id	sid	tid	token	lemma	pos
fcis-23828	1	1	frontiers	frontier	NOUN
fcis-23828	1	2	in	in	ADP
fcis-23828	1	3	computing	computing	NOUN
fcis-23828	1	4	and	and	CCONJ
fcis-23828	1	5	intelligent	intelligent	ADJ
fcis-23828	1	6	systems	system	NOUN
fcis-23828	1	7	issn	issn	VERB
fcis-23828	1	8	:	:	PUNCT
fcis-23828	1	9	2832	2832	NUM
fcis-23828	1	10	-	-	SYM
fcis-23828	1	11	6024	6024	NUM
fcis-23828	1	12	|	|	NOUN
fcis-23828	1	13	vol	vol	NOUN
fcis-23828	1	14	.	.	PROPN
fcis-23828	2	1	9	9	NUM
fcis-23828	2	2	,	,	PUNCT
fcis-23828	2	3	no	no	INTJ
fcis-23828	2	4	.	.	NOUN
fcis-23828	2	5	1	1	NUM
fcis-23828	2	6	,	,	PUNCT
fcis-23828	2	7	2024	2024	NUM
fcis-23828	2	8	17	17	NUM
fcis-23828	2	9	research	research	NOUN
fcis-23828	2	10	on	on	ADP
fcis-23828	2	11	optimization	optimization	NOUN
fcis-23828	2	12	method	method	NOUN
fcis-23828	2	13	of	of	ADP
fcis-23828	2	14	dredging	dredging	NOUN
fcis-23828	2	15	robot	robot	NOUN
fcis-23828	2	16	based	base	VERB
fcis-23828	2	17	on	on	ADP
fcis-23828	2	18	deep	deep	ADJ
fcis-23828	2	19	learning	learning	NOUN
fcis-23828	2	20	guangqiang	guangqiang	PROPN
fcis-23828	2	21	lyu	lyu	NOUN
fcis-23828	2	22	1	1	NUM
fcis-23828	2	23	,	,	PUNCT
fcis-23828	2	24	a	a	PRON
fcis-23828	2	25	,	,	PUNCT
fcis-23828	2	26	yanjing	yanje	VERB
fcis-23828	2	27	xie	xie	PROPN
fcis-23828	2	28	2	2	NUM
fcis-23828	2	29	,	,	PUNCT
fcis-23828	2	30	*	*	PUNCT
fcis-23828	2	31	1	1	NUM
fcis-23828	2	32	ningbotech	ningbotech	NOUN
fcis-23828	2	33	university	university	NOUN
fcis-23828	2	34	,	,	PUNCT
fcis-23828	2	35	ningbo	ningbo	PROPN
fcis-23828	2	36	,	,	PUNCT
fcis-23828	2	37	zhejiang	zhejiang	PROPN
fcis-23828	2	38	,	,	PUNCT
fcis-23828	2	39	315100	315100	NUM
fcis-23828	2	40	,	,	PUNCT
fcis-23828	2	41	china	china	PROPN
fcis-23828	2	42	2	2	NUM
fcis-23828	2	43	ningbo	ningbo	PROPN
fcis-23828	2	44	guangqiang	guangqiang	PROPN
fcis-23828	2	45	robot	robot	PROPN
fcis-23828	2	46	technology	technology	PROPN
fcis-23828	2	47	co.	co.	PROPN
fcis-23828	2	48	,	,	PUNCT
fcis-23828	2	49	ltd	ltd	PROPN
fcis-23828	2	50	,	,	PUNCT
fcis-23828	2	51	ningbo	ningbo	PROPN
fcis-23828	2	52	,	,	PUNCT
fcis-23828	2	53	zhejiang	zhejiang	PROPN
fcis-23828	2	54	,	,	PUNCT
fcis-23828	2	55	315000	315000	NUM
fcis-23828	2	56	,	,	PUNCT
fcis-23828	2	57	china	china	PROPN
fcis-23828	2	58	*	*	PUNCT
fcis-23828	2	59	corresponding	correspond	VERB
fcis-23828	2	60	author	author	NOUN
fcis-23828	2	61	:	:	PUNCT
fcis-23828	2	62	yanjing	yanjing	PROPN
fcis-23828	2	63	xie	xie	PROPN
fcis-23828	2	64	(	(	PUNCT
fcis-23828	2	65	email	email	NOUN
fcis-23828	2	66	:	:	PUNCT
fcis-23828	2	67	stonelgq3@gmail.com	stonelgq3@gmail.com	X
fcis-23828	2	68	)	)	PUNCT
fcis-23828	2	69	,	,	PUNCT
fcis-23828	2	70	a	a	DET
fcis-23828	2	71	guangqiang@nbt.edu.cn	guangqiang@nbt.edu.cn	NOUN
fcis-23828	2	72	abstract	abstract	NOUN
fcis-23828	2	73	:	:	PUNCT
fcis-23828	2	74	when	when	SCONJ
fcis-23828	2	75	facing	face	VERB
fcis-23828	2	76	the	the	DET
fcis-23828	2	77	complex	complex	ADJ
fcis-23828	2	78	environment	environment	NOUN
fcis-23828	2	79	,	,	PUNCT
fcis-23828	2	80	the	the	DET
fcis-23828	2	81	traditional	traditional	ADJ
fcis-23828	2	82	dredging	dredging	NOUN
fcis-23828	2	83	robot	robot	NOUN
fcis-23828	2	84	is	be	AUX
fcis-23828	2	85	often	often	ADV
fcis-23828	2	86	limited	limit	VERB
fcis-23828	2	87	by	by	ADP
fcis-23828	2	88	the	the	DET
fcis-23828	2	89	preset	preset	ADJ
fcis-23828	2	90	rules	rule	NOUN
fcis-23828	2	91	and	and	CCONJ
fcis-23828	2	92	algorithms	algorithm	NOUN
fcis-23828	2	93	,	,	PUNCT
fcis-23828	2	94	and	and	CCONJ
fcis-23828	2	95	it	it	PRON
fcis-23828	2	96	is	be	AUX
fcis-23828	2	97	difficult	difficult	ADJ
fcis-23828	2	98	to	to	PART
fcis-23828	2	99	adapt	adapt	VERB
fcis-23828	2	100	to	to	ADP
fcis-23828	2	101	the	the	DET
fcis-23828	2	102	dynamically	dynamically	ADV
fcis-23828	2	103	changing	change	VERB
fcis-23828	2	104	working	work	VERB
fcis-23828	2	105	environment	environment	NOUN
fcis-23828	2	106	.	.	PUNCT
fcis-23828	3	1	in	in	ADP
fcis-23828	3	2	recent	recent	ADJ
fcis-23828	3	3	years	year	NOUN
fcis-23828	3	4	,	,	PUNCT
fcis-23828	3	5	the	the	DET
fcis-23828	3	6	rapid	rapid	ADJ
fcis-23828	3	7	development	development	NOUN
fcis-23828	3	8	of	of	ADP
fcis-23828	3	9	deep	deep	ADJ
fcis-23828	3	10	learning	learning	NOUN
fcis-23828	3	11	has	have	AUX
fcis-23828	3	12	provided	provide	VERB
fcis-23828	3	13	new	new	ADJ
fcis-23828	3	14	ideas	idea	NOUN
fcis-23828	3	15	for	for	ADP
fcis-23828	3	16	robot	robot	NOUN
fcis-23828	3	17	trajectory	trajectory	NOUN
fcis-23828	3	18	planning	planning	NOUN
fcis-23828	3	19	.	.	PUNCT
fcis-23828	4	1	in	in	ADP
fcis-23828	4	2	this	this	DET
fcis-23828	4	3	context	context	NOUN
fcis-23828	4	4	,	,	PUNCT
fcis-23828	4	5	this	this	DET
fcis-23828	4	6	paper	paper	NOUN
fcis-23828	4	7	proposes	propose	VERB
fcis-23828	4	8	an	an	DET
fcis-23828	4	9	optimization	optimization	NOUN
fcis-23828	4	10	method	method	NOUN
fcis-23828	4	11	based	base	VERB
fcis-23828	4	12	on	on	ADP
fcis-23828	4	13	deep	deep	ADJ
fcis-23828	4	14	learning	learning	NOUN
fcis-23828	4	15	,	,	PUNCT
fcis-23828	4	16	combined	combine	VERB
fcis-23828	4	17	with	with	ADP
fcis-23828	4	18	deep	deep	ADJ
fcis-23828	4	19	neural	neural	ADJ
fcis-23828	4	20	network	network	NOUN
fcis-23828	4	21	and	and	CCONJ
fcis-23828	4	22	reinforcement	reinforcement	NOUN
fcis-23828	4	23	learning	learning	NOUN
fcis-23828	4	24	algorithm	algorithm	NOUN
fcis-23828	4	25	,	,	PUNCT
fcis-23828	4	26	aiming	aim	VERB
fcis-23828	4	27	to	to	PART
fcis-23828	4	28	improve	improve	VERB
fcis-23828	4	29	the	the	DET
fcis-23828	4	30	working	work	VERB
fcis-23828	4	31	efficiency	efficiency	NOUN
fcis-23828	4	32	and	and	CCONJ
fcis-23828	4	33	safety	safety	NOUN
fcis-23828	4	34	of	of	ADP
fcis-23828	4	35	dredging	dredging	NOUN
fcis-23828	4	36	robot	robot	NOUN
fcis-23828	4	37	in	in	ADP
fcis-23828	4	38	complex	complex	ADJ
fcis-23828	4	39	environment	environment	NOUN
fcis-23828	4	40	.	.	PUNCT
fcis-23828	5	1	keywords	keyword	NOUN
fcis-23828	5	2	:	:	PUNCT
fcis-23828	5	3	deep	deep	ADJ
fcis-23828	5	4	learning	learning	NOUN
fcis-23828	5	5	;	;	PUNCT
fcis-23828	5	6	dredging	dredging	NOUN
fcis-23828	5	7	robot	robot	NOUN
fcis-23828	5	8	;	;	PUNCT
fcis-23828	5	9	track	track	NOUN
fcis-23828	5	10	planning	planning	NOUN
fcis-23828	5	11	;	;	PUNCT
fcis-23828	5	12	optimization	optimization	NOUN
fcis-23828	5	13	method	method	NOUN
fcis-23828	5	14	.	.	PUNCT
fcis-23828	6	1	1	1	X
fcis-23828	6	2	.	.	X
fcis-23828	6	3	introduction	introduction	NOUN
fcis-23828	6	4	traditional	traditional	ADJ
fcis-23828	6	5	dredging	dredging	NOUN
fcis-23828	6	6	methods	method	NOUN
fcis-23828	6	7	mostly	mostly	ADV
fcis-23828	6	8	rely	rely	VERB
fcis-23828	6	9	on	on	ADP
fcis-23828	6	10	manual	manual	ADJ
fcis-23828	6	11	operation	operation	NOUN
fcis-23828	6	12	,	,	PUNCT
fcis-23828	6	13	which	which	PRON
fcis-23828	6	14	is	be	AUX
fcis-23828	6	15	inefficient	inefficient	ADJ
fcis-23828	6	16	and	and	CCONJ
fcis-23828	6	17	has	have	VERB
fcis-23828	6	18	safety	safety	NOUN
fcis-23828	6	19	risks	risk	NOUN
fcis-23828	6	20	.	.	PUNCT
fcis-23828	7	1	the	the	DET
fcis-23828	7	2	trajectory	trajectory	NOUN
fcis-23828	7	3	planning	planning	NOUN
fcis-23828	7	4	optimization	optimization	NOUN
fcis-23828	7	5	scheme	scheme	NOUN
fcis-23828	7	6	of	of	ADP
fcis-23828	7	7	the	the	DET
fcis-23828	7	8	desilting	desilte	VERB
fcis-23828	7	9	robot	robot	NOUN
fcis-23828	7	10	based	base	VERB
fcis-23828	7	11	on	on	ADP
fcis-23828	7	12	deep	deep	ADJ
fcis-23828	7	13	learning	learning	NOUN
fcis-23828	7	14	is	be	AUX
fcis-23828	7	15	a	a	DET
fcis-23828	7	16	method	method	NOUN
fcis-23828	7	17	to	to	PART
fcis-23828	7	18	deal	deal	VERB
fcis-23828	7	19	with	with	ADP
fcis-23828	7	20	the	the	DET
fcis-23828	7	21	complex	complex	ADJ
fcis-23828	7	22	challenges	challenge	NOUN
fcis-23828	7	23	brought	bring	VERB
fcis-23828	7	24	by	by	ADP
fcis-23828	7	25	the	the	DET
fcis-23828	7	26	rapid	rapid	ADJ
fcis-23828	7	27	development	development	NOUN
fcis-23828	7	28	of	of	ADP
fcis-23828	7	29	underwater	underwater	NOUN
fcis-23828	7	30	desilting	desilte	VERB
fcis-23828	7	31	operations	operation	NOUN
fcis-23828	7	32	and	and	CCONJ
fcis-23828	7	33	deep	deep	ADJ
fcis-23828	7	34	learning	learning	NOUN
fcis-23828	7	35	technology	technology	NOUN
fcis-23828	7	36	,	,	PUNCT
fcis-23828	7	37	it	it	PRON
fcis-23828	7	38	is	be	AUX
fcis-23828	7	39	the	the	DET
fcis-23828	7	40	key	key	NOUN
fcis-23828	7	41	to	to	PART
fcis-23828	7	42	improve	improve	VERB
fcis-23828	7	43	the	the	DET
fcis-23828	7	44	desilting	desilte	VERB
fcis-23828	7	45	efficiency	efficiency	NOUN
fcis-23828	7	46	and	and	CCONJ
fcis-23828	7	47	safety[1].the	safety[1].the	NOUN
fcis-23828	7	48	trajectory	trajectory	NOUN
fcis-23828	7	49	planning	planning	NOUN
fcis-23828	7	50	optimization	optimization	NOUN
fcis-23828	7	51	based	base	VERB
fcis-23828	7	52	on	on	ADP
fcis-23828	7	53	deep	deep	ADJ
fcis-23828	7	54	learning	learning	NOUN
fcis-23828	7	55	enables	enable	VERB
fcis-23828	7	56	the	the	DET
fcis-23828	7	57	dredging	dredging	NOUN
fcis-23828	7	58	robot	robot	NOUN
fcis-23828	7	59	to	to	PART
fcis-23828	7	60	quickly	quickly	ADV
fcis-23828	7	61	identify	identify	VERB
fcis-23828	7	62	the	the	DET
fcis-23828	7	63	surrounding	surround	VERB
fcis-23828	7	64	environment	environment	NOUN
fcis-23828	7	65	and	and	CCONJ
fcis-23828	7	66	intelligently	intelligently	ADV
fcis-23828	7	67	plan	plan	VERB
fcis-23828	7	68	the	the	DET
fcis-23828	7	69	dredging	dredging	NOUN
fcis-23828	7	70	route	route	NOUN
