id	sid	tid	token	lemma	pos
fcis-13144	1	1	frontiers	frontier	NOUN
fcis-13144	1	2	in	in	ADP
fcis-13144	1	3	computing	computing	NOUN
fcis-13144	1	4	and	and	CCONJ
fcis-13144	1	5	intelligent	intelligent	ADJ
fcis-13144	1	6	systems	system	NOUN
fcis-13144	1	7	issn	issn	VERB
fcis-13144	1	8	:	:	PUNCT
fcis-13144	1	9	2832	2832	NUM
fcis-13144	1	10	-	-	SYM
fcis-13144	1	11	6024	6024	NUM
fcis-13144	1	12	|	|	NOUN
fcis-13144	1	13	vol	vol	NOUN
fcis-13144	1	14	.	.	PROPN
fcis-13144	2	1	5	5	NUM
fcis-13144	2	2	,	,	PUNCT
fcis-13144	2	3	no	no	INTJ
fcis-13144	2	4	.	.	NOUN
fcis-13144	2	5	2	2	NUM
fcis-13144	2	6	,	,	PUNCT
fcis-13144	2	7	2023	2023	NUM
fcis-13144	2	8	135	135	NUM
fcis-13144	2	9	accurate	accurate	ADJ
fcis-13144	2	10	obstacle	obstacle	NOUN
fcis-13144	2	11	avoidance	avoidance	NOUN
fcis-13144	2	12	for	for	ADP
fcis-13144	2	13	quadcopter	quadcopter	PROPN
fcis-13144	2	14	uavs	uavs	PROPN
fcis-13144	2	15	under	under	ADP
fcis-13144	2	16	moving	move	VERB
fcis-13144	2	17	obstacle	obstacle	NOUN
fcis-13144	2	18	conditions	condition	NOUN
fcis-13144	2	19	based	base	VERB
fcis-13144	2	20	on	on	ADP
fcis-13144	2	21	a	a	DET
fcis-13144	2	22	*	*	ADJ
fcis-13144	2	23	algorithm	algorithm	NOUN
fcis-13144	2	24	xiaowen	xiaowen	PROPN
fcis-13144	2	25	yi	yi	PROPN
fcis-13144	2	26	*	*	PUNCT
fcis-13144	2	27	southampton	southampton	PROPN
fcis-13144	2	28	ocean	ocean	PROPN
fcis-13144	2	29	engineering	engineering	PROPN
fcis-13144	2	30	joint	joint	PROPN
fcis-13144	2	31	institute	institute	PROPN
fcis-13144	2	32	,	,	PUNCT
fcis-13144	2	33	harbin	harbin	PROPN
fcis-13144	2	34	engineering	engineering	PROPN
fcis-13144	2	35	university	university	PROPN
fcis-13144	2	36	,	,	PUNCT
fcis-13144	2	37	harbin	harbin	NOUN
fcis-13144	2	38	,	,	PUNCT
fcis-13144	2	39	150006	150006	NUM
fcis-13144	2	40	,	,	PUNCT
fcis-13144	2	41	china	china	PROPN
fcis-13144	2	42	*	*	PUNCT
fcis-13144	2	43	corresponding	correspond	VERB
fcis-13144	2	44	author	author	NOUN
fcis-13144	2	45	email	email	NOUN
fcis-13144	2	46	:	:	PUNCT
fcis-13144	2	47	xy2e21@soton.ac.uk	xy2e21@soton.ac.uk	PROPN
fcis-13144	2	48	abstract	abstract	NOUN
fcis-13144	2	49	:	:	PUNCT
fcis-13144	2	50	aiming	aim	VERB
fcis-13144	2	51	at	at	ADP
fcis-13144	2	52	the	the	DET
fcis-13144	2	53	problem	problem	NOUN
fcis-13144	2	54	that	that	PRON
fcis-13144	2	55	uavs	uavs	NOUN
fcis-13144	2	56	are	be	AUX
fcis-13144	2	57	easy	easy	ADJ
fcis-13144	2	58	to	to	PART
fcis-13144	2	59	interfere	interfere	VERB
fcis-13144	2	60	with	with	ADP
fcis-13144	2	61	the	the	DET
fcis-13144	2	62	normal	normal	ADJ
fcis-13144	2	63	activities	activity	NOUN
fcis-13144	2	64	of	of	ADP
fcis-13144	2	65	animals	animal	NOUN
fcis-13144	2	66	when	when	SCONJ
fcis-13144	2	67	observing	observe	VERB
fcis-13144	2	68	wild	wild	ADJ
fcis-13144	2	69	animals	animal	NOUN
fcis-13144	2	70	,	,	PUNCT
fcis-13144	2	71	an	an	DET
fcis-13144	2	72	a*-based	a*-base	VERB
fcis-13144	2	73	algorithm	algorithm	NOUN
fcis-13144	2	74	is	be	AUX
fcis-13144	2	75	proposed	propose	VERB
fcis-13144	2	76	,	,	PUNCT
fcis-13144	2	77	and	and	CCONJ
fcis-13144	2	78	through	through	ADP
fcis-13144	2	79	the	the	DET
fcis-13144	2	80	improvement	improvement	NOUN
fcis-13144	2	81	of	of	ADP
fcis-13144	2	82	the	the	DET
fcis-13144	2	83	a	a	PROPN
fcis-13144	2	84	*	*	NOUN
fcis-13144	2	85	algorithm	algorithm	NOUN
fcis-13144	2	86	,	,	PUNCT
fcis-13144	2	87	it	it	PRON
fcis-13144	2	88	realises	realise	VERB
fcis-13144	2	89	the	the	DET
fcis-13144	2	90	accurate	accurate	ADJ
fcis-13144	2	91	obstacle	obstacle	NOUN
fcis-13144	2	92	avoidance	avoidance	NOUN
fcis-13144	2	93	of	of	ADP
fcis-13144	2	94	the	the	DET
fcis-13144	2	95	quadcopter	quadcopter	PROPN
fcis-13144	2	96	uav	uav	PROPN
fcis-13144	2	97	under	under	ADP
fcis-13144	2	98	the	the	DET
fcis-13144	2	99	moving	move	VERB
fcis-13144	2	100	obstacles	obstacle	NOUN
fcis-13144	2	101	to	to	PART
fcis-13144	2	102	ensure	ensure	VERB
fcis-13144	2	103	that	that	SCONJ
fcis-13144	2	104	it	it	PRON
fcis-13144	2	105	can	can	AUX
fcis-13144	2	106	effectively	effectively	ADV
fcis-13144	2	107	complete	complete	VERB
fcis-13144	2	108	its	its	PRON
fcis-13144	2	109	tasks	task	NOUN
fcis-13144	2	110	in	in	ADP
fcis-13144	2	111	the	the	DET
fcis-13144	2	112	field	field	NOUN
fcis-13144	2	113	.	.	PUNCT
fcis-13144	3	1	firstly	firstly	ADV
fcis-13144	3	2	,	,	PUNCT
fcis-13144	3	3	the	the	DET
fcis-13144	3	4	uav	uav	PROPN
fcis-13144	3	5	kinematic	kinematic	PROPN
fcis-13144	3	6	model	model	NOUN
fcis-13144	3	7	is	be	AUX
fcis-13144	3	8	established	establish	VERB
fcis-13144	3	9	by	by	ADP
fcis-13144	3	10	analysing	analyse	VERB
fcis-13144	3	11	the	the	DET
fcis-13144	3	12	uav	uav	PROPN
fcis-13144	3	13	dynamics	dynamic	NOUN
fcis-13144	3	14	;	;	PUNCT
fcis-13144	3	15	secondly	secondly	ADV
fcis-13144	3	16	,	,	PUNCT
fcis-13144	3	17	the	the	DET
fcis-13144	3	18	traditional	traditional	ADJ
fcis-13144	3	19	a	a	PRON
fcis-13144	3	20	*	*	ADJ
fcis-13144	3	21	algorithm	algorithm	NOUN
fcis-13144	3	22	is	be	AUX
fcis-13144	3	23	introduced	introduce	VERB
fcis-13144	3	24	and	and	CCONJ
fcis-13144	3	25	improved	improve	VERB
fcis-13144	3	26	,	,	PUNCT
fcis-13144	3	27	and	and	CCONJ
fcis-13144	3	28	the	the	DET
fcis-13144	3	29	improved	improved	ADJ
fcis-13144	3	30	a	a	DET
fcis-13144	3	31	*	*	ADJ
fcis-13144	3	32	algorithm	algorithm	NOUN
fcis-13144	3	33	is	be	AUX
fcis-13144	3	34	able	able	ADJ
fcis-13144	3	35	to	to	PART
fcis-13144	3	36	autonomously	autonomously	ADV
fcis-13144	3	37	regulate	regulate	VERB
fcis-13144	3	38	the	the	DET
fcis-13144	3	39	distance	distance	NOUN
fcis-13144	3	40	maintained	maintain	VERB
fcis-13144	3	41	with	with	ADP
fcis-13144	3	42	obstacles	obstacle	NOUN
fcis-13144	3	43	,	,	PUNCT
fcis-13144	3	44	which	which	PRON
fcis-13144	3	45	is	be	AUX
fcis-13144	3	46	suitable	suitable	ADJ
fcis-13144	3	47	for	for	ADP
fcis-13144	3	48	observing	observe	VERB
fcis-13144	3	49	different	different	ADJ
fcis-13144	3	50	kinds	kind	NOUN
fcis-13144	3	51	of	of	ADP
fcis-13144	3	52	animals	animal	NOUN
fcis-13144	3	53	in	in	ADP
fcis-13144	3	54	the	the	DET
fcis-13144	3	55	field	field	NOUN
fcis-13144	3	56	;	;	PUNCT
fcis-13144	3	57	finally	finally	ADV
fcis-13144	3	58	,	,	PUNCT
fcis-13144	3	59	the	the	DET
fcis-13144	3	60	code	code	NOUN
fcis-13144	3	61	is	be	AUX
fcis-13144	3	62	written	write	VERB
fcis-13144	3	63	for	for	ADP
fcis-13144	3	64	the	the	DET
fcis-13144	3	65	algorithm	algorithm	NOUN
fcis-13144	3	66	and	and	CCONJ
fcis-13144	3	67	the	the	DET
fcis-13144	3	68	moving	move	VERB
fcis-13144	3	69	path	path	NOUN
fcis-13144	3	70	of	of	ADP
fcis-13144	3	71	the	the	DET
fcis-13144	3	72	uav	uav	PROPN
fcis-13144	3	73	is	be	AUX
fcis-13144	3	74	derived	derive	VERB
fcis-13144	3	75	under	under	ADP
fcis-13144	3	76	the	the	DET
fcis-13144	3	77	condition	condition	NOUN
fcis-13144	3	78	of	of	ADP
fcis-13144	3	79	maintaining	maintain	VERB
fcis-13144	3	80	different	different	ADJ
fcis-13144	3	81	distances	distance	NOUN
fcis-13144	3	82	from	from	ADP
fcis-13144	3	83	obstacles	obstacle	NOUN
fcis-13144	3	84	,	,	PUNCT
fcis-13144	3	85	which	which	PRON
fcis-13144	3	86	shows	show	VERB
fcis-13144	3	87	the	the	DET
fcis-13144	3	88	improved	improved	ADJ
fcis-13144	3	89	algorithm	algorithm	NOUN
fcis-13144	3	90	's	's	PART
fcis-13144	3	91	the	the	DET
fcis-13144	3	92	feasibility	feasibility	NOUN
fcis-13144	3	93	of	of	ADP
fcis-13144	3	94	the	the	DET
fcis-13144	3	95	improved	improved	ADJ
fcis-13144	3	96	algorithm	algorithm	NOUN
fcis-13144	3	97	is	be	AUX
fcis-13144	3	98	shown	show	VERB
fcis-13144	3	99	.	.	PUNCT
fcis-13144	4	1	keywords	keyword	NOUN
fcis-13144	4	2	:	:	PUNCT
fcis-13144	4	3	a	a	DET
fcis-13144	4	4	*	*	X
fcis-13144	4	5	algorithm	algorithm	NOUN
fcis-13144	4	6	;	;	PUNCT
fcis-13144	4	7	moving	move	VERB
fcis-13144	4	8	obstacles	obstacle	NOUN
fcis-13144	4	9	;	;	PUNCT
fcis-13144	4	10	precision	precision	NOUN
fcis-13144	4	11	obstacle	obstacle	NOUN
fcis-13144	4	12	avoidance	avoidance	NOUN
fcis-13144	4	13	;	;	PUNCT
fcis-13144	4	14	uavs	uavs	PROPN
fcis-13144	4	15	.	.	PUNCT
fcis-13144	5	1	1	1	X
fcis-13144	5	2	.	.	X
fcis-13144	5	3	introduction	introduction	NOUN
fcis-13144	5	4	as	as	ADP
fcis-13144	5	5	an	an	DET
fcis-13144	5	6	important	important	ADJ
fcis-13144	5	7	part	part	NOUN
fcis-13144	5	8	of	of	ADP
fcis-13144	5	9	the	the	DET
fcis-13144	5	10	natural	natural	ADJ
fcis-13144	5	11	ecology	ecology	NOUN
fcis-13144	5	12	,	,	PUNCT
fcis-13144	5	13	wildlife	wildlife	NOUN
fcis-13144	5	14	is	be	AUX
fcis-13144	5	15	also	also	ADV
fcis-13144	5	16	an	an	DET
fcis-13144	5	17	essential	essential	ADJ
fcis-13144	5	18	resource	resource	NOUN
fcis-13144	5	19	for	for	ADP
fcis-13144	5	20	human	human	ADJ
fcis-13144	5	21	society	society	NOUN
fcis-13144	5	22	.	.	PUNCT
fcis-13144	6	1	the	the	DET
fcis-13144	6	2	protection	protection	NOUN
fcis-13144	6	3	,	,	PUNCT
fcis-13144	6	4	development	development	NOUN
fcis-13144	6	5	and	and	CCONJ
fcis-13144	6	6	rational	rational	ADJ
fcis-13144	6	7	use	use	NOUN
fcis-13144	6	8	of	of	ADP
fcis-13144	6	9	wildlife	wildlife	NOUN
fcis-13144	6	10	resources	resource	NOUN
fcis-13144	6	11	can	can	AUX
fcis-13144	6	12	maintain	maintain	VERB
fcis-13144	6	13	ecological	ecological	ADJ
fcis-13144	6	14	balance	balance	NOUN
fcis-13144	6	15	,	,	PUNCT
fcis-13144	6	16	sustain	sustain	VERB
fcis-13144	6	17	species	species	NOUN
fcis-13144	6	18	diversity	diversity	NOUN
fcis-13144	6	19	and	and	CCONJ
fcis-13144	6	20	promote	promote	VERB
fcis-13144	6	21	the	the	DET
fcis-13144	6	22	harmonious	harmonious	ADJ
fcis-13144	6	23	development	development	NOUN
fcis-13144	6	24	of	of	ADP
fcis-13144	6	25	man	man	NOUN
fcis-13144	6	26	and	and	CCONJ
fcis-13144	6	27	nature	nature	NOUN
fcis-13144	6	28	.	.	PUNCT
fcis-13144	7	1	but	but	CCONJ
fcis-13144	7	2	nowadays	nowadays	ADV
fcis-13144	7	3	,	,	PUNCT
fcis-13144	7	4	many	many	ADJ
fcis-13144	7	5	wild	wild	ADJ
fcis-13144	7	6	animals	animal	NOUN
fcis-13144	7	7	are	be	AUX
fcis-13144	7	8	faced	face	VERB
fcis-13144	7	9	with	with	ADP
fcis-13144	7	10	human	human	ADJ
fcis-13144	7	11	indiscriminate	indiscriminate	ADJ
fcis-13144	7	12	not	not	PART
fcis-13144	7	13	indiscriminate	indiscriminate	ADJ
fcis-13144	7	14	hunting	hunting	NOUN
fcis-13144	7	15	,	,	PUNCT
fcis-13144	7	16	more	more	ADJ
fcis-13144	7	17	and	and	CCONJ
fcis-13144	7	18	more	more	ADV
fcis-13144	7	19	endangered	endangered	ADJ
fcis-13144	7	20	species	specie	NOUN
fcis-13144	7	21	appear	appear	VERB
fcis-13144	7	22	,	,	PUNCT
fcis-13144	7	23	so	so	SCONJ
fcis-13144	7	24	that	that	SCONJ
fcis-13144	7	25	the	the	DET
fcis-13144	7	26	ecological	ecological	ADJ
fcis-13144	7	27	environment	environment	NOUN
fcis-13144	7	28	has	have	AUX
fcis-13144	7	29	received	receive	VERB
fcis-13144	7	30	a	a	DET
fcis-13144	7	31	serious	serious	ADJ
fcis-13144	7	32	threat	threat	NOUN
fcis-13144	7	33	,	,	PUNCT
fcis-13144	7	34	and	and	CCONJ
fcis-13144	7	35	has	have	AUX
fcis-13144	7	36	attracted	attract	VERB
fcis-13144	7	37	people	people	NOUN
fcis-13144	7	38	's	's	PART
fcis-13144	7	39	attention	attention	NOUN
fcis-13144	7	40	.	.	PUNCT
fcis-13144	8	1	therefore	therefore	ADV
fcis-13144	8	2	,	,	PUNCT
fcis-13144	8	3	it	it	PRON
fcis-13144	8	4	is	be	AUX
fcis-13144	8	5	very	very	ADV
fcis-13144	8	6	important	important	ADJ
fcis-13144	8	7	to	to	PART
fcis-13144	8	8	observe	observe	VERB
fcis-13144	8	9	the	the	DET
fcis-13144	8	10	protection	protection	NOUN
fcis-13144	8	11	of	of	ADP
fcis-13144	8	12	wildlife	wildlife	NOUN
fcis-13144	8	13	,	,	PUNCT
fcis-13144	8	14	and	and	CCONJ
fcis-13144	8	15	the	the	DET
fcis-13144	8	16	use	use	NOUN
fcis-13144	8	17	of	of	ADP
fcis-13144	8	18	drones	drone	NOUN
fcis-13144	8	19	can	can	AUX
fcis-13144	8	20	reduce	reduce	VERB
fcis-13144	8	21	the	the	DET
fcis-13144	8	22	burden	burden	NOUN
fcis-13144	8	23	of	of	ADP
fcis-13144	8	24	field	field	NOUN
fcis-13144	8	25	staff	staff	NOUN
fcis-13144	8	26	,	,	PUNCT
fcis-13144	8	27	and	and	CCONJ
fcis-13144	8	28	reduce	reduce	VERB
fcis-13144	8	29	the	the	DET
fcis-13144	8	30	casualties	casualty	NOUN
fcis-13144	8	31	of	of	ADP
fcis-13144	8	32	people	people	NOUN
fcis-13144	8	33	in	in	ADP
fcis-13144	8	34	the	the	DET
fcis-13144	8	35	field	field	NOUN
fcis-13144	8	36	.	.	PUNCT
fcis-13144	9	1	moreover	moreover	ADV
fcis-13144	9	2	,	,	PUNCT
fcis-13144	9	3	uav	uav	PROPN
fcis-13144	9	4	is	be	AUX
fcis-13144	9	5	more	more	ADV
fcis-13144	9	6	autonomous	autonomous	ADJ
fcis-13144	9	7	and	and	CCONJ
fcis-13144	9	8	professional	professional	ADJ
fcis-13144	9	9	,	,	PUNCT
fcis-13144	9	10	capable	capable	ADJ
fcis-13144	9	11	of	of	ADP
fcis-13144	9	12	real	real	ADJ
fcis-13144	9	13	-	-	PUNCT
fcis-13144	9	14	time	time	NOUN
fcis-13144	9	15	processing	processing	NOUN
fcis-13144	9	16	,	,	PUNCT
fcis-13144	9	17	modelling	modelling	NOUN
fcis-13144	9	18	and	and	CCONJ
fcis-13144	9	19	analysis	analysis	NOUN
fcis-13144	9	20	,	,	PUNCT
fcis-13144	9	21	combining	combine	VERB
fcis-13144	9	22	remote	remote	ADJ
fcis-13144	9	23	sensing	sensing	NOUN
fcis-13144	9	24	,	,	PUNCT
fcis-13144	9	25	gis	gis	NOUN
fcis-13144	9	26	and	and	CCONJ
fcis-13144	9	27	wildlife	wildlife	NOUN
fcis-13144	9	28	investigation	investigation	NOUN
fcis-13144	9	29	,	,	PUNCT
fcis-13144	9	30	providing	provide	VERB
fcis-13144	9	31	effective	effective	ADJ
fcis-13144	9	32	visual	visual	ADJ
fcis-13144	9	33	data	datum	NOUN
fcis-13144	9	34	for	for	ADP
fcis-13144	9	35	dynamic	dynamic	ADJ
fcis-13144	9	36	monitoring	monitoring	NOUN
fcis-13144	9	37	and	and	CCONJ
fcis-13144	9	38	protection	protection	NOUN
fcis-13144	9	39	of	of	ADP
fcis-13144	9	40	wildlife	wildlife	NOUN
fcis-13144	9	41	,	,	PUNCT
fcis-13144	9	42	and	and	CCONJ
fcis-13144	9	43	providing	provide	VERB
fcis-13144	9	44	reference	reference	NOUN
fcis-13144	9	45	for	for	ADP
fcis-13144	9	46	accurately	accurately	ADV
fcis-13144	9	47	obtaining	obtain	VERB
fcis-13144	9	48	the	the	DET
fcis-13144	9	49	environmental	environmental	ADJ
fcis-13144	9	50	parameters	parameter	NOUN
fcis-13144	9	51	of	of	ADP
fcis-13144	9	52	the	the	DET
fcis-13144	9	53	activity	activity	NOUN
fcis-13144	9	54	areas	area	NOUN
fcis-13144	9	55	and	and	CCONJ
fcis-13144	9	56	habitats	habitat	NOUN
fcis-13144	9	57	of	of	ADP
