650	206	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	206	15	©	©	ADP
easat-6650	206	16	2025	2025	NUM
easat-6650	206	17	by	by	ADP
easat-6650	206	18	the	the	DET
easat-6650	206	19	author	author	NOUN
easat-6650	206	20	;	;	PUNCT
easat-6650	206	21	licensee	licensee	PROPN
easat-6650	206	22	learning	learn	VERB
easat-6650	206	23	gate	gate	PROPN
easat-6650	206	24	figure	figure	NOUN
easat-6650	206	25	3	3	NUM
easat-6650	206	26	.	.	PUNCT
easat-6650	206	27	effect	effect	NOUN
easat-6650	206	28	of	of	ADP
easat-6650	206	29	battery	battery	NOUN
easat-6650	206	30	capacity	capacity	NOUN
easat-6650	206	31	on	on	ADP
easat-6650	206	32	inspection	inspection	NOUN
easat-6650	206	33	time	time	NOUN
easat-6650	206	34	.	.	PUNCT
easat-6650	207	1	6.4	6.4	NUM
easat-6650	207	2	.	.	PUNCT
easat-6650	207	3	impact	impact	NOUN
easat-6650	207	4	of	of	ADP
easat-6650	207	5	zone	zone	NOUN
easat-6650	207	6	complexity	complexity	NOUN
easat-6650	207	7	figure	figure	NOUN
easat-6650	207	8	4	4	NUM
easat-6650	207	9	shows	show	VERB
easat-6650	207	10	how	how	SCONJ
easat-6650	207	11	increasing	increase	VERB
easat-6650	207	12	zone	zone	NOUN
easat-6650	207	13	complexity	complexity	NOUN
easat-6650	207	14	affects	affect	VERB
easat-6650	207	15	inspection	inspection	NOUN
easat-6650	207	16	time	time	NOUN
easat-6650	207	17	.	.	PUNCT
easat-6650	208	1	complex	complex	ADJ
easat-6650	208	2	zones	zone	NOUN
easat-6650	208	3	require	require	VERB
easat-6650	208	4	more	more	ADV
easat-6650	208	5	detailed	detailed	ADJ
easat-6650	208	6	inspection	inspection	NOUN
easat-6650	208	7	patterns	pattern	NOUN
easat-6650	208	8	,	,	PUNCT
easat-6650	208	9	higher	high	ADJ
easat-6650	208	10	sensor	sensor	NOUN
easat-6650	208	11	resolution	resolution	NOUN
easat-6650	208	12	,	,	PUNCT
easat-6650	208	13	and	and	CCONJ
easat-6650	208	14	multiple	multiple	ADJ
easat-6650	208	15	viewing	view	VERB
easat-6650	208	16	angles	angle	NOUN
easat-6650	208	17	,	,	PUNCT
easat-6650	208	18	resulting	result	VERB
easat-6650	208	19	in	in	ADP
easat-6650	208	20	longer	long	ADJ
easat-6650	208	21	inspection	inspection	NOUN
easat-6650	208	22	times	time	NOUN
easat-6650	208	23	across	across	ADP
easat-6650	208	24	all	all	DET
easat-6650	208	25	algorithms	algorithm	NOUN
easat-6650	208	26	.	.	PUNCT
easat-6650	209	1	our	our	PRON
easat-6650	209	2	sta	sta	PROPN
easat-6650	209	3	algorithm	algorithm	NOUN
easat-6650	209	4	demonstrates	demonstrate	VERB
easat-6650	209	5	remarkable	remarkable	ADJ
easat-6650	209	6	resilience	resilience	NOUN
easat-6650	209	7	to	to	ADP
easat-6650	209	8	increasing	increase	VERB
easat-6650	209	9	complexity	complexity	NOUN
easat-6650	209	10	,	,	PUNCT
easat-6650	209	11	maintaining	maintain	VERB
easat-6650	209	12	its	its	PRON
easat-6650	209	13	performance	performance	NOUN
easat-6650	209	14	advantage	advantage	NOUN
easat-6650	209	15	over	over	ADP
easat-6650	209	16	alternative	alternative	ADJ
easat-6650	209	17	approaches	approach	NOUN
easat-6650	209	18	.	.	PUNCT
easat-6650	210	1	at	at	ADP
easat-6650	210	2	complexity	complexity	NOUN
easat-6650	210	3	level	level	NOUN
easat-6650	210	4	5	5	NUM
easat-6650	210	5	,	,	PUNCT
easat-6650	210	6	the	the	DET
easat-6650	210	7	sta	sta	PROPN
easat-6650	210	8	algorithm	algorithm	NOUN
easat-6650	210	9	completes	complete	VERB
easat-6650	210	10	inspections	inspection	NOUN
easat-6650	210	11	in	in	ADP
easat-6650	210	12	40	40	NUM
easat-6650	210	13	%	%	NOUN
easat-6650	210	14	less	less	ADJ
easat-6650	210	15	time	time	NOUN
easat-6650	210	16	than	than	ADP
easat-6650	210	17	the	the	DET
easat-6650	210	18	pp	pp	PROPN
easat-6650	210	19	approach	approach	NOUN
easat-6650	210	20	and	and	CCONJ
easat-6650	210	21	30	30	NUM
easat-6650	210	22	%	%	NOUN
easat-6650	210	23	less	less	ADJ
easat-6650	210	24	time	time	NOUN
easat-6650	210	25	than	than	ADP
easat-6650	210	26	the	the	DET
easat-6650	210	27	sch	sch	PROPN
easat-6650	210	28	approach	approach	NOUN
easat-6650	210	29	.	.	PUNCT
easat-6650	211	1	this	this	PRON
easat-6650	211	2	is	be	AUX
easat-6650	211	3	attributed	attribute	VERB
easat-6650	211	4	to	to	ADP
easat-6650	211	5	our	our	PRON
easat-6650	211	6	structure	structure	NOUN
easat-6650	211	7	-	-	PUNCT
easat-6650	211	8	specific	specific	ADJ
easat-6650	211	9	path	path	NOUN
easat-6650	211	10	planning	planning	NOUN
easat-6650	211	11	component	component	NOUN
easat-6650	211	12	,	,	PUNCT
easat-6650	211	13	which	which	PRON
easat-6650	211	14	generates	generate	VERB
easat-6650	211	15	efficient	efficient	ADJ
easat-6650	211	16	inspection	inspection	NOUN
easat-6650	211	17	patterns	pattern	NOUN
easat-6650	211	18	tailored	tailor	VERB
easat-6650	211	19	to	to	ADP
easat-6650	211	20	different	different	ADJ
easat-6650	211	21	structural	structural	ADJ
easat-6650	211	22	elements	element	NOUN
easat-6650	211	23	,	,	PUNCT
easat-6650	211	24	combined	combine	VERB
easat-6650	211	25	with	with	ADP
easat-6650	211	26	intelligent	intelligent	ADJ
easat-6650	211	27	task	task	NOUN
easat-6650	211	28	allocation	allocation	NOUN
easat-6650	211	29	that	that	PRON
easat-6650	211	30	considers	consider	VERB
easat-6650	211	31	both	both	PRON
easat-6650	211	32	uav	uav	PROPN
easat-6650	211	33	capabilities	capability	NOUN
easat-6650	211	34	and	and	CCONJ
easat-6650	211	35	zone	zone	NOUN
easat-6650	211	36	characteristics	characteristic	NOUN
easat-6650	211	37	.	.	PUNCT
easat-6650	212	1	figure	figure	NOUN
easat-6650	212	2	4	4	NUM
easat-6650	212	3	.	.	PUNCT
easat-6650	212	4	effect	effect	NOUN
easat-6650	212	5	of	of	ADP
easat-6650	212	6	zone	zone	NOUN
easat-6650	212	7	complexity	complexity	NOUN
easat-6650	212	8	on	on	ADP
easat-6650	212	9	inspection	inspection	NOUN
easat-6650	212	10	time	time	NOUN
easat-6650	212	11	.	.	PUNCT
easat-6650	213	1	2763	2763	NUM
easat-6650	213	2	edelweiss	edelweiss	PROPN
easat-6650	213	3	applied	apply	VERB
easat-6650	213	4	science	science	NOUN
easat-6650	213	5	and	and	CCONJ
easat-6650	213	6	technology	technology	NOUN
easat-6650	213	7	issn	issn	PROPN
easat-6650	213	8	:	:	PUNCT
easat-6650	213	9	2576	2576	NUM
easat-6650	213	10	-	-	SYM
easat-6650	213	11	8484	8484	NUM
easat-6650	213	12	vol	vol	NOUN
easat-6650	213	13	.	.	PROPN
easat-6650	214	1	9	9	NUM
easat-6650	214	2	,	,	PUNCT
easat-6650	214	3	no	no	INTJ
easat-6650	214	4	.	.	NOUN
easat-6650	214	5	4	4	NUM
easat-6650	214	6	:	:	SYM
easat-6650	214	7	2751	2751	NUM
easat-6650	214	8	-	-	SYM
easat-6650	214	9	2767	2767	NUM
easat-6650	214	10	,	,	PUNCT
easat-6650	214	11	2025	2025	NUM
easat-6650	214	12	doi	doi	NOUN
easat-6650	214	13	:	:	PUNCT
easat-6650	214	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	214	15	©	©	ADP
easat-6650	214	16	2025	2025	NUM
easat-6650	214	17	by	by	ADP
easat-6650	214	18	the	the	DET
easat-6650	214	19	author	author	NOUN
easat-6650	214	20	;	;	PUNCT
easat-6650	214	21	licensee	licensee	PROPN
easat-6650	214	22	learning	learning	NOUN
easat-6650	214	23	gate	gate	NOUN
easat-6650	214	24	6.5	6.5	NUM
easat-6650	214	25	.	.	PUNCT
easat-6650	215	1	computational	computational	ADJ
easat-6650	215	2	efficiency	efficiency	NOUN
easat-6650	215	3	figure	figure	NOUN
easat-6650	215	4	5	5	NUM
easat-6650	215	5	presents	present	VERB
easat-6650	215	6	a	a	DET
easat-6650	215	7	logarithmic	logarithmic	ADJ
easat-6650	215	8	-	-	PUNCT
easat-6650	215	9	scale	scale	NOUN
easat-6650	215	10	comparison	comparison	NOUN
easat-6650	215	11	of	of	ADP
easat-6650	215	12	computational	computational	ADJ
easat-6650	215	13	time	time	NOUN
easat-6650	215	14	requirements	requirement	NOUN
easat-6650	215	15	for	for	ADP
easat-6650	215	16	different	different	ADJ
easat-6650	215	17	algorithms	algorithm	NOUN
easat-6650	215	18	as	as	ADP
easat-6650	215	19	the	the	DET
easat-6650	215	20	problem	problem	NOUN
easat-6650	215	21	size	size	NOUN
easat-6650	215	22	increases	increase	NOUN
easat-6650	215	23	.	.	PUNCT
easat-6650	216	1	while	while	SCONJ
easat-6650	216	2	the	the	DET
easat-6650	216	3	optimal	optimal	ADJ
easat-6650	216	4	solution	solution	NOUN
easat-6650	216	5	(	(	PUNCT
easat-6650	216	6	opt	opt	PROPN
easat-6650	216	7	)	)	PUNCT
easat-6650	216	8	exhibits	exhibit	VERB
easat-6650	216	9	exponential	exponential	ADJ
easat-6650	216	10	growth	growth	NOUN
easat-6650	216	11	in	in	ADP
easat-6650	216	12	computational	computational	ADJ
easat-6650	216	13	time	time	NOUN
easat-6650	216	14	,	,	PUNCT
easat-6650	216	15	rendering	render	VERB
easat-6650	216	16	it	it	PRON
easat-6650	216	17	impractical	impractical	ADJ
easat-6650	216	18	for	for	ADP
easat-6650	216	19	real	real	ADJ
easat-6650	216	20	-	-	PUNCT
easat-6650	216	21	world	world	NOUN
easat-6650	216	22	applications	application	NOUN
easat-6650	216	23	with	with	ADP
easat-6650	216	24	more	more	ADJ
easat-6650	216	25	than	than	ADP
easat-6650	216	26	a	a	DET
easat-6650	216	27	few	few	ADJ
easat-6650	216	28	uavs	uavs	NOUN
easat-6650	216	29	,	,	PUNCT
easat-6650	216	30	our	our	PRON
easat-6650	216	31	sta	sta	PROPN
easat-6650	216	32	algorithm	algorithm	NOUN
easat-6650	216	33	maintains	maintain	VERB
easat-6650	216	34	polynomial	polynomial	ADJ
easat-6650	216	35	time	time	NOUN
easat-6650	216	36	complexity	complexity	NOUN
easat-6650	216	37	,	,	PUNCT
easat-6650	216	38	enabling	enable	VERB
easat-6650	216	39	its	its	PRON
easat-6650	216	40	application	application	NOUN
easat-6650	216	41	to	to	ADP
easat-6650	216	42	practical	practical	ADJ
easat-6650	216	43	scenarios	scenario	NOUN
easat-6650	216	44	.	.	PUNCT
easat-6650	217	1	for	for	ADP
easat-6650	217	2	a	a	DET
easat-6650	217	3	system	system	NOUN
easat-6650	217	4	with	with	ADP
easat-6650	217	5	six	six	NUM
easat-6650	217	6	uavs	uavs	NOUN
easat-6650	217	7	and	and	CCONJ
easat-6650	217	8	30	30	NUM
easat-6650	217	9	inspection	inspection	NOUN
easat-6650	217	10	zones	zone	NOUN
easat-6650	217	11	,	,	PUNCT
easat-6650	217	12	our	our	PRON
easat-6650	217	13	algorithm	algorithm	NOUN
easat-6650	217	14	produces	produce	VERB
easat-6650	217	15	high	high	ADJ
easat-6650	217	16	-	-	PUNCT
easat-6650	217	17	quality	quality	NOUN
easat-6650	217	18	solutions	solution	NOUN
easat-6650	217	19	in	in	ADP
easat-6650	217	20	less	less	ADJ
easat-6650	217	21	than	than	ADP
easat-6650	217	22	2	2	NUM
easat-6650	217	23	seconds	second	NOUN
easat-6650	217	24	on	on	ADP
easat-6650	217	25	standard	standard	ADJ
easat-6650	217	26	computing	computing	NOUN
easat-6650	217	27	hardware	hardware	NOUN
easat-6650	217	28	,	,	PUNCT
easat-6650	217	29	making	make	VERB
easat-6650	217	30	it	it	PRON
easat-6650	217	31	suitable	suitable	ADJ
easat-6650	217	32	for	for	ADP
easat-6650	217	33	both	both	PRON
easat-6650	217	34	pre	pre	ADJ
easat-6650	217	35	-	-	ADJ
easat-6650	217	36	mission	mission	ADJ
easat-6650	217	37	planning	planning	NOUN
easat-6650	217	38	and	and	CCONJ
easat-6650	217	39	dynamic	dynamic	ADJ
easat-6650	217	40	replanning	replanning	NOUN
