id	sid	tid	token	lemma	pos
ejpam-263	1	1	7_263_sharma.dvi	7_263_sharma.dvi	NUM
ejpam-263	1	2	european	european	ADJ
ejpam-263	1	3	journal	journal	NOUN
ejpam-263	1	4	of	of	ADP
ejpam-263	1	5	pure	pure	ADJ
ejpam-263	1	6	and	and	CCONJ
ejpam-263	1	7	applied	apply	VERB
ejpam-263	1	8	mathematics	mathematic	NOUN
ejpam-263	1	9	vol	vol	NOUN
ejpam-263	1	10	.	.	PROPN
ejpam-263	2	1	2	2	NUM
ejpam-263	2	2	,	,	PUNCT
ejpam-263	2	3	no	no	INTJ
ejpam-263	2	4	.	.	NOUN
ejpam-263	2	5	3	3	NUM
ejpam-263	2	6	,	,	PUNCT
ejpam-263	2	7	2009	2009	NUM
ejpam-263	2	8	,	,	PUNCT
ejpam-263	2	9	(	(	PUNCT
ejpam-263	2	10	401	401	NUM
ejpam-263	2	11	-	-	SYM
ejpam-263	2	12	425	425	NUM
ejpam-263	2	13	)	)	PUNCT
ejpam-263	2	14	issn	issn	PROPN
ejpam-263	2	15	1307	1307	NUM
ejpam-263	2	16	-	-	SYM
ejpam-263	2	17	5543	5543	NUM
ejpam-263	2	18	–	–	PUNCT
ejpam-263	2	19	www.ejpam.com	www.ejpam.com	X
ejpam-263	2	20	flocking	flocking	NOUN
ejpam-263	2	21	of	of	ADP
ejpam-263	2	22	multi	multi	ADJ
ejpam-263	2	23	-	-	NOUN
ejpam-263	2	24	agents	agent	NOUN
ejpam-263	2	25	in	in	ADP
ejpam-263	2	26	constrained	constrain	VERB
ejpam-263	2	27	environments	environment	NOUN
ejpam-263	2	28	bibhya	bibhya	ADP
ejpam-263	2	29	sharma∗	sharma∗	PROPN
ejpam-263	2	30	,	,	PUNCT
ejpam-263	2	31	jito	jito	PROPN
ejpam-263	2	32	vanualailai	vanualailai	PROPN
ejpam-263	2	33	and	and	CCONJ
ejpam-263	2	34	utesh	utesh	ADJ
ejpam-263	2	35	chand	chand	NOUN
ejpam-263	2	36	school	school	NOUN
ejpam-263	2	37	of	of	ADP
ejpam-263	2	38	computing	computing	NOUN
ejpam-263	2	39	,	,	PUNCT
ejpam-263	2	40	information	information	NOUN
ejpam-263	2	41	&	&	CCONJ
ejpam-263	2	42	mathematical	mathematical	PROPN
ejpam-263	2	43	sciences	sciences	PROPN
ejpam-263	2	44	,	,	PUNCT
ejpam-263	2	45	university	university	NOUN
ejpam-263	2	46	of	of	ADP
ejpam-263	2	47	the	the	DET
ejpam-263	2	48	south	south	PROPN
ejpam-263	2	49	pacific	pacific	PROPN
ejpam-263	2	50	,	,	PUNCT
ejpam-263	2	51	suva	suva	PROPN
ejpam-263	2	52	,	,	PUNCT
ejpam-263	2	53	fiji	fiji	PROPN
ejpam-263	2	54	abstract	abstract	NOUN
ejpam-263	2	55	.	.	PUNCT
ejpam-263	3	1	flocking	flocking	NOUN
ejpam-263	3	2	,	,	PUNCT
ejpam-263	3	3	arguably	arguably	ADV
ejpam-263	3	4	one	one	NUM
ejpam-263	3	5	of	of	ADP
ejpam-263	3	6	the	the	DET
ejpam-263	3	7	most	most	ADV
ejpam-263	3	8	fascinating	fascinating	ADJ
ejpam-263	3	9	concepts	concept	NOUN
ejpam-263	3	10	in	in	ADP
ejpam-263	3	11	nature	nature	NOUN
ejpam-263	3	12	,	,	PUNCT
ejpam-263	3	13	has	have	AUX
ejpam-263	3	14	in	in	ADP
ejpam-263	3	15	recent	recent	ADJ
ejpam-263	3	16	times	time	NOUN
ejpam-263	3	17	established	establish	VERB
ejpam-263	3	18	a	a	DET
ejpam-263	3	19	growing	grow	VERB
ejpam-263	3	20	stature	stature	NOUN
ejpam-263	3	21	within	within	ADP
ejpam-263	3	22	the	the	DET
ejpam-263	3	23	field	field	NOUN
ejpam-263	3	24	of	of	ADP
ejpam-263	3	25	robotics	robotic	NOUN
ejpam-263	3	26	.	.	PUNCT
ejpam-263	4	1	in	in	ADP
ejpam-263	4	2	this	this	DET
ejpam-263	4	3	paper	paper	NOUN
ejpam-263	4	4	,	,	PUNCT
ejpam-263	4	5	we	we	PRON
ejpam-263	4	6	control	control	VERB
ejpam-263	4	7	the	the	DET
ejpam-263	4	8	collective	collective	ADJ
ejpam-263	4	9	motion	motion	NOUN
ejpam-263	4	10	of	of	ADP
ejpam-263	4	11	a	a	DET
ejpam-263	4	12	flock	flock	NOUN
ejpam-263	4	13	of	of	ADP
ejpam-263	4	14	nonholonomic	nonholonomic	ADJ
ejpam-263	4	15	car	car	NOUN
ejpam-263	4	16	-	-	PUNCT
ejpam-263	4	17	like	like	ADJ
ejpam-263	4	18	vehicles	vehicle	NOUN
ejpam-263	4	19	in	in	ADP
ejpam-263	4	20	a	a	DET
ejpam-263	4	21	constrained	constrain	VERB
ejpam-263	4	22	environment	environment	NOUN
ejpam-263	4	23	.	.	PUNCT
ejpam-263	5	1	a	a	DET
ejpam-263	5	2	continuous	continuous	ADJ
ejpam-263	5	3	centralized	centralized	ADJ
ejpam-263	5	4	motion	motion	NOUN
ejpam-263	5	5	planner	planner	NOUN
ejpam-263	5	6	is	be	AUX
ejpam-263	5	7	proposed	propose	VERB
ejpam-263	5	8	for	for	ADP
ejpam-263	5	9	split	split	ADJ
ejpam-263	5	10	/	/	SYM
ejpam-263	5	11	rejoin	rejoin	VERB
ejpam-263	5	12	maneuvers	maneuver	NOUN
ejpam-263	5	13	of	of	ADP
ejpam-263	5	14	the	the	DET
ejpam-263	5	15	flock	flock	NOUN
ejpam-263	5	16	via	via	ADP
ejpam-263	5	17	the	the	DET
ejpam-263	5	18	lyapunov	lyapunov	NOUN
ejpam-263	5	19	-	-	PUNCT
ejpam-263	5	20	based	base	VERB
ejpam-263	5	21	control	control	NOUN
ejpam-263	5	22	scheme	scheme	NOUN
ejpam-263	5	23	to	to	PART
ejpam-263	5	24	anchor	anchor	VERB
ejpam-263	5	25	avoidance	avoidance	NOUN
ejpam-263	5	26	of	of	ADP
ejpam-263	5	27	obstacles	obstacle	NOUN
ejpam-263	5	28	intersecting	intersect	VERB
ejpam-263	5	29	the	the	DET
ejpam-263	5	30	paths	path	NOUN
ejpam-263	5	31	of	of	ADP
ejpam-263	5	32	flockmates	flockmate	NOUN
ejpam-263	5	33	.	.	PUNCT
ejpam-263	6	1	the	the	DET
ejpam-263	6	2	control	control	NOUN
ejpam-263	6	3	scheme	scheme	NOUN
ejpam-263	6	4	inherently	inherently	ADV
ejpam-263	6	5	utilizes	utilize	VERB
ejpam-263	6	6	the	the	DET
ejpam-263	6	7	artificial	artificial	ADJ
ejpam-263	6	8	potential	potential	ADJ
ejpam-263	6	9	fields	field	NOUN
ejpam-263	6	10	,	,	PUNCT
ejpam-263	6	11	within	within	ADP
ejpam-263	6	12	a	a	DET
ejpam-263	6	13	new	new	ADJ
ejpam-263	6	14	leader	leader	NOUN
ejpam-263	6	15	-	-	PUNCT
ejpam-263	6	16	follower	follower	NOUN
ejpam-263	6	17	framework	framework	NOUN
ejpam-263	6	18	,	,	PUNCT
ejpam-263	6	19	to	to	PART
ejpam-263	6	20	accomplish	accomplish	VERB
ejpam-263	6	21	the	the	DET
ejpam-263	6	22	desired	desire	VERB
ejpam-263	6	23	formations	formation	NOUN
ejpam-263	6	24	and	and	CCONJ
ejpam-263	6	25	reformations	reformation	NOUN
ejpam-263	6	26	of	of	ADP
ejpam-263	6	27	the	the	DET
ejpam-263	6	28	flock	flock	NOUN
ejpam-263	6	29	.	.	PUNCT
ejpam-263	7	1	the	the	DET
ejpam-263	7	2	effectiveness	effectiveness	NOUN
ejpam-263	7	3	of	of	ADP
ejpam-263	7	4	the	the	DET
ejpam-263	7	5	proposed	propose	VERB
ejpam-263	7	6	control	control	NOUN
ejpam-263	7	7	laws	law	NOUN
ejpam-263	7	8	are	be	AUX
ejpam-263	7	9	demonstrated	demonstrate	VERB
ejpam-263	7	10	through	through	ADP
ejpam-263	7	11	computer	computer	NOUN
ejpam-263	7	12	simulations	simulation	NOUN
ejpam-263	7	13	.	.	PUNCT
ejpam-263	8	1	2000	2000	NUM
ejpam-263	8	2	mathematics	mathematic	NOUN
ejpam-263	8	3	subject	subject	NOUN
ejpam-263	8	4	classifications	classification	NOUN
ejpam-263	8	5	:	:	PUNCT
ejpam-263	8	6	34a30	34a30	NUM
ejpam-263	8	7	,	,	PUNCT
ejpam-263	8	8	34d20	34d20	NUM
ejpam-263	8	9	,	,	PUNCT
ejpam-263	8	10	70e60	70e60	NUM
ejpam-263	8	11	,	,	PUNCT
ejpam-263	8	12	93c85	93c85	NUM
ejpam-263	8	13	,	,	PUNCT
ejpam-263	8	14	93d15	93d15	NUM
ejpam-263	8	15	.	.	PUNCT
ejpam-263	9	1	key	key	ADJ
ejpam-263	9	2	words	word	NOUN
ejpam-263	9	3	and	and	CCONJ
ejpam-263	9	4	phrases	phrase	NOUN
ejpam-263	9	5	:	:	PUNCT
ejpam-263	9	6	multi	multi	ADJ
ejpam-263	9	7	-	-	NOUN
ejpam-263	9	8	agents	agent	NOUN
ejpam-263	9	9	,	,	PUNCT
ejpam-263	9	10	lyapunov	lyapunov	NOUN
ejpam-263	9	11	-	-	PUNCT
ejpam-263	9	12	based	base	VERB
ejpam-263	9	13	control	control	NOUN
ejpam-263	9	14	scheme	scheme	NOUN
ejpam-263	9	15	,	,	PUNCT
ejpam-263	9	16	split	split	NOUN
ejpam-263	9	17	/	/	SYM
ejpam-263	9	18	rejoin	rejoin	VERB
ejpam-263	9	19	,	,	PUNCT
ejpam-263	9	20	cooperating	cooperating	NOUN
ejpam-263	9	21	,	,	PUNCT
ejpam-263	9	22	flocking	flock	VERB
ejpam-263	9	23	.	.	PUNCT
ejpam-263	10	1	∗corresponding	∗corresponde	VERB
ejpam-263	10	2	author	author	NOUN
ejpam-263	10	3	.	.	PUNCT
ejpam-263	11	1	email	email	NOUN
ejpam-263	11	2	address	address	NOUN
ejpam-263	11	3	:	:	PUNCT
ejpam-263	11	4	sharma_b	sharma_b	ADV
ejpam-263	11	5	�	�	VERB
ejpam-263	11	6	usp.a	usp.a	PRON
ejpam-263	11	7	.fj	.fj	PUNCT
ejpam-263	12	1	(	(	PUNCT
ejpam-263	12	2	b.	b.	PROPN
ejpam-263	12	3	sharma	sharma	PROPN
ejpam-263	12	4	)	)	PUNCT
ejpam-263	12	5	http://www.ejpam.com	http://www.ejpam.com	X
ejpam-263	13	1	401	401	NUM
ejpam-263	13	2	c	c	NOUN
ejpam-263	13	3	©	©	PROPN
ejpam-263	13	4	2009	2009	NUM
ejpam-263	13	5	ejpam	ejpam	NOUN
ejpam-263	13	6	all	all	DET
ejpam-263	13	7	rights	right	NOUN
ejpam-263	13	8	reserved	reserve	VERB
ejpam-263	13	9	.	.	PUNCT
ejpam-263	14	1	b.	b.	PROPN
ejpam-263	14	2	sharma	sharma	PROPN
ejpam-263	14	3	,	,	PUNCT
ejpam-263	14	4	j.	j.	PROPN
ejpam-263	14	5	vanualailai	vanualailai	PROPN
ejpam-263	14	6	,	,	PUNCT
ejpam-263	14	7	and	and	CCONJ
ejpam-263	14	8	u.	u.	PROPN
ejpam-263	14	9	chand	chand	PROPN
ejpam-263	14	10	/	/	SYM
ejpam-263	14	11	eur	eur	PROPN
ejpam-263	14	12	.	.	PUNCT
ejpam-263	15	1	j.	j.	PROPN
ejpam-263	15	2	pure	pure	PROPN
ejpam-263	15	3	appl	appl	PROPN
ejpam-263	15	4	.	.	PROPN
ejpam-263	15	5	math	math	PROPN
ejpam-263	15	6	,	,	PUNCT
ejpam-263	15	7	2	2	NUM
ejpam-263	15	8	(	(	PUNCT
ejpam-263	15	9	2009	2009	NUM
ejpam-263	15	10	)	)	PUNCT
ejpam-263	15	11	,	,	PUNCT
ejpam-263	15	12	(	(	PUNCT
ejpam-263	15	13	401	401	NUM
ejpam-263	15	14	-	-	SYM
ejpam-263	15	15	425	425	NUM
ejpam-263	15	16	)	)	PUNCT
ejpam-263	15	17	402	402	NUM
ejpam-263	15	18	1	1	NUM
ejpam-263	15	19	.	.	PUNCT
ejpam-263	16	1	introduction	introduction	NOUN
ejpam-263	16	2	flocking	flocking	NOUN
ejpam-263	16	3	is	be	AUX
ejpam-263	16	4	a	a	DET
ejpam-263	16	5	coordinate	coordinate	ADJ
ejpam-263	16	6	and	and	CCONJ
ejpam-263	16	7	cooperative	cooperative	ADJ
ejpam-263	16	8	behavior	behavior	NOUN
ejpam-263	16	9	easily	easily	ADV
ejpam-263	16	10	conspicuous	conspicuous	ADJ
ejpam-263	16	11	in	in	ADP
ejpam-263	16	12	a	a	DET
ejpam-263	16	13	large	large	ADJ
ejpam-263	16	14	number	number	NOUN
ejpam-263	16	15	of	of	ADP
ejpam-263	16	16	beings	being	NOUN
ejpam-263	16	17	,	,	PUNCT
ejpam-263	16	18	ranging	range	VERB
ejpam-263	16	19	from	from	ADP
ejpam-263	16	20	simple	simple	ADJ
ejpam-263	16	21	bacteria	bacteria	NOUN
ejpam-263	16	22	to	to	ADP
ejpam-263	16	23	mammals	mammal	NOUN
ejpam-263	16	24	[	[	X
ejpam-263	16	25	8	8	NUM
ejpam-263	16	26	]	]	PUNCT
ejpam-263	16	27	.	.	PUNCT
ejpam-263	17	1	prominent	prominent	ADJ
ejpam-263	17	2	examples	example	NOUN
ejpam-263	17	3	from	from	ADP
ejpam-263	17	4	nature	nature	NOUN
ejpam-263	17	5	include	include	VERB
ejpam-263	17	6	:	:	PUNCT
ejpam-263	17	7	schools	school	NOUN
ejpam-263	17	8	of	of	ADP
ejpam-263	17	9	fishes	fish	NOUN
ejpam-263	17	10	,	,	PUNCT
ejpam-263	17	11	flocks	flock	NOUN
ejpam-263	17	12	of	of	ADP
ejpam-263	17	13	birds	bird	NOUN
ejpam-263	17	14	,	,	PUNCT
ejpam-263	17	15	and	and	CCONJ
ejpam-263	17	16	herds	herd	NOUN
ejpam-263	17	17	of	of	ADP
ejpam-263	17	18	animals	animal	NOUN
ejpam-263	17	19	,	,	PUNCT
ejpam-263	17	20	to	to	PART
ejpam-263	17	21	name	name	VERB
ejpam-263	17	22	a	a	DET
ejpam-263	17	23	few	few	ADJ
ejpam-263	17	24	.	.	PUNCT
ejpam-263	18	1	this	this	DET
ejpam-263	18	2	salient	salient	ADJ
ejpam-263	18	3	behavior	behavior	NOUN
ejpam-263	18	4	is	be	AUX
ejpam-263	18	5	predominantly	predominantly	ADV
ejpam-263	18	6	based	base	VERB
ejpam-263	18	7	on	on	ADP
ejpam-263	18	8	the	the	DET
ejpam-263	18	9	principle	principle	NOUN
ejpam-263	18	10	that	that	SCONJ
ejpam-263	18	11	there	there	PRON
ejpam-263	18	12	is	be	VERB
ejpam-263	18	13	safety	safety	NOUN
ejpam-263	18	14	and	and	CCONJ
ejpam-263	18	15	strength	strength	NOUN
ejpam-263	18	16	in	in	ADP
ejpam-263	18	17	numbers	number	NOUN
ejpam-263	18	18	[	[	X
ejpam-263	18	19	4	4	NUM
ejpam-263	18	20	,	,	PUNCT
ejpam-263	18	21	5	5	NUM
ejpam-263	18	22	]	]	PUNCT
ejpam-263	18	23	.	.	PUNCT
ejpam-263	19	1	for	for	ADP
ejpam-263	19	2	example	example	NOUN
ejpam-263	19	3	,	,	PUNCT
ejpam-263	19	4	a	a	DET
ejpam-263	19	5	flock	flock	NOUN
ejpam-263	19	6	of	of	ADP
ejpam-263	19	7	birds	bird	NOUN
ejpam-263	19	8	invariably	invariably	ADV
ejpam-263	19	9	demonstrates	demonstrate	VERB
ejpam-263	19	10	a	a	DET
ejpam-263	19	11	larger	large	ADJ
ejpam-263	19	12	entity	entity	NOUN
ejpam-263	19	13	and	and	CCONJ
ejpam-263	19	14	dissuades	dissuade	VERB
ejpam-263	19	15	potential	potential	ADJ
ejpam-263	19	16	attackers	attacker	NOUN
ejpam-263	19	17	.	.	PUNCT
ejpam-263	20	1	on	on	ADP
ejpam-263	20	2	the	the	DET
ejpam-263	20	3	other	other	ADJ
ejpam-263	20	4	hand	hand	NOUN
ejpam-263	20	5	,	,	PUNCT
ejpam-263	20	6	if	if	SCONJ
ejpam-263	20	7	a	a	DET
ejpam-263	20	8	flock	flock	NOUN
ejpam-263	20	9	is	be	AUX
ejpam-263	20	10	attacked	attack	VERB
ejpam-263	20	11	the	the	DET
ejpam-263	20	12	flockmates	flockmate	NOUN
ejpam-263	20	13	can	can	AUX
ejpam-263	20	14	scatter	scatter	VERB
ejpam-263	20	15	to	to	PART
ejpam-263	20	16	confuse	confuse	VERB
ejpam-263	20	17	the	the	DET
ejpam-263	20	18	predators	predator	NOUN
ejpam-263	20	19	,	,	PUNCT
ejpam-263	20	20	thus	thus	ADV
ejpam-263	20	21	avoid	avoid	VERB
ejpam-263	20	22	being	be	AUX
ejpam-263	20	23	captured	capture	VERB
ejpam-263	20	24	,	,	PUNCT
ejpam-263	20	25	then	then	ADV
ejpam-263	20	26	regroup	regroup	VERB
ejpam-263	20	27	at	at	ADP
ejpam-263	20	28	a	a	DET
ejpam-263	20	29	safer	safe	ADJ
ejpam-263	20	30	distance	distance	NOUN
ejpam-263	20	31	.	.	PUNCT
ejpam-263	21	1	flocking	flock	VERB
ejpam-263	21	2	behavior	behavior	NOUN
ejpam-263	21	3	also	also	ADV
ejpam-263	21	4	contributes	contribute	VERB
ejpam-263	21	5	to	to	ADP
ejpam-263	21	6	cooperative	cooperative	ADJ
ejpam-263	21	7	foraging	foraging	NOUN
ejpam-263	21	8	,	,	PUNCT
ejpam-263	21	9	better	well	ADJ
ejpam-263	21	10	opportunities	opportunity	NOUN
ejpam-263	21	11	for	for	ADP
ejpam-263	21	12	mating	mating	NOUN
ejpam-263	21	13	and	and	CCONJ
ejpam-263	21	14	safer	safe	ADJ
ejpam-263	21	15	long	long	ADJ
ejpam-263	21	16	distance	distance	NOUN
ejpam-263	21	17	migrations	migration	NOUN
ejpam-263	21	18	[	[	X
ejpam-263	21	19	6	6	NUM
ejpam-263	21	20	]	]	PUNCT
ejpam-263	21	21	.	.	PUNCT
ejpam-263	22	1	flocks	flock	NOUN
ejpam-263	22	2	travelling	travel	VERB
ejpam-263	22	3	in	in	ADP
ejpam-263	22	4	large	large	ADJ
ejpam-263	22	5	dense	dense	ADJ
ejpam-263	22	6	groups	group	NOUN
ejpam-263	22	7	are	be	AUX
ejpam-263	22	8	capable	capable	ADJ
ejpam-263	22	9	of	of	ADP
ejpam-263	22	10	smooth	smooth	ADJ
ejpam-263	22	11	collision	collision	NOUN
ejpam-263	22	12	and	and	CCONJ
ejpam-263	22	13	obstacle	obstacle	VERB
ejpam-263	22	14	avoidance	avoidance	NOUN
ejpam-263	22	15	maneuvers	maneuver	NOUN
ejpam-263	22	16	even	even	ADV
ejpam-263	22	17	in	in	ADP
ejpam-263	22	18	the	the	DET
ejpam-263	22	19	presence	presence	NOUN
ejpam-263	22	20	of	of	ADP
ejpam-263	22	21	external	external	ADJ
ejpam-263	22	22	obstacles	obstacle	NOUN
ejpam-263	22	23	which	which	PRON
ejpam-263	22	24	may	may	AUX
ejpam-263	22	25	be	be	AUX
ejpam-263	22	26	fixed	fix	VERB
ejpam-263	22	27	or	or	CCONJ
ejpam-263	22	28	even	even	ADV
ejpam-263	22	29	moving	move	VERB
ejpam-263	22	30	.	.	PUNCT
ejpam-263	23	1	in	in	ADP
ejpam-263	23	2	literature	literature	NOUN
ejpam-263	23	3	,	,	PUNCT
ejpam-263	23	4	the	the	DET
ejpam-263	23	5	flocking	flocking	NOUN
ejpam-263	23	6	models	model	NOUN
ejpam-263	23	7	are	be	AUX
ejpam-263	23	8	built	build	VERB
ejpam-263	23	9	within	within	ADP
ejpam-263	23	10	a	a	DET
ejpam-263	23	11	framework	framework	NOUN
ejpam-263	23	12	of	of	ADP
ejpam-263	23	13	three	three	NUM
ejpam-263	23	14	basic	basic	ADJ
ejpam-263	23	15	rules	rule	NOUN
ejpam-263	23	16	of	of	ADP
ejpam-263	23	17	steering	steering	NOUN
ejpam-263	23	18	namely	namely	ADV
ejpam-263	23	19	,	,	PUNCT
ejpam-263	23	20	separation	separation	NOUN
ejpam-263	23	21	,	,	PUNCT
ejpam-263	23	22	alignment	alignment	NOUN
ejpam-263	23	23	,	,	PUNCT
ejpam-263	23	24	and	and	CCONJ
ejpam-263	23	25	cohesion	cohesion	NOUN
ejpam-263	23	26	,	,	PUNCT
ejpam-263	23	27	which	which	PRON
ejpam-263	23	28	describe	describe	VERB
ejpam-263	23	29	how	how	SCONJ
ejpam-263	23	30	an	an	DET
ejpam-263	23	31	individual	individual	ADJ
ejpam-263	23	32	maneuvers	maneuver	NOUN
ejpam-263	23	33	based	base	VERB
ejpam-263	23	34	on	on	ADP
ejpam-263	23	35	the	the	DET
ejpam-263	23	36	positions	position	NOUN
ejpam-263	23	37	and	and	CCONJ
ejpam-263	23	38	velocities	velocity	NOUN
ejpam-263	23	39	of	of	ADP
ejpam-263	23	40	its	its	PRON
ejpam-263	23	41	nearby	nearby	ADJ
ejpam-263	23	42	flockmates	flockmate	NOUN
ejpam-263	23	43	[	[	X
ejpam-263	23	44	12	12	NUM
ejpam-263	23	45	]	]	PUNCT
ejpam-263	23	46	.	.	PUNCT
ejpam-263	24	1	although	although	SCONJ
ejpam-263	24	2	the	the	DET
ejpam-263	24	3	rules	rule	NOUN
ejpam-263	24	4	governing	govern	VERB
ejpam-263	24	5	each	each	DET
ejpam-263	24	6	member	member	NOUN
ejpam-263	24	7	of	of	ADP
ejpam-263	24	8	a	a	DET
ejpam-263	24	9	flock	flock	NOUN
ejpam-263	24	10	are	be	AUX
ejpam-263	24	11	seemingly	seemingly	ADV
ejpam-263	24	12	basic	basic	ADJ
ejpam-263	24	13	,	,	PUNCT
ejpam-263	24	14	the	the	DET
ejpam-263	24	15	collective	collective	ADJ
ejpam-263	24	16	motion	motion	NOUN
ejpam-263	24	17	is	be	AUX
ejpam-263	24	18	strikingly	strikingly	ADV
ejpam-263	24	19	spectacular	spectacular	ADJ
ejpam-263	24	20	.	.	PUNCT
ejpam-263	25	1	the	the	DET
ejpam-263	25	2	superposition	superposition	NOUN
ejpam-263	25	3	of	of	ADP
ejpam-263	25	4	these	these	DET
ejpam-263	25	5	rules	rule	NOUN
ejpam-263	25	6	results	result	VERB
ejpam-263	25	7	in	in	ADP
ejpam-263	25	8	the	the	DET
ejpam-263	25	9	flockmates	flockmate	NOUN
ejpam-263	25	10	moving	move	VERB
ejpam-263	25	11	in	in	ADP
ejpam-263	25	12	a	a	DET
ejpam-263	25	13	particular	particular	ADJ
ejpam-263	25	14	formation	formation	NOUN
ejpam-263	25	15	,	,	PUNCT
ejpam-263	25	16	with	with	ADP
ejpam-263	25	17	a	a	DET
ejpam-263	25	18	common	common	ADJ
ejpam-263	25	19	heading	heading	NOUN
ejpam-263	25	20	whilst	whilst	SCONJ
ejpam-263	25	21	ensuring	ensure	VERB
ejpam-263	25	22	all	all	DET
ejpam-263	25	23	possible	possible	ADJ
ejpam-263	25	24	collision	collision	NOUN
ejpam-263	25	25	and	and	CCONJ
ejpam-263	25	26	obstacle	obstacle	NOUN
ejpam-263	25	27	avoidances	avoidance	NOUN
ejpam-263	25	28	[	[	X
ejpam-263	25	29	16	16	NUM
ejpam-263	25	30	]	]	PUNCT
ejpam-263	25	31	.	.	PUNCT
ejpam-263	26	1	biologically	biologically	ADV
ejpam-263	26	2	inspired	inspire	VERB
ejpam-263	26	3	algorithms	algorithm	NOUN
ejpam-263	26	4	that	that	PRON
ejpam-263	26	5	mimic	mimic	VERB
ejpam-263	26	6	the	the	DET
ejpam-263	26	7	flocking	flock	VERB
ejpam-263	26	8	behavior	behavior	NOUN
ejpam-263	26	9	are	be	AUX
ejpam-263	26	10	essential	essential	ADJ
ejpam-263	26	11	in	in	ADP
ejpam-263	26	12	accomplishing	accomplish	VERB
ejpam-263	26	13	the	the	DET
ejpam-263	26	14	control	control	NOUN
ejpam-263	26	15	objective	objective	NOUN
ejpam-263	26	16	of	of	ADP
ejpam-263	26	17	a	a	DET
ejpam-263	26	18	group	group	NOUN
ejpam-263	26	19	while	while	SCONJ
ejpam-263	26	20	also	also	ADV
ejpam-263	26	21	ensuring	ensure	VERB
ejpam-263	26	22	a	a	DET
ejpam-263	26	23	collision	collision	NOUN
ejpam-263	26	24	-	-	PUNCT
ejpam-263	26	25	free	free	ADJ
ejpam-263	26	26	flightpath	flightpath	PROPN
ejpam-263	26	27	.	.	PUNCT
ejpam-263	27	1	common	common	ADJ
ejpam-263	27	2	objectives	objective	NOUN
ejpam-263	27	3	nowadays	nowadays	ADV
ejpam-263	27	4	include	include	VERB
ejpam-263	27	5	formation	formation	NOUN
ejpam-263	27	6	flight	flight	NOUN
ejpam-263	27	7	control	control	NOUN
ejpam-263	27	8	,	,	PUNCT
ejpam-263	27	9	satellite	satellite	NOUN
ejpam-263	27	10	clustering	clustering	NOUN
ejpam-263	27	11	,	,	PUNCT
ejpam-263	27	12	exploration	exploration	NOUN
ejpam-263	27	13	,	,	PUNCT
ejpam-263	27	14	surveillance	surveillance	NOUN
ejpam-263	27	15	,	,	PUNCT
ejpam-263	27	16	foraging	foraging	NOUN
ejpam-263	27	17	and	and	CCONJ
ejpam-263	27	18	cooperative	cooperative	ADJ
ejpam-263	27	19	manipulation	manipulation	NOUN
ejpam-263	27	20	[	[	X
ejpam-263	27	21	1,3,8	1,3,8	NUM
ejpam-263	27	22	]	]	X
ejpam-263	27	23	.	.	PUNCT
ejpam-263	28	1	the	the	DET
ejpam-263	28	2	applications	application	NOUN
ejpam-263	28	3	of	of	ADP
ejpam-263	28	4	foraging	forage	VERB
ejpam-263	28	5	could	could	AUX
ejpam-263	28	6	involve	involve	VERB
ejpam-263	28	7	search	search	NOUN
ejpam-263	28	8	-	-	PUNCT
ejpam-263	28	9	and	and	CCONJ
ejpam-263	28	10	-	-	PUNCT
ejpam-263	28	11	rescue	rescue	NOUN
ejpam-263	28	12	teams	team	NOUN
ejpam-263	28	13	at	at	ADP
ejpam-263	28	14	disaster	disaster	NOUN
ejpam-263	28	15	sites	site	NOUN
ejpam-263	28	16	.	.	PUNCT
ejpam-263	29	1	team(s	team(s	NOUN
ejpam-263	29	2	)	)	PUNCT
ejpam-263	29	3	of	of	ADP
ejpam-263	29	4	robots	robot	NOUN
ejpam-263	29	5	can	can	AUX
ejpam-263	29	6	be	be	AUX
ejpam-263	29	7	deployed	deploy	VERB
ejpam-263	29	8	to	to	PART
ejpam-263	29	9	collect	collect	VERB
ejpam-263	29	10	hazardous	hazardous	ADJ
ejpam-263	29	11	materials	material	NOUN
ejpam-263	29	12	after	after	ADP
ejpam-263	29	13	a	a	DET
ejpam-263	29	14	spill	spill	NOUN
ejpam-263	29	15	or	or	CCONJ
ejpam-263	29	16	other	other	ADJ
ejpam-263	29	17	b.	b.	PROPN
ejpam-263	29	18	sharma	sharma	PROPN
ejpam-263	29	19	,	,	PUNCT
ejpam-263	29	20	j.	j.	PROPN
ejpam-263	29	21	vanualailai	vanualailai	PROPN
ejpam-263	29	22	,	,	PUNCT
ejpam-263	29	23	and	and	CCONJ
ejpam-263	29	24	u.	u.	PROPN
ejpam-263	29	25	chand	chand	PROPN
ejpam-263	29	26	/	/	SYM
ejpam-263	29	27	eur	eur	PROPN
ejpam-263	29	28	.	.	PUNCT
ejpam-263	30	1	j.	j.	PROPN
ejpam-263	30	2	pure	pure	PROPN
ejpam-263	30	3	appl	appl	PROPN
ejpam-263	30	4	.	.	PROPN
ejpam-263	30	5	math	math	PROPN
ejpam-263	30	6	,	,	PUNCT
ejpam-263	30	7	2	2	NUM
ejpam-263	30	8	(	(	PUNCT
ejpam-263	30	9	2009	2009	NUM
ejpam-263	30	10	)	)	PUNCT
ejpam-263	30	11	,	,	PUNCT
ejpam-263	30	12	(	(	PUNCT
ejpam-263	30	13	401	401	NUM
ejpam-263	30	14	-	-	SYM
ejpam-263	30	15	425	425	NUM
ejpam-263	30	16	)	)	PUNCT
ejpam-263	30	17	403	403	NUM
ejpam-263	30	18	accidents	accident	NOUN
ejpam-263	30	19	in	in	ADP
ejpam-263	30	20	minimal	minimal	ADJ
ejpam-263	30	21	time	time	NOUN
ejpam-263	30	22	,	,	PUNCT
ejpam-263	30	23	hence	hence	ADV
ejpam-263	30	24	,	,	PUNCT
ejpam-263	30	25	saving	save	VERB
ejpam-263	30	26	further	further	ADJ
ejpam-263	30	27	loss	loss	NOUN
ejpam-263	30	28	.	.	PUNCT
ejpam-263	31	1	all	all	ADV
ejpam-263	31	2	in	in	ADP
ejpam-263	31	3	all	all	PRON
ejpam-263	31	4	,	,	PUNCT
ejpam-263	31	5	team(s	team(s	NOUN
ejpam-263	31	6	)	)	PUNCT
ejpam-263	31	7	of	of	ADP
ejpam-263	31	8	homogenous	homogenous	ADJ
ejpam-263	31	9	(	(	PUNCT
ejpam-263	31	10	even	even	ADV
ejpam-263	31	11	heterogenous	heterogenous	ADJ
ejpam-263	31	12	)	)	PUNCT
ejpam-263	31	13	robots	robot	NOUN
ejpam-263	31	14	working	work	VERB
ejpam-263	31	15	towards	towards	ADP
ejpam-263	31	16	a	a	DET
ejpam-263	31	17	common	common	ADJ
ejpam-263	31	18	objective	objective	NOUN
ejpam-263	31	19	can	can	AUX
ejpam-263	31	20	satisfy	satisfy	VERB
ejpam-263	31	21	stringent	stringent	ADJ
ejpam-263	31	22	time	time	NOUN
ejpam-263	31	23	,	,	PUNCT
ejpam-263	31	24	manpower	manpower	NOUN
ejpam-263	31	25	and	and	CCONJ
ejpam-263	31	26	monetary	monetary	ADJ
ejpam-263	31	27	demands	demand	NOUN
ejpam-263	31	28	,	,	PUNCT
ejpam-263	31	29	enhance	enhance	NOUN
ejpam-263	31	30	performances	performance	NOUN
ejpam-263	31	31	and	and	CCONJ
ejpam-263	31	32	robustness	robustness	NOUN
ejpam-263	31	33	,	,	PUNCT
ejpam-263	31	34	and	and	CCONJ
ejpam-263	31	35	harness	harness	NOUN
ejpam-263	31	36	desired	desire	VERB
ejpam-263	31	37	multi	multi	NOUN
ejpam-263	31	38	-	-	NOUN
ejpam-263	31	39	behaviors	behavior	NOUN
ejpam-263	31	40	,	,	PUNCT
ejpam-263	31	41	each	each	PRON
ejpam-263	31	42	of	of	ADP
ejpam-263	31	43	which	which	PRON
ejpam-263	31	44	is	be	AUX
ejpam-263	31	45	extremely	extremely	ADV
ejpam-263	31	46	difficult	difficult	ADJ
ejpam-263	31	47	if	if	SCONJ
ejpam-263	31	48	not	not	PART
ejpam-263	31	49	entirely	entirely	ADV
ejpam-263	31	50	impossible	impossible	ADJ
ejpam-263	31	51	to	to	PART
ejpam-263	31	52	obtain	obtain	VERB
ejpam-263	31	53	from	from	ADP
ejpam-263	31	54	single	single	ADJ
ejpam-263	31	55	agents	agent	NOUN
ejpam-263	31	56	[	[	X
ejpam-263	31	57	5,7,9,11	5,7,9,11	NOUN
ejpam-263	31	58	]	]	X
ejpam-263	31	59	.	.	PUNCT
ejpam-263	32	1	a	a	DET
ejpam-263	32	2	wide	wide	ADJ
ejpam-263	32	3	spectrum	spectrum	NOUN
ejpam-263	32	4	of	of	ADP
ejpam-263	32	5	approaches	approach	NOUN
ejpam-263	32	6	have	have	AUX
ejpam-263	32	7	appeared	appear	VERB
ejpam-263	32	8	in	in	ADP
ejpam-263	32	9	literature	literature	NOUN
ejpam-263	32	10	in	in	ADP
ejpam-263	32	11	relation	relation	NOUN
ejpam-263	32	12	to	to	PART
ejpam-263	32	13	"	"	PUNCT
ejpam-263	32	14	formation	formation	VERB
ejpam-263	32	15	stiffness	stiffness	NOUN
ejpam-263	32	16	"	"	PUNCT
ejpam-263	32	17	,	,	PUNCT
ejpam-263	32	18	a	a	DET
ejpam-263	32	19	rule	rule	NOUN
ejpam-263	32	20	necessitating	necessitate	VERB
ejpam-263	32	21	strict	strict	ADJ
ejpam-263	32	22	observance	observance	NOUN
ejpam-263	32	23	of	of	ADP
ejpam-263	32	24	the	the	DET
ejpam-263	32	25	prescribed	prescribed	ADJ
ejpam-263	32	26	formation	formation	NOUN
ejpam-263	32	27	during	during	ADP
ejpam-263	32	28	the	the	DET
ejpam-263	32	29	motion	motion	NOUN
ejpam-263	32	30	of	of	ADP
ejpam-263	32	31	the	the	DET
ejpam-263	32	32	flock	flock	NOUN
ejpam-263	32	33	[	[	X
ejpam-263	32	34	13	13	NUM
ejpam-263	32	35	,	,	PUNCT
ejpam-263	32	36	15	15	NUM
ejpam-263	32	37	]	]	PUNCT
ejpam-263	32	38	.	.	PUNCT
ejpam-263	33	1	on	on	ADP
ejpam-263	33	2	one	one	NUM
ejpam-263	33	3	end	end	NOUN
ejpam-263	33	4	we	we	PRON
ejpam-263	33	5	have	have	VERB
ejpam-263	33	6	the	the	DET
ejpam-263	33	7	split	split	ADJ
ejpam-263	33	8	/	/	SYM
ejpam-263	33	9	rejoin	rejoin	NOUN
ejpam-263	33	10	maneuvers	maneuver	NOUN
ejpam-263	33	11	.	.	PUNCT
ejpam-263	34	1	the	the	DET
ejpam-263	34	2	applicability	applicability	NOUN
ejpam-263	34	3	of	of	ADP
ejpam-263	34	4	the	the	DET
ejpam-263	34	5	split	split	NOUN
ejpam-263	34	6	/	/	SYM
ejpam-263	34	7	rejoin	rejoin	VERB
ejpam-263	34	8	maneuvers	maneuver	NOUN
ejpam-263	34	9	can	can	AUX
ejpam-263	34	10	be	be	AUX
ejpam-263	34	11	immediately	immediately	ADV
ejpam-263	34	12	obvious	obvious	ADJ
ejpam-263	34	13	in	in	ADP
ejpam-263	34	14	the	the	DET
ejpam-263	34	15	field	field	NOUN
ejpam-263	34	16	of	of	ADP
ejpam-263	34	17	robotics	robotic	NOUN
ejpam-263	34	18	,	,	PUNCT
ejpam-263	34	19	for	for	ADP
ejpam-263	34	20	example	example	NOUN
ejpam-263	34	21	,	,	PUNCT
ejpam-263	34	22	reconnaissance	reconnaissance	NOUN
ejpam-263	34	23	,	,	PUNCT
ejpam-263	34	24	sampling	sampling	NOUN
ejpam-263	34	25	,	,	PUNCT
ejpam-263	34	26	and	and	CCONJ
ejpam-263	34	27	surveillance	surveillance	NOUN
ejpam-263	34	28	.	.	PUNCT
ejpam-263	35	1	populating	populate	VERB
ejpam-263	35	2	the	the	DET
ejpam-263	35	3	other	other	ADJ
ejpam-263	35	4	end	end	NOUN
ejpam-263	35	5	of	of	ADP
ejpam-263	35	6	the	the	DET
ejpam-263	35	7	spectrum	spectrum	NOUN
ejpam-263	35	8	are	be	AUX
ejpam-263	35	9	the	the	DET
ejpam-263	35	10	tight	tight	ADJ
ejpam-263	35	11	-	-	PUNCT
ejpam-263	35	12	formations	formation	NOUN
ejpam-263	35	13	which	which	PRON
ejpam-263	35	14	can	can	AUX
ejpam-263	35	15	be	be	AUX
ejpam-263	35	16	required	require	VERB
ejpam-263	35	17	in	in	ADP
ejpam-263	35	18	applications	application	NOUN
ejpam-263	35	19	that	that	PRON
ejpam-263	35	20	require	require	VERB
ejpam-263	35	21	cooperative	cooperative	ADJ
ejpam-263	35	22	payload	payload	NOUN
ejpam-263	35	23	transportation	transportation	NOUN
ejpam-263	36	1	[	[	X
ejpam-263	36	2	3,9,13,15	3,9,13,15	PROPN
ejpam-263	36	3	]	]	X
ejpam-263	36	4	.	.	PUNCT
ejpam-263	37	1	the	the	DET
ejpam-263	37	2	main	main	ADJ
ejpam-263	37	3	strength	strength	NOUN
ejpam-263	37	4	of	of	ADP
ejpam-263	37	5	this	this	DET
ejpam-263	37	6	paper	paper	NOUN
ejpam-263	37	7	lies	lie	VERB
ejpam-263	37	8	on	on	ADP
ejpam-263	37	9	the	the	DET
ejpam-263	37	10	emphasis	emphasis	NOUN
ejpam-263	37	11	placed	place	VERB
ejpam-263	37	12	upon	upon	SCONJ
ejpam-263	37	13	the	the	DET
ejpam-263	37	14	split	split	NOUN
ejpam-263	37	15	/	/	SYM
ejpam-263	37	16	rejoin	rejoin	NOUN
ejpam-263	37	17	maneuvers	maneuver	NOUN
ejpam-263	37	18	,	,	PUNCT
ejpam-263	37	19	where	where	SCONJ
ejpam-263	37	20	a	a	DET
ejpam-263	37	21	group	group	NOUN
ejpam-263	37	22	of	of	ADP
ejpam-263	37	23	robots	robot	NOUN
ejpam-263	37	24	in	in	ADP
ejpam-263	37	25	a	a	DET
ejpam-263	37	26	specific	specific	ADJ
ejpam-263	37	27	formation	formation	NOUN
ejpam-263	37	28	splits	split	VERB
ejpam-263	37	29	and	and	CCONJ
ejpam-263	37	30	moves	move	NOUN
ejpam-263	37	31	around	around	ADP
ejpam-263	37	32	the	the	DET
ejpam-263	37	33	encountering	encounter	VERB
ejpam-263	37	34	obstacle(s	obstacle(s	NOUN
ejpam-263	37	35	)	)	PUNCT
ejpam-263	37	36	and	and	CCONJ
ejpam-263	37	37	then	then	ADV
ejpam-263	37	38	returns	return	VERB
ejpam-263	37	39	to	to	PART
ejpam-263	37	40	take	take	VERB
ejpam-263	37	41	its	its	PRON
ejpam-263	37	42	original	original	ADJ
ejpam-263	37	43	position	position	NOUN
ejpam-263	37	44	in	in	ADP
ejpam-263	37	45	the	the	DET
ejpam-263	37	46	prescribed	prescribed	ADJ
ejpam-263	37	47	formation	formation	NOUN
ejpam-263	37	48	.	.	PUNCT
ejpam-263	38	1	a	a	DET
ejpam-263	38	2	new	new	ADJ
ejpam-263	38	3	strategy	strategy	NOUN
ejpam-263	38	4	is	be	AUX
ejpam-263	38	5	introduced	introduce	VERB
ejpam-263	38	6	in	in	ADP
ejpam-263	38	7	this	this	DET
ejpam-263	38	8	paper	paper	NOUN
ejpam-263	38	9	to	to	PART
ejpam-263	38	10	induce	induce	VERB
ejpam-263	38	11	the	the	DET
ejpam-263	38	12	split	split	NOUN
ejpam-263	38	13	/	/	SYM
ejpam-263	38	14	rejoin	rejoin	NOUN
ejpam-263	38	15	maneuvers	maneuver	NOUN
ejpam-263	38	16	.	.	PUNCT
ejpam-263	39	1	in	in	ADP
ejpam-263	39	2	recent	recent	ADJ
ejpam-263	39	3	times	time	NOUN
ejpam-263	39	4	robotic	robotic	ADJ
ejpam-263	39	5	applications	application	NOUN
ejpam-263	39	6	with	with	ADP
ejpam-263	39	7	split	split	ADJ
ejpam-263	39	8	/	/	SYM
ejpam-263	39	9	rejoin	rejoin	VERB
ejpam-263	39	10	maneuvers	maneuver	NOUN
ejpam-263	39	11	have	have	AUX
ejpam-263	39	12	become	become	VERB
ejpam-263	39	13	increasingly	increasingly	ADV
ejpam-263	39	14	popular	popular	ADJ
ejpam-263	39	15	[	[	X
ejpam-263	39	16	3	3	NUM
ejpam-263	39	17	,	,	PUNCT
ejpam-263	39	18	17	17	NUM
ejpam-263	39	19	,	,	PUNCT
ejpam-263	39	20	18	18	NUM
ejpam-263	39	21	]	]	PUNCT
ejpam-263	39	22	.	.	PUNCT
ejpam-263	40	1	we	we	PRON
ejpam-263	40	2	will	will	AUX
ejpam-263	40	3	mention	mention	VERB
ejpam-263	40	4	a	a	DET
ejpam-263	40	5	few	few	ADJ
ejpam-263	40	6	important	important	ADJ
ejpam-263	40	7	ones	one	NOUN
ejpam-263	40	8	here	here	ADV
ejpam-263	40	9	.	.	PUNCT
ejpam-263	41	1	chang	chang	PROPN
ejpam-263	41	2	et	et	PROPN
ejpam-263	41	3	al	al	PROPN
ejpam-263	41	4	.	.	PUNCT
ejpam-263	42	1	[	[	X
ejpam-263	42	2	3	3	X
ejpam-263	42	3	]	]	PUNCT
ejpam-263	42	4	used	use	VERB
ejpam-263	42	5	gyroscopic	gyroscopic	NOUN
ejpam-263	42	6	forces	force	NOUN
ejpam-263	42	7	and	and	CCONJ
ejpam-263	42	8	scalar	scalar	ADJ
ejpam-263	42	9	potential	potential	ADJ
ejpam-263	42	10	techniques	technique	NOUN
ejpam-263	42	11	to	to	PART
ejpam-263	42	12	create	create	VERB
ejpam-263	42	13	swarming	swarm	VERB
ejpam-263	42	14	behaviors	behavior	NOUN
ejpam-263	42	15	for	for	ADP
ejpam-263	42	16	multiple	multiple	ADJ
ejpam-263	42	17	agent	agent	NOUN
ejpam-263	42	18	systems	system	NOUN
ejpam-263	42	19	.	.	PUNCT
ejpam-263	43	1	the	the	DET
ejpam-263	43	2	governing	govern	VERB
ejpam-263	43	3	decentralized	decentralize	VERB
ejpam-263	43	4	control	control	NOUN
ejpam-263	43	5	law	law	NOUN
ejpam-263	43	6	guaranteed	guarantee	VERB
ejpam-263	43	7	a	a	DET
ejpam-263	43	8	group	group	NOUN
ejpam-263	43	9	of	of	ADP
ejpam-263	43	10	robots	robot	NOUN
ejpam-263	43	11	accomplish	accomplish	VERB
ejpam-263	43	12	specified	specify	VERB
ejpam-263	43	13	control	control	NOUN
ejpam-263	43	14	objectives	objective	NOUN
ejpam-263	43	15	while	while	SCONJ
ejpam-263	43	16	avoiding	avoid	VERB
ejpam-263	43	17	interrobot	interrobot	NOUN
ejpam-263	43	18	collisions	collision	NOUN
ejpam-263	43	19	and	and	CCONJ
ejpam-263	43	20	with	with	ADP
ejpam-263	43	21	unforeseen	unforeseen	ADJ
ejpam-263	43	22	obstacles	obstacle	NOUN
ejpam-263	43	23	.	.	PUNCT
ejpam-263	44	1	[	[	X
ejpam-263	44	2	17	17	NUM
ejpam-263	44	3	,	,	PUNCT
ejpam-263	44	4	18	18	NUM
ejpam-263	44	5	]	]	PUNCT
ejpam-263	44	6	provided	provide	VERB
ejpam-263	44	7	design	design	NOUN
ejpam-263	44	8	and	and	CCONJ
ejpam-263	44	9	analysis	analysis	NOUN
ejpam-263	44	10	of	of	ADP
ejpam-263	44	11	distributed	distribute	VERB
ejpam-263	44	12	algorithms	algorithm	NOUN
ejpam-263	44	13	for	for	ADP
ejpam-263	44	14	large	large	ADJ
ejpam-263	44	15	number	number	NOUN
ejpam-263	44	16	of	of	ADP
ejpam-263	44	17	dynamic	dynamic	ADJ
ejpam-263	44	18	agents	agent	NOUN
ejpam-263	44	19	that	that	PRON
ejpam-263	44	20	enabled	enable	VERB
ejpam-263	44	21	the	the	DET
ejpam-263	44	22	group	group	NOUN
ejpam-263	44	23	to	to	PART
ejpam-263	44	24	perform	perform	VERB
ejpam-263	44	25	coordinated	coordinated	ADJ
ejpam-263	44	26	tasks	task	NOUN
ejpam-263	44	27	.	.	PUNCT
ejpam-263	45	1	free	free	ADJ
ejpam-263	45	2	-	-	PUNCT
ejpam-263	45	3	flocking	flock	VERB
ejpam-263	45	4	and	and	CCONJ
ejpam-263	45	5	flocking	flock	VERB
ejpam-263	45	6	with	with	ADP
ejpam-263	45	7	obstacle	obstacle	NOUN
ejpam-263	45	8	avoidance	avoidance	NOUN
ejpam-263	45	9	were	be	AUX
ejpam-263	45	10	considered	consider	VERB
ejpam-263	45	11	with	with	ADP
ejpam-263	45	12	split	split	NOUN
ejpam-263	45	13	/	/	SYM
ejpam-263	45	14	rejoin	rejoin	VERB
ejpam-263	45	15	and	and	CCONJ
ejpam-263	45	16	squeezing	squeeze	VERB
ejpam-263	45	17	maneuvers	maneuver	NOUN
ejpam-263	45	18	.	.	PUNCT
ejpam-263	46	1	recently	recently	ADV
ejpam-263	46	2	sharma	sharma	PROPN
ejpam-263	46	3	et	et	PROPN
ejpam-263	46	4	al	al	PROPN
ejpam-263	46	5	.	.	PUNCT
ejpam-263	47	1	[	[	X
ejpam-263	47	2	14	14	NUM
ejpam-263	47	3	,	,	PUNCT
ejpam-263	47	4	15	15	NUM
ejpam-263	47	5	]	]	PUNCT
ejpam-263	47	6	and	and	CCONJ
ejpam-263	47	7	vanualailai	vanualailai	NOUN
ejpam-263	47	8	et	et	PROPN
ejpam-263	47	9	al	al	PROPN
ejpam-263	47	10	.	.	PUNCT
ejpam-263	48	1	[	[	X
ejpam-263	48	2	19	19	NUM
ejpam-263	48	3	]	]	PUNCT
ejpam-263	48	4	developed	develop	VERB
ejpam-263	48	5	algorithms	algorithm	NOUN
ejpam-263	48	6	that	that	PRON
ejpam-263	48	7	considered	consider	VERB
ejpam-263	48	8	motion	motion	NOUN
ejpam-263	48	9	planning	planning	NOUN
ejpam-263	48	10	and	and	CCONJ
ejpam-263	48	11	control	control	NOUN
ejpam-263	48	12	of	of	ADP
ejpam-263	48	13	mobile	mobile	ADJ