fcis-13144	9	58	wildlife	wildlife	NOUN
fcis-13144	9	59	.	.	PUNCT
fcis-13144	10	1	in	in	ADP
fcis-13144	10	2	the	the	DET
fcis-13144	10	3	observation	observation	NOUN
fcis-13144	10	4	of	of	ADP
fcis-13144	10	5	large	large	ADJ
fcis-13144	10	6	and	and	CCONJ
fcis-13144	10	7	medium	medium	ADJ
fcis-13144	10	8	-	-	PUNCT
fcis-13144	10	9	sized	sized	ADJ
fcis-13144	10	10	animals	animal	NOUN
fcis-13144	10	11	,	,	PUNCT
fcis-13144	10	12	the	the	DET
fcis-13144	10	13	resistance	resistance	NOUN
fcis-13144	10	14	to	to	ADP
fcis-13144	10	15	external	external	ADJ
fcis-13144	10	16	interference	interference	NOUN
fcis-13144	10	17	factors	factor	NOUN
fcis-13144	10	18	is	be	AUX
fcis-13144	10	19	stronger	strong	ADJ
fcis-13144	10	20	,	,	PUNCT
fcis-13144	10	21	and	and	CCONJ
fcis-13144	10	22	it	it	PRON
fcis-13144	10	23	is	be	AUX
fcis-13144	10	24	not	not	PART
fcis-13144	10	25	easily	easily	ADV
fcis-13144	10	26	affected	affect	VERB
fcis-13144	10	27	by	by	ADP
fcis-13144	10	28	the	the	DET
fcis-13144	10	29	weather	weather	NOUN
fcis-13144	10	30	and	and	CCONJ
fcis-13144	10	31	ground	ground	NOUN
fcis-13144	10	32	vegetation	vegetation	NOUN
fcis-13144	10	33	,	,	PUNCT
fcis-13144	10	34	which	which	PRON
fcis-13144	10	35	can	can	AUX
fcis-13144	10	36	more	more	ADV
fcis-13144	10	37	effectively	effectively	ADV
fcis-13144	10	38	achieve	achieve	VERB
fcis-13144	10	39	all	all	DET
fcis-13144	10	40	-	-	PUNCT
fcis-13144	10	41	day	day	NOUN
fcis-13144	10	42	observation	observation	NOUN
fcis-13144	10	43	[	[	X
fcis-13144	10	44	1	1	NUM
fcis-13144	10	45	]	]	PUNCT
fcis-13144	10	46	.	.	PUNCT
fcis-13144	11	1	at	at	ADP
fcis-13144	11	2	the	the	DET
fcis-13144	11	3	same	same	ADJ
fcis-13144	11	4	time	time	NOUN
fcis-13144	11	5	,	,	PUNCT
fcis-13144	11	6	the	the	DET
fcis-13144	11	7	drone	drone	NOUN
fcis-13144	11	8	monitoring	monitoring	NOUN
fcis-13144	11	9	area	area	NOUN
fcis-13144	11	10	is	be	AUX
fcis-13144	11	11	wide	wide	ADJ
fcis-13144	11	12	,	,	PUNCT
fcis-13144	11	13	multi	multi	ADJ
fcis-13144	11	14	-	-	ADJ
fcis-13144	11	15	angle	angle	ADJ
fcis-13144	11	16	coverage	coverage	NOUN
fcis-13144	11	17	,	,	PUNCT
fcis-13144	11	18	high	high	ADJ
fcis-13144	11	19	efficiency	efficiency	NOUN
fcis-13144	11	20	,	,	PUNCT
fcis-13144	11	21	low	low	ADJ
fcis-13144	11	22	cost	cost	NOUN
fcis-13144	11	23	,	,	PUNCT
fcis-13144	11	24	so	so	SCONJ
fcis-13144	11	25	the	the	DET
fcis-13144	11	26	drone	drone	NOUN
fcis-13144	11	27	observation	observation	NOUN
fcis-13144	11	28	to	to	PART
fcis-13144	11	29	protect	protect	VERB
fcis-13144	11	30	wildlife	wildlife	NOUN
fcis-13144	11	31	is	be	AUX
fcis-13144	11	32	a	a	DET
fcis-13144	11	33	very	very	ADV
fcis-13144	11	34	feasible	feasible	ADJ
fcis-13144	11	35	method	method	NOUN
fcis-13144	11	36	.	.	PUNCT
fcis-13144	12	1	nowadays	nowadays	ADV
fcis-13144	12	2	,	,	PUNCT
fcis-13144	12	3	quadcopter	quadcopter	PROPN
fcis-13144	12	4	uavs	uavs	PROPN
fcis-13144	12	5	have	have	AUX
fcis-13144	12	6	been	be	AUX
fcis-13144	12	7	widely	widely	ADV
fcis-13144	12	8	used	use	VERB
fcis-13144	12	9	in	in	ADP
fcis-13144	12	10	aerial	aerial	ADJ
fcis-13144	12	11	photography	photography	NOUN
fcis-13144	12	12	,	,	PUNCT
fcis-13144	12	13	disaster	disaster	NOUN
fcis-13144	12	14	rescue	rescue	NOUN
fcis-13144	12	15	and	and	CCONJ
fcis-13144	12	16	relief	relief	NOUN
fcis-13144	12	17	,	,	PUNCT
fcis-13144	12	18	military	military	ADJ
fcis-13144	12	19	reconnaissance	reconnaissance	NOUN
fcis-13144	12	20	,	,	PUNCT
fcis-13144	12	21	resource	resource	NOUN
fcis-13144	12	22	exploration	exploration	NOUN
fcis-13144	12	23	,	,	PUNCT
fcis-13144	12	24	traffic	traffic	NOUN
fcis-13144	12	25	monitoring	monitoring	NOUN
fcis-13144	12	26	and	and	CCONJ
fcis-13144	12	27	other	other	ADJ
fcis-13144	12	28	fields	field	NOUN
fcis-13144	12	29	,	,	PUNCT
fcis-13144	12	30	which	which	PRON
fcis-13144	12	31	have	have	VERB
fcis-13144	12	32	good	good	ADJ
fcis-13144	12	33	development	development	NOUN
fcis-13144	12	34	prospects	prospect	NOUN
fcis-13144	12	35	and	and	CCONJ
fcis-13144	12	36	economic	economic	ADJ
fcis-13144	12	37	benefits	benefit	NOUN
fcis-13144	12	38	,	,	PUNCT
fcis-13144	12	39	and	and	CCONJ
fcis-13144	12	40	are	be	AUX
fcis-13144	12	41	a	a	DET
fcis-13144	12	42	popular	popular	ADJ
fcis-13144	12	43	topic	topic	NOUN
fcis-13144	12	44	for	for	ADP
fcis-13144	12	45	in	in	ADP
fcis-13144	12	46	-	-	PUNCT
fcis-13144	12	47	depth	depth	NOUN
fcis-13144	12	48	research	research	NOUN
fcis-13144	12	49	in	in	ADP
fcis-13144	12	50	various	various	ADJ
fcis-13144	12	51	countries	country	NOUN
fcis-13144	13	1	[	[	X
fcis-13144	13	2	2	2	NUM
fcis-13144	13	3	]	]	PUNCT
fcis-13144	13	4	.	.	PUNCT
fcis-13144	14	1	the	the	DET
fcis-13144	14	2	use	use	NOUN
fcis-13144	14	3	of	of	ADP
fcis-13144	14	4	drones	drone	NOUN
fcis-13144	14	5	to	to	PART
fcis-13144	14	6	observe	observe	VERB
fcis-13144	14	7	and	and	CCONJ
fcis-13144	14	8	protect	protect	VERB
fcis-13144	14	9	wildlife	wildlife	NOUN
fcis-13144	14	10	has	have	AUX
fcis-13144	14	11	also	also	ADV
fcis-13144	14	12	been	be	AUX
fcis-13144	14	13	applied	apply	VERB
fcis-13144	14	14	and	and	CCONJ
fcis-13144	14	15	promoted	promote	VERB
fcis-13144	14	16	on	on	ADP
fcis-13144	14	17	a	a	DET
fcis-13144	14	18	large	large	ADJ
fcis-13144	14	19	scale	scale	NOUN
fcis-13144	14	20	.	.	PUNCT
fcis-13144	15	1	at	at	ADP
fcis-13144	15	2	present	present	ADJ
fcis-13144	15	3	,	,	PUNCT
fcis-13144	15	4	the	the	DET
fcis-13144	15	5	use	use	NOUN
fcis-13144	15	6	of	of	ADP
fcis-13144	15	7	drones	drone	NOUN
fcis-13144	15	8	has	have	AUX
fcis-13144	15	9	been	be	AUX
fcis-13144	15	10	completed	complete	VERB
fcis-13144	15	11	to	to	PART
fcis-13144	15	12	observe	observe	VERB
fcis-13144	15	13	the	the	DET
fcis-13144	15	14	migration	migration	NOUN
fcis-13144	15	15	of	of	ADP
fcis-13144	15	16	asian	asian	ADJ
fcis-13144	15	17	elephant	elephant	NOUN
fcis-13144	15	18	herds	herd	NOUN
fcis-13144	15	19	in	in	ADP
fcis-13144	15	20	yunnan	yunnan	PROPN
fcis-13144	15	21	,	,	PUNCT
fcis-13144	15	22	study	study	NOUN
fcis-13144	15	23	penguin	penguin	NOUN
fcis-13144	15	24	reproduction	reproduction	NOUN
fcis-13144	15	25	,	,	PUNCT
fcis-13144	15	26	koala	koala	NOUN
fcis-13144	15	27	search	search	NOUN
fcis-13144	15	28	and	and	CCONJ
fcis-13144	15	29	rescue	rescue	NOUN
fcis-13144	15	30	,	,	PUNCT
fcis-13144	15	31	migratory	migratory	NOUN
fcis-13144	15	32	birds	bird	NOUN
fcis-13144	15	33	and	and	CCONJ
fcis-13144	15	34	so	so	ADV
fcis-13144	15	35	on	on	ADV
fcis-13144	15	36	.	.	PUNCT
fcis-13144	16	1	at	at	ADP
fcis-13144	16	2	the	the	DET
fcis-13144	16	3	same	same	ADJ
fcis-13144	16	4	time	time	NOUN
fcis-13144	16	5	,	,	PUNCT
fcis-13144	16	6	the	the	DET
fcis-13144	16	7	drone	drone	NOUN
fcis-13144	16	8	can	can	AUX
fcis-13144	16	9	be	be	AUX
fcis-13144	16	10	used	use	VERB
fcis-13144	16	11	to	to	PART
fcis-13144	16	12	study	study	VERB
fcis-13144	16	13	the	the	DET
fcis-13144	16	14	number	number	NOUN
fcis-13144	16	15	and	and	CCONJ
fcis-13144	16	16	spatial	spatial	ADJ
fcis-13144	16	17	distribution	distribution	NOUN
fcis-13144	16	18	of	of	ADP
fcis-13144	16	19	moose	moose	NOUN
fcis-13144	16	20	populations	population	NOUN
fcis-13144	16	21	in	in	ADP
fcis-13144	16	22	nature	nature	NOUN
fcis-13144	16	23	reserves	reserve	NOUN
fcis-13144	16	24	.	.	PUNCT
fcis-13144	17	1	given	give	VERB
fcis-13144	17	2	the	the	DET
fcis-13144	17	3	increasing	increase	VERB
fcis-13144	17	4	use	use	NOUN
fcis-13144	17	5	of	of	ADP
fcis-13144	17	6	drones	drone	NOUN
fcis-13144	17	7	in	in	ADP
fcis-13144	17	8	the	the	DET
fcis-13144	17	9	field	field	NOUN
fcis-13144	17	10	of	of	ADP
fcis-13144	17	11	wildlife	wildlife	NOUN
fcis-13144	17	12	research	research	NOUN
fcis-13144	17	13	,	,	PUNCT
fcis-13144	17	14	drones	drone	NOUN
fcis-13144	17	15	are	be	AUX
fcis-13144	17	16	often	often	ADV
fcis-13144	17	17	required	require	VERB
fcis-13144	17	18	to	to	PART
fcis-13144	17	19	perform	perform	VERB
fcis-13144	17	20	a	a	DET
fcis-13144	17	21	variety	variety	NOUN
fcis-13144	17	22	of	of	ADP
fcis-13144	17	23	difficult	difficult	ADJ
fcis-13144	17	24	tasks	task	NOUN
fcis-13144	17	25	in	in	ADP
fcis-13144	17	26	complex	complex	ADJ
fcis-13144	17	27	environments	environment	NOUN
fcis-13144	17	28	and	and	CCONJ
fcis-13144	17	29	are	be	AUX
fcis-13144	17	30	asked	ask	VERB
fcis-13144	17	31	to	to	PART
fcis-13144	17	32	maintain	maintain	VERB
fcis-13144	17	33	extremely	extremely	ADV
fcis-13144	17	34	high	high	ADJ
fcis-13144	17	35	levels	level	NOUN
fcis-13144	17	36	of	of	ADP
fcis-13144	17	37	accuracy	accuracy	NOUN
fcis-13144	17	38	and	and	CCONJ
fcis-13144	17	39	stability	stability	NOUN
fcis-13144	17	40	.	.	PUNCT
fcis-13144	18	1	in	in	ADP
fcis-13144	18	2	order	order	NOUN
fcis-13144	18	3	to	to	PART
fcis-13144	18	4	observe	observe	VERB
fcis-13144	18	5	wildlife	wildlife	NOUN
fcis-13144	18	6	without	without	ADP
fcis-13144	18	7	interfering	interfere	VERB
fcis-13144	18	8	with	with	ADP
fcis-13144	18	9	the	the	DET
fcis-13144	18	10	normal	normal	ADJ
fcis-13144	18	11	activities	activity	NOUN
fcis-13144	18	12	of	of	ADP
fcis-13144	18	13	animals	animal	NOUN
fcis-13144	18	14	,	,	PUNCT
fcis-13144	18	15	it	it	PRON
fcis-13144	18	16	is	be	AUX
fcis-13144	18	17	important	important	ADJ
fcis-13144	18	18	to	to	PART
fcis-13144	18	19	realise	realise	VERB
fcis-13144	18	20	accurate	accurate	ADJ
fcis-13144	18	21	obstacle	obstacle	NOUN
fcis-13144	18	22	avoidance	avoidance	NOUN
fcis-13144	18	23	under	under	ADP
fcis-13144	18	24	moving	move	VERB
fcis-13144	18	25	obstacles	obstacle	NOUN
fcis-13144	18	26	and	and	CCONJ
fcis-13144	18	27	not	not	PART
fcis-13144	18	28	to	to	PART
fcis-13144	18	29	disturb	disturb	VERB
fcis-13144	18	30	the	the	DET
fcis-13144	18	31	normal	normal	ADJ
fcis-13144	18	32	routine	routine	NOUN
fcis-13144	18	33	of	of	ADP
fcis-13144	18	34	animals	animal	NOUN
fcis-13144	18	35	.	.	PUNCT
fcis-13144	19	1	path	path	NOUN
fcis-13144	19	2	planning	planning	NOUN
fcis-13144	19	3	is	be	AUX
fcis-13144	19	4	usually	usually	ADV
fcis-13144	19	5	classified	classify	VERB
fcis-13144	19	6	according	accord	VERB
fcis-13144	19	7	to	to	ADP
fcis-13144	19	8	the	the	DET
fcis-13144	19	9	degree	degree	NOUN
fcis-13144	19	10	of	of	ADP
fcis-13144	19	11	known	know	VERB
fcis-13144	19	12	information	information	NOUN
fcis-13144	19	13	about	about	ADP
fcis-13144	19	14	the	the	DET
fcis-13144	19	15	planning	planning	NOUN
fcis-13144	19	16	environment	environment	NOUN
fcis-13144	19	17	:	:	PUNCT
fcis-13144	19	18	global	global	ADJ
fcis-13144	19	19	planning	planning	NOUN
fcis-13144	19	20	and	and	CCONJ
fcis-13144	19	21	local	local	ADJ
fcis-13144	19	22	planning	planning	NOUN
fcis-13144	19	23	.	.	PUNCT
fcis-13144	20	1	the	the	DET
fcis-13144	20	2	uav	uav	PROPN
fcis-13144	20	3	needs	need	VERB
fcis-13144	20	4	to	to	PART
fcis-13144	20	5	acquire	acquire	VERB
fcis-13144	20	6	all	all	DET
fcis-13144	20	7	the	the	DET
fcis-13144	20	8	environment	environment	NOUN
fcis-13144	20	9	information	information	NOUN
fcis-13144	20	10	in	in	ADP
fcis-13144	20	11	global	global	ADJ
fcis-13144	20	12	path	path	NOUN
fcis-13144	20	13	planning	planning	NOUN
fcis-13144	20	14	,	,	PUNCT
fcis-13144	20	15	and	and	CCONJ
fcis-13144	20	16	then	then	ADV
fcis-13144	20	17	plan	plan	VERB
fcis-13144	20	18	the	the	DET
fcis-13144	20	19	best	good	ADJ
fcis-13144	20	20	collision	collision	NOUN
fcis-13144	20	21	-	-	PUNCT
fcis-13144	20	22	free	free	ADJ
fcis-13144	20	23	path	path	NOUN
fcis-13144	20	24	according	accord	VERB
fcis-13144	20	25	to	to	ADP
fcis-13144	20	26	the	the	DET
fcis-13144	20	27	acquired	acquire	VERB
fcis-13144	20	28	known	know	VERB
fcis-13144	20	29	environment	environment	NOUN
fcis-13144	20	30	information	information	NOUN
fcis-13144	20	31	.	.	PUNCT
fcis-13144	21	1	the	the	DET
fcis-13144	21	2	algorithms	algorithm	NOUN
fcis-13144	21	3	for	for	ADP
fcis-13144	21	4	global	global	ADJ
fcis-13144	21	5	path	path	NOUN
fcis-13144	21	6	planning	planning	NOUN
fcis-13144	21	7	mainly	mainly	ADV
fcis-13144	21	8	include	include	VERB
fcis-13144	21	9	a	a	DET
fcis-13144	21	10	*	*	ADJ
fcis-13144	21	11	algorithm	algorithm	NOUN
fcis-13144	21	12	,	,	PUNCT
fcis-13144	21	13	genetic	genetic	ADJ
fcis-13144	21	14	algorithm	algorithm	NOUN
fcis-13144	21	15	,	,	PUNCT
fcis-13144	21	16	ant	ant	ADJ
fcis-13144	21	17	colony	colony	NOUN
fcis-13144	21	18	algorithm	algorithm	NOUN
fcis-13144	21	19	,	,	PUNCT
fcis-13144	21	20	fast	fast	ADJ
fcis-13144	21	21	search	search	NOUN
fcis-13144	21	22	random	random	ADJ
fcis-13144	21	23	tree	tree	NOUN
fcis-13144	21	24	algorithm	algorithm	NOUN
fcis-13144	21	25	and	and	CCONJ
fcis-13144	21	26	so	so	ADV
fcis-13144	21	27	on	on	ADP
fcis-13144	21	28	[	[	X
fcis-13144	21	29	3	3	NUM
fcis-13144	21	30	]	]	PUNCT
fcis-13144	21	31	.	.	PUNCT
fcis-13144	22	1	here	here	ADV
fcis-13144	22	2	i	i	PRON
fcis-13144	22	3	mainly	mainly	ADV
fcis-13144	22	4	study	study	VERB
fcis-13144	22	5	the	the	DET
fcis-13144	22	6	improvement	improvement	NOUN
fcis-13144	22	7	of	of	ADP
fcis-13144	22	8	a	a	DET
fcis-13144	22	9	*	*	ADJ
fcis-13144	22	10	algorithm	algorithm	NOUN
fcis-13144	22	11	to	to	PART
fcis-13144	22	12	achieve	achieve	VERB
fcis-13144	22	13	accurate	accurate	ADJ
fcis-13144	22	14	obstacle	obstacle	NOUN
fcis-13144	22	15	avoidance	avoidance	NOUN
fcis-13144	22	16	for	for	ADP
fcis-13144	22	17	uavs	uavs	NOUN
fcis-13144	22	18	.	.	PUNCT
fcis-13144	23	1	a	a	DET
fcis-13144	23	2	*	*	ADJ
fcis-13144	23	3	algorithm	algorithm	NOUN
fcis-13144	23	4	is	be	AUX
fcis-13144	23	5	an	an	DET
fcis-13144	23	6	extension	extension	NOUN
fcis-13144	23	7	of	of	ADP
fcis-13144	23	8	dijkstra	dijkstra	PROPN
fcis-13144	23	9	's	's	PART
fcis-13144	23	10	algorithm	algorithm	NOUN
fcis-13144	23	11	,	,	PUNCT
fcis-13144	23	12	which	which	PRON
fcis-13144	23	13	is	be	AUX
fcis-13144	23	14	a	a	DET
fcis-13144	23	15	kind	kind	NOUN
fcis-13144	23	16	of	of	ADP
fcis-13144	23	17	direct	direct	ADJ
fcis-13144	23	18	search	search	NOUN
fcis-13144	23	19	algorithm	algorithm	NOUN
fcis-13144	23	20	for	for	ADP
fcis-13144	23	21	solving	solve	VERB
fcis-13144	23	22	the	the	DET
fcis-13144	23	23	shortest	short	ADJ
fcis-13144	23	24	path	path	NOUN
fcis-13144	23	25	in	in	ADP
fcis-13144	23	26	a	a	DET
