id	sid	eid	entity	type
fcis-20715	1	1	2832-6024	DATE
fcis-20715	2	1	8	CARDINAL
fcis-20715	2	2	1	CARDINAL
fcis-20715	2	3	2024 58	DATE
fcis-20715	2	4	zijing ouyang	PERSON
fcis-20715	2	5	sheng xu	PERSON
fcis-20715	2	6	chengyue su school	PERSON
fcis-20715	2	7	guangdong university of technology	ORG
fcis-20715	2	8	guangzhou	GPE
fcis-20715	2	9	guangdong	GPE
fcis-20715	2	10	510006	DATE
fcis-20715	2	11	china	GPE
fcis-20715	7	1	three	CARDINAL
fcis-20715	12	1	uav	ORG
fcis-20715	13	1	1	CARDINAL
fcis-20715	15	1	recent years	DATE
fcis-20715	17	1	2007	DATE
fcis-20715	17	2	hoffmann g	PERSON
fcis-20715	18	1	1	CARDINAL
fcis-20715	19	1	2008	DATE
fcis-20715	19	2	bouktir	GPE
fcis-20715	20	1	2	CARDINAL
fcis-20715	21	1	2011	DATE
fcis-20715	21	2	uav	ORG
fcis-20715	21	3	3	CARDINAL
fcis-20715	23	1	4	CARDINAL
fcis-20715	24	1	5	CARDINAL
fcis-20715	24	2	ea	CARDINAL
fcis-20715	25	1	linear	ORG
fcis-20715	27	1	6	CARDINAL
fcis-20715	28	1	7	CARDINAL
fcis-20715	29	1	11,12	CARDINAL
fcis-20715	30	1	13	CARDINAL
fcis-20715	31	1	14	CARDINAL
fcis-20715	33	1	mpc	ORG
fcis-20715	34	1	chapter two	LAW
fcis-20715	35	1	chapter three	LAW
fcis-20715	36	1	chapter four	LAW
fcis-20715	37	1	chapter five	LAW
fcis-20715	38	1	2	CARDINAL
fcis-20715	38	2	uav	ORG
fcis-20715	39	1	uav	ORG
fcis-20715	39	2	mt=1.5kg	PERSON
fcis-20715	40	1	uav	ORG
fcis-20715	40	2	59	CARDINAL
fcis-20715	40	3	uav	ORG
fcis-20715	41	1	four	CARDINAL
fcis-20715	41	2	uav	ORG
fcis-20715	41	3	dt=600mm	PERSON
fcis-20715	41	4	uav	ORG
fcis-20715	42	1	uav	ORG
fcis-20715	43	1	four	CARDINAL
fcis-20715	43	2	uav	ORG
fcis-20715	43	3	1	CARDINAL
fcis-20715	43	4	4	CARDINAL
fcis-20715	44	1	one	CARDINAL
fcis-20715	46	1	uav	ORG
fcis-20715	46	2	uav	ORG
fcis-20715	46	3	uav	ORG
fcis-20715	46	4	z	ORG
fcis-20715	46	5	uav	ORG
fcis-20715	48	1	uav	ORG
fcis-20715	48	2	gog	ORG
fcis-20715	52	1	1	CARDINAL
fcis-20715	53	1	2	CARDINAL
fcis-20715	58	1	3 3	CARDINAL
fcis-20715	58	2	3 3	CARDINAL
fcis-20715	59	1		ORG
fcis-20715	59	2	3	CARDINAL
fcis-20715	61	1	sin cos cos sin r cos sin cos cos	ORG
fcis-20715	61	2	sin cos cos sin	ORG
fcis-20715	62	1	sin cos sin cos cos 	ORG
fcis-20715	62	2		GPE
fcis-20715	62	3	 	PERSON
fcis-20715	62	4		PERSON
fcis-20715	62	5		PERSON
fcis-20715	62	6		GPE
fcis-20715	62	7		GPE
fcis-20715	62	8		PERSON
fcis-20715	62	9		GPE
fcis-20715	62	10		PERSON
fcis-20715	63	1		PERSON
fcis-20715	63	2		GPE
fcis-20715	63	3		PERSON