ejpam-263	48	14	robots	robot	NOUN
ejpam-263	48	15	within	within	ADP
ejpam-263	48	16	a	a	DET
ejpam-263	48	17	constrained	constrain	VERB
ejpam-263	48	18	and	and	CCONJ
ejpam-263	48	19	obstacle	obstacle	NOUN
ejpam-263	48	20	-	-	PUNCT
ejpam-263	48	21	ridden	ride	VERB
ejpam-263	48	22	b.	b.	PROPN
ejpam-263	48	23	sharma	sharma	PROPN
ejpam-263	48	24	,	,	PUNCT
ejpam-263	48	25	j.	j.	PROPN
ejpam-263	48	26	vanualailai	vanualailai	PROPN
ejpam-263	48	27	,	,	PUNCT
ejpam-263	48	28	and	and	CCONJ
ejpam-263	48	29	u.	u.	PROPN
ejpam-263	48	30	chand	chand	PROPN
ejpam-263	48	31	/	/	SYM
ejpam-263	48	32	eur	eur	PROPN
ejpam-263	48	33	.	.	PUNCT
ejpam-263	49	1	j.	j.	PROPN
ejpam-263	49	2	pure	pure	PROPN
ejpam-263	49	3	appl	appl	PROPN
ejpam-263	49	4	.	.	PROPN
ejpam-263	49	5	math	math	PROPN
ejpam-263	49	6	,	,	PUNCT
ejpam-263	49	7	2	2	NUM
ejpam-263	49	8	(	(	PUNCT
ejpam-263	49	9	2009	2009	NUM
ejpam-263	49	10	)	)	PUNCT
ejpam-263	49	11	,	,	PUNCT
ejpam-263	49	12	(	(	PUNCT
ejpam-263	49	13	401	401	NUM
ejpam-263	49	14	-	-	SYM
ejpam-263	49	15	425	425	NUM
ejpam-263	49	16	)	)	PUNCT
ejpam-263	49	17	404	404	NUM
ejpam-263	49	18	workspace	workspace	NOUN
ejpam-263	49	19	.	.	PUNCT
ejpam-263	50	1	continuous	continuous	ADJ
ejpam-263	50	2	acceleration	acceleration	NOUN
ejpam-263	50	3	-	-	PUNCT
ejpam-263	50	4	based	base	VERB
ejpam-263	50	5	control	control	NOUN
ejpam-263	50	6	laws	law	NOUN
ejpam-263	50	7	derived	derive	VERB
ejpam-263	50	8	from	from	ADP
ejpam-263	50	9	the	the	DET
ejpam-263	50	10	lyapunovbased	lyapunovbase	VERB
ejpam-263	50	11	control	control	NOUN
ejpam-263	50	12	scheme	scheme	NOUN
ejpam-263	50	13	were	be	AUX
ejpam-263	50	14	utilized	utilize	VERB
ejpam-263	50	15	in	in	ADP
ejpam-263	50	16	their	their	PRON
ejpam-263	50	17	studies	study	NOUN
ejpam-263	50	18	.	.	PUNCT
ejpam-263	51	1	in	in	ADP
ejpam-263	51	2	brief	brief	NOUN
ejpam-263	51	3	,	,	PUNCT
ejpam-263	51	4	the	the	DET
ejpam-263	51	5	lyapunov	lyapunov	NOUN
ejpam-263	51	6	-	-	PUNCT
ejpam-263	51	7	based	base	VERB
ejpam-263	51	8	control	control	NOUN
ejpam-263	51	9	scheme	scheme	NOUN
ejpam-263	51	10	is	be	AUX
ejpam-263	51	11	a	a	DET
ejpam-263	51	12	new	new	ADJ
ejpam-263	51	13	artificial	artificial	ADJ
ejpam-263	51	14	potential	potential	ADJ
ejpam-263	51	15	field	field	NOUN
ejpam-263	51	16	method	method	NOUN
ejpam-263	51	17	which	which	PRON
ejpam-263	51	18	basically	basically	ADV
ejpam-263	51	19	involves	involve	VERB
ejpam-263	51	20	attaching	attach	VERB
ejpam-263	51	21	attractive	attractive	ADJ
ejpam-263	51	22	fields	field	NOUN
ejpam-263	51	23	to	to	ADP
ejpam-263	51	24	the	the	DET
ejpam-263	51	25	target	target	NOUN
ejpam-263	51	26	and	and	CCONJ
ejpam-263	51	27	repulsive	repulsive	ADJ
ejpam-263	51	28	fields	field	NOUN
ejpam-263	51	29	to	to	ADP
ejpam-263	51	30	each	each	PRON
ejpam-263	51	31	of	of	ADP
ejpam-263	51	32	the	the	DET
ejpam-263	51	33	obstacles	obstacle	NOUN
ejpam-263	51	34	[	[	X
ejpam-263	51	35	10	10	NUM
ejpam-263	51	36	]	]	PUNCT
ejpam-263	51	37	.	.	PUNCT
ejpam-263	52	1	the	the	DET
ejpam-263	52	2	total	total	ADJ
ejpam-263	52	3	potential	potential	NOUN
ejpam-263	52	4	of	of	ADP
ejpam-263	52	5	the	the	DET
ejpam-263	52	6	workspace	workspace	NOUN
ejpam-263	52	7	is	be	AUX
ejpam-263	52	8	the	the	DET
ejpam-263	52	9	sum	sum	NOUN
ejpam-263	52	10	of	of	ADP
ejpam-263	52	11	the	the	DET
ejpam-263	52	12	attractive	attractive	ADJ
ejpam-263	52	13	and	and	CCONJ
ejpam-263	52	14	repulsive	repulsive	ADJ
ejpam-263	52	15	fields	field	NOUN
ejpam-263	52	16	generated	generate	VERB
ejpam-263	52	17	within	within	ADP
ejpam-263	52	18	the	the	DET
ejpam-263	52	19	framework	framework	NOUN
ejpam-263	52	20	of	of	ADP
ejpam-263	52	21	the	the	DET
ejpam-263	52	22	control	control	NOUN
ejpam-263	52	23	scheme	scheme	NOUN
ejpam-263	52	24	.	.	PUNCT
ejpam-263	53	1	the	the	DET
ejpam-263	53	2	reader	reader	NOUN
ejpam-263	53	3	is	be	AUX
ejpam-263	53	4	referred	refer	VERB
ejpam-263	53	5	to	to	ADP
ejpam-263	53	6	[	[	X
ejpam-263	53	7	13	13	NUM
ejpam-263	53	8	]	]	PUNCT
ejpam-263	53	9	for	for	ADP
ejpam-263	53	10	a	a	DET
ejpam-263	53	11	detailed	detailed	ADJ
ejpam-263	53	12	account	account	NOUN
ejpam-263	53	13	of	of	ADP
ejpam-263	53	14	the	the	DET
ejpam-263	53	15	control	control	NOUN
ejpam-263	53	16	scheme	scheme	NOUN
ejpam-263	53	17	.	.	PUNCT
ejpam-263	54	1	inspired	inspire	VERB
ejpam-263	54	2	,	,	PUNCT
ejpam-263	54	3	we	we	PRON
ejpam-263	54	4	adopt	adopt	VERB
ejpam-263	54	5	the	the	DET
ejpam-263	54	6	control	control	NOUN
ejpam-263	54	7	scheme	scheme	NOUN
ejpam-263	54	8	to	to	PART
ejpam-263	54	9	control	control	VERB
ejpam-263	54	10	the	the	DET
ejpam-263	54	11	flocking	flocking	NOUN
ejpam-263	54	12	motion	motion	NOUN
ejpam-263	54	13	of	of	ADP
ejpam-263	54	14	a	a	DET
ejpam-263	54	15	group	group	NOUN
ejpam-263	54	16	of	of	ADP
ejpam-263	54	17	nonholonomic	nonholonomic	ADJ
ejpam-263	54	18	car	car	NOUN
ejpam-263	54	19	-	-	PUNCT
ejpam-263	54	20	like	like	ADJ
ejpam-263	54	21	vehicles	vehicle	NOUN
ejpam-263	54	22	.	.	PUNCT
ejpam-263	55	1	this	this	DET
ejpam-263	55	2	paper	paper	NOUN
ejpam-263	55	3	will	will	AUX
ejpam-263	55	4	demonstrate	demonstrate	VERB
ejpam-263	55	5	how	how	SCONJ
ejpam-263	55	6	the	the	DET
ejpam-263	55	7	group	group	NOUN
ejpam-263	55	8	can	can	AUX
ejpam-263	55	9	avoid	avoid	VERB
ejpam-263	55	10	collision	collision	NOUN
ejpam-263	55	11	with	with	ADP
ejpam-263	55	12	fixed	fix	VERB
ejpam-263	55	13	obstacles	obstacle	NOUN
ejpam-263	55	14	by	by	ADP
ejpam-263	55	15	scattering	scatter	VERB
ejpam-263	55	16	,	,	PUNCT
ejpam-263	55	17	and	and	CCONJ
ejpam-263	55	18	then	then	ADV
ejpam-263	55	19	regrouping	regroup	VERB
ejpam-263	55	20	after	after	ADP
ejpam-263	55	21	executing	execute	VERB
ejpam-263	55	22	a	a	DET
ejpam-263	55	23	successful	successful	ADJ
ejpam-263	55	24	avoidance	avoidance	NOUN
ejpam-263	55	25	maneuver	maneuver	NOUN
ejpam-263	55	26	.	.	PUNCT
ejpam-263	56	1	this	this	DET
ejpam-263	56	2	avoidance	avoidance	NOUN
ejpam-263	56	3	maneuver	maneuver	NOUN
ejpam-263	56	4	will	will	AUX
ejpam-263	56	5	be	be	AUX
ejpam-263	56	6	the	the	DET
ejpam-263	56	7	split	split	NOUN
ejpam-263	56	8	/	/	SYM
ejpam-263	56	9	rejoin	rejoin	PROPN
ejpam-263	56	10	maneuver	maneuver	NOUN
ejpam-263	56	11	,	,	PUNCT
ejpam-263	56	12	the	the	DET
ejpam-263	56	13	coin	coin	NOUN
ejpam-263	56	14	of	of	ADP
ejpam-263	56	15	realm	realm	NOUN
ejpam-263	56	16	of	of	ADP
ejpam-263	56	17	the	the	DET
ejpam-263	56	18	research	research	NOUN
ejpam-263	56	19	.	.	PUNCT
ejpam-263	57	1	in	in	ADP
ejpam-263	57	2	parallel	parallel	NOUN
ejpam-263	57	3	,	,	PUNCT
ejpam-263	57	4	the	the	DET
ejpam-263	57	5	control	control	NOUN
ejpam-263	57	6	scheme	scheme	PROPN
ejpam-263	57	7	utilizes	utilize	VERB
ejpam-263	57	8	lyapunov	lyapunov	PROPN
ejpam-263	57	9	’s	’s	PART
ejpam-263	57	10	direct	direct	ADJ
ejpam-263	57	11	method	method	NOUN
ejpam-263	57	12	to	to	PART
ejpam-263	57	13	analyze	analyze	VERB
ejpam-263	57	14	stability	stability	NOUN
ejpam-263	57	15	of	of	ADP
ejpam-263	57	16	the	the	DET
ejpam-263	57	17	vehicular	vehicular	ADJ
ejpam-263	57	18	system	system	NOUN
ejpam-263	57	19	.	.	PUNCT
ejpam-263	58	1	this	this	DET
ejpam-263	58	2	paper	paper	NOUN
ejpam-263	58	3	is	be	AUX
ejpam-263	58	4	organized	organize	VERB
ejpam-263	58	5	as	as	SCONJ
ejpam-263	58	6	follows	follow	VERB
ejpam-263	58	7	:	:	PUNCT
ejpam-263	58	8	in	in	ADP
ejpam-263	58	9	section	section	NOUN
ejpam-263	58	10	2	2	NUM
ejpam-263	58	11	the	the	DET
ejpam-263	58	12	robot	robot	NOUN
ejpam-263	58	13	model	model	NOUN
ejpam-263	58	14	is	be	AUX
ejpam-263	58	15	defined	define	VERB
ejpam-263	58	16	;	;	PUNCT
ejpam-263	58	17	in	in	ADP
ejpam-263	58	18	section	section	NOUN
ejpam-263	58	19	3	3	NUM
ejpam-263	58	20	motion	motion	NOUN
ejpam-263	58	21	planning	planning	NOUN
ejpam-263	58	22	is	be	AUX
ejpam-263	58	23	carried	carry	VERB
ejpam-263	58	24	out	out	ADP
ejpam-263	58	25	,	,	PUNCT
ejpam-263	58	26	defining	define	VERB
ejpam-263	58	27	the	the	DET
ejpam-263	58	28	targets	target	NOUN
ejpam-263	58	29	,	,	PUNCT
ejpam-263	58	30	obstacles	obstacle	NOUN
ejpam-263	58	31	,	,	PUNCT
ejpam-263	58	32	and	and	CCONJ
ejpam-263	58	33	appropriate	appropriate	ADJ
ejpam-263	58	34	attractive	attractive	ADJ
ejpam-263	58	35	and	and	CCONJ
ejpam-263	58	36	avoidance	avoidance	NOUN
ejpam-263	58	37	functions	function	NOUN
ejpam-263	58	38	;	;	PUNCT
ejpam-263	58	39	in	in	ADP
ejpam-263	58	40	section	section	NOUN
ejpam-263	58	41	4	4	NUM
ejpam-263	58	42	the	the	DET
ejpam-263	58	43	lyapunov	lyapunov	NOUN
ejpam-263	58	44	-	-	PUNCT
ejpam-263	58	45	based	base	VERB
ejpam-263	58	46	control	control	NOUN
ejpam-263	58	47	scheme	scheme	NOUN
ejpam-263	58	48	is	be	AUX
ejpam-263	58	49	executed	execute	VERB
ejpam-263	58	50	to	to	PART
ejpam-263	58	51	yield	yield	VERB
ejpam-263	58	52	the	the	DET
ejpam-263	58	53	controllers	controller	NOUN
ejpam-263	58	54	and	and	CCONJ
ejpam-263	58	55	to	to	PART
ejpam-263	58	56	analyze	analyze	VERB
ejpam-263	58	57	the	the	DET
ejpam-263	58	58	stability	stability	NOUN
ejpam-263	58	59	of	of	ADP
ejpam-263	58	60	the	the	DET
ejpam-263	58	61	robot	robot	NOUN
ejpam-263	58	62	system	system	NOUN
ejpam-263	58	63	;	;	PUNCT
ejpam-263	58	64	in	in	ADP
ejpam-263	58	65	section	section	NOUN
ejpam-263	58	66	5	5	NUM
ejpam-263	58	67	we	we	PRON
ejpam-263	58	68	illustrate	illustrate	VERB
ejpam-263	58	69	the	the	DET
ejpam-263	58	70	effectiveness	effectiveness	NOUN
ejpam-263	58	71	of	of	ADP
ejpam-263	58	72	the	the	DET
ejpam-263	58	73	proposed	propose	VERB
ejpam-263	58	74	controllers	controller	NOUN
ejpam-263	58	75	via	via	ADP
ejpam-263	58	76	simulations	simulation	NOUN
ejpam-263	58	77	involving	involve	VERB
ejpam-263	58	78	the	the	DET
ejpam-263	58	79	required	require	VERB
ejpam-263	58	80	split	split	NOUN
ejpam-263	58	81	/	/	SYM
ejpam-263	58	82	rejoin	rejoin	NOUN
ejpam-263	58	83	maneuvers	maneuver	NOUN
ejpam-263	58	84	;	;	PUNCT
ejpam-263	58	85	and	and	CCONJ
ejpam-263	58	86	in	in	ADP
ejpam-263	58	87	section	section	NOUN
ejpam-263	58	88	6	6	NUM
ejpam-263	58	89	we	we	PRON
ejpam-263	58	90	conclude	conclude	VERB
ejpam-263	58	91	the	the	DET
ejpam-263	58	92	paper	paper	NOUN
ejpam-263	58	93	and	and	CCONJ
ejpam-263	58	94	outline	outline	VERB
ejpam-263	58	95	future	future	ADJ
ejpam-263	58	96	work	work	NOUN
ejpam-263	58	97	in	in	ADP
ejpam-263	58	98	the	the	DET
ejpam-263	58	99	area	area	NOUN
ejpam-263	58	100	.	.	PUNCT
ejpam-263	59	1	b.	b.	PROPN
ejpam-263	59	2	sharma	sharma	PROPN
ejpam-263	59	3	,	,	PUNCT
ejpam-263	59	4	j.	j.	PROPN
ejpam-263	59	5	vanualailai	vanualailai	PROPN
ejpam-263	59	6	,	,	PUNCT
ejpam-263	59	7	and	and	CCONJ
ejpam-263	59	8	u.	u.	PROPN
ejpam-263	59	9	chand	chand	PROPN
ejpam-263	59	10	/	/	SYM
ejpam-263	59	11	eur	eur	PROPN
ejpam-263	59	12	.	.	PUNCT
ejpam-263	60	1	j.	j.	PROPN
ejpam-263	60	2	pure	pure	PROPN
ejpam-263	60	3	appl	appl	PROPN
ejpam-263	60	4	.	.	PROPN
ejpam-263	60	5	math	math	PROPN
ejpam-263	60	6	,	,	PUNCT
ejpam-263	60	7	2	2	NUM
ejpam-263	60	8	(	(	PUNCT
ejpam-263	60	9	2009	2009	NUM
ejpam-263	60	10	)	)	PUNCT
ejpam-263	60	11	,	,	PUNCT
ejpam-263	60	12	(	(	PUNCT
ejpam-263	60	13	401	401	NUM
ejpam-263	60	14	-	-	SYM
ejpam-263	60	15	425	425	NUM
ejpam-263	60	16	)	)	PUNCT
ejpam-263	60	17	405	405	NUM
ejpam-263	60	18	2	2	NUM
ejpam-263	60	19	.	.	PUNCT
ejpam-263	60	20	boid	boid	PROPN
ejpam-263	60	21	model	model	PROPN
ejpam-263	60	22	θi	θi	PROPN
ejpam-263	60	23	�	�	PROPN
ejpam-263	60	24	x	x	PROPN
ejpam-263	60	25	i	i	PROPN
ejpam-263	60	26	,	,	PUNCT
ejpam-263	60	27	yi	yi	PROPN
ejpam-263	60	28	�	�	PROPN
ejpam-263	60	29	υi	υi	PROPN
ejpam-263	60	30	φi	φi	PROPN
ejpam-263	60	31	l1	l1	PROPN
ejpam-263	60	32	ε1	ε1	VERB
ejpam-263	60	33	l2	l2	NOUN
ejpam-263	60	34	ε2	ε2	PROPN
ejpam-263	60	35	rv	rv	PROPN
ejpam-263	61	1	x	x	X
ejpam-263	61	2	y	y	NOUN
ejpam-263	61	3	figure	figure	NOUN
ejpam-263	61	4	1	1	NUM
ejpam-263	61	5	:	:	PUNCT
ejpam-263	61	6	kinemati	kinemati	NOUN
ejpam-263	61	7	model	model	NOUN
ejpam-263	61	8	of	of	ADP
ejpam-263	61	9	ith	ith	PROPN
ejpam-263	61	10	boid	boid	NOUN
ejpam-263	61	11	.	.	PUNCT
ejpam-263	62	1	following	follow	VERB
ejpam-263	62	2	the	the	DET
ejpam-263	62	3	nomenclature	nomenclature	NOUN
ejpam-263	62	4	of	of	ADP
ejpam-263	62	5	reynolds	reynold	NOUN
ejpam-263	62	6	[	[	X
ejpam-263	62	7	12	12	NUM
ejpam-263	62	8	]	]	PUNCT
ejpam-263	62	9	,	,	PUNCT
ejpam-263	62	10	we	we	PRON
ejpam-263	62	11	denote	denote	VERB
ejpam-263	62	12	each	each	DET
ejpam-263	62	13	member	member	NOUN
ejpam-263	62	14	of	of	ADP
ejpam-263	62	15	the	the	DET
ejpam-263	62	16	flock	flock	NOUN
ejpam-263	62	17	as	as	ADP
ejpam-263	62	18	a	a	DET
ejpam-263	62	19	boid	boid	NOUN
ejpam-263	62	20	.	.	PUNCT
ejpam-263	63	1	in	in	ADP
ejpam-263	63	2	addition	addition	NOUN
ejpam-263	63	3	,	,	PUNCT
ejpam-263	63	4	each	each	DET
ejpam-263	63	5	boid	boid	NOUN
ejpam-263	63	6	is	be	AUX
ejpam-263	63	7	assumed	assume	VERB
ejpam-263	63	8	to	to	PART
ejpam-263	63	9	be	be	AUX
ejpam-263	63	10	a	a	DET
ejpam-263	63	11	front	front	ADJ
ejpam-263	63	12	-	-	PUNCT
ejpam-263	63	13	wheel	wheel	NOUN
ejpam-263	63	14	steered	steered	ADJ
ejpam-263	63	15	car	car	NOUN
ejpam-263	63	16	-	-	PUNCT
ejpam-263	63	17	like	like	ADJ
ejpam-263	63	18	vehicle	vehicle	NOUN
ejpam-263	63	19	,	,	PUNCT
ejpam-263	63	20	whereby	whereby	SCONJ
ejpam-263	63	21	engine	engine	NOUN
ejpam-263	63	22	power	power	NOUN
ejpam-263	63	23	is	be	AUX
ejpam-263	63	24	applied	apply	VERB
ejpam-263	63	25	to	to	ADP
ejpam-263	63	26	the	the	DET
ejpam-263	63	27	rear	rear	ADJ
ejpam-263	63	28	wheels	wheel	NOUN
ejpam-263	63	29	.	.	PUNCT
ejpam-263	64	1	with	with	ADP
ejpam-263	64	2	reference	reference	NOUN
ejpam-263	64	3	to	to	ADP
ejpam-263	64	4	fig	fig	NOUN
ejpam-263	64	5	.	.	PUNCT
ejpam-263	65	1	1	1	NUM
ejpam-263	65	2	,	,	PUNCT
ejpam-263	65	3	(	(	PUNCT
ejpam-263	65	4	x	x	X
ejpam-263	65	5	i	i	PROPN
ejpam-263	65	6	,	,	PUNCT
ejpam-263	65	7	yi	yi	PROPN
ejpam-263	65	8	)	)	PUNCT
ejpam-263	65	9	denotes	denote	VERB
ejpam-263	65	10	the	the	DET
ejpam-263	65	11	com	com	NOUN
ejpam-263	65	12	of	of	ADP
ejpam-263	65	13	the	the	DET
ejpam-263	65	14	ith	ith	PROPN
ejpam-263	65	15	boid	boid	NOUN
ejpam-263	65	16	,	,	PUNCT
ejpam-263	65	17	θi	θi	PROPN
ejpam-263	65	18	gives	give	VERB
ejpam-263	65	19	its	its	PRON
ejpam-263	65	20	angle	angle	NOUN
ejpam-263	65	21	with	with	ADP
ejpam-263	65	22	respect	respect	NOUN
ejpam-263	65	23	to	to	ADP
ejpam-263	65	24	the	the	DET
ejpam-263	65	25	x	x	PUNCT
ejpam-263	65	26	-axis	-axis	NOUN
ejpam-263	65	27	of	of	ADP
ejpam-263	65	28	the	the	DET
ejpam-263	65	29	main	main	ADJ
ejpam-263	65	30	frame	frame	NOUN
ejpam-263	65	31	,	,	PUNCT
ejpam-263	65	32	φi	φi	ADV
ejpam-263	65	33	gives	give	VERB
ejpam-263	65	34	the	the	DET
ejpam-263	65	35	steering	steering	NOUN
ejpam-263	65	36	wheel	wheel	NOUN
ejpam-263	65	37	’s	’s	PART
ejpam-263	65	38	angle	angle	NOUN
ejpam-263	65	39	with	with	ADP
ejpam-263	65	40	respect	respect	NOUN
ejpam-263	65	41	to	to	ADP
ejpam-263	65	42	the	the	DET
ejpam-263	65	43	ith	ith	PROPN
ejpam-263	65	44	boid	boid	PROPN
ejpam-263	65	45	’s	’s	PART
ejpam-263	65	46	longitudinal	longitudinal	ADJ
ejpam-263	65	47	axis	axis	NOUN
ejpam-263	65	48	.	.	PUNCT
ejpam-263	66	1	for	for	ADP
ejpam-263	66	2	simplicity	simplicity	NOUN
ejpam-263	66	3	,	,	PUNCT
ejpam-263	66	4	the	the	DET
ejpam-263	66	5	dimensions	dimension	NOUN
ejpam-263	66	6	of	of	ADP
ejpam-263	66	7	the	the	DET
ejpam-263	66	8	n	n	PRON
ejpam-263	66	9	boids	boid	NOUN
ejpam-263	66	10	are	be	AUX
ejpam-263	66	11	kept	keep	VERB
ejpam-263	66	12	the	the	DET
ejpam-263	66	13	same	same	ADJ
ejpam-263	66	14	.	.	PUNCT
ejpam-263	67	1	therefore	therefore	ADV
ejpam-263	67	2	,	,	PUNCT
ejpam-263	67	3	l1	l1	PROPN
ejpam-263	67	4	is	be	AUX
ejpam-263	67	5	the	the	DET
ejpam-263	67	6	distance	distance	NOUN
ejpam-263	67	7	between	between	ADP
ejpam-263	67	8	the	the	DET
ejpam-263	67	9	center	center	NOUN
ejpam-263	67	10	of	of	ADP
ejpam-263	67	11	the	the	DET
ejpam-263	67	12	rear	rear	ADJ
ejpam-263	67	13	and	and	CCONJ
ejpam-263	67	14	front	front	ADJ
ejpam-263	67	15	axles	axle	NOUN
ejpam-263	67	16	,	,	PUNCT
ejpam-263	67	17	while	while	SCONJ
ejpam-263	67	18	l2	l2	NOUN
ejpam-263	67	19	is	be	AUX
ejpam-263	67	20	the	the	DET
ejpam-263	67	21	length	length	NOUN
ejpam-263	67	22	of	of	ADP
ejpam-263	67	23	each	each	DET
ejpam-263	67	24	axle	axle	NOUN
ejpam-263	67	25	.	.	PUNCT
ejpam-263	68	1	the	the	DET
ejpam-263	68	2	configuration	configuration	NOUN
ejpam-263	68	3	of	of	ADP
ejpam-263	68	4	the	the	DET
ejpam-263	68	5	ith	ith	PROPN
ejpam-263	68	6	boid	boid	NOUN
ejpam-263	68	7	is	be	AUX
ejpam-263	68	8	given	give	VERB
ejpam-263	68	9	by	by	ADP
ejpam-263	68	10	(	(	PUNCT
ejpam-263	68	11	x	x	PROPN
ejpam-263	68	12	i	i	PROPN
ejpam-263	68	13	,	,	PUNCT
ejpam-263	68	14	yi	yi	PROPN
ejpam-263	68	15	,	,	PUNCT
ejpam-263	68	16	θi	θi	PROPN
ejpam-263	68	17	,	,	PUNCT
ejpam-263	68	18	φi	φi	ADJ
ejpam-263	68	19	)	)	PUNCT
ejpam-263	68	20	∈	∈	PROPN
ejpam-263	68	21	r	r	NOUN
ejpam-263	68	22	4	4	NUM
ejpam-263	68	23	,	,	PUNCT
ejpam-263	68	24	and	and	CCONJ
ejpam-263	68	25	its	its	PRON
ejpam-263	68	26	position	position	NOUN
ejpam-263	68	27	is	be	AUX
ejpam-263	68	28	given	give	VERB
ejpam-263	68	29	as	as	ADP
ejpam-263	68	30	the	the	DET
ejpam-263	68	31	point	point	NOUN
ejpam-263	68	32	(	(	PUNCT
ejpam-263	68	33	x	x	X
ejpam-263	68	34	i	i	PROPN
ejpam-263	68	35	,	,	PUNCT
ejpam-263	68	36	yi	yi	PROPN
ejpam-263	68	37	)	)	PUNCT
ejpam-263	68	38	∈	∈	PROPN
ejpam-263	69	1	r	r	NOUN
ejpam-263	69	2	2	2	NUM
ejpam-263	69	3	.	.	PUNCT
ejpam-263	70	1	the	the	DET
ejpam-263	70	2	kinodynamic	kinodynamic	ADJ
ejpam-263	70	3	model	model	NOUN
ejpam-263	70	4	of	of	ADP
ejpam-263	70	5	the	the	DET
ejpam-263	70	6	ith	ith	PROPN
ejpam-263	70	7	boid	boid	NOUN
ejpam-263	70	8	,	,	PUNCT
ejpam-263	70	9	adopted	adopt	VERB
ejpam-263	70	10	from	from	ADP
ejpam-263	70	11	[	[	X
ejpam-263	70	12	14	14	NUM
ejpam-263	70	13	]	]	PUNCT
ejpam-263	70	14	,	,	PUNCT
ejpam-263	70	15	with	with	ADP
ejpam-263	70	16	respect	respect	NOUN
ejpam-263	70	17	to	to	ADP
ejpam-263	70	18	its	its	PRON
ejpam-263	70	19	com	com	NOUN
ejpam-263	70	20	is	be	AUX
ejpam-263	70	21	b.	b.	PROPN
ejpam-263	70	22	sharma	sharma	PROPN
ejpam-263	70	23	,	,	PUNCT
ejpam-263	70	24	j.	j.	PROPN
ejpam-263	70	25	vanualailai	vanualailai	PROPN
ejpam-263	70	26	,	,	PUNCT
ejpam-263	70	27	and	and	CCONJ
ejpam-263	70	28	u.	u.	PROPN
ejpam-263	70	29	chand	chand	PROPN
ejpam-263	70	30	/	/	SYM
ejpam-263	70	31	eur	eur	PROPN
ejpam-263	70	32	.	.	PUNCT
ejpam-263	71	1	j.	j.	PROPN
ejpam-263	71	2	pure	pure	PROPN
ejpam-263	71	3	appl	appl	PROPN
ejpam-263	71	4	.	.	PROPN
ejpam-263	71	5	math	math	PROPN
ejpam-263	71	6	,	,	PUNCT
ejpam-263	71	7	2	2	NUM
ejpam-263	71	8	(	(	PUNCT
ejpam-263	71	9	2009	2009	NUM
ejpam-263	71	10	)	)	PUNCT
ejpam-263	71	11	,	,	PUNCT
ejpam-263	71	12	(	(	PUNCT
ejpam-263	71	13	401	401	NUM
ejpam-263	71	14	-	-	SYM
ejpam-263	71	15	425	425	NUM
ejpam-263	71	16	)	)	PUNCT
ejpam-263	71	17	406	406	NUM
ejpam-263	72	1	ẋ	ẋ	PUNCT
ejpam-263	73	1	i	i	PRON
ejpam-263	73	2	=	=	PUNCT
ejpam-263	74	1	υi	υi	NOUN
ejpam-263	74	2	cosθi	cosθi	VERB
ejpam-263	74	3	−	−	PROPN
ejpam-263	74	4	l1	l1	PROPN
ejpam-263	74	5	2	2	NUM
ejpam-263	74	6	ωi	ωi	NUM
ejpam-263	74	7	sinθi	sinθi	NOUN
ejpam-263	74	8	,	,	PUNCT
ejpam-263	74	9	ẏi	ẏi	NOUN
ejpam-263	74	10	=	=	PUNCT
ejpam-263	75	1	υi	υi	ADP
ejpam-263	75	2	sinθi	sinθi	NOUN
ejpam-263	76	1	+	+	CCONJ
ejpam-263	76	2	l1	l1	PROPN
ejpam-263	76	3	2	2	NUM
ejpam-263	76	4	ωi	ωi	PROPN
ejpam-263	76	5	cosθi	cosθi	NOUN
ejpam-263	76	6	,	,	PUNCT
ejpam-263	76	7	θ̇i	θ̇i	PROPN
ejpam-263	76	8	=	=	PROPN
ejpam-263	76	9	ωi	ωi	X
ejpam-263	76	10	,	,	PUNCT
ejpam-263	76	11	υ̇i	υ̇i	PROPN
ejpam-263	77	1	=	=	SYM
ejpam-263	77	2	σi	σi	NOUN
ejpam-263	77	3	,	,	PUNCT
ejpam-263	77	4	ω̇i	ω̇i	PROPN
ejpam-263	77	5	=	=	PUNCT
ejpam-263	77	6	ηi	ηi	X
ejpam-263	77	7	,	,	PUNCT
ejpam-263	77	8	for	for	ADP
ejpam-263	77	9	i	i	PROPN
ejpam-263	77	10	=	=	NOUN
ejpam-263	77	11	1	1	NUM
ejpam-263	77	12	,	,	PUNCT
ejpam-263	77	13	.	.	PUNCT
ejpam-263	77	14	.	.	PUNCT
ejpam-263	77	15	.	.	PUNCT
ejpam-263	78	1	,	,	PUNCT
ejpam-263	78	2	n	n	CCONJ
ejpam-263	78	3	,	,	PUNCT
ejpam-263	78	4			PROPN
ejpam-263	78	5			PROPN
ejpam-263	78	6			PROPN
ejpam-263	78	7			PROPN
ejpam-263	78	8			PROPN
ejpam-263	78	9			PROPN
ejpam-263	78	10			ADJ
ejpam-263	78	11			PROPN
ejpam-263	78	12			PROPN
ejpam-263	78	13			PROPN
ejpam-263	78	14			NOUN
ejpam-263	78	15	(	(	PUNCT
ejpam-263	78	16	2.1	2.1	NUM
ejpam-263	78	17	)	)	PUNCT
ejpam-263	78	18	where	where	SCONJ
ejpam-263	78	19	υi	υi	NOUN
ejpam-263	78	20	and	and	CCONJ
ejpam-263	78	21	ωi	ωi	NUM
ejpam-263	78	22	are	be	AUX
ejpam-263	78	23	,	,	PUNCT
ejpam-263	78	24	respectively	respectively	ADV
ejpam-263	78	25	,	,	PUNCT
ejpam-263	78	26	the	the	DET
ejpam-263	78	27	instantaneous	instantaneous	ADJ
ejpam-263	78	28	translational	translational	ADJ
ejpam-263	78	29	and	and	CCONJ
ejpam-263	78	30	rotational	rotational	ADJ
ejpam-263	78	31	velocities	velocity	NOUN
ejpam-263	78	32	,	,	PUNCT
ejpam-263	78	33	while	while	SCONJ
ejpam-263	78	34	σi	σi	PRON
ejpam-263	78	35	and	and	CCONJ
ejpam-263	78	36	ηi	ηi	PROPN
ejpam-263	78	37	are	be	AUX
ejpam-263	78	38	the	the	DET
ejpam-263	78	39	instantaneous	instantaneous	ADJ
ejpam-263	78	40	translational	translational	ADJ
ejpam-263	78	41	and	and	CCONJ
ejpam-263	78	42	rotational	rotational	ADJ
ejpam-263	78	43	accelerations	acceleration	NOUN
ejpam-263	78	44	of	of	ADP
ejpam-263	78	45	the	the	DET
ejpam-263	78	46	ith	ith	PROPN
ejpam-263	78	47	boid	boid	NOUN
ejpam-263	78	48	.	.	PUNCT
ejpam-263	79	1	without	without	ADP
ejpam-263	79	2	any	any	DET
ejpam-263	79	3	loss	loss	NOUN
ejpam-263	79	4	of	of	ADP
ejpam-263	79	5	generality	generality	NOUN
ejpam-263	79	6	,	,	PUNCT
ejpam-263	79	7	we	we	PRON
ejpam-263	79	8	assume	assume	VERB
ejpam-263	79	9	φi	φi	ADP
ejpam-263	79	10	=	=	PROPN
ejpam-263	79	11	θi	θi	X
ejpam-263	79	12	.	.	PUNCT
ejpam-263	80	1	the	the	DET
ejpam-263	80	2	state	state	NOUN
ejpam-263	80	3	of	of	ADP
ejpam-263	80	4	ith	ith	PROPN
ejpam-263	80	5	boid	boid	NOUN
ejpam-263	80	6	is	be	AUX
ejpam-263	80	7	captured	capture	VERB
ejpam-263	80	8	by	by	ADP
ejpam-263	80	9	the	the	DET
ejpam-263	80	10	vector	vector	NOUN
ejpam-263	80	11	notation	notation	NOUN
ejpam-263	80	12	x	x	PUNCT
ejpam-263	80	13	i	i	NOUN
ejpam-263	80	14	:	:	PUNCT
ejpam-263	80	15	=	=	SYM
ejpam-263	80	16	(	(	PUNCT
ejpam-263	80	17	x	x	PROPN
ejpam-263	80	18	i	i	PROPN
ejpam-263	80	19	,	,	PUNCT
ejpam-263	80	20	yi	yi	PROPN
ejpam-263	80	21	,	,	PUNCT
ejpam-263	80	22	θi	θi	PROPN
ejpam-263	80	23	,	,	PUNCT
ejpam-263	80	24	υi	υi	NOUN
ejpam-263	80	25	,	,	PUNCT
ejpam-263	80	26	ωi	ωi	NOUN
ejpam-263	80	27	)	)	PUNCT
ejpam-263	80	28	∈	∈	PROPN
ejpam-263	80	29	r	r	NOUN
ejpam-263	80	30	5	5	NUM
ejpam-263	80	31	,	,	PUNCT
ejpam-263	80	32	i	i	PRON
ejpam-263	80	33	=	=	NOUN
ejpam-263	80	34	1	1	NUM
ejpam-263	80	35	,	,	PUNCT
ejpam-263	80	36	2	2	NUM
ejpam-263	80	37	,	,	PUNCT
ejpam-263	80	38	...	...	PUNCT
ejpam-263	80	39	,	,	PUNCT
ejpam-263	80	40	n.	n.	NOUN
ejpam-263	80	41	for	for	ADP
ejpam-263	80	42	n	n	DET
ejpam-263	80	43	boids	boid	NOUN
ejpam-263	80	44	,	,	PUNCT
ejpam-263	80	45	we	we	PRON
ejpam-263	80	46	define	define	VERB
ejpam-263	80	47	the	the	DET
ejpam-263	80	48	vector	vector	NOUN
ejpam-263	80	49	x	x	PUNCT
ejpam-263	80	50	=	=	SYM
ejpam-263	80	51	(	(	PUNCT
ejpam-263	80	52	x	x	NOUN
ejpam-263	80	53	1	1	NUM
ejpam-263	80	54	,	,	PUNCT
ejpam-263	80	55	...	...	PUNCT
ejpam-263	80	56	,	,	PUNCT
ejpam-263	80	57	x	x	PUNCT
ejpam-263	80	58	n	n	CCONJ
ejpam-263	80	59	)	)	PUNCT
ejpam-263	80	60	∈	∈	PROPN
ejpam-263	80	61	r	r	NOUN
ejpam-263	80	62	5×n	5×n	NOUN
ejpam-263	80	63	.	.	PUNCT
ejpam-263	81	1	given	give	VERB
ejpam-263	81	2	the	the	DET
ejpam-263	81	3	clearance	clearance	NOUN
ejpam-263	81	4	parameters	parameter	NOUN
ejpam-263	81	5	ε1	ε1	VERB
ejpam-263	81	6	and	and	CCONJ
ejpam-263	81	7	ε2	ε2	ADJ
ejpam-263	81	8	,	,	PUNCT
ejpam-263	81	9	we	we	PRON
ejpam-263	81	10	can	can	AUX
ejpam-263	81	11	enclose	enclose	VERB
ejpam-263	81	12	each	each	DET
ejpam-263	81	13	boid	boid	NOUN
ejpam-263	81	14	by	by	ADP
ejpam-263	81	15	a	a	DET
ejpam-263	81	16	protective	protective	ADJ
ejpam-263	81	17	circular	circular	ADJ
ejpam-263	81	18	region	region	NOUN
ejpam-263	81	19	(	(	PUNCT
ejpam-263	81	20	smallest	small	ADJ
ejpam-263	81	21	possible	possible	ADJ
ejpam-263	81	22	)	)	PUNCT
ejpam-263	81	23	centered	center	VERB
ejpam-263	81	24	at	at	ADP
ejpam-263	81	25	(	(	PUNCT
ejpam-263	81	26	x	x	PROPN
ejpam-263	81	27	i	i	PROPN
ejpam-263	81	28	,	,	PUNCT
ejpam-263	81	29	yi	yi	PROPN
ejpam-263	81	30	)	)	PUNCT
ejpam-263	81	31	,	,	PUNCT
ejpam-263	81	32	with	with	ADP
ejpam-263	81	33	radius	radius	NOUN
ejpam-263	81	34	rv	rv	PROPN
ejpam-263	82	1	=	=	SYM
ejpam-263	82	2	p	p	X
ejpam-263	82	3	(	(	PUNCT
ejpam-263	82	4	l1	l1	PROPN
ejpam-263	82	5	+	+	CCONJ
ejpam-263	82	6	2ε1	2ε1	NOUN
ejpam-263	82	7	)	)	PUNCT
ejpam-263	82	8	2	2	NUM
ejpam-263	82	9	+	+	CCONJ
ejpam-263	82	10	(	(	PUNCT
ejpam-263	82	11	l2	l2	NOUN
ejpam-263	82	12	+	+	CCONJ
ejpam-263	82	13	2ε2	2ε2	NUM
ejpam-263	82	14	)	)	PUNCT
ejpam-263	82	15	2/2	2/2	NUM
ejpam-263	82	16	.	.	PUNCT
ejpam-263	83	1	the	the	DET
ejpam-263	83	2	representation	representation	NOUN
ejpam-263	83	3	not	not	PART
ejpam-263	83	4	only	only	ADV
ejpam-263	83	5	maximizes	maximize	VERB
ejpam-263	83	6	the	the	DET
ejpam-263	83	7	free	free	ADJ
ejpam-263	83	8	space	space	NOUN
ejpam-263	83	9	available	available	ADJ
ejpam-263	83	10	to	to	ADP
ejpam-263	83	11	the	the	DET
ejpam-263	83	12	robots	robot	NOUN
ejpam-263	83	13	in	in	ADP
ejpam-263	83	14	the	the	DET
ejpam-263	83	15	workspace	workspace	NOUN
ejpam-263	83	16	but	but	CCONJ
ejpam-263	83	17	it	it	PRON
ejpam-263	83	18	also	also	ADV
ejpam-263	83	19	ensures	ensure	VERB
ejpam-263	83	20	an	an	DET
ejpam-263	83	21	easier	easy	ADJ
ejpam-263	83	22	construction	construction	NOUN
ejpam-263	83	23	of	of	ADP
ejpam-263	83	24	the	the	DET
ejpam-263	83	25	potential	potential	ADJ
ejpam-263	83	26	field	field	NOUN
ejpam-263	83	27	functions	function	NOUN
ejpam-263	83	28	(	(	PUNCT
ejpam-263	83	29	[	[	X
ejpam-263	83	30	13	13	NUM
ejpam-263	83	31	]	]	PUNCT
ejpam-263	83	32	,	,	PUNCT
ejpam-263	83	33	[	[	X
ejpam-263	83	34	14	14	NUM
ejpam-263	83	35	]	]	PUNCT
ejpam-263	83	36	)	)	PUNCT
ejpam-263	83	37	.	.	PUNCT
ejpam-263	84	1	3	3	X
ejpam-263	84	2	.	.	X
ejpam-263	84	3	devising	devise	VERB
ejpam-263	84	4	the	the	DET
ejpam-263	84	5	problem	problem	NOUN
ejpam-263	84	6	in	in	ADP
ejpam-263	84	7	this	this	DET
ejpam-263	84	8	section	section	NOUN
ejpam-263	84	9	we	we	PRON
ejpam-263	84	10	formulate	formulate	VERB
ejpam-263	84	11	the	the	DET
ejpam-263	84	12	split	split	NOUN
ejpam-263	84	13	/	/	SYM
ejpam-263	84	14	rejoin	rejoin	NOUN
ejpam-263	84	15	maneuver	maneuver	NOUN
ejpam-263	84	16	for	for	ADP
ejpam-263	84	17	a	a	DET
ejpam-263	84	18	flock	flock	NOUN
ejpam-263	84	19	of	of	ADP
ejpam-263	84	20	n	n	CCONJ
ejpam-263	84	21	nonholonomic	nonholonomic	ADJ
ejpam-263	84	22	boids	boid	NOUN
ejpam-263	84	23	,	,	PUNCT
ejpam-263	84	24	guided	guide	VERB
ejpam-263	84	25	by	by	ADP
ejpam-263	84	26	a	a	DET
ejpam-263	84	27	leader	leader	NOUN
ejpam-263	84	28	-	-	PUNCT
ejpam-263	84	29	follower	follower	NOUN
ejpam-263	84	30	strategy	strategy	NOUN
ejpam-263	84	31	.	.	PUNCT
ejpam-263	85	1	in	in	ADP
ejpam-263	85	2	a	a	DET
ejpam-263	85	3	split	split	NOUN
ejpam-263	85	4	/	/	SYM
ejpam-263	85	5	rejoin	rejoin	NOUN
ejpam-263	85	6	maneuver	maneuver	NOUN
ejpam-263	85	7	a	a	DET
ejpam-263	85	8	flock	flock	NOUN
ejpam-263	85	9	maintained	maintain	VERB
ejpam-263	85	10	in	in	ADP
ejpam-263	85	11	a	a	DET
ejpam-263	85	12	prescribed	prescribed	ADJ
ejpam-263	85	13	formation	formation	NOUN
ejpam-263	85	14	splits	split	VERB
ejpam-263	85	15	and	and	CCONJ
ejpam-263	85	16	moves	move	NOUN
ejpam-263	85	17	around	around	ADP
ejpam-263	85	18	encountering	encounter	VERB
ejpam-263	85	19	obstacle(s	obstacle(s	NOUN
ejpam-263	85	20	)	)	PUNCT
ejpam-263	85	21	and	and	CCONJ
ejpam-263	85	22	then	then	ADV
ejpam-263	85	23	returns	return	VERB
ejpam-263	85	24	to	to	PART
ejpam-263	85	25	take	take	VERB
ejpam-263	85	26	its	its	PRON
ejpam-263	85	27	original	original	ADJ
ejpam-263	85	28	position	position	NOUN
ejpam-263	85	29	in	in	ADP
ejpam-263	85	30	the	the	DET
ejpam-263	85	31	original	original	ADJ
ejpam-263	85	32	formation	formation	NOUN
ejpam-263	85	33	.	.	PUNCT
ejpam-263	86	1	the	the	DET
ejpam-263	86	2	lyapunov	lyapunov	NOUN
ejpam-263	86	3	-	-	PUNCT
ejpam-263	86	4	based	base	VERB
ejpam-263	86	5	control	control	NOUN
ejpam-263	86	6	scheme	scheme	NOUN
ejpam-263	86	7	requires	require	VERB
ejpam-263	86	8	the	the	DET
ejpam-263	86	9	design	design	NOUN
ejpam-263	86	10	of	of	ADP
ejpam-263	86	11	target	target	NOUN
ejpam-263	86	12	attractive	attractive	ADJ
ejpam-263	86	13	functions	function	NOUN
ejpam-263	86	14	and	and	CCONJ
ejpam-263	86	15	obstacle	obstacle	NOUN
ejpam-263	86	16	avoidance	avoidance	NOUN
ejpam-263	86	17	functions	function	NOUN
ejpam-263	86	18	.	.	PUNCT
ejpam-263	87	1	on	on	ADP
ejpam-263	87	2	one	one	NUM
ejpam-263	87	3	hand	hand	NOUN
ejpam-263	87	4	,	,	PUNCT
ejpam-263	87	5	a	a	DET
ejpam-263	87	6	attractive	attractive	ADJ
ejpam-263	87	7	potential	potential	ADJ
ejpam-263	87	8	field	field	NOUN
ejpam-263	87	9	function	function	NOUN
ejpam-263	87	10	will	will	AUX
ejpam-263	87	11	be	be	AUX
ejpam-263	87	12	constructed	construct	VERB
ejpam-263	87	13	from	from	ADP
ejpam-263	87	14	each	each	DET
ejpam-263	87	15	target	target	NOUN
ejpam-263	87	16	attractive	attractive	ADJ
ejpam-263	87	17	function	function	NOUN
ejpam-263	87	18	.	.	PUNCT
ejpam-263	88	1	this	this	PRON
ejpam-263	88	2	will	will	AUX
ejpam-263	88	3	enable	enable	VERB
ejpam-263	88	4	a	a	DET
ejpam-263	88	5	boid	boid	NOUN
ejpam-263	88	6	to	to	PART
ejpam-263	88	7	move	move	VERB
ejpam-263	88	8	towards	towards	ADP
ejpam-263	88	9	its	its	PRON
ejpam-263	88	10	designated	designate	VERB
ejpam-263	88	11	targets	target	NOUN
ejpam-263	88	12	whilst	whilst	SCONJ
ejpam-263	88	13	maintaining	maintain	VERB
ejpam-263	88	14	the	the	DET
ejpam-263	88	15	overall	overall	ADJ
ejpam-263	88	16	formation	formation	NOUN
ejpam-263	88	17	.	.	PUNCT
ejpam-263	89	1	on	on	ADP
ejpam-263	89	2	the	the	DET
ejpam-263	89	3	other	other	ADJ
ejpam-263	89	4	hand	hand	NOUN
ejpam-263	89	5	,	,	PUNCT
ejpam-263	89	6	a	a	DET
ejpam-263	89	7	repulsive	repulsive	ADJ
ejpam-263	89	8	potential	potential	ADJ
ejpam-263	89	9	field	field	NOUN
ejpam-263	89	10	function	function	NOUN
ejpam-263	89	11	would	would	AUX
ejpam-263	89	12	be	be	AUX
ejpam-263	89	13	designed	design	VERB
ejpam-263	89	14	from	from	ADP
ejpam-263	89	15	each	each	DET
ejpam-263	89	16	obstacle	obstacle	NOUN
ejpam-263	89	17	avoidance	avoidance	NOUN
ejpam-263	89	18	function	function	NOUN
ejpam-263	89	19	constructed	construct	VERB
ejpam-263	89	20	.	.	PUNCT
ejpam-263	90	1	this	this	PRON
ejpam-263	90	2	will	will	AUX
ejpam-263	90	3	ensure	ensure	VERB
ejpam-263	90	4	a	a	DET
ejpam-263	90	5	collision	collision	NOUN
ejpam-263	90	6	-	-	PUNCT
ejpam-263	90	7	free	free	ADJ
ejpam-263	90	8	avoidance	avoidance	NOUN
ejpam-263	90	9	in	in	ADP
ejpam-263	90	10	the	the	DET
ejpam-263	90	11	workspace	workspace	NOUN
ejpam-263	90	12	.	.	PUNCT
ejpam-263	91	1	next	next	ADV
ejpam-263	91	2	,	,	PUNCT
ejpam-263	91	3	these	these	DET
ejpam-263	91	4	artificial	artificial	ADJ
ejpam-263	91	5	potential	potential	ADJ
ejpam-263	91	6	field	field	NOUN
ejpam-263	91	7	functions	function	NOUN
ejpam-263	91	8	would	would	AUX
ejpam-263	91	9	be	be	AUX
ejpam-263	91	10	integrated	integrate	VERB
ejpam-263	91	11	apb	apb	NOUN
ejpam-263	91	12	.	.	PUNCT
ejpam-263	91	13	sharma	sharma	PROPN
ejpam-263	91	14	,	,	PUNCT
ejpam-263	91	15	j.	j.	PROPN
ejpam-263	91	16	vanualailai	vanualailai	PROPN
ejpam-263	91	17	,	,	PUNCT
ejpam-263	91	18	and	and	CCONJ
ejpam-263	91	19	u.	u.	PROPN
ejpam-263	91	20	chand	chand	PROPN
ejpam-263	91	21	/	/	SYM
ejpam-263	91	22	eur	eur	PROPN
ejpam-263	91	23	.	.	PUNCT
ejpam-263	92	1	j.	j.	PROPN
ejpam-263	92	2	pure	pure	PROPN
ejpam-263	92	3	appl	appl	PROPN
ejpam-263	92	4	.	.	PROPN
ejpam-263	92	5	math	math	PROPN
ejpam-263	92	6	,	,	PUNCT
ejpam-263	92	7	2	2	NUM
ejpam-263	92	8	(	(	PUNCT
ejpam-263	92	9	2009	2009	NUM
ejpam-263	92	10	)	)	PUNCT
ejpam-263	92	11	,	,	PUNCT
ejpam-263	92	12	(	(	PUNCT
ejpam-263	92	13	401	401	NUM
ejpam-263	92	14	-	-	SYM
ejpam-263	92	15	425	425	NUM
ejpam-263	92	16	)	)	PUNCT
ejpam-263	92	17	407	407	NUM
ejpam-263	92	18	propriately	propriately	NOUN
ejpam-263	92	19	to	to	PART
ejpam-263	92	20	form	form	VERB
ejpam-263	92	21	a	a	DET
ejpam-263	92	22	lyapunov	lyapunov	ADJ
ejpam-263	92	23	function	function	NOUN
ejpam-263	92	24	(	(	PUNCT
ejpam-263	92	25	total	total	ADJ
ejpam-263	92	26	potentials	potential	NOUN
ejpam-263	92	27	)	)	PUNCT
ejpam-263	92	28	from	from	ADP
ejpam-263	92	29	which	which	PRON
ejpam-263	92	30	the	the	DET
ejpam-263	92	31	controllers	controller	NOUN
ejpam-263	92	32	would	would	AUX
ejpam-263	92	33	be	be	AUX
ejpam-263	92	34	generated	generate	VERB
ejpam-263	92	35	.	.	PUNCT
ejpam-263	93	1	3.1	3.1	NUM
ejpam-263	93	2	.	.	PUNCT
ejpam-263	94	1	attractive	attractive	ADJ
ejpam-263	94	2	potential	potential	ADJ
ejpam-263	94	3	field	field	NOUN
ejpam-263	94	4	functions	function	NOUN
ejpam-263	94	5	to	to	PART
ejpam-263	94	6	formulate	formulate	VERB
ejpam-263	94	7	functions	function	NOUN
ejpam-263	94	8	that	that	PRON
ejpam-263	94	9	instigate	instigate	VERB
ejpam-263	94	10	attraction	attraction	NOUN
ejpam-263	94	11	of	of	ADP
ejpam-263	94	12	the	the	DET
ejpam-263	94	13	boids	boid	NOUN
ejpam-263	94	14	towards	towards	ADP
ejpam-263	94	15	their	their	PRON
ejpam-263	94	16	designated	designate	VERB
ejpam-263	94	17	targets	target	NOUN
ejpam-263	94	18	we	we	PRON
ejpam-263	94	19	,	,	PUNCT
ejpam-263	94	20	first	first	ADV
ejpam-263	94	21	and	and	CCONJ
ejpam-263	94	22	foremost	foremost	ADV
ejpam-263	94	23	,	,	PUNCT
ejpam-263	94	24	need	need	VERB
ejpam-263	94	25	to	to	PART