easat-6650	217	41	during	during	ADP
easat-6650	217	42	mission	mission	NOUN
easat-6650	217	43	execution	execution	NOUN
easat-6650	217	44	.	.	PUNCT
easat-6650	218	1	figure	figure	NOUN
easat-6650	218	2	5	5	NUM
easat-6650	218	3	.	.	PUNCT
easat-6650	218	4	computational	computational	ADJ
easat-6650	218	5	efficiency	efficiency	NOUN
easat-6650	218	6	analysis	analysis	NOUN
easat-6650	218	7	.	.	PUNCT
easat-6650	219	1	6.6	6.6	NUM
easat-6650	219	2	.	.	PUNCT
easat-6650	219	3	algorithm	algorithm	NOUN
easat-6650	219	4	convergence	convergence	VERB
easat-6650	219	5	our	our	PRON
easat-6650	219	6	iterative	iterative	NOUN
easat-6650	219	7	sta	sta	NOUN
easat-6650	219	8	algorithm	algorithm	NOUN
easat-6650	219	9	typically	typically	ADV
easat-6650	219	10	converges	converge	VERB
easat-6650	219	11	within	within	ADP
easat-6650	219	12	3	3	NUM
easat-6650	219	13	-	-	SYM
easat-6650	219	14	5	5	NUM
easat-6650	219	15	iterations	iteration	NOUN
easat-6650	219	16	for	for	ADP
easat-6650	219	17	most	most	ADJ
easat-6650	219	18	scenarios	scenario	NOUN
easat-6650	219	19	,	,	PUNCT
easat-6650	219	20	with	with	ADP
easat-6650	219	21	each	each	DET
easat-6650	219	22	iteration	iteration	NOUN
easat-6650	219	23	refining	refining	NOUN
easat-6650	219	24	either	either	CCONJ
easat-6650	219	25	the	the	DET
easat-6650	219	26	task	task	NOUN
easat-6650	219	27	allocation	allocation	NOUN
easat-6650	219	28	or	or	CCONJ
easat-6650	219	29	scheduling	scheduling	NOUN
easat-6650	219	30	component	component	NOUN
easat-6650	219	31	.	.	PUNCT
easat-6650	220	1	the	the	DET
easat-6650	220	2	algorithm	algorithm	NOUN
easat-6650	220	3	terminates	terminate	VERB
easat-6650	220	4	when	when	SCONJ
easat-6650	220	5	the	the	DET
easat-6650	220	6	improvement	improvement	NOUN
easat-6650	220	7	between	between	ADP
easat-6650	220	8	consecutive	consecutive	ADJ
easat-6650	220	9	iterations	iteration	NOUN
easat-6650	220	10	falls	fall	VERB
easat-6650	220	11	below	below	ADP
easat-6650	220	12	a	a	DET
easat-6650	220	13	specified	specify	VERB
easat-6650	220	14	threshold	threshold	NOUN
easat-6650	220	15	(	(	PUNCT
easat-6650	220	16	0.5	0.5	NUM
easat-6650	220	17	%	%	NOUN
easat-6650	220	18	in	in	ADP
easat-6650	220	19	our	our	PRON
easat-6650	220	20	implementation	implementation	NOUN
easat-6650	220	21	)	)	PUNCT
easat-6650	220	22	or	or	CCONJ
easat-6650	220	23	when	when	SCONJ
easat-6650	220	24	a	a	DET
easat-6650	220	25	maximum	maximum	ADJ
easat-6650	220	26	iteration	iteration	NOUN
easat-6650	220	27	count	count	NOUN
easat-6650	220	28	is	be	AUX
easat-6650	220	29	reached	reach	VERB
easat-6650	220	30	.	.	PUNCT
easat-6650	221	1	the	the	DET
easat-6650	221	2	fast	fast	ADJ
easat-6650	221	3	convergence	convergence	NOUN
easat-6650	221	4	characteristic	characteristic	NOUN
easat-6650	221	5	ensures	ensure	VERB
easat-6650	221	6	that	that	SCONJ
easat-6650	221	7	the	the	DET
easat-6650	221	8	algorithm	algorithm	NOUN
easat-6650	221	9	remains	remain	VERB
easat-6650	221	10	computationally	computationally	ADV
easat-6650	221	11	efficient	efficient	ADJ
easat-6650	221	12	even	even	ADV
easat-6650	221	13	for	for	ADP
easat-6650	221	14	complex	complex	ADJ
easat-6650	221	15	scenarios	scenario	NOUN
easat-6650	221	16	,	,	PUNCT
easat-6650	221	17	while	while	SCONJ
easat-6650	221	18	the	the	DET
easat-6650	221	19	consistent	consistent	ADJ
easat-6650	221	20	proximity	proximity	NOUN
easat-6650	221	21	to	to	ADP
easat-6650	221	22	the	the	DET
easat-6650	221	23	optimal	optimal	ADJ
easat-6650	221	24	solution	solution	NOUN
easat-6650	221	25	(	(	PUNCT
easat-6650	221	26	where	where	SCONJ
easat-6650	221	27	computable	computable	ADJ
easat-6650	221	28	)	)	PUNCT
easat-6650	221	29	validates	validate	VERB
easat-6650	221	30	the	the	DET
easat-6650	221	31	effectiveness	effectiveness	NOUN
easat-6650	221	32	of	of	ADP
easat-6650	221	33	our	our	PRON
easat-6650	221	34	decomposition	decomposition	NOUN
easat-6650	221	35	approach	approach	NOUN
easat-6650	221	36	and	and	CCONJ
easat-6650	221	37	iterative	iterative	NOUN
easat-6650	221	38	refinement	refinement	NOUN
easat-6650	221	39	strategy	strategy	NOUN
easat-6650	221	40	.	.	PUNCT
easat-6650	222	1	figure	figure	NOUN
easat-6650	222	2	6	6	NUM
easat-6650	222	3	illustrates	illustrate	VERB
easat-6650	222	4	the	the	DET
easat-6650	222	5	convergence	convergence	NOUN
easat-6650	222	6	behavior	behavior	NOUN
easat-6650	222	7	of	of	ADP
easat-6650	222	8	the	the	DET
easat-6650	222	9	algorithm	algorithm	NOUN
easat-6650	222	10	,	,	PUNCT
easat-6650	222	11	highlighting	highlight	VERB
easat-6650	222	12	its	its	PRON
easat-6650	222	13	stability	stability	NOUN
easat-6650	222	14	and	and	CCONJ
easat-6650	222	15	rapid	rapid	ADJ
easat-6650	222	16	progression	progression	NOUN
easat-6650	222	17	toward	toward	ADP
easat-6650	222	18	optimality	optimality	NOUN
easat-6650	222	19	.	.	PUNCT
easat-6650	223	1	2764	2764	NUM
easat-6650	223	2	edelweiss	edelweiss	PROPN
easat-6650	223	3	applied	apply	VERB
easat-6650	223	4	science	science	NOUN
easat-6650	223	5	and	and	CCONJ
easat-6650	223	6	technology	technology	NOUN
easat-6650	223	7	issn	issn	PROPN
easat-6650	223	8	:	:	PUNCT
easat-6650	223	9	2576	2576	NUM
easat-6650	223	10	-	-	SYM
easat-6650	223	11	8484	8484	NUM
easat-6650	223	12	vol	vol	NOUN
easat-6650	223	13	.	.	PROPN
easat-6650	224	1	9	9	NUM
easat-6650	224	2	,	,	PUNCT
easat-6650	224	3	no	no	INTJ
easat-6650	224	4	.	.	NOUN
easat-6650	224	5	4	4	NUM
easat-6650	224	6	:	:	SYM
easat-6650	224	7	2751	2751	NUM
easat-6650	224	8	-	-	SYM
easat-6650	224	9	2767	2767	NUM
easat-6650	224	10	,	,	PUNCT
easat-6650	224	11	2025	2025	NUM
easat-6650	224	12	doi	doi	NOUN
easat-6650	224	13	:	:	PUNCT
easat-6650	224	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	224	15	©	©	ADP
easat-6650	224	16	2025	2025	NUM
easat-6650	224	17	by	by	ADP
easat-6650	224	18	the	the	DET
easat-6650	224	19	author	author	NOUN
easat-6650	224	20	;	;	PUNCT
easat-6650	224	21	licensee	licensee	PROPN
easat-6650	224	22	learning	learn	VERB
easat-6650	224	23	gate	gate	PROPN
easat-6650	224	24	figure	figure	NOUN
easat-6650	224	25	6	6	NUM
easat-6650	224	26	.	.	PUNCT
easat-6650	224	27	algorithm	algorithm	PROPN
easat-6650	224	28	convergence	convergence	NOUN
easat-6650	224	29	analysis	analysis	NOUN
easat-6650	224	30	.	.	PUNCT
easat-6650	225	1	the	the	DET
easat-6650	225	2	performance	performance	NOUN
easat-6650	225	3	analysis	analysis	NOUN
easat-6650	225	4	demonstrates	demonstrate	VERB
easat-6650	225	5	that	that	SCONJ
easat-6650	225	6	our	our	PRON
easat-6650	225	7	proposed	propose	VERB
easat-6650	225	8	algorithm	algorithm	NOUN
easat-6650	225	9	consistently	consistently	ADV
easat-6650	225	10	outperforms	outperform	VERB
easat-6650	225	11	alternative	alternative	ADJ
easat-6650	225	12	approaches	approach	NOUN
easat-6650	225	13	across	across	ADP
easat-6650	225	14	various	various	ADJ
easat-6650	225	15	operational	operational	ADJ
easat-6650	225	16	parameters	parameter	NOUN
easat-6650	225	17	,	,	PUNCT
easat-6650	225	18	with	with	ADP
easat-6650	225	19	particularly	particularly	ADV
easat-6650	225	20	significant	significant	ADJ
easat-6650	225	21	advantages	advantage	NOUN
easat-6650	225	22	in	in	ADP
easat-6650	225	23	scenarios	scenario	NOUN
easat-6650	225	24	involving	involve	VERB
easat-6650	225	25	limited	limited	ADJ
easat-6650	225	26	battery	battery	NOUN
easat-6650	225	27	capacity	capacity	NOUN
easat-6650	225	28	,	,	PUNCT
easat-6650	225	29	complex	complex	ADJ
easat-6650	225	30	inspection	inspection	NOUN
easat-6650	225	31	zones	zone	NOUN
easat-6650	225	32	,	,	PUNCT
easat-6650	225	33	or	or	CCONJ
easat-6650	225	34	larger	large	ADJ
easat-6650	225	35	uav	uav	PROPN
easat-6650	225	36	swarms	swarm	NOUN
easat-6650	225	37	.	.	PUNCT
easat-6650	226	1	the	the	DET
easat-6650	226	2	algorithm	algorithm	NOUN
easat-6650	226	3	's	's	PART
easat-6650	226	4	polynomial	polynomial	ADJ
easat-6650	226	5	time	time	NOUN
easat-6650	226	6	complexity	complexity	NOUN
easat-6650	226	7	and	and	CCONJ
easat-6650	226	8	fast	fast	ADJ
easat-6650	226	9	convergence	convergence	NOUN
easat-6650	226	10	make	make	VERB
easat-6650	226	11	it	it	PRON
easat-6650	226	12	suitable	suitable	ADJ
easat-6650	226	13	for	for	ADP
easat-6650	226	14	practical	practical	ADJ
easat-6650	226	15	deployment	deployment	NOUN
easat-6650	226	16	in	in	ADP
easat-6650	226	17	real	real	ADJ
easat-6650	226	18	-	-	PUNCT
easat-6650	226	19	world	world	NOUN
easat-6650	226	20	urban	urban	ADJ
easat-6650	226	21	infrastructure	infrastructure	NOUN
easat-6650	226	22	inspection	inspection	NOUN
easat-6650	226	23	applications	application	NOUN
easat-6650	226	24	.	.	PUNCT
easat-6650	227	1	7	7	X
easat-6650	227	2	.	.	X
easat-6650	227	3	conclusion	conclusion	NOUN
easat-6650	227	4	this	this	DET
easat-6650	227	5	paper	paper	NOUN
easat-6650	227	6	has	have	AUX
easat-6650	227	7	presented	present	VERB
easat-6650	227	8	an	an	DET
easat-6650	227	9	intelligent	intelligent	ADJ
easat-6650	227	10	uav	uav	PROPN
easat-6650	227	11	swarm	swarm	NOUN
easat-6650	227	12	scheduling	scheduling	NOUN
easat-6650	227	13	algorithm	algorithm	NOUN
easat-6650	227	14	for	for	ADP
easat-6650	227	15	urban	urban	ADJ
easat-6650	227	16	infrastructure	infrastructure	NOUN
easat-6650	227	17	inspection	inspection	NOUN
easat-6650	227	18	tasks	task	NOUN
easat-6650	227	19	that	that	PRON
easat-6650	227	20	effectively	effectively	ADV
easat-6650	227	21	addresses	address	VERB
easat-6650	227	22	the	the	DET
easat-6650	227	23	complex	complex	ADJ
easat-6650	227	24	challenges	challenge	NOUN
easat-6650	227	25	of	of	ADP
easat-6650	227	26	coordinating	coordinate	VERB
easat-6650	227	27	multiple	multiple	ADJ
easat-6650	227	28	uavs	uavs	NOUN
easat-6650	227	29	in	in	ADP
easat-6650	227	30	built	build	VERB
easat-6650	227	31	environments	environment	NOUN
easat-6650	227	32	.	.	PUNCT
easat-6650	228	1	our	our	PRON
easat-6650	228	2	approach	approach	NOUN
easat-6650	228	3	decomposes	decompose	VERB
easat-6650	228	4	the	the	DET
easat-6650	228	5	challenging	challenge	VERB
easat-6650	228	6	mixed	mixed	ADJ
easat-6650	228	7	integer	integer	NOUN
easat-6650	228	8	non	non	ADJ
easat-6650	228	9	-	-	ADJ
easat-6650	228	10	linear	linear	ADJ
easat-6650	228	11	programming	programming	NOUN
easat-6650	228	12	problem	problem	NOUN
easat-6650	228	13	into	into	ADP
easat-6650	228	14	manageable	manageable	ADJ
easat-6650	228	15	sub	sub	NOUN
easat-6650	228	16	-	-	NOUN
easat-6650	228	17	problems	problem	NOUN
easat-6650	228	18	—	—	PUNCT
easat-6650	228	19	path	path	NOUN
easat-6650	228	20	planning	planning	NOUN
easat-6650	228	21	,	,	PUNCT
easat-6650	228	22	task	task	NOUN
easat-6650	228	23	allocation	allocation	NOUN
easat-6650	228	24	,	,	PUNCT
easat-6650	228	25	and	and	CCONJ
easat-6650	228	26	scheduling	scheduling	NOUN
