id	sid	eid	entity	type
fcis-32671	1	1	2832-6024	DATE
fcis-32671	2	1	14	DATE
fcis-32671	2	2	2	CARDINAL
fcis-32671	2	3	2025 55	DATE
fcis-32671	2	4	yisheng zeng * school	PERSON
fcis-32671	2	5	nanchang vocational university	ORG
fcis-32671	2	6	nanchang	GPE
fcis-32671	2	7	jiangxi	GPE
fcis-32671	2	8	330500	DATE
fcis-32671	2	9	china	GPE
fcis-32671	8	1	1.	CARDINAL
fcis-32671	8	2	uav	ORG
fcis-32671	8	3	1	CARDINAL
fcis-32671	9	1	smart city logistics	ORG
fcis-32671	10	1	multi-uav	ORG
fcis-32671	11	1	uav	ORG
fcis-32671	12	1	uav	ORG
fcis-32671	19	1	2	CARDINAL
fcis-32671	20	1	dubin curve-based	PERSON
fcis-32671	21	1	3	CARDINAL
fcis-32671	22	1	recent years	DATE
fcis-32671	23	1	4	CARDINAL
fcis-32671	26	1	first	ORDINAL
fcis-32671	26	2	second	ORDINAL
fcis-32671	27	1	third	ORDINAL
fcis-32671	28	1	56	CARDINAL
fcis-32671	30	1	2	CARDINAL
fcis-32671	30	2	multi-uav	ORG
fcis-32671	30	3	5	CARDINAL
fcis-32671	31	1	1+1>2	DATE
fcis-32671	32	1	6	CARDINAL
fcis-32671	34	1	four	CARDINAL
fcis-32671	34	2	8	CARDINAL
fcis-32671	35	1	uavs	ORG
fcis-32671	39	1	three	CARDINAL
fcis-32671	39	2	1	CARDINAL
fcis-32671	44	1	multi-uav	ORG
fcis-32671	45	1	uav technology	ORG
fcis-32671	45	2	1	CARDINAL
fcis-32671	45	3	9	CARDINAL
fcis-32671	45	4	3	CARDINAL
fcis-32671	46	1	uav	ORG
fcis-32671	49	1	integer linear	ORG
fcis-32671	52	1	57	CARDINAL
fcis-32671	53	1	10	CARDINAL
fcis-32671	65	1	4	CARDINAL
fcis-32671	65	2	4.1	CARDINAL
fcis-32671	68	1	inter-uav	ORG
fcis-32671	70	1	11	CARDINAL
fcis-32671	74	1	prm	ORG
fcis-32671	78	1	12	CARDINAL
fcis-32671	81	1	hundreds	CARDINAL
fcis-32671	81	2	boid	ORG
fcis-32671	85	1	4.2	CARDINAL
fcis-32671	86	1	mpc	ORG
fcis-32671	87	1	13	CARDINAL
fcis-32671	88	1	5	CARDINAL
fcis-32671	88	2	5.1	CARDINAL
fcis-32671	89	1	three	CARDINAL
fcis-32671	90	1	three	CARDINAL
fcis-32671	90	2	14	CARDINAL
fcis-32671	92	1	first	ORDINAL
fcis-32671	92	2	first	ORDINAL
fcis-32671	93	1	first	ORDINAL
fcis-32671	95	1	58	CARDINAL
fcis-32671	97	1	1	CARDINAL
fcis-32671	97	2	1	CARDINAL
fcis-32671	99	1	first	ORDINAL
fcis-32671	108	1	5.2	CARDINAL
fcis-32671	109	1	two	CARDINAL
fcis-32671	114	1	59	CARDINAL
fcis-32671	116	1	2	CARDINAL
fcis-32671	116	2	kulkarni & srivastava	ORG
fcis-32671	116	3	2022	CARDINAL
fcis-32671	117	1	15	CARDINAL
fcis-32671	117	2	6	CARDINAL
fcis-32671	130	1	khamis	NORP
fcis-32671	130	2	hussein, a., & elmogy	ORG
fcis-32671	130	3	a.	PERSON
fcis-32671	130	4	2015	CARDINAL
fcis-32671	132	1	66	CARDINAL
fcis-32671	132	2	3	CARDINAL
