id	sid	eid	entity	type
fumecheng-13939	1	1	microsoft	ORG
fumecheng-13939	1	2	13939-72201	DATE
fumecheng-13939	1	3	2025	CARDINAL
fumecheng-13939	1	4	university of niš	ORG
fumecheng-13939	1	5	serbia	GPE
fumecheng-13939	1	6	nc	GPE
fumecheng-13939	1	7	li xu	PERSON
fumecheng-13939	1	8	ningbo university of technology	ORG
fumecheng-13939	1	9	ningbo	GPE
fumecheng-13939	1	10	china	GPE
fumecheng-13939	3	1	uav	ORG
fumecheng-13939	5	1	uav	ORG
fumecheng-13939	6	1	uav	ORG
fumecheng-13939	6	2	first	ORDINAL
fumecheng-13939	10	1	uav	ORG
fumecheng-13939	11	1	uav	ORG
fumecheng-13939	12	1	uav	ORG
fumecheng-13939	13	1	july 31	DATE
fumecheng-13939	13	2	2025	DATE
fumecheng-13939	13	3	december 21	DATE
fumecheng-13939	13	4	2025	CARDINAL
fumecheng-13939	13	5	li xu	PERSON
fumecheng-13939	13	6	ningbo university of technology	ORG
fumecheng-13939	13	7	ningbo	GPE
fumecheng-13939	13	8	315211	DATE
fumecheng-13939	13	9	china e-mail	ORG
fumecheng-13939	13	10	xuli@nbut.edu.cn 2 l. xu 1	PERSON
fumecheng-13939	13	11	recent years	DATE
fumecheng-13939	13	12	uavs	ORG
fumecheng-13939	14	1	uav	ORG
fumecheng-13939	15	1	1-5	CARDINAL
fumecheng-13939	16	1	uav	ORG
fumecheng-13939	16	2	6	CARDINAL
fumecheng-13939	17	1	uav	ORG
fumecheng-13939	17	2	uav	ORG
fumecheng-13939	20	1	8	CARDINAL
fumecheng-13939	21	1	recent years	DATE
fumecheng-13939	21	2	uav	ORG
fumecheng-13939	22	1	dong et al	PERSON
fumecheng-13939	23	1	9	CARDINAL
fumecheng-13939	24	1	liao et al	PERSON
fumecheng-13939	25	1	10	CARDINAL
fumecheng-13939	25	2	uav	ORG
fumecheng-13939	26	1	kang et al	PERSON
fumecheng-13939	27	1	11	CARDINAL
fumecheng-13939	29	1	12	CARDINAL
fumecheng-13939	30	1	yang et al	PERSON
fumecheng-13939	31	1	13	CARDINAL
fumecheng-13939	31	2	uav	ORG
fumecheng-13939	32	1	liu et al	PERSON
fumecheng-13939	33	1	14	CARDINAL
fumecheng-13939	33	2	uav	ORG
fumecheng-13939	34	1	9	CARDINAL
fumecheng-13939	34	2	uav	ORG
fumecheng-13939	35	1	one	CARDINAL
fumecheng-13939	35	2	uav	ORG
fumecheng-13939	36	1	uav	ORG
fumecheng-13939	36	2	uav	ORG
fumecheng-13939	37	1	15-17	CARDINAL
fumecheng-13939	39	1	uav	ORG
fumecheng-13939	40	1	recent years	DATE
fumecheng-13939	40	2	uav	ORG
fumecheng-13939	41	1	uav	ORG
fumecheng-13939	41	2	hasanshahi	GPE
fumecheng-13939	42	1	18	CARDINAL
fumecheng-13939	43	1	yang et al	PERSON
fumecheng-13939	44	1	19	CARDINAL
fumecheng-13939	44	2	uav	ORG
fumecheng-13939	45	1	liu et al	PERSON
fumecheng-13939	46	1	20	CARDINAL
fumecheng-13939	46	2	uav	ORG
fumecheng-13939	46	3	3	CARDINAL
fumecheng-13939	47	1	wang et al	PERSON
fumecheng-13939	48	1	21	CARDINAL
fumecheng-13939	48	2	uav	ORG
fumecheng-13939	49	1	liu et al	PERSON
fumecheng-13939	50	1	22	CARDINAL
fumecheng-13939	51	1	uav	ORG
fumecheng-13939	52	1	recent years	DATE
fumecheng-13939	52	2	uav	ORG
fumecheng-13939	53	1	yu et al	PERSON
fumecheng-13939	54	1	23	CARDINAL
fumecheng-13939	54	2	uav	ORG
fumecheng-13939	56	1	24	CARDINAL
fumecheng-13939	56	2	uav	ORG
fumecheng-13939	57	1	uav	ORG
fumecheng-13939	57	2	uav	ORG
fumecheng-13939	58	1	uav	ORG
fumecheng-13939	58	2	uav	ORG
fumecheng-13939	58	3	uav	ORG
fumecheng-13939	58	4	uav	ORG
fumecheng-13939	59	1	uav	ORG
fumecheng-13939	60	1	uav	ORG
fumecheng-13939	60	2	uav	ORG
fumecheng-13939	61	1	uav	ORG
fumecheng-13939	61	2	uav malfunctions	ORG
fumecheng-13939	63	1	uav	ORG
fumecheng-13939	64	1	two	CARDINAL
fumecheng-13939	64	2	1	CARDINAL
fumecheng-13939	65	1	2	CARDINAL
fumecheng-13939	66	1	3	CARDINAL
fumecheng-13939	68	1	section 2	LAW
fumecheng-13939	68	2	uav	ORG
fumecheng-13939	68	3	uav	ORG
fumecheng-13939	69	1	section 3	LAW
fumecheng-13939	70	1	section 4	LAW
fumecheng-13939	71	1	section 5	LAW
fumecheng-13939	72	1	section 6	LAW
fumecheng-13939	73	1	l. xu 2	PERSON
fumecheng-13939	74	1	uav	ORG
fumecheng-13939	74	2	2.1	CARDINAL
fumecheng-13939	75	1	1	CARDINAL
fumecheng-13939	75	2	1	CARDINAL
fumecheng-13939	76	1	earth	LOC
fumecheng-13939	77	1	2	CARDINAL
fumecheng-13939	77	2	uav	ORG