easat-6650	228	27	—	—	PUNCT
easat-6650	228	28	and	and	CCONJ
easat-6650	228	29	integrates	integrate	VERB
easat-6650	228	30	them	they	PRON
easat-6650	228	31	through	through	ADP
easat-6650	228	32	an	an	DET
easat-6650	228	33	iterative	iterative	NOUN
easat-6650	228	34	optimization	optimization	NOUN
easat-6650	228	35	framework	framework	NOUN
easat-6650	228	36	that	that	PRON
easat-6650	228	37	balances	balance	VERB
easat-6650	228	38	solution	solution	NOUN
easat-6650	228	39	quality	quality	NOUN
easat-6650	228	40	with	with	ADP
easat-6650	228	41	computational	computational	ADJ
easat-6650	228	42	efficiency	efficiency	NOUN
easat-6650	228	43	.	.	PUNCT
easat-6650	229	1	the	the	DET
easat-6650	229	2	key	key	ADJ
easat-6650	229	3	innovation	innovation	NOUN
easat-6650	229	4	of	of	ADP
easat-6650	229	5	our	our	PRON
easat-6650	229	6	work	work	NOUN
easat-6650	229	7	lies	lie	VERB
easat-6650	229	8	in	in	ADP
easat-6650	229	9	the	the	DET
easat-6650	229	10	holistic	holistic	ADJ
easat-6650	229	11	integration	integration	NOUN
easat-6650	229	12	of	of	ADP
easat-6650	229	13	structure	structure	NOUN
easat-6650	229	14	-	-	PUNCT
easat-6650	229	15	specific	specific	ADJ
easat-6650	229	16	path	path	NOUN
easat-6650	229	17	planning	planning	NOUN
easat-6650	229	18	techniques	technique	NOUN
easat-6650	229	19	with	with	ADP
easat-6650	229	20	market	market	NOUN
easat-6650	229	21	-	-	PUNCT
easat-6650	229	22	based	base	VERB
easat-6650	229	23	task	task	NOUN
easat-6650	229	24	allocation	allocation	NOUN
easat-6650	229	25	and	and	CCONJ
easat-6650	229	26	priority	priority	NOUN
easat-6650	229	27	-	-	PUNCT
easat-6650	229	28	based	base	VERB
easat-6650	229	29	scheduling	scheduling	NOUN
easat-6650	229	30	.	.	PUNCT
easat-6650	230	1	by	by	ADP
easat-6650	230	2	recognizing	recognize	VERB
easat-6650	230	3	that	that	SCONJ
easat-6650	230	4	different	different	ADJ
easat-6650	230	5	structural	structural	ADJ
easat-6650	230	6	elements	element	NOUN
easat-6650	230	7	benefit	benefit	VERB
easat-6650	230	8	from	from	ADP
easat-6650	230	9	specialized	specialized	ADJ
easat-6650	230	10	inspection	inspection	NOUN
easat-6650	230	11	patterns	pattern	NOUN
easat-6650	230	12	,	,	PUNCT
easat-6650	230	13	we	we	PRON
easat-6650	230	14	have	have	AUX
easat-6650	230	15	developed	develop	VERB
easat-6650	230	16	optimized	optimize	VERB
easat-6650	230	17	trajectories	trajectory	NOUN
easat-6650	230	18	for	for	ADP
easat-6650	230	19	common	common	ADJ
easat-6650	230	20	urban	urban	ADJ
easat-6650	230	21	infrastructure	infrastructure	NOUN
easat-6650	230	22	components	component	NOUN
easat-6650	230	23	including	include	VERB
easat-6650	230	24	bridge	bridge	NOUN
easat-6650	230	25	decks	deck	NOUN
easat-6650	230	26	,	,	PUNCT
easat-6650	230	27	building	build	VERB
easat-6650	230	28	facades	facade	NOUN
easat-6650	230	29	,	,	PUNCT
easat-6650	230	30	support	support	NOUN
easat-6650	230	31	columns	column	NOUN
easat-6650	230	32	,	,	PUNCT
easat-6650	230	33	and	and	CCONJ
easat-6650	230	34	cable	cable	NOUN
easat-6650	230	35	systems	system	NOUN
easat-6650	230	36	.	.	PUNCT
easat-6650	231	1	these	these	DET
easat-6650	231	2	patterns	pattern	NOUN
easat-6650	231	3	maximize	maximize	VERB
easat-6650	231	4	inspection	inspection	NOUN
easat-6650	231	5	coverage	coverage	NOUN
easat-6650	231	6	while	while	SCONJ
easat-6650	231	7	minimizing	minimize	VERB
easat-6650	231	8	energy	energy	NOUN
easat-6650	231	9	consumption	consumption	NOUN
easat-6650	231	10	,	,	PUNCT
easat-6650	231	11	enabling	enable	VERB
easat-6650	231	12	more	more	ADV
easat-6650	231	13	efficient	efficient	ADJ
easat-6650	231	14	use	use	NOUN
easat-6650	231	15	of	of	ADP
easat-6650	231	16	limited	limited	ADJ
easat-6650	231	17	uav	uav	PROPN
easat-6650	231	18	battery	battery	NOUN
easat-6650	231	19	capacity	capacity	NOUN
easat-6650	231	20	.	.	PUNCT
easat-6650	232	1	our	our	PRON
easat-6650	232	2	market	market	NOUN
easat-6650	232	3	-	-	PUNCT
easat-6650	232	4	based	base	VERB
easat-6650	232	5	task	task	NOUN
easat-6650	232	6	allocation	allocation	NOUN
easat-6650	232	7	mechanism	mechanism	NOUN
easat-6650	232	8	effectively	effectively	ADV
easat-6650	232	9	distributes	distribute	VERB
easat-6650	232	10	inspection	inspection	NOUN
easat-6650	232	11	responsibilities	responsibility	NOUN
easat-6650	232	12	among	among	ADP
easat-6650	232	13	heterogeneous	heterogeneous	ADJ
easat-6650	232	14	uavs	uavs	NOUN
easat-6650	232	15	based	base	VERB
easat-6650	232	16	on	on	ADP
easat-6650	232	17	their	their	PRON
easat-6650	232	18	sensor	sensor	NOUN
easat-6650	232	19	capabilities	capability	NOUN
easat-6650	232	20	,	,	PUNCT
easat-6650	232	21	remaining	remain	VERB
easat-6650	232	22	energy	energy	NOUN
easat-6650	232	23	,	,	PUNCT
easat-6650	232	24	and	and	CCONJ
easat-6650	232	25	spatial	spatial	ADJ
easat-6650	232	26	distribution	distribution	NOUN
easat-6650	232	27	.	.	PUNCT
easat-6650	233	1	this	this	DET
easat-6650	233	2	approach	approach	NOUN
easat-6650	233	3	ensures	ensure	VERB
easat-6650	233	4	that	that	SCONJ
easat-6650	233	5	each	each	DET
easat-6650	233	6	inspection	inspection	NOUN
easat-6650	233	7	zone	zone	NOUN
easat-6650	233	8	is	be	AUX
easat-6650	233	9	assigned	assign	VERB
easat-6650	233	10	to	to	ADP
easat-6650	233	11	the	the	DET
easat-6650	233	12	most	most	ADV
easat-6650	233	13	suitable	suitable	ADJ
easat-6650	233	14	uav	uav	PROPN
easat-6650	233	15	,	,	PUNCT
easat-6650	233	16	reducing	reduce	VERB
easat-6650	233	17	overall	overall	ADJ
easat-6650	233	18	mission	mission	NOUN
easat-6650	233	19	time	time	NOUN
easat-6650	233	20	while	while	SCONJ
easat-6650	233	21	maintaining	maintain	VERB
easat-6650	233	22	comprehensive	comprehensive	ADJ
easat-6650	233	23	coverage	coverage	NOUN
easat-6650	233	24	.	.	PUNCT
easat-6650	234	1	the	the	DET
easat-6650	234	2	priority	priority	NOUN
easat-6650	234	3	-	-	PUNCT
easat-6650	234	4	based	base	VERB
easat-6650	234	5	scheduling	scheduling	NOUN
easat-6650	234	6	component	component	NOUN
easat-6650	234	7	further	far	ADV
easat-6650	234	8	enhances	enhance	VERB
easat-6650	234	9	efficiency	efficiency	NOUN
easat-6650	234	10	by	by	ADP
easat-6650	234	11	establishing	establish	VERB
easat-6650	234	12	optimal	optimal	ADJ
easat-6650	234	13	execution	execution	NOUN
easat-6650	234	14	sequences	sequence	NOUN
easat-6650	234	15	that	that	PRON
easat-6650	234	16	maximize	maximize	VERB
easat-6650	234	17	parallel	parallel	ADJ
easat-6650	234	18	operations	operation	NOUN
easat-6650	234	19	while	while	SCONJ
easat-6650	234	20	preventing	prevent	VERB
easat-6650	234	21	inter	inter	ADJ
easat-6650	234	22	-	-	ADJ
easat-6650	234	23	vehicle	vehicle	NOUN
easat-6650	234	24	conflicts	conflict	NOUN
easat-6650	234	25	.	.	PUNCT
easat-6650	235	1	through	through	ADP
easat-6650	235	2	extensive	extensive	ADJ
easat-6650	235	3	simulation	simulation	NOUN
easat-6650	235	4	testing	testing	NOUN
easat-6650	235	5	,	,	PUNCT
easat-6650	235	6	we	we	PRON
easat-6650	235	7	have	have	AUX
easat-6650	235	8	demonstrated	demonstrate	VERB
easat-6650	235	9	that	that	SCONJ
easat-6650	235	10	our	our	PRON
easat-6650	235	11	approach	approach	NOUN
easat-6650	235	12	significantly	significantly	ADV
easat-6650	235	13	outperforms	outperform	VERB
easat-6650	235	14	existing	exist	VERB
easat-6650	235	15	methods	method	NOUN
easat-6650	235	16	across	across	ADP
easat-6650	235	17	multiple	multiple	ADJ
easat-6650	235	18	performance	performance	NOUN
easat-6650	235	19	metrics	metric	NOUN
easat-6650	235	20	.	.	PUNCT
easat-6650	236	1	compared	compare	VERB
easat-6650	236	2	to	to	ADP
easat-6650	236	3	single	single	ADJ
easat-6650	236	4	-	-	PUNCT
easat-6650	236	5	uav	uav	PROPN
easat-6650	236	6	inspection	inspection	NOUN
easat-6650	236	7	2765	2765	NUM
easat-6650	236	8	edelweiss	edelweiss	PROPN
easat-6650	236	9	applied	apply	VERB
easat-6650	236	10	science	science	NOUN
easat-6650	236	11	and	and	CCONJ
easat-6650	236	12	technology	technology	NOUN
easat-6650	236	13	issn	issn	PROPN
easat-6650	236	14	:	:	PUNCT
easat-6650	236	15	2576	2576	NUM
easat-6650	236	16	-	-	SYM
easat-6650	236	17	8484	8484	NUM
easat-6650	236	18	vol	vol	NOUN
easat-6650	236	19	.	.	PROPN
easat-6650	237	1	9	9	NUM
easat-6650	237	2	,	,	PUNCT
easat-6650	237	3	no	no	INTJ
easat-6650	237	4	.	.	NOUN
easat-6650	237	5	4	4	NUM
easat-6650	237	6	:	:	SYM
easat-6650	237	7	2751	2751	NUM
easat-6650	237	8	-	-	SYM
easat-6650	237	9	2767	2767	NUM
easat-6650	237	10	,	,	PUNCT
easat-6650	237	11	2025	2025	NUM
easat-6650	237	12	doi	doi	NOUN
easat-6650	237	13	:	:	PUNCT
easat-6650	237	14	10.55214/25768484.v9i4.6650	10.55214/25768484.v9i4.6650	NOUN
easat-6650	237	15	©	©	ADP
easat-6650	237	16	2025	2025	NUM
easat-6650	237	17	by	by	ADP
easat-6650	237	18	the	the	DET
easat-6650	237	19	author	author	NOUN
easat-6650	237	20	;	;	PUNCT
easat-6650	237	21	licensee	licensee	PROPN
easat-6650	237	22	learning	learn	VERB
easat-6650	237	23	gate	gate	NOUN
easat-6650	237	24	approaches	approach	NOUN
easat-6650	237	25	,	,	PUNCT
easat-6650	237	26	our	our	PRON
easat-6650	237	27	algorithm	algorithm	NOUN
easat-6650	237	28	reduces	reduce	VERB
easat-6650	237	29	total	total	ADJ
easat-6650	237	30	inspection	inspection	NOUN
easat-6650	237	31	time	time	NOUN
easat-6650	237	32	by	by	ADP
easat-6650	237	33	35	35	NUM
easat-6650	237	34	%	%	NOUN
easat-6650	237	35	while	while	SCONJ
easat-6650	237	36	maintaining	maintain	VERB
easat-6650	237	37	98	98	NUM
easat-6650	237	38	%	%	NOUN
easat-6650	237	39	coverage	coverage	NOUN
easat-6650	237	40	completeness	completeness	NOUN
easat-6650	237	41	.	.	PUNCT
easat-6650	238	1	the	the	DET
easat-6650	238	2	performance	performance	NOUN
easat-6650	238	3	advantage	advantage	NOUN
easat-6650	238	4	is	be	AUX
easat-6650	238	5	particularly	particularly	ADV
easat-6650	238	6	pronounced	pronounce	VERB
easat-6650	238	7	in	in	ADP
easat-6650	238	8	scenarios	scenario	NOUN
easat-6650	238	9	involving	involve	VERB
easat-6650	238	10	limited	limited	ADJ
easat-6650	238	11	battery	battery	NOUN
easat-6650	238	12	capacity	capacity	NOUN
easat-6650	238	13	,	,	PUNCT
easat-6650	238	14	complex	complex	ADJ
easat-6650	238	15	inspection	inspection	NOUN
easat-6650	238	16	zones	zone	NOUN
easat-6650	238	17	,	,	PUNCT
easat-6650	238	18	or	or	CCONJ
easat-6650	238	19	larger	large	ADJ
easat-6650	238	20	uav	uav	PROPN
easat-6650	238	21	swarms	swarm	NOUN
easat-6650	238	22	,	,	PUNCT
easat-6650	238	23	highlighting	highlight	VERB
easat-6650	238	24	the	the	DET
easat-6650	238	25	algorithm	algorithm	NOUN
easat-6650	238	26	's	's	PART
easat-6650	238	27	robustness	robustness	NOUN
easat-6650	238	28	to	to	ADP
easat-6650	238	29	practical	practical	ADJ
easat-6650	238	30	operational	operational	ADJ
easat-6650	238	31	constraints	constraint	NOUN
easat-6650	238	32	.	.	PUNCT
easat-6650	239	1	a	a	DET
easat-6650	239	2	critical	critical	ADJ