fcis-32671	133	1	2	CARDINAL
fcis-32671	133	2	h. l.	PERSON
fcis-32671	133	3	l., &amp	ORG
fcis-32671	133	4	j. p.	PERSON
fcis-32671	133	5	2009	DATE
fcis-32671	135	1	912	CARDINAL
fcis-32671	136	1	3	CARDINAL
fcis-32671	136	2	t., de moor	ORG
fcis-32671	136	3	feron	ORG
fcis-32671	136	4	e., & how	ORG
fcis-32671	136	5	j. p.	PERSON
fcis-32671	136	6	2001	DATE
fcis-32671	138	1	2001	DATE
fcis-32671	138	2	american	NORP
fcis-32671	139	1	4	CARDINAL
fcis-32671	139	2	& zavlanos	PERSON
fcis-32671	139	3	m. m.	PERSON
fcis-32671	139	4	2020	DATE
fcis-32671	141	1	36(2	CARDINAL
fcis-32671	141	2	351	CARDINAL
fcis-32671	142	1	5	CARDINAL
fcis-32671	142	2	s.	PERSON
fcis-32671	143	1	2011	DATE
fcis-32671	144	1	reynolds	PERSON
fcis-32671	146	1	6	CARDINAL
fcis-32671	146	2	2018	DATE
fcis-32671	149	1	w.	PERSON
fcis-32671	149	2	ren	PERSON
fcis-32671	149	3	w., &	ORG
fcis-32671	149	4	chen	PERSON
fcis-32671	149	5	2013	DATE
fcis-32671	151	1	9(1	CARDINAL
fcis-32671	151	2	427	CARDINAL
fcis-32671	152	1	8	CARDINAL
fcis-32671	152	2	a.	PERSON
fcis-32671	152	3	2021	CARDINAL
fcis-32671	154	1	ieee robotics & automation	ORG
fcis-32671	155	1	60	CARDINAL
fcis-32671	156	1	9	CARDINAL
fcis-32671	156	2	m., & ergüner	ORG
fcis-32671	156	3	ö	ORG
fcis-32671	157	1	2019	CARDINAL
fcis-32671	159	1	1-20	CARDINAL
fcis-32671	160	1	intechopen	PERSON
fcis-32671	161	1	10	CARDINAL
fcis-32671	161	2	duan, h., & qiao	ORG
fcis-32671	161	3	2014	DATE
fcis-32671	164	1	11	CARDINAL
fcis-32671	164	2	m. h.	PERSON
fcis-32671	164	3	1998	DATE
fcis-32671	166	1	robotics andautonomous systems	ORG
fcis-32671	166	2	23(3	CARDINAL
fcis-32671	166	3	125	CARDINAL
fcis-32671	167	1	12	CARDINAL
fcis-32671	167	2	a., & roy	ORG
fcis-32671	167	3	n.	PERSON
fcis-32671	167	4	2016	DATE
fcis-32671	169	1	35(7	CARDINAL
fcis-32671	169	2	787-798	QUANTITY
fcis-32671	170	1	13	CARDINAL
fcis-32671	170	2	kushleyev	ORG
fcis-32671	170	3	a.	PERSON
fcis-32671	170	4	d.	NORP
fcis-32671	170	5	kumar	PERSON
fcis-32671	170	6	2013	DATE
fcis-32671	172	1	35(4	CARDINAL
fcis-32671	172	2	287-300	CARDINAL
fcis-32671	173	1	14	CARDINAL
fcis-32671	173	2	m. b.	PERSON
fcis-32671	173	3	r.	NORP
fcis-32671	173	4	kalra	GPE
fcis-32671	173	5	n., & stentz	ORG
fcis-32671	173	6	a.	PERSON
fcis-32671	173	7	2006	DATE
fcis-32671	175	1	94(7	CARDINAL
fcis-32671	175	2	1257-1270	CARDINAL
fcis-32671	176	1	15	CARDINAL
fcis-32671	176	2	s.	PERSON
fcis-32671	176	3	2022	CARDINAL
fcis-32671	178	1	2(1	CARDINAL
fcis-32671	178	2	1-16	CARDINAL