fumecheng-13939	80	1	zb	ORG
fumecheng-13939	81	1	3	CARDINAL
fumecheng-13939	81	2	euler	PERSON
fumecheng-13939	82	1		CARDINAL
fumecheng-13939	83	1		CARDINAL
fumecheng-13939	85	1		CARDINAL
fumecheng-13939	86	1	zb	ORG
fumecheng-13939	88	1	1	CARDINAL
fumecheng-13939	88	2	5	CARDINAL
fumecheng-13939	88	3	newton	ORG
fumecheng-13939	88	4	second	ORDINAL
fumecheng-13939	88	5	uav	ORG
fumecheng-13939	89	1	1	CARDINAL
fumecheng-13939	89	2	uav	ORG
fumecheng-13939	89	3	uav	ORG
fumecheng-13939	90	1	uav	ORG
fumecheng-13939	90	2		DATE
fumecheng-13939	90	3	2	CARDINAL
fumecheng-13939	91	1	uav	ORG
fumecheng-13939	92	1	ω	ORG
fumecheng-13939	94	1	3	CARDINAL
fumecheng-13939	96	1	4	CARDINAL
fumecheng-13939	96	2	ω	ORG
fumecheng-13939	97	1	ω	ORG
fumecheng-13939	97	2	u	GPE
fumecheng-13939	99	1	5	CARDINAL
fumecheng-13939	99	2	i j	PERSON
fumecheng-13939	99	3	6	CARDINAL
fumecheng-13939	99	4	w	ORG
fumecheng-13939	99	5	zb	ORG
fumecheng-13939	99	6	ω	CARDINAL
fumecheng-13939	99	7	zb	ORG
fumecheng-13939	101	1	3	CARDINAL
fumecheng-13939	102	1	first	ORDINAL
fumecheng-13939	103	1	3	CARDINAL
fumecheng-13939	104	1	6 l. xu u	QUANTITY
fumecheng-13939	104	2	v	PERSON
fumecheng-13939	107	1	7	CARDINAL
fumecheng-13939	107	2	second	ORDINAL
fumecheng-13939	108	1	3	CARDINAL
fumecheng-13939	109	1		PERSON
fumecheng-13939	112	1	y zf f f 	PERSON
fumecheng-13939	114	1	9	CARDINAL
fumecheng-13939	114	2	byf	ORG
fumecheng-13939	115	1	eqs	ORG
fumecheng-13939	115	2	7)-(9	CARDINAL
fumecheng-13939	116	1	1	CARDINAL
fumecheng-13939	117	1	u vr +	ORG
fumecheng-13939	118	1	 	PERSON
fumecheng-13939	118	2	10	CARDINAL
fumecheng-13939	119	1	uav	ORG
fumecheng-13939	119	2	byf	ORG
fumecheng-13939	121	1	10	CARDINAL
fumecheng-13939	121	2	25	CARDINAL
fumecheng-13939	121	3	sin cos cos cos b	ORG
fumecheng-13939	124	1	 	PERSON
fumecheng-13939	124	2	 	PERSON
fumecheng-13939	125	1	 	PERSON
fumecheng-13939	125	2	11	CARDINAL
fumecheng-13939	126	1	11	CARDINAL
fumecheng-13939	126	2	uav	ORG
fumecheng-13939	127	1	uav	ORG
fumecheng-13939	128	1	4	CARDINAL
fumecheng-13939	129	1	first	ORDINAL
fumecheng-13939	130	1	4	CARDINAL
fumecheng-13939	130	2	y zl l l	PERSON
fumecheng-13939	134	1	12	CARDINAL
fumecheng-13939	134	2	zb	ORG
fumecheng-13939	135	1	7	CARDINAL
fumecheng-13939	135	2	l ri pi t	FAC
fumecheng-13939	136	1	  	QUANTITY
fumecheng-13939	136	2	13	CARDINAL
fumecheng-13939	136	3	uav	ORG
fumecheng-13939	136	4	zb	ORG
fumecheng-13939	136	5	uav	ORG
fumecheng-13939	136	6	zb	ORG
fumecheng-13939	137	1	second	ORDINAL
fumecheng-13939	138	1	4	CARDINAL
fumecheng-13939	140	1		PERSON
fumecheng-13939	142	1	14	CARDINAL
fumecheng-13939	143	1	2	CARDINAL
fumecheng-13939	143	2	eqs	ORG
fumecheng-13939	144	1	12-14	CARDINAL
fumecheng-13939	144	2	uav	ORG
fumecheng-13939	144	3	2	CARDINAL
fumecheng-13939	170	1		PERSON
fumecheng-13939	170	2		PERSON
fumecheng-13939	170	3	15	CARDINAL
fumecheng-13939	170	4	bym	ORG
fumecheng-13939	170	5	zb	ORG
fumecheng-13939	171	1	eqs	ORG
fumecheng-13939	171	2	uav	ORG
fumecheng-13939	172	1	uav	ORG
fumecheng-13939	173	1	sin tan cos sin cos ( cos sin	ORG
fumecheng-13939	174	1	 	PERSON
fumecheng-13939	174	2	 	PERSON
fumecheng-13939	174	3	  	PERSON
fumecheng-13939	174	4	 	PERSON
fumecheng-13939	174	5	16	CARDINAL
fumecheng-13939	174	6	eqs	CARDINAL
fumecheng-13939	175	1	11	CARDINAL
fumecheng-13939	175	2	15	CARDINAL
fumecheng-13939	175	3	16	CARDINAL
fumecheng-13939	175	4	uav	ORG
fumecheng-13939	175	5	six-degree-of-freedom	QUANTITY
fumecheng-13939	175	6	uav	ORG
fumecheng-13939	176	1	w	GPE
fumecheng-13939	178	1	26	CARDINAL
fumecheng-13939	178	2	27	CARDINAL
fumecheng-13939	178	3	8 l. xu	QUANTITY
fumecheng-13939	178	4	   x	PERSON
fumecheng-13939	178	5	g x u y cx	PERSON
fumecheng-13939	178	6	17	CARDINAL
fumecheng-13939	178	7	x(t	PERSON
fumecheng-13939	179	1	w	GPE
fumecheng-13939	181	1	y(t	GPE
fumecheng-13939	182	1	u(t	ORG
fumecheng-13939	184	1	17	CARDINAL
fumecheng-13939	185	1	2.2	CARDINAL
