id	sid	tid	token	lemma	pos
fcis-22590	1	1	frontiers	frontier	NOUN
fcis-22590	1	2	in	in	ADP
fcis-22590	1	3	computing	computing	NOUN
fcis-22590	1	4	and	and	CCONJ
fcis-22590	1	5	intelligent	intelligent	ADJ
fcis-22590	1	6	systems	system	NOUN
fcis-22590	1	7	issn	issn	VERB
fcis-22590	1	8	:	:	PUNCT
fcis-22590	1	9	2832	2832	NUM
fcis-22590	1	10	-	-	SYM
fcis-22590	1	11	6024	6024	NUM
fcis-22590	1	12	|	|	NOUN
fcis-22590	1	13	vol	vol	NOUN
fcis-22590	1	14	.	.	PROPN
fcis-22590	2	1	8	8	NUM
fcis-22590	2	2	,	,	PUNCT
fcis-22590	2	3	no	no	INTJ
fcis-22590	2	4	.	.	NOUN
fcis-22590	2	5	3	3	NUM
fcis-22590	2	6	,	,	PUNCT
fcis-22590	2	7	2024	2024	NUM
fcis-22590	2	8	22	22	NUM
fcis-22590	2	9	research	research	NOUN
fcis-22590	2	10	on	on	ADP
fcis-22590	2	11	unmanned	unmanned	ADJ
fcis-22590	2	12	aerial	aerial	ADJ
fcis-22590	2	13	vehicle	vehicle	NOUN
fcis-22590	2	14	path	path	NOUN
fcis-22590	2	15	planning	planning	PROPN
fcis-22590	2	16	lingzhi	lingzhi	PROPN
fcis-22590	2	17	jiang	jiang	PROPN
fcis-22590	2	18	1	1	NUM
fcis-22590	2	19	,	,	PUNCT
fcis-22590	2	20	qiwu	qiwu	ADJ
fcis-22590	2	21	wu	wu	PROPN
fcis-22590	2	22	2	2	NUM
fcis-22590	2	23	,	,	PUNCT
fcis-22590	2	24	weicong	weicong	VERB
fcis-22590	2	25	tan	tan	PROPN
fcis-22590	2	26	3	3	NUM
fcis-22590	2	27	,	,	PUNCT
fcis-22590	2	28	*	*	PUNCT
fcis-22590	2	29	,	,	PUNCT
fcis-22590	2	30	tao	tao	PROPN
fcis-22590	2	31	tong	tong	PROPN
fcis-22590	2	32	2	2	NUM
fcis-22590	2	33	,	,	PUNCT
fcis-22590	2	34	weiyi	weiyi	NOUN
fcis-22590	2	35	zhang	zhang	PROPN
fcis-22590	2	36	2	2	NUM
fcis-22590	2	37	1	1	NUM
fcis-22590	2	38	college	college	NOUN
fcis-22590	2	39	of	of	ADP
fcis-22590	2	40	information	information	NOUN
fcis-22590	2	41	engineering	engineering	NOUN
fcis-22590	2	42	,	,	PUNCT
fcis-22590	2	43	engineering	engineering	NOUN
fcis-22590	2	44	university	university	PROPN
fcis-22590	2	45	of	of	ADP
fcis-22590	2	46	pap	pap	PROPN
fcis-22590	2	47	,	,	PUNCT
fcis-22590	2	48	xi’an	xi’an	PROPN
fcis-22590	2	49	,	,	PUNCT
fcis-22590	2	50	shaanxi	shaanxi	PROPN
fcis-22590	2	51	,	,	PUNCT
fcis-22590	2	52	710086	710086	NUM
fcis-22590	2	53	,	,	PUNCT
fcis-22590	2	54	china	china	PROPN
fcis-22590	2	55	2	2	NUM
fcis-22590	2	56	school	school	NOUN
fcis-22590	2	57	of	of	ADP
fcis-22590	2	58	equipment	equipment	NOUN
fcis-22590	2	59	management	management	NOUN
fcis-22590	2	60	and	and	CCONJ
fcis-22590	2	61	support	support	NOUN
fcis-22590	2	62	,	,	PUNCT
fcis-22590	2	63	engineering	engineering	NOUN
fcis-22590	2	64	university	university	PROPN
fcis-22590	2	65	of	of	ADP
fcis-22590	2	66	pap	pap	PROPN
fcis-22590	2	67	,	,	PUNCT
fcis-22590	2	68	xi’an	xi’an	PROPN
fcis-22590	2	69	,	,	PUNCT
fcis-22590	2	70	shaanxi	shaanxi	PROPN
fcis-22590	2	71	,	,	PUNCT
fcis-22590	2	72	710086	710086	NUM
fcis-22590	2	73	,	,	PUNCT
fcis-22590	2	74	china	china	PROPN
fcis-22590	2	75	3	3	NUM
fcis-22590	2	76	postgraduate	postgraduate	NOUN
fcis-22590	2	77	brigade	brigade	NOUN
fcis-22590	2	78	,	,	PUNCT
fcis-22590	2	79	engineering	engineering	NOUN
fcis-22590	2	80	university	university	PROPN
fcis-22590	2	81	of	of	ADP
fcis-22590	2	82	pap	pap	PROPN
fcis-22590	2	83	,	,	PUNCT
fcis-22590	2	84	xi’an	xi’an	PROPN
fcis-22590	2	85	,	,	PUNCT
fcis-22590	2	86	shaanxi	shaanxi	PROPN
fcis-22590	2	87	,	,	PUNCT
fcis-22590	2	88	710086	710086	NUM
fcis-22590	2	89	,	,	PUNCT
fcis-22590	2	90	china	china	PROPN
fcis-22590	2	91	*	*	PUNCT
fcis-22590	2	92	corresponding	correspond	VERB
fcis-22590	2	93	author	author	NOUN
fcis-22590	2	94	:	:	PUNCT
fcis-22590	2	95	weicong	weicong	PROPN
fcis-22590	2	96	tan	tan	PROPN
fcis-22590	2	97	(	(	PUNCT
fcis-22590	2	98	email	email	NOUN
fcis-22590	2	99	:	:	PUNCT
fcis-22590	2	100	tanweicong_pap@163.com	tanweicong_pap@163.com	X
fcis-22590	2	101	)	)	PUNCT
fcis-22590	2	102	abstract	abstract	NOUN
fcis-22590	2	103	:	:	PUNCT
fcis-22590	2	104	this	this	DET
fcis-22590	2	105	paper	paper	NOUN
fcis-22590	2	106	reviews	review	NOUN
fcis-22590	2	107	and	and	CCONJ
fcis-22590	2	108	analyses	analyse	VERB
fcis-22590	2	109	the	the	DET
fcis-22590	2	110	research	research	NOUN
fcis-22590	2	111	progress	progress	NOUN
fcis-22590	2	112	in	in	ADP
fcis-22590	2	113	the	the	DET
fcis-22590	2	114	field	field	NOUN
fcis-22590	2	115	of	of	ADP
fcis-22590	2	116	uav	uav	PROPN
fcis-22590	2	117	path	path	PROPN
fcis-22590	2	118	planning	planning	NOUN
fcis-22590	2	119	.	.	PUNCT
fcis-22590	3	1	firstly	firstly	ADV
fcis-22590	3	2	,	,	PUNCT
fcis-22590	3	3	the	the	DET
fcis-22590	3	4	importance	importance	NOUN
fcis-22590	3	5	of	of	ADP
fcis-22590	3	6	uav	uav	PROPN
fcis-22590	3	7	path	path	PROPN
fcis-22590	3	8	planning	planning	PROPN
fcis-22590	3	9	and	and	CCONJ
fcis-22590	3	10	the	the	DET
fcis-22590	3	11	current	current	ADJ
fcis-22590	3	12	research	research	NOUN
fcis-22590	3	13	work	work	NOUN
fcis-22590	3	14	related	relate	VERB
fcis-22590	3	15	to	to	ADP
fcis-22590	3	16	uav	uav	PROPN
fcis-22590	3	17	path	path	PROPN
fcis-22590	3	18	planning	planning	NOUN
fcis-22590	3	19	are	be	AUX
fcis-22590	3	20	introduced	introduce	VERB
fcis-22590	3	21	.	.	PUNCT
fcis-22590	4	1	then	then	ADV
fcis-22590	4	2	how	how	SCONJ
fcis-22590	4	3	uav	uav	PROPN
fcis-22590	4	4	path	path	PROPN
fcis-22590	4	5	planning	planning	NOUN
fcis-22590	4	6	is	be	AUX
fcis-22590	4	7	modelled	model	VERB
fcis-22590	4	8	is	be	AUX
fcis-22590	4	9	analysed	analyse	VERB
fcis-22590	4	10	and	and	CCONJ
fcis-22590	4	11	key	key	ADJ
fcis-22590	4	12	issues	issue	NOUN
fcis-22590	4	13	to	to	PART
fcis-22590	4	14	be	be	AUX
fcis-22590	4	15	considered	consider	VERB
fcis-22590	4	16	are	be	AUX
fcis-22590	4	17	given	give	VERB
fcis-22590	4	18	.	.	PUNCT
fcis-22590	5	1	finally	finally	ADV
fcis-22590	5	2	,	,	PUNCT
fcis-22590	5	3	classical	classical	ADJ
fcis-22590	5	4	search	search	NOUN
fcis-22590	5	5	algorithms	algorithm	NOUN
fcis-22590	5	6	,	,	PUNCT
fcis-22590	5	7	evolutionary	evolutionary	ADJ
fcis-22590	5	8	algorithms	algorithm	NOUN
fcis-22590	5	9	,	,	PUNCT
fcis-22590	5	10	heuristic	heuristic	ADJ
fcis-22590	5	11	search	search	NOUN
fcis-22590	5	12	-	-	PUNCT
fcis-22590	5	13	based	base	VERB
fcis-22590	5	14	algorithms	algorithm	NOUN
fcis-22590	5	15	and	and	CCONJ
fcis-22590	5	16	deep	deep	ADJ
fcis-22590	5	17	learning	learning	NOUN
fcis-22590	5	18	methods	method	NOUN
fcis-22590	5	19	are	be	AUX
fcis-22590	5	20	analysed	analyse	VERB
fcis-22590	5	21	in	in	ADP
fcis-22590	5	22	uav	uav	PROPN
fcis-22590	5	23	path	path	PROPN
fcis-22590	5	24	planning	planning	NOUN
fcis-22590	5	25	.	.	PUNCT
fcis-22590	6	1	for	for	ADP
fcis-22590	6	2	each	each	DET
fcis-22590	6	3	method	method	NOUN
fcis-22590	6	4	,	,	PUNCT
fcis-22590	6	5	its	its	PRON
fcis-22590	6	6	principle	principle	NOUN
fcis-22590	6	7	,	,	PUNCT
fcis-22590	6	8	characteristics	characteristic	NOUN
fcis-22590	6	9	,	,	PUNCT
fcis-22590	6	10	advantages	advantage	NOUN
fcis-22590	6	11	and	and	CCONJ
fcis-22590	6	12	disadvantages	disadvantage	NOUN
fcis-22590	6	13	,	,	PUNCT
fcis-22590	6	14	and	and	CCONJ
fcis-22590	6	15	applicable	applicable	ADJ
fcis-22590	6	16	scenarios	scenario	NOUN
fcis-22590	6	17	are	be	AUX
fcis-22590	6	18	analysed	analyse	VERB
fcis-22590	6	19	.	.	PUNCT
fcis-22590	7	1	the	the	DET
fcis-22590	7	2	aim	aim	NOUN
fcis-22590	7	3	of	of	ADP
fcis-22590	7	4	this	this	DET
fcis-22590	7	5	paper	paper	NOUN
fcis-22590	7	6	is	be	AUX
fcis-22590	7	7	to	to	PART
fcis-22590	7	8	provide	provide	VERB
fcis-22590	7	9	a	a	DET
fcis-22590	7	10	comprehensive	comprehensive	ADJ
fcis-22590	7	11	overview	overview	NOUN
fcis-22590	7	12	for	for	ADP
fcis-22590	7	13	researchers	researcher	NOUN
fcis-22590	7	14	and	and	CCONJ
fcis-22590	7	15	scholars	scholar	NOUN
fcis-22590	7	16	in	in	ADP
fcis-22590	7	17	the	the	DET
fcis-22590	7	18	field	field	NOUN
fcis-22590	7	19	of	of	ADP
fcis-22590	7	20	uav	uav	PROPN
fcis-22590	7	21	path	path	PROPN
fcis-22590	7	22	planning	planning	NOUN
fcis-22590	7	23	in	in	ADP
fcis-22590	7	24	order	order	NOUN
fcis-22590	7	25	to	to	PART
fcis-22590	7	26	promote	promote	VERB
fcis-22590	7	27	the	the	DET
fcis-22590	7	28	development	development	NOUN
fcis-22590	7	29	and	and	CCONJ
fcis-22590	7	30	application	application	NOUN
fcis-22590	7	31	of	of	ADP
fcis-22590	7	32	related	related	ADJ
fcis-22590	7	33	technologies	technology	NOUN
fcis-22590	7	34	.	.	PUNCT
fcis-22590	8	1	keywords	keyword	NOUN
fcis-22590	8	2	:	:	PUNCT
fcis-22590	8	3	unmanned	unmanned	ADJ
fcis-22590	8	4	aerial	aerial	ADJ
fcis-22590	8	5	vehicle	vehicle	NOUN
fcis-22590	8	6	;	;	PUNCT
fcis-22590	8	7	path	path	NOUN
fcis-22590	8	8	planning	planning	NOUN
fcis-22590	8	9	;	;	PUNCT
fcis-22590	8	10	intelligent	intelligent	ADJ
fcis-22590	8	11	optimization	optimization	NOUN
fcis-22590	8	12	algorithms	algorithm	NOUN
fcis-22590	8	13	.	.	PUNCT
fcis-22590	9	1	1	1	X
fcis-22590	9	2	.	.	X
fcis-22590	9	3	introduction	introduction	NOUN
fcis-22590	9	4	with	with	ADP
fcis-22590	9	5	the	the	DET
fcis-22590	9	6	continuous	continuous	ADJ
fcis-22590	9	7	evolution	evolution	NOUN
fcis-22590	9	8	of	of	ADP
fcis-22590	9	9	unmanned	unmanned	ADJ
fcis-22590	9	10	aerial	aerial	ADJ
fcis-22590	9	11	technology	technology	NOUN
fcis-22590	9	12	,	,	PUNCT
fcis-22590	9	13	unmanned	unmanned	ADJ
fcis-22590	9	14	aerial	aerial	ADJ
fcis-22590	9	15	vehicles	vehicle	NOUN
fcis-22590	9	16	(	(	PUNCT
fcis-22590	9	17	uavs	uavs	NOUN
fcis-22590	9	18	)	)	PUNCT
fcis-22590	9	19	have	have	AUX
fcis-22590	9	20	captured	capture	VERB
fcis-22590	9	21	considerable	considerable	ADJ
fcis-22590	9	22	attention	attention	NOUN
fcis-22590	9	23	for	for	ADP
fcis-22590	9	24	their	their	PRON
fcis-22590	9	25	capacity	capacity	NOUN
fcis-22590	9	26	to	to	PART
fcis-22590	9	27	navigate	navigate	VERB
fcis-22590	9	28	through	through	ADP
fcis-22590	9	29	intricate	intricate	ADJ
