id	sid	eid	entity	type
fcis-7514	1	1	2832-6024	DATE
fcis-7514	2	1	3	CARDINAL
fcis-7514	2	2	2	CARDINAL
fcis-7514	2	3	2023 74	DATE
fcis-7514	2	4	three	CARDINAL
fcis-7514	2	5	uav	ORG
fcis-7514	2	6	chen*	PERSON
fcis-7514	2	7	qinyu liu	PERSON
fcis-7514	2	8	xiaohan cong	PERSON
fcis-7514	2	9	xiuhuan dong	PERSON
fcis-7514	2	10	yuanyuan zhang college	PERSON
fcis-7514	2	11	tianjin university of technology	ORG
fcis-7514	2	12	tianjin 300222	ORG
fcis-7514	2	13	china	GPE
fcis-7514	2	14	chen	PERSON
fcis-7514	2	15	1642426596@qq.com	CARDINAL
fcis-7514	2	16	three	CARDINAL
fcis-7514	2	17	uav	ORG
fcis-7514	6	1	uav	ORG
fcis-7514	7	1	uav	ORG
fcis-7514	8	1	1	CARDINAL
fcis-7514	8	2	uav	ORG
fcis-7514	8	3	1	CARDINAL
fcis-7514	9	1	recent years	DATE
fcis-7514	13	1	uav	ORG
fcis-7514	13	2	2	CARDINAL
fcis-7514	14	1	uav	ORG
fcis-7514	15	1	three	CARDINAL
fcis-7514	15	2	uav	ORG
fcis-7514	15	3	uav	ORG
fcis-7514	16	1	uav	ORG
fcis-7514	17	1	uav	ORG
fcis-7514	18	1	3d	CARDINAL
fcis-7514	18	2	3	CARDINAL
fcis-7514	18	3	4	CARDINAL
fcis-7514	18	4	5	CARDINAL
fcis-7514	18	5	6	CARDINAL
fcis-7514	18	6	8	CARDINAL
fcis-7514	19	1	three	CARDINAL
fcis-7514	20	1	2	CARDINAL
fcis-7514	22	1	three	CARDINAL
fcis-7514	23	1	1	CARDINAL
fcis-7514	23	2	1	CARDINAL
fcis-7514	24	1	uav	ORG
fcis-7514	26	1	1	CARDINAL
fcis-7514	26	2	0.5	CARDINAL
fcis-7514	26	3	0	CARDINAL
fcis-7514	27	1	1	CARDINAL
fcis-7514	28	1	0.5	CARDINAL
fcis-7514	29	1	2	CARDINAL
fcis-7514	29	2	75	CARDINAL
fcis-7514	29	3	2	CARDINAL
fcis-7514	29	4	3	CARDINAL
fcis-7514	29	5	3.1	CARDINAL
fcis-7514	30	1	9	CARDINAL
fcis-7514	31	1	1	CARDINAL
fcis-7514	32	1	1	CARDINAL
fcis-7514	34	1	3.2	CARDINAL
fcis-7514	34	2	3.2.1	CARDINAL
fcis-7514	35	1	f(n	ORG
fcis-7514	35	2	h(n	PERSON
fcis-7514	37	1	2	CARDINAL
fcis-7514	37	2	2	CARDINAL
fcis-7514	37	3	h(n	PERSON
fcis-7514	38	1	h(n	PERSON
fcis-7514	39	1	h(n	PERSON
fcis-7514	39	2	3	CARDINAL
fcis-7514	39	3	𝛼(𝑛	ORG
fcis-7514	40	1	1−	LANGUAGE
fcis-7514	40	2	𝛼(𝑛	ORG
fcis-7514	40	3	𝛽(𝑛	WORK_OF_ART
fcis-7514	40	4	𝛽𝑚𝑖𝑛	DATE
fcis-7514	40	5	3	CARDINAL
fcis-7514	44	1	3.2.2	CARDINAL
fcis-7514	45	1	4	CARDINAL
fcis-7514	46	1	4	CARDINAL
fcis-7514	46	2	0	CARDINAL
fcis-7514	46	3	0.5	CARDINAL
fcis-7514	46	4	0	CARDINAL
fcis-7514	47	1	3.2.3	CARDINAL
fcis-7514	47	2	5	CARDINAL
fcis-7514	48	1	5	CARDINAL
fcis-7514	49	1	3	CARDINAL
fcis-7514	49	2	10	CARDINAL
fcis-7514	50	1	76	CARDINAL
fcis-7514	50	2	uav	ORG
fcis-7514	51	1	3	CARDINAL
fcis-7514	52	1	the white area	LOC
fcis-7514	52	2	3(a	CARDINAL
fcis-7514	52	3	3(b	CARDINAL
fcis-7514	52	4	3(c	CARDINAL
fcis-7514	52	5	3(d	CARDINAL
fcis-7514	52	6	a1-b3-d5	PERSON
fcis-7514	52	7	3(f	CARDINAL
fcis-7514	54	1	3.2.5	CARDINAL
fcis-7514	55	1	1	CARDINAL
fcis-7514	56	1	2	CARDINAL
fcis-7514	57	1	3	CARDINAL
fcis-7514	58	1	4	CARDINAL
fcis-7514	58	2	7	CARDINAL
fcis-7514	58	3	5	CARDINAL
fcis-7514	58	4	5	CARDINAL
fcis-7514	59	1	6	CARDINAL
fcis-7514	59	2	3	CARDINAL
fcis-7514	60	1	7	CARDINAL
fcis-7514	61	1	4	CARDINAL
fcis-7514	61	2	three	CARDINAL
fcis-7514	61	3	100	CARDINAL
fcis-7514	61	4	100	CARDINAL
fcis-7514	61	5	20	CARDINAL