fumecheng-13939	185	2	uav	ORG
fumecheng-13939	185	3	section 2.1	LAW
fumecheng-13939	186	1	uav	ORG
fumecheng-13939	187	1	2	CARDINAL
fumecheng-13939	187	2	uav	ORG
fumecheng-13939	195	1	18	CARDINAL
fumecheng-13939	195	2	section 2.1	LAW
fumecheng-13939	195	3	vi	PERSON
fumecheng-13939	196	1	fig	ORG
fumecheng-13939	197	1	1	CARDINAL
fumecheng-13939	197	2	fij	ORG
fumecheng-13939	197	3	9	CARDINAL
fumecheng-13939	197	4	cos cos(	ORG
fumecheng-13939	213	1		PERSON
fumecheng-13939	213	2		PERSON
fumecheng-13939	213	3		PERSON
fumecheng-13939	213	4	19	CARDINAL
fumecheng-13939	213	5	28	CARDINAL
fumecheng-13939	213	6	29	CARDINAL
fumecheng-13939	225	1		NORP
fumecheng-13939	225	2		ORG
fumecheng-13939	225	3		ORG
fumecheng-13939	225	4	20	CARDINAL
fumecheng-13939	225	5	eqs	CARDINAL
fumecheng-13939	226	1	18	CARDINAL
fumecheng-13939	226	2	20	CARDINAL
fumecheng-13939	226	3	uav	ORG
fumecheng-13939	227	1	2.3	CARDINAL
fumecheng-13939	227	2	uav	ORG
fumecheng-13939	227	3	uav	ORG
fumecheng-13939	227	4	one	CARDINAL
fumecheng-13939	227	5	uav	ORG
fumecheng-13939	228	1	uav	ORG
fumecheng-13939	229	1	17	CARDINAL
fumecheng-13939	238	1	  x	PERSON
fumecheng-13939	238	2	g x	PERSON
fumecheng-13939	238	3	21	CARDINAL
fumecheng-13939	238	4	di	ORG
fumecheng-13939	239	1	3	CARDINAL
fumecheng-13939	239	2	uav	ORG
fumecheng-13939	275	1	  	PERSON
fumecheng-13939	275	2		ORG
fumecheng-13939	275	3	 	PERSON
fumecheng-13939	275	4		PERSON
fumecheng-13939	275	5		ORG
fumecheng-13939	275	6	  	PERSON
fumecheng-13939	275	7		PERSON
fumecheng-13939	275	8		ORG
fumecheng-13939	275	9	22	CARDINAL
fumecheng-13939	276	1	uav	PRODUCT
fumecheng-13939	277	1	1 1	CARDINAL
fumecheng-13939	277	2	2 2	DATE
fumecheng-13939	290	1	k e k e dt	PERSON
fumecheng-13939	296	1	  	PERSON
fumecheng-13939	297	1		ORG
fumecheng-13939	297	2		ORG
fumecheng-13939	297	3		ORG
fumecheng-13939	297	4		ORG
fumecheng-13939	297	5	23	CARDINAL
fumecheng-13939	297	6	i=1	GPE
fumecheng-13939	297	7	2	CARDINAL
fumecheng-13939	297	8	10 l. xu	QUANTITY
fumecheng-13939	298	1	vi	PERSON
fumecheng-13939	298	2	uav	ORG
fumecheng-13939	298	3	1 1 2 2	CARDINAL
fumecheng-13939	306	1	k e k e dt e k e k e	PERSON
fumecheng-13939	306	2		DATE
fumecheng-13939	306	3		PERSON
fumecheng-13939	306	4		ORG
fumecheng-13939	306	5		ORG
fumecheng-13939	306	6	24	CARDINAL
fumecheng-13939	307	1	24	CARDINAL
fumecheng-13939	307	2	uav	ORG
fumecheng-13939	307	3	uav	ORG
fumecheng-13939	307	4	uav	ORG
fumecheng-13939	308	1	uav	ORG
fumecheng-13939	308	2	uav	ORG
fumecheng-13939	311	1	17	CARDINAL
fumecheng-13939	312	1	0	CARDINAL
fumecheng-13939	317	1	25	CARDINAL
fumecheng-13939	318	1	uav	ORG
fumecheng-13939	318	2	0	CARDINAL
fumecheng-13939	322	1	26	CARDINAL
fumecheng-13939	322	2	liyi	PERSON
fumecheng-13939	322	3	li	PERSON
fumecheng-13939	324	1	26	CARDINAL
fumecheng-13939	329	1	y ys e k e	PERSON
fumecheng-13939	329	2	y lcx k	PERSON
fumecheng-13939	329	3	27	CARDINAL
fumecheng-13939	330	1	1	CARDINAL
fumecheng-13939	330	2	2	CARDINAL
fumecheng-13939	331	1	28	CARDINAL
fumecheng-13939	332	1	28	CARDINAL
fumecheng-13939	340	1	s s s	PERSON
fumecheng-13939	340	2	29	CARDINAL
fumecheng-13939	340	3	vi	PERSON
fumecheng-13939	341	1	1 1 1 2	QUANTITY
fumecheng-13939	355	1	 	PERSON
fumecheng-13939	355	2	  u	ORG
fumecheng-13939	356	1	30	CARDINAL
fumecheng-13939	356	2	11	CARDINAL
fumecheng-13939	356	3	0	CARDINAL
fumecheng-13939	356	4	sign(si	GPE
fumecheng-13939	358	1	30	CARDINAL
fumecheng-13939	359	1	29	CARDINAL
fumecheng-13939	360	1	25	CARDINAL
fumecheng-13939	360	2	2 1	DATE
fumecheng-13939	360	3	0	CARDINAL
fumecheng-13939	380	1	21	CARDINAL
fumecheng-13939	380	2	1 11	CARDINAL
fumecheng-13939	391	1	32	CARDINAL
fumecheng-13939	391	2	xi1	ORG
fumecheng-13939	391	3	xi2	GPE
fumecheng-13939	392	1	g2(xi(t),ui(t	ORG
fumecheng-13939	394	1	2	CARDINAL
fumecheng-13939	395	1	21	CARDINAL
fumecheng-13939	396	1	2	CARDINAL
fumecheng-13939	399	1	33	CARDINAL
fumecheng-13939	399	2	0	CARDINAL