fcis-13144	23	27	static	static	ADJ
fcis-13144	23	28	road	road	NOUN
fcis-13144	23	29	network	network	NOUN
fcis-13144	23	30	,	,	PUNCT
fcis-13144	23	31	and	and	CCONJ
fcis-13144	23	32	has	have	VERB
fcis-13144	23	33	the	the	DET
fcis-13144	23	34	advantage	advantage	NOUN
fcis-13144	23	35	of	of	ADP
fcis-13144	23	36	being	be	AUX
fcis-13144	23	37	able	able	ADJ
fcis-13144	23	38	to	to	PART
fcis-13144	23	39	react	react	VERB
fcis-13144	23	40	to	to	ADP
fcis-13144	23	41	the	the	DET
fcis-13144	23	42	environment	environment	NOUN
fcis-13144	23	43	in	in	ADP
fcis-13144	23	44	a	a	DET
fcis-13144	23	45	sequential	sequential	ADJ
fcis-13144	23	46	manner	manner	NOUN
fcis-13144	23	47	and	and	CCONJ
fcis-13144	23	48	searching	search	VERB
fcis-13144	23	49	for	for	ADP
fcis-13144	23	50	paths	path	NOUN
fcis-13144	23	51	in	in	ADP
fcis-13144	23	52	a	a	DET
fcis-13144	23	53	more	more	ADV
fcis-13144	23	54	direct	direct	ADJ
fcis-13144	23	55	way	way	NOUN
fcis-13144	23	56	,	,	PUNCT
fcis-13144	23	57	and	and	CCONJ
fcis-13144	23	58	it	it	PRON
fcis-13144	23	59	guides	guide	VERB
fcis-13144	23	60	the	the	DET
fcis-13144	23	61	searching	searching	NOUN
fcis-13144	23	62	method	method	NOUN
fcis-13144	23	63	through	through	ADP
fcis-13144	23	64	the	the	DET
fcis-13144	23	65	heuristic	heuristic	ADJ
fcis-13144	23	66	function	function	NOUN
fcis-13144	23	67	to	to	PART
fcis-13144	23	68	have	have	VERB
fcis-13144	23	69	a	a	DET
fcis-13144	23	70	certain	certain	ADJ
fcis-13144	23	71	advantage	advantage	NOUN
fcis-13144	23	72	in	in	ADP
fcis-13144	23	73	the	the	DET
fcis-13144	23	74	efficiency	efficiency	NOUN
fcis-13144	23	75	of	of	ADP
fcis-13144	23	76	the	the	DET
fcis-13144	23	77	search	search	NOUN
fcis-13144	23	78	of	of	ADP
fcis-13144	23	79	the	the	DET
fcis-13144	23	80	shortest	short	ADJ
fcis-13144	23	81	path	path	NOUN
fcis-13144	23	82	and	and	CCONJ
fcis-13144	23	83	be	be	AUX
fcis-13144	23	84	able	able	ADJ
fcis-13144	23	85	to	to	PART
fcis-13144	23	86	avoid	avoid	VERB
fcis-13144	23	87	moving	move	VERB
fcis-13144	23	88	obstacles	obstacle	NOUN
fcis-13144	23	89	more	more	ADV
fcis-13144	23	90	quickly	quickly	ADV
fcis-13144	23	91	.	.	PUNCT
fcis-13144	24	1	it	it	PRON
fcis-13144	24	2	is	be	AUX
fcis-13144	24	3	guided	guide	VERB
fcis-13144	24	4	by	by	ADP
fcis-13144	24	5	a	a	DET
fcis-13144	24	6	heuristic	heuristic	ADJ
fcis-13144	24	7	function	function	NOUN
fcis-13144	24	8	,	,	PUNCT
fcis-13144	24	9	which	which	PRON
fcis-13144	24	10	gives	give	VERB
fcis-13144	24	11	it	it	PRON
fcis-13144	24	12	an	an	DET
fcis-13144	24	13	advantage	advantage	NOUN
fcis-13144	24	14	in	in	ADP
fcis-13144	24	15	shortest	short	ADJ
fcis-13144	24	16	path	path	NOUN
fcis-13144	24	17	search	search	NOUN
fcis-13144	24	18	efficiency	efficiency	NOUN
fcis-13144	24	19	and	and	CCONJ
fcis-13144	24	20	faster	fast	ADJ
fcis-13144	24	21	avoidance	avoidance	NOUN
fcis-13144	24	22	of	of	ADP
fcis-13144	24	23	moving	move	VERB
fcis-13144	24	24	obstacles	obstacle	NOUN
fcis-13144	24	25	.	.	PUNCT
fcis-13144	25	1	2	2	X
fcis-13144	25	2	.	.	X
fcis-13144	25	3	question	question	NOUN
fcis-13144	25	4	drones	drone	NOUN
fcis-13144	25	5	are	be	AUX
fcis-13144	25	6	easy	easy	ADJ
fcis-13144	25	7	to	to	PART
fcis-13144	25	8	make	make	VERB
fcis-13144	25	9	animals	animal	NOUN
fcis-13144	25	10	frightened	frighten	VERB
fcis-13144	25	11	when	when	SCONJ
fcis-13144	25	12	observing	observe	VERB
fcis-13144	25	13	animals	animal	NOUN
fcis-13144	25	14	,	,	PUNCT
fcis-13144	25	15	and	and	CCONJ
fcis-13144	25	16	vigilance	vigilance	NOUN
fcis-13144	25	17	behaviour	behaviour	NOUN
fcis-13144	25	18	occurs	occur	VERB
fcis-13144	25	19	,	,	PUNCT
fcis-13144	25	20	and	and	CCONJ
fcis-13144	25	21	even	even	ADV
fcis-13144	25	22	affects	affect	VERB
fcis-13144	25	23	the	the	DET
fcis-13144	25	24	reproduction	reproduction	NOUN
fcis-13144	25	25	of	of	ADP
fcis-13144	25	26	animal	animal	NOUN
fcis-13144	25	27	foraging	foraging	NOUN
fcis-13144	25	28	,	,	PUNCT
fcis-13144	25	29	and	and	CCONJ
fcis-13144	25	30	different	different	ADJ
fcis-13144	25	31	animals	animal	NOUN
fcis-13144	25	32	in	in	ADP
fcis-13144	25	33	different	different	ADJ
fcis-13144	25	34	environments	environment	NOUN
fcis-13144	25	35	occurs	occur	VERB
fcis-13144	25	36	in	in	ADP
fcis-13144	25	37	different	different	ADJ
fcis-13144	25	38	136	136	NUM
fcis-13144	25	39	vigilance	vigilance	NOUN
fcis-13144	25	40	range	range	NOUN
fcis-13144	25	41	,	,	PUNCT
fcis-13144	25	42	so	so	CCONJ
fcis-13144	25	43	it	it	PRON
fcis-13144	25	44	is	be	AUX
fcis-13144	25	45	very	very	ADV
fcis-13144	25	46	important	important	ADJ
fcis-13144	25	47	to	to	PART
fcis-13144	25	48	prejudge	prejudge	VERB
fcis-13144	25	49	the	the	DET
fcis-13144	25	50	animal	animal	NOUN
fcis-13144	25	51	's	's	PART
fcis-13144	25	52	movement	movement	NOUN
fcis-13144	25	53	routes	route	NOUN
fcis-13144	25	54	in	in	ADP
fcis-13144	25	55	advance	advance	NOUN
fcis-13144	25	56	,	,	PUNCT
fcis-13144	25	57	and	and	CCONJ
fcis-13144	25	58	complete	complete	VERB
fcis-13144	25	59	the	the	DET
fcis-13144	25	60	avoidance	avoidance	NOUN
fcis-13144	25	61	of	of	ADP
fcis-13144	25	62	the	the	DET
fcis-13144	25	63	animal	animal	NOUN
fcis-13144	25	64	in	in	ADP
fcis-13144	25	65	a	a	DET
fcis-13144	25	66	short	short	ADJ
fcis-13144	25	67	period	period	NOUN
fcis-13144	25	68	of	of	ADP
fcis-13144	25	69	time	time	NOUN
fcis-13144	25	70	,	,	PUNCT
fcis-13144	25	71	not	not	PART
fcis-13144	25	72	to	to	PART
fcis-13144	25	73	be	be	AUX
fcis-13144	25	74	found	find	VERB
fcis-13144	25	75	by	by	ADP
fcis-13144	25	76	the	the	DET
fcis-13144	25	77	animal	animal	NOUN
fcis-13144	25	78	[	[	X
fcis-13144	25	79	4	4	NUM
fcis-13144	25	80	]	]	PUNCT
fcis-13144	25	81	.	.	PUNCT
fcis-13144	26	1	although	although	SCONJ
fcis-13144	26	2	the	the	DET
fcis-13144	26	3	traditional	traditional	ADJ
fcis-13144	26	4	a	a	PRON
fcis-13144	26	5	*	*	ADJ
fcis-13144	26	6	algorithm	algorithm	NOUN
fcis-13144	26	7	can	can	AUX
fcis-13144	26	8	quickly	quickly	ADV
fcis-13144	26	9	avoid	avoid	VERB
fcis-13144	26	10	wild	wild	ADJ
fcis-13144	26	11	animals	animal	NOUN
fcis-13144	26	12	,	,	PUNCT
fcis-13144	26	13	but	but	CCONJ
fcis-13144	26	14	because	because	SCONJ
fcis-13144	26	15	of	of	ADP
fcis-13144	26	16	the	the	DET
fcis-13144	26	17	need	need	NOUN
fcis-13144	26	18	to	to	PART
fcis-13144	26	19	find	find	VERB
fcis-13144	26	20	the	the	DET
fcis-13144	26	21	shortest	short	ADJ
fcis-13144	26	22	route	route	NOUN
fcis-13144	26	23	,	,	PUNCT
fcis-13144	26	24	are	be	AUX
fcis-13144	26	25	in	in	ADP
fcis-13144	26	26	close	close	ADJ
fcis-13144	26	27	proximity	proximity	NOUN
fcis-13144	26	28	to	to	ADP
fcis-13144	26	29	the	the	DET
fcis-13144	26	30	animal	animal	NOUN
fcis-13144	26	31	to	to	PART
fcis-13144	26	32	avoid	avoid	VERB
fcis-13144	26	33	,	,	PUNCT
fcis-13144	26	34	which	which	PRON
fcis-13144	26	35	inevitably	inevitably	ADV
fcis-13144	26	36	does	do	AUX
fcis-13144	26	37	not	not	PART
fcis-13144	26	38	attract	attract	VERB
fcis-13144	26	39	the	the	DET
fcis-13144	26	40	attention	attention	NOUN
fcis-13144	26	41	of	of	ADP
fcis-13144	26	42	the	the	DET
fcis-13144	26	43	animal	animal	NOUN
fcis-13144	26	44	,	,	PUNCT
fcis-13144	26	45	so	so	SCONJ
fcis-13144	26	46	that	that	SCONJ
fcis-13144	26	47	the	the	DET
fcis-13144	26	48	animal	animal	NOUN
fcis-13144	26	49	is	be	AUX
fcis-13144	26	50	frightened	frightened	ADJ
fcis-13144	26	51	.	.	PUNCT
fcis-13144	27	1	therefore	therefore	ADV
fcis-13144	27	2	,	,	PUNCT
fcis-13144	27	3	there	there	PRON
fcis-13144	27	4	is	be	VERB
fcis-13144	27	5	a	a	DET
fcis-13144	27	6	need	need	NOUN
fcis-13144	27	7	to	to	PART
fcis-13144	27	8	maintain	maintain	VERB
fcis-13144	27	9	an	an	DET
fcis-13144	27	10	adjustable	adjustable	ADJ
fcis-13144	27	11	and	and	CCONJ
fcis-13144	27	12	safe	safe	ADJ
fcis-13144	27	13	distance	distance	NOUN
fcis-13144	27	14	from	from	ADP
fcis-13144	27	15	the	the	DET
fcis-13144	27	16	animal	animal	NOUN
fcis-13144	27	17	to	to	PART
fcis-13144	27	18	avoid	avoid	VERB
fcis-13144	27	19	the	the	DET
fcis-13144	27	20	animal	animal	NOUN
fcis-13144	27	21	.	.	PUNCT
fcis-13144	28	1	2.1	2.1	NUM
fcis-13144	28	2	.	.	PUNCT
fcis-13144	28	3	drone	drone	NOUN
fcis-13144	28	4	models	model	NOUN
fcis-13144	28	5	firstly	firstly	ADV
fcis-13144	28	6	,	,	PUNCT
fcis-13144	28	7	an	an	DET
fcis-13144	28	8	inertial	inertial	ADJ
fcis-13144	28	9	coordinate	coordinate	NOUN
fcis-13144	28	10	system	system	NOUN
fcis-13144	28	11	is	be	AUX
fcis-13144	28	12	constructed	construct	VERB
fcis-13144	28	13	by	by	ADP
fcis-13144	28	14	selecting	select	VERB
fcis-13144	28	15	a	a	DET
fcis-13144	28	16	point	point	NOUN
fcis-13144	28	17	i.	i.	NOUN
fcis-13144	28	18	next	next	ADV
fcis-13144	28	19	,	,	PUNCT
fcis-13144	28	20	a	a	DET
fcis-13144	28	21	body	body	NOUN
fcis-13144	28	22	coordinate	coordinate	NOUN
fcis-13144	28	23	system	system	NOUN
fcis-13144	28	24	is	be	AUX
fcis-13144	28	25	constructed	construct	VERB
fcis-13144	28	26	by	by	ADP
fcis-13144	28	27	taking	take	VERB
fcis-13144	28	28	the	the	DET
fcis-13144	28	29	fuselage	fuselage	NOUN
fcis-13144	28	30	b	b	PROPN
fcis-13144	28	31	of	of	ADP
fcis-13144	28	32	the	the	DET
fcis-13144	28	33	uav	uav	PROPN
fcis-13144	28	34	as	as	ADP
fcis-13144	28	35	the	the	DET
fcis-13144	28	36	origin	origin	NOUN
fcis-13144	28	37	,	,	PUNCT
fcis-13144	28	38	and	and	CCONJ
fcis-13144	28	39	the	the	DET
fcis-13144	28	40	axes	axis	NOUN
fcis-13144	28	41	are	be	AUX
fcis-13144	28	42	orientated	orientate	VERB
fcis-13144	28	43	according	accord	VERB
fcis-13144	28	44	to	to	ADP
fcis-13144	28	45	the	the	DET
fcis-13144	28	46	right	right	ADJ
fcis-13144	28	47	-	-	PUNCT
fcis-13144	28	48	hand	hand	NOUN
fcis-13144	28	49	rule	rule	NOUN
fcis-13144	28	50	,	,	PUNCT
fcis-13144	28	51	the	the	DET
fcis-13144	28	52	x	x	NOUN
fcis-13144	28	53	-	-	NOUN
fcis-13144	28	54	axis	axis	NOUN
fcis-13144	28	55	of	of	ADP
fcis-13144	28	56	the	the	DET
fcis-13144	28	57	inertial	inertial	ADJ
fcis-13144	28	58	coordinate	coordinate	NOUN
fcis-13144	28	59	system	system	NOUN
fcis-13144	28	60	is	be	AUX
fcis-13144	28	61	selected	select	VERB
fcis-13144	28	62	to	to	PART
fcis-13144	28	63	point	point	VERB
fcis-13144	28	64	to	to	ADP
fcis-13144	28	65	the	the	DET
fcis-13144	28	66	east	east	NOUN
fcis-13144	28	67	,	,	PUNCT
fcis-13144	28	68	while	while	SCONJ
fcis-13144	28	69	the	the	DET
fcis-13144	28	70	y	y	NOUN
fcis-13144	28	71	-	-	PUNCT
fcis-13144	28	72	axis	axis	NOUN
fcis-13144	28	73	is	be	AUX
fcis-13144	28	74	selected	select	VERB
fcis-13144	28	75	to	to	PART
fcis-13144	28	76	point	point	VERB
fcis-13144	28	77	to	to	ADP
fcis-13144	28	78	the	the	DET
fcis-13144	28	79	north	north	NOUN
fcis-13144	28	80	,	,	PUNCT
fcis-13144	28	81	and	and	CCONJ
fcis-13144	28	82	the	the	DET
fcis-13144	28	83	z	z	NOUN
fcis-13144	28	84	-	-	PUNCT
fcis-13144	28	85	axis	axis	NOUN
fcis-13144	28	86	is	be	AUX
fcis-13144	28	87	perpendicular	perpendicular	ADJ
fcis-13144	28	88	to	to	ADP
fcis-13144	28	89	the	the	DET
fcis-13144	28	90	xoy	xoy	NOUN
fcis-13144	28	91	-	-	PUNCT
fcis-13144	28	92	face	face	NOUN
fcis-13144	28	93	upwards	upwards	ADV
fcis-13144	28	94	(	(	PUNCT
fcis-13144	28	95	away	away	ADV
fcis-13144	28	96	from	from	ADP
fcis-13144	28	97	the	the	DET
fcis-13144	28	98	centre	centre	NOUN
fcis-13144	28	99	of	of	ADP
fcis-13144	28	100	the	the	DET
fcis-13144	28	101	earth	earth	NOUN
fcis-13144	28	102	)	)	PUNCT
fcis-13144	28	103	.	.	PUNCT
fcis-13144	29	1	the	the	DET
fcis-13144	29	2	four	four	NUM
fcis-13144	29	3	rotors	rotor	NOUN
fcis-13144	29	4	of	of	ADP
fcis-13144	29	5	the	the	DET
fcis-13144	29	6	uav	uav	PROPN
fcis-13144	29	7	are	be	AUX
fcis-13144	29	8	labelled	label	VERB
fcis-13144	29	9	1	1	NUM
fcis-13144	29	10	,	,	PUNCT
fcis-13144	29	11	2	2	NUM
fcis-13144	29	12	,	,	PUNCT
fcis-13144	29	13	3	3	NUM
fcis-13144	29	14	and	and	CCONJ
fcis-13144	29	15	4	4	NUM
fcis-13144	29	16	in	in	ADP
fcis-13144	29	17	a	a	DET
fcis-13144	29	18	clockwise	clockwise	NOUN
fcis-13144	29	19	direction	direction	NOUN
fcis-13144	29	20	,	,	PUNCT
fcis-13144	29	21	and	and	CCONJ
fcis-13144	29	22	the	the	DET
fcis-13144	29	23	distance	distance	NOUN
fcis-13144	29	24	from	from	ADP
fcis-13144	29	25	each	each	DET
fcis-13144	29	26	rotor	rotor	NOUN
fcis-13144	29	27	to	to	ADP
fcis-13144	29	28	the	the	DET
fcis-13144	29	29	fuselage	fuselage	NOUN
fcis-13144	29	30	b	b	NOUN
fcis-13144	29	31	is	be	AUX
fcis-13144	29	32	equal	equal	ADJ
fcis-13144	29	33	and	and	CCONJ
fcis-13144	29	34	is	be	AUX
fcis-13144	29	35	l.	l.	PROPN
fcis-13144	29	36	each	each	DET
fcis-13144	29	37	rotor	rotor	NOUN
fcis-13144	29	38	has	have	VERB
fcis-13144	29	39	its	its	PRON
fcis-13144	29	40	own	own	ADJ
fcis-13144	29	41	rotational	rotational	ADJ
fcis-13144	29	42	angular	angular	ADJ
fcis-13144	29	43	velocity	velocity	NOUN
fcis-13144	29	44	ω	ω	NOUN
fcis-13144	29	45	and	and	CCONJ
fcis-13144	29	46	generates	generate	VERB
fcis-13144	29	47	an	an	DET
fcis-13144	29	48	upward	upward	ADJ
fcis-13144	29	49	lift	lift	NOUN
fcis-13144	29	50	f	f	NOUN
fcis-13144	29	51	as	as	SCONJ
fcis-13144	29	52	shown	show	VERB
fcis-13144	29	53	in	in	ADP
fcis-13144	29	54	figure	figure	NOUN
fcis-13144	29	55	1	1	NUM
fcis-13144	29	56	,	,	PUNCT
fcis-13144	29	57	where	where	SCONJ
fcis-13144	29	58	the	the	DET
fcis-13144	29	59	total	total	ADJ
fcis-13144	29	60	upward	upward	ADJ
fcis-13144	29	61	lift	lift	NOUN
fcis-13144	29	62	of	of	ADP
fcis-13144	29	63	the	the	DET
fcis-13144	29	64	uav	uav	PROPN
fcis-13144	29	65	is	be	AUX
fcis-13144	29	66	ft	ft	NOUN
fcis-13144	29	67	=	=	PUNCT
fcis-13144	29	68	f1+f2+f3+f4	f1+f2+f3+f4	ADV
fcis-13144	29	69	.	.	PUNCT
fcis-13144	30	1	figure	figure	VERB
fcis-13144	30	2	1	1	NUM
fcis-13144	30	3	.	.	X
fcis-13144	30	4	four	four	NUM
fcis-13144	30	5	-	-	PUNCT
fcis-13144	30	6	wheel	wheel	NOUN
fcis-13144	30	7	drive	drive	NOUN
fcis-13144	30	8	drone	drone	NOUN
fcis-13144	30	9	model	model	NOUN
fcis-13144	30	10	2.2	2.2	NUM
fcis-13144	30	11	.	.	PUNCT
fcis-13144	31	1	unmanned	unmanned	ADJ
fcis-13144	31	2	aerial	aerial	ADJ
fcis-13144	31	3	vehicle	vehicle	NOUN
fcis-13144	31	4	motion	motion	NOUN
fcis-13144	31	5	modelling	model	VERB
fcis-13144	31	6	the	the	DET
fcis-13144	31	7	motion	motion	NOUN
fcis-13144	31	8	of	of	ADP
fcis-13144	31	9	a	a	DET