fcis-23828	7	71	,	,	PUNCT
fcis-23828	7	72	which	which	PRON
fcis-23828	7	73	is	be	AUX
fcis-23828	7	74	an	an	DET
fcis-23828	7	75	important	important	ADJ
fcis-23828	7	76	direction	direction	NOUN
fcis-23828	7	77	for	for	ADP
fcis-23828	7	78	the	the	DET
fcis-23828	7	79	development	development	NOUN
fcis-23828	7	80	of	of	ADP
fcis-23828	7	81	future	future	ADJ
fcis-23828	7	82	underwater	underwater	ADJ
fcis-23828	7	83	robot	robot	NOUN
fcis-23828	7	84	technology	technology	NOUN
fcis-23828	7	85	.	.	PUNCT
fcis-23828	8	1	2	2	X
fcis-23828	8	2	.	.	X
fcis-23828	8	3	theoretical	theoretical	ADJ
fcis-23828	8	4	basis	basis	NOUN
fcis-23828	8	5	and	and	CCONJ
fcis-23828	8	6	research	research	NOUN
fcis-23828	8	7	framework	framework	NOUN
fcis-23828	8	8	2.1	2.1	NUM
fcis-23828	8	9	.	.	PUNCT
fcis-23828	9	1	an	an	DET
fcis-23828	9	2	overview	overview	NOUN
fcis-23828	9	3	of	of	ADP
fcis-23828	9	4	the	the	DET
fcis-23828	9	5	core	core	ADJ
fcis-23828	9	6	principles	principle	NOUN
fcis-23828	9	7	of	of	ADP
fcis-23828	9	8	deep	deep	ADJ
fcis-23828	9	9	learning	learn	VERB
fcis-23828	9	10	the	the	DET
fcis-23828	9	11	basic	basic	ADJ
fcis-23828	9	12	principle	principle	NOUN
fcis-23828	9	13	of	of	ADP
fcis-23828	9	14	deep	deep	ADJ
fcis-23828	9	15	learning	learning	NOUN
fcis-23828	9	16	is	be	AUX
fcis-23828	9	17	to	to	PART
fcis-23828	9	18	imitate	imitate	VERB
fcis-23828	9	19	the	the	DET
fcis-23828	9	20	neural	neural	ADJ
fcis-23828	9	21	network	network	NOUN
fcis-23828	9	22	structure	structure	NOUN
fcis-23828	9	23	of	of	ADP
fcis-23828	9	24	the	the	DET
fcis-23828	9	25	human	human	ADJ
fcis-23828	9	26	brain	brain	NOUN
fcis-23828	9	27	and	and	CCONJ
fcis-23828	9	28	build	build	VERB
fcis-23828	9	29	a	a	DET
fcis-23828	9	30	deep	deep	ADJ
fcis-23828	9	31	neural	neural	ADJ
fcis-23828	9	32	network	network	NOUN
fcis-23828	9	33	system	system	NOUN
fcis-23828	9	34	composed	compose	VERB
fcis-23828	9	35	of	of	ADP
fcis-23828	9	36	multi	multi	ADJ
fcis-23828	9	37	-	-	ADJ
fcis-23828	9	38	layer	layer	ADJ
fcis-23828	9	39	neurons	neuron	NOUN
fcis-23828	9	40	.	.	PUNCT
fcis-23828	10	1	in	in	ADP
fcis-23828	10	2	essence	essence	NOUN
fcis-23828	10	3	,	,	PUNCT
fcis-23828	10	4	it	it	PRON
fcis-23828	10	5	is	be	AUX
fcis-23828	10	6	an	an	DET
fcis-23828	10	7	important	important	ADJ
fcis-23828	10	8	branch	branch	NOUN
fcis-23828	10	9	of	of	ADP
fcis-23828	10	10	machine	machine	NOUN
fcis-23828	10	11	learning	learning	NOUN
fcis-23828	10	12	.	.	PUNCT
fcis-23828	11	1	deep	deep	ADJ
fcis-23828	11	2	neural	neural	ADJ
fcis-23828	11	3	networks	network	NOUN
fcis-23828	11	4	rely	rely	VERB
fcis-23828	11	5	on	on	ADP
fcis-23828	11	6	a	a	DET
fcis-23828	11	7	large	large	ADJ
fcis-23828	11	8	number	number	NOUN
fcis-23828	11	9	of	of	ADP
fcis-23828	11	10	training	training	NOUN
fcis-23828	11	11	data	datum	NOUN
fcis-23828	11	12	for	for	ADP
fcis-23828	11	13	learning	learning	NOUN
fcis-23828	11	14	,	,	PUNCT
fcis-23828	11	15	and	and	CCONJ
fcis-23828	11	16	the	the	DET
fcis-23828	11	17	data	data	NOUN
fcis-23828	11	18	features	feature	NOUN
fcis-23828	11	19	can	can	AUX
fcis-23828	11	20	be	be	AUX
fcis-23828	11	21	extracted	extract	VERB
fcis-23828	11	22	,	,	PUNCT
fcis-23828	11	23	predict	predict	VERB
fcis-23828	11	24	and	and	CCONJ
fcis-23828	11	25	classify	classify	VERB
fcis-23828	11	26	the	the	DET
fcis-23828	11	27	data	datum	NOUN
fcis-23828	11	28	.	.	PUNCT
fcis-23828	12	1	hierarchically	hierarchically	ADV
fcis-23828	12	2	rich	rich	ADJ
fcis-23828	12	3	network	network	NOUN
fcis-23828	12	4	structure	structure	NOUN
fcis-23828	12	5	is	be	AUX
fcis-23828	12	6	the	the	DET
fcis-23828	12	7	core	core	NOUN
fcis-23828	12	8	of	of	ADP
fcis-23828	12	9	deep	deep	ADJ
fcis-23828	12	10	learning	learning	NOUN
fcis-23828	12	11	,	,	PUNCT
fcis-23828	12	12	enabling	enable	VERB
fcis-23828	12	13	it	it	PRON
fcis-23828	12	14	to	to	PART
fcis-23828	12	15	learn	learn	VERB
fcis-23828	12	16	complex	complex	ADJ
fcis-23828	12	17	patterns	pattern	NOUN
fcis-23828	12	18	and	and	CCONJ
fcis-23828	12	19	associations	association	NOUN
fcis-23828	12	20	in	in	ADP
fcis-23828	12	21	the	the	DET
fcis-23828	12	22	data	datum	NOUN
fcis-23828	12	23	.	.	PUNCT
fcis-23828	13	1	in	in	ADP
fcis-23828	13	2	deep	deep	ADJ
fcis-23828	13	3	learning	learning	NOUN
fcis-23828	13	4	,	,	PUNCT
fcis-23828	13	5	the	the	DET
fcis-23828	13	6	input	input	NOUN
fcis-23828	13	7	is	be	AUX
fcis-23828	13	8	the	the	DET
fcis-23828	13	9	output	output	NOUN
fcis-23828	13	10	of	of	ADP
fcis-23828	13	11	each	each	DET
fcis-23828	13	12	neuron	neuron	NOUN
fcis-23828	13	13	receiving	receive	VERB
fcis-23828	13	14	the	the	DET
fcis-23828	13	15	previous	previous	ADJ
fcis-23828	13	16	layer	layer	NOUN
fcis-23828	13	17	,	,	PUNCT
fcis-23828	13	18	at	at	ADP
fcis-23828	13	19	the	the	DET
fcis-23828	13	20	same	same	ADJ
fcis-23828	13	21	time	time	NOUN
fcis-23828	13	22	,	,	PUNCT
fcis-23828	13	23	the	the	DET
fcis-23828	13	24	activation	activation	NOUN
fcis-23828	13	25	function	function	NOUN
fcis-23828	13	26	can	can	AUX
fcis-23828	13	27	be	be	AUX
fcis-23828	13	28	used	use	VERB
fcis-23828	13	29	to	to	PART
fcis-23828	13	30	complete	complete	VERB
fcis-23828	13	31	the	the	DET
fcis-23828	13	32	nonlinear	nonlinear	ADJ
fcis-23828	13	33	transformation	transformation	NOUN
fcis-23828	13	34	processing	processing	NOUN
fcis-23828	13	35	,	,	PUNCT
fcis-23828	13	36	and	and	CCONJ
fcis-23828	13	37	then	then	ADV
fcis-23828	13	38	output	output	VERB
fcis-23828	13	39	to	to	ADP
fcis-23828	13	40	the	the	DET
fcis-23828	13	41	next	next	ADJ
fcis-23828	13	42	layer[2].in	layer[2].in	NOUN
fcis-23828	13	43	the	the	DET
fcis-23828	13	44	deep	deep	ADJ
fcis-23828	13	45	learning	learning	NOUN
fcis-23828	13	46	model	model	NOUN
fcis-23828	13	47	,	,	PUNCT
fcis-23828	13	48	it	it	PRON
fcis-23828	13	49	updates	update	VERB
fcis-23828	13	50	the	the	DET
fcis-23828	13	51	parameters	parameter	NOUN
fcis-23828	13	52	of	of	ADP
fcis-23828	13	53	the	the	DET
fcis-23828	13	54	network	network	NOUN
fcis-23828	13	55	according	accord	VERB
fcis-23828	13	56	to	to	ADP
fcis-23828	13	57	the	the	DET
fcis-23828	13	58	error	error	NOUN
fcis-23828	13	59	between	between	ADP
fcis-23828	13	60	the	the	DET
fcis-23828	13	61	predicted	predict	VERB
fcis-23828	13	62	value	value	NOUN
fcis-23828	13	63	and	and	CCONJ
fcis-23828	13	64	the	the	DET
fcis-23828	13	65	true	true	ADJ
fcis-23828	13	66	value	value	NOUN
fcis-23828	13	67	to	to	PART
fcis-23828	13	68	capture	capture	VERB
fcis-23828	13	69	the	the	DET
fcis-23828	13	70	hierarchical	hierarchical	ADJ
fcis-23828	13	71	characteristics	characteristic	NOUN
fcis-23828	13	72	of	of	ADP
fcis-23828	13	73	the	the	DET
fcis-23828	13	74	data	datum	NOUN
fcis-23828	13	75	,	,	PUNCT
fcis-23828	13	76	so	so	SCONJ
fcis-23828	13	77	as	as	SCONJ
fcis-23828	13	78	to	to	PART
fcis-23828	13	79	continuously	continuously	ADV
fcis-23828	13	80	optimize	optimize	VERB
fcis-23828	13	81	the	the	DET
fcis-23828	13	82	performance	performance	NOUN
fcis-23828	13	83	of	of	ADP
fcis-23828	13	84	the	the	DET
fcis-23828	13	85	model	model	NOUN
fcis-23828	13	86	.	.	PUNCT
fcis-23828	14	1	2.2	2.2	NUM
fcis-23828	14	2	.	.	PUNCT
fcis-23828	15	1	problem	problem	NOUN
fcis-23828	15	2	ition	ition	NOUN
fcis-23828	15	3	of	of	ADP
fcis-23828	15	4	trajectory	trajectory	NOUN
fcis-23828	15	5	planning	planning	NOUN
fcis-23828	15	6	of	of	ADP
fcis-23828	15	7	dredging	dredging	NOUN
fcis-23828	15	8	robot	robot	NOUN
fcis-23828	15	9	for	for	ADP
fcis-23828	15	10	the	the	DET
fcis-23828	15	11	definition	definition	NOUN
fcis-23828	15	12	of	of	ADP
fcis-23828	15	13	the	the	DET
fcis-23828	15	14	dredging	dredging	NOUN
fcis-23828	15	15	robot	robot	NOUN
fcis-23828	15	16	trajectory	trajectory	NOUN
fcis-23828	15	17	planning	planning	NOUN
fcis-23828	15	18	problem	problem	NOUN
fcis-23828	15	19	,	,	PUNCT
fcis-23828	15	20	in	in	ADP
fcis-23828	15	21	the	the	DET
fcis-23828	15	22	final	final	ADJ
fcis-23828	15	23	analysis	analysis	NOUN
fcis-23828	15	24	is	be	AUX
fcis-23828	15	25	to	to	PART
fcis-23828	15	26	take	take	VERB
fcis-23828	15	27	measures	measure	NOUN
fcis-23828	15	28	to	to	PART
fcis-23828	15	29	plan	plan	VERB
fcis-23828	15	30	an	an	DET
fcis-23828	15	31	optimal	optimal	ADJ
fcis-23828	15	32	path	path	NOUN
fcis-23828	15	33	from	from	ADP
fcis-23828	15	34	the	the	DET
fcis-23828	15	35	starting	starting	NOUN
fcis-23828	15	36	point	point	NOUN
fcis-23828	15	37	to	to	ADP
fcis-23828	15	38	the	the	DET
fcis-23828	15	39	end	end	NOUN
fcis-23828	15	40	of	of	ADP
fcis-23828	15	41	the	the	DET
fcis-23828	15	42	robot	robot	NOUN
fcis-23828	15	43	in	in	ADP
fcis-23828	15	44	the	the	DET
fcis-23828	15	45	state	state	NOUN
fcis-23828	15	46	of	of	ADP
fcis-23828	15	47	dredging	dredging	NOUN
fcis-23828	15	48	operation	operation	NOUN
fcis-23828	15	49	,	,	PUNCT
fcis-23828	15	50	thus	thus	ADV
fcis-23828	15	51	,	,	PUNCT
fcis-23828	15	52	the	the	DET
fcis-23828	15	53	desilting	desilte	VERB
fcis-23828	15	54	task	task	NOUN
fcis-23828	15	55	can	can	AUX
fcis-23828	15	56	be	be	AUX
fcis-23828	15	57	completed	complete	VERB
fcis-23828	15	58	safely	safely	ADV
fcis-23828	15	59	,	,	PUNCT
fcis-23828	15	60	efficiently	efficiently	ADV
fcis-23828	15	61	and	and	CCONJ
fcis-23828	15	62	accurately	accurately	ADV
fcis-23828	15	63	.	.	PUNCT
fcis-23828	16	1	this	this	DET
fcis-23828	16	2	problem	problem	NOUN
fcis-23828	16	3	can	can	AUX
fcis-23828	16	4	also	also	ADV
fcis-23828	16	5	be	be	AUX
fcis-23828	16	6	carefully	carefully	ADV
fcis-23828	16	7	divided	divide	VERB
fcis-23828	16	8	into	into	ADP
