id	sid	tid	token	lemma	pos
fcis-12444	1	1	frontiers	frontier	NOUN
fcis-12444	1	2	in	in	ADP
fcis-12444	1	3	computing	computing	NOUN
fcis-12444	1	4	and	and	CCONJ
fcis-12444	1	5	intelligent	intelligent	ADJ
fcis-12444	1	6	systems	system	NOUN
fcis-12444	1	7	issn	issn	VERB
fcis-12444	1	8	:	:	PUNCT
fcis-12444	1	9	2832	2832	NUM
fcis-12444	1	10	-	-	SYM
fcis-12444	1	11	6024	6024	NUM
fcis-12444	1	12	|	|	NOUN
fcis-12444	1	13	vol	vol	NOUN
fcis-12444	1	14	.	.	PROPN
fcis-12444	2	1	5	5	NUM
fcis-12444	2	2	,	,	PUNCT
fcis-12444	2	3	no	no	INTJ
fcis-12444	2	4	.	.	NOUN
fcis-12444	2	5	2	2	NUM
fcis-12444	2	6	,	,	PUNCT
fcis-12444	2	7	2023	2023	NUM
fcis-12444	2	8	52	52	NUM
fcis-12444	2	9	research	research	NOUN
fcis-12444	2	10	on	on	ADP
fcis-12444	2	11	the	the	DET
fcis-12444	2	12	bias	bias	NOUN
fcis-12444	2	13	sampling	sample	VERB
fcis-12444	2	14	rrt	rrt	NOUN
fcis-12444	2	15	algorithm	algorithm	NOUN
fcis-12444	2	16	for	for	ADP
fcis-12444	2	17	supermarket	supermarket	NOUN
fcis-12444	2	18	chain	chain	NOUN
fcis-12444	2	19	distribution	distribution	NOUN
fcis-12444	2	20	routes	route	NOUN
fcis-12444	2	21	under	under	ADP
fcis-12444	2	22	the	the	DET
fcis-12444	2	23	o2o	o2o	NOUN
fcis-12444	2	24	model	model	PROPN
fcis-12444	2	25	shi	shi	PROPN
fcis-12444	2	26	zheng	zheng	PROPN
fcis-12444	2	27	school	school	PROPN
fcis-12444	2	28	of	of	ADP
fcis-12444	2	29	economic	economic	ADJ
fcis-12444	2	30	and	and	CCONJ
fcis-12444	2	31	management	management	NOUN
fcis-12444	2	32	,	,	PUNCT
fcis-12444	2	33	dalian	dalian	PROPN
fcis-12444	2	34	university	university	PROPN
fcis-12444	2	35	for	for	ADP
fcis-12444	2	36	minorities	minority	NOUN
fcis-12444	2	37	,	,	PUNCT
fcis-12444	2	38	liaoning	liaoning	PROPN
fcis-12444	2	39	province	province	PROPN
fcis-12444	2	40	dalian	dalian	PROPN
fcis-12444	2	41	development	development	PROPN
fcis-12444	2	42	zone	zone	NOUN
fcis-12444	2	43	,	,	PUNCT
fcis-12444	2	44	116600	116600	NUM
fcis-12444	2	45	,	,	PUNCT
fcis-12444	2	46	china	china	PROPN
fcis-12444	2	47	abstract	abstract	NOUN
fcis-12444	2	48	:	:	PUNCT
fcis-12444	2	49	the	the	DET
fcis-12444	2	50	purpose	purpose	NOUN
fcis-12444	2	51	of	of	ADP
fcis-12444	2	52	this	this	DET
fcis-12444	2	53	article	article	NOUN
fcis-12444	2	54	is	be	AUX
fcis-12444	2	55	to	to	PART
fcis-12444	2	56	propose	propose	VERB
fcis-12444	2	57	the	the	DET
fcis-12444	2	58	bias	bias	NOUN
fcis-12444	2	59	sampling	sample	VERB
fcis-12444	2	60	rrt	rrt	NOUN
fcis-12444	2	61	algorithm	algorithm	NOUN
fcis-12444	2	62	and	and	CCONJ
fcis-12444	2	63	use	use	VERB
fcis-12444	2	64	it	it	PRON
fcis-12444	2	65	as	as	ADP
fcis-12444	2	66	an	an	DET
fcis-12444	2	67	optimization	optimization	NOUN
fcis-12444	2	68	algorithm	algorithm	NOUN
fcis-12444	2	69	for	for	ADP
fcis-12444	2	70	supermarket	supermarket	NOUN
fcis-12444	2	71	chain	chain	NOUN
fcis-12444	2	72	distribution	distribution	NOUN
fcis-12444	2	73	routes	route	NOUN
fcis-12444	2	74	under	under	ADP
fcis-12444	2	75	the	the	DET
fcis-12444	2	76	o2o	o2o	NOUN
fcis-12444	2	77	model	model	NOUN
fcis-12444	2	78	.	.	PUNCT
fcis-12444	3	1	as	as	ADP
fcis-12444	3	2	a	a	DET
fcis-12444	3	3	retail	retail	ADJ
fcis-12444	3	4	store	store	NOUN
fcis-12444	3	5	in	in	ADP
fcis-12444	3	6	the	the	DET
fcis-12444	3	7	transformation	transformation	NOUN
fcis-12444	3	8	and	and	CCONJ
fcis-12444	3	9	upgrading	upgrading	NOUN
fcis-12444	3	10	of	of	ADP
fcis-12444	3	11	chain	chain	NOUN
fcis-12444	3	12	stores	store	NOUN
fcis-12444	3	13	,	,	PUNCT
fcis-12444	3	14	the	the	DET
fcis-12444	3	15	actual	actual	ADJ
fcis-12444	3	16	terrain	terrain	NOUN
fcis-12444	3	17	factors	factor	NOUN
fcis-12444	3	18	in	in	ADP
fcis-12444	3	19	distribution	distribution	NOUN
fcis-12444	3	20	directly	directly	ADV
fcis-12444	3	21	affect	affect	VERB
fcis-12444	3	22	the	the	DET
fcis-12444	3	23	timely	timely	ADJ
fcis-12444	3	24	delivery	delivery	NOUN
fcis-12444	3	25	of	of	ADP
fcis-12444	3	26	goods	good	NOUN
fcis-12444	3	27	from	from	ADP
fcis-12444	3	28	online	online	ADV
fcis-12444	3	29	to	to	PART
fcis-12444	3	30	offline	offline	VERB
fcis-12444	3	31	.	.	PUNCT
fcis-12444	4	1	the	the	DET
fcis-12444	4	2	bias	bias	NOUN
fcis-12444	4	3	sampling	sample	VERB
fcis-12444	4	4	rrt	rrt	NOUN
fcis-12444	4	5	algorithm	algorithm	NOUN
fcis-12444	4	6	,	,	PUNCT
fcis-12444	4	7	as	as	ADP
fcis-12444	4	8	a	a	DET
fcis-12444	4	9	path	path	NOUN
fcis-12444	4	10	search	search	NOUN
fcis-12444	4	11	method	method	NOUN
fcis-12444	4	12	for	for	ADP
fcis-12444	4	13	time	time	NOUN
fcis-12444	4	14	window	window	NOUN
fcis-12444	4	15	vehicle	vehicle	NOUN
fcis-12444	4	16	routing	routing	NOUN
fcis-12444	4	17	problems	problem	NOUN
fcis-12444	4	18	,	,	PUNCT
fcis-12444	4	19	can	can	AUX
fcis-12444	4	20	find	find	VERB
fcis-12444	4	21	the	the	DET
fcis-12444	4	22	optimal	optimal	ADJ
fcis-12444	4	23	path	path	NOUN
fcis-12444	4	24	that	that	PRON
fcis-12444	4	25	meets	meet	VERB
fcis-12444	4	26	time	time	NOUN
fcis-12444	4	27	window	window	NOUN
fcis-12444	4	28	constraints	constraint	NOUN
fcis-12444	4	29	.	.	PUNCT
fcis-12444	5	1	the	the	DET
fcis-12444	5	2	applicability	applicability	NOUN
fcis-12444	5	3	and	and	CCONJ
fcis-12444	5	4	effectiveness	effectiveness	NOUN
fcis-12444	5	5	of	of	ADP
fcis-12444	5	6	the	the	DET
fcis-12444	5	7	bias	bias	NOUN
fcis-12444	5	8	sampling	sample	VERB
fcis-12444	5	9	rrt	rrt	NOUN
fcis-12444	5	10	algorithm	algorithm	NOUN
fcis-12444	5	11	have	have	AUX
fcis-12444	5	12	been	be	AUX
fcis-12444	5	13	demonstrated	demonstrate	VERB
fcis-12444	5	14	through	through	ADP
fcis-12444	5	15	map	map	NOUN
fcis-12444	5	16	simulation	simulation	NOUN
fcis-12444	5	17	calculations	calculation	NOUN
fcis-12444	5	18	.	.	PUNCT
fcis-12444	6	1	the	the	DET
fcis-12444	6	2	simulation	simulation	NOUN
fcis-12444	6	3	results	result	NOUN
fcis-12444	6	4	show	show	VERB
fcis-12444	6	5	that	that	SCONJ
fcis-12444	6	6	compared	compare	VERB
fcis-12444	6	7	with	with	ADP
fcis-12444	6	8	the	the	DET
fcis-12444	6	9	rrt	rrt	NOUN
fcis-12444	6	10	method	method	NOUN
fcis-12444	6	11	,	,	PUNCT
fcis-12444	6	12	the	the	DET
fcis-12444	6	13	bias	bias	NOUN
fcis-12444	6	14	sampling	sample	VERB
fcis-12444	6	15	rrt	rrt	NOUN
fcis-12444	6	16	algorithm	algorithm	NOUN
fcis-12444	6	17	has	have	VERB
fcis-12444	6	18	a	a	DET
fcis-12444	6	19	shorter	short	ADJ
fcis-12444	6	20	distribution	distribution	NOUN
fcis-12444	6	21	path	path	NOUN
fcis-12444	6	22	and	and	CCONJ
fcis-12444	6	23	shorter	short	ADJ
fcis-12444	6	24	distribution	distribution	NOUN
fcis-12444	6	25	time	time	NOUN
fcis-12444	6	26	.	.	PUNCT
fcis-12444	7	1	this	this	DET
fcis-12444	7	2	method	method	NOUN
fcis-12444	7	3	is	be	AUX
fcis-12444	7	4	very	very	ADV
fcis-12444	7	5	suitable	suitable	ADJ
fcis-12444	7	6	for	for	ADP
fcis-12444	7	7	the	the	DET
fcis-12444	7	8	distribution	distribution	NOUN
fcis-12444	7	9	activities	activity	NOUN
fcis-12444	7	10	of	of	ADP
fcis-12444	7	11	chain	chain	NOUN
fcis-12444	7	12	supermarkets	supermarket	NOUN
fcis-12444	7	13	or	or	CCONJ
fcis-12444	7	14	single	single	ADJ
fcis-12444	7	15	store	store	NOUN
fcis-12444	7	16	retail	retail	ADJ
fcis-12444	7	17	enterprises	enterprise	NOUN
fcis-12444	7	18	in	in	ADP
fcis-12444	7	19	the	the	DET
fcis-12444	7	20	complex	complex	ADJ
fcis-12444	7	21	transformation	transformation	NOUN
fcis-12444	7	22	and	and	CCONJ
fcis-12444	7	23	upgrading	upgrading	NOUN
fcis-12444	7	24	of	of	ADP
fcis-12444	7	25	actual	actual	ADJ
fcis-12444	7	26	terrain	terrain	NOUN
fcis-12444	7	27	.	.	PUNCT
fcis-12444	8	1	keywords	keyword	NOUN
fcis-12444	8	2	:	:	PUNCT
fcis-12444	8	3	bias	bias	NOUN
fcis-12444	8	4	sampling	sample	VERB
fcis-12444	8	5	rrt	rrt	NOUN
fcis-12444	8	6	;	;	PUNCT
fcis-12444	8	7	distribution	distribution	NOUN
fcis-12444	8	8	routes	route	NOUN
fcis-12444	8	9	;	;	PUNCT
fcis-12444	8	10	o2o	o2o	NOUN
fcis-12444	8	11	model	model	NOUN
fcis-12444	8	12	.	.	PUNCT
fcis-12444	9	1	1	1	X
fcis-12444	9	2	.	.	X
fcis-12444	9	3	introduction	introduction	NOUN
fcis-12444	9	4	according	accord	VERB
fcis-12444	9	5	to	to	ADP
fcis-12444	9	6	a	a	DET
fcis-12444	9	7	survey	survey	NOUN
fcis-12444	9	8	of	of	ADP
fcis-12444	9	9	five	five	NUM
fcis-12444	9	10	major	major	ADJ
fcis-12444	9	11	supermarket	supermarket	NOUN
fcis-12444	9	12	chains	chain	NOUN
fcis-12444	9	13	implementing	implement	VERB
fcis-12444	9	14	the	the	DET
fcis-12444	9	15	o2o	o2o	NOUN
fcis-12444	9	16	e	e	NOUN
fcis-12444	9	17	-	-	NOUN
fcis-12444	9	18	commerce	commerce	NOUN
fcis-12444	9	19	model	model	NOUN
fcis-12444	9	20	,	,	PUNCT
fcis-12444	9	21	the	the	DET
fcis-12444	9	22	issue	issue	NOUN
fcis-12444	9	23	of	of	ADP
fcis-12444	9	24	timely	timely	ADJ
fcis-12444	9	25	delivery	delivery	NOUN
fcis-12444	9	26	of	of	ADP
fcis-12444	9	27	the	the	DET
fcis-12444	9	28	"	"	PUNCT
fcis-12444	9	29	last	last	ADJ
fcis-12444	9	30	mile	mile	NOUN
fcis-12444	9	31	"	"	PUNCT
fcis-12444	9	32	is	be	AUX
fcis-12444	9	33	a	a	DET
fcis-12444	9	34	"	"	PUNCT
fcis-12444	9	35	stuck	stuck	ADJ
fcis-12444	9	36	neck	neck	NOUN
fcis-12444	9	37	"	"	PUNCT
fcis-12444	9	38	issue	issue	NOUN
fcis-12444	9	39	.	.	PUNCT
fcis-12444	10	1	this	this	DET
fcis-12444	10	2	problem	problem	NOUN
fcis-12444	10	3	can	can	AUX
fcis-12444	10	4	be	be	AUX
fcis-12444	10	5	summarized	summarize	VERB
fcis-12444	10	6	as	as	ADP
fcis-12444	10	7	a	a	DET
fcis-12444	10	8	time	time	NOUN
fcis-12444	10	9	window	window	NOUN
fcis-12444	10	10	vehicle	vehicle	NOUN
fcis-12444	10	11	routing	routing	NOUN
fcis-12444	10	12	problem	problem	NOUN
fcis-12444	10	13	.	.	PUNCT
fcis-12444	11	1	the	the	DET
fcis-12444	11	2	time	time	NOUN
fcis-12444	11	3	window	window	NOUN
fcis-12444	11	4	vehicle	vehicle	NOUN
fcis-12444	11	5	routing	routing	NOUN
fcis-12444	11	6	problem	problem	NOUN
fcis-12444	11	7	refers	refer	VERB
fcis-12444	11	8	to	to	ADP
fcis-12444	11	9	the	the	DET
fcis-12444	11	10	need	need	NOUN
fcis-12444	11	11	to	to	PART
fcis-12444	11	12	allocate	allocate	VERB
fcis-12444	11	13	multiple	multiple	ADJ
fcis-12444	11	14	vehicles	vehicle	NOUN
fcis-12444	11	15	to	to	ADP
fcis-12444	11	16	different	different	ADJ
fcis-12444	11	17	destinations	destination	NOUN
fcis-12444	11	18	for	for	ADP
fcis-12444	11	19	distribution	distribution	NOUN
fcis-12444	11	20	during	during	ADP
fcis-12444	11	21	the	the	DET
fcis-12444	11	22	logistics	logistic	NOUN
fcis-12444	11	23	or	or	CCONJ
fcis-12444	11	24	distribution	distribution	NOUN
fcis-12444	11	25	process	process	NOUN
fcis-12444	11	26	,	,	PUNCT
fcis-12444	11	27	and	and	CCONJ
fcis-12444	11	28	each	each	DET
fcis-12444	11	29	destination	destination	NOUN
fcis-12444	11	30	has	have	VERB
fcis-12444	11	31	a	a	DET
fcis-12444	11	32	specific	specific	ADJ
fcis-12444	11	33	time	time	NOUN
fcis-12444	11	34	window	window	NOUN
fcis-12444	11	35	,	,	PUNCT
fcis-12444	11	36	which	which	PRON
fcis-12444	11	37	specifies	specify	VERB
fcis-12444	11	38	the	the	DET
fcis-12444	11	39	time	time	NOUN
fcis-12444	11	40	range	range	NOUN
fcis-12444	11	41	for	for	SCONJ
fcis-12444	11	42	vehicles	vehicle	NOUN
fcis-12444	11	43	to	to	PART
fcis-12444	11	44	arrive	arrive	VERB
fcis-12444	11	45	at	at	ADP
fcis-12444	11	46	that	that	DET
fcis-12444	11	47	destination	destination	NOUN
fcis-12444	11	48	.	.	PUNCT
fcis-12444	12	1	the	the	DET
fcis-12444	12	2	time	time	NOUN
fcis-12444	12	3	window	window	NOUN
fcis-12444	12	4	issue	issue	NOUN
fcis-12444	12	5	mainly	mainly	ADV
fcis-12444	12	6	involves	involve	VERB
fcis-12444	12	7	the	the	DET
fcis-12444	12	8	time	time	NOUN
fcis-12444	12	9	limit	limit	NOUN
fcis-12444	12	10	for	for	ADP
fcis-12444	12	11	a	a	DET
fcis-12444	12	12	product	product	NOUN
fcis-12444	12	13	to	to	PART
fcis-12444	12	14	reach	reach	VERB
fcis-12444	12	15	the	the	DET
fcis-12444	12	16	final	final	ADJ
fcis-12444	12	17	consumer	consumer	NOUN
fcis-12444	12	18	within	within	ADP
fcis-12444	12	19	a	a	DET
fcis-12444	12	20	specific	specific	ADJ
fcis-12444	12	21	time	time	NOUN
fcis-12444	12	22	period	period	NOUN
fcis-12444	12	23	from	from	ADP
fcis-12444	12	24	the	the	DET
fcis-12444	12	25	production	production	NOUN
fcis-12444	12	26	location	location	NOUN
fcis-12444	12	27	.	.	PUNCT
fcis-12444	13	1	this	this	DET
fcis-12444	13	2	time	time	NOUN
fcis-12444	13	3	limit	limit	NOUN
fcis-12444	13	4	may	may	AUX
fcis-12444	13	5	be	be	AUX
fcis-12444	13	6	determined	determine	VERB
fcis-12444	13	7	by	by	ADP
fcis-12444	13	8	various	various	ADJ
fcis-12444	13	9	factors	factor	NOUN
fcis-12444	13	10	,	,	PUNCT
fcis-12444	13	11	such	such	ADJ
fcis-12444	13	12	as	as	ADP
fcis-12444	13	13	product	product	NOUN
fcis-12444	13	14	shelf	shelf	NOUN
fcis-12444	13	15	life	life	NOUN
fcis-12444	13	16	,	,	PUNCT
fcis-12444	13	17	market	market	NOUN
fcis-12444	13	18	demand	demand	NOUN
fcis-12444	13	19	,	,	PUNCT
fcis-12444	13	20	transportation	transportation	NOUN
fcis-12444	13	21	time	time	NOUN
fcis-12444	13	22	,	,	PUNCT
fcis-12444	13	23	and	and	CCONJ
fcis-12444	13	24	cost	cost	NOUN
fcis-12444	13	25	.	.	PUNCT
fcis-12444	14	1	transportation	transportation	NOUN
fcis-12444	14	2	time	time	NOUN
fcis-12444	14	3	is	be	AUX
fcis-12444	14	4	an	an	DET
fcis-12444	14	5	important	important	ADJ
fcis-12444	14	6	influencing	influence	VERB
fcis-12444	14	7	factor	factor	NOUN
fcis-12444	14	8	,	,	PUNCT
fcis-12444	14	9	and	and	CCONJ
fcis-12444	14	10	the	the	DET
fcis-12444	14	11	selection	selection	NOUN
fcis-12444	14	12	of	of	ADP
fcis-12444	14	13	routes	route	NOUN
fcis-12444	14	14	directly	directly	ADV
fcis-12444	14	15	affects	affect	VERB
fcis-12444	14	16	transportation	transportation	NOUN
fcis-12444	14	17	time	time	NOUN
fcis-12444	14	18	,	,	PUNCT
fcis-12444	14	19	provided	provide	VERB
fcis-12444	14	20	that	that	SCONJ
fcis-12444	14	21	distribution	distribution	NOUN
fcis-12444	14	22	destinations	destination	NOUN
fcis-12444	14	23	are	be	AUX
fcis-12444	14	24	specified	specify	VERB
fcis-12444	14	25	.	.	PUNCT
fcis-12444	15	1	in	in	ADP
fcis-12444	15	2	order	order	NOUN
fcis-12444	15	3	to	to	PART
fcis-12444	15	4	achieve	achieve	VERB
fcis-12444	15	5	the	the	DET
fcis-12444	15	6	optimal	optimal	ADJ
fcis-12444	15	7	distribution	distribution	NOUN
fcis-12444	15	8	strategy	strategy	NOUN
fcis-12444	15	9	and	and	CCONJ