fcis-13144	31	10	quadcopter	quadcopter	PROPN
fcis-13144	31	11	uav	uav	PROPN
fcis-13144	31	12	is	be	AUX
fcis-13144	31	13	categorised	categorise	VERB
fcis-13144	31	14	into	into	ADP
fcis-13144	31	15	translational	translational	ADJ
fcis-13144	31	16	and	and	CCONJ
fcis-13144	31	17	rotational	rotational	ADJ
fcis-13144	31	18	.	.	PUNCT
fcis-13144	32	1	translation	translation	NOUN
fcis-13144	32	2	is	be	AUX
fcis-13144	32	3	the	the	DET
fcis-13144	32	4	movement	movement	NOUN
fcis-13144	32	5	of	of	ADP
fcis-13144	32	6	the	the	DET
fcis-13144	32	7	uav	uav	PROPN
fcis-13144	32	8	in	in	ADP
fcis-13144	32	9	which	which	PRON
fcis-13144	32	10	all	all	DET
fcis-13144	32	11	fixed	fix	VERB
fcis-13144	32	12	straight	straight	ADJ
fcis-13144	32	13	lines	line	NOUN
fcis-13144	32	14	inside	inside	ADP
fcis-13144	32	15	the	the	DET
fcis-13144	32	16	uav	uav	PROPN
fcis-13144	32	17	always	always	ADV
fcis-13144	32	18	remain	remain	VERB
fcis-13144	32	19	in	in	ADP
fcis-13144	32	20	their	their	PRON
fcis-13144	32	21	original	original	ADJ
fcis-13144	32	22	direction	direction	NOUN
fcis-13144	32	23	.	.	PUNCT
fcis-13144	33	1	rotation	rotation	NOUN
fcis-13144	33	2	is	be	AUX
fcis-13144	33	3	when	when	SCONJ
fcis-13144	33	4	the	the	DET
fcis-13144	33	5	uav	uav	PROPN
fcis-13144	33	6	moves	move	VERB
fcis-13144	33	7	in	in	ADP
fcis-13144	33	8	a	a	DET
fcis-13144	33	9	circular	circular	ADJ
fcis-13144	33	10	motion	motion	NOUN
fcis-13144	33	11	around	around	ADP
fcis-13144	33	12	an	an	DET
fcis-13144	33	13	axis	axis	NOUN
fcis-13144	33	14	.	.	PUNCT
fcis-13144	34	1	translational	translational	ADJ
fcis-13144	34	2	motion	motion	NOUN
fcis-13144	34	3	has	have	VERB
fcis-13144	34	4	nine	nine	NUM
fcis-13144	34	5	physical	physical	ADJ
fcis-13144	34	6	quantities	quantity	NOUN
fcis-13144	34	7	,	,	PUNCT
fcis-13144	34	8	the	the	DET
fcis-13144	34	9	distance	distance	NOUN
fcis-13144	34	10	x	x	X
fcis-13144	34	11	,	,	PUNCT
fcis-13144	34	12	y	y	PROPN
fcis-13144	34	13	,	,	PUNCT
fcis-13144	34	14	z	z	NOUN
fcis-13144	34	15	along	along	ADP
fcis-13144	34	16	the	the	DET
fcis-13144	34	17	x	x	PROPN
fcis-13144	34	18	,	,	PUNCT
fcis-13144	34	19	y	y	PROPN
fcis-13144	34	20	and	and	CCONJ
fcis-13144	34	21	z	z	PROPN
fcis-13144	34	22	axes	axis	NOUN
fcis-13144	34	23	,	,	PUNCT
fcis-13144	34	24	the	the	DET
fcis-13144	34	25	velocity	velocity	NOUN
fcis-13144	34	26	vx	vx	PROPN
fcis-13144	34	27	,	,	PUNCT
fcis-13144	34	28	vy	vy	PROPN
fcis-13144	34	29	,	,	PUNCT
fcis-13144	34	30	vz	vz	NOUN
fcis-13144	34	31	in	in	ADP
fcis-13144	34	32	the	the	DET
fcis-13144	34	33	corresponding	corresponding	ADJ
fcis-13144	34	34	direction	direction	NOUN
fcis-13144	34	35	by	by	ADP
fcis-13144	34	36	differentiating	differentiate	VERB
fcis-13144	34	37	these	these	DET
fcis-13144	34	38	three	three	NUM
fcis-13144	34	39	variables	variable	NOUN
fcis-13144	34	40	with	with	ADP
fcis-13144	34	41	respect	respect	NOUN
fcis-13144	34	42	to	to	ADP
fcis-13144	34	43	time	time	NOUN
fcis-13144	34	44	,	,	PUNCT
fcis-13144	34	45	and	and	CCONJ
fcis-13144	34	46	the	the	DET
fcis-13144	34	47	acceleration	acceleration	NOUN
fcis-13144	34	48	ax	ax	NOUN
fcis-13144	34	49	,	,	PUNCT
fcis-13144	34	50	ay	ay	PROPN
fcis-13144	34	51	,	,	PUNCT
fcis-13144	34	52	az	az	PROPN
fcis-13144	34	53	in	in	ADP
fcis-13144	34	54	the	the	DET
fcis-13144	34	55	corresponding	corresponding	ADJ
fcis-13144	34	56	direction	direction	NOUN
fcis-13144	34	57	by	by	ADP
fcis-13144	34	58	differentiating	differentiate	VERB
fcis-13144	34	59	them	they	PRON
fcis-13144	34	60	once	once	ADV
fcis-13144	34	61	more	more	ADJ
fcis-13144	34	62	.	.	PUNCT
fcis-13144	35	1	so	so	ADV
fcis-13144	35	2	we	we	PRON
fcis-13144	35	3	only	only	ADV
fcis-13144	35	4	need	need	VERB
fcis-13144	35	5	to	to	PART
fcis-13144	35	6	derive	derive	VERB
fcis-13144	35	7	one	one	NUM
fcis-13144	35	8	of	of	ADP
fcis-13144	35	9	the	the	DET
fcis-13144	35	10	distance	distance	NOUN
fcis-13144	35	11	,	,	PUNCT
fcis-13144	35	12	velocity	velocity	NOUN
fcis-13144	35	13	and	and	CCONJ
fcis-13144	35	14	acceleration	acceleration	NOUN
fcis-13144	35	15	terms	term	NOUN
fcis-13144	35	16	in	in	ADP
fcis-13144	35	17	order	order	NOUN
fcis-13144	35	18	to	to	PART
fcis-13144	35	19	obtain	obtain	VERB
fcis-13144	35	20	the	the	DET
fcis-13144	35	21	other	other	ADJ
fcis-13144	35	22	terms	term	NOUN
fcis-13144	35	23	by	by	ADP
fcis-13144	35	24	differentiating	differentiate	VERB
fcis-13144	35	25	or	or	CCONJ
fcis-13144	35	26	integrating	integrate	VERB
fcis-13144	35	27	them	they	PRON
fcis-13144	35	28	.	.	PUNCT
fcis-13144	36	1	the	the	DET
fcis-13144	36	2	other	other	ADJ
fcis-13144	36	3	terms	term	NOUN
fcis-13144	36	4	.	.	PUNCT
fcis-13144	37	1	the	the	DET
fcis-13144	37	2	physical	physical	ADJ
fcis-13144	37	3	quantities	quantity	NOUN
fcis-13144	37	4	of	of	ADP
fcis-13144	37	5	rotation	rotation	NOUN
fcis-13144	37	6	can	can	AUX
fcis-13144	37	7	be	be	AUX
fcis-13144	37	8	divided	divide	VERB
fcis-13144	37	9	into	into	ADP
fcis-13144	37	10	roll	roll	NOUN
fcis-13144	37	11	angle	angle	NOUN
fcis-13144	37	12	(	(	PUNCT
fcis-13144	37	13	φ	φ	NOUN
fcis-13144	37	14	)	)	PUNCT
fcis-13144	37	15	around	around	ADP
fcis-13144	37	16	the	the	DET
fcis-13144	37	17	x	x	NOUN
fcis-13144	37	18	-	-	NOUN
fcis-13144	37	19	axis	axis	ADJ
fcis-13144	37	20	,	,	PUNCT
fcis-13144	37	21	pith	pith	NOUN
fcis-13144	37	22	angle	angle	NOUN
fcis-13144	37	23	(	(	PUNCT
fcis-13144	37	24	θ	θ	NOUN
fcis-13144	37	25	)	)	PUNCT
fcis-13144	37	26	around	around	ADP
fcis-13144	37	27	the	the	DET
fcis-13144	37	28	y	y	NOUN
fcis-13144	37	29	-	-	PUNCT
fcis-13144	37	30	axis	axis	NOUN
fcis-13144	37	31	and	and	CCONJ
fcis-13144	37	32	yaw	yaw	NOUN
fcis-13144	37	33	angle	angle	NOUN
fcis-13144	37	34	(	(	PUNCT
fcis-13144	37	35	ψ	ψ	NOUN
fcis-13144	37	36	)	)	PUNCT
fcis-13144	37	37	around	around	ADP
fcis-13144	37	38	the	the	DET
fcis-13144	37	39	z	z	NOUN
fcis-13144	37	40	-	-	PUNCT
fcis-13144	37	41	axis	axis	NOUN
fcis-13144	37	42	according	accord	VERB
fcis-13144	37	43	to	to	ADP
fcis-13144	37	44	the	the	DET
fcis-13144	37	45	euler	euler	NOUN
fcis-13144	37	46	angle	angle	NOUN
fcis-13144	37	47	,	,	PUNCT
fcis-13144	37	48	and	and	CCONJ
fcis-13144	37	49	the	the	DET
fcis-13144	37	50	physical	physical	ADJ
fcis-13144	37	51	quantities	quantity	NOUN
fcis-13144	37	52	of	of	ADP
fcis-13144	37	53	the	the	DET
fcis-13144	37	54	corresponding	corresponding	ADJ
fcis-13144	37	55	angular	angular	ADJ
fcis-13144	37	56	velocities	velocity	NOUN
fcis-13144	37	57	can	can	AUX
fcis-13144	37	58	be	be	AUX
fcis-13144	37	59	denoted	denote	VERB
fcis-13144	37	60	as	as	ADP
fcis-13144	37	61	p	p	NOUN
fcis-13144	37	62	,	,	PUNCT
fcis-13144	37	63	q	q	NOUN
fcis-13144	37	64	and	and	CCONJ
fcis-13144	37	65	r	r	NOUN
fcis-13144	37	66	by	by	ADP
fcis-13144	37	67	differentiating	differentiate	VERB
fcis-13144	37	68	these	these	DET
fcis-13144	37	69	three	three	NUM
fcis-13144	37	70	variables	variable	NOUN
fcis-13144	37	71	with	with	ADP
fcis-13144	37	72	respect	respect	NOUN
fcis-13144	37	73	to	to	ADP
fcis-13144	37	74	time	time	NOUN
fcis-13144	37	75	.	.	PUNCT
fcis-13144	38	1	with	with	ADP
fcis-13144	38	2	euler	euler	PROPN
fcis-13144	38	3	's	's	PART
fcis-13144	38	4	formula	formula	NOUN
fcis-13144	38	5	,	,	PUNCT
fcis-13144	38	6	three	three	NUM
fcis-13144	38	7	formulas	formula	NOUN
fcis-13144	38	8	can	can	AUX
fcis-13144	38	9	be	be	AUX
fcis-13144	38	10	derived	derive	VERB
fcis-13144	38	11	for	for	ADP
fcis-13144	38	12	angles	angle	NOUN
fcis-13144	38	13	vs	vs	ADP
fcis-13144	38	14	:	:	PUNCT
fcis-13144	38	15	ϕ	ϕ	NOUN
fcis-13144	38	16	.	.	PUNCT
fcis-13144	39	1	p	p	NOUN
fcis-13144	39	2	r	r	NOUN
fcis-13144	39	3	cosϕ	cosϕ	NOUN
fcis-13144	39	4	q	q	PROPN
fcis-13144	39	5	sinϕ	sinϕ	NOUN
fcis-13144	39	6	tanθ	tanθ	NOUN
fcis-13144	39	7	(	(	PUNCT
fcis-13144	39	8	1	1	X
fcis-13144	39	9	)	)	PUNCT
fcis-13144	39	10	θ	θ	PROPN
fcis-13144	39	11	.	.	PUNCT
fcis-13144	40	1	q	q	NOUN
fcis-13144	40	2	cosϕ	cosϕ	NOUN
fcis-13144	40	3	r	r	NOUN
fcis-13144	40	4	sinϕ	sinϕ	NOUN
fcis-13144	40	5	(	(	PUNCT
fcis-13144	40	6	2	2	NUM
fcis-13144	40	7	)	)	PUNCT
fcis-13144	40	8	ψ	ψ	NOUN
fcis-13144	40	9	.	.	NOUN
fcis-13144	40	10	1	1	NUM
fcis-13144	41	1	cos	cos	ADP
fcis-13144	41	2	θ	θ	NOUN
fcis-13144	41	3	r	r	NOUN
fcis-13144	41	4	cosϕ	cosϕ	NOUN
fcis-13144	41	5	q	q	PROPN
fcis-13144	41	6	sinϕ	sinϕ	NOUN
fcis-13144	41	7	(	(	PUNCT
fcis-13144	41	8	3	3	NUM
fcis-13144	41	9	)	)	PUNCT
fcis-13144	41	10	in	in	ADP
fcis-13144	41	11	order	order	NOUN
fcis-13144	41	12	to	to	PART
fcis-13144	41	13	derive	derive	VERB
fcis-13144	41	14	all	all	DET
fcis-13144	41	15	the	the	DET
fcis-13144	41	16	physical	physical	ADJ
fcis-13144	41	17	quantities	quantity	NOUN
fcis-13144	41	18	of	of	ADP
fcis-13144	41	19	the	the	DET
fcis-13144	41	20	quadcopter	quadcopter	NOUN
fcis-13144	41	21	drone	drone	NOUN
fcis-13144	41	22	as	as	SCONJ
fcis-13144	41	23	it	it	PRON
fcis-13144	41	24	moves	move	VERB
fcis-13144	41	25	,	,	PUNCT
fcis-13144	41	26	we	we	PRON
fcis-13144	41	27	first	first	ADV
fcis-13144	41	28	need	need	VERB
fcis-13144	41	29	to	to	PART
fcis-13144	41	30	know	know	VERB
fcis-13144	41	31	its	its	PRON
fcis-13144	41	32	angular	angular	ADJ
fcis-13144	41	33	velocity	velocity	NOUN
fcis-13144	41	34	and	and	CCONJ
fcis-13144	41	35	acceleration	acceleration	NOUN
fcis-13144	41	36	,	,	PUNCT
fcis-13144	41	37	and	and	CCONJ
fcis-13144	41	38	the	the	DET
fcis-13144	41	39	rest	rest	NOUN
fcis-13144	41	40	of	of	ADP
fcis-13144	41	41	the	the	DET
fcis-13144	41	42	physical	physical	ADJ
fcis-13144	41	43	quantities	quantity	NOUN
fcis-13144	41	44	can	can	AUX
fcis-13144	41	45	be	be	AUX
fcis-13144	41	46	obtained	obtain	VERB
fcis-13144	41	47	through	through	ADP
fcis-13144	41	48	integration	integration	NOUN
fcis-13144	41	49	.	.	PUNCT
fcis-13144	42	1	when	when	SCONJ
fcis-13144	42	2	the	the	DET
fcis-13144	42	3	quadcopter	quadcopter	PROPN
fcis-13144	42	4	uav	uav	PROPN
fcis-13144	42	5	is	be	AUX
fcis-13144	42	6	flying	fly	VERB
fcis-13144	42	7	with	with	ADP
fcis-13144	42	8	roll	roll	NOUN
fcis-13144	42	9	,	,	PUNCT
fcis-13144	42	10	pitch	pitch	NOUN
fcis-13144	42	11	,	,	PUNCT
fcis-13144	42	12	and	and	CCONJ
fcis-13144	42	13	yaw	yaw	NOUN
fcis-13144	42	14	angles	angle	NOUN
fcis-13144	42	15	in	in	ADP
fcis-13144	42	16	translation	translation	NOUN
fcis-13144	42	17	,	,	PUNCT
fcis-13144	42	18	its	its	PRON
fcis-13144	42	19	acceleration	acceleration	NOUN
fcis-13144	42	20	equation	equation	NOUN
fcis-13144	42	21	is	be	AUX
fcis-13144	42	22	,	,	PUNCT
fcis-13144	42	23	according	accord	VERB
fcis-13144	42	24	to	to	ADP
fcis-13144	42	25	newton	newton	PROPN
fcis-13144	42	26	's	's	PART
fcis-13144	42	27	second	second	ADJ
fcis-13144	42	28	law	law	NOUN
fcis-13144	42	29	:	:	PUNCT
fcis-13144	42	30	ma	ma	PROPN
fcis-13144	42	31	f	f	PROPN
fcis-13144	42	32	cosϕ	cosϕ	ADJ
fcis-13144	42	33	cosψ	cosψ	ADJ
fcis-13144	42	34	sin	sin	NOUN
fcis-13144	42	35	θ	θ	PROPN
fcis-13144	42	36	sinϕ	sinϕ	PROPN
fcis-13144	42	37	sinψ	sinψ	PROPN
fcis-13144	42	38	(	(	PUNCT
fcis-13144	42	39	4	4	NUM
fcis-13144	42	40	)	)	PUNCT
fcis-13144	42	41	ma	ma	PROPN
fcis-13144	42	42	f	f	PROPN
fcis-13144	42	43	cosϕ	cosϕ	NOUN
fcis-13144	42	44	sin	sin	NOUN
fcis-13144	42	45	θ	θ	PROPN
fcis-13144	42	46	sinψ	sinψ	PROPN
fcis-13144	42	47	cosψsinϕ	cosψsinϕ	NOUN
fcis-13144	42	48	(	(	PUNCT
fcis-13144	42	49	5	5	NUM
fcis-13144	42	50	)	)	PUNCT
fcis-13144	42	51	ma	ma	PROPN
fcis-13144	43	1	mg	mg	PROPN
fcis-13144	43	2	f	f	PROPN
fcis-13144	43	3	cosϕ	cosϕ	PROPN
fcis-13144	43	4	cos	cos	PROPN
fcis-13144	43	5	θ	θ	PROPN
fcis-13144	43	6	(	(	PUNCT
fcis-13144	43	7	6	6	NUM
fcis-13144	43	8	)	)	PUNCT
fcis-13144	43	9	at	at	ADP
fcis-13144	43	10	this	this	DET
fcis-13144	43	11	point	point	NOUN
fcis-13144	43	12	,	,	PUNCT
fcis-13144	43	13	the	the	DET
fcis-13144	43	14	angular	angular	ADJ
fcis-13144	43	15	acceleration	acceleration	NOUN
fcis-13144	43	16	of	of	ADP
fcis-13144	43	17	the	the	DET
fcis-13144	43	18	uav	uav	PROPN
fcis-13144	43	19	can	can	AUX
fcis-13144	43	20	be	be	AUX
fcis-13144	43	21	derived	derive	VERB
fcis-13144	43	22	to	to	PART
fcis-13144	43	23	obtain	obtain	VERB
fcis-13144	43	24	all	all	DET
fcis-13144	43	25	the	the	DET
fcis-13144	43	26	required	required	ADJ
fcis-13144	43	27	physical	physical	ADJ
fcis-13144	43	28	quantities	quantity	NOUN
fcis-13144	43	29	during	during	ADP
fcis-13144	43	30	the	the	DET
fcis-13144	43	31	movement	movement	NOUN
fcis-13144	43	32	of	of	ADP
fcis-13144	43	33	the	the	DET
fcis-13144	43	34	uav	uav	PROPN
fcis-13144	43	35	,	,	PUNCT
fcis-13144	43	36	and	and	CCONJ
fcis-13144	43	37	according	accord	VERB
fcis-13144	43	38	to	to	ADP
fcis-13144	43	39	the	the	DET
fcis-13144	43	40	formulaτ	formulaτ	NOUN
fcis-13144	43	41	iω	iω	PRON
fcis-13144	43	42	.	.	PUNCT
fcis-13144	44	1	ω	ω	X
fcis-13144	44	2	iω	iω	ADV
fcis-13144	44	3	,	,	PUNCT
fcis-13144	44	4	whereω	whereω	PROPN
fcis-13144	44	5	iω	iω	PROPN
fcis-13144	44	6	is	be	AUX
fcis-13144	44	7	approximately	approximately	ADV
fcis-13144	44	8	equal	equal	ADJ
fcis-13144	44	9	to	to	ADP
fcis-13144	44	10	zero	zero	NUM
fcis-13144	44	11	,	,	PUNCT
fcis-13144	44	12	which	which	PRON
fcis-13144	44	13	can	can	AUX
fcis-13144	44	14	be	be	AUX
fcis-13144	44	15	ignored	ignore	VERB
fcis-13144	44	16	in	in	ADP
fcis-13144	44	17	the	the	DET
fcis-13144	44	18	usual	usual	ADJ
fcis-13144	44	19	case	case	NOUN
fcis-13144	44	20	,	,	PUNCT
fcis-13144	44	21	so	so	SCONJ
fcis-13144	44	22	the	the	DET
fcis-13144	44	23	equation	equation	NOUN
fcis-13144	44	24	is	be	AUX
fcis-13144	44	25	simplified	simplify	VERB
fcis-13144	44	26	to	to	ADP
fcis-13144	44	27	τ	τ	PROPN
fcis-13144	44	28	iω	iω	X
fcis-13144	44	29	.	.	PUNCT
fcis-13144	45	1	,	,	PUNCT
fcis-13144	45	2	in	in	ADP
fcis-13144	45	3	order	order	NOUN
fcis-13144	45	4	to	to	PART
fcis-13144	45	5	calculate	calculate	VERB
fcis-13144	45	6	the	the	DET
fcis-13144	45	7	angular	angular	ADJ
fcis-13144	45	8	acceleration	acceleration	NOUN
fcis-13144	45	9	ω	ω	PROPN
fcis-13144	45	10	,	,	PUNCT
fcis-13144	45	11	we	we	PRON
fcis-13144	45	12	first	first	ADV
fcis-13144	45	13	need	need	VERB
fcis-13144	45	14	to	to	PART
fcis-13144	45	15	derive	derive	VERB
fcis-13144	45	16	the	the	DET
fcis-13144	45	17	moment	moment	NOUN