fcis-23828	16	9	the	the	DET
fcis-23828	16	10	following	follow	VERB
fcis-23828	16	11	aspects	aspect	NOUN
fcis-23828	16	12	:	:	PUNCT
fcis-23828	16	13	first	first	ADV
fcis-23828	16	14	,	,	PUNCT
fcis-23828	16	15	environment	environment	NOUN
fcis-23828	16	16	perception	perception	NOUN
fcis-23828	16	17	and	and	CCONJ
fcis-23828	16	18	modeling	modeling	NOUN
fcis-23828	16	19	:	:	PUNCT
fcis-23828	16	20	the	the	DET
fcis-23828	16	21	primary	primary	ADJ
fcis-23828	16	22	task	task	NOUN
fcis-23828	16	23	of	of	ADP
fcis-23828	16	24	the	the	DET
fcis-23828	16	25	deep	deep	ADJ
fcis-23828	16	26	learning	learning	NOUN
fcis-23828	16	27	dredging	dredge	VERB
fcis-23828	16	28	robot	robot	NOUN
fcis-23828	16	29	during	during	ADP
fcis-23828	16	30	the	the	DET
fcis-23828	16	31	operation	operation	NOUN
fcis-23828	16	32	service	service	NOUN
fcis-23828	16	33	is	be	AUX
fcis-23828	16	34	to	to	PART
fcis-23828	16	35	integrate	integrate	VERB
fcis-23828	16	36	sonar	sonar	NOUN
fcis-23828	16	37	,	,	PUNCT
fcis-23828	16	38	sensors	sensor	NOUN
fcis-23828	16	39	and	and	CCONJ
fcis-23828	16	40	other	other	ADJ
fcis-23828	16	41	equipment	equipment	NOUN
fcis-23828	16	42	to	to	ADP
fcis-23828	16	43	perceive	perceive	VERB
fcis-23828	16	44	and	and	CCONJ
fcis-23828	16	45	understand	understand	VERB
fcis-23828	16	46	the	the	DET
fcis-23828	16	47	underwater	underwater	ADJ
fcis-23828	16	48	terrain	terrain	NOUN
fcis-23828	16	49	,	,	PUNCT
fcis-23828	16	50	obstacles	obstacle	NOUN
fcis-23828	16	51	and	and	CCONJ
fcis-23828	16	52	silt	silt	NOUN
fcis-23828	16	53	distribution	distribution	NOUN
fcis-23828	16	54	information	information	NOUN
fcis-23828	16	55	,	,	PUNCT
fcis-23828	16	56	and	and	CCONJ
fcis-23828	16	57	thus	thus	ADV
fcis-23828	16	58	build	build	VERB
fcis-23828	16	59	an	an	DET
fcis-23828	16	60	environmental	environmental	ADJ
fcis-23828	16	61	model	model	NOUN
fcis-23828	16	62	.	.	PUNCT
fcis-23828	17	1	second	second	ADJ
fcis-23828	17	2	,	,	PUNCT
fcis-23828	17	3	set	set	VERB
fcis-23828	17	4	targets	target	NOUN
fcis-23828	17	5	and	and	CCONJ
fcis-23828	17	6	initialize	initialize	VERB
fcis-23828	17	7	paths	path	NOUN
fcis-23828	17	8	:	:	PUNCT
fcis-23828	17	9	the	the	DET
fcis-23828	17	10	target	target	NOUN
fcis-23828	17	11	location	location	NOUN
fcis-23828	17	12	or	or	CCONJ
fcis-23828	17	13	area	area	NOUN
fcis-23828	17	14	of	of	ADP
fcis-23828	17	15	the	the	DET
fcis-23828	17	16	robot	robot	NOUN
fcis-23828	17	17	is	be	AUX
fcis-23828	17	18	planned	plan	VERB
fcis-23828	17	19	based	base	VERB
fcis-23828	17	20	on	on	ADP
fcis-23828	17	21	the	the	DET
fcis-23828	17	22	constructed	construct	VERB
fcis-23828	17	23	environment	environment	NOUN
fcis-23828	17	24	model	model	NOUN
fcis-23828	17	25	,	,	PUNCT
fcis-23828	17	26	and	and	CCONJ
fcis-23828	17	27	a	a	DET
fcis-23828	17	28	path	path	NOUN
fcis-23828	17	29	from	from	ADP
fcis-23828	17	30	the	the	DET
fcis-23828	17	31	starting	starting	NOUN
fcis-23828	17	32	point	point	NOUN
fcis-23828	17	33	to	to	ADP
fcis-23828	17	34	the	the	DET
fcis-23828	17	35	target	target	NOUN
fcis-23828	17	36	is	be	AUX
fcis-23828	17	37	initially	initially	ADV
fcis-23828	17	38	planned	plan	VERB
fcis-23828	17	39	during	during	ADP
fcis-23828	17	40	the	the	DET
fcis-23828	17	41	dredging	dredging	NOUN
fcis-23828	17	42	operation	operation	NOUN
fcis-23828	17	43	.	.	PUNCT
fcis-23828	18	1	although	although	SCONJ
fcis-23828	18	2	the	the	DET
fcis-23828	18	3	constructed	construct	VERB
fcis-23828	18	4	path	path	NOUN
fcis-23828	18	5	may	may	AUX
fcis-23828	18	6	not	not	PART
fcis-23828	18	7	be	be	AUX
fcis-23828	18	8	optimal	optimal	ADJ
fcis-23828	18	9	,	,	PUNCT
fcis-23828	18	10	it	it	PRON
fcis-23828	18	11	provides	provide	VERB
fcis-23828	18	12	a	a	DET
fcis-23828	18	13	starting	starting	NOUN
fcis-23828	18	14	point	point	NOUN
fcis-23828	18	15	for	for	ADP
fcis-23828	18	16	the	the	DET
fcis-23828	18	17	subsequent	subsequent	ADJ
fcis-23828	18	18	optimization	optimization	NOUN
fcis-23828	18	19	.	.	PUNCT
fcis-23828	19	1	third	third	ADJ
fcis-23828	19	2	,	,	PUNCT
fcis-23828	19	3	trajectory	trajectory	NOUN
fcis-23828	19	4	optimization	optimization	NOUN
fcis-23828	19	5	and	and	CCONJ
fcis-23828	19	6	obstacle	obstacle	NOUN
fcis-23828	19	7	avoidance	avoidance	NOUN
fcis-23828	19	8	:	:	PUNCT
fcis-23828	19	9	based	base	VERB
fcis-23828	19	10	on	on	ADP
fcis-23828	19	11	the	the	DET
fcis-23828	19	12	preliminary	preliminary	ADJ
fcis-23828	19	13	path	path	NOUN
fcis-23828	19	14	,	,	PUNCT
fcis-23828	19	15	deep	deep	ADJ
fcis-23828	19	16	learning	learning	NOUN
fcis-23828	19	17	and	and	CCONJ
fcis-23828	19	18	other	other	ADJ
fcis-23828	19	19	technologies	technology	NOUN
fcis-23828	19	20	are	be	AUX
fcis-23828	19	21	used	use	VERB
fcis-23828	19	22	to	to	PART
fcis-23828	19	23	adjust	adjust	VERB
fcis-23828	19	24	the	the	DET
fcis-23828	19	25	key	key	ADJ
fcis-23828	19	26	points	point	NOUN
fcis-23828	19	27	of	of	ADP
fcis-23828	19	28	the	the	DET
fcis-23828	19	29	path	path	NOUN
fcis-23828	19	30	to	to	PART
fcis-23828	19	31	avoid	avoid	VERB
fcis-23828	19	32	obstacles	obstacle	NOUN
fcis-23828	19	33	,	,	PUNCT
fcis-23828	19	34	reduce	reduce	VERB
fcis-23828	19	35	energy	energy	NOUN
fcis-23828	19	36	consumption	consumption	NOUN
fcis-23828	19	37	and	and	CCONJ
fcis-23828	19	38	improve	improve	VERB
fcis-23828	19	39	efficiency	efficiency	NOUN
fcis-23828	19	40	.	.	PUNCT
fcis-23828	20	1	deep	deep	ADJ
fcis-23828	20	2	learning	learning	NOUN
fcis-23828	20	3	models	model	NOUN
fcis-23828	20	4	can	can	AUX
fcis-23828	20	5	learn	learn	VERB
fcis-23828	20	6	and	and	CCONJ
fcis-23828	20	7	improve	improve	VERB
fcis-23828	20	8	trajectory	trajectory	NOUN
fcis-23828	20	9	planning	planning	NOUN
fcis-23828	20	10	strategies	strategy	NOUN
fcis-23828	20	11	based	base	VERB
fcis-23828	20	12	on	on	ADP
fcis-23828	20	13	historical	historical	ADJ
fcis-23828	20	14	data	datum	NOUN
fcis-23828	20	15	and	and	CCONJ
fcis-23828	20	16	real	real	ADJ
fcis-23828	20	17	-	-	PUNCT
fcis-23828	20	18	time	time	NOUN
fcis-23828	20	19	feedback	feedback	NOUN
fcis-23828	20	20	[	[	X
fcis-23828	20	21	3	3	NUM
fcis-23828	20	22	]	]	X
fcis-23828	20	23	fourth	fourth	ADJ
fcis-23828	20	24	,	,	PUNCT
fcis-23828	20	25	real	real	ADJ
fcis-23828	20	26	-	-	PUNCT
fcis-23828	20	27	time	time	NOUN
fcis-23828	20	28	adjustment	adjustment	NOUN
fcis-23828	20	29	and	and	CCONJ
fcis-23828	20	30	feedback	feedback	NOUN
fcis-23828	20	31	:	:	PUNCT
fcis-23828	20	32	the	the	DET
fcis-23828	20	33	robot	robot	NOUN
fcis-23828	20	34	adjusts	adjust	VERB
fcis-23828	20	35	the	the	DET
fcis-23828	20	36	trajectory	trajectory	NOUN
fcis-23828	20	37	in	in	ADP
fcis-23828	20	38	real	real	ADJ
fcis-23828	20	39	time	time	NOUN
fcis-23828	20	40	,	,	PUNCT
fcis-23828	20	41	based	base	VERB
fcis-23828	20	42	on	on	ADP
fcis-23828	20	43	environmental	environmental	ADJ
fcis-23828	20	44	changes	change	NOUN
fcis-23828	20	45	and	and	CCONJ
fcis-23828	20	46	task	task	NOUN
fcis-23828	20	47	progress	progress	NOUN
fcis-23828	20	48	.	.	PUNCT
fcis-23828	21	1	for	for	ADP
fcis-23828	21	2	example	example	NOUN
fcis-23828	21	3	,	,	PUNCT
fcis-23828	21	4	when	when	SCONJ
fcis-23828	21	5	unforeseen	unforeseen	ADJ
fcis-23828	21	6	obstacles	obstacle	NOUN
fcis-23828	21	7	or	or	CCONJ
fcis-23828	21	8	silt	silt	NOUN
fcis-23828	21	9	accumulation	accumulation	NOUN
fcis-23828	21	10	,	,	PUNCT
fcis-23828	21	11	the	the	DET
fcis-23828	21	12	robot	robot	NOUN
fcis-23828	21	13	needs	need	VERB
fcis-23828	21	14	to	to	PART
fcis-23828	21	15	be	be	AUX
fcis-23828	21	16	able	able	ADJ
fcis-23828	21	17	to	to	PART
fcis-23828	21	18	rearrange	rearrange	VERB
fcis-23828	21	19	its	its	PRON
fcis-23828	21	20	path	path	NOUN
fcis-23828	21	21	.	.	PUNCT
fcis-23828	22	1	3	3	X
fcis-23828	22	2	.	.	X
fcis-23828	22	3	application	application	NOUN
fcis-23828	22	4	of	of	ADP
fcis-23828	22	5	deep	deep	ADJ
fcis-23828	22	6	learning	learning	NOUN
fcis-23828	22	7	in	in	ADP
fcis-23828	22	8	trajectory	trajectory	NOUN
fcis-23828	22	9	planning	plan	VERB
fcis-23828	22	10	3.1	3.1	NUM
fcis-23828	22	11	.	.	PUNCT
fcis-23828	22	12	fusion	fusion	NOUN
fcis-23828	22	13	of	of	ADP
fcis-23828	22	14	dnn	dnn	PROPN
fcis-23828	22	15	and	and	CCONJ
fcis-23828	22	16	rl	rl	VERB
fcis-23828	22	17	trajectory	trajectory	NOUN
fcis-23828	22	18	planning	planning	NOUN
fcis-23828	22	19	algorithm	algorithm	NOUN
fcis-23828	22	20	in	in	ADP
fcis-23828	22	21	reinforcement	reinforcement	NOUN
fcis-23828	22	22	learning	learning	NOUN
fcis-23828	22	23	,	,	PUNCT
fcis-23828	22	24	the	the	DET
fcis-23828	22	25	operation	operation	NOUN
fcis-23828	22	26	goal	goal	NOUN
fcis-23828	22	27	of	of	ADP
fcis-23828	22	28	the	the	DET
fcis-23828	22	29	dredging	dredging	NOUN
fcis-23828	22	30	robot	robot	NOUN
fcis-23828	22	31	is	be	AUX
fcis-23828	22	32	to	to	PART
fcis-23828	22	33	select	select	VERB
fcis-23828	22	34	a	a	DET
fcis-23828	22	35	series	series	NOUN
fcis-23828	22	36	of	of	ADP
fcis-23828	22	37	actions	action	NOUN
fcis-23828	22	38	to	to	PART
fcis-23828	22	39	maximize	maximize	VERB
fcis-23828	22	40	the	the	DET
fcis-23828	22	41	cumulative	cumulative	ADJ
fcis-23828	22	42	reward	reward	NOUN
fcis-23828	22	43	,	,	PUNCT
fcis-23828	22	44	which	which	PRON
fcis-23828	22	45	can	can	AUX
fcis-23828	22	46	be	be	AUX
fcis-23828	22	47	realized	realize	VERB
fcis-23828	22	48	by	by	ADP
fcis-23828	22	49	finding	find	VERB
fcis-23828	22	50	the	the	DET
fcis-23828	22	51	strategy	strategy	NOUN
fcis-23828	22	52	π	π	PROPN
fcis-23828	22	53	.	.	PUNCT
fcis-23828	23	1	policy	policy	NOUN