fcis-12444	15	10	schedule	schedule	NOUN
fcis-12444	15	11	,	,	PUNCT
fcis-12444	15	12	enterprises	enterprise	NOUN
fcis-12444	15	13	must	must	AUX
fcis-12444	15	14	ensure	ensure	VERB
fcis-12444	15	15	that	that	SCONJ
fcis-12444	15	16	the	the	DET
fcis-12444	15	17	transportation	transportation	NOUN
fcis-12444	15	18	time	time	NOUN
fcis-12444	15	19	is	be	AUX
fcis-12444	15	20	not	not	PART
fcis-12444	15	21	too	too	ADV
fcis-12444	15	22	long	long	ADJ
fcis-12444	15	23	.	.	PUNCT
fcis-12444	16	1	otherwise	otherwise	ADV
fcis-12444	16	2	,	,	PUNCT
fcis-12444	16	3	if	if	SCONJ
fcis-12444	16	4	the	the	DET
fcis-12444	16	5	product	product	NOUN
fcis-12444	16	6	can	can	AUX
fcis-12444	16	7	not	not	PART
fcis-12444	16	8	reach	reach	VERB
fcis-12444	16	9	consumers	consumer	NOUN
fcis-12444	16	10	within	within	ADP
fcis-12444	16	11	the	the	DET
fcis-12444	16	12	specified	specify	VERB
fcis-12444	16	13	time	time	NOUN
fcis-12444	16	14	,	,	PUNCT
fcis-12444	16	15	it	it	PRON
fcis-12444	16	16	may	may	AUX
fcis-12444	16	17	lose	lose	VERB
fcis-12444	16	18	sales	sale	NOUN
fcis-12444	16	19	opportunities	opportunity	NOUN
fcis-12444	16	20	or	or	CCONJ
fcis-12444	16	21	result	result	VERB
fcis-12444	16	22	in	in	ADP
fcis-12444	16	23	additional	additional	ADJ
fcis-12444	16	24	costs	cost	NOUN
fcis-12444	16	25	and	and	CCONJ
fcis-12444	16	26	losses	loss	NOUN
fcis-12444	16	27	.	.	PUNCT
fcis-12444	17	1	distribution	distribution	NOUN
fcis-12444	17	2	distance	distance	NOUN
fcis-12444	17	3	refers	refer	VERB
fcis-12444	17	4	to	to	ADP
fcis-12444	17	5	the	the	DET
fcis-12444	17	6	distance	distance	NOUN
fcis-12444	17	7	traveled	travel	VERB
fcis-12444	17	8	by	by	ADP
fcis-12444	17	9	a	a	DET
fcis-12444	17	10	product	product	NOUN
fcis-12444	17	11	during	during	ADP
fcis-12444	17	12	transportation	transportation	NOUN
fcis-12444	17	13	and	and	CCONJ
fcis-12444	17	14	distribution	distribution	NOUN
fcis-12444	17	15	from	from	ADP
fcis-12444	17	16	the	the	DET
fcis-12444	17	17	production	production	NOUN
fcis-12444	17	18	location	location	NOUN
fcis-12444	17	19	to	to	ADP
fcis-12444	17	20	the	the	DET
fcis-12444	17	21	final	final	ADJ
fcis-12444	17	22	consumer	consumer	NOUN
fcis-12444	17	23	.	.	PUNCT
fcis-12444	18	1	this	this	DET
fcis-12444	18	2	process	process	NOUN
fcis-12444	18	3	may	may	AUX
fcis-12444	18	4	involve	involve	VERB
fcis-12444	18	5	multiple	multiple	ADJ
fcis-12444	18	6	intermediate	intermediate	ADJ
fcis-12444	18	7	links	link	NOUN
fcis-12444	18	8	,	,	PUNCT
fcis-12444	18	9	such	such	ADJ
fcis-12444	18	10	as	as	ADP
fcis-12444	18	11	warehouses	warehouse	NOUN
fcis-12444	18	12	,	,	PUNCT
fcis-12444	18	13	distribution	distribution	NOUN
fcis-12444	18	14	centers	center	NOUN
fcis-12444	18	15	,	,	PUNCT
fcis-12444	18	16	transportation	transportation	NOUN
fcis-12444	18	17	vehicles	vehicle	NOUN
fcis-12444	18	18	,	,	PUNCT
fcis-12444	18	19	etc	etc	X
fcis-12444	18	20	.	.	X
fcis-12444	19	1	the	the	DET
fcis-12444	19	2	impact	impact	NOUN
fcis-12444	19	3	of	of	ADP
fcis-12444	19	4	distribution	distribution	NOUN
fcis-12444	19	5	distance	distance	NOUN
fcis-12444	19	6	on	on	ADP
fcis-12444	19	7	transportation	transportation	NOUN
fcis-12444	19	8	time	time	NOUN
fcis-12444	19	9	is	be	AUX
fcis-12444	19	10	obvious	obvious	ADJ
fcis-12444	19	11	,	,	PUNCT
fcis-12444	19	12	but	but	CCONJ
fcis-12444	19	13	another	another	DET
fcis-12444	19	14	more	more	ADV
fcis-12444	19	15	important	important	ADJ
fcis-12444	19	16	issue	issue	NOUN
fcis-12444	19	17	that	that	PRON
fcis-12444	19	18	is	be	AUX
fcis-12444	19	19	easily	easily	ADV
fcis-12444	19	20	overlooked	overlook	VERB
fcis-12444	19	21	is	be	AUX
fcis-12444	19	22	that	that	SCONJ
fcis-12444	19	23	the	the	DET
fcis-12444	19	24	same	same	ADJ
fcis-12444	19	25	distribution	distribution	NOUN
fcis-12444	19	26	distance	distance	NOUN
fcis-12444	19	27	,	,	PUNCT
fcis-12444	19	28	different	different	ADJ
fcis-12444	19	29	terrain	terrain	NOUN
fcis-12444	19	30	,	,	PUNCT
fcis-12444	19	31	and	and	CCONJ
fcis-12444	19	32	transportation	transportation	NOUN
fcis-12444	19	33	time	time	NOUN
fcis-12444	19	34	will	will	AUX
fcis-12444	19	35	also	also	ADV
fcis-12444	19	36	vary	vary	VERB
fcis-12444	19	37	.	.	PUNCT
fcis-12444	20	1	this	this	PRON
fcis-12444	20	2	is	be	AUX
fcis-12444	20	3	the	the	DET
fcis-12444	20	4	focus	focus	NOUN
fcis-12444	20	5	of	of	ADP
fcis-12444	20	6	this	this	DET
fcis-12444	20	7	article	article	NOUN
fcis-12444	20	8	.	.	PUNCT
fcis-12444	21	1	in	in	ADP
fcis-12444	21	2	classic	classic	ADJ
fcis-12444	21	3	time	time	NOUN
fcis-12444	21	4	window	window	NOUN
fcis-12444	21	5	problems	problem	NOUN
fcis-12444	21	6	,	,	PUNCT
fcis-12444	21	7	factors	factor	NOUN
fcis-12444	21	8	to	to	PART
fcis-12444	21	9	consider	consider	VERB
fcis-12444	21	10	include	include	VERB
fcis-12444	21	11	vehicle	vehicle	NOUN
fcis-12444	21	12	capacity	capacity	NOUN
fcis-12444	21	13	,	,	PUNCT
fcis-12444	21	14	travel	travel	NOUN
fcis-12444	21	15	time	time	NOUN
fcis-12444	21	16	,	,	PUNCT
fcis-12444	21	17	destination	destination	NOUN
fcis-12444	21	18	time	time	NOUN
fcis-12444	21	19	window	window	NOUN
fcis-12444	21	20	,	,	PUNCT
fcis-12444	21	21	and	and	CCONJ
fcis-12444	21	22	priority	priority	NOUN
fcis-12444	21	23	of	of	ADP
fcis-12444	21	24	delivering	deliver	VERB
fcis-12444	21	25	goods	good	NOUN
fcis-12444	21	26	.	.	PUNCT
fcis-12444	22	1	the	the	DET
fcis-12444	22	2	goal	goal	NOUN
fcis-12444	22	3	is	be	AUX
fcis-12444	22	4	to	to	PART
fcis-12444	22	5	find	find	VERB
fcis-12444	22	6	an	an	DET
fcis-12444	22	7	optimal	optimal	ADJ
fcis-12444	22	8	routing	routing	NOUN
fcis-12444	22	9	scheme	scheme	NOUN
fcis-12444	22	10	that	that	PRON
fcis-12444	22	11	enables	enable	VERB
fcis-12444	22	12	all	all	DET
fcis-12444	22	13	goods	good	NOUN
fcis-12444	22	14	to	to	PART
fcis-12444	22	15	be	be	AUX
fcis-12444	22	16	delivered	deliver	VERB
fcis-12444	22	17	within	within	ADP
fcis-12444	22	18	the	the	DET
fcis-12444	22	19	specified	specify	VERB
fcis-12444	22	20	time	time	NOUN
fcis-12444	22	21	window	window	NOUN
fcis-12444	22	22	,	,	PUNCT
fcis-12444	22	23	while	while	SCONJ
fcis-12444	22	24	minimizing	minimize	VERB
fcis-12444	22	25	the	the	DET
fcis-12444	22	26	distance	distance	NOUN
fcis-12444	22	27	and	and	CCONJ
fcis-12444	22	28	cost	cost	NOUN
fcis-12444	22	29	of	of	ADP
fcis-12444	22	30	vehicles	vehicle	NOUN
fcis-12444	22	31	.	.	PUNCT
fcis-12444	23	1	heuristic	heuristic	ADJ
fcis-12444	23	2	algorithms	algorithm	NOUN
fcis-12444	23	3	or	or	CCONJ
fcis-12444	23	4	precise	precise	ADJ
fcis-12444	23	5	algorithms	algorithm	NOUN
fcis-12444	23	6	are	be	AUX
fcis-12444	23	7	commonly	commonly	ADV
fcis-12444	23	8	used	use	VERB
fcis-12444	23	9	to	to	PART
fcis-12444	23	10	solve	solve	VERB
fcis-12444	23	11	vehicle	vehicle	NOUN
fcis-12444	23	12	routing	routing	NOUN
fcis-12444	23	13	problems	problem	NOUN
fcis-12444	23	14	in	in	ADP
fcis-12444	23	15	time	time	NOUN
fcis-12444	23	16	windows	window	NOUN
fcis-12444	23	17	.	.	PUNCT
fcis-12444	24	1	heuristic	heuristic	ADJ
fcis-12444	24	2	algorithms	algorithm	NOUN
fcis-12444	24	3	are	be	AUX
fcis-12444	24	4	usually	usually	ADV
fcis-12444	24	5	based	base	VERB
fcis-12444	24	6	on	on	ADP
fcis-12444	24	7	greedy	greedy	ADJ
fcis-12444	24	8	strategies	strategy	NOUN
fcis-12444	24	9	,	,	PUNCT
fcis-12444	24	10	selecting	select	VERB
fcis-12444	24	11	the	the	DET
fcis-12444	24	12	next	next	ADJ
fcis-12444	24	13	destination	destination	NOUN
fcis-12444	24	14	according	accord	VERB
fcis-12444	24	15	to	to	ADP
fcis-12444	24	16	certain	certain	ADJ
fcis-12444	24	17	rules	rule	NOUN
fcis-12444	24	18	and	and	CCONJ
fcis-12444	24	19	adjusting	adjust	VERB
fcis-12444	24	20	it	it	PRON
fcis-12444	24	21	according	accord	VERB
fcis-12444	24	22	to	to	ADP
fcis-12444	24	23	the	the	DET
fcis-12444	24	24	destination	destination	NOUN
fcis-12444	24	25	's	's	PART
fcis-12444	24	26	time	time	NOUN
fcis-12444	24	27	window	window	NOUN
fcis-12444	24	28	.	.	PUNCT
fcis-12444	25	1	the	the	DET
fcis-12444	25	2	precise	precise	ADJ
fcis-12444	25	3	algorithm	algorithm	NOUN
fcis-12444	25	4	enumerates	enumerate	VERB
fcis-12444	25	5	all	all	DET
fcis-12444	25	6	possible	possible	ADJ
fcis-12444	25	7	routing	routing	NOUN
fcis-12444	25	8	schemes	scheme	NOUN
fcis-12444	25	9	and	and	CCONJ
fcis-12444	25	10	calculates	calculate	VERB
fcis-12444	25	11	the	the	DET
fcis-12444	25	12	cost	cost	NOUN
fcis-12444	25	13	of	of	ADP
fcis-12444	25	14	each	each	DET
fcis-12444	25	15	scheme	scheme	NOUN
fcis-12444	25	16	,	,	PUNCT
fcis-12444	25	17	ultimately	ultimately	ADV
fcis-12444	25	18	selecting	select	VERB
fcis-12444	25	19	the	the	DET
fcis-12444	25	20	optimal	optimal	ADJ
fcis-12444	25	21	solution	solution	NOUN
fcis-12444	25	22	.	.	PUNCT
fcis-12444	26	1	the	the	DET
fcis-12444	26	2	time	time	NOUN
fcis-12444	26	3	window	window	NOUN
fcis-12444	26	4	vehicle	vehicle	NOUN
fcis-12444	26	5	routing	routing	NOUN
fcis-12444	26	6	problem	problem	NOUN
fcis-12444	26	7	has	have	VERB
fcis-12444	26	8	a	a	DET
fcis-12444	26	9	wide	wide	ADJ
fcis-12444	26	10	range	range	NOUN
fcis-12444	26	11	of	of	ADP
fcis-12444	26	12	applications	application	NOUN
fcis-12444	26	13	in	in	ADP
fcis-12444	26	14	the	the	DET
fcis-12444	26	15	fields	field	NOUN
fcis-12444	26	16	of	of	ADP
fcis-12444	26	17	logistics	logistic	NOUN
fcis-12444	26	18	and	and	CCONJ
fcis-12444	26	19	distribution	distribution	NOUN
fcis-12444	26	20	,	,	PUNCT
fcis-12444	26	21	such	such	ADJ
fcis-12444	26	22	as	as	ADP
fcis-12444	26	23	express	express	ADJ
fcis-12444	26	24	delivery	delivery	NOUN
fcis-12444	26	25	,	,	PUNCT
fcis-12444	26	26	food	food	NOUN
fcis-12444	26	27	distribution	distribution	NOUN
fcis-12444	26	28	,	,	PUNCT
fcis-12444	26	29	and	and	CCONJ
fcis-12444	26	30	cargo	cargo	NOUN
fcis-12444	26	31	distribution	distribution	NOUN
fcis-12444	26	32	.	.	PUNCT
fcis-12444	27	1	through	through	ADP
fcis-12444	27	2	reasonable	reasonable	ADJ
fcis-12444	27	3	routing	routing	NOUN
fcis-12444	27	4	planning	planning	NOUN
fcis-12444	27	5	,	,	PUNCT
fcis-12444	27	6	distribution	distribution	NOUN
fcis-12444	27	7	efficiency	efficiency	NOUN
fcis-12444	27	8	can	can	AUX
fcis-12444	27	9	be	be	AUX
fcis-12444	27	10	improved	improve	VERB
fcis-12444	27	11	,	,	PUNCT
fcis-12444	27	12	transportation	transportation	NOUN
fcis-12444	27	13	costs	cost	NOUN
fcis-12444	27	14	can	can	AUX
fcis-12444	27	15	be	be	AUX
fcis-12444	27	16	reduced	reduce	VERB
fcis-12444	27	17	,	,	PUNCT
fcis-12444	27	18	and	and	CCONJ
fcis-12444	27	19	customer	customer	NOUN
fcis-12444	27	20	satisfaction	satisfaction	NOUN
fcis-12444	27	21	can	can	AUX
fcis-12444	27	22	be	be	AUX
fcis-12444	27	23	improved	improve	VERB
fcis-12444	27	24	.	.	PUNCT
fcis-12444	28	1	however	however	ADV
fcis-12444	28	2	,	,	PUNCT
fcis-12444	28	3	both	both	PRON
fcis-12444	28	4	heuristic	heuristic	ADJ
fcis-12444	28	5	algorithms	algorithm	NOUN
fcis-12444	28	6	and	and	CCONJ
fcis-12444	28	7	precise	precise	ADJ
fcis-12444	28	8	algorithms	algorithm	NOUN
fcis-12444	28	9	have	have	AUX
fcis-12444	28	10	made	make	VERB
fcis-12444	28	11	some	some	DET
fcis-12444	28	12	assumptions	assumption	NOUN
fcis-12444	28	13	,	,	PUNCT
fcis-12444	28	14	ignoring	ignore	VERB
fcis-12444	28	15	the	the	DET
fcis-12444	28	16	changes	change	NOUN
fcis-12444	28	17	in	in	ADP
fcis-12444	28	18	actual	actual	ADJ
fcis-12444	28	19	terrain	terrain	NOUN
fcis-12444	28	20	,	,	PUNCT
fcis-12444	28	21	resulting	result	VERB
fcis-12444	28	22	in	in	ADP
fcis-12444	28	23	vehicles	vehicle	NOUN
fcis-12444	28	24	falling	fall	VERB
fcis-12444	28	25	into	into	ADP
fcis-12444	28	26	local	local	ADJ
fcis-12444	28	27	optima	optima	NOUN
fcis-12444	28	28	on	on	ADP
fcis-12444	28	29	the	the	DET
fcis-12444	28	30	expected	expect	VERB
fcis-12444	28	31	path	path	NOUN
fcis-12444	28	32	,	,	PUNCT
fcis-12444	28	33	preventing	prevent	VERB
fcis-12444	28	34	them	they	PRON
fcis-12444	28	35	from	from	ADP
fcis-12444	28	36	exiting	exit	VERB
fcis-12444	28	37	as	as	ADV
fcis-12444	28	38	soon	soon	ADV
fcis-12444	28	39	as	as	ADP
fcis-12444	28	40	possible	possible	ADJ
fcis-12444	28	41	,	,	PUNCT
fcis-12444	28	42	and	and	CCONJ
fcis-12444	28	43	resulting	result	VERB
fcis-12444	28	44	in	in	ADP
fcis-12444	28	45	the	the	DET
fcis-12444	28	46	inability	inability	NOUN
fcis-12444	28	47	to	to	PART
fcis-12444	28	48	achieve	achieve	VERB
fcis-12444	28	49	the	the	DET
fcis-12444	28	50	destination	destination	NOUN
fcis-12444	28	51	's	's	PART
fcis-12444	28	52	time	time	NOUN
fcis-12444	28	53	window	window	NOUN
fcis-12444	28	54	.	.	PUNCT
fcis-12444	29	1	in	in	ADP
fcis-12444	29	2	summary	summary	NOUN
fcis-12444	29	3	,	,	PUNCT
fcis-12444	29	4	this	this	DET
fcis-12444	29	5	article	article	NOUN
fcis-12444	29	6	proposes	propose	VERB
fcis-12444	29	7	an	an	DET
fcis-12444	29	8	improved	improved	ADJ
fcis-12444	29	9	rrt	rrt	NOUN
fcis-12444	29	10	algorithm	algorithm	NOUN
fcis-12444	29	11	for	for	ADP
fcis-12444	29	12	vehicle	vehicle	NOUN
fcis-12444	29	13	routing	routing	NOUN
fcis-12444	29	14	problems	problem	NOUN
fcis-12444	29	15	with	with	ADP
fcis-12444	29	16	time	time	NOUN
fcis-12444	29	17	windows	window	NOUN
fcis-12444	29	18	.	.	PUNCT
fcis-12444	30	1	2	2	X
fcis-12444	30	2	.	.	X
fcis-12444	30	3	literature	literature	NOUN
fcis-12444	30	4	review	review	VERB
fcis-12444	30	5	2.1	2.1	NUM
fcis-12444	30	6	.	.	PUNCT
fcis-12444	31	1	vehicle	vehicle	NOUN
fcis-12444	31	2	routing	routing	NOUN
fcis-12444	31	3	problem	problem	NOUN
fcis-12444	31	4	in	in	ADP
fcis-12444	31	5	time	time	NOUN
fcis-12444	31	6	window	window	NOUN
fcis-12444	31	7	the	the	DET
fcis-12444	31	8	time	time	NOUN
fcis-12444	31	9	window	window	NOUN
fcis-12444	31	10	vehicle	vehicle	NOUN
fcis-12444	31	11	routing	routing	NOUN
fcis-12444	31	12	problem	problem	NOUN
fcis-12444	31	13	is	be	AUX
fcis-12444	31	14	a	a	DET
fcis-12444	31	15	research	research	NOUN
fcis-12444	31	16	hotspot	hotspot	NOUN
fcis-12444	31	17	that	that	PRON
fcis-12444	31	18	has	have	AUX
fcis-12444	31	19	attracted	attract	VERB
fcis-12444	31	20	the	the	DET
fcis-12444	31	21	attention	attention	NOUN
fcis-12444	31	22	and	and	CCONJ
fcis-12444	31	23	research	research	NOUN
fcis-12444	31	24	of	of	ADP
