id	sid	eid	entity	type
fcis-32123	1	1	2832-6024	DATE
fcis-32123	2	1	14	DATE
fcis-32123	2	2	1	CARDINAL
fcis-32123	2	3	2025 30	DATE
fcis-32123	2	4	uav	ORG
fcis-32123	2	5	chuqiao cheng	PERSON
fcis-32123	2	6	mary school	PERSON
fcis-32123	2	7	hainan	GPE
fcis-32123	2	8	beijing university	ORG
fcis-32123	2	9	lingshui li	PERSON
fcis-32123	2	10	hainan province	GPE
fcis-32123	2	11	china	GPE
fcis-32123	2	12	uav	ORG
fcis-32123	3	1	firstly	ORDINAL
fcis-32123	5	1	three	CARDINAL
fcis-32123	5	2	multi-uav	ORG
fcis-32123	9	1	1	CARDINAL
fcis-32123	9	2	uav	ORG
fcis-32123	12	1	recent years	DATE
fcis-32123	12	2	uav	ORG
fcis-32123	13	1	first	ORDINAL
fcis-32123	13	2	1	CARDINAL
fcis-32123	14	1	second	ORDINAL
fcis-32123	14	2	uav	ORG
fcis-32123	15	1	2	CARDINAL
fcis-32123	16	1	3	CARDINAL
fcis-32123	17	1	uavs	ORG
fcis-32123	18	1	uav	ORG
fcis-32123	19	1	firstly	ORDINAL
fcis-32123	19	2	secondly	ORDINAL
fcis-32123	19	3	three	CARDINAL
fcis-32123	19	4	uav	ORG
fcis-32123	21	1	2	CARDINAL
fcis-32123	22	1	1	CARDINAL
fcis-32123	23	1	firstly	ORDINAL
fcis-32123	24	1	secondly	ORDINAL
fcis-32123	24	2	31	CARDINAL
fcis-32123	26	1	multi-uas	ORG
fcis-32123	28	1	1	CARDINAL
fcis-32123	28	2	uav	ORG
fcis-32123	38	1	3	CARDINAL
fcis-32123	38	2	uav	ORG
fcis-32123	38	3	3.1	CARDINAL
fcis-32123	39	1	uavs	ORG
fcis-32123	43	1	zhang yuntao	PERSON
fcis-32123	43	2	zero	CARDINAL
fcis-32123	44	1	zero	CARDINAL
fcis-32123	44	2	19.98%	PERCENT
fcis-32123	44	3	4	CARDINAL
fcis-32123	45	1	li yang et al	PERSON
fcis-32123	45	2	3d	CARDINAL
fcis-32123	45	3	more than 35%	PERCENT
fcis-32123	46	1	5	CARDINAL
fcis-32123	47	1	3.2	CARDINAL
fcis-32123	48	1	multi-uav	ORG
fcis-32123	49	1	uav	ORG
fcis-32123	51	1	tailin zhou	PERSON
fcis-32123	52	1	uavs	ORG
fcis-32123	52	2	65% to 85%	PERCENT
fcis-32123	52	3	20%	PERCENT
fcis-32123	53	1	6	CARDINAL
fcis-32123	54	1	wan et al	PERSON
fcis-32123	54	2	32	CARDINAL
fcis-32123	54	3	three	CARDINAL
fcis-32123	54	4	6 s	QUANTITY
fcis-32123	54	5	7	CARDINAL
fcis-32123	55	1	0.5	CARDINAL
fcis-32123	55	2	6s	CARDINAL
fcis-32123	55	3	7	CARDINAL
fcis-32123	56	1	3.3	CARDINAL
fcis-32123	58	1	uav	ORG
fcis-32123	61	1	zhou et al.	PERSON
fcis-32123	63	1	30%	PERCENT
fcis-32123	63	2	20.2%	PERCENT
fcis-32123	63	3	200-node	QUANTITY
fcis-32123	63	4	14%	PERCENT
fcis-32123	63	5	8	CARDINAL
fcis-32123	65	1	zero	CARDINAL
fcis-32123	65	2	3	CARDINAL