fumecheng-13939	399	3	0	CARDINAL
fumecheng-13939	400	1	33	CARDINAL
fumecheng-13939	401	1	txi	ORG
fumecheng-13939	401	2	1 1 2n	CARDINAL
fumecheng-13939	404	1	34	CARDINAL
fumecheng-13939	404	2	1	CARDINAL
fumecheng-13939	404	3	 	PERSON
fumecheng-13939	404	4		PERSON
fumecheng-13939	404	5	35	CARDINAL
fumecheng-13939	405	1	32	CARDINAL
fumecheng-13939	405	2	1 1 1	CARDINAL
fumecheng-13939	405	3	22	CARDINAL
fumecheng-13939	414	1	 	PERSON
fumecheng-13939	417	1	y kg	PERSON
fumecheng-13939	417	2	36	CARDINAL
fumecheng-13939	417	3	k = p1 -1p2	PERSON
fumecheng-13939	417	4	12	CARDINAL
fumecheng-13939	417	5	l. xu	PERSON
fumecheng-13939	419	1	36	CARDINAL
fumecheng-13939	420	1	1	CARDINAL
fumecheng-13939	420	2	uav	ORG
fumecheng-13939	420	3	λmin(q1	PERSON
fumecheng-13939	421	1	2lg	ORDINAL
fumecheng-13939	423	1	37	CARDINAL
fumecheng-13939	424	1	1 21 11 1 11 21	TIME
fumecheng-13939	424	2	2	CARDINAL
fumecheng-13939	434	1	 	PERSON
fumecheng-13939	437	1	y kg	PERSON
fumecheng-13939	437	2	37	CARDINAL
fumecheng-13939	437	3	1 1 1 1ˆ	QUANTITY
fumecheng-13939	440	1	 	PERSON
fumecheng-13939	441	1	38	CARDINAL
fumecheng-13939	441	2	1 22	CARDINAL
fumecheng-13939	445	1	39	CARDINAL
fumecheng-13939	445	2	w	ORG
fumecheng-13939	447	1	1 1 1ˆi	CARDINAL
fumecheng-13939	447	2	1 11	CARDINAL
fumecheng-13939	447	3	2	CARDINAL
fumecheng-13939	448	1	 	PERSON
fumecheng-13939	448	2	 	PERSON
fumecheng-13939	450	1	g kg e	PERSON
fumecheng-13939	450	2	1 1	CARDINAL
fumecheng-13939	450	3	2	CARDINAL
fumecheng-13939	450	4	1,l	DATE
fumecheng-13939	453	1	41	CARDINAL
fumecheng-13939	453	2		ORG
fumecheng-13939	453	3	1	GPE
fumecheng-13939	454	1	0y	CARDINAL
fumecheng-13939	454	2	42	CARDINAL
fumecheng-13939	454	3	1 1 1 1v t	QUANTITY
fumecheng-13939	455	1	43	CARDINAL
fumecheng-13939	455	2	1 1 1 11	CARDINAL
fumecheng-13939	455	3	2	CARDINAL
fumecheng-13939	455	4	e	ORG
fumecheng-13939	457	1	k g g	ORG
fumecheng-13939	457	2	44	CARDINAL
fumecheng-13939	458	1	33	CARDINAL
fumecheng-13939	459	1	35	CARDINAL
fumecheng-13939	459	2	1 11	CARDINAL
fumecheng-13939	460	1	45	CARDINAL
fumecheng-13939	460	2	13	CARDINAL
fumecheng-13939	461	1	43	CARDINAL
fumecheng-13939	462	1	44	CARDINAL
fumecheng-13939	462	2	1 21	DATE
fumecheng-13939	462	3	2 2	CARDINAL
fumecheng-13939	462	4	2	CARDINAL
fumecheng-13939	463	1	 	PERSON
fumecheng-13939	463	2		LANGUAGE
fumecheng-13939	464	1	46	CARDINAL
fumecheng-13939	466	1	0	CARDINAL
fumecheng-13939	466	2	0y	CARDINAL
fumecheng-13939	466	3	47	CARDINAL
fumecheng-13939	467	1	40	CARDINAL
fumecheng-13939	467	2	21	CARDINAL
fumecheng-13939	468	1	48	CARDINAL
fumecheng-13939	468	2	10	CARDINAL
fumecheng-13939	470	1	2	CARDINAL
fumecheng-13939	472	1		NORP
fumecheng-13939	472	2	49	DATE
fumecheng-13939	472	3	2	CARDINAL
fumecheng-13939	473	1	1	CARDINAL
fumecheng-13939	473	2	  	PERSON
fumecheng-13939	473	3		ORG
fumecheng-13939	475	1	50	CARDINAL
fumecheng-13939	476	1	49	DATE
fumecheng-13939	477	1	50	CARDINAL
fumecheng-13939	477	2	1 2 3	CARDINAL
fumecheng-13939	479	1	   h	ORG
fumecheng-13939	480	1	51	CARDINAL
fumecheng-13939	480	2	1 3 2	CARDINAL
fumecheng-13939	481	1	52	CARDINAL
fumecheng-13939	482	1	53	CARDINAL
fumecheng-13939	482	2	1 22	CARDINAL
fumecheng-13939	486	1	y y v y y	PERSON
fumecheng-13939	486	2	54	CARDINAL
fumecheng-13939	486	3	l. xu	PERSON
fumecheng-13939	491	1	u	GPE
fumecheng-13939	491	2	55	CARDINAL
fumecheng-13939	491	3	1	CARDINAL
fumecheng-13939	493	1	u	GPE
fumecheng-13939	494	1	56	CARDINAL
fumecheng-13939	494	2	4	CARDINAL
fumecheng-13939	494	3	three	CARDINAL
fumecheng-13939	494	4	one	CARDINAL
fumecheng-13939	494	5	uav	PERSON
fumecheng-13939	494	6	two	CARDINAL
fumecheng-13939	494	7	uav	ORG
fumecheng-13939	496	1	64bit	CARDINAL
fumecheng-13939	499	1	uav	ORG
fumecheng-13939	500	1	uav	ORG
fumecheng-13939	505	1	3	CARDINAL
fumecheng-13939	506	1	uav	PERSON
fumecheng-13939	506	2	two	CARDINAL
fumecheng-13939	506	3	qball-x4	ORG
fumecheng-13939	506	4	qbot2	GPE