fcis-13144	45	18	τ	τ	X
fcis-13144	45	19	.	.	PUNCT
fcis-13144	46	1	through	through	ADP
fcis-13144	46	2	the	the	DET
fcis-13144	46	3	uav	uav	PROPN
fcis-13144	46	4	model	model	NOUN
fcis-13144	46	5	,	,	PUNCT
fcis-13144	46	6	it	it	PRON
fcis-13144	46	7	can	can	AUX
fcis-13144	46	8	be	be	AUX
fcis-13144	46	9	derived	derive	VERB
fcis-13144	46	10	that	that	PRON
fcis-13144	46	11	.	.	PUNCT
fcis-13144	47	1	τ	τ	X
fcis-13144	47	2	f	f	PROPN
fcis-13144	48	1	⋅	⋅	PROPN
fcis-13144	48	2	l	l	PROPN
fcis-13144	48	3	f	f	X
fcis-13144	48	4	⋅	⋅	PROPN
fcis-13144	48	5	l	l	NOUN
fcis-13144	48	6	(	(	PUNCT
fcis-13144	48	7	7	7	NUM
fcis-13144	48	8	)	)	PUNCT
fcis-13144	48	9	τ	τ	PROPN
fcis-13144	49	1	f	f	PROPN
fcis-13144	49	2	⋅	⋅	PROPN
fcis-13144	49	3	l	l	PROPN
fcis-13144	49	4	f	f	X
fcis-13144	50	1	⋅	⋅	PROPN
fcis-13144	50	2	l	l	NOUN
fcis-13144	50	3	(	(	PUNCT
fcis-13144	50	4	8)	8)	NUM
fcis-13144	50	5	τ	τ	X
fcis-13144	50	6	f	f	PROPN
fcis-13144	50	7	⋅	⋅	PROPN
fcis-13144	50	8	l	l	NOUN
fcis-13144	50	9	f	f	X
fcis-13144	51	1	⋅	⋅	PROPN
fcis-13144	51	2	l	l	NOUN
fcis-13144	51	3	f	f	X
fcis-13144	51	4	⋅	⋅	PROPN
fcis-13144	51	5	l	l	NOUN
fcis-13144	51	6	f	f	X
fcis-13144	51	7	⋅	⋅	PROPN
fcis-13144	51	8	l	l	NOUN
fcis-13144	51	9	(	(	PUNCT
fcis-13144	51	10	9	9	NUM
fcis-13144	51	11	)	)	PUNCT
fcis-13144	51	12	after	after	ADP
fcis-13144	51	13	deriving	derive	VERB
fcis-13144	51	14	the	the	DET
fcis-13144	51	15	moment	moment	NOUN
fcis-13144	51	16	,	,	PUNCT
fcis-13144	51	17	the	the	DET
fcis-13144	51	18	angular	angular	ADJ
fcis-13144	51	19	acceleration	acceleration	NOUN
fcis-13144	51	20	can	can	AUX
fcis-13144	51	21	be	be	AUX
fcis-13144	51	22	derived	derive	VERB
fcis-13144	51	23	from	from	ADP
fcis-13144	51	24	the	the	DET
fcis-13144	51	25	above	above	ADJ
fcis-13144	51	26	equation	equation	NOUN
fcis-13144	51	27	by	by	ADP
fcis-13144	51	28	using	use	VERB
fcis-13144	51	29	the	the	DET
fcis-13144	51	30	following	follow	VERB
fcis-13144	51	31	three	three	NUM
fcis-13144	51	32	equations	equation	NOUN
fcis-13144	51	33	:	:	PUNCT
fcis-13144	52	1	i	i	PRON
fcis-13144	52	2	p	p	X
fcis-13144	52	3	.	.	PUNCT
fcis-13144	53	1	i	i	PRON
fcis-13144	53	2	i	i	PRON
fcis-13144	53	3	qr	qr	VERB
fcis-13144	53	4	τ	τ	PROPN
fcis-13144	53	5	(	(	PUNCT
fcis-13144	53	6	10	10	NUM
fcis-13144	53	7	)	)	PUNCT
fcis-13144	53	8	i	i	PRON
fcis-13144	53	9	q	q	X
fcis-13144	53	10	.	.	PUNCT
fcis-13144	54	1	i	i	PRON
fcis-13144	54	2	i	i	PRON
fcis-13144	54	3	pr	pr	VERB
fcis-13144	54	4	τ	τ	PROPN
fcis-13144	54	5	(	(	PUNCT
fcis-13144	54	6	11	11	NUM
fcis-13144	54	7	)	)	PUNCT
fcis-13144	55	1	i	i	PRON
fcis-13144	55	2	r	r	VERB
fcis-13144	55	3	.	.	PUNCT
fcis-13144	56	1	i	i	PRON
fcis-13144	56	2	i	i	PRON
fcis-13144	57	1	pq	pq	VERB
fcis-13144	57	2	τ	τ	X
fcis-13144	57	3	(	(	PUNCT
fcis-13144	57	4	12	12	NUM
fcis-13144	57	5	)	)	PUNCT
fcis-13144	57	6	where	where	SCONJ
fcis-13144	57	7	i	i	PRON
fcis-13144	57	8	is	be	AUX
fcis-13144	57	9	the	the	DET
fcis-13144	57	10	moment	moment	NOUN
fcis-13144	57	11	of	of	ADP
fcis-13144	57	12	inertia	inertia	NOUN
fcis-13144	57	13	and	and	CCONJ
fcis-13144	57	14	i	i	PRON
fcis-13144	57	15	=	=	PUNCT
fcis-13144	58	1	[	[	X
fcis-13144	58	2	ip	ip	ADP
fcis-13144	58	3	,	,	PUNCT
fcis-13144	58	4	iq	iq	NOUN
fcis-13144	58	5	,	,	PUNCT
fcis-13144	58	6	ir]t	ir]t	NOUN
fcis-13144	58	7	.	.	PUNCT
fcis-13144	59	1	3	3	X
fcis-13144	59	2	.	.	X
fcis-13144	59	3	a	a	DET
fcis-13144	59	4	*	*	PUNCT
fcis-13144	59	5	algorithmic	algorithmic	ADJ
fcis-13144	59	6	obstacle	obstacle	NOUN
fcis-13144	59	7	avoidance	avoidance	NOUN
fcis-13144	59	8	3.1	3.1	NUM
fcis-13144	59	9	.	.	PUNCT
fcis-13144	59	10	search	search	NOUN
fcis-13144	59	11	area	area	NOUN
fcis-13144	59	12	first	first	ADV
fcis-13144	59	13	of	of	ADP
fcis-13144	59	14	all	all	PRON
fcis-13144	59	15	,	,	PUNCT
fcis-13144	59	16	we	we	PRON
fcis-13144	59	17	have	have	VERB
fcis-13144	59	18	to	to	PART
fcis-13144	59	19	simplify	simplify	VERB
fcis-13144	59	20	the	the	DET
fcis-13144	59	21	search	search	NOUN
fcis-13144	59	22	area	area	NOUN
fcis-13144	59	23	by	by	ADP
fcis-13144	59	24	dividing	divide	VERB
fcis-13144	59	25	the	the	DET
fcis-13144	59	26	search	search	NOUN
fcis-13144	59	27	area	area	NOUN
fcis-13144	59	28	into	into	ADP
fcis-13144	59	29	a	a	DET
fcis-13144	59	30	square	square	ADJ
fcis-13144	59	31	lattice	lattice	NOUN
fcis-13144	59	32	and	and	CCONJ
fcis-13144	59	33	the	the	DET
fcis-13144	59	34	centre	centre	NOUN
fcis-13144	59	35	of	of	ADP
fcis-13144	59	36	the	the	DET
fcis-13144	59	37	lattice	lattice	NOUN
fcis-13144	59	38	becomes	become	VERB
fcis-13144	59	39	the	the	DET
fcis-13144	59	40	node	node	NOUN
fcis-13144	59	41	.	.	PUNCT
fcis-13144	60	1	it	it	PRON
fcis-13144	60	2	has	have	VERB
fcis-13144	60	3	only	only	ADV
fcis-13144	60	4	two	two	NUM
fcis-13144	60	5	states	state	NOUN
fcis-13144	60	6	,	,	PUNCT
fcis-13144	60	7	walkable	walkable	ADJ
fcis-13144	60	8	and	and	CCONJ
fcis-13144	60	9	nonwalkable	nonwalkable	ADJ
fcis-13144	60	10	.	.	PUNCT
fcis-13144	61	1	take	take	VERB
fcis-13144	61	2	the	the	DET
fcis-13144	61	3	figure	figure	NOUN
fcis-13144	61	4	2	2	NUM
fcis-13144	61	5	as	as	ADP
fcis-13144	61	6	an	an	DET
fcis-13144	61	7	example	example	NOUN
fcis-13144	61	8	,	,	PUNCT
fcis-13144	61	9	blue	blue	ADJ
fcis-13144	61	10	is	be	AUX
fcis-13144	61	11	the	the	DET
fcis-13144	61	12	start	start	NOUN
fcis-13144	61	13	point	point	NOUN
fcis-13144	61	14	,	,	PUNCT
fcis-13144	61	15	orange	orange	PROPN
fcis-13144	61	16	is	be	AUX
fcis-13144	61	17	the	the	DET
fcis-13144	61	18	end	end	NOUN
fcis-13144	61	19	point	point	NOUN
fcis-13144	61	20	,	,	PUNCT
fcis-13144	61	21	grey	grey	PROPN
fcis-13144	61	22	is	be	AUX
fcis-13144	61	23	the	the	DET
fcis-13144	61	24	area	area	NOUN
fcis-13144	61	25	where	where	SCONJ
fcis-13144	61	26	the	the	DET
fcis-13144	61	27	obstacles	obstacle	NOUN
fcis-13144	61	28	are	be	AUX
fcis-13144	61	29	,	,	PUNCT
fcis-13144	61	30	let	let	VERB
fcis-13144	61	31	's	us	PRON
fcis-13144	61	32	calculate	calculate	VERB
fcis-13144	61	33	the	the	DET
fcis-13144	61	34	shortest	short	ADJ
fcis-13144	61	35	path	path	NOUN
fcis-13144	61	36	it	it	PRON
fcis-13144	61	37	can	can	AUX
fcis-13144	61	38	travel	travel	VERB
fcis-13144	61	39	.	.	PUNCT
fcis-13144	62	1	the	the	DET
fcis-13144	62	2	key	key	ADJ
fcis-13144	62	3	formula	formula	NOUN
fcis-13144	62	4	for	for	ADP
fcis-13144	62	5	calculating	calculate	VERB
fcis-13144	62	6	the	the	DET
fcis-13144	62	7	path	path	NOUN
fcis-13144	62	8	squares	square	NOUN
fcis-13144	62	9	travelled	travel	VERB
fcis-13144	62	10	is	be	AUX
fcis-13144	62	11	f	f	PROPN
fcis-13144	62	12	=	=	SYM
fcis-13144	62	13	g	g	PROPN
fcis-13144	62	14	+	+	X
fcis-13144	62	15	h.	h.	NOUN
fcis-13144	62	16	where	where	SCONJ
fcis-13144	62	17	g	g	PROPN
fcis-13144	62	18	is	be	AUX
fcis-13144	62	19	the	the	DET
fcis-13144	62	20	cost	cost	NOUN
fcis-13144	62	21	from	from	ADP
fcis-13144	62	22	the	the	DET
fcis-13144	62	23	start	start	NOUN
fcis-13144	62	24	point	point	NOUN
fcis-13144	62	25	to	to	ADP
fcis-13144	62	26	the	the	DET
fcis-13144	62	27	current	current	ADJ
fcis-13144	62	28	point	point	NOUN
fcis-13144	62	29	and	and	CCONJ
fcis-13144	62	30	h	h	NOUN
fcis-13144	62	31	is	be	AUX
fcis-13144	62	32	the	the	DET
fcis-13144	62	33	cost	cost	NOUN
fcis-13144	62	34	from	from	ADP
fcis-13144	62	35	the	the	DET
fcis-13144	62	36	current	current	ADJ
fcis-13144	62	37	point	point	NOUN
fcis-13144	62	38	to	to	ADP
fcis-13144	62	39	the	the	DET
fcis-13144	62	40	end	end	NOUN
fcis-13144	62	41	point	point	NOUN
fcis-13144	62	42	.	.	PUNCT
fcis-13144	63	1	figure	figure	NOUN
fcis-13144	63	2	2	2	NUM
fcis-13144	63	3	.	.	NOUN
fcis-13144	63	4	map	map	NOUN
fcis-13144	63	5	of	of	ADP
fcis-13144	63	6	the	the	DET
fcis-13144	63	7	example	example	NOUN
fcis-13144	63	8	137	137	NUM
fcis-13144	63	9	3.2	3.2	NUM
fcis-13144	63	10	.	.	PUNCT
fcis-13144	64	1	start	start	AUX
fcis-13144	64	2	searching	search	VERB
fcis-13144	64	3	starting	start	VERB
fcis-13144	64	4	from	from	ADP
fcis-13144	64	5	the	the	DET
fcis-13144	64	6	starting	starting	NOUN
fcis-13144	64	7	point	point	NOUN
fcis-13144	64	8	a	a	PRON
fcis-13144	64	9	,	,	PUNCT
fcis-13144	64	10	first	first	ADV
fcis-13144	64	11	add	add	VERB
fcis-13144	64	12	a	a	PRON
fcis-13144	64	13	to	to	ADP
fcis-13144	64	14	the	the	DET
fcis-13144	64	15	open	open	ADJ
fcis-13144	64	16	list	list	NOUN
fcis-13144	64	17	consisting	consist	VERB
fcis-13144	64	18	of	of	ADP
fcis-13144	64	19	squares	square	NOUN
fcis-13144	64	20	that	that	SCONJ
fcis-13144	64	21	the	the	DET
fcis-13144	64	22	path	path	NOUN
fcis-13144	64	23	may	may	AUX
fcis-13144	64	24	or	or	CCONJ
fcis-13144	64	25	may	may	AUX
fcis-13144	64	26	not	not	PART
fcis-13144	64	27	pass	pass	VERB
fcis-13144	64	28	through	through	ADV
fcis-13144	64	29	.	.	PUNCT
fcis-13144	65	1	the	the	DET
fcis-13144	65	2	open	open	ADJ
fcis-13144	65	3	list	list	NOUN
fcis-13144	65	4	is	be	AUX
fcis-13144	65	5	a	a	DET
fcis-13144	65	6	list	list	NOUN
fcis-13144	65	7	of	of	ADP
fcis-13144	65	8	squares	square	NOUN
fcis-13144	65	9	to	to	PART
fcis-13144	65	10	be	be	AUX
fcis-13144	65	11	checked	check	VERB
fcis-13144	65	12	.	.	PUNCT
fcis-13144	66	1	next	next	ADV
fcis-13144	66	2	,	,	PUNCT
fcis-13144	66	3	look	look	VERB
fcis-13144	66	4	at	at	ADP
fcis-13144	66	5	the	the	DET
fcis-13144	66	6	eight	eight	NUM
fcis-13144	66	7	squares	square	NOUN
fcis-13144	66	8	adjacent	adjacent	ADJ
fcis-13144	66	9	to	to	ADP
fcis-13144	66	10	the	the	DET
fcis-13144	66	11	starting	starting	NOUN
fcis-13144	66	12	point	point	NOUN
fcis-13144	66	13	a.	a.	NOUN
fcis-13144	66	14	include	include	VERB
fcis-13144	66	15	the	the	DET
fcis-13144	66	16	nodes	node	NOUN
fcis-13144	66	17	that	that	PRON
fcis-13144	66	18	can	can	AUX
fcis-13144	66	19	be	be	AUX
fcis-13144	66	20	travelled	travel	VERB
fcis-13144	66	21	in	in	ADP
fcis-13144	66	22	the	the	DET
fcis-13144	66	23	open	open	ADJ
fcis-13144	66	24	list	list	NOUN
fcis-13144	66	25	and	and	CCONJ
fcis-13144	66	26	set	set	VERB
fcis-13144	66	27	the	the	DET
fcis-13144	66	28	starting	starting	NOUN
fcis-13144	66	29	point	point	NOUN
fcis-13144	66	30	a	a	PRON
fcis-13144	66	31	as	as	ADP
fcis-13144	66	32	the	the	DET
fcis-13144	66	33	father	father	NOUN
fcis-13144	66	34	of	of	ADP
fcis-13144	66	35	these	these	DET
fcis-13144	66	36	squares	square	NOUN
fcis-13144	66	37	,	,	PUNCT
fcis-13144	66	38	and	and	CCONJ
fcis-13144	66	39	remove	remove	VERB
fcis-13144	66	40	node	node	NOUN
fcis-13144	66	41	a	a	PRON
fcis-13144	66	42	from	from	ADP
fcis-13144	66	43	the	the	DET
fcis-13144	66	44	open	open	ADJ
fcis-13144	66	45	list	list	NOUN
fcis-13144	66	46	and	and	CCONJ
fcis-13144	66	47	include	include	VERB
fcis-13144	66	48	it	it	PRON
fcis-13144	66	49	in	in	ADP
fcis-13144	66	50	the	the	DET
fcis-13144	66	51	close	close	ADJ
fcis-13144	66	52	list	list	NOUN
fcis-13144	66	53	.	.	PUNCT
fcis-13144	67	1	select	select	VERB
fcis-13144	67	2	a	a	DET
fcis-13144	67	3	node	node	NOUN
fcis-13144	67	4	adjacent	adjacent	ADJ
fcis-13144	67	5	to	to	PART
fcis-13144	67	6	node	node	VERB
fcis-13144	67	7	a	a	PRON
fcis-13144	67	8	from	from	ADP
fcis-13144	67	9	the	the	DET
fcis-13144	67	10	open	open	ADJ
fcis-13144	67	11	list	list	NOUN
fcis-13144	67	12	and	and	CCONJ
fcis-13144	67	13	repeat	repeat	VERB
fcis-13144	67	14	the	the	DET
fcis-13144	67	15	above	above	ADJ
fcis-13144	67	16	steps	step	NOUN
fcis-13144	67	17	.	.	PUNCT
fcis-13144	68	1	3.3	3.3	NUM
fcis-13144	68	2	.	.	PUNCT
fcis-13144	69	1	find	find	VERB
fcis-13144	69	2	the	the	DET
fcis-13144	69	3	path	path	NOUN
fcis-13144	69	4	the	the	DET
fcis-13144	69	5	path	path	NOUN
fcis-13144	69	6	is	be	AUX
fcis-13144	69	7	generated	generate	VERB
fcis-13144	69	8	by	by	ADP
fcis-13144	69	9	iteratively	iteratively	ADV
fcis-13144	69	10	traversing	traverse	VERB
fcis-13144	69	11	the	the	DET
fcis-13144	69	12	open	open	ADJ
fcis-13144	69	13	list	list	NOUN
fcis-13144	69	14	and	and	CCONJ
fcis-13144	69	15	selecting	select	VERB
fcis-13144	69	16	the	the	DET
fcis-13144	69	17	square	square	NOUN
fcis-13144	69	18	with	with	ADP
fcis-13144	69	19	the	the	DET
fcis-13144	69	20	smallest	small	ADJ
fcis-13144	69	21	f	f	NOUN
fcis-13144	69	22	value	value	NOUN
fcis-13144	69	23	.	.	PUNCT
fcis-13144	70	1	let	let	VERB
fcis-13144	70	2	the	the	DET
fcis-13144	70	3	cost	cost	NOUN
fcis-13144	70	4	of	of	ADP
fcis-13144	70	5	horizontal	horizontal	ADJ
fcis-13144	70	6	and	and	CCONJ
fcis-13144	70	7	vertical	vertical	ADJ
fcis-13144	70	8	moves	move	NOUN
fcis-13144	70	9	be	be	VERB
fcis-13144	70	10	1	1	NUM
fcis-13144	70	11	,	,	PUNCT
fcis-13144	70	12	and	and	CCONJ
fcis-13144	70	13	the	the	DET
fcis-13144	70	14	cost	cost	NOUN
fcis-13144	70	15	of	of	ADP
fcis-13144	70	16	diagonal	diagonal	ADJ
fcis-13144	70	17	moves	move	NOUN
fcis-13144	70	18	be	be	AUX
fcis-13144	70	19	root	root	NOUN
fcis-13144	70	20	two	two	NUM
fcis-13144	70	21	by	by	ADP
fcis-13144	70	22	the	the	DET
fcis-13144	70	23	collinearity	collinearity	NOUN
fcis-13144	70	24	theorem	theorem	VERB
fcis-13144	70	25	,	,	PUNCT
fcis-13144	70	26	which	which	PRON
fcis-13144	70	27	is	be	AUX
fcis-13144	70	28	approximated	approximate	VERB
fcis-13144	70	29	as	as	ADP
fcis-13144	70	30	1.4	1.4	NUM
fcis-13144	70	31	.	.	PUNCT
fcis-13144	71	1	the	the	DET
fcis-13144	71	2	way	way	NOUN
fcis-13144	71	3	to	to	PART
fcis-13144	71	4	compute	compute	VERB
fcis-13144	71	5	g	g	NOUN
fcis-13144	71	6	is	be	AUX
fcis-13144	71	7	to	to	PART
fcis-13144	71	8	find	find	VERB
fcis-13144	71	9	the	the	DET
fcis-13144	71	10	value	value	NOUN
fcis-13144	71	11	of	of	ADP
fcis-13144	71	12	the	the	DET
fcis-13144	71	13	father	father	NOUN
fcis-13144	71	14	's	's	PART
fcis-13144	71	15	g	g	NOUN
fcis-13144	71	16	,	,	PUNCT
fcis-13144	71	17	and	and	CCONJ
fcis-13144	71	18	add	add	VERB
fcis-13144	71	19	1	1	NUM
fcis-13144	71	20	or	or	CCONJ
fcis-13144	71	21	1.4	1.4	NUM
fcis-13144	71	22	depending	depend	VERB
fcis-13144	71	23	on	on	ADP
fcis-13144	71	24	whether	whether	SCONJ
fcis-13144	71	25	the	the	DET
fcis-13144	71	26	father	father	NOUN
fcis-13144	71	27	is	be	AUX
fcis-13144	71	28	in	in	ADP
fcis-13144	71	29	the	the	DET
fcis-13144	71	30	straight	straight	ADJ
fcis-13144	71	31	or	or	CCONJ
fcis-13144	71	32	diagonal	diagonal	ADJ
fcis-13144	71	33	direction	direction	NOUN