fcis-20715	63	4		PERSON
fcis-20715	63	5	  	PERSON
fcis-20715	64	1	4	CARDINAL
fcis-20715	64	2	0	CARDINAL
fcis-20715	64	3		GPE
fcis-20715	64	4	  	PERSON
fcis-20715	64	5		GPE
fcis-20715	64	6		PERSON
fcis-20715	64	7		DATE
fcis-20715	64	8		PERSON
fcis-20715	64	9	5	CARDINAL
fcis-20715	70	1	 	PERSON
fcis-20715	70	2		NORP
fcis-20715	72	1		DATE
fcis-20715	72	2	 	PERSON
fcis-20715	72	3	0	CARDINAL
fcis-20715	72	4	 	PERSON
fcis-20715	72	5	6	CARDINAL
fcis-20715	72	6	60	CARDINAL
fcis-20715	73	1		ORG
fcis-20715	74	1		ORG
fcis-20715	75	1		ORG
fcis-20715	76	1		ORG
fcis-20715	76	2	2	CARDINAL
fcis-20715	76	3	2	CARDINAL
fcis-20715	76	4	t3	ORG
fcis-20715	76	5	t4	GPE
fcis-20715	76	6	t	CARDINAL
fcis-20715	76	7	t3	ORG
fcis-20715	76	8	t4	GPE
fcis-20715	76	9	2 2 2	QUANTITY
fcis-20715	76	10	t4	GPE
fcis-20715	76	11	2	CARDINAL
fcis-20715	76	12	t3	ORG
fcis-20715	76	13	2 2	CARDINAL
fcis-20715	76	14	t4	GPE
fcis-20715	76	15	2	CARDINAL
fcis-20715	76	16	t4	GPE
fcis-20715	76	17	t4	GPE
fcis-20715	76	18	3	CARDINAL
fcis-20715	77	1	0 α+	PERCENT
fcis-20715	77	2	-w	ORG
fcis-20715	80	1	wc	ORG
fcis-20715	80	2		ORG
fcis-20715	80	3	7	CARDINAL
fcis-20715	81	1	uav	ORG
fcis-20715	82	1	3	CARDINAL
fcis-20715	82	2	uav	ORG
fcis-20715	82	3	two	CARDINAL
fcis-20715	82	4	uav	PRODUCT
fcis-20715	84	1	mpc	ORG
fcis-20715	87	1	mpc	ORG
fcis-20715	88	1	3.1	CARDINAL
fcis-20715	88	2	uav	ORG
fcis-20715	88	3	2	CARDINAL
fcis-20715	90	1	binormal	PERSON
fcis-20715	91	1	three	CARDINAL
fcis-20715	92	1	uav	ORG
fcis-20715	93	1	zero	CARDINAL
fcis-20715	93	2	2	CARDINAL
fcis-20715	93	3	3-1	CARDINAL
fcis-20715	97	1	uav	ORG
fcis-20715	98	1	1 2 3	CARDINAL
fcis-20715	98	2	ucos cos tan cos /	ORG
fcis-20715	98	3	uk	GPE
fcis-20715	99	1	 	PERSON
fcis-20715	99	2		PERSON
fcis-20715	99	3		ORG
fcis-20715	99	4		PERSON
fcis-20715	99	5		PERSON
fcis-20715	107	1	9	CARDINAL
fcis-20715	109	1		NORP
fcis-20715	109	2	cos sin	PERSON
fcis-20715	112	1	9	CARDINAL
fcis-20715	112	2	10	CARDINAL
fcis-20715	112	3	r 	ORG
fcis-20715	112	4	x	PERSON
fcis-20715	114	1	r 	ORG
fcis-20715	114	2	x	PERSON
fcis-20715	115	1	10	CARDINAL
fcis-20715	115	2	1 (11	CARDINAL
fcis-20715	115	3	kb	ORG
fcis-20715	116	1	61	CARDINAL
fcis-20715	116	2	35	CARDINAL
fcis-20715	116	3	69	CARDINAL
fcis-20715	116	4	0 1 / f	QUANTITY
fcis-20715	121	1	 ka	PERSON
fcis-20715	121	2	1 2	CARDINAL
fcis-20715	121	3	 kb	PERSON
fcis-20715	121	4	16 26	CARDINAL
fcis-20715	121	5	66	CARDINAL