ejpam-263	94	26	introduce	introduce	VERB
ejpam-263	94	27	a	a	DET
ejpam-263	94	28	new	new	ADJ
ejpam-263	94	29	leader	leader	NOUN
ejpam-263	94	30	-	-	PUNCT
ejpam-263	94	31	follower	follower	NOUN
ejpam-263	94	32	strategy	strategy	NOUN
ejpam-263	94	33	.	.	PUNCT
ejpam-263	95	1	this	this	DET
ejpam-263	95	2	new	new	ADJ
ejpam-263	95	3	strategy	strategy	NOUN
ejpam-263	95	4	helps	help	VERB
ejpam-263	95	5	in	in	ADP
ejpam-263	95	6	establishing	establish	VERB
ejpam-263	95	7	and	and	CCONJ
ejpam-263	95	8	maintaining	maintain	VERB
ejpam-263	95	9	prescribed	prescribed	ADJ
ejpam-263	95	10	formations	formation	NOUN
ejpam-263	95	11	.	.	PUNCT
ejpam-263	96	1	bi	bi	NOUN
ejpam-263	96	2	ai	ai	PROPN
ejpam-263	96	3	(	(	PUNCT
ejpam-263	96	4	x	x	PROPN
ejpam-263	96	5	i	i	PRON
ejpam-263	96	6	,	,	PUNCT
ejpam-263	96	7	yi	yi	PROPN
ejpam-263	96	8	)	)	PUNCT
ejpam-263	96	9	(	(	PUNCT
ejpam-263	96	10	x1	x1	PROPN
ejpam-263	96	11	,	,	PUNCT
ejpam-263	96	12	y1	y1	PROPN
ejpam-263	96	13	)	)	PUNCT
ejpam-263	96	14	(	(	PUNCT
ejpam-263	96	15	x1	x1	INTJ
ejpam-263	96	16	−	−	NOUN
ejpam-263	96	17	ai	ai	INTJ
ejpam-263	96	18	,	,	PUNCT
ejpam-263	96	19	y1	y1	INTJ
ejpam-263	96	20	−	−	PROPN
ejpam-263	96	21	bi	bi	NOUN
ejpam-263	96	22	)	)	PUNCT
ejpam-263	96	23	leader	leader	NOUN
ejpam-263	96	24	ith	ith	PROPN
ejpam-263	96	25	boid	boid	NOUN
ejpam-263	96	26	the	the	DET
ejpam-263	96	27	ith	ith	PROPN
ejpam-263	96	28	boid	boid	NOUN
ejpam-263	96	29	ghost	ghost	NOUN
ejpam-263	96	30	target	target	NOUN
ejpam-263	96	31	of	of	ADP
ejpam-263	96	32	figure	figure	NOUN
ejpam-263	96	33	2	2	NUM
ejpam-263	96	34	:	:	PUNCT
ejpam-263	96	35	positioning	positioning	NOUN
ejpam-263	96	36	of	of	ADP
ejpam-263	96	37	a	a	DET
ejpam-263	96	38	mobile	mobile	ADJ
ejpam-263	96	39	ghost	ghost	NOUN
ejpam-263	96	40	targetrelative	targetrelative	ADJ
ejpam-263	96	41	to	to	ADP
ejpam-263	96	42	the	the	DET
ejpam-263	96	43	position	position	NOUN
ejpam-263	96	44	of	of	ADP
ejpam-263	96	45	the	the	DET
ejpam-263	96	46	leader	leader	NOUN
ejpam-263	96	47	-	-	PUNCT
ejpam-263	96	48	boid	boid	NOUN
ejpam-263	96	49	.	.	PUNCT
ejpam-263	97	1	the	the	DET
ejpam-263	97	2	new	new	ADJ
ejpam-263	97	3	leader	leader	NOUN
ejpam-263	97	4	-	-	PUNCT
ejpam-263	97	5	follower	follower	NOUN
ejpam-263	97	6	strategy	strategy	NOUN
ejpam-263	97	7	summons	summon	VERB
ejpam-263	97	8	the	the	DET
ejpam-263	97	9	boids	boid	NOUN
ejpam-263	97	10	of	of	ADP
ejpam-263	97	11	the	the	DET
ejpam-263	97	12	flock	flock	NOUN
ejpam-263	97	13	to	to	PART
ejpam-263	97	14	follow	follow	VERB
ejpam-263	97	15	one	one	NUM
ejpam-263	97	16	particular	particular	ADJ
ejpam-263	97	17	boid	boid	NOUN
ejpam-263	97	18	which	which	PRON
ejpam-263	97	19	is	be	AUX
ejpam-263	97	20	adopted	adopt	VERB
ejpam-263	97	21	as	as	ADP
ejpam-263	97	22	the	the	DET
ejpam-263	97	23	leader	leader	NOUN
ejpam-263	97	24	-	-	PUNCT
ejpam-263	97	25	boid	boid	NOUN
ejpam-263	97	26	.	.	PUNCT
ejpam-263	98	1	this	this	DET
ejpam-263	98	2	strategy	strategy	NOUN
ejpam-263	98	3	is	be	AUX
ejpam-263	98	4	advocated	advocate	VERB
ejpam-263	98	5	for	for	ADP
ejpam-263	98	6	the	the	DET
ejpam-263	98	7	very	very	ADV
ejpam-263	98	8	first	first	ADJ
ejpam-263	98	9	time	time	NOUN
ejpam-263	98	10	via	via	ADP
ejpam-263	98	11	mobile	mobile	ADJ
ejpam-263	98	12	ghost	ghost	NOUN
ejpam-263	98	13	targets	target	NOUN
ejpam-263	98	14	.	.	PUNCT
ejpam-263	99	1	these	these	DET
ejpam-263	99	2	ghost	ghost	NOUN
ejpam-263	99	3	targets	target	NOUN
ejpam-263	99	4	are	be	AUX
ejpam-263	99	5	positioned	position	VERB
ejpam-263	99	6	relative	relative	ADJ
ejpam-263	99	7	to	to	ADP
ejpam-263	99	8	the	the	DET
ejpam-263	99	9	position	position	NOUN
ejpam-263	99	10	of	of	ADP
ejpam-263	99	11	the	the	DET
ejpam-263	99	12	leader	leader	NOUN
ejpam-263	99	13	-	-	PUNCT
ejpam-263	99	14	boid	boid	NOUN
ejpam-263	99	15	with	with	ADP
ejpam-263	99	16	a	a	DET
ejpam-263	99	17	user	user	NOUN
ejpam-263	99	18	defined	define	VERB
ejpam-263	99	19	euclidean	euclidean	ADJ
ejpam-263	99	20	measure	measure	NOUN
ejpam-263	99	21	(	(	PUNCT
ejpam-263	99	22	figure	figure	NOUN
ejpam-263	99	23	2	2	NUM
ejpam-263	99	24	)	)	PUNCT
ejpam-263	99	25	.	.	PUNCT
ejpam-263	100	1	we	we	PRON
ejpam-263	100	2	note	note	VERB
ejpam-263	100	3	here	here	ADV
ejpam-263	100	4	that	that	SCONJ
ejpam-263	100	5	each	each	DET
ejpam-263	100	6	follower	follower	NOUN
ejpam-263	100	7	-	-	PUNCT
ejpam-263	100	8	robot	robot	NOUN
ejpam-263	100	9	will	will	AUX
ejpam-263	100	10	have	have	VERB
ejpam-263	100	11	a	a	DET
ejpam-263	100	12	different	different	ADJ
ejpam-263	100	13	mobile	mobile	ADJ
ejpam-263	100	14	ghost	ghost	NOUN
ejpam-263	100	15	target	target	NOUN
ejpam-263	100	16	designated	designate	VERB
ejpam-263	100	17	to	to	ADP
ejpam-263	100	18	it	it	PRON
ejpam-263	100	19	.	.	PUNCT
ejpam-263	101	1	while	while	SCONJ
ejpam-263	101	2	the	the	DET
ejpam-263	101	3	mobile	mobile	ADJ
ejpam-263	101	4	ghost	ghost	NOUN
ejpam-263	101	5	targets	target	NOUN
ejpam-263	101	6	move	move	VERB
ejpam-263	101	7	relative	relative	ADJ
ejpam-263	101	8	to	to	ADP
ejpam-263	101	9	the	the	DET
ejpam-263	101	10	position	position	NOUN
ejpam-263	101	11	of	of	ADP
ejpam-263	101	12	the	the	DET
ejpam-263	101	13	leader	leader	NOUN
ejpam-263	101	14	-	-	PUNCT
ejpam-263	101	15	boid	boid	NOUN
ejpam-263	101	16	,	,	PUNCT
ejpam-263	101	17	the	the	DET
ejpam-263	101	18	follower	follower	NOUN
ejpam-263	101	19	-	-	PUNCT
ejpam-263	101	20	boids	boid	NOUN
ejpam-263	101	21	move	move	VERB
ejpam-263	101	22	towards	towards	ADP
ejpam-263	101	23	the	the	DET
ejpam-263	101	24	ghost	ghost	NOUN
ejpam-263	101	25	targets	target	NOUN
ejpam-263	101	26	designated	designate	VERB
ejpam-263	101	27	to	to	ADP
ejpam-263	101	28	them	they	PRON
ejpam-263	101	29	,	,	PUNCT
ejpam-263	101	30	at	at	ADP
ejpam-263	101	31	every	every	DET
ejpam-263	101	32	iteration	iteration	NOUN
ejpam-263	101	33	t	t	PROPN
ejpam-263	101	34	>	>	X
ejpam-263	101	35	0	0	PROPN
ejpam-263	101	36	.	.	PUNCT
ejpam-263	101	37	b.	b.	PROPN
ejpam-263	101	38	sharma	sharma	PROPN
ejpam-263	101	39	,	,	PUNCT
ejpam-263	101	40	j.	j.	PROPN
ejpam-263	101	41	vanualailai	vanualailai	PROPN
ejpam-263	101	42	,	,	PUNCT
ejpam-263	101	43	and	and	CCONJ
ejpam-263	101	44	u.	u.	PROPN
ejpam-263	101	45	chand	chand	PROPN
ejpam-263	101	46	/	/	SYM
ejpam-263	101	47	eur	eur	PROPN
ejpam-263	101	48	.	.	PUNCT
ejpam-263	102	1	j.	j.	PROPN
ejpam-263	102	2	pure	pure	PROPN
ejpam-263	102	3	appl	appl	PROPN
ejpam-263	102	4	.	.	PROPN
ejpam-263	102	5	math	math	PROPN
ejpam-263	102	6	,	,	PUNCT
ejpam-263	102	7	2	2	NUM
ejpam-263	102	8	(	(	PUNCT
ejpam-263	102	9	2009	2009	NUM
ejpam-263	102	10	)	)	PUNCT
ejpam-263	102	11	,	,	PUNCT
ejpam-263	102	12	(	(	PUNCT
ejpam-263	102	13	401	401	NUM
ejpam-263	102	14	-	-	SYM
ejpam-263	102	15	425	425	NUM
ejpam-263	102	16	)	)	PUNCT
ejpam-263	102	17	408	408	NUM
ejpam-263	102	18	3.1.1	3.1.1	NUM
ejpam-263	102	19	.	.	PUNCT
ejpam-263	103	1	attraction	attraction	NOUN
ejpam-263	103	2	to	to	PART
ejpam-263	103	3	target	target	VERB
ejpam-263	103	4	/	/	SYM
ejpam-263	103	5	ghost	ghost	NOUN
ejpam-263	103	6	target	target	NOUN
ejpam-263	103	7	for	for	ADP
ejpam-263	103	8	the	the	DET
ejpam-263	103	9	ith	ith	PROPN
ejpam-263	103	10	boid	boid	NOUN
ejpam-263	103	11	,	,	PUNCT
ejpam-263	103	12	we	we	PRON
ejpam-263	103	13	designate	designate	VERB
ejpam-263	103	14	a	a	DET
ejpam-263	103	15	target	target	NOUN
ejpam-263	103	16	ti	ti	NOUN
ejpam-263	103	17	=	=	SYM
ejpam-263	103	18	{	{	PUNCT
ejpam-263	103	19	(	(	PUNCT
ejpam-263	103	20	x	x	INTJ
ejpam-263	103	21	,	,	PUNCT
ejpam-263	103	22	y	y	PROPN
ejpam-263	103	23	)	)	PUNCT
ejpam-263	103	24	∈	∈	PROPN
ejpam-263	103	25	r2	r2	NOUN
ejpam-263	103	26	:	:	PUNCT
ejpam-263	103	27	(	(	PUNCT
ejpam-263	103	28	x	x	X
ejpam-263	103	29	−	−	PROPN
ejpam-263	103	30	t	t	PROPN
ejpam-263	103	31	i1	i1	PROPN
ejpam-263	103	32	)	)	PUNCT
ejpam-263	103	33	2	2	NUM
ejpam-263	104	1	+	+	CCONJ
ejpam-263	104	2	(	(	PUNCT
ejpam-263	104	3	y	y	PROPN
ejpam-263	104	4	−	−	PROPN
ejpam-263	104	5	t	t	PROPN
ejpam-263	104	6	i2	i2	PROPN
ejpam-263	104	7	)	)	PUNCT
ejpam-263	104	8	2	2	NUM
ejpam-263	104	9	≤	≤	NOUN
ejpam-263	104	10	r	r	NOUN
ejpam-263	104	11	t2	t2	NOUN
ejpam-263	104	12	i	i	PRON
ejpam-263	104	13	}	}	PUNCT
ejpam-263	104	14	with	with	ADP
ejpam-263	104	15	center	center	NOUN
ejpam-263	104	16	(	(	PUNCT
ejpam-263	104	17	t	t	PROPN
ejpam-263	104	18	i1	i1	PROPN
ejpam-263	104	19	,	,	PUNCT
ejpam-263	104	20	t	t	PROPN
ejpam-263	104	21	i2	i2	PROPN
ejpam-263	104	22	)	)	PUNCT
ejpam-263	104	23	and	and	CCONJ
ejpam-263	104	24	radius	radius	NOUN
ejpam-263	104	25	r	r	PROPN
ejpam-263	104	26	t	t	PROPN
ejpam-263	104	27	i.	i.	NOUN
ejpam-263	104	28	the	the	DET
ejpam-263	104	29	leader	leader	NOUN
ejpam-263	104	30	-	-	PUNCT
ejpam-263	104	31	boid	boid	NOUN
ejpam-263	104	32	(	(	PUNCT
ejpam-263	104	33	i=1	i=1	X
ejpam-263	104	34	)	)	PUNCT
ejpam-263	104	35	will	will	AUX
ejpam-263	104	36	move	move	VERB
ejpam-263	104	37	towards	towards	ADP
ejpam-263	104	38	its	its	PRON
ejpam-263	104	39	target	target	NOUN
ejpam-263	104	40	with	with	ADP
ejpam-263	104	41	center	center	NOUN
ejpam-263	104	42	(	(	PUNCT
ejpam-263	104	43	t11	t11	NOUN
ejpam-263	104	44	,	,	PUNCT
ejpam-263	104	45	t12	t12	PROPN
ejpam-263	104	46	)	)	PUNCT
ejpam-263	104	47	.	.	PUNCT
ejpam-263	105	1	now	now	ADV
ejpam-263	105	2	,	,	PUNCT
ejpam-263	105	3	with	with	ADP
ejpam-263	105	4	respect	respect	NOUN
ejpam-263	105	5	to	to	ADP
ejpam-263	105	6	the	the	DET
ejpam-263	105	7	follower	follower	NOUN
ejpam-263	105	8	-	-	PUNCT
ejpam-263	105	9	boids	boid	NOUN
ejpam-263	105	10	,	,	PUNCT
ejpam-263	105	11	the	the	DET
ejpam-263	105	12	mobile	mobile	ADJ
ejpam-263	105	13	ghost	ghost	NOUN
ejpam-263	105	14	targets	target	NOUN
ejpam-263	105	15	allocated	allocate	VERB
ejpam-263	105	16	to	to	ADP
ejpam-263	105	17	each	each	PRON
ejpam-263	105	18	will	will	AUX
ejpam-263	105	19	be	be	AUX
ejpam-263	105	20	positioned	position	VERB
ejpam-263	105	21	relative	relative	ADJ
ejpam-263	105	22	to	to	ADP
ejpam-263	105	23	the	the	DET
ejpam-263	105	24	position	position	NOUN
ejpam-263	105	25	of	of	ADP
ejpam-263	105	26	the	the	DET
ejpam-263	105	27	leader	leader	NOUN
ejpam-263	105	28	(	(	PUNCT
ejpam-263	105	29	ai	ai	INTJ
ejpam-263	105	30	horizontal	horizontal	ADJ
ejpam-263	105	31	units	unit	NOUN
ejpam-263	105	32	and	and	CCONJ
ejpam-263	105	33	bi	bi	ADJ
ejpam-263	105	34	vertical	vertical	ADJ
ejpam-263	105	35	units	unit	NOUN
ejpam-263	105	36	,	,	PUNCT
ejpam-263	105	37	see	see	VERB
ejpam-263	105	38	fig	fig	NOUN
ejpam-263	105	39	.	.	PUNCT
ejpam-263	106	1	2	2	NUM
ejpam-263	106	2	)	)	PUNCT
ejpam-263	106	3	and	and	CCONJ
ejpam-263	106	4	whose	whose	DET
ejpam-263	106	5	center	center	NOUN
ejpam-263	106	6	is	be	AUX
ejpam-263	106	7	given	give	VERB
ejpam-263	106	8	by	by	ADP
ejpam-263	106	9	(	(	PUNCT
ejpam-263	106	10	t	t	PROPN
ejpam-263	106	11	i1	i1	PROPN
ejpam-263	106	12	,	,	PUNCT
ejpam-263	106	13	t	t	PROPN
ejpam-263	106	14	i2	i2	PROPN
ejpam-263	106	15	)	)	PUNCT
ejpam-263	106	16	=	=	PUNCT
ejpam-263	107	1	(	(	PUNCT
ejpam-263	107	2	x1	x1	INTJ
ejpam-263	107	3	−	−	PROPN
ejpam-263	107	4	ai	ai	VERB
ejpam-263	107	5	,	,	PUNCT
ejpam-263	107	6	y1	y1	ADJ
ejpam-263	107	7	−	−	PROPN
ejpam-263	107	8	bi	bi	NOUN
ejpam-263	107	9	)	)	PUNCT
ejpam-263	107	10	,	,	PUNCT
ejpam-263	107	11	for	for	ADP
ejpam-263	107	12	i	i	PRON
ejpam-263	107	13	=	=	SYM
ejpam-263	107	14	2	2	NUM
ejpam-263	107	15	to	to	PART
ejpam-263	107	16	n.	n.	VERB
ejpam-263	107	17	for	for	ADP
ejpam-263	107	18	attraction	attraction	NOUN
ejpam-263	107	19	to	to	ADP
ejpam-263	107	20	the	the	DET
ejpam-263	107	21	target	target	NOUN
ejpam-263	107	22	/	/	SYM
ejpam-263	107	23	ghost	ghost	NOUN
ejpam-263	107	24	target	target	NOUN
ejpam-263	107	25	,	,	PUNCT
ejpam-263	107	26	we	we	PRON
ejpam-263	107	27	shall	shall	AUX
ejpam-263	107	28	use	use	VERB
ejpam-263	107	29	an	an	DET
ejpam-263	107	30	attractive	attractive	ADJ
ejpam-263	107	31	function	function	NOUN
ejpam-263	107	32	of	of	ADP
ejpam-263	107	33	the	the	DET
ejpam-263	107	34	form	form	NOUN
ejpam-263	107	35	hni	hni	PROPN
ejpam-263	107	36	(	(	PUNCT
ejpam-263	107	37	x	x	NOUN
ejpam-263	107	38	)	)	PUNCT
ejpam-263	107	39	=	=	SYM
ejpam-263	107	40	1	1	NUM
ejpam-263	107	41	2	2	NUM
ejpam-263	107	42	ln(hi	ln(hi	NOUN
ejpam-263	107	43	+	+	CCONJ
ejpam-263	107	44	1	1	NUM
ejpam-263	107	45	)	)	PUNCT
ejpam-263	107	46	,	,	PUNCT
ejpam-263	107	47	where	where	SCONJ
ejpam-263	107	48	hi(x	hi(x	NOUN
ejpam-263	107	49	)	)	PUNCT
ejpam-263	108	1	=	=	PUNCT
ejpam-263	109	1	(	(	PUNCT
ejpam-263	109	2	x	x	X
ejpam-263	109	3	i	i	PRON
ejpam-263	109	4	−	−	PROPN
ejpam-263	109	5	t	t	PROPN
ejpam-263	109	6	i1	i1	PROPN
ejpam-263	109	7	)	)	PUNCT
ejpam-263	109	8	2	2	NUM
ejpam-263	109	9	+	+	CCONJ
ejpam-263	109	10	(	(	PUNCT
ejpam-263	109	11	yi	yi	NOUN
ejpam-263	109	12	−	−	PROPN
ejpam-263	109	13	t	t	PROPN
ejpam-263	109	14	i2	i2	PROPN
ejpam-263	109	15	)	)	PUNCT
ejpam-263	109	16	2+υ2	2+υ2	NUM
ejpam-263	109	17	i	i	PRON
ejpam-263	110	1	+	+	PROPN
ejpam-263	110	2	ω2	ω2	ADV
ejpam-263	110	3	i	i	PRON
ejpam-263	110	4	,	,	PUNCT
ejpam-263	110	5	for	for	ADP
ejpam-263	110	6	i	i	PROPN
ejpam-263	110	7	=	=	NOUN
ejpam-263	110	8	1	1	NUM
ejpam-263	110	9	,	,	PUNCT
ejpam-263	110	10	.	.	PUNCT
ejpam-263	110	11	.	.	PUNCT
ejpam-263	111	1	.	.	PUNCT
ejpam-263	112	1	,	,	PUNCT
ejpam-263	112	2	n.	n.	NOUN
ejpam-263	112	3	(	(	PUNCT
ejpam-263	112	4	3.1	3.1	NUM
ejpam-263	112	5	)	)	PUNCT
ejpam-263	112	6	while	while	SCONJ
ejpam-263	112	7	the	the	DET
ejpam-263	112	8	function	function	NOUN
ejpam-263	112	9	is	be	AUX
ejpam-263	112	10	the	the	DET
ejpam-263	112	11	measure	measure	NOUN
ejpam-263	112	12	of	of	ADP
ejpam-263	112	13	the	the	DET
ejpam-263	112	14	distance	distance	NOUN
ejpam-263	112	15	between	between	ADP
ejpam-263	112	16	the	the	DET
ejpam-263	112	17	ith	ith	PROPN
ejpam-263	112	18	boid	boid	NOUN
ejpam-263	112	19	and	and	CCONJ
ejpam-263	112	20	its	its	PRON
ejpam-263	112	21	target	target	NOUN
ejpam-263	112	22	ti	ti	NOUN
ejpam-263	112	23	,	,	PUNCT
ejpam-263	112	24	it	it	PRON
ejpam-263	112	25	can	can	AUX
ejpam-263	112	26	also	also	ADV
ejpam-263	112	27	be	be	AUX
ejpam-263	112	28	treated	treat	VERB
ejpam-263	112	29	as	as	ADP
ejpam-263	112	30	a	a	DET
ejpam-263	112	31	measure	measure	NOUN
ejpam-263	112	32	of	of	ADP
ejpam-263	112	33	its	its	PRON
ejpam-263	112	34	convergence	convergence	NOUN
ejpam-263	112	35	.	.	PUNCT
ejpam-263	113	1	in	in	ADP
ejpam-263	113	2	this	this	DET
ejpam-263	113	3	case	case	NOUN
ejpam-263	113	4	,	,	PUNCT
ejpam-263	113	5	the	the	DET
ejpam-263	113	6	particular	particular	ADJ
ejpam-263	113	7	form	form	NOUN
ejpam-263	113	8	of	of	ADP
ejpam-263	113	9	hni	hni	PROPN
ejpam-263	113	10	(	(	PUNCT
ejpam-263	113	11	x	x	X
ejpam-263	113	12	)	)	PUNCT
ejpam-263	113	13	is	be	AUX
ejpam-263	113	14	sufficient	sufficient	ADJ
ejpam-263	113	15	to	to	PART
ejpam-263	113	16	be	be	AUX
ejpam-263	113	17	treated	treat	VERB
ejpam-263	113	18	as	as	ADP
ejpam-263	113	19	a	a	DET
ejpam-263	113	20	suitable	suitable	ADJ
ejpam-263	113	21	attractive	attractive	ADJ
ejpam-263	113	22	potential	potential	ADJ
ejpam-263	113	23	function	function	NOUN
ejpam-263	113	24	required	require	VERB
ejpam-263	113	25	to	to	PART
ejpam-263	113	26	generate	generate	VERB
ejpam-263	113	27	attractive	attractive	ADJ
ejpam-263	113	28	fields	field	NOUN
ejpam-263	113	29	around	around	ADP
ejpam-263	113	30	the	the	DET
ejpam-263	113	31	targets	target	NOUN
ejpam-263	113	32	.	.	PUNCT
ejpam-263	114	1	figure	figure	NOUN
ejpam-263	114	2	3(a	3(a	NUM
ejpam-263	114	3	)	)	PUNCT
ejpam-263	114	4	shows	show	VERB
ejpam-263	114	5	the	the	DET
ejpam-263	114	6	valleys	valley	NOUN
ejpam-263	114	7	created	create	VERB
ejpam-263	114	8	by	by	ADP
ejpam-263	114	9	the	the	DET
ejpam-263	114	10	attractive	attractive	ADJ
ejpam-263	114	11	forces	force	NOUN
ejpam-263	114	12	in	in	ADP
ejpam-263	114	13	a	a	DET
ejpam-263	114	14	continuous	continuous	ADJ
ejpam-263	114	15	potential	potential	ADJ
ejpam-263	114	16	field	field	NOUN
ejpam-263	114	17	.	.	PUNCT
ejpam-263	115	1	these	these	DET
ejpam-263	115	2	mobile	mobile	ADJ
ejpam-263	115	3	valleys	valley	NOUN
ejpam-263	115	4	,	,	PUNCT
ejpam-263	115	5	associated	associate	VERB
ejpam-263	115	6	to	to	ADP
ejpam-263	115	7	the	the	DET
ejpam-263	115	8	mobile	mobile	ADJ
ejpam-263	115	9	ghost	ghost	NOUN
ejpam-263	115	10	targets	target	NOUN
ejpam-263	115	11	of	of	ADP
ejpam-263	115	12	the	the	DET
ejpam-263	115	13	follower	follower	NOUN
ejpam-263	115	14	-	-	PUNCT
ejpam-263	115	15	boids	boid	NOUN
ejpam-263	115	16	1	1	NUM
ejpam-263	115	17	and	and	CCONJ
ejpam-263	115	18	2	2	NUM
ejpam-263	115	19	,	,	PUNCT
ejpam-263	115	20	are	be	AUX
ejpam-263	115	21	positioned	position	VERB
ejpam-263	115	22	according	accord	VERB
ejpam-263	115	23	to	to	ADP
ejpam-263	115	24	user	user	NOUN
ejpam-263	115	25	-	-	PUNCT
ejpam-263	115	26	defined	define	VERB
ejpam-263	115	27	measurements	measurement	NOUN
ejpam-263	115	28	in	in	ADP
ejpam-263	115	29	the	the	DET
ejpam-263	115	30	leader	leader	NOUN
ejpam-263	115	31	-	-	PUNCT
ejpam-263	115	32	follower	follower	NOUN
ejpam-263	115	33	scheme	scheme	NOUN
ejpam-263	115	34	.	.	PUNCT
ejpam-263	116	1	similarly	similarly	ADV
ejpam-263	116	2	,	,	PUNCT
ejpam-263	116	3	there	there	PRON
ejpam-263	116	4	would	would	AUX
ejpam-263	116	5	be	be	AUX
ejpam-263	116	6	a	a	DET
ejpam-263	116	7	valley	valley	NOUN
ejpam-263	116	8	each	each	PRON
ejpam-263	116	9	for	for	ADP
ejpam-263	116	10	the	the	DET
ejpam-263	116	11	remaining	remain	VERB
ejpam-263	116	12	flockmates	flockmate	NOUN
ejpam-263	116	13	and	and	CCONJ
ejpam-263	116	14	the	the	DET
ejpam-263	116	15	ultimate	ultimate	ADJ
ejpam-263	116	16	goal	goal	NOUN
ejpam-263	116	17	is	be	AUX
ejpam-263	116	18	for	for	SCONJ
ejpam-263	116	19	each	each	DET
ejpam-263	116	20	follower	follower	NOUN
ejpam-263	116	21	-	-	PUNCT
ejpam-263	116	22	boid	boid	NOUN
ejpam-263	116	23	to	to	PART
ejpam-263	116	24	move	move	VERB
ejpam-263	116	25	to	to	ADP
ejpam-263	116	26	its	its	PRON
ejpam-263	116	27	designated	designate	VERB
ejpam-263	116	28	valley	valley	NOUN
ejpam-263	116	29	.	.	PUNCT
ejpam-263	117	1	figure	figure	NOUN
ejpam-263	117	2	3(b	3(b	NUM
ejpam-263	117	3	)	)	PUNCT
ejpam-263	117	4	shows	show	VERB
ejpam-263	117	5	the	the	DET
ejpam-263	117	6	accompanying	accompany	VERB
ejpam-263	117	7	contour	contour	NOUN
ejpam-263	117	8	plot	plot	NOUN
ejpam-263	117	9	.	.	PUNCT
ejpam-263	118	1	b.	b.	PROPN
ejpam-263	118	2	sharma	sharma	PROPN
ejpam-263	118	3	,	,	PUNCT
ejpam-263	118	4	j.	j.	PROPN
ejpam-263	118	5	vanualailai	vanualailai	PROPN
ejpam-263	118	6	,	,	PUNCT
ejpam-263	118	7	and	and	CCONJ
ejpam-263	118	8	u.	u.	PROPN
ejpam-263	118	9	chand	chand	PROPN
ejpam-263	118	10	/	/	SYM
ejpam-263	118	11	eur	eur	PROPN
ejpam-263	118	12	.	.	PUNCT
ejpam-263	119	1	j.	j.	PROPN
ejpam-263	119	2	pure	pure	PROPN
ejpam-263	119	3	appl	appl	PROPN
ejpam-263	119	4	.	.	PROPN
ejpam-263	119	5	math	math	PROPN
ejpam-263	119	6	,	,	PUNCT
ejpam-263	119	7	2	2	NUM
ejpam-263	119	8	(	(	PUNCT
ejpam-263	119	9	2009	2009	NUM
ejpam-263	119	10	)	)	PUNCT
ejpam-263	119	11	,	,	PUNCT
ejpam-263	119	12	(	(	PUNCT
ejpam-263	119	13	401	401	NUM
ejpam-263	119	14	-	-	SYM
ejpam-263	119	15	425	425	NUM
ejpam-263	119	16	)	)	PUNCT
ejpam-263	119	17	409	409	NUM
ejpam-263	119	18	10	10	NUM
ejpam-263	119	19	20	20	NUM
ejpam-263	119	20	30	30	NUM
ejpam-263	119	21	40	40	NUM
ejpam-263	119	22	50	50	NUM
ejpam-263	119	23	60	60	NUM
ejpam-263	119	24	15	15	NUM
ejpam-263	119	25	20	20	NUM
ejpam-263	119	26	25	25	NUM
ejpam-263	119	27	30	30	NUM
ejpam-263	119	28	35	35	NUM
ejpam-263	119	29	0	0	NUM
ejpam-263	119	30	2	2	NUM
ejpam-263	119	31	4	4	NUM
ejpam-263	119	32	6	6	NUM
ejpam-263	119	33	8	8	NUM
ejpam-263	119	34	10	10	NUM
ejpam-263	119	35	12	12	NUM
ejpam-263	119	36	14	14	NUM
ejpam-263	119	37	16	16	NUM
ejpam-263	119	38	y	y	PROPN
ejpam-263	119	39	position	position	NOUN
ejpam-263	120	1	t	t	PROPN
ejpam-263	120	2	ot	ot	INTJ
ejpam-263	120	3	al	al	PROPN
ejpam-263	120	4	p	p	PROPN
ejpam-263	120	5	ot	ot	INTJ
ejpam-263	120	6	en	en	PROPN
ejpam-263	120	7	tia	tia	PROPN
ejpam-263	120	8	l	l	PROPN
ejpam-263	120	9	target	target	NOUN
ejpam-263	120	10	of	of	ADP
ejpam-263	120	11	follower−boid	follower−boid	NOUN
ejpam-263	120	12	2	2	NUM
ejpam-263	120	13	target	target	NOUN
ejpam-263	120	14	of	of	ADP
ejpam-263	120	15	follower−boid	follower−boid	NOUN
ejpam-263	120	16	1	1	NUM
ejpam-263	120	17	fo1	fo1	VERB
ejpam-263	120	18	fo2	fo2	ADJ
ejpam-263	120	19	x	x	SYM
ejpam-263	120	20	position	position	NOUN
ejpam-263	120	21	(	(	PUNCT
ejpam-263	120	22	a	a	X
ejpam-263	120	23	)	)	PUNCT
ejpam-263	120	24	3d	3d	NUM
ejpam-263	120	25	visualization	visualization	NOUN
ejpam-263	120	26	x	x	INTJ
ejpam-263	120	27	position	position	NOUN
ejpam-263	120	28	y	y	PROPN
ejpam-263	120	29	po	po	INTJ
ejpam-263	121	1	si	si	PROPN
ejpam-263	121	2	tio	tio	PROPN
ejpam-263	121	3	n	n	PROPN
ejpam-263	121	4	10	10	NUM
ejpam-263	121	5	20	20	NUM
ejpam-263	121	6	30	30	NUM
ejpam-263	121	7	40	40	NUM
ejpam-263	121	8	50	50	NUM
ejpam-263	121	9	60	60	NUM
ejpam-263	121	10	15	15	NUM
ejpam-263	121	11	20	20	NUM
ejpam-263	121	12	25	25	NUM
ejpam-263	121	13	30	30	NUM
ejpam-263	121	14	35	35	NUM
ejpam-263	121	15	(	(	PUNCT
ejpam-263	121	16	b	b	NOUN
ejpam-263	121	17	)	)	PUNCT
ejpam-263	121	18	contour	contour	NOUN
ejpam-263	121	19	plotfigure	plotfigure	NOUN
ejpam-263	121	20	3	3	NUM
ejpam-263	121	21	:	:	PUNCT
ejpam-263	121	22	total	total	ADJ
ejpam-263	121	23	potential	potential	NOUN
ejpam-263	121	24	and	and	CCONJ
ejpam-263	121	25	the	the	DET
ejpam-263	121	26	ontour	ontour	ADJ
ejpam-263	121	27	plot	plot	NOUN
ejpam-263	121	28	generated	generate	VERB
ejpam-263	121	29	using	use	VERB
ejpam-263	121	30	the	the	DET
ejpam-263	121	31	attra	attra	ADJ
ejpam-263	121	32	tive	tive	PROPN
ejpam-263	121	33	potentialfun	potentialfun	NOUN
ejpam-263	121	34	tion	tion	NOUN
ejpam-263	121	35	for	for	ADP
ejpam-263	121	36	target	target	NOUN
ejpam-263	121	37	attra	attra	ADJ
ejpam-263	121	38	tion	tion	NOUN
ejpam-263	121	39	and	and	CCONJ
ejpam-263	121	40	the	the	DET
ejpam-263	121	41	repulsive	repulsive	ADJ
ejpam-263	121	42	potential	potential	ADJ
ejpam-263	121	43	fun	fun	NOUN
ejpam-263	121	44	tion	tion	NOUN
ejpam-263	121	45	for	for	ADP
ejpam-263	121	46	avoidan	avoidan	ADJ
ejpam-263	121	47	e	e	PROPN
ejpam-263	121	48	of	of	ADP
ejpam-263	121	49	disk	disk	NOUN
ejpam-263	121	50	-	-	PUNCT
ejpam-263	121	51	shaped	shape	VERB
ejpam-263	121	52	obsta	obsta	NOUN
ejpam-263	121	53	les	le	NOUN
ejpam-263	121	54	.	.	PUNCT
ejpam-263	122	1	3.1.2	3.1.2	X
ejpam-263	122	2	.	.	PUNCT
ejpam-263	122	3	auxiliary	auxiliary	ADJ
ejpam-263	122	4	function	function	NOUN
ejpam-263	122	5	to	to	PART
ejpam-263	122	6	ensure	ensure	VERB
ejpam-263	122	7	that	that	SCONJ
ejpam-263	122	8	the	the	DET
ejpam-263	122	9	lyapunov	lyapunov	ADJ
ejpam-263	122	10	function	function	NOUN
ejpam-263	122	11	candidate	candidate	NOUN
ejpam-263	122	12	vanishes	vanish	VERB
ejpam-263	122	13	when	when	SCONJ
ejpam-263	122	14	all	all	DET
ejpam-263	122	15	the	the	DET
ejpam-263	122	16	boids	boid	NOUN
ejpam-263	122	17	converge	converge	VERB
ejpam-263	122	18	to	to	ADP
ejpam-263	122	19	their	their	PRON
ejpam-263	122	20	final	final	ADJ
ejpam-263	122	21	target	target	NOUN
ejpam-263	122	22	configuration	configuration	NOUN
ejpam-263	122	23	we	we	PRON
ejpam-263	122	24	design	design	VERB
ejpam-263	122	25	a	a	DET
ejpam-263	122	26	new	new	ADJ
ejpam-263	122	27	attractive	attractive	ADJ
ejpam-263	122	28	function	function	NOUN
ejpam-263	122	29	whose	whose	DET
ejpam-263	122	30	role	role	NOUN
ejpam-263	122	31	is	be	AUX
ejpam-263	122	32	purely	purely	ADV
ejpam-263	122	33	mathematical	mathematical	ADJ
ejpam-263	122	34	,	,	PUNCT
ejpam-263	122	35	and	and	CCONJ
ejpam-263	122	36	hence	hence	ADV
ejpam-263	122	37	,	,	PUNCT
ejpam-263	122	38	auxiliary	auxiliary	NOUN
ejpam-263	122	39	.	.	PUNCT
ejpam-263	123	1	we	we	PRON
ejpam-263	123	2	define	define	VERB
ejpam-263	123	3	this	this	DET
ejpam-263	123	4	auxiliary	auxiliary	ADJ
ejpam-263	123	5	function	function	NOUN
ejpam-263	123	6	as	as	ADP
ejpam-263	123	7	gi(x	gi(x	NUM
ejpam-263	123	8	)	)	PUNCT
ejpam-263	124	1	=	=	SYM
ejpam-263	124	2	1	1	NUM
ejpam-263	124	3	2	2	NUM
ejpam-263	124	4	�	�	PROPN
ejpam-263	124	5	(	(	PUNCT
ejpam-263	124	6	x	x	X
ejpam-263	124	7	i	i	PRON
ejpam-263	124	8	−	−	PROPN
ejpam-263	124	9	t	t	PROPN
ejpam-263	124	10	i1	i1	PROPN
ejpam-263	124	11	)	)	PUNCT
ejpam-263	125	1	2	2	NUM
ejpam-263	125	2	+	+	CCONJ
ejpam-263	125	3	(	(	PUNCT
ejpam-263	125	4	yi	yi	NOUN
ejpam-263	125	5	−	−	PROPN
ejpam-263	125	6	t	t	PROPN
ejpam-263	125	7	i2	i2	PROPN
ejpam-263	125	8	)	)	PUNCT
ejpam-263	125	9	2	2	NUM
ejpam-263	125	10	+	+	CCONJ
ejpam-263	125	11	(	(	PUNCT
ejpam-263	125	12	θi	θi	NUM
ejpam-263	125	13	−	−	PROPN
ejpam-263	125	14	t	t	NOUN
ejpam-263	125	15	i3	i3	NOUN
ejpam-263	125	16	)	)	PUNCT
ejpam-263	125	17	2	2	NUM
ejpam-263	125	18	�	�	PROPN
ejpam-263	125	19	≥	≥	NUM
ejpam-263	125	20	0	0	NUM
ejpam-263	125	21	,	,	PUNCT
ejpam-263	125	22	for	for	ADP
ejpam-263	125	23	i	i	PROPN
ejpam-263	125	24	=	=	NOUN
ejpam-263	125	25	1	1	NUM
ejpam-263	125	26	,	,	PUNCT
ejpam-263	125	27	.	.	PUNCT
ejpam-263	125	28	.	.	PUNCT
ejpam-263	126	1	.	.	PUNCT
ejpam-263	127	1	,	,	PUNCT
ejpam-263	127	2	n	n	CCONJ
ejpam-263	127	3	,	,	PUNCT
ejpam-263	127	4	(	(	PUNCT
ejpam-263	127	5	3.2	3.2	NUM
ejpam-263	127	6	)	)	PUNCT
ejpam-263	127	7	where	where	SCONJ
ejpam-263	127	8	t	t	PROPN
ejpam-263	127	9	i3	i3	PROPN
ejpam-263	127	10	is	be	AUX
ejpam-263	127	11	the	the	DET
ejpam-263	127	12	desired	desire	VERB
ejpam-263	127	13	orientation	orientation	NOUN
ejpam-263	127	14	of	of	ADP
ejpam-263	127	15	the	the	DET
ejpam-263	127	16	ith	ith	PROPN
ejpam-263	127	17	boid	boid	NOUN
ejpam-263	127	18	.	.	PUNCT
ejpam-263	128	1	we	we	PRON
ejpam-263	128	2	will	will	AUX
ejpam-263	128	3	multiply	multiply	VERB
ejpam-263	128	4	the	the	DET
ejpam-263	128	5	function	function	NOUN
ejpam-263	128	6	to	to	ADP
ejpam-263	128	7	each	each	PRON
ejpam-263	128	8	of	of	ADP
ejpam-263	128	9	the	the	DET
ejpam-263	128	10	repulsive	repulsive	ADJ
ejpam-263	128	11	potential	potential	ADJ
ejpam-263	128	12	field	field	NOUN
ejpam-263	128	13	function	function	NOUN
ejpam-263	128	14	to	to	PART
ejpam-263	128	15	be	be	AUX
ejpam-263	128	16	designed	design	VERB
ejpam-263	128	17	in	in	ADP
ejpam-263	128	18	the	the	DET
ejpam-263	128	19	following	follow	VERB
ejpam-263	128	20	section	section	NOUN
ejpam-263	128	21	.	.	PUNCT
ejpam-263	129	1	3.2	3.2	NUM
ejpam-263	129	2	.	.	PUNCT
ejpam-263	130	1	repulsive	repulsive	ADJ
ejpam-263	130	2	potential	potential	ADJ
ejpam-263	130	3	field	field	NOUN
ejpam-263	130	4	functions	function	NOUN
ejpam-263	130	5	we	we	PRON
ejpam-263	130	6	desire	desire	VERB
ejpam-263	130	7	the	the	DET
ejpam-263	130	8	boids	boid	NOUN
ejpam-263	130	9	to	to	PART
ejpam-263	130	10	avoid	avoid	VERB
ejpam-263	130	11	all	all	PRON
ejpam-263	130	12	fixed	fix	VERB
ejpam-263	130	13	and	and	CCONJ
ejpam-263	130	14	moving	move	VERB
ejpam-263	130	15	obstacles	obstacle	NOUN
ejpam-263	130	16	intersecting	intersect	VERB
ejpam-263	130	17	their	their	PRON
ejpam-263	130	18	paths	path	NOUN
ejpam-263	130	19	.	.	PUNCT
ejpam-263	131	1	therefore	therefore	ADV
ejpam-263	131	2	,	,	PUNCT
ejpam-263	131	3	we	we	PRON
ejpam-263	131	4	construct	construct	VERB
ejpam-263	131	5	obstacle	obstacle	NOUN
ejpam-263	131	6	avoidance	avoidance	NOUN
ejpam-263	131	7	functions	function	NOUN
ejpam-263	131	8	that	that	PRON
ejpam-263	131	9	basically	basically	ADV
ejpam-263	131	10	measure	measure	VERB
ejpam-263	131	11	the	the	DET
ejpam-263	131	12	distances	distance	NOUN
ejpam-263	131	13	between	between	ADP
ejpam-263	131	14	the	the	DET
ejpam-263	131	15	ith	ith	PROPN
ejpam-263	131	16	boid	boid	NOUN
ejpam-263	131	17	and	and	CCONJ
ejpam-263	131	18	obstacles	obstacle	NOUN
ejpam-263	131	19	in	in	ADP
ejpam-263	131	20	the	the	DET
ejpam-263	131	21	workspace	workspace	NOUN
ejpam-263	131	22	.	.	PUNCT
ejpam-263	132	1	to	to	PART
ejpam-263	132	2	obtain	obtain	VERB
ejpam-263	132	3	the	the	DET
ejpam-263	132	4	desired	desire	VERB
ejpam-263	132	5	b.	b.	PROPN
ejpam-263	132	6	sharma	sharma	PROPN
ejpam-263	132	7	,	,	PUNCT
ejpam-263	132	8	j.	j.	PROPN
ejpam-263	132	9	vanualailai	vanualailai	PROPN
ejpam-263	132	10	,	,	PUNCT
ejpam-263	132	11	and	and	CCONJ
ejpam-263	132	12	u.	u.	PROPN
ejpam-263	132	13	chand	chand	PROPN
ejpam-263	132	14	/	/	SYM
ejpam-263	132	15	eur	eur	PROPN
ejpam-263	132	16	.	.	PUNCT
ejpam-263	133	1	j.	j.	PROPN
ejpam-263	133	2	pure	pure	PROPN
ejpam-263	133	3	appl	appl	PROPN
ejpam-263	133	4	.	.	PROPN
ejpam-263	133	5	math	math	PROPN
ejpam-263	133	6	,	,	PUNCT
ejpam-263	133	7	2	2	NUM
ejpam-263	133	8	(	(	PUNCT
ejpam-263	133	9	2009	2009	NUM
ejpam-263	133	10	)	)	PUNCT
ejpam-263	133	11	,	,	PUNCT
ejpam-263	133	12	(	(	PUNCT
ejpam-263	133	13	401	401	NUM
ejpam-263	133	14	-	-	SYM
ejpam-263	133	15	425	425	NUM
ejpam-263	133	16	)	)	PUNCT
ejpam-263	133	17	410	410	NUM
ejpam-263	133	18	avoidance	avoidance	NOUN
ejpam-263	133	19	,	,	PUNCT
ejpam-263	133	20	each	each	PRON
ejpam-263	133	21	of	of	ADP
ejpam-263	133	22	these	these	DET
ejpam-263	133	23	functions	function	NOUN
ejpam-263	133	24	will	will	AUX
ejpam-263	133	25	appear	appear	VERB
ejpam-263	133	26	in	in	ADP
ejpam-263	133	27	the	the	DET
ejpam-263	133	28	denominator	denominator	NOUN
ejpam-263	133	29	of	of	ADP
ejpam-263	133	30	the	the	DET
ejpam-263	133	31	repulsive	repulsive	ADJ
ejpam-263	133	32	potential	potential	ADJ
ejpam-263	133	33	field	field	NOUN
ejpam-263	133	34	function	function	VERB
ejpam-263	133	35	to	to	PART
ejpam-263	133	36	generate	generate	VERB
ejpam-263	133	37	the	the	DET
ejpam-263	133	38	repulsive	repulsive	ADJ
ejpam-263	133	39	fields	field	NOUN
ejpam-263	133	40	around	around	ADP
ejpam-263	133	41	the	the	DET
ejpam-263	133	42	obstacles	obstacle	NOUN
ejpam-263	133	43	.	.	PUNCT
ejpam-263	134	1	the	the	DET
ejpam-263	134	2	numerators	numerator	NOUN
ejpam-263	134	3	will	will	AUX
ejpam-263	134	4	be	be	AUX
ejpam-263	134	5	populated	populate	VERB
ejpam-263	134	6	by	by	ADP
ejpam-263	134	7	tuning	tune	VERB
ejpam-263	134	8	parameters	parameter	NOUN
ejpam-263	134	9	which	which	PRON
ejpam-263	134	10	may	may	AUX
ejpam-263	134	11	be	be	AUX
ejpam-263	134	12	refined	refine	VERB
ejpam-263	134	13	for	for	ADP
ejpam-263	134	14	safer	safe	ADJ
ejpam-263	134	15	,	,	PUNCT
ejpam-263	134	16	shorter	short	ADJ
ejpam-263	134	17	and	and	CCONJ
ejpam-263	134	18	smoother	smooth	ADJ
ejpam-263	134	19	trajectories	trajectory	NOUN
ejpam-263	134	20	.	.	PUNCT
ejpam-263	135	1	the	the	DET
ejpam-263	135	2	reader	reader	NOUN
ejpam-263	135	3	is	be	AUX
ejpam-263	135	4	referred	refer	VERB
ejpam-263	135	5	to	to	ADP
ejpam-263	135	6	[	[	X
ejpam-263	135	7	13	13	NUM
ejpam-263	135	8	,	,	PUNCT
ejpam-263	135	9	14	14	NUM
ejpam-263	135	10	,	,	PUNCT
ejpam-263	135	11	19	19	NUM
ejpam-263	135	12	]	]	PUNCT
ejpam-263	135	13	for	for	ADP
ejpam-263	135	14	further	further	ADJ
ejpam-263	135	15	explanations	explanation	NOUN
ejpam-263	135	16	.	.	PUNCT
ejpam-263	136	1	now	now	ADV
ejpam-263	136	2	,	,	PUNCT
ejpam-263	136	3	we	we	PRON
ejpam-263	136	4	describe	describe	VERB
ejpam-263	136	5	each	each	DET
ejpam-263	136	6	obstacle	obstacle	NOUN
ejpam-263	136	7	appearing	appear	VERB
ejpam-263	136	8	in	in	ADP
ejpam-263	136	9	the	the	DET
ejpam-263	136	10	constrained	constrain	VERB
ejpam-263	136	11	workspace	workspace	NOUN
ejpam-263	136	12	and	and	CCONJ
ejpam-263	136	13	design	design	VERB
ejpam-263	136	14	the	the	DET
ejpam-263	136	15	associated	associated	ADJ
ejpam-263	136	16	avoidance	avoidance	NOUN
ejpam-263	136	17	function	function	NOUN
ejpam-263	136	18	.	.	PUNCT
ejpam-263	137	1	3.2.1	3.2.1	X
ejpam-263	137	2	.	.	PUNCT
ejpam-263	137	3	stationary	stationary	ADJ
ejpam-263	137	4	obstacles	obstacle	NOUN
ejpam-263	137	5	let	let	VERB
ejpam-263	137	6	oq	oq	INTJ
ejpam-263	137	7	,	,	PUNCT
ejpam-263	137	8	q	q	PROPN
ejpam-263	137	9	∈	∈	PROPN
ejpam-263	137	10	{	{	PUNCT
ejpam-263	137	11	1	1	NUM
ejpam-263	137	12	,	,	PUNCT
ejpam-263	137	13	.	.	PUNCT
ejpam-263	137	14	.	.	PUNCT
ejpam-263	138	1	.	.	PUNCT
ejpam-263	139	1	,	,	PUNCT
ejpam-263	139	2	m	m	VERB
ejpam-263	139	3	}	}	PUNCT
ejpam-263	139	4	,	,	PUNCT
ejpam-263	139	5	represent	represent	VERB
ejpam-263	139	6	a	a	DET
ejpam-263	139	7	solid	solid	ADJ
ejpam-263	139	8	object	object	NOUN
ejpam-263	139	9	fixed	fix	VERB
ejpam-263	139	10	within	within	ADP
ejpam-263	139	11	the	the	DET
ejpam-263	139	12	workspace	workspace	NOUN
ejpam-263	139	13	.	.	PUNCT
ejpam-263	140	1	we	we	PRON
ejpam-263	140	2	provide	provide	VERB
ejpam-263	140	3	the	the	DET
ejpam-263	140	4	following	follow	VERB
ejpam-263	140	5	definition	definition	NOUN
ejpam-263	140	6	of	of	ADP
ejpam-263	140	7	the	the	DET
ejpam-263	140	8	stationary	stationary	ADJ
ejpam-263	140	9	obstacles	obstacle	NOUN
ejpam-263	140	10	definition	definition	NOUN
ejpam-263	140	11	3.1	3.1	NUM
ejpam-263	140	12	.	.	PUNCT
ejpam-263	141	1	the	the	DET
ejpam-263	141	2	kth	kth	PROPN
ejpam-263	141	3	stationary	stationary	ADJ
ejpam-263	141	4	obstacle	obstacle	NOUN
ejpam-263	141	5	is	be	AUX
ejpam-263	141	6	a	a	DET
ejpam-263	141	7	disk	disk	NOUN
ejpam-263	141	8	with	with	ADP
ejpam-263	141	9	center	center	NOUN
ejpam-263	141	10	(	(	PUNCT
ejpam-263	141	11	ok1	ok1	PROPN
ejpam-263	141	12	,	,	PUNCT
ejpam-263	141	13	ok2	ok2	ADJ
ejpam-263	141	14	)	)	PUNCT
ejpam-263	141	15	and	and	CCONJ
ejpam-263	141	16	radius	radius	PROPN
ejpam-263	141	17	rok	rok	PROPN
ejpam-263	141	18	.	.	PUNCT
ejpam-263	142	1	precisely	precisely	ADV
ejpam-263	142	2	,	,	PUNCT
ejpam-263	142	3	the	the	DET
ejpam-263	142	4	kth	kth	PROPN
ejpam-263	142	5	stationary	stationary	ADJ
ejpam-263	142	6	obstacle	obstacle	NOUN
ejpam-263	142	7	fixed	fix	VERB
ejpam-263	142	8	in	in	ADP
ejpam-263	142	9	the	the	DET
ejpam-263	142	10	workspace	workspace	NOUN
ejpam-263	142	11	is	be	AUX
ejpam-263	142	12	the	the	DET
ejpam-263	142	13	set	set	NOUN
ejpam-263	142	14	ok	ok	NOUN
ejpam-263	142	15	=	=	SYM