fcis-23828	23	2	π	π	PROPN
fcis-23828	23	3	maps	map	VERB
fcis-23828	23	4	all	all	DET
fcis-23828	23	5	the	the	DET
fcis-23828	23	6	states	state	NOUN
fcis-23828	23	7	to	to	ADP
fcis-23828	23	8	the	the	DET
fcis-23828	23	9	action	action	NOUN
fcis-23828	23	10	α	α	NOUN
fcis-23828	23	11	.	.	PUNCT
fcis-23828	24	1	the	the	DET
fcis-23828	24	2	merits	merit	NOUN
fcis-23828	24	3	of	of	ADP
fcis-23828	24	4	the	the	DET
fcis-23828	24	5	strategy	strategy	NOUN
fcis-23828	24	6	is	be	AUX
fcis-23828	24	7	measured	measure	VERB
fcis-23828	24	8	by	by	ADP
fcis-23828	24	9	cumulative	cumulative	ADJ
fcis-23828	24	10	reward	reward	NOUN
fcis-23828	24	11	j	j	PROPN
fcis-23828	24	12	(	(	PUNCT
fcis-23828	24	13	π	π	PROPN
fcis-23828	24	14	):	):	PUNCT
fcis-23828	24	15	j	j	PROPN
fcis-23828	24	16	π	π	X
fcis-23828	24	17	e	e	X
fcis-23828	24	18	~	~	PUNCT
fcis-23828	24	19	∑	∑	PUNCT
fcis-23828	24	20	γ	γ	X
fcis-23828	24	21	r	r	NOUN
fcis-23828	24	22	s	s	PROPN
fcis-23828	24	23	,	,	PUNCT
fcis-23828	24	24	α	α	X
fcis-23828	24	25	(	(	PUNCT
fcis-23828	24	26	1	1	NUM
fcis-23828	24	27	)	)	PUNCT
fcis-23828	24	28	18	18	NUM
fcis-23828	24	29	in	in	ADP
fcis-23828	24	30	formula	formula	NOUN
fcis-23828	24	31	1,j	1,j	NOUN
fcis-23828	24	32	π	π	NOUN
fcis-23828	24	33	is	be	AUX
fcis-23828	24	34	that	that	SCONJ
fcis-23828	24	35	under	under	ADP
fcis-23828	24	36	the	the	DET
fcis-23828	24	37	πstrategy	πstrategy	NOUN
fcis-23828	24	38	,	,	PUNCT
fcis-23828	24	39	the	the	DET
fcis-23828	24	40	desired	desire	VERB
fcis-23828	24	41	cumulative	cumulative	ADJ
fcis-23828	24	42	reward	reward	NOUN
fcis-23828	24	43	of	of	ADP
fcis-23828	24	44	the	the	DET
fcis-23828	24	45	dredging	dredging	NOUN
fcis-23828	24	46	robot	robot	NOUN
fcis-23828	24	47	after	after	ADP
fcis-23828	24	48	performing	perform	VERB
fcis-23828	24	49	a	a	DET
fcis-23828	24	50	series	series	NOUN
fcis-23828	24	51	of	of	ADP
fcis-23828	24	52	actions	action	NOUN
fcis-23828	24	53	;	;	PUNCT
fcis-23828	24	54	τ	τ	X
fcis-23828	24	55	is	be	AUX
fcis-23828	24	56	a	a	DET
fcis-23828	24	57	trajectory	trajectory	NOUN
fcis-23828	24	58	composed	compose	VERB
fcis-23828	24	59	of	of	ADP
fcis-23828	24	60	the	the	DET
fcis-23828	24	61	state	state	NOUN
fcis-23828	24	62	and	and	CCONJ
fcis-23828	24	63	the	the	DET
fcis-23828	24	64	action	action	NOUN
fcis-23828	24	65	;	;	PUNCT
fcis-23828	24	66	γ	γ	X
fcis-23828	24	67	is	be	AUX
fcis-23828	24	68	a	a	DET
fcis-23828	24	69	discount	discount	NOUN
fcis-23828	24	70	factor	factor	NOUN
fcis-23828	24	71	,	,	PUNCT
fcis-23828	24	72	used	use	VERB
fcis-23828	24	73	to	to	PART
fcis-23828	24	74	regulate	regulate	VERB
fcis-23828	24	75	the	the	DET
fcis-23828	24	76	importance	importance	NOUN
fcis-23828	24	77	of	of	ADP
fcis-23828	24	78	future	future	ADJ
fcis-23828	24	79	rewards;r	rewards;r	NOUN
fcis-23828	24	80	s	s	PART
fcis-23828	24	81	,	,	PUNCT
fcis-23828	24	82	α	α	PROPN
fcis-23828	24	83	is	be	AUX
fcis-23828	24	84	the	the	DET
fcis-23828	24	85	immediate	immediate	ADJ
fcis-23828	24	86	reward	reward	NOUN
fcis-23828	24	87	after	after	ADP
fcis-23828	24	88	performing	perform	VERB
fcis-23828	24	89	α	α	NOUN
fcis-23828	24	90	in	in	ADP
fcis-23828	24	91	state	state	NOUN
fcis-23828	24	92	s	s	PROPN
fcis-23828	24	93	.	.	PUNCT
fcis-23828	25	1	in	in	ADP
fcis-23828	25	2	the	the	DET
fcis-23828	25	3	trajectory	trajectory	NOUN
fcis-23828	25	4	planning	planning	NOUN
fcis-23828	25	5	algorithm	algorithm	NOUN
fcis-23828	25	6	that	that	PRON
fcis-23828	25	7	combines	combine	VERB
fcis-23828	25	8	dnn	dnn	PROPN
fcis-23828	25	9	with	with	ADP
fcis-23828	25	10	rl	rl	PROPN
fcis-23828	25	11	,	,	PUNCT
fcis-23828	25	12	the	the	DET
fcis-23828	25	13	dnn	dnn	PROPN
fcis-23828	25	14	was	be	AUX
fcis-23828	25	15	used	use	VERB
fcis-23828	25	16	to	to	PART
fcis-23828	25	17	approximate	approximate	VERB
fcis-23828	25	18	the	the	DET
fcis-23828	25	19	valued	value	VERB
fcis-23828	25	20	function	function	NOUN
fcis-23828	25	21	q	q	PROPN
fcis-23828	25	22	s	s	PROPN
fcis-23828	25	23	,	,	PUNCT
fcis-23828	25	24	α	α	PROPN
fcis-23828	25	25	,	,	PUNCT
fcis-23828	25	26	representing	represent	VERB
fcis-23828	25	27	the	the	DET
fcis-23828	25	28	expected	expect	VERB
fcis-23828	25	29	return	return	NOUN
fcis-23828	25	30	of	of	ADP
fcis-23828	25	31	the	the	DET
fcis-23828	25	32	function	function	NOUN
fcis-23828	25	33	performing	perform	VERB
fcis-23828	25	34	action	action	NOUN
fcis-23828	25	35	α	α	NOUN
fcis-23828	25	36	at	at	ADP
fcis-23828	25	37	a	a	DET
fcis-23828	25	38	given	give	VERB
fcis-23828	25	39	state	state	NOUN
fcis-23828	25	40	s.	s.	PROPN
fcis-23828	25	41	the	the	DET
fcis-23828	25	42	output	output	NOUN
fcis-23828	25	43	q	q	PROPN
fcis-23828	25	44	s	s	PROPN
fcis-23828	25	45	,	,	PUNCT
fcis-23828	25	46	α	α	NUM
fcis-23828	25	47	of	of	ADP
fcis-23828	25	48	the	the	DET
fcis-23828	25	49	dnn	dnn	PROPN
fcis-23828	25	50	is	be	AUX
fcis-23828	25	51	the	the	DET
fcis-23828	25	52	estimated	estimate	VERB
fcis-23828	25	53	result	result	NOUN
fcis-23828	25	54	of	of	ADP
fcis-23828	25	55	the	the	DET
fcis-23828	25	56	true	true	ADJ
fcis-23828	25	57	value	value	NOUN
fcis-23828	25	58	q	q	PROPN
fcis-23828	25	59	s	s	PROPN
fcis-23828	25	60	,	,	PUNCT
fcis-23828	25	61	α	α	INTJ
fcis-23828	25	62	,	,	PUNCT
fcis-23828	25	63	where	where	SCONJ
fcis-23828	25	64	θ	θ	PROPN
fcis-23828	25	65	is	be	AUX
fcis-23828	25	66	the	the	DET
fcis-23828	25	67	dnn	dnn	PROPN
fcis-23828	25	68	network	network	NOUN
fcis-23828	25	69	parameter	parameter	PROPN
fcis-23828	25	70	:	:	PUNCT
fcis-23828	25	71	q	q	PROPN
fcis-23828	25	72	s	s	PROPN
fcis-23828	25	73	,	,	PUNCT
fcis-23828	25	74	α	α	PRON
fcis-23828	25	75	q	q	PROPN
fcis-23828	25	76	s	s	PROPN
fcis-23828	25	77	,	,	PUNCT
fcis-23828	25	78	α	α	X
fcis-23828	25	79	(	(	PUNCT
fcis-23828	25	80	2	2	NUM
fcis-23828	25	81	)	)	PUNCT
fcis-23828	25	82	3.2	3.2	NUM
fcis-23828	25	83	.	.	PUNCT
fcis-23828	26	1	movement	movement	NOUN
fcis-23828	26	2	trajectory	trajectory	NOUN
fcis-23828	26	3	optimization	optimization	NOUN
fcis-23828	26	4	strategy	strategy	NOUN
fcis-23828	26	5	based	base	VERB
fcis-23828	26	6	on	on	ADP
fcis-23828	26	7	deep	deep	ADJ
fcis-23828	26	8	learning	learning	NOUN
fcis-23828	26	9	according	accord	VERB
fcis-23828	26	10	to	to	ADP
fcis-23828	26	11	the	the	DET
fcis-23828	26	12	characteristics	characteristic	NOUN
fcis-23828	26	13	of	of	ADP
fcis-23828	26	14	the	the	DET
fcis-23828	26	15	dynamic	dynamic	ADJ
fcis-23828	26	16	model	model	NOUN
fcis-23828	26	17	of	of	ADP
fcis-23828	26	18	the	the	DET
fcis-23828	26	19	dredging	dredging	NOUN
fcis-23828	26	20	robot	robot	NOUN
fcis-23828	26	21	,	,	PUNCT
fcis-23828	26	22	based	base	VERB
fcis-23828	26	23	on	on	ADP
fcis-23828	26	24	reinforcement	reinforcement	NOUN
fcis-23828	26	25	learning	learning	NOUN
fcis-23828	26	26	,	,	PUNCT
fcis-23828	26	27	two	two	NUM
fcis-23828	26	28	deep	deep	ADJ
fcis-23828	26	29	neural	neural	ADJ
fcis-23828	26	30	networks	network	NOUN
fcis-23828	26	31	of	of	ADP
fcis-23828	26	32	actor	actor	NOUN
fcis-23828	26	33	network	network	NOUN
fcis-23828	26	34	and	and	CCONJ
fcis-23828	26	35	critic	critic	NOUN
fcis-23828	26	36	network	network	NOUN
fcis-23828	26	37	are	be	AUX
fcis-23828	26	38	introduced	introduce	VERB
fcis-23828	26	39	to	to	PART
fcis-23828	26	40	construct	construct	VERB
fcis-23828	26	41	the	the	DET
fcis-23828	26	42	optimal	optimal	ADJ
fcis-23828	26	43	motion	motion	NOUN
fcis-23828	26	44	trajectory	trajectory	NOUN
fcis-23828	26	45	control	control	PROPN
fcis-23828	26	46	model	model	NOUN
fcis-23828	26	47	.	.	PUNCT
fcis-23828	27	1	in	in	ADP
fcis-23828	27	2	figure	figure	NOUN
fcis-23828	27	3	1	1	NUM
fcis-23828	27	4	,	,	PUNCT
fcis-23828	27	5	the	the	DET
fcis-23828	27	6	optimal	optimal	ADJ
fcis-23828	27	7	trajectory	trajectory	NOUN
fcis-23828	27	8	control	control	NOUN
fcis-23828	27	9	model	model	NOUN
fcis-23828	27	10	of	of	ADP
fcis-23828	27	11	the	the	DET
fcis-23828	27	12	dredging	dredging	NOUN
fcis-23828	27	13	robot	robot	NOUN
fcis-23828	27	14	shows	show	VERB
fcis-23828	27	15	its	its	PRON
fcis-23828	27	16	effect	effect	NOUN
fcis-23828	27	17	with	with	ADP
fcis-23828	27	18	the	the	DET
fcis-23828	27	19	surrounding	surround	VERB
fcis-23828	27	20	environment	environment	NOUN
fcis-23828	27	21	.	.	PUNCT
fcis-23828	28	1	fig	fig	NOUN
fcis-23828	28	2	1	1	NUM
fcis-23828	28	3	.	.	PUNCT
fcis-23828	28	4	structural	structural	ADJ
fcis-23828	28	5	diagram	diagram	NOUN
fcis-23828	28	6	of	of	ADP
fcis-23828	28	7	the	the	DET
fcis-23828	28	8	control	control	NOUN
fcis-23828	28	9	model	model	NOUN
fcis-23828	28	10	as	as	SCONJ
fcis-23828	28	11	found	find	VERB
fcis-23828	28	12	in	in	ADP
fcis-23828	28	13	the	the	DET
fcis-23828	28	14	control	control	NOUN
fcis-23828	28	15	model	model	NOUN
fcis-23828	28	16	structure	structure	NOUN
fcis-23828	28	17	,	,	PUNCT
fcis-23828	28	18	its	its	PRON
fcis-23828	28	19	composition	composition	NOUN
fcis-23828	28	20	is	be	AUX
fcis-23828	28	21	the	the	DET
fcis-23828	28	22	actor	actor	NOUN
fcis-23828	28	23	network	network	NOUN
fcis-23828	28	24	,	,	PUNCT
fcis-23828	28	25	critic	critic	NOUN
fcis-23828	28	26	network	network	NOUN
fcis-23828	28	27	,	,	PUNCT
fcis-23828	28	28	where	where	SCONJ
fcis-23828	28	29	the	the	DET
fcis-23828	28	30	actor	actor	NOUN
fcis-23828	28	31	network	network	NOUN
fcis-23828	28	32	μ	μ	PROPN
fcis-23828	28	33	s	s	PART
fcis-23828	28	34	,	,	PUNCT
fcis-23828	28	35	θ	θ	PROPN
fcis-23828	28	36	replaces	replace	VERB
fcis-23828	28	37	the	the	DET
fcis-23828	28	38	decision	decision	NOUN
fcis-23828	28	39	function	function	NOUN