fcis-20715	121	6	tcos / cos	ORG
fcis-20715	122	1	yk zk	PERSON
fcis-20715	123	1	tuka tuka tuka tqa	PERSON
fcis-20715	124	1		DATE
fcis-20715	124	2		ORG
fcis-20715	124	3	12	CARDINAL
fcis-20715	126	1		PERSON
fcis-20715	126	2	13	CARDINAL
fcis-20715	126	3	2 1	DATE
fcis-20715	126	4	1	CARDINAL
fcis-20715	126	5	2	CARDINAL
fcis-20715	126	6	1	CARDINAL
fcis-20715	126	7	1	CARDINAL
fcis-20715	126	8	1	CARDINAL
fcis-20715	126	9	1	CARDINAL
fcis-20715	133	1		PERSON
fcis-20715	134	1	14	CARDINAL
fcis-20715	135	1	nc	GPE
fcis-20715	135	2	np	ORG
fcis-20715	135	3	nc	GPE
fcis-20715	136	1	14	CARDINAL
fcis-20715	136	2	kb	ORG
fcis-20715	136	3	ku	PERSON
fcis-20715	136	4	kc	PERSON
fcis-20715	136	5	3 9	CARDINAL
fcis-20715	136	6	k k k  	PERSON
fcis-20715	136	7		ORG
fcis-20715	137	1	3 k k	QUANTITY
fcis-20715	138	1		ORG
fcis-20715	139	1	1)k	CARDINAL
fcis-20715	139	2	3 9k c	QUANTITY
fcis-20715	140	1	15	CARDINAL
fcis-20715	140	2	2 1	DATE
fcis-20715	140	3	1	CARDINAL
fcis-20715	140	4	2	CARDINAL
fcis-20715	140	5	1	CARDINAL
fcis-20715	140	6	1	CARDINAL
fcis-20715	143	1	k k	PERSON
fcis-20715	159	1		PERSON
fcis-20715	161	1	16	CARDINAL
fcis-20715	161	2	17	CARDINAL
fcis-20715	161	3	1	CARDINAL
fcis-20715	161	4	2	CARDINAL
fcis-20715	161	5	3	CARDINAL
fcis-20715	161	6	1	CARDINAL
fcis-20715	162	1	k k kk k n	PERSON
fcis-20715	162	2	y y yy y	PERSON
fcis-20715	162	3	2 3	CARDINAL
fcis-20715	164	1		ORG
fcis-20715	164	2		DATE
fcis-20715	164	3	2	CARDINAL
fcis-20715	169	1	k kk	PERSON
fcis-20715	170	1	k k	PERSON
fcis-20715	172	1	k k k   	PERSON
fcis-20715	172	2		DATE
fcis-20715	172	3	 k	PERSON
fcis-20715	172	4	0	CARDINAL
fcis-20715	172	5	0	CARDINAL
fcis-20715	172	6	0	CARDINAL
fcis-20715	172	7	0	CARDINAL
fcis-20715	172	8		DATE
fcis-20715	172	9	18	CARDINAL
fcis-20715	173	1	max min max δ	PERSON
fcis-20715	173	2	0,1	CARDINAL
fcis-20715	173	3	1	CARDINAL
fcis-20715	173	4	0,1	CARDINAL
fcis-20715	173	5	1	CARDINAL
fcis-20715	173	6	k k n 	PERSON
fcis-20715	175	1	19	CARDINAL
fcis-20715	175	2	close to zero	CARDINAL
fcis-20715	177	1	1	CARDINAL
fcis-20715	177	2	1	CARDINAL
fcis-20715	177	3	t tk k k k  	PERSON
fcis-20715	177	4	qy u r u	PERSON
fcis-20715	177	5	20	CARDINAL
fcis-20715	177	6	1 2	CARDINAL
fcis-20715	178	1		DATE
fcis-20715	178	2		PERSON
fcis-20715	179	1	1 2 3	CARDINAL
fcis-20715	179	2	nc	GPE
fcis-20715	180	1		DATE
fcis-20715	180	2		PERSON
fcis-20715	180	3	21	CARDINAL