fcis-12444	31	25	many	many	ADJ
fcis-12444	31	26	scholars	scholar	NOUN
fcis-12444	31	27	in	in	ADP
fcis-12444	31	28	the	the	DET
fcis-12444	31	29	past	past	ADJ
fcis-12444	31	30	few	few	ADJ
fcis-12444	31	31	decades	decade	NOUN
fcis-12444	31	32	.	.	PUNCT
fcis-12444	32	1	scholars	scholar	NOUN
fcis-12444	32	2	such	such	ADJ
fcis-12444	32	3	as	as	ADP
fcis-12444	32	4	desaulniers	desaulnier	NOUN
fcis-12444	32	5	have	have	AUX
fcis-12444	32	6	conducted	conduct	VERB
fcis-12444	32	7	detailed	detailed	ADJ
fcis-12444	32	8	research	research	NOUN
fcis-12444	32	9	and	and	CCONJ
fcis-12444	32	10	analysis	analysis	NOUN
fcis-12444	32	11	on	on	ADP
fcis-12444	32	12	the	the	DET
fcis-12444	32	13	application	application	NOUN
fcis-12444	32	14	of	of	ADP
fcis-12444	32	15	time	time	NOUN
fcis-12444	32	16	window	window	NOUN
fcis-12444	32	17	constraints	constraint	NOUN
fcis-12444	32	18	in	in	ADP
fcis-12444	32	19	vehicle	vehicle	NOUN
fcis-12444	32	20	routing	routing	NOUN
fcis-12444	32	21	and	and	CCONJ
fcis-12444	32	22	scheduling	scheduling	NOUN
fcis-12444	32	23	problems	problem	NOUN
fcis-12444	32	24	[	[	X
fcis-12444	32	25	1	1	NUM
fcis-12444	32	26	]	]	PUNCT
fcis-12444	32	27	.	.	PUNCT
fcis-12444	33	1	solomon	solomon	PROPN
fcis-12444	33	2	proposed	propose	VERB
fcis-12444	33	3	a	a	DET
fcis-12444	33	4	heuristic	heuristic	ADJ
fcis-12444	33	5	algorithm	algorithm	NOUN
fcis-12444	33	6	based	base	VERB
fcis-12444	33	7	on	on	ADP
fcis-12444	33	8	insertion	insertion	NOUN
fcis-12444	33	9	algorithm	algorithm	NOUN
fcis-12444	33	10	for	for	ADP
fcis-12444	33	11	solving	solve	VERB
fcis-12444	33	12	vehicle	vehicle	NOUN
fcis-12444	33	13	routing	routing	NOUN
fcis-12444	33	14	problems	problem	NOUN
fcis-12444	33	15	with	with	ADP
fcis-12444	33	16	time	time	NOUN
fcis-12444	33	17	window	window	NOUN
fcis-12444	33	18	constraints	constraint	NOUN
fcis-12444	33	19	[	[	X
fcis-12444	33	20	2	2	NUM
fcis-12444	33	21	]	]	PUNCT
fcis-12444	33	22	.	.	PUNCT
fcis-12444	34	1	subsequently	subsequently	ADV
fcis-12444	34	2	,	,	PUNCT
fcis-12444	34	3	someone	someone	PRON
fcis-12444	34	4	proposed	propose	VERB
fcis-12444	34	5	a	a	DET
fcis-12444	34	6	heuristic	heuristic	ADJ
fcis-12444	34	7	algorithm	algorithm	NOUN
fcis-12444	34	8	based	base	VERB
fcis-12444	34	9	on	on	ADP
fcis-12444	34	10	taboo	taboo	ADJ
fcis-12444	34	11	search	search	NOUN
fcis-12444	34	12	to	to	PART
fcis-12444	34	13	solve	solve	VERB
fcis-12444	34	14	periodic	periodic	ADJ
fcis-12444	34	15	and	and	CCONJ
fcis-12444	34	16	multi	multi	ADJ
fcis-12444	34	17	warehouse	warehouse	NOUN
fcis-12444	34	18	vehicle	vehicle	NOUN
fcis-12444	34	19	routing	routing	NOUN
fcis-12444	34	20	problems	problem	NOUN
fcis-12444	34	21	[	[	X
fcis-12444	34	22	3	3	NUM
fcis-12444	34	23	]	]	PUNCT
fcis-12444	34	24	.	.	PUNCT
fcis-12444	35	1	in	in	ADP
fcis-12444	35	2	2003	2003	NUM
fcis-12444	35	3	,	,	PUNCT
fcis-12444	35	4	bent	bent	ADJ
fcis-12444	35	5	proposed	propose	VERB
fcis-12444	35	6	a	a	DET
fcis-12444	35	7	two	two	NUM
fcis-12444	35	8	-	-	PUNCT
fcis-12444	35	9	stage	stage	NOUN
fcis-12444	35	10	algorithm	algorithm	NOUN
fcis-12444	35	11	based	base	VERB
fcis-12444	35	12	on	on	ADP
fcis-12444	35	13	a	a	DET
fcis-12444	35	14	hybrid	hybrid	ADJ
fcis-12444	35	15	local	local	ADJ
fcis-12444	35	16	search	search	NOUN
fcis-12444	35	17	algorithm	algorithm	NOUN
fcis-12444	35	18	for	for	ADP
fcis-12444	35	19	solving	solve	VERB
fcis-12444	35	20	53	53	NUM
fcis-12444	35	21	vehicle	vehicle	NOUN
fcis-12444	35	22	routing	routing	NOUN
fcis-12444	35	23	problems	problem	NOUN
fcis-12444	35	24	with	with	ADP
fcis-12444	35	25	time	time	NOUN
fcis-12444	35	26	windows	window	NOUN
fcis-12444	35	27	[	[	X
fcis-12444	35	28	4	4	NUM
fcis-12444	35	29	]	]	PUNCT
fcis-12444	35	30	.	.	PUNCT
fcis-12444	36	1	since	since	SCONJ
fcis-12444	36	2	2004	2004	NUM
fcis-12444	36	3	,	,	PUNCT
fcis-12444	36	4	multiple	multiple	ADJ
fcis-12444	36	5	works	work	NOUN
fcis-12444	36	6	have	have	AUX
fcis-12444	36	7	provided	provide	VERB
fcis-12444	36	8	a	a	DET
fcis-12444	36	9	detailed	detailed	ADJ
fcis-12444	36	10	introduction	introduction	NOUN
fcis-12444	36	11	to	to	ADP
fcis-12444	36	12	the	the	DET
fcis-12444	36	13	research	research	NOUN
fcis-12444	36	14	progress	progress	NOUN
fcis-12444	36	15	and	and	CCONJ
fcis-12444	36	16	challenges	challenge	NOUN
fcis-12444	36	17	of	of	ADP
fcis-12444	36	18	vehicle	vehicle	NOUN
fcis-12444	36	19	routing	routing	NOUN
fcis-12444	36	20	problems	problem	NOUN
fcis-12444	36	21	with	with	ADP
fcis-12444	36	22	time	time	NOUN
fcis-12444	36	23	windows	window	NOUN
fcis-12444	36	24	[	[	X
fcis-12444	36	25	5	5	NUM
fcis-12444	36	26	,	,	PUNCT
fcis-12444	36	27	6	6	NUM
fcis-12444	36	28	]	]	PUNCT
fcis-12444	36	29	.	.	PUNCT
fcis-12444	37	1	these	these	DET
fcis-12444	37	2	studies	study	NOUN
fcis-12444	37	3	provide	provide	VERB
fcis-12444	37	4	effective	effective	ADJ
fcis-12444	37	5	algorithms	algorithm	NOUN
fcis-12444	37	6	and	and	CCONJ
fcis-12444	37	7	methods	method	NOUN
fcis-12444	37	8	for	for	ADP
fcis-12444	37	9	solving	solve	VERB
fcis-12444	37	10	vehicle	vehicle	NOUN
fcis-12444	37	11	routing	routing	NOUN
fcis-12444	37	12	problems	problem	NOUN
fcis-12444	37	13	in	in	ADP
fcis-12444	37	14	practical	practical	ADJ
fcis-12444	37	15	applications	application	NOUN
fcis-12444	37	16	.	.	PUNCT
fcis-12444	38	1	2.2	2.2	NUM
fcis-12444	38	2	.	.	PUNCT
fcis-12444	39	1	rrt	rrt	NOUN
fcis-12444	39	2	algorithm	algorithm	NOUN
fcis-12444	39	3	path	path	NOUN
fcis-12444	39	4	planning	planning	NOUN
fcis-12444	39	5	is	be	AUX
fcis-12444	39	6	one	one	NUM
fcis-12444	39	7	of	of	ADP
fcis-12444	39	8	the	the	DET
fcis-12444	39	9	key	key	ADJ
fcis-12444	39	10	technologies	technology	NOUN
fcis-12444	39	11	for	for	ADP
fcis-12444	39	12	achieving	achieve	VERB
fcis-12444	39	13	autonomous	autonomous	ADJ
fcis-12444	39	14	navigation	navigation	NOUN
fcis-12444	39	15	of	of	ADP
fcis-12444	39	16	unmanned	unmanned	ADJ
fcis-12444	39	17	devices	device	NOUN
fcis-12444	39	18	,	,	PUNCT
fcis-12444	39	19	which	which	PRON
fcis-12444	39	20	refers	refer	VERB
fcis-12444	39	21	to	to	ADP
fcis-12444	39	22	finding	find	VERB
fcis-12444	39	23	a	a	DET
fcis-12444	39	24	collision	collision	NOUN
fcis-12444	39	25	-	-	PUNCT
fcis-12444	39	26	free	free	ADJ
fcis-12444	39	27	path	path	NOUN
fcis-12444	39	28	from	from	ADP
fcis-12444	39	29	the	the	DET
fcis-12444	39	30	starting	starting	NOUN
fcis-12444	39	31	point	point	NOUN
fcis-12444	39	32	to	to	ADP
fcis-12444	39	33	the	the	DET
fcis-12444	39	34	target	target	NOUN
fcis-12444	39	35	point	point	NOUN
fcis-12444	39	36	in	in	ADP
fcis-12444	39	37	an	an	DET
fcis-12444	39	38	environment	environment	NOUN
fcis-12444	39	39	with	with	ADP
fcis-12444	39	40	obstacle	obstacle	NOUN
fcis-12444	39	41	threats	threat	NOUN
fcis-12444	39	42	,	,	PUNCT
fcis-12444	39	43	according	accord	VERB
fcis-12444	39	44	to	to	ADP
fcis-12444	39	45	certain	certain	ADJ
fcis-12444	39	46	evaluation	evaluation	NOUN
fcis-12444	39	47	criteria	criterion	NOUN
fcis-12444	39	48	.	.	PUNCT
fcis-12444	40	1	the	the	DET
fcis-12444	40	2	common	common	ADJ
fcis-12444	40	3	path	path	NOUN
fcis-12444	40	4	planning	planning	NOUN
fcis-12444	40	5	algorithms	algorithm	NOUN
fcis-12444	40	6	currently	currently	ADV
fcis-12444	40	7	available	available	ADJ
fcis-12444	40	8	fall	fall	NOUN
fcis-12444	40	9	into	into	ADP
fcis-12444	40	10	two	two	NUM
fcis-12444	40	11	main	main	ADJ
fcis-12444	40	12	categories	category	NOUN
fcis-12444	40	13	:	:	PUNCT
fcis-12444	40	14	sampling	sample	VERB
fcis-12444	40	15	-	-	PUNCT
fcis-12444	40	16	based	base	VERB
fcis-12444	40	17	(	(	PUNCT
fcis-12444	40	18	e.g.	e.g.	ADV
fcis-12444	40	19	,	,	PUNCT
fcis-12444	40	20	rapidly	rapidly	ADV
fcis-12444	40	21	exploring	explore	VERB
fcis-12444	40	22	random	random	ADJ
fcis-12444	40	23	tree	tree	NOUN
fcis-12444	40	24	)	)	PUNCT
fcis-12444	40	25	and	and	CCONJ
fcis-12444	40	26	search	search	NOUN
fcis-12444	40	27	-	-	PUNCT
fcis-12444	40	28	based	base	VERB
fcis-12444	40	29	methods	method	NOUN
fcis-12444	40	30	(	(	PUNCT
fcis-12444	40	31	e.g.	e.g.	ADV
fcis-12444	40	32	,	,	PUNCT
fcis-12444	40	33	a	a	DET
fcis-12444	40	34	-	-	PUNCT
fcis-12444	40	35	star	star	NOUN
fcis-12444	40	36	)	)	PUNCT
fcis-12444	40	37	.	.	PUNCT
fcis-12444	41	1	the	the	DET
fcis-12444	41	2	searchbased	searchbased	ADJ
fcis-12444	41	3	approach	approach	NOUN
fcis-12444	41	4	requires	require	VERB
fcis-12444	41	5	pre	pre	ADJ
fcis-12444	41	6	-	-	ADJ
fcis-12444	41	7	processing	processing	NOUN
fcis-12444	41	8	of	of	ADP
fcis-12444	41	9	the	the	DET
fcis-12444	41	10	environmental	environmental	ADJ
fcis-12444	41	11	information	information	NOUN
fcis-12444	41	12	in	in	ADP
fcis-12444	41	13	a	a	DET
fcis-12444	41	14	rasterised	rasterise	VERB
fcis-12444	41	15	manner	manner	NOUN
fcis-12444	41	16	,	,	PUNCT
fcis-12444	41	17	and	and	CCONJ
fcis-12444	41	18	the	the	DET
fcis-12444	41	19	computational	computational	ADJ
fcis-12444	41	20	effort	effort	NOUN
fcis-12444	41	21	of	of	ADP
fcis-12444	41	22	the	the	DET
fcis-12444	41	23	algorithm	algorithm	NOUN
fcis-12444	41	24	grows	grow	VERB
fcis-12444	41	25	exponentially	exponentially	ADV
fcis-12444	41	26	with	with	ADP
fcis-12444	41	27	the	the	DET
fcis-12444	41	28	spatial	spatial	NOUN
fcis-12444	41	29	the	the	DET
fcis-12444	41	30	rapidly	rapidly	ADV
fcis-12444	41	31	exploring	explore	VERB
fcis-12444	41	32	random	random	ADJ
fcis-12444	41	33	tree	tree	NOUN
fcis-12444	41	34	(	(	PUNCT
fcis-12444	41	35	rrt	rrt	NOUN
fcis-12444	41	36	)	)	PUNCT
fcis-12444	41	37	algorithm	algorithm	NOUN
fcis-12444	41	38	is	be	AUX
fcis-12444	41	39	a	a	DET
fcis-12444	41	40	random	random	ADJ
fcis-12444	41	41	sampling	sampling	NOUN
fcis-12444	41	42	algorithm	algorithm	NOUN
fcis-12444	41	43	proposed	propose	VERB
fcis-12444	41	44	by	by	ADP
fcis-12444	41	45	professor	professor	NOUN
fcis-12444	41	46	lavallein	lavallein	PROPN
fcis-12444	41	47	1998	1998	NUM
fcis-12444	41	48	that	that	PRON
fcis-12444	41	49	uses	use	VERB
fcis-12444	41	50	incremental	incremental	ADJ
fcis-12444	41	51	growth	growth	NOUN
fcis-12444	42	1	[	[	X
fcis-12444	42	2	7	7	NUM
fcis-12444	42	3	]	]	PUNCT
fcis-12444	42	4	.	.	PUNCT
fcis-12444	43	1	the	the	DET
fcis-12444	43	2	algorithm	algorithm	NOUN
fcis-12444	43	3	has	have	VERB
fcis-12444	43	4	the	the	DET
fcis-12444	43	5	following	following	ADJ
fcis-12444	43	6	advantages	advantage	NOUN
fcis-12444	43	7	:	:	PUNCT
fcis-12444	43	8	by	by	ADP
fcis-12444	43	9	randomly	randomly	ADV
fcis-12444	43	10	sampling	sample	VERB
fcis-12444	43	11	points	point	NOUN
fcis-12444	43	12	,	,	PUNCT
fcis-12444	43	13	the	the	DET
fcis-12444	43	14	whole	whole	ADJ
fcis-12444	43	15	state	state	NOUN
fcis-12444	43	16	space	space	NOUN
fcis-12444	43	17	can	can	AUX
fcis-12444	43	18	be	be	AUX
fcis-12444	43	19	searched	search	VERB
fcis-12444	43	20	with	with	ADP
fcis-12444	43	21	probabilistic	probabilistic	ADJ
fcis-12444	43	22	completeness	completeness	NOUN
fcis-12444	43	23	;	;	PUNCT
fcis-12444	43	24	fast	fast	ADJ
fcis-12444	43	25	expansion	expansion	NOUN
fcis-12444	43	26	and	and	CCONJ
fcis-12444	43	27	high	high	ADJ
fcis-12444	43	28	efficiency	efficiency	NOUN
fcis-12444	43	29	of	of	ADP
fcis-12444	43	30	space	space	NOUN
fcis-12444	43	31	search	search	NOUN
fcis-12444	43	32	;	;	PUNCT
fcis-12444	43	33	by	by	ADP
fcis-12444	43	34	means	mean	NOUN
fcis-12444	43	35	of	of	ADP
fcis-12444	43	36	collision	collision	NOUN
fcis-12444	43	37	detection	detection	NOUN
fcis-12444	43	38	to	to	PART
fcis-12444	43	39	make	make	VERB
fcis-12444	43	40	the	the	DET
fcis-12444	43	41	path	path	NOUN
fcis-12444	43	42	avoid	avoid	VERB
fcis-12444	43	43	the	the	DET
fcis-12444	43	44	threat	threat	NOUN
fcis-12444	43	45	of	of	ADP
fcis-12444	43	46	obstacles	obstacle	NOUN
fcis-12444	43	47	and	and	CCONJ
fcis-12444	43	48	avoid	avoid	VERB
fcis-12444	43	49	modelling	model	VERB
fcis-12444	43	50	the	the	DET
fcis-12444	43	51	environment	environment	NOUN
fcis-12444	43	52	space	space	NOUN
fcis-12444	43	53	.	.	PUNCT
fcis-12444	44	1	based	base	VERB
fcis-12444	44	2	on	on	ADP
fcis-12444	44	3	the	the	DET
fcis-12444	44	4	above	above	ADJ
fcis-12444	44	5	advantages	advantage	NOUN
fcis-12444	44	6	,	,	PUNCT
fcis-12444	44	7	the	the	DET
fcis-12444	44	8	rrt	rrt	NOUN
fcis-12444	44	9	algorithm	algorithm	NOUN
fcis-12444	44	10	is	be	AUX
fcis-12444	44	11	widely	widely	ADV
fcis-12444	44	12	used	use	VERB
fcis-12444	44	13	to	to	PART
fcis-12444	44	14	solve	solve	VERB
fcis-12444	44	15	complex	complex	ADJ
fcis-12444	44	16	path	path	NOUN
fcis-12444	44	17	planning	planning	NOUN
fcis-12444	44	18	problems	problem	NOUN
fcis-12444	44	19	.	.	PUNCT
fcis-12444	45	1	however	however	ADV
fcis-12444	45	2	,	,	PUNCT
fcis-12444	45	3	the	the	DET
fcis-12444	45	4	rrt	rrt	NOUN
fcis-12444	45	5	algorithm	algorithm	NOUN
fcis-12444	45	6	also	also	ADV
fcis-12444	45	7	has	have	VERB
fcis-12444	45	8	some	some	DET
fcis-12444	45	9	drawbacks	drawback	NOUN
fcis-12444	45	10	.	.	PUNCT
fcis-12444	46	1	in	in	ADP
fcis-12444	46	2	specific	specific	ADJ
fcis-12444	46	3	,	,	PUNCT
fcis-12444	46	4	due	due	ADP
fcis-12444	46	5	to	to	ADP
fcis-12444	46	6	the	the	DET
fcis-12444	46	7	high	high	ADJ
fcis-12444	46	8	randomness	randomness	NOUN
fcis-12444	46	9	of	of	ADP
fcis-12444	46	10	the	the	DET
fcis-12444	46	11	algorithm	algorithm	NOUN
fcis-12444	46	12	,	,	PUNCT
fcis-12444	46	13	the	the	DET
fcis-12444	46	14	search	search	NOUN
fcis-12444	46	15	is	be	AUX
fcis-12444	46	16	not	not	PART
fcis-12444	46	17	targeted	target	VERB
fcis-12444	46	18	with	with	ADP
fcis-12444	46	19	many	many	ADJ
fcis-12444	46	20	redundant	redundant	ADJ
fcis-12444	46	21	points	point	NOUN
fcis-12444	46	22	generated	generate	VERB
fcis-12444	46	23	.	.	PUNCT
fcis-12444	47	1	in	in	ADP
fcis-12444	47	2	addition	addition	NOUN
fcis-12444	47	3	,	,	PUNCT
fcis-12444	47	4	it	it	PRON
fcis-12444	47	5	is	be	AUX
fcis-12444	47	6	a	a	DET
fcis-12444	47	7	purely	purely	ADV
fcis-12444	47	8	random	random	ADJ
fcis-12444	47	9	search	search	NOUN
fcis-12444	47	10	algorithm	algorithm	NOUN
fcis-12444	47	11	insensitive	insensitive	ADJ
fcis-12444	47	12	to	to	ADP
fcis-12444	47	13	the	the	DET
fcis-12444	47	14	type	type	NOUN
fcis-12444	47	15	of	of	ADP
