id	sid	eid	entity	type
fcis-22590	1	1	2832-6024	DATE
fcis-22590	2	1	8	CARDINAL
fcis-22590	2	2	3	CARDINAL
fcis-22590	2	3	2024 22	DATE
fcis-22590	2	4	jiang 1	PERSON
fcis-22590	2	5	qiwu wu 2	PERSON
fcis-22590	2	6	weicong tan 3	PERSON
fcis-22590	2	7	tao tong 2	PERSON
fcis-22590	2	8	weiyi zhang	PERSON
fcis-22590	2	9	2 1	CARDINAL
fcis-22590	2	10	university of pap	ORG
fcis-22590	2	11	xi’an	GPE
fcis-22590	2	12	shaanxi	GPE
fcis-22590	2	13	710086	DATE
fcis-22590	2	14	china 2	ORG
fcis-22590	2	15	university of pap	ORG
fcis-22590	2	16	xi’an	GPE
fcis-22590	2	17	shaanxi	GPE
fcis-22590	2	18	710086	DATE
fcis-22590	2	19	china 3	ORG
fcis-22590	2	20	university of pap	ORG
fcis-22590	2	21	xi’an	GPE
fcis-22590	2	22	shaanxi	GPE
fcis-22590	2	23	710086	DATE
fcis-22590	2	24	china	GPE
fcis-22590	2	25	weicong tan	PERSON
fcis-22590	2	26	uav	ORG
fcis-22590	3	1	firstly	ORDINAL
fcis-22590	3	2	uav	ORG
fcis-22590	3	3	uav	ORG
fcis-22590	5	1	uav	ORG
fcis-22590	7	1	uav	ORG
fcis-22590	9	1	1	CARDINAL
fcis-22590	11	1	uav	ORG
fcis-22590	12	1	uav	ORG
fcis-22590	13	1	2	CARDINAL
fcis-22590	14	1	uav	ORG
fcis-22590	24	1	algorithm[10-12	ORG
fcis-22590	25	1	3	CARDINAL
fcis-22590	25	2	uav	ORG
fcis-22590	25	3	uav	ORG
fcis-22590	25	4	uav	ORG
fcis-22590	26	1	firstly	ORDINAL
fcis-22590	27	1	uav	ORG
fcis-22590	30	1	second	ORDINAL
fcis-22590	33	1	uav	ORG
fcis-22590	34	1	third	ORDINAL
fcis-22590	34	2	uav	ORG
fcis-22590	34	3	uav	ORG
fcis-22590	34	4	23	CARDINAL
fcis-22590	36	1	fourth	ORDINAL
fcis-22590	40	1	4	CARDINAL
fcis-22590	40	2	uav	ORG
fcis-22590	40	3	uav	ORG
fcis-22590	41	1	1	CARDINAL
fcis-22590	43	1	dijkstra	PERSON
fcis-22590	43	2	dijkstra's	ORG
fcis-22590	52	1	fig	ORG
fcis-22590	53	1	2	CARDINAL
fcis-22590	53	2	uav	ORG
fcis-22590	54	1	1	CARDINAL
fcis-22590	54	2	24	CARDINAL
fcis-22590	54	3	2	CARDINAL
fcis-22590	54	4	uav	ORG
fcis-22590	54	5	5	CARDINAL
fcis-22590	55	1	uav	ORG
fcis-22590	55	2	uav	ORG
fcis-22590	56	1	uav	ORG
fcis-22590	59	1	uav	ORG
fcis-22590	61	1	2023086	DATE
fcis-22590	61	2	2024 29	DATE
fcis-22590	62	1	201905	DATE
fcis-22590	63	1	202144	DATE
fcis-22590	63	2	no.wj2020a020048	ORG
fcis-22590	64	1	wj 2021a030100	PERSON
fcis-22590	65	1	1	CARDINAL
fcis-22590	65	2	guo y, liu x	PERSON
fcis-22590	65	3	zhang w	PERSON
fcis-22590	66	1	3d	CARDINAL
fcis-22590	66	2	uav	ORG
fcis-22590	66	3	field[j	ORG
fcis-22590	67	1	xibei	ORG