fcis-23828	28	40	μ	μ	PROPN
fcis-23828	28	41	s	s	PART
fcis-23828	28	42	.when	.when	ADP
fcis-23828	28	43	training	train	VERB
fcis-23828	28	44	the	the	DET
fcis-23828	28	45	actor	actor	NOUN
fcis-23828	28	46	network	network	NOUN
fcis-23828	28	47	,	,	PUNCT
fcis-23828	28	48	it	it	PRON
fcis-23828	28	49	is	be	AUX
fcis-23828	28	50	expanded	expand	VERB
fcis-23828	28	51	as	as	ADP
fcis-23828	28	52	the	the	DET
fcis-23828	28	53	controller	controller	NOUN
fcis-23828	28	54	to	to	PART
fcis-23828	28	55	obtain	obtain	VERB
fcis-23828	28	56	the	the	DET
fcis-23828	28	57	action	action	NOUN
fcis-23828	28	58	record	record	NOUN
fcis-23828	28	59	a	a	PRON
fcis-23828	28	60	of	of	ADP
fcis-23828	28	61	the	the	DET
fcis-23828	28	62	controller	controller	NOUN
fcis-23828	28	63	within	within	ADP
fcis-23828	28	64	the	the	DET
fcis-23828	28	65	t	t	NOUN
fcis-23828	28	66	time	time	NOUN
fcis-23828	28	67	range	range	NOUN
fcis-23828	28	68	.	.	PUNCT
fcis-23828	29	1	at	at	ADP
fcis-23828	29	2	time	time	NOUN
fcis-23828	29	3	t	t	PROPN
fcis-23828	29	4	,	,	PUNCT
fcis-23828	29	5	the	the	DET
fcis-23828	29	6	dredging	dredging	NOUN
fcis-23828	29	7	robot	robot	NOUN
fcis-23828	29	8	is	be	AUX
fcis-23828	29	9	as	as	SCONJ
fcis-23828	29	10	follows	follow	VERB
fcis-23828	29	11	:	:	PUNCT
fcis-23828	29	12	s	s	NOUN
fcis-23828	29	13	v	v	NOUN
fcis-23828	29	14	,	,	PUNCT
fcis-23828	29	15	ϑ	ϑ	X
fcis-23828	29	16	(	(	PUNCT
fcis-23828	29	17	3	3	NUM
fcis-23828	29	18	)	)	PUNCT
fcis-23828	29	19	the	the	DET
fcis-23828	29	20	propulsion	propulsion	NOUN
fcis-23828	29	21	force	force	NOUN
fcis-23828	29	22	is	be	AUX
fcis-23828	29	23	expressed	express	VERB
fcis-23828	29	24	as	as	SCONJ
fcis-23828	29	25	follows	follow	VERB
fcis-23828	29	26	:	:	PUNCT
fcis-23828	29	27	f	f	PROPN
fcis-23828	29	28	μ	μ	PROPN
fcis-23828	29	29	v	v	PROPN
fcis-23828	29	30	,	,	PUNCT
fcis-23828	29	31	ϑ	ϑ	X
fcis-23828	29	32	(	(	PUNCT
fcis-23828	29	33	4	4	NUM
fcis-23828	29	34	)	)	PUNCT
fcis-23828	29	35	in	in	ADP
fcis-23828	29	36	the	the	DET
fcis-23828	29	37	formula	formula	NOUN
fcis-23828	29	38	,	,	PUNCT
fcis-23828	29	39	ϑ	ϑ	X
fcis-23828	29	40	is	be	AUX
fcis-23828	29	41	buoyancy	buoyancy	NOUN
fcis-23828	29	42	,	,	PUNCT
fcis-23828	29	43	μ	μ	PROPN
fcis-23828	29	44	is	be	AUX
fcis-23828	29	45	the	the	DET
fcis-23828	29	46	controller	controller	NOUN
fcis-23828	29	47	.	.	PUNCT
fcis-23828	30	1	use	use	VERB
fcis-23828	30	2	the	the	DET
fcis-23828	30	3	critic	critic	NOUN
fcis-23828	30	4	network	network	NOUN
fcis-23828	30	5	q	q	PROPN
fcis-23828	30	6	s	s	PROPN
fcis-23828	30	7	,	,	PUNCT
fcis-23828	30	8	μ	μ	PROPN
fcis-23828	30	9	s	s	PART
fcis-23828	30	10	,	,	PUNCT
fcis-23828	30	11	θ	θ	PROPN
fcis-23828	30	12	｜ω	｜ω	NUM
fcis-23828	30	13	to	to	PART
fcis-23828	30	14	replace	replace	VERB
fcis-23828	30	15	the	the	DET
fcis-23828	30	16	evaluation	evaluation	NOUN
fcis-23828	30	17	function	function	NOUN
fcis-23828	30	18	q	q	NOUN
fcis-23828	30	19	,	,	PUNCT
fcis-23828	30	20	where	where	SCONJ
fcis-23828	30	21	ω	ω	PROPN
fcis-23828	30	22	is	be	AUX
fcis-23828	30	23	the	the	DET
fcis-23828	30	24	critic	critic	ADJ
fcis-23828	30	25	network	network	NOUN
fcis-23828	30	26	parameter.when	parameter.when	PROPN
fcis-23828	30	27	training	train	VERB
fcis-23828	30	28	the	the	DET
fcis-23828	30	29	critic	critic	NOUN
fcis-23828	30	30	network	network	NOUN
fcis-23828	30	31	,	,	PUNCT
fcis-23828	30	32	it	it	PRON
fcis-23828	30	33	is	be	AUX
fcis-23828	30	34	expanded	expand	VERB
fcis-23828	30	35	as	as	ADP
fcis-23828	30	36	an	an	DET
fcis-23828	30	37	evaluator	evaluator	NOUN
fcis-23828	30	38	,	,	PUNCT
fcis-23828	30	39	and	and	CCONJ
fcis-23828	30	40	the	the	DET
fcis-23828	30	41	output	output	NOUN
fcis-23828	30	42	results	result	NOUN
fcis-23828	30	43	can	can	AUX
fcis-23828	30	44	be	be	AUX
fcis-23828	30	45	the	the	DET
fcis-23828	30	46	actor	actor	NOUN
fcis-23828	30	47	network	network	NOUN
fcis-23828	30	48	parameters	parameter	NOUN
fcis-23828	30	49	used	use	VERB
fcis-23828	30	50	to	to	PART
fcis-23828	30	51	evaluate	evaluate	VERB
fcis-23828	30	52	the	the	DET
fcis-23828	30	53	training	training	NOUN
fcis-23828	30	54	effect	effect	NOUN
fcis-23828	30	55	of	of	ADP
fcis-23828	30	56	the	the	DET
fcis-23828	30	57	controller.deep	controller.deep	PROPN
fcis-23828	30	58	learning	learn	VERB
fcis-23828	30	59	algorithms	algorithm	NOUN
fcis-23828	30	60	take	take	VERB
fcis-23828	30	61	different	different	ADJ
fcis-23828	30	62	application	application	NOUN
fcis-23828	30	63	scenarios	scenario	NOUN
fcis-23828	30	64	as	as	ADP
fcis-23828	30	65	the	the	DET
fcis-23828	30	66	starting	starting	NOUN
fcis-23828	30	67	point	point	NOUN
fcis-23828	30	68	and	and	CCONJ
fcis-23828	30	69	foothold	foothold	NOUN
fcis-23828	30	70	,	,	PUNCT
fcis-23828	30	71	and	and	CCONJ
fcis-23828	30	72	clarify	clarify	VERB
fcis-23828	30	73	multiple	multiple	ADJ
fcis-23828	30	74	types	type	NOUN
fcis-23828	30	75	of	of	ADP
fcis-23828	30	76	reward	reward	VERB
fcis-23828	30	77	signals.the	signals.the	DET
fcis-23828	30	78	application	application	NOUN
fcis-23828	30	79	of	of	ADP
fcis-23828	30	80	deep	deep	ADJ
fcis-23828	30	81	learning	learning	NOUN
fcis-23828	30	82	algorithm	algorithm	NOUN
fcis-23828	30	83	causes	cause	VERB
fcis-23828	30	84	the	the	DET
fcis-23828	30	85	reward	reward	NOUN
fcis-23828	30	86	signal	signal	VERB
fcis-23828	30	87	to	to	PART
fcis-23828	30	88	continue	continue	VERB
fcis-23828	30	89	to	to	ADP
fcis-23828	30	90	0	0	NUM
fcis-23828	30	91	,	,	PUNCT
fcis-23828	30	92	ensuring	ensure	VERB
fcis-23828	30	93	that	that	SCONJ
fcis-23828	30	94	the	the	DET
fcis-23828	30	95	learned	learn	VERB
fcis-23828	30	96	strategy	strategy	NOUN
fcis-23828	30	97	tends	tend	VERB
fcis-23828	30	98	to	to	ADP
fcis-23828	30	99	the	the	DET
fcis-23828	30	100	best	good	ADJ
fcis-23828	30	101	state	state	NOUN
fcis-23828	30	102	.	.	PUNCT
fcis-23828	31	1	in	in	ADP
fcis-23828	31	2	other	other	ADJ
fcis-23828	31	3	words	word	NOUN
fcis-23828	31	4	,	,	PUNCT
fcis-23828	31	5	the	the	PRON
fcis-23828	31	6	closer	close	ADV
fcis-23828	31	7	the	the	DET
fcis-23828	31	8	actual	actual	ADJ
fcis-23828	31	9	position	position	NOUN
fcis-23828	31	10	of	of	ADP
fcis-23828	31	11	the	the	DET
fcis-23828	31	12	dredging	dredging	NOUN
fcis-23828	31	13	robot	robot	NOUN
fcis-23828	31	14	is	be	AUX
fcis-23828	31	15	to	to	ADP
fcis-23828	31	16	the	the	DET
fcis-23828	31	17	ideal	ideal	ADJ
fcis-23828	31	18	position	position	NOUN
fcis-23828	31	19	,	,	PUNCT
fcis-23828	31	20	the	the	PRON
fcis-23828	31	21	more	more	ADV
fcis-23828	31	22	the	the	DET
fcis-23828	31	23	reward	reward	NOUN
fcis-23828	31	24	signal	signal	NOUN
fcis-23828	31	25	tends	tend	VERB
fcis-23828	31	26	to	to	ADP
fcis-23828	31	27	0	0	NUM
fcis-23828	32	1	[	[	X
fcis-23828	32	2	4	4	NUM
fcis-23828	32	3	]	]	PUNCT
fcis-23828	32	4	.	.	PUNCT
fcis-23828	33	1	according	accord	VERB
fcis-23828	33	2	to	to	ADP
fcis-23828	33	3	the	the	DET
fcis-23828	33	4	linear	linear	ADJ
fcis-23828	33	5	quadratic	quadratic	ADJ
fcis-23828	33	6	regulator	regulator	NOUN
fcis-23828	33	7	,	,	PUNCT
fcis-23828	33	8	the	the	DET
fcis-23828	33	9	reward	reward	NOUN
fcis-23828	33	10	signal	signal	NOUN
fcis-23828	33	11	r	r	PROPN
fcis-23828	33	12	s	s	PROPN
fcis-23828	33	13	,	,	PUNCT
fcis-23828	33	14	α	α	PRON
fcis-23828	33	15	can	can	AUX
fcis-23828	33	16	be	be	AUX
fcis-23828	33	17	set	set	VERB
fcis-23828	33	18	as	as	SCONJ
fcis-23828	33	19	follows	follow	VERB
fcis-23828	33	20	:	:	PUNCT
fcis-23828	33	21	r	r	NOUN
fcis-23828	33	22	s	s	PROPN
fcis-23828	33	23	,	,	PUNCT
fcis-23828	33	24	α	α	PROPN
fcis-23828	33	25	s	s	PROPN
fcis-23828	33	26	s	s	X
fcis-23828	33	27	a	a	DET
fcis-23828	33	28	a	a	DET
fcis-23828	33	29	b	b	PROPN
fcis-23828	33	30	(	(	PUNCT
fcis-23828	33	31	5	5	NUM
fcis-23828	33	32	)	)	PUNCT
fcis-23828	33	33	in	in	ADP
fcis-23828	33	34	formula	formula	NOUN
fcis-23828	33	35	5,s	5,s	NUM
fcis-23828	33	36	is	be	AUX
fcis-23828	33	37	the	the	DET
fcis-23828	33	38	ideal	ideal	ADJ
fcis-23828	33	39	state	state	NOUN
fcis-23828	33	40	;	;	PUNCT
fcis-23828	33	41	a	a	PRON
fcis-23828	33	42	and	and	CCONJ
fcis-23828	33	43	b	b	NOUN
fcis-23828	33	44	are	be	AUX
fcis-23828	33	45	arbitrary	arbitrary	ADJ
fcis-23828	33	46	positive	positive	ADJ
fcis-23828	33	47	definite	definite	ADJ
fcis-23828	33	48	matrices	matrix	NOUN
fcis-23828	33	49	,	,	PUNCT
fcis-23828	33	50	as	as	ADV
fcis-23828	33	51	necessary	necessary	ADJ
fcis-23828	33	52	for	for	ADP
fcis-23828	33	53	the	the	DET
fcis-23828	33	54	stable	stable	ADJ
fcis-23828	33	55	operation	operation	NOUN
fcis-23828	33	56	of	of	ADP
fcis-23828	33	57	the	the	DET
fcis-23828	33	58	system	system	NOUN
fcis-23828	33	59	.	.	PUNCT
fcis-23828	34	1	when	when	SCONJ
fcis-23828	34	2	the	the	DET
fcis-23828	34	3	dredging	dredging	NOUN
fcis-23828	34	4	robot	robot	NOUN
fcis-23828	34	5	is	be	AUX
fcis-23828	34	6	running	run	VERB
fcis-23828	34	7	close	close	ADV
fcis-23828	34	8	to	to	ADP
fcis-23828	34	9	the	the	DET
fcis-23828	34	10	ideal	ideal	ADJ
fcis-23828	34	11	state	state	NOUN
fcis-23828	34	12	,	,	PUNCT
fcis-23828	34	13	the	the	DET
fcis-23828	34	14	return	return	NOUN
fcis-23828	34	15	signal	signal	NOUN
fcis-23828	34	16	tends	tend	VERB
fcis-23828	34	17	to	to	ADP
fcis-23828	34	18	0	0	NUM
fcis-23828	34	19	.	.	PUNCT
fcis-23828	35	1	when	when	SCONJ
fcis-23828	35	2	tracking	track	VERB
fcis-23828	35	3	and	and	CCONJ
fcis-23828	35	4	controlling	control	VERB
fcis-23828	35	5	the	the	DET
fcis-23828	35	6	movement	movement	NOUN
fcis-23828	35	7	trajectory	trajectory	NOUN
fcis-23828	35	8	of	of	ADP