ejpam-263	142	16	{	{	PUNCT
ejpam-263	142	17	(	(	PUNCT
ejpam-263	142	18	z1	z1	PROPN
ejpam-263	142	19	,	,	PUNCT
ejpam-263	142	20	z2	z2	NUM
ejpam-263	142	21	)	)	PUNCT
ejpam-263	142	22	∈	∈	PROPN
ejpam-263	142	23	r	r	NOUN
ejpam-263	142	24	2	2	NUM
ejpam-263	142	25	:	:	PUNCT
ejpam-263	142	26	(	(	PUNCT
ejpam-263	142	27	z1−	z1−	NUM
ejpam-263	142	28	ok1	ok1	NOUN
ejpam-263	142	29	)	)	PUNCT
ejpam-263	142	30	2	2	NUM
ejpam-263	143	1	+	+	CCONJ
ejpam-263	143	2	(	(	PUNCT
ejpam-263	143	3	z2−	z2−	NOUN
ejpam-263	143	4	ok2	ok2	PROPN
ejpam-263	143	5	)	)	PUNCT
ejpam-263	143	6	2	2	NUM
ejpam-263	143	7	≤	≤	NOUN
ejpam-263	143	8	rok	rok	NOUN
ejpam-263	143	9	}	}	PUNCT
ejpam-263	143	10	.	.	PUNCT
ejpam-263	144	1	for	for	SCONJ
ejpam-263	144	2	the	the	DET
ejpam-263	144	3	ith	ith	PROPN
ejpam-263	144	4	boid	boid	NOUN
ejpam-263	144	5	to	to	PART
ejpam-263	144	6	avoid	avoid	VERB
ejpam-263	144	7	the	the	DET
ejpam-263	144	8	kth	kth	PROPN
ejpam-263	144	9	stationary	stationary	ADJ
ejpam-263	144	10	obstacle	obstacle	NOUN
ejpam-263	144	11	,	,	PUNCT
ejpam-263	144	12	we	we	PRON
ejpam-263	144	13	adopt	adopt	VERB
ejpam-263	144	14	the	the	DET
ejpam-263	144	15	avoidance	avoidance	NOUN
ejpam-263	144	16	function	function	NOUN
ejpam-263	144	17	wik(x	wik(x	NOUN
ejpam-263	144	18	)	)	PUNCT
ejpam-263	145	1	=	=	SYM
ejpam-263	145	2	1	1	NUM
ejpam-263	145	3	2	2	NUM
ejpam-263	145	4	�	�	PROPN
ejpam-263	145	5	(	(	PUNCT
ejpam-263	145	6	x	x	X
ejpam-263	145	7	i	i	PRON
ejpam-263	145	8	−	−	PROPN
ejpam-263	145	9	ok1	ok1	NUM
ejpam-263	145	10	)	)	PUNCT
ejpam-263	145	11	2	2	NUM
ejpam-263	145	12	+	+	CCONJ
ejpam-263	145	13	(	(	PUNCT
ejpam-263	145	14	yi	yi	PROPN
ejpam-263	145	15	−	−	PROPN
ejpam-263	145	16	ok2	ok2	PROPN
ejpam-263	145	17	)	)	PUNCT
ejpam-263	145	18	2−	2−	NUM
ejpam-263	145	19	�	�	PROPN
ejpam-263	145	20	rok	rok	PROPN
ejpam-263	145	21	+	+	CCONJ
ejpam-263	145	22	rv	rv	PROPN
ejpam-263	145	23	�	�	PROPN
ejpam-263	145	24	2	2	NUM
ejpam-263	145	25	�	�	PROPN
ejpam-263	145	26	,	,	PUNCT
ejpam-263	145	27	for	for	ADP
ejpam-263	145	28	i	i	PROPN
ejpam-263	145	29	=	=	NOUN
ejpam-263	145	30	1	1	NUM
ejpam-263	145	31	,	,	PUNCT
ejpam-263	145	32	.	.	PUNCT
ejpam-263	145	33	.	.	PUNCT
ejpam-263	145	34	.	.	PUNCT
ejpam-263	146	1	,	,	PUNCT
ejpam-263	146	2	n	n	PROPN
ejpam-263	146	3	;	;	PUNCT
ejpam-263	146	4	k	k	X
ejpam-263	146	5	=	=	SYM
ejpam-263	146	6	1	1	NUM
ejpam-263	146	7	,	,	PUNCT
ejpam-263	146	8	.	.	PUNCT
ejpam-263	146	9	.	.	PUNCT
ejpam-263	146	10	.	.	PUNCT
ejpam-263	147	1	,	,	PUNCT
ejpam-263	147	2	m.	m.	NOUN
ejpam-263	147	3	(	(	PUNCT
ejpam-263	147	4	3.3	3.3	NUM
ejpam-263	147	5	)	)	PUNCT
ejpam-263	147	6	this	this	DET
ejpam-263	147	7	positive	positive	ADJ
ejpam-263	147	8	function	function	NOUN
ejpam-263	147	9	is	be	AUX
ejpam-263	147	10	the	the	DET
ejpam-263	147	11	euclidean	euclidean	ADJ
ejpam-263	147	12	measure	measure	NOUN
ejpam-263	147	13	of	of	ADP
ejpam-263	147	14	the	the	DET
ejpam-263	147	15	distance	distance	NOUN
ejpam-263	147	16	between	between	ADP
ejpam-263	147	17	the	the	DET
ejpam-263	147	18	ith	ith	PROPN
ejpam-263	147	19	boid	boid	NOUN
ejpam-263	147	20	and	and	CCONJ
ejpam-263	147	21	the	the	DET
ejpam-263	147	22	kth	kth	PROPN
ejpam-263	147	23	stationary	stationary	ADJ
ejpam-263	147	24	obstacle	obstacle	NOUN
ejpam-263	147	25	.	.	PUNCT
ejpam-263	148	1	now	now	ADV
ejpam-263	148	2	let	let	VERB
ejpam-263	148	3	us	we	PRON
ejpam-263	148	4	consider	consider	VERB
ejpam-263	148	5	,	,	PUNCT
ejpam-263	148	6	for	for	ADP
ejpam-263	148	7	some	some	DET
ejpam-263	148	8	constant	constant	ADJ
ejpam-263	148	9	αik	αik	NOUN
ejpam-263	148	10	>	>	X
ejpam-263	148	11	0	0	PUNCT
ejpam-263	149	1	(	(	PUNCT
ejpam-263	149	2	classified	classify	VERB
ejpam-263	149	3	as	as	ADP
ejpam-263	149	4	a	a	DET
ejpam-263	149	5	tuning	tuning	NOUN
ejpam-263	149	6	parameter	parameter	NOUN
ejpam-263	149	7	)	)	PUNCT
ejpam-263	149	8	,	,	PUNCT
ejpam-263	149	9	for	for	ADP
ejpam-263	149	10	i	i	PROPN
ejpam-263	149	11	=	=	SYM
ejpam-263	149	12	1	1	NUM
ejpam-263	149	13	(	(	PUNCT
ejpam-263	149	14	leader	leader	NOUN
ejpam-263	149	15	-	-	PUNCT
ejpam-263	149	16	boid	boid	NOUN
ejpam-263	149	17	)	)	PUNCT
ejpam-263	149	18	and	and	CCONJ
ejpam-263	149	19	k	k	X
ejpam-263	149	20	=	=	SYM
ejpam-263	149	21	1	1	X
ejpam-263	149	22	(	(	PUNCT
ejpam-263	149	23	a	a	DET
ejpam-263	149	24	stationary	stationary	ADJ
ejpam-263	149	25	obstacle	obstacle	NOUN
ejpam-263	149	26	fixed	fix	VERB
ejpam-263	149	27	in	in	ADP
ejpam-263	149	28	the	the	DET
ejpam-263	149	29	workspace	workspace	NOUN
ejpam-263	149	30	)	)	PUNCT
ejpam-263	149	31	,	,	PUNCT
ejpam-263	149	32	the	the	DET
ejpam-263	149	33	effect	effect	NOUN
ejpam-263	149	34	of	of	ADP
ejpam-263	149	35	the	the	DET
ejpam-263	149	36	ratio	ratio	NOUN
ejpam-263	149	37	α11	α11	PROPN
ejpam-263	149	38	w11	w11	PROPN
ejpam-263	149	39	.	.	PUNCT
ejpam-263	150	1	according	accord	VERB
ejpam-263	150	2	to	to	ADP
ejpam-263	150	3	the	the	DET
ejpam-263	150	4	lyapunov	lyapunov	NOUN
ejpam-263	150	5	-	-	PUNCT
ejpam-263	150	6	based	base	VERB
ejpam-263	150	7	control	control	NOUN
ejpam-263	150	8	scheme	scheme	NOUN
ejpam-263	150	9	,	,	PUNCT
ejpam-263	150	10	this	this	DET
ejpam-263	150	11	ratio	ratio	NOUN
ejpam-263	150	12	is	be	AUX
ejpam-263	150	13	classified	classify	VERB
ejpam-263	150	14	as	as	ADP
ejpam-263	150	15	a	a	DET
ejpam-263	150	16	repulsive	repulsive	ADJ
ejpam-263	150	17	potential	potential	ADJ
ejpam-263	150	18	field	field	NOUN
ejpam-263	150	19	function	function	NOUN
ejpam-263	150	20	.	.	PUNCT
ejpam-263	151	1	if	if	SCONJ
ejpam-263	151	2	the	the	DET
ejpam-263	151	3	leader	leader	NOUN
ejpam-263	151	4	-	-	PUNCT
ejpam-263	151	5	boid	boid	NOUN
ejpam-263	151	6	approaches	approach	VERB
ejpam-263	151	7	the	the	DET
ejpam-263	151	8	stationary	stationary	ADJ
ejpam-263	151	9	obstacle	obstacle	NOUN
ejpam-263	151	10	,	,	PUNCT
ejpam-263	151	11	then	then	ADV
ejpam-263	151	12	the	the	DET
ejpam-263	151	13	value	value	NOUN
ejpam-263	151	14	of	of	ADP
ejpam-263	151	15	the	the	DET
ejpam-263	151	16	ratio	ratio	NOUN
ejpam-263	151	17	will	will	AUX
ejpam-263	151	18	increase	increase	VERB
ejpam-263	151	19	.	.	PUNCT
ejpam-263	152	1	if	if	SCONJ
ejpam-263	152	2	it	it	PRON
ejpam-263	152	3	moves	move	VERB
ejpam-263	152	4	away	away	ADV
ejpam-263	152	5	from	from	ADP
ejpam-263	152	6	the	the	DET
ejpam-263	152	7	stationary	stationary	ADJ
ejpam-263	152	8	obstacle	obstacle	NOUN
ejpam-263	152	9	,	,	PUNCT
ejpam-263	152	10	the	the	DET
ejpam-263	152	11	ratio	ratio	NOUN
ejpam-263	152	12	will	will	AUX
ejpam-263	152	13	decrease	decrease	VERB
ejpam-263	152	14	.	.	PUNCT
ejpam-263	153	1	now	now	ADV
ejpam-263	153	2	,	,	PUNCT
ejpam-263	153	3	to	to	PART
ejpam-263	153	4	provide	provide	VERB
ejpam-263	153	5	the	the	DET
ejpam-263	153	6	importance	importance	NOUN
ejpam-263	153	7	of	of	ADP
ejpam-263	153	8	the	the	DET
ejpam-263	153	9	lyapunov	lyapunov	NOUN
ejpam-263	153	10	-	-	PUNCT
ejpam-263	153	11	based	base	VERB
ejpam-263	153	12	control	control	NOUN
ejpam-263	153	13	scheme	scheme	NOUN
ejpam-263	153	14	,	,	PUNCT
ejpam-263	153	15	we	we	PRON
ejpam-263	153	16	assume	assume	VERB
ejpam-263	153	17	that	that	SCONJ
ejpam-263	153	18	the	the	DET
ejpam-263	153	19	ratio	ratio	NOUN
ejpam-263	153	20	is	be	AUX
ejpam-263	153	21	an	an	DET
ejpam-263	153	22	appropriate	appropriate	ADJ
ejpam-263	153	23	part	part	NOUN
ejpam-263	153	24	of	of	ADP
ejpam-263	153	25	a	a	DET
ejpam-263	153	26	lyapunov	lyapunov	ADJ
ejpam-263	153	27	function	function	NOUN
ejpam-263	153	28	,	,	PUNCT
ejpam-263	153	29	l	l	NOUN
ejpam-263	153	30	,	,	PUNCT
ejpam-263	153	31	which	which	PRON
ejpam-263	153	32	forms	form	VERB
ejpam-263	153	33	the	the	DET
ejpam-263	153	34	b.	b.	PROPN
ejpam-263	153	35	sharma	sharma	PROPN
ejpam-263	153	36	,	,	PUNCT
ejpam-263	153	37	j.	j.	PROPN
ejpam-263	153	38	vanualailai	vanualailai	PROPN
ejpam-263	153	39	,	,	PUNCT
ejpam-263	153	40	and	and	CCONJ
ejpam-263	153	41	u.	u.	PROPN
ejpam-263	153	42	chand	chand	PROPN
ejpam-263	153	43	/	/	SYM
ejpam-263	153	44	eur	eur	PROPN
ejpam-263	153	45	.	.	PUNCT
ejpam-263	154	1	j.	j.	PROPN
ejpam-263	154	2	pure	pure	PROPN
ejpam-263	154	3	appl	appl	PROPN
ejpam-263	154	4	.	.	PROPN
ejpam-263	154	5	math	math	PROPN
ejpam-263	154	6	,	,	PUNCT
ejpam-263	154	7	2	2	NUM
ejpam-263	154	8	(	(	PUNCT
ejpam-263	154	9	2009	2009	NUM
ejpam-263	154	10	)	)	PUNCT
ejpam-263	154	11	,	,	PUNCT
ejpam-263	154	12	(	(	PUNCT
ejpam-263	154	13	401	401	NUM
ejpam-263	154	14	-	-	SYM
ejpam-263	154	15	425	425	NUM
ejpam-263	154	16	)	)	PUNCT
ejpam-263	154	17	411	411	NUM
ejpam-263	154	18	artificial	artificial	ADJ
ejpam-263	154	19	potential	potential	ADJ
ejpam-263	154	20	field	field	NOUN
ejpam-263	154	21	function	function	NOUN
ejpam-263	154	22	for	for	ADP
ejpam-263	154	23	system	system	NOUN
ejpam-263	154	24	(	(	PUNCT
ejpam-263	154	25	2.1	2.1	NUM
ejpam-263	154	26	)	)	PUNCT
ejpam-263	154	27	.	.	PUNCT
ejpam-263	155	1	because	because	SCONJ
ejpam-263	155	2	,	,	PUNCT
ejpam-263	155	3	with	with	ADP
ejpam-263	155	4	respect	respect	NOUN
ejpam-263	155	5	to	to	ADP
ejpam-263	155	6	time	time	NOUN
ejpam-263	155	7	t	t	PROPN
ejpam-263	155	8	≥	≥	PROPN
ejpam-263	155	9	0	0	NUM
ejpam-263	155	10	,	,	PUNCT
ejpam-263	155	11	one	one	PRON
ejpam-263	155	12	gets	get	VERB
ejpam-263	155	13	d	d	NOUN
ejpam-263	155	14	l	l	NOUN
ejpam-263	155	15	/	/	SYM
ejpam-263	155	16	d	d	PROPN
ejpam-263	155	17	t	t	NOUN
ejpam-263	155	18	≤	≤	NOUN
ejpam-263	155	19	0	0	NUM
ejpam-263	155	20	along	along	ADP
ejpam-263	155	21	a	a	DET
ejpam-263	155	22	trajectory	trajectory	NOUN
ejpam-263	155	23	of	of	ADP
ejpam-263	155	24	(	(	PUNCT
ejpam-263	155	25	2.1	2.1	NUM
ejpam-263	155	26	)	)	PUNCT
ejpam-263	155	27	,	,	PUNCT
ejpam-263	155	28	and	and	CCONJ
ejpam-263	155	29	l	l	NOUN
ejpam-263	155	30	is	be	AUX
ejpam-263	155	31	a	a	DET
ejpam-263	155	32	positive	positive	ADJ
ejpam-263	155	33	definite	definite	ADJ
ejpam-263	155	34	function	function	NOUN
ejpam-263	155	35	,	,	PUNCT
ejpam-263	155	36	l	l	NOUN
ejpam-263	155	37	can	can	AUX
ejpam-263	155	38	not	not	PART
ejpam-263	155	39	increase	increase	VERB
ejpam-263	155	40	in	in	ADP
ejpam-263	155	41	t	t	PROPN
ejpam-263	155	42	.	.	PUNCT
ejpam-263	156	1	therefore	therefore	ADV
ejpam-263	156	2	any	any	DET
ejpam-263	156	3	change	change	NOUN
ejpam-263	156	4	in	in	ADP
ejpam-263	156	5	the	the	DET
ejpam-263	156	6	value	value	NOUN
ejpam-263	156	7	of	of	ADP
ejpam-263	156	8	the	the	DET
ejpam-263	156	9	ratio	ratio	NOUN
ejpam-263	156	10	could	could	AUX
ejpam-263	156	11	only	only	ADV
ejpam-263	156	12	correspond	correspond	VERB
ejpam-263	156	13	to	to	ADP
ejpam-263	156	14	either	either	CCONJ
ejpam-263	156	15	an	an	DET
ejpam-263	156	16	increase	increase	NOUN
ejpam-263	156	17	or	or	CCONJ
ejpam-263	156	18	decrease	decrease	VERB
ejpam-263	156	19	in	in	ADP
ejpam-263	156	20	|d	|d	NOUN
ejpam-263	156	21	l	l	NOUN
ejpam-263	156	22	/	/	SYM
ejpam-263	156	23	d	d	PROPN
ejpam-263	156	24	t	t	NOUN
ejpam-263	156	25	|	|	NOUN
ejpam-263	156	26	.	.	PUNCT
ejpam-263	157	1	analogously	analogously	ADV
ejpam-263	157	2	,	,	PUNCT
ejpam-263	157	3	|d	|d	NOUN
ejpam-263	157	4	l	l	NOUN
ejpam-263	157	5	/	/	SYM
ejpam-263	157	6	d	d	NOUN
ejpam-263	157	7	t	t	PROPN
ejpam-263	158	1	|	|	ADV
ejpam-263	158	2	is	be	AUX
ejpam-263	158	3	the	the	DET
ejpam-263	158	4	rate	rate	NOUN
ejpam-263	158	5	of	of	ADP
ejpam-263	158	6	dissipation	dissipation	NOUN
ejpam-263	158	7	of	of	ADP
ejpam-263	158	8	energy	energy	NOUN
ejpam-263	158	9	from	from	ADP
ejpam-263	158	10	the	the	DET
ejpam-263	158	11	system	system	NOUN
ejpam-263	158	12	in	in	ADP
ejpam-263	158	13	absolute	absolute	ADJ
ejpam-263	158	14	value	value	NOUN
ejpam-263	158	15	.	.	PUNCT
ejpam-263	159	1	if	if	SCONJ
ejpam-263	159	2	the	the	DET
ejpam-263	159	3	stationary	stationary	ADJ
ejpam-263	159	4	solid	solid	ADJ
ejpam-263	159	5	object	object	NOUN
ejpam-263	159	6	is	be	AUX
ejpam-263	159	7	being	be	AUX
ejpam-263	159	8	approached	approach	VERB
ejpam-263	159	9	,	,	PUNCT
ejpam-263	159	10	then	then	ADV
ejpam-263	159	11	w11	w11	PROPN
ejpam-263	159	12	gets	get	VERB
ejpam-263	159	13	smaller	small	ADJ
ejpam-263	159	14	,	,	PUNCT
ejpam-263	159	15	and	and	CCONJ
ejpam-263	159	16	the	the	DET
ejpam-263	159	17	ratio	ratio	NOUN
ejpam-263	159	18	gets	get	VERB
ejpam-263	159	19	larger	large	ADJ
ejpam-263	159	20	.	.	PUNCT
ejpam-263	160	1	thus	thus	ADV
ejpam-263	160	2	,	,	PUNCT
ejpam-263	160	3	the	the	DET
ejpam-263	160	4	rate	rate	NOUN
ejpam-263	160	5	of	of	ADP
ejpam-263	160	6	energy	energy	NOUN
ejpam-263	160	7	dissipation	dissipation	NOUN
ejpam-263	160	8	,	,	PUNCT
ejpam-263	160	9	in	in	ADP
ejpam-263	160	10	absolute	absolute	ADJ
ejpam-263	160	11	value	value	NOUN
ejpam-263	160	12	,	,	PUNCT
ejpam-263	160	13	gets	get	VERB
ejpam-263	160	14	larger	large	ADJ
ejpam-263	160	15	.	.	PUNCT
ejpam-263	161	1	this	this	PRON
ejpam-263	161	2	,	,	PUNCT
ejpam-263	161	3	in	in	ADP
ejpam-263	161	4	turn	turn	NOUN
ejpam-263	161	5	,	,	PUNCT
ejpam-263	161	6	results	result	VERB
ejpam-263	161	7	in	in	ADP
ejpam-263	161	8	an	an	DET
ejpam-263	161	9	increased	increase	VERB
ejpam-263	161	10	activity	activity	NOUN
ejpam-263	161	11	of	of	ADP
ejpam-263	161	12	the	the	DET
ejpam-263	161	13	system	system	NOUN
ejpam-263	161	14	.	.	PUNCT
ejpam-263	162	1	this	this	DET
ejpam-263	162	2	increased	increase	VERB
ejpam-263	162	3	activity	activity	NOUN
ejpam-263	162	4	could	could	AUX
ejpam-263	162	5	only	only	ADV
ejpam-263	162	6	be	be	AUX
ejpam-263	162	7	directed	direct	VERB
ejpam-263	162	8	towards	towards	ADP
ejpam-263	162	9	a	a	DET
ejpam-263	162	10	stable	stable	ADJ
ejpam-263	162	11	equilibrium	equilibrium	NOUN
ejpam-263	162	12	point	point	NOUN
ejpam-263	162	13	,	,	PUNCT
ejpam-263	162	14	away	away	ADV
ejpam-263	162	15	from	from	ADP
ejpam-263	162	16	the	the	DET
ejpam-263	162	17	stationary	stationary	ADJ
ejpam-263	162	18	solid	solid	ADJ
ejpam-263	162	19	object	object	NOUN
ejpam-263	162	20	.	.	PUNCT
ejpam-263	163	1	in	in	ADP
ejpam-263	163	2	other	other	ADJ
ejpam-263	163	3	words	word	NOUN
ejpam-263	163	4	,	,	PUNCT
ejpam-263	163	5	a	a	DET
ejpam-263	163	6	situation	situation	NOUN
ejpam-263	163	7	where	where	SCONJ
ejpam-263	163	8	w11	w11	NOUN
ejpam-263	163	9	=	=	NOUN
ejpam-263	163	10	0	0	PROPN
ejpam-263	163	11	can	can	AUX
ejpam-263	163	12	never	never	ADV
ejpam-263	163	13	eventuate	eventuate	VERB
ejpam-263	163	14	.	.	PUNCT
ejpam-263	164	1	hence	hence	ADV
ejpam-263	164	2	,	,	PUNCT
ejpam-263	164	3	if	if	SCONJ
ejpam-263	164	4	the	the	DET
ejpam-263	164	5	ratio	ratio	NOUN
ejpam-263	164	6	is	be	AUX
ejpam-263	164	7	a	a	DET
ejpam-263	164	8	part	part	NOUN
ejpam-263	164	9	of	of	ADP
ejpam-263	164	10	a	a	DET
ejpam-263	164	11	lyapunov	lyapunov	ADJ
ejpam-263	164	12	function	function	NOUN
ejpam-263	164	13	for	for	ADP
ejpam-263	164	14	system	system	NOUN
ejpam-263	164	15	(	(	PUNCT
ejpam-263	164	16	2.1	2.1	NUM
ejpam-263	164	17	)	)	PUNCT
ejpam-263	164	18	,	,	PUNCT
ejpam-263	164	19	then	then	ADV
ejpam-263	164	20	intuitively	intuitively	ADV
ejpam-263	164	21	the	the	DET
ejpam-263	164	22	ratio	ratio	NOUN
ejpam-263	164	23	will	will	AUX
ejpam-263	164	24	act	act	VERB
ejpam-263	164	25	as	as	ADP
ejpam-263	164	26	a	a	DET
ejpam-263	164	27	repulsive	repulsive	ADJ
ejpam-263	164	28	potential	potential	ADJ
ejpam-263	164	29	field	field	NOUN
ejpam-263	164	30	function	function	NOUN
ejpam-263	164	31	,	,	PUNCT
ejpam-263	164	32	this	this	PRON
ejpam-263	164	33	is	be	AUX
ejpam-263	164	34	the	the	DET
ejpam-263	164	35	very	very	ADJ
ejpam-263	164	36	essence	essence	NOUN
ejpam-263	164	37	of	of	ADP
ejpam-263	164	38	the	the	DET
ejpam-263	164	39	lyapunov	lyapunov	NOUN
ejpam-263	164	40	-	-	PUNCT
ejpam-263	164	41	based	base	VERB
ejpam-263	164	42	control	control	NOUN
ejpam-263	164	43	scheme	scheme	NOUN
ejpam-263	164	44	.	.	PUNCT
ejpam-263	165	1	an	an	DET
ejpam-263	165	2	example	example	NOUN
ejpam-263	165	3	of	of	ADP
ejpam-263	165	4	the	the	DET
ejpam-263	165	5	effect	effect	NOUN
ejpam-263	165	6	of	of	ADP
ejpam-263	165	7	the	the	DET
ejpam-263	165	8	repulsive	repulsive	ADJ
ejpam-263	165	9	potential	potential	ADJ
ejpam-263	165	10	function	function	NOUN
ejpam-263	165	11	designed	design	VERB
ejpam-263	165	12	from	from	ADP
ejpam-263	165	13	equation	equation	NOUN
ejpam-263	165	14	(	(	PUNCT
ejpam-263	165	15	3.3	3.3	NUM
ejpam-263	165	16	)	)	PUNCT
ejpam-263	165	17	can	can	AUX
ejpam-263	165	18	be	be	AUX
ejpam-263	165	19	seen	see	VERB
ejpam-263	165	20	in	in	ADP
ejpam-263	165	21	figure	figure	NOUN
ejpam-263	165	22	3(a	3(a	NUM
ejpam-263	165	23	)	)	PUNCT
ejpam-263	165	24	.	.	PUNCT
ejpam-263	166	1	the	the	DET
ejpam-263	166	2	cylindrical	cylindrical	ADJ
ejpam-263	166	3	potential	potential	ADJ
ejpam-263	166	4	spikes	spike	NOUN
ejpam-263	166	5	are	be	AUX
ejpam-263	166	6	immediately	immediately	ADV
ejpam-263	166	7	evident	evident	ADJ
ejpam-263	166	8	.	.	PUNCT
ejpam-263	167	1	henceforth	henceforth	ADV
ejpam-263	167	2	,	,	PUNCT
ejpam-263	167	3	all	all	DET
ejpam-263	167	4	the	the	DET
ejpam-263	167	5	obstacle	obstacle	NOUN
ejpam-263	167	6	avoidance	avoidance	NOUN
ejpam-263	167	7	functions	function	NOUN
ejpam-263	167	8	will	will	AUX
ejpam-263	167	9	be	be	AUX
ejpam-263	167	10	appropriately	appropriately	ADV
ejpam-263	167	11	coupled	couple	VERB
ejpam-263	167	12	with	with	ADP
ejpam-263	167	13	tuning	tune	VERB
ejpam-263	167	14	parameters	parameter	NOUN
ejpam-263	167	15	to	to	PART
ejpam-263	167	16	design	design	VERB
ejpam-263	167	17	the	the	DET
ejpam-263	167	18	repulsive	repulsive	ADJ
ejpam-263	167	19	potential	potential	ADJ
ejpam-263	167	20	field	field	NOUN
ejpam-263	167	21	functions	function	NOUN
ejpam-263	167	22	to	to	PART
ejpam-263	167	23	generate	generate	VERB
ejpam-263	167	24	the	the	DET
ejpam-263	167	25	collision	collision	NOUN
ejpam-263	167	26	and	and	CCONJ
ejpam-263	167	27	obstacle	obstacle	VERB
ejpam-263	167	28	avoidance	avoidance	NOUN
ejpam-263	167	29	maneuvers	maneuver	NOUN
ejpam-263	167	30	.	.	PUNCT
ejpam-263	168	1	3.2.2	3.2.2	NUM
ejpam-263	168	2	.	.	PUNCT
ejpam-263	169	1	moving	move	VERB
ejpam-263	169	2	obstacles	obstacle	NOUN
ejpam-263	169	3	from	from	ADP
ejpam-263	169	4	a	a	DET
ejpam-263	169	5	practical	practical	ADJ
ejpam-263	169	6	viewpoint	viewpoint	NOUN
ejpam-263	169	7	,	,	PUNCT
ejpam-263	169	8	the	the	DET
ejpam-263	169	9	control	control	NOUN
ejpam-263	169	10	algorithms	algorithm	NOUN
ejpam-263	169	11	must	must	AUX
ejpam-263	169	12	generate	generate	VERB
ejpam-263	169	13	feasible	feasible	ADJ
ejpam-263	169	14	trajectories	trajectory	NOUN
ejpam-263	169	15	based	base	VERB
ejpam-263	169	16	upon	upon	SCONJ
ejpam-263	169	17	real	real	ADJ
ejpam-263	169	18	-	-	PUNCT
ejpam-263	169	19	time	time	NOUN
ejpam-263	169	20	perceptual	perceptual	ADJ
ejpam-263	169	21	information	information	NOUN
ejpam-263	169	22	.	.	PUNCT
ejpam-263	170	1	in	in	ADP
ejpam-263	170	2	this	this	DET
ejpam-263	170	3	paper	paper	NOUN
ejpam-263	170	4	,	,	PUNCT
ejpam-263	170	5	we	we	PRON
ejpam-263	170	6	will	will	AUX
ejpam-263	170	7	only	only	ADV
ejpam-263	170	8	consider	consider	VERB
ejpam-263	170	9	moving	move	VERB
ejpam-263	170	10	obstacles	obstacle	NOUN
ejpam-263	170	11	of	of	ADP
ejpam-263	170	12	which	which	PRON
ejpam-263	170	13	the	the	DET
ejpam-263	170	14	system	system	NOUN
ejpam-263	170	15	has	have	AUX
ejpam-263	170	16	complete	complete	ADJ
ejpam-263	170	17	and	and	CCONJ
ejpam-263	170	18	a	a	DET
ejpam-263	170	19	priori	priori	ADJ
ejpam-263	170	20	knowledge	knowledge	NOUN
ejpam-263	170	21	.	.	PUNCT
ejpam-263	171	1	here	here	ADV
ejpam-263	171	2	,	,	PUNCT
ejpam-263	171	3	each	each	DET
ejpam-263	171	4	boid	boid	NOUN
ejpam-263	171	5	itself	itself	PRON
ejpam-263	171	6	becomes	become	VERB
ejpam-263	171	7	a	a	DET
ejpam-263	171	8	moving	move	VERB
ejpam-263	171	9	obstacle	obstacle	NOUN
ejpam-263	171	10	for	for	ADP
ejpam-263	171	11	all	all	DET
ejpam-263	171	12	the	the	DET
ejpam-263	171	13	other	other	ADJ
ejpam-263	171	14	boids	boid	NOUN
ejpam-263	171	15	.	.	PUNCT
ejpam-263	172	1	therefore	therefore	ADV
ejpam-263	172	2	,	,	PUNCT
ejpam-263	172	3	for	for	SCONJ
ejpam-263	172	4	the	the	DET
ejpam-263	172	5	ith	ith	PROPN
ejpam-263	172	6	boid	boid	NOUN
ejpam-263	172	7	to	to	PART
ejpam-263	172	8	avoid	avoid	VERB
ejpam-263	172	9	the	the	DET
ejpam-263	172	10	jth	jth	PROPN
ejpam-263	172	11	moving	move	VERB
ejpam-263	172	12	boid	boid	NOUN
ejpam-263	172	13	,	,	PUNCT
ejpam-263	172	14	we	we	PRON
ejpam-263	172	15	consider	consider	VERB
ejpam-263	172	16	vi	vi	PROPN
ejpam-263	172	17	j(x	j(x	PROPN
ejpam-263	172	18	)	)	PUNCT
ejpam-263	172	19	=	=	SYM
ejpam-263	172	20	1	1	NUM
ejpam-263	172	21	2	2	NUM
ejpam-263	172	22	�	�	PROPN
ejpam-263	172	23	(	(	PUNCT
ejpam-263	172	24	x	x	X
ejpam-263	172	25	i	i	PRON
ejpam-263	172	26	−	−	NOUN
ejpam-263	172	27	x	x	SYM
ejpam-263	172	28	j	j	NOUN
ejpam-263	172	29	)	)	PUNCT
ejpam-263	172	30	2	2	NUM
ejpam-263	173	1	+	+	CCONJ
ejpam-263	173	2	(	(	PUNCT
ejpam-263	173	3	yi	yi	NOUN
ejpam-263	173	4	−	−	PROPN
ejpam-263	173	5	y	y	PROPN
ejpam-263	173	6	j	j	PROPN
ejpam-263	173	7	)	)	PUNCT
ejpam-263	173	8	2	2	NUM
ejpam-263	173	9	−	−	PROPN
ejpam-263	173	10	�	�	PROPN
ejpam-263	173	11	2×	2×	NUM
ejpam-263	173	12	rv	rv	PROPN
ejpam-263	173	13	�	�	PROPN
ejpam-263	173	14	2	2	NUM
ejpam-263	173	15	�	�	PROPN
ejpam-263	173	16	,	,	PUNCT
ejpam-263	173	17	for	for	ADP
ejpam-263	173	18	i	i	PRON
ejpam-263	173	19	,	,	PUNCT
ejpam-263	173	20	j	j	PROPN
ejpam-263	173	21	=	=	NOUN
ejpam-263	173	22	1	1	NUM
ejpam-263	173	23	.	.	PUNCT
ejpam-263	173	24	.	.	PUNCT
ejpam-263	173	25	.	.	PUNCT
ejpam-263	174	1	,	,	PUNCT
ejpam-263	174	2	n	n	CCONJ
ejpam-263	174	3	,	,	PUNCT
ejpam-263	174	4	i	i	PROPN
ejpam-263	174	5	6=	6=	PROPN
ejpam-263	174	6	j.	j.	PROPN
ejpam-263	174	7	(	(	PUNCT
ejpam-263	174	8	3.4	3.4	NUM
ejpam-263	174	9	)	)	PUNCT
ejpam-263	174	10	b.	b.	PROPN
ejpam-263	174	11	sharma	sharma	PROPN
ejpam-263	174	12	,	,	PUNCT
ejpam-263	174	13	j.	j.	PROPN
ejpam-263	174	14	vanualailai	vanualailai	PROPN
ejpam-263	174	15	,	,	PUNCT
ejpam-263	174	16	and	and	CCONJ
ejpam-263	174	17	u.	u.	PROPN
ejpam-263	174	18	chand	chand	PROPN
ejpam-263	174	19	/	/	SYM
ejpam-263	174	20	eur	eur	PROPN
ejpam-263	174	21	.	.	PUNCT
ejpam-263	175	1	j.	j.	PROPN
ejpam-263	175	2	pure	pure	PROPN
ejpam-263	175	3	appl	appl	PROPN
ejpam-263	175	4	.	.	PROPN
ejpam-263	175	5	math	math	PROPN
ejpam-263	175	6	,	,	PUNCT
ejpam-263	175	7	2	2	NUM
ejpam-263	175	8	(	(	PUNCT
ejpam-263	175	9	2009	2009	NUM
ejpam-263	175	10	)	)	PUNCT
ejpam-263	175	11	,	,	PUNCT
ejpam-263	175	12	(	(	PUNCT
ejpam-263	175	13	401	401	NUM
ejpam-263	175	14	-	-	SYM
ejpam-263	175	15	425	425	NUM
ejpam-263	175	16	)	)	PUNCT
ejpam-263	175	17	412	412	NUM
ejpam-263	175	18	this	this	DET
ejpam-263	175	19	avoidance	avoidance	NOUN
ejpam-263	175	20	function	function	NOUN
ejpam-263	175	21	is	be	AUX
ejpam-263	175	22	the	the	DET
ejpam-263	175	23	measure	measure	NOUN
ejpam-263	175	24	of	of	ADP
ejpam-263	175	25	the	the	DET
ejpam-263	175	26	euclidean	euclidean	ADJ
ejpam-263	175	27	distance	distance	NOUN
ejpam-263	175	28	between	between	ADP
ejpam-263	175	29	the	the	DET
ejpam-263	175	30	ith	ith	NOUN
ejpam-263	175	31	and	and	CCONJ
ejpam-263	175	32	the	the	DET
ejpam-263	175	33	jth	jth	PROPN
ejpam-263	175	34	boid	boid	NOUN
ejpam-263	175	35	.	.	PUNCT
ejpam-263	176	1	3.2.3	3.2.3	X
ejpam-263	176	2	.	.	PUNCT
ejpam-263	176	3	dynamics	dynamic	NOUN
ejpam-263	176	4	constraints	constraint	VERB
ejpam-263	176	5	again	again	ADV
ejpam-263	176	6	,	,	PUNCT
ejpam-263	176	7	in	in	ADP
ejpam-263	176	8	practice	practice	NOUN
ejpam-263	176	9	,	,	PUNCT
ejpam-263	176	10	the	the	DET
ejpam-263	176	11	translational	translational	ADJ
ejpam-263	176	12	speed	speed	NOUN
ejpam-263	176	13	and	and	CCONJ
ejpam-263	176	14	the	the	DET
ejpam-263	176	15	steering	steering	NOUN
ejpam-263	176	16	angle	angle	NOUN
ejpam-263	176	17	of	of	ADP
ejpam-263	176	18	the	the	DET
ejpam-263	176	19	robots	robot	NOUN
ejpam-263	176	20	are	be	AUX
ejpam-263	176	21	limited	limited	ADJ
ejpam-263	176	22	.	.	PUNCT
ejpam-263	177	1	however	however	ADV
ejpam-263	177	2	,	,	PUNCT
ejpam-263	177	3	in	in	ADP
ejpam-263	177	4	order	order	NOUN
ejpam-263	177	5	to	to	PART
ejpam-263	177	6	treat	treat	VERB
ejpam-263	177	7	the	the	DET
ejpam-263	177	8	dynamic	dynamic	ADJ
ejpam-263	177	9	constraints	constraint	NOUN
ejpam-263	177	10	within	within	ADP
ejpam-263	177	11	the	the	DET
ejpam-263	177	12	lyapunovbased	lyapunovbase	VERB
ejpam-263	177	13	control	control	NOUN
ejpam-263	177	14	scheme	scheme	NOUN
ejpam-263	177	15	we	we	PRON
ejpam-263	177	16	will	will	AUX
ejpam-263	177	17	have	have	AUX
ejpam-263	177	18	design	design	VERB
ejpam-263	177	19	an	an	DET
ejpam-263	177	20	artificial	artificial	ADJ
ejpam-263	177	21	obstacle	obstacle	NOUN
ejpam-263	177	22	corresponding	correspond	VERB
ejpam-263	177	23	to	to	ADP
ejpam-263	177	24	each	each	DET
ejpam-263	177	25	dynamic	dynamic	ADJ
ejpam-263	177	26	constraint	constraint	NOUN
ejpam-263	177	27	.	.	PUNCT
ejpam-263	178	1	following	follow	VERB
ejpam-263	178	2	on	on	ADP
ejpam-263	178	3	,	,	PUNCT
ejpam-263	178	4	we	we	PRON
ejpam-263	178	5	will	will	AUX
ejpam-263	178	6	design	design	VERB
ejpam-263	178	7	an	an	DET
ejpam-263	178	8	appropriate	appropriate	ADJ
ejpam-263	178	9	obstacle	obstacle	NOUN
ejpam-263	178	10	avoidance	avoidance	NOUN
ejpam-263	178	11	function	function	NOUN
ejpam-263	178	12	for	for	ADP
ejpam-263	178	13	its	its	PRON
ejpam-263	178	14	avoidance	avoidance	NOUN
ejpam-263	178	15	.	.	PUNCT
ejpam-263	179	1	if	if	SCONJ
ejpam-263	179	2	vmax	vmax	PROPN
ejpam-263	179	3	>	>	X
ejpam-263	179	4	0	0	NUM
ejpam-263	179	5	is	be	AUX
ejpam-263	179	6	the	the	DET
ejpam-263	179	7	maximum	maximum	ADJ
ejpam-263	179	8	speed	speed	NOUN
ejpam-263	179	9	,	,	PUNCT
ejpam-263	179	10	and	and	CCONJ
ejpam-263	179	11	φmax	φmax	ADV
ejpam-263	179	12	is	be	AUX
ejpam-263	179	13	the	the	DET
ejpam-263	179	14	maximum	maximum	ADJ
ejpam-263	179	15	steering	steering	NOUN
ejpam-263	179	16	angle	angle	NOUN
ejpam-263	179	17	satisfying	satisfy	VERB
ejpam-263	179	18	0	0	PUNCT
ejpam-263	179	19	<	<	X
ejpam-263	179	20	φmax	φmax	X
ejpam-263	179	21	<	<	X
ejpam-263	179	22	π	π	PROPN
ejpam-263	179	23	2	2	NUM
ejpam-263	179	24	then	then	ADV
ejpam-263	179	25	,	,	PUNCT
ejpam-263	179	26	as	as	SCONJ
ejpam-263	179	27	shown	show	VERB
ejpam-263	179	28	in	in	ADP
ejpam-263	179	29	[	[	X
ejpam-263	179	30	14	14	NUM
ejpam-263	179	31	]	]	PUNCT
ejpam-263	179	32	,	,	PUNCT
ejpam-263	179	33	the	the	DET
ejpam-263	179	34	constraints	constraint	NOUN
ejpam-263	179	35	imposed	impose	VERB
ejpam-263	179	36	on	on	ADP
ejpam-263	179	37	the	the	DET
ejpam-263	179	38	translational	translational	ADJ
ejpam-263	179	39	and	and	CCONJ
ejpam-263	179	40	the	the	DET
ejpam-263	179	41	rotational	rotational	ADJ
ejpam-263	179	42	velocities	velocity	NOUN
ejpam-263	179	43	are	be	AUX
ejpam-263	179	44	|υi|	|υi|	PROPN
ejpam-263	179	45	<	<	X
ejpam-263	179	46	υmax	υmax	PROPN
ejpam-263	179	47	and	and	CCONJ
ejpam-263	179	48	υ2	υ2	PROPN
ejpam-263	179	49	i	i	PRON
ejpam-263	179	50	≥	≥	VERB
ejpam-263	180	1	ρ2	ρ2	NOUN
ejpam-263	180	2	min	min	NOUN
ejpam-263	181	1	ω2	ω2	ADV
ejpam-263	181	2	i	i	PRON
ejpam-263	181	3	.	.	PUNCT
ejpam-263	182	1	where	where	SCONJ
ejpam-263	182	2	ρmin	ρmin	PROPN
ejpam-263	182	3	known	know	VERB
ejpam-263	182	4	as	as	ADP
ejpam-263	182	5	the	the	DET
ejpam-263	182	6	minimum	minimum	NOUN
ejpam-263	182	7	turning	turning	NOUN
ejpam-263	182	8	radius	radius	NOUN
ejpam-263	182	9	is	be	AUX
ejpam-263	182	10	given	give	VERB
ejpam-263	182	11	as	as	ADP
ejpam-263	182	12	ρmin	ρmin	PROPN
ejpam-263	182	13	=	=	PROPN
ejpam-263	182	14	l1	l1	PROPN
ejpam-263	182	15	tanφmax	tanφmax	NOUN
ejpam-263	182	16	.	.	PUNCT
ejpam-263	183	1	from	from	ADP
ejpam-263	183	2	above	above	ADP
ejpam-263	183	3	we	we	PRON
ejpam-263	183	4	get	get	VERB
ejpam-263	183	5	|ωi|	|ωi|	NOUN
ejpam-263	183	6	≤	≤	NOUN
ejpam-263	183	7	|υi	|υi	X
ejpam-263	183	8	|	|	ADV
ejpam-263	183	9	|ρmin|	|ρmin|	ADJ
ejpam-263	183	10	<	<	X
ejpam-263	183	11	υmax	υmax	PROPN
ejpam-263	183	12	|ρmin|	|ρmin|	PROPN
ejpam-263	183	13	.	.	PUNCT
ejpam-263	184	1	based	base	VERB
ejpam-263	184	2	on	on	ADP
ejpam-263	184	3	these	these	DET
ejpam-263	184	4	constraints	constraint	NOUN
ejpam-263	184	5	,	,	PUNCT
ejpam-263	184	6	the	the	DET
ejpam-263	184	7	following	follow	VERB
ejpam-263	184	8	artificial	artificial	ADJ
ejpam-263	184	9	obstacles	obstacle	NOUN
ejpam-263	184	10	can	can	AUX
ejpam-263	184	11	be	be	AUX
ejpam-263	184	12	constructed	construct	VERB
ejpam-263	184	13	:	:	PUNCT
ejpam-263	184	14	aoi1	aoi1	PROPN
ejpam-263	184	15	=	=	PUNCT
ejpam-263	184	16	{	{	PUNCT
ejpam-263	184	17	υi	υi	NOUN
ejpam-263	184	18	∈	∈	NOUN
ejpam-263	184	19	r	r	NOUN
ejpam-263	184	20	:	:	PUNCT
ejpam-263	184	21	υi	υi	PRON
ejpam-263	184	22	≤	≤	ADJ
ejpam-263	184	23	−υmax	−υmax	PUNCT
ejpam-263	184	24	or	or	CCONJ
ejpam-263	184	25	υi	υi	PRON
ejpam-263	184	26	≥	≥	PROPN
ejpam-263	184	27	υmax	υmax	PROPN
ejpam-263	184	28	}	}	PUNCT
ejpam-263	184	29	,	,	PUNCT
ejpam-263	184	30	aoi2	aoi2	PROPN
ejpam-263	184	31	=	=	PRON
ejpam-263	184	32	{	{	PUNCT
ejpam-263	184	33	ωi	ωi	PROPN
ejpam-263	184	34	∈	∈	PROPN
ejpam-263	184	35	r	r	NOUN
ejpam-263	184	36	:	:	PUNCT
ejpam-263	185	1	ωi	ωi	PROPN
ejpam-263	185	2	≤−υmax/|ρmin|	≤−υmax/|ρmin|	NOUN
ejpam-263	185	3	or	or	CCONJ
ejpam-263	185	4	ωi	ωi	NUM
ejpam-263	185	5	≥	≥	NOUN
ejpam-263	185	6	υmax/|ρmin|	υmax/|ρmin|	NOUN
ejpam-263	185	7	}	}	PUNCT
ejpam-263	185	8	,	,	PUNCT
ejpam-263	185	9	for	for	ADP
ejpam-263	185	10	avoidance	avoidance	NOUN
ejpam-263	185	11	,	,	PUNCT
ejpam-263	185	12	the	the	DET
ejpam-263	185	13	following	follow	VERB
ejpam-263	185	14	obstacle	obstacle	NOUN
ejpam-263	185	15	avoidance	avoidance	NOUN
ejpam-263	185	16	functions	function	NOUN
ejpam-263	185	17	will	will	AUX
ejpam-263	185	18	be	be	AUX
ejpam-263	185	19	included	include	VERB
ejpam-263	185	20	:	:	PUNCT
ejpam-263	185	21	ui1(x	ui1(x	ADJ
ejpam-263	185	22	)	)	PUNCT
ejpam-263	186	1	=	=	SYM
ejpam-263	186	2	1	1	NUM
ejpam-263	186	3	2	2	NUM
ejpam-263	186	4	(	(	PUNCT
ejpam-263	186	5	υmax	υmax	PROPN
ejpam-263	186	6	−υi)(υmax	−υi)(υmax	PROPN
ejpam-263	186	7	+	+	PROPN
ejpam-263	186	8	υi	υi	NOUN
ejpam-263	186	9	)	)	PUNCT
ejpam-263	186	10	,	,	PUNCT
ejpam-263	186	11	(	(	PUNCT
ejpam-263	186	12	3.5	3.5	NUM
ejpam-263	186	13	)	)	PUNCT
ejpam-263	186	14	ui2(x	ui2(x	PROPN
ejpam-263	186	15	)	)	PUNCT
ejpam-263	187	1	=	=	SYM
ejpam-263	187	2	1	1	NUM
ejpam-263	187	3	2	2	NUM
ejpam-263	187	4	�	�	PROPN
ejpam-263	187	5	υmax	υmax	PROPN
ejpam-263	187	6	|ρmin|	|ρmin|	PROPN
ejpam-263	187	7	−ωi	−ωi	PROPN
ejpam-263	187	8	�	�	PROPN
ejpam-263	187	9	�	�	PROPN
ejpam-263	187	10	υmax	υmax	PROPN
ejpam-263	187	11	|ρmin|	|ρmin|	PROPN
ejpam-263	187	12	+	+	NOUN
ejpam-263	187	13	ωi	ωi	PROPN
ejpam-263	187	14	�	�	PROPN
ejpam-263	187	15	,	,	PUNCT
ejpam-263	187	16	for	for	ADP
ejpam-263	187	17	i	i	PROPN
ejpam-263	187	18	=	=	NOUN
ejpam-263	187	19	1	1	NUM
ejpam-263	187	20	,	,	PUNCT
ejpam-263	187	21	.	.	PUNCT
ejpam-263	187	22	.	.	PUNCT
ejpam-263	187	23	.	.	PUNCT
ejpam-263	188	1	,	,	PUNCT
ejpam-263	188	2	n.	n.	NOUN
ejpam-263	188	3	(	(	PUNCT
ejpam-263	188	4	3.6	3.6	NUM
ejpam-263	188	5	)	)	PUNCT
ejpam-263	188	6	the	the	DET
ejpam-263	188	7	repulsive	repulsive	ADJ
ejpam-263	188	8	potential	potential	ADJ
ejpam-263	188	9	functions	function	NOUN
ejpam-263	188	10	generated	generate	VERB
ejpam-263	188	11	from	from	ADP
ejpam-263	188	12	these	these	DET
ejpam-263	188	13	obstacle	obstacle	NOUN
ejpam-263	188	14	avoidance	avoidance	NOUN
ejpam-263	188	15	functions	function	NOUN
ejpam-263	188	16	would	would	AUX
ejpam-263	188	17	guarantee	guarantee	VERB
ejpam-263	188	18	the	the	DET
ejpam-263	188	19	adherence	adherence	NOUN
ejpam-263	188	20	to	to	ADP
ejpam-263	188	21	the	the	DET
ejpam-263	188	22	limitations	limitation	NOUN
ejpam-263	188	23	placed	place	VERB
ejpam-263	188	24	upon	upon	SCONJ
ejpam-263	188	25	translational	translational	ADJ
ejpam-263	188	26	velocity	velocity	NOUN
ejpam-263	188	27	υi	υi	NOUN
ejpam-263	188	28	and	and	CCONJ
ejpam-263	188	29	the	the	DET
ejpam-263	188	30	steering	steering	NOUN
ejpam-263	188	31	angle	angle	NOUN
ejpam-263	188	32	φi	φi	ADP
ejpam-263	188	33	,	,	PUNCT
ejpam-263	188	34	respectively	respectively	ADV
ejpam-263	188	35	.	.	PUNCT
ejpam-263	189	1	b.	b.	PROPN
ejpam-263	189	2	sharma	sharma	PROPN
ejpam-263	189	3	,	,	PUNCT
ejpam-263	189	4	j.	j.	PROPN
ejpam-263	189	5	vanualailai	vanualailai	PROPN
ejpam-263	189	6	,	,	PUNCT
ejpam-263	189	7	and	and	CCONJ
ejpam-263	189	8	u.	u.	PROPN
ejpam-263	189	9	chand	chand	PROPN
ejpam-263	189	10	/	/	SYM
ejpam-263	189	11	eur	eur	PROPN
ejpam-263	189	12	.	.	PUNCT
ejpam-263	190	1	j.	j.	PROPN
ejpam-263	190	2	pure	pure	PROPN
ejpam-263	190	3	appl	appl	PROPN
ejpam-263	190	4	.	.	PROPN
ejpam-263	190	5	math	math	PROPN
ejpam-263	190	6	,	,	PUNCT
ejpam-263	190	7	2	2	NUM
ejpam-263	190	8	(	(	PUNCT
ejpam-263	190	9	2009	2009	NUM
ejpam-263	190	10	)	)	PUNCT
ejpam-263	190	11	,	,	PUNCT
ejpam-263	190	12	(	(	PUNCT
ejpam-263	190	13	401	401	NUM
ejpam-263	190	14	-	-	SYM
ejpam-263	190	15	425	425	NUM
ejpam-263	190	16	)	)	PUNCT
ejpam-263	190	17	413	413	NUM
ejpam-263	190	18	4	4	NUM
ejpam-263	190	19	.	.	PUNCT
ejpam-263	191	1	lyapunov	lyapunov	NOUN
ejpam-263	191	2	-	-	PUNCT
ejpam-263	191	3	based	base	VERB
ejpam-263	191	4	control	control	NOUN
ejpam-263	191	5	scheme	scheme	NOUN
ejpam-263	191	6	utilizing	utilize	VERB
ejpam-263	191	7	the	the	DET
ejpam-263	191	8	lyapunov	lyapunov	NOUN
ejpam-263	191	9	-	-	PUNCT
ejpam-263	191	10	based	base	VERB
ejpam-263	191	11	control	control	NOUN
ejpam-263	191	12	scheme	scheme	NOUN
ejpam-263	191	13	we	we	PRON
ejpam-263	191	14	now	now	ADV
ejpam-263	191	15	design	design	VERB
ejpam-263	191	16	the	the	DET
ejpam-263	191	17	nonlinear	nonlinear	ADJ
ejpam-263	191	18	control	control	NOUN
ejpam-263	191	19	laws	law	NOUN
ejpam-263	191	20	and	and	CCONJ
ejpam-263	191	21	provide	provide	VERB
ejpam-263	191	22	a	a	DET
ejpam-263	191	23	mathematical	mathematical	ADJ