easat-6650	239	3	attribute	attribute	NOUN
easat-6650	239	4	of	of	ADP
easat-6650	239	5	our	our	PRON
easat-6650	239	6	approach	approach	NOUN
easat-6650	239	7	is	be	AUX
easat-6650	239	8	its	its	PRON
easat-6650	239	9	computational	computational	ADJ
easat-6650	239	10	efficiency	efficiency	NOUN
easat-6650	239	11	.	.	PUNCT
easat-6650	240	1	while	while	SCONJ
easat-6650	240	2	the	the	DET
easat-6650	240	3	optimal	optimal	ADJ
easat-6650	240	4	solution	solution	NOUN
easat-6650	240	5	exhibits	exhibit	VERB
easat-6650	240	6	exponential	exponential	ADJ
easat-6650	240	7	growth	growth	NOUN
easat-6650	240	8	in	in	ADP
easat-6650	240	9	computational	computational	ADJ
easat-6650	240	10	requirements	requirement	NOUN
easat-6650	240	11	,	,	PUNCT
easat-6650	240	12	our	our	PRON
easat-6650	240	13	algorithm	algorithm	NOUN
easat-6650	240	14	maintains	maintain	VERB
easat-6650	240	15	polynomial	polynomial	ADJ
easat-6650	240	16	time	time	NOUN
easat-6650	240	17	complexity	complexity	NOUN
easat-6650	240	18	,	,	PUNCT
easat-6650	240	19	enabling	enable	VERB
easat-6650	240	20	practical	practical	ADJ
easat-6650	240	21	deployment	deployment	NOUN
easat-6650	240	22	even	even	ADV
easat-6650	240	23	for	for	ADP
easat-6650	240	24	relatively	relatively	ADV
easat-6650	240	25	large	large	ADJ
easat-6650	240	26	inspection	inspection	NOUN
easat-6650	240	27	tasks	task	NOUN
easat-6650	240	28	.	.	PUNCT
easat-6650	241	1	for	for	ADP
easat-6650	241	2	a	a	DET
easat-6650	241	3	system	system	NOUN
easat-6650	241	4	with	with	ADP
easat-6650	241	5	six	six	NUM
easat-6650	241	6	uavs	uavs	NOUN
easat-6650	241	7	and	and	CCONJ
easat-6650	241	8	30	30	NUM
easat-6650	241	9	inspection	inspection	NOUN
easat-6650	241	10	zones	zone	NOUN
easat-6650	241	11	,	,	PUNCT
easat-6650	241	12	our	our	PRON
easat-6650	241	13	algorithm	algorithm	NOUN
easat-6650	241	14	produces	produce	VERB
easat-6650	241	15	highquality	highquality	NOUN
easat-6650	241	16	solutions	solution	NOUN
easat-6650	241	17	in	in	ADP
easat-6650	241	18	less	less	ADJ
easat-6650	241	19	than	than	ADP
easat-6650	241	20	2	2	NUM
easat-6650	241	21	seconds	second	NOUN
easat-6650	241	22	on	on	ADP
easat-6650	241	23	standard	standard	ADJ
easat-6650	241	24	computing	computing	NOUN
easat-6650	241	25	hardware	hardware	NOUN
easat-6650	241	26	,	,	PUNCT
easat-6650	241	27	making	make	VERB
easat-6650	241	28	it	it	PRON
easat-6650	241	29	suitable	suitable	ADJ
easat-6650	241	30	for	for	ADP
easat-6650	241	31	both	both	PRON
easat-6650	241	32	pre	pre	ADJ
easat-6650	241	33	-	-	ADJ
easat-6650	241	34	mission	mission	ADJ
easat-6650	241	35	planning	planning	NOUN
easat-6650	241	36	and	and	CCONJ
easat-6650	241	37	dynamic	dynamic	ADJ
easat-6650	241	38	replanning	replanning	NOUN
easat-6650	241	39	during	during	ADP
easat-6650	241	40	mission	mission	NOUN
easat-6650	241	41	execution	execution	NOUN
easat-6650	241	42	if	if	SCONJ
easat-6650	241	43	needed	need	VERB
easat-6650	241	44	.	.	PUNCT
easat-6650	242	1	the	the	DET
easat-6650	242	2	fast	fast	ADJ
easat-6650	242	3	convergence	convergence	NOUN
easat-6650	242	4	characteristic	characteristic	ADJ
easat-6650	242	5	of	of	ADP
easat-6650	242	6	our	our	PRON
easat-6650	242	7	algorithm	algorithm	NOUN
easat-6650	242	8	—	—	PUNCT
easat-6650	242	9	typically	typically	ADV
easat-6650	242	10	reaching	reach	VERB
easat-6650	242	11	near	near	ADV
easat-6650	242	12	-	-	PUNCT
easat-6650	242	13	optimal	optimal	ADJ
easat-6650	242	14	solutions	solution	NOUN
easat-6650	242	15	within	within	ADP
easat-6650	242	16	3	3	NUM
easat-6650	242	17	-	-	SYM
easat-6650	242	18	5	5	NUM
easat-6650	242	19	iterations	iteration	NOUN
easat-6650	242	20	—	—	PUNCT
easat-6650	242	21	further	far	ADV
easat-6650	242	22	emphasizes	emphasize	VERB
easat-6650	242	23	its	its	PRON
easat-6650	242	24	practicality	practicality	NOUN
easat-6650	242	25	for	for	ADP
easat-6650	242	26	real	real	ADJ
easat-6650	242	27	-	-	PUNCT
easat-6650	242	28	world	world	NOUN
easat-6650	242	29	applications	application	NOUN
easat-6650	242	30	.	.	PUNCT
easat-6650	243	1	even	even	ADV
easat-6650	243	2	in	in	ADP
easat-6650	243	3	complex	complex	ADJ
easat-6650	243	4	urban	urban	ADJ
easat-6650	243	5	inspection	inspection	NOUN
easat-6650	243	6	scenarios	scenario	NOUN
easat-6650	243	7	,	,	PUNCT
easat-6650	243	8	the	the	DET
easat-6650	243	9	solution	solution	NOUN
easat-6650	243	10	quality	quality	NOUN
easat-6650	243	11	remains	remain	VERB
easat-6650	243	12	within	within	ADP
easat-6650	243	13	7	7	NUM
easat-6650	243	14	%	%	NOUN
easat-6650	243	15	of	of	ADP
easat-6650	243	16	the	the	DET
easat-6650	243	17	optimal	optimal	ADJ
easat-6650	243	18	solution	solution	NOUN
easat-6650	243	19	while	while	SCONJ
easat-6650	243	20	requiring	require	VERB
easat-6650	243	21	only	only	ADV
easat-6650	243	22	a	a	DET
easat-6650	243	23	fraction	fraction	NOUN
easat-6650	243	24	of	of	ADP
easat-6650	243	25	the	the	DET
easat-6650	243	26	computational	computational	ADJ
easat-6650	243	27	resources	resource	NOUN
easat-6650	243	28	,	,	PUNCT
easat-6650	243	29	representing	represent	VERB
easat-6650	243	30	an	an	DET
easat-6650	243	31	excellent	excellent	ADJ
easat-6650	243	32	balance	balance	NOUN
easat-6650	243	33	between	between	ADP
easat-6650	243	34	performance	performance	NOUN
easat-6650	243	35	and	and	CCONJ
easat-6650	243	36	efficiency	efficiency	NOUN
easat-6650	243	37	.	.	PUNCT
easat-6650	244	1	future	future	ADJ
easat-6650	244	2	research	research	NOUN
easat-6650	244	3	directions	direction	NOUN
easat-6650	244	4	include	include	VERB
easat-6650	244	5	several	several	ADJ
easat-6650	244	6	promising	promising	ADJ
easat-6650	244	7	avenues	avenue	NOUN
easat-6650	244	8	.	.	PUNCT
easat-6650	245	1	first	first	ADV
easat-6650	245	2	,	,	PUNCT
easat-6650	245	3	incorporating	incorporate	VERB
easat-6650	245	4	learning	learning	NOUN
easat-6650	245	5	-	-	PUNCT
easat-6650	245	6	based	base	VERB
easat-6650	245	7	approaches	approach	NOUN
easat-6650	245	8	could	could	AUX
easat-6650	245	9	further	far	ADV
easat-6650	245	10	enhance	enhance	VERB
easat-6650	245	11	the	the	DET
easat-6650	245	12	algorithm	algorithm	NOUN
easat-6650	245	13	's	's	PART
easat-6650	245	14	performance	performance	NOUN
easat-6650	245	15	by	by	ADP
easat-6650	245	16	adapting	adapt	VERB
easat-6650	245	17	path	path	NOUN
easat-6650	245	18	patterns	pattern	NOUN
easat-6650	245	19	and	and	CCONJ
easat-6650	245	20	allocation	allocation	NOUN
easat-6650	245	21	strategies	strategy	NOUN
easat-6650	245	22	based	base	VERB
easat-6650	245	23	on	on	ADP
easat-6650	245	24	historical	historical	ADJ
easat-6650	245	25	inspection	inspection	NOUN
easat-6650	245	26	data	datum	NOUN
easat-6650	245	27	.	.	PUNCT
easat-6650	246	1	second	second	ADJ
easat-6650	246	2	,	,	PUNCT
easat-6650	246	3	extending	extend	VERB
easat-6650	246	4	the	the	DET
easat-6650	246	5	framework	framework	NOUN
easat-6650	246	6	to	to	PART
easat-6650	246	7	handle	handle	VERB
easat-6650	246	8	dynamic	dynamic	ADJ
easat-6650	246	9	environmental	environmental	ADJ
easat-6650	246	10	factors	factor	NOUN
easat-6650	246	11	such	such	ADJ
easat-6650	246	12	as	as	ADP
easat-6650	246	13	variable	variable	ADJ
easat-6650	246	14	wind	wind	NOUN
easat-6650	246	15	conditions	condition	NOUN
easat-6650	246	16	and	and	CCONJ
easat-6650	246	17	moving	move	VERB
easat-6650	246	18	obstacles	obstacle	NOUN
easat-6650	246	19	would	would	AUX
easat-6650	246	20	improve	improve	VERB
easat-6650	246	21	real	real	ADJ
easat-6650	246	22	-	-	PUNCT
easat-6650	246	23	world	world	NOUN
easat-6650	246	24	applicability	applicability	NOUN
easat-6650	246	25	.	.	PUNCT
easat-6650	247	1	third	third	ADV
easat-6650	247	2	,	,	PUNCT
easat-6650	247	3	developing	develop	VERB
easat-6650	247	4	more	more	ADV
easat-6650	247	5	sophisticated	sophisticated	ADJ
easat-6650	247	6	anomaly	anomaly	NOUN
easat-6650	247	7	detection	detection	NOUN
easat-6650	247	8	and	and	CCONJ
easat-6650	247	9	response	response	NOUN
easat-6650	247	10	mechanisms	mechanism	NOUN
easat-6650	247	11	would	would	AUX
easat-6650	247	12	enhance	enhance	VERB
easat-6650	247	13	the	the	DET
easat-6650	247	14	system	system	NOUN
easat-6650	247	15	's	's	PART
easat-6650	247	16	ability	ability	NOUN
easat-6650	247	17	to	to	PART
easat-6650	247	18	focus	focus	VERB
easat-6650	247	19	resources	resource	NOUN
easat-6650	247	20	on	on	ADP
easat-6650	247	21	potential	potential	ADJ
easat-6650	247	22	defects	defect	NOUN
easat-6650	247	23	while	while	SCONJ
easat-6650	247	24	maintaining	maintain	VERB
easat-6650	247	25	efficient	efficient	ADJ
easat-6650	247	26	overall	overall	ADJ
easat-6650	247	27	inspection	inspection	NOUN
easat-6650	247	28	.	.	PUNCT
easat-6650	248	1	the	the	DET
easat-6650	248	2	presented	present	VERB
easat-6650	248	3	framework	framework	NOUN
easat-6650	248	4	provides	provide	VERB
easat-6650	248	5	a	a	DET
easat-6650	248	6	solid	solid	ADJ
easat-6650	248	7	foundation	foundation	NOUN
easat-6650	248	8	for	for	ADP
easat-6650	248	9	practical	practical	ADJ
easat-6650	248	10	implementation	implementation	NOUN
easat-6650	248	11	of	of	ADP
easat-6650	248	12	uav	uav	PROPN
easat-6650	248	13	swarm	swarm	NOUN
easat-6650	248	14	-	-	PUNCT
easat-6650	248	15	based	base	VERB
easat-6650	248	16	infrastructure	infrastructure	NOUN
easat-6650	248	17	inspection	inspection	NOUN
easat-6650	248	18	systems	system	NOUN
easat-6650	248	19	in	in	ADP
easat-6650	248	20	urban	urban	ADJ
easat-6650	248	21	environments	environment	NOUN
easat-6650	248	22	.	.	PUNCT
easat-6650	249	1	by	by	ADP
easat-6650	249	2	addressing	address	VERB
easat-6650	249	3	the	the	DET
easat-6650	249	4	unique	unique	ADJ
easat-6650	249	5	challenges	challenge	NOUN
easat-6650	249	6	of	of	ADP
easat-6650	249	7	built	build	VERB
easat-6650	249	8	environments	environment	NOUN
easat-6650	249	9	—	—	PUNCT
easat-6650	249	10	including	include	VERB
easat-6650	249	11	gps	gps	PROPN
easat-6650	249	12	degradation	degradation	NOUN
easat-6650	249	13	,	,	PUNCT
easat-6650	249	14	obstacle	obstacle	NOUN
easat-6650	249	15	avoidance	avoidance	NOUN
easat-6650	249	16	,	,	PUNCT
easat-6650	249	17	and	and	CCONJ
easat-6650	249	18	specific	specific	ADJ
easat-6650	249	19	inspection	inspection	NOUN
easat-6650	249	20	requirements	requirement	NOUN
easat-6650	249	21	for	for	ADP
easat-6650	249	22	various	various	ADJ
easat-6650	249	23	structural	structural	ADJ
easat-6650	249	24	elements	element	NOUN
easat-6650	249	25	—	—	PUNCT
easat-6650	249	26	our	our	PRON
easat-6650	249	27	approach	approach	NOUN
easat-6650	249	28	enables	enable	VERB
easat-6650	249	29	more	more	ADV
easat-6650	249	30	efficient	efficient	ADJ
easat-6650	249	31	,	,	PUNCT
easat-6650	249	32	comprehensive	comprehensive	ADJ
easat-6650	249	33	,	,	PUNCT
easat-6650	249	34	and	and	CCONJ
easat-6650	249	35	cost	cost	NOUN