fcis-22590	9	30	and	and	CCONJ
fcis-22590	9	31	perilous	perilous	ADJ
fcis-22590	9	32	environments	environment	NOUN
fcis-22590	9	33	.	.	PUNCT
fcis-22590	10	1	path	path	NOUN
fcis-22590	10	2	planning	planning	NOUN
fcis-22590	10	3	and	and	CCONJ
fcis-22590	10	4	design	design	NOUN
fcis-22590	10	5	represent	represent	VERB
fcis-22590	10	6	pivotal	pivotal	ADJ
fcis-22590	10	7	elements	element	NOUN
fcis-22590	10	8	within	within	ADP
fcis-22590	10	9	uav	uav	PROPN
fcis-22590	10	10	mission	mission	NOUN
fcis-22590	10	11	systems	system	NOUN
fcis-22590	10	12	,	,	PUNCT
fcis-22590	10	13	demanding	demand	VERB
fcis-22590	10	14	the	the	DET
fcis-22590	10	15	derivation	derivation	NOUN
fcis-22590	10	16	of	of	ADP
fcis-22590	10	17	a	a	DET
fcis-22590	10	18	secure	secure	ADJ
fcis-22590	10	19	,	,	PUNCT
fcis-22590	10	20	feasible	feasible	ADJ
fcis-22590	10	21	,	,	PUNCT
fcis-22590	10	22	and	and	CCONJ
fcis-22590	10	23	seamless	seamless	ADJ
fcis-22590	10	24	flight	flight	NOUN
fcis-22590	10	25	trajectory	trajectory	NOUN
fcis-22590	10	26	from	from	ADP
fcis-22590	10	27	an	an	DET
fcis-22590	10	28	initial	initial	ADJ
fcis-22590	10	29	point	point	NOUN
fcis-22590	10	30	to	to	ADP
fcis-22590	10	31	a	a	DET
fcis-22590	10	32	designated	designate	VERB
fcis-22590	10	33	destination	destination	NOUN
fcis-22590	10	34	,	,	PUNCT
fcis-22590	10	35	all	all	PRON
fcis-22590	10	36	while	while	SCONJ
fcis-22590	10	37	adhering	adhere	VERB
fcis-22590	10	38	to	to	PART
fcis-22590	10	39	specified	specify	VERB
fcis-22590	10	40	constraints	constraint	NOUN
fcis-22590	10	41	.	.	PUNCT
fcis-22590	11	1	consequently	consequently	ADV
fcis-22590	11	2	,	,	PUNCT
fcis-22590	11	3	the	the	DET
fcis-22590	11	4	uav	uav	PROPN
fcis-22590	11	5	path	path	PROPN
fcis-22590	11	6	planning	planning	NOUN
fcis-22590	11	7	conundrum	conundrum	NOUN
fcis-22590	11	8	can	can	AUX
fcis-22590	11	9	be	be	AUX
fcis-22590	11	10	perceived	perceive	VERB
fcis-22590	11	11	as	as	ADP
fcis-22590	11	12	a	a	DET
fcis-22590	11	13	multifaceted	multifaceted	ADJ
fcis-22590	11	14	optimization	optimization	NOUN
fcis-22590	11	15	challenge	challenge	NOUN
fcis-22590	11	16	,	,	PUNCT
fcis-22590	11	17	necessitating	necessitate	VERB
fcis-22590	11	18	the	the	DET
fcis-22590	11	19	deployment	deployment	NOUN
fcis-22590	11	20	of	of	ADP
fcis-22590	11	21	efficient	efficient	ADJ
fcis-22590	11	22	intelligent	intelligent	ADJ
fcis-22590	11	23	optimisation	optimisation	NOUN
fcis-22590	11	24	algorithms	algorithm	NOUN
fcis-22590	11	25	for	for	ADP
fcis-22590	11	26	resolution	resolution	NOUN
fcis-22590	11	27	.	.	PUNCT
fcis-22590	12	1	how	how	SCONJ
fcis-22590	12	2	uav	uav	PROPN
fcis-22590	12	3	path	path	PROPN
fcis-22590	12	4	planning	planning	NOUN
fcis-22590	12	5	solves	solve	NOUN
fcis-22590	12	6	this	this	DET
fcis-22590	12	7	problem	problem	NOUN
fcis-22590	12	8	has	have	AUX
fcis-22590	12	9	triggered	trigger	VERB
fcis-22590	12	10	a	a	DET
fcis-22590	12	11	large	large	ADJ
fcis-22590	12	12	number	number	NOUN
fcis-22590	12	13	of	of	ADP
fcis-22590	12	14	scholars	scholar	NOUN
fcis-22590	12	15	to	to	PART
fcis-22590	12	16	carry	carry	VERB
fcis-22590	12	17	out	out	ADP
fcis-22590	12	18	in	in	ADP
fcis-22590	12	19	-	-	PUNCT
fcis-22590	12	20	depth	depth	NOUN
fcis-22590	12	21	research	research	NOUN
fcis-22590	12	22	,	,	PUNCT
fcis-22590	12	23	this	this	DET
fcis-22590	12	24	paper	paper	NOUN
fcis-22590	12	25	will	will	AUX
fcis-22590	12	26	provide	provide	VERB
fcis-22590	12	27	a	a	DET
fcis-22590	12	28	review	review	NOUN
fcis-22590	12	29	and	and	CCONJ
fcis-22590	12	30	analysis	analysis	NOUN
fcis-22590	12	31	of	of	ADP
fcis-22590	12	32	path	path	NOUN
fcis-22590	12	33	planning	planning	NOUN
fcis-22590	12	34	research	research	NOUN
fcis-22590	12	35	.	.	PUNCT
fcis-22590	13	1	2	2	X
fcis-22590	13	2	.	.	X
fcis-22590	13	3	overview	overview	NOUN
fcis-22590	13	4	of	of	ADP
fcis-22590	13	5	relevant	relevant	ADJ
fcis-22590	13	6	work	work	NOUN
fcis-22590	13	7	a	a	DET
fcis-22590	13	8	number	number	NOUN
fcis-22590	13	9	of	of	ADP
fcis-22590	13	10	researchers	researcher	NOUN
fcis-22590	13	11	and	and	CCONJ
fcis-22590	13	12	teams	team	NOUN
fcis-22590	13	13	have	have	AUX
fcis-22590	13	14	studied	study	VERB
fcis-22590	13	15	the	the	DET
fcis-22590	13	16	path	path	NOUN
fcis-22590	13	17	planning	planning	NOUN
fcis-22590	13	18	algorithms	algorithm	NOUN
fcis-22590	13	19	and	and	CCONJ
fcis-22590	13	20	some	some	DET
fcis-22590	13	21	results	result	NOUN
fcis-22590	13	22	have	have	AUX
fcis-22590	13	23	been	be	AUX
fcis-22590	13	24	obtained	obtain	VERB
fcis-22590	13	25	,	,	PUNCT
fcis-22590	13	26	the	the	DET
fcis-22590	13	27	following	follow	VERB
fcis-22590	13	28	is	be	AUX
fcis-22590	13	29	a	a	DET
fcis-22590	13	30	brief	brief	ADJ
fcis-22590	13	31	analysis	analysis	NOUN
fcis-22590	13	32	of	of	ADP
fcis-22590	13	33	recent	recent	ADJ
fcis-22590	13	34	related	related	ADJ
fcis-22590	13	35	research	research	NOUN
fcis-22590	13	36	work	work	NOUN
fcis-22590	13	37	.	.	PUNCT
fcis-22590	14	1	researchers	researcher	NOUN
fcis-22590	14	2	have	have	AUX
fcis-22590	14	3	proposed	propose	VERB
fcis-22590	14	4	various	various	ADJ
fcis-22590	14	5	methods	method	NOUN
fcis-22590	14	6	to	to	PART
fcis-22590	14	7	address	address	VERB
fcis-22590	14	8	uav	uav	PROPN
fcis-22590	14	9	path	path	PROPN
fcis-22590	14	10	planning	planning	NOUN
fcis-22590	14	11	challenges	challenge	NOUN
fcis-22590	14	12	,	,	PUNCT
fcis-22590	14	13	encompassing	encompass	VERB
fcis-22590	14	14	traditional	traditional	ADJ
fcis-22590	14	15	approaches	approach	NOUN
fcis-22590	14	16	like	like	ADP
fcis-22590	14	17	artificial	artificial	ADJ
fcis-22590	14	18	potential	potential	ADJ
fcis-22590	14	19	field	field	NOUN
fcis-22590	14	20	algorithms[1	algorithms[1	NOUN
fcis-22590	14	21	]	]	PUNCT
fcis-22590	14	22	,	,	PUNCT
fcis-22590	14	23	rapidly	rapidly	ADV
fcis-22590	14	24	-	-	PUNCT
fcis-22590	14	25	exploring	explore	VERB
fcis-22590	14	26	random	random	ADJ
fcis-22590	14	27	trees[2](rrt	trees[2](rrt	NUM
fcis-22590	14	28	)	)	PUNCT
fcis-22590	14	29	,	,	PUNCT
fcis-22590	14	30	and	and	CCONJ
fcis-22590	14	31	neural	neural	ADJ
fcis-22590	14	32	network	network	NOUN
fcis-22590	14	33	algorithms[3	algorithms[3	PROPN
fcis-22590	14	34	]	]	PUNCT
fcis-22590	14	35	,	,	PUNCT
fcis-22590	14	36	alongside	alongside	ADP
fcis-22590	14	37	emerging	emerge	VERB
fcis-22590	14	38	reinforcement	reinforcement	NOUN
fcis-22590	14	39	learning	learning	NOUN
fcis-22590	14	40	techniques	technique	NOUN
fcis-22590	14	41	such	such	ADJ
fcis-22590	14	42	as	as	ADP
fcis-22590	14	43	q	q	NOUN
fcis-22590	14	44	-	-	PUNCT
fcis-22590	14	45	learning	learning	NOUN
fcis-22590	14	46	algorithms[4	algorithms[4	NUM
fcis-22590	14	47	]	]	X
fcis-22590	14	48	.	.	PUNCT
fcis-22590	15	1	however	however	ADV
fcis-22590	15	2	,	,	PUNCT
fcis-22590	15	3	these	these	DET
fcis-22590	15	4	methods	method	NOUN
fcis-22590	15	5	often	often	ADV
fcis-22590	15	6	entail	entail	VERB
fcis-22590	15	7	significant	significant	ADJ
fcis-22590	15	8	computational	computational	ADJ
fcis-22590	15	9	overhead	overhead	NOUN
fcis-22590	15	10	.	.	PUNCT
fcis-22590	16	1	swarm	swarm	NOUN
fcis-22590	16	2	optimization	optimization	NOUN
fcis-22590	16	3	algorithms	algorithm	NOUN
fcis-22590	16	4	,	,	PUNCT
fcis-22590	16	5	inspired	inspire	VERB
fcis-22590	16	6	by	by	ADP
fcis-22590	16	7	biological	biological	ADJ
fcis-22590	16	8	intelligence	intelligence	NOUN
fcis-22590	16	9	or	or	CCONJ
fcis-22590	16	10	natural	natural	ADJ
fcis-22590	16	11	phenomena	phenomenon	NOUN
fcis-22590	16	12	,	,	PUNCT
fcis-22590	16	13	represent	represent	VERB
fcis-22590	16	14	a	a	DET
fcis-22590	16	15	category	category	NOUN
fcis-22590	16	16	of	of	ADP
fcis-22590	16	17	stochastic	stochastic	ADJ
fcis-22590	16	18	search	search	NOUN
fcis-22590	16	19	algorithms	algorithm	NOUN
fcis-22590	16	20	.	.	PUNCT
fcis-22590	17	1	they	they	PRON
fcis-22590	17	2	mimic	mimic	VERB
fcis-22590	17	3	collective	collective	ADJ
fcis-22590	17	4	behaviors	behavior	NOUN
fcis-22590	17	5	observed	observe	VERB
fcis-22590	17	6	in	in	ADP
fcis-22590	17	7	nature	nature	NOUN
fcis-22590	17	8	—	—	PUNCT
fcis-22590	17	9	such	such	ADJ
fcis-22590	17	10	as	as	ADP
fcis-22590	17	11	foraging	foraging	NOUN
fcis-22590	17	12	and	and	CCONJ
fcis-22590	17	13	reproduction	reproduction	NOUN
fcis-22590	17	14	—	—	PUNCT
fcis-22590	17	15	by	by	ADP
fcis-22590	17	16	abstracting	abstract	VERB
fcis-22590	17	17	these	these	DET
fcis-22590	17	18	behaviors	behavior	NOUN
fcis-22590	17	19	into	into	ADP
fcis-22590	17	20	quantifiable	quantifiable	ADJ
fcis-22590	17	21	metrics	metric	NOUN
fcis-22590	17	22	,	,	PUNCT
fcis-22590	17	23	forming	form	VERB
fcis-22590	17	24	mathematical	mathematical	ADJ
fcis-22590	17	25	models	model	NOUN
fcis-22590	17	26	applicable	applicable	ADJ
fcis-22590	17	27	to	to	PART
fcis-22590	17	28	diverse	diverse	VERB
fcis-22590	17	29	problem	problem	NOUN
fcis-22590	17	30	sets	set	NOUN
fcis-22590	17	31	.	.	PUNCT
fcis-22590	18	1	the	the	DET
fcis-22590	18	2	advent	advent	NOUN
fcis-22590	18	3	of	of	ADP
fcis-22590	18	4	intelligent	intelligent	ADJ
fcis-22590	18	5	optimization	optimization	NOUN
fcis-22590	18	6	algorithms	algorithm	NOUN
fcis-22590	18	7	has	have	AUX
fcis-22590	18	8	notably	notably	ADV
fcis-22590	18	9	enriched	enrich	VERB
fcis-22590	18	10	optimization	optimization	NOUN
fcis-22590	18	11	techniques	technique	NOUN
fcis-22590	18	12	,	,	PUNCT
fcis-22590	18	13	offering	offer	VERB
fcis-22590	18	14	pragmatic	pragmatic	ADJ
fcis-22590	18	15	solutions	solution	NOUN
fcis-22590	18	16	to	to	ADP
fcis-22590	18	17	combinatorial	combinatorial	ADJ
fcis-22590	18	18	optimization	optimization	NOUN
fcis-22590	18	19	problems	problem	NOUN