fcis-20715	180	4	mpc	ORG
fcis-20715	181	1	62	CARDINAL
fcis-20715	181	2	1	CARDINAL
fcis-20715	181	3	1	CARDINAL
fcis-20715	181	4	k k k k 	PERSON
fcis-20715	181	5	qy u r u	PERSON
fcis-20715	181	6	22	CARDINAL
fcis-20715	181	7	mpc	ORG
fcis-20715	181	8	3.2	CARDINAL
fcis-20715	182	1	uav	ORG
fcis-20715	183	1	1 2	CARDINAL
fcis-20715	184	1	  	PERSON
fcis-20715	184	2	k diag(k k k	PERSON
fcis-20715	185	1	23	CARDINAL
fcis-20715	185	2	uav	ORG
fcis-20715	185	3	v z	PERSON
fcis-20715	185	4	2	CARDINAL
fcis-20715	185	5	2	CARDINAL
fcis-20715	185	6	1,2,3 2	DATE
fcis-20715	188	1	24	CARDINAL
fcis-20715	191	1	uav	ORG
fcis-20715	191	2	1 2f	CARDINAL
fcis-20715	193	1	k s k sgn s w h	ORG
fcis-20715	195	1	 	PERSON
fcis-20715	195	2	 	PERSON
fcis-20715	195	3	25	CARDINAL
fcis-20715	195	4	1 11	CARDINAL
fcis-20715	195	5	iag	ORG
fcis-20715	195	6	0k	CARDINAL
fcis-20715	195	7	k k k 	PERSON
fcis-20715	195	8	2 21	DATE
fcis-20715	195	9	0k	CARDINAL
fcis-20715	195	10	k k k 	PERSON
fcis-20715	195	11	2 1	DATE
fcis-20715	195	12	ik s ik k	PERSON
fcis-20715	195	13	1 0k	TIME
fcis-20715	195	14	2 0k	TIME
fcis-20715	195	15	2	CARDINAL
fcis-20715	195	16	3	CARDINAL
fcis-20715	195	17	t t t / 2	ORG
fcis-20715	195	18	 	PERSON
fcis-20715	195	19	26	CARDINAL
fcis-20715	196	1	0v	CARDINAL
fcis-20715	197	1		PERSON
fcis-20715	198	1	w w	ORG
fcis-20715	198	2	27	CARDINAL
fcis-20715	200	1	4.	CARDINAL
fcis-20715	201	1	4.1	CARDINAL
fcis-20715	201	2	uav	ORG
fcis-20715	201	3	3	CARDINAL
fcis-20715	202	1	uav	ORG
fcis-20715	202	2	uav	ORG
fcis-20715	203	1	uav	ORG
fcis-20715	203	2	zero	CARDINAL
fcis-20715	204	1	100 seconds	TIME
fcis-20715	205	1	uav	ORG
fcis-20715	206	1	uav	ORG
fcis-20715	206	2	5	CARDINAL
fcis-20715	207	1	0 1.5	CARDINAL
fcis-20715	210	1	0.1	CARDINAL
fcis-20715	210	2	0.5	CARDINAL
fcis-20715	211	1	63	CARDINAL
fcis-20715	211	2	1	CARDINAL
fcis-20715	211	3	1	CARDINAL
fcis-20715	212	1	0.6	CARDINAL
fcis-20715	214	1	0.2	CARDINAL
fcis-20715	214	2	0.04	CARDINAL
fcis-20715	214	3	0.04	CARDINAL
fcis-20715	216	1	1	CARDINAL
fcis-20715	216	2	0.2	CARDINAL
fcis-20715	216	3	0.2	CARDINAL
fcis-20715	216	4	10	CARDINAL
fcis-20715	216	5	nc	GPE
fcis-20715	216	6	3 q7	QUANTITY
fcis-20715	216	7	1	CARDINAL
fcis-20715	216	8	0.6	CARDINAL
fcis-20715	217	1	0.04	CARDINAL
fcis-20715	217	2	0.04	CARDINAL
fcis-20715	218	1	-1	ORG
fcis-20715	218	2	0.2	CARDINAL
fcis-20715	218	3	0.2	CARDINAL
fcis-20715	218	4	1	CARDINAL
fcis-20715	218	5	1	CARDINAL