ejpam-263	191	24	proof	proof	NOUN
ejpam-263	191	25	that	that	SCONJ
ejpam-263	191	26	system	system	NOUN
ejpam-263	191	27	(	(	PUNCT
ejpam-263	191	28	2.1	2.1	NUM
ejpam-263	191	29	)	)	PUNCT
ejpam-263	191	30	is	be	AUX
ejpam-263	191	31	indeed	indeed	ADV
ejpam-263	191	32	stable	stable	ADJ
ejpam-263	191	33	.	.	PUNCT
ejpam-263	192	1	the	the	DET
ejpam-263	192	2	control	control	NOUN
ejpam-263	192	3	laws	law	NOUN
ejpam-263	192	4	have	have	AUX
ejpam-263	192	5	been	be	AUX
ejpam-263	192	6	extracted	extract	VERB
ejpam-263	192	7	from	from	ADP
ejpam-263	192	8	a	a	DET
ejpam-263	192	9	lyapunov	lyapunov	NOUN
ejpam-263	192	10	function	function	NOUN
ejpam-263	192	11	which	which	PRON
ejpam-263	192	12	appropriately	appropriately	ADV
ejpam-263	192	13	sums	sum	VERB
ejpam-263	192	14	the	the	DET
ejpam-263	192	15	attractive	attractive	ADJ
ejpam-263	192	16	and	and	CCONJ
ejpam-263	192	17	repulsive	repulsive	ADJ
ejpam-263	192	18	potential	potential	ADJ
ejpam-263	192	19	field	field	NOUN
ejpam-263	192	20	functions	function	NOUN
ejpam-263	192	21	designed	design	VERB
ejpam-263	192	22	in	in	ADP
ejpam-263	192	23	the	the	DET
ejpam-263	192	24	aforementioned	aforementioned	ADJ
ejpam-263	192	25	sections	section	NOUN
ejpam-263	192	26	.	.	PUNCT
ejpam-263	193	1	we	we	PRON
ejpam-263	193	2	begin	begin	VERB
ejpam-263	193	3	with	with	ADP
ejpam-263	193	4	the	the	DET
ejpam-263	193	5	following	follow	VERB
ejpam-263	193	6	theorem	theorem	NOUN
ejpam-263	193	7	:	:	PUNCT
ejpam-263	193	8	theorem	theorem	NOUN
ejpam-263	193	9	4.1	4.1	NUM
ejpam-263	193	10	.	.	PUNCT
ejpam-263	194	1	consider	consider	VERB
ejpam-263	194	2	a	a	DET
ejpam-263	194	3	flock	flock	NOUN
ejpam-263	194	4	of	of	ADP
ejpam-263	194	5	nonholonomic	nonholonomic	ADJ
ejpam-263	194	6	boids	boid	NOUN
ejpam-263	194	7	,	,	PUNCT
ejpam-263	194	8	the	the	DET
ejpam-263	194	9	motion	motion	NOUN
ejpam-263	194	10	of	of	ADP
ejpam-263	194	11	which	which	PRON
ejpam-263	194	12	is	be	AUX
ejpam-263	194	13	governed	govern	VERB
ejpam-263	194	14	by	by	ADP
ejpam-263	194	15	odes	ode	NOUN
ejpam-263	194	16	described	describe	VERB
ejpam-263	194	17	by	by	ADP
ejpam-263	194	18	system	system	NOUN
ejpam-263	194	19	(	(	PUNCT
ejpam-263	194	20	2.1	2.1	NUM
ejpam-263	194	21	)	)	PUNCT
ejpam-263	194	22	.	.	PUNCT
ejpam-263	195	1	the	the	DET
ejpam-263	195	2	objective	objective	NOUN
ejpam-263	195	3	is	be	AUX
ejpam-263	195	4	to	to	PART
ejpam-263	195	5	,	,	PUNCT
ejpam-263	195	6	amongst	amongst	ADP
ejpam-263	195	7	considering	consider	VERB
ejpam-263	195	8	other	other	ADJ
ejpam-263	195	9	integrated	integrated	ADJ
ejpam-263	195	10	subtasks	subtask	NOUN
ejpam-263	195	11	,	,	PUNCT
ejpam-263	195	12	establish	establish	VERB
ejpam-263	195	13	and	and	CCONJ
ejpam-263	195	14	control	control	VERB
ejpam-263	195	15	a	a	DET
ejpam-263	195	16	prescribed	prescribed	ADJ
ejpam-263	195	17	formation	formation	NOUN
ejpam-263	195	18	,	,	PUNCT
ejpam-263	195	19	facilitate	facilitate	NOUN
ejpam-263	195	20	split	split	NOUN
ejpam-263	195	21	/	/	SYM
ejpam-263	195	22	rejoin	rejoin	NOUN
ejpam-263	195	23	maneuvers	maneuver	NOUN
ejpam-263	195	24	of	of	ADP
ejpam-263	195	25	the	the	DET
ejpam-263	195	26	boids	boid	NOUN
ejpam-263	195	27	within	within	ADP
ejpam-263	195	28	a	a	DET
ejpam-263	195	29	constrained	constrain	VERB
ejpam-263	195	30	environment	environment	NOUN
ejpam-263	195	31	and	and	CCONJ
ejpam-263	195	32	reach	reach	VERB
ejpam-263	195	33	the	the	DET
ejpam-263	195	34	target	target	NOUN
ejpam-263	195	35	configuration	configuration	NOUN
ejpam-263	195	36	with	with	ADP
ejpam-263	195	37	the	the	DET
ejpam-263	195	38	original	original	ADJ
ejpam-263	195	39	formation	formation	NOUN
ejpam-263	195	40	.	.	PUNCT
ejpam-263	196	1	the	the	DET
ejpam-263	196	2	subtasks	subtask	NOUN
ejpam-263	196	3	include	include	VERB
ejpam-263	196	4	;	;	PUNCT
ejpam-263	196	5	restrictions	restriction	NOUN
ejpam-263	196	6	placed	place	VERB
ejpam-263	196	7	on	on	ADP
ejpam-263	196	8	the	the	DET
ejpam-263	196	9	workspace	workspace	NOUN
ejpam-263	196	10	,	,	PUNCT
ejpam-263	196	11	convergence	convergence	NOUN
ejpam-263	196	12	to	to	ADP
ejpam-263	196	13	predefined	predefine	VERB
ejpam-263	196	14	targets	target	NOUN
ejpam-263	196	15	,	,	PUNCT
ejpam-263	196	16	and	and	CCONJ
ejpam-263	196	17	consideration	consideration	NOUN
ejpam-263	196	18	of	of	ADP
ejpam-263	196	19	kinematic	kinematic	ADJ
ejpam-263	196	20	and	and	CCONJ
ejpam-263	196	21	dynamic	dynamic	ADJ
ejpam-263	196	22	constraints	constraint	NOUN
ejpam-263	196	23	.	.	PUNCT
ejpam-263	197	1	utilizing	utilize	VERB
ejpam-263	197	2	the	the	DET
ejpam-263	197	3	attractive	attractive	ADJ
ejpam-263	197	4	and	and	CCONJ
ejpam-263	197	5	repulsive	repulsive	ADJ
ejpam-263	197	6	potential	potential	ADJ
ejpam-263	197	7	field	field	NOUN
ejpam-263	197	8	functions	function	VERB
ejpam-263	197	9	the	the	DET
ejpam-263	197	10	following	follow	VERB
ejpam-263	197	11	continuous	continuous	ADJ
ejpam-263	197	12	time	time	NOUN
ejpam-263	197	13	-	-	PUNCT
ejpam-263	197	14	invariant	invariant	ADJ
ejpam-263	197	15	control	control	NOUN
ejpam-263	197	16	laws	law	NOUN
ejpam-263	197	17	can	can	AUX
ejpam-263	197	18	be	be	AUX
ejpam-263	197	19	generated	generate	VERB
ejpam-263	197	20	for	for	ADP
ejpam-263	197	21	the	the	DET
ejpam-263	197	22	ith	ith	PROPN
ejpam-263	197	23	boid	boid	NOUN
ejpam-263	197	24	that	that	SCONJ
ejpam-263	197	25	per	per	ADV
ejpam-263	197	26	se	se	X
ejpam-263	197	27	stabilizes	stabilize	VERB
ejpam-263	197	28	system	system	NOUN
ejpam-263	197	29	(	(	PUNCT
ejpam-263	197	30	2.1	2.1	NUM
ejpam-263	197	31	)	)	PUNCT
ejpam-263	197	32	as	as	ADV
ejpam-263	197	33	well	well	ADV
ejpam-263	197	34	:	:	PUNCT
ejpam-263	198	1	σi	σi	NOUN
ejpam-263	198	2	=	=	SYM
ejpam-263	199	1	−	−	PROPN
ejpam-263	199	2	�	�	PROPN
ejpam-263	199	3	δi1υi	δi1υi	NUM
ejpam-263	199	4	+	+	CCONJ
ejpam-263	199	5	f1i	f1i	PROPN
ejpam-263	199	6	cosθi	cosθi	NOUN
ejpam-263	199	7	+	+	CCONJ
ejpam-263	199	8	f2i	f2i	VERB
ejpam-263	199	9	sinθi	sinθi	NOUN
ejpam-263	199	10	�	�	PROPN
ejpam-263	199	11	/	/	SYM
ejpam-263	199	12	f4i	f4i	PROPN
ejpam-263	199	13	,	,	PUNCT
ejpam-263	199	14	(	(	PUNCT
ejpam-263	199	15	4.1	4.1	NUM
ejpam-263	199	16	)	)	PUNCT
ejpam-263	199	17	ηi	ηi	NOUN
ejpam-263	199	18	=	=	PUNCT
ejpam-263	199	19	−	−	PROPN
ejpam-263	199	20	�	�	PROPN
ejpam-263	199	21	δi2ωi	δi2ωi	PRON
ejpam-263	199	22	+	+	CCONJ
ejpam-263	199	23	ll	ll	AUX
ejpam-263	199	24	2	2	NUM
ejpam-263	199	25	�	�	PROPN
ejpam-263	199	26	−	−	PROPN
ejpam-263	199	27	f1i	f1i	PROPN
ejpam-263	199	28	sinθi	sinθi	NOUN
ejpam-263	199	29	+	+	CCONJ
ejpam-263	199	30	f2i	f2i	PROPN
ejpam-263	199	31	cosθi	cosθi	VERB
ejpam-263	199	32	�	�	PROPN
ejpam-263	199	33	+	+	CCONJ
ejpam-263	199	34	f3i	f3i	VERB
ejpam-263	199	35	�	�	PROPN
ejpam-263	199	36	/	/	SYM
ejpam-263	199	37	f5i	f5i	PROPN
ejpam-263	199	38	,	,	PUNCT
ejpam-263	199	39	(	(	PUNCT
ejpam-263	199	40	4.2	4.2	NUM
ejpam-263	199	41	)	)	PUNCT
ejpam-263	199	42	for	for	ADP
ejpam-263	199	43	i	i	PRON
ejpam-263	199	44	=	=	NOUN
ejpam-263	199	45	1	1	NUM
ejpam-263	199	46	to	to	ADP
ejpam-263	199	47	n	n	PRON
ejpam-263	199	48	where	where	SCONJ
ejpam-263	199	49	δi1,δi2	δi1,δi2	AUX
ejpam-263	199	50	>	>	X
ejpam-263	199	51	0	0	NUM
ejpam-263	199	52	are	be	AUX
ejpam-263	199	53	constants	constant	NOUN
ejpam-263	199	54	commonly	commonly	ADV
ejpam-263	199	55	known	know	VERB
ejpam-263	199	56	as	as	ADP
ejpam-263	199	57	convergence	convergence	NOUN
ejpam-263	199	58	parameters	parameter	NOUN
ejpam-263	199	59	.	.	PUNCT
ejpam-263	200	1	proof	proof	NOUN
ejpam-263	200	2	:	:	PUNCT
ejpam-263	200	3	introducing	introduce	VERB
ejpam-263	200	4	positive	positive	ADJ
ejpam-263	200	5	constants	constant	NOUN
ejpam-263	200	6	,	,	PUNCT
ejpam-263	200	7	denoted	denote	VERB
ejpam-263	200	8	as	as	ADP
ejpam-263	200	9	tuning	tune	VERB
ejpam-263	200	10	parameters	parameter	NOUN
ejpam-263	200	11	,	,	PUNCT
ejpam-263	200	12	αik	αik	VERB
ejpam-263	200	13	>	>	X
ejpam-263	200	14	0	0	NUM
ejpam-263	200	15	,	,	PUNCT
ejpam-263	200	16	βi	βi	PRON
ejpam-263	200	17	j	j	PROPN
ejpam-263	200	18	>	>	PUNCT
ejpam-263	200	19	0	0	PUNCT
ejpam-263	200	20	and	and	CCONJ
ejpam-263	200	21	γis	γis	ADV
ejpam-263	200	22	>	>	X
ejpam-263	200	23	0	0	NUM
ejpam-263	200	24	,	,	PUNCT
ejpam-263	200	25	for	for	ADP
ejpam-263	200	26	i	i	PROPN
ejpam-263	200	27	,	,	PUNCT
ejpam-263	200	28	j	j	PROPN
ejpam-263	200	29	,	,	PUNCT
ejpam-263	200	30	k	k	PROPN
ejpam-263	200	31	,	,	PUNCT
ejpam-263	200	32	s	s	VERB
ejpam-263	200	33	∈	∈	PROPN
ejpam-263	200	34	n	n	X
ejpam-263	200	35	,	,	PUNCT
ejpam-263	200	36	we	we	PRON
ejpam-263	200	37	propose	propose	VERB
ejpam-263	200	38	a	a	DET
ejpam-263	200	39	lyapunov	lyapunov	ADJ
ejpam-263	200	40	function	function	NOUN
ejpam-263	200	41	candidate	candidate	NOUN
ejpam-263	200	42	for	for	ADP
ejpam-263	200	43	system	system	NOUN
ejpam-263	200	44	(	(	PUNCT
ejpam-263	200	45	2.1	2.1	NUM
ejpam-263	200	46	):	):	PUNCT
ejpam-263	200	47	l(x	l(x	PROPN
ejpam-263	200	48	)	)	PUNCT
ejpam-263	200	49	=	=	PUNCT
ejpam-263	201	1	n	n	CCONJ
ejpam-263	201	2	∑	∑	ADP
ejpam-263	201	3	i=1	i=1	PROPN
ejpam-263	201	4			PROPN
ejpam-263	201	5			NOUN
ejpam-263	201	6			ADJ
ejpam-263	201	7	hni	hni	PROPN
ejpam-263	201	8	(	(	PUNCT
ejpam-263	201	9	x	x	PROPN
ejpam-263	201	10	)	)	PUNCT
ejpam-263	202	1	+	+	CCONJ
ejpam-263	202	2	gi(x	gi(x	X
ejpam-263	202	3	)	)	PUNCT
ejpam-263	202	4			NOUN
ejpam-263	202	5			NOUN
ejpam-263	202	6	m	m	VERB
ejpam-263	202	7	∑	∑	PUNCT
ejpam-263	202	8	k=1	k=1	VERB
ejpam-263	202	9	αik	αik	PROPN
ejpam-263	202	10	wik(x	wik(x	PROPN
ejpam-263	202	11	)	)	PUNCT
ejpam-263	203	1	+	+	CCONJ
ejpam-263	203	2	2	2	NUM
ejpam-263	203	3	∑	∑	NOUN
ejpam-263	203	4	s=1	s=1	X
ejpam-263	203	5	γis	γis	NOUN
ejpam-263	203	6	uis(x	uis(x	NUM
ejpam-263	203	7	)	)	PUNCT
ejpam-263	204	1	+	+	CCONJ
ejpam-263	204	2	n	n	CCONJ
ejpam-263	204	3	∑	∑	PROPN
ejpam-263	204	4	j=1,i	j=1,i	PROPN
ejpam-263	204	5	6=	6=	PROPN
ejpam-263	205	1	j	j	PROPN
ejpam-263	205	2	βi	βi	PROPN
ejpam-263	205	3	j	j	PROPN
ejpam-263	205	4	vi	vi	PROPN
ejpam-263	205	5	j(x	j(x	PROPN
ejpam-263	205	6	)	)	PUNCT
ejpam-263	205	7			PROPN
ejpam-263	205	8			PROPN
ejpam-263	205	9			PROPN
ejpam-263	205	10			PROPN
ejpam-263	205	11			NOUN
ejpam-263	205	12	.	.	PUNCT
ejpam-263	206	1	(	(	PUNCT
ejpam-263	206	2	4.3	4.3	NUM
ejpam-263	206	3	)	)	PUNCT
ejpam-263	206	4	b.	b.	PROPN
ejpam-263	206	5	sharma	sharma	PROPN
ejpam-263	206	6	,	,	PUNCT
ejpam-263	206	7	j.	j.	PROPN
ejpam-263	206	8	vanualailai	vanualailai	PROPN
ejpam-263	206	9	,	,	PUNCT
ejpam-263	206	10	and	and	CCONJ
ejpam-263	206	11	u.	u.	PROPN
ejpam-263	206	12	chand	chand	PROPN
ejpam-263	206	13	/	/	SYM
ejpam-263	206	14	eur	eur	PROPN
ejpam-263	206	15	.	.	PUNCT
ejpam-263	207	1	j.	j.	PROPN
ejpam-263	207	2	pure	pure	PROPN
ejpam-263	207	3	appl	appl	PROPN
ejpam-263	207	4	.	.	PROPN
ejpam-263	207	5	math	math	PROPN
ejpam-263	207	6	,	,	PUNCT
ejpam-263	207	7	2	2	NUM
ejpam-263	207	8	(	(	PUNCT
ejpam-263	207	9	2009	2009	NUM
ejpam-263	207	10	)	)	PUNCT
ejpam-263	207	11	,	,	PUNCT
ejpam-263	207	12	(	(	PUNCT
ejpam-263	207	13	401	401	NUM
ejpam-263	207	14	-	-	SYM
ejpam-263	207	15	425	425	NUM
ejpam-263	207	16	)	)	PUNCT
ejpam-263	207	17	414	414	NUM
ejpam-263	207	18	assumption	assumption	NOUN
ejpam-263	207	19	4.1	4.1	NUM
ejpam-263	207	20	.	.	PUNCT
ejpam-263	208	1	x	x	SYM
ejpam-263	208	2	∗	∗	NOUN
ejpam-263	208	3	=	=	SYM
ejpam-263	208	4	(	(	PUNCT
ejpam-263	208	5	t	t	PROPN
ejpam-263	208	6	i1	i1	PROPN
ejpam-263	208	7	,	,	PUNCT
ejpam-263	208	8	t	t	PROPN
ejpam-263	208	9	i2	i2	PROPN
ejpam-263	208	10	,	,	PUNCT
ejpam-263	208	11	t	t	PROPN
ejpam-263	208	12	i3	i3	NOUN
ejpam-263	208	13	,	,	PUNCT
ejpam-263	208	14	0	0	NUM
ejpam-263	208	15	,	,	PUNCT
ejpam-263	208	16	0	0	NUM
ejpam-263	208	17	,	,	PUNCT
ejpam-263	208	18	.	.	PUNCT
ejpam-263	208	19	.	.	PUNCT
ejpam-263	208	20	.	.	PUNCT
ejpam-263	209	1	,	,	PUNCT
ejpam-263	209	2	tn1	tn1	ADJ
ejpam-263	209	3	,	,	PUNCT
ejpam-263	209	4	tn2	tn2	ADV
ejpam-263	209	5	,	,	PUNCT
ejpam-263	209	6	tn3	tn3	NOUN
ejpam-263	209	7	,	,	PUNCT
ejpam-263	209	8	0	0	NUM
ejpam-263	209	9	,	,	PUNCT
ejpam-263	209	10	0	0	NUM
ejpam-263	209	11	)	)	PUNCT
ejpam-263	209	12	∈	∈	PROPN
ejpam-263	209	13	r5n	r5n	PROPN
ejpam-263	209	14	∈	∈	PROPN
ejpam-263	209	15	d(l	d(l	ADJ
ejpam-263	209	16	)	)	PUNCT
ejpam-263	209	17	is	be	AUX
ejpam-263	209	18	an	an	DET
ejpam-263	209	19	equilibrium	equilibrium	NOUN
ejpam-263	209	20	point	point	NOUN
ejpam-263	209	21	of	of	ADP
ejpam-263	209	22	system	system	NOUN
ejpam-263	209	23	(	(	PUNCT
ejpam-263	209	24	2.1	2.1	NUM
ejpam-263	209	25	)	)	PUNCT
ejpam-263	209	26	.	.	PUNCT
ejpam-263	210	1	remark	remark	VERB
ejpam-263	210	2	4.1	4.1	NUM
ejpam-263	210	3	.	.	PUNCT
ejpam-263	211	1	this	this	PRON
ejpam-263	211	2	is	be	AUX
ejpam-263	211	3	a	a	DET
ejpam-263	211	4	reasonable	reasonable	ADJ
ejpam-263	211	5	assumption	assumption	NOUN
ejpam-263	211	6	since	since	SCONJ
ejpam-263	211	7	l̇(x	l̇(x	NOUN
ejpam-263	211	8	∗	∗	NOUN
ejpam-263	211	9	)	)	PUNCT
ejpam-263	212	1	=	=	SYM
ejpam-263	212	2	0	0	PUNCT
ejpam-263	212	3	making	make	VERB
ejpam-263	212	4	x	x	SYM
ejpam-263	212	5	∗	∗	NOUN
ejpam-263	212	6	a	a	DET
ejpam-263	212	7	feasible	feasible	ADJ
ejpam-263	212	8	equilibrium	equilibrium	NOUN
ejpam-263	212	9	point	point	NOUN
ejpam-263	212	10	,	,	PUNCT
ejpam-263	212	11	at	at	ADP
ejpam-263	212	12	least	least	ADJ
ejpam-263	212	13	,	,	PUNCT
ejpam-263	212	14	in	in	ADP
ejpam-263	212	15	a	a	DET
ejpam-263	212	16	small	small	ADJ
ejpam-263	212	17	neighborhood	neighborhood	NOUN
ejpam-263	212	18	of	of	ADP
ejpam-263	212	19	the	the	DET
ejpam-263	212	20	target	target	NOUN
ejpam-263	212	21	configuration	configuration	NOUN
ejpam-263	212	22	.	.	PUNCT
ejpam-263	213	1	then	then	ADV
ejpam-263	213	2	one	one	PRON
ejpam-263	213	3	can	can	AUX
ejpam-263	213	4	easily	easily	ADV
ejpam-263	213	5	verify	verify	VERB
ejpam-263	213	6	the	the	DET
ejpam-263	213	7	following	following	NOUN
ejpam-263	213	8	:	:	PUNCT
ejpam-263	213	9	1	1	X
ejpam-263	213	10	.	.	X
ejpam-263	213	11	l	l	NOUN
ejpam-263	213	12	is	be	AUX
ejpam-263	213	13	continuous	continuous	ADJ
ejpam-263	213	14	and	and	CCONJ
ejpam-263	213	15	positive	positive	ADJ
ejpam-263	213	16	on	on	ADP
ejpam-263	213	17	the	the	DET
ejpam-263	213	18	domain	domain	NOUN
ejpam-263	213	19	d	d	NOUN
ejpam-263	213	20	given	give	VERB
ejpam-263	213	21	as	as	ADP
ejpam-263	213	22	d(l	d(l	ADJ
ejpam-263	213	23	)	)	PUNCT
ejpam-263	213	24	=	=	SYM
ejpam-263	213	25	{	{	PUNCT
ejpam-263	213	26	x	x	PUNCT
ejpam-263	213	27	∈	∈	PROPN
ejpam-263	213	28	r5×n	r5×n	PROPN
ejpam-263	213	29	:	:	PUNCT
ejpam-263	213	30	wik(x	wik(x	PROPN
ejpam-263	213	31	)	)	PUNCT
ejpam-263	213	32	>	>	X
ejpam-263	213	33	0	0	PUNCT
ejpam-263	214	1	for	for	ADP
ejpam-263	214	2	i	i	PRON
ejpam-263	214	3	=	=	NOUN
ejpam-263	214	4	1	1	NUM
ejpam-263	214	5	to	to	ADP
ejpam-263	214	6	n	n	PRON
ejpam-263	214	7	,	,	PUNCT
ejpam-263	214	8	k	k	PROPN
ejpam-263	214	9	=	=	SYM
ejpam-263	214	10	1	1	NUM
ejpam-263	214	11	to	to	ADP
ejpam-263	214	12	m	m	PRON
ejpam-263	214	13	,	,	PUNCT
ejpam-263	214	14	uis(x	uis(x	PROPN
ejpam-263	214	15	)	)	PUNCT
ejpam-263	214	16	>	>	X
ejpam-263	214	17	0	0	PUNCT
ejpam-263	215	1	for	for	ADP
ejpam-263	215	2	i	i	PRON
ejpam-263	215	3	=	=	NOUN
ejpam-263	215	4	1	1	NUM
ejpam-263	215	5	to	to	ADP
ejpam-263	215	6	n	n	PRON
ejpam-263	215	7	,	,	PUNCT
ejpam-263	215	8	s	s	PART
ejpam-263	215	9	=	=	NOUN
ejpam-263	215	10	1	1	NUM
ejpam-263	215	11	to	to	ADP
ejpam-263	215	12	2	2	NUM
ejpam-263	215	13	and	and	CCONJ
ejpam-263	215	14	vi	vi	NOUN
ejpam-263	215	15	j(x	j(x	PROPN
ejpam-263	215	16	)	)	PUNCT
ejpam-263	215	17	>	>	X
ejpam-263	215	18	0	0	PUNCT
ejpam-263	216	1	for	for	ADP
ejpam-263	216	2	i	i	PRON
ejpam-263	216	3	,	,	PUNCT
ejpam-263	216	4	j	j	PROPN
ejpam-263	216	5	=	=	SYM
ejpam-263	216	6	1	1	NUM
ejpam-263	216	7	to	to	ADP
ejpam-263	216	8	n	n	PRON
ejpam-263	216	9	,	,	PUNCT
ejpam-263	216	10	i	i	PROPN
ejpam-263	216	11	6=	6=	PROPN
ejpam-263	216	12	j	j	PROPN
ejpam-263	216	13	}	}	PUNCT
ejpam-263	216	14	.	.	PUNCT
ejpam-263	217	1	2	2	X
ejpam-263	217	2	.	.	X
ejpam-263	217	3	l(x	l(x	PROPN
ejpam-263	217	4	∗	∗	NOUN
ejpam-263	217	5	)	)	PUNCT
ejpam-263	217	6	=	=	SYM
ejpam-263	218	1	0	0	NUM
ejpam-263	218	2	,	,	PUNCT
ejpam-263	218	3	x	x	X
ejpam-263	218	4	∗	∗	NOUN
ejpam-263	218	5	∈	∈	PROPN
ejpam-263	218	6	d	d	NOUN
ejpam-263	218	7	.	.	PUNCT
ejpam-263	219	1	3	3	X
ejpam-263	219	2	.	.	PUNCT
ejpam-263	219	3	l(x	l(x	PROPN
ejpam-263	219	4	)	)	PUNCT
ejpam-263	219	5	>	>	SYM
ejpam-263	219	6	0	0	NUM
ejpam-263	219	7	∀	∀	NOUN
ejpam-263	219	8	x	x	X
ejpam-263	219	9	∈	∈	PROPN
ejpam-263	220	1	d	d	NOUN
ejpam-263	220	2	,	,	PUNCT
ejpam-263	220	3	x	x	PROPN
ejpam-263	220	4	6=	6=	ADP
ejpam-263	220	5	x	x	X
ejpam-263	220	6	∗	∗	NOUN
ejpam-263	220	7	.	.	PUNCT
ejpam-263	221	1	now	now	ADV
ejpam-263	221	2	let	let	VERB
ejpam-263	221	3	us	we	PRON
ejpam-263	221	4	consider	consider	VERB
ejpam-263	221	5	the	the	DET
ejpam-263	221	6	time	time	NOUN
ejpam-263	221	7	derivative	derivative	ADJ
ejpam-263	221	8	of	of	ADP
ejpam-263	221	9	our	our	PRON
ejpam-263	221	10	lyapunov	lyapunov	ADJ
ejpam-263	221	11	function	function	NOUN
ejpam-263	221	12	candidate	candidate	NOUN
ejpam-263	221	13	l(x	l(x	PROPN
ejpam-263	221	14	)	)	PUNCT
ejpam-263	221	15	.	.	PUNCT
ejpam-263	222	1	along	along	ADP
ejpam-263	222	2	a	a	DET
ejpam-263	222	3	particular	particular	ADJ
ejpam-263	222	4	trajectory	trajectory	NOUN
ejpam-263	222	5	of	of	ADP
ejpam-263	222	6	system	system	NOUN
ejpam-263	222	7	(	(	PUNCT
ejpam-263	222	8	2.1	2.1	NUM
ejpam-263	222	9	)	)	PUNCT
ejpam-263	222	10	,	,	PUNCT
ejpam-263	222	11	we	we	PRON
ejpam-263	222	12	have	have	AUX
ejpam-263	222	13	,	,	PUNCT
ejpam-263	222	14	upon	upon	SCONJ
ejpam-263	222	15	collecting	collect	VERB
ejpam-263	222	16	terms	term	NOUN
ejpam-263	222	17	with	with	ADP
ejpam-263	222	18	vi	vi	NOUN
ejpam-263	222	19	and	and	CCONJ
ejpam-263	222	20	ωi	ωi	X
ejpam-263	222	21	separately	separately	ADV
ejpam-263	222	22	l̇(2.1)(x	l̇(2.1)(x	PROPN
ejpam-263	222	23	)	)	PUNCT
ejpam-263	222	24	=	=	SYM
ejpam-263	222	25	n	n	CCONJ
ejpam-263	222	26	∑	∑	PROPN
ejpam-263	222	27	j=1	j=1	PROPN
ejpam-263	222	28	�	�	PROPN
ejpam-263	222	29	�	�	PROPN
ejpam-263	222	30	f1i	f1i	PROPN
ejpam-263	222	31	cosθi	cosθi	VERB
ejpam-263	222	32	+	+	CCONJ
ejpam-263	222	33	f2i	f2i	VERB
ejpam-263	222	34	sinθi	sinθi	NOUN
ejpam-263	222	35	+	+	CCONJ
ejpam-263	222	36	f4iσi	f4iσi	NOUN
ejpam-263	222	37	�	�	NOUN
ejpam-263	222	38	υi	υi	ADP
ejpam-263	222	39	−	−	PROPN
ejpam-263	222	40	�	�	PROPN
ejpam-263	222	41	l1	l1	PROPN
ejpam-263	222	42	2	2	NUM
ejpam-263	222	43	f1i	f1i	PROPN
ejpam-263	222	44	sinθi	sinθi	NOUN
ejpam-263	222	45	−	−	PROPN
ejpam-263	222	46	l1	l1	PROPN
ejpam-263	222	47	2	2	NUM
ejpam-263	222	48	f2i	f2i	PROPN
ejpam-263	222	49	cosθi	cosθi	VERB
ejpam-263	222	50	−	−	NOUN
ejpam-263	222	51	f3i	f3i	PUNCT
ejpam-263	222	52	−	−	PUNCT
ejpam-263	222	53	f5iηi	f5iηi	PROPN
ejpam-263	222	54	�	�	PROPN
ejpam-263	222	55	ωi	ωi	PUNCT
ejpam-263	222	56	�	�	PROPN
ejpam-263	222	57	,	,	PUNCT
ejpam-263	222	58	where	where	SCONJ
ejpam-263	222	59	functions	function	NOUN
ejpam-263	222	60	f1i	f1i	VERB
ejpam-263	222	61	to	to	PART
ejpam-263	222	62	f5i	f5i	ADV
ejpam-263	222	63	are	be	AUX
ejpam-263	222	64	defined	define	VERB
ejpam-263	222	65	as	as	ADP
ejpam-263	222	66	(	(	PUNCT
ejpam-263	222	67	on	on	ADP
ejpam-263	222	68	suppressing	suppress	VERB
ejpam-263	222	69	x	x	X
ejpam-263	222	70	):	):	PUNCT
ejpam-263	222	71	f11	f11	PROPN
ejpam-263	222	72	=	=	SYM
ejpam-263	222	73	1	1	NUM
ejpam-263	222	74	h1	h1	NOUN
ejpam-263	222	75	+	+	CCONJ
ejpam-263	222	76	1	1	NUM
ejpam-263	222	77	+	+	NUM
ejpam-263	222	78	m	m	VERB
ejpam-263	222	79	∑	∑	PUNCT
ejpam-263	222	80	k=1	k=1	ADJ
ejpam-263	222	81	α1k	α1k	NOUN
ejpam-263	222	82	w1k	w1k	NOUN
ejpam-263	223	1	+	+	CCONJ
ejpam-263	223	2	2	2	NUM
ejpam-263	223	3	∑	∑	PUNCT
ejpam-263	223	4	s=1	s=1	PUNCT
ejpam-263	223	5	γ1s	γ1	VERB
ejpam-263	223	6	u1s	u1s	NOUN
ejpam-263	223	7	+	+	CCONJ
ejpam-263	223	8	n	n	CCONJ
ejpam-263	223	9	∑	∑	PROPN
ejpam-263	223	10	j=2	j=2	PROPN
ejpam-263	223	11	β1	β1	PROPN
ejpam-263	223	12	j	j	PROPN
ejpam-263	223	13	v1	v1	PROPN
ejpam-263	223	14	j	j	PROPN
ejpam-263	223	15	!	!	PUNCT
ejpam-263	224	1	(	(	PUNCT
ejpam-263	224	2	x1−	x1−	PROPN
ejpam-263	224	3	t11	t11	NOUN
ejpam-263	224	4	)	)	PUNCT
ejpam-263	224	5	−	−	PROPN
ejpam-263	225	1	n	n	CCONJ
ejpam-263	225	2	∑	∑	ADP
ejpam-263	225	3	i=2	i=2	PROPN
ejpam-263	225	4			NOUN
ejpam-263	225	5			NOUN
ejpam-263	225	6	1	1	NUM
ejpam-263	226	1	hi	hi	INTJ
ejpam-263	227	1	+	+	CCONJ
ejpam-263	227	2	1	1	NUM
ejpam-263	227	3	+	+	NUM
ejpam-263	227	4	m	m	VERB
ejpam-263	227	5	∑	∑	ADJ
ejpam-263	227	6	k=1	k=1	VERB
ejpam-263	227	7	αik	αik	PROPN
ejpam-263	227	8	wik	wik	PROPN
ejpam-263	227	9	+	+	CCONJ
ejpam-263	227	10	2	2	NUM
ejpam-263	227	11	∑	∑	PROPN
ejpam-263	227	12	s=1	s=1	NOUN
ejpam-263	227	13	γis	γis	ADV
ejpam-263	227	14	uis	uis	PROPN
ejpam-263	227	15	+	+	CCONJ
ejpam-263	227	16	n	n	PROPN
ejpam-263	227	17	∑	∑	PROPN
ejpam-263	227	18	j=1,i	j=1,i	PROPN
ejpam-263	227	19	6=	6=	PROPN
ejpam-263	228	1	j	j	PROPN
ejpam-263	228	2	βi	βi	PROPN
ejpam-263	228	3	j	j	PROPN
ejpam-263	228	4	vi	vi	PROPN
ejpam-263	228	5	j	j	PROPN
ejpam-263	228	6			INTJ
ejpam-263	228	7			PUNCT
ejpam-263	229	1	(	(	PUNCT
ejpam-263	229	2	x	x	X
ejpam-263	229	3	i	i	PRON
ejpam-263	229	4	−	−	PROPN
ejpam-263	229	5	t	t	PROPN
ejpam-263	229	6	i1	i1	PROPN
ejpam-263	229	7	)	)	PUNCT
ejpam-263	229	8	−g1	−g1	VERB
ejpam-263	229	9	n	n	CCONJ
ejpam-263	229	10	∑	∑	PROPN
ejpam-263	229	11	j=2	j=2	PROPN
ejpam-263	229	12	β1	β1	PROPN
ejpam-263	229	13	j	j	PROPN
ejpam-263	229	14	v	v	ADP
ejpam-263	229	15	2	2	NUM
ejpam-263	229	16	1	1	NUM
ejpam-263	229	17	j	j	X
ejpam-263	229	18	(	(	PUNCT
ejpam-263	229	19	x1−	x1−	PROPN
ejpam-263	229	20	x	x	SYM
ejpam-263	229	21	j	j	PROPN
ejpam-263	229	22	)	)	PUNCT
ejpam-263	229	23	+	+	CCONJ
ejpam-263	229	24	n	n	CCONJ
ejpam-263	229	25	∑	∑	PROPN
ejpam-263	229	26	j=2	j=2	PROPN
ejpam-263	229	27	g	g	PROPN
ejpam-263	229	28	j	j	PROPN
ejpam-263	229	29	β	β	PROPN
ejpam-263	229	30	j1	j1	PROPN
ejpam-263	229	31	v	v	ADP
ejpam-263	229	32	2	2	NUM
ejpam-263	229	33	j1	j1	NOUN
ejpam-263	229	34	(	(	PUNCT
ejpam-263	229	35	x	x	PART
ejpam-263	229	36	j	j	PROPN
ejpam-263	229	37	−	−	PROPN
ejpam-263	229	38	x1)−	x1)−	PROPN
ejpam-263	229	39	g1	g1	PROPN
ejpam-263	229	40	m	m	VERB
ejpam-263	229	41	∑	∑	PUNCT
ejpam-263	229	42	k=1	k=1	ADJ
ejpam-263	229	43	α1k	α1k	NOUN
ejpam-263	229	44	w	w	NOUN
ejpam-263	229	45	2	2	NUM
ejpam-263	229	46	1k	1k	NUM
ejpam-263	229	47	(	(	PUNCT
ejpam-263	229	48	x1−	x1−	PROPN
ejpam-263	229	49	ok1	ok1	NUM
ejpam-263	229	50	)	)	PUNCT
ejpam-263	229	51	,	,	PUNCT
ejpam-263	229	52	b.	b.	PROPN
ejpam-263	229	53	sharma	sharma	PROPN
ejpam-263	229	54	,	,	PUNCT
ejpam-263	229	55	j.	j.	PROPN
ejpam-263	229	56	vanualailai	vanualailai	PROPN
ejpam-263	229	57	,	,	PUNCT
ejpam-263	229	58	and	and	CCONJ
ejpam-263	229	59	u.	u.	PROPN
ejpam-263	229	60	chand	chand	PROPN
ejpam-263	229	61	/	/	SYM
ejpam-263	229	62	eur	eur	PROPN
ejpam-263	229	63	.	.	PUNCT
ejpam-263	230	1	j.	j.	PROPN
ejpam-263	230	2	pure	pure	PROPN
ejpam-263	230	3	appl	appl	PROPN
ejpam-263	230	4	.	.	PROPN
ejpam-263	230	5	math	math	PROPN
ejpam-263	230	6	,	,	PUNCT
ejpam-263	230	7	2	2	NUM
ejpam-263	230	8	(	(	PUNCT
ejpam-263	230	9	2009	2009	NUM
ejpam-263	230	10	)	)	PUNCT
ejpam-263	230	11	,	,	PUNCT
ejpam-263	230	12	(	(	PUNCT
ejpam-263	230	13	401	401	NUM
ejpam-263	230	14	-	-	SYM
ejpam-263	230	15	425	425	NUM
ejpam-263	230	16	)	)	PUNCT
ejpam-263	230	17	415	415	NUM
ejpam-263	230	18	f1i	f1i	NOUN
ejpam-263	230	19	=	=	SYM
ejpam-263	230	20			NOUN
ejpam-263	230	21			NOUN
ejpam-263	230	22	1	1	NUM
ejpam-263	230	23	hi	hi	INTJ
ejpam-263	231	1	+	+	CCONJ
ejpam-263	231	2	1	1	NUM
ejpam-263	231	3	+	+	NUM
ejpam-263	231	4	m	m	VERB
ejpam-263	231	5	∑	∑	ADJ
ejpam-263	231	6	k=1	k=1	VERB
ejpam-263	231	7	αik	αik	PROPN
ejpam-263	231	8	wik	wik	PROPN
ejpam-263	231	9	+	+	CCONJ
ejpam-263	231	10	2	2	NUM
ejpam-263	231	11	∑	∑	PROPN
ejpam-263	231	12	s=1	s=1	NOUN
ejpam-263	231	13	γis	γis	ADV
ejpam-263	231	14	uis	uis	PROPN
ejpam-263	231	15	+	+	CCONJ
ejpam-263	231	16	n	n	PROPN
ejpam-263	231	17	∑	∑	PROPN
ejpam-263	231	18	j=1,i	j=1,i	PROPN
ejpam-263	231	19	6=	6=	PROPN
ejpam-263	232	1	j	j	PROPN
ejpam-263	232	2	βi	βi	PROPN
ejpam-263	232	3	j	j	PROPN
ejpam-263	232	4	vi	vi	PROPN
ejpam-263	232	5	j	j	PROPN
ejpam-263	232	6			INTJ
ejpam-263	232	7			PUNCT
ejpam-263	233	1	(	(	PUNCT
ejpam-263	233	2	x	x	X
ejpam-263	233	3	i	i	PRON
ejpam-263	233	4	−	−	PROPN
ejpam-263	233	5	t	t	PROPN
ejpam-263	233	6	i1	i1	PROPN
ejpam-263	233	7	)	)	PUNCT
ejpam-263	233	8	−gi	−gi	PROPN
ejpam-263	233	9	n	n	CCONJ
ejpam-263	233	10	∑	∑	PROPN
ejpam-263	233	11	j=1,i	j=1,i	PROPN
ejpam-263	233	12	6=	6=	PROPN
ejpam-263	233	13	j	j	PROPN
ejpam-263	233	14	βi	βi	PROPN
ejpam-263	233	15	j	j	PROPN
ejpam-263	233	16	v	v	ADP
ejpam-263	233	17	2	2	NUM
ejpam-263	233	18	i	i	PRON
ejpam-263	233	19	j	j	PROPN
ejpam-263	233	20	(	(	PUNCT
ejpam-263	233	21	x	x	PROPN
ejpam-263	233	22	i	i	PRON
ejpam-263	233	23	−	−	NOUN
ejpam-263	233	24	x	x	SYM
ejpam-263	233	25	j	j	PROPN
ejpam-263	233	26	)	)	PUNCT
ejpam-263	233	27	+	+	NUM
ejpam-263	233	28	n	n	CCONJ
ejpam-263	233	29	∑	∑	PROPN
ejpam-263	233	30	j=1,i	j=1,i	PROPN
ejpam-263	233	31	6=	6=	PROPN
ejpam-263	234	1	j	j	PROPN
ejpam-263	234	2	g	g	PROPN
ejpam-263	234	3	j	j	PROPN
ejpam-263	234	4	β	β	PROPN
ejpam-263	234	5	ji	ji	PROPN
ejpam-263	234	6	v	v	NUM
ejpam-263	234	7	2	2	NUM
ejpam-263	234	8	ji	ji	NOUN
ejpam-263	234	9	(	(	PUNCT
ejpam-263	234	10	x	x	PROPN
ejpam-263	234	11	j	j	NOUN
ejpam-263	234	12	−	−	NOUN
ejpam-263	234	13	x	x	INTJ
ejpam-263	235	1	i)−	i)−	ADV
ejpam-263	235	2	gi	gi	NOUN
ejpam-263	235	3	m	m	VERB
ejpam-263	235	4	∑	∑	PROPN
ejpam-263	235	5	k=1	k=1	VERB
ejpam-263	235	6	αik	αik	VERB
ejpam-263	235	7	w	w	PROPN
ejpam-263	235	8	2	2	NUM
ejpam-263	235	9	ik	ik	X
ejpam-263	235	10	(	(	PUNCT
ejpam-263	235	11	x	x	PROPN
ejpam-263	235	12	i	i	PRON
ejpam-263	235	13	−	−	PROPN
ejpam-263	235	14	ok1	ok1	NUM
ejpam-263	235	15	)	)	PUNCT
ejpam-263	235	16	,	,	PUNCT
ejpam-263	235	17	for	for	ADP
ejpam-263	235	18	i	i	PRON
ejpam-263	235	19	=	=	SYM
ejpam-263	235	20	2	2	NUM
ejpam-263	235	21	to	to	ADP
ejpam-263	235	22	n	n	PRON
ejpam-263	235	23	,	,	PUNCT
ejpam-263	235	24	f21	f21	NOUN
ejpam-263	235	25	=	=	NOUN
ejpam-263	235	26	1	1	NUM
ejpam-263	235	27	h1	h1	NOUN
ejpam-263	235	28	+	+	CCONJ
ejpam-263	235	29	1	1	NUM
ejpam-263	235	30	+	+	NUM
ejpam-263	235	31	m	m	VERB
ejpam-263	235	32	∑	∑	PUNCT
ejpam-263	235	33	k=1	k=1	ADJ
ejpam-263	235	34	α1k	α1k	NOUN
ejpam-263	235	35	w1k	w1k	NOUN
ejpam-263	235	36	+	+	CCONJ
ejpam-263	235	37	2	2	NUM
ejpam-263	235	38	∑	∑	PUNCT
ejpam-263	235	39	s=1	s=1	PUNCT
ejpam-263	235	40	γ1s	γ1	VERB
ejpam-263	235	41	u1s	u1s	NOUN
ejpam-263	235	42	+	+	CCONJ
ejpam-263	235	43	n	n	CCONJ
ejpam-263	235	44	∑	∑	PROPN
ejpam-263	235	45	j=2	j=2	PROPN
ejpam-263	235	46	β1	β1	PROPN
ejpam-263	235	47	j	j	PROPN
ejpam-263	235	48	v1	v1	PROPN
ejpam-263	235	49	j	j	PROPN
ejpam-263	235	50	!	!	PUNCT
ejpam-263	236	1	(	(	PUNCT
ejpam-263	236	2	y1	y1	INTJ
ejpam-263	236	3	−	−	PROPN
ejpam-263	236	4	t12	t12	PROPN
ejpam-263	236	5	)	)	PUNCT
ejpam-263	236	6	−	−	PROPN
ejpam-263	237	1	n	n	CCONJ
ejpam-263	237	2	∑	∑	ADP
ejpam-263	237	3	i=2	i=2	PROPN
ejpam-263	237	4			NOUN
ejpam-263	237	5			NOUN
ejpam-263	237	6	1	1	NUM
ejpam-263	238	1	hi	hi	INTJ
ejpam-263	239	1	+	+	CCONJ
ejpam-263	239	2	1	1	NUM
ejpam-263	239	3	+	+	NUM
ejpam-263	239	4	m	m	VERB
ejpam-263	239	5	∑	∑	ADJ
ejpam-263	239	6	k=1	k=1	VERB
ejpam-263	239	7	αik	αik	PROPN
ejpam-263	239	8	wik	wik	PROPN
ejpam-263	239	9	+	+	CCONJ
ejpam-263	239	10	2	2	NUM
ejpam-263	239	11	∑	∑	PROPN
ejpam-263	239	12	s=1	s=1	NOUN
ejpam-263	239	13	γis	γis	ADV
ejpam-263	239	14	uis	uis	PROPN
ejpam-263	239	15	+	+	CCONJ
ejpam-263	239	16	n	n	PROPN
ejpam-263	239	17	∑	∑	PROPN
ejpam-263	239	18	j=1,i	j=1,i	PROPN
ejpam-263	239	19	6=	6=	PROPN
ejpam-263	240	1	j	j	PROPN
ejpam-263	240	2	βi	βi	PROPN
ejpam-263	240	3	j	j	PROPN
ejpam-263	240	4	vi	vi	PROPN
ejpam-263	240	5	j	j	PROPN
ejpam-263	240	6			PROPN
ejpam-263	240	7			PUNCT
ejpam-263	241	1	(	(	PUNCT
ejpam-263	241	2	yi	yi	NOUN
ejpam-263	241	3	−	−	PROPN
ejpam-263	241	4	t	t	PROPN
ejpam-263	241	5	i2	i2	PROPN
ejpam-263	241	6	)	)	PUNCT
ejpam-263	241	7	−g1	−g1	VERB
ejpam-263	241	8	n	n	CCONJ
ejpam-263	241	9	∑	∑	PROPN
ejpam-263	241	10	j=2	j=2	PROPN
ejpam-263	241	11	β1	β1	PROPN
ejpam-263	241	12	j	j	PROPN
ejpam-263	241	13	v	v	ADP
ejpam-263	241	14	2	2	NUM
ejpam-263	241	15	1	1	NUM
ejpam-263	241	16	j	j	PROPN
ejpam-263	241	17	(	(	PUNCT
ejpam-263	241	18	y1	y1	INTJ
ejpam-263	241	19	−	−	PROPN
ejpam-263	241	20	y	y	PROPN
ejpam-263	241	21	j	j	PROPN
ejpam-263	241	22	)	)	PUNCT
ejpam-263	242	1	+	+	CCONJ
ejpam-263	242	2	n	n	CCONJ
ejpam-263	242	3	∑	∑	PROPN
ejpam-263	242	4	j=2	j=2	PROPN
ejpam-263	242	5	g	g	PROPN
ejpam-263	242	6	j	j	PROPN
ejpam-263	242	7	β	β	PROPN
ejpam-263	242	8	j1	j1	PROPN
ejpam-263	242	9	v	v	ADP
ejpam-263	242	10	2	2	NUM
ejpam-263	242	11	j1	j1	NOUN
ejpam-263	242	12	(	(	PUNCT
ejpam-263	242	13	y	y	PROPN
ejpam-263	242	14	j	j	PROPN
ejpam-263	242	15	−	−	PROPN
ejpam-263	242	16	y1)−	y1)−	PROPN
ejpam-263	242	17	g1	g1	PROPN
ejpam-263	242	18	m	m	VERB
ejpam-263	242	19	∑	∑	PUNCT
ejpam-263	242	20	k=1	k=1	ADJ
ejpam-263	242	21	α1k	α1k	NOUN
ejpam-263	242	22	w	w	NOUN
ejpam-263	242	23	2	2	NUM
ejpam-263	242	24	1k	1k	NUM
ejpam-263	242	25	(	(	PUNCT
ejpam-263	242	26	y1	y1	INTJ
ejpam-263	242	27	−	−	NOUN
ejpam-263	242	28	ok2	ok2	PROPN
ejpam-263	242	29	)	)	PUNCT
ejpam-263	242	30	,	,	PUNCT
ejpam-263	242	31	f2i	f2i	X
ejpam-263	242	32	=	=	SYM
ejpam-263	242	33			PROPN
ejpam-263	242	34			NOUN
ejpam-263	242	35	1	1	NUM
ejpam-263	242	36	hi	hi	INTJ
ejpam-263	243	1	+	+	CCONJ
ejpam-263	243	2	1	1	NUM
ejpam-263	243	3	+	+	NUM
ejpam-263	243	4	m	m	VERB
ejpam-263	243	5	∑	∑	ADJ
ejpam-263	243	6	k=1	k=1	VERB
ejpam-263	243	7	αik	αik	PROPN
ejpam-263	243	8	wik	wik	PROPN
ejpam-263	243	9	+	+	CCONJ
ejpam-263	243	10	2	2	NUM
ejpam-263	243	11	∑	∑	PROPN
ejpam-263	243	12	s=1	s=1	NOUN
ejpam-263	243	13	γis	γis	ADV
ejpam-263	243	14	uis	uis	PROPN
ejpam-263	243	15	+	+	CCONJ
ejpam-263	243	16	n	n	PROPN
ejpam-263	243	17	∑	∑	PROPN
ejpam-263	243	18	j=1,i	j=1,i	PROPN
ejpam-263	243	19	6=	6=	PROPN
ejpam-263	244	1	j	j	PROPN
ejpam-263	244	2	βi	βi	PROPN
ejpam-263	244	3	j	j	PROPN
ejpam-263	244	4	vi	vi	PROPN
ejpam-263	244	5	j	j	PROPN
ejpam-263	244	6			PROPN
ejpam-263	244	7			PUNCT
ejpam-263	245	1	(	(	PUNCT
ejpam-263	245	2	yi	yi	NOUN
ejpam-263	245	3	−	−	PROPN
ejpam-263	245	4	t	t	PROPN
ejpam-263	245	5	i2	i2	PROPN
ejpam-263	245	6	)	)	PUNCT
ejpam-263	245	7	−gi	−gi	PROPN
ejpam-263	245	8	n	n	CCONJ
ejpam-263	245	9	∑	∑	PROPN
ejpam-263	245	10	j=1,i	j=1,i	PROPN
ejpam-263	245	11	6=	6=	PROPN
ejpam-263	246	1	j	j	PROPN
ejpam-263	246	2	βi	βi	PROPN
ejpam-263	246	3	j	j	PROPN
ejpam-263	246	4	v	v	ADP
ejpam-263	246	5	2	2	NUM
ejpam-263	247	1	i	i	PRON
ejpam-263	247	2	j	j	PROPN
ejpam-263	247	3	(	(	PUNCT
ejpam-263	247	4	yi	yi	NOUN
ejpam-263	247	5	−	−	PROPN
ejpam-263	247	6	y	y	PROPN
ejpam-263	247	7	j	j	PROPN
ejpam-263	247	8	)	)	PUNCT
ejpam-263	248	1	+	+	NUM
ejpam-263	248	2	n	n	CCONJ
ejpam-263	248	3	∑	∑	PROPN
ejpam-263	248	4	j=1,i	j=1,i	PROPN
ejpam-263	248	5	6=	6=	PROPN
ejpam-263	249	1	j	j	PROPN
ejpam-263	249	2	g	g	PROPN
ejpam-263	249	3	j	j	PROPN
ejpam-263	249	4	β	β	PROPN
ejpam-263	249	5	ji	ji	PROPN
ejpam-263	249	6	v	v	NUM
ejpam-263	249	7	2	2	NUM
ejpam-263	249	8	ji	ji	PROPN
ejpam-263	249	9	(	(	PUNCT
ejpam-263	249	10	y	y	PROPN
ejpam-263	249	11	j	j	PROPN
ejpam-263	249	12	−	−	PROPN
ejpam-263	249	13	yi)−	yi)−	NOUN
ejpam-263	249	14	gi	gi	NOUN
ejpam-263	249	15	m	m	VERB
ejpam-263	249	16	∑	∑	PROPN
ejpam-263	249	17	k=1	k=1	VERB
ejpam-263	249	18	αik	αik	VERB
ejpam-263	249	19	w	w	PROPN
ejpam-263	249	20	2	2	NUM
ejpam-263	249	21	ik	ik	PROPN
ejpam-263	249	22	(	(	PUNCT
ejpam-263	249	23	yi	yi	PROPN
ejpam-263	249	24	−	−	PROPN
ejpam-263	249	25	ok2	ok2	PROPN
ejpam-263	249	26	)	)	PUNCT
ejpam-263	249	27	,	,	PUNCT
ejpam-263	249	28	for	for	ADP
ejpam-263	249	29	i	i	PRON
ejpam-263	249	30	=	=	SYM
ejpam-263	249	31	2	2	NUM
ejpam-263	249	32	to	to	ADP
ejpam-263	249	33	n	n	PRON
ejpam-263	249	34	,	,	PUNCT
ejpam-263	249	35	and	and	CCONJ
ejpam-263	249	36	f3i	f3i	NOUN
ejpam-263	249	37	=	=	SYM
ejpam-263	249	38			VERB
ejpam-263	249	39			NOUN
ejpam-263	249	40	m	m	VERB
ejpam-263	249	41	∑	∑	PUNCT
ejpam-263	249	42	k=1	k=1	VERB
ejpam-263	249	43	αik	αik	PROPN
ejpam-263	249	44	wik	wik	PROPN
ejpam-263	249	45	+	+	CCONJ
ejpam-263	249	46	2	2	NUM
ejpam-263	249	47	∑	∑	PROPN
ejpam-263	249	48	s=1	s=1	NOUN
ejpam-263	249	49	γis	γis	ADV
ejpam-263	249	50	uis	uis	PROPN
ejpam-263	249	51	+	+	CCONJ
ejpam-263	249	52	n	n	PROPN
ejpam-263	249	53	∑	∑	PROPN
ejpam-263	249	54	j=1,i	j=1,i	PROPN
ejpam-263	249	55	6=	6=	PROPN
ejpam-263	250	1	j	j	PROPN
ejpam-263	250	2	βi	βi	PROPN
ejpam-263	250	3	j	j	PROPN
ejpam-263	250	4	vi	vi	PROPN
ejpam-263	250	5	j	j	PROPN
ejpam-263	250	6			PROPN
ejpam-263	250	7			PUNCT
ejpam-263	251	1	(	(	PUNCT
ejpam-263	251	2	θi	θi	NUM
ejpam-263	251	3	−	−	PROPN
ejpam-263	251	4	t	t	NOUN
ejpam-263	251	5	i3	i3	NOUN
ejpam-263	251	6	)	)	PUNCT
ejpam-263	251	7	,	,	PUNCT
ejpam-263	251	8	f4i	f4i	PROPN
ejpam-263	252	1	=	=	SYM
ejpam-263	252	2	1	1	NUM
ejpam-263	252	3	hi	hi	INTJ
ejpam-263	253	1	+	+	CCONJ
ejpam-263	253	2	1	1	NUM
ejpam-263	253	3	+	+	NUM
ejpam-263	253	4	gi	gi	NOUN
ejpam-263	253	5	γi1	γi1	PROPN
ejpam-263	253	6	u2	u2	PROPN
ejpam-263	253	7	i1	i1	PROPN
ejpam-263	253	8	,	,	PUNCT
ejpam-263	253	9	f5i	f5i	PUNCT
ejpam-263	253	10	=	=	SYM
ejpam-263	253	11	1	1	NUM
ejpam-263	253	12	hi	hi	INTJ
ejpam-263	254	1	+	+	CCONJ
ejpam-263	254	2	1	1	NUM
ejpam-263	254	3	+	+	CCONJ
ejpam-263	254	4	gi	gi	VERB
ejpam-263	254	5	γi2	γi2	PRON
ejpam-263	254	6	u2	u2	PROPN
ejpam-263	254	7	i2	i2	PROPN
ejpam-263	254	8	,	,	PUNCT
ejpam-263	254	9	for	for	ADP
ejpam-263	254	10	i	i	PRON
ejpam-263	254	11	=	=	NOUN
ejpam-263	254	12	1	1	NUM
ejpam-263	254	13	to	to	ADP