easat-6650	249	36	-	-	PUNCT
easat-6650	249	37	effective	effective	ADJ
easat-6650	249	38	infrastructure	infrastructure	NOUN
easat-6650	249	39	monitoring	monitoring	NOUN
easat-6650	249	40	than	than	ADP
easat-6650	249	41	previously	previously	ADV
easat-6650	249	42	possible	possible	ADJ
easat-6650	249	43	.	.	PUNCT
easat-6650	250	1	the	the	DET
easat-6650	250	2	methodology	methodology	NOUN
easat-6650	250	3	and	and	CCONJ
easat-6650	250	4	algorithms	algorithm	NOUN
easat-6650	250	5	developed	develop	VERB
easat-6650	250	6	in	in	ADP
easat-6650	250	7	this	this	DET
easat-6650	250	8	research	research	NOUN
easat-6650	250	9	have	have	VERB
easat-6650	250	10	potential	potential	ADJ
easat-6650	250	11	applications	application	NOUN
easat-6650	250	12	beyond	beyond	ADP
easat-6650	250	13	infrastructure	infrastructure	NOUN
easat-6650	250	14	inspection	inspection	NOUN
easat-6650	250	15	,	,	PUNCT
easat-6650	250	16	extending	extend	VERB
easat-6650	250	17	to	to	ADP
easat-6650	250	18	other	other	ADJ
easat-6650	250	19	multi	multi	ADJ
easat-6650	250	20	-	-	ADJ
easat-6650	250	21	uav	uav	ADJ
easat-6650	250	22	coordination	coordination	NOUN
easat-6650	250	23	problems	problem	NOUN
easat-6650	250	24	in	in	ADP
easat-6650	250	25	urban	urban	ADJ
easat-6650	250	26	settings	setting	NOUN
easat-6650	250	27	such	such	ADJ
easat-6650	250	28	as	as	ADP
easat-6650	250	29	search	search	NOUN
easat-6650	250	30	and	and	CCONJ
easat-6650	250	31	rescue	rescue	NOUN
easat-6650	250	32	operations	operation	NOUN
easat-6650	250	33	,	,	PUNCT
easat-6650	250	34	environmental	environmental	ADJ
easat-6650	250	35	monitoring	monitoring	NOUN
easat-6650	250	36	,	,	PUNCT
easat-6650	250	37	and	and	CCONJ
easat-6650	250	38	security	security	NOUN
easat-6650	250	39	surveillance	surveillance	NOUN
easat-6650	250	40	.	.	PUNCT
easat-6650	251	1	transparency	transparency	NOUN
easat-6650	251	2	:	:	PUNCT
easat-6650	251	3	the	the	DET
easat-6650	251	4	author	author	NOUN
easat-6650	251	5	confirms	confirm	VERB
easat-6650	251	6	that	that	SCONJ
easat-6650	251	7	the	the	DET
easat-6650	251	8	manuscript	manuscript	NOUN
easat-6650	251	9	is	be	AUX
easat-6650	251	10	an	an	DET
easat-6650	251	11	honest	honest	ADJ
easat-6650	251	12	,	,	PUNCT
easat-6650	251	13	accurate	accurate	ADJ
easat-6650	251	14	,	,	PUNCT
easat-6650	251	15	and	and	CCONJ
easat-6650	251	16	transparent	transparent	ADJ
easat-6650	251	17	account	account	NOUN
easat-6650	251	18	of	of	ADP
easat-6650	251	19	the	the	DET
easat-6650	251	20	study	study	NOUN
easat-6650	251	21	;	;	PUNCT
easat-6650	251	22	that	that	SCONJ
easat-6650	251	23	no	no	DET
easat-6650	251	24	vital	vital	ADJ
easat-6650	251	25	features	feature	NOUN
easat-6650	251	26	of	of	ADP
easat-6650	251	27	the	the	DET
easat-6650	251	28	study	study	NOUN
easat-6650	251	29	have	have	AUX
easat-6650	251	30	been	be	AUX
easat-6650	251	31	omitted	omit	VERB
easat-6650	251	32	;	;	PUNCT
easat-6650	251	33	and	and	CCONJ
easat-6650	251	34	that	that	SCONJ
easat-6650	251	35	any	any	DET
easat-6650	251	36	discrepancies	discrepancy	NOUN
easat-6650	251	37	from	from	ADP
easat-6650	251	38	the	the	DET
easat-6650	251	39	study	study	NOUN
easat-6650	251	40	as	as	SCONJ
easat-6650	251	41	planned	plan	VERB
easat-6650	251	42	have	have	AUX
easat-6650	251	43	been	be	AUX
easat-6650	251	44	explained	explain	VERB
easat-6650	251	45	.	.	PUNCT
easat-6650	252	1	this	this	DET
easat-6650	252	2	study	study	NOUN
easat-6650	252	3	followed	follow	VERB
easat-6650	252	4	all	all	DET
easat-6650	252	5	ethical	ethical	ADJ
easat-6650	252	6	practices	practice	NOUN
easat-6650	252	7	during	during	ADP
easat-6650	252	8	writing	writing	NOUN
easat-6650	252	9	.	.	PUNCT
easat-6650	253	1	copyright	copyright	NOUN
easat-6650	253	2	:	:	PUNCT
easat-6650	253	3	©	©	PROPN
easat-6650	253	4	2025	2025	NUM
easat-6650	253	5	by	by	ADP
easat-6650	253	6	the	the	DET
easat-6650	253	7	authors	author	NOUN
easat-6650	253	8	.	.	PUNCT
easat-6650	254	1	this	this	DET
easat-6650	254	2	open	open	ADJ
easat-6650	254	3	-	-	PUNCT
easat-6650	254	4	access	access	NOUN
easat-6650	254	5	article	article	NOUN
easat-6650	254	6	is	be	AUX
easat-6650	254	7	distributed	distribute	VERB
easat-6650	254	8	under	under	ADP
easat-6650	254	9	the	the	DET
easat-6650	254	10	terms	term	NOUN
easat-6650	254	11	and	and	CCONJ
easat-6650	254	12	conditions	condition	NOUN
easat-6650	254	13	of	of	ADP
easat-6650	254	14	the	the	DET
easat-6650	254	15	creative	creative	ADJ
easat-6650	254	16	commons	common	NOUN
easat-6650	254	17	attribution	attribution	NOUN
easat-6650	254	18	(	(	PUNCT
easat-6650	254	19	cc	cc	NOUN
easat-6650	254	20	by	by	ADP
easat-6650	254	21	)	)	PUNCT
easat-6650	254	22	license	license	NOUN
easat-6650	254	23	(	(	PUNCT
easat-6650	254	24	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
easat-6650	254	25	)	)	PUNCT
easat-6650	254	26	.	.	PUNCT
easat-6650	255	1	references	reference	NOUN
easat-6650	255	2	[	[	X
easat-6650	255	3	1	1	X
easat-6650	255	4	]	]	X
easat-6650	255	5	d.	d.	PROPN
easat-6650	255	6	b.	b.	PROPN
easat-6650	255	7	licea	licea	PROPN
easat-6650	255	8	,	,	PUNCT
easat-6650	255	9	g.	g.	PROPN
easat-6650	255	10	silano	silano	PROPN
easat-6650	255	11	,	,	PUNCT
easat-6650	255	12	h.	h.	PROPN
easat-6650	255	13	el	el	PROPN
easat-6650	255	14	hammouti	hammouti	PROPN
easat-6650	255	15	,	,	PUNCT
easat-6650	255	16	m.	m.	NOUN
easat-6650	255	17	ghogho	ghogho	NOUN
easat-6650	255	18	,	,	PUNCT
easat-6650	255	19	and	and	CCONJ
easat-6650	255	20	m.	m.	NOUN
easat-6650	255	21	saska	saska	PROPN
easat-6650	255	22	,	,	PUNCT
easat-6650	255	23	"	"	PUNCT
easat-6650	255	24	reshaping	reshape	VERB
easat-6650	255	25	uav	uav	PROPN
easat-6650	255	26	-	-	PUNCT
easat-6650	255	27	enabled	enable	VERB
easat-6650	255	28	communications	communication	NOUN
easat-6650	255	29	with	with	ADP
easat-6650	255	30	omnidirectional	omnidirectional	ADJ
easat-6650	255	31	multi	multi	ADJ
easat-6650	255	32	-	-	ADJ
easat-6650	255	33	rotor	rotor	ADJ
easat-6650	255	34	aerial	aerial	ADJ
easat-6650	255	35	vehicles	vehicle	NOUN
easat-6650	255	36	,	,	PUNCT
easat-6650	255	37	"	"	PUNCT
easat-6650	255	38	ieee	ieee	NOUN
easat-6650	255	39	communications	communication	NOUN
easat-6650	255	40	magazine	magazine	NOUN
easat-6650	255	41	,	,	PUNCT
easat-6650	255	42	pp	pp	ADJ
easat-6650	255	43	.	.	PUNCT
easat-6650	256	1	1	1	NUM
easat-6650	256	2	-	-	SYM
easat-6650	256	3	7	7	NUM
easat-6650	256	4	,	,	PUNCT
easat-6650	256	5	2025	2025	NUM
easat-6650	256	6	.	.	PUNCT
easat-6650	257	1	https://doi.org/10.1109/mcom.001.2400421	https://doi.org/10.1109/mcom.001.2400421	NOUN
easat-6650	257	2	[	[	X
easat-6650	257	3	2	2	X
easat-6650	257	4	]	]	PUNCT
easat-6650	257	5	h.	h.	PROPN
easat-6650	257	6	jie	jie	PROPN
easat-6650	257	7	,	,	PUNCT
easat-6650	257	8	z.	z.	PROPN
easat-6650	257	9	zhao	zhao	PROPN
easat-6650	257	10	,	,	PUNCT
easat-6650	257	11	h.	h.	PROPN
easat-6650	257	12	li	li	PROPN
easat-6650	257	13	,	,	PUNCT
easat-6650	257	14	t.	t.	PROPN
easat-6650	257	15	h.	h.	PROPN
easat-6650	257	16	gan	gan	PROPN
easat-6650	257	17	,	,	PUNCT
easat-6650	257	18	and	and	CCONJ
easat-6650	257	19	k.	k.	PROPN
easat-6650	257	20	y.	y.	PROPN
easat-6650	257	21	see	see	VERB
easat-6650	257	22	,	,	PUNCT
easat-6650	257	23	"	"	PUNCT
easat-6650	257	24	a	a	DET
easat-6650	257	25	systematic	systematic	ADJ
easat-6650	257	26	three	three	NUM
easat-6650	257	27	-	-	PUNCT
easat-6650	257	28	stage	stage	NOUN
easat-6650	257	29	safety	safety	NOUN
easat-6650	257	30	enhancement	enhancement	NOUN
easat-6650	257	31	approach	approach	NOUN
easat-6650	257	32	for	for	ADP
easat-6650	257	33	motor	motor	NOUN
easat-6650	257	34	drive	drive	NOUN
easat-6650	257	35	and	and	CCONJ
easat-6650	257	36	gimbal	gimbal	ADJ
easat-6650	257	37	systems	system	NOUN
easat-6650	257	38	in	in	ADP
easat-6650	257	39	unmanned	unmanned	ADJ
easat-6650	257	40	aerial	aerial	ADJ
easat-6650	257	41	vehicles	vehicle	NOUN
easat-6650	257	42	,	,	PUNCT
easat-6650	257	43	"	"	PUNCT
easat-6650	257	44	ieee	ieee	NOUN
easat-6650	257	45	transactions	transaction	NOUN
easat-6650	257	46	on	on	ADP
easat-6650	257	47	power	power	NOUN
easat-6650	257	48	electronics	electronic	NOUN
easat-6650	257	49	,	,	PUNCT
easat-6650	257	50	vol	vol	NOUN
easat-6650	257	51	.	.	PROPN
easat-6650	257	52	40	40	NUM
easat-6650	257	53	,	,	PUNCT
easat-6650	257	54	no	no	INTJ
easat-6650	257	55	.	.	NOUN
easat-6650	258	1	7	7	NUM
easat-6650	258	2	,	,	PUNCT
easat-6650	258	3	pp	pp	ADJ
easat-6650	258	4	.	.	PUNCT
easat-6650	259	1	9329–9342	9329–9342	NOUN
easat-6650	259	2	,	,	PUNCT
easat-6650	259	3	2025	2025	NUM
easat-6650	259	4	.	.	PUNCT
easat-6650	260	1	https://doi.org/10.1109/tpel.2025.3549964	https://doi.org/10.1109/tpel.2025.3549964	PROPN
easat-6650	260	2	[	[	X
easat-6650	260	3	3	3	X
easat-6650	260	4	]	]	X
easat-6650	260	5	j.	j.	PROPN
easat-6650	260	6	huang	huang	PROPN
easat-6650	260	7	,	,	PUNCT
easat-6650	260	8	b.	b.	PROPN
easat-6650	260	9	wu	wu	PROPN
easat-6650	260	10	,	,	PUNCT
easat-6650	260	11	q.	q.	PROPN
easat-6650	260	12	duan	duan	PROPN
easat-6650	260	13	,	,	PUNCT
easat-6650	260	14	l.	l.	PROPN
easat-6650	260	15	dong	dong	PROPN
easat-6650	260	16	,	,	PUNCT
easat-6650	260	17	and	and	CCONJ
easat-6650	260	18	s.	s.	PROPN
easat-6650	260	19	yu	yu	PROPN
easat-6650	260	20	,	,	PUNCT
easat-6650	260	21	"	"	PUNCT
easat-6650	260	22	a	a	DET
easat-6650	260	23	fast	fast	PROPN
easat-6650	260	24	uav	uav	PROPN
easat-6650	260	25	trajectory	trajectory	NOUN
easat-6650	260	26	planning	planning	NOUN
easat-6650	260	27	framework	framework	NOUN
easat-6650	260	28	in	in	ADP
easat-6650	260	29	ris	ris	PROPN
easat-6650	260	30	-	-	PUNCT
easat-6650	260	31	assisted	assist	VERB
easat-6650	260	32	communication	communication	NOUN
easat-6650	260	33	systems	system	NOUN
easat-6650	260	34	with	with	ADP
easat-6650	260	35	accelerated	accelerated	ADJ
easat-6650	260	36	learning	learn	VERB
easat-6650	260	37	via	via	ADP
easat-6650	260	38	multithreading	multithreade	VERB
easat-6650	260	39	and	and	CCONJ
easat-6650	260	40	federating	federate	VERB
easat-6650	260	41	,	,	PUNCT
easat-6650	260	42	"	"	PUNCT
easat-6650	260	43	ieee	ieee	NOUN
easat-6650	260	44	transactions	transaction	NOUN
easat-6650	260	45	on	on	ADP
easat-6650	260	46	mobile	mobile	ADJ
easat-6650	260	47	computing	computing	NOUN
easat-6650	260	48	,	,	PUNCT
easat-6650	260	49	2025	2025	NUM
easat-6650	260	50	.	.	PUNCT
easat-6650	261	1	https://doi.org/10.1109/tmc.2025.3544903	https://doi.org/10.1109/tmc.2025.3544903	NOUN
easat-6650	262	1	[	[	X
easat-6650	262	2	4	4	NUM
easat-6650	262	3	]	]	X
easat-6650	262	4	c.	c.	PROPN
easat-6650	262	5	dong	dong	PROPN
easat-6650	262	6	,	,	PUNCT
easat-6650	262	7	y.	y.	PROPN
easat-6650	262	8	liao	liao	PROPN
easat-6650	262	9	,	,	PUNCT
easat-6650	262	10	z.	z.	PROPN
easat-6650	262	11	jia	jia	PROPN