fcis-12444	47	16	environment	environment	NOUN
fcis-12444	47	17	and	and	CCONJ
fcis-12444	47	18	when	when	SCONJ
fcis-12444	47	19	the	the	DET
fcis-12444	47	20	c	c	NOUN
fcis-12444	47	21	-	-	PUNCT
fcis-12444	47	22	space	space	NOUN
fcis-12444	47	23	contains	contain	VERB
fcis-12444	47	24	a	a	DET
fcis-12444	47	25	large	large	ADJ
fcis-12444	47	26	number	number	NOUN
fcis-12444	47	27	of	of	ADP
fcis-12444	47	28	obstacles	obstacle	NOUN
fcis-12444	47	29	or	or	CCONJ
fcis-12444	47	30	narrow	narrow	ADJ
fcis-12444	47	31	channel	channel	NOUN
fcis-12444	47	32	constraints	constraint	NOUN
fcis-12444	47	33	,	,	PUNCT
fcis-12444	47	34	the	the	DET
fcis-12444	47	35	algorithm	algorithm	NOUN
fcis-12444	47	36	converges	converge	VERB
fcis-12444	47	37	slowly	slowly	ADV
fcis-12444	47	38	and	and	CCONJ
fcis-12444	47	39	its	its	PRON
fcis-12444	47	40	efficiency	efficiency	NOUN
fcis-12444	47	41	drops	drop	VERB
fcis-12444	47	42	significantly	significantly	ADV
fcis-12444	47	43	.	.	PUNCT
fcis-12444	48	1	as	as	ADP
fcis-12444	48	2	a	a	DET
fcis-12444	48	3	result	result	NOUN
fcis-12444	48	4	,	,	PUNCT
fcis-12444	48	5	rrt	rrt	NOUN
fcis-12444	48	6	can	can	AUX
fcis-12444	48	7	be	be	AUX
fcis-12444	48	8	computationally	computationally	ADV
fcis-12444	48	9	complex	complex	ADJ
fcis-12444	48	10	,	,	PUNCT
fcis-12444	48	11	time	time	NOUN
fcis-12444	48	12	-	-	PUNCT
fcis-12444	48	13	consuming	consume	VERB
fcis-12444	48	14	,	,	PUNCT
fcis-12444	48	15	and	and	CCONJ
fcis-12444	48	16	easily	easily	ADV
fcis-12444	48	17	fall	fall	VERB
fcis-12444	48	18	into	into	ADP
fcis-12444	48	19	dead	dead	ADJ
fcis-12444	48	20	zones	zone	NOUN
fcis-12444	48	21	.	.	PUNCT
fcis-12444	49	1	kuffner	kuffner	NOUN
fcis-12444	49	2	and	and	CCONJ
fcis-12444	49	3	lavalle	lavalle	PROPN
fcis-12444	49	4	et	et	PROPN
fcis-12444	49	5	al	al	PROPN
fcis-12444	49	6	.	.	PROPN
fcis-12444	49	7	proposed	propose	VERB
fcis-12444	49	8	the	the	DET
fcis-12444	49	9	rrt	rrt	VERB
fcis-12444	49	10	-	-	PUNCT
fcis-12444	49	11	connect	connect	NOUN
fcis-12444	49	12	algorithm	algorithm	NOUN
fcis-12444	49	13	,	,	PUNCT
fcis-12444	49	14	which	which	PRON
fcis-12444	49	15	is	be	AUX
fcis-12444	49	16	an	an	DET
fcis-12444	49	17	improved	improved	ADJ
fcis-12444	49	18	version	version	NOUN
fcis-12444	49	19	of	of	ADP
fcis-12444	49	20	the	the	DET
fcis-12444	49	21	rrt	rrt	NOUN
fcis-12444	49	22	algorithm	algorithm	NOUN
fcis-12444	49	23	and	and	CCONJ
fcis-12444	49	24	can	can	AUX
fcis-12444	49	25	more	more	ADV
fcis-12444	49	26	efficiently	efficiently	ADV
fcis-12444	49	27	perform	perform	VERB
fcis-12444	49	28	single	single	ADJ
fcis-12444	49	29	query	query	NOUN
fcis-12444	49	30	path	path	NOUN
fcis-12444	49	31	planning	planning	NOUN
fcis-12444	50	1	[	[	X
fcis-12444	50	2	8	8	NUM
fcis-12444	50	3	]	]	PUNCT
fcis-12444	50	4	.	.	PUNCT
fcis-12444	51	1	lavalle	lavalle	PROPN
fcis-12444	51	2	used	use	VERB
fcis-12444	51	3	the	the	DET
fcis-12444	51	4	rrt	rrt	NOUN
fcis-12444	51	5	-	-	PUNCT
fcis-12444	51	6	connect	connect	ADJ
fcis-12444	51	7	algorithm	algorithm	NOUN
fcis-12444	51	8	to	to	PART
fcis-12444	51	9	solve	solve	VERB
fcis-12444	51	10	path	path	NOUN
fcis-12444	51	11	planning	planning	NOUN
fcis-12444	51	12	problems	problem	NOUN
fcis-12444	51	13	under	under	ADP
fcis-12444	51	14	dynamic	dynamic	ADJ
fcis-12444	51	15	constraints	constraint	NOUN
fcis-12444	51	16	[	[	X
fcis-12444	51	17	9	9	NUM
fcis-12444	51	18	]	]	PUNCT
fcis-12444	51	19	.	.	PUNCT
fcis-12444	52	1	in	in	ADP
fcis-12444	52	2	2010	2010	NUM
fcis-12444	52	3	,	,	PUNCT
fcis-12444	52	4	karaman	karaman	NOUN
fcis-12444	52	5	et	et	PROPN
fcis-12444	52	6	al	al	PROPN
fcis-12444	52	7	.	.	PROPN
fcis-12444	52	8	proposed	propose	VERB
fcis-12444	52	9	the	the	DET
fcis-12444	52	10	rrt	rrt	NOUN
fcis-12444	52	11	*	*	PUNCT
fcis-12444	52	12	algorithm	algorithm	NOUN
fcis-12444	52	13	,	,	PUNCT
fcis-12444	52	14	which	which	PRON
fcis-12444	52	15	achieved	achieve	VERB
fcis-12444	52	16	more	more	ADV
fcis-12444	52	17	efficient	efficient	ADJ
fcis-12444	52	18	and	and	CCONJ
fcis-12444	52	19	optimized	optimize	VERB
fcis-12444	52	20	motion	motion	NOUN
fcis-12444	52	21	planning	plan	VERB
fcis-12444	52	22	through	through	ADP
fcis-12444	52	23	incremental	incremental	ADJ
fcis-12444	52	24	sampling	sampling	NOUN
fcis-12444	52	25	and	and	CCONJ
fcis-12444	52	26	reconnection	reconnection	NOUN
fcis-12444	52	27	strategies	strategy	NOUN
fcis-12444	52	28	[	[	X
fcis-12444	52	29	10	10	NUM
fcis-12444	52	30	]	]	PUNCT
fcis-12444	52	31	.	.	PUNCT
fcis-12444	53	1	in	in	ADP
fcis-12444	53	2	2019	2019	NUM
fcis-12444	53	3	,	,	PUNCT
fcis-12444	53	4	li	li	PROPN
fcis-12444	53	5	,	,	PUNCT
fcis-12444	53	6	y.	y.	PROPN
fcis-12444	53	7	,	,	PUNCT
fcis-12444	53	8	sun	sun	NOUN
fcis-12444	53	9	,	,	PUNCT
fcis-12444	53	10	and	and	CCONJ
fcis-12444	53	11	others	other	NOUN
fcis-12444	53	12	proposed	propose	VERB
fcis-12444	53	13	the	the	DET
fcis-12444	53	14	rrt	rrt	NOUN
fcis-12444	53	15	*	*	PUNCT
fcis-12444	53	16	smart	smart	ADJ
fcis-12444	53	17	algorithm	algorithm	NOUN
fcis-12444	53	18	,	,	PUNCT
fcis-12444	53	19	which	which	PRON
fcis-12444	53	20	introduced	introduce	VERB
fcis-12444	53	21	an	an	DET
fcis-12444	53	22	intelligent	intelligent	ADJ
fcis-12444	53	23	sampling	sampling	NOUN
fcis-12444	53	24	strategy	strategy	NOUN
fcis-12444	53	25	on	on	ADP
fcis-12444	53	26	top	top	NOUN
fcis-12444	53	27	of	of	ADP
fcis-12444	53	28	the	the	DET
fcis-12444	53	29	rrt	rrt	NOUN
fcis-12444	53	30	*	*	PUNCT
fcis-12444	53	31	algorithm	algorithm	NOUN
fcis-12444	53	32	,	,	PUNCT
fcis-12444	53	33	further	far	ADV
fcis-12444	53	34	improving	improve	VERB
fcis-12444	53	35	the	the	DET
fcis-12444	53	36	efficiency	efficiency	NOUN
fcis-12444	53	37	and	and	CCONJ
fcis-12444	53	38	quality	quality	NOUN
fcis-12444	53	39	of	of	ADP
fcis-12444	53	40	path	path	NOUN
fcis-12444	53	41	planning	planning	NOUN
fcis-12444	53	42	.	.	PUNCT
fcis-12444	54	1	these	these	DET
fcis-12444	54	2	studies	study	NOUN
fcis-12444	54	3	provide	provide	VERB
fcis-12444	54	4	effective	effective	ADJ
fcis-12444	54	5	algorithms	algorithm	NOUN
fcis-12444	54	6	and	and	CCONJ
fcis-12444	54	7	methods	method	NOUN
fcis-12444	54	8	for	for	ADP
fcis-12444	54	9	path	path	NOUN
fcis-12444	54	10	planning	planning	NOUN
fcis-12444	54	11	problems	problem	NOUN
fcis-12444	54	12	,	,	PUNCT
fcis-12444	54	13	and	and	CCONJ
fcis-12444	54	14	have	have	AUX
fcis-12444	54	15	been	be	AUX
fcis-12444	54	16	widely	widely	ADV
fcis-12444	54	17	applied	apply	VERB
fcis-12444	54	18	in	in	ADP
fcis-12444	54	19	fields	field	NOUN
fcis-12444	54	20	such	such	ADJ
fcis-12444	54	21	as	as	ADP
fcis-12444	54	22	robot	robot	NOUN
fcis-12444	54	23	navigation	navigation	NOUN
fcis-12444	54	24	and	and	CCONJ
fcis-12444	54	25	autonomous	autonomous	ADJ
fcis-12444	54	26	driving	driving	NOUN
fcis-12444	54	27	.	.	PUNCT
fcis-12444	55	1	3	3	X
fcis-12444	55	2	.	.	X
fcis-12444	55	3	rrt	rrt	ADJ
fcis-12444	55	4	algorithm	algorithm	NOUN
fcis-12444	55	5	and	and	CCONJ
fcis-12444	55	6	time	time	NOUN
fcis-12444	55	7	window	window	NOUN
fcis-12444	55	8	for	for	ADP
fcis-12444	55	9	vehicle	vehicle	NOUN
fcis-12444	55	10	routing	routing	NOUN
fcis-12444	55	11	problem	problem	NOUN
fcis-12444	55	12	the	the	DET
fcis-12444	55	13	rrt	rrt	NOUN
fcis-12444	55	14	algorithm	algorithm	NOUN
fcis-12444	55	15	and	and	CCONJ
fcis-12444	55	16	time	time	NOUN
fcis-12444	55	17	window	window	NOUN
fcis-12444	55	18	for	for	ADP
fcis-12444	55	19	vehicle	vehicle	NOUN
fcis-12444	55	20	routing	routing	NOUN
fcis-12444	55	21	problem	problem	NOUN
fcis-12444	55	22	are	be	AUX
fcis-12444	55	23	two	two	NUM
fcis-12444	55	24	different	different	ADJ
fcis-12444	55	25	research	research	NOUN
fcis-12444	55	26	objects	object	NOUN
fcis-12444	55	27	in	in	ADP
fcis-12444	55	28	different	different	ADJ
fcis-12444	55	29	fields	field	NOUN
fcis-12444	55	30	,	,	PUNCT
fcis-12444	55	31	with	with	ADP
fcis-12444	55	32	both	both	DET
fcis-12444	55	33	connections	connection	NOUN
fcis-12444	55	34	and	and	CCONJ
fcis-12444	55	35	differences	difference	NOUN
fcis-12444	55	36	.	.	PUNCT
fcis-12444	56	1	the	the	DET
fcis-12444	56	2	connection	connection	NOUN
fcis-12444	56	3	between	between	ADP
fcis-12444	56	4	them	they	PRON
fcis-12444	56	5	is	be	AUX
fcis-12444	56	6	manifested	manifest	VERB
fcis-12444	56	7	as	as	SCONJ
fcis-12444	56	8	:	:	PUNCT
fcis-12444	56	9	they	they	PRON
fcis-12444	56	10	both	both	PRON
fcis-12444	56	11	belong	belong	VERB
fcis-12444	56	12	to	to	ADP
fcis-12444	56	13	path	path	NOUN
fcis-12444	56	14	planning	planning	NOUN
fcis-12444	56	15	problems	problem	NOUN
fcis-12444	56	16	;	;	PUNCT
fcis-12444	56	17	the	the	DET
fcis-12444	56	18	rrt	rrt	NOUN
fcis-12444	56	19	algorithm	algorithm	NOUN
fcis-12444	56	20	and	and	CCONJ
fcis-12444	56	21	time	time	NOUN
fcis-12444	56	22	window	window	NOUN
fcis-12444	56	23	vehicle	vehicle	NOUN
fcis-12444	56	24	routing	routing	NOUN
fcis-12444	56	25	problem	problem	NOUN
fcis-12444	56	26	are	be	AUX
fcis-12444	56	27	specific	specific	ADJ
fcis-12444	56	28	applications	application	NOUN
fcis-12444	56	29	of	of	ADP
fcis-12444	56	30	path	path	NOUN
fcis-12444	56	31	planning	planning	NOUN
fcis-12444	56	32	problems	problem	NOUN
fcis-12444	56	33	.	.	PUNCT
fcis-12444	57	1	they	they	PRON
fcis-12444	57	2	all	all	PRON
fcis-12444	57	3	involve	involve	VERB
fcis-12444	57	4	finding	find	VERB
fcis-12444	57	5	an	an	DET
fcis-12444	57	6	optimal	optimal	ADJ
fcis-12444	57	7	path	path	NOUN
fcis-12444	57	8	or	or	CCONJ
fcis-12444	57	9	satisfying	satisfy	VERB
fcis-12444	57	10	specific	specific	ADJ
fcis-12444	57	11	constraints	constraint	NOUN
fcis-12444	57	12	in	in	ADP
fcis-12444	57	13	a	a	DET
fcis-12444	57	14	given	give	VERB
fcis-12444	57	15	environment	environment	NOUN
fcis-12444	57	16	.	.	PUNCT
fcis-12444	58	1	the	the	DET
fcis-12444	58	2	differences	difference	NOUN
fcis-12444	58	3	between	between	ADP
fcis-12444	58	4	them	they	PRON
fcis-12444	58	5	are	be	AUX
fcis-12444	58	6	manifested	manifest	VERB
fcis-12444	58	7	as	as	SCONJ
fcis-12444	58	8	follows	follow	VERB
fcis-12444	58	9	:	:	PUNCT
fcis-12444	58	10	(	(	PUNCT
fcis-12444	58	11	1	1	X
fcis-12444	58	12	)	)	PUNCT
fcis-12444	58	13	different	different	ADJ
fcis-12444	58	14	research	research	NOUN
fcis-12444	58	15	fields	field	NOUN
fcis-12444	58	16	:	:	PUNCT
fcis-12444	58	17	rrt	rrt	NOUN
fcis-12444	58	18	algorithm	algorithm	NOUN
fcis-12444	58	19	is	be	AUX
fcis-12444	58	20	mainly	mainly	ADV
fcis-12444	58	21	applied	apply	VERB
fcis-12444	58	22	in	in	ADP
fcis-12444	58	23	fields	field	NOUN
fcis-12444	58	24	such	such	ADJ
fcis-12444	58	25	as	as	ADP
fcis-12444	58	26	robot	robot	NOUN
fcis-12444	58	27	navigation	navigation	NOUN
fcis-12444	58	28	and	and	CCONJ
fcis-12444	58	29	autonomous	autonomous	ADJ
fcis-12444	58	30	driving	driving	NOUN
fcis-12444	58	31	,	,	PUNCT
fcis-12444	58	32	aiming	aim	VERB
fcis-12444	58	33	to	to	PART
fcis-12444	58	34	find	find	VERB
fcis-12444	58	35	the	the	DET
fcis-12444	58	36	optimal	optimal	ADJ
fcis-12444	58	37	path	path	NOUN
fcis-12444	58	38	for	for	ADP
fcis-12444	58	39	robots	robot	NOUN
fcis-12444	58	40	or	or	CCONJ
fcis-12444	58	41	vehicles	vehicle	NOUN
fcis-12444	58	42	from	from	ADP
fcis-12444	58	43	the	the	DET
fcis-12444	58	44	starting	starting	NOUN
fcis-12444	58	45	point	point	NOUN
fcis-12444	58	46	to	to	ADP
fcis-12444	58	47	the	the	DET
fcis-12444	58	48	target	target	NOUN
fcis-12444	58	49	point	point	NOUN
fcis-12444	58	50	.	.	PUNCT
fcis-12444	59	1	the	the	DET
fcis-12444	59	2	time	time	NOUN
fcis-12444	59	3	window	window	NOUN
fcis-12444	59	4	vehicle	vehicle	NOUN
fcis-12444	59	5	routing	routing	NOUN
fcis-12444	59	6	problem	problem	NOUN
fcis-12444	59	7	is	be	AUX
fcis-12444	59	8	mainly	mainly	ADV
fcis-12444	59	9	applied	apply	VERB
fcis-12444	59	10	in	in	ADP
fcis-12444	59	11	the	the	DET
fcis-12444	59	12	fields	field	NOUN
fcis-12444	59	13	of	of	ADP
fcis-12444	59	14	logistics	logistic	NOUN
fcis-12444	59	15	and	and	CCONJ
fcis-12444	59	16	transportation	transportation	NOUN
fcis-12444	59	17	,	,	PUNCT
fcis-12444	59	18	aiming	aim	VERB
fcis-12444	59	19	to	to	PART
fcis-12444	59	20	determine	determine	VERB
fcis-12444	59	21	the	the	DET
fcis-12444	59	22	route	route	NOUN
fcis-12444	59	23	and	and	CCONJ
fcis-12444	59	24	scheduling	scheduling	NOUN
fcis-12444	59	25	of	of	ADP
fcis-12444	59	26	a	a	DET
fcis-12444	59	27	group	group	NOUN
fcis-12444	59	28	of	of	ADP
fcis-12444	59	29	vehicles	vehicle	NOUN
fcis-12444	59	30	to	to	PART
fcis-12444	59	31	meet	meet	VERB
fcis-12444	59	32	the	the	DET
fcis-12444	59	33	customer	customer	NOUN
fcis-12444	59	34	's	's	PART
fcis-12444	59	35	time	time	NOUN
fcis-12444	59	36	window	window	NOUN
fcis-12444	59	37	constraints	constraint	NOUN
fcis-12444	59	38	.	.	PUNCT
fcis-12444	60	1	the	the	DET
fcis-12444	60	2	problem	problem	NOUN
fcis-12444	60	3	definition	definition	NOUN
fcis-12444	60	4	is	be	AUX
fcis-12444	60	5	different	different	ADJ
fcis-12444	60	6	:	:	PUNCT
fcis-12444	60	7	rrt	rrt	ADJ
fcis-12444	60	8	algorithm	algorithm	NOUN
fcis-12444	60	9	focuses	focus	VERB
fcis-12444	60	10	on	on	ADP
fcis-12444	60	11	random	random	ADJ
fcis-12444	60	12	exploration	exploration	NOUN
fcis-12444	60	13	and	and	CCONJ
fcis-12444	60	14	search	search	NOUN
fcis-12444	60	15	in	in	ADP
fcis-12444	60	16	a	a	DET
fcis-12444	60	17	given	give	VERB
fcis-12444	60	18	environment	environment	NOUN
fcis-12444	60	19	to	to	PART
fcis-12444	60	20	discover	discover	VERB
fcis-12444	60	21	feasible	feasible	ADJ
fcis-12444	60	22	paths	path	NOUN
fcis-12444	60	23	.	.	PUNCT
fcis-12444	61	1	the	the	DET
fcis-12444	61	2	time	time	NOUN
fcis-12444	61	3	window	window	NOUN
fcis-12444	61	4	vehicle	vehicle	NOUN
fcis-12444	61	5	routing	routing	NOUN
fcis-12444	61	6	problem	problem	NOUN
fcis-12444	61	7	involves	involve	VERB
fcis-12444	61	8	the	the	DET
fcis-12444	61	9	optimal	optimal	ADJ
fcis-12444	61	10	path	path	NOUN
fcis-12444	61	11	planning	planning	NOUN
fcis-12444	61	12	for	for	ADP
fcis-12444	61	13	transporting	transport	VERB
fcis-12444	61	14	goods	good	NOUN
fcis-12444	61	15	or	or	CCONJ
fcis-12444	61	16	passengers	passenger	NOUN
fcis-12444	61	17	from	from	ADP