fcis-13144	71	34	.	.	PUNCT
fcis-13144	72	1	as	as	SCONJ
fcis-13144	72	2	shown	show	VERB
fcis-13144	72	3	in	in	ADP
fcis-13144	72	4	figure	figure	NOUN
fcis-13144	72	5	3	3	NUM
fcis-13144	72	6	,	,	PUNCT
fcis-13144	72	7	there	there	PRON
fcis-13144	72	8	are	be	VERB
fcis-13144	72	9	eight	eight	NUM
fcis-13144	72	10	directions	direction	NOUN
fcis-13144	72	11	that	that	SCONJ
fcis-13144	72	12	drones	drone	NOUN
fcis-13144	72	13	can	can	AUX
fcis-13144	72	14	walk	walk	VERB
fcis-13144	72	15	in	in	ADP
fcis-13144	72	16	a	a	DET
fcis-13144	72	17	small	small	ADJ
fcis-13144	72	18	grid	grid	NOUN
fcis-13144	72	19	.	.	PUNCT
fcis-13144	73	1	figure	figure	NOUN
fcis-13144	73	2	3	3	NUM
fcis-13144	73	3	.	.	PUNCT
fcis-13144	73	4	moveable	moveable	ADJ
fcis-13144	73	5	direction	direction	NOUN
fcis-13144	73	6	calculating	calculate	VERB
fcis-13144	73	7	the	the	DET
fcis-13144	73	8	value	value	NOUN
fcis-13144	73	9	of	of	ADP
fcis-13144	73	10	h	h	NOUN
fcis-13144	73	11	can	can	AUX
fcis-13144	73	12	be	be	AUX
fcis-13144	73	13	done	do	VERB
fcis-13144	73	14	using	use	VERB
fcis-13144	73	15	manhattan	manhattan	PROPN
fcis-13144	73	16	's	's	PART
fcis-13144	73	17	method	method	NOUN
fcis-13144	73	18	,	,	PUNCT
fcis-13144	73	19	h(n	h(n	PROPN
fcis-13144	73	20	)	)	PUNCT
fcis-13144	74	1	=	=	SYM
fcis-13144	74	2	d*(abs	d*(abs	PROPN
fcis-13144	74	3	(	(	PUNCT
fcis-13144	74	4	a.x	a.x	PROPN
fcis-13144	74	5	-	-	NOUN
fcis-13144	74	6	b.x	b.x	NOUN
fcis-13144	74	7	)	)	PUNCT
fcis-13144	74	8	+	+	NUM
fcis-13144	74	9	abs	ab	NOUN
fcis-13144	74	10	(	(	PUNCT
fcis-13144	74	11	a.y	a.y	NOUN
fcis-13144	74	12	-	-	PUNCT
fcis-13144	74	13	b.y	b.y	NOUN
fcis-13144	74	14	)	)	PUNCT
fcis-13144	74	15	)	)	PUNCT
fcis-13144	74	16	to	to	PART
fcis-13144	74	17	calculate	calculate	VERB
fcis-13144	74	18	the	the	DET
fcis-13144	74	19	number	number	NOUN
fcis-13144	74	20	of	of	ADP
fcis-13144	74	21	squares	square	NOUN
fcis-13144	74	22	through	through	ADP
fcis-13144	74	23	which	which	PRON
fcis-13144	74	24	the	the	DET
fcis-13144	74	25	current	current	ADJ
fcis-13144	74	26	square	square	ADJ
fcis-13144	74	27	moves	move	NOUN
fcis-13144	74	28	horizontally	horizontally	ADV
fcis-13144	74	29	or	or	CCONJ
fcis-13144	74	30	vertically	vertically	ADV
fcis-13144	74	31	to	to	PART
fcis-13144	74	32	reach	reach	VERB
fcis-13144	74	33	the	the	DET
fcis-13144	74	34	target	target	NOUN
fcis-13144	74	35	,	,	PUNCT
fcis-13144	74	36	ignoring	ignore	VERB
fcis-13144	74	37	diagonal	diagonal	ADJ
fcis-13144	74	38	movement	movement	NOUN
fcis-13144	74	39	and	and	CCONJ
fcis-13144	74	40	,	,	PUNCT
fcis-13144	74	41	more	more	ADV
fcis-13144	74	42	importantly	importantly	ADV
fcis-13144	74	43	at	at	ADP
fcis-13144	74	44	this	this	DET
fcis-13144	74	45	point	point	NOUN
fcis-13144	74	46	,	,	PUNCT
fcis-13144	74	47	ignoring	ignore	VERB
fcis-13144	74	48	obstacles	obstacle	NOUN
fcis-13144	74	49	in	in	ADP
fcis-13144	74	50	the	the	DET
fcis-13144	74	51	path	path	NOUN
fcis-13144	74	52	of	of	ADP
fcis-13144	74	53	movement	movement	NOUN
fcis-13144	74	54	.	.	PUNCT
fcis-13144	75	1	the	the	DET
fcis-13144	75	2	estimated	estimate	VERB
fcis-13144	75	3	distance	distance	NOUN
fcis-13144	75	4	from	from	ADP
fcis-13144	75	5	the	the	DET
fcis-13144	75	6	current	current	ADJ
fcis-13144	75	7	point	point	NOUN
fcis-13144	75	8	to	to	ADP
fcis-13144	75	9	the	the	DET
fcis-13144	75	10	end	end	NOUN
fcis-13144	75	11	point	point	NOUN
fcis-13144	75	12	is	be	AUX
fcis-13144	75	13	expressed	express	VERB
fcis-13144	75	14	in	in	ADP
fcis-13144	75	15	terms	term	NOUN
fcis-13144	75	16	of	of	ADP
fcis-13144	75	17	h(n	h(n	PROPN
fcis-13144	75	18	)	)	PUNCT
fcis-13144	75	19	,	,	PUNCT
fcis-13144	75	20	rather	rather	ADV
fcis-13144	75	21	than	than	ADP
fcis-13144	75	22	the	the	DET
fcis-13144	75	23	actual	actual	ADJ
fcis-13144	75	24	value	value	NOUN
fcis-13144	75	25	,	,	PUNCT
fcis-13144	75	26	hence	hence	ADV
fcis-13144	75	27	the	the	DET
fcis-13144	75	28	name	name	NOUN
fcis-13144	75	29	trial	trial	NOUN
fcis-13144	75	30	and	and	CCONJ
fcis-13144	75	31	error	error	NOUN
fcis-13144	75	32	method	method	NOUN
fcis-13144	75	33	.	.	PUNCT
fcis-13144	76	1	as	as	SCONJ
fcis-13144	76	2	shown	show	VERB
fcis-13144	76	3	above	above	ADV
fcis-13144	76	4	,	,	PUNCT
fcis-13144	76	5	the	the	DET
fcis-13144	76	6	smallest	small	ADJ
fcis-13144	76	7	value	value	NOUN
fcis-13144	76	8	of	of	ADP
fcis-13144	76	9	h	h	NOUN
fcis-13144	76	10	is	be	AUX
fcis-13144	76	11	the	the	DET
fcis-13144	76	12	value	value	NOUN
fcis-13144	76	13	of	of	ADP
fcis-13144	76	14	the	the	DET
fcis-13144	76	15	grid	grid	NOUN
fcis-13144	76	16	between	between	ADP
fcis-13144	76	17	8	8	NUM
fcis-13144	76	18	and	and	CCONJ
fcis-13144	76	19	the	the	DET
fcis-13144	76	20	orange	orange	PROPN
fcis-13144	76	21	grid	grid	PROPN
fcis-13144	76	22	,	,	PUNCT
fcis-13144	76	23	which	which	PRON
fcis-13144	76	24	is	be	AUX
fcis-13144	76	25	6	6	NUM
fcis-13144	76	26	.	.	PUNCT
fcis-13144	76	27	summing	sum	VERB
fcis-13144	76	28	with	with	ADP
fcis-13144	76	29	the	the	DET
fcis-13144	76	30	value	value	NOUN
fcis-13144	76	31	of	of	ADP
fcis-13144	76	32	h	h	NOUN
fcis-13144	76	33	gives	give	VERB
fcis-13144	76	34	the	the	DET
fcis-13144	76	35	value	value	NOUN
fcis-13144	76	36	of	of	ADP
fcis-13144	76	37	f	f	PROPN
fcis-13144	76	38	for	for	ADP
fcis-13144	76	39	each	each	DET
fcis-13144	76	40	square	square	NOUN
fcis-13144	76	41	.	.	PUNCT
fcis-13144	77	1	using	use	VERB
fcis-13144	77	2	h*(n	h*(n	PROPN
fcis-13144	77	3	)	)	PUNCT
fcis-13144	77	4	to	to	PART
fcis-13144	77	5	represent	represent	VERB
fcis-13144	77	6	the	the	DET
fcis-13144	77	7	actual	actual	ADJ
fcis-13144	77	8	distance	distance	NOUN
fcis-13144	77	9	,	,	PUNCT
fcis-13144	77	10	h(n	h(n	PROPN
fcis-13144	77	11	)	)	PUNCT
fcis-13144	77	12	is	be	AUX
fcis-13144	77	13	usually	usually	ADV
fcis-13144	77	14	chosen	choose	VERB
fcis-13144	77	15	in	in	ADP
fcis-13144	77	16	the	the	DET
fcis-13144	77	17	following	follow	VERB
fcis-13144	77	18	three	three	NUM
fcis-13144	77	19	ways	way	NOUN
fcis-13144	77	20	:	:	PUNCT
fcis-13144	77	21	if	if	SCONJ
fcis-13144	77	22	h(n	h(n	PROPN
fcis-13144	77	23	)	)	PUNCT
fcis-13144	77	24	<	<	X
fcis-13144	77	25	h*(n	h*(n	PROPN
fcis-13144	77	26	)	)	PUNCT
fcis-13144	77	27	,	,	PUNCT
fcis-13144	77	28	in	in	ADP
fcis-13144	77	29	this	this	DET
fcis-13144	77	30	case	case	NOUN
fcis-13144	77	31	,	,	PUNCT
fcis-13144	77	32	the	the	DET
fcis-13144	77	33	number	number	NOUN
fcis-13144	77	34	of	of	ADP
fcis-13144	77	35	points	point	NOUN
fcis-13144	77	36	searched	search	VERB
fcis-13144	77	37	is	be	AUX
fcis-13144	77	38	high	high	ADJ
fcis-13144	77	39	,	,	PUNCT
fcis-13144	77	40	the	the	DET
fcis-13144	77	41	search	search	NOUN
fcis-13144	77	42	range	range	NOUN
fcis-13144	77	43	is	be	AUX
fcis-13144	77	44	large	large	ADJ
fcis-13144	77	45	,	,	PUNCT
fcis-13144	77	46	and	and	CCONJ
fcis-13144	77	47	the	the	DET
fcis-13144	77	48	efficiency	efficiency	NOUN
fcis-13144	77	49	is	be	AUX
fcis-13144	77	50	low	low	ADJ
fcis-13144	77	51	.	.	PUNCT
fcis-13144	78	1	but	but	CCONJ
fcis-13144	78	2	the	the	DET
fcis-13144	78	3	optimal	optimal	ADJ
fcis-13144	78	4	solution	solution	NOUN
fcis-13144	78	5	can	can	AUX
fcis-13144	78	6	be	be	AUX
fcis-13144	78	7	obtained	obtain	VERB
fcis-13144	78	8	.	.	PUNCT
fcis-13144	79	1	if	if	SCONJ
fcis-13144	79	2	h(n	h(n	PROPN
fcis-13144	79	3	)	)	PUNCT
fcis-13144	79	4	=	=	SYM
fcis-13144	79	5	h*(n	h*(n	PROPN
fcis-13144	79	6	)	)	PUNCT
fcis-13144	79	7	,	,	PUNCT
fcis-13144	79	8	the	the	DET
fcis-13144	79	9	search	search	NOUN
fcis-13144	79	10	is	be	AUX
fcis-13144	79	11	most	most	ADV
fcis-13144	79	12	efficient	efficient	ADJ
fcis-13144	79	13	at	at	ADP
fcis-13144	79	14	this	this	DET
fcis-13144	79	15	point	point	NOUN
fcis-13144	79	16	.	.	PUNCT
fcis-13144	80	1	if	if	SCONJ
fcis-13144	80	2	h(n)>h*(n	h(n)>h*(n	PROPN
fcis-13144	80	3	)	)	PUNCT
fcis-13144	80	4	,	,	PUNCT
fcis-13144	80	5	the	the	DET
fcis-13144	80	6	number	number	NOUN
fcis-13144	80	7	of	of	ADP
fcis-13144	80	8	points	point	NOUN
fcis-13144	80	9	searched	search	VERB
fcis-13144	80	10	is	be	AUX
fcis-13144	80	11	less	less	ADJ
fcis-13144	80	12	,	,	PUNCT
fcis-13144	80	13	the	the	DET
fcis-13144	80	14	search	search	NOUN
fcis-13144	80	15	range	range	NOUN
fcis-13144	80	16	is	be	AUX
fcis-13144	80	17	smaller	small	ADJ
fcis-13144	80	18	,	,	PUNCT
fcis-13144	80	19	and	and	CCONJ
fcis-13144	80	20	the	the	DET
fcis-13144	80	21	efficiency	efficiency	NOUN
fcis-13144	80	22	is	be	AUX
fcis-13144	80	23	high	high	ADJ
fcis-13144	80	24	,	,	PUNCT
fcis-13144	80	25	but	but	CCONJ
fcis-13144	80	26	it	it	PRON
fcis-13144	80	27	is	be	AUX
fcis-13144	80	28	not	not	PART
fcis-13144	80	29	guaranteed	guarantee	VERB
fcis-13144	80	30	to	to	PART
fcis-13144	80	31	get	get	VERB
fcis-13144	80	32	the	the	DET
fcis-13144	80	33	optimal	optimal	ADJ
fcis-13144	80	34	solution	solution	NOUN
fcis-13144	80	35	.	.	PUNCT
fcis-13144	81	1	3.4	3.4	NUM
fcis-13144	81	2	.	.	PUNCT
fcis-13144	82	1	keep	keep	VERB
fcis-13144	82	2	searching	search	VERB
fcis-13144	82	3	.	.	PUNCT
fcis-13144	83	1	to	to	PART
fcis-13144	83	2	continue	continue	VERB
fcis-13144	83	3	the	the	DET
fcis-13144	83	4	search	search	NOUN
fcis-13144	83	5	,	,	PUNCT
fcis-13144	83	6	select	select	VERB
fcis-13144	83	7	the	the	DET
fcis-13144	83	8	smallest	small	ADJ
fcis-13144	83	9	square	square	ADJ
fcis-13144	83	10	node	node	NOUN
fcis-13144	83	11	in	in	ADP
fcis-13144	83	12	f	f	PROPN
fcis-13144	83	13	,	,	PUNCT
fcis-13144	83	14	put	put	VERB
fcis-13144	83	15	it	it	PRON
fcis-13144	83	16	from	from	ADP
fcis-13144	83	17	the	the	DET
fcis-13144	83	18	open	open	ADJ
fcis-13144	83	19	list	list	NOUN
fcis-13144	83	20	to	to	ADP
fcis-13144	83	21	the	the	DET
fcis-13144	83	22	close	close	ADJ
fcis-13144	83	23	list	list	NOUN
fcis-13144	83	24	,	,	PUNCT
fcis-13144	83	25	check	check	VERB
fcis-13144	83	26	all	all	DET
fcis-13144	83	27	the	the	DET
fcis-13144	83	28	squares	square	NOUN
fcis-13144	83	29	adjacent	adjacent	ADJ
fcis-13144	83	30	to	to	ADP
fcis-13144	83	31	it	it	PRON
fcis-13144	83	32	,	,	PUNCT
fcis-13144	83	33	ignore	ignore	VERB
fcis-13144	83	34	the	the	DET
fcis-13144	83	35	ones	one	NOUN
fcis-13144	83	36	in	in	ADP
fcis-13144	83	37	the	the	DET
fcis-13144	83	38	close	close	ADJ
fcis-13144	83	39	list	list	NOUN
fcis-13144	83	40	or	or	CCONJ
fcis-13144	83	41	the	the	DET
fcis-13144	83	42	nonwalkable	nonwalkable	ADJ
fcis-13144	83	43	squares	square	NOUN
fcis-13144	83	44	,	,	PUNCT
fcis-13144	83	45	if	if	SCONJ
fcis-13144	83	46	the	the	DET
fcis-13144	83	47	squares	square	NOUN
fcis-13144	83	48	are	be	AUX
fcis-13144	83	49	not	not	PART
fcis-13144	83	50	in	in	ADP
fcis-13144	83	51	the	the	DET
fcis-13144	83	52	open	open	ADJ
fcis-13144	83	53	list	list	NOUN
fcis-13144	83	54	,	,	PUNCT
fcis-13144	83	55	add	add	VERB
fcis-13144	83	56	them	they	PRON
fcis-13144	83	57	to	to	ADP
fcis-13144	83	58	the	the	DET
fcis-13144	83	59	open	open	ADJ
fcis-13144	83	60	list	list	NOUN
fcis-13144	83	61	,	,	PUNCT
fcis-13144	83	62	and	and	CCONJ
fcis-13144	83	63	set	set	VERB
fcis-13144	83	64	the	the	DET
fcis-13144	83	65	current	current	ADJ
fcis-13144	83	66	square	square	NOUN
fcis-13144	83	67	to	to	PART
fcis-13144	83	68	be	be	AUX
fcis-13144	83	69	its	its	PRON
fcis-13144	83	70	father	father	NOUN
fcis-13144	83	71	,	,	PUNCT
fcis-13144	83	72	recording	record	VERB
fcis-13144	83	73	the	the	DET
fcis-13144	83	74	square	square	NOUN
fcis-13144	83	75	's	's	PART
fcis-13144	83	76	f	f	NOUN
fcis-13144	83	77	,	,	PUNCT
fcis-13144	83	78	g	g	PROPN
fcis-13144	83	79	and	and	CCONJ
fcis-13144	83	80	h	h	NOUN
fcis-13144	83	81	values	value	NOUN
fcis-13144	83	82	.	.	PUNCT
fcis-13144	84	1	if	if	SCONJ
fcis-13144	84	2	a	a	DET
fcis-13144	84	3	neighbouring	neighbouring	ADJ
fcis-13144	84	4	square	square	NOUN
fcis-13144	84	5	is	be	AUX
fcis-13144	84	6	already	already	ADV
fcis-13144	84	7	in	in	ADP
fcis-13144	84	8	the	the	DET
fcis-13144	84	9	open	open	ADJ
fcis-13144	84	10	list	list	NOUN
fcis-13144	84	11	,	,	PUNCT
fcis-13144	84	12	check	check	VERB
fcis-13144	84	13	if	if	SCONJ
fcis-13144	84	14	the	the	DET
fcis-13144	84	15	current	current	ADJ
fcis-13144	84	16	square	square	NOUN
fcis-13144	84	17	to	to	ADP
fcis-13144	84	18	that	that	DET
fcis-13144	84	19	square	square	NOUN
fcis-13144	84	20	has	have	VERB
fcis-13144	84	21	a	a	DET
fcis-13144	84	22	smaller	small	ADJ
fcis-13144	84	23	g	g	NOUN
fcis-13144	84	24	value	value	NOUN
fcis-13144	84	25	.	.	PUNCT
fcis-13144	85	1	if	if	SCONJ
fcis-13144	85	2	not	not	PART
fcis-13144	85	3	,	,	PUNCT
fcis-13144	85	4	do	do	VERB
fcis-13144	85	5	nothing	nothing	PRON
fcis-13144	85	6	.	.	PUNCT
fcis-13144	86	1	if	if	SCONJ
fcis-13144	86	2	there	there	PRON
fcis-13144	86	3	is	be	VERB
fcis-13144	86	4	a	a	DET
fcis-13144	86	5	smaller	small	ADJ
fcis-13144	86	6	g	g	NOUN
fcis-13144	86	7	,	,	PUNCT
fcis-13144	86	8	set	set	VERB
fcis-13144	86	9	its	its	PRON
fcis-13144	86	10	father	father	NOUN
fcis-13144	86	11	to	to	ADP
fcis-13144	86	12	the	the	DET
fcis-13144	86	13	current	current	ADJ
fcis-13144	86	14	square	square	NOUN
fcis-13144	86	15	and	and	CCONJ
fcis-13144	86	16	recalculate	recalculate	VERB
fcis-13144	86	17	its	its	PRON
fcis-13144	86	18	g	g	NOUN
fcis-13144	86	19	and	and	CCONJ
fcis-13144	86	20	f	f	PROPN
fcis-13144	86	21	values	value	NOUN
fcis-13144	86	22	.	.	PUNCT
fcis-13144	87	1	finally	finally	ADV
fcis-13144	87	2	,	,	PUNCT
fcis-13144	87	3	starting	start	VERB
fcis-13144	87	4	from	from	ADP
fcis-13144	87	5	the	the	DET
fcis-13144	87	6	end	end	NOUN
fcis-13144	87	7	point	point	NOUN
fcis-13144	87	8	,	,	PUNCT
fcis-13144	87	9	each	each	DET
fcis-13144	87	10	square	square	ADJ
fcis-13144	87	11	moves	move	NOUN
fcis-13144	87	12	along	along	ADP
fcis-13144	87	13	the	the	DET
fcis-13144	87	14	father	father	NOUN
fcis-13144	87	15	node	node	VERB
fcis-13144	87	16	to	to	ADP
fcis-13144	87	17	the	the	DET
fcis-13144	87	18	start	start	NOUN
fcis-13144	87	19	point	point	NOUN
fcis-13144	87	20	,	,	PUNCT
fcis-13144	87	21	which	which	PRON
fcis-13144	87	22	is	be	AUX
fcis-13144	87	23	the	the	DET
fcis-13144	87	24	desired	desire	VERB
fcis-13144	87	25	route	route	NOUN
fcis-13144	87	26	.	.	PUNCT
fcis-13144	88	1	figure	figure	NOUN
fcis-13144	88	2	4	4	NUM
fcis-13144	88	3	below	below	ADV