easat-6650	262	12	,	,	PUNCT
easat-6650	262	13	q.	q.	PROPN
easat-6650	262	14	wu	wu	PROPN
easat-6650	262	15	,	,	PUNCT
easat-6650	262	16	and	and	CCONJ
easat-6650	262	17	l.	l.	PROPN
easat-6650	262	18	zhang	zhang	PROPN
easat-6650	262	19	,	,	PUNCT
easat-6650	262	20	"	"	PUNCT
easat-6650	262	21	joint	joint	ADJ
easat-6650	262	22	ads	ad	NOUN
easat-6650	262	23	-	-	PUNCT
easat-6650	262	24	b	b	NOUN
easat-6650	262	25	in	in	ADP
easat-6650	262	26	b5	b5	PROPN
easat-6650	262	27	g	g	PROPN
easat-6650	262	28	for	for	ADP
easat-6650	262	29	hierarchical	hierarchical	ADJ
easat-6650	262	30	uav	uav	PROPN
easat-6650	262	31	networks	network	NOUN
easat-6650	262	32	:	:	PUNCT
easat-6650	262	33	performance	performance	NOUN
easat-6650	262	34	analysis	analysis	NOUN
easat-6650	262	35	and	and	CCONJ
easat-6650	262	36	mec	mec	PROPN
easat-6650	262	37	based	base	VERB
easat-6650	262	38	optimization	optimization	NOUN
easat-6650	262	39	,	,	PUNCT
easat-6650	262	40	"	"	PUNCT
easat-6650	262	41	ieee	ieee	NOUN
easat-6650	262	42	internet	internet	NOUN
easat-6650	262	43	of	of	ADP
easat-6650	262	44	things	thing	NOUN
easat-6650	262	45	journal	journal	NOUN
easat-6650	262	46	,	,	PUNCT
easat-6650	262	47	2025	2025	NUM
easat-6650	262	48	.	.	PUNCT
easat-6650	263	1	https://doi.org/10.1109/jiot.2025.3552201	https://doi.org/10.1109/jiot.2025.3552201	PROPN
easat-6650	263	2	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
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easat-6650	264	6	:	:	SYM
easat-6650	264	7	2751	2751	NUM
easat-6650	264	8	-	-	SYM
easat-6650	264	9	2767	2767	NUM
easat-6650	264	10	,	,	PUNCT
easat-6650	264	11	2025	2025	NUM
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easat-6650	264	13	:	:	PUNCT
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easat-6650	265	2	5	5	NUM
easat-6650	265	3	]	]	PUNCT
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easat-6650	265	41	,	,	PUNCT
easat-6650	265	42	2025	2025	NUM
easat-6650	265	43	.	.	PUNCT
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easat-6650	267	2	6	6	NUM
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easat-6650	268	1	3211–3221	3211–3221	NUM
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easat-6650	269	1	https://doi.org/10.1109/ojcoms.2025.3550975	https://doi.org/10.1109/ojcoms.2025.3550975	PROPN
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easat-6650	271	1	58383	58383	NUM
easat-6650	271	2	-	-	SYM
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easat-6650	273	8	.	.	PROPN
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easat-6650	273	44	.	.	PUNCT
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easat-6650	274	2	-	-	SYM
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easat-6650	276	41	,	,	PUNCT
easat-6650	276	42	2022	2022	NUM
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easat-6650	278	34	communications	communication	NOUN
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easat-6650	278	36	6	6	NUM
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easat-6650	278	41	g	g	NOUN
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easat-6650	278	44	,	,	PUNCT
easat-6650	278	45	2022	2022	NUM
easat-6650	278	46	:	:	PUNCT
easat-6650	278	47	ieee	ieee	NOUN
easat-6650	278	48	,	,	PUNCT
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easat-6650	278	50	.	.	PUNCT
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easat-6650	279	2	-	-	SYM
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easat-6650	280	33	in	in	ADP
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easat-6650	280	37	conference	conference	NOUN
easat-6650	280	38	on	on	ADP
easat-6650	280	39	networks	network	NOUN
easat-6650	280	40	and	and	CCONJ
easat-6650	280	41	communications	communication	NOUN
easat-6650	280	42	&	&	CCONJ
easat-6650	280	43	6	6	NUM
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easat-6650	280	46	(	(	PUNCT
easat-6650	280	47	eucnc/6	eucnc/6	NOUN
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easat-6650	281	2	12	12	NUM
easat-6650	281	3	]	]	PUNCT
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easat-6650	281	6	arafat	arafat	PROPN
easat-6650	281	7	and	and	CCONJ
easat-6650	281	8	s.	s.	PROPN
easat-6650	281	9	moh	moh	PROPN
easat-6650	281	10	,	,	PUNCT
easat-6650	281	11	"	"	PUNCT
easat-6650	281	12	localization	localization	NOUN
easat-6650	281	13	and	and	CCONJ
easat-6650	281	14	clustering	clustering	NOUN
easat-6650	281	15	based	base	VERB
easat-6650	281	16	on	on	ADP
easat-6650	281	17	swarm	swarm	NOUN
easat-6650	281	18	intelligence	intelligence	NOUN
easat-6650	281	19	in	in	ADP
easat-6650	281	20	uav	uav	PROPN
easat-6650	281	21	networks	network	NOUN
easat-6650	281	22	for	for	ADP
easat-6650	281	23	emergency	emergency	NOUN
easat-6650	281	24	communications	communication	NOUN
easat-6650	281	25	,	,	PUNCT
easat-6650	281	26	"	"	PUNCT
easat-6650	281	27	ieee	ieee	NOUN
easat-6650	281	28	internet	internet	NOUN
easat-6650	281	29	of	of	ADP
easat-6650	281	30	things	thing	NOUN
easat-6650	281	31	journal	journal	NOUN
easat-6650	281	32	,	,	PUNCT
easat-6650	281	33	vol	vol	NOUN
easat-6650	281	34	.	.	PROPN
easat-6650	281	35	6	6	NUM
easat-6650	281	36	,	,	PUNCT
easat-6650	281	37	no	no	INTJ
easat-6650	281	38	.	.	NOUN
easat-6650	281	39	5	5	NUM
easat-6650	281	40	,	,	PUNCT
easat-6650	281	41	pp	pp	ADJ
easat-6650	281	42	.	.	PUNCT
easat-6650	281	43	8958	8958	NUM
easat-6650	281	44	-	-	SYM
easat-6650	281	45	8976	8976	NUM
easat-6650	281	46	,	,	PUNCT
easat-6650	281	47	2019	2019	NUM
easat-6650	281	48	.	.	PUNCT
easat-6650	282	1	https://doi.org/10.1109/jiot.2019.2925567	https://doi.org/10.1109/jiot.2019.2925567	PROPN
easat-6650	283	1	[	[	X
easat-6650	283	2	13	13	NUM
easat-6650	283	3	]	]	PUNCT
easat-6650	283	4	s.	s.	PROPN
easat-6650	283	5	sreenath	sreenath	PROPN
easat-6650	283	6	,	,	PUNCT
easat-6650	283	7	h.	h.	PROPN
easat-6650	283	8	malik	malik	PROPN
easat-6650	283	9	,	,	PUNCT
easat-6650	283	10	n.	n.	NOUN
easat-6650	283	11	husnu	husnu	NOUN
easat-6650	283	12	,	,	PUNCT
easat-6650	283	13	and	and	CCONJ
easat-6650	283	14	k.	k.	PROPN
easat-6650	283	15	kalaichelavan	kalaichelavan	PROPN
easat-6650	283	16	,	,	PUNCT
easat-6650	283	17	"	"	PUNCT
easat-6650	283	18	assessment	assessment	NOUN
easat-6650	283	19	and	and	CCONJ
easat-6650	283	20	use	use	NOUN
easat-6650	283	21	of	of	ADP
easat-6650	283	22	unmanned	unmanned	ADJ
easat-6650	283	23	aerial	aerial	ADJ
easat-6650	283	24	vehicle	vehicle	NOUN
easat-6650	283	25	for	for	ADP
easat-6650	283	26	civil	civil	ADJ
easat-6650	283	27	structural	structural	ADJ
easat-6650	283	28	health	health	NOUN
easat-6650	283	29	monitoring	monitoring	NOUN
easat-6650	283	30	,	,	PUNCT
easat-6650	283	31	"	"	PUNCT
easat-6650	283	32	procedia	procedia	NOUN
easat-6650	283	33	computer	computer	NOUN
easat-6650	283	34	science	science	NOUN
easat-6650	283	35	,	,	PUNCT
easat-6650	283	36	vol	vol	NOUN
easat-6650	283	37	.	.	PROPN
easat-6650	283	38	170	170	NUM
easat-6650	283	39	,	,	PUNCT
easat-6650	283	40	pp	pp	ADJ
easat-6650	283	41	.	.	PUNCT
easat-6650	284	1	656	656	NUM
easat-6650	284	2	-	-	SYM
easat-6650	284	3	663	663	NUM
easat-6650	284	4	,	,	PUNCT
easat-6650	284	5	2020	2020	NUM
easat-6650	284	6	.	.	PUNCT
easat-6650	285	1	https://doi.org/10.1016/j.procs.2020.03.174	https://doi.org/10.1016/j.procs.2020.03.174	PROPN
easat-6650	285	2	[	[	X
easat-6650	285	3	14	14	NUM
easat-6650	285	4	]	]	PUNCT
easat-6650	285	5	m.	m.	NOUN
easat-6650	285	6	boulares	boulare	NOUN
easat-6650	285	7	,	,	PUNCT
easat-6650	285	8	a.	a.	NOUN
easat-6650	285	9	fehri	fehri	PROPN
easat-6650	285	10	,	,	PUNCT
easat-6650	285	11	and	and	CCONJ
easat-6650	285	12	m.	m.	NOUN
easat-6650	285	13	jemni	jemni	PROPN
easat-6650	285	14	,	,	PUNCT
easat-6650	285	15	"	"	PUNCT
easat-6650	285	16	uav	uav	PROPN
easat-6650	285	17	path	path	PROPN
easat-6650	285	18	planning	planning	NOUN
easat-6650	285	19	algorithm	algorithm	NOUN
easat-6650	285	20	based	base	VERB
easat-6650	285	21	on	on	ADP
easat-6650	285	22	deep	deep	ADJ
easat-6650	285	23	q	q	NOUN
easat-6650	285	24	-	-	PUNCT
easat-6650	285	25	learning	learning	NOUN
easat-6650	285	26	to	to	PART
easat-6650	285	27	search	search	VERB
easat-6650	285	28	for	for	ADP
easat-6650	285	29	a	a	DET
easat-6650	285	30	floating	float	VERB
easat-6650	285	31	lost	lose	VERB
easat-6650	285	32	target	target	NOUN
easat-6650	285	33	in	in	ADP
easat-6650	285	34	the	the	DET
easat-6650	285	35	ocean	ocean	NOUN
easat-6650	285	36	,	,	PUNCT
easat-6650	285	37	"	"	PUNCT
easat-6650	285	38	robotics	robotic	NOUN
easat-6650	285	39	and	and	CCONJ
easat-6650	285	40	autonomous	autonomous	ADJ
easat-6650	285	41	systems	system	NOUN
easat-6650	285	42	,	,	PUNCT
easat-6650	285	43	vol	vol	NOUN
easat-6650	285	44	.	.	PROPN
easat-6650	285	45	179	179	NUM
easat-6650	285	46	,	,	PUNCT
easat-6650	285	47	p.	p.	NOUN
easat-6650	285	48	104730	104730	NUM
easat-6650	285	49	,	,	PUNCT
easat-6650	285	50	2024	2024	NUM
easat-6650	285	51	.	.	PUNCT
easat-6650	286	1	https://doi.org/10.1016/j.robot.2024.104730	https://doi.org/10.1016/j.robot.2024.104730	ADJ
easat-6650	286	2	[	[	X
easat-6650	286	3	15	15	NUM
easat-6650	286	4	]	]	X
easat-6650	286	5	s.	s.	PROPN
easat-6650	286	6	javed	javed	PROPN
easat-6650	286	7	et	et	PROPN
easat-6650	286	8	al	al	PROPN
easat-6650	286	9	.	.	PROPN
easat-6650	286	10	,	,	PUNCT
easat-6650	286	11	"	"	PUNCT
easat-6650	286	12	state	state	NOUN
easat-6650	286	13	-	-	PUNCT
easat-6650	286	14	of	of	ADP
easat-6650	286	15	-	-	PUNCT
easat-6650	286	16	the	the	DET
easat-6650	286	17	-	-	PUNCT
easat-6650	286	18	art	art	NOUN
easat-6650	286	19	and	and	CCONJ
easat-6650	286	20	future	future	ADJ
easat-6650	286	21	research	research	NOUN
easat-6650	286	22	challenges	challenge	NOUN
easat-6650	286	23	in	in	ADP
easat-6650	286	24	uav	uav	PROPN
easat-6650	286	25	swarms	swarm	NOUN
easat-6650	286	26	,	,	PUNCT
easat-6650	286	27	"	"	PUNCT
easat-6650	286	28	ieee	ieee	NOUN
easat-6650	286	29	internet	internet	NOUN
easat-6650	286	30	of	of	ADP
easat-6650	286	31	things	thing	NOUN
easat-6650	286	32	journal	journal	NOUN
easat-6650	286	33	,	,	PUNCT
easat-6650	286	34	vol	vol	NOUN
easat-6650	286	35	.	.	PROPN
easat-6650	286	36	11	11	NUM
easat-6650	286	37	,	,	PUNCT
easat-6650	286	38	no	no	INTJ
easat-6650	286	39	.	.	NOUN
easat-6650	286	40	11	11	NUM
easat-6650	286	41	,	,	PUNCT
easat-6650	286	42	pp	pp	ADJ
easat-6650	286	43	.	.	PUNCT
easat-6650	286	44	19023	19023	NUM
easat-6650	286	45	-	-	SYM
easat-6650	286	46	19045	19045	NUM
easat-6650	286	47	,	,	PUNCT
easat-6650	286	48	2024	2024	NUM
easat-6650	286	49	.	.	PUNCT
easat-6650	287	1	https://doi.org/10.1109/jiot.2024.3364230	https://doi.org/10.1109/jiot.2024.3364230	PROPN
easat-6650	288	1	[	[	X
easat-6650	288	2	16	16	NUM
easat-6650	288	3	]	]	PUNCT