fcis-12444	61	18	the	the	DET
fcis-12444	61	19	origin	origin	NOUN
fcis-12444	61	20	to	to	ADP
fcis-12444	61	21	the	the	DET
fcis-12444	61	22	destination	destination	NOUN
fcis-12444	61	23	within	within	ADP
fcis-12444	61	24	a	a	DET
fcis-12444	61	25	predetermined	predetermine	VERB
fcis-12444	61	26	time	time	NOUN
fcis-12444	61	27	window	window	NOUN
fcis-12444	61	28	.	.	PUNCT
fcis-12444	62	1	different	different	ADJ
fcis-12444	62	2	constraint	constraint	NOUN
fcis-12444	62	3	conditions	condition	NOUN
fcis-12444	62	4	:	:	PUNCT
fcis-12444	62	5	rrt	rrt	NOUN
fcis-12444	62	6	algorithms	algorithm	NOUN
fcis-12444	62	7	usually	usually	ADV
fcis-12444	62	8	do	do	AUX
fcis-12444	62	9	not	not	PART
fcis-12444	62	10	consider	consider	VERB
fcis-12444	62	11	time	time	NOUN
fcis-12444	62	12	window	window	NOUN
fcis-12444	62	13	constraints	constraint	NOUN
fcis-12444	62	14	,	,	PUNCT
fcis-12444	62	15	but	but	CCONJ
fcis-12444	62	16	mainly	mainly	ADV
fcis-12444	62	17	focus	focus	VERB
fcis-12444	62	18	on	on	ADP
fcis-12444	62	19	optimizing	optimize	VERB
fcis-12444	62	20	path	path	NOUN
fcis-12444	62	21	connectivity	connectivity	NOUN
fcis-12444	62	22	,	,	PUNCT
fcis-12444	62	23	obstacle	obstacle	NOUN
fcis-12444	62	24	avoidance	avoidance	NOUN
fcis-12444	62	25	,	,	PUNCT
fcis-12444	62	26	and	and	CCONJ
fcis-12444	62	27	shortest	short	ADJ
fcis-12444	62	28	path	path	NOUN
fcis-12444	62	29	.	.	PUNCT
fcis-12444	63	1	the	the	DET
fcis-12444	63	2	time	time	NOUN
fcis-12444	63	3	window	window	NOUN
fcis-12444	63	4	vehicle	vehicle	NOUN
fcis-12444	63	5	routing	routing	NOUN
fcis-12444	63	6	problem	problem	NOUN
fcis-12444	63	7	needs	need	VERB
fcis-12444	63	8	to	to	PART
fcis-12444	63	9	consider	consider	VERB
fcis-12444	63	10	the	the	DET
fcis-12444	63	11	time	time	NOUN
fcis-12444	63	12	window	window	NOUN
fcis-12444	63	13	requirements	requirement	NOUN
fcis-12444	63	14	of	of	ADP
fcis-12444	63	15	each	each	DET
fcis-12444	63	16	customer	customer	NOUN
fcis-12444	63	17	to	to	PART
fcis-12444	63	18	ensure	ensure	VERB
fcis-12444	63	19	delivery	delivery	NOUN
fcis-12444	63	20	or	or	CCONJ
fcis-12444	63	21	pick	pick	NOUN
fcis-12444	63	22	-	-	PUNCT
fcis-12444	63	23	up	up	NOUN
fcis-12444	63	24	of	of	ADP
fcis-12444	63	25	passengers	passenger	NOUN
fcis-12444	63	26	within	within	ADP
fcis-12444	63	27	the	the	DET
fcis-12444	63	28	specified	specify	VERB
fcis-12444	63	29	time	time	NOUN
fcis-12444	63	30	frame	frame	NOUN
fcis-12444	63	31	.	.	PUNCT
fcis-12444	64	1	although	although	SCONJ
fcis-12444	64	2	rrt	rrt	NOUN
fcis-12444	64	3	algorithm	algorithm	NOUN
fcis-12444	64	4	and	and	CCONJ
fcis-12444	64	5	time	time	NOUN
fcis-12444	64	6	window	window	NOUN
fcis-12444	64	7	vehicle	vehicle	NOUN
fcis-12444	64	8	routing	routing	NOUN
fcis-12444	64	9	problem	problem	NOUN
fcis-12444	64	10	have	have	VERB
fcis-12444	64	11	different	different	ADJ
fcis-12444	64	12	research	research	NOUN
fcis-12444	64	13	fields	field	NOUN
fcis-12444	64	14	and	and	CCONJ
fcis-12444	64	15	problem	problem	NOUN
fcis-12444	64	16	definitions	definition	NOUN
fcis-12444	64	17	,	,	PUNCT
fcis-12444	64	18	they	they	PRON
fcis-12444	64	19	both	both	PRON
fcis-12444	64	20	belong	belong	VERB
fcis-12444	64	21	to	to	ADP
fcis-12444	64	22	specific	specific	ADJ
fcis-12444	64	23	applications	application	NOUN
fcis-12444	64	24	of	of	ADP
fcis-12444	64	25	path	path	NOUN
fcis-12444	64	26	planning	planning	NOUN
fcis-12444	64	27	problems	problem	NOUN
fcis-12444	64	28	.	.	PUNCT
fcis-12444	65	1	in	in	ADP
fcis-12444	65	2	practical	practical	ADJ
fcis-12444	65	3	applications	application	NOUN
fcis-12444	65	4	,	,	PUNCT
fcis-12444	65	5	the	the	DET
fcis-12444	65	6	rrt	rrt	NOUN
fcis-12444	65	7	algorithm	algorithm	NOUN
fcis-12444	65	8	can	can	AUX
fcis-12444	65	9	be	be	AUX
fcis-12444	65	10	used	use	VERB
fcis-12444	65	11	as	as	ADP
fcis-12444	65	12	a	a	DET
fcis-12444	65	13	path	path	NOUN
fcis-12444	65	14	search	search	NOUN
fcis-12444	65	15	method	method	NOUN
fcis-12444	65	16	for	for	ADP
fcis-12444	65	17	time	time	NOUN
fcis-12444	65	18	window	window	NOUN
fcis-12444	65	19	vehicle	vehicle	NOUN
fcis-12444	65	20	routing	route	VERB
fcis-12444	65	21	problems	problem	NOUN
fcis-12444	65	22	to	to	PART
fcis-12444	65	23	find	find	VERB
fcis-12444	65	24	the	the	DET
fcis-12444	65	25	optimal	optimal	ADJ
fcis-12444	65	26	path	path	NOUN
fcis-12444	65	27	that	that	PRON
fcis-12444	65	28	satisfies	satisfy	VERB
fcis-12444	65	29	time	time	NOUN
fcis-12444	65	30	window	window	NOUN
fcis-12444	65	31	constraints	constraint	NOUN
fcis-12444	65	32	.	.	PUNCT
fcis-12444	66	1	4	4	X
fcis-12444	66	2	.	.	X
fcis-12444	66	3	algorithm	algorithm	NOUN
fcis-12444	66	4	proposal	proposal	NOUN
fcis-12444	66	5	and	and	CCONJ
fcis-12444	66	6	numerical	numerical	PROPN
fcis-12444	66	7	simulation	simulation	PROPN
fcis-12444	66	8	4.1	4.1	NUM
fcis-12444	66	9	.	.	PUNCT
fcis-12444	67	1	algorithm	algorithm	NOUN
fcis-12444	67	2	proposal	proposal	NOUN
fcis-12444	67	3	fig	fig	NOUN
fcis-12444	67	4	1	1	NUM
fcis-12444	67	5	.	.	PUNCT
fcis-12444	67	6	bias	bias	NOUN
fcis-12444	67	7	sampling	sample	VERB
fcis-12444	67	8	to	to	PART
fcis-12444	67	9	address	address	VERB
fcis-12444	67	10	the	the	DET
fcis-12444	67	11	aforementioned	aforementioned	ADJ
fcis-12444	67	12	shortcomings	shortcoming	NOUN
fcis-12444	67	13	of	of	ADP
fcis-12444	67	14	rrt	rrt	NOUN
fcis-12444	67	15	,	,	PUNCT
fcis-12444	67	16	a	a	DET
fcis-12444	67	17	biasing	biasing	ADJ
fcis-12444	67	18	mechanism	mechanism	NOUN
fcis-12444	67	19	is	be	AUX
fcis-12444	67	20	added	add	VERB
fcis-12444	67	21	to	to	ADP
fcis-12444	67	22	the	the	DET
fcis-12444	67	23	original	original	ADJ
fcis-12444	67	24	rrt	rrt	NOUN
fcis-12444	67	25	algorithm	algorithm	NOUN
fcis-12444	67	26	,	,	PUNCT
fcis-12444	67	27	replacing	replace	VERB
fcis-12444	67	28	pure	pure	ADJ
fcis-12444	67	29	random	random	ADJ
fcis-12444	67	30	sampling	sampling	NOUN
fcis-12444	67	31	to	to	ADP
fcis-12444	67	32	95	95	NUM
fcis-12444	67	33	%	%	NOUN
fcis-12444	67	34	random	random	ADJ
fcis-12444	67	35	sampling	sampling	NOUN
fcis-12444	67	36	plus	plus	CCONJ
fcis-12444	67	37	5	5	NUM
fcis-12444	67	38	%	%	NOUN
fcis-12444	67	39	biased	biased	ADJ
fcis-12444	67	40	sampling	sampling	NOUN
fcis-12444	67	41	,	,	PUNCT
fcis-12444	67	42	achieving	achieve	VERB
fcis-12444	67	43	promising	promising	ADJ
fcis-12444	67	44	results	result	NOUN
fcis-12444	67	45	in	in	ADP
fcis-12444	67	46	our	our	PRON
fcis-12444	67	47	simulation	simulation	NOUN
fcis-12444	67	48	experiment	experiment	NOUN
fcis-12444	67	49	.	.	PUNCT
fcis-12444	68	1	based	base	VERB
fcis-12444	68	2	on	on	ADP
fcis-12444	68	3	this	this	DET
fcis-12444	68	4	idea	idea	NOUN
fcis-12444	68	5	,	,	PUNCT
fcis-12444	68	6	the	the	DET
fcis-12444	68	7	rrt	rrt	NOUN
fcis-12444	68	8	bias	bias	NOUN
fcis-12444	68	9	sampling	sample	VERB
fcis-12444	68	10	method	method	NOUN
fcis-12444	68	11	was	be	AUX
fcis-12444	68	12	further	far	ADV
fcis-12444	68	13	improved	improve	VERB
fcis-12444	68	14	by	by	ADP
fcis-12444	68	15	increasing	increase	VERB
fcis-12444	68	16	the	the	DET
fcis-12444	68	17	weight	weight	NOUN
fcis-12444	68	18	of	of	ADP
fcis-12444	68	19	the	the	DET
fcis-12444	68	20	heuristic	heuristic	ADJ
fcis-12444	68	21	information	information	NOUN
fcis-12444	68	22	provided	provide	VERB
fcis-12444	68	23	by	by	ADP
fcis-12444	68	24	the	the	DET
fcis-12444	68	25	target	target	NOUN
fcis-12444	68	26	point	point	NOUN
fcis-12444	68	27	in	in	ADP
fcis-12444	68	28	the	the	DET
fcis-12444	68	29	sampling	sampling	NOUN
fcis-12444	68	30	process	process	NOUN
fcis-12444	68	31	.	.	PUNCT
fcis-12444	69	1	at	at	ADP
fcis-12444	69	2	the	the	DET
fcis-12444	69	3	same	same	ADJ
fcis-12444	69	4	time	time	NOUN
fcis-12444	69	5	,	,	PUNCT
fcis-12444	69	6	an	an	DET
fcis-12444	69	7	escape	escape	NOUN
fcis-12444	69	8	mechanism	mechanism	NOUN
fcis-12444	69	9	is	be	AUX
fcis-12444	69	10	added	add	VERB
fcis-12444	69	11	to	to	PART
fcis-12444	69	12	increase	increase	VERB
fcis-12444	69	13	the	the	DET
fcis-12444	69	14	chance	chance	NOUN
fcis-12444	69	15	of	of	ADP
fcis-12444	69	16	jumping	jump	VERB
fcis-12444	69	17	out	out	ADP
fcis-12444	69	18	of	of	ADP
fcis-12444	69	19	the	the	DET
fcis-12444	69	20	local	local	ADJ
fcis-12444	69	21	optimum	optimum	NOUN
fcis-12444	69	22	in	in	ADP
fcis-12444	69	23	order	order	NOUN
fcis-12444	69	24	to	to	PART
fcis-12444	69	25	prevent	prevent	VERB
fcis-12444	69	26	the	the	DET
fcis-12444	69	27	path	path	NOUN
fcis-12444	69	28	from	from	ADP
fcis-12444	69	29	being	be	AUX
fcis-12444	69	30	trapped	trap	VERB
fcis-12444	69	31	in	in	ADP
fcis-12444	69	32	the	the	DET
fcis-12444	69	33	local	local	ADJ
fcis-12444	69	34	optimum	optimum	NOUN
fcis-12444	69	35	due	due	ADP
fcis-12444	69	36	to	to	ADP
fcis-12444	69	37	over	over	ADP
fcis-12444	69	38	-	-	PUNCT
fcis-12444	69	39	reliance	reliance	NOUN
fcis-12444	69	40	on	on	ADP
fcis-12444	69	41	heuristic	heuristic	ADJ
fcis-12444	69	42	54	54	NUM
fcis-12444	69	43	information	information	NOUN
fcis-12444	69	44	.	.	PUNCT
fcis-12444	70	1	in	in	ADP
fcis-12444	70	2	addition	addition	NOUN
fcis-12444	70	3	,	,	PUNCT
fcis-12444	70	4	by	by	ADP
fcis-12444	70	5	performing	perform	VERB
fcis-12444	70	6	collision	collision	NOUN
fcis-12444	70	7	detection	detection	NOUN
fcis-12444	70	8	on	on	ADP
fcis-12444	70	9	the	the	DET
fcis-12444	70	10	line	line	NOUN
fcis-12444	70	11	between	between	ADP
fcis-12444	70	12	the	the	DET
fcis-12444	70	13	current	current	ADJ
fcis-12444	70	14	point	point	NOUN
fcis-12444	70	15	and	and	CCONJ
fcis-12444	70	16	the	the	DET
fcis-12444	70	17	target	target	NOUN
fcis-12444	70	18	point	point	NOUN
fcis-12444	70	19	,	,	PUNCT
fcis-12444	70	20	the	the	DET
fcis-12444	70	21	sampling	sampling	NOUN
fcis-12444	70	22	points	point	NOUN
fcis-12444	70	23	directly	directly	ADV
fcis-12444	70	24	connected	connect	VERB
fcis-12444	70	25	to	to	ADP
fcis-12444	70	26	the	the	DET
fcis-12444	70	27	target	target	NOUN
fcis-12444	70	28	point	point	NOUN
fcis-12444	70	29	on	on	ADP
fcis-12444	70	30	the	the	DET
fcis-12444	70	31	path	path	NOUN
fcis-12444	70	32	can	can	AUX
fcis-12444	70	33	be	be	AUX
fcis-12444	70	34	detected	detect	VERB
fcis-12444	70	35	in	in	ADP
fcis-12444	70	36	advance	advance	NOUN
fcis-12444	70	37	,	,	PUNCT
fcis-12444	70	38	speeding	speed	VERB
fcis-12444	70	39	up	up	ADP
fcis-12444	70	40	the	the	DET
fcis-12444	70	41	convergence	convergence	NOUN
fcis-12444	70	42	of	of	ADP
fcis-12444	70	43	the	the	DET
fcis-12444	70	44	algorithm	algorithm	NOUN
fcis-12444	70	45	.	.	PUNCT
fcis-12444	71	1	case	case	NOUN
fcis-12444	71	2	studies	study	NOUN
fcis-12444	71	3	on	on	ADP
fcis-12444	71	4	maps	map	NOUN
fcis-12444	71	5	with	with	ADP
fcis-12444	71	6	typical	typical	ADJ
fcis-12444	71	7	characteristics	characteristic	NOUN
fcis-12444	71	8	demonstrate	demonstrate	VERB
fcis-12444	71	9	that	that	SCONJ
fcis-12444	71	10	our	our	PRON
fcis-12444	71	11	approach	approach	NOUN
fcis-12444	71	12	significantly	significantly	ADV
fcis-12444	71	13	reduces	reduce	VERB
fcis-12444	71	14	path	path	NOUN
fcis-12444	71	15	-	-	PUNCT
fcis-12444	71	16	finding	find	VERB
fcis-12444	71	17	time	time	NOUN
fcis-12444	71	18	for	for	ADP
fcis-12444	71	19	similar	similar	ADJ
fcis-12444	71	20	generated	generate	VERB
fcis-12444	71	21	path	path	NOUN
fcis-12444	71	22	lengths	length	NOUN
fcis-12444	71	23	,	,	PUNCT
fcis-12444	71	24	implying	imply	VERB
fcis-12444	71	25	the	the	DET
fcis-12444	71	26	effectiveness	effectiveness	NOUN
fcis-12444	71	27	of	of	ADP
fcis-12444	71	28	simple	simple	ADJ
fcis-12444	71	29	heuristic	heuristic	ADJ
fcis-12444	71	30	information	information	NOUN
fcis-12444	71	31	for	for	ADP
fcis-12444	71	32	rrt	rrt	ADJ
fcis-12444	71	33	algorithm	algorithm	NOUN
fcis-12444	71	34	optimization	optimization	NOUN
fcis-12444	71	35	.	.	PUNCT
fcis-12444	72	1	4.2	4.2	NUM
fcis-12444	72	2	.	.	PUNCT
fcis-12444	73	1	method	method	PROPN
fcis-12444	73	2	a.	a.	NOUN
fcis-12444	73	3	early	early	ADJ
fcis-12444	73	4	detection	detection	NOUN
fcis-12444	73	5	of	of	ADP
fcis-12444	73	6	direct	direct	ADJ
fcis-12444	73	7	connection	connection	NOUN
fcis-12444	73	8	points	point	NOUN
fcis-12444	73	9	after	after	ADP
fcis-12444	73	10	each	each	DET
fcis-12444	73	11	successful	successful	ADJ
fcis-12444	73	12	node	node	NOUN
fcis-12444	73	13	generation	generation	NOUN
fcis-12444	73	14	and	and	CCONJ
fcis-12444	73	15	before	before	ADP
fcis-12444	73	16	proceeding	proceed	VERB
fcis-12444	73	17	to	to	ADP
fcis-12444	73	18	the	the	DET
fcis-12444	73	19	next	next	ADJ
fcis-12444	73	20	sampling	sampling	NOUN
fcis-12444	73	21	,	,	PUNCT
fcis-12444	73	22	determines	determine	VERB
fcis-12444	73	23	whether	whether	SCONJ
fcis-12444	73	24	the	the	DET
fcis-12444	73	25	last	last	ADJ
fcis-12444	73	26	successfully	successfully	ADV
fcis-12444	73	27	generated	generate	VERB
fcis-12444	73	28	node	node	NOUN
fcis-12444	73	29	is	be	AUX
fcis-12444	73	30	directly	directly	ADV
fcis-12444	73	31	connected	connect	VERB
fcis-12444	73	32	to	to	ADP
fcis-12444	73	33	the	the	DET
fcis-12444	73	34	target	target	NOUN
fcis-12444	73	35	endpoint	endpoint	NOUN
fcis-12444	73	36	.	.	PUNCT
fcis-12444	74	1	collision	collision	NOUN
fcis-12444	74	2	detection	detection	NOUN
fcis-12444	74	3	is	be	AUX
fcis-12444	74	4	performed	perform	VERB
fcis-12444	74	5	on	on	ADP
fcis-12444	74	6	the	the	DET
fcis-12444	74	7	line	line	NOUN
fcis-12444	74	8	segment	segment	NOUN
fcis-12444	74	9	between	between	ADP
fcis-12444	74	10	this	this	DET
fcis-12444	74	11	node	node	NOUN
fcis-12444	74	12	and	and	CCONJ
fcis-12444	74	13	the	the	DET
fcis-12444	74	14	endpoint	endpoint	NOUN
fcis-12444	74	15	.	.	PUNCT
fcis-12444	75	1	if	if	SCONJ
fcis-12444	75	2	it	it	PRON
fcis-12444	75	3	is	be	AUX
fcis-12444	75	4	determined	determined	ADJ
fcis-12444	75	5	to	to	PART
fcis-12444	75	6	be	be	AUX
fcis-12444	75	7	safe	safe	ADJ
fcis-12444	75	8	,	,	PUNCT
fcis-12444	75	9	the	the	DET
fcis-12444	75	10	node	node	NOUN
fcis-12444	75	11	is	be	AUX
fcis-12444	75	12	considered	consider	VERB
fcis-12444	75	13	to	to	PART
fcis-12444	75	14	be	be	AUX
fcis-12444	75	15	directly	directly	ADV
fcis-12444	75	16	connected	connect	VERB
fcis-12444	75	17	and	and	CCONJ