fcis-7514	63	1	1.5	CARDINAL
fcis-7514	63	2	1.5	CARDINAL
fcis-7514	63	3	1	CARDINAL
fcis-7514	63	4	5%	PERCENT
fcis-7514	63	5	10%	PERCENT
fcis-7514	63	6	15%	PERCENT
fcis-7514	63	7	20%	PERCENT
fcis-7514	63	8	25%	PERCENT
fcis-7514	63	9	10	CARDINAL
fcis-7514	64	1	1	CARDINAL
fcis-7514	64	2	25%	PERCENT
fcis-7514	64	3	4	CARDINAL
fcis-7514	64	4	4	CARDINAL
fcis-7514	65	1	4	CARDINAL
fcis-7514	66	1	1	CARDINAL
fcis-7514	66	2	two	CARDINAL
fcis-7514	66	3	5%	PERCENT
fcis-7514	66	4	5.4797 10%	PERCENT
fcis-7514	66	5	15%	PERCENT
fcis-7514	66	6	119.5834	CARDINAL
fcis-7514	66	7	8.9334 20%	PERCENT
fcis-7514	66	8	25%	PERCENT
fcis-7514	66	9	85 120.8548 14.5524	DATE
fcis-7514	66	10	5%	PERCENT
fcis-7514	66	11	10%	PERCENT
fcis-7514	66	12	0.5037 15%	PERCENT
fcis-7514	66	13	20%	PERCENT
fcis-7514	66	14	1.4091 25%	PERCENT
fcis-7514	66	15	11 116.6689	CARDINAL
fcis-7514	66	16	4	CARDINAL
fcis-7514	66	17	25%	PERCENT
fcis-7514	66	18	uav	ORG
fcis-7514	67	1	1	CARDINAL
fcis-7514	68	1	4	CARDINAL
fcis-7514	68	2	25%	PERCENT
fcis-7514	69	1	4	CARDINAL
fcis-7514	71	1	5	CARDINAL
fcis-7514	76	1	1	CARDINAL
fcis-7514	76	2	muchiri g n	PERSON
fcis-7514	76	3	kimathi s.	PERSON
fcis-7514	77	1	2022	CARDINAL
fcis-7514	77	2	280	CARDINAL
fcis-7514	78	1	2	CARDINAL
fcis-7514	78	2	hayes s	PERSON
fcis-7514	78	3	uav	ORG
fcis-7514	78	4	un	ORG
fcis-7514	79	1	2022	CARDINAL
fcis-7514	79	2	45(5	CARDINAL
fcis-7514	79	3	1230-1249	CARDINAL
fcis-7514	80	1	3	CARDINAL
fcis-7514	80	2	chen y, luo g	PERSON
fcis-7514	81	1	uav	ORG
fcis-7514	81	2	theory[j	NORP
fcis-7514	82	1	international journal of systems science	ORG
fcis-7514	82	2	2016	DATE
fcis-7514	82	3	47(6	DATE
fcis-7514	82	4	1407-1420	DATE
fcis-7514	83	1	pandey k k	PERSON
fcis-7514	83	2	8th	ORDINAL
fcis-7514	84	1	2014	DATE
fcis-7514	84	2	39	CARDINAL
fcis-7514	85	1	5	CARDINAL
fcis-7514	85	2	arya r	PERSON
fcis-7514	85	3	3d	CARDINAL
fcis-7514	86	1	2021	CARDINAL
fcis-7514	86	2	12(5	DATE
fcis-7514	86	3	990-1000	CARDINAL
fcis-7514	87	1	6	CARDINAL
fcis-7514	87	2	zhao l.	PERSON
fcis-7514	87	3	four	CARDINAL
fcis-7514	87	4	uav	ORG
fcis-7514	87	5	9th	ORDINAL
fcis-7514	88	1	2017	CARDINAL
fcis-7514	88	2	2	CARDINAL
fcis-7514	88	3	33	CARDINAL
fcis-7514	89	1	7	CARDINAL
fcis-7514	89	2	silva arantes j	PERSON
fcis-7514	89	3	silva arantes m	PERSON
fcis-7514	89	4	motta toledo	PERSON
fcis-7514	89	5	uav	ORG
fcis-7514	90	1	2017	DATE
fcis-7514	90	2	1760008	DATE
fcis-7514	91	1	8	CARDINAL
fcis-7514	91	2	xiang	PERSON
fcis-7514	91	3	wang l.	PERSON
fcis-7514	91	4	uav	ORG
fcis-7514	91	5	2021 7th	DATE
fcis-7514	92	1	2021	CARDINAL
fcis-7514	92	2	289	CARDINAL
fcis-7514	93	1	9	CARDINAL
fcis-7514	93	2	cerezo a.	PERSON
fcis-7514	94	1	2021	CARDINAL
fcis-7514	94	2	7898	DATE
fcis-7514	95	1	10	CARDINAL
fcis-7514	95	2	li y. mobile robot	PERSON
fcis-7514	96	1	iop publishing	ORG
fcis-7514	96	2	2021	CARDINAL
fcis-7514	96	3	012013	DATE
fcis-7514	97	1	11	CARDINAL
fcis-7514	98	1	wu j	PERSON
fcis-7514	98	2	dai j	PERSON
fcis-7514	99	1	3d	CARDINAL
fcis-7514	100	1	2022	CARDINAL
fcis-7514	100	2	236(1	DATE
fcis-7514	100	3	72-81	DATE