fcis-22590	18	20	that	that	SCONJ
fcis-22590	18	21	conventional	conventional	ADJ
fcis-22590	18	22	methods	method	NOUN
fcis-22590	18	23	struggle	struggle	VERB
fcis-22590	18	24	to	to	PART
fcis-22590	18	25	address	address	VERB
fcis-22590	18	26	.	.	PUNCT
fcis-22590	19	1	furthermore	furthermore	ADV
fcis-22590	19	2	,	,	PUNCT
fcis-22590	19	3	they	they	PRON
fcis-22590	19	4	furnish	furnish	VERB
fcis-22590	19	5	a	a	DET
fcis-22590	19	6	novel	novel	NOUN
fcis-22590	19	7	means	mean	NOUN
fcis-22590	19	8	to	to	PART
fcis-22590	19	9	explore	explore	VERB
fcis-22590	19	10	biological	biological	ADJ
fcis-22590	19	11	concepts	concept	NOUN
fcis-22590	19	12	and	and	CCONJ
fcis-22590	19	13	mechanisms	mechanism	NOUN
fcis-22590	19	14	from	from	ADP
fcis-22590	19	15	alternative	alternative	ADJ
fcis-22590	19	16	perspectives	perspective	NOUN
fcis-22590	19	17	.	.	PUNCT
fcis-22590	20	1	swarm	swarm	NOUN
fcis-22590	20	2	intelligence	intelligence	NOUN
fcis-22590	20	3	optimization	optimization	NOUN
fcis-22590	20	4	algorithms	algorithm	NOUN
fcis-22590	20	5	are	be	AUX
fcis-22590	20	6	highly	highly	ADV
fcis-22590	20	7	effective	effective	ADJ
fcis-22590	20	8	in	in	ADP
fcis-22590	20	9	overcoming	overcome	VERB
fcis-22590	20	10	the	the	DET
fcis-22590	20	11	drawbacks	drawback	NOUN
fcis-22590	20	12	of	of	ADP
fcis-22590	20	13	conventional	conventional	ADJ
fcis-22590	20	14	optimization	optimization	NOUN
fcis-22590	20	15	methods	method	NOUN
fcis-22590	20	16	,	,	PUNCT
fcis-22590	20	17	efficiently	efficiently	ADV
fcis-22590	20	18	handling	handle	VERB
fcis-22590	20	19	complex	complex	ADJ
fcis-22590	20	20	realworld	realworld	PROPN
fcis-22590	20	21	challenges[5,6,7	challenges[5,6,7	PROPN
fcis-22590	20	22	]	]	X
fcis-22590	20	23	.	.	PUNCT
fcis-22590	21	1	as	as	ADP
fcis-22590	21	2	a	a	DET
fcis-22590	21	3	result	result	NOUN
fcis-22590	21	4	,	,	PUNCT
fcis-22590	21	5	a	a	DET
fcis-22590	21	6	growing	grow	VERB
fcis-22590	21	7	number	number	NOUN
fcis-22590	21	8	of	of	ADP
fcis-22590	21	9	researchers	researcher	NOUN
fcis-22590	21	10	are	be	AUX
fcis-22590	21	11	turning	turn	VERB
fcis-22590	21	12	to	to	ADP
fcis-22590	21	13	a	a	DET
fcis-22590	21	14	range	range	NOUN
fcis-22590	21	15	of	of	ADP
fcis-22590	21	16	biological	biological	ADJ
fcis-22590	21	17	phenomena	phenomenon	NOUN
fcis-22590	21	18	for	for	ADP
fcis-22590	21	19	inspiration	inspiration	NOUN
fcis-22590	21	20	in	in	ADP
fcis-22590	21	21	devising	devise	VERB
fcis-22590	21	22	distinctive	distinctive	ADJ
fcis-22590	21	23	swarm	swarm	NOUN
fcis-22590	21	24	intelligence	intelligence	NOUN
fcis-22590	21	25	optimization	optimization	NOUN
fcis-22590	21	26	algorithms[8	algorithms[8	PROPN
fcis-22590	21	27	]	]	PUNCT
fcis-22590	21	28	.	.	PUNCT
fcis-22590	22	1	these	these	DET
fcis-22590	22	2	algorithms	algorithm	NOUN
fcis-22590	22	3	,	,	PUNCT
fcis-22590	22	4	drawing	draw	VERB
fcis-22590	22	5	from	from	ADP
fcis-22590	22	6	natural	natural	ADJ
fcis-22590	22	7	physical	physical	ADJ
fcis-22590	22	8	phenomena	phenomenon	NOUN
fcis-22590	22	9	or	or	CCONJ
fcis-22590	22	10	collective	collective	ADJ
fcis-22590	22	11	behaviors	behavior	NOUN
fcis-22590	22	12	,	,	PUNCT
fcis-22590	22	13	are	be	AUX
fcis-22590	22	14	applied	apply	VERB
fcis-22590	22	15	to	to	PART
fcis-22590	22	16	address	address	VERB
fcis-22590	22	17	function	function	NOUN
fcis-22590	22	18	optimization	optimization	NOUN
fcis-22590	22	19	problems	problem	NOUN
fcis-22590	22	20	and	and	CCONJ
fcis-22590	22	21	are	be	AUX
fcis-22590	22	22	celebrated	celebrate	VERB
fcis-22590	22	23	for	for	ADP
fcis-22590	22	24	their	their	PRON
fcis-22590	22	25	simplicity	simplicity	NOUN
fcis-22590	22	26	and	and	CCONJ
fcis-22590	22	27	effectiveness	effectiveness	NOUN
fcis-22590	22	28	across	across	ADP
fcis-22590	22	29	a	a	DET
fcis-22590	22	30	variety	variety	NOUN
fcis-22590	22	31	of	of	ADP
fcis-22590	22	32	practical	practical	ADJ
fcis-22590	22	33	applications[9	applications[9	NOUN
fcis-22590	22	34	]	]	PUNCT
fcis-22590	22	35	.	.	PUNCT
fcis-22590	23	1	they	they	PRON
fcis-22590	23	2	offer	offer	VERB
fcis-22590	23	3	fresh	fresh	ADJ
fcis-22590	23	4	perspectives	perspective	NOUN
fcis-22590	23	5	for	for	ADP
fcis-22590	23	6	tackling	tackle	VERB
fcis-22590	23	7	intricate	intricate	ADJ
fcis-22590	23	8	path	path	NOUN
fcis-22590	23	9	planning	planning	NOUN
fcis-22590	23	10	issues	issue	NOUN
fcis-22590	23	11	in	in	ADP
fcis-22590	23	12	unmanned	unmanned	ADJ
fcis-22590	23	13	aerial	aerial	ADJ
fcis-22590	23	14	systems	system	NOUN
fcis-22590	23	15	.	.	PUNCT
fcis-22590	24	1	this	this	DET
fcis-22590	24	2	type	type	NOUN
fcis-22590	24	3	of	of	ADP
fcis-22590	24	4	algorithm[10	algorithm[10	ADV
fcis-22590	24	5	-	-	PUNCT
fcis-22590	24	6	12	12	NUM
fcis-22590	24	7	]	]	PUNCT
fcis-22590	24	8	is	be	AUX
fcis-22590	24	9	also	also	ADV
fcis-22590	24	10	the	the	DET
fcis-22590	24	11	direction	direction	NOUN
fcis-22590	24	12	of	of	ADP
fcis-22590	24	13	current	current	ADJ
fcis-22590	24	14	scholars	scholar	NOUN
fcis-22590	24	15	actively	actively	ADV
fcis-22590	24	16	conducting	conduct	VERB
fcis-22590	24	17	indepth	indepth	ADJ
fcis-22590	24	18	research	research	NOUN
fcis-22590	24	19	.	.	PUNCT
fcis-22590	25	1	3	3	X
fcis-22590	25	2	.	.	X
fcis-22590	25	3	uav	uav	PROPN
fcis-22590	25	4	path	path	PROPN
fcis-22590	25	5	planning	planning	NOUN
fcis-22590	25	6	model	model	NOUN
fcis-22590	25	7	the	the	DET
fcis-22590	25	8	establishment	establishment	NOUN
fcis-22590	25	9	of	of	ADP
fcis-22590	25	10	the	the	DET
fcis-22590	25	11	uav	uav	PROPN
fcis-22590	25	12	path	path	PROPN
fcis-22590	25	13	planning	planning	NOUN
fcis-22590	25	14	model	model	NOUN
fcis-22590	25	15	is	be	AUX
fcis-22590	25	16	one	one	NUM
fcis-22590	25	17	of	of	ADP
fcis-22590	25	18	the	the	DET
fcis-22590	25	19	key	key	ADJ
fcis-22590	25	20	steps	step	NOUN
fcis-22590	25	21	in	in	ADP
fcis-22590	25	22	solving	solve	VERB
fcis-22590	25	23	the	the	DET
fcis-22590	25	24	uav	uav	PROPN
fcis-22590	25	25	path	path	PROPN
fcis-22590	25	26	planning	planning	PROPN
fcis-22590	25	27	problem	problem	NOUN
fcis-22590	25	28	,	,	PUNCT
fcis-22590	25	29	and	and	CCONJ
fcis-22590	25	30	the	the	DET
fcis-22590	25	31	following	follow	VERB
fcis-22590	25	32	aspects	aspect	NOUN
fcis-22590	25	33	need	need	VERB
fcis-22590	25	34	to	to	PART
fcis-22590	25	35	be	be	AUX
fcis-22590	25	36	considered	consider	VERB
fcis-22590	25	37	.	.	PUNCT
fcis-22590	26	1	firstly	firstly	ADV
fcis-22590	26	2	,	,	PUNCT
fcis-22590	26	3	problem	problem	NOUN
fcis-22590	26	4	definition	definition	NOUN
fcis-22590	26	5	.	.	PUNCT
fcis-22590	27	1	before	before	ADP
fcis-22590	27	2	modelling	modelling	NOUN
fcis-22590	27	3	,	,	PUNCT
fcis-22590	27	4	the	the	DET
fcis-22590	27	5	specific	specific	ADJ
fcis-22590	27	6	problem	problem	NOUN
fcis-22590	27	7	of	of	ADP
fcis-22590	27	8	uav	uav	PROPN
fcis-22590	27	9	path	path	PROPN
fcis-22590	27	10	planning	planning	NOUN
fcis-22590	27	11	needs	need	VERB
fcis-22590	27	12	to	to	PART
fcis-22590	27	13	be	be	AUX
fcis-22590	27	14	clearly	clearly	ADV
fcis-22590	27	15	defined	define	VERB
fcis-22590	27	16	.	.	PUNCT
fcis-22590	28	1	this	this	PRON
fcis-22590	28	2	includes	include	VERB
fcis-22590	28	3	identifying	identify	VERB
fcis-22590	28	4	the	the	DET
fcis-22590	28	5	inputs	input	NOUN
fcis-22590	28	6	,	,	PUNCT
fcis-22590	28	7	outputs	output	NOUN
fcis-22590	28	8	,	,	PUNCT
fcis-22590	28	9	and	and	CCONJ
fcis-22590	28	10	possible	possible	ADJ
fcis-22590	28	11	constraints	constraint	NOUN
fcis-22590	28	12	of	of	ADP
fcis-22590	28	13	the	the	DET
fcis-22590	28	14	problem	problem	NOUN
fcis-22590	28	15	.	.	PUNCT
fcis-22590	29	1	the	the	DET
fcis-22590	29	2	inputs	input	NOUN
fcis-22590	29	3	usually	usually	ADV
fcis-22590	29	4	include	include	VERB
fcis-22590	29	5	start	start	NOUN
fcis-22590	29	6	points	point	NOUN
fcis-22590	29	7	,	,	PUNCT
fcis-22590	29	8	target	target	NOUN
fcis-22590	29	9	points	point	NOUN
fcis-22590	29	10	,	,	PUNCT
fcis-22590	29	11	obstacle	obstacle	NOUN
fcis-22590	29	12	information	information	NOUN
fcis-22590	29	13	,	,	PUNCT
fcis-22590	29	14	etc	etc	X
fcis-22590	29	15	.	.	X
fcis-22590	29	16	,	,	PUNCT
fcis-22590	29	17	while	while	SCONJ
fcis-22590	29	18	the	the	DET
fcis-22590	29	19	outputs	output	NOUN
fcis-22590	29	20	are	be	AUX
fcis-22590	29	21	the	the	DET
fcis-22590	29	22	optimal	optimal	ADJ
fcis-22590	29	23	path	path	NOUN
fcis-22590	29	24	or	or	CCONJ
fcis-22590	29	25	set	set	NOUN
fcis-22590	29	26	of	of	ADP
fcis-22590	29	27	paths	path	NOUN
fcis-22590	29	28	.	.	PUNCT
fcis-22590	30	1	the	the	DET
fcis-22590	30	2	second	second	ADJ
fcis-22590	30	3	is	be	AUX
fcis-22590	30	4	mathematical	mathematical	ADJ
fcis-22590	30	5	modelling	modelling	NOUN
fcis-22590	30	6	.	.	PUNCT
fcis-22590	31	1	once	once	ADV
fcis-22590	31	2	a	a	DET
fcis-22590	31	3	problem	problem	NOUN
fcis-22590	31	4	has	have	AUX
fcis-22590	31	5	been	be	AUX
fcis-22590	31	6	clearly	clearly	ADV
fcis-22590	31	7	defined	define	VERB
fcis-22590	31	8	,	,	PUNCT
fcis-22590	31	9	it	it	PRON
fcis-22590	31	10	can	can	AUX
fcis-22590	31	11	begin	begin	VERB
fcis-22590	31	12	to	to	PART
fcis-22590	31	13	be	be	AUX
fcis-22590	31	14	translated	translate	VERB
fcis-22590	31	15	into	into	ADP
fcis-22590	31	16	a	a	DET
fcis-22590	31	17	mathematical	mathematical	ADJ
fcis-22590	31	18	model	model	NOUN
fcis-22590	31	19	.	.	PUNCT
fcis-22590	32	1	this	this	PRON
fcis-22590	32	2	usually	usually	ADV
fcis-22590	32	3	involves	involve	VERB
fcis-22590	32	4	abstracting	abstract	VERB
fcis-22590	32	5	aspects	aspect	NOUN
fcis-22590	32	6	of	of	ADP
fcis-22590	32	7	the	the	DET
fcis-22590	32	8	problem	problem	NOUN
fcis-22590	32	9	into	into	ADP
fcis-22590	32	10	mathematical	mathematical	ADJ