ejpam-263	254	14	n.	n.	NOUN
ejpam-263	254	15	substituting	substitute	VERB
ejpam-263	254	16	the	the	DET
ejpam-263	254	17	controllers	controller	NOUN
ejpam-263	254	18	given	give	VERB
ejpam-263	254	19	in	in	ADP
ejpam-263	254	20	(	(	PUNCT
ejpam-263	254	21	4.1	4.1	NUM
ejpam-263	254	22	)	)	PUNCT
ejpam-263	254	23	(	(	PUNCT
ejpam-263	254	24	4.2	4.2	NUM
ejpam-263	254	25	)	)	PUNCT
ejpam-263	254	26	and	and	CCONJ
ejpam-263	254	27	the	the	DET
ejpam-263	254	28	governing	governing	NOUN
ejpam-263	254	29	odes	ode	NOUN
ejpam-263	254	30	for	for	ADP
ejpam-263	254	31	system	system	NOUN
ejpam-263	254	32	(	(	PUNCT
ejpam-263	254	33	2.1	2.1	NUM
ejpam-263	254	34	)	)	PUNCT
ejpam-263	254	35	we	we	PRON
ejpam-263	254	36	obtain	obtain	VERB
ejpam-263	254	37	a	a	DET
ejpam-263	254	38	semi	semi	ADJ
ejpam-263	254	39	-	-	ADJ
ejpam-263	254	40	negative	negative	ADJ
ejpam-263	254	41	definite	definite	ADJ
ejpam-263	254	42	function	function	NOUN
ejpam-263	254	43	:	:	PUNCT
ejpam-263	254	44	l̇(2.1)(x	l̇(2.1)(x	NOUN
ejpam-263	254	45	)	)	PUNCT
ejpam-263	254	46	=	=	SYM
ejpam-263	255	1	−	−	PROPN
ejpam-263	255	2	n	n	CCONJ
ejpam-263	255	3	∑	∑	PROPN
ejpam-263	255	4	i=1	i=1	PROPN
ejpam-263	255	5	�	�	PROPN
ejpam-263	255	6	δi1υ	δi1υ	PROPN
ejpam-263	255	7	2	2	NUM
ejpam-263	256	1	i	i	PRON
ejpam-263	256	2	+	+	ADJ
ejpam-263	256	3	δi2ω	δi2ω	PROPN
ejpam-263	256	4	2	2	NUM
ejpam-263	256	5	i	i	NOUN
ejpam-263	256	6	�	�	PROPN
ejpam-263	256	7	≤	≤	NOUN
ejpam-263	256	8	0	0	NUM
ejpam-263	256	9	.	.	PUNCT
ejpam-263	257	1	b.	b.	PROPN
ejpam-263	257	2	sharma	sharma	PROPN
ejpam-263	257	3	,	,	PUNCT
ejpam-263	257	4	j.	j.	PROPN
ejpam-263	257	5	vanualailai	vanualailai	PROPN
ejpam-263	257	6	,	,	PUNCT
ejpam-263	257	7	and	and	CCONJ
ejpam-263	257	8	u.	u.	PROPN
ejpam-263	257	9	chand	chand	PROPN
ejpam-263	257	10	/	/	SYM
ejpam-263	257	11	eur	eur	PROPN
ejpam-263	257	12	.	.	PUNCT
ejpam-263	258	1	j.	j.	PROPN
ejpam-263	258	2	pure	pure	PROPN
ejpam-263	258	3	appl	appl	PROPN
ejpam-263	258	4	.	.	PROPN
ejpam-263	258	5	math	math	PROPN
ejpam-263	258	6	,	,	PUNCT
ejpam-263	258	7	2	2	NUM
ejpam-263	258	8	(	(	PUNCT
ejpam-263	258	9	2009	2009	NUM
ejpam-263	258	10	)	)	PUNCT
ejpam-263	258	11	,	,	PUNCT
ejpam-263	258	12	(	(	PUNCT
ejpam-263	258	13	401	401	NUM
ejpam-263	258	14	-	-	SYM
ejpam-263	258	15	425	425	NUM
ejpam-263	258	16	)	)	PUNCT
ejpam-263	258	17	416	416	NUM
ejpam-263	258	18	we	we	PRON
ejpam-263	258	19	have	have	AUX
ejpam-263	258	20	thus	thus	ADV
ejpam-263	258	21	provided	provide	VERB
ejpam-263	258	22	a	a	DET
ejpam-263	258	23	working	work	VERB
ejpam-263	258	24	proof	proof	NOUN
ejpam-263	258	25	of	of	ADP
ejpam-263	258	26	the	the	DET
ejpam-263	258	27	fact	fact	NOUN
ejpam-263	258	28	that	that	SCONJ
ejpam-263	258	29	d	d	PROPN
ejpam-263	258	30	d	d	X
ejpam-263	258	31	t	t	X
ejpam-263	258	32	[	[	X
ejpam-263	258	33	l(x	l(x	PROPN
ejpam-263	258	34	)	)	PUNCT
ejpam-263	258	35	]	]	PUNCT
ejpam-263	258	36	≤	≤	NUM
ejpam-263	258	37	0	0	NUM
ejpam-263	258	38	∀	∀	NOUN
ejpam-263	258	39	x	x	X
ejpam-263	258	40	∈	∈	PROPN
ejpam-263	258	41	d.	d.	PROPN
ejpam-263	258	42	finally	finally	ADV
ejpam-263	258	43	,	,	PUNCT
ejpam-263	258	44	it	it	PRON
ejpam-263	258	45	can	can	AUX
ejpam-263	258	46	easily	easily	ADV
ejpam-263	258	47	be	be	AUX
ejpam-263	258	48	verified	verify	VERB
ejpam-263	258	49	that	that	SCONJ
ejpam-263	258	50	the	the	DET
ejpam-263	258	51	first	first	ADJ
ejpam-263	258	52	partials	partial	NOUN
ejpam-263	258	53	of	of	ADP
ejpam-263	258	54	l(2.1)(x	l(2.1)(x	PROPN
ejpam-263	258	55	)	)	PUNCT
ejpam-263	258	56	is	be	AUX
ejpam-263	258	57	c1	c1	NOUN
ejpam-263	258	58	which	which	PRON
ejpam-263	258	59	makes	make	VERB
ejpam-263	258	60	up	up	ADP
ejpam-263	258	61	the	the	DET
ejpam-263	258	62	fifth	fifth	ADJ
ejpam-263	258	63	and	and	CCONJ
ejpam-263	258	64	final	final	ADJ
ejpam-263	258	65	prerequisite	prerequisite	NOUN
ejpam-263	258	66	of	of	ADP
ejpam-263	258	67	a	a	DET
ejpam-263	258	68	lyapunov	lyapunov	ADJ
ejpam-263	258	69	function	function	NOUN
ejpam-263	258	70	.	.	PUNCT
ejpam-263	259	1	once	once	ADV
ejpam-263	259	2	l(x	l(x	PROPN
ejpam-263	259	3	)	)	PUNCT
ejpam-263	259	4	successfully	successfully	ADV
ejpam-263	259	5	meets	meet	VERB
ejpam-263	259	6	the	the	DET
ejpam-263	259	7	five	five	NUM
ejpam-263	259	8	prerequisites	prerequisite	NOUN
ejpam-263	259	9	discussed	discuss	VERB
ejpam-263	259	10	above	above	ADV
ejpam-263	259	11	,	,	PUNCT
ejpam-263	259	12	it	it	PRON
ejpam-263	259	13	is	be	AUX
ejpam-263	259	14	declared	declare	VERB
ejpam-263	259	15	a	a	DET
ejpam-263	259	16	feasible	feasible	ADJ
ejpam-263	259	17	lyapunov	lyapunov	NOUN
ejpam-263	259	18	function	function	NOUN
ejpam-263	259	19	for	for	ADP
ejpam-263	259	20	system	system	NOUN
ejpam-263	259	21	(	(	PUNCT
ejpam-263	259	22	2.1	2.1	NUM
ejpam-263	259	23	)	)	PUNCT
ejpam-263	259	24	and	and	CCONJ
ejpam-263	259	25	x	x	SYM
ejpam-263	259	26	∗	∗	NOUN
ejpam-263	259	27	is	be	AUX
ejpam-263	259	28	at	at	ADP
ejpam-263	259	29	least	least	ADJ
ejpam-263	259	30	a	a	DET
ejpam-263	259	31	stable	stable	ADJ
ejpam-263	259	32	equilibrium	equilibrium	NOUN
ejpam-263	259	33	point	point	NOUN
ejpam-263	259	34	in	in	ADP
ejpam-263	259	35	the	the	DET
ejpam-263	259	36	sense	sense	NOUN
ejpam-263	259	37	of	of	ADP
ejpam-263	259	38	lyapunov	lyapunov	NOUN
ejpam-263	259	39	.	.	PUNCT
ejpam-263	260	1	in	in	ADP
ejpam-263	260	2	our	our	PRON
ejpam-263	260	3	case	case	NOUN
ejpam-263	260	4	,	,	PUNCT
ejpam-263	260	5	this	this	DET
ejpam-263	260	6	practical	practical	ADJ
ejpam-263	260	7	limitation	limitation	NOUN
ejpam-263	260	8	is	be	AUX
ejpam-263	260	9	well	well	ADV
ejpam-263	260	10	within	within	ADP
ejpam-263	260	11	the	the	DET
ejpam-263	260	12	lyapunov	lyapunov	ADJ
ejpam-263	260	13	framework	framework	NOUN
ejpam-263	260	14	and	and	CCONJ
ejpam-263	260	15	there	there	PRON
ejpam-263	260	16	is	be	VERB
ejpam-263	260	17	no	no	DET
ejpam-263	260	18	contradiction	contradiction	NOUN
ejpam-263	260	19	with	with	ADP
ejpam-263	260	20	brockett	brockett	PROPN
ejpam-263	260	21	’s	’s	PART
ejpam-263	260	22	result	result	NOUN
ejpam-263	261	1	[	[	X
ejpam-263	261	2	2	2	X
ejpam-263	261	3	]	]	PUNCT
ejpam-263	261	4	because	because	SCONJ
ejpam-263	261	5	we	we	PRON
ejpam-263	261	6	have	have	AUX
ejpam-263	261	7	proven	prove	VERB
ejpam-263	261	8	only	only	ADV
ejpam-263	261	9	stability	stability	NOUN
ejpam-263	261	10	,	,	PUNCT
ejpam-263	261	11	and	and	CCONJ
ejpam-263	261	12	not	not	PART
ejpam-263	261	13	asymptotic	asymptotic	ADJ
ejpam-263	261	14	stability	stability	NOUN
ejpam-263	261	15	.	.	PUNCT
ejpam-263	262	1	stability	stability	NOUN
ejpam-263	262	2	means	mean	VERB
ejpam-263	262	3	that	that	SCONJ
ejpam-263	262	4	any	any	DET
ejpam-263	262	5	solution	solution	NOUN
ejpam-263	262	6	of	of	ADP
ejpam-263	262	7	system	system	NOUN
ejpam-263	262	8	(	(	PUNCT
ejpam-263	262	9	2.1	2.1	NUM
ejpam-263	262	10	)	)	PUNCT
ejpam-263	262	11	starting	start	VERB
ejpam-263	262	12	close	close	ADV
ejpam-263	262	13	to	to	ADP
ejpam-263	262	14	x	x	NOUN
ejpam-263	262	15	∗	∗	NOUN
ejpam-263	262	16	remains	remain	VERB
ejpam-263	262	17	near	near	ADP
ejpam-263	262	18	it	it	PRON
ejpam-263	262	19	at	at	ADP
ejpam-263	262	20	all	all	DET
ejpam-263	262	21	times	time	NOUN
ejpam-263	262	22	.	.	PUNCT
ejpam-263	263	1	5	5	X
ejpam-263	263	2	.	.	X
ejpam-263	263	3	results	result	NOUN
ejpam-263	263	4	in	in	ADP
ejpam-263	263	5	this	this	DET
ejpam-263	263	6	section	section	NOUN
ejpam-263	263	7	we	we	PRON
ejpam-263	263	8	illustrate	illustrate	VERB
ejpam-263	263	9	the	the	DET
ejpam-263	263	10	effectiveness	effectiveness	NOUN
ejpam-263	263	11	of	of	ADP
ejpam-263	263	12	the	the	DET
ejpam-263	263	13	lyapunov	lyapunov	NOUN
ejpam-263	263	14	-	-	PUNCT
ejpam-263	263	15	based	base	VERB
ejpam-263	263	16	control	control	NOUN
ejpam-263	263	17	scheme	scheme	NOUN
ejpam-263	263	18	and	and	CCONJ
ejpam-263	263	19	the	the	DET
ejpam-263	263	20	resulting	result	VERB
ejpam-263	263	21	nonlinear	nonlinear	ADJ
ejpam-263	263	22	control	control	NOUN
ejpam-263	263	23	laws	law	NOUN
ejpam-263	263	24	,	,	PUNCT
ejpam-263	263	25	by	by	ADP
ejpam-263	263	26	simulating	simulate	VERB
ejpam-263	263	27	two	two	NUM
ejpam-263	263	28	interesting	interesting	ADJ
ejpam-263	263	29	scenarios	scenario	NOUN
ejpam-263	263	30	.	.	PUNCT
ejpam-263	264	1	we	we	PRON
ejpam-263	264	2	present	present	VERB
ejpam-263	264	3	two	two	NUM
ejpam-263	264	4	different	different	ADJ
ejpam-263	264	5	split	split	NOUN
ejpam-263	264	6	/	/	SYM
ejpam-263	264	7	rejoin	rejoin	VERB
ejpam-263	264	8	maneuvers	maneuver	NOUN
ejpam-263	264	9	for	for	ADP
ejpam-263	264	10	a	a	DET
ejpam-263	264	11	flock	flock	NOUN
ejpam-263	264	12	of	of	ADP
ejpam-263	264	13	ten	ten	NUM
ejpam-263	264	14	boids	boid	NOUN
ejpam-263	264	15	clustered	cluster	VERB
ejpam-263	264	16	at	at	ADP
ejpam-263	264	17	the	the	DET
ejpam-263	264	18	starting	starting	NOUN
ejpam-263	264	19	line	line	NOUN
ejpam-263	264	20	.	.	PUNCT
ejpam-263	265	1	the	the	DET
ejpam-263	265	2	boids	boid	NOUN
ejpam-263	265	3	in	in	ADP
ejpam-263	265	4	each	each	DET
ejpam-263	265	5	scenario	scenario	NOUN
ejpam-263	265	6	coalesce	coalesce	VERB
ejpam-263	265	7	into	into	ADP
ejpam-263	265	8	a	a	DET
ejpam-263	265	9	distinct	distinct	ADJ
ejpam-263	265	10	prescribed	prescribe	VERB
ejpam-263	265	11	formation	formation	NOUN
ejpam-263	265	12	and	and	CCONJ
ejpam-263	265	13	move	move	VERB
ejpam-263	265	14	in	in	ADP
ejpam-263	265	15	the	the	DET
ejpam-263	265	16	direction	direction	NOUN
ejpam-263	265	17	of	of	ADP
ejpam-263	265	18	their	their	PRON
ejpam-263	265	19	targets	target	NOUN
ejpam-263	265	20	.	.	PUNCT
ejpam-263	266	1	when	when	SCONJ
ejpam-263	266	2	the	the	DET
ejpam-263	266	3	formation	formation	NOUN
ejpam-263	266	4	encounters	encounter	VERB
ejpam-263	266	5	fixed	fix	VERB
ejpam-263	266	6	obstacles	obstacle	NOUN
ejpam-263	266	7	intersecting	intersect	VERB
ejpam-263	266	8	its	its	PRON
ejpam-263	266	9	path	path	NOUN
ejpam-263	266	10	,	,	PUNCT
ejpam-263	266	11	the	the	DET
ejpam-263	266	12	affected	affected	ADJ
ejpam-263	266	13	boids	boid	NOUN
ejpam-263	266	14	split	split	VERB
ejpam-263	266	15	and	and	CCONJ
ejpam-263	266	16	move	move	VERB
ejpam-263	266	17	around	around	ADP
ejpam-263	266	18	the	the	DET
ejpam-263	266	19	obstacles	obstacle	NOUN
ejpam-263	266	20	for	for	ADP
ejpam-263	266	21	a	a	DET
ejpam-263	266	22	collision	collision	NOUN
ejpam-263	266	23	-	-	PUNCT
ejpam-263	266	24	free	free	ADJ
ejpam-263	266	25	avoidance	avoidance	NOUN
ejpam-263	266	26	.	.	PUNCT
ejpam-263	267	1	subsequently	subsequently	ADV
ejpam-263	267	2	,	,	PUNCT
ejpam-263	267	3	the	the	DET
ejpam-263	267	4	boids	boid	NOUN
ejpam-263	267	5	rejoin	rejoin	VERB
ejpam-263	267	6	their	their	PRON
ejpam-263	267	7	coherent	coherent	ADJ
ejpam-263	267	8	group	group	NOUN
ejpam-263	267	9	and	and	CCONJ
ejpam-263	267	10	the	the	DET
ejpam-263	267	11	original	original	ADJ
ejpam-263	267	12	formation	formation	NOUN
ejpam-263	267	13	gets	get	AUX
ejpam-263	267	14	re	re	VERB
ejpam-263	267	15	-	-	VERB
ejpam-263	267	16	enacted	enact	VERB
ejpam-263	267	17	before	before	SCONJ
ejpam-263	267	18	the	the	DET
ejpam-263	267	19	final	final	ADJ
ejpam-263	267	20	target	target	NOUN
ejpam-263	267	21	position	position	NOUN
ejpam-263	267	22	is	be	AUX
ejpam-263	267	23	attained	attain	VERB
ejpam-263	267	24	.	.	PUNCT
ejpam-263	268	1	we	we	PRON
ejpam-263	268	2	consider	consider	VERB
ejpam-263	268	3	two	two	NUM
ejpam-263	268	4	different	different	ADJ
ejpam-263	268	5	formations	formation	NOUN
ejpam-263	268	6	in	in	ADP
ejpam-263	268	7	this	this	DET
ejpam-263	268	8	paper	paper	NOUN
ejpam-263	268	9	:	:	PUNCT
ejpam-263	268	10	(	(	PUNCT
ejpam-263	268	11	i	i	NOUN
ejpam-263	268	12	)	)	PUNCT
ejpam-263	268	13	arrowhead	arrowhead	NOUN
ejpam-263	268	14	formation	formation	NOUN
ejpam-263	268	15	,	,	PUNCT
ejpam-263	268	16	and	and	CCONJ
ejpam-263	268	17	(	(	PUNCT
ejpam-263	268	18	ii	ii	NOUN
ejpam-263	268	19	)	)	PUNCT
ejpam-263	268	20	circular	circular	ADJ
ejpam-263	268	21	formation	formation	NOUN
ejpam-263	268	22	.	.	PUNCT
ejpam-263	269	1	in	in	ADP
ejpam-263	269	2	the	the	DET
ejpam-263	269	3	two	two	NUM
ejpam-263	269	4	formations	formation	NOUN
ejpam-263	269	5	,	,	PUNCT
ejpam-263	269	6	boid	boid	NOUN
ejpam-263	269	7	1	1	NUM
ejpam-263	269	8	,	,	PUNCT
ejpam-263	269	9	situated	situate	VERB
ejpam-263	269	10	initially	initially	ADV
ejpam-263	269	11	at	at	ADP
ejpam-263	269	12	(	(	PUNCT
ejpam-263	269	13	x1	x1	PROPN
ejpam-263	269	14	,	,	PUNCT
ejpam-263	269	15	y1	y1	NOUN
ejpam-263	269	16	)	)	PUNCT
ejpam-263	269	17	=	=	PUNCT
ejpam-263	269	18	(	(	PUNCT
ejpam-263	269	19	8	8	NUM
ejpam-263	269	20	,	,	PUNCT
ejpam-263	269	21	24	24	NUM
ejpam-263	269	22	)	)	PUNCT
ejpam-263	269	23	(	(	PUNCT
ejpam-263	269	24	see	see	VERB
ejpam-263	269	25	fig	fig	NOUN
ejpam-263	269	26	.	.	PUNCT
ejpam-263	270	1	4(b)and	4(b)and	NOUN
ejpam-263	270	2	fig	fig	NOUN
ejpam-263	270	3	.	.	PUNCT
ejpam-263	271	1	6(b	6(b	NUM
ejpam-263	271	2	)	)	PUNCT
ejpam-263	271	3	)	)	PUNCT
ejpam-263	272	1	,	,	PUNCT
ejpam-263	272	2	acts	act	VERB
ejpam-263	272	3	as	as	ADP
ejpam-263	272	4	the	the	DET
ejpam-263	272	5	leader	leader	NOUN
ejpam-263	272	6	-	-	PUNCT
ejpam-263	272	7	boid	boid	NOUN
ejpam-263	272	8	.	.	PUNCT
ejpam-263	273	1	as	as	SCONJ
ejpam-263	273	2	the	the	DET
ejpam-263	273	3	leader	leader	NOUN
ejpam-263	273	4	moves	move	VERB
ejpam-263	273	5	towards	towards	ADP
ejpam-263	273	6	its	its	PRON
ejpam-263	273	7	target	target	NOUN
ejpam-263	273	8	,	,	PUNCT
ejpam-263	273	9	the	the	DET
ejpam-263	273	10	follower	follower	NOUN
ejpam-263	273	11	-	-	PUNCT
ejpam-263	273	12	boids	boid	NOUN
ejpam-263	273	13	will	will	AUX
ejpam-263	273	14	move	move	VERB
ejpam-263	273	15	towards	towards	ADP
ejpam-263	273	16	the	the	DET
ejpam-263	273	17	moving	move	VERB
ejpam-263	273	18	ghost	ghost	NOUN
ejpam-263	273	19	target	target	NOUN
ejpam-263	273	20	designated	designate	VERB
ejpam-263	273	21	to	to	ADP
ejpam-263	273	22	each	each	PRON
ejpam-263	273	23	.	.	PUNCT
ejpam-263	274	1	these	these	DET
ejpam-263	274	2	ghost	ghost	NOUN
ejpam-263	274	3	targets	target	NOUN
ejpam-263	274	4	of	of	ADP
ejpam-263	274	5	the	the	DET
ejpam-263	274	6	follower	follower	NOUN
ejpam-263	274	7	-	-	PUNCT
ejpam-263	274	8	boids	boid	NOUN
ejpam-263	274	9	are	be	AUX
ejpam-263	274	10	positioned	position	VERB
ejpam-263	274	11	relative	relative	ADJ
ejpam-263	274	12	to	to	ADP
ejpam-263	274	13	the	the	DET
ejpam-263	274	14	position	position	NOUN
ejpam-263	274	15	of	of	ADP
ejpam-263	274	16	the	the	DET
ejpam-263	274	17	leader	leader	NOUN
ejpam-263	274	18	in	in	ADP
ejpam-263	274	19	a	a	DET
ejpam-263	274	20	specific	specific	ADJ
ejpam-263	274	21	pattern	pattern	NOUN
ejpam-263	274	22	(	(	PUNCT
ejpam-263	274	23	the	the	DET
ejpam-263	274	24	scheme	scheme	NOUN
ejpam-263	274	25	is	be	AUX
ejpam-263	274	26	illustrated	illustrate	VERB
ejpam-263	274	27	in	in	ADP
ejpam-263	274	28	fig.2	fig.2	PROPN
ejpam-263	274	29	)	)	PUNCT
ejpam-263	274	30	that	that	PRON
ejpam-263	274	31	will	will	AUX
ejpam-263	274	32	help	help	VERB
ejpam-263	274	33	to	to	PART
ejpam-263	274	34	maintain	maintain	VERB
ejpam-263	274	35	the	the	DET
ejpam-263	274	36	prescribed	prescribed	ADJ
ejpam-263	274	37	formation	formation	NOUN
ejpam-263	274	38	enroute	enroute	NOUN
ejpam-263	274	39	.	.	PUNCT
ejpam-263	274	40	b.	b.	PROPN
ejpam-263	274	41	sharma	sharma	PROPN
ejpam-263	274	42	,	,	PUNCT
ejpam-263	274	43	j.	j.	PROPN
ejpam-263	274	44	vanualailai	vanualailai	PROPN
ejpam-263	274	45	,	,	PUNCT
ejpam-263	274	46	and	and	CCONJ
ejpam-263	274	47	u.	u.	PROPN
ejpam-263	274	48	chand	chand	PROPN
ejpam-263	274	49	/	/	SYM
ejpam-263	274	50	eur	eur	PROPN
ejpam-263	274	51	.	.	PUNCT
ejpam-263	275	1	j.	j.	PROPN
ejpam-263	275	2	pure	pure	PROPN
ejpam-263	275	3	appl	appl	PROPN
ejpam-263	275	4	.	.	PROPN
ejpam-263	275	5	math	math	PROPN
ejpam-263	275	6	,	,	PUNCT
ejpam-263	275	7	2	2	NUM
ejpam-263	275	8	(	(	PUNCT
ejpam-263	275	9	2009	2009	NUM
ejpam-263	275	10	)	)	PUNCT
ejpam-263	275	11	,	,	PUNCT
ejpam-263	275	12	(	(	PUNCT
ejpam-263	275	13	401	401	NUM
ejpam-263	275	14	-	-	SYM
ejpam-263	275	15	425	425	NUM
ejpam-263	275	16	)	)	PUNCT
ejpam-263	275	17	417	417	NUM
ejpam-263	275	18	5.1	5.1	NUM
ejpam-263	275	19	.	.	PUNCT
ejpam-263	276	1	scenario	scenario	NOUN
ejpam-263	276	2	1	1	NUM
ejpam-263	276	3	:	:	PUNCT
ejpam-263	276	4	arrowhead	arrowhead	NOUN
ejpam-263	276	5	formation	formation	NOUN
ejpam-263	276	6	for	for	ADP
ejpam-263	276	7	this	this	DET
ejpam-263	276	8	scenario	scenario	NOUN
ejpam-263	277	1	,	,	PUNCT
ejpam-263	277	2	the	the	DET
ejpam-263	277	3	prescribed	prescribed	ADJ
ejpam-263	277	4	formation	formation	NOUN
ejpam-263	277	5	is	be	AUX
ejpam-263	277	6	an	an	DET
ejpam-263	277	7	arrowhead	arrowhead	NOUN
ejpam-263	277	8	with	with	ADP
ejpam-263	277	9	the	the	DET
ejpam-263	277	10	leader	leader	NOUN
ejpam-263	277	11	boid	boid	NOUN
ejpam-263	277	12	positioned	position	VERB
ejpam-263	277	13	at	at	ADP
ejpam-263	277	14	the	the	DET
ejpam-263	277	15	tip	tip	NOUN
ejpam-263	277	16	of	of	ADP
ejpam-263	277	17	the	the	DET
ejpam-263	277	18	arrowhead	arrowhead	NOUN
ejpam-263	277	19	.	.	PUNCT
ejpam-263	278	1	assuming	assume	VERB
ejpam-263	278	2	the	the	DET
ejpam-263	278	3	units	unit	NOUN
ejpam-263	278	4	have	have	AUX
ejpam-263	278	5	been	be	AUX
ejpam-263	278	6	appropriately	appropriately	ADV
ejpam-263	278	7	taken	take	VERB
ejpam-263	278	8	care	care	NOUN
ejpam-263	278	9	of	of	ADP
ejpam-263	278	10	,	,	PUNCT
ejpam-263	278	11	initial	initial	ADJ
ejpam-263	278	12	conditions	condition	NOUN
ejpam-263	278	13	pertaining	pertain	VERB
ejpam-263	278	14	the	the	DET
ejpam-263	278	15	kinodynamic	kinodynamic	ADJ
ejpam-263	278	16	system	system	NOUN
ejpam-263	278	17	and	and	CCONJ
ejpam-263	278	18	other	other	ADJ
ejpam-263	278	19	essentials	essential	NOUN
ejpam-263	278	20	of	of	ADP
ejpam-263	278	21	the	the	DET
ejpam-263	278	22	simulation	simulation	NOUN
ejpam-263	278	23	are	be	AUX
ejpam-263	278	24	provided	provide	VERB
ejpam-263	278	25	in	in	ADP
ejpam-263	278	26	table	table	NOUN
ejpam-263	278	27	1	1	NUM
ejpam-263	278	28	.	.	PUNCT
ejpam-263	279	1	as	as	SCONJ
ejpam-263	279	2	the	the	DET
ejpam-263	279	3	leader	leader	NOUN
ejpam-263	279	4	moves	move	VERB
ejpam-263	279	5	towards	towards	ADP
ejpam-263	279	6	its	its	PRON
ejpam-263	279	7	target	target	NOUN
ejpam-263	279	8	,	,	PUNCT
ejpam-263	279	9	the	the	DET
ejpam-263	279	10	follower	follower	NOUN
ejpam-263	279	11	-	-	PUNCT
ejpam-263	279	12	boids	boid	NOUN
ejpam-263	279	13	move	move	VERB
ejpam-263	279	14	towards	towards	ADP
ejpam-263	279	15	their	their	PRON
ejpam-263	279	16	ghost	ghost	NOUN
ejpam-263	279	17	targets	target	NOUN
ejpam-263	279	18	positioned	position	VERB
ejpam-263	279	19	relative	relative	ADJ
ejpam-263	279	20	to	to	ADP
ejpam-263	279	21	the	the	DET
ejpam-263	279	22	leader	leader	NOUN
ejpam-263	279	23	’s	’s	PART
ejpam-263	279	24	position	position	NOUN
ejpam-263	279	25	,	,	PUNCT
ejpam-263	279	26	according	accord	VERB
ejpam-263	279	27	to	to	ADP
ejpam-263	279	28	the	the	DET
ejpam-263	279	29	coordinates	coordinate	NOUN
ejpam-263	279	30	(	(	PUNCT
ejpam-263	279	31	ai	ai	PROPN
ejpam-263	279	32	,	,	PUNCT
ejpam-263	279	33	bi	bi	NOUN
ejpam-263	279	34	)	)	PUNCT
ejpam-263	279	35	given	give	VERB
ejpam-263	279	36	in	in	ADP
ejpam-263	279	37	table	table	NOUN
ejpam-263	279	38	1	1	NUM
ejpam-263	279	39	.	.	PUNCT
ejpam-263	279	40	from	from	ADP
ejpam-263	279	41	the	the	DET
ejpam-263	279	42	initial	initial	ADJ
ejpam-263	279	43	configuration	configuration	NOUN
ejpam-263	279	44	the	the	DET
ejpam-263	279	45	boids	boid	NOUN
ejpam-263	279	46	quickly	quickly	ADV
ejpam-263	279	47	coalesce	coalesce	VERB
ejpam-263	279	48	into	into	ADP
ejpam-263	279	49	a	a	DET
ejpam-263	279	50	distinct	distinct	ADJ
ejpam-263	279	51	arrowhead	arrowhead	NOUN
ejpam-263	279	52	formation	formation	NOUN
ejpam-263	279	53	(	(	PUNCT
ejpam-263	279	54	fig	fig	NOUN
ejpam-263	279	55	.	.	PUNCT
ejpam-263	279	56	4(b	4(b	NUM
ejpam-263	279	57	)	)	PUNCT
ejpam-263	279	58	)	)	PUNCT
ejpam-263	279	59	.	.	PUNCT
ejpam-263	280	1	the	the	DET
ejpam-263	280	2	boids	boid	NOUN
ejpam-263	280	3	then	then	ADV
ejpam-263	280	4	split	split	VERB
ejpam-263	280	5	from	from	ADP
ejpam-263	280	6	their	their	PRON
ejpam-263	280	7	formation	formation	NOUN
ejpam-263	280	8	to	to	PART
ejpam-263	280	9	avoid	avoid	VERB
ejpam-263	280	10	two	two	NUM
ejpam-263	280	11	obstacles	obstacle	NOUN
ejpam-263	280	12	in	in	ADP
ejpam-263	280	13	their	their	PRON
ejpam-263	280	14	path	path	NOUN
ejpam-263	280	15	(	(	PUNCT
ejpam-263	280	16	as	as	SCONJ
ejpam-263	280	17	shown	show	VERB
ejpam-263	280	18	in	in	ADP
ejpam-263	280	19	figures	figure	NOUN
ejpam-263	280	20	4(c	4(c	NUM
ejpam-263	280	21	)	)	PUNCT
ejpam-263	280	22	and	and	CCONJ
ejpam-263	280	23	4(d	4(d	NUM
ejpam-263	280	24	)	)	PUNCT
ejpam-263	280	25	)	)	PUNCT
ejpam-263	280	26	.	.	PUNCT
ejpam-263	281	1	after	after	ADP
ejpam-263	281	2	the	the	DET
ejpam-263	281	3	avoidance	avoidance	NOUN
ejpam-263	281	4	,	,	PUNCT
ejpam-263	281	5	the	the	DET
ejpam-263	281	6	boids	boid	NOUN
ejpam-263	281	7	rejoin	rejoin	VERB
ejpam-263	281	8	the	the	DET
ejpam-263	281	9	flock	flock	NOUN
ejpam-263	281	10	showing	show	VERB
ejpam-263	281	11	the	the	DET
ejpam-263	281	12	same	same	ADJ
ejpam-263	281	13	prescribed	prescribed	ADJ
ejpam-263	281	14	arrowhead	arrowhead	NOUN
ejpam-263	281	15	formation	formation	NOUN
ejpam-263	281	16	(	(	PUNCT
ejpam-263	281	17	fig	fig	NOUN
ejpam-263	281	18	.	.	PUNCT
ejpam-263	282	1	4(e	4(e	NUM
ejpam-263	282	2	)	)	PUNCT
ejpam-263	282	3	)	)	PUNCT
ejpam-263	282	4	.	.	PUNCT
ejpam-263	283	1	the	the	DET
ejpam-263	283	2	reformation	reformation	NOUN
ejpam-263	283	3	takes	take	VERB
ejpam-263	283	4	place	place	NOUN
ejpam-263	283	5	before	before	SCONJ
ejpam-263	283	6	the	the	DET
ejpam-263	283	7	flock	flock	NOUN
ejpam-263	283	8	reaches	reach	VERB
ejpam-263	283	9	the	the	DET
ejpam-263	283	10	final	final	ADJ
ejpam-263	283	11	configuration	configuration	NOUN
ejpam-263	283	12	(	(	PUNCT
ejpam-263	283	13	fig	fig	NOUN
ejpam-263	283	14	.	.	PUNCT
ejpam-263	284	1	4(f	4(f	NUM
ejpam-263	284	2	)	)	PUNCT
ejpam-263	284	3	)	)	PUNCT
ejpam-263	284	4	figure	figure	NOUN
ejpam-263	284	5	5(a	5(a	NUM
ejpam-263	284	6	)	)	PUNCT
ejpam-263	284	7	shows	show	VERB
ejpam-263	284	8	the	the	DET
ejpam-263	284	9	evolution	evolution	NOUN
ejpam-263	284	10	of	of	ADP
ejpam-263	284	11	the	the	DET
ejpam-263	284	12	orientations	orientation	NOUN
ejpam-263	284	13	of	of	ADP
ejpam-263	284	14	the	the	DET
ejpam-263	284	15	first	first	ADJ
ejpam-263	284	16	and	and	CCONJ
ejpam-263	284	17	the	the	DET
ejpam-263	284	18	fourth	fourth	ADJ
ejpam-263	284	19	boids	boid	NOUN
ejpam-263	284	20	.	.	PUNCT
ejpam-263	285	1	the	the	DET
ejpam-263	285	2	different	different	ADJ
ejpam-263	285	3	headings	heading	NOUN
ejpam-263	285	4	can	can	AUX
ejpam-263	285	5	be	be	AUX
ejpam-263	285	6	noticed	notice	VERB
ejpam-263	285	7	during	during	ADP
ejpam-263	285	8	the	the	DET
ejpam-263	285	9	split	split	NOUN
ejpam-263	285	10	of	of	ADP
ejpam-263	285	11	the	the	DET
ejpam-263	285	12	flock	flock	NOUN
ejpam-263	285	13	,	,	PUNCT
ejpam-263	285	14	however	however	ADV
ejpam-263	285	15	,	,	PUNCT
ejpam-263	285	16	the	the	DET
ejpam-263	285	17	pre	pre	ADJ
ejpam-263	285	18	-	-	ADJ
ejpam-263	285	19	defined	define	VERB
ejpam-263	285	20	final	final	ADJ
ejpam-263	285	21	orientations	orientation	NOUN
ejpam-263	285	22	are	be	AUX
ejpam-263	285	23	achieved	achieve	VERB
ejpam-263	285	24	at	at	ADP
ejpam-263	285	25	the	the	DET
ejpam-263	285	26	target	target	NOUN
ejpam-263	285	27	configuration	configuration	NOUN
ejpam-263	285	28	as	as	SCONJ
ejpam-263	285	29	warranted	warrant	VERB
ejpam-263	285	30	in	in	ADP
ejpam-263	285	31	this	this	DET
ejpam-263	285	32	research	research	NOUN
ejpam-263	285	33	.	.	PUNCT
ejpam-263	286	1	figure	figure	NOUN
ejpam-263	286	2	5(b	5(b	NUM
ejpam-263	286	3	)	)	PUNCT
ejpam-263	286	4	shows	show	VERB
ejpam-263	286	5	the	the	DET
ejpam-263	286	6	acceleration	acceleration	NOUN
ejpam-263	286	7	components	component	NOUN
ejpam-263	286	8	for	for	ADP
ejpam-263	286	9	the	the	DET
ejpam-263	286	10	leader	leader	NOUN
ejpam-263	286	11	-	-	PUNCT
ejpam-263	286	12	boid	boid	NOUN
ejpam-263	286	13	.	.	PUNCT
ejpam-263	287	1	one	one	PRON
ejpam-263	287	2	can	can	AUX
ejpam-263	287	3	clearly	clearly	ADV
ejpam-263	287	4	notice	notice	VERB
ejpam-263	287	5	the	the	DET
ejpam-263	287	6	convergence	convergence	NOUN
ejpam-263	287	7	of	of	ADP
ejpam-263	287	8	the	the	DET
ejpam-263	287	9	variables	variable	NOUN
ejpam-263	287	10	at	at	ADP
ejpam-263	287	11	the	the	DET
ejpam-263	287	12	final	final	ADJ
ejpam-263	287	13	state	state	NOUN
ejpam-263	287	14	implying	imply	VERB
ejpam-263	287	15	the	the	DET
ejpam-263	287	16	effectiveness	effectiveness	NOUN
ejpam-263	287	17	of	of	ADP
ejpam-263	287	18	the	the	DET
ejpam-263	287	19	controllers	controller	NOUN
ejpam-263	287	20	.	.	PUNCT
ejpam-263	288	1	similar	similar	ADJ
ejpam-263	288	2	trends	trend	NOUN
ejpam-263	288	3	were	be	AUX
ejpam-263	288	4	observed	observe	VERB
ejpam-263	288	5	in	in	ADP
ejpam-263	288	6	the	the	DET
ejpam-263	288	7	case	case	NOUN
ejpam-263	288	8	of	of	ADP
ejpam-263	288	9	the	the	DET
ejpam-263	288	10	follower	follower	NOUN
ejpam-263	288	11	-	-	PUNCT
ejpam-263	288	12	boids	boid	NOUN
ejpam-263	288	13	.	.	PUNCT
ejpam-263	289	1	the	the	DET
ejpam-263	289	2	profiles	profile	NOUN
ejpam-263	289	3	of	of	ADP
ejpam-263	289	4	the	the	DET
ejpam-263	289	5	lyapunov	lyapunov	ADJ
ejpam-263	289	6	function	function	NOUN
ejpam-263	289	7	along	along	ADP
ejpam-263	289	8	the	the	DET
ejpam-263	289	9	system	system	NOUN
ejpam-263	289	10	trajectory	trajectory	NOUN
ejpam-263	289	11	show	show	VERB
ejpam-263	289	12	that	that	SCONJ
ejpam-263	289	13	the	the	DET
ejpam-263	289	14	conditions	condition	NOUN
ejpam-263	289	15	of	of	ADP
ejpam-263	289	16	theorem	theorem	NOUN
ejpam-263	289	17	1	1	NUM
ejpam-263	289	18	have	have	AUX
ejpam-263	289	19	been	be	AUX
ejpam-263	289	20	satisfied	satisfied	ADJ
ejpam-263	289	21	and	and	CCONJ
ejpam-263	289	22	that	that	SCONJ
ejpam-263	289	23	the	the	DET
ejpam-263	289	24	initial	initial	ADJ
ejpam-263	289	25	conditions	condition	NOUN
ejpam-263	289	26	adopted	adopt	VERB
ejpam-263	289	27	are	be	AUX
ejpam-263	289	28	within	within	ADP
ejpam-263	289	29	the	the	DET
ejpam-263	289	30	defined	define	VERB
ejpam-263	289	31	domain	domain	NOUN
ejpam-263	289	32	of	of	ADP
ejpam-263	289	33	the	the	DET
ejpam-263	289	34	state	state	NOUN
ejpam-263	289	35	-	-	PUNCT
ejpam-263	289	36	space	space	NOUN
ejpam-263	289	37	.	.	PUNCT
ejpam-263	290	1	b.	b.	PROPN
ejpam-263	290	2	sharma	sharma	PROPN
ejpam-263	290	3	,	,	PUNCT
ejpam-263	290	4	j.	j.	PROPN
ejpam-263	290	5	vanualailai	vanualailai	PROPN
ejpam-263	290	6	,	,	PUNCT
ejpam-263	290	7	and	and	CCONJ
ejpam-263	290	8	u.	u.	PROPN
ejpam-263	290	9	chand	chand	PROPN
ejpam-263	290	10	/	/	SYM
ejpam-263	290	11	eur	eur	PROPN
ejpam-263	290	12	.	.	PUNCT
ejpam-263	291	1	j.	j.	PROPN
ejpam-263	291	2	pure	pure	PROPN
ejpam-263	291	3	appl	appl	PROPN
ejpam-263	291	4	.	.	PROPN
ejpam-263	291	5	math	math	PROPN
ejpam-263	291	6	,	,	PUNCT
ejpam-263	291	7	2	2	NUM
ejpam-263	291	8	(	(	PUNCT
ejpam-263	291	9	2009	2009	NUM
ejpam-263	291	10	)	)	PUNCT
ejpam-263	291	11	,	,	PUNCT
ejpam-263	291	12	(	(	PUNCT
ejpam-263	291	13	401	401	NUM
ejpam-263	291	14	-	-	SYM
ejpam-263	291	15	425	425	NUM
ejpam-263	291	16	)	)	PUNCT
ejpam-263	291	17	418table	418table	PROPN
ejpam-263	291	18	1	1	NUM
ejpam-263	291	19	:	:	PUNCT
ejpam-263	291	20	numeri	numeri	PROPN
ejpam-263	291	21	al	al	PROPN
ejpam-263	291	22	values	value	NOUN
ejpam-263	291	23	of	of	ADP
ejpam-263	291	24	initial	initial	ADJ
ejpam-263	291	25	states	state	NOUN
ejpam-263	291	26	,	,	PUNCT
ejpam-263	291	27	onstraints	onstraint	NOUN
ejpam-263	291	28	and	and	CCONJ
ejpam-263	291	29	parameters	parameter	NOUN
ejpam-263	291	30	of	of	ADP
ejpam-263	291	31	s	s	PART
ejpam-263	291	32	enario	enario	NOUN
ejpam-263	291	33	1	1	NUM
ejpam-263	291	34	.	.	PUNCT
ejpam-263	291	35	initial	initial	ADJ
ejpam-263	291	36	conditions	condition	NOUN
ejpam-263	291	37	rectangular	rectangular	ADJ
ejpam-263	291	38	positions	position	NOUN
ejpam-263	291	39	(	(	PUNCT
ejpam-263	291	40	x1	x1	PROPN
ejpam-263	291	41	,	,	PUNCT
ejpam-263	291	42	y1	y1	NOUN
ejpam-263	291	43	)	)	PUNCT
ejpam-263	291	44	=	=	PUNCT
ejpam-263	291	45	(	(	PUNCT
ejpam-263	291	46	8	8	NUM
ejpam-263	291	47	,	,	PUNCT
ejpam-263	291	48	24	24	NUM
ejpam-263	291	49	)	)	PUNCT
ejpam-263	291	50	,	,	PUNCT
ejpam-263	291	51	(	(	PUNCT
ejpam-263	291	52	x2	x2	PROPN
ejpam-263	291	53	,	,	PUNCT
ejpam-263	291	54	y2	y2	NOUN
ejpam-263	291	55	)	)	PUNCT
ejpam-263	291	56	=	=	PUNCT
ejpam-263	291	57	(	(	PUNCT
ejpam-263	291	58	8	8	NUM
ejpam-263	291	59	,	,	PUNCT
ejpam-263	291	60	27	27	NUM
ejpam-263	291	61	)	)	PUNCT
ejpam-263	291	62	,	,	PUNCT
ejpam-263	291	63	(	(	PUNCT
ejpam-263	291	64	x3	x3	ADJ
ejpam-263	291	65	,	,	PUNCT
ejpam-263	291	66	y3	y3	NOUN
ejpam-263	291	67	)	)	PUNCT
ejpam-263	291	68	=	=	PUNCT
ejpam-263	291	69	(	(	PUNCT
ejpam-263	291	70	8	8	NUM
ejpam-263	291	71	,	,	PUNCT
ejpam-263	291	72	21	21	NUM
ejpam-263	291	73	)	)	PUNCT
ejpam-263	291	74	;	;	PUNCT
ejpam-263	291	75	(	(	PUNCT
ejpam-263	291	76	x4	x4	PROPN
ejpam-263	291	77	,	,	PUNCT
ejpam-263	291	78	y4	y4	NUM
ejpam-263	291	79	)	)	PUNCT
ejpam-263	291	80	=	=	PUNCT
ejpam-263	291	81	(	(	PUNCT
ejpam-263	291	82	8	8	NUM
ejpam-263	291	83	,	,	PUNCT
ejpam-263	291	84	30	30	NUM
ejpam-263	291	85	)	)	PUNCT
ejpam-263	291	86	,	,	PUNCT
ejpam-263	291	87	(	(	PUNCT
ejpam-263	291	88	x5	x5	NOUN
ejpam-263	291	89	,	,	PUNCT
ejpam-263	291	90	y5	y5	NOUN
ejpam-263	291	91	)	)	PUNCT
ejpam-263	291	92	=	=	PUNCT
ejpam-263	291	93	(	(	PUNCT
ejpam-263	291	94	2	2	NUM
ejpam-263	291	95	,	,	PUNCT
ejpam-263	291	96	24	24	NUM
ejpam-263	291	97	)	)	PUNCT
ejpam-263	291	98	,	,	PUNCT
ejpam-263	291	99	(	(	PUNCT
ejpam-263	291	100	x6	x6	NOUN
ejpam-263	291	101	,	,	PUNCT
ejpam-263	291	102	y6	y6	ADJ
ejpam-263	291	103	)	)	PUNCT
ejpam-263	291	104	=	=	PUNCT
ejpam-263	291	105	(	(	PUNCT
ejpam-263	291	106	8	8	NUM
ejpam-263	291	107	,	,	PUNCT
ejpam-263	291	108	18	18	NUM
ejpam-263	291	109	)	)	PUNCT
ejpam-263	291	110	;	;	PUNCT
ejpam-263	291	111	(	(	PUNCT
ejpam-263	291	112	x7	x7	NOUN
ejpam-263	291	113	,	,	PUNCT
ejpam-263	291	114	y7	y7	ADJ
ejpam-263	291	115	)	)	PUNCT
ejpam-263	291	116	=	=	SYM
ejpam-263	291	117	(	(	PUNCT
ejpam-263	291	118	2	2	NUM
ejpam-263	291	119	,	,	PUNCT
ejpam-263	291	120	30	30	NUM
ejpam-263	291	121	)	)	PUNCT
ejpam-263	291	122	,	,	PUNCT
ejpam-263	291	123	(	(	PUNCT
ejpam-263	291	124	x8	x8	PROPN
ejpam-263	291	125	,	,	PUNCT
ejpam-263	291	126	y8	y8	PROPN
ejpam-263	291	127	)	)	PUNCT
ejpam-263	291	128	=	=	PUNCT
ejpam-263	291	129	(	(	PUNCT
ejpam-263	291	130	2	2	NUM
ejpam-263	291	131	,	,	PUNCT
ejpam-263	291	132	27	27	NUM
ejpam-263	291	133	)	)	PUNCT
ejpam-263	291	134	,	,	PUNCT
ejpam-263	291	135	(	(	PUNCT
ejpam-263	291	136	x9	x9	PROPN
ejpam-263	291	137	,	,	PUNCT
ejpam-263	291	138	y9	y9	PROPN
ejpam-263	291	139	)	)	PUNCT
ejpam-263	291	140	=	=	PUNCT
ejpam-263	291	141	(	(	PUNCT
ejpam-263	291	142	2	2	NUM
ejpam-263	291	143	,	,	PUNCT
ejpam-263	291	144	21	21	NUM
ejpam-263	291	145	)	)	PUNCT
ejpam-263	291	146	;	;	PUNCT
ejpam-263	291	147	(	(	PUNCT
ejpam-263	291	148	x10	x10	NOUN
ejpam-263	291	149	,	,	PUNCT
ejpam-263	291	150	y10	y10	NOUN
ejpam-263	291	151	)	)	PUNCT
ejpam-263	291	152	=	=	PUNCT
ejpam-263	291	153	(	(	PUNCT
ejpam-263	291	154	2	2	NUM
ejpam-263	291	155	,	,	PUNCT
ejpam-263	291	156	18	18	NUM
ejpam-263	291	157	)	)	PUNCT
ejpam-263	291	158	angular	angular	ADJ
ejpam-263	291	159	positions	position	NOUN
ejpam-263	291	160	&	&	CCONJ
ejpam-263	291	161	velo	velo	PROPN
ejpam-263	291	162	.	.	PUNCT
ejpam-263	292	1	θi	θi	ADP
ejpam-263	292	2	=	=	SYM
ejpam-263	292	3	0	0	PROPN
ejpam-263	292	4	,	,	PUNCT
ejpam-263	292	5	υi	υi	NOUN
ejpam-263	292	6	=	=	NOUN
ejpam-263	292	7	0.5	0.5	NUM
ejpam-263	292	8	,	,	PUNCT
ejpam-263	292	9	ωi	ωi	X
ejpam-263	292	10	=	=	NUM
ejpam-263	292	11	0.8	0.8	NUM
ejpam-263	292	12	,	,	PUNCT
ejpam-263	292	13	for	for	ADP
ejpam-263	292	14	i	i	PRON
ejpam-263	292	15	=	=	NOUN
ejpam-263	292	16	1	1	NUM
ejpam-263	292	17	to	to	PART
ejpam-263	292	18	10	10	NUM
ejpam-263	292	19	constraints	constraint	NOUN
ejpam-263	292	20	and	and	CCONJ
ejpam-263	292	21	parameters	parameter	NOUN
ejpam-263	292	22	dimension	dimension	NOUN
ejpam-263	292	23	of	of	ADP
ejpam-263	292	24	boids	boid	NOUN
ejpam-263	292	25	l1	l1	PROPN
ejpam-263	292	26	=	=	PROPN
ejpam-263	292	27	1.6	1.6	NUM
ejpam-263	292	28	,	,	PUNCT
ejpam-263	292	29	l2	l2	NOUN
ejpam-263	292	30	=	=	SYM
ejpam-263	292	31	1.4	1.4	NUM
ejpam-263	292	32	target	target	NOUN
ejpam-263	292	33	for	for	ADP
ejpam-263	292	34	leader	leader	NOUN
ejpam-263	292	35	(	(	PUNCT
ejpam-263	292	36	t11	t11	NOUN
ejpam-263	292	37	,	,	PUNCT
ejpam-263	292	38	t12	t12	PROPN
ejpam-263	292	39	)	)	PUNCT
ejpam-263	292	40	=	=	PUNCT
ejpam-263	292	41	(	(	PUNCT
ejpam-263	292	42	50	50	NUM
ejpam-263	292	43	,	,	PUNCT
ejpam-263	292	44	24	24	NUM
ejpam-263	292	45	)	)	PUNCT
ejpam-263	292	46	,	,	PUNCT
ejpam-263	292	47	r	r	NOUN
ejpam-263	292	48	t1	t1	NOUN
ejpam-263	292	49	=	=	SYM
ejpam-263	292	50	0.5	0.5	NUM
ejpam-263	292	51	final	final	ADJ
ejpam-263	292	52	orientations	orientation	NOUN
ejpam-263	292	53	t	t	X
ejpam-263	292	54	i3	i3	NOUN
ejpam-263	292	55	=	=	SYM
ejpam-263	292	56	0	0	NUM
ejpam-263	292	57	,	,	PUNCT
ejpam-263	292	58	for	for	ADP
ejpam-263	292	59	i	i	PRON
ejpam-263	292	60	=	=	NOUN
ejpam-263	292	61	1	1	NUM
ejpam-263	292	62	to	to	PART
ejpam-263	292	63	10	10	NUM
ejpam-263	292	64	position	position	NOUN
ejpam-263	292	65	of	of	ADP
ejpam-263	292	66	ghost	ghost	NOUN
ejpam-263	292	67	(	(	PUNCT
ejpam-263	292	68	a2	a2	PROPN
ejpam-263	292	69	,	,	PUNCT
ejpam-263	292	70	b2	b2	NOUN
ejpam-263	292	71	)	)	PUNCT
ejpam-263	292	72	=	=	SYM
ejpam-263	292	73	(	(	PUNCT
ejpam-263	292	74	3,−3	3,−3	NUM
ejpam-263	292	75	)	)	PUNCT
ejpam-263	292	76	,	,	PUNCT
ejpam-263	292	77	(	(	PUNCT