fumecheng-13939	507	1	15	CARDINAL
fumecheng-13939	508	1	3	CARDINAL
fumecheng-13939	508	2	uav	ORG
fumecheng-13939	508	3	four	CARDINAL
fumecheng-13939	508	4	four	CARDINAL
fumecheng-13939	511	1	10%	PERCENT
fumecheng-13939	511	2	35 seconds	TIME
fumecheng-13939	512	1	1	CARDINAL
fumecheng-13939	512	2	2.682,0,5]t	CARDINAL
fumecheng-13939	512	3	57	CARDINAL
fumecheng-13939	512	4	1	CARDINAL
fumecheng-13939	512	5	1.753	CARDINAL
fumecheng-13939	512	6	58	CARDINAL
fumecheng-13939	512	7	2	CARDINAL
fumecheng-13939	512	8		PERSON
fumecheng-13939	512	9	59	CARDINAL
fumecheng-13939	512	10	2.682	CARDINAL
fumecheng-13939	512	11	4.211	CARDINAL
fumecheng-13939	512	12	143.234	CARDINAL
fumecheng-13939	512	13	0.4532	MONEY
fumecheng-13939	513	1	60	CARDINAL
fumecheng-13939	513	2	4.1	CARDINAL
fumecheng-13939	514	1	4	CARDINAL
fumecheng-13939	514	2	10%	PERCENT
fumecheng-13939	516	1	uav	ORG
fumecheng-13939	518	1	about 8 seconds	TIME
fumecheng-13939	518	2	uav	ORG
fumecheng-13939	518	3	zero	CARDINAL
fumecheng-13939	520	1	16 l. xu	QUANTITY
fumecheng-13939	521	1	fig	ORG
fumecheng-13939	522	1	4	CARDINAL
fumecheng-13939	522	2	1	CARDINAL
fumecheng-13939	523	1	uav	ORG
fumecheng-13939	526	1	5	CARDINAL
fumecheng-13939	527	1	second	ORDINAL
fumecheng-13939	527	2	35 seconds	TIME
fumecheng-13939	528	1	fig	ORG
fumecheng-13939	529	1	5	CARDINAL
fumecheng-13939	529	2	17	CARDINAL
fumecheng-13939	530	1	6	CARDINAL
fumecheng-13939	530	2	35 seconds	TIME
fumecheng-13939	530	3	10%	PERCENT
fumecheng-13939	532	1	two or three seconds	TIME
fumecheng-13939	532	2	0.7 meters	QUANTITY
fumecheng-13939	534	1	6	CARDINAL
fumecheng-13939	535	1	7	CARDINAL
fumecheng-13939	538	1	4 to 8	CARDINAL
fumecheng-13939	538	2	the first 15 seconds	TIME
fumecheng-13939	538	3	uav	ORG
fumecheng-13939	541	1	7	CARDINAL
fumecheng-13939	541	2	18 l. xu	QUANTITY
fumecheng-13939	543	1	8	CARDINAL
fumecheng-13939	543	2	u4 qbot2-l	PERSON
fumecheng-13939	543	3	qbot2	GPE
fumecheng-13939	543	4	two	CARDINAL
fumecheng-13939	543	5	two-degree-of-freedom	QUANTITY
fumecheng-13939	543	6	qball-x4	ORG
fumecheng-13939	544	1	qbot2-l	ORG
fumecheng-13939	544	2	qbot2	GPE
fumecheng-13939	544	3	qball-x4	ORG
fumecheng-13939	545	1	fig	ORG
fumecheng-13939	546	1	9	CARDINAL
fumecheng-13939	548	1	fig.	DATE
fumecheng-13939	549	1	qbot2-l	ORG
fumecheng-13939	549	2	0.75	CARDINAL
fumecheng-13939	549	3	-0.75	CARDINAL
fumecheng-13939	549	4	-0.75	CARDINAL
fumecheng-13939	549	5	-0.75	CARDINAL
fumecheng-13939	549	6	0.75	CARDINAL
fumecheng-13939	549	7	0.75	CARDINAL
fumecheng-13939	549	8	0.75	CARDINAL
fumecheng-13939	549	9	0.75	CARDINAL
fumecheng-13939	550	1	qbot2	PERSON
fumecheng-13939	550	2	0.1	CARDINAL
fumecheng-13939	550	3	1	CARDINAL
fumecheng-13939	550	4	qball-x4	ORG
fumecheng-13939	550	5	0.8	CARDINAL
fumecheng-13939	550	6	0.45	CARDINAL
fumecheng-13939	550	7	qbot2-l.	PERSON
fumecheng-13939	550	8	qball-x4	PERSON
fumecheng-13939	550	9	uav	ORG
fumecheng-13939	550	10	0.3	CARDINAL
fumecheng-13939	551	1	approximately 0.4 meters	QUANTITY
fumecheng-13939	551	2	-0.1	ORG
fumecheng-13939	551	3	-0.9	ORG
fumecheng-13939	551	4	qbot2-l	ORG
fumecheng-13939	554	1	about 0.4 meters	QUANTITY
fumecheng-13939	555	1	19	CARDINAL
fumecheng-13939	556	1	9	CARDINAL
fumecheng-13939	556	2	4.2	CARDINAL
fumecheng-13939	556	3	two	CARDINAL
fumecheng-13939	556	4	49 seconds	TIME
fumecheng-13939	556	5	105%*u4	DATE
fumecheng-13939	558	1	10-11	CARDINAL
fumecheng-13939	558	2	35 seconds	TIME
fumecheng-13939	559	1	5	CARDINAL
fumecheng-13939	559	2	49 seconds	TIME
fumecheng-13939	560	1	49 seconds	TIME
fumecheng-13939	562	1	fig	ORG
fumecheng-13939	563	1	10	CARDINAL
fumecheng-13939	563	2	two	CARDINAL
fumecheng-13939	563	3	20 l. xu	QUANTITY
fumecheng-13939	564	1	11	CARDINAL
fumecheng-13939	564	2	two	CARDINAL
fumecheng-13939	565	1	12	CARDINAL
fumecheng-13939	565	2	35 seconds	TIME
fumecheng-13939	565	3	49 seconds	TIME
fumecheng-13939	565	4	0.7 meters	QUANTITY