fcis-22590	32	11	expressions	expression	NOUN
fcis-22590	32	12	or	or	CCONJ
fcis-22590	32	13	equations	equation	NOUN
fcis-22590	32	14	.	.	PUNCT
fcis-22590	33	1	for	for	ADP
fcis-22590	33	2	example	example	NOUN
fcis-22590	33	3	,	,	PUNCT
fcis-22590	33	4	a	a	DET
fcis-22590	33	5	graph	graph	NOUN
fcis-22590	33	6	from	from	ADP
fcis-22590	33	7	graph	graph	NOUN
fcis-22590	33	8	theory	theory	NOUN
fcis-22590	33	9	can	can	AUX
fcis-22590	33	10	be	be	AUX
fcis-22590	33	11	used	use	VERB
fcis-22590	33	12	to	to	PART
fcis-22590	33	13	represent	represent	VERB
fcis-22590	33	14	the	the	DET
fcis-22590	33	15	possible	possible	ADJ
fcis-22590	33	16	paths	path	NOUN
fcis-22590	33	17	and	and	CCONJ
fcis-22590	33	18	obstacles	obstacle	NOUN
fcis-22590	33	19	for	for	ADP
fcis-22590	33	20	a	a	DET
fcis-22590	33	21	uav	uav	PROPN
fcis-22590	33	22	,	,	PUNCT
fcis-22590	33	23	and	and	CCONJ
fcis-22590	33	24	then	then	ADV
fcis-22590	33	25	an	an	DET
fcis-22590	33	26	optimisation	optimisation	NOUN
fcis-22590	33	27	algorithm	algorithm	NOUN
fcis-22590	33	28	can	can	AUX
fcis-22590	33	29	be	be	AUX
fcis-22590	33	30	used	use	VERB
fcis-22590	33	31	to	to	PART
fcis-22590	33	32	find	find	VERB
fcis-22590	33	33	the	the	DET
fcis-22590	33	34	optimal	optimal	ADJ
fcis-22590	33	35	path	path	NOUN
fcis-22590	33	36	.	.	PUNCT
fcis-22590	34	1	the	the	DET
fcis-22590	34	2	third	third	NOUN
fcis-22590	34	3	is	be	AUX
fcis-22590	34	4	constraints	constraint	NOUN
fcis-22590	34	5	consideration	consideration	NOUN
fcis-22590	34	6	,	,	PUNCT
fcis-22590	34	7	the	the	DET
fcis-22590	34	8	uav	uav	PROPN
fcis-22590	34	9	path	path	PROPN
fcis-22590	34	10	planning	planning	NOUN
fcis-22590	34	11	model	model	NOUN
fcis-22590	34	12	must	must	AUX
fcis-22590	34	13	also	also	ADV
fcis-22590	34	14	take	take	VERB
fcis-22590	34	15	into	into	ADP
fcis-22590	34	16	account	account	NOUN
fcis-22590	34	17	various	various	ADJ
fcis-22590	34	18	constraints	constraint	NOUN
fcis-22590	34	19	,	,	PUNCT
fcis-22590	34	20	such	such	ADJ
fcis-22590	34	21	as	as	ADP
fcis-22590	34	22	the	the	DET
fcis-22590	34	23	maximum	maximum	ADJ
fcis-22590	34	24	flight	flight	NOUN
fcis-22590	34	25	speed	speed	NOUN
fcis-22590	34	26	of	of	ADP
fcis-22590	34	27	the	the	DET
fcis-22590	34	28	uav	uav	PROPN
fcis-22590	34	29	,	,	PUNCT
fcis-22590	34	30	the	the	DET
fcis-22590	34	31	minimum	minimum	ADJ
fcis-22590	34	32	turning	turning	NOUN
fcis-22590	34	33	radius	radius	NOUN
fcis-22590	34	34	,	,	PUNCT
fcis-22590	34	35	and	and	CCONJ
fcis-22590	34	36	obstacle	obstacle	NOUN
fcis-22590	34	37	avoidance	avoidance	NOUN
fcis-22590	34	38	23	23	NUM
fcis-22590	34	39	requirements	requirement	NOUN
fcis-22590	34	40	.	.	PUNCT
fcis-22590	35	1	these	these	DET
fcis-22590	35	2	constraints	constraint	NOUN
fcis-22590	35	3	will	will	AUX
fcis-22590	35	4	affect	affect	VERB
fcis-22590	35	5	the	the	DET
fcis-22590	35	6	selection	selection	NOUN
fcis-22590	35	7	and	and	CCONJ
fcis-22590	35	8	optimisation	optimisation	NOUN
fcis-22590	35	9	of	of	ADP
fcis-22590	35	10	the	the	DET
fcis-22590	35	11	final	final	ADJ
fcis-22590	35	12	path	path	NOUN
fcis-22590	35	13	.	.	PUNCT
fcis-22590	36	1	the	the	DET
fcis-22590	36	2	fourth	fourth	ADJ
fcis-22590	36	3	is	be	AUX
fcis-22590	36	4	the	the	DET
fcis-22590	36	5	path	path	NOUN
fcis-22590	36	6	assessment	assessment	NOUN
fcis-22590	36	7	metrics	metric	NOUN
fcis-22590	36	8	.	.	PUNCT
fcis-22590	37	1	in	in	ADP
fcis-22590	37	2	building	build	VERB
fcis-22590	37	3	the	the	DET
fcis-22590	37	4	model	model	NOUN
fcis-22590	37	5	,	,	PUNCT
fcis-22590	37	6	metrics	metric	NOUN
fcis-22590	37	7	need	need	VERB
fcis-22590	37	8	to	to	PART
fcis-22590	37	9	be	be	AUX
fcis-22590	37	10	identified	identify	VERB
fcis-22590	37	11	to	to	PART
fcis-22590	37	12	assess	assess	VERB
fcis-22590	37	13	the	the	DET
fcis-22590	37	14	merits	merit	NOUN
fcis-22590	37	15	of	of	ADP
fcis-22590	37	16	the	the	DET
fcis-22590	37	17	path	path	NOUN
fcis-22590	37	18	.	.	PUNCT
fcis-22590	38	1	these	these	DET
fcis-22590	38	2	metrics	metric	NOUN
fcis-22590	38	3	can	can	AUX
fcis-22590	38	4	include	include	VERB
fcis-22590	38	5	path	path	NOUN
fcis-22590	38	6	length	length	NOUN
fcis-22590	38	7	,	,	PUNCT
fcis-22590	38	8	flight	flight	NOUN
fcis-22590	38	9	time	time	NOUN
fcis-22590	38	10	,	,	PUNCT
fcis-22590	38	11	energy	energy	NOUN
fcis-22590	38	12	consumption	consumption	NOUN
fcis-22590	38	13	,	,	PUNCT
fcis-22590	38	14	safety	safety	NOUN
fcis-22590	38	15	,	,	PUNCT
fcis-22590	38	16	and	and	CCONJ
fcis-22590	38	17	so	so	ADV
fcis-22590	38	18	on	on	ADV
fcis-22590	38	19	.	.	PUNCT
fcis-22590	39	1	depending	depend	VERB
fcis-22590	39	2	on	on	ADP
fcis-22590	39	3	different	different	ADJ
fcis-22590	39	4	application	application	NOUN
fcis-22590	39	5	scenarios	scenario	NOUN
fcis-22590	39	6	and	and	CCONJ
fcis-22590	39	7	needs	need	NOUN
fcis-22590	39	8	,	,	PUNCT
fcis-22590	39	9	the	the	DET
fcis-22590	39	10	importance	importance	NOUN
fcis-22590	39	11	of	of	ADP
fcis-22590	39	12	these	these	DET
fcis-22590	39	13	indicators	indicator	NOUN
fcis-22590	39	14	may	may	AUX
fcis-22590	39	15	vary	vary	VERB
fcis-22590	39	16	.	.	PUNCT
fcis-22590	40	1	4	4	X
fcis-22590	40	2	.	.	X
fcis-22590	40	3	uav	uav	PROPN
fcis-22590	40	4	path	path	PROPN
fcis-22590	40	5	planning	planning	PROPN
fcis-22590	40	6	algorithms	algorithms	PROPN
fcis-22590	40	7	uav	uav	PROPN
fcis-22590	40	8	path	path	PROPN
fcis-22590	40	9	planning	planning	NOUN
fcis-22590	40	10	algorithms	algorithm	NOUN
fcis-22590	40	11	in	in	ADP
fcis-22590	40	12	general	general	ADJ
fcis-22590	40	13	can	can	AUX
fcis-22590	40	14	be	be	AUX
fcis-22590	40	15	classified	classify	VERB
fcis-22590	40	16	into	into	ADP
fcis-22590	40	17	classical	classical	ADJ
fcis-22590	40	18	search	search	NOUN
fcis-22590	40	19	algorithms	algorithm	NOUN
fcis-22590	40	20	,	,	PUNCT
fcis-22590	40	21	evolutionary	evolutionary	ADJ
fcis-22590	40	22	algorithms	algorithm	NOUN
fcis-22590	40	23	,	,	PUNCT
fcis-22590	40	24	heuristic	heuristic	ADJ
fcis-22590	40	25	search	search	NOUN
fcis-22590	40	26	based	base	VERB
fcis-22590	40	27	algorithms	algorithm	NOUN
fcis-22590	40	28	and	and	CCONJ
fcis-22590	40	29	deep	deep	ADJ
fcis-22590	40	30	learning	learning	NOUN
fcis-22590	40	31	methods	method	NOUN
fcis-22590	40	32	.	.	PUNCT
fcis-22590	41	1	it	it	PRON
fcis-22590	41	2	can	can	AUX
fcis-22590	41	3	also	also	ADV
fcis-22590	41	4	be	be	AUX
fcis-22590	41	5	summarised	summarise	VERB
fcis-22590	41	6	as	as	ADP
fcis-22590	41	7	categorised	categorise	VERB
fcis-22590	41	8	as	as	ADP
fcis-22590	41	9	in	in	ADP
fcis-22590	41	10	figure	figure	NOUN
fcis-22590	41	11	1	1	NUM
fcis-22590	41	12	.	.	PUNCT
fcis-22590	42	1	classical	classical	ADJ
fcis-22590	42	2	search	search	NOUN
fcis-22590	42	3	algorithms	algorithm	NOUN
fcis-22590	42	4	try	try	VERB
fcis-22590	42	5	to	to	PART
fcis-22590	42	6	find	find	VERB
fcis-22590	42	7	the	the	DET
fcis-22590	42	8	optimal	optimal	ADJ
fcis-22590	42	9	path	path	NOUN
fcis-22590	42	10	from	from	ADP
fcis-22590	42	11	the	the	DET
fcis-22590	42	12	starting	starting	NOUN
fcis-22590	42	13	point	point	NOUN
fcis-22590	42	14	to	to	ADP
fcis-22590	42	15	the	the	DET
fcis-22590	42	16	goal	goal	NOUN
fcis-22590	42	17	point	point	NOUN
fcis-22590	42	18	in	in	ADP
fcis-22590	42	19	space	space	NOUN
fcis-22590	42	20	based	base	VERB
fcis-22590	42	21	on	on	ADP
fcis-22590	42	22	the	the	DET
fcis-22590	42	23	principle	principle	NOUN
fcis-22590	42	24	of	of	ADP
fcis-22590	42	25	graph	graph	NOUN
fcis-22590	42	26	search	search	NOUN
fcis-22590	42	27	.	.	PUNCT
fcis-22590	43	1	among	among	ADP
fcis-22590	43	2	them	they	PRON
fcis-22590	43	3	,	,	PUNCT
fcis-22590	43	4	dijkstra	dijkstra	PROPN
fcis-22590	43	5	's	's	PART
fcis-22590	43	6	algorithm	algorithm	NOUN
fcis-22590	43	7	and	and	CCONJ
fcis-22590	43	8	a	a	DET
fcis-22590	43	9	-	-	PUNCT
fcis-22590	43	10	star	star	NOUN
fcis-22590	43	11	algorithm	algorithm	NOUN
fcis-22590	43	12	are	be	AUX
fcis-22590	43	13	the	the	DET
fcis-22590	43	14	most	most	ADV
fcis-22590	43	15	common	common	ADJ
fcis-22590	43	16	representatives	representative	NOUN
fcis-22590	43	17	;	;	PUNCT
fcis-22590	43	18	dijkstra	dijkstra	PROPN
fcis-22590	43	19	's	's	PART
fcis-22590	43	20	algorithm	algorithm	NOUN
fcis-22590	43	21	finds	find	VERB
fcis-22590	43	22	the	the	DET
fcis-22590	43	23	optimal	optimal	ADJ
fcis-22590	43	24	path	path	NOUN
fcis-22590	43	25	by	by	ADP
fcis-22590	43	26	calculating	calculate	VERB
fcis-22590	43	27	the	the	DET
fcis-22590	43	28	shortest	short	ADJ
fcis-22590	43	29	paths	path	NOUN
fcis-22590	43	30	from	from	ADP
fcis-22590	43	31	the	the	DET
fcis-22590	43	32	starting	starting	NOUN
fcis-22590	43	33	point	point	NOUN
fcis-22590	43	34	to	to	ADP
fcis-22590	43	35	each	each	DET
fcis-22590	43	36	node	node	NOUN
fcis-22590	43	37	,	,	PUNCT
fcis-22590	43	38	but	but	CCONJ
fcis-22590	43	39	it	it	PRON
fcis-22590	43	40	may	may	AUX
fcis-22590	43	41	have	have	VERB
fcis-22590	43	42	the	the	DET
fcis-22590	43	43	problem	problem	NOUN
fcis-22590	43	44	of	of	ADP
fcis-22590	43	45	high	high	ADJ
fcis-22590	43	46	computation	computation	NOUN
fcis-22590	43	47	;	;	PUNCT
fcis-22590	43	48	while	while	SCONJ
fcis-22590	43	49	a	a	DET
fcis-22590	43	50	-	-	PUNCT
fcis-22590	43	51	algorithm	algorithm	NOUN
fcis-22590	43	52	combines	combine	VERB
fcis-22590	43	53	the	the	DET
fcis-22590	43	54	idea	idea	NOUN
fcis-22590	43	55	of	of	ADP
fcis-22590	43	56	heuristic	heuristic	ADJ
fcis-22590	43	57	search	search	NOUN
fcis-22590	43	58	,	,	PUNCT
fcis-22590	43	59	and	and	CCONJ
fcis-22590	43	60	guides	guide	VERB
fcis-22590	43	61	the	the	DET
fcis-22590	43	62	direction	direction	NOUN
fcis-22590	43	63	of	of	ADP
fcis-22590	43	64	the	the	DET
fcis-22590	43	65	search	search	NOUN
fcis-22590	43	66	by	by	ADP