fcis-23828	35	9	the	the	DET
fcis-23828	35	10	dredging	dredging	NOUN
fcis-23828	35	11	robot	robot	NOUN
fcis-23828	35	12	,	,	PUNCT
fcis-23828	35	13	the	the	DET
fcis-23828	35	14	control	control	NOUN
fcis-23828	35	15	system	system	NOUN
fcis-23828	35	16	should	should	AUX
fcis-23828	35	17	be	be	AUX
fcis-23828	35	18	in	in	ADP
fcis-23828	35	19	a	a	DET
fcis-23828	35	20	stable	stable	ADJ
fcis-23828	35	21	state	state	NOUN
fcis-23828	35	22	to	to	PART
fcis-23828	35	23	avoid	avoid	VERB
fcis-23828	35	24	the	the	DET
fcis-23828	35	25	oscillation	oscillation	NOUN
fcis-23828	35	26	phenomenon	phenomenon	NOUN
fcis-23828	35	27	on	on	ADP
fcis-23828	35	28	the	the	DET
fcis-23828	35	29	premise	premise	NOUN
fcis-23828	35	30	of	of	ADP
fcis-23828	35	31	maintaining	maintain	VERB
fcis-23828	35	32	the	the	DET
fcis-23828	35	33	accuracy	accuracy	NOUN
fcis-23828	35	34	standard	standard	NOUN
fcis-23828	35	35	.	.	PUNCT
fcis-23828	36	1	therefore	therefore	ADV
fcis-23828	36	2	,	,	PUNCT
fcis-23828	36	3	when	when	SCONJ
fcis-23828	36	4	training	training	NOUN
fcis-23828	36	5	actor	actor	NOUN
fcis-23828	36	6	network	network	NOUN
fcis-23828	36	7	and	and	CCONJ
fcis-23828	36	8	critic	critic	NOUN
fcis-23828	36	9	network	network	NOUN
fcis-23828	36	10	,	,	PUNCT
fcis-23828	36	11	the	the	DET
fcis-23828	36	12	discrete	discrete	ADJ
fcis-23828	36	13	degree	degree	NOUN
fcis-23828	36	14	of	of	ADP
fcis-23828	36	15	reward	reward	NOUN
fcis-23828	36	16	signal	signal	NOUN
fcis-23828	36	17	is	be	AUX
fcis-23828	36	18	taken	take	VERB
fcis-23828	36	19	as	as	ADP
fcis-23828	36	20	the	the	DET
fcis-23828	36	21	criterion	criterion	NOUN
fcis-23828	36	22	to	to	PART
fcis-23828	36	23	judge	judge	VERB
fcis-23828	36	24	the	the	DET
fcis-23828	36	25	success	success	NOUN
fcis-23828	36	26	of	of	ADP
fcis-23828	36	27	training	training	NOUN
fcis-23828	36	28	.	.	PUNCT
fcis-23828	37	1	when	when	SCONJ
fcis-23828	37	2	performing	perform	VERB
fcis-23828	37	3	100	100	NUM
fcis-23828	37	4	training	train	VERB
fcis-23828	37	5	the	the	DET
fcis-23828	37	6	reward	reward	NOUN
fcis-23828	37	7	signal	signal	NOUN
fcis-23828	37	8	criterion	criterion	NOUN
fcis-23828	37	9	does	do	AUX
fcis-23828	37	10	not	not	PART
fcis-23828	37	11	exceed	exceed	VERB
fcis-23828	37	12	the	the	DET
fcis-23828	37	13	threshold	threshold	NOUN
fcis-23828	37	14	,	,	PUNCT
fcis-23828	37	15	it	it	PRON
fcis-23828	37	16	was	be	AUX
fcis-23828	37	17	met	meet	VERB
fcis-23828	37	18	:	:	PUNCT
fcis-23828	37	19	∑	∑	ADP
fcis-23828	37	20	∑	∑	INTJ
fcis-23828	37	21	,	,	PUNCT
fcis-23828	37	22	,	,	PUNCT
fcis-23828	37	23	(	(	PUNCT
fcis-23828	37	24	6	6	NUM
fcis-23828	37	25	)	)	PUNCT
fcis-23828	37	26	when	when	SCONJ
fcis-23828	37	27	satisfying	satisfy	VERB
fcis-23828	37	28	formula	formula	NOUN
fcis-23828	37	29	6	6	NUM
fcis-23828	37	30	,	,	PUNCT
fcis-23828	37	31	where	where	SCONJ
fcis-23828	37	32	t	t	PROPN
fcis-23828	37	33	is	be	AUX
fcis-23828	37	34	the	the	DET
fcis-23828	37	35	training	training	NOUN
fcis-23828	37	36	step	step	NOUN
fcis-23828	37	37	length	length	NOUN
fcis-23828	37	38	.	.	PUNCT
fcis-23828	38	1	adam	adam	PROPN
fcis-23828	38	2	was	be	AUX
fcis-23828	38	3	used	use	VERB
fcis-23828	38	4	to	to	PART
fcis-23828	38	5	continuously	continuously	ADV
fcis-23828	38	6	optimize	optimize	VERB
fcis-23828	38	7	and	and	CCONJ
fcis-23828	38	8	update	update	VERB
fcis-23828	38	9	the	the	DET
fcis-23828	38	10	parameters	parameter	NOUN
fcis-23828	38	11	of	of	ADP
fcis-23828	38	12	both	both	DET
fcis-23828	38	13	networks	network	NOUN
fcis-23828	38	14	to	to	PART
fcis-23828	38	15	obtain	obtain	VERB
fcis-23828	38	16	the	the	DET
fcis-23828	38	17	best	good	ADJ
fcis-23828	38	18	scheme	scheme	NOUN
fcis-23828	38	19	.	.	PUNCT
fcis-23828	39	1	4	4	X
fcis-23828	39	2	.	.	X
fcis-23828	39	3	verification	verification	NOUN
fcis-23828	39	4	of	of	ADP
fcis-23828	39	5	the	the	DET
fcis-23828	39	6	experimental	experimental	ADJ
fcis-23828	39	7	performance	performance	NOUN
fcis-23828	39	8	and	and	CCONJ
fcis-23828	39	9	the	the	DET
fcis-23828	39	10	comparative	comparative	ADJ
fcis-23828	39	11	analysis	analysis	NOUN
fcis-23828	39	12	based	base	VERB
fcis-23828	39	13	on	on	ADP
fcis-23828	39	14	the	the	DET
fcis-23828	39	15	technical	technical	ADJ
fcis-23828	39	16	background	background	NOUN
fcis-23828	39	17	of	of	ADP
fcis-23828	39	18	deep	deep	ADJ
fcis-23828	39	19	learning	learning	NOUN
fcis-23828	39	20	depth	depth	NOUN
fcis-23828	39	21	application	application	NOUN
fcis-23828	39	22	,	,	PUNCT
fcis-23828	39	23	the	the	DET
fcis-23828	39	24	operation	operation	NOUN
fcis-23828	39	25	trajectory	trajectory	NOUN
fcis-23828	39	26	optimization	optimization	NOUN
fcis-23828	39	27	and	and	CCONJ
fcis-23828	39	28	tracking	tracking	NOUN
fcis-23828	39	29	of	of	ADP
fcis-23828	39	30	the	the	DET
fcis-23828	39	31	dredging	dredging	NOUN
fcis-23828	39	32	robot	robot	NOUN
fcis-23828	39	33	are	be	AUX
fcis-23828	39	34	significantly	significantly	ADV
fcis-23828	39	35	affected	affect	VERB
fcis-23828	39	36	by	by	ADP
fcis-23828	39	37	the	the	DET
fcis-23828	39	38	training	training	NOUN
fcis-23828	39	39	times	time	NOUN
fcis-23828	39	40	.	.	PUNCT
fcis-23828	40	1	in	in	ADP
fcis-23828	40	2	the	the	DET
fcis-23828	40	3	preliminary	preliminary	ADJ
fcis-23828	40	4	experiment	experiment	NOUN
fcis-23828	40	5	,	,	PUNCT
fcis-23828	40	6	the	the	DET
fcis-23828	40	7	dredging	dredging	NOUN
fcis-23828	40	8	robot	robot	NOUN
fcis-23828	40	9	was	be	AUX
fcis-23828	40	10	only	only	ADV
fcis-23828	40	11	trained	train	VERB
fcis-23828	40	12	once	once	ADV
fcis-23828	40	13	or	or	CCONJ
fcis-23828	40	14	five	five	NUM
fcis-23828	40	15	times	time	NOUN
fcis-23828	40	16	,	,	PUNCT
fcis-23828	40	17	and	and	CCONJ
fcis-23828	40	18	it	it	PRON
fcis-23828	40	19	was	be	AUX
fcis-23828	40	20	found	find	VERB
fcis-23828	40	21	that	that	SCONJ
fcis-23828	40	22	it	it	PRON
fcis-23828	40	23	could	could	AUX
fcis-23828	40	24	not	not	PART
fcis-23828	40	25	accurately	accurately	ADV
fcis-23828	40	26	track	track	VERB
fcis-23828	40	27	the	the	DET
fcis-23828	40	28	predetermined	predetermine	VERB
fcis-23828	40	29	movement	movement	NOUN
fcis-23828	40	30	track	track	NOUN
fcis-23828	40	31	.	.	PUNCT
fcis-23828	41	1	fig	fig	NOUN
fcis-23828	41	2	2	2	NUM
fcis-23828	41	3	.	.	PUNCT
fcis-23828	42	1	robot	robot	NOUN
fcis-23828	42	2	running	running	NOUN
fcis-23828	42	3	trajectory	trajectory	NOUN
fcis-23828	42	4	for	for	ADP
fcis-23828	42	5	different	different	ADJ
fcis-23828	42	6	training	training	NOUN
fcis-23828	42	7	times	time	NOUN
fcis-23828	42	8	fig	fig	NOUN
fcis-23828	42	9	3	3	NUM
fcis-23828	42	10	.	.	PUNCT
fcis-23828	43	1	the	the	DET
fcis-23828	43	2	error	error	NOUN
fcis-23828	43	3	occurrence	occurrence	NOUN
fcis-23828	43	4	of	of	ADP
fcis-23828	43	5	different	different	ADJ
fcis-23828	43	6	training	training	NOUN
fcis-23828	43	7	times	time	NOUN
fcis-23828	43	8	after	after	ADP
fcis-23828	43	9	500	500	NUM
fcis-23828	43	10	times	time	NOUN
fcis-23828	43	11	of	of	ADP
fcis-23828	43	12	training	training	NOUN
fcis-23828	43	13	,	,	PUNCT
fcis-23828	43	14	the	the	DET
fcis-23828	43	15	dredging	dredging	NOUN
fcis-23828	43	16	robot	robot	NOUN
fcis-23828	43	17	showed	show	VERB
fcis-23828	43	18	19	19	NUM
fcis-23828	43	19	excellent	excellent	ADJ
fcis-23828	43	20	ability	ability	NOUN
fcis-23828	43	21	when	when	SCONJ
fcis-23828	43	22	running	run	VERB
fcis-23828	43	23	,	,	PUNCT
fcis-23828	43	24	indicating	indicate	VERB
fcis-23828	43	25	that	that	SCONJ
fcis-23828	43	26	with	with	ADP
fcis-23828	43	27	the	the	DET
fcis-23828	43	28	increase	increase	NOUN
fcis-23828	43	29	of	of	ADP
fcis-23828	43	30	training	training	NOUN
fcis-23828	43	31	times	time	NOUN
fcis-23828	43	32	,	,	PUNCT
fcis-23828	43	33	the	the	DET
fcis-23828	43	34	robot	robot	NOUN
fcis-23828	43	35	can	can	AUX
fcis-23828	43	36	better	well	ADV
fcis-23828	43	37	learn	learn	VERB
fcis-23828	43	38	and	and	CCONJ
fcis-23828	43	39	adapt	adapt	VERB
fcis-23828	43	40	to	to	ADP
fcis-23828	43	41	the	the	DET
fcis-23828	43	42	complex	complex	ADJ
fcis-23828	43	43	underwater	underwater	ADJ
fcis-23828	43	44	environment	environment	NOUN
fcis-23828	43	45	,	,	PUNCT
fcis-23828	43	46	to	to	PART
fcis-23828	43	47	track	track	VERB
fcis-23828	43	48	the	the	DET
fcis-23828	43	49	predetermined	predetermine	VERB
fcis-23828	43	50	trajectory	trajectory	NOUN
fcis-23828	43	51	more	more	ADV
fcis-23828	43	52	accurately	accurately	ADV
fcis-23828	43	53	.	.	PUNCT
fcis-23828	44	1	moreover	moreover	ADV
fcis-23828	44	2	,	,	PUNCT
fcis-23828	44	3	with	with	ADP
fcis-23828	44	4	the	the	DET
fcis-23828	44	5	gradual	gradual	ADJ
fcis-23828	44	6	increase	increase	NOUN
fcis-23828	44	7	of	of	ADP
fcis-23828	44	8	the	the	DET
fcis-23828	44	9	operation	operation	NOUN
fcis-23828	44	10	trajectory	trajectory	NOUN
fcis-23828	44	11	training	training	NOUN
fcis-23828	44	12	times	time	NOUN
fcis-23828	44	13	of	of	ADP
fcis-23828	44	14	the	the	DET
fcis-23828	44	15	dredging	dredging	NOUN
fcis-23828	44	16	robot	robot	NOUN
fcis-23828	44	17	,	,	PUNCT
fcis-23828	44	18	the	the	DET
fcis-23828	44	19	tracking	tracking	NOUN
fcis-23828	44	20	error	error	NOUN
fcis-23828	44	21	gradually	gradually	ADV
fcis-23828	44	22	decreases	decrease	VERB
fcis-23828	44	23	,	,	PUNCT
fcis-23828	44	24	and	and	CCONJ
fcis-23828	44	25	tends	tend	VERB
fcis-23828	44	26	to	to	PART
fcis-23828	44	27	be	be	AUX
fcis-23828	44	28	stable	stable	ADJ
fcis-23828	44	29	and	and	CCONJ
fcis-23828	44	30	close	close	ADJ
fcis-23828	44	31	to	to	ADP
fcis-23828	44	32	the	the	DET