fumecheng-13939	565	5	two	CARDINAL
fumecheng-13939	566	1	fig	ORG
fumecheng-13939	567	1	12	CARDINAL
fumecheng-13939	567	2	two	CARDINAL
fumecheng-13939	568	1	13	CARDINAL
fumecheng-13939	569	1	two	CARDINAL
fumecheng-13939	571	1	21	CARDINAL
fumecheng-13939	572	1	13	CARDINAL
fumecheng-13939	572	2	two	CARDINAL
fumecheng-13939	573	1	14	CARDINAL
fumecheng-13939	573	2	two	CARDINAL
fumecheng-13939	573	3	u4 qbot2-l	PERSON
fumecheng-13939	573	4	qbot2	GPE
fumecheng-13939	573	5	qball-x4	ORG
fumecheng-13939	574	1	fig	ORG
fumecheng-13939	575	1	15	CARDINAL
fumecheng-13939	576	1	22 l. xu	QUANTITY
fumecheng-13939	578	1	fig.	DATE
fumecheng-13939	579	1	15	CARDINAL
fumecheng-13939	579	2	qbot2-l	ORG
fumecheng-13939	579	3	0	CARDINAL
fumecheng-13939	579	4	0	DATE
fumecheng-13939	580	1	9	CARDINAL
fumecheng-13939	581	1	qbot2	PERSON
fumecheng-13939	581	2	0.7	CARDINAL
fumecheng-13939	581	3	qball-x4	ORG
fumecheng-13939	581	4	0	DATE
fumecheng-13939	581	5	qbot2-l.	PERSON
fumecheng-13939	581	6	0.2	CARDINAL
fumecheng-13939	581	7	-1	ORG
fumecheng-13939	581	8	-0.7	LANGUAGE
fumecheng-13939	584	1	uav	PERSON
fumecheng-13939	584	2	uav	ORG
fumecheng-13939	584	3	qball-x4	ORG
fumecheng-13939	585	1	-0.75	CARDINAL
fumecheng-13939	585	2	-0.75	CARDINAL
fumecheng-13939	586	1	the latter half	DATE
fumecheng-13939	587	1	uav qball-x4	ORG
fumecheng-13939	588	1	uav	ORG
fumecheng-13939	589	1	fig	ORG
fumecheng-13939	590	1	15	CARDINAL
fumecheng-13939	590	2	two	CARDINAL
fumecheng-13939	590	3	5	CARDINAL
fumecheng-13939	590	4	uav	ORG
fumecheng-13939	595	1	23	CARDINAL
fumecheng-13939	596	1	uav	ORG
fumecheng-13939	599	1	1	CARDINAL
fumecheng-13939	599	2	s.	GPE
fumecheng-13939	599	3	ahiska	ORG
fumecheng-13939	599	4	k.	PERSON
fumecheng-13939	599	5	2024	DATE
fumecheng-13939	599	6	2024 10th	DATE
fumecheng-13939	599	7	malta	GPE
fumecheng-13939	600	1	158	CARDINAL
fumecheng-13939	601	1	2	CARDINAL
fumecheng-13939	601	2	silva	PERSON
fumecheng-13939	601	3	l.s.	GPE
fumecheng-13939	601	4	santos	PERSON
fumecheng-13939	601	5	d.a.	PERSON
fumecheng-13939	601	6	2020	DATE
fumecheng-13939	601	7	56(6	DATE
fumecheng-13939	602	1	4288-4299	DATE
fumecheng-13939	603	1	3	CARDINAL
fumecheng-13939	603	2	j., kim	PERSON
fumecheng-13939	603	3	kim	PERSON
fumecheng-13939	603	4	s.	PERSON
fumecheng-13939	603	5	tsourdos	GPE
fumecheng-13939	603	6	a.	ORG
fumecheng-13939	603	7	2017	DATE
fumecheng-13939	603	8	53(6	CARDINAL
fumecheng-13939	604	1	2718-2734	CARDINAL
fumecheng-13939	605	1	4	CARDINAL
fumecheng-13939	605	2	shahzad	GPE
fumecheng-13939	605	3	m.m.	GPE
fumecheng-13939	605	4	asad	PERSON
fumecheng-13939	605	5	m.h.	GPE
fumecheng-13939	605	6	yousaf	PERSON
fumecheng-13939	605	7	m.h.	GPE
fumecheng-13939	605	8	2023	CARDINAL
fumecheng-13939	605	9	multirotor	CARDINAL
fumecheng-13939	605	10	2023	CARDINAL
fumecheng-13939	605	11	peshawar	GPE
fumecheng-13939	605	12	pakistan	GPE
fumecheng-13939	606	1	1-7	DATE
fumecheng-13939	606	2	5	CARDINAL
fumecheng-13939	606	3	volovoda	PERSON
fumecheng-13939	606	4	2024	DATE
fumecheng-13939	606	5	uav	ORG
fumecheng-13939	606	6	2024	CARDINAL
fumecheng-13939	606	7	7th	ORDINAL
fumecheng-13939	606	8	kyiv	GPE
fumecheng-13939	606	9	ukraine	GPE
fumecheng-13939	607	1	313	CARDINAL
fumecheng-13939	608	1	6	CARDINAL
fumecheng-13939	609	1	kim	PERSON
fumecheng-13939	609	2	m., lee, h.	PERSON
fumecheng-13939	609	3	hwang	PERSON
fumecheng-13939	609	4	s., debbah	GPE
fumecheng-13939	609	5	m., lee, i.	PERSON
fumecheng-13939	609	6	2024	DATE
fumecheng-13939	609	7	cooperative multiagent	ORG
fumecheng-13939	609	8	3804038053	CARDINAL
fumecheng-13939	610	1	7	CARDINAL
fumecheng-13939	610	2	amhaz	ORG
fumecheng-13939	610	3	a.	PERSON
fumecheng-13939	610	4	elhattab	ORG
fumecheng-13939	610	5	m.	PERSON
fumecheng-13939	610	6	sharafeddine s.	PERSON
fumecheng-13939	610	7	assi	GPE
fumecheng-13939	610	8	c.	PERSON
fumecheng-13939	610	9	2024	DATE
fumecheng-13939	610	10	uav	ORG
fumecheng-13939	611	1	13651-13664	DATE