fcis-22590	43	67	a	a	DET
fcis-22590	43	68	heuristic	heuristic	ADJ
fcis-22590	43	69	function	function	NOUN
fcis-22590	43	70	(	(	PUNCT
fcis-22590	43	71	e.g.	e.g.	ADV
fcis-22590	43	72	,	,	PUNCT
fcis-22590	43	73	estimation	estimation	NOUN
fcis-22590	43	74	of	of	ADP
fcis-22590	43	75	the	the	DET
fcis-22590	43	76	distance	distance	NOUN
fcis-22590	43	77	to	to	ADP
fcis-22590	43	78	the	the	DET
fcis-22590	43	79	goal	goal	NOUN
fcis-22590	43	80	point	point	NOUN
fcis-22590	43	81	)	)	PUNCT
fcis-22590	43	82	,	,	PUNCT
fcis-22590	43	83	which	which	PRON
fcis-22590	43	84	enhances	enhance	VERB
fcis-22590	43	85	the	the	DET
fcis-22590	43	86	efficiency	efficiency	NOUN
fcis-22590	43	87	of	of	ADP
fcis-22590	43	88	the	the	DET
fcis-22590	43	89	search	search	NOUN
fcis-22590	43	90	.	.	PUNCT
fcis-22590	44	1	evolutionary	evolutionary	ADJ
fcis-22590	44	2	algorithms	algorithm	NOUN
fcis-22590	44	3	include	include	VERB
fcis-22590	44	4	genetic	genetic	ADJ
fcis-22590	44	5	algorithms	algorithm	NOUN
fcis-22590	44	6	,	,	PUNCT
fcis-22590	44	7	particle	particle	NOUN
fcis-22590	44	8	swarm	swarm	NOUN
fcis-22590	44	9	algorithms	algorithm	NOUN
fcis-22590	44	10	,	,	PUNCT
fcis-22590	44	11	etc	etc	X
fcis-22590	44	12	.	.	X
fcis-22590	45	1	these	these	DET
fcis-22590	45	2	algorithms	algorithm	NOUN
fcis-22590	45	3	search	search	VERB
fcis-22590	45	4	for	for	ADP
fcis-22590	45	5	optimal	optimal	ADJ
fcis-22590	45	6	solutions	solution	NOUN
fcis-22590	45	7	in	in	ADP
fcis-22590	45	8	the	the	DET
fcis-22590	45	9	solution	solution	NOUN
fcis-22590	45	10	space	space	NOUN
fcis-22590	45	11	by	by	ADP
fcis-22590	45	12	simulating	simulate	VERB
fcis-22590	45	13	the	the	DET
fcis-22590	45	14	process	process	NOUN
fcis-22590	45	15	of	of	ADP
fcis-22590	45	16	natural	natural	ADJ
fcis-22590	45	17	evolution	evolution	NOUN
fcis-22590	45	18	.	.	PUNCT
fcis-22590	46	1	genetic	genetic	ADJ
fcis-22590	46	2	algorithms	algorithms	NOUN
fcis-22590	46	3	optimize	optimize	VERB
fcis-22590	46	4	paths	path	NOUN
fcis-22590	46	5	step	step	NOUN
fcis-22590	46	6	by	by	ADP
fcis-22590	46	7	step	step	NOUN
fcis-22590	46	8	by	by	ADP
fcis-22590	46	9	simulating	simulate	VERB
fcis-22590	46	10	operations	operation	NOUN
fcis-22590	46	11	such	such	ADJ
fcis-22590	46	12	as	as	ADP
fcis-22590	46	13	natural	natural	ADJ
fcis-22590	46	14	selection	selection	NOUN
fcis-22590	46	15	,	,	PUNCT
fcis-22590	46	16	crossover	crossover	NOUN
fcis-22590	46	17	and	and	CCONJ
fcis-22590	46	18	mutation	mutation	NOUN
fcis-22590	46	19	,	,	PUNCT
fcis-22590	46	20	and	and	CCONJ
fcis-22590	46	21	are	be	AUX
fcis-22590	46	22	suitable	suitable	ADJ
fcis-22590	46	23	for	for	ADP
fcis-22590	46	24	complex	complex	ADJ
fcis-22590	46	25	path	path	NOUN
fcis-22590	46	26	planning	planning	NOUN
fcis-22590	46	27	problems	problem	NOUN
fcis-22590	46	28	;	;	PUNCT
fcis-22590	46	29	particle	particle	NOUN
fcis-22590	46	30	swarm	swarm	NOUN
fcis-22590	46	31	algorithms	algorithm	NOUN
fcis-22590	46	32	simulate	simulate	VERB
fcis-22590	46	33	the	the	DET
fcis-22590	46	34	behaviour	behaviour	NOUN
fcis-22590	46	35	of	of	ADP
fcis-22590	46	36	flocks	flock	NOUN
fcis-22590	46	37	of	of	ADP
fcis-22590	46	38	birds	bird	NOUN
fcis-22590	46	39	or	or	CCONJ
fcis-22590	46	40	schools	school	NOUN
fcis-22590	46	41	of	of	ADP
fcis-22590	46	42	fish	fish	NOUN
fcis-22590	46	43	,	,	PUNCT
fcis-22590	46	44	search	search	NOUN
fcis-22590	46	45	for	for	ADP
fcis-22590	46	46	optimal	optimal	ADJ
fcis-22590	46	47	solutions	solution	NOUN
fcis-22590	46	48	in	in	ADP
fcis-22590	46	49	the	the	DET
fcis-22590	46	50	solution	solution	NOUN
fcis-22590	46	51	space	space	NOUN
fcis-22590	46	52	,	,	PUNCT
fcis-22590	46	53	and	and	CCONJ
fcis-22590	46	54	have	have	VERB
fcis-22590	46	55	better	well	ADJ
fcis-22590	46	56	global	global	ADJ
fcis-22590	46	57	search	search	NOUN
fcis-22590	46	58	capability	capability	NOUN
fcis-22590	46	59	and	and	CCONJ
fcis-22590	46	60	convergence	convergence	NOUN
fcis-22590	46	61	.	.	PUNCT
fcis-22590	47	1	algorithms	algorithm	NOUN
fcis-22590	47	2	based	base	VERB
fcis-22590	47	3	on	on	ADP
fcis-22590	47	4	heuristic	heuristic	ADJ
fcis-22590	47	5	search	search	NOUN
fcis-22590	47	6	improve	improve	VERB
fcis-22590	47	7	search	search	NOUN
fcis-22590	47	8	efficiency	efficiency	NOUN
fcis-22590	47	9	by	by	ADP
fcis-22590	47	10	introducing	introduce	VERB
fcis-22590	47	11	heuristic	heuristic	ADJ
fcis-22590	47	12	information	information	NOUN
fcis-22590	47	13	to	to	PART
fcis-22590	47	14	guide	guide	VERB
fcis-22590	47	15	the	the	DET
fcis-22590	47	16	search	search	NOUN
fcis-22590	47	17	direction	direction	NOUN
fcis-22590	47	18	.	.	PUNCT
fcis-22590	48	1	they	they	PRON
fcis-22590	48	2	include	include	VERB
fcis-22590	48	3	ant	ant	ADJ
fcis-22590	48	4	colony	colony	NOUN
fcis-22590	48	5	algorithm	algorithm	NOUN
fcis-22590	48	6	,	,	PUNCT
fcis-22590	48	7	artificial	artificial	ADJ
fcis-22590	48	8	bee	bee	NOUN
fcis-22590	48	9	colony	colony	NOUN
fcis-22590	48	10	algorithm	algorithm	NOUN
fcis-22590	48	11	,	,	PUNCT
fcis-22590	48	12	etc	etc	X
fcis-22590	48	13	.	.	X
fcis-22590	48	14	ant	ant	ADJ
fcis-22590	48	15	colony	colony	NOUN
fcis-22590	48	16	algorithms	algorithm	NOUN
fcis-22590	48	17	simulate	simulate	VERB
fcis-22590	48	18	the	the	DET
fcis-22590	48	19	behaviour	behaviour	NOUN
fcis-22590	48	20	of	of	ADP
fcis-22590	48	21	ants	ant	NOUN
fcis-22590	48	22	searching	search	VERB
fcis-22590	48	23	for	for	ADP
fcis-22590	48	24	food	food	NOUN
fcis-22590	48	25	,	,	PUNCT
fcis-22590	48	26	searching	search	VERB
fcis-22590	48	27	for	for	ADP
fcis-22590	48	28	the	the	DET
fcis-22590	48	29	optimal	optimal	ADJ
fcis-22590	48	30	path	path	NOUN
fcis-22590	48	31	in	in	ADP
fcis-22590	48	32	the	the	DET
fcis-22590	48	33	solution	solution	NOUN
fcis-22590	48	34	space	space	NOUN
fcis-22590	48	35	;	;	PUNCT
fcis-22590	48	36	artificial	artificial	ADJ
fcis-22590	48	37	bee	bee	NOUN
fcis-22590	48	38	colony	colony	NOUN
fcis-22590	48	39	algorithms	algorithm	NOUN
fcis-22590	48	40	simulate	simulate	VERB
fcis-22590	48	41	the	the	DET
fcis-22590	48	42	behaviour	behaviour	NOUN
fcis-22590	48	43	of	of	ADP
fcis-22590	48	44	bees	bee	NOUN
fcis-22590	48	45	searching	search	VERB
fcis-22590	48	46	for	for	ADP
fcis-22590	48	47	nectar	nectar	NOUN
fcis-22590	48	48	,	,	PUNCT
fcis-22590	48	49	searching	search	VERB
fcis-22590	48	50	for	for	ADP
fcis-22590	48	51	the	the	DET
fcis-22590	48	52	optimal	optimal	ADJ
fcis-22590	48	53	path	path	NOUN
fcis-22590	48	54	through	through	ADP
fcis-22590	48	55	the	the	DET
fcis-22590	48	56	process	process	NOUN
fcis-22590	48	57	of	of	ADP
fcis-22590	48	58	‘	'	PUNCT
fcis-22590	48	59	recruitment	recruitment	NOUN
fcis-22590	48	60	’	'	PUNCT
fcis-22590	48	61	and	and	CCONJ
fcis-22590	48	62	‘	'	PUNCT
fcis-22590	48	63	observation	observation	NOUN
fcis-22590	48	64	’	'	PUNCT
fcis-22590	48	65	.	.	PUNCT
fcis-22590	49	1	deep	deep	ADJ
fcis-22590	49	2	learning	learning	NOUN
fcis-22590	49	3	methods	method	NOUN
fcis-22590	49	4	use	use	VERB
fcis-22590	49	5	either	either	CCONJ
fcis-22590	49	6	neural	neural	ADJ
fcis-22590	49	7	network	network	NOUN
fcis-22590	49	8	models	model	NOUN
fcis-22590	49	9	or	or	CCONJ
fcis-22590	49	10	reinforcement	reinforcement	NOUN
fcis-22590	49	11	learning	learning	NOUN
fcis-22590	49	12	methods	method	NOUN
fcis-22590	49	13	to	to	PART
fcis-22590	49	14	learn	learn	VERB
fcis-22590	49	15	path	path	NOUN
fcis-22590	49	16	planning	planning	NOUN
fcis-22590	49	17	strategies	strategy	NOUN
fcis-22590	49	18	.	.	PUNCT
fcis-22590	50	1	neural	neural	ADJ
fcis-22590	50	2	network	network	NOUN
fcis-22590	50	3	models	model	NOUN
fcis-22590	50	4	can	can	AUX
fcis-22590	50	5	learn	learn	VERB
fcis-22590	50	6	complex	complex	ADJ
fcis-22590	50	7	path	path	NOUN
fcis-22590	50	8	planning	planning	NOUN
fcis-22590	50	9	strategies	strategy	NOUN
fcis-22590	50	10	through	through	ADP
fcis-22590	50	11	training	training	NOUN
fcis-22590	50	12	,	,	PUNCT
fcis-22590	50	13	which	which	PRON
fcis-22590	50	14	is	be	AUX
fcis-22590	50	15	suitable	suitable	ADJ
fcis-22590	50	16	for	for	ADP
fcis-22590	50	17	path	path	NOUN
fcis-22590	50	18	planning	planning	NOUN
fcis-22590	50	19	problems	problem	NOUN
fcis-22590	50	20	with	with	ADP
fcis-22590	50	21	large	large	ADJ
fcis-22590	50	22	-	-	PUNCT
fcis-22590	50	23	scale	scale	NOUN
fcis-22590	50	24	data	datum	NOUN
fcis-22590	50	25	and	and	CCONJ
fcis-22590	50	26	complex	complex	ADJ
fcis-22590	50	27	environments	environment	NOUN
fcis-22590	50	28	;	;	PUNCT
fcis-22590	50	29	while	while	SCONJ
fcis-22590	50	30	reinforcement	reinforcement	NOUN
fcis-22590	50	31	learning	learning	NOUN
fcis-22590	50	32	methods	method	NOUN
fcis-22590	50	33	learn	learn	VERB
fcis-22590	50	34	optimal	optimal	ADJ
fcis-22590	50	35	path	path	NOUN
fcis-22590	50	36	planning	planning	NOUN
fcis-22590	50	37	strategies	strategy	NOUN
fcis-22590	50	38	through	through	ADP
fcis-22590	50	39	the	the	DET
fcis-22590	50	40	interaction	interaction	NOUN
fcis-22590	50	41	between	between	ADP
fcis-22590	50	42	intelligences	intelligence	NOUN
fcis-22590	50	43	and	and	CCONJ
fcis-22590	50	44	environments	environment	NOUN
fcis-22590	50	45	,	,	PUNCT
fcis-22590	50	46	which	which	PRON
fcis-22590	50	47	is	be	AUX
fcis-22590	50	48	suitable	suitable	ADJ
fcis-22590	50	49	for	for	ADP
fcis-22590	50	50	path	path	NOUN
fcis-22590	50	51	planning	planning	NOUN
fcis-22590	50	52	problems	problem	NOUN
fcis-22590	50	53	requiring	require	VERB
fcis-22590	50	54	real	real	ADJ
fcis-22590	50	55	-	-	PUNCT
fcis-22590	50	56	time	time	NOUN
fcis-22590	50	57	adjustment	adjustment	NOUN
fcis-22590	50	58	of	of	ADP
fcis-22590	50	59	strategies	strategy	NOUN
fcis-22590	50	60	.	.	PUNCT
fcis-22590	51	1	here	here	ADV