fcis-23828	44	33	zero	zero	NUM
fcis-23828	44	34	value	value	NOUN
fcis-23828	44	35	.	.	PUNCT
fcis-23828	45	1	the	the	DET
fcis-23828	45	2	changing	change	VERB
fcis-23828	45	3	trend	trend	NOUN
fcis-23828	45	4	in	in	ADP
fcis-23828	45	5	fig	fig	NOUN
fcis-23828	45	6	3	3	NUM
fcis-23828	45	7	demonstrates	demonstrate	VERB
fcis-23828	45	8	the	the	DET
fcis-23828	45	9	effectiveness	effectiveness	NOUN
fcis-23828	45	10	of	of	ADP
fcis-23828	45	11	the	the	DET
fcis-23828	45	12	deep	deep	ADJ
fcis-23828	45	13	reinforcement	reinforcement	NOUN
fcis-23828	45	14	learning	learning	NOUN
fcis-23828	45	15	algorithm	algorithm	NOUN
fcis-23828	45	16	and	and	CCONJ
fcis-23828	45	17	reveals	reveal	VERB
fcis-23828	45	18	a	a	DET
fcis-23828	45	19	positive	positive	ADJ
fcis-23828	45	20	correlation	correlation	NOUN
fcis-23828	45	21	between	between	ADP
fcis-23828	45	22	training	training	NOUN
fcis-23828	45	23	times	time	NOUN
fcis-23828	45	24	and	and	CCONJ
fcis-23828	45	25	trajectory	trajectory	NOUN
fcis-23828	45	26	tracking	tracking	NOUN
fcis-23828	45	27	accuracy	accuracy	NOUN
fcis-23828	45	28	.	.	PUNCT
fcis-23828	46	1	after	after	ADP
fcis-23828	46	2	an	an	DET
fcis-23828	46	3	in	in	ADP
fcis-23828	46	4	-	-	PUNCT
fcis-23828	46	5	depth	depth	NOUN
fcis-23828	46	6	comparison	comparison	NOUN
fcis-23828	46	7	of	of	ADP
fcis-23828	46	8	the	the	DET
fcis-23828	46	9	effects	effect	NOUN
fcis-23828	46	10	of	of	ADP
fcis-23828	46	11	the	the	DET
fcis-23828	46	12	deep	deep	ADJ
fcis-23828	46	13	reinforcement	reinforcement	NOUN
fcis-23828	46	14	learning	learning	NOUN
fcis-23828	46	15	model	model	NOUN
fcis-23828	46	16	trained	train	VERB
fcis-23828	46	17	1,000	1,000	NUM
fcis-23828	46	18	times	time	NOUN
fcis-23828	46	19	and	and	CCONJ
fcis-23828	46	20	the	the	DET
fcis-23828	46	21	pid	pid	NOUN
fcis-23828	46	22	controllers	controller	NOUN
fcis-23828	46	23	in	in	ADP
fcis-23828	46	24	trajectory	trajectory	NOUN
fcis-23828	46	25	tracking	tracking	NOUN
fcis-23828	46	26	,	,	PUNCT
fcis-23828	46	27	significant	significant	ADJ
fcis-23828	46	28	differences	difference	NOUN
fcis-23828	46	29	were	be	AUX
fcis-23828	46	30	found	find	VERB
fcis-23828	46	31	.	.	PUNCT
fcis-23828	47	1	specifically	specifically	ADV
fcis-23828	47	2	,	,	PUNCT
fcis-23828	47	3	the	the	DET
fcis-23828	47	4	trajectory	trajectory	NOUN
fcis-23828	47	5	generated	generate	VERB
fcis-23828	47	6	by	by	ADP
fcis-23828	47	7	deep	deep	ADJ
fcis-23828	47	8	reinforcement	reinforcement	NOUN
fcis-23828	47	9	learning	learning	NOUN
fcis-23828	47	10	is	be	AUX
fcis-23828	47	11	highly	highly	ADV
fcis-23828	47	12	consistent	consistent	ADJ
fcis-23828	47	13	with	with	ADP
fcis-23828	47	14	the	the	DET
fcis-23828	47	15	target	target	NOUN
fcis-23828	47	16	trajectory	trajectory	NOUN
fcis-23828	47	17	,	,	PUNCT
fcis-23828	47	18	showing	show	VERB
fcis-23828	47	19	its	its	PRON
fcis-23828	47	20	excellent	excellent	ADJ
fcis-23828	47	21	learning	learning	NOUN
fcis-23828	47	22	and	and	CCONJ
fcis-23828	47	23	adaptability	adaptability	NOUN
fcis-23828	47	24	.	.	PUNCT
fcis-23828	48	1	in	in	ADP
fcis-23828	48	2	contrast	contrast	NOUN
fcis-23828	48	3	,	,	PUNCT
fcis-23828	48	4	the	the	DET
fcis-23828	48	5	trajectory	trajectory	NOUN
fcis-23828	48	6	produced	produce	VERB
fcis-23828	48	7	by	by	ADP
fcis-23828	48	8	the	the	DET
fcis-23828	48	9	pid	pid	NOUN
fcis-23828	48	10	controller	controller	NOUN
fcis-23828	48	11	showed	show	VERB
fcis-23828	48	12	a	a	DET
fcis-23828	48	13	large	large	ADJ
fcis-23828	48	14	deviation	deviation	NOUN
fcis-23828	48	15	.	.	PUNCT
fcis-23828	49	1	fig	fig	NOUN
fcis-23828	49	2	4	4	NUM
fcis-23828	49	3	.	.	PUNCT
fcis-23828	50	1	deep	deep	ADJ
fcis-23828	50	2	learning	learning	NOUN
fcis-23828	50	3	and	and	CCONJ
fcis-23828	50	4	pid	pid	NOUN
fcis-23828	50	5	controller	controller	NOUN
fcis-23828	50	6	trajectory	trajectory	PROPN
fcis-23828	50	7	comparison	comparison	NOUN
fcis-23828	50	8	after	after	ADP
fcis-23828	50	9	further	further	ADJ
fcis-23828	50	10	analysis	analysis	NOUN
fcis-23828	50	11	of	of	ADP
fcis-23828	50	12	the	the	DET
fcis-23828	50	13	error	error	NOUN
fcis-23828	50	14	situation	situation	NOUN
fcis-23828	50	15	found	find	VERB
fcis-23828	50	16	that	that	SCONJ
fcis-23828	50	17	after	after	ADP
fcis-23828	50	18	1000	1000	NUM
fcis-23828	50	19	training	training	NOUN
fcis-23828	50	20	of	of	ADP
fcis-23828	50	21	deep	deep	ADJ
fcis-23828	50	22	reinforcement	reinforcement	NOUN
fcis-23828	50	23	learning	learning	NOUN
fcis-23828	50	24	model	model	NOUN
fcis-23828	50	25	can	can	AUX
fcis-23828	50	26	track	track	VERB
fcis-23828	50	27	error	error	NOUN
fcis-23828	50	28	stability	stability	NOUN
fcis-23828	50	29	control	control	NOUN
fcis-23828	50	30	within	within	ADP
fcis-23828	50	31	0.02	0.02	NUM
fcis-23828	50	32	m	m	NOUN
fcis-23828	50	33	,	,	PUNCT
fcis-23828	50	34	and	and	CCONJ
fcis-23828	50	35	the	the	DET
fcis-23828	50	36	maximum	maximum	ADJ
fcis-23828	50	37	error	error	NOUN
fcis-23828	50	38	of	of	ADP
fcis-23828	50	39	the	the	DET
fcis-23828	50	40	pid	pid	NOUN
fcis-23828	50	41	controller	controller	NOUN
fcis-23828	50	42	is	be	AUX
fcis-23828	50	43	close	close	ADJ
fcis-23828	50	44	to	to	ADP
fcis-23828	50	45	0.04	0.04	NUM
fcis-23828	50	46	m	m	NOUN
fcis-23828	50	47	,	,	PUNCT
fcis-23828	50	48	and	and	CCONJ
fcis-23828	50	49	the	the	DET
fcis-23828	50	50	error	error	NOUN
fcis-23828	50	51	fluctuation	fluctuation	NOUN
fcis-23828	50	52	is	be	AUX
fcis-23828	50	53	more	more	ADV
fcis-23828	50	54	obvious	obvious	ADJ
fcis-23828	50	55	,	,	PUNCT
fcis-23828	50	56	shows	show	VERB
fcis-23828	50	57	the	the	DET
fcis-23828	50	58	deep	deep	ADJ
fcis-23828	50	59	reinforcement	reinforcement	NOUN
fcis-23828	50	60	learning	learning	NOUN
fcis-23828	50	61	in	in	ADP
fcis-23828	50	62	the	the	DET
fcis-23828	50	63	advantage	advantage	NOUN
fcis-23828	50	64	of	of	ADP
fcis-23828	50	65	track	track	NOUN
fcis-23828	50	66	tracking	tracking	NOUN
fcis-23828	50	67	,	,	PUNCT
fcis-23828	50	68	and	and	CCONJ
fcis-23828	50	69	provide	provide	VERB
fcis-23828	50	70	valuable	valuable	ADJ
fcis-23828	50	71	reference	reference	NOUN
fcis-23828	50	72	for	for	ADP
fcis-23828	50	73	research	research	NOUN
fcis-23828	50	74	and	and	CCONJ
fcis-23828	50	75	application	application	NOUN
fcis-23828	50	76	in	in	ADP
fcis-23828	50	77	related	related	ADJ
fcis-23828	50	78	fields	field	NOUN
fcis-23828	50	79	.	.	PUNCT
fcis-23828	51	1	5	5	X
fcis-23828	51	2	.	.	NOUN
fcis-23828	51	3	epilogue	epilogue	NOUN
fcis-23828	51	4	traditional	traditional	ADJ
fcis-23828	51	5	dredging	dredging	NOUN
fcis-23828	51	6	methods	method	NOUN
fcis-23828	51	7	are	be	AUX
fcis-23828	51	8	inefficient	inefficient	ADJ
fcis-23828	51	9	and	and	CCONJ
fcis-23828	51	10	have	have	VERB
fcis-23828	51	11	safety	safety	NOUN
fcis-23828	51	12	risks	risk	NOUN
fcis-23828	51	13	.	.	PUNCT
fcis-23828	52	1	the	the	DET
fcis-23828	52	2	introduction	introduction	NOUN
fcis-23828	52	3	of	of	ADP
fcis-23828	52	4	deep	deep	ADJ
fcis-23828	52	5	learning	learning	NOUN
fcis-23828	52	6	technology	technology	NOUN
fcis-23828	52	7	significantly	significantly	ADV
fcis-23828	52	8	improves	improve	VERB
fcis-23828	52	9	the	the	DET
fcis-23828	52	10	efficiency	efficiency	NOUN
fcis-23828	52	11	and	and	CCONJ
fcis-23828	52	12	safety	safety	NOUN
fcis-23828	52	13	of	of	ADP
fcis-23828	52	14	dredging	dredging	NOUN
fcis-23828	52	15	operations	operation	NOUN
fcis-23828	52	16	.	.	PUNCT
fcis-23828	53	1	this	this	DET
fcis-23828	53	2	paper	paper	NOUN
fcis-23828	53	3	summarizes	summarize	VERB
fcis-23828	53	4	the	the	DET
fcis-23828	53	5	core	core	ADJ
fcis-23828	53	6	principles	principle	NOUN
fcis-23828	53	7	of	of	ADP
fcis-23828	53	8	deep	deep	ADJ
fcis-23828	53	9	learning	learning	NOUN
fcis-23828	53	10	,	,	PUNCT
fcis-23828	53	11	and	and	CCONJ
fcis-23828	53	12	defines	define	NOUN
fcis-23828	53	13	in	in	ADP
fcis-23828	53	14	detail	detail	NOUN
fcis-23828	53	15	the	the	DET
fcis-23828	53	16	key	key	ADJ
fcis-23828	53	17	links	link	NOUN
fcis-23828	53	18	such	such	ADJ
fcis-23828	53	19	as	as	ADP
fcis-23828	53	20	environment	environment	NOUN
fcis-23828	53	21	perception	perception	NOUN
fcis-23828	53	22	,	,	PUNCT
fcis-23828	53	23	goal	goal	NOUN
fcis-23828	53	24	setting	setting	NOUN
fcis-23828	53	25	,	,	PUNCT
fcis-23828	53	26	trajectory	trajectory	NOUN
fcis-23828	53	27	optimization	optimization	NOUN
fcis-23828	53	28	and	and	CCONJ
fcis-23828	53	29	real	real	ADJ
fcis-23828	53	30	-	-	PUNCT
fcis-23828	53	31	time	time	NOUN
fcis-23828	53	32	adjustment	adjustment	NOUN
fcis-23828	53	33	of	of	ADP
fcis-23828	53	34	the	the	DET
fcis-23828	53	35	dredging	dredging	NOUN
fcis-23828	53	36	robot	robot	NOUN
fcis-23828	53	37	trajectory	trajectory	NOUN
fcis-23828	53	38	planning	planning	NOUN
fcis-23828	53	39	.	.	PUNCT
fcis-23828	54	1	at	at	ADP
fcis-23828	54	2	the	the	DET
fcis-23828	54	3	same	same	ADJ
fcis-23828	54	4	time	time	NOUN
fcis-23828	54	5	,	,	PUNCT
fcis-23828	54	6	it	it	PRON
fcis-23828	54	7	also	also	ADV
fcis-23828	54	8	expounds	expound	VERB
fcis-23828	54	9	the	the	DET
fcis-23828	54	10	specific	specific	ADJ
fcis-23828	54	11	application	application	NOUN
fcis-23828	54	12	of	of	ADP
fcis-23828	54	13	deep	deep	ADJ
fcis-23828	54	14	learning	learning	NOUN
fcis-23828	54	15	in	in	ADP
fcis-23828	54	16	trajectory	trajectory	NOUN
fcis-23828	54	17	planning	planning	NOUN
fcis-23828	54	18	,	,	PUNCT
fcis-23828	54	19	the	the	DET
fcis-23828	54	20	trajectory	trajectory	NOUN
fcis-23828	54	21	planning	planning	NOUN
fcis-23828	54	22	algorithm	algorithm	NOUN