fcis-20715	218	6	1	CARDINAL
fcis-20715	218	7	0.1 q6	QUANTITY
fcis-20715	218	8	1	CARDINAL
fcis-20715	218	9	2 q4	CARDINAL
fcis-20715	218	10	3	CARDINAL
fcis-20715	218	11	1	CARDINAL
fcis-20715	218	12	1	CARDINAL
fcis-20715	218	13	1	CARDINAL
fcis-20715	219	1	los+pid	ORG
fcis-20715	219	2	1 1	CARDINAL
fcis-20715	219	3	0.1	CARDINAL
fcis-20715	219	4	20	CARDINAL
fcis-20715	219	5	7	CARDINAL
fcis-20715	219	6	6	CARDINAL
fcis-20715	219	7	3.5	CARDINAL
fcis-20715	219	8	2.5	CARDINAL
fcis-20715	219	9	4	CARDINAL
fcis-20715	219	10	3.5	CARDINAL
fcis-20715	219	11	2.5	CARDINAL
fcis-20715	219	12	4	CARDINAL
fcis-20715	220	1	u x z	PERSON
fcis-20715	224	1		PERSON
fcis-20715	224	2		NORP
fcis-20715	224	3		GPE
fcis-20715	224	4		GPE
fcis-20715	224	5		NORP
fcis-20715	224	6		GPE
fcis-20715	224	7		GPE
fcis-20715	225	1		PERSON
fcis-20715	225	2		PERSON
fcis-20715	225	3	28	CARDINAL
fcis-20715	225	4	4.2	CARDINAL
fcis-20715	227	1	15	CARDINAL
fcis-20715	227	2	120 100	QUANTITY
fcis-20715	228	1		GPE
fcis-20715	228	2		PERSON
fcis-20715	228	3		PERSON
fcis-20715	228	4	29	CARDINAL
fcis-20715	229	1	uav	ORG
fcis-20715	229	2	4	CARDINAL
fcis-20715	230	1	64	CARDINAL
fcis-20715	231	1	uav	ORG
fcis-20715	232	1	uav	ORG
fcis-20715	233	1	uav	ORG
fcis-20715	235	1	uav	ORG
fcis-20715	235	2	5	CARDINAL
fcis-20715	236	1	uav	ORG
fcis-20715	238	1	uav	ORG
fcis-20715	239	1	uav	ORG
fcis-20715	245	1	65	CARDINAL
fcis-20715	245	2	los+pid	ORG
fcis-20715	247	1	6	CARDINAL
fcis-20715	248	1	4.3	CARDINAL
fcis-20715	249	1	three	CARDINAL
fcis-20715	250	1	25	CARDINAL
fcis-20715	251	1	y cos t z	ORG
fcis-20715	251	2		GPE
fcis-20715	251	3		PERSON
fcis-20715	251	4		ORG
fcis-20715	251	5		PERSON
fcis-20715	251	6	30	CARDINAL
fcis-20715	252	1	66	CARDINAL
fcis-20715	253	1	uav	ORG
fcis-20715	253	2	7	CARDINAL
fcis-20715	255	1	uav	ORG
fcis-20715	256	1	uav	ORG
fcis-20715	256	2	los+pid	ORG
fcis-20715	257	1	uav	ORG
fcis-20715	258	1	uav	ORG
fcis-20715	259	1	uav	ORG
fcis-20715	260	1	uav	ORG
fcis-20715	261	1	uav	ORG
fcis-20715	261	2	los+pid	ORG
fcis-20715	262	1	uav	ORG
fcis-20715	263	1	uav	ORG
fcis-20715	264	1	uav	ORG
fcis-20715	264	2	los+pid	ORG
fcis-20715	265	1	uav	ORG
fcis-20715	266	1	los+pid	ORG
fcis-20715	267	1	three	CARDINAL
fcis-20715	268	1	67	CARDINAL
fcis-20715	269	1	uav 5	ORG
fcis-20715	269	2	uav	ORG
fcis-20715	270	1	uav	ORG
fcis-20715	274	1	uav	ORG
fcis-20715	274	2	los+pid	ORG
fcis-20715	275	1	uav	ORG