easat-6650	288	4	a.	a.	NOUN
easat-6650	288	5	hamissi	hamissi	PROPN
easat-6650	288	6	,	,	PUNCT
easat-6650	288	7	a.	a.	NOUN
easat-6650	288	8	dhraief	dhraief	PROPN
easat-6650	288	9	,	,	PUNCT
easat-6650	288	10	and	and	CCONJ
easat-6650	288	11	l.	l.	PROPN
easat-6650	288	12	sliman	sliman	PROPN
easat-6650	288	13	,	,	PUNCT
easat-6650	288	14	"	"	PUNCT
easat-6650	288	15	a	a	DET
easat-6650	288	16	comprehensive	comprehensive	ADJ
easat-6650	288	17	survey	survey	NOUN
easat-6650	288	18	on	on	ADP
easat-6650	288	19	conflict	conflict	NOUN
easat-6650	288	20	detection	detection	NOUN
easat-6650	288	21	and	and	CCONJ
easat-6650	288	22	resolution	resolution	NOUN
easat-6650	288	23	in	in	ADP
easat-6650	288	24	unmanned	unmanned	ADJ
easat-6650	288	25	aircraft	aircraft	NOUN
easat-6650	288	26	system	system	NOUN
easat-6650	288	27	traffic	traffic	NOUN
easat-6650	288	28	management	management	NOUN
easat-6650	288	29	,	,	PUNCT
easat-6650	288	30	"	"	PUNCT
easat-6650	288	31	ieee	ieee	NOUN
easat-6650	288	32	transactions	transaction	NOUN
easat-6650	288	33	on	on	ADP
easat-6650	288	34	intelligent	intelligent	ADJ
easat-6650	288	35	transportation	transportation	NOUN
easat-6650	288	36	systems	system	NOUN
easat-6650	288	37	,	,	PUNCT
easat-6650	288	38	vol	vol	NOUN
easat-6650	288	39	.	.	PROPN
easat-6650	288	40	26	26	NUM
easat-6650	288	41	,	,	PUNCT
easat-6650	288	42	no	no	INTJ
easat-6650	288	43	.	.	NOUN
easat-6650	288	44	2	2	NUM
easat-6650	288	45	,	,	PUNCT
easat-6650	288	46	pp	pp	ADJ
easat-6650	288	47	.	.	PUNCT
easat-6650	288	48	1395	1395	NUM
easat-6650	288	49	–	–	PUNCT
easat-6650	288	50	1418	1418	NUM
easat-6650	288	51	,	,	PUNCT
easat-6650	288	52	2024	2024	NUM
easat-6650	288	53	.	.	PUNCT
easat-6650	289	1	https://doi.org/10.1109/tits.2024.3509339	https://doi.org/10.1109/tits.2024.3509339	PROPN
easat-6650	289	2	[	[	X
easat-6650	289	3	17	17	NUM
easat-6650	289	4	]	]	PUNCT
easat-6650	289	5	m.	m.	PROPN
easat-6650	289	6	yang	yang	PROPN
easat-6650	289	7	,	,	PUNCT
easat-6650	289	8	b.	b.	PROPN
easat-6650	289	9	zhang	zhang	PROPN
easat-6650	289	10	,	,	PUNCT
easat-6650	289	11	z.	z.	PROPN
easat-6650	289	12	shi	shi	PROPN
easat-6650	289	13	,	,	PUNCT
easat-6650	289	14	and	and	CCONJ
easat-6650	289	15	j.	j.	PROPN
easat-6650	289	16	li	li	PROPN
easat-6650	289	17	,	,	PUNCT
easat-6650	289	18	"	"	PUNCT
easat-6650	289	19	a	a	DET
easat-6650	289	20	hybrid	hybrid	ADJ
easat-6650	289	21	task	task	NOUN
easat-6650	289	22	allocation	allocation	NOUN
easat-6650	289	23	approach	approach	NOUN
easat-6650	289	24	for	for	ADP
easat-6650	289	25	multi	multi	ADJ
easat-6650	289	26	-	-	ADJ
easat-6650	289	27	uav	uav	ADJ
easat-6650	289	28	systems	system	NOUN
easat-6650	289	29	with	with	ADP
easat-6650	289	30	complex	complex	ADJ
easat-6650	289	31	constraints	constraint	NOUN
easat-6650	289	32	:	:	PUNCT
easat-6650	289	33	a	a	DET
easat-6650	289	34	market	market	NOUN
easat-6650	289	35	-	-	PUNCT
easat-6650	289	36	based	base	VERB
easat-6650	289	37	bidding	bidding	NOUN
easat-6650	289	38	strategy	strategy	NOUN
easat-6650	289	39	and	and	CCONJ
easat-6650	289	40	improved	improve	VERB
easat-6650	289	41	nsga	nsga	PROPN
easat-6650	289	42	-	-	PUNCT
easat-6650	289	43	iii	iii	NOUN
easat-6650	289	44	optimization	optimization	NOUN
easat-6650	289	45	,	,	PUNCT
easat-6650	289	46	"	"	PUNCT
easat-6650	289	47	the	the	DET
easat-6650	289	48	journal	journal	NOUN
easat-6650	289	49	of	of	ADP
easat-6650	289	50	supercomputing	supercomputing	NOUN
easat-6650	289	51	,	,	PUNCT
easat-6650	289	52	vol	vol	NOUN
easat-6650	289	53	.	.	PROPN
easat-6650	289	54	81	81	NUM
easat-6650	289	55	,	,	PUNCT
easat-6650	289	56	no	no	INTJ
easat-6650	289	57	.	.	NOUN
easat-6650	289	58	4	4	NUM
easat-6650	289	59	,	,	PUNCT
easat-6650	289	60	pp	pp	ADJ
easat-6650	289	61	.	.	PUNCT
easat-6650	290	1	1	1	NUM
easat-6650	290	2	-	-	SYM
easat-6650	290	3	33	33	NUM
easat-6650	290	4	,	,	PUNCT
easat-6650	290	5	2025	2025	NUM
easat-6650	290	6	.	.	PUNCT
easat-6650	291	1	https://doi.org/10.1007/s11227-025-07027-x	https://doi.org/10.1007/s11227-025-07027-x	PRON
easat-6650	291	2	[	[	X
easat-6650	291	3	18	18	NUM
easat-6650	291	4	]	]	PUNCT
easat-6650	291	5	j.-f	j.-f	NOUN
easat-6650	291	6	.	.	PUNCT
easat-6650	292	1	wang	wang	PROPN
easat-6650	292	2	,	,	PUNCT
easat-6650	292	3	g.-w	g.-w	PROPN
easat-6650	292	4	.	.	PUNCT
easat-6650	293	1	jia	jia	PROPN
easat-6650	293	2	,	,	PUNCT
easat-6650	293	3	j.-c	j.-c	PROPN
easat-6650	293	4	.	.	PUNCT
easat-6650	294	1	lin	lin	PROPN
easat-6650	294	2	,	,	PUNCT
easat-6650	294	3	and	and	CCONJ
easat-6650	294	4	z.-x	z.-x	PROPN
easat-6650	294	5	.	.	PUNCT
easat-6650	295	1	hou	hou	NOUN
easat-6650	295	2	,	,	PUNCT
easat-6650	295	3	"	"	PUNCT
easat-6650	295	4	cooperative	cooperative	ADJ
easat-6650	295	5	task	task	NOUN
easat-6650	295	6	allocation	allocation	NOUN
easat-6650	295	7	for	for	ADP
easat-6650	295	8	heterogeneous	heterogeneous	ADJ
easat-6650	295	9	multi	multi	NOUN
easat-6650	295	10	-	-	ADJ
easat-6650	295	11	uav	uav	NOUN
easat-6650	295	12	using	use	VERB
easat-6650	295	13	multiobjective	multiobjective	ADJ
easat-6650	295	14	optimization	optimization	NOUN
easat-6650	295	15	algorithm	algorithm	NOUN
easat-6650	295	16	,	,	PUNCT
easat-6650	295	17	"	"	PUNCT
easat-6650	295	18	journal	journal	NOUN
easat-6650	295	19	of	of	ADP
easat-6650	295	20	central	central	PROPN
easat-6650	295	21	south	south	PROPN
easat-6650	295	22	university	university	PROPN
easat-6650	295	23	,	,	PUNCT
easat-6650	295	24	vol	vol	NOUN
easat-6650	295	25	.	.	PROPN
easat-6650	295	26	27	27	NUM
easat-6650	295	27	,	,	PUNCT
easat-6650	295	28	no	no	INTJ
easat-6650	295	29	.	.	NOUN
easat-6650	295	30	2	2	NUM
easat-6650	295	31	,	,	PUNCT
easat-6650	295	32	pp	pp	ADJ
easat-6650	295	33	.	.	PUNCT
easat-6650	296	1	432	432	NUM
easat-6650	296	2	-	-	SYM
easat-6650	296	3	448	448	NUM
easat-6650	296	4	,	,	PUNCT
easat-6650	296	5	2020	2020	NUM
easat-6650	296	6	.	.	PUNCT
easat-6650	297	1	https://doi.org/10.1007/s11771-020-4307-0	https://doi.org/10.1007/s11771-020-4307-0	NUM
easat-6650	298	1	[	[	X
easat-6650	298	2	19	19	NUM
easat-6650	298	3	]	]	PUNCT
easat-6650	298	4	h.	h.	PROPN
easat-6650	298	5	çinar	çinar	PROPN
easat-6650	298	6	,	,	PUNCT
easat-6650	298	7	d.	d.	PROPN
easat-6650	298	8	ignatyev	ignatyev	PROPN
easat-6650	298	9	,	,	PUNCT
easat-6650	298	10	and	and	CCONJ
easat-6650	298	11	a.	a.	NOUN
easat-6650	298	12	zolotas	zolotas	PROPN
easat-6650	298	13	,	,	PUNCT
easat-6650	298	14	"	"	PUNCT
easat-6650	298	15	a	a	DET
easat-6650	298	16	comprehensive	comprehensive	ADJ
easat-6650	298	17	review	review	NOUN
easat-6650	298	18	and	and	CCONJ
easat-6650	298	19	future	future	ADJ
easat-6650	298	20	challenges	challenge	NOUN
easat-6650	298	21	of	of	ADP
easat-6650	298	22	energy	energy	NOUN
easat-6650	298	23	-	-	PUNCT
easat-6650	298	24	aware	aware	ADJ
easat-6650	298	25	path	path	NOUN
easat-6650	298	26	planning	planning	NOUN
easat-6650	298	27	for	for	ADP
easat-6650	298	28	small	small	ADJ
easat-6650	298	29	unmanned	unmanned	ADJ
easat-6650	298	30	aerial	aerial	ADJ
easat-6650	298	31	vehicles	vehicle	NOUN
easat-6650	298	32	with	with	ADP
easat-6650	298	33	hydrogen	hydrogen	NOUN
easat-6650	298	34	-	-	PUNCT
easat-6650	298	35	powered	power	VERB
easat-6650	298	36	hybrid	hybrid	ADJ
easat-6650	298	37	propulsion	propulsion	NOUN
easat-6650	298	38	,	,	PUNCT
easat-6650	298	39	"	"	PUNCT
easat-6650	298	40	the	the	DET
easat-6650	298	41	aeronautical	aeronautical	PROPN
easat-6650	298	42	journal	journal	NOUN
easat-6650	298	43	,	,	PUNCT
easat-6650	298	44	pp	pp	PROPN
easat-6650	298	45	.	.	PUNCT
easat-6650	299	1	1	1	NUM
easat-6650	299	2	-	-	SYM
easat-6650	299	3	26	26	NUM
easat-6650	299	4	,	,	PUNCT
easat-6650	299	5	2025	2025	NUM
easat-6650	299	6	.	.	PUNCT
easat-6650	300	1	https://doi.org/10.1017/aer.2025.11	https://doi.org/10.1017/aer.2025.11	ADJ
easat-6650	301	1	[	[	X
easat-6650	301	2	20	20	NUM
easat-6650	301	3	]	]	PUNCT
easat-6650	301	4	k.	k.	NOUN
easat-6650	301	5	kuru	kuru	PROPN
easat-6650	301	6	,	,	PUNCT
easat-6650	301	7	"	"	PUNCT
easat-6650	301	8	planning	plan	VERB
easat-6650	301	9	the	the	DET
easat-6650	301	10	future	future	NOUN
easat-6650	301	11	of	of	ADP
easat-6650	301	12	smart	smart	ADJ
easat-6650	301	13	cities	city	NOUN
easat-6650	301	14	with	with	ADP
easat-6650	301	15	swarms	swarm	NOUN
easat-6650	301	16	of	of	ADP
easat-6650	301	17	fully	fully	ADV
easat-6650	301	18	autonomous	autonomous	ADJ
easat-6650	301	19	unmanned	unmanned	ADJ
easat-6650	301	20	aerial	aerial	ADJ
easat-6650	301	21	vehicles	vehicle	NOUN
easat-6650	301	22	using	use	VERB
easat-6650	301	23	a	a	DET
easat-6650	301	24	novel	novel	ADJ
easat-6650	301	25	framework	framework	NOUN
easat-6650	301	26	,	,	PUNCT
easat-6650	301	27	"	"	PUNCT
easat-6650	301	28	ieee	ieee	NOUN
easat-6650	301	29	access	access	NOUN
easat-6650	301	30	,	,	PUNCT
easat-6650	301	31	vol	vol	NOUN
easat-6650	301	32	.	.	NOUN
easat-6650	301	33	9	9	NUM
easat-6650	301	34	,	,	PUNCT
easat-6650	301	35	pp	pp	ADJ
easat-6650	301	36	.	.	PUNCT
easat-6650	302	1	6571	6571	NUM
easat-6650	302	2	-	-	SYM
easat-6650	302	3	6595	6595	NUM
easat-6650	302	4	,	,	PUNCT
easat-6650	302	5	2021	2021	NUM
easat-6650	302	6	.	.	PUNCT
easat-6650	303	1	https://doi.org/10.1109/access.2020.3049094	https://doi.org/10.1109/access.2020.3049094	PROPN
easat-6650	303	2	[	[	X
easat-6650	303	3	21	21	NUM
easat-6650	303	4	]	]	PUNCT
easat-6650	303	5	p.	p.	PROPN
easat-6650	303	6	wu	wu	PROPN
easat-6650	303	7	,	,	PUNCT
easat-6650	303	8	x.	x.	PROPN
easat-6650	303	9	yang	yang	PROPN
easat-6650	303	10	,	,	PUNCT
easat-6650	303	11	p.	p.	PROPN
easat-6650	303	12	wei	wei	PROPN
easat-6650	303	13	,	,	PUNCT
easat-6650	303	14	and	and	CCONJ
easat-6650	303	15	j.	j.	PROPN
easat-6650	303	16	chen	chen	PROPN
easat-6650	303	17	,	,	PUNCT
easat-6650	303	18	"	"	PUNCT
easat-6650	303	19	safety	safety	NOUN
easat-6650	303	20	assured	assure	VERB
easat-6650	303	21	online	online	ADJ
easat-6650	303	22	guidance	guidance	NOUN
easat-6650	303	23	with	with	ADP
easat-6650	303	24	airborne	airborne	ADJ
easat-6650	303	25	separation	separation	NOUN
easat-6650	303	26	for	for	ADP
easat-6650	303	27	urban	urban	ADJ
easat-6650	303	28	air	air	NOUN
easat-6650	303	29	mobility	mobility	NOUN
easat-6650	303	30	operations	operation	NOUN
easat-6650	303	31	in	in	ADP
easat-6650	303	32	uncertain	uncertain	ADJ
easat-6650	303	33	environments	environment	NOUN
easat-6650	303	34	,	,	PUNCT
easat-6650	303	35	"	"	PUNCT
easat-6650	303	36	ieee	ieee	NOUN
easat-6650	303	37	transactions	transaction	NOUN
easat-6650	303	38	on	on	ADP
easat-6650	303	39	intelligent	intelligent	ADJ
easat-6650	303	40	transportation	transportation	NOUN
easat-6650	303	41	systems	system	NOUN
easat-6650	303	42	,	,	PUNCT
easat-6650	303	43	vol	vol	NOUN
easat-6650	303	44	.	.	PROPN
easat-6650	304	1	23	23	NUM