fcis-12444	75	18	the	the	DET
fcis-12444	75	19	endpoint	endpoint	NOUN
fcis-12444	75	20	is	be	AUX
fcis-12444	75	21	used	use	VERB
fcis-12444	75	22	as	as	ADP
fcis-12444	75	23	the	the	DET
fcis-12444	75	24	next	next	ADJ
fcis-12444	75	25	sampling	sampling	NOUN
fcis-12444	75	26	point	point	NOUN
fcis-12444	75	27	.	.	PUNCT
fcis-12444	76	1	if	if	SCONJ
fcis-12444	76	2	the	the	DET
fcis-12444	76	3	distance	distance	NOUN
fcis-12444	76	4	between	between	ADP
fcis-12444	76	5	the	the	DET
fcis-12444	76	6	node	node	NOUN
fcis-12444	76	7	and	and	CCONJ
fcis-12444	76	8	the	the	DET
fcis-12444	76	9	endpoint	endpoint	NOUN
fcis-12444	76	10	is	be	AUX
fcis-12444	76	11	greater	great	ADJ
fcis-12444	76	12	than	than	ADP
fcis-12444	76	13	the	the	DET
fcis-12444	76	14	expand	expand	NOUN
fcis-12444	76	15	distance	distance	NOUN
fcis-12444	76	16	,	,	PUNCT
fcis-12444	76	17	the	the	DET
fcis-12444	76	18	node	node	NOUN
fcis-12444	76	19	is	be	AUX
fcis-12444	76	20	extended	extend	VERB
fcis-12444	76	21	by	by	ADP
fcis-12444	76	22	one	one	NUM
fcis-12444	76	23	step	step	NOUN
fcis-12444	76	24	towards	towards	ADP
fcis-12444	76	25	the	the	DET
fcis-12444	76	26	endpoint	endpoint	NOUN
fcis-12444	76	27	and	and	CCONJ
fcis-12444	76	28	a	a	DET
fcis-12444	76	29	new	new	ADJ
fcis-12444	76	30	node	node	NOUN
fcis-12444	76	31	is	be	AUX
fcis-12444	76	32	generated	generate	VERB
fcis-12444	76	33	;	;	PUNCT
fcis-12444	76	34	otherwise	otherwise	ADV
fcis-12444	76	35	,	,	PUNCT
fcis-12444	76	36	the	the	DET
fcis-12444	76	37	endpoint	endpoint	NOUN
fcis-12444	76	38	is	be	AUX
fcis-12444	76	39	added	add	VERB
fcis-12444	76	40	to	to	ADP
fcis-12444	76	41	the	the	DET
fcis-12444	76	42	path	path	NOUN
fcis-12444	76	43	and	and	CCONJ
fcis-12444	76	44	the	the	DET
fcis-12444	76	45	successfully	successfully	ADV
fcis-12444	76	46	generated	generate	VERB
fcis-12444	76	47	path	path	NOUN
fcis-12444	76	48	is	be	AUX
fcis-12444	76	49	returned	return	VERB
fcis-12444	76	50	.	.	PUNCT
fcis-12444	77	1	b.	b.	NOUN
fcis-12444	77	2	bias	bias	NOUN
fcis-12444	77	3	sampling	sample	VERB
fcis-12444	77	4	in	in	ADP
fcis-12444	77	5	order	order	NOUN
fcis-12444	77	6	to	to	PART
fcis-12444	77	7	make	make	VERB
fcis-12444	77	8	better	well	ADJ
fcis-12444	77	9	use	use	NOUN
fcis-12444	77	10	of	of	ADP
fcis-12444	77	11	the	the	DET
fcis-12444	77	12	heuristic	heuristic	ADJ
fcis-12444	77	13	information	information	NOUN
fcis-12444	77	14	provided	provide	VERB
fcis-12444	77	15	by	by	ADP
fcis-12444	77	16	the	the	DET
fcis-12444	77	17	target	target	NOUN
fcis-12444	77	18	endpoint	endpoint	NOUN
fcis-12444	77	19	,	,	PUNCT
fcis-12444	77	20	the	the	DET
fcis-12444	77	21	probability	probability	NOUN
fcis-12444	77	22	of	of	ADP
fcis-12444	77	23	bias	bias	NOUN
fcis-12444	77	24	sampling	sampling	NOUN
fcis-12444	77	25	is	be	AUX
fcis-12444	77	26	increased	increase	VERB
fcis-12444	77	27	to	to	ADP
fcis-12444	77	28	95	95	NUM
fcis-12444	77	29	%	%	NOUN
fcis-12444	77	30	while	while	SCONJ
fcis-12444	77	31	retaining	retain	VERB
fcis-12444	77	32	a	a	DET
fcis-12444	77	33	5	5	NUM
fcis-12444	77	34	%	%	NOUN
fcis-12444	77	35	probability	probability	NOUN
fcis-12444	77	36	of	of	ADP
fcis-12444	77	37	random	random	ADJ
fcis-12444	77	38	sampling	sampling	NOUN
fcis-12444	77	39	instead	instead	ADV
fcis-12444	77	40	of	of	ADP
fcis-12444	77	41	using	use	VERB
fcis-12444	77	42	the	the	DET
fcis-12444	77	43	original	original	ADJ
fcis-12444	77	44	bias	bias	NOUN
fcis-12444	77	45	sampling	sample	VERB
fcis-12444	77	46	strategy	strategy	NOUN
fcis-12444	77	47	.	.	PUNCT
fcis-12444	78	1	in	in	ADP
fcis-12444	78	2	specific	specific	ADJ
fcis-12444	78	3	,	,	PUNCT
fcis-12444	78	4	the	the	DET
fcis-12444	78	5	relative	relative	ADJ
fcis-12444	78	6	position	position	NOUN
fcis-12444	78	7	relationship	relationship	NOUN
fcis-12444	78	8	between	between	ADP
fcis-12444	78	9	the	the	DET
fcis-12444	78	10	generated	generate	VERB
fcis-12444	78	11	node	node	NOUN
fcis-12444	78	12	and	and	CCONJ
fcis-12444	78	13	the	the	DET
fcis-12444	78	14	target	target	NOUN
fcis-12444	78	15	endpoint	endpoint	NOUN
fcis-12444	78	16	recorded	record	VERB
fcis-12444	78	17	after	after	SCONJ
fcis-12444	78	18	the	the	DET
fcis-12444	78	19	previous	previous	ADJ
fcis-12444	78	20	sampling	sampling	NOUN
fcis-12444	78	21	is	be	AUX
fcis-12444	78	22	used	use	VERB
fcis-12444	78	23	in	in	ADP
fcis-12444	78	24	the	the	DET
fcis-12444	78	25	bias	bias	NOUN
fcis-12444	78	26	sampling	sample	VERB
fcis-12444	78	27	process	process	NOUN
fcis-12444	78	28	to	to	PART
fcis-12444	78	29	determine	determine	VERB
fcis-12444	78	30	the	the	DET
fcis-12444	78	31	extent	extent	NOUN
fcis-12444	78	32	of	of	ADP
fcis-12444	78	33	the	the	DET
fcis-12444	78	34	area	area	NOUN
fcis-12444	78	35	to	to	PART
fcis-12444	78	36	be	be	AUX
fcis-12444	78	37	sampled	sample	VERB
fcis-12444	78	38	next	next	ADJ
fcis-12444	78	39	time	time	NOUN
fcis-12444	78	40	,	,	PUNCT
fcis-12444	78	41	so	so	SCONJ
fcis-12444	78	42	that	that	SCONJ
fcis-12444	78	43	the	the	DET
fcis-12444	78	44	sampled	sample	VERB
fcis-12444	78	45	point	point	NOUN
fcis-12444	78	46	is	be	AUX
fcis-12444	78	47	closer	close	ADJ
fcis-12444	78	48	to	to	ADP
fcis-12444	78	49	the	the	DET
fcis-12444	78	50	target	target	NOUN
fcis-12444	78	51	point	point	NOUN
fcis-12444	78	52	with	with	ADP
fcis-12444	78	53	a	a	DET
fcis-12444	78	54	higher	high	ADJ
fcis-12444	78	55	probability	probability	NOUN
fcis-12444	78	56	.	.	PUNCT
fcis-12444	79	1	taking	take	VERB
fcis-12444	79	2	fig	fig	NOUN
fcis-12444	79	3	.	.	PUNCT
fcis-12444	80	1	1	1	NUM
fcis-12444	81	1	as	as	ADP
fcis-12444	81	2	an	an	DET
fcis-12444	81	3	example	example	NOUN
fcis-12444	81	4	,	,	PUNCT
fcis-12444	81	5	the	the	DET
fcis-12444	81	6	next	next	ADJ
fcis-12444	81	7	sampling	sample	VERB
fcis-12444	81	8	range	range	NOUN
fcis-12444	81	9	will	will	AUX
fcis-12444	81	10	be	be	AUX
fcis-12444	81	11	limited	limit	VERB
fcis-12444	81	12	to	to	ADP
fcis-12444	81	13	section	section	NOUN
fcis-12444	81	14	a.	a.	NOUN
fcis-12444	81	15	fig	fig	PROPN
fcis-12444	81	16	2	2	NUM
fcis-12444	81	17	.	.	PUNCT
fcis-12444	81	18	escape	escape	NOUN
fcis-12444	81	19	mechanism	mechanism	NOUN
fcis-12444	81	20	c.	c.	NOUN
fcis-12444	81	21	escape	escape	NOUN
fcis-12444	81	22	mechanism	mechanism	NOUN
fcis-12444	81	23	increasing	increase	VERB
fcis-12444	81	24	the	the	DET
fcis-12444	81	25	probability	probability	NOUN
fcis-12444	81	26	of	of	ADP
fcis-12444	81	27	biased	biased	ADJ
fcis-12444	81	28	sampling	sampling	NOUN
fcis-12444	81	29	means	mean	VERB
fcis-12444	81	30	that	that	SCONJ
fcis-12444	81	31	there	there	PRON
fcis-12444	81	32	may	may	AUX
fcis-12444	81	33	be	be	AUX
fcis-12444	81	34	an	an	DET
fcis-12444	81	35	over	over	ADP
fcis-12444	81	36	-	-	PUNCT
fcis-12444	81	37	reliance	reliance	NOUN
fcis-12444	81	38	on	on	ADP
fcis-12444	81	39	the	the	DET
fcis-12444	81	40	heuristic	heuristic	ADJ
fcis-12444	81	41	information	information	NOUN
fcis-12444	81	42	provided	provide	VERB
fcis-12444	81	43	by	by	ADP
fcis-12444	81	44	the	the	DET
fcis-12444	81	45	endpoints	endpoint	NOUN
fcis-12444	81	46	.	.	PUNCT
fcis-12444	82	1	this	this	PRON
fcis-12444	82	2	may	may	AUX
fcis-12444	82	3	make	make	VERB
fcis-12444	82	4	the	the	DET
fcis-12444	82	5	algorithm	algorithm	NOUN
fcis-12444	82	6	fall	fall	VERB
fcis-12444	82	7	into	into	ADP
fcis-12444	82	8	a	a	DET
fcis-12444	82	9	local	local	ADJ
fcis-12444	82	10	optimum	optimum	NOUN
fcis-12444	82	11	.	.	PUNCT
fcis-12444	83	1	in	in	ADP
fcis-12444	83	2	addition	addition	NOUN
fcis-12444	83	3	,	,	PUNCT
fcis-12444	83	4	in	in	ADP
fcis-12444	83	5	maps	map	NOUN
fcis-12444	83	6	with	with	ADP
fcis-12444	83	7	many	many	ADJ
fcis-12444	83	8	obstacles	obstacle	NOUN
fcis-12444	83	9	,	,	PUNCT
fcis-12444	83	10	or	or	CCONJ
fcis-12444	83	11	where	where	SCONJ
fcis-12444	83	12	obstacles	obstacle	NOUN
fcis-12444	83	13	are	be	AUX
fcis-12444	83	14	present	present	ADJ
fcis-12444	83	15	in	in	ADP
fcis-12444	83	16	multiple	multiple	ADJ
fcis-12444	83	17	directions	direction	NOUN
fcis-12444	83	18	over	over	ADP
fcis-12444	83	19	a	a	DET
fcis-12444	83	20	short	short	ADJ
fcis-12444	83	21	distance	distance	NOUN
fcis-12444	83	22	(	(	PUNCT
fcis-12444	83	23	like	like	ADP
fcis-12444	83	24	groove	groove	NOUN
fcis-12444	83	25	structure	structure	NOUN
fcis-12444	83	26	)	)	PUNCT
fcis-12444	83	27	,	,	PUNCT
fcis-12444	83	28	large	large	ADJ
fcis-12444	83	29	bias	bias	NOUN
fcis-12444	83	30	sampling	sample	VERB
fcis-12444	83	31	weights	weight	NOUN
fcis-12444	83	32	may	may	AUX
fcis-12444	83	33	lead	lead	VERB
fcis-12444	83	34	to	to	ADP
fcis-12444	83	35	a	a	DET
fcis-12444	83	36	large	large	ADJ
fcis-12444	83	37	waste	waste	NOUN
fcis-12444	83	38	of	of	ADP
fcis-12444	83	39	computational	computational	ADJ
fcis-12444	83	40	resources	resource	NOUN
fcis-12444	83	41	and	and	CCONJ
fcis-12444	83	42	the	the	DET
fcis-12444	83	43	algorithm	algorithm	NOUN
fcis-12444	83	44	may	may	AUX
fcis-12444	83	45	not	not	PART
fcis-12444	83	46	converge	converge	VERB
fcis-12444	83	47	beyond	beyond	ADP
fcis-12444	83	48	the	the	DET
fcis-12444	83	49	maximum	maximum	ADJ
fcis-12444	83	50	number	number	NOUN
fcis-12444	83	51	of	of	ADP
fcis-12444	83	52	iterations	iteration	NOUN
fcis-12444	83	53	.	.	PUNCT
fcis-12444	84	1	therefore	therefore	ADV
fcis-12444	84	2	,	,	PUNCT
fcis-12444	84	3	a	a	DET
fcis-12444	84	4	suitable	suitable	ADJ
fcis-12444	84	5	escape	escape	NOUN
fcis-12444	84	6	mechanism	mechanism	NOUN
fcis-12444	84	7	is	be	AUX
fcis-12444	84	8	necessary	necessary	ADJ
fcis-12444	84	9	to	to	PART
fcis-12444	84	10	exploit	exploit	VERB
fcis-12444	84	11	the	the	DET
fcis-12444	84	12	stochastic	stochastic	ADJ
fcis-12444	84	13	nature	nature	NOUN
fcis-12444	84	14	of	of	ADP
fcis-12444	84	15	the	the	DET
fcis-12444	84	16	rrt	rrt	NOUN
fcis-12444	84	17	algorithm	algorithm	NOUN
fcis-12444	84	18	to	to	PART
fcis-12444	84	19	exploit	exploit	VERB
fcis-12444	84	20	its	its	PRON
fcis-12444	84	21	powerful	powerful	ADJ
fcis-12444	84	22	spatial	spatial	ADJ
fcis-12444	84	23	search	search	NOUN
fcis-12444	84	24	capabilities	capability	NOUN
fcis-12444	84	25	.	.	PUNCT
fcis-12444	85	1	in	in	ADP
fcis-12444	85	2	specific	specific	ADJ
fcis-12444	85	3	,	,	PUNCT
fcis-12444	85	4	whenever	whenever	SCONJ
fcis-12444	85	5	the	the	DET
fcis-12444	85	6	cumulative	cumulative	ADJ
fcis-12444	85	7	generation	generation	NOUN
fcis-12444	85	8	of	of	ADP
fcis-12444	85	9	new	new	ADJ
fcis-12444	85	10	nodes	node	NOUN
fcis-12444	85	11	by	by	ADP
fcis-12444	85	12	means	mean	NOUN
fcis-12444	85	13	of	of	ADP
fcis-12444	85	14	bias	bias	NOUN
fcis-12444	85	15	sampling	sample	VERB
fcis-12444	85	16	fails	fail	VERB
fcis-12444	85	17	three	three	NUM
fcis-12444	85	18	times	time	NOUN
fcis-12444	85	19	,	,	PUNCT
fcis-12444	85	20	the	the	DET
fcis-12444	85	21	escape	escape	NOUN
fcis-12444	85	22	mechanism	mechanism	NOUN
fcis-12444	85	23	is	be	AUX
fcis-12444	85	24	activated	activate	VERB
fcis-12444	85	25	.	.	PUNCT
fcis-12444	86	1	in	in	ADP
fcis-12444	86	2	the	the	DET
fcis-12444	86	3	escape	escape	NOUN
fcis-12444	86	4	mechanism	mechanism	NOUN
fcis-12444	86	5	,	,	PUNCT
fcis-12444	86	6	the	the	DET
fcis-12444	86	7	location	location	NOUN
fcis-12444	86	8	of	of	ADP
fcis-12444	86	9	the	the	DET
fcis-12444	86	10	new	new	ADJ
fcis-12444	86	11	‘	'	PUNCT
fcis-12444	86	12	pseudoendpoint	pseudoendpoint	NOUN
fcis-12444	86	13	’	'	PUNCT
fcis-12444	86	14	that	that	PRON
fcis-12444	86	15	provides	provide	VERB
fcis-12444	86	16	the	the	DET
fcis-12444	86	17	heuristic	heuristic	ADJ
fcis-12444	86	18	information	information	NOUN
fcis-12444	86	19	is	be	AUX
fcis-12444	86	20	first	first	ADV
fcis-12444	86	21	determined	determine	VERB
fcis-12444	86	22	.	.	PUNCT
fcis-12444	87	1	the	the	DET
fcis-12444	87	2	rules	rule	NOUN
fcis-12444	87	3	are	be	AUX
fcis-12444	87	4	as	as	SCONJ
fcis-12444	87	5	follows	follow	VERB
fcis-12444	87	6	:	:	PUNCT
fcis-12444	87	7	the	the	DET
fcis-12444	87	8	last	last	ADJ
fcis-12444	87	9	successfully	successfully	ADV
fcis-12444	87	10	generated	generate	VERB
fcis-12444	87	11	node	node	NOUN
fcis-12444	87	12	is	be	AUX
fcis-12444	87	13	defined	define	VERB
fcis-12444	87	14	as	as	ADP
fcis-12444	87	15	the	the	DET
fcis-12444	87	16	previous	previous	ADJ
fcis-12444	87	17	node	node	NOUN
fcis-12444	87	18	.	.	PUNCT
fcis-12444	88	1	fig	fig	PROPN
fcis-12444	88	2	3	3	NUM
fcis-12444	88	3	.	.	NOUN
fcis-12444	88	4	four	four	NUM
fcis-12444	88	5	designed	design	VERB
fcis-12444	88	6	maps	map	NOUN
fcis-12444	88	7	:	:	PUNCT
fcis-12444	88	8	1	1	X
fcis-12444	88	9	)	)	PUNCT
fcis-12444	88	10	map	map	NOUN
fcis-12444	88	11	provided	provide	VERB
fcis-12444	88	12	by	by	ADP
fcis-12444	88	13	python	python	NOUN
fcis-12444	88	14	robotics	robotic	NOUN
fcis-12444	88	15	2	2	NUM
fcis-12444	88	16	)	)	PUNCT
fcis-12444	88	17	map	map	NOUN
fcis-12444	88	18	with	with	ADP
fcis-12444	88	19	a	a	DET
fcis-12444	88	20	groove	groove	NOUN
fcis-12444	88	21	structure	structure	NOUN
fcis-12444	88	22	3	3	NUM
fcis-12444	88	23	)	)	PUNCT
fcis-12444	88	24	map	map	NOUN
fcis-12444	88	25	with	with	ADP
fcis-12444	88	26	mass	mass	NOUN
fcis-12444	88	27	(	(	PUNCT
fcis-12444	88	28	24	24	NUM
fcis-12444	88	29	)	)	PUNCT
fcis-12444	88	30	obstacles	obstacle	NOUN
fcis-12444	88	31	4	4	NUM
fcis-12444	88	32	)	)	PUNCT
fcis-12444	88	33	map	map	NOUN
fcis-12444	88	34	with	with	ADP
fcis-12444	88	35	a	a	DET
fcis-12444	88	36	narrow	narrow	ADJ
fcis-12444	88	37	channel	channel	NOUN
fcis-12444	88	38	as	as	SCONJ
fcis-12444	88	39	is	be	AUX
fcis-12444	88	40	demonstrated	demonstrate	VERB
fcis-12444	88	41	by	by	ADP
fcis-12444	88	42	fig	fig	NOUN
fcis-12444	88	43	.	.	PUNCT
fcis-12444	89	1	2	2	NUM
fcis-12444	89	2	,	,	PUNCT
fcis-12444	89	3	the	the	DET
fcis-12444	89	4	“	"	PUNCT
fcis-12444	89	5	pseudo	pseudo	NOUN
fcis-12444	89	6	-	-	NOUN
fcis-12444	89	7	endpoint	endpoint	NOUN
fcis-12444	89	8	”	"	PUNCT
fcis-12444	89	9	is	be	AUX
fcis-12444	89	10	generated	generate	VERB
fcis-12444	89	11	with	with	ADP
fcis-12444	89	12	40	40	NUM
fcis-12444	89	13	%	%	NOUN
fcis-12444	89	14	probability	probability	NOUN
fcis-12444	89	15	at	at	ADP
fcis-12444	89	16	a	a	DET
fcis-12444	89	17	position	position	NOUN