fcis-20715	276	1	uav	ORG
fcis-20715	277	1	1	CARDINAL
fcis-20715	277	2	tomlin	PERSON
fcis-20715	277	3	j. quadrotor	ORG
fcis-20715	278	1	2008	DATE
fcis-20715	279	1	1-14	CARDINAL
fcis-20715	280	1	2	CARDINAL
fcis-20715	280	2	haddad m	PERSON
fcis-20715	280	3	chettibi	NORP
fcis-20715	280	4	2008 16th	DATE
fcis-20715	281	1	2008	DATE
fcis-20715	281	2	1258-1263	DATE
fcis-20715	282	1	3	CARDINAL
fcis-20715	282	2	zhang y	PERSON
fcis-20715	283	1	2012	DATE
fcis-20715	283	2	48(4	CARDINAL
fcis-20715	283	3	2832-2848	DATE
fcis-20715	284	1	4	CARDINAL
fcis-20715	284	2	uav	ORG
fcis-20715	285	1	2022	CARDINAL
fcis-20715	285	2	123	CARDINAL
fcis-20715	285	3	455	CARDINAL
fcis-20715	286	1	5	CARDINAL
fcis-20715	286	2	m.r. mortazavi, a. naghash	PERSON
fcis-20715	286	3	f-16	ORG
fcis-20715	286	4	ea	CARDINAL
fcis-20715	286	5	232	CARDINAL
fcis-20715	286	6	10	CARDINAL
fcis-20715	286	7	2018	DATE
fcis-20715	286	8	1831–1843	DATE
fcis-20715	287	1	6	CARDINAL
fcis-20715	287	2	2002	DATE
fcis-20715	288	1	12(9):797–839	CARDINAL
fcis-20715	289	1	7	CARDINAL
fcis-20715	289	2	antonelli g	PERSON
fcis-20715	289	3	chiaverini s	PERSON
fcis-20715	289	4	fusco g	PERSON
fcis-20715	289	5	2003	DATE
fcis-20715	290	1	ieee trans	ORG
fcis-20715	290	2	technol 11(2):221–232	PERSON
fcis-20715	291	1	8	CARDINAL
fcis-20715	291	2	li jh	PERSON
fcis-20715	291	3	lee pm	PERSON
fcis-20715	291	4	2005	DATE
fcis-20715	293	1	9	CARDINAL
fcis-20715	293	2	zhang lj	PERSON
fcis-20715	293	3	pang yj	PERSON
fcis-20715	293	4	2009	DATE
fcis-20715	293	5	auv	ORG
fcis-20715	295	1	10	CARDINAL
fcis-20715	295	2	lekkas	PERSON
fcis-20715	295	3	2017	CARDINAL
fcis-20715	295	4	68	CARDINAL
fcis-20715	296	1	31(4):445–463	ORG
fcis-20715	297	1	11	CARDINAL
fcis-20715	297	2	liu j	PERSON
fcis-20715	297	3	zhao hy	PERSON
fcis-20715	297	4	wang yq	PERSON
fcis-20715	297	5	2014	DATE
fcis-20715	297	6	2d	DATE
fcis-20715	298	1	2014:1–6	CARDINAL
fcis-20715	299	1	12	CARDINAL
fcis-20715	299	2	xu j	PERSON
fcis-20715	299	3	wang m	PERSON
fcis-20715	299	4	qiao l (	ORG
fcis-20715	300	1	eng	GPE
fcis-20715	301	1	13	CARDINAL
fcis-20715	301	2	lai xz	PERSON
fcis-20715	301	3	yang sx	PERSON
fcis-20715	301	4	wu	PERSON
fcis-20715	301	5	2015	CARDINAL
fcis-20715	302	1	26(8):1929–1938	CARDINAL
fcis-20715	303	1	14	CARDINAL
fcis-20715	303	2	yang gy	PERSON
fcis-20715	303	3	peng y	PERSON
fcis-20715	303	4	2017	CARDINAL
fcis-20715	304	1	2017:1–15	CARDINAL