fumecheng-13939	612	1	8	CARDINAL
fumecheng-13939	613	1	singh	GPE
fumecheng-13939	613	2	c.k.	GPE
fumecheng-13939	613	3	upadhyay	PERSON
fumecheng-13939	613	4	p.k.	GPE
fumecheng-13939	613	5	j.	GPE
fumecheng-13939	613	6	m.	PERSON
fumecheng-13939	613	7	2023	CARDINAL
fumecheng-13939	613	8	uav	ORG
fumecheng-13939	613	9	irs	ORG
fumecheng-13939	613	10	73(1	CARDINAL
fumecheng-13939	614	1	1065-1083	CARDINAL
fumecheng-13939	615	1	9. dong	CARDINAL
fumecheng-13939	615	2	x.w.	GPE
fumecheng-13939	615	3	hua	ORG
fumecheng-13939	615	4	y.z.	GPE
fumecheng-13939	615	5	zhou	PERSON
fumecheng-13939	615	6	ren	PERSON
fumecheng-13939	615	7	z., zhong	PERSON
fumecheng-13939	615	8	y.s.	GPE
fumecheng-13939	615	9	2018	DATE
fumecheng-13939	615	10	multirotor	ORG
fumecheng-13939	615	11	16(1	CARDINAL
fumecheng-13939	616	1	229-240	CARDINAL
fumecheng-13939	617	1	10	CARDINAL
fumecheng-13939	618	1	liao, f., teo	PERSON
fumecheng-13939	618	2	r.	NORP
fumecheng-13939	618	3	wang	GPE
fumecheng-13939	618	4	j.l.	GPE
fumecheng-13939	618	5	dong	PERSON
fumecheng-13939	618	6	x.x.	GPE
fumecheng-13939	618	7	lin f.,	PERSON
fumecheng-13939	618	8	peng	PERSON
fumecheng-13939	618	9	2017	DATE
fumecheng-13939	618	10	vtol uavs	ORG
fumecheng-13939	618	11	control systems technology	ORG
fumecheng-13939	619	1	270-277	CARDINAL
fumecheng-13939	621	1	kang	PERSON
fumecheng-13939	621	2	s.m.	GPE
fumecheng-13939	621	3	park	GPE
fumecheng-13939	621	4	m.c.	GPE
fumecheng-13939	621	5	ahn	GPE
fumecheng-13939	621	6	h.s.	GPE
fumecheng-13939	621	7	2017	DATE
fumecheng-13939	621	8	64(1	CARDINAL
fumecheng-13939	622	1	380-389	CARDINAL
fumecheng-13939	623	1	12	CARDINAL
fumecheng-13939	624	1	belkadi, a.	PERSON
fumecheng-13939	624	2	l.	GPE
fumecheng-13939	624	3	castillo	ORG
fumecheng-13939	624	4	theilliol	TIME
fumecheng-13939	624	5	d.	NORP
fumecheng-13939	624	6	2019	DATE
fumecheng-13939	624	7	uavs	ORG
fumecheng-13939	624	8	55(6	CARDINAL
fumecheng-13939	625	1	2647-2657	CARDINAL
fumecheng-13939	626	1	yang	PERSON
fumecheng-13939	626	2	q.q.	GPE
fumecheng-13939	626	3	chen	PERSON
fumecheng-13939	626	4	j., peng	PERSON
fumecheng-13939	626	5	2023	CARDINAL
fumecheng-13939	626	6	journal of beijing university	ORG
fumecheng-13939	626	7	46(3	CARDINAL
fumecheng-13939	627	1	43	CARDINAL
fumecheng-13939	628	1	14	DATE
fumecheng-13939	629	1	liu	PERSON
fumecheng-13939	629	2	j.y.	GPE
fumecheng-13939	629	3	jiang	GPE
fumecheng-13939	629	4	f.b.	GPE
fumecheng-13939	629	5	peng	PERSON
fumecheng-13939	629	6	y.b.	GPE
fumecheng-13939	629	7	dong, l.	PERSON
fumecheng-13939	629	8	2024	DATE
fumecheng-13939	629	9	43(12	CARDINAL
fumecheng-13939	631	1	15	CARDINAL
fumecheng-13939	632	1	gupta	GPE
fumecheng-13939	632	2	l.	GPE
fumecheng-13939	632	3	jain	GPE
fumecheng-13939	632	4	r.	NORP
fumecheng-13939	632	5	g. vaszkun	PERSON
fumecheng-13939	632	6	g.	PERSON
fumecheng-13939	632	7	2016	DATE
fumecheng-13939	632	8	uav	ORG
fumecheng-13939	632	9	1123-1152	CARDINAL
fumecheng-13939	633	1	16	CARDINAL
fumecheng-13939	634	1	lin	PERSON
fumecheng-13939	634	2	h.w.	GPE
fumecheng-13939	634	3	zhao	PERSON
fumecheng-13939	634	4	b.	PERSON
fumecheng-13939	634	5	liu	PERSON
fumecheng-13939	634	6	d.r.	GPE
fumecheng-13939	634	7	2020	DATE
fumecheng-13939	634	8	affine nonlinear systems	ORG
fumecheng-13939	634	9	automatica sinica	ORG
fumecheng-13939	634	10	7(4	CARDINAL
fumecheng-13939	635	1	954964	DATE
fumecheng-13939	636	1	17	CARDINAL
fumecheng-13939	637	1	patton	ORG
fumecheng-13939	637	2	r.j.	GPE
fumecheng-13939	637	3	frank	PERSON
fumecheng-13939	637	4	clark	PERSON
fumecheng-13939	637	5	r.n.	GPE
fumecheng-13939	637	6	2000	DATE
fumecheng-13939	637	7	london	GPE
fumecheng-13939	638	1	18	CARDINAL
fumecheng-13939	639	1	hasanshahi	GPE
fumecheng-13939	639	2	m., ahmadi	PERSON
fumecheng-13939	639	3	a.a.	GPE
fumecheng-13939	639	4	r.	NORP
fumecheng-13939	639	5	2019	DATE
fumecheng-13939	639	6	2019 6th	DATE
fumecheng-13939	639	7	sanandaj	GPE
fumecheng-13939	639	8	iran	GPE