fcis-12444	89	18	where	where	SCONJ
fcis-12444	89	19	the	the	DET
fcis-12444	89	20	true	true	ADJ
fcis-12444	89	21	endpoint	endpoint	NOUN
fcis-12444	89	22	is	be	AUX
fcis-12444	89	23	horizontally	horizontally	ADV
fcis-12444	89	24	symmetric	symmetric	ADJ
fcis-12444	89	25	with	with	ADP
fcis-12444	89	26	respect	respect	NOUN
fcis-12444	89	27	to	to	ADP
fcis-12444	89	28	the	the	DET
fcis-12444	89	29	previous	previous	ADJ
fcis-12444	89	30	node	node	NOUN
fcis-12444	89	31	,	,	PUNCT
fcis-12444	89	32	40	40	NUM
fcis-12444	89	33	%	%	NOUN
fcis-12444	89	34	probability	probability	NOUN
fcis-12444	89	35	at	at	ADP
fcis-12444	89	36	a	a	DET
fcis-12444	89	37	position	position	NOUN
fcis-12444	89	38	where	where	SCONJ
fcis-12444	89	39	the	the	DET
fcis-12444	89	40	true	true	ADJ
fcis-12444	89	41	endpoint	endpoint	NOUN
fcis-12444	89	42	is	be	AUX
fcis-12444	89	43	vertically	vertically	ADV
fcis-12444	89	44	symmetric	symmetric	ADJ
fcis-12444	89	45	with	with	ADP
fcis-12444	89	46	respect	respect	NOUN
fcis-12444	89	47	to	to	ADP
fcis-12444	89	48	the	the	DET
fcis-12444	89	49	previous	previous	ADJ
fcis-12444	89	50	node	node	NOUN
fcis-12444	89	51	,	,	PUNCT
fcis-12444	89	52	and	and	CCONJ
fcis-12444	89	53	a	a	DET
fcis-12444	89	54	20	20	NUM
fcis-12444	89	55	%	%	NOUN
fcis-12444	89	56	probability	probability	NOUN
fcis-12444	89	57	at	at	ADP
fcis-12444	89	58	a	a	DET
fcis-12444	89	59	position	position	NOUN
fcis-12444	89	60	where	where	SCONJ
fcis-12444	89	61	the	the	DET
fcis-12444	89	62	true	true	ADJ
fcis-12444	89	63	endpoint	endpoint	NOUN
fcis-12444	89	64	is	be	AUX
fcis-12444	89	65	centrosymmetric	centrosymmetric	ADJ
fcis-12444	89	66	with	with	ADP
fcis-12444	89	67	respect	respect	NOUN
fcis-12444	89	68	to	to	ADP
fcis-12444	89	69	the	the	DET
fcis-12444	89	70	previous	previous	ADJ
fcis-12444	89	71	node	node	NOUN
fcis-12444	89	72	.	.	PUNCT
fcis-12444	90	1	the	the	DET
fcis-12444	90	2	region	region	NOUN
fcis-12444	90	3	to	to	PART
fcis-12444	90	4	be	be	AUX
fcis-12444	90	5	sampled	sample	VERB
fcis-12444	90	6	next	next	ADV
fcis-12444	90	7	is	be	AUX
fcis-12444	90	8	then	then	ADV
fcis-12444	90	9	determined	determine	VERB
fcis-12444	90	10	based	base	VERB
fcis-12444	90	11	on	on	ADP
fcis-12444	90	12	the	the	DET
fcis-12444	90	13	relative	relative	ADJ
fcis-12444	90	14	position	position	NOUN
fcis-12444	90	15	information	information	NOUN
fcis-12444	90	16	provided	provide	VERB
fcis-12444	90	17	by	by	ADP
fcis-12444	90	18	the	the	DET
fcis-12444	90	19	pseudoendpoint	pseudoendpoint	NOUN
fcis-12444	90	20	as	as	ADP
fcis-12444	90	21	,	,	PUNCT
fcis-12444	90	22	using	use	VERB
fcis-12444	90	23	a	a	DET
fcis-12444	90	24	similar	similar	ADJ
fcis-12444	90	25	heuristic	heuristic	NOUN
fcis-12444	90	26	as	as	SCONJ
fcis-12444	90	27	described	describe	VERB
fcis-12444	90	28	above	above	ADV
fcis-12444	90	29	.	.	PUNCT
fcis-12444	91	1	continuous	continuous	ADJ
fcis-12444	91	2	sampling	sampling	NOUN
fcis-12444	91	3	is	be	AUX
fcis-12444	91	4	performed	perform	VERB
fcis-12444	91	5	until	until	SCONJ
fcis-12444	91	6	a	a	DET
fcis-12444	91	7	new	new	ADJ
fcis-12444	91	8	node	node	NOUN
fcis-12444	91	9	is	be	AUX
fcis-12444	91	10	successfully	successfully	ADV
fcis-12444	91	11	generated	generate	VERB
fcis-12444	91	12	.	.	PUNCT
fcis-12444	92	1	fig	fig	PROPN
fcis-12444	92	2	4	4	NUM
fcis-12444	92	3	.	.	PUNCT
fcis-12444	93	1	average	average	ADJ
fcis-12444	93	2	path	path	NOUN
fcis-12444	93	3	length	length	NOUN
fcis-12444	93	4	generated	generate	VERB
fcis-12444	93	5	by	by	ADP
fcis-12444	93	6	the	the	DET
fcis-12444	93	7	proposed	propose	VERB
fcis-12444	93	8	algorithm	algorithm	NOUN
fcis-12444	93	9	and	and	CCONJ
fcis-12444	93	10	original	original	ADJ
fcis-12444	93	11	rrt	rrt	NOUN
fcis-12444	93	12	55	55	NUM
fcis-12444	93	13	fig	fig	NOUN
fcis-12444	93	14	5	5	NUM
fcis-12444	93	15	.	.	PUNCT
fcis-12444	93	16	average	average	ADJ
fcis-12444	93	17	time	time	NOUN
fcis-12444	93	18	cost	cost	NOUN
fcis-12444	93	19	by	by	ADP
fcis-12444	93	20	the	the	DET
fcis-12444	93	21	proposed	propose	VERB
fcis-12444	93	22	algorithm	algorithm	NOUN
fcis-12444	93	23	and	and	CCONJ
fcis-12444	93	24	original	original	ADJ
fcis-12444	93	25	rrt	rrt	NOUN
fcis-12444	93	26	4.3	4.3	NUM
fcis-12444	93	27	.	.	PUNCT
fcis-12444	94	1	result	result	VERB
fcis-12444	94	2	the	the	DET
fcis-12444	94	3	proposed	propose	VERB
fcis-12444	94	4	improved	improve	VERB
fcis-12444	94	5	algorithm	algorithm	NOUN
fcis-12444	94	6	was	be	AUX
fcis-12444	94	7	tested	test	VERB
fcis-12444	94	8	10	10	NUM
fcis-12444	94	9	times	time	NOUN
fcis-12444	94	10	on	on	ADP
fcis-12444	94	11	each	each	PRON
fcis-12444	94	12	of	of	ADP
fcis-12444	94	13	the	the	DET
fcis-12444	94	14	four	four	NUM
fcis-12444	94	15	designed	design	VERB
fcis-12444	94	16	maps	map	NOUN
fcis-12444	94	17	with	with	ADP
fcis-12444	94	18	typical	typical	ADJ
fcis-12444	94	19	characteristics	characteristic	NOUN
fcis-12444	94	20	as	as	SCONJ
fcis-12444	94	21	shown	show	VERB
fcis-12444	94	22	in	in	ADP
fcis-12444	94	23	fig	fig	NOUN
fcis-12444	94	24	.	.	PUNCT
fcis-12444	95	1	3	3	X
fcis-12444	95	2	.	.	X
fcis-12444	95	3	the	the	DET
fcis-12444	95	4	average	average	ADJ
fcis-12444	95	5	path	path	NOUN
fcis-12444	95	6	length	length	NOUN
fcis-12444	95	7	generated	generate	VERB
fcis-12444	95	8	and	and	CCONJ
fcis-12444	95	9	the	the	DET
fcis-12444	95	10	average	average	ADJ
fcis-12444	95	11	time	time	NOUN
fcis-12444	95	12	taken	take	VERB
fcis-12444	95	13	to	to	PART
fcis-12444	95	14	successfully	successfully	ADV
fcis-12444	95	15	find	find	VERB
fcis-12444	95	16	the	the	DET
fcis-12444	95	17	path	path	NOUN
fcis-12444	95	18	were	be	AUX
fcis-12444	95	19	calculated	calculate	VERB
fcis-12444	95	20	and	and	CCONJ
fcis-12444	95	21	the	the	DET
fcis-12444	95	22	results	result	NOUN
fcis-12444	95	23	are	be	AUX
fcis-12444	95	24	shown	show	VERB
fcis-12444	95	25	in	in	ADP
fcis-12444	95	26	fig	fig	NOUN
fcis-12444	95	27	.	.	PUNCT
fcis-12444	96	1	4	4	NUM
fcis-12444	96	2	and	and	CCONJ
fcis-12444	96	3	fig	fig	NOUN
fcis-12444	96	4	.	.	PUNCT
fcis-12444	97	1	5	5	X
fcis-12444	97	2	.	.	X
fcis-12444	98	1	it	it	PRON
fcis-12444	98	2	is	be	AUX
fcis-12444	98	3	worth	worth	ADJ
fcis-12444	98	4	noting	note	VERB
fcis-12444	98	5	that	that	SCONJ
fcis-12444	98	6	when	when	SCONJ
fcis-12444	98	7	using	use	VERB
fcis-12444	98	8	the	the	DET
fcis-12444	98	9	original	original	ADJ
fcis-12444	98	10	rrt	rrt	NOUN
fcis-12444	98	11	algorithm	algorithm	NOUN
fcis-12444	98	12	to	to	PART
fcis-12444	98	13	find	find	VERB
fcis-12444	98	14	a	a	DET
fcis-12444	98	15	path	path	NOUN
fcis-12444	98	16	on	on	ADP
fcis-12444	98	17	map	map	NOUN
fcis-12444	98	18	2	2	NUM
fcis-12444	98	19	,	,	PUNCT
fcis-12444	98	20	there	there	PRON
fcis-12444	98	21	is	be	VERB
fcis-12444	98	22	a	a	DET
fcis-12444	98	23	60	60	NUM
fcis-12444	98	24	%	%	NOUN
fcis-12444	98	25	chance	chance	NOUN
fcis-12444	98	26	of	of	ADP
fcis-12444	98	27	exceeding	exceed	VERB
fcis-12444	98	28	its	its	PRON
fcis-12444	98	29	maximum	maximum	ADJ
fcis-12444	98	30	number	number	NOUN
fcis-12444	98	31	of	of	ADP
fcis-12444	98	32	iterations	iteration	NOUN
fcis-12444	98	33	and	and	CCONJ
fcis-12444	98	34	failing	fail	VERB
fcis-12444	98	35	to	to	PART
fcis-12444	98	36	find	find	VERB
fcis-12444	98	37	a	a	DET
fcis-12444	98	38	path	path	NOUN
fcis-12444	98	39	successfully	successfully	ADV
fcis-12444	98	40	.	.	PUNCT
fcis-12444	99	1	on	on	ADP
fcis-12444	99	2	maps	map	NOUN
fcis-12444	99	3	3	3	NUM
fcis-12444	99	4	and	and	CCONJ
fcis-12444	99	5	4	4	NUM
fcis-12444	99	6	,	,	PUNCT
fcis-12444	99	7	this	this	DET
fcis-12444	99	8	figure	figure	NOUN
fcis-12444	99	9	is	be	AUX
fcis-12444	99	10	30	30	NUM
fcis-12444	99	11	%	%	NOUN
fcis-12444	99	12	and	and	CCONJ
fcis-12444	99	13	20	20	NUM
fcis-12444	99	14	%	%	NOUN
fcis-12444	99	15	respectively	respectively	ADV
fcis-12444	99	16	,	,	PUNCT
fcis-12444	99	17	while	while	SCONJ
fcis-12444	99	18	the	the	DET
fcis-12444	99	19	proposed	propose	VERB
fcis-12444	99	20	algorithm	algorithm	NOUN
fcis-12444	99	21	is	be	AUX
fcis-12444	99	22	able	able	ADJ
fcis-12444	99	23	to	to	PART
fcis-12444	99	24	find	find	VERB
fcis-12444	99	25	paths	path	NOUN
fcis-12444	99	26	in	in	ADP
fcis-12444	99	27	a	a	DET
fcis-12444	99	28	much	much	ADV
fcis-12444	99	29	shorter	short	ADJ
fcis-12444	99	30	time	time	NOUN
fcis-12444	99	31	with	with	ADP
fcis-12444	99	32	a	a	DET
fcis-12444	99	33	success	success	NOUN
fcis-12444	99	34	rate	rate	NOUN
fcis-12444	99	35	close	close	ADJ
fcis-12444	99	36	to	to	PART
fcis-12444	99	37	100	100	NUM
fcis-12444	99	38	%	%	NOUN
fcis-12444	99	39	,	,	PUNCT
fcis-12444	99	40	demonstrating	demonstrate	VERB
fcis-12444	99	41	the	the	DET
fcis-12444	99	42	superiority	superiority	NOUN
fcis-12444	99	43	of	of	ADP
fcis-12444	99	44	the	the	DET
fcis-12444	99	45	proposed	propose	VERB
fcis-12444	99	46	improved	improved	ADJ
fcis-12444	99	47	strategy	strategy	NOUN
fcis-12444	99	48	.	.	PUNCT
fcis-12444	100	1	5	5	X
fcis-12444	100	2	.	.	X
fcis-12444	100	3	conclusion	conclusion	NOUN
fcis-12444	100	4	based	base	VERB
fcis-12444	100	5	on	on	ADP
fcis-12444	100	6	experimental	experimental	ADJ
fcis-12444	100	7	results	result	NOUN
fcis-12444	100	8	,	,	PUNCT
fcis-12444	100	9	the	the	DET
fcis-12444	100	10	proposed	propose	VERB
fcis-12444	100	11	biased	biased	ADJ
fcis-12444	100	12	sampling	sample	VERB
fcis-12444	100	13	rrt	rrt	NOUN
fcis-12444	100	14	algorithm	algorithm	NOUN
fcis-12444	100	15	based	base	VERB
fcis-12444	100	16	on	on	ADP
fcis-12444	100	17	heuristic	heuristic	ADJ
fcis-12444	100	18	information	information	NOUN
fcis-12444	100	19	provided	provide	VERB
fcis-12444	100	20	by	by	ADP
fcis-12444	100	21	endpoints	endpoint	NOUN
fcis-12444	100	22	can	can	AUX
fcis-12444	100	23	significantly	significantly	ADV
fcis-12444	100	24	reduce	reduce	VERB
fcis-12444	100	25	the	the	DET
fcis-12444	100	26	time	time	NOUN
fcis-12444	100	27	required	require	VERB
fcis-12444	100	28	for	for	ADP
fcis-12444	100	29	path	path	NOUN
fcis-12444	100	30	lookup	lookup	NOUN
fcis-12444	100	31	when	when	SCONJ
fcis-12444	100	32	the	the	DET
fcis-12444	100	33	generated	generate	VERB
fcis-12444	100	34	path	path	NOUN
fcis-12444	100	35	lengths	length	NOUN
fcis-12444	100	36	are	be	AUX
fcis-12444	100	37	close	close	ADJ
fcis-12444	100	38	.	.	PUNCT
fcis-12444	101	1	in	in	ADP
fcis-12444	101	2	addition	addition	NOUN
fcis-12444	101	3	,	,	PUNCT
fcis-12444	101	4	the	the	DET
fcis-12444	101	5	combination	combination	NOUN
fcis-12444	101	6	of	of	ADP
fcis-12444	101	7	the	the	DET
fcis-12444	101	8	proposed	propose	VERB
fcis-12444	101	9	escape	escape	NOUN
fcis-12444	101	10	mechanisms	mechanism	NOUN
fcis-12444	101	11	can	can	AUX
fcis-12444	101	12	also	also	ADV
fcis-12444	101	13	increase	increase	VERB
fcis-12444	101	14	the	the	DET
fcis-12444	101	15	probability	probability	NOUN
fcis-12444	101	16	of	of	ADP
fcis-12444	101	17	successfully	successfully	ADV
fcis-12444	101	18	finding	find	VERB
fcis-12444	101	19	a	a	DET
fcis-12444	101	20	path	path	NOUN
fcis-12444	101	21	and	and	CCONJ
fcis-12444	101	22	avoid	avoid	VERB
fcis-12444	101	23	falling	fall	VERB
fcis-12444	101	24	into	into	ADP
fcis-12444	101	25	local	local	ADJ
fcis-12444	101	26	optima	optima	NOUN
fcis-12444	101	27	.	.	PUNCT
fcis-12444	102	1	the	the	DET
fcis-12444	102	2	simulation	simulation	NOUN
fcis-12444	102	3	map	map	NOUN
fcis-12444	102	4	illustrates	illustrate	VERB
fcis-12444	102	5	different	different	ADJ
fcis-12444	102	6	actual	actual	ADJ
fcis-12444	102	7	distribution	distribution	NOUN
fcis-12444	102	8	paths	path	NOUN
fcis-12444	102	9	,	,	PUNCT
fcis-12444	102	10	and	and	CCONJ
fcis-12444	102	11	the	the	DET
fcis-12444	102	12	calculation	calculation	NOUN
fcis-12444	102	13	results	result	NOUN
fcis-12444	102	14	show	show	VERB
fcis-12444	102	15	that	that	SCONJ
fcis-12444	102	16	compared	compare	VERB
fcis-12444	102	17	with	with	ADP
fcis-12444	102	18	the	the	DET
fcis-12444	102	19	rrt	rrt	NOUN
fcis-12444	102	20	method	method	NOUN
fcis-12444	102	21	,	,	PUNCT
fcis-12444	102	22	the	the	DET
fcis-12444	102	23	distribution	distribution	NOUN
fcis-12444	102	24	paths	path	NOUN
fcis-12444	102	25	can	can	AUX
fcis-12444	102	26	be	be	AUX
fcis-12444	102	27	shorter	short	ADJ
fcis-12444	102	28	and	and	CCONJ
fcis-12444	102	29	the	the	DET
fcis-12444	102	30	distribution	distribution	NOUN
fcis-12444	102	31	time	time	NOUN
fcis-12444	102	32	can	can	AUX
fcis-12444	102	33	be	be	AUX
fcis-12444	102	34	shortened	shorten	VERB
fcis-12444	102	35	.	.	PUNCT
fcis-12444	103	1	this	this	DET
fcis-12444	103	2	method	method	NOUN
fcis-12444	103	3	is	be	AUX
fcis-12444	103	4	very	very	ADV
fcis-12444	103	5	suitable	suitable	ADJ
fcis-12444	103	6	for	for	ADP
fcis-12444	103	7	the	the	DET
fcis-12444	103	8	distribution	distribution	NOUN
fcis-12444	103	9	activities	activity	NOUN
fcis-12444	103	10	of	of	ADP
fcis-12444	103	11	chain	chain	NOUN
fcis-12444	103	12	supermarkets	supermarket	NOUN
fcis-12444	103	13	or	or	CCONJ
fcis-12444	103	14	single	single	ADJ
fcis-12444	103	15	store	store	NOUN
fcis-12444	103	16	retail	retail	ADJ
fcis-12444	103	17	enterprises	enterprise	NOUN
fcis-12444	103	18	in	in	ADP
fcis-12444	103	19	the	the	DET
fcis-12444	103	20	transformation	transformation	NOUN
fcis-12444	103	21	and	and	CCONJ
fcis-12444	103	22	upgrading	upgrading	NOUN
fcis-12444	103	23	of	of	ADP
fcis-12444	103	24	complex	complex	ADJ
fcis-12444	103	25	terrain	terrain	NOUN
fcis-12444	103	26	.	.	PUNCT
fcis-12444	104	1	the	the	DET
fcis-12444	104	2	limitation	limitation	NOUN
fcis-12444	104	3	of	of	ADP
fcis-12444	104	4	this	this	DET
fcis-12444	104	5	article	article	NOUN
fcis-12444	104	6	is	be	AUX
fcis-12444	104	7	that	that	SCONJ
fcis-12444	104	8	it	it	PRON
fcis-12444	104	9	fails	fail	VERB
fcis-12444	104	10	to	to	PART
fcis-12444	104	11	simulate	simulate	VERB
fcis-12444	104	12	real	real	ADJ
fcis-12444	104	13	distribution	distribution	NOUN
fcis-12444	104	14	maps	map	NOUN
fcis-12444	104	15	and	and	CCONJ
fcis-12444	104	16	perform	perform	VERB
fcis-12444	104	17	algorithm	algorithm	NOUN
fcis-12444	104	18	simulation	simulation	NOUN
fcis-12444	104	19	calculations	calculation	NOUN
fcis-12444	104	20	.	.	PUNCT