fcis-22590	51	2	is	be	AUX
fcis-22590	51	3	an	an	DET
fcis-22590	51	4	example	example	NOUN
fcis-22590	51	5	of	of	ADP
fcis-22590	51	6	the	the	DET
fcis-22590	51	7	gold	gold	ADJ
fcis-22590	51	8	rush	rush	NOUN
fcis-22590	51	9	algorithm	algorithm	NOUN
fcis-22590	51	10	.	.	PUNCT
fcis-22590	52	1	fig	fig	NOUN
fcis-22590	52	2	.	.	PUNCT
fcis-22590	53	1	2	2	NUM
fcis-22590	53	2	demonstrates	demonstrate	VERB
fcis-22590	53	3	the	the	DET
fcis-22590	53	4	application	application	NOUN
fcis-22590	53	5	of	of	ADP
fcis-22590	53	6	the	the	DET
fcis-22590	53	7	gold	gold	ADJ
fcis-22590	53	8	rush	rush	NOUN
fcis-22590	53	9	algorithm	algorithm	NOUN
fcis-22590	53	10	for	for	ADP
fcis-22590	53	11	uav	uav	PROPN
fcis-22590	53	12	path	path	PROPN
fcis-22590	53	13	planning	planning	NOUN
fcis-22590	53	14	in	in	ADP
fcis-22590	53	15	mountainous	mountainous	ADJ
fcis-22590	53	16	terrain	terrain	NOUN
fcis-22590	53	17	.	.	PUNCT
fcis-22590	54	1	fig	fig	NOUN
fcis-22590	54	2	1	1	NUM
fcis-22590	54	3	.	.	PUNCT
fcis-22590	54	4	path	path	NOUN
fcis-22590	54	5	planning	planning	NOUN
fcis-22590	54	6	algorithm	algorithm	PROPN
fcis-22590	54	7	24	24	NUM
fcis-22590	54	8	fig	fig	NOUN
fcis-22590	54	9	2	2	NUM
fcis-22590	54	10	.	.	PUNCT
fcis-22590	54	11	effectiveness	effectiveness	NOUN
fcis-22590	54	12	of	of	ADP
fcis-22590	54	13	gold	gold	ADJ
fcis-22590	54	14	rush	rush	NOUN
fcis-22590	54	15	algorithm	algorithm	NOUN
fcis-22590	54	16	in	in	ADP
fcis-22590	54	17	uav	uav	PROPN
fcis-22590	54	18	path	path	PROPN
fcis-22590	54	19	planning	plan	VERB
fcis-22590	54	20	5	5	NUM
fcis-22590	54	21	.	.	PUNCT
fcis-22590	55	1	conclusion	conclusion	PROPN
fcis-22590	55	2	uav	uav	PROPN
fcis-22590	55	3	path	path	PROPN
fcis-22590	55	4	planning	planning	NOUN
fcis-22590	55	5	is	be	AUX
fcis-22590	55	6	a	a	DET
fcis-22590	55	7	complex	complex	ADJ
fcis-22590	55	8	and	and	CCONJ
fcis-22590	55	9	critical	critical	ADJ
fcis-22590	55	10	problem	problem	NOUN
fcis-22590	55	11	,	,	PUNCT
fcis-22590	55	12	which	which	PRON
fcis-22590	55	13	is	be	AUX
fcis-22590	55	14	of	of	ADP
fcis-22590	55	15	great	great	ADJ
fcis-22590	55	16	significance	significance	NOUN
fcis-22590	55	17	in	in	ADP
fcis-22590	55	18	uav	uav	PROPN
fcis-22590	55	19	applications	application	NOUN
fcis-22590	55	20	.	.	PUNCT
fcis-22590	56	1	for	for	ADP
fcis-22590	56	2	the	the	DET
fcis-22590	56	3	uav	uav	PROPN
fcis-22590	56	4	path	path	PROPN
fcis-22590	56	5	planning	planning	PROPN
fcis-22590	56	6	problem	problem	NOUN
fcis-22590	56	7	,	,	PUNCT
fcis-22590	56	8	there	there	PRON
fcis-22590	56	9	exist	exist	VERB
fcis-22590	56	10	a	a	DET
fcis-22590	56	11	variety	variety	NOUN
fcis-22590	56	12	of	of	ADP
fcis-22590	56	13	algorithms	algorithm	NOUN
fcis-22590	56	14	and	and	CCONJ
fcis-22590	56	15	methods	method	NOUN
fcis-22590	56	16	,	,	PUNCT
fcis-22590	56	17	including	include	VERB
fcis-22590	56	18	classical	classical	ADJ
fcis-22590	56	19	search	search	NOUN
fcis-22590	56	20	algorithms	algorithm	NOUN
fcis-22590	56	21	,	,	PUNCT
fcis-22590	56	22	evolutionary	evolutionary	ADJ
fcis-22590	56	23	algorithms	algorithm	NOUN
fcis-22590	56	24	,	,	PUNCT
fcis-22590	56	25	heuristic	heuristic	ADJ
fcis-22590	56	26	search	search	NOUN
fcis-22590	56	27	-	-	PUNCT
fcis-22590	56	28	based	base	VERB
fcis-22590	56	29	algorithms	algorithm	NOUN
fcis-22590	56	30	,	,	PUNCT
fcis-22590	56	31	and	and	CCONJ
fcis-22590	56	32	deep	deep	ADJ
fcis-22590	56	33	learning	learning	NOUN
fcis-22590	56	34	methods	method	NOUN
fcis-22590	56	35	.	.	PUNCT
fcis-22590	57	1	each	each	DET
fcis-22590	57	2	method	method	NOUN
fcis-22590	57	3	has	have	VERB
fcis-22590	57	4	its	its	PRON
fcis-22590	57	5	unique	unique	ADJ
fcis-22590	57	6	advantages	advantage	NOUN
fcis-22590	57	7	and	and	CCONJ
fcis-22590	57	8	applicable	applicable	ADJ
fcis-22590	57	9	scenarios	scenario	NOUN
fcis-22590	57	10	,	,	PUNCT
fcis-22590	57	11	and	and	CCONJ
fcis-22590	57	12	the	the	DET
fcis-22590	57	13	appropriate	appropriate	ADJ
fcis-22590	57	14	algorithm	algorithm	NOUN
fcis-22590	57	15	can	can	AUX
fcis-22590	57	16	be	be	AUX
fcis-22590	57	17	selected	select	VERB
fcis-22590	57	18	according	accord	VERB
fcis-22590	57	19	to	to	ADP
fcis-22590	57	20	the	the	DET
fcis-22590	57	21	specific	specific	ADJ
fcis-22590	57	22	problem	problem	NOUN
fcis-22590	57	23	characteristics	characteristic	NOUN
fcis-22590	57	24	and	and	CCONJ
fcis-22590	57	25	needs	need	NOUN
fcis-22590	57	26	.	.	PUNCT
fcis-22590	58	1	combining	combine	VERB
fcis-22590	58	2	the	the	DET
fcis-22590	58	3	characteristics	characteristic	NOUN
fcis-22590	58	4	of	of	ADP
fcis-22590	58	5	various	various	ADJ
fcis-22590	58	6	algorithms	algorithm	NOUN
fcis-22590	58	7	,	,	PUNCT
fcis-22590	58	8	classical	classical	ADJ
fcis-22590	58	9	search	search	NOUN
fcis-22590	58	10	algorithms	algorithm	NOUN
fcis-22590	58	11	are	be	AUX
fcis-22590	58	12	suitable	suitable	ADJ
fcis-22590	58	13	for	for	ADP
fcis-22590	58	14	path	path	NOUN
fcis-22590	58	15	planning	planning	NOUN
fcis-22590	58	16	in	in	ADP
fcis-22590	58	17	static	static	ADJ
fcis-22590	58	18	environments	environment	NOUN
fcis-22590	58	19	;	;	PUNCT
fcis-22590	58	20	evolutionary	evolutionary	ADJ
fcis-22590	58	21	algorithms	algorithm	NOUN
fcis-22590	58	22	are	be	AUX
fcis-22590	58	23	suitable	suitable	ADJ
fcis-22590	58	24	for	for	ADP
fcis-22590	58	25	complex	complex	ADJ
fcis-22590	58	26	path	path	NOUN
fcis-22590	58	27	planning	planning	NOUN
fcis-22590	58	28	problems	problem	NOUN
fcis-22590	58	29	and	and	CCONJ
fcis-22590	58	30	have	have	VERB
fcis-22590	58	31	better	well	ADJ
fcis-22590	58	32	global	global	ADJ
fcis-22590	58	33	search	search	NOUN
fcis-22590	58	34	capabilities	capability	NOUN
fcis-22590	58	35	;	;	PUNCT
fcis-22590	58	36	heuristic	heuristic	NOUN
fcis-22590	58	37	-	-	PUNCT
fcis-22590	58	38	based	base	VERB
fcis-22590	58	39	search	search	NOUN
fcis-22590	58	40	algorithms	algorithm	NOUN
fcis-22590	58	41	combine	combine	VERB
fcis-22590	58	42	heuristic	heuristic	ADJ
fcis-22590	58	43	information	information	NOUN
fcis-22590	58	44	to	to	PART
fcis-22590	58	45	guide	guide	VERB
fcis-22590	58	46	the	the	DET
fcis-22590	58	47	search	search	NOUN
fcis-22590	58	48	direction	direction	NOUN
fcis-22590	58	49	,	,	PUNCT
fcis-22590	58	50	and	and	CCONJ
fcis-22590	58	51	are	be	AUX
fcis-22590	58	52	suitable	suitable	ADJ
fcis-22590	58	53	for	for	ADP
fcis-22590	58	54	path	path	NOUN
fcis-22590	58	55	planning	planning	NOUN
fcis-22590	58	56	problems	problem	NOUN
fcis-22590	58	57	that	that	PRON
fcis-22590	58	58	require	require	VERB
fcis-22590	58	59	efficient	efficient	ADJ
fcis-22590	58	60	search	search	NOUN
fcis-22590	58	61	;	;	PUNCT
fcis-22590	58	62	and	and	CCONJ
fcis-22590	58	63	deep	deep	ADJ
fcis-22590	58	64	learning	learning	NOUN
fcis-22590	58	65	methods	method	NOUN
fcis-22590	58	66	are	be	AUX
fcis-22590	58	67	suitable	suitable	ADJ
fcis-22590	58	68	for	for	ADP
fcis-22590	58	69	path	path	NOUN
fcis-22590	58	70	planning	planning	NOUN
fcis-22590	58	71	problems	problem	NOUN
fcis-22590	58	72	in	in	ADP
fcis-22590	58	73	large	large	ADJ
fcis-22590	58	74	-	-	PUNCT
fcis-22590	58	75	scale	scale	NOUN
fcis-22590	58	76	data	datum	NOUN
fcis-22590	58	77	and	and	CCONJ
fcis-22590	58	78	complex	complex	ADJ
fcis-22590	58	79	environments	environment	NOUN
fcis-22590	58	80	.	.	PUNCT
fcis-22590	59	1	based	base	VERB
fcis-22590	59	2	on	on	ADP
fcis-22590	59	3	the	the	DET
fcis-22590	59	4	above	above	ADJ
fcis-22590	59	5	analysis	analysis	NOUN
fcis-22590	59	6	,	,	PUNCT
fcis-22590	59	7	when	when	SCONJ
fcis-22590	59	8	choosing	choose	VERB
fcis-22590	59	9	an	an	DET
fcis-22590	59	10	algorithm	algorithm	NOUN
fcis-22590	59	11	to	to	PART
fcis-22590	59	12	solve	solve	VERB
fcis-22590	59	13	a	a	DET
fcis-22590	59	14	specific	specific	ADJ
fcis-22590	59	15	uav	uav	PROPN
fcis-22590	59	16	path	path	PROPN
fcis-22590	59	17	planning	planning	PROPN
fcis-22590	59	18	problem	problem	NOUN
fcis-22590	59	19	,	,	PUNCT
fcis-22590	59	20	the	the	DET
fcis-22590	59	21	characteristics	characteristic	NOUN
fcis-22590	59	22	of	of	ADP
fcis-22590	59	23	the	the	DET
fcis-22590	59	24	problem	problem	NOUN
fcis-22590	59	25	and	and	CCONJ
fcis-22590	59	26	specific	specific	ADJ
fcis-22590	59	27	constraints	constraint	NOUN
fcis-22590	59	28	need	need	VERB
fcis-22590	59	29	to	to	PART
fcis-22590	59	30	be	be	AUX
fcis-22590	59	31	considered	consider	VERB
fcis-22590	59	32	comprehensively	comprehensively	ADV
fcis-22590	59	33	in	in	ADP
fcis-22590	59	34	order	order	NOUN
fcis-22590	59	35	to	to	PART
fcis-22590	59	36	improve	improve	VERB
fcis-22590	59	37	the	the	DET
fcis-22590	59	38	efficiency	efficiency	NOUN
fcis-22590	59	39	and	and	CCONJ
fcis-22590	59	40	performance	performance	NOUN
fcis-22590	59	41	of	of	ADP
fcis-22590	59	42	path	path	NOUN
fcis-22590	59	43	planning	planning	NOUN
fcis-22590	59	44	.	.	PUNCT
fcis-22590	60	1	acknowledgments	acknowledgment	NOUN
fcis-22590	60	2	this	this	DET
fcis-22590	60	3	work	work	NOUN
fcis-22590	60	4	is	be	AUX
fcis-22590	60	5	supported	support	VERB
fcis-22590	60	6	by	by	ADP
fcis-22590	60	7	the	the	DET
fcis-22590	60	8	campus	campus	NOUN
fcis-22590	60	9	level	level	NOUN
fcis-22590	60	10	project	project	NOUN
fcis-22590	60	11	of	of	ADP
fcis-22590	60	12	engineering	engineering	NOUN
fcis-22590	60	13	university	university	PROPN
fcis-22590	60	14	of	of	ADP
fcis-22590	60	15	pap	pap	PROPN
fcis-22590	60	16	(	(	PUNCT
fcis-22590	60	17	no.wjx2023114	no.wjx2023114	PROPN
fcis-22590	60	18	,	,	PUNCT
fcis-22590	60	19	no	no	INTJ
fcis-22590	60	20	.	.	PUNCT
fcis-22590	61	1	jly	jly	NOUN
fcis-22590	61	2	2023086	2023086	NUM
fcis-22590	61	3	,	,	PUNCT
fcis-22590	61	4	no.wky202322	no.wky202322	PROPN
fcis-22590	61	5	,	,	PUNCT