fcis-13144	88	4	shows	show	VERB
fcis-13144	88	5	the	the	DET
fcis-13144	88	6	flowchart	flowchart	NOUN
fcis-13144	88	7	of	of	ADP
fcis-13144	88	8	the	the	DET
fcis-13144	88	9	traditional	traditional	ADJ
fcis-13144	88	10	a	a	PRON
fcis-13144	88	11	*	*	ADJ
fcis-13144	88	12	algorithm	algorithm	NOUN
fcis-13144	88	13	for	for	ADP
fcis-13144	88	14	a	a	DET
fcis-13144	88	15	more	more	ADV
fcis-13144	88	16	intuitive	intuitive	ADJ
fcis-13144	88	17	understanding	understanding	NOUN
fcis-13144	88	18	.	.	PUNCT
fcis-13144	89	1	figure	figure	NOUN
fcis-13144	89	2	4	4	NUM
fcis-13144	89	3	.	.	PUNCT
fcis-13144	90	1	the	the	DET
fcis-13144	90	2	flowchart	flowchart	NOUN
fcis-13144	90	3	of	of	ADP
fcis-13144	90	4	the	the	DET
fcis-13144	90	5	traditional	traditional	ADJ
fcis-13144	90	6	a	a	PRON
fcis-13144	90	7	*	*	ADJ
fcis-13144	90	8	algorithm	algorithm	NOUN
fcis-13144	90	9	3.5	3.5	NUM
fcis-13144	90	10	.	.	PUNCT
fcis-13144	90	11	improved	improve	VERB
fcis-13144	90	12	a	a	DET
fcis-13144	90	13	*	*	ADJ
fcis-13144	90	14	algorithm	algorithm	NOUN
fcis-13144	90	15	in	in	ADP
fcis-13144	90	16	order	order	NOUN
fcis-13144	90	17	not	not	PART
fcis-13144	90	18	to	to	PART
fcis-13144	90	19	let	let	VERB
fcis-13144	90	20	the	the	DET
fcis-13144	90	21	animals	animal	NOUN
fcis-13144	90	22	receive	receive	VERB
fcis-13144	90	23	fright	fright	ADJ
fcis-13144	90	24	,	,	PUNCT
fcis-13144	90	25	we	we	PRON
fcis-13144	90	26	need	need	VERB
fcis-13144	90	27	to	to	PART
fcis-13144	90	28	keep	keep	VERB
fcis-13144	90	29	a	a	DET
fcis-13144	90	30	safe	safe	ADJ
fcis-13144	90	31	distance	distance	NOUN
fcis-13144	90	32	from	from	ADP
fcis-13144	90	33	them	they	PRON
fcis-13144	90	34	.	.	PUNCT
fcis-13144	91	1	in	in	ADP
fcis-13144	91	2	the	the	DET
fcis-13144	91	3	practical	practical	ADJ
fcis-13144	91	4	situation	situation	NOUN
fcis-13144	91	5	,	,	PUNCT
fcis-13144	91	6	the	the	DET
fcis-13144	91	7	animal	animal	NOUN
fcis-13144	91	8	is	be	AUX
fcis-13144	91	9	set	set	VERB
fcis-13144	91	10	as	as	ADP
fcis-13144	91	11	an	an	DET
fcis-13144	91	12	obstacle	obstacle	NOUN
fcis-13144	91	13	,	,	PUNCT
fcis-13144	91	14	and	and	CCONJ
fcis-13144	91	15	when	when	SCONJ
fcis-13144	91	16	the	the	DET
fcis-13144	91	17	uav	uav	PROPN
fcis-13144	91	18	detects	detect	VERB
fcis-13144	91	19	the	the	DET
fcis-13144	91	20	obstacle	obstacle	NOUN
fcis-13144	91	21	,	,	PUNCT
fcis-13144	91	22	it	it	PRON
fcis-13144	91	23	takes	take	VERB
fcis-13144	91	24	the	the	DET
fcis-13144	91	25	obstacle	obstacle	NOUN
fcis-13144	91	26	as	as	ADP
fcis-13144	91	27	a	a	DET
fcis-13144	91	28	node	node	NOUN
fcis-13144	91	29	and	and	CCONJ
fcis-13144	91	30	automatically	automatically	ADV
fcis-13144	91	31	expands	expand	VERB
fcis-13144	91	32	n	n	PRON
fcis-13144	91	33	small	small	ADJ
fcis-13144	91	34	cells	cell	NOUN
fcis-13144	91	35	to	to	ADP
fcis-13144	91	36	the	the	DET
fcis-13144	91	37	top	top	ADJ
fcis-13144	91	38	,	,	PUNCT
fcis-13144	91	39	bottom	bottom	ADJ
fcis-13144	91	40	,	,	PUNCT
fcis-13144	91	41	left	leave	VERB
fcis-13144	91	42	,	,	PUNCT
fcis-13144	91	43	and	and	CCONJ
fcis-13144	91	44	right	right	ADJ
fcis-13144	91	45	,	,	PUNCT
fcis-13144	91	46	and	and	CCONJ
fcis-13144	91	47	regards	regard	VERB
fcis-13144	91	48	them	they	PRON
fcis-13144	91	49	as	as	ADP
fcis-13144	91	50	unreachable	unreachable	ADJ
fcis-13144	91	51	regions	region	NOUN
fcis-13144	91	52	.	.	PUNCT
fcis-13144	92	1	note	note	VERB
fcis-13144	92	2	that	that	SCONJ
fcis-13144	92	3	n	n	PRON
fcis-13144	92	4	must	must	AUX
fcis-13144	92	5	be	be	AUX
fcis-13144	92	6	a	a	DET
fcis-13144	92	7	positive	positive	ADJ
fcis-13144	92	8	integer	integer	NOUN
fcis-13144	92	9	,	,	PUNCT
fcis-13144	92	10	and	and	CCONJ
fcis-13144	92	11	when	when	SCONJ
fcis-13144	92	12	n=0	n=0	NUM
fcis-13144	92	13	,	,	PUNCT
fcis-13144	92	14	the	the	DET
fcis-13144	92	15	obstacle	obstacle	NOUN
fcis-13144	92	16	avoidance	avoidance	NOUN
fcis-13144	92	17	results	result	NOUN
fcis-13144	92	18	obtained	obtain	VERB
fcis-13144	92	19	are	be	AUX
fcis-13144	92	20	those	those	PRON
fcis-13144	92	21	obtained	obtain	VERB
fcis-13144	92	22	by	by	ADP
fcis-13144	92	23	the	the	DET
fcis-13144	92	24	traditional	traditional	ADJ
fcis-13144	92	25	a	a	PRON
fcis-13144	92	26	*	*	ADJ
fcis-13144	92	27	algorithm	algorithm	NOUN
fcis-13144	92	28	for	for	ADP
fcis-13144	92	29	obstacle	obstacle	NOUN
fcis-13144	92	30	avoidance	avoidance	NOUN
fcis-13144	92	31	.	.	PUNCT
fcis-13144	93	1	it	it	PRON
fcis-13144	93	2	should	should	AUX
fcis-13144	93	3	be	be	AUX
fcis-13144	93	4	noted	note	VERB
fcis-13144	93	5	that	that	SCONJ
fcis-13144	93	6	,	,	PUNCT
fcis-13144	93	7	due	due	ADP
fcis-13144	93	8	to	to	ADP
fcis-13144	93	9	different	different	ADJ
fcis-13144	93	10	animals	animal	NOUN
fcis-13144	93	11	in	in	ADP
fcis-13144	93	12	different	different	ADJ
fcis-13144	93	13	environments	environment	NOUN
fcis-13144	93	14	in	in	ADP
fcis-13144	93	15	different	different	ADJ
fcis-13144	93	16	alert	alert	ADJ
fcis-13144	93	17	range	range	NOUN
fcis-13144	93	18	,	,	PUNCT
fcis-13144	93	19	the	the	DET
fcis-13144	93	20	value	value	NOUN
fcis-13144	93	21	of	of	ADP
fcis-13144	93	22	n	n	NUM
fcis-13144	93	23	is	be	AUX
fcis-13144	93	24	not	not	PART
fcis-13144	93	25	the	the	DET
fcis-13144	93	26	same	same	ADJ
fcis-13144	93	27	,	,	PUNCT
fcis-13144	93	28	the	the	PRON
fcis-13144	93	29	larger	large	ADJ
fcis-13144	93	30	the	the	DET
fcis-13144	93	31	animal	animal	NOUN
fcis-13144	93	32	alert	alert	NOUN
fcis-13144	93	33	range	range	NOUN
fcis-13144	93	34	,	,	PUNCT
fcis-13144	93	35	the	the	DET
fcis-13144	93	36	larger	large	ADJ
fcis-13144	93	37	n	n	NOUN
fcis-13144	93	38	;	;	PUNCT
fcis-13144	93	39	conversely	conversely	ADV
fcis-13144	93	40	,	,	PUNCT
fcis-13144	93	41	the	the	DET
fcis-13144	93	42	smaller	small	ADJ
fcis-13144	93	43	n.	n.	NOUN
fcis-13144	93	44	as	as	SCONJ
fcis-13144	93	45	shown	show	VERB
fcis-13144	93	46	in	in	ADP
fcis-13144	93	47	figure	figure	NOUN
fcis-13144	93	48	5	5	NUM
fcis-13144	93	49	,	,	PUNCT
fcis-13144	93	50	when	when	SCONJ
fcis-13144	93	51	the	the	DET
fcis-13144	93	52	obstacle	obstacle	NOUN
fcis-13144	93	53	only	only	ADV
fcis-13144	93	54	occupies	occupy	VERB
fcis-13144	93	55	one	one	NUM
fcis-13144	93	56	frame	frame	NOUN
fcis-13144	93	57	,	,	PUNCT
fcis-13144	93	58	n=1	n=1	PROPN
fcis-13144	93	59	,	,	PUNCT
fcis-13144	93	60	the	the	DET
fcis-13144	93	61	dark	dark	ADJ
fcis-13144	93	62	grey	grey	PROPN
fcis-13144	93	63	area	area	NOUN
fcis-13144	93	64	is	be	AUX
fcis-13144	93	65	its	its	PRON
fcis-13144	93	66	expanded	expand	VERB
fcis-13144	93	67	range	range	NOUN
fcis-13144	93	68	of	of	ADP
fcis-13144	93	69	4frames	4frames	NUM
fcis-13144	93	70	;	;	PUNCT
fcis-13144	93	71	as	as	SCONJ
fcis-13144	93	72	shown	show	VERB
fcis-13144	93	73	in	in	ADP
fcis-13144	93	74	figure	figure	NOUN
fcis-13144	93	75	6	6	NUM
fcis-13144	93	76	,	,	PUNCT
fcis-13144	93	77	n=2	n=2	PRON
fcis-13144	93	78	,	,	PUNCT
fcis-13144	93	79	the	the	DET
fcis-13144	93	80	dark	dark	ADJ
fcis-13144	93	81	grey	grey	PROPN
fcis-13144	93	82	area	area	NOUN
fcis-13144	93	83	is	be	AUX
fcis-13144	93	84	its	its	PRON
fcis-13144	93	85	expanded	expand	VERB
fcis-13144	93	86	area	area	NOUN
fcis-13144	93	87	of	of	ADP
fcis-13144	93	88	8	8	NUM
fcis-13144	93	89	frames	frame	NOUN
fcis-13144	93	90	.	.	PUNCT
fcis-13144	94	1	138	138	NUM
fcis-13144	94	2	figure	figure	NOUN
fcis-13144	94	3	5	5	NUM
fcis-13144	94	4	.	.	PUNCT
fcis-13144	94	5	obstacle	obstacle	NOUN
fcis-13144	94	6	expansion	expansion	NOUN
fcis-13144	94	7	is	be	AUX
fcis-13144	94	8	at	at	ADP
fcis-13144	94	9	n=1	n=1	PROPN
fcis-13144	94	10	figure	figure	VERB
fcis-13144	94	11	6	6	NUM
fcis-13144	94	12	.	.	PUNCT
fcis-13144	95	1	obstacle	obstacle	NOUN
fcis-13144	95	2	expansion	expansion	NOUN
fcis-13144	95	3	is	be	AUX
fcis-13144	95	4	at	at	SCONJ
fcis-13144	95	5	n=2	n=2	ADV
fcis-13144	95	6	we	we	PRON
fcis-13144	95	7	can	can	AUX
fcis-13144	95	8	observe	observe	VERB
fcis-13144	95	9	this	this	PRON
fcis-13144	95	10	more	more	ADV
fcis-13144	95	11	visually	visually	ADV
fcis-13144	95	12	based	base	VERB
fcis-13144	95	13	on	on	ADP
fcis-13144	95	14	the	the	DET
fcis-13144	95	15	following	follow	VERB
fcis-13144	95	16	flowchart	flowchart	NOUN
fcis-13144	95	17	(	(	PUNCT
fcis-13144	95	18	figure	figure	NOUN
fcis-13144	95	19	7	7	NUM
fcis-13144	95	20	)	)	PUNCT
fcis-13144	95	21	.	.	PUNCT
fcis-13144	96	1	figure	figure	VERB
fcis-13144	96	2	7	7	NUM
fcis-13144	96	3	.	.	PUNCT
fcis-13144	97	1	the	the	DET
fcis-13144	97	2	flowchart	flowchart	NOUN
fcis-13144	97	3	of	of	ADP
fcis-13144	97	4	the	the	PRON
fcis-13144	97	5	improved	improved	ADJ
fcis-13144	97	6	a	a	PRON
fcis-13144	97	7	*	*	ADJ
fcis-13144	97	8	algorithm	algorithm	NOUN
fcis-13144	97	9	4	4	NUM
fcis-13144	97	10	.	.	PUNCT
fcis-13144	97	11	simulation	simulation	NOUN
fcis-13144	97	12	experiment	experiment	NOUN
fcis-13144	97	13	in	in	ADP
fcis-13144	97	14	this	this	DET
fcis-13144	97	15	paper	paper	NOUN
fcis-13144	97	16	,	,	PUNCT
fcis-13144	97	17	we	we	PRON
fcis-13144	97	18	use	use	VERB
fcis-13144	97	19	matlab	matlab	PROPN
fcis-13144	97	20	version	version	NOUN
fcis-13144	97	21	2023a	2023a	NUM
fcis-13144	97	22	to	to	PART
fcis-13144	97	23	write	write	VERB
fcis-13144	97	24	and	and	CCONJ
fcis-13144	97	25	improve	improve	VERB
fcis-13144	97	26	the	the	DET
fcis-13144	97	27	code	code	NOUN
fcis-13144	97	28	of	of	ADP
fcis-13144	97	29	a	a	DET
fcis-13144	97	30	*	*	ADJ
fcis-13144	97	31	algorithm	algorithm	NOUN
fcis-13144	97	32	and	and	CCONJ
fcis-13144	97	33	verify	verify	VERB
fcis-13144	97	34	the	the	DET
fcis-13144	97	35	reliability	reliability	NOUN
fcis-13144	97	36	of	of	ADP
fcis-13144	97	37	the	the	DET
fcis-13144	97	38	theory	theory	NOUN
fcis-13144	97	39	through	through	ADP
fcis-13144	97	40	matlab	matlab	PROPN
fcis-13144	97	41	editor	editor	NOUN
fcis-13144	97	42	.	.	PUNCT
fcis-13144	98	1	4.1	4.1	NUM
fcis-13144	98	2	.	.	PUNCT
fcis-13144	98	3	map	map	NOUN
fcis-13144	98	4	modelling	modelling	NOUN
fcis-13144	98	5	in	in	ADP
fcis-13144	98	6	the	the	DET
fcis-13144	98	7	simulation	simulation	NOUN
fcis-13144	98	8	experiments	experiment	NOUN
fcis-13144	98	9	,	,	PUNCT
fcis-13144	98	10	we	we	PRON
fcis-13144	98	11	use	use	VERB
fcis-13144	98	12	the	the	DET
fcis-13144	98	13	grid	grid	NOUN
fcis-13144	98	14	method	method	NOUN
fcis-13144	98	15	to	to	PART
fcis-13144	98	16	build	build	VERB
fcis-13144	98	17	the	the	DET
fcis-13144	98	18	uav	uav	PROPN
fcis-13144	98	19	motion	motion	PROPN
fcis-13144	98	20	model	model	PROPN
fcis-13144	98	21	,	,	PUNCT
fcis-13144	98	22	the	the	DET
fcis-13144	98	23	map	map	NOUN
fcis-13144	98	24	is	be	AUX
fcis-13144	98	25	evenly	evenly	ADV
fcis-13144	98	26	divided	divide	VERB
fcis-13144	98	27	into	into	ADP
fcis-13144	98	28	14	14	NUM
fcis-13144	98	29	*	*	SYM
fcis-13144	98	30	10	10	NUM
fcis-13144	98	31	size	size	NOUN
fcis-13144	98	32	grids	grid	NOUN
fcis-13144	98	33	,	,	PUNCT
fcis-13144	98	34	each	each	DET
fcis-13144	98	35	grid	grid	NOUN
fcis-13144	98	36	represents	represent	VERB
fcis-13144	98	37	a	a	DET
fcis-13144	98	38	coordinate	coordinate	NOUN
fcis-13144	98	39	node	node	NOUN
fcis-13144	98	40	.	.	PUNCT
fcis-13144	99	1	the	the	DET
fcis-13144	99	2	coordinates	coordinate	NOUN
fcis-13144	99	3	of	of	ADP
fcis-13144	99	4	the	the	DET
fcis-13144	99	5	starting	starting	NOUN
fcis-13144	99	6	point	point	NOUN
fcis-13144	99	7	are	be	AUX
fcis-13144	99	8	(	(	PUNCT
fcis-13144	99	9	3	3	NUM
fcis-13144	99	10	,	,	PUNCT
fcis-13144	99	11	4	4	NUM
fcis-13144	99	12	)	)	PUNCT
fcis-13144	99	13	,	,	PUNCT
fcis-13144	99	14	indicated	indicate	VERB
fcis-13144	99	15	by	by	ADP
fcis-13144	99	16	a	a	DET
fcis-13144	99	17	small	small	ADJ
fcis-13144	99	18	yellow	yellow	ADJ
fcis-13144	99	19	square	square	NOUN
fcis-13144	99	20	,	,	PUNCT
fcis-13144	99	21	the	the	DET
fcis-13144	99	22	coordinates	coordinate	NOUN
fcis-13144	99	23	of	of	ADP
fcis-13144	99	24	the	the	DET
fcis-13144	99	25	ending	ending	NOUN
fcis-13144	99	26	point	point	NOUN
fcis-13144	99	27	are	be	AUX
fcis-13144	99	28	(	(	PUNCT
fcis-13144	99	29	10	10	NUM
fcis-13144	99	30	,	,	PUNCT
fcis-13144	99	31	5	5	NUM
fcis-13144	99	32	)	)	PUNCT
fcis-13144	99	33	,	,	PUNCT
fcis-13144	99	34	indicated	indicate	VERB
fcis-13144	99	35	by	by	ADP
fcis-13144	99	36	green	green	NOUN
fcis-13144	99	37	,	,	PUNCT
fcis-13144	99	38	and	and	CCONJ
fcis-13144	99	39	the	the	DET
fcis-13144	99	40	obstacles	obstacle	NOUN
fcis-13144	99	41	are	be	AUX
fcis-13144	99	42	indicated	indicate	VERB
fcis-13144	99	43	by	by	ADP
fcis-13144	99	44	black	black	ADJ
fcis-13144	99	45	.	.	PUNCT
fcis-13144	100	1	4.2	4.2	NUM
fcis-13144	100	2	.	.	PUNCT
fcis-13144	101	1	analysis	analysis	NOUN
fcis-13144	101	2	of	of	ADP
fcis-13144	101	3	results	result	NOUN
fcis-13144	101	4	the	the	DET
fcis-13144	101	5	shortest	short	ADJ
fcis-13144	101	6	route	route	NOUN
fcis-13144	101	7	for	for	ADP
fcis-13144	101	8	uav	uav	PROPN
fcis-13144	101	9	obstacle	obstacle	PROPN
fcis-13144	101	10	avoidance	avoidance	NOUN
fcis-13144	101	11	under	under	ADP
fcis-13144	101	12	the	the	DET
fcis-13144	101	13	conventional	conventional	ADJ
fcis-13144	101	14	a	a	PRON
fcis-13144	101	15	*	*	ADJ
fcis-13144	101	16	algorithm	algorithm	NOUN
fcis-13144	101	17	is	be	AUX
fcis-13144	101	18	shown	show	VERB
fcis-13144	101	19	in	in	ADP
fcis-13144	101	20	figure	figure	NOUN
fcis-13144	101	21	8	8	NUM
fcis-13144	101	22	.	.	PUNCT
fcis-13144	102	1	figure	figure	NOUN
fcis-13144	102	2	8	8	NUM
fcis-13144	102	3	.	.	PUNCT
fcis-13144	103	1	the	the	DET
fcis-13144	103	2	shortest	short	ADJ
fcis-13144	103	3	route	route	NOUN
fcis-13144	103	4	for	for	ADP
fcis-13144	103	5	uav	uav	PROPN
fcis-13144	103	6	obstacle	obstacle	PROPN
fcis-13144	103	7	avoidance	avoidance	NOUN
fcis-13144	103	8	under	under	ADP
fcis-13144	103	9	the	the	DET
fcis-13144	103	10	conventional	conventional	ADJ
fcis-13144	103	11	a	a	DET
fcis-13144	103	12	*	*	ADJ
fcis-13144	103	13	algorithm	algorithm	NOUN
fcis-13144	103	14	as	as	SCONJ
fcis-13144	103	15	shown	show	VERB
fcis-13144	103	16	in	in	ADP
fcis-13144	103	17	the	the	DET
fcis-13144	103	18	figure	figure	NOUN
fcis-13144	103	19	9	9	NUM
fcis-13144	103	20	and	and	CCONJ
fcis-13144	103	21	figure	figure	NOUN
fcis-13144	103	22	10	10	NUM