easat-6650	304	2	,	,	PUNCT
easat-6650	304	3	no	no	INTJ
easat-6650	304	4	.	.	NOUN
easat-6650	304	5	10	10	NUM
easat-6650	304	6	,	,	PUNCT
easat-6650	304	7	pp	pp	ADJ
easat-6650	304	8	.	.	PUNCT
easat-6650	305	1	19413	19413	NUM
easat-6650	305	2	-	-	SYM
easat-6650	305	3	19427	19427	NUM
easat-6650	305	4	,	,	PUNCT
easat-6650	305	5	2022	2022	NUM
easat-6650	305	6	.	.	PUNCT
easat-6650	306	1	https://doi.org/10.1109/tits.2022.3163657	https://doi.org/10.1109/tits.2022.3163657	PROPN
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easat-6650	307	2	22	22	NUM
easat-6650	307	3	]	]	X
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easat-6650	307	6	,	,	PUNCT
easat-6650	307	7	y.	y.	PROPN
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easat-6650	307	10	u.	u.	PROPN
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easat-6650	307	18	a	a	DET
easat-6650	307	19	review	review	NOUN
easat-6650	307	20	of	of	ADP
easat-6650	307	21	uav	uav	PROPN
easat-6650	307	22	autonomous	autonomous	PROPN
easat-6650	307	23	navigation	navigation	NOUN
easat-6650	307	24	in	in	ADP
easat-6650	307	25	gps	gps	PROPN
easat-6650	307	26	-	-	PUNCT
easat-6650	307	27	denied	deny	VERB
easat-6650	307	28	environments	environment	NOUN
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easat-6650	307	30	"	"	PUNCT
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easat-6650	307	33	autonomous	autonomous	ADJ
easat-6650	307	34	systems	system	NOUN
easat-6650	307	35	,	,	PUNCT
easat-6650	307	36	vol	vol	NOUN
easat-6650	307	37	.	.	PROPN
easat-6650	307	38	170	170	NUM
easat-6650	307	39	,	,	PUNCT
easat-6650	307	40	p.	p.	NOUN
easat-6650	307	41	104533	104533	NUM
easat-6650	307	42	,	,	PUNCT
easat-6650	307	43	2023	2023	NUM
easat-6650	307	44	.	.	PUNCT
easat-6650	308	1	https://doi.org/10.1016/j.robot.2023.104533	https://doi.org/10.1016/j.robot.2023.104533	NOUN
easat-6650	308	2	[	[	X
easat-6650	308	3	23	23	NUM
easat-6650	308	4	]	]	X
easat-6650	308	5	w.	w.	PROPN
easat-6650	308	6	xu	xu	PROPN
easat-6650	308	7	,	,	PUNCT
easat-6650	308	8	c.	c.	PROPN
easat-6650	308	9	cui	cui	PROPN
easat-6650	308	10	,	,	PUNCT
easat-6650	308	11	y.	y.	PROPN
easat-6650	308	12	ji	ji	PROPN
easat-6650	308	13	,	,	PUNCT
easat-6650	308	14	x.	x.	PROPN
easat-6650	308	15	li	li	PROPN
easat-6650	308	16	,	,	PUNCT
easat-6650	308	17	and	and	CCONJ
easat-6650	308	18	s.	s.	PROPN
easat-6650	308	19	li	li	PROPN
easat-6650	308	20	,	,	PUNCT
easat-6650	308	21	"	"	PUNCT
easat-6650	308	22	a	a	DET
easat-6650	308	23	uav	uav	PROPN
easat-6650	308	24	path	path	PROPN
easat-6650	308	25	planning	planning	NOUN
easat-6650	308	26	algorithm	algorithm	NOUN
easat-6650	308	27	for	for	ADP
easat-6650	308	28	bridge	bridge	NOUN
easat-6650	308	29	construction	construction	NOUN
easat-6650	308	30	safety	safety	NOUN
easat-6650	308	31	inspection	inspection	NOUN
easat-6650	308	32	in	in	ADP
easat-6650	308	33	complex	complex	ADJ
easat-6650	308	34	terrain	terrain	NOUN
easat-6650	308	35	,	,	PUNCT
easat-6650	308	36	"	"	PUNCT
easat-6650	308	37	scientific	scientific	ADJ
easat-6650	308	38	reports	report	NOUN
easat-6650	308	39	,	,	PUNCT
easat-6650	308	40	vol	vol	NOUN
easat-6650	308	41	.	.	PROPN
easat-6650	308	42	15	15	NUM
easat-6650	308	43	,	,	PUNCT
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easat-6650	308	45	.	.	NOUN
easat-6650	308	46	1	1	NUM
easat-6650	308	47	,	,	PUNCT
easat-6650	308	48	p.	p.	NOUN
easat-6650	308	49	13564	13564	NUM
easat-6650	308	50	,	,	PUNCT
easat-6650	308	51	2025	2025	NUM
easat-6650	308	52	.	.	PUNCT
easat-6650	309	1	https://doi.org/10.1038/s41598-025-97108-x	https://doi.org/10.1038/s41598-025-97108-x	PROPN
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easat-6650	309	3	24	24	NUM
easat-6650	309	4	]	]	PUNCT
easat-6650	309	5	a.	a.	NOUN
easat-6650	309	6	gendia	gendia	NOUN
easat-6650	309	7	,	,	PUNCT
easat-6650	309	8	o.	o.	PROPN
easat-6650	309	9	muta	muta	PROPN
easat-6650	309	10	,	,	PUNCT
easat-6650	309	11	s.	s.	PROPN
easat-6650	309	12	hashima	hashima	PROPN
easat-6650	309	13	,	,	PUNCT
easat-6650	309	14	and	and	CCONJ
easat-6650	309	15	k.	k.	PROPN
easat-6650	309	16	hatano	hatano	PROPN
easat-6650	309	17	,	,	PUNCT
easat-6650	309	18	"	"	PUNCT
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easat-6650	309	20	-	-	PUNCT
easat-6650	309	21	efficient	efficient	ADJ
easat-6650	309	22	trajectory	trajectory	NOUN
easat-6650	309	23	planning	planning	NOUN
easat-6650	309	24	with	with	ADP
easat-6650	309	25	joint	joint	ADJ
easat-6650	309	26	device	device	NOUN
easat-6650	309	27	selection	selection	NOUN
easat-6650	309	28	and	and	CCONJ
easat-6650	309	29	power	power	NOUN
easat-6650	309	30	splitting	splitting	NOUN
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easat-6650	309	32	mmwaves	mmwave	NOUN
easat-6650	309	33	-	-	PUNCT
easat-6650	309	34	enabled	enable	VERB
easat-6650	309	35	uav	uav	PROPN
easat-6650	309	36	-	-	PUNCT
easat-6650	309	37	noma	noma	PROPN
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easat-6650	309	39	,	,	PUNCT
easat-6650	309	40	"	"	PUNCT
easat-6650	309	41	ieee	ieee	NOUN
easat-6650	309	42	transactions	transaction	NOUN
easat-6650	309	43	on	on	ADP
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easat-6650	309	45	learning	learning	NOUN
easat-6650	309	46	in	in	ADP
easat-6650	309	47	communications	communication	NOUN
easat-6650	309	48	and	and	CCONJ
easat-6650	309	49	networking	networking	NOUN
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easat-6650	309	51	vol	vol	NOUN
easat-6650	309	52	.	.	PROPN
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easat-6650	309	54	,	,	PUNCT
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easat-6650	310	1	617–632	617–632	NUM
easat-6650	310	2	,	,	PUNCT
easat-6650	310	3	2024	2024	NUM
easat-6650	310	4	.	.	PUNCT
easat-6650	311	1	https://doi.org/10.1109/tmlcn.2024.3396438	https://doi.org/10.1109/tmlcn.2024.3396438	PROPN
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easat-6650	312	2	25	25	NUM
easat-6650	312	3	]	]	PUNCT
easat-6650	312	4	x.	x.	NOUN
easat-6650	312	5	xu	xu	PROPN
easat-6650	312	6	,	,	PUNCT
easat-6650	312	7	c.	c.	PROPN
easat-6650	312	8	xie	xie	PROPN
easat-6650	312	9	,	,	PUNCT
easat-6650	312	10	l.	l.	PROPN
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easat-6650	312	13	l.	l.	PROPN
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easat-6650	312	15	,	,	PUNCT
easat-6650	312	16	and	and	CCONJ
easat-6650	312	17	t.	t.	PROPN
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easat-6650	312	19	,	,	PUNCT
easat-6650	312	20	"	"	PUNCT
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easat-6650	312	22	-	-	ADJ
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easat-6650	312	24	evolutionary	evolutionary	ADJ
easat-6650	312	25	algorithm	algorithm	NOUN
easat-6650	312	26	with	with	ADP
easat-6650	312	27	two	two	NUM
easat-6650	312	28	balancing	balance	VERB
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easat-6650	312	32	uav	uav	PROPN
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easat-6650	312	34	path	path	PROPN
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easat-6650	312	37	"	"	PUNCT
easat-6650	312	38	applied	apply	VERB
easat-6650	312	39	soft	soft	ADJ
easat-6650	312	40	computing	computing	NOUN
easat-6650	312	41	,	,	PUNCT
easat-6650	312	42	vol	vol	NOUN
easat-6650	312	43	.	.	PROPN
easat-6650	312	44	173	173	NUM
easat-6650	312	45	,	,	PUNCT
easat-6650	312	46	p.	p.	NOUN
easat-6650	312	47	112927	112927	NUM
easat-6650	312	48	,	,	PUNCT
easat-6650	312	49	2025	2025	NUM
easat-6650	312	50	.	.	PUNCT
easat-6650	313	1	https://doi.org/10.1016/j.asoc.2025.112927	https://doi.org/10.1016/j.asoc.2025.112927	PROPN
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easat-6650	315	1	https://doi.org/10.1109/tmlcn.2024.3396438	https://doi.org/10.1109/tmlcn.2024.3396438	PROPN
easat-6650	315	2	https://doi.org/10.1016/j.asoc.2025.112927	https://doi.org/10.1016/j.asoc.2025.112927	PROPN
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easat-6650	315	7	and	and	CCONJ
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easat-6650	315	11	2576	2576	NUM
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easat-6650	315	13	8484	8484	NUM
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easat-6650	316	1	9	9	NUM
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easat-6650	316	5	4	4	NUM
easat-6650	316	6	:	:	SYM
easat-6650	316	7	2751	2751	NUM
easat-6650	316	8	-	-	SYM
easat-6650	316	9	2767	2767	NUM
easat-6650	316	10	,	,	PUNCT
easat-6650	316	11	2025	2025	NUM
easat-6650	316	12	doi	doi	NOUN
easat-6650	316	13	:	:	PUNCT
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easat-6650	316	16	2025	2025	NUM
easat-6650	316	17	by	by	ADP
easat-6650	316	18	the	the	DET
easat-6650	316	19	author	author	NOUN
easat-6650	316	20	;	;	PUNCT
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easat-6650	316	22	learning	learning	NOUN
easat-6650	316	23	gate	gate	NOUN
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easat-6650	317	2	26	26	NUM
easat-6650	317	3	]	]	PUNCT
easat-6650	317	4	z.	z.	PROPN
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easat-6650	318	1	zhang	zhang	PROPN
easat-6650	318	2	,	,	PUNCT
easat-6650	318	3	"	"	PUNCT
easat-6650	318	4	distributed	distribute	VERB
easat-6650	318	5	dynamic	dynamic	ADJ
easat-6650	318	6	task	task	NOUN
easat-6650	318	7	allocation	allocation	NOUN
easat-6650	318	8	for	for	ADP
easat-6650	318	9	unmanned	unmanned	ADJ
easat-6650	318	10	aerial	aerial	ADJ
easat-6650	318	11	vehicle	vehicle	NOUN
easat-6650	318	12	swarm	swarm	NOUN
easat-6650	318	13	systems	system	NOUN
easat-6650	318	14	:	:	PUNCT
easat-6650	318	15	a	a	DET
easat-6650	318	16	networked	network	VERB
easat-6650	318	17	evolutionary	evolutionary	ADJ
easat-6650	318	18	game	game	NOUN
easat-6650	318	19	-	-	PUNCT
easat-6650	318	20	theoretic	theoretic	NOUN
easat-6650	318	21	approach	approach	NOUN
easat-6650	318	22	,	,	PUNCT
easat-6650	318	23	"	"	PUNCT
easat-6650	318	24	chinese	chinese	ADJ
easat-6650	318	25	journal	journal	NOUN
easat-6650	318	26	of	of	ADP
easat-6650	318	27	aeronautics	aeronautic	NOUN
easat-6650	318	28	,	,	PUNCT
easat-6650	318	29	vol	vol	NOUN
easat-6650	318	30	.	.	PROPN
easat-6650	319	1	37	37	NUM
easat-6650	319	2	,	,	PUNCT
easat-6650	319	3	no	no	INTJ
easat-6650	319	4	.	.	NOUN
easat-6650	319	5	6	6	NUM
easat-6650	319	6	,	,	PUNCT
easat-6650	319	7	pp	pp	ADJ
easat-6650	319	8	.	.	PUNCT
easat-6650	320	1	182204	182204	NUM
easat-6650	320	2	,	,	PUNCT
easat-6650	320	3	2024	2024	NUM
easat-6650	320	4	.	.	PUNCT
easat-6650	321	1	https://doi.org/10.1016/j.cja.2023.12.027	https://doi.org/10.1016/j.cja.2023.12.027	PROPN
easat-6650	321	2	https://doi.org/10.1016/j.cja.2023.12.027	https://doi.org/10.1016/j.cja.2023.12.027	ADV