ejpam-263	292	78	a3	a3	NOUN
ejpam-263	292	79	,	,	PUNCT
ejpam-263	292	80	b3	b3	PROPN
ejpam-263	292	81	)	)	PUNCT
ejpam-263	292	82	=	=	PUNCT
ejpam-263	292	83	(	(	PUNCT
ejpam-263	292	84	3	3	NUM
ejpam-263	292	85	,	,	PUNCT
ejpam-263	292	86	3	3	NUM
ejpam-263	292	87	)	)	PUNCT
ejpam-263	292	88	,	,	PUNCT
ejpam-263	292	89	(	(	PUNCT
ejpam-263	292	90	a4	a4	NOUN
ejpam-263	292	91	,	,	PUNCT
ejpam-263	292	92	b4	b4	NOUN
ejpam-263	292	93	)	)	PUNCT
ejpam-263	292	94	=	=	PUNCT
ejpam-263	292	95	(	(	PUNCT
ejpam-263	292	96	6,−6	6,−6	PROPN
ejpam-263	292	97	)	)	PUNCT
ejpam-263	292	98	;	;	PUNCT
ejpam-263	292	99	targets	target	NOUN
ejpam-263	292	100	relative	relative	ADJ
ejpam-263	292	101	to	to	ADP
ejpam-263	292	102	(	(	PUNCT
ejpam-263	292	103	a5	a5	NOUN
ejpam-263	292	104	,	,	PUNCT
ejpam-263	292	105	b5	b5	PROPN
ejpam-263	292	106	)	)	PUNCT
ejpam-263	292	107	=	=	PUNCT
ejpam-263	292	108	(	(	PUNCT
ejpam-263	292	109	6	6	NUM
ejpam-263	292	110	,	,	PUNCT
ejpam-263	292	111	0	0	NUM
ejpam-263	292	112	)	)	PUNCT
ejpam-263	292	113	,	,	PUNCT
ejpam-263	292	114	(	(	PUNCT
ejpam-263	292	115	a6	a6	NOUN
ejpam-263	292	116	,	,	PUNCT
ejpam-263	292	117	b6	b6	NOUN
ejpam-263	292	118	)	)	PUNCT
ejpam-263	292	119	=	=	PUNCT
ejpam-263	292	120	(	(	PUNCT
ejpam-263	292	121	6	6	NUM
ejpam-263	292	122	,	,	PUNCT
ejpam-263	292	123	6	6	NUM
ejpam-263	292	124	)	)	PUNCT
ejpam-263	292	125	,	,	PUNCT
ejpam-263	292	126	(	(	PUNCT
ejpam-263	292	127	a7	a7	PROPN
ejpam-263	292	128	,	,	PUNCT
ejpam-263	292	129	b7	b7	PROPN
ejpam-263	292	130	)	)	PUNCT
ejpam-263	292	131	=	=	PUNCT
ejpam-263	292	132	(	(	PUNCT
ejpam-263	292	133	9,−9	9,−9	NUM
ejpam-263	292	134	)	)	PUNCT
ejpam-263	292	135	;	;	PUNCT
ejpam-263	292	136	leader	leader	NOUN
ejpam-263	292	137	boid	boid	NOUN
ejpam-263	292	138	(	(	PUNCT
ejpam-263	292	139	a8	a8	PROPN
ejpam-263	292	140	,	,	PUNCT
ejpam-263	292	141	b8	b8	PROPN
ejpam-263	292	142	)	)	PUNCT
ejpam-263	292	143	=	=	SYM
ejpam-263	292	144	(	(	PUNCT
ejpam-263	292	145	9,−3	9,−3	NUM
ejpam-263	292	146	)	)	PUNCT
ejpam-263	292	147	,	,	PUNCT
ejpam-263	292	148	(	(	PUNCT
ejpam-263	292	149	a9	a9	NOUN
ejpam-263	292	150	,	,	PUNCT
ejpam-263	292	151	b9	b9	NOUN
ejpam-263	292	152	)	)	PUNCT
ejpam-263	292	153	=	=	PUNCT
ejpam-263	292	154	(	(	PUNCT
ejpam-263	292	155	9	9	NUM
ejpam-263	292	156	,	,	PUNCT
ejpam-263	292	157	3	3	NUM
ejpam-263	292	158	)	)	PUNCT
ejpam-263	292	159	,	,	PUNCT
ejpam-263	292	160	(	(	PUNCT
ejpam-263	292	161	a10	a10	NOUN
ejpam-263	292	162	,	,	PUNCT
ejpam-263	292	163	b10	b10	PROPN
ejpam-263	292	164	)	)	PUNCT
ejpam-263	292	165	=	=	PUNCT
ejpam-263	292	166	(	(	PUNCT
ejpam-263	292	167	9	9	NUM
ejpam-263	292	168	,	,	PUNCT
ejpam-263	292	169	9	9	NUM
ejpam-263	292	170	)	)	PUNCT
ejpam-263	292	171	;	;	PUNCT
ejpam-263	292	172	fixed	fix	VERB
ejpam-263	292	173	obstacles	obstacle	NOUN
ejpam-263	292	174	(	(	PUNCT
ejpam-263	292	175	ok1	ok1	PROPN
ejpam-263	292	176	,	,	PUNCT
ejpam-263	292	177	ok2	ok2	PROPN
ejpam-263	292	178	)	)	PUNCT
ejpam-263	292	179	(	(	PUNCT
ejpam-263	292	180	o11	o11	PROPN
ejpam-263	292	181	,	,	PUNCT
ejpam-263	292	182	o12	o12	PROPN
ejpam-263	292	183	)	)	PUNCT
ejpam-263	292	184	=	=	PUNCT
ejpam-263	292	185	(	(	PUNCT
ejpam-263	292	186	25	25	NUM
ejpam-263	292	187	,	,	PUNCT
ejpam-263	292	188	28	28	NUM
ejpam-263	292	189	)	)	PUNCT
ejpam-263	292	190	,	,	PUNCT
ejpam-263	292	191	(	(	PUNCT
ejpam-263	292	192	o21	o21	NOUN
ejpam-263	292	193	,	,	PUNCT
ejpam-263	292	194	o22	o22	NOUN
ejpam-263	292	195	)	)	PUNCT
ejpam-263	292	196	=	=	PUNCT
ejpam-263	292	197	(	(	PUNCT
ejpam-263	292	198	25	25	NUM
ejpam-263	292	199	,	,	PUNCT
ejpam-263	292	200	20	20	NUM
ejpam-263	292	201	)	)	PUNCT
ejpam-263	292	202	,	,	PUNCT
ejpam-263	292	203	ro1	ro1	NOUN
ejpam-263	292	204	=	=	SYM
ejpam-263	292	205	ro2	ro2	NOUN
ejpam-263	292	206	=	=	SYM
ejpam-263	292	207	1.5	1.5	NUM
ejpam-263	292	208	max	max	NOUN
ejpam-263	292	209	.	.	PUNCT
ejpam-263	292	210	translational	translational	ADJ
ejpam-263	292	211	speed	speed	NOUN
ejpam-263	292	212	υmax	υmax	NOUN
ejpam-263	292	213	=	=	SYM
ejpam-263	292	214	3	3	NUM
ejpam-263	292	215	min	min	NOUN
ejpam-263	292	216	.	.	PROPN
ejpam-263	292	217	turning	turn	VERB
ejpam-263	292	218	radius	radius	NOUN
ejpam-263	292	219	ρmin	ρmin	NOUN
ejpam-263	292	220	=	=	SYM
ejpam-263	292	221	0.14	0.14	NUM
ejpam-263	292	222	clearance	clearance	NOUN
ejpam-263	292	223	parameter	parameter	NOUN
ejpam-263	292	224	ε1	ε1	PROPN
ejpam-263	292	225	=	=	SYM
ejpam-263	292	226	0.1	0.1	NUM
ejpam-263	292	227	,	,	PUNCT
ejpam-263	292	228	ε2	ε2	NOUN
ejpam-263	292	229	=	=	NOUN
ejpam-263	292	230	0.05	0.05	NUM
ejpam-263	292	231	control	control	NOUN
ejpam-263	292	232	and	and	CCONJ
ejpam-263	292	233	convergence	convergence	NOUN
ejpam-263	292	234	parameters	parameter	NOUN
ejpam-263	292	235	obstacle	obstacle	VERB
ejpam-263	292	236	avoidance	avoidance	NOUN
ejpam-263	292	237	αik	αik	NOUN
ejpam-263	292	238	=	=	SYM
ejpam-263	292	239	0.6	0.6	NUM
ejpam-263	292	240	,	,	PUNCT
ejpam-263	292	241	for	for	ADP
ejpam-263	292	242	i	i	PRON
ejpam-263	292	243	=	=	NOUN
ejpam-263	292	244	1	1	NUM
ejpam-263	292	245	to	to	PART
ejpam-263	292	246	10	10	NUM
ejpam-263	292	247	and	and	CCONJ
ejpam-263	292	248	k	k	NOUN
ejpam-263	292	249	=	=	SYM
ejpam-263	292	250	1	1	NUM
ejpam-263	292	251	to	to	PART
ejpam-263	292	252	2	2	NUM
ejpam-263	292	253	boid	boid	NOUN
ejpam-263	292	254	avoidance	avoidance	NOUN
ejpam-263	292	255	βi	βi	PROPN
ejpam-263	292	256	j	j	NOUN
ejpam-263	292	257	=	=	PUNCT
ejpam-263	292	258	0.01	0.01	NUM
ejpam-263	292	259	,	,	PUNCT
ejpam-263	292	260	for	for	ADP
ejpam-263	292	261	i	i	PRON
ejpam-263	292	262	=	=	NOUN
ejpam-263	292	263	1	1	NUM
ejpam-263	292	264	to	to	PART
ejpam-263	292	265	10	10	NUM
ejpam-263	292	266	,	,	PUNCT
ejpam-263	292	267	j	j	PROPN
ejpam-263	293	1	=	=	NOUN
ejpam-263	293	2	1	1	NUM
ejpam-263	293	3	to	to	PART
ejpam-263	293	4	10	10	NUM
ejpam-263	293	5	,	,	PUNCT
ejpam-263	293	6	i	i	PRON
ejpam-263	293	7	6=	6=	PROPN
ejpam-263	293	8	j	j	PROPN
ejpam-263	293	9	dynamics	dynamic	NOUN
ejpam-263	293	10	constraints	constraint	VERB
ejpam-263	293	11	γis	γis	ADV
ejpam-263	293	12	=	=	SYM
ejpam-263	293	13	0.0001	0.0001	NUM
ejpam-263	293	14	,	,	PUNCT
ejpam-263	293	15	for	for	ADP
ejpam-263	293	16	i	i	PRON
ejpam-263	293	17	=	=	NOUN
ejpam-263	293	18	1	1	NUM
ejpam-263	293	19	to	to	PART
ejpam-263	293	20	10	10	NUM
ejpam-263	293	21	,	,	PUNCT
ejpam-263	293	22	s	s	PART
ejpam-263	293	23	=	=	SYM
ejpam-263	293	24	1	1	NUM
ejpam-263	293	25	to	to	PART
ejpam-263	293	26	2	2	NUM
ejpam-263	293	27	convergence	convergence	NOUN
ejpam-263	293	28	δ11	δ11	NOUN
ejpam-263	293	29	=	=	SYM
ejpam-263	293	30	3	3	NUM
ejpam-263	293	31	,	,	PUNCT
ejpam-263	293	32	δ12	δ12	NOUN
ejpam-263	293	33	=	=	SYM
ejpam-263	293	34	3	3	NUM
ejpam-263	293	35	,	,	PUNCT
ejpam-263	293	36	δiq	δiq	NOUN
ejpam-263	293	37	=	=	SYM
ejpam-263	293	38	2	2	NUM
ejpam-263	293	39	,	,	PUNCT
ejpam-263	293	40	for	for	ADP
ejpam-263	293	41	i	i	PRON
ejpam-263	293	42	=	=	NOUN
ejpam-263	293	43	2	2	NUM
ejpam-263	293	44	to	to	PART
ejpam-263	293	45	10	10	NUM
ejpam-263	293	46	and	and	CCONJ
ejpam-263	293	47	q	q	NOUN
ejpam-263	293	48	=	=	NOUN
ejpam-263	293	49	1	1	NUM
ejpam-263	293	50	to	to	PART
ejpam-263	293	51	2	2	NUM
ejpam-263	293	52	b.	b.	PROPN
ejpam-263	293	53	sharma	sharma	PROPN
ejpam-263	293	54	,	,	PUNCT
ejpam-263	293	55	j.	j.	PROPN
ejpam-263	293	56	vanualailai	vanualailai	PROPN
ejpam-263	293	57	,	,	PUNCT
ejpam-263	293	58	and	and	CCONJ
ejpam-263	293	59	u.	u.	PROPN
ejpam-263	293	60	chand	chand	PROPN
ejpam-263	293	61	/	/	SYM
ejpam-263	293	62	eur	eur	PROPN
ejpam-263	293	63	.	.	PUNCT
ejpam-263	294	1	j.	j.	PROPN
ejpam-263	294	2	pure	pure	PROPN
ejpam-263	294	3	appl	appl	PROPN
ejpam-263	294	4	.	.	PROPN
ejpam-263	294	5	math	math	PROPN
ejpam-263	294	6	,	,	PUNCT
ejpam-263	294	7	2	2	NUM
ejpam-263	294	8	(	(	PUNCT
ejpam-263	294	9	2009	2009	NUM
ejpam-263	294	10	)	)	PUNCT
ejpam-263	294	11	,	,	PUNCT
ejpam-263	294	12	(	(	PUNCT
ejpam-263	294	13	401	401	NUM
ejpam-263	294	14	-	-	SYM
ejpam-263	294	15	425	425	NUM
ejpam-263	294	16	)	)	PUNCT
ejpam-263	294	17	419	419	NUM
ejpam-263	295	1	10	10	NUM
ejpam-263	295	2	20	20	NUM
ejpam-263	295	3	30	30	NUM
ejpam-263	295	4	40	40	NUM
ejpam-263	295	5	50	50	NUM
ejpam-263	295	6	15	15	NUM
ejpam-263	295	7	20	20	NUM
ejpam-263	295	8	25	25	NUM
ejpam-263	295	9	30	30	NUM
ejpam-263	295	10	35	35	NUM
ejpam-263	295	11	(	(	PUNCT
ejpam-263	295	12	a	a	X
ejpam-263	295	13	)	)	PUNCT
ejpam-263	295	14	snapshot	snapshot	NOUN
ejpam-263	295	15	at	at	ADP
ejpam-263	295	16	t	t	NOUN
ejpam-263	295	17	=	=	SYM
ejpam-263	295	18	0	0	NUM
ejpam-263	295	19	units	unit	NOUN
ejpam-263	295	20	10	10	NUM
ejpam-263	295	21	20	20	NUM
ejpam-263	295	22	30	30	NUM
ejpam-263	295	23	40	40	NUM
ejpam-263	295	24	50	50	NUM
ejpam-263	295	25	15	15	NUM
ejpam-263	295	26	20	20	NUM
ejpam-263	295	27	25	25	NUM
ejpam-263	295	28	30	30	NUM
ejpam-263	295	29	35	35	NUM
ejpam-263	295	30	(	(	PUNCT
ejpam-263	295	31	b	b	NOUN
ejpam-263	295	32	)	)	PUNCT
ejpam-263	295	33	snapshot	snapshot	NOUN
ejpam-263	295	34	at	at	ADP
ejpam-263	295	35	t	t	NOUN
ejpam-263	295	36	=	=	SYM
ejpam-263	295	37	10	10	NUM
ejpam-263	295	38	units	unit	NOUN
ejpam-263	295	39	10	10	NUM
ejpam-263	295	40	20	20	NUM
ejpam-263	295	41	30	30	NUM
ejpam-263	295	42	40	40	NUM
ejpam-263	295	43	50	50	NUM
ejpam-263	295	44	15	15	NUM
ejpam-263	295	45	20	20	NUM
ejpam-263	295	46	25	25	NUM
ejpam-263	295	47	30	30	NUM
ejpam-263	295	48	35	35	NUM
ejpam-263	295	49	(	(	PUNCT
ejpam-263	295	50	c	c	NOUN
ejpam-263	295	51	)	)	PUNCT
ejpam-263	295	52	snapshot	snapshot	NOUN
ejpam-263	295	53	at	at	ADP
ejpam-263	295	54	t	t	NOUN
ejpam-263	295	55	=	=	SYM
ejpam-263	295	56	20	20	NUM
ejpam-263	295	57	units	unit	NOUN
ejpam-263	295	58	10	10	NUM
ejpam-263	295	59	20	20	NUM
ejpam-263	295	60	30	30	NUM
ejpam-263	295	61	40	40	NUM
ejpam-263	295	62	50	50	NUM
ejpam-263	295	63	15	15	NUM
ejpam-263	295	64	20	20	NUM
ejpam-263	295	65	25	25	NUM
ejpam-263	295	66	30	30	NUM
ejpam-263	295	67	35	35	NUM
ejpam-263	295	68	(	(	PUNCT
ejpam-263	295	69	d	d	NOUN
ejpam-263	295	70	)	)	PUNCT
ejpam-263	295	71	snapshot	snapshot	NOUN
ejpam-263	295	72	at	at	ADP
ejpam-263	295	73	t	t	NOUN
ejpam-263	295	74	=	=	SYM
ejpam-263	295	75	24	24	NUM
ejpam-263	295	76	units	unit	NOUN
ejpam-263	295	77	10	10	NUM
ejpam-263	295	78	20	20	NUM
ejpam-263	295	79	30	30	NUM
ejpam-263	295	80	40	40	NUM
ejpam-263	295	81	50	50	NUM
ejpam-263	295	82	15	15	NUM
ejpam-263	295	83	20	20	NUM
ejpam-263	295	84	25	25	NUM
ejpam-263	295	85	30	30	NUM
ejpam-263	295	86	35	35	NUM
ejpam-263	295	87	(	(	PUNCT
ejpam-263	295	88	e	e	NOUN
ejpam-263	295	89	)	)	PUNCT
ejpam-263	295	90	snapshot	snapshot	NOUN
ejpam-263	295	91	at	at	ADP
ejpam-263	295	92	t	t	NOUN
ejpam-263	295	93	=	=	SYM
ejpam-263	295	94	50	50	NUM
ejpam-263	295	95	units	unit	NOUN
ejpam-263	295	96	10	10	NUM
ejpam-263	295	97	20	20	NUM
ejpam-263	295	98	30	30	NUM
ejpam-263	295	99	40	40	NUM
ejpam-263	295	100	50	50	NUM
ejpam-263	295	101	15	15	NUM
ejpam-263	295	102	20	20	NUM
ejpam-263	295	103	25	25	NUM
ejpam-263	295	104	30	30	NUM
ejpam-263	295	105	35	35	NUM
ejpam-263	295	106	(	(	PUNCT
ejpam-263	295	107	f	f	X
ejpam-263	295	108	)	)	PUNCT
ejpam-263	295	109	snapshot	snapshot	NOUN
ejpam-263	295	110	at	at	ADP
ejpam-263	295	111	t	t	NOUN
ejpam-263	295	112	=	=	SYM
ejpam-263	295	113	200	200	NUM
ejpam-263	295	114	unitsfigure	unitsfigure	NOUN
ejpam-263	295	115	4	4	NUM
ejpam-263	295	116	:	:	PUNCT
ejpam-263	295	117	showing	show	VERB
ejpam-263	295	118	the	the	DET
ejpam-263	295	119	split	split	NOUN
ejpam-263	295	120	/	/	SYM
ejpam-263	295	121	rejoin	rejoin	VERB
ejpam-263	295	122	maneuvers	maneuver	NOUN
ejpam-263	295	123	for	for	ADP
ejpam-263	295	124	a	a	DET
ejpam-263	295	125	�	�	PROPN
ejpam-263	295	126	o	o	PROPN
ejpam-263	295	127	k	k	PROPN
ejpam-263	295	128	of	of	ADP
ejpam-263	295	129	10	10	NUM
ejpam-263	295	130	nonholonomi	nonholonomi	ADJ
ejpam-263	295	131	boids	boid	NOUN
ejpam-263	295	132	lo	lo	PROPN
ejpam-263	295	133	ked	ke	VERB
ejpam-263	295	134	in	in	ADP
ejpam-263	295	135	anarrowhead	anarrowhead	NOUN
ejpam-263	295	136	formation	formation	NOUN
ejpam-263	295	137	.	.	PUNCT
ejpam-263	296	1	b.	b.	PROPN
ejpam-263	296	2	sharma	sharma	PROPN
ejpam-263	296	3	,	,	PUNCT
ejpam-263	296	4	j.	j.	PROPN
ejpam-263	296	5	vanualailai	vanualailai	PROPN
ejpam-263	296	6	,	,	PUNCT
ejpam-263	296	7	and	and	CCONJ
ejpam-263	296	8	u.	u.	PROPN
ejpam-263	296	9	chand	chand	PROPN
ejpam-263	296	10	/	/	SYM
ejpam-263	296	11	eur	eur	PROPN
ejpam-263	296	12	.	.	PUNCT
ejpam-263	297	1	j.	j.	PROPN
ejpam-263	297	2	pure	pure	PROPN
ejpam-263	297	3	appl	appl	PROPN
ejpam-263	297	4	.	.	PROPN
ejpam-263	297	5	math	math	PROPN
ejpam-263	297	6	,	,	PUNCT
ejpam-263	297	7	2	2	NUM
ejpam-263	297	8	(	(	PUNCT
ejpam-263	297	9	2009	2009	NUM
ejpam-263	297	10	)	)	PUNCT
ejpam-263	297	11	,	,	PUNCT
ejpam-263	297	12	(	(	PUNCT
ejpam-263	297	13	401	401	NUM
ejpam-263	297	14	-	-	SYM
ejpam-263	297	15	425	425	NUM
ejpam-263	297	16	)	)	PUNCT
ejpam-263	297	17	420	420	NUM
ejpam-263	297	18	10	10	NUM
ejpam-263	297	19	20	20	NUM
ejpam-263	297	20	30	30	NUM
ejpam-263	297	21	40	40	NUM
ejpam-263	297	22	50	50	NUM
ejpam-263	297	23	t	t	NOUN
ejpam-263	297	24	-0.4	-0.4	NUM
ejpam-263	297	25	-0.2	-0.2	PROPN
ejpam-263	297	26	0	0	NUM
ejpam-263	297	27	0.2	0.2	NUM
ejpam-263	297	28	0.4	0.4	NUM
ejpam-263	297	29	o	o	NOUN
ejpam-263	298	1	r	r	NOUN
ejpam-263	298	2	i	i	NOUN
ejpam-263	298	3	e	e	PROPN
ejpam-263	298	4	n	n	PROPN
ejpam-263	298	5	t	t	VERB
ejpam-263	298	6	a	a	DET
ejpam-263	298	7	t	t	NOUN
ejpam-263	299	1	i	i	PRON
ejpam-263	299	2	o	o	VERB
ejpam-263	300	1	n	n	VERB
ejpam-263	300	2	i	i	PRON
ejpam-263	301	1	n	n	VERB
ejpam-263	301	2	r	r	VERB
ejpam-263	301	3	a	a	PROPN
ejpam-263	302	1	d	d	NOUN
ejpam-263	302	2	i	i	PRON
ejpam-263	302	3	a	a	PROPN
ejpam-263	302	4	n	n	X
ejpam-263	302	5	s	s	X
ejpam-263	302	6	(	(	PUNCT
ejpam-263	302	7	a	a	NOUN
ejpam-263	302	8	)	)	PUNCT
ejpam-263	302	9	angular	angular	ADJ
ejpam-263	302	10	position	position	NOUN
ejpam-263	302	11	θ	θ	PROPN
ejpam-263	302	12	of	of	ADP
ejpam-263	302	13	boid	boid	NOUN
ejpam-263	302	14	1	1	NUM
ejpam-263	302	15	(	(	PUNCT
ejpam-263	302	16	dashed	dash	VERB
ejpam-263	302	17	line	line	NOUN
ejpam-263	302	18	)	)	PUNCT
ejpam-263	302	19	and	and	CCONJ
ejpam-263	302	20	boid	boid	NOUN
ejpam-263	302	21	4	4	NUM
ejpam-263	302	22	.	.	NOUN
ejpam-263	302	23	10	10	NUM
ejpam-263	302	24	20	20	NUM
ejpam-263	302	25	30	30	NUM
ejpam-263	302	26	40	40	NUM
ejpam-263	302	27	50	50	NUM
ejpam-263	302	28	t	t	NOUN
ejpam-263	302	29	-10	-10	PUNCT
ejpam-263	302	30	-5	-5	PUNCT
ejpam-263	302	31	0	0	NUM
ejpam-263	302	32	5	5	NUM
ejpam-263	302	33	10	10	NUM
ejpam-263	302	34	a	a	DET
ejpam-263	302	35	c	c	NOUN
ejpam-263	302	36	c	c	NOUN
ejpam-263	302	37	e	e	X
ejpam-263	302	38	l	l	NOUN
ejpam-263	302	39	e	e	NOUN
ejpam-263	302	40	r	r	NOUN
ejpam-263	302	41	a	a	DET
ejpam-263	302	42	t	t	NOUN
ejpam-263	303	1	i	i	PRON
ejpam-263	303	2	o	o	X
ejpam-263	304	1	n	n	X
ejpam-263	304	2	s	s	X
ejpam-263	304	3	(	(	PUNCT
ejpam-263	304	4	b	b	NOUN
ejpam-263	304	5	)	)	PUNCT
ejpam-263	304	6	accelerations	acceleration	NOUN
ejpam-263	304	7	:	:	PUNCT
ejpam-263	304	8	σ	σ	NOUN
ejpam-263	304	9	(	(	PUNCT
ejpam-263	304	10	dashed	dash	VERB
ejpam-263	304	11	line	line	NOUN
ejpam-263	304	12	)	)	PUNCT
ejpam-263	304	13	and	and	CCONJ
ejpam-263	304	14	η.figure	η.figure	VERB
ejpam-263	304	15	5	5	NUM
ejpam-263	304	16	:	:	PUNCT
ejpam-263	304	17	evolution	evolution	NOUN
ejpam-263	304	18	of	of	ADP
ejpam-263	304	19	the	the	DET
ejpam-263	304	20	angular	angular	ADJ
ejpam-263	304	21	positions	position	NOUN
ejpam-263	304	22	and	and	CCONJ
ejpam-263	304	23	a	a	DET
ejpam-263	304	24	eleration	eleration	NOUN
ejpam-263	304	25	omponents	omponent	NOUN
ejpam-263	304	26	for	for	ADP
ejpam-263	304	27	s	s	SYM
ejpam-263	304	28	enario	enario	NOUN
ejpam-263	304	29	1	1	NUM
ejpam-263	304	30	.	.	X
ejpam-263	304	31	5.2	5.2	NUM
ejpam-263	304	32	.	.	PUNCT
ejpam-263	304	33	scenario	scenario	NOUN
ejpam-263	304	34	2	2	NUM
ejpam-263	304	35	:	:	PUNCT
ejpam-263	304	36	circular	circular	ADJ
ejpam-263	304	37	formation	formation	NOUN
ejpam-263	304	38	for	for	ADP
ejpam-263	304	39	this	this	DET
ejpam-263	304	40	scenario	scenario	NOUN
ejpam-263	304	41	,	,	PUNCT
ejpam-263	304	42	the	the	DET
ejpam-263	304	43	prescribed	prescribed	ADJ
ejpam-263	304	44	formation	formation	NOUN
ejpam-263	304	45	is	be	AUX
ejpam-263	304	46	a	a	DET
ejpam-263	304	47	circular	circular	ADJ
ejpam-263	304	48	arrangement	arrangement	NOUN
ejpam-263	304	49	with	with	ADP
ejpam-263	304	50	the	the	DET
ejpam-263	304	51	leader	leader	NOUN
ejpam-263	304	52	-	-	PUNCT
ejpam-263	304	53	boid	boid	NOUN
ejpam-263	304	54	positioned	position	VERB
ejpam-263	304	55	in	in	ADP
ejpam-263	304	56	the	the	DET
ejpam-263	304	57	center	center	NOUN
ejpam-263	304	58	of	of	ADP
ejpam-263	304	59	the	the	DET
ejpam-263	304	60	formation	formation	NOUN
ejpam-263	304	61	.	.	PUNCT
ejpam-263	305	1	we	we	PRON
ejpam-263	305	2	retain	retain	VERB
ejpam-263	305	3	the	the	DET
ejpam-263	305	4	leader	leader	NOUN
ejpam-263	305	5	-	-	PUNCT
ejpam-263	305	6	follower	follower	NOUN
ejpam-263	305	7	scheme	scheme	NOUN
ejpam-263	305	8	although	although	SCONJ
ejpam-263	305	9	the	the	DET
ejpam-263	305	10	virtual	virtual	ADJ
ejpam-263	305	11	structures	structure	NOUN
ejpam-263	305	12	/	/	SYM
ejpam-263	305	13	centers	center	NOUN
ejpam-263	305	14	could	could	AUX
ejpam-263	305	15	have	have	AUX
ejpam-263	305	16	been	be	AUX
ejpam-263	305	17	utilized	utilize	VERB
ejpam-263	305	18	for	for	ADP
ejpam-263	305	19	this	this	DET
ejpam-263	305	20	particular	particular	ADJ
ejpam-263	305	21	formation	formation	NOUN
ejpam-263	305	22	.	.	PUNCT
ejpam-263	306	1	table	table	NOUN
ejpam-263	306	2	5.2	5.2	NUM
ejpam-263	306	3	provides	provide	VERB
ejpam-263	306	4	the	the	DET
ejpam-263	306	5	essentials	essential	NOUN
ejpam-263	306	6	for	for	ADP
ejpam-263	306	7	the	the	DET
ejpam-263	306	8	simulation	simulation	NOUN
ejpam-263	306	9	;	;	PUNCT
ejpam-263	306	10	however	however	ADV
ejpam-263	306	11	,	,	PUNCT
ejpam-263	306	12	only	only	ADV
ejpam-263	306	13	those	those	PRON
ejpam-263	306	14	that	that	PRON
ejpam-263	306	15	are	be	AUX
ejpam-263	306	16	different	different	ADJ
ejpam-263	306	17	from	from	ADP
ejpam-263	306	18	scenario	scenario	NOUN
ejpam-263	306	19	1	1	NUM
ejpam-263	306	20	.	.	PUNCT
ejpam-263	306	21	figure	figure	NOUN
ejpam-263	306	22	6	6	NUM
ejpam-263	306	23	illustrate	illustrate	VERB
ejpam-263	306	24	a	a	DET
ejpam-263	306	25	similar	similar	ADJ
ejpam-263	306	26	split	split	NOUN
ejpam-263	306	27	/	/	SYM
ejpam-263	306	28	rejoin	rejoin	NOUN
ejpam-263	306	29	maneuver	maneuver	NOUN
ejpam-263	306	30	as	as	ADP
ejpam-263	306	31	in	in	ADP
ejpam-263	306	32	scenario	scenario	NOUN
ejpam-263	306	33	1	1	NUM
ejpam-263	306	34	;	;	PUNCT
ejpam-263	306	35	however	however	ADV
ejpam-263	306	36	,	,	PUNCT
ejpam-263	306	37	with	with	ADP
ejpam-263	306	38	a	a	DET
ejpam-263	306	39	different	different	ADJ
ejpam-263	306	40	constellation	constellation	NOUN
ejpam-263	306	41	.	.	PUNCT
ejpam-263	307	1	the	the	DET
ejpam-263	307	2	flock	flock	NOUN
ejpam-263	307	3	establishes	establish	VERB
ejpam-263	307	4	the	the	DET
ejpam-263	307	5	specified	specified	ADJ
ejpam-263	307	6	formation	formation	NOUN
ejpam-263	307	7	,	,	PUNCT
ejpam-263	307	8	carries	carry	VERB
ejpam-263	307	9	out	out	ADP
ejpam-263	307	10	the	the	DET
ejpam-263	307	11	split	split	NOUN
ejpam-263	307	12	/	/	SYM
ejpam-263	307	13	rejoin	rejoin	VERB
ejpam-263	307	14	maneuver	maneuver	NOUN
ejpam-263	307	15	to	to	PART
ejpam-263	307	16	avoid	avoid	VERB
ejpam-263	307	17	the	the	DET
ejpam-263	307	18	obstacles	obstacle	NOUN
ejpam-263	307	19	,	,	PUNCT
ejpam-263	307	20	re	re	VERB
ejpam-263	307	21	-	-	VERB
ejpam-263	307	22	establishes	establish	VERB
ejpam-263	307	23	the	the	DET
ejpam-263	307	24	formation	formation	NOUN
ejpam-263	307	25	and	and	CCONJ
ejpam-263	307	26	finally	finally	ADV
ejpam-263	307	27	converges	converge	VERB
ejpam-263	307	28	to	to	ADP
ejpam-263	307	29	the	the	DET
ejpam-263	307	30	final	final	ADJ
ejpam-263	307	31	configuration	configuration	NOUN
ejpam-263	307	32	.	.	PUNCT
ejpam-263	308	1	figure	figure	NOUN
ejpam-263	308	2	7	7	NUM
ejpam-263	308	3	shows	show	VERB
ejpam-263	308	4	the	the	DET
ejpam-263	308	5	velocity	velocity	NOUN
ejpam-263	308	6	and	and	CCONJ
ejpam-263	308	7	acceleration	acceleration	NOUN
ejpam-263	308	8	components	component	NOUN
ejpam-263	308	9	of	of	ADP
ejpam-263	308	10	boid	boid	NOUN
ejpam-263	308	11	4	4	NUM
ejpam-263	308	12	.	.	PUNCT
ejpam-263	309	1	again	again	ADV
ejpam-263	309	2	the	the	DET
ejpam-263	309	3	figures	figure	NOUN
ejpam-263	309	4	illustrate	illustrate	VERB
ejpam-263	309	5	the	the	DET
ejpam-263	309	6	convergent	convergent	ADJ
ejpam-263	309	7	nature	nature	NOUN
ejpam-263	309	8	of	of	ADP
ejpam-263	309	9	the	the	DET
ejpam-263	309	10	nonlinear	nonlinear	ADJ
ejpam-263	309	11	controllers	controller	NOUN
ejpam-263	309	12	.	.	PUNCT
ejpam-263	310	1	similar	similar	ADJ
ejpam-263	310	2	trends	trend	NOUN
ejpam-263	310	3	were	be	AUX
ejpam-263	310	4	observed	observe	VERB
ejpam-263	310	5	in	in	ADP
ejpam-263	310	6	the	the	DET
ejpam-263	310	7	case	case	NOUN
ejpam-263	310	8	of	of	ADP
ejpam-263	310	9	the	the	DET
ejpam-263	310	10	other	other	ADJ
ejpam-263	310	11	boids	boid	NOUN
ejpam-263	310	12	.	.	PUNCT
ejpam-263	311	1	b.	b.	PROPN
ejpam-263	311	2	sharma	sharma	PROPN
ejpam-263	311	3	,	,	PUNCT
ejpam-263	311	4	j.	j.	PROPN
ejpam-263	311	5	vanualailai	vanualailai	PROPN
ejpam-263	311	6	,	,	PUNCT
ejpam-263	311	7	and	and	CCONJ
ejpam-263	311	8	u.	u.	PROPN
ejpam-263	311	9	chand	chand	PROPN
ejpam-263	311	10	/	/	SYM
ejpam-263	311	11	eur	eur	PROPN
ejpam-263	311	12	.	.	PUNCT
ejpam-263	312	1	j.	j.	PROPN
ejpam-263	312	2	pure	pure	PROPN
ejpam-263	312	3	appl	appl	PROPN
ejpam-263	312	4	.	.	PROPN
ejpam-263	312	5	math	math	PROPN
ejpam-263	312	6	,	,	PUNCT
ejpam-263	312	7	2	2	NUM
ejpam-263	312	8	(	(	PUNCT
ejpam-263	312	9	2009	2009	NUM
ejpam-263	312	10	)	)	PUNCT
ejpam-263	312	11	,	,	PUNCT
ejpam-263	312	12	(	(	PUNCT
ejpam-263	312	13	401	401	NUM
ejpam-263	312	14	-	-	SYM
ejpam-263	312	15	425	425	NUM
ejpam-263	312	16	)	)	PUNCT
ejpam-263	312	17	421	421	NUM
ejpam-263	312	18	table	table	NOUN
ejpam-263	312	19	2	2	NUM
ejpam-263	312	20	:	:	PUNCT
ejpam-263	312	21	numeri	numeri	PROPN
ejpam-263	312	22	al	al	PROPN
ejpam-263	312	23	values	value	NOUN
ejpam-263	312	24	of	of	ADP
ejpam-263	312	25	onstraints	onstraint	NOUN
ejpam-263	312	26	and	and	CCONJ
ejpam-263	312	27	parameters	parameter	NOUN
ejpam-263	312	28	of	of	ADP
ejpam-263	312	29	s	s	PART
ejpam-263	312	30	enario	enario	NOUN
ejpam-263	312	31	2	2	NUM
ejpam-263	312	32	.	.	PUNCT
ejpam-263	313	1	position	position	NOUN
ejpam-263	313	2	of	of	ADP
ejpam-263	313	3	ghost	ghost	NOUN
ejpam-263	313	4	(	(	PUNCT
ejpam-263	313	5	a2	a2	PROPN
ejpam-263	313	6	,	,	PUNCT
ejpam-263	313	7	b2	b2	NOUN
ejpam-263	313	8	)	)	PUNCT
ejpam-263	313	9	=	=	SYM
ejpam-263	314	1	κ(cos(π	κ(cos(π	NOUN
ejpam-263	314	2	9	9	NUM
ejpam-263	314	3	)	)	PUNCT
ejpam-263	314	4	,	,	PUNCT
ejpam-263	314	5	sin(π	sin(π	PROPN
ejpam-263	314	6	9	9	NUM
ejpam-263	314	7	)	)	PUNCT
ejpam-263	314	8	)	)	PUNCT
ejpam-263	314	9	,	,	PUNCT
ejpam-263	314	10	(	(	PUNCT
ejpam-263	314	11	a3	a3	NOUN
ejpam-263	314	12	,	,	PUNCT
ejpam-263	314	13	b3	b3	PROPN
ejpam-263	314	14	)	)	PUNCT
ejpam-263	314	15	=	=	PUNCT
ejpam-263	314	16	κ(cos(17π	κ(cos(17π	NOUN
ejpam-263	314	17	9	9	NUM
ejpam-263	314	18	)	)	PUNCT
ejpam-263	314	19	,	,	PUNCT
ejpam-263	314	20	sin(17π	sin(17π	VERB
ejpam-263	314	21	9	9	NUM
ejpam-263	314	22	)	)	PUNCT
ejpam-263	314	23	)	)	PUNCT
ejpam-263	314	24	targets	target	NOUN
ejpam-263	314	25	relative	relative	ADJ
ejpam-263	314	26	to	to	ADP
ejpam-263	314	27	(	(	PUNCT
ejpam-263	314	28	a4	a4	PROPN
ejpam-263	314	29	,	,	PUNCT
ejpam-263	314	30	b4	b4	NOUN
ejpam-263	314	31	)	)	PUNCT
ejpam-263	314	32	=	=	SYM
ejpam-263	315	1	κ(cos(π	κ(cos(π	NOUN
ejpam-263	315	2	3	3	NUM
ejpam-263	315	3	)	)	PUNCT
ejpam-263	315	4	,	,	PUNCT
ejpam-263	315	5	sin(π	sin(π	PROPN
ejpam-263	315	6	3	3	NUM
ejpam-263	315	7	)	)	PUNCT
ejpam-263	315	8	)	)	PUNCT
ejpam-263	315	9	,	,	PUNCT
ejpam-263	315	10	(	(	PUNCT
ejpam-263	315	11	a5	a5	NOUN
ejpam-263	315	12	,	,	PUNCT
ejpam-263	315	13	b5	b5	PROPN
ejpam-263	315	14	)	)	PUNCT
ejpam-263	315	15	=	=	SYM
ejpam-263	316	1	κ(cos(π	κ(cos(π	NOUN
ejpam-263	316	2	)	)	PUNCT
ejpam-263	316	3	,	,	PUNCT
ejpam-263	316	4	sin(π	sin(π	PROPN
ejpam-263	316	5	)	)	PUNCT
ejpam-263	316	6	)	)	PUNCT
ejpam-263	316	7	leader	leader	NOUN
ejpam-263	316	8	boid	boid	NOUN
ejpam-263	316	9	(	(	PUNCT
ejpam-263	316	10	a6	a6	NOUN
ejpam-263	316	11	,	,	PUNCT
ejpam-263	316	12	b6	b6	NOUN
ejpam-263	316	13	)	)	PUNCT
ejpam-263	316	14	=	=	SYM
ejpam-263	316	15	κ(cos(5π	κ(cos(5π	PROPN
ejpam-263	316	16	3	3	NUM
ejpam-263	316	17	)	)	PUNCT
ejpam-263	316	18	,	,	PUNCT
ejpam-263	316	19	sin(5π	sin(5π	NOUN
ejpam-263	316	20	3	3	NUM
ejpam-263	316	21	)	)	PUNCT
ejpam-263	316	22	)	)	PUNCT
ejpam-263	316	23	,	,	PUNCT
ejpam-263	316	24	(	(	PUNCT
ejpam-263	316	25	a7	a7	PROPN
ejpam-263	316	26	,	,	PUNCT
ejpam-263	316	27	b7	b7	PROPN
ejpam-263	316	28	)	)	PUNCT
ejpam-263	316	29	=	=	SYM
ejpam-263	316	30	κ(cos(5π	κ(cos(5π	PROPN
ejpam-263	316	31	9	9	NUM
ejpam-263	316	32	)	)	PUNCT
ejpam-263	316	33	,	,	PUNCT
ejpam-263	316	34	sin(5π	sin(5π	NOUN
ejpam-263	316	35	9	9	NUM
ejpam-263	316	36	)	)	PUNCT
ejpam-263	316	37	)	)	PUNCT
ejpam-263	317	1	(	(	PUNCT
ejpam-263	317	2	a8	a8	PROPN
ejpam-263	317	3	,	,	PUNCT
ejpam-263	317	4	b8	b8	PROPN
ejpam-263	317	5	)	)	PUNCT
ejpam-263	317	6	=	=	PUNCT
ejpam-263	317	7	κ(cos(7π	κ(cos(7π	VERB
ejpam-263	317	8	9	9	NUM
ejpam-263	317	9	)	)	PUNCT
ejpam-263	317	10	,	,	PUNCT
ejpam-263	317	11	sin(7π	sin(7π	VERB
ejpam-263	317	12	9	9	NUM
ejpam-263	317	13	)	)	PUNCT
ejpam-263	317	14	)	)	PUNCT
ejpam-263	317	15	,	,	PUNCT
ejpam-263	317	16	(	(	PUNCT
ejpam-263	317	17	a9	a9	NOUN
ejpam-263	317	18	,	,	PUNCT
ejpam-263	317	19	b9	b9	NOUN
ejpam-263	317	20	)	)	PUNCT
ejpam-263	317	21	=	=	SYM
ejpam-263	317	22	κ(cos(11π	κ(cos(11π	NOUN
ejpam-263	317	23	9	9	NUM
ejpam-263	317	24	)	)	PUNCT
ejpam-263	317	25	,	,	PUNCT
ejpam-263	317	26	sin(11π	sin(11π	PROPN
ejpam-263	317	27	9	9	NUM
ejpam-263	317	28	)	)	PUNCT
ejpam-263	317	29	)	)	PUNCT
ejpam-263	318	1	(	(	PUNCT
ejpam-263	318	2	a10	a10	NOUN
ejpam-263	318	3	,	,	PUNCT
ejpam-263	318	4	b10	b10	PROPN
ejpam-263	318	5	)	)	PUNCT
ejpam-263	318	6	=	=	PUNCT
ejpam-263	318	7	κ(cos(13π	κ(cos(13π	NOUN
ejpam-263	318	8	9	9	NUM
ejpam-263	318	9	)	)	PUNCT
ejpam-263	318	10	,	,	PUNCT
ejpam-263	318	11	sin(13π	sin(13π	PROPN
ejpam-263	318	12	9	9	NUM
ejpam-263	318	13	)	)	PUNCT
ejpam-263	318	14	)	)	PUNCT
ejpam-263	318	15	where	where	SCONJ
ejpam-263	318	16	κ=	κ=	ADJ
ejpam-263	318	17	7	7	NUM
ejpam-263	318	18	control	control	NOUN
ejpam-263	318	19	and	and	CCONJ
ejpam-263	318	20	convergence	convergence	NOUN
ejpam-263	318	21	parameters	parameter	NOUN
ejpam-263	318	22	obstacle	obstacle	VERB
ejpam-263	318	23	avoidance	avoidance	NOUN
ejpam-263	318	24	αik	αik	NOUN
ejpam-263	318	25	=	=	SYM
ejpam-263	318	26	0.6	0.6	NUM
ejpam-263	318	27	,	,	PUNCT
ejpam-263	318	28	for	for	ADP
ejpam-263	318	29	i	i	PRON
ejpam-263	318	30	=	=	NOUN
ejpam-263	318	31	1	1	NUM
ejpam-263	318	32	to	to	PART
ejpam-263	318	33	10	10	NUM
ejpam-263	318	34	and	and	CCONJ
ejpam-263	318	35	k	k	NOUN
ejpam-263	318	36	=	=	SYM
ejpam-263	318	37	1	1	NUM
ejpam-263	318	38	to	to	PART
ejpam-263	318	39	2	2	NUM
ejpam-263	318	40	boid	boid	NOUN
ejpam-263	318	41	avoidance	avoidance	NOUN
ejpam-263	318	42	βi	βi	PROPN
ejpam-263	318	43	j	j	NOUN
ejpam-263	318	44	=	=	PUNCT
ejpam-263	318	45	0.01	0.01	NUM
ejpam-263	318	46	,	,	PUNCT
ejpam-263	318	47	for	for	ADP
ejpam-263	318	48	i	i	PRON
ejpam-263	318	49	=	=	NOUN
ejpam-263	318	50	1	1	NUM
ejpam-263	318	51	to	to	PART
ejpam-263	318	52	10	10	NUM
ejpam-263	318	53	,	,	PUNCT
ejpam-263	318	54	j	j	PROPN
ejpam-263	318	55	=	=	NOUN
ejpam-263	318	56	1	1	NUM
ejpam-263	318	57	to	to	PART
ejpam-263	318	58	10	10	NUM
ejpam-263	318	59	,	,	PUNCT
ejpam-263	318	60	i	i	PRON
ejpam-263	318	61	6=	6=	PROPN
ejpam-263	319	1	j	j	PROPN
ejpam-263	319	2	dynamics	dynamic	NOUN
ejpam-263	319	3	constraints	constraint	VERB
ejpam-263	319	4	γis	γis	ADV
ejpam-263	319	5	=	=	SYM
ejpam-263	319	6	0.001	0.001	NUM
ejpam-263	319	7	,	,	PUNCT
ejpam-263	319	8	for	for	ADP
ejpam-263	319	9	i	i	PRON
ejpam-263	319	10	=	=	NOUN
ejpam-263	319	11	1	1	NUM
ejpam-263	319	12	to	to	PART
ejpam-263	319	13	10	10	NUM
ejpam-263	319	14	and	and	CCONJ
ejpam-263	319	15	s	s	VERB
ejpam-263	319	16	=	=	SYM
ejpam-263	319	17	1	1	NUM
ejpam-263	319	18	to	to	PART
ejpam-263	319	19	2	2	NUM
ejpam-263	319	20	convergence	convergence	NOUN
ejpam-263	319	21	δiq	δiq	NOUN
ejpam-263	319	22	=	=	SYM
ejpam-263	319	23	3	3	NUM
ejpam-263	319	24	,	,	PUNCT
ejpam-263	319	25	for	for	ADP
ejpam-263	319	26	i	i	PRON
ejpam-263	319	27	=	=	NOUN
ejpam-263	319	28	1	1	NUM
ejpam-263	319	29	to	to	PART
ejpam-263	319	30	10	10	NUM
ejpam-263	319	31	and	and	CCONJ
ejpam-263	319	32	q	q	NOUN
ejpam-263	319	33	=	=	NOUN
ejpam-263	319	34	1	1	NUM
ejpam-263	319	35	to	to	PART
ejpam-263	319	36	2	2	NUM
ejpam-263	319	37	b.	b.	PROPN
ejpam-263	319	38	sharma	sharma	PROPN
ejpam-263	319	39	,	,	PUNCT
ejpam-263	319	40	j.	j.	PROPN
ejpam-263	319	41	vanualailai	vanualailai	PROPN
ejpam-263	319	42	,	,	PUNCT
ejpam-263	319	43	and	and	CCONJ
ejpam-263	319	44	u.	u.	PROPN
ejpam-263	319	45	chand	chand	PROPN
ejpam-263	319	46	/	/	SYM
ejpam-263	319	47	eur	eur	PROPN
ejpam-263	319	48	.	.	PUNCT
ejpam-263	320	1	j.	j.	PROPN
ejpam-263	320	2	pure	pure	PROPN
ejpam-263	320	3	appl	appl	PROPN
ejpam-263	320	4	.	.	PROPN
ejpam-263	320	5	math	math	PROPN
ejpam-263	320	6	,	,	PUNCT
ejpam-263	320	7	2	2	NUM
ejpam-263	320	8	(	(	PUNCT
ejpam-263	320	9	2009	2009	NUM
ejpam-263	320	10	)	)	PUNCT
ejpam-263	320	11	,	,	PUNCT
ejpam-263	320	12	(	(	PUNCT
ejpam-263	320	13	401	401	NUM
ejpam-263	320	14	-	-	SYM
ejpam-263	320	15	425	425	NUM
ejpam-263	320	16	)	)	PUNCT
ejpam-263	320	17	422	422	NUM
ejpam-263	320	18	10	10	NUM
ejpam-263	320	19	20	20	NUM
ejpam-263	320	20	30	30	NUM
ejpam-263	320	21	40	40	NUM
ejpam-263	320	22	50	50	NUM
ejpam-263	320	23	15	15	NUM
ejpam-263	320	24	20	20	NUM
ejpam-263	320	25	25	25	NUM
ejpam-263	320	26	30	30	NUM
ejpam-263	320	27	35	35	NUM
ejpam-263	320	28	(	(	PUNCT
ejpam-263	320	29	a	a	X
ejpam-263	320	30	)	)	PUNCT
ejpam-263	320	31	snapshot	snapshot	NOUN
ejpam-263	320	32	at	at	ADP
ejpam-263	320	33	t	t	NOUN
ejpam-263	320	34	=	=	SYM
ejpam-263	320	35	0	0	NUM
ejpam-263	320	36	units	unit	NOUN
ejpam-263	320	37	10	10	NUM
ejpam-263	320	38	20	20	NUM
ejpam-263	320	39	30	30	NUM
ejpam-263	320	40	40	40	NUM
ejpam-263	320	41	50	50	NUM
ejpam-263	320	42	15	15	NUM
ejpam-263	320	43	20	20	NUM
ejpam-263	320	44	25	25	NUM
ejpam-263	320	45	30	30	NUM
ejpam-263	320	46	35	35	NUM
ejpam-263	320	47	(	(	PUNCT
ejpam-263	320	48	b	b	NOUN
ejpam-263	320	49	)	)	PUNCT
ejpam-263	320	50	snapshot	snapshot	NOUN
ejpam-263	320	51	at	at	ADP
ejpam-263	320	52	t	t	NOUN
ejpam-263	320	53	=	=	SYM
ejpam-263	320	54	7	7	NUM
ejpam-263	320	55	units	unit	NOUN
ejpam-263	320	56	10	10	NUM
ejpam-263	320	57	20	20	NUM
ejpam-263	320	58	30	30	NUM
ejpam-263	320	59	40	40	NUM
ejpam-263	320	60	50	50	NUM
ejpam-263	320	61	15	15	NUM
ejpam-263	320	62	20	20	NUM
ejpam-263	320	63	25	25	NUM
ejpam-263	320	64	30	30	NUM
ejpam-263	320	65	35	35	NUM
ejpam-263	320	66	(	(	PUNCT
ejpam-263	320	67	c	c	NOUN
ejpam-263	320	68	)	)	PUNCT
ejpam-263	320	69	snapshot	snapshot	NOUN
ejpam-263	320	70	at	at	ADP
ejpam-263	320	71	t	t	NOUN
ejpam-263	320	72	=	=	SYM
ejpam-263	320	73	15	15	NUM
ejpam-263	320	74	units	unit	NOUN
ejpam-263	320	75	10	10	NUM
ejpam-263	320	76	20	20	NUM
ejpam-263	320	77	30	30	NUM
ejpam-263	320	78	40	40	NUM
ejpam-263	320	79	50	50	NUM
ejpam-263	320	80	15	15	NUM
ejpam-263	320	81	20	20	NUM
ejpam-263	320	82	25	25	NUM
ejpam-263	320	83	30	30	NUM
ejpam-263	320	84	35	35	NUM
ejpam-263	320	85	(	(	PUNCT
ejpam-263	320	86	d	d	NOUN
ejpam-263	320	87	)	)	PUNCT
ejpam-263	320	88	snapshot	snapshot	NOUN
ejpam-263	320	89	at	at	ADP
ejpam-263	320	90	t	t	NOUN
ejpam-263	320	91	=	=	SYM
ejpam-263	320	92	35	35	NUM
ejpam-263	320	93	units	unit	NOUN
ejpam-263	320	94	10	10	NUM
ejpam-263	320	95	20	20	NUM
ejpam-263	320	96	30	30	NUM
ejpam-263	320	97	40	40	NUM
ejpam-263	320	98	50	50	NUM
ejpam-263	320	99	15	15	NUM
ejpam-263	320	100	20	20	NUM
ejpam-263	320	101	25	25	NUM
ejpam-263	320	102	30	30	NUM
ejpam-263	320	103	35	35	NUM
ejpam-263	320	104	(	(	PUNCT
ejpam-263	320	105	e	e	NOUN
ejpam-263	320	106	)	)	PUNCT
ejpam-263	320	107	snapshot	snapshot	NOUN
ejpam-263	320	108	at	at	ADP
ejpam-263	320	109	t	t	NOUN
ejpam-263	320	110	=	=	SYM
ejpam-263	320	111	60	60	NUM
ejpam-263	320	112	units	unit	NOUN
ejpam-263	320	113	10	10	NUM
ejpam-263	320	114	20	20	NUM
ejpam-263	320	115	30	30	NUM
ejpam-263	320	116	40	40	NUM
ejpam-263	320	117	50	50	NUM
ejpam-263	320	118	15	15	NUM
ejpam-263	320	119	20	20	NUM
ejpam-263	320	120	25	25	NUM
ejpam-263	320	121	30	30	NUM
ejpam-263	320	122	35	35	NUM
ejpam-263	320	123	(	(	PUNCT
ejpam-263	320	124	f	f	X
ejpam-263	320	125	)	)	PUNCT
ejpam-263	320	126	snapshot	snapshot	NOUN
ejpam-263	320	127	at	at	ADP
ejpam-263	320	128	t	t	NOUN
ejpam-263	320	129	=	=	SYM
ejpam-263	320	130	200	200	NUM
ejpam-263	320	131	unitsfigure	unitsfigure	NOUN
ejpam-263	320	132	6	6	NUM
ejpam-263	320	133	:	:	PUNCT
ejpam-263	320	134	showing	show	VERB
ejpam-263	320	135	the	the	DET
ejpam-263	320	136	split	split	NOUN
ejpam-263	320	137	/	/	SYM
ejpam-263	320	138	rejoin	rejoin	VERB
ejpam-263	320	139	maneuvers	maneuver	NOUN
ejpam-263	320	140	for	for	ADP
ejpam-263	320	141	a	a	DET
ejpam-263	320	142	group	group	NOUN
ejpam-263	320	143	of	of	ADP
ejpam-263	320	144	10	10	NUM
ejpam-263	320	145	nonholonomi	nonholonomi	ADJ
ejpam-263	320	146	boids	boid	NOUN
ejpam-263	320	147	maintained	maintain	VERB
ejpam-263	320	148	ina	ina	PROPN
ejpam-263	320	149	ir	ir	PROPN
ejpam-263	320	150	ular	ular	PROPN