fcis-23828	54	23	integrating	integrate	VERB
fcis-23828	54	24	deep	deep	ADJ
fcis-23828	54	25	neural	neural	ADJ
fcis-23828	54	26	network	network	NOUN
fcis-23828	54	27	(	(	PUNCT
fcis-23828	54	28	dnn	dnn	PROPN
fcis-23828	54	29	)	)	PUNCT
fcis-23828	54	30	and	and	CCONJ
fcis-23828	54	31	reinforcement	reinforcement	NOUN
fcis-23828	54	32	learning	learning	NOUN
fcis-23828	54	33	(	(	PUNCT
fcis-23828	54	34	rl	rl	NOUN
fcis-23828	54	35	)	)	PUNCT
fcis-23828	54	36	,	,	PUNCT
fcis-23828	54	37	as	as	ADV
fcis-23828	54	38	well	well	ADV
fcis-23828	54	39	as	as	ADP
fcis-23828	54	40	the	the	DET
fcis-23828	54	41	motion	motion	NOUN
fcis-23828	54	42	trajectory	trajectory	NOUN
fcis-23828	54	43	optimization	optimization	NOUN
fcis-23828	54	44	strategy	strategy	NOUN
fcis-23828	54	45	based	base	VERB
fcis-23828	54	46	on	on	ADP
fcis-23828	54	47	deep	deep	ADJ
fcis-23828	54	48	learning	learning	NOUN
fcis-23828	54	49	,	,	PUNCT
fcis-23828	54	50	to	to	PART
fcis-23828	54	51	realize	realize	VERB
fcis-23828	54	52	the	the	DET
fcis-23828	54	53	intelligent	intelligent	ADJ
fcis-23828	54	54	optimization	optimization	NOUN
fcis-23828	54	55	of	of	ADP
fcis-23828	54	56	the	the	DET
fcis-23828	54	57	motion	motion	NOUN
fcis-23828	54	58	trajectory	trajectory	NOUN
fcis-23828	54	59	of	of	ADP
fcis-23828	54	60	the	the	DET
fcis-23828	54	61	dredging	dredging	NOUN
fcis-23828	54	62	robot	robot	NOUN
fcis-23828	54	63	.	.	PUNCT
fcis-23828	55	1	through	through	ADP
fcis-23828	55	2	experiments	experiment	NOUN
fcis-23828	55	3	,	,	PUNCT
fcis-23828	55	4	the	the	DET
fcis-23828	55	5	effectiveness	effectiveness	NOUN
fcis-23828	55	6	of	of	ADP
fcis-23828	55	7	deep	deep	ADJ
fcis-23828	55	8	learning	learning	NOUN
fcis-23828	55	9	in	in	ADP
fcis-23828	55	10	improving	improve	VERB
fcis-23828	55	11	trajectory	trajectory	NOUN
fcis-23828	55	12	tracking	tracking	NOUN
fcis-23828	55	13	accuracy	accuracy	NOUN
fcis-23828	55	14	and	and	CCONJ
fcis-23828	55	15	reducing	reduce	VERB
fcis-23828	55	16	error	error	NOUN
fcis-23828	55	17	,	,	PUNCT
fcis-23828	55	18	demonstrating	demonstrate	VERB
fcis-23828	55	19	the	the	DET
fcis-23828	55	20	significant	significant	ADJ
fcis-23828	55	21	advantages	advantage	NOUN
fcis-23828	55	22	of	of	ADP
fcis-23828	55	23	deep	deep	ADJ
fcis-23828	55	24	reinforcement	reinforcement	NOUN
fcis-23828	55	25	learning	learning	NOUN
fcis-23828	55	26	over	over	ADP
fcis-23828	55	27	traditional	traditional	ADJ
fcis-23828	55	28	pid	pid	NOUN
fcis-23828	55	29	controllers	controller	NOUN
fcis-23828	55	30	.	.	PUNCT
fcis-23828	56	1	acknowledgments	acknowledgment	NOUN
fcis-23828	56	2	fund	fund	PROPN
fcis-23828	56	3	program	program	PROPN
fcis-23828	56	4	:	:	PUNCT
fcis-23828	56	5	ningbo	ningbo	PROPN
fcis-23828	56	6	key	key	ADJ
fcis-23828	56	7	research	research	NOUN
fcis-23828	56	8	and	and	CCONJ
fcis-23828	56	9	development	development	NOUN
fcis-23828	56	10	plan	plan	NOUN
fcis-23828	56	11	and	and	CCONJ
fcis-23828	56	12	the	the	DET
fcis-23828	56	13	title	title	NOUN
fcis-23828	56	14	of	of	ADP
fcis-23828	56	15	"	"	PUNCT
fcis-23828	56	16	key	key	ADJ
fcis-23828	56	17	technology	technology	NOUN
fcis-23828	56	18	research	research	NOUN
fcis-23828	56	19	and	and	CCONJ
fcis-23828	56	20	development	development	NOUN
fcis-23828	56	21	of	of	ADP
fcis-23828	56	22	intelligent	intelligent	ADJ
fcis-23828	56	23	silting	silting	NOUN
fcis-23828	56	24	robot	robot	NOUN
fcis-23828	56	25	for	for	ADP
fcis-23828	56	26	sewage	sewage	NOUN
fcis-23828	56	27	treatment	treatment	NOUN
fcis-23828	56	28	"	"	PUNCT
fcis-23828	56	29	(	(	PUNCT
fcis-23828	56	30	number2023z034	number2023z034	PROPN
fcis-23828	56	31	)	)	PUNCT
fcis-23828	56	32	.	.	PUNCT
fcis-23828	57	1	references	reference	NOUN
fcis-23828	57	2	[	[	X
fcis-23828	57	3	1	1	NUM
fcis-23828	57	4	]	]	X
fcis-23828	57	5	li	li	PROPN
fcis-23828	57	6	min	min	PROPN
fcis-23828	57	7	,	,	PUNCT
fcis-23828	57	8	zhang	zhang	PROPN
fcis-23828	57	9	sen	sen	PROPN
fcis-23828	57	10	,	,	PUNCT
fcis-23828	57	11	zeng	zeng	PROPN
fcis-23828	57	12	xiangguang	xiangguang	PROPN
fcis-23828	57	13	,	,	PUNCT
fcis-23828	57	14	wanggang	wanggang	PROPN
fcis-23828	57	15	,	,	PUNCT
fcis-23828	57	16	zhang	zhang	PROPN
fcis-23828	57	17	tongwei	tongwei	PROPN
fcis-23828	57	18	,	,	PUNCT
fcis-23828	57	19	xie	xie	PROPN
fcis-23828	57	20	dijie	dijie	PROPN
fcis-23828	57	21	,	,	PUNCT
fcis-23828	57	22	ren	ren	PROPN
fcis-23828	57	23	wenzhe	wenzhe	NOUN
fcis-23828	57	24	,	,	PUNCT
fcis-23828	58	1	zhang	zhang	PROPN
fcis-23828	58	2	tao.single	tao.single	PROPN
fcis-23828	58	3	-	-	PUNCT
fcis-23828	58	4	leg	leg	NOUN
fcis-23828	58	5	obstacle	obstacle	NOUN
fcis-23828	58	6	-	-	PUNCT
fcis-23828	58	7	crossing	crossing	NOUN
fcis-23828	58	8	trajectory	trajectory	NOUN
fcis-23828	58	9	planning	planning	NOUN
fcis-23828	58	10	of	of	ADP
fcis-23828	58	11	a	a	DET
fcis-23828	58	12	quadruped	quadruped	NOUN
fcis-23828	58	13	robot	robot	NOUN
fcis-23828	58	14	based	base	VERB
fcis-23828	58	15	on	on	ADP
fcis-23828	58	16	deep	deep	ADJ
fcis-23828	58	17	reinforcement	reinforcement	NOUN
fcis-23828	58	18	learning	learning	NOUN
fcis-23828	59	1	[	[	X
fcis-23828	59	2	j	j	X
fcis-23828	59	3	]	]	X
fcis-23828	59	4	.	.	PUNCT
fcis-23828	60	1	journal	journal	PROPN
fcis-23828	60	2	of	of	ADP
fcis-23828	60	3	system	system	NOUN
fcis-23828	60	4	simulation	simulation	NOUN
fcis-23828	60	5	,	,	PUNCT
fcis-23828	60	6	1	1	NUM
fcis-23828	60	7	-	-	SYM
fcis-23828	60	8	15	15	NUM
fcis-23828	60	9	.	.	PUNCT
fcis-23828	61	1	[	[	X
fcis-23828	61	2	2	2	NUM
fcis-23828	61	3	]	]	X
fcis-23828	61	4	ying	ying	PROPN
fcis-23828	61	5	kaijian	kaijian	PROPN
fcis-23828	61	6	.	.	PUNCT
fcis-23828	62	1	research	research	NOUN
fcis-23828	62	2	on	on	ADP
fcis-23828	62	3	the	the	DET
fcis-23828	62	4	key	key	ADJ
fcis-23828	62	5	technology	technology	NOUN
fcis-23828	62	6	based	base	VERB
fcis-23828	62	7	on	on	ADP
fcis-23828	62	8	the	the	DET
fcis-23828	62	9	jumping	jump	VERB
fcis-23828	62	10	function	function	NOUN
fcis-23828	62	11	of	of	ADP
fcis-23828	62	12	the	the	DET
fcis-23828	62	13	foot	foot	NOUN
fcis-23828	62	14	robot	robot	NOUN
fcis-23828	63	1	[	[	X
fcis-23828	63	2	d	d	X
fcis-23828	63	3	]	]	X
fcis-23828	63	4	.	.	PUNCT
fcis-23828	64	1	zhejiang	zhejiang	PROPN
fcis-23828	64	2	university	university	PROPN
fcis-23828	64	3	of	of	ADP
fcis-23828	64	4	science	science	PROPN
fcis-23828	64	5	&	&	CCONJ
fcis-23828	64	6	technology	technology	PROPN
fcis-23828	64	7	,	,	PUNCT
fcis-23828	64	8	2024	2024	NUM
fcis-23828	64	9	.	.	PUNCT
fcis-23828	65	1	[	[	X
fcis-23828	65	2	3	3	X
fcis-23828	65	3	]	]	X
fcis-23828	65	4	li	li	PROPN
fcis-23828	65	5	yingjie	yingjie	PROPN
fcis-23828	65	6	,	,	PUNCT
fcis-23828	65	7	chen	chen	PROPN
fcis-23828	65	8	naijian	naijian	PROPN
fcis-23828	65	9	,	,	PUNCT
fcis-23828	65	10	yin	yin	PROPN
fcis-23828	65	11	xunrui	xunrui	PROPN
fcis-23828	65	12	,	,	PUNCT
fcis-23828	65	13	zheng	zheng	PROPN
fcis-23828	65	14	jiakun	jiakun	PROPN
fcis-23828	65	15	,	,	PUNCT
fcis-23828	65	16	zhang	zhang	PROPN
fcis-23828	65	17	shanlin	shanlin	PROPN
fcis-23828	65	18	,	,	PUNCT
fcis-23828	65	19	li	li	PROPN
fcis-23828	65	20	yingjun.joint	yingjun.joint	PROPN
fcis-23828	65	21	trajectory	trajectory	NOUN
fcis-23828	65	22	planning	planning	NOUN
fcis-23828	65	23	of	of	ADP
fcis-23828	65	24	the	the	DET
fcis-23828	65	25	handling	handling	NOUN
fcis-23828	65	26	robot	robot	NOUN
fcis-23828	65	27	combining	combine	VERB
fcis-23828	65	28	deep	deep	ADJ
fcis-23828	65	29	reinforcement	reinforcement	NOUN
fcis-23828	65	30	learning	learning	NOUN
fcis-23828	65	31	with	with	ADP
fcis-23828	65	32	deformed	deform	VERB
fcis-23828	65	33	five	five	NUM
fcis-23828	65	34	-	-	PUNCT
fcis-23828	65	35	time	time	NOUN
fcis-23828	65	36	polynomials	polynomial	NOUN
fcis-23828	65	37	[	[	X
fcis-23828	65	38	j	j	X
fcis-23828	65	39	]	]	X
fcis-23828	65	40	.	.	PUNCT
fcis-23828	66	1	journal	journal	PROPN
fcis-23828	66	2	of	of	ADP
fcis-23828	66	3	the	the	DET
fcis-23828	66	4	university	university	PROPN
fcis-23828	66	5	of	of	ADP
fcis-23828	66	6	jinan	jinan	PROPN
fcis-23828	66	7	(	(	PUNCT
fcis-23828	66	8	natural	natural	ADJ
fcis-23828	66	9	science	science	NOUN
fcis-23828	66	10	edition	edition	NOUN
fcis-23828	66	11	)	)	PUNCT
fcis-23828	66	12	,	,	PUNCT
fcis-23828	66	13	2024,38	2024,38	NUM
fcis-23828	66	14	(	(	PUNCT
fcis-23828	66	15	02	02	NUM
fcis-23828	66	16	):	):	PUNCT
fcis-23828	66	17	234	234	NUM
fcis-23828	66	18	-	-	SYM
fcis-23828	66	19	241	241	NUM
fcis-23828	66	20	.	.	PUNCT
fcis-23828	67	1	[	[	X
fcis-23828	67	2	4	4	NUM
fcis-23828	67	3	]	]	X
fcis-23828	67	4	li	li	PROPN
fcis-23828	67	5	zhongwei	zhongwei	PROPN
fcis-23828	67	6	,	,	PUNCT
fcis-23828	67	7	liu	liu	PROPN
fcis-23828	67	8	weipeng	weipeng	PROPN
fcis-23828	67	9	,	,	PUNCT
fcis-23828	67	10	luo	luo	PROPN
fcis-23828	67	11	cai.track	cai.track	NOUN
fcis-23828	67	12	-	-	PUNCT
fcis-23828	67	13	guidance	guidance	NOUN
fcis-23828	67	14	-	-	PUNCT
fcis-23828	67	15	based	base	VERB
fcis-23828	67	16	mobile	mobile	ADJ
fcis-23828	67	17	robot	robot	NOUN
fcis-23828	67	18	navigation	navigation	NOUN
fcis-23828	67	19	strategy	strategy	NOUN
fcis-23828	67	20	optimization	optimization	NOUN
fcis-23828	67	21	algorithm	algorithm	NOUN
fcis-23828	68	1	[	[	X
fcis-23828	68	2	j	j	X
fcis-23828	68	3	]	]	X
fcis-23828	68	4	.	.	PUNCT
fcis-23828	69	1	computer	computer	NOUN
fcis-23828	69	2	application	application	NOUN
fcis-23828	69	3	research,2024,41(05):1456	research,2024,41(05):1456	PROPN
fcis-23828	69	4	-	-	PUNCT
fcis-23828	69	5	1461	1461	NUM
fcis-23828	69	6	.	.	PUNCT