fcis-22590	67	2	xuebao/journal of northwestern polytechnical university	ORG
fcis-22590	67	3	2020	DATE
fcis-22590	67	4	38(5	CARDINAL
fcis-22590	67	5	977	CARDINAL
fcis-22590	68	1	2	CARDINAL
fcis-22590	68	2	wang l	PERSON
fcis-22590	68	3	liu y	PERSON
fcis-22590	69	1	3d	CARDINAL
fcis-22590	70	1	2022	CARDINAL
fcis-22590	70	2	19(5): 17298806221118867	DATE
fcis-22590	71	1	3	CARDINAL
fcis-22590	71	2	zhao y,	PERSON
fcis-22590	71	3	zheng z	PERSON
fcis-22590	71	4	liu y.	PERSON
fcis-22590	71	5	uav	ORG
fcis-22590	72	1	2018	DATE
fcis-22590	72	2	158	CARDINAL
fcis-22590	72	3	54	CARDINAL
fcis-22590	73	1	4	CARDINAL
fcis-22590	74	1	uav	ORG
fcis-22590	76	1	2023	CARDINAL
fcis-22590	76	2	7(2	DATE
fcis-22590	76	3	123	CARDINAL
fcis-22590	77	1	5	CARDINAL
fcis-22590	77	2	deng w	PERSON
fcis-22590	77	3	chen r	PERSON
fcis-22590	78	1	two	CARDINAL
fcis-22590	79	1	2012	DATE
fcis-22590	79	2	16	CARDINAL
fcis-22590	79	3	1707-1722	CARDINAL
fcis-22590	80	1	6	CARDINAL
fcis-22590	80	2	wang p	PERSON
fcis-22590	80	3	zhang y	PERSON
fcis-22590	81	1	2017	CARDINAL
fcis-22590	81	2	544549	CARDINAL
fcis-22590	82	1	7	CARDINAL
fcis-22590	82	2	li	PERSON
fcis-22590	82	3	yang s.	PERSON
fcis-22590	83	1	2017	CARDINAL
fcis-22590	83	2	33	CARDINAL
fcis-22590	83	3	1-17	CARDINAL
fcis-22590	84	1	8	CARDINAL
fcis-22590	84	2	yinggao yue	PERSON
fcis-22590	84	3	li cao	PERSON
fcis-22590	84	4	haishao chen	PERSON
fcis-22590	84	5	yaodan chen	PERSON
fcis-22590	84	6	zhonggen su	PERSON
fcis-22590	84	7	2023	CARDINAL
fcis-22590	85	1	8	DATE
fcis-22590	86	1	3	CARDINAL
fcis-22590	86	2	306	CARDINAL
fcis-22590	87	1	9	CARDINAL
fcis-22590	87	2	cao li	PERSON
fcis-22590	87	3	wang z	PERSON
fcis-22590	87	4	wang z	PERSON
fcis-22590	87	5	wang x	PERSON
fcis-22590	87	6	yinggao yue*	PERSON
fcis-22590	90	1	2023	CARDINAL
fcis-22590	90	2	8(2):231	DATE
fcis-22590	91	1	10	CARDINAL
fcis-22590	91	2	wang m.	PERSON
fcis-22590	91	3	uav	ORG
fcis-22590	92	1	2024	DATE
fcis-22590	92	2	14(1	DATE
fcis-22590	92	3	366	CARDINAL
fcis-22590	93	1	11	CARDINAL
fcis-22590	93	2	wang y	PERSON
fcis-22590	93	3	li	PERSON
fcis-22590	95	1	2022	CARDINAL
fcis-22590	95	2	246	CARDINAL
fcis-22590	95	3	108713	DATE
fcis-22590	96	1	12	CARDINAL
fcis-22590	96	2	jiaqi s	PERSON
fcis-22590	96	3	li t	PERSON
fcis-22590	99	1	2022	CARDINAL
fcis-22590	99	2	104	CARDINAL
fcis-22590	99	3	108377	DATE