fcis-22590	61	6	wjy202408	wjy202408	NOUN
fcis-22590	61	7	,	,	PUNCT
fcis-22590	61	8	wjy	wjy	NOUN
fcis-22590	61	9	2024	2024	NUM
fcis-22590	61	10	29	29	NUM
fcis-22590	61	11	)	)	PUNCT
fcis-22590	61	12	,	,	PUNCT
fcis-22590	61	13	the	the	DET
fcis-22590	61	14	young	young	ADJ
fcis-22590	61	15	and	and	CCONJ
fcis-22590	61	16	middle	middle	ADJ
fcis-22590	61	17	-	-	PUNCT
fcis-22590	61	18	aged	aged	ADJ
fcis-22590	61	19	scientific	scientific	ADJ
fcis-22590	61	20	research	research	NOUN
fcis-22590	61	21	backbone	backbone	NOUN
fcis-22590	61	22	projects	project	NOUN
fcis-22590	61	23	of	of	ADP
fcis-22590	61	24	engineering	engineering	NOUN
fcis-22590	61	25	university	university	PROPN
fcis-22590	61	26	of	of	ADP
fcis-22590	61	27	pap	pap	PROPN
fcis-22590	61	28	(	(	PUNCT
fcis-22590	61	29	no	no	INTJ
fcis-22590	61	30	.	.	PUNCT
fcis-22590	62	1	kygg	kygg	PROPN
fcis-22590	62	2	201905	201905	NUM
fcis-22590	62	3	)	)	PUNCT
fcis-22590	62	4	and	and	CCONJ
fcis-22590	62	5	the	the	DET
fcis-22590	62	6	basic	basic	ADJ
fcis-22590	62	7	research	research	NOUN
fcis-22590	62	8	foundation	foundation	NOUN
fcis-22590	62	9	project	project	NOUN
fcis-22590	62	10	of	of	ADP
fcis-22590	62	11	engineering	engineering	NOUN
fcis-22590	62	12	university	university	PROPN
fcis-22590	62	13	of	of	ADP
fcis-22590	62	14	pap	pap	PROPN
fcis-22590	62	15	(	(	PUNCT
fcis-22590	62	16	no.wjy202019	no.wjy202019	PROPN
fcis-22590	62	17	,	,	PUNCT
fcis-22590	62	18	no	no	INTJ
fcis-22590	62	19	.	.	PUNCT
fcis-22590	63	1	wjy	wjy	NOUN
fcis-22590	63	2	202144	202144	NUM
fcis-22590	63	3	,	,	PUNCT
fcis-22590	63	4	no	no	INTJ
fcis-22590	63	5	.	.	NOUN
fcis-22590	63	6	wjy202233	wjy202233	NOUN
fcis-22590	63	7	)	)	PUNCT
fcis-22590	63	8	,	,	PUNCT
fcis-22590	63	9	the	the	DET
fcis-22590	63	10	pap	pap	NOUN
fcis-22590	63	11	’s	’s	PART
fcis-22590	63	12	military	military	ADJ
fcis-22590	63	13	scientific	scientific	ADJ
fcis-22590	63	14	research	research	NOUN
fcis-22590	63	15	mandatory	mandatory	ADJ
fcis-22590	63	16	project	project	NOUN
fcis-22590	63	17	(	(	PUNCT
fcis-22590	63	18	no.wj2020a020048	no.wj2020a020048	PROPN
fcis-22590	63	19	,	,	PUNCT
fcis-22590	63	20	no	no	INTJ
fcis-22590	63	21	.	.	PUNCT
fcis-22590	64	1	wj	wj	PROPN
fcis-22590	64	2	2021a030100	2021a030100	NUM
fcis-22590	64	3	)	)	PUNCT
fcis-22590	64	4	,	,	PUNCT
fcis-22590	64	5	the	the	DET
fcis-22590	64	6	pap	pap	NOUN
fcis-22590	64	7	’s	’s	PART
fcis-22590	64	8	military	military	ADJ
fcis-22590	64	9	theory	theory	NOUN
fcis-22590	64	10	research	research	NOUN
fcis-22590	64	11	project	project	NOUN
fcis-22590	64	12	(	(	PUNCT
fcis-22590	64	13	wjjy22jl0236	wjjy22jl0236	NOUN
fcis-22590	64	14	)	)	PUNCT
fcis-22590	64	15	,	,	PUNCT
fcis-22590	64	16	the	the	DET
fcis-22590	64	17	pap	pap	NOUN
fcis-22590	64	18	’s	’s	PART
fcis-22590	64	19	national	national	PROPN
fcis-22590	64	20	defense	defense	PROPN
fcis-22590	64	21	science	science	PROPN
fcis-22590	64	22	and	and	CCONJ
fcis-22590	64	23	technology	technology	NOUN
fcis-22590	64	24	innovation	innovation	NOUN
fcis-22590	64	25	project	project	NOUN
fcis-22590	64	26	(	(	PUNCT
fcis-22590	64	27	no.zzky20223103	no.zzky20223103	PROPN
fcis-22590	64	28	)	)	PUNCT
fcis-22590	64	29	.	.	PUNCT
fcis-22590	65	1	references	reference	NOUN
fcis-22590	65	2	[	[	X
fcis-22590	65	3	1	1	NUM
fcis-22590	65	4	]	]	X
fcis-22590	65	5	guo	guo	PROPN
fcis-22590	65	6	y	y	PROPN
fcis-22590	65	7	,	,	PUNCT
fcis-22590	65	8	liu	liu	PROPN
fcis-22590	65	9	x	x	PROPN
fcis-22590	65	10	,	,	PUNCT
fcis-22590	65	11	zhang	zhang	PROPN
fcis-22590	65	12	w	w	PROPN
fcis-22590	65	13	,	,	PUNCT
fcis-22590	65	14	et	et	PROPN
fcis-22590	65	15	al	al	PROPN
fcis-22590	65	16	.	.	PROPN
fcis-22590	66	1	3d	3d	PROPN
fcis-22590	66	2	path	path	PROPN
fcis-22590	66	3	planning	planning	NOUN
fcis-22590	66	4	method	method	NOUN
fcis-22590	66	5	for	for	ADP
fcis-22590	66	6	uav	uav	PROPN
fcis-22590	66	7	based	base	VERB
fcis-22590	66	8	on	on	ADP
fcis-22590	66	9	improved	improve	VERB
fcis-22590	66	10	artificial	artificial	ADJ
fcis-22590	66	11	potential	potential	ADJ
fcis-22590	66	12	field[j	field[j	NOUN
fcis-22590	66	13	]	]	PUNCT
fcis-22590	66	14	.	.	PUNCT
fcis-22590	67	1	xibei	xibei	PROPN
fcis-22590	67	2	gongye	gongye	PROPN
fcis-22590	67	3	daxue	daxue	PROPN
fcis-22590	67	4	xuebao	xuebao	PROPN
fcis-22590	67	5	/	/	SYM
fcis-22590	67	6	journal	journal	PROPN
fcis-22590	67	7	of	of	ADP
fcis-22590	67	8	northwestern	northwestern	PROPN
fcis-22590	67	9	polytechnical	polytechnical	PROPN
fcis-22590	67	10	university	university	NOUN
fcis-22590	67	11	,	,	PUNCT
fcis-22590	67	12	2020	2020	NUM
fcis-22590	67	13	,	,	PUNCT
fcis-22590	67	14	38(5	38(5	NUM
fcis-22590	67	15	):	):	PUNCT
fcis-22590	67	16	977	977	NUM
fcis-22590	67	17	-	-	SYM
fcis-22590	67	18	986	986	NUM
fcis-22590	67	19	.	.	PUNCT
fcis-22590	68	1	[	[	X
fcis-22590	68	2	2	2	X
fcis-22590	68	3	]	]	PUNCT
fcis-22590	68	4	cao	cao	PROPN
fcis-22590	68	5	l	l	PROPN
fcis-22590	68	6	,	,	PUNCT
fcis-22590	68	7	wang	wang	PROPN
fcis-22590	68	8	l	l	PROPN
fcis-22590	68	9	,	,	PUNCT
fcis-22590	68	10	liu	liu	PROPN
fcis-22590	68	11	y	y	PROPN
fcis-22590	68	12	,	,	PUNCT
fcis-22590	68	13	et	et	PROPN
fcis-22590	68	14	al	al	PROPN
fcis-22590	68	15	.	.	PROPN
fcis-22590	69	1	3d	3d	PROPN
fcis-22590	69	2	trajectory	trajectory	NOUN
fcis-22590	69	3	planning	planning	NOUN
fcis-22590	69	4	based	base	VERB
fcis-22590	69	5	on	on	ADP
fcis-22590	69	6	the	the	DET
fcis-22590	69	7	rapidly	rapidly	ADV
fcis-22590	69	8	-	-	PUNCT
fcis-22590	69	9	exploring	explore	VERB
fcis-22590	69	10	random	random	ADJ
fcis-22590	69	11	tree	tree	NOUN
fcis-22590	69	12	–	–	PUNCT
fcis-22590	69	13	connect	connect	ADJ
fcis-22590	69	14	and	and	CCONJ
fcis-22590	69	15	artificial	artificial	ADJ
fcis-22590	69	16	potential	potential	ADJ
fcis-22590	69	17	fields	field	NOUN
fcis-22590	69	18	method	method	NOUN
fcis-22590	69	19	for	for	ADP
fcis-22590	69	20	unmanned	unmanned	ADJ
fcis-22590	69	21	aerial	aerial	ADJ
fcis-22590	69	22	vehicles[j	vehicles[j	NOUN
fcis-22590	69	23	]	]	PUNCT
fcis-22590	69	24	.	.	PUNCT
fcis-22590	70	1	international	international	ADJ
fcis-22590	70	2	journal	journal	PROPN
fcis-22590	70	3	of	of	ADP
fcis-22590	70	4	advanced	advanced	ADJ
fcis-22590	70	5	robotic	robotic	ADJ
fcis-22590	70	6	systems	system	NOUN
fcis-22590	70	7	,	,	PUNCT
fcis-22590	70	8	2022	2022	NUM
fcis-22590	70	9	,	,	PUNCT
fcis-22590	70	10	19(5	19(5	NUM
fcis-22590	70	11	):	):	PUNCT
fcis-22590	70	12	17298806221118867	17298806221118867	NUM
fcis-22590	70	13	.	.	PUNCT
fcis-22590	71	1	[	[	X
fcis-22590	71	2	3	3	X
fcis-22590	71	3	]	]	X
fcis-22590	71	4	zhao	zhao	PROPN
fcis-22590	71	5	y	y	PROPN
fcis-22590	71	6	,	,	PUNCT
fcis-22590	71	7	zheng	zheng	PROPN
fcis-22590	71	8	z	z	PROPN
fcis-22590	71	9	,	,	PUNCT
fcis-22590	71	10	liu	liu	PROPN
fcis-22590	71	11	y.	y.	PROPN
fcis-22590	71	12	survey	survey	PROPN
fcis-22590	71	13	on	on	ADP
fcis-22590	71	14	computationalintelligence	computationalintelligence	NOUN
fcis-22590	71	15	-	-	PUNCT
fcis-22590	71	16	based	base	VERB
fcis-22590	71	17	uav	uav	PROPN
fcis-22590	71	18	path	path	PROPN
fcis-22590	71	19	planning[j	planning[j	PROPN
fcis-22590	71	20	]	]	PUNCT
fcis-22590	71	21	.	.	PUNCT
fcis-22590	72	1	knowledge	knowledge	NOUN
fcis-22590	72	2	-	-	PUNCT
fcis-22590	72	3	based	base	VERB
fcis-22590	72	4	systems	system	NOUN
fcis-22590	72	5	,	,	PUNCT
fcis-22590	72	6	2018	2018	NUM
fcis-22590	72	7	,	,	PUNCT
fcis-22590	72	8	158	158	NUM
fcis-22590	72	9	:	:	SYM
fcis-22590	72	10	54	54	NUM
fcis-22590	72	11	-	-	SYM
fcis-22590	72	12	64	64	NUM
fcis-22590	72	13	.	.	PUNCT
fcis-22590	73	1	[	[	X
fcis-22590	73	2	4	4	X
fcis-22590	73	3	]	]	PUNCT
fcis-22590	73	4	souto	souto	NOUN
fcis-22590	73	5	a	a	PRON
fcis-22590	73	6	,	,	PUNCT
fcis-22590	73	7	alfaia	alfaia	PROPN
fcis-22590	73	8	r	r	PROPN
fcis-22590	73	9	,	,	PUNCT
fcis-22590	73	10	cardoso	cardoso	PROPN
fcis-22590	73	11	e	e	PROPN
fcis-22590	73	12	,	,	PUNCT
fcis-22590	73	13	et	et	PROPN
fcis-22590	73	14	al	al	PROPN
fcis-22590	73	15	.	.	PROPN
fcis-22590	74	1	uav	uav	PROPN
fcis-22590	74	2	path	path	PROPN
fcis-22590	74	3	planning	planning	NOUN
fcis-22590	74	4	optimization	optimization	NOUN
fcis-22590	74	5	strategy	strategy	NOUN
fcis-22590	74	6	:	:	PUNCT
fcis-22590	74	7	considerations	consideration	NOUN
fcis-22590	74	8	of	of	ADP
fcis-22590	74	9	urban	urban	ADJ
fcis-22590	74	10	morphology	morphology	NOUN
fcis-22590	74	11	,	,	PUNCT
fcis-22590	74	12	microclimate	microclimate	NOUN
fcis-22590	74	13	,	,	PUNCT
fcis-22590	74	14	and	and	CCONJ
fcis-22590	74	15	energy	energy	NOUN
fcis-22590	74	16	efficiency	efficiency	NOUN
fcis-22590	74	17	using	use	VERB
fcis-22590	74	18	q	q	NOUN
fcis-22590	74	19	-	-	PUNCT
fcis-22590	74	20	learning	learn	VERB
fcis-22590	74	21	algorithm	algorithm	NOUN
fcis-22590	75	1	[	[	X
fcis-22590	75	2	j	j	X
fcis-22590	75	3	]	]	X
fcis-22590	75	4	.	.	PUNCT
fcis-22590	76	1	drones	drone	NOUN
fcis-22590	76	2	,	,	PUNCT
fcis-22590	76	3	2023	2023	NUM
fcis-22590	76	4	,	,	PUNCT
fcis-22590	76	5	7(2	7(2	NUM
fcis-22590	76	6	):	):	PUNCT
fcis-22590	76	7	123	123	NUM
fcis-22590	76	8	.	.	PUNCT
fcis-22590	77	1	[	[	X
fcis-22590	77	2	5	5	NUM
fcis-22590	77	3	]	]	X
fcis-22590	77	4	deng	deng	PROPN
fcis-22590	77	5	w	w	PROPN
fcis-22590	77	6	,	,	PUNCT
fcis-22590	77	7	chen	chen	PROPN
fcis-22590	77	8	r	r	PROPN
fcis-22590	77	9	,	,	PUNCT
fcis-22590	77	10	he	he	PRON
fcis-22590	77	11	b	b	NOUN
fcis-22590	77	12	,	,	PUNCT
fcis-22590	77	13	et	et	PROPN
fcis-22590	77	14	al	al	PROPN
fcis-22590	77	15	.	.	PUNCT
fcis-22590	78	1	a	a	DET
fcis-22590	78	2	novel	novel	ADJ
fcis-22590	78	3	two	two	NUM
fcis-22590	78	4	-	-	PUNCT
fcis-22590	78	5	stage	stage	NOUN
fcis-22590	78	6	hybrid	hybrid	NOUN
fcis-22590	78	7	swarm	swarm	NOUN