fumecheng-13939	640	1	1-6	CARDINAL
fumecheng-13939	640	2	l. xu	PERSON
fumecheng-13939	642	1	yang	PERSON
fumecheng-13939	642	2	x.f.	GPE
fumecheng-13939	642	3	hu	PERSON
fumecheng-13939	642	4	x.b.	GPE
fumecheng-13939	642	5	liu	PERSON
fumecheng-13939	642	6	w.	PERSON
fumecheng-13939	642	7	h.	PERSON
fumecheng-13939	642	8	2023	DATE
fumecheng-13939	642	9	uav	ORG
fumecheng-13939	642	10	21(8	CARDINAL
fumecheng-13939	643	1	2623-2633	CARDINAL
fumecheng-13939	645	1	liu	PERSON
fumecheng-13939	645	2	k.	PERSON
fumecheng-13939	645	3	wang	PERSON
fumecheng-13939	645	4	r.j.	PERSON
fumecheng-13939	645	5	zheng	PERSON
fumecheng-13939	645	6	s.j.	PERSON
fumecheng-13939	645	7	dong	PERSON
fumecheng-13939	645	8	s.f.	GPE
fumecheng-13939	645	9	sun	PERSON
fumecheng-13939	645	10	g.w.	GPE
fumecheng-13939	645	11	2022	CARDINAL
fumecheng-13939	645	12	uav	ORG
fumecheng-13939	645	13	107(3	CARDINAL
fumecheng-13939	646	1	2363-2390	DATE
fumecheng-13939	647	1	21	DATE
fumecheng-13939	648	1	wang	PERSON
fumecheng-13939	648	2	z.f.	GPE
fumecheng-13939	648	3	yu	PERSON
fumecheng-13939	648	4	j.g.	PERSON
fumecheng-13939	648	5	lin	PERSON
fumecheng-13939	648	6	s.j.	GPE
fumecheng-13939	648	7	dong	PERSON
fumecheng-13939	648	8	j.g.	PERSON
fumecheng-13939	648	9	yu, z., 2019	PERSON
fumecheng-13939	648	10	7	DATE
fumecheng-13939	648	11	134055-134062	DATE
fumecheng-13939	650	1	liu	PERSON
fumecheng-13939	650	2	k.	PERSON
fumecheng-13939	650	3	wang	PERSON
fumecheng-13939	650	4	r.j.	PERSON
fumecheng-13939	650	5	wang	PERSON
fumecheng-13939	650	6	x.d.	GPE
fumecheng-13939	650	7	wang	PERSON
fumecheng-13939	650	8	x.x.	PERSON
fumecheng-13939	650	9	2021	DATE
fumecheng-13939	650	10	115	CARDINAL
fumecheng-13939	650	11	106790	DATE
fumecheng-13939	651	1	23	CARDINAL
fumecheng-13939	652	1	x.	GPE
fumecheng-13939	652	2	li	PERSON
fumecheng-13939	652	3	zhang	GPE
fumecheng-13939	652	4	y.m.	GPE
fumecheng-13939	652	5	2017	DATE
fumecheng-13939	652	6	uav	ORG
fumecheng-13939	652	7	2017	CARDINAL
fumecheng-13939	652	8	36th	ORDINAL
fumecheng-13939	652	9	chinese	NORP
fumecheng-13939	653	1	7167-7171	DATE
fumecheng-13939	654	1	24	CARDINAL
fumecheng-13939	654	2	m.m.	GPE
fumecheng-13939	654	3	panayiotou	GPE
fumecheng-13939	654	4	c.g.	GPE
fumecheng-13939	654	5	2015	DATE
fumecheng-13939	654	6	2(1	CARDINAL
fumecheng-13939	655	1	11-23	CARDINAL
fumecheng-13939	656	1	wu	PERSON
fumecheng-13939	656	2	s.t.	PERSON
fumecheng-13939	656	3	2013	DATE
fumecheng-13939	657	1	beihang university press	ORG
fumecheng-13939	658	1	26	CARDINAL
fumecheng-13939	659	1	kumar	PERSON
fumecheng-13939	659	2	s., kumar, a.	PERSON
fumecheng-13939	659	3	lee	PERSON
fumecheng-13939	659	4	d.g	PERSON
fumecheng-13939	659	5	2022	DATE
fumecheng-13939	659	6	uav	ORG
fumecheng-13939	659	7	10(24	CARDINAL
fumecheng-13939	659	8	4735	DATE
fumecheng-13939	660	1	27	CARDINAL
fumecheng-13939	661	1	kurdi, h.	ORG
fumecheng-13939	661	2	m.f.	GPE
fumecheng-13939	662	1	al	PERSON
fumecheng-13939	662	2	megren	PERSON
fumecheng-13939	662	3	s.	PERSON
fumecheng-13939	662	4	aloboud	PERSON
fumecheng-13939	662	5	e., aldawood	ORG
fumecheng-13939	662	6	a.s.	GPE
fumecheng-13939	662	7	youcef-toumi	PERSON
fumecheng-13939	662	8	k.	PERSON
fumecheng-13939	662	9	2019	DATE
fumecheng-13939	662	10	83	DATE
fumecheng-13939	662	11	105643-105661	DATE
fumecheng-13939	663	1	28	CARDINAL
fumecheng-13939	663	2	aljalaud, f.	PERSON
fumecheng-13939	663	3	kurdi, h.	ORG
fumecheng-13939	663	4	youcef-toumi	PERSON
fumecheng-13939	663	5	k.	PERSON
fumecheng-13939	663	6	2023	DATE
fumecheng-13939	663	7	11(9	DATE
fumecheng-13939	663	8	2092	CARDINAL
fumecheng-13939	665	1	liu	PERSON
fumecheng-13939	665	2	z.x.	GPE
fumecheng-13939	665	3	yu	PERSON
fumecheng-13939	665	4	x.	GPE
fumecheng-13939	665	5	yuan	GPE
fumecheng-13939	665	6	c., zhang	PERSON
fumecheng-13939	665	7	y.m.	GPE
fumecheng-13939	665	8	2015	DATE
fumecheng-13939	665	9	denver	GPE
fumecheng-13939	665	10	1025-1030	CARDINAL