fcis-32123	65	3	37%	PERCENT
fcis-32123	65	4	18%	PERCENT
fcis-32123	67	1	9	CARDINAL
fcis-32123	68	1	4	CARDINAL
fcis-32123	68	2	4.1	CARDINAL
fcis-32123	70	1	first	ORDINAL
fcis-32123	71	1	uav	ORG
fcis-32123	72	1	second	ORDINAL
fcis-32123	76	1	4.2	CARDINAL
fcis-32123	82	1	uav intelligences	ORG
fcis-32123	84	1	5	CARDINAL
fcis-32123	84	2	uav	ORG
fcis-32123	85	1	firstly	ORDINAL
fcis-32123	86	1	secondly	ORDINAL
fcis-32123	86	2	three	CARDINAL
fcis-32123	87	1	uav	ORG
fcis-32123	88	1	1	CARDINAL
fcis-32123	88	2	zhang r	PERSON
fcis-32123	88	3	chen l	PERSON
fcis-32123	89	1	2023	CARDINAL
fcis-32123	89	2	5891-5904	DATE
fcis-32123	90	1	33	CARDINAL
fcis-32123	91	1	2	CARDINAL
fcis-32123	91	2	kaufmann e	ORG
fcis-32123	93	1	2020	DATE
fcis-32123	93	2	6(59	CARDINAL
fcis-32123	93	3	eabg5810	PERSON
fcis-32123	94	1	3	CARDINAL
fcis-32123	94	2	wang l	PERSON
fcis-32123	94	3	wang s.	PERSON
fcis-32123	95	1	2022	CARDINAL
fcis-32123	95	2	131	CARDINAL
fcis-32123	95	3	107989	DATE
fcis-32123	96	1	4	CARDINAL
fcis-32123	96	2	zhang yuntai	PERSON
fcis-32123	97	1	uav obstacle avoidance	ORG
fcis-32123	98	1	southeast university	ORG
fcis-32123	98	2	2022	CARDINAL
fcis-32123	99	1	5	CARDINAL
fcis-32123	99	2	li yang	PERSON
fcis-32123	99	3	wang chen	PERSON
fcis-32123	99	4	zhang wei	PERSON
fcis-32123	99	5	3d	CARDINAL
fcis-32123	99	6	uav	ORG
fcis-32123	99	7	ddpg	ORG
fcis-32123	100	1	journal of northwestern polytechnical university	ORG
fcis-32123	100	2	2022	CARDINAL
fcis-32123	100	3	901-908	CARDINAL
fcis-32123	101	1	6	CARDINAL
fcis-32123	101	2	zhou tailin	PERSON
fcis-32123	102	1	uav	ORG
fcis-32123	103	1	zhejiang normal university	ORG
fcis-32123	103	2	2025	DATE
fcis-32123	104	1	wan kaifang	PERSON
fcis-32123	104	2	li xiang	PERSON
fcis-32123	104	3	wang zili	PERSON
fcis-32123	106	1	acta aeronautica	PERSON
fcis-32123	106	2	astronautica sinica	ORG
fcis-32123	106	3	2025	DATE
fcis-32123	106	4	46(2	CARDINAL
fcis-32123	106	5	1-10	DATE
fcis-32123	107	1	8	CARDINAL
fcis-32123	107	2	zhou j	PERSON
fcis-32123	107	3	liu m l	PERSON
fcis-32123	107	4	zhao y f	PERSON
fcis-32123	107	5	uav	ORG
fcis-32123	108	1	2021	CARDINAL
fcis-32123	108	2	1699-1703	DATE
fcis-32123	109	1	9	CARDINAL
fcis-32123	109	2	ayan ö	ORG
fcis-32123	109	3	göktepe e	PERSON
fcis-32123	110	1	uav	ORG
fcis-32123	111	1	2021	CARDINAL
fcis-32123	111	2	2	CARDINAL
fcis-32123	111	3	1171-1187	CARDINAL