fcis-22590	78	8	intelligence	intelligence	NOUN
fcis-22590	78	9	optimization	optimization	NOUN
fcis-22590	78	10	algorithm	algorithm	NOUN
fcis-22590	78	11	and	and	CCONJ
fcis-22590	78	12	application[j	application[j	PROPN
fcis-22590	78	13	]	]	PUNCT
fcis-22590	78	14	.	.	PUNCT
fcis-22590	79	1	soft	soft	ADJ
fcis-22590	79	2	computing	computing	NOUN
fcis-22590	79	3	,	,	PUNCT
fcis-22590	79	4	2012	2012	NUM
fcis-22590	79	5	,	,	PUNCT
fcis-22590	79	6	16	16	NUM
fcis-22590	79	7	:	:	SYM
fcis-22590	79	8	1707	1707	NUM
fcis-22590	79	9	-	-	SYM
fcis-22590	79	10	1722	1722	NUM
fcis-22590	79	11	.	.	PUNCT
fcis-22590	80	1	[	[	X
fcis-22590	80	2	6	6	NUM
fcis-22590	80	3	]	]	PUNCT
fcis-22590	80	4	yang	yang	PROPN
fcis-22590	80	5	f	f	PROPN
fcis-22590	80	6	,	,	PUNCT
fcis-22590	80	7	wang	wang	PROPN
fcis-22590	80	8	p	p	PROPN
fcis-22590	80	9	,	,	PUNCT
fcis-22590	80	10	zhang	zhang	PROPN
fcis-22590	80	11	y	y	PROPN
fcis-22590	80	12	,	,	PUNCT
fcis-22590	80	13	et	et	PROPN
fcis-22590	80	14	al	al	PROPN
fcis-22590	80	15	.	.	PUNCT
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fcis-22590	80	18	swarm	swarm	NOUN
fcis-22590	80	19	intelligence	intelligence	NOUN
fcis-22590	80	20	optimization	optimization	NOUN
fcis-22590	80	21	algorithms[c]//2017	algorithms[c]//2017	ADP
fcis-22590	80	22	ieee	ieee	NOUN
fcis-22590	80	23	international	international	ADJ
fcis-22590	80	24	conference	conference	NOUN
fcis-22590	80	25	on	on	ADP
fcis-22590	80	26	unmanned	unmanned	ADJ
fcis-22590	80	27	systems	system	NOUN
fcis-22590	80	28	(	(	PUNCT
fcis-22590	80	29	icus	icus	NOUN
fcis-22590	80	30	)	)	PUNCT
fcis-22590	80	31	.	.	PUNCT
fcis-22590	81	1	ieee	ieee	PROPN
fcis-22590	81	2	,	,	PUNCT
fcis-22590	81	3	2017	2017	NUM
fcis-22590	81	4	:	:	PUNCT
fcis-22590	81	5	544549	544549	NUM
fcis-22590	81	6	.	.	PUNCT
fcis-22590	82	1	[	[	X
fcis-22590	82	2	7	7	X
fcis-22590	82	3	]	]	X
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fcis-22590	82	5	m	m	PROPN
fcis-22590	82	6	,	,	PUNCT
fcis-22590	82	7	li	li	PROPN
fcis-22590	82	8	c	c	PROPN
fcis-22590	82	9	,	,	PUNCT
fcis-22590	82	10	yang	yang	PROPN
fcis-22590	82	11	s.	s.	PROPN
fcis-22590	82	12	a	a	DET
fcis-22590	82	13	survey	survey	NOUN
fcis-22590	82	14	of	of	ADP
fcis-22590	82	15	swarm	swarm	NOUN
fcis-22590	82	16	intelligence	intelligence	NOUN
fcis-22590	82	17	for	for	ADP
fcis-22590	82	18	dynamic	dynamic	ADJ
fcis-22590	82	19	optimization	optimization	NOUN
fcis-22590	82	20	:	:	PUNCT
fcis-22590	82	21	algorithms	algorithm	NOUN
fcis-22590	82	22	and	and	CCONJ
fcis-22590	82	23	applications[j	applications[j	NOUN
fcis-22590	82	24	]	]	PUNCT
fcis-22590	82	25	.	.	PUNCT
fcis-22590	83	1	swarm	swarm	NOUN
fcis-22590	83	2	and	and	CCONJ
fcis-22590	83	3	evolutionary	evolutionary	ADJ
fcis-22590	83	4	computation	computation	NOUN
fcis-22590	83	5	,	,	PUNCT
fcis-22590	83	6	2017	2017	NUM
fcis-22590	83	7	,	,	PUNCT
fcis-22590	83	8	33	33	NUM
fcis-22590	83	9	:	:	SYM
fcis-22590	83	10	1	1	NUM
fcis-22590	83	11	-	-	SYM
fcis-22590	83	12	17	17	NUM
fcis-22590	83	13	.	.	PUNCT
fcis-22590	84	1	[	[	X
fcis-22590	84	2	8	8	X
fcis-22590	84	3	]	]	X
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fcis-22590	84	5	yue	yue	PROPN
fcis-22590	84	6	,	,	PUNCT
fcis-22590	84	7	li	li	PROPN
fcis-22590	84	8	cao	cao	PROPN
fcis-22590	84	9	,	,	PUNCT
fcis-22590	84	10	haishao	haishao	PROPN
fcis-22590	84	11	chen	chen	PROPN
fcis-22590	84	12	,	,	PUNCT
fcis-22590	84	13	yaodan	yaodan	PROPN
fcis-22590	84	14	chen	chen	PROPN
fcis-22590	84	15	,	,	PUNCT
fcis-22590	84	16	and	and	CCONJ
fcis-22590	84	17	zhonggen	zhonggen	PROPN
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fcis-22590	84	20	2023	2023	NUM
fcis-22590	84	21	.	.	PUNCT
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fcis-22590	84	23	an	an	DET
fcis-22590	84	24	optimal	optimal	ADJ
fcis-22590	84	25	kelm	kelm	NOUN
fcis-22590	84	26	using	use	VERB
fcis-22590	84	27	the	the	DET
fcis-22590	84	28	pso	pso	NOUN
fcis-22590	84	29	-	-	PUNCT
fcis-22590	84	30	boa	boa	NOUN
fcis-22590	84	31	optimization	optimization	NOUN
fcis-22590	84	32	strategy	strategy	NOUN
fcis-22590	84	33	with	with	ADP
fcis-22590	84	34	applications	application	NOUN
fcis-22590	84	35	in	in	ADP
fcis-22590	84	36	data	datum	NOUN
fcis-22590	84	37	classification	classification	NOUN
fcis-22590	84	38	.	.	PUNCT
fcis-22590	85	1	biomimetics	biomimetic	NOUN
fcis-22590	85	2	,	,	PUNCT
fcis-22590	85	3	8	8	NUM
fcis-22590	85	4	,	,	PUNCT
fcis-22590	85	5	no	no	INTJ
fcis-22590	85	6	.	.	NOUN
fcis-22590	86	1	3	3	NUM
fcis-22590	86	2	:	:	SYM
fcis-22590	86	3	306	306	NUM
fcis-22590	86	4	.	.	PUNCT
fcis-22590	87	1	[	[	X
fcis-22590	87	2	9	9	X
fcis-22590	87	3	]	]	X
fcis-22590	87	4	cao	cao	PROPN
fcis-22590	87	5	li	li	PROPN
fcis-22590	87	6	,	,	PUNCT
fcis-22590	87	7	wang	wang	PROPN
fcis-22590	87	8	z	z	PROPN
fcis-22590	87	9	,	,	PUNCT
fcis-22590	87	10	wang	wang	PROPN
fcis-22590	87	11	z	z	PROPN
fcis-22590	87	12	,	,	PUNCT
fcis-22590	87	13	wang	wang	PROPN
fcis-22590	87	14	x	x	PROPN
fcis-22590	87	15	,	,	PUNCT
fcis-22590	87	16	yinggao	yinggao	PROPN
fcis-22590	87	17	yue	yue	PROPN
fcis-22590	87	18	*	*	PROPN
fcis-22590	87	19	.	.	PUNCT
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fcis-22590	88	2	energysaving	energysaving	NOUN
fcis-22590	88	3	and	and	CCONJ
fcis-22590	88	4	efficient	efficient	ADJ
fcis-22590	88	5	deployment	deployment	NOUN
fcis-22590	88	6	strategy	strategy	NOUN
fcis-22590	88	7	for	for	ADP
fcis-22590	88	8	heterogeneous	heterogeneous	ADJ
fcis-22590	88	9	wireless	wireless	ADJ
fcis-22590	88	10	sensor	sensor	NOUN
fcis-22590	88	11	networks	network	NOUN
fcis-22590	88	12	based	base	VERB
fcis-22590	88	13	on	on	ADP
fcis-22590	88	14	improved	improve	VERB
fcis-22590	88	15	seagull	seagull	NOUN
fcis-22590	88	16	optimization	optimization	NOUN
fcis-22590	88	17	algorithm	algorithm	NOUN
fcis-22590	88	18	.	.	PUNCT
fcis-22590	89	1	biomimetics	biomimetic	NOUN
fcis-22590	89	2	.	.	PUNCT
fcis-22590	90	1	2023	2023	NUM
fcis-22590	90	2	;	;	PUNCT
fcis-22590	90	3	8(2):231	8(2):231	NUM
fcis-22590	90	4	.	.	PUNCT
fcis-22590	91	1	[	[	X
fcis-22590	91	2	10	10	NUM
fcis-22590	91	3	]	]	PUNCT
fcis-22590	91	4	he	he	PRON
fcis-22590	91	5	y	y	PROPN
fcis-22590	91	6	,	,	PUNCT
fcis-22590	91	7	wang	wang	PROPN
fcis-22590	91	8	m.	m.	PROPN
fcis-22590	91	9	an	an	DET
fcis-22590	91	10	improved	improved	ADJ
fcis-22590	91	11	chaos	chaos	NOUN
fcis-22590	91	12	sparrow	sparrow	NOUN
fcis-22590	91	13	search	search	NOUN
fcis-22590	91	14	algorithm	algorithm	NOUN
fcis-22590	91	15	for	for	ADP
fcis-22590	91	16	uav	uav	PROPN
fcis-22590	91	17	path	path	PROPN
fcis-22590	91	18	planning[j	planning[j	PROPN
fcis-22590	91	19	]	]	PUNCT
fcis-22590	91	20	.	.	PUNCT
fcis-22590	92	1	scientific	scientific	ADJ
fcis-22590	92	2	reports	report	NOUN
fcis-22590	92	3	,	,	PUNCT
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fcis-22590	92	5	,	,	PUNCT
fcis-22590	92	6	14(1	14(1	NUM
fcis-22590	92	7	):	):	PUNCT
fcis-22590	92	8	366	366	NUM
fcis-22590	92	9	.	.	PUNCT
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fcis-22590	93	2	11	11	NUM
fcis-22590	93	3	]	]	X
fcis-22590	93	4	zhu	zhu	PROPN
fcis-22590	93	5	h	h	NOUN
fcis-22590	93	6	,	,	PUNCT
fcis-22590	93	7	wang	wang	PROPN
fcis-22590	93	8	y	y	PROPN
fcis-22590	93	9	,	,	PUNCT
fcis-22590	93	10	li	li	PROPN
fcis-22590	93	11	x.	x.	PROPN
fcis-22590	93	12	ucav	ucav	PROPN
fcis-22590	93	13	path	path	PROPN
fcis-22590	93	14	planning	planning	NOUN
fcis-22590	93	15	for	for	ADP
fcis-22590	93	16	avoiding	avoid	VERB
fcis-22590	93	17	obstacles	obstacle	NOUN
fcis-22590	93	18	using	use	VERB
fcis-22590	93	19	cooperative	cooperative	ADJ
fcis-22590	93	20	co	co	NOUN
fcis-22590	93	21	-	-	NOUN
fcis-22590	93	22	evolution	evolution	ADJ
fcis-22590	93	23	spider	spider	NOUN
fcis-22590	93	24	monkey	monkey	NOUN
fcis-22590	93	25	optimization	optimization	NOUN
fcis-22590	94	1	[	[	X
fcis-22590	94	2	j	j	X
fcis-22590	94	3	]	]	X
fcis-22590	94	4	.	.	PUNCT
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fcis-22590	95	2	-	-	PUNCT
fcis-22590	95	3	based	base	VERB
fcis-22590	95	4	systems	system	NOUN
fcis-22590	95	5	,	,	PUNCT
fcis-22590	95	6	2022	2022	NUM
fcis-22590	95	7	,	,	PUNCT
fcis-22590	95	8	246	246	NUM
fcis-22590	95	9	:	:	SYM
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fcis-22590	95	11	.	.	PUNCT
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fcis-22590	96	2	12	12	NUM
fcis-22590	96	3	]	]	X
fcis-22590	96	4	jiaqi	jiaqi	PROPN
fcis-22590	96	5	s	s	PROPN
fcis-22590	96	6	,	,	PUNCT
fcis-22590	96	7	li	li	PROPN
fcis-22590	96	8	t	t	PROPN
fcis-22590	96	9	,	,	PUNCT
fcis-22590	96	10	hongtao	hongtao	PROPN
fcis-22590	97	1	z	z	PROPN
fcis-22590	97	2	,	,	PUNCT
fcis-22590	97	3	et	et	PROPN
fcis-22590	97	4	al	al	PROPN
fcis-22590	97	5	.	.	PROPN
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fcis-22590	98	2	multi	multi	ADJ
fcis-22590	98	3	-	-	ADJ
fcis-22590	98	4	uav	uav	ADJ
fcis-22590	98	5	path	path	PROPN
fcis-22590	98	6	planning	planning	NOUN
fcis-22590	98	7	method	method	NOUN
fcis-22590	98	8	based	base	VERB
fcis-22590	98	9	on	on	ADP
fcis-22590	98	10	improved	improve	VERB
fcis-22590	98	11	gray	gray	ADJ
fcis-22590	98	12	wolf	wolf	PROPN
fcis-22590	98	13	algorithm[j	algorithm[j	PROPN
fcis-22590	98	14	]	]	PUNCT
fcis-22590	98	15	.	.	PUNCT
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fcis-22590	99	2	and	and	CCONJ
fcis-22590	99	3	electrical	electrical	ADJ
fcis-22590	99	4	engineering	engineering	NOUN
fcis-22590	99	5	,	,	PUNCT
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fcis-22590	99	7	,	,	PUNCT
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fcis-22590	99	9	:	:	SYM
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fcis-22590	99	11	.	.	PUNCT