fcis-13144	103	23	is	be	AUX
fcis-13144	103	24	the	the	DET
fcis-13144	103	25	obstacle	obstacle	NOUN
fcis-13144	103	26	avoidance	avoidance	NOUN
fcis-13144	103	27	route	route	NOUN
fcis-13144	103	28	of	of	ADP
fcis-13144	103	29	the	the	DET
fcis-13144	103	30	improved	improved	ADJ
fcis-13144	103	31	a	a	DET
fcis-13144	103	32	*	*	ADJ
fcis-13144	103	33	algorithm	algorithm	NOUN
fcis-13144	103	34	in	in	ADP
fcis-13144	103	35	the	the	DET
fcis-13144	103	36	same	same	ADJ
fcis-13144	103	37	map	map	NOUN
fcis-13144	103	38	,	,	PUNCT
fcis-13144	103	39	according	accord	VERB
fcis-13144	103	40	to	to	ADP
fcis-13144	103	41	different	different	ADJ
fcis-13144	103	42	animals	animal	NOUN
fcis-13144	103	43	in	in	ADP
fcis-13144	103	44	different	different	ADJ
fcis-13144	103	45	environments	environment	NOUN
fcis-13144	103	46	have	have	VERB
fcis-13144	103	47	different	different	ADJ
fcis-13144	103	48	alert	alert	NOUN
fcis-13144	103	49	ranges	range	NOUN
fcis-13144	103	50	,	,	PUNCT
fcis-13144	103	51	we	we	PRON
fcis-13144	103	52	set	set	VERB
fcis-13144	103	53	n=1	n=1	PROPN
fcis-13144	103	54	,	,	PUNCT
fcis-13144	103	55	n=2	n=2	ADV
fcis-13144	103	56	respectively	respectively	ADV
fcis-13144	103	57	.	.	PUNCT
fcis-13144	104	1	figure	figure	NOUN
fcis-13144	104	2	9	9	NUM
fcis-13144	104	3	.	.	PUNCT
fcis-13144	105	1	the	the	DET
fcis-13144	105	2	short	short	ADJ
fcis-13144	105	3	route	route	NOUN
fcis-13144	105	4	when	when	SCONJ
fcis-13144	105	5	n	n	PROPN
fcis-13144	105	6	=	=	SYM
fcis-13144	105	7	1	1	NUM
fcis-13144	105	8	figure	figure	NOUN
fcis-13144	105	9	10	10	NUM
fcis-13144	105	10	.	.	PUNCT
fcis-13144	106	1	the	the	DET
fcis-13144	106	2	short	short	ADJ
fcis-13144	106	3	route	route	NOUN
fcis-13144	106	4	when	when	SCONJ
fcis-13144	106	5	n	n	PROPN
fcis-13144	106	6	=	=	SYM
fcis-13144	106	7	2	2	NUM
fcis-13144	106	8	139	139	NUM
fcis-13144	106	9	also	also	ADV
fcis-13144	106	10	based	base	VERB
fcis-13144	106	11	on	on	ADP
fcis-13144	106	12	the	the	DET
fcis-13144	106	13	comparison	comparison	NOUN
fcis-13144	106	14	of	of	ADP
fcis-13144	106	15	the	the	DET
fcis-13144	106	16	path	path	NOUN
fcis-13144	106	17	times	time	NOUN
fcis-13144	106	18	generated	generate	VERB
fcis-13144	106	19	by	by	ADP
fcis-13144	106	20	matlab	matlab	PROPN
fcis-13144	106	21	,	,	PUNCT
fcis-13144	106	22	we	we	PRON
fcis-13144	106	23	find	find	VERB
fcis-13144	106	24	that	that	SCONJ
fcis-13144	106	25	the	the	PRON
fcis-13144	106	26	larger	large	ADJ
fcis-13144	106	27	the	the	DET
fcis-13144	106	28	alert	alert	ADJ
fcis-13144	106	29	range	range	NOUN
fcis-13144	106	30	of	of	ADP
fcis-13144	106	31	the	the	DET
fcis-13144	106	32	animal	animal	NOUN
fcis-13144	106	33	,	,	PUNCT
fcis-13144	106	34	i.e.	i.e.	X
fcis-13144	106	35	,	,	PUNCT
fcis-13144	106	36	the	the	DET
fcis-13144	106	37	larger	large	ADJ
fcis-13144	106	38	n	n	NOUN
fcis-13144	106	39	,	,	PUNCT
fcis-13144	106	40	the	the	PRON
fcis-13144	106	41	longer	long	ADV
fcis-13144	106	42	the	the	DET
fcis-13144	106	43	time	time	NOUN
fcis-13144	106	44	taken	take	VERB
fcis-13144	106	45	to	to	PART
fcis-13144	106	46	generate	generate	VERB
fcis-13144	106	47	the	the	DET
fcis-13144	106	48	path	path	NOUN
fcis-13144	106	49	(	(	PUNCT
fcis-13144	106	50	table	table	NOUN
fcis-13144	106	51	1	1	NUM
fcis-13144	106	52	)	)	PUNCT
fcis-13144	106	53	.	.	PUNCT
fcis-13144	107	1	table	table	NOUN
fcis-13144	107	2	1	1	NUM
fcis-13144	107	3	.	.	PUNCT
fcis-13144	107	4	time	time	NOUN
fcis-13144	107	5	taken	take	VERB
fcis-13144	107	6	to	to	PART
fcis-13144	107	7	generate	generate	VERB
fcis-13144	107	8	the	the	DET
fcis-13144	107	9	path	path	NOUN
fcis-13144	107	10	n	n	NOUN
fcis-13144	107	11	0	0	NUM
fcis-13144	107	12	1	1	NUM
fcis-13144	107	13	2	2	NUM
fcis-13144	107	14	t	t	PROPN
fcis-13144	107	15	/	/	SYM
fcis-13144	107	16	s	s	PART
fcis-13144	107	17	3.687	3.687	NUM
fcis-13144	107	18	4.566	4.566	NUM
fcis-13144	107	19	7.829	7.829	NUM
fcis-13144	107	20	5	5	NUM
fcis-13144	107	21	.	.	PUNCT
fcis-13144	108	1	reach	reach	VERB
fcis-13144	108	2	a	a	DET
fcis-13144	108	3	verdict	verdict	NOUN
fcis-13144	108	4	this	this	DET
fcis-13144	108	5	paper	paper	NOUN
fcis-13144	108	6	models	model	NOUN
fcis-13144	108	7	and	and	CCONJ
fcis-13144	108	8	analyses	analyse	VERB
fcis-13144	108	9	the	the	DET
fcis-13144	108	10	obstacle	obstacle	NOUN
fcis-13144	108	11	avoidance	avoidance	NOUN
fcis-13144	108	12	problem	problem	NOUN
fcis-13144	108	13	of	of	ADP
fcis-13144	108	14	uavs	uavs	NOUN
fcis-13144	108	15	observing	observe	VERB
fcis-13144	108	16	wild	wild	ADJ
fcis-13144	108	17	animals	animal	NOUN
fcis-13144	108	18	,	,	PUNCT
fcis-13144	108	19	and	and	CCONJ
fcis-13144	108	20	proposes	propose	VERB
fcis-13144	108	21	an	an	DET
fcis-13144	108	22	improvement	improvement	NOUN
fcis-13144	108	23	of	of	ADP
fcis-13144	108	24	the	the	DET
fcis-13144	108	25	a	a	PROPN
fcis-13144	108	26	*	*	ADJ
fcis-13144	108	27	algorithm	algorithm	NOUN
fcis-13144	108	28	,	,	PUNCT
fcis-13144	108	29	which	which	PRON
fcis-13144	108	30	,	,	PUNCT
fcis-13144	108	31	according	accord	VERB
fcis-13144	108	32	to	to	ADP
fcis-13144	108	33	the	the	DET
fcis-13144	108	34	different	different	ADJ
fcis-13144	108	35	alert	alert	NOUN
fcis-13144	108	36	ranges	range	NOUN
fcis-13144	108	37	of	of	ADP
fcis-13144	108	38	the	the	DET
fcis-13144	108	39	animals	animal	NOUN
fcis-13144	108	40	,	,	PUNCT
fcis-13144	108	41	is	be	AUX
fcis-13144	108	42	able	able	ADJ
fcis-13144	108	43	to	to	PART
fcis-13144	108	44	allow	allow	VERB
fcis-13144	108	45	the	the	DET
fcis-13144	108	46	uav	uav	PROPN
fcis-13144	108	47	to	to	PART
fcis-13144	108	48	maintain	maintain	VERB
fcis-13144	108	49	a	a	DET
fcis-13144	108	50	certain	certain	ADJ
fcis-13144	108	51	variable	variable	ADJ
fcis-13144	108	52	range	range	NOUN
fcis-13144	108	53	with	with	ADP
fcis-13144	108	54	the	the	DET
fcis-13144	108	55	obstacles	obstacle	NOUN
fcis-13144	108	56	and	and	CCONJ
fcis-13144	108	57	ensure	ensure	VERB
fcis-13144	108	58	that	that	SCONJ
fcis-13144	108	59	the	the	DET
fcis-13144	108	60	uav	uav	PROPN
fcis-13144	108	61	will	will	AUX
fcis-13144	108	62	not	not	PART
fcis-13144	108	63	interfere	interfere	VERB
fcis-13144	108	64	with	with	ADP
fcis-13144	108	65	the	the	DET
fcis-13144	108	66	normal	normal	ADJ
fcis-13144	108	67	life	life	NOUN
fcis-13144	108	68	of	of	ADP
fcis-13144	108	69	the	the	DET
fcis-13144	108	70	wild	wild	ADJ
fcis-13144	108	71	animals	animal	NOUN
fcis-13144	108	72	when	when	SCONJ
fcis-13144	108	73	it	it	PRON
fcis-13144	108	74	carries	carry	VERB
fcis-13144	108	75	out	out	ADP
fcis-13144	108	76	the	the	DET
fcis-13144	108	77	task	task	NOUN
fcis-13144	108	78	.	.	PUNCT
fcis-13144	109	1	simulation	simulation	NOUN
fcis-13144	109	2	experiments	experiment	NOUN
fcis-13144	109	3	show	show	VERB
fcis-13144	109	4	that	that	SCONJ
fcis-13144	109	5	the	the	DET
fcis-13144	109	6	uav	uav	PROPN
fcis-13144	109	7	with	with	ADP
fcis-13144	109	8	the	the	DET
fcis-13144	109	9	improved	improved	ADJ
fcis-13144	109	10	a	a	PRON
fcis-13144	109	11	*	*	PUNCT
fcis-13144	109	12	obstacle	obstacle	NOUN
fcis-13144	109	13	avoidance	avoidance	NOUN
fcis-13144	109	14	algorithm	algorithm	NOUN
fcis-13144	109	15	is	be	AUX
fcis-13144	109	16	able	able	ADJ
fcis-13144	109	17	to	to	PART
fcis-13144	109	18	artificially	artificially	ADV
fcis-13144	109	19	control	control	VERB
fcis-13144	109	20	the	the	DET
fcis-13144	109	21	distance	distance	NOUN
fcis-13144	109	22	it	it	PRON
fcis-13144	109	23	maintains	maintain	VERB
fcis-13144	109	24	with	with	ADP
fcis-13144	109	25	obstacles	obstacle	NOUN
fcis-13144	109	26	while	while	SCONJ
fcis-13144	109	27	avoiding	avoid	VERB
fcis-13144	109	28	obstacles	obstacle	NOUN
fcis-13144	109	29	,	,	PUNCT
fcis-13144	109	30	and	and	CCONJ
fcis-13144	109	31	is	be	AUX
fcis-13144	109	32	able	able	ADJ
fcis-13144	109	33	to	to	PART
fcis-13144	109	34	effectively	effectively	ADV
fcis-13144	109	35	complete	complete	VERB
fcis-13144	109	36	the	the	DET
fcis-13144	109	37	task	task	NOUN
fcis-13144	109	38	of	of	ADP
fcis-13144	109	39	tracking	tracking	NOUN
fcis-13144	109	40	and	and	CCONJ
fcis-13144	109	41	observing	observe	VERB
fcis-13144	109	42	different	different	ADJ
fcis-13144	109	43	kinds	kind	NOUN
fcis-13144	109	44	of	of	ADP
fcis-13144	109	45	wild	wild	ADJ
fcis-13144	109	46	animals	animal	NOUN
fcis-13144	109	47	.	.	PUNCT
fcis-13144	110	1	references	reference	NOUN
fcis-13144	110	2	[	[	X
fcis-13144	110	3	1	1	NUM
fcis-13144	110	4	]	]	X
fcis-13144	110	5	wang	wang	PROPN
fcis-13144	110	6	,	,	PUNCT
fcis-13144	110	7	s.	s.	PROPN
fcis-13144	110	8	,	,	PUNCT
fcis-13144	110	9	wang	wang	PROPN
fcis-13144	110	10	,	,	PUNCT
fcis-13144	110	11	d.	d.	PROPN
fcis-13144	110	12	,	,	PUNCT
fcis-13144	110	13	ling	ling	PROPN
fcis-13144	110	14	,	,	PUNCT
fcis-13144	110	15	c.	c.	PROPN
fcis-13144	110	16	,	,	PUNCT
fcis-13144	110	17	et	et	PROPN
fcis-13144	110	18	al	al	PROPN
fcis-13144	110	19	.	.	PROPN
fcis-13144	110	20	(	(	PUNCT
fcis-13144	110	21	2023	2023	NUM
fcis-13144	110	22	)	)	PUNCT
fcis-13144	110	23	.	.	PUNCT
fcis-13144	111	1	investigation	investigation	NOUN
fcis-13144	111	2	on	on	ADP
fcis-13144	111	3	the	the	DET
fcis-13144	111	4	number	number	NOUN
fcis-13144	111	5	and	and	CCONJ
fcis-13144	111	6	spatial	spatial	ADJ
fcis-13144	111	7	distribution	distribution	NOUN
fcis-13144	111	8	of	of	ADP
fcis-13144	111	9	moose	moose	NOUN
fcis-13144	111	10	populations	population	NOUN
fcis-13144	111	11	in	in	ADP
fcis-13144	111	12	wenghe	wenghe	ADJ
fcis-13144	111	13	national	national	PROPN
fcis-13144	111	14	nature	nature	PROPN
fcis-13144	111	15	reserve	reserve	PROPN
fcis-13144	111	16	in	in	ADP
fcis-13144	111	17	heilongjiang	heilongjiang	PROPN
fcis-13144	111	18	province	province	NOUN
fcis-13144	111	19	based	base	VERB
fcis-13144	111	20	on	on	ADP
fcis-13144	111	21	uav	uav	PROPN
fcis-13144	111	22	remote	remote	ADJ
fcis-13144	111	23	sensing	sensing	NOUN
fcis-13144	111	24	.	.	PUNCT
fcis-13144	112	1	journal	journal	NOUN
fcis-13144	112	2	of	of	ADP
fcis-13144	112	3	wild	wild	ADJ
fcis-13144	112	4	animals	animal	NOUN
fcis-13144	112	5	,	,	PUNCT
fcis-13144	112	6	03	03	NUM
fcis-13144	112	7	:	:	PUNCT
fcis-13144	112	8	486	486	NUM
fcis-13144	112	9	-	-	SYM
fcis-13144	112	10	493	493	NUM
fcis-13144	112	11	.	.	PUNCT
fcis-13144	113	1	[	[	X
fcis-13144	113	2	2	2	NUM
fcis-13144	113	3	]	]	X
fcis-13144	113	4	zhang	zhang	PROPN
fcis-13144	113	5	,	,	PUNCT
fcis-13144	113	6	z.	z.	PROPN
fcis-13144	113	7	,	,	PUNCT
fcis-13144	113	8	zhou	zhou	PROPN
fcis-13144	113	9	,	,	PUNCT
fcis-13144	113	10	j.	j.	PROPN
fcis-13144	113	11	,	,	PUNCT
fcis-13144	113	12	xiao	xiao	PROPN
fcis-13144	113	13	,	,	PUNCT
fcis-13144	113	14	c.	c.	PROPN
fcis-13144	113	15	,	,	PUNCT
fcis-13144	113	16	et	et	PROPN
fcis-13144	113	17	al	al	PROPN
fcis-13144	113	18	.	.	PROPN
fcis-13144	113	19	(	(	PUNCT
fcis-13144	113	20	2020	2020	NUM
fcis-13144	113	21	)	)	PUNCT
fcis-13144	113	22	.	.	PUNCT
fcis-13144	114	1	four	four	NUM
fcis-13144	114	2	-	-	PUNCT
fcis-13144	114	3	rotor	rotor	NOUN
fcis-13144	114	4	rescue	rescue	PROPN
fcis-13144	114	5	uav	uav	PROPN
fcis-13144	114	6	control	control	PROPN
fcis-13144	114	7	system	system	NOUN
fcis-13144	114	8	based	base	VERB
fcis-13144	114	9	on	on	ADP
fcis-13144	114	10	opencv	opencv	PROPN
fcis-13144	114	11	visual	visual	ADJ
fcis-13144	114	12	processing	processing	NOUN
fcis-13144	114	13	.	.	PUNCT
fcis-13144	115	1	electronic	electronic	ADJ
fcis-13144	115	2	test	test	NOUN
fcis-13144	115	3	,	,	PUNCT
fcis-13144	115	4	20	20	NUM
fcis-13144	115	5	:	:	SYM
fcis-13144	115	6	49	49	NUM
fcis-13144	115	7	-	-	SYM
fcis-13144	115	8	50	50	NUM
fcis-13144	115	9	+	+	NOUN
fcis-13144	115	10	56	56	NUM
fcis-13144	115	11	.	.	PUNCT
fcis-13144	116	1	[	[	X
fcis-13144	116	2	3	3	NUM
fcis-13144	116	3	]	]	X
fcis-13144	116	4	wang	wang	PROPN
fcis-13144	116	5	,	,	PUNCT
fcis-13144	116	6	z.	z.	PROPN
fcis-13144	116	7	,	,	PUNCT
fcis-13144	116	8	zeng	zeng	PROPN
fcis-13144	116	9	,	,	PUNCT
fcis-13144	116	10	g.	g.	PROPN
fcis-13144	116	11	&	&	CCONJ
fcis-13144	116	12	huang	huang	PROPN
fcis-13144	116	13	,	,	PUNCT
fcis-13144	116	14	b.	b.	PROPN
fcis-13144	116	15	(	(	PUNCT
fcis-13144	116	16	2020	2020	NUM
fcis-13144	116	17	)	)	PUNCT
fcis-13144	116	18	.	.	PUNCT
fcis-13144	117	1	mobile	mobile	NOUN
fcis-13144	117	2	robot	robot	PROPN
fcis-13144	117	3	path	path	PROPN
fcis-13144	117	4	programming	programming	NOUN
fcis-13144	117	5	algorithm	algorithm	NOUN
fcis-13144	117	6	based	base	VERB
fcis-13144	117	7	on	on	ADP
fcis-13144	117	8	improved	improved	ADJ
fcis-13144	117	9	bidirectional	bidirectional	NOUN
fcis-13144	117	10	a~	a~	PROPN
fcis-13144	117	11	*	*	NOUN
fcis-13144	117	12	.	.	PUNCT
fcis-13144	118	1	sensors	sensor	NOUN
fcis-13144	118	2	and	and	CCONJ
fcis-13144	118	3	microsystems	microsystem	NOUN
fcis-13144	118	4	,	,	PUNCT
fcis-13144	118	5	11:141	11:141	NUM
fcis-13144	118	6	-	-	SYM
fcis-13144	118	7	143	143	NUM
fcis-13144	118	8	+	+	PROPN
fcis-13144	118	9	147	147	NUM
fcis-13144	118	10	.	.	PUNCT
fcis-13144	119	1	[	[	X
fcis-13144	119	2	4	4	NUM
fcis-13144	119	3	]	]	X
fcis-13144	119	4	wang	wang	PROPN
fcis-13144	119	5	,	,	PUNCT
fcis-13144	119	6	j.	j.	PROPN
fcis-13144	119	7	,	,	PUNCT
fcis-13144	119	8	cao	cao	PROPN
fcis-13144	119	9	,	,	PUNCT
fcis-13144	119	10	j.	j.	PROPN
fcis-13144	119	11	&	&	CCONJ
fcis-13144	119	12	zhang	zhang	PROPN
fcis-13144	119	13	,	,	PUNCT
fcis-13144	119	14	w.	w.	PROPN
fcis-13144	119	15	(	(	PUNCT
fcis-13144	119	16	2022	2022	NUM
fcis-13144	119	17	)	)	PUNCT
fcis-13144	119	18	.	.	PUNCT
fcis-13144	120	1	analysis	analysis	NOUN
fcis-13144	120	2	of	of	ADP
fcis-13144	120	3	animal	animal	NOUN
fcis-13144	120	4	alert	alert	NOUN
fcis-13144	120	5	behaviour	behaviour	NOUN
fcis-13144	120	6	and	and	CCONJ
fcis-13144	120	7	its	its	PRON
fcis-13144	120	8	chinese	chinese	ADJ
fcis-13144	120	9	terminology	terminology	NOUN
fcis-13144	120	10	.	.	PUNCT
fcis-13144	121	1	gansu	gansu	PROPN
fcis-13144	121	2	forestry	forestry	PROPN
fcis-13144	121	3	technology	technology	PROPN
fcis-13144	121	4	,	,	PUNCT
fcis-13144	121	5	04	04	NUM
fcis-13144	121	6	:	:	PUNCT
fcis-13144	121	7	52	52	NUM
fcis-13144	121	8	-	-	SYM
fcis-13144	121	9	56	56	NUM
fcis-13144	121	10	.	.	PUNCT