ejpam-263	320	151	onstellation	onstellation	PROPN
ejpam-263	320	152	.	.	PUNCT
ejpam-263	321	1	b.	b.	PROPN
ejpam-263	321	2	sharma	sharma	PROPN
ejpam-263	321	3	,	,	PUNCT
ejpam-263	321	4	j.	j.	PROPN
ejpam-263	321	5	vanualailai	vanualailai	PROPN
ejpam-263	321	6	,	,	PUNCT
ejpam-263	321	7	and	and	CCONJ
ejpam-263	321	8	u.	u.	PROPN
ejpam-263	321	9	chand	chand	PROPN
ejpam-263	321	10	/	/	SYM
ejpam-263	321	11	eur	eur	PROPN
ejpam-263	321	12	.	.	PUNCT
ejpam-263	322	1	j.	j.	PROPN
ejpam-263	322	2	pure	pure	PROPN
ejpam-263	322	3	appl	appl	PROPN
ejpam-263	322	4	.	.	PROPN
ejpam-263	322	5	math	math	PROPN
ejpam-263	322	6	,	,	PUNCT
ejpam-263	322	7	2	2	NUM
ejpam-263	322	8	(	(	PUNCT
ejpam-263	322	9	2009	2009	NUM
ejpam-263	322	10	)	)	PUNCT
ejpam-263	322	11	,	,	PUNCT
ejpam-263	322	12	(	(	PUNCT
ejpam-263	322	13	401	401	NUM
ejpam-263	322	14	-	-	SYM
ejpam-263	322	15	425	425	NUM
ejpam-263	322	16	)	)	PUNCT
ejpam-263	322	17	423	423	NUM
ejpam-263	322	18	25	25	NUM
ejpam-263	322	19	50	50	NUM
ejpam-263	322	20	75	75	NUM
ejpam-263	322	21	100	100	NUM
ejpam-263	322	22	125	125	NUM
ejpam-263	322	23	150	150	NUM
ejpam-263	322	24	175	175	NUM
ejpam-263	322	25	200	200	NUM
ejpam-263	322	26	t	t	NOUN
ejpam-263	322	27	-0.25	-0.25	NUM
ejpam-263	322	28	0	0	NUM
ejpam-263	322	29	0.25	0.25	NUM
ejpam-263	322	30	0.5	0.5	NUM
ejpam-263	322	31	0.75	0.75	NUM
ejpam-263	322	32	1	1	NUM
ejpam-263	322	33	1.25	1.25	NUM
ejpam-263	322	34	1.5	1.5	NUM
ejpam-263	322	35	v	v	NOUN
ejpam-263	322	36	e	e	NOUN
ejpam-263	322	37	l	l	NOUN
ejpam-263	323	1	o	o	X
ejpam-263	324	1	c	c	NOUN
ejpam-263	325	1	i	i	PRON
ejpam-263	325	2	t	t	VERB
ejpam-263	326	1	i	i	PRON
ejpam-263	326	2	e	e	PROPN
ejpam-263	326	3	s	s	X
ejpam-263	326	4	(	(	PUNCT
ejpam-263	326	5	a	a	PRON
ejpam-263	326	6	)	)	PUNCT
ejpam-263	326	7	velocities	velocity	NOUN
ejpam-263	326	8	:	:	PUNCT
ejpam-263	326	9	υ	υ	X
ejpam-263	326	10	(	(	PUNCT
ejpam-263	326	11	dashed	dash	VERB
ejpam-263	326	12	line	line	NOUN
ejpam-263	326	13	)	)	PUNCT
ejpam-263	326	14	and	and	CCONJ
ejpam-263	327	1	ω	ω	X
ejpam-263	327	2	.	.	PROPN
ejpam-263	327	3	10	10	NUM
ejpam-263	327	4	20	20	NUM
ejpam-263	327	5	30	30	NUM
ejpam-263	327	6	40	40	NUM
ejpam-263	327	7	50	50	NUM
ejpam-263	327	8	60	60	NUM
ejpam-263	327	9	70	70	NUM
ejpam-263	327	10	80	80	NUM
ejpam-263	327	11	t	t	PROPN
ejpam-263	327	12	-0.75	-0.75	NUM
ejpam-263	327	13	-0.5	-0.5	PROPN
ejpam-263	327	14	-0.25	-0.25	NUM
ejpam-263	327	15	0	0	NUM
ejpam-263	327	16	0.25	0.25	NUM
ejpam-263	327	17	0.5	0.5	NUM
ejpam-263	327	18	0.75	0.75	NUM
ejpam-263	327	19	1	1	NUM
ejpam-263	327	20	a	a	DET
ejpam-263	327	21	c	c	NOUN
ejpam-263	327	22	c	c	NOUN
ejpam-263	327	23	e	e	X
ejpam-263	327	24	l	l	NOUN
ejpam-263	327	25	e	e	NOUN
ejpam-263	327	26	r	r	NOUN
ejpam-263	327	27	a	a	DET
ejpam-263	327	28	t	t	NOUN
ejpam-263	328	1	i	i	PRON
ejpam-263	328	2	o	o	X
ejpam-263	329	1	n	n	X
ejpam-263	329	2	s	s	X
ejpam-263	329	3	(	(	PUNCT
ejpam-263	329	4	b	b	NOUN
ejpam-263	329	5	)	)	PUNCT
ejpam-263	329	6	accelerations	acceleration	NOUN
ejpam-263	329	7	:	:	PUNCT
ejpam-263	329	8	σ	σ	NOUN
ejpam-263	329	9	(	(	PUNCT
ejpam-263	329	10	dashed	dash	VERB
ejpam-263	329	11	line	line	NOUN
ejpam-263	329	12	)	)	PUNCT
ejpam-263	329	13	and	and	CCONJ
ejpam-263	329	14	η.figure	η.figure	VERB
ejpam-263	329	15	7	7	NUM
ejpam-263	329	16	:	:	PUNCT
ejpam-263	329	17	evolution	evolution	NOUN
ejpam-263	329	18	of	of	ADP
ejpam-263	329	19	the	the	DET
ejpam-263	329	20	velo	velo	NOUN
ejpam-263	329	21	ity	ity	PROPN
ejpam-263	329	22	and	and	CCONJ
ejpam-263	329	23	a	a	DET
ejpam-263	329	24	eleration	eleration	NOUN
ejpam-263	329	25	omponents	omponent	NOUN
ejpam-263	329	26	of	of	ADP
ejpam-263	329	27	boid	boid	NOUN
ejpam-263	329	28	4	4	NUM
ejpam-263	329	29	for	for	ADP
ejpam-263	329	30	s	s	X
ejpam-263	329	31	enario	enario	NOUN
ejpam-263	329	32	2	2	NUM
ejpam-263	329	33	.	.	NOUN
ejpam-263	329	34	6	6	NUM
ejpam-263	329	35	.	.	X
ejpam-263	329	36	conclusion	conclusion	NOUN
ejpam-263	329	37	the	the	DET
ejpam-263	329	38	lyapunov	lyapunov	NOUN
ejpam-263	329	39	-	-	PUNCT
ejpam-263	329	40	based	base	VERB
ejpam-263	329	41	control	control	NOUN
ejpam-263	329	42	scheme	scheme	NOUN
ejpam-263	329	43	was	be	AUX
ejpam-263	329	44	successfully	successfully	ADV
ejpam-263	329	45	utilized	utilize	VERB
ejpam-263	329	46	to	to	PART
ejpam-263	329	47	create	create	VERB
ejpam-263	329	48	a	a	DET
ejpam-263	329	49	new	new	ADJ
ejpam-263	329	50	set	set	NOUN
ejpam-263	329	51	of	of	ADP
ejpam-263	329	52	continuous	continuous	ADJ
ejpam-263	329	53	time	time	NOUN
ejpam-263	329	54	-	-	PUNCT
ejpam-263	329	55	invariant	invariant	ADJ
ejpam-263	329	56	control	control	NOUN
ejpam-263	329	57	laws	law	NOUN
ejpam-263	329	58	.	.	PUNCT
ejpam-263	330	1	we	we	PRON
ejpam-263	330	2	were	be	AUX
ejpam-263	330	3	able	able	ADJ
ejpam-263	330	4	to	to	PART
ejpam-263	330	5	generate	generate	VERB
ejpam-263	330	6	a	a	DET
ejpam-263	330	7	prescribed	prescribed	ADJ
ejpam-263	330	8	formation	formation	NOUN
ejpam-263	330	9	,	,	PUNCT
ejpam-263	330	10	accomplish	accomplish	VERB
ejpam-263	330	11	the	the	DET
ejpam-263	330	12	required	require	VERB
ejpam-263	330	13	split	split	NOUN
ejpam-263	330	14	/	/	SYM
ejpam-263	330	15	rejoin	rejoin	NOUN
ejpam-263	330	16	maneuvers	maneuver	NOUN
ejpam-263	330	17	and	and	CCONJ
ejpam-263	330	18	re	re	VERB
ejpam-263	330	19	-	-	VERB
ejpam-263	330	20	establish	establish	VERB
ejpam-263	330	21	the	the	DET
ejpam-263	330	22	original	original	ADJ
ejpam-263	330	23	formation	formation	NOUN
ejpam-263	330	24	of	of	ADP
ejpam-263	330	25	a	a	DET
ejpam-263	330	26	flock	flock	NOUN
ejpam-263	330	27	of	of	ADP
ejpam-263	330	28	nonholonomic	nonholonomic	ADJ
ejpam-263	330	29	robots	robot	NOUN
ejpam-263	330	30	.	.	PUNCT
ejpam-263	331	1	by	by	ADP
ejpam-263	331	2	and	and	CCONJ
ejpam-263	331	3	large	large	ADJ
ejpam-263	331	4	,	,	PUNCT
ejpam-263	331	5	the	the	DET
ejpam-263	331	6	control	control	NOUN
ejpam-263	331	7	scheme	scheme	NOUN
ejpam-263	331	8	has	have	AUX
ejpam-263	331	9	presented	present	VERB
ejpam-263	331	10	an	an	DET
ejpam-263	331	11	excellent	excellent	ADJ
ejpam-263	331	12	platform	platform	NOUN
ejpam-263	331	13	to	to	PART
ejpam-263	331	14	yield	yield	VERB
ejpam-263	331	15	split	split	ADJ
ejpam-263	331	16	/	/	SYM
ejpam-263	331	17	rejoin	rejoin	VERB
ejpam-263	331	18	maneuvers	maneuver	NOUN
ejpam-263	331	19	of	of	ADP
ejpam-263	331	20	a	a	DET
ejpam-263	331	21	flock	flock	NOUN
ejpam-263	331	22	fixed	fix	VERB
ejpam-263	331	23	in	in	ADP
ejpam-263	331	24	a	a	DET
ejpam-263	331	25	arbitrary	arbitrary	ADJ
ejpam-263	331	26	formation	formation	NOUN
ejpam-263	331	27	.	.	PUNCT
ejpam-263	332	1	the	the	DET
ejpam-263	332	2	new	new	ADJ
ejpam-263	332	3	controllers	controller	NOUN
ejpam-263	332	4	(	(	PUNCT
ejpam-263	332	5	4.1	4.1	NUM
ejpam-263	332	6	)	)	PUNCT
ejpam-263	332	7	and	and	CCONJ
ejpam-263	332	8	(	(	PUNCT
ejpam-263	332	9	4.2	4.2	NUM
ejpam-263	332	10	)	)	PUNCT
ejpam-263	332	11	produced	produce	VERB
ejpam-263	332	12	feasible	feasible	ADJ
ejpam-263	332	13	trajectories	trajectory	NOUN
ejpam-263	332	14	and	and	CCONJ
ejpam-263	332	15	ensured	ensure	VERB
ejpam-263	332	16	a	a	DET
ejpam-263	332	17	nice	nice	ADJ
ejpam-263	332	18	convergence	convergence	NOUN
ejpam-263	332	19	of	of	ADP
ejpam-263	332	20	the	the	DET
ejpam-263	332	21	system	system	NOUN
ejpam-263	332	22	to	to	ADP
ejpam-263	332	23	the	the	DET
ejpam-263	332	24	equilibrium	equilibrium	NOUN
ejpam-263	332	25	state	state	NOUN
ejpam-263	332	26	,	,	PUNCT
ejpam-263	332	27	whilst	whilst	SCONJ
ejpam-263	332	28	satisfying	satisfy	VERB
ejpam-263	332	29	all	all	DET
ejpam-263	332	30	the	the	DET
ejpam-263	332	31	constraints	constraint	NOUN
ejpam-263	332	32	tagged	tag	VERB
ejpam-263	332	33	on	on	ADP
ejpam-263	332	34	the	the	DET
ejpam-263	332	35	system	system	NOUN
ejpam-263	332	36	.	.	PUNCT
ejpam-263	333	1	moreover	moreover	ADV
ejpam-263	333	2	,	,	PUNCT
ejpam-263	333	3	although	although	SCONJ
ejpam-263	333	4	computationally	computationally	ADV
ejpam-263	333	5	intensive	intensive	ADJ
ejpam-263	333	6	the	the	DET
ejpam-263	333	7	control	control	NOUN
ejpam-263	333	8	scheme	scheme	NOUN
ejpam-263	333	9	will	will	AUX
ejpam-263	333	10	sufficiently	sufficiently	ADV
ejpam-263	333	11	encompass	encompass	VERB
ejpam-263	333	12	expansions	expansion	NOUN
ejpam-263	333	13	to	to	ADP
ejpam-263	333	14	and	and	CCONJ
ejpam-263	333	15	scalability	scalability	NOUN
ejpam-263	333	16	of	of	ADP
ejpam-263	333	17	flocks	flock	NOUN
ejpam-263	333	18	.	.	PUNCT
ejpam-263	334	1	the	the	DET
ejpam-263	334	2	unique	unique	ADJ
ejpam-263	334	3	pattern	pattern	NOUN
ejpam-263	334	4	of	of	ADP
ejpam-263	334	5	boids	boid	NOUN
ejpam-263	334	6	’	'	PUNCT
ejpam-263	334	7	movement	movement	NOUN
ejpam-263	334	8	as	as	ADP
ejpam-263	334	9	a	a	DET
ejpam-263	334	10	flock	flock	NOUN
ejpam-263	334	11	was	be	AUX
ejpam-263	334	12	possible	possible	ADJ
ejpam-263	334	13	by	by	ADP
ejpam-263	334	14	inclusion	inclusion	NOUN
ejpam-263	334	15	of	of	ADP
ejpam-263	334	16	a	a	DET
ejpam-263	334	17	new	new	ADJ
ejpam-263	334	18	leader	leader	NOUN
ejpam-263	334	19	-	-	PUNCT
ejpam-263	334	20	follower	follower	NOUN
ejpam-263	334	21	strategy	strategy	NOUN
ejpam-263	334	22	that	that	PRON
ejpam-263	334	23	involved	involve	VERB
ejpam-263	334	24	moving	move	VERB
ejpam-263	334	25	ghost	ghost	NOUN
ejpam-263	334	26	targets	target	NOUN
ejpam-263	334	27	which	which	PRON
ejpam-263	334	28	were	be	AUX
ejpam-263	334	29	posireferences	posireference	NOUN
ejpam-263	334	30	424	424	NUM
ejpam-263	334	31	tioned	tione	VERB
ejpam-263	334	32	relative	relative	ADV
ejpam-263	334	33	to	to	ADP
ejpam-263	334	34	the	the	DET
ejpam-263	334	35	leader	leader	NOUN
ejpam-263	334	36	-	-	PUNCT
ejpam-263	334	37	boid	boid	NOUN
ejpam-263	334	38	.	.	PUNCT
ejpam-263	335	1	this	this	DET
ejpam-263	335	2	specific	specific	ADJ
ejpam-263	335	3	positioning	positioning	NOUN
ejpam-263	335	4	,	,	PUNCT
ejpam-263	335	5	however	however	ADV
ejpam-263	335	6	,	,	PUNCT
ejpam-263	335	7	restricted	restrict	VERB
ejpam-263	335	8	the	the	DET
ejpam-263	335	9	formation	formation	NOUN
ejpam-263	335	10	to	to	ADP
ejpam-263	335	11	a	a	DET
ejpam-263	335	12	horizontal	horizontal	ADJ
ejpam-263	335	13	wayward	wayward	ADJ
ejpam-263	335	14	motion	motion	NOUN
ejpam-263	335	15	only	only	ADV
ejpam-263	335	16	.	.	PUNCT
ejpam-263	336	1	future	future	ADJ
ejpam-263	336	2	research	research	NOUN
ejpam-263	336	3	will	will	AUX
ejpam-263	336	4	address	address	VERB
ejpam-263	336	5	rotation	rotation	NOUN
ejpam-263	336	6	of	of	ADP
ejpam-263	336	7	formations	formation	NOUN
ejpam-263	336	8	and	and	CCONJ
ejpam-263	336	9	changing	change	VERB
ejpam-263	336	10	the	the	DET
ejpam-263	336	11	leadership	leadership	NOUN
ejpam-263	336	12	roles	role	NOUN
ejpam-263	336	13	of	of	ADP
ejpam-263	336	14	the	the	DET
ejpam-263	336	15	flockmates	flockmate	NOUN
ejpam-263	336	16	.	.	PUNCT
ejpam-263	337	1	the	the	DET
ejpam-263	337	2	authors	author	NOUN
ejpam-263	337	3	will	will	AUX
ejpam-263	337	4	also	also	ADV
ejpam-263	337	5	utilize	utilize	VERB
ejpam-263	337	6	the	the	DET
ejpam-263	337	7	concept	concept	NOUN
ejpam-263	337	8	of	of	ADP
ejpam-263	337	9	flocking	flock	VERB
ejpam-263	337	10	via	via	ADP
ejpam-263	337	11	the	the	DET
ejpam-263	337	12	lyapunov	lyapunov	NOUN
ejpam-263	337	13	-	-	PUNCT
ejpam-263	337	14	based	base	VERB
ejpam-263	337	15	control	control	NOUN
ejpam-263	337	16	scheme	scheme	NOUN
ejpam-263	337	17	on	on	ADP
ejpam-263	337	18	tunnel	tunnel	NOUN
ejpam-263	337	19	passing	pass	VERB
ejpam-263	337	20	and	and	CCONJ
ejpam-263	337	21	lane	lane	NOUN
ejpam-263	337	22	merging	merging	NOUN
ejpam-263	337	23	problems	problem	NOUN
ejpam-263	337	24	of	of	ADP
ejpam-263	337	25	intelligent	intelligent	ADJ
ejpam-263	337	26	vehicle	vehicle	NOUN
ejpam-263	337	27	systems	system	NOUN
ejpam-263	337	28	.	.	PUNCT
ejpam-263	338	1	references	reference	NOUN
ejpam-263	338	2	[	[	X
ejpam-263	338	3	1	1	NUM
ejpam-263	338	4	]	]	X
ejpam-263	338	5	c.	c.	PROPN
ejpam-263	338	6	belta	belta	PROPN
ejpam-263	338	7	and	and	CCONJ
ejpam-263	339	1	v.	v.	ADP
ejpam-263	339	2	kumar	kumar	PROPN
ejpam-263	339	3	.	.	PROPN
ejpam-263	339	4	abstraction	abstraction	PROPN
ejpam-263	339	5	and	and	CCONJ
ejpam-263	339	6	control	control	NOUN
ejpam-263	339	7	for	for	ADP
ejpam-263	339	8	groups	group	NOUN
ejpam-263	339	9	of	of	ADP
ejpam-263	339	10	robots	robot	NOUN
ejpam-263	339	11	.	.	PUNCT
ejpam-263	340	1	in	in	ADP
ejpam-263	340	2	reprinted	reprint	VERB
ejpam-263	340	3	from	from	ADP
ejpam-263	340	4	ieee	ieee	NOUN
ejpam-263	340	5	transactions	transaction	NOUN
ejpam-263	340	6	on	on	ADP
ejpam-263	340	7	robotics	robotic	NOUN
ejpam-263	340	8	and	and	CCONJ
ejpam-263	340	9	automation	automation	NOUN
ejpam-263	340	10	,	,	PUNCT
ejpam-263	340	11	volume	volume	NOUN
ejpam-263	340	12	4	4	NUM
ejpam-263	340	13	,	,	PUNCT
ejpam-263	340	14	pages	page	NOUN
ejpam-263	340	15	865–875	865–875	NUM
ejpam-263	340	16	,	,	PUNCT
ejpam-263	340	17	october	october	PROPN
ejpam-263	340	18	2004	2004	NUM
ejpam-263	340	19	.	.	PUNCT
ejpam-263	341	1	[	[	X
ejpam-263	341	2	2	2	X
ejpam-263	341	3	]	]	X
ejpam-263	341	4	r.w	r.w	PROPN
ejpam-263	341	5	.	.	PROPN
ejpam-263	341	6	brockett	brockett	PROPN
ejpam-263	341	7	.	.	PUNCT
ejpam-263	342	1	differential	differential	PROPN
ejpam-263	342	2	geometry	geometry	NOUN
ejpam-263	342	3	control	control	NOUN
ejpam-263	342	4	theory	theory	NOUN
ejpam-263	342	5	,	,	PUNCT
ejpam-263	342	6	chapter	chapter	NOUN
ejpam-263	342	7	asymptotic	asymptotic	ADJ
ejpam-263	342	8	stability	stability	NOUN
ejpam-263	342	9	and	and	CCONJ
ejpam-263	342	10	feedback	feedback	NOUN
ejpam-263	342	11	stabilisation	stabilisation	NOUN
ejpam-263	342	12	,	,	PUNCT
ejpam-263	342	13	pages	page	NOUN
ejpam-263	342	14	181–191	181–191	NUM
ejpam-263	342	15	.	.	PUNCT
ejpam-263	342	16	springer	springer	NOUN
ejpam-263	342	17	-	-	PUNCT
ejpam-263	342	18	verlag	verlag	PROPN
ejpam-263	342	19	,	,	PUNCT
ejpam-263	342	20	1983	1983	NUM
ejpam-263	342	21	.	.	PUNCT
ejpam-263	343	1	[	[	X
ejpam-263	343	2	3	3	X
ejpam-263	343	3	]	]	X
ejpam-263	343	4	d.	d.	PROPN
ejpam-263	343	5	e.	e.	PROPN
ejpam-263	343	6	chang	chang	PROPN
ejpam-263	343	7	,	,	PUNCT
ejpam-263	343	8	s.	s.	PROPN
ejpam-263	343	9	c.	c.	PROPN
ejpam-263	343	10	shadden	shadden	PROPN
ejpam-263	343	11	,	,	PUNCT
ejpam-263	343	12	j.	j.	PROPN
ejpam-263	343	13	e.	e.	PROPN
ejpam-263	343	14	marsden	marsden	PROPN
ejpam-263	343	15	,	,	PUNCT
ejpam-263	343	16	and	and	CCONJ
ejpam-263	343	17	r.	r.	PROPN
ejpam-263	343	18	olfati	olfati	PROPN
ejpam-263	343	19	-	-	PUNCT
ejpam-263	343	20	saber	saber	NOUN
ejpam-263	343	21	.	.	PUNCT
ejpam-263	344	1	collision	collision	NOUN
ejpam-263	344	2	avoidance	avoidance	NOUN
ejpam-263	344	3	for	for	ADP
ejpam-263	344	4	multiple	multiple	ADJ
ejpam-263	344	5	agent	agent	NOUN
ejpam-263	344	6	systems	system	NOUN
ejpam-263	344	7	.	.	PUNCT
ejpam-263	345	1	in	in	ADP
ejpam-263	345	2	procs	proc	NOUN
ejpam-263	345	3	.	.	PUNCT
ejpam-263	346	1	of	of	ADP
ejpam-263	346	2	the	the	DET
ejpam-263	346	3	42nd	42nd	PROPN
ejpam-263	346	4	ieee	ieee	NOUN
ejpam-263	346	5	conference	conference	NOUN
ejpam-263	346	6	on	on	ADP
ejpam-263	346	7	decision	decision	NOUN
ejpam-263	346	8	and	and	CCONJ
ejpam-263	346	9	control	control	NOUN
ejpam-263	346	10	,	,	PUNCT
ejpam-263	346	11	maui	maui	PROPN
ejpam-263	346	12	,	,	PUNCT
ejpam-263	346	13	hawaii	hawaii	PROPN
ejpam-263	346	14	usa	usa	PROPN
ejpam-263	346	15	,	,	PUNCT
ejpam-263	346	16	december	december	PROPN
ejpam-263	346	17	2003	2003	NUM
ejpam-263	346	18	.	.	PUNCT
ejpam-263	347	1	[	[	X
ejpam-263	347	2	4	4	X
ejpam-263	347	3	]	]	X
ejpam-263	347	4	d.	d.	PROPN
ejpam-263	347	5	crombie	crombie	PROPN
ejpam-263	347	6	.	.	PUNCT
ejpam-263	348	1	the	the	DET
ejpam-263	348	2	examination	examination	NOUN
ejpam-263	348	3	and	and	CCONJ
ejpam-263	348	4	exploration	exploration	NOUN
ejpam-263	348	5	of	of	ADP
ejpam-263	348	6	algorithms	algorithm	NOUN
ejpam-263	348	7	and	and	CCONJ
ejpam-263	348	8	complex	complex	ADJ
ejpam-263	348	9	behavior	behavior	NOUN
ejpam-263	348	10	to	to	PART
ejpam-263	348	11	realistically	realistically	ADV
ejpam-263	348	12	control	control	VERB
ejpam-263	348	13	multiple	multiple	ADJ
ejpam-263	348	14	mobile	mobile	ADJ
ejpam-263	348	15	robots	robot	NOUN
ejpam-263	348	16	.	.	PUNCT
ejpam-263	349	1	master	master	NOUN
ejpam-263	349	2	’s	’s	PART
ejpam-263	349	3	thesis	thesis	NOUN
ejpam-263	349	4	,	,	PUNCT
ejpam-263	349	5	australian	australian	ADJ
ejpam-263	349	6	national	national	ADJ
ejpam-263	349	7	university	university	NOUN
ejpam-263	349	8	,	,	PUNCT
ejpam-263	349	9	1997	1997	NUM
ejpam-263	349	10	.	.	PUNCT
ejpam-263	350	1	[	[	X
ejpam-263	350	2	5	5	X
ejpam-263	350	3	]	]	PUNCT
ejpam-263	350	4	p.	p.	NOUN
ejpam-263	350	5	ögren	ögren	PROPN
ejpam-263	350	6	.	.	PUNCT
ejpam-263	351	1	formations	formation	NOUN
ejpam-263	351	2	and	and	CCONJ
ejpam-263	351	3	obstacle	obstacle	NOUN
ejpam-263	351	4	avoidance	avoidance	NOUN
ejpam-263	351	5	in	in	ADP
ejpam-263	351	6	mobile	mobile	ADJ
ejpam-263	351	7	robot	robot	NOUN
ejpam-263	351	8	control	control	NOUN
ejpam-263	351	9	.	.	PUNCT
ejpam-263	352	1	master	master	NOUN
ejpam-263	352	2	’s	’s	PART
ejpam-263	352	3	thesis	thesis	NOUN
ejpam-263	352	4	,	,	PUNCT
ejpam-263	352	5	royal	royal	PROPN
ejpam-263	352	6	institute	institute	PROPN
ejpam-263	352	7	of	of	ADP
ejpam-263	352	8	technology	technology	PROPN
ejpam-263	352	9	,	,	PUNCT
ejpam-263	352	10	stockholm	stockholm	PROPN
ejpam-263	352	11	,	,	PUNCT
ejpam-263	352	12	sweden	sweden	PROPN
ejpam-263	352	13	,	,	PUNCT
ejpam-263	352	14	june	june	PROPN
ejpam-263	352	15	2003	2003	NUM
ejpam-263	352	16	.	.	PUNCT
ejpam-263	353	1	[	[	X
ejpam-263	353	2	6	6	NUM
ejpam-263	353	3	]	]	PUNCT
ejpam-263	353	4	l.	l.	PROPN
ejpam-263	353	5	edelstein	edelstein	PROPN
ejpam-263	353	6	-	-	PUNCT
ejpam-263	353	7	keshet	keshet	PROPN
ejpam-263	353	8	.	.	PUNCT
ejpam-263	354	1	mathematical	mathematical	ADJ
ejpam-263	354	2	models	model	NOUN
ejpam-263	354	3	of	of	ADP
ejpam-263	354	4	swarming	swarm	VERB
ejpam-263	354	5	and	and	CCONJ
ejpam-263	354	6	social	social	ADJ
ejpam-263	354	7	aggregation	aggregation	NOUN
ejpam-263	354	8	.	.	PUNCT
ejpam-263	355	1	in	in	ADP
ejpam-263	355	2	procs	proc	NOUN
ejpam-263	355	3	.	.	PUNCT
ejpam-263	356	1	2001	2001	NUM
ejpam-263	356	2	international	international	ADJ
ejpam-263	356	3	symposium	symposium	NOUN
ejpam-263	356	4	on	on	ADP
ejpam-263	356	5	nonlinear	nonlinear	ADJ
ejpam-263	356	6	theory	theory	NOUN
ejpam-263	356	7	and	and	CCONJ
ejpam-263	356	8	its	its	PRON
ejpam-263	356	9	applications	application	NOUN
ejpam-263	356	10	,	,	PUNCT
ejpam-263	356	11	pages	page	NOUN
ejpam-263	356	12	1–7	1–7	NUM
ejpam-263	356	13	,	,	PUNCT
ejpam-263	356	14	miyagi	miyagi	PROPN
ejpam-263	356	15	,	,	PUNCT
ejpam-263	356	16	japan	japan	PROPN
ejpam-263	356	17	,	,	PUNCT
ejpam-263	356	18	october	october	PROPN
ejpam-263	356	19	-	-	PUNCT
ejpam-263	356	20	november	november	PROPN
ejpam-263	356	21	2001	2001	NUM
ejpam-263	356	22	.	.	PUNCT
ejpam-263	357	1	[	[	X
ejpam-263	357	2	7	7	X
ejpam-263	357	3	]	]	X
ejpam-263	357	4	g.	g.	PROPN
ejpam-263	357	5	h.	h.	PROPN
ejpam-263	357	6	elkaim	elkaim	PROPN
ejpam-263	357	7	and	and	CCONJ
ejpam-263	357	8	r.	r.	PROPN
ejpam-263	357	9	j.	j.	PROPN
ejpam-263	357	10	kelbley	kelbley	PROPN
ejpam-263	357	11	.	.	PUNCT
ejpam-263	358	1	a	a	DET
ejpam-263	358	2	lightweight	lightweight	ADJ
ejpam-263	358	3	formation	formation	NOUN
ejpam-263	358	4	control	control	NOUN
ejpam-263	358	5	methodology	methodology	NOUN
ejpam-263	358	6	for	for	ADP
ejpam-263	358	7	a	a	DET
ejpam-263	358	8	swarm	swarm	NOUN
ejpam-263	358	9	of	of	ADP
ejpam-263	358	10	non	non	ADJ
ejpam-263	358	11	-	-	ADJ
ejpam-263	358	12	holonomic	holonomic	ADJ
ejpam-263	358	13	vehicles	vehicle	NOUN
ejpam-263	358	14	.	.	PUNCT
ejpam-263	359	1	in	in	ADP
ejpam-263	359	2	ieee	ieee	PROPN
ejpam-263	359	3	aerospace	aerospace	NOUN
ejpam-263	359	4	conference	conference	NOUN
ejpam-263	359	5	,	,	PUNCT
ejpam-263	359	6	2006	2006	NUM
ejpam-263	359	7	.	.	PUNCT
ejpam-263	360	1	[	[	X
ejpam-263	360	2	8	8	NUM
ejpam-263	360	3	]	]	X
ejpam-263	360	4	v.	v.	CCONJ
ejpam-263	360	5	gazi	gazi	PROPN
ejpam-263	360	6	.	.	PUNCT
ejpam-263	361	1	swarm	swarm	NOUN
ejpam-263	361	2	aggregations	aggregation	NOUN
ejpam-263	361	3	using	use	VERB
ejpam-263	361	4	artificial	artificial	ADJ
ejpam-263	361	5	potentials	potential	NOUN
ejpam-263	361	6	and	and	CCONJ
ejpam-263	361	7	sliding	slide	VERB
ejpam-263	361	8	mode	mode	NOUN
ejpam-263	361	9	control	control	NOUN
ejpam-263	361	10	.	.	PUNCT
ejpam-263	362	1	in	in	ADP
ejpam-263	362	2	procs	proc	NOUN
ejpam-263	362	3	.	.	PUNCT
ejpam-263	363	1	ieee	ieee	NOUN
ejpam-263	363	2	conference	conference	NOUN
ejpam-263	363	3	on	on	ADP
ejpam-263	363	4	decision	decision	NOUN
ejpam-263	363	5	and	and	CCONJ
ejpam-263	363	6	control	control	NOUN
ejpam-263	363	7	,	,	PUNCT
ejpam-263	363	8	pages	page	NOUN
ejpam-263	363	9	2041–2046	2041–2046	NUM
ejpam-263	363	10	,	,	PUNCT
ejpam-263	363	11	maui	maui	PROPN
ejpam-263	363	12	,	,	PUNCT
ejpam-263	363	13	hawaii	hawaii	PROPN
ejpam-263	363	14	,	,	PUNCT
ejpam-263	363	15	december	december	PROPN
ejpam-263	363	16	2003	2003	NUM
ejpam-263	363	17	.	.	PUNCT
ejpam-263	364	1	references	reference	NOUN
ejpam-263	364	2	425	425	NUM
ejpam-263	364	3	[	[	X
ejpam-263	364	4	9	9	NUM
ejpam-263	364	5	]	]	X
ejpam-263	364	6	w.	w.	PROPN
ejpam-263	364	7	kang	kang	PROPN
ejpam-263	364	8	,	,	PUNCT
ejpam-263	364	9	n.	n.	PROPN
ejpam-263	364	10	xi	xi	PROPN
ejpam-263	364	11	,	,	PUNCT
ejpam-263	364	12	j.	j.	PROPN
ejpam-263	364	13	tan	tan	PROPN
ejpam-263	364	14	,	,	PUNCT
ejpam-263	364	15	and	and	CCONJ
ejpam-263	364	16	y.	y.	PROPN
ejpam-263	364	17	wang	wang	PROPN
ejpam-263	364	18	.	.	PUNCT
ejpam-263	365	1	formation	formation	NOUN
ejpam-263	365	2	control	control	NOUN
ejpam-263	365	3	of	of	ADP
ejpam-263	365	4	multiple	multiple	ADJ
ejpam-263	365	5	autonomous	autonomous	ADJ
ejpam-263	365	6	robots	robot	NOUN
ejpam-263	365	7	:	:	PUNCT
ejpam-263	365	8	theory	theory	NOUN
ejpam-263	365	9	and	and	CCONJ
ejpam-263	365	10	experimentation	experimentation	NOUN
ejpam-263	365	11	.	.	PUNCT
ejpam-263	366	1	intelligent	intelligent	ADJ
ejpam-263	366	2	automation	automation	NOUN
ejpam-263	366	3	and	and	CCONJ
ejpam-263	366	4	soft	soft	ADJ
ejpam-263	366	5	computing	computing	NOUN
ejpam-263	366	6	,	,	PUNCT
ejpam-263	366	7	10(2):1–17	10(2):1–17	NUM
ejpam-263	366	8	,	,	PUNCT
ejpam-263	366	9	2004	2004	NUM
ejpam-263	366	10	.	.	PUNCT
ejpam-263	367	1	[	[	X
ejpam-263	367	2	10	10	NUM
ejpam-263	367	3	]	]	X
ejpam-263	367	4	j	j	PROPN
ejpam-263	367	5	-	-	PUNCT
ejpam-263	367	6	c.	c.	PROPN
ejpam-263	367	7	latombe	latombe	NOUN
ejpam-263	367	8	.	.	PUNCT
ejpam-263	368	1	robot	robot	NOUN
ejpam-263	368	2	motion	motion	NOUN
ejpam-263	368	3	planning	planning	NOUN
ejpam-263	368	4	.	.	PUNCT
ejpam-263	369	1	kluwer	kluwer	NOUN
ejpam-263	369	2	academic	academic	ADJ
ejpam-263	369	3	publishers	publisher	NOUN
ejpam-263	369	4	,	,	PUNCT
ejpam-263	369	5	usa	usa	PROPN
ejpam-263	369	6	,	,	PUNCT
ejpam-263	369	7	1991	1991	NUM
ejpam-263	369	8	.	.	PUNCT
ejpam-263	370	1	[	[	X
ejpam-263	370	2	11	11	NUM
ejpam-263	370	3	]	]	PUNCT
ejpam-263	370	4	m.	m.	NOUN
ejpam-263	370	5	lindhé.	lindhé.	PROPN
ejpam-263	370	6	a	a	DET
ejpam-263	370	7	flocking	flocking	NOUN
ejpam-263	370	8	and	and	CCONJ
ejpam-263	370	9	obstacle	obstacle	NOUN
ejpam-263	370	10	avoidance	avoidance	NOUN
ejpam-263	370	11	algorithm	algorithm	NOUN
ejpam-263	370	12	for	for	ADP
ejpam-263	370	13	mobile	mobile	NOUN
ejpam-263	370	14	robots	robot	NOUN
ejpam-263	370	15	.	.	PUNCT
ejpam-263	371	1	master	master	NOUN
ejpam-263	371	2	’s	’s	PART
ejpam-263	371	3	thesis	thesis	NOUN
ejpam-263	371	4	,	,	PUNCT
ejpam-263	371	5	kth	kth	PROPN
ejpam-263	371	6	school	school	NOUN
ejpam-263	371	7	of	of	ADP
ejpam-263	371	8	electrical	electrical	ADJ
ejpam-263	371	9	engineering	engineering	NOUN
ejpam-263	371	10	,	,	PUNCT
ejpam-263	371	11	stockholm	stockholm	PROPN
ejpam-263	371	12	,	,	PUNCT
ejpam-263	371	13	sweden	sweden	PROPN
ejpam-263	371	14	,	,	PUNCT
ejpam-263	371	15	june	june	PROPN
ejpam-263	371	16	2004	2004	NUM
ejpam-263	371	17	.	.	PUNCT
ejpam-263	372	1	[	[	X
ejpam-263	372	2	12	12	NUM
ejpam-263	372	3	]	]	X
ejpam-263	372	4	c.	c.	PROPN
ejpam-263	372	5	w.	w.	PROPN
ejpam-263	372	6	reynolds	reynolds	PROPN
ejpam-263	372	7	.	.	PUNCT
ejpam-263	372	8	flocks	flock	NOUN
ejpam-263	372	9	,	,	PUNCT
ejpam-263	372	10	herds	herd	NOUN
ejpam-263	372	11	,	,	PUNCT
ejpam-263	372	12	and	and	CCONJ
ejpam-263	372	13	schools	school	NOUN
ejpam-263	372	14	:	:	PUNCT
ejpam-263	372	15	a	a	DET
ejpam-263	372	16	distributed	distribute	VERB
ejpam-263	372	17	behavioral	behavioral	ADJ
ejpam-263	372	18	model	model	NOUN
ejpam-263	372	19	,	,	PUNCT
ejpam-263	372	20	in	in	ADP
ejpam-263	372	21	computer	computer	NOUN
ejpam-263	372	22	graphics	graphic	NOUN
ejpam-263	372	23	.	.	PUNCT
ejpam-263	373	1	in	in	ADP
ejpam-263	373	2	procs	proc	NOUN
ejpam-263	373	3	.	.	PUNCT
ejpam-263	374	1	of	of	ADP
ejpam-263	374	2	the	the	DET
ejpam-263	374	3	14th	14th	ADJ
ejpam-263	374	4	annual	annual	ADJ
ejpam-263	374	5	conference	conference	NOUN
ejpam-263	374	6	on	on	ADP
ejpam-263	374	7	computer	computer	NOUN
ejpam-263	374	8	graphics	graphic	NOUN
ejpam-263	374	9	and	and	CCONJ
ejpam-263	374	10	interactive	interactive	ADJ
ejpam-263	374	11	techniques	technique	NOUN
ejpam-263	374	12	,	,	PUNCT
ejpam-263	374	13	pages	page	NOUN
ejpam-263	374	14	25–34	25–34	NUM
ejpam-263	374	15	,	,	PUNCT
ejpam-263	374	16	new	new	PROPN
ejpam-263	374	17	york	york	PROPN
ejpam-263	374	18	,	,	PUNCT
ejpam-263	374	19	usa	usa	PROPN
ejpam-263	374	20	,	,	PUNCT
ejpam-263	374	21	1987	1987	NUM
ejpam-263	374	22	.	.	PUNCT
ejpam-263	375	1	[	[	X
ejpam-263	375	2	13	13	NUM
ejpam-263	375	3	]	]	X
ejpam-263	375	4	b.	b.	PROPN
ejpam-263	375	5	sharma	sharma	PROPN
ejpam-263	375	6	.	.	PUNCT
ejpam-263	376	1	new	new	ADJ
ejpam-263	376	2	directions	direction	NOUN
ejpam-263	376	3	in	in	ADP
ejpam-263	376	4	the	the	DET
ejpam-263	376	5	applications	application	NOUN
ejpam-263	376	6	of	of	ADP
ejpam-263	376	7	the	the	DET
ejpam-263	376	8	lyapunov	lyapunov	NOUN
ejpam-263	376	9	-	-	PUNCT
ejpam-263	376	10	based	base	VERB
ejpam-263	376	11	control	control	NOUN
ejpam-263	376	12	scheme	scheme	NOUN
ejpam-263	376	13	to	to	ADP
ejpam-263	376	14	the	the	DET
ejpam-263	376	15	findpath	findpath	NOUN
ejpam-263	376	16	problem	problem	NOUN
ejpam-263	376	17	.	.	PUNCT
ejpam-263	377	1	phd	phd	NOUN
ejpam-263	377	2	dissertation	dissertation	NOUN
ejpam-263	377	3	,	,	PUNCT
ejpam-263	377	4	july	july	PROPN
ejpam-263	377	5	2008	2008	NUM
ejpam-263	377	6	.	.	PUNCT
ejpam-263	378	1	[	[	X
ejpam-263	378	2	14	14	NUM
ejpam-263	378	3	]	]	X
ejpam-263	378	4	b.	b.	PROPN
ejpam-263	378	5	sharma	sharma	PROPN
ejpam-263	378	6	and	and	CCONJ
ejpam-263	378	7	j.	j.	PROPN
ejpam-263	378	8	vanualailai	vanualailai	PROPN
ejpam-263	378	9	.	.	PUNCT
ejpam-263	379	1	lyapunov	lyapunov	ADJ
ejpam-263	379	2	stability	stability	NOUN
ejpam-263	379	3	of	of	ADP
ejpam-263	379	4	a	a	DET
ejpam-263	379	5	nonholonomic	nonholonomic	ADJ
ejpam-263	379	6	car	car	NOUN
ejpam-263	379	7	-	-	PUNCT
ejpam-263	379	8	like	like	ADJ
ejpam-263	379	9	robotic	robotic	ADJ
ejpam-263	379	10	system	system	NOUN
ejpam-263	379	11	.	.	PUNCT
ejpam-263	380	1	nonlinear	nonlinear	ADJ
ejpam-263	380	2	studies	study	NOUN
ejpam-263	380	3	,	,	PUNCT
ejpam-263	380	4	14(2):143–160	14(2):143–160	PROPN
ejpam-263	380	5	,	,	PUNCT
ejpam-263	380	6	2007	2007	NUM
ejpam-263	380	7	.	.	PUNCT
ejpam-263	381	1	[	[	X
ejpam-263	381	2	15	15	NUM
ejpam-263	381	3	]	]	X
ejpam-263	381	4	b.	b.	PROPN
ejpam-263	381	5	sharma	sharma	PROPN
ejpam-263	381	6	,	,	PUNCT
ejpam-263	381	7	j.	j.	PROPN
ejpam-263	381	8	vanualailai	vanualailai	PROPN
ejpam-263	381	9	,	,	PUNCT
ejpam-263	381	10	and	and	CCONJ
ejpam-263	381	11	a.	a.	NOUN
ejpam-263	381	12	prasad	prasad	PROPN
ejpam-263	381	13	.	.	PUNCT
ejpam-263	382	1	formation	formation	NOUN
ejpam-263	382	2	control	control	NOUN
ejpam-263	382	3	of	of	ADP
ejpam-263	382	4	a	a	DET
ejpam-263	382	5	swarm	swarm	NOUN
ejpam-263	382	6	of	of	ADP
ejpam-263	382	7	mobile	mobile	ADJ
ejpam-263	382	8	manipulators	manipulator	NOUN
ejpam-263	382	9	.	.	PUNCT
ejpam-263	383	1	rocky	rocky	ADJ
ejpam-263	383	2	mountain	mountain	PROPN
ejpam-263	383	3	journal	journal	NOUN
ejpam-263	383	4	of	of	ADP
ejpam-263	383	5	mathematics	mathematic	NOUN
ejpam-263	383	6	,	,	PUNCT
ejpam-263	383	7	to	to	PART
ejpam-263	383	8	appear	appear	VERB
ejpam-263	383	9	.	.	PUNCT
ejpam-263	384	1	[	[	X
ejpam-263	384	2	16	16	NUM
ejpam-263	384	3	]	]	PUNCT
ejpam-263	384	4	h.	h.	PROPN
ejpam-263	384	5	tanner	tanner	PROPN
ejpam-263	384	6	,	,	PUNCT
ejpam-263	384	7	a.	a.	NOUN
ejpam-263	384	8	jadbabaie	jadbabaie	PROPN
ejpam-263	384	9	,	,	PUNCT
ejpam-263	384	10	and	and	CCONJ
ejpam-263	384	11	g.	g.	PROPN
ejpam-263	384	12	j.	j.	PROPN
ejpam-263	384	13	pappas	pappas	PROPN
ejpam-263	384	14	.	.	PUNCT
ejpam-263	385	1	stable	stable	ADJ
ejpam-263	385	2	flocking	flocking	NOUN
ejpam-263	385	3	of	of	ADP
ejpam-263	385	4	mobile	mobile	ADJ
ejpam-263	385	5	agents	agent	NOUN
ejpam-263	385	6	,	,	PUNCT
ejpam-263	385	7	part	part	NOUN
ejpam-263	386	1	i	i	PRON
ejpam-263	386	2	:	:	PUNCT
ejpam-263	386	3	fixed	fix	VERB
ejpam-263	386	4	topology	topology	NOUN
ejpam-263	386	5	.	.	PUNCT
ejpam-263	387	1	in	in	ADP
ejpam-263	387	2	procs	proc	NOUN
ejpam-263	387	3	.	.	PUNCT
ejpam-263	388	1	of	of	ADP
ejpam-263	388	2	the	the	DET
ejpam-263	388	3	42nd	42nd	PROPN
ejpam-263	388	4	ieee	ieee	NOUN
ejpam-263	388	5	conference	conference	NOUN
ejpam-263	388	6	on	on	ADP
ejpam-263	388	7	decision	decision	NOUN
ejpam-263	388	8	and	and	CCONJ
ejpam-263	388	9	control	control	NOUN
ejpam-263	388	10	,	,	PUNCT
ejpam-263	388	11	pages	page	NOUN
ejpam-263	388	12	2010–2015	2010–2015	NUM
ejpam-263	388	13	,	,	PUNCT
ejpam-263	388	14	2003	2003	NUM
ejpam-263	388	15	.	.	PUNCT
ejpam-263	389	1	[	[	X
ejpam-263	389	2	17	17	NUM
ejpam-263	389	3	]	]	X
ejpam-263	389	4	r.	r.	PROPN
ejpam-263	389	5	olfati	olfati	PROPN
ejpam-263	389	6	-	-	PUNCT
ejpam-263	389	7	saber	saber	NOUN
ejpam-263	389	8	.	.	PUNCT
ejpam-263	390	1	flocking	flock	VERB
ejpam-263	390	2	for	for	ADP
ejpam-263	390	3	multi	multi	ADJ
ejpam-263	390	4	-	-	ADJ
ejpam-263	390	5	agent	agent	ADJ
ejpam-263	390	6	dynamic	dynamic	ADJ
ejpam-263	390	7	systems	system	NOUN
ejpam-263	390	8	:	:	PUNCT
ejpam-263	390	9	algorithms	algorithm	NOUN
ejpam-263	390	10	and	and	CCONJ
ejpam-263	390	11	theory	theory	NOUN
ejpam-263	390	12	.	.	PUNCT
ejpam-263	391	1	ieee	ieee	NOUN
ejpam-263	391	2	transactions	transaction	NOUN
ejpam-263	391	3	on	on	ADP
ejpam-263	391	4	automatic	automatic	ADJ
ejpam-263	391	5	control	control	NOUN
ejpam-263	391	6	,	,	PUNCT
ejpam-263	391	7	51(3):401–420	51(3):401–420	PROPN
ejpam-263	391	8	,	,	PUNCT
ejpam-263	391	9	2006	2006	NUM
ejpam-263	391	10	.	.	PUNCT
ejpam-263	392	1	[	[	X
ejpam-263	392	2	18	18	NUM
ejpam-263	392	3	]	]	X
ejpam-263	392	4	r.	r.	PROPN
ejpam-263	392	5	olfati	olfati	PROPN
ejpam-263	392	6	-	-	PUNCT
ejpam-263	392	7	saber	saber	NOUN
ejpam-263	392	8	and	and	CCONJ
ejpam-263	392	9	r.	r.	PROPN
ejpam-263	392	10	m.	m.	PROPN
ejpam-263	392	11	murray	murray	PROPN
ejpam-263	392	12	.	.	PUNCT
ejpam-263	393	1	flocking	flock	VERB
ejpam-263	393	2	with	with	ADP
ejpam-263	393	3	obstacle	obstacle	NOUN
ejpam-263	393	4	avoidance	avoidance	NOUN
ejpam-263	393	5	:	:	PUNCT
ejpam-263	393	6	cooperation	cooperation	NOUN
ejpam-263	393	7	with	with	ADP
ejpam-263	393	8	limited	limited	ADJ
ejpam-263	393	9	information	information	NOUN
ejpam-263	393	10	in	in	ADP
ejpam-263	393	11	mobile	mobile	ADJ
ejpam-263	393	12	networks	network	NOUN
ejpam-263	393	13	.	.	PUNCT
ejpam-263	394	1	in	in	ADP
ejpam-263	394	2	procs	proc	NOUN
ejpam-263	394	3	.	.	PUNCT
ejpam-263	395	1	of	of	ADP
ejpam-263	395	2	the	the	DET
ejpam-263	395	3	42nd	42nd	PROPN
ejpam-263	395	4	ieee	ieee	NOUN
ejpam-263	395	5	conference	conference	NOUN
ejpam-263	395	6	on	on	ADP
ejpam-263	395	7	decision	decision	NOUN
ejpam-263	395	8	and	and	CCONJ
ejpam-263	395	9	control	control	NOUN
ejpam-263	395	10	,	,	PUNCT
ejpam-263	395	11	volume	volume	NOUN
ejpam-263	395	12	2	2	NUM
ejpam-263	395	13	,	,	PUNCT
ejpam-263	395	14	pages	page	NOUN
ejpam-263	395	15	2022–2028	2022–2028	NUM
ejpam-263	395	16	,	,	PUNCT
ejpam-263	395	17	maui	maui	PROPN
ejpam-263	395	18	,	,	PUNCT
ejpam-263	395	19	hawaii	hawaii	PROPN
ejpam-263	395	20	,	,	PUNCT
ejpam-263	395	21	december	december	PROPN
ejpam-263	395	22	2003	2003	NUM
ejpam-263	395	23	.	.	PUNCT
ejpam-263	396	1	[	[	X
ejpam-263	396	2	19	19	NUM
ejpam-263	396	3	]	]	X
ejpam-263	396	4	j.	j.	PROPN
ejpam-263	396	5	vanualailai	vanualailai	PROPN
ejpam-263	396	6	,	,	PUNCT
ejpam-263	396	7	b.	b.	PROPN
ejpam-263	396	8	sharma	sharma	PROPN
ejpam-263	396	9	,	,	PUNCT
ejpam-263	396	10	and	and	CCONJ
ejpam-263	396	11	a.	a.	PROPN
ejpam-263	396	12	ali	ali	PROPN
ejpam-263	396	13	.	.	PUNCT
ejpam-263	397	1	lyapunov	lyapunov	PROPN
ejpam-263	397	2	-	-	PUNCT
ejpam-263	397	3	based	base	VERB
ejpam-263	397	4	kinematic	kinematic	ADJ
ejpam-263	397	5	path	path	NOUN
ejpam-263	397	6	planning	planning	NOUN
ejpam-263	397	7	for	for	ADP
ejpam-263	397	8	a	a	DET
ejpam-263	397	9	3	3	NUM
ejpam-263	397	10	-	-	PUNCT
ejpam-263	397	11	link	link	NOUN
ejpam-263	397	12	planar	planar	ADJ
ejpam-263	397	13	robot	robot	NOUN
ejpam-263	397	14	arm	arm	NOUN
ejpam-263	397	15	in	in	ADP
ejpam-263	397	16	a	a	DET
ejpam-263	397	17	structured	structured	ADJ
ejpam-263	397	18	environment	environment	NOUN
ejpam-263	397	19	.	.	PUNCT
ejpam-263	398	1	global	global	ADJ
ejpam-263	398	2	journal	journal	PROPN
ejpam-263	398	3	of	of	ADP
ejpam-263	398	4	pure	pure	ADJ
ejpam-263	398	5	and	and	CCONJ
ejpam-263	398	6	applied	applied	ADJ
ejpam-263	398	7	mathematics	mathematic	NOUN
ejpam-263	398	8	,	,	PUNCT
ejpam-263	398	9	3(2):175–190	3(2):175–190	NUM
ejpam-263	398	10	,	,	PUNCT
ejpam-263	398	11	2007	2007	NUM
ejpam-263	398	12	.	.	PUNCT