fcis-12444	105	1	future	future	ADJ
fcis-12444	105	2	research	research	NOUN
fcis-12444	105	3	will	will	AUX
fcis-12444	105	4	draw	draw	VERB
fcis-12444	105	5	real	real	ADJ
fcis-12444	105	6	maps	map	NOUN
fcis-12444	105	7	,	,	PUNCT
fcis-12444	105	8	identify	identify	VERB
fcis-12444	105	9	map	map	VERB
fcis-12444	105	10	samples	sample	NOUN
fcis-12444	105	11	with	with	ADP
fcis-12444	105	12	terrain	terrain	NOUN
fcis-12444	105	13	differences	difference	NOUN
fcis-12444	105	14	,	,	PUNCT
fcis-12444	105	15	use	use	VERB
fcis-12444	105	16	our	our	PRON
fcis-12444	105	17	algorithm	algorithm	NOUN
fcis-12444	105	18	for	for	ADP
fcis-12444	105	19	simulation	simulation	NOUN
fcis-12444	105	20	,	,	PUNCT
fcis-12444	105	21	and	and	CCONJ
fcis-12444	105	22	obtain	obtain	VERB
fcis-12444	105	23	comparative	comparative	ADJ
fcis-12444	105	24	results	result	NOUN
fcis-12444	105	25	.	.	PUNCT
fcis-12444	106	1	in	in	ADP
fcis-12444	106	2	order	order	NOUN
fcis-12444	106	3	to	to	PART
fcis-12444	106	4	further	far	ADV
fcis-12444	106	5	optimize	optimize	VERB
fcis-12444	106	6	the	the	DET
fcis-12444	106	7	algorithm	algorithm	NOUN
fcis-12444	106	8	in	in	ADP
fcis-12444	106	9	this	this	DET
fcis-12444	106	10	article	article	NOUN
fcis-12444	106	11	and	and	CCONJ
fcis-12444	106	12	accelerate	accelerate	VERB
fcis-12444	106	13	its	its	PRON
fcis-12444	106	14	application	application	NOUN
fcis-12444	106	15	in	in	ADP
fcis-12444	106	16	practical	practical	ADJ
fcis-12444	106	17	distribution	distribution	NOUN
fcis-12444	106	18	work	work	NOUN
fcis-12444	106	19	.	.	PUNCT
fcis-12444	107	1	references	reference	NOUN
fcis-12444	108	1	[	[	X
fcis-12444	108	2	1	1	NUM
fcis-12444	108	3	]	]	PUNCT
fcis-12444	108	4	desaulniers	desaulnier	NOUN
fcis-12444	108	5	,	,	PUNCT
fcis-12444	108	6	g.	g.	PROPN
fcis-12444	108	7	,	,	PUNCT
fcis-12444	108	8	desrosiers	desrosier	NOUN
fcis-12444	108	9	,	,	PUNCT
fcis-12444	108	10	j.	j.	PROPN
fcis-12444	108	11	,	,	PUNCT
fcis-12444	108	12	solomon	solomon	PROPN
fcis-12444	108	13	,	,	PUNCT
fcis-12444	108	14	m.m	m.m	PROPN
fcis-12444	108	15	.	.	PROPN
fcis-12444	108	16	:	:	PUNCT
fcis-12444	108	17	time	time	NOUN
fcis-12444	108	18	window	window	NOUN
fcis-12444	108	19	constraints	constraint	NOUN
fcis-12444	108	20	in	in	ADP
fcis-12444	108	21	vehicle	vehicle	NOUN
fcis-12444	108	22	routing	routing	NOUN
fcis-12444	108	23	and	and	CCONJ
fcis-12444	108	24	scheduling	scheduling	NOUN
fcis-12444	108	25	.	.	PUNCT
fcis-12444	109	1	networks	network	NOUN
fcis-12444	109	2	14(4	14(4	NUM
fcis-12444	109	3	)	)	PUNCT
fcis-12444	109	4	,	,	PUNCT
fcis-12444	109	5	545	545	NUM
fcis-12444	109	6	-	-	SYM
fcis-12444	109	7	565	565	NUM
fcis-12444	109	8	(	(	PUNCT
fcis-12444	109	9	1984	1984	NUM
fcis-12444	109	10	)	)	PUNCT
fcis-12444	109	11	.	.	PUNCT
fcis-12444	110	1	[	[	X
fcis-12444	110	2	2	2	NUM
fcis-12444	110	3	]	]	X
fcis-12444	110	4	solomon	solomon	PROPN
fcis-12444	110	5	,	,	PUNCT
fcis-12444	110	6	m.m	m.m	PROPN
fcis-12444	110	7	.	.	PROPN
fcis-12444	110	8	:	:	PUNCT
fcis-12444	110	9	algorithms	algorithm	NOUN
fcis-12444	110	10	for	for	ADP
fcis-12444	110	11	the	the	DET
fcis-12444	110	12	vehicle	vehicle	NOUN
fcis-12444	110	13	routing	routing	NOUN
fcis-12444	110	14	and	and	CCONJ
fcis-12444	110	15	scheduling	scheduling	NOUN
fcis-12444	110	16	problems	problem	NOUN
fcis-12444	110	17	with	with	ADP
fcis-12444	110	18	time	time	NOUN
fcis-12444	110	19	window	window	NOUN
fcis-12444	110	20	constraints	constraint	NOUN
fcis-12444	110	21	.	.	PUNCT
fcis-12444	111	1	operations	operation	NOUN
fcis-12444	111	2	research	research	VERB
fcis-12444	111	3	35(2	35(2	NUM
fcis-12444	111	4	)	)	PUNCT
fcis-12444	111	5	,	,	PUNCT
fcis-12444	111	6	254	254	NUM
fcis-12444	111	7	-	-	SYM
fcis-12444	111	8	265	265	NUM
fcis-12444	111	9	(	(	PUNCT
fcis-12444	111	10	1987	1987	NUM
fcis-12444	111	11	)	)	PUNCT
fcis-12444	111	12	.	.	PUNCT
fcis-12444	112	1	[	[	X
fcis-12444	112	2	3	3	X
fcis-12444	112	3	]	]	X
fcis-12444	112	4	cordeau	cordeau	PROPN
fcis-12444	112	5	,	,	PUNCT
fcis-12444	112	6	j.f	j.f	PROPN
fcis-12444	112	7	.	.	PROPN
fcis-12444	112	8	,	,	PUNCT
fcis-12444	112	9	laporte	laporte	NOUN
fcis-12444	112	10	,	,	PUNCT
fcis-12444	112	11	g.	g.	PROPN
fcis-12444	112	12	:	:	PUNCT
fcis-12444	112	13	a	a	DET
fcis-12444	112	14	tabu	tabu	NOUN
fcis-12444	112	15	search	search	NOUN
fcis-12444	112	16	heuristic	heuristic	NOUN
fcis-12444	112	17	for	for	ADP
fcis-12444	112	18	periodic	periodic	ADJ
fcis-12444	112	19	and	and	CCONJ
fcis-12444	112	20	multi	multi	ADJ
fcis-12444	112	21	-	-	ADJ
fcis-12444	112	22	depot	depot	ADJ
fcis-12444	112	23	vehicle	vehicle	NOUN
fcis-12444	112	24	routing	routing	NOUN
fcis-12444	112	25	problems	problem	NOUN
fcis-12444	112	26	.	.	PUNCT
fcis-12444	113	1	networks	network	NOUN
fcis-12444	113	2	30(2	30(2	NUM
fcis-12444	113	3	)	)	PUNCT
fcis-12444	113	4	,	,	PUNCT
fcis-12444	113	5	105	105	NUM
fcis-12444	113	6	-	-	SYM
fcis-12444	113	7	119	119	NUM
fcis-12444	113	8	(	(	PUNCT
fcis-12444	113	9	1997	1997	NUM
fcis-12444	113	10	)	)	PUNCT
fcis-12444	113	11	.	.	PUNCT
fcis-12444	114	1	[	[	X
fcis-12444	114	2	4	4	NUM
fcis-12444	114	3	]	]	X
fcis-12444	114	4	bent	bent	ADJ
fcis-12444	114	5	,	,	PUNCT
fcis-12444	114	6	r.	r.	PROPN
fcis-12444	114	7	,	,	PUNCT
fcis-12444	114	8	van	van	PROPN
fcis-12444	114	9	hentenryck	hentenryck	PROPN
fcis-12444	114	10	,	,	PUNCT
fcis-12444	114	11	p.	p.	NOUN
fcis-12444	114	12	:	:	PUNCT
fcis-12444	115	1	a	a	DET
fcis-12444	115	2	two	two	NUM
fcis-12444	115	3	-	-	PUNCT
fcis-12444	115	4	stage	stage	NOUN
fcis-12444	115	5	hybrid	hybrid	ADJ
fcis-12444	115	6	local	local	ADJ
fcis-12444	115	7	search	search	NOUN
fcis-12444	115	8	algorithm	algorithm	NOUN
fcis-12444	115	9	for	for	ADP
fcis-12444	115	10	the	the	DET
fcis-12444	115	11	vehicle	vehicle	NOUN
fcis-12444	115	12	routing	routing	NOUN
fcis-12444	115	13	problem	problem	NOUN
fcis-12444	115	14	with	with	ADP
fcis-12444	115	15	time	time	NOUN
fcis-12444	115	16	windows	window	NOUN
fcis-12444	115	17	.	.	PUNCT
fcis-12444	116	1	transportation	transportation	NOUN
fcis-12444	116	2	science	science	NOUN
fcis-12444	116	3	37(1	37(1	PROPN
fcis-12444	116	4	)	)	PUNCT
fcis-12444	116	5	,	,	PUNCT
fcis-12444	116	6	21	21	NUM
fcis-12444	116	7	-	-	SYM
fcis-12444	116	8	38	38	NUM
fcis-12444	116	9	(	(	PUNCT
fcis-12444	116	10	2003	2003	NUM
fcis-12444	116	11	)	)	PUNCT
fcis-12444	116	12	.	.	PUNCT
fcis-12444	117	1	[	[	X
fcis-12444	117	2	5	5	NUM
fcis-12444	117	3	]	]	X
fcis-12444	117	4	ghiani	ghiani	PROPN
fcis-12444	117	5	,	,	PUNCT
fcis-12444	117	6	g.	g.	PROPN
fcis-12444	117	7	,	,	PUNCT
fcis-12444	117	8	laporte	laporte	NOUN
fcis-12444	117	9	,	,	PUNCT
fcis-12444	117	10	g.	g.	PROPN
fcis-12444	117	11	,	,	PUNCT
fcis-12444	117	12	musmanno	musmanno	NOUN
fcis-12444	117	13	,	,	PUNCT
fcis-12444	117	14	r.	r.	PROPN
fcis-12444	117	15	:	:	PUNCT
fcis-12444	117	16	introduction	introduction	NOUN
fcis-12444	117	17	to	to	ADP
fcis-12444	117	18	logistics	logistic	NOUN
fcis-12444	117	19	systems	system	NOUN
fcis-12444	117	20	planning	planning	NOUN
fcis-12444	117	21	and	and	CCONJ
fcis-12444	117	22	control	control	NOUN
fcis-12444	117	23	.	.	PUNCT
fcis-12444	118	1	john	john	PROPN
fcis-12444	118	2	wiley	wiley	PROPN
fcis-12444	118	3	&	&	CCONJ
fcis-12444	118	4	sons	sons	PROPN
fcis-12444	118	5	(	(	PUNCT
fcis-12444	118	6	2004	2004	NUM
fcis-12444	118	7	)	)	PUNCT
fcis-12444	118	8	.	.	PUNCT
fcis-12444	119	1	[	[	X
fcis-12444	119	2	6	6	NUM
fcis-12444	119	3	]	]	X
fcis-12444	119	4	golden	golden	ADJ
fcis-12444	119	5	,	,	PUNCT
fcis-12444	119	6	b.l	b.l	PROPN
fcis-12444	119	7	.	.	PROPN
fcis-12444	119	8	,	,	PUNCT
fcis-12444	119	9	raghavan	raghavan	PROPN
fcis-12444	119	10	,	,	PUNCT
fcis-12444	119	11	s.	s.	PROPN
fcis-12444	119	12	,	,	PUNCT
fcis-12444	119	13	wasil	wasil	PROPN
fcis-12444	119	14	,	,	PUNCT
fcis-12444	119	15	e.a	e.a	PROPN
fcis-12444	119	16	.	.	PROPN
fcis-12444	119	17	:	:	PUNCT
fcis-12444	120	1	the	the	DET
fcis-12444	120	2	vehicle	vehicle	NOUN
fcis-12444	120	3	routing	routing	NOUN
fcis-12444	120	4	problem	problem	NOUN
fcis-12444	120	5	:	:	PUNCT
fcis-12444	120	6	latest	late	ADJ
fcis-12444	120	7	advances	advance	NOUN
fcis-12444	120	8	and	and	CCONJ
fcis-12444	120	9	new	new	ADJ
fcis-12444	120	10	challenges	challenge	NOUN
fcis-12444	120	11	.	.	PUNCT
fcis-12444	121	1	springer	springer	NOUN
fcis-12444	121	2	science	science	PROPN
fcis-12444	121	3	&	&	CCONJ
fcis-12444	121	4	business	business	NOUN
fcis-12444	121	5	media	medium	NOUN
fcis-12444	121	6	(	(	PUNCT
fcis-12444	121	7	2008	2008	NUM
fcis-12444	121	8	)	)	PUNCT
fcis-12444	121	9	.	.	PUNCT
fcis-12444	122	1	[	[	X
fcis-12444	122	2	7	7	NUM
fcis-12444	122	3	]	]	X
fcis-12444	122	4	lavalle	lavalle	PROPN
fcis-12444	122	5	,	,	PUNCT
fcis-12444	122	6	s.m	s.m	PROPN
fcis-12444	122	7	.	.	PROPN
fcis-12444	122	8	:	:	PUNCT
fcis-12444	122	9	rapidly	rapidly	ADV
fcis-12444	122	10	-	-	PUNCT
fcis-12444	122	11	exploring	explore	VERB
fcis-12444	122	12	random	random	ADJ
fcis-12444	122	13	trees	tree	NOUN
fcis-12444	122	14	:	:	PUNCT
fcis-12444	122	15	a	a	DET
fcis-12444	122	16	new	new	ADJ
fcis-12444	122	17	tool	tool	NOUN
fcis-12444	122	18	for	for	ADP
fcis-12444	122	19	path	path	NOUN
fcis-12444	122	20	planning	planning	NOUN
fcis-12444	122	21	.	.	PUNCT
fcis-12444	123	1	technical	technical	ADJ
fcis-12444	123	2	report	report	NOUN
fcis-12444	123	3	,	,	PUNCT
fcis-12444	123	4	computer	computer	NOUN
fcis-12444	123	5	science	science	PROPN
fcis-12444	123	6	department	department	PROPN
fcis-12444	123	7	,	,	PUNCT
fcis-12444	123	8	iowa	iowa	PROPN
fcis-12444	123	9	state	state	PROPN
fcis-12444	123	10	university	university	PROPN
fcis-12444	123	11	(	(	PUNCT
fcis-12444	123	12	1998	1998	NUM
fcis-12444	123	13	)	)	PUNCT
fcis-12444	123	14	.	.	PUNCT
fcis-12444	124	1	[	[	X
fcis-12444	124	2	8	8	NUM
fcis-12444	124	3	]	]	X
fcis-12444	124	4	kuffner	kuffner	NOUN
fcis-12444	124	5	jr	jr	PROPN
fcis-12444	124	6	,	,	PUNCT
fcis-12444	124	7	j.j	j.j	PROPN
fcis-12444	124	8	.	.	PROPN
fcis-12444	124	9	,	,	PUNCT
fcis-12444	124	10	lavalle	lavalle	PROPN
fcis-12444	124	11	,	,	PUNCT
fcis-12444	124	12	s.m	s.m	PROPN
fcis-12444	124	13	.	.	PROPN
fcis-12444	124	14	:	:	PUNCT
fcis-12444	124	15	rrt	rrt	NOUN
fcis-12444	124	16	-	-	PUNCT
fcis-12444	124	17	connect	connect	NOUN
fcis-12444	124	18	:	:	PUNCT
fcis-12444	124	19	an	an	DET
fcis-12444	124	20	efficient	efficient	ADJ
fcis-12444	124	21	approach	approach	NOUN
fcis-12444	124	22	to	to	ADP
fcis-12444	124	23	single	single	ADJ
fcis-12444	124	24	-	-	PUNCT
fcis-12444	124	25	query	query	NOUN
fcis-12444	124	26	path	path	NOUN
fcis-12444	124	27	planning	planning	NOUN
fcis-12444	124	28	.	.	PUNCT
fcis-12444	125	1	in	in	ADP
fcis-12444	125	2	:	:	PUNCT
fcis-12444	125	3	proceedings	proceeding	NOUN
fcis-12444	125	4	2000	2000	NUM
fcis-12444	125	5	icra	icra	PROPN
fcis-12444	125	6	.	.	PUNCT
fcis-12444	125	7	millennium	millennium	PROPN
fcis-12444	125	8	conference	conference	PROPN
fcis-12444	125	9	.	.	PUNCT
fcis-12444	126	1	ieee	ieee	PROPN
fcis-12444	126	2	international	international	PROPN
fcis-12444	126	3	conference	conference	NOUN
fcis-12444	126	4	on	on	ADP
fcis-12444	126	5	robotics	robotic	NOUN
fcis-12444	126	6	and	and	CCONJ
fcis-12444	126	7	automation	automation	NOUN
fcis-12444	126	8	.	.	PUNCT
fcis-12444	127	1	symposia	symposia	NOUN
fcis-12444	127	2	proceedings	proceeding	NOUN
fcis-12444	127	3	(	(	PUNCT
fcis-12444	127	4	cat	cat	NOUN
fcis-12444	127	5	.	.	PUNCT
fcis-12444	128	1	no	no	INTJ
fcis-12444	128	2	.	.	PUNCT
fcis-12444	129	1	00ch37065	00ch37065	NUM
fcis-12444	129	2	)	)	PUNCT
fcis-12444	130	1	,	,	PUNCT
fcis-12444	130	2	vol	vol	NOUN
fcis-12444	130	3	.	.	PROPN
fcis-12444	130	4	2	2	NUM
fcis-12444	130	5	,	,	PUNCT
fcis-12444	130	6	pp	pp	ADJ
fcis-12444	130	7	.	.	PUNCT
fcis-12444	131	1	995	995	NUM
fcis-12444	131	2	-	-	SYM
fcis-12444	131	3	1001	1001	NUM
fcis-12444	131	4	(	(	PUNCT
fcis-12444	131	5	2000	2000	NUM
fcis-12444	131	6	)	)	PUNCT
fcis-12444	131	7	.	.	PUNCT
fcis-12444	132	1	[	[	X
fcis-12444	132	2	9	9	NUM
fcis-12444	132	3	]	]	SYM
fcis-12444	132	4	lavalle	lavalle	PROPN
fcis-12444	132	5	,	,	PUNCT
fcis-12444	132	6	s.m	s.m	PROPN
fcis-12444	132	7	.	.	PROPN
fcis-12444	132	8	,	,	PUNCT
fcis-12444	132	9	kuffner	kuffner	PROPN
fcis-12444	132	10	jr	jr	PROPN
fcis-12444	132	11	,	,	PUNCT
fcis-12444	132	12	j.j	j.j	PROPN
fcis-12444	132	13	.	.	PROPN
fcis-12444	132	14	:	:	PUNCT
fcis-12444	132	15	randomized	randomize	VERB
fcis-12444	132	16	kinodynamic	kinodynamic	ADJ
fcis-12444	132	17	planning	planning	NOUN
fcis-12444	132	18	.	.	PUNCT
fcis-12444	133	1	the	the	DET
fcis-12444	133	2	international	international	ADJ
fcis-12444	133	3	journal	journal	NOUN
fcis-12444	133	4	of	of	ADP
fcis-12444	133	5	robotics	robotic	NOUN
fcis-12444	133	6	research	research	NOUN
fcis-12444	133	7	20(5	20(5	NUM
fcis-12444	133	8	)	)	PUNCT
fcis-12444	133	9	,	,	PUNCT
fcis-12444	133	10	378	378	NUM
fcis-12444	133	11	-	-	SYM
fcis-12444	133	12	400	400	NUM
fcis-12444	133	13	(	(	PUNCT
fcis-12444	133	14	2001	2001	NUM
fcis-12444	133	15	)	)	PUNCT
fcis-12444	133	16	.	.	PUNCT
fcis-12444	134	1	[	[	X
fcis-12444	134	2	10	10	NUM
fcis-12444	134	3	]	]	X
fcis-12444	134	4	karaman	karaman	NOUN
fcis-12444	134	5	,	,	PUNCT
fcis-12444	134	6	s.	s.	PROPN
fcis-12444	134	7	,	,	PUNCT
fcis-12444	134	8	frazzoli	frazzoli	PROPN
fcis-12444	134	9	,	,	PUNCT
fcis-12444	134	10	e.	e.	PROPN
fcis-12444	134	11	:	:	PUNCT
fcis-12444	134	12	incremental	incremental	ADJ
fcis-12444	134	13	sampling	sampling	NOUN
fcis-12444	134	14	-	-	PUNCT
fcis-12444	134	15	based	base	VERB
fcis-12444	134	16	algorithms	algorithm	NOUN
fcis-12444	134	17	for	for	ADP
fcis-12444	134	18	optimal	optimal	ADJ
fcis-12444	134	19	motion	motion	NOUN
fcis-12444	134	20	planning	planning	NOUN
fcis-12444	134	21	.	.	PUNCT
fcis-12444	135	1	robotics	robotic	NOUN
fcis-12444	135	2	science	science	NOUN
fcis-12444	135	3	and	and	CCONJ
fcis-12444	135	4	systems	system	NOUN
fcis-12444	135	5	conference	conference	NOUN
fcis-12444	135	6	(	(	PUNCT
fcis-12444	135	7	rss	rss	PROPN
fcis-12444	135	8	)	)	PUNCT
fcis-12444	135	9	(	(	PUNCT
fcis-12444	135	10	2010	2010	NUM
fcis-12444	135	11	)	)	PUNCT
fcis-12444	135	